Sealing structure of mechanical arm and multi-shaft mechanical arm

Abstract

The utility model relates to the technical field of robots, and particularly discloses a sealing structure of a mechanical arm and a multi-shaft mechanical arm, the sealing structure of the mechanical arm comprises a front arm, a rear arm and a joint assembly, the first surface of the front arm and the second surface of the rear arm are respectively provided with a first through hole; one end of the joint assembly extends into the front arm from the first through hole in the first face of the front arm and is connected with the front arm, the other end of the joint assembly extends into the rear arm from the first through hole in the second face of the rear arm and is connected with the rear arm, and the front arm and the rear arm can rotate relatively through the joint assembly. A first sealing piece is arranged at the position of the joint assembly and between the front arm and the rear arm or between one of the front arm and the rear arm and the joint assembly. By means of the structure, external moisture, dust and other sundries can be effectively prevented from entering the mechanical arm from the movement connecting positions of the adjacent arm sections, the sealing performance in the mechanical arm is improved, precise parts in the mechanical arm are protected, normal operation of the mechanical arm is guaranteed, and the service life of the mechanical arm is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a sealing structure of a robotic arm and a multi-axis robotic arm. Background Art

[0002] Robots are important intelligent automation devices. Among them, industrial robots are widely used in industries such as the equipment manufacturing industry and the automotive industry. A robotic arm belongs to a type of robot. The robotic arm has characteristics such as multiple inputs and outputs, high nonlinearity, and strong coupling. It is a complex system and is widely used in fields such as industrial assembly and safety explosion protection, and is valued for its operation flexibility. The robotic arm is one of the most widely used mechanical devices in the field of robots, and it can receive instructions and accurately locate to a certain point in three-dimensional (or two-dimensional) space for operation.

[0003] The robotic arm belongs to high-precision equipment. The sealing structure in the robotic arm is one of the key structures to ensure its normal operation and extend its service life. By setting the sealing structure, dust, moisture, and other pollutants can be prevented from entering the interior of the robotic arm, thereby protecting the internal precision components from damage. In the existing multi-axis robotic arms, the joints of each arm segment usually do not adopt a sealing structure. Therefore, it is easy to have a connection at the joint of adjacent arm segments. This connection provides an opportunity for external moisture, dust, and other pollutants to enter the installation cavity, which very easily causes damage to the precision components inside the robotic arm and makes it unable to operate normally, and also shortens the service life of the robotic arm. Summary of the Utility Model

[0004] The utility model aims to solve the technical problems existing in the above-mentioned prior art, and provides a sealing structure of a robotic arm with good sealing performance and a multi-axis robotic arm to protect the precision components inside the robotic arm, ensure the normal operation of the robotic arm, and extend its service life.

[0005] To solve the above technical problems, the utility model provides the following technical solutions:

[0006] A sealing structure of a robotic arm according to the utility model includes a front arm, a rear arm, and a joint assembly. A first through hole is respectively formed on the first surface of the front arm and the second surface of the rear arm. One end of the joint assembly extends into the front arm through the first through hole on the first surface of the front arm and is connected to the front arm, and the other end extends into the rear arm through the first through hole on the second surface of the rear arm and is connected to the rear arm. The front arm and the rear arm can rotate relative to each other through the joint assembly. A first sealing member is provided at the joint assembly between the front arm and the rear arm or between one of the front arm and the rear arm and the joint assembly.

[0007] The sealing structure of the robotic arm described in the present utility model can effectively prevent external moisture, dust and other debris from entering the interior of the robotic arm at the joint assembly, between the front arm and the rear arm, or between one of the front arm and the rear arm and the joint assembly, so as to improve the sealing performance inside the robotic arm, protect the precision components inside the robotic arm, ensure the normal operation of the robotic arm, and extend its service life.

[0008] Further, a protruding neck is provided at the first through hole of the front arm. The neck on the front arm extends into the rear arm through the first through hole of the rear arm, and the first sealing member is provided between the side wall of the neck of the front arm and the side wall of the rear arm; or a protruding neck is provided at the first through hole of the rear arm. The neck on the rear arm extends into the front arm through the first through hole of the front arm, and the first sealing member is provided between the side wall of the neck of the rear arm and the side wall of the front arm.

[0009] Alternatively, a connecting member is provided on the outer side wall of the joint assembly. When connecting the joint assembly between the front arm and the rear arm, the joint assembly is installed on the front arm or the rear arm through the connecting member, and the first sealing member is provided between the joint assembly and the side wall of the front arm or the rear arm where the connecting member is not installed.

[0010] Further, a second through hole is provided at a position corresponding to the joint assembly on the second surface of the front arm and / or the first surface of the rear arm. A first cover plate is provided at the second through hole, and a second sealing member is provided between the first cover plate and the second through hole.

[0011] A multi-axis robotic arm described in the present utility model includes a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm. The lifting arm moves up and down along a first direction. The first swing arm, the second swing arm and the third swing arm are stacked along the first direction. The axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm extend along the first direction. The first swing arm, the second swing arm, the third swing arm and the rotating arm are distributed in sequence from the head end to the tail end of the multi-axis robotic arm. The second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, and the rotating arm rotates relative to the third swing arm. And the axial direction of the rotating shaft of the rotating arm is not parallel to the axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm. The lifting arm is connected to one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm. The sealing structure of the above-mentioned robotic arm is provided between at least two adjacent arms.

[0012] Further, the rotating arm includes a rotating part, and a third sealing member is provided on the rotating part for sealing the connection between the rotating part of the rotating arm and the load.

[0013] Furthermore, the rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm is drivably rotatable relative to the third swing arm about its own rotation axis, and the axial direction of the rotation axis of the first rotating arm is not parallel to the axial directions of the rotation axes of the first swing arm, the second swing arm, and the third swing arm. The second rotating arm is connected to the first rotating arm, and the rotating part is arranged on the second rotating arm. The rotating part is drivably rotatable relative to the first rotating arm about its own rotation axis, and the axial direction of the rotation axis of the rotating part is not parallel to the axial direction of the rotation axis of the first rotating arm.

[0014] Furthermore, the lifting arm includes a lifting arm body, a receiving seat, and a lifting driving device. The second end of the lifting arm body is installed in the receiving seat, and the lifting driving device is also installed in the receiving seat. A third through hole is formed at the top of the receiving seat. The first end of the lifting arm body passes through the third through hole and is connected to the first swing arm. The lifting driving device is configured to drive the lifting arm body to lift relative to the third through hole of the receiving seat; a fourth sealing member is arranged between the third through hole and the lifting arm body to seal the connection between the two.

[0015] Furthermore, at least one of the joint assemblies between the lifting arm and the first swing arm, between the first swing arm and the second swing arm, between the second swing arm and the third swing arm, and in the rotating arm has the following structure:

[0016] The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism, and a speed reduction mechanism. The main output shaft is a hollow structure with an axial through hole. The connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected to the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected to the main output shaft, and the driving mechanism is sleeved outside the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the speed reduction mechanism; the main output shaft is the rotation axis of the corresponding first swing arm, second swing arm, third swing arm, or rotating arm, and the driving mechanism is the driving mechanism of the corresponding first swing arm, second swing arm, third swing arm, or rotating arm.

[0017] Furthermore, the joint assembly further includes a braking mechanism and a heat dissipation mechanism. The braking mechanism cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating. The heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism is provided with fan blades. The heat dissipation mechanism, the braking mechanism, the driving mechanism, and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the rotating part of the main output shaft;

[0018] A end cover is provided at one end of the main output shaft away from the reduction mechanism. The end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft. The reduction mechanism is a harmonic reducer, which includes a wave generator, a flexspline, and a rigid gear. The wave generator is sleeved outside the connecting shaft and the main output shaft and is connected to the connecting shaft. The flexspline is sleeved outside the wave generator and is connected to the main output shaft. The rigid gear is sleeved outside the flexspline;

[0019] The heat dissipation mechanism includes a heat dissipation mounting seat, which is sleeved outside the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is provided on the heat dissipation mounting seat, and a plurality of fan blades are arranged at intervals along the circumferential direction of the annular connecting plate.

[0020] A multi-axis robotic arm of the present utility model includes a lifting arm, a first swing arm, and a second swing arm. The lifting arm lifts along a first direction. The first swing arm and the second swing arm are stacked along the first direction. The axial directions of the rotating shafts of the first swing arm and the second swing arm extend along the first direction. The rotating shafts of the first swing arm and the second swing arm are eccentrically arranged on the first swing arm and the second swing arm respectively. The second swing arm swings relative to the first swing arm. The lifting arm is connected to the first swing arm and / or the second swing arm. The first swing arm and the second swing arm are distributed in sequence from the head end to the tail end of the robotic arm. A rotating part is provided at the tail end of the second swing arm, and the axial direction of the rotating part extends along the first direction. A sealing structure of the robotic arm as described in any one of claims 1-3 is provided between at least two adjacent arms.

[0021] Further, a third sealing member is provided on the rotating part for sealing the connection between the rotating part and the load.

[0022] Further, the lifting arm includes a lifting arm body, a receiving seat, and a lifting driving device. The second end of the lifting arm body is installed in the receiving seat, and the lifting driving device is also installed in the receiving seat. A third through hole is provided at the top of the receiving seat. The first end of the lifting arm body passes through the third through hole and is connected to the first swing arm. The lifting driving device is configured to drive the lifting arm body to lift relative to the third through hole of the receiving seat; A fourth sealing member is provided between the third through hole and the lifting arm body for sealing the connection between the two.

[0023] Further, at least one of the joint assemblies between the lifting arm and the first swing arm, the joint assemblies between the first swing arm and the second swing arm, and the joint assemblies in the rotating part has the following structure:

[0024] The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft for driving the connecting shaft to rotate, and then driving the main output shaft to rotate after being decelerated by the reduction mechanism. The main output shaft is the rotating shaft of the corresponding first swing arm, second swing arm or rotating arm, and the driving mechanism is the driving mechanism of the corresponding first swing arm, second swing arm or rotating arm.

[0025] Furthermore, the joint assembly further includes a brake mechanism and a heat dissipation mechanism, the brake mechanism cooperates with the connecting shaft to prevent the connecting shaft from rotating when braking, thereby preventing the main output shaft from rotating, the heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, the heat dissipation mechanism is provided with fan blades, and the heat dissipation mechanism, the brake mechanism, the drive mechanism and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft toward the output end of the main output shaft;

[0026] An end cover is provided at one end of the main output shaft away from the reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft, the reduction mechanism is a harmonic reducer, the reduction mechanism includes a wave generator, a flexible wheel and a rigid wheel, the wave generator is sleeved on the outside of the connecting shaft and the main output shaft, and is connected to the connecting shaft, the flexible wheel is sleeved on the outside of the wave generator and is connected to the main output shaft, and the rigid wheel is sleeved on the outside of the flexible wheel;

[0027] The heat dissipation mechanism comprises a heat dissipation mounting seat, which is sleeved on the outer side of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is arranged on the heat dissipation mounting seat, and a plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

[0028] The multi-axis robot arm of the utility model has the sealing structure of the aforementioned robot arm, and thus has all the beneficial technical effects brought by the sealing structure of the robot arm, which will not be described one by one here. In addition, the multi-axis robot arm formed by the combination of each arm segment can be moved to the desired position more freely without an operation blind spot, and the structure of the multi-axis robot arm is more flexible and can work in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other purposes, features and advantages of the present invention will become more apparent through a more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals in all the accompanying drawings indicate the same parts, and the drawings are not intentionally scaled to the actual size, but the focus is on illustrating the subject matter of the present invention.

[0030] Figure 1 It is a perspective view of one embodiment of the multi-axis robotic arm in the present utility model.

[0031] Figure 2 It is a perspective view of another embodiment of the multi-axis robotic arm in the present utility model.

[0032] Figure 3 It is a perspective view with some mounting housings and covers removed.

[0033] Figure 4 It is Figure 1 the top view of.

[0034] Figure 5 It is Figure 4 the sectional view taken along the A-A direction in.

[0035] Figure 6 It is Figure 5 the enlarged partial view of part B in.

[0036] Figure 7 It is Figure 5 the enlarged partial view of part C in.

[0037] Figure 8 It is Figure 5 the enlarged partial view of part D in.

[0038] Figure 9 It is Figure 5 the enlarged partial view of part E in.

[0039] Figure 10 It is a perspective view with some components removed.

[0040] Figure 11 It is the structural schematic diagram of the joint assembly of the embodiment of the present utility model.

[0041] Figure 12 It is Figure 11 the sectional view of the joint assembly of.

[0042] Figure 13 It is Figure 11 the structural schematic diagram of the heat dissipation mechanism of the joint assembly of. Detailed implementation manners

[0043] To facilitate the understanding of the present utility model, the following will provide a more comprehensive description of the present with reference to the relevant drawings.

[0044] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element and integrated with it, or there may be intermediate elements present at the same time. The terms "mounted", "one end", "the other end" and similar expressions used herein are only for illustrative purposes.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this technology belongs. The terms used in the description of the specification herein are for the purpose of describing specific embodiments only and are not intended to limit the present utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0046] In this application, unless otherwise clearly specified and defined, a first feature being "on" or "under" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "over" and "on" a second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. A first feature being "under", "below" and "beneath" a second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0047] In the description of this specification, the description with reference to terms such as "preferred embodiment", "another embodiment", "other embodiments" or "specific examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0048] In this embodiment, a specific implementation manner of a sealing structure of a robotic arm is provided, including a forearm, a rear arm and a joint assembly. It can be understood that the forearm is adjacent to the rear arm; a first through hole is respectively formed on a first surface of the forearm and a second surface of the rear arm, so as to Figure 1In the placement state of the robotic arm, the first side is the top surface, and the second side is the bottom surface, that is, the first side of the front arm faces the second side of the rear arm; one end of the joint assembly extends into the front arm through the first through hole on the first side of the front arm and is connected to the front arm, and the other end extends into the rear arm through the first through hole on the second side of the rear arm and is connected to the rear arm. Through the joint assembly, the front arm and the rear arm can rotate relative to each other. A first seal is provided at the joint assembly, either between the front arm and the rear arm or between one of the front arm and the rear arm and the joint assembly. Specifically, when the first seal is provided between the front arm and the rear arm, it is provided between the first side of the front arm and the second side of the rear arm. A protruding neck can be provided at the first through hole on the first side of the front arm. The neck on the front arm extends into the rear arm through the first through hole of the rear arm, and the first seal is provided between the side wall of the neck of the front arm and the side wall of the rear arm (this side wall is the side wall at the first through hole). Of course, the position of the neck can also be reversed, that is, the neck is provided at the first through hole on the second side of the rear arm, and the neck on the rear arm extends into the front arm through the first through hole of the front arm, and the first seal is provided between the side wall of the neck of the rear arm and the side wall of the front arm (this side wall is the side wall at the first through hole). When the first seal is provided between one of the front arm and the rear arm and the joint assembly, a connecting member is provided on the outer side wall of the joint assembly. The connecting member can be a flange or other connecting members with the same function as the flange. When connecting the joint assembly between the front arm and the rear arm, the joint assembly is installed on the first side of the front arm or the second side of the rear arm through the connecting member on it. When the joint assembly is installed on the first side of the front arm through the connecting member on it, the first seal is provided between the joint assembly and the side wall of the rear arm. When the joint assembly is installed on the second side of the rear arm through the connecting member on it, the first seal is provided between the joint assembly and the side wall of the front arm.

[0049] In a preferred embodiment, second through holes are provided at positions corresponding to the joint assembly on the second side of the front arm and / or the first side of the rear arm. Specifically, second through holes can be provided only at positions corresponding to the joint assembly on the second side of the front arm, or only at positions corresponding to the joint assembly on the first side of the rear arm, or second through holes can be provided simultaneously at positions corresponding to the joint assembly on the second side of the front arm and the first side of the rear arm. By providing the second through holes corresponding to the joint assembly, it is convenient to repair the robotic arm and install the joint assembly; a first cover plate is provided at the second through hole, and a second seal is provided between the first cover plate and the second through hole to prevent external moisture, dust and other sundries from entering the interior of the robotic arm from the connection between the first cover plate and the second through hole, so as to improve the sealing performance inside the robotic arm, protect the precision components inside the robotic arm, ensure the normal operation of the robotic arm, and extend its service life.

[0050] This embodiment also provides an implementation manner of a multi-axis robotic arm. Refer to Figure 1 and 3-9, which includes a lifting arm 10, a first swing arm 20, a second swing arm 30, a third swing arm 40 and a rotating arm 50. The lifting arm 10 is drivable to lift in a first direction. In Figure 1 terms of the placement state of the multi-axis robotic arm shown, the first direction is the vertical direction. In other embodiments, when the multi-axis robotic arm is installed in other ways, such as fixed to a wall surface, it can also be the horizontal direction. The lifting mentioned here is also for the convenience of understanding the technical solution and does not limit the first direction to the vertical direction, but refers to moving along the first direction. The first swing arm 20, the second swing arm 30, and the third swing arm 40 are stacked in the first direction. The stacking mentioned here does not limit the first swing arm 20, the second swing arm 30, and the third swing arm 40 to be stacked together, but means that the first swing arm 20, the second swing arm 30, and the third swing arm 40 are at different heights in the first direction. The axial directions of the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 extend along the first direction, and the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are not coaxial. The axial directions of the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 extending along the first direction do not strictly limit the axial directions of the rotation axes to be parallel to the first direction, and there can also be a certain angle deviation (such as a deviation of 2-10 degrees). The rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 not being coaxial means that in a plane perpendicular to the first direction, the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are spaced apart by a certain distance. Figure 2The dashed lines on the first swing arm 20, the second swing arm 30, and the third swing arm 40 are the axial directions of their rotation axes. The first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are sequentially distributed from the head end to the tail end of the multi-axis robotic arm. The multi-axis robotic arm is usually installed in a certain position and carries other working parts (such as fixtures, detection devices, welding devices, etc.) to work. Here, the head end of the multi-axis robotic arm refers to its installation end, and the tail end refers to its working end. From the perspective of the multi-section arm, the so-called first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50 are sequentially distributed from the head end to the tail end of the multi-axis robotic arm, which does not limit that the first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50 must be continuous. Other arm sections can also be added in between, and only the appearance order of the first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50 from the head end to the tail end is limited. The second swing arm 30 is rotatable relative to the first swing arm 20 in a drivable manner, and the third swing arm 40 is rotatable relative to the second swing arm 30 in a drivable manner. The rotating arm 50 is rotatable relative to the third swing arm 40 about its own rotation axis in a drivable manner, and the axial direction of the rotation axis of the rotating arm 50 is not parallel to the axial directions of the rotation axes of the first swing arm 20, second swing arm 30, and third swing arm 40. It should be noted that since the rotating arm 50 can be composed of a combination of rotating shafts in multiple different directions, the so-called "the axial direction of the rotation axis of the rotating arm 50 is not parallel to the axial directions of the rotation axes of the first swing arm 20, second swing arm 30, and third swing arm 40" means that the axial direction of the first rotation axis of the rotating arm 50 relative to the third swing arm 40 is not parallel to the axial directions of the rotation axes of the first swing arm 20, second swing arm 30, and third swing arm 40, and does not limit whether the axial directions of other rotation axes are parallel. In fact, in multiple embodiments of the present invention, the rotating arm 50 is composed of a combination of two rotating shafts, and in some working states, the axial direction of the latter rotating shaft is parallel to the axial directions of the rotation axes of the first swing arm 20, second swing arm 30, and third swing arm 40. The lifting arm 10 is connected to one of the first swing arm 20 and the rotating arm 50, or is connected between two of the first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50. The so-called connection of the lifting arm 10 to one of the first swing arm 20 and the rotating arm 50 means that the lifting arm 10 is only connected to the first swing arm 20 or the rotating arm 50, and is not connected to other arms among the first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50. Those skilled in the art understand that the so-called "in a drivable manner" means that it can move under the drive of a drive mechanism. In other embodiments, at least one of the lifting arm 10, first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50 can also move under the drive of human force.In a preferred embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 can all be independently driven. That is, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are all provided with independent drive mechanisms, and the movements of each arm section do not interfere with each other, and their flexibility and operability are better. In addition, see. Figure 1 , in this embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20 or the tail end of the rotating arm 50. In other embodiments, the lifting arm 10 can also be connected between the first swing arm 20 and the second swing arm 30, or between the second swing arm 30 and the third swing arm 40, or between the tail end of the third swing arm 40 and the rotating arm 50. By arranging the lifting arm 10 between different arm sections, different effects can be achieved.

[0051] In this embodiment, the sealing structure of the robotic arm is provided between at least two adjacent arms. Specifically, the sealing structure of the robotic arm can be provided at the movement connection between the lifting arm 10 and the first swing arm 20. See Figure 5 and 6 , and the two are connected in a relatively rotatable manner through a joint assembly. The joint assembly here can be called the first joint assembly 22. The lifting arm 10 is equivalent to the front arm in the sealing structure of the robotic arm, and the first swing arm 20 is equivalent to the rear arm; the lifting arm 10 includes a lifting mounting housing 101, and the first swing arm 20 includes a first mounting housing 201. First through holes are distributed on the first surface of the lifting mounting housing 101 and on the second surface of the first mounting housing 201. A part of the first joint assembly 22 extends into its interior from the first through hole of the lifting mounting housing 101 and is connected to the lifting mounting housing 101. Another part of the first joint assembly 22 extends into its interior from the first through hole of the first mounting housing 201 and is connected to the first mounting housing 201. The first seal 61 is arranged at the first joint assembly 22 and between the lifting arm 10 and the first swing arm 20 or between one of the lifting arm 10 and the first swing arm 20 and the first joint assembly 22. By squeezing the first seal 61, the first seal 61 is deformed and closely adheres to the assembly surface, thereby sealing the movement connection between the first swing arm 20 and the lifting arm 10. The sealing structure of the robotic arm can be provided at the movement connection between the first swing arm 20 and the second swing arm 30. See Figure 5 and 7, the two are rotatably connected relative to each other through a joint assembly, and the joint assembly here can be called the second joint assembly 32. The first swing arm 20 is equivalent to the forearm in the sealing structure of the robotic arm, and the second swing arm 30 is equivalent to the rear arm; the first swing arm 20 includes a first mounting housing 201, and the second swing arm 30 includes a second mounting housing 301. First through holes are distributed on the first surface of the first mounting housing 201 and on the second surface of the second mounting housing 301. A part of the second joint assembly 32 extends into the first mounting housing 201 from the first through hole of the first mounting housing 201 and is connected to the first mounting housing 201. Another part of the second joint assembly 32 extends into the second mounting housing 301 from the first through hole of the second mounting housing 301 and is connected to the second mounting housing 301. The first seal 61 is arranged at the second joint assembly 32 and between the first swing arm 20 and the second swing arm 30 or between one of the first swing arm 20 and the second swing arm 30 and the second joint assembly 32. By squeezing the first seal 61, the first seal 61 is deformed and closely adheres to the mating surface, thereby sealing the moving connection between the first swing arm 20 and the second swing arm 30. The above-mentioned sealing structure of the robotic arm can be arranged at the moving connection between the second swing arm 30 and the third swing arm 40. See Figure 5 and 8 , the two are rotatably connected relative to each other through a joint assembly, and the joint assembly here can be called the third joint assembly 42. The second swing arm 30 is equivalent to the forearm in the sealing structure of the robotic arm, and the third swing arm 4 is equivalent to the rear arm; the second swing arm 30 includes a second mounting housing 301, and the third swing arm 40 includes a third mounting housing 401. First through holes are distributed on the first surface of the second mounting housing 301 and on the second surface of the third mounting housing 401. A part of the third joint assembly 42 extends into the second mounting housing 301 from the first through hole of the second mounting housing 301 and is connected to the second mounting housing 301. Another part of the third joint assembly 42 extends into the third mounting housing 401 from the first through hole of the third mounting housing 401 and is connected to the third mounting housing 401. The first seal 61 is arranged at the third joint assembly 42 and between the second swing arm 300 and the third swing arm 40 or between one of the second swing arm 30 and the third swing arm 40 and the third joint assembly 42. By squeezing the first seal 61, the first seal 61 is deformed and closely adheres to the mating surface, thereby sealing the moving connection between the second swing arm 30 and the third swing arm 40. In addition, second through holes are respectively arranged on the first surface and the second surface of the first mounting housing 201 of the first swing arm 20, on the first surface and the second surface of the second mounting housing 301 of the second swing arm 30, and on the first surface of the third mounting housing 401 of the third swing arm 40. The second through holes are sealed by the first cover plate 91 and the second seal 67.

[0052] In a preferred embodiment, the rotating arm includes a rotating part 522, on which a third seal is provided to seal the connection between the rotating part of the rotating arm and the load, which can prevent external contaminants such as moisture and dust from entering the interior of the multi-axis robotic arm through the through holes on the rotating part 522 at the connection between the load and the rotating part 522, effectively protecting the precision components inside the multi-axis robotic arm. In this embodiment, referring to Figure 1 and 5 , an annular mounting groove 523 adapted to the shape of the third seal is provided on the end face of the rotating part 522. A part of the third seal is fitted into the annular mounting groove 523, and a part of the third seal also protrudes outside the annular mounting groove 523. When the load is connected to the rotating part 522, the load presses the third seal, causing the third seal to deform and closely adhere to the wall surface of the load and fill the annular mounting groove 523, thereby sealing the connection between the load and the third seal 522.

[0053] In a preferred embodiment, the rotating arm includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 is drivably rotatable relative to the third swing arm 40 about its own axis of rotation, and the axis of rotation of the first rotating arm 51 is not parallel to the axes of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and a rotating part 521 is provided on the second rotating arm 52. The rotating part 521 is drivably rotatable relative to the first rotating arm 51 about its own axis of rotation, and the axis of rotation of the rotating part 521 is not parallel to the axis of rotation of the first rotating arm 51. In this embodiment, the rotating part 522 is an output flange. Through the combination of the first rotating arm 51 and the second rotating arm 52, the multi-axis robotic arm can perform various complex movements with high flexibility and can also complete various operation requirements in a narrow space. Of course, in other embodiments, the rotating arm may have only one rotating arm segment, such as only the first rotating arm 51, or may have three or more rotating arm segments. In this embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for moving the rotating arm to any position within the working range (similar to the function of a human arm), while the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robotic arm to perform various movements (similar to the function of a human wrist). The above-mentioned sealing structure of the robotic arm can be provided at the movement connection of the first rotating arm 51 and the second rotating arm 52. Referring to Figure 3 and 5, the two are rotatably connected to each other through a joint assembly, and the joint assembly here can be called the fourth joint assembly 72. The first rotating arm 51 is equivalent to the front arm in the sealing structure of the robotic arm, and the second rotating arm 52 is equivalent to the rear arm; the first rotating arm 51 includes a fourth mounting housing 511, and the second rotating arm 52 includes a fifth mounting housing 521. First through holes are distributed on the first surface of the fourth mounting housing 511 and on the second surface of the fifth mounting housing 521, so as to Figure 1 in the placement state of the manipulator in Figure 1 . Here, the first surface is the right end face, and the second surface is the left end face. A part of the fourth joint assembly 72 extends into the fourth mounting housing 511 from the first through hole of the fourth mounting housing 511 and is connected to the fourth mounting housing 511. A part of the fourth joint assembly 72 also extends into the fifth mounting housing 521 from the first through hole of the fifth mounting housing 521 and is connected to the fifth mounting housing 521. The first seal 61 is arranged at the fourth joint assembly 72 and between the first rotating arm 51 and the second rotating arm 52 or between one of the first rotating arm 51 and the second rotating arm 52 and the fourth joint assembly 72. By squeezing the first seal 61, the first seal 61 is deformed and tightly attached to the mating surface, thereby sealing the moving connection between the first rotating arm 51 and the second rotating arm 52. In addition, a through hole and a second cover plate 92 covering the through hole are also arranged on the fifth mounting housing 521. A fifth joint assembly 82 is arranged at the through hole. A part of the fifth joint assembly 82 extends into the fifth mounting housing 521 from the through hole and is connected to the fifth mounting housing 521. A part of the fifth joint assembly 82 also extends out of the through hole and penetrates through the second cover plate 92 to the outside of the fifth mounting housing 521. The part of the fifth joint assembly 82 extending out of the fifth mounting housing 521 serves as the rotating part 522. Fifth seals 65 for sealing the connection are respectively arranged between the rotating part 522 and the second cover plate 92 and among the second cover plate 92, the fifth mounting housing 521 and the fifth joint assembly 82. The rotating part 522 is also connected to the load to drive the load to move. Second through holes are respectively arranged on the second surface of the fourth mounting housing 511 of the first rotating arm 51 and on the first surface of the fifth mounting housing 521 of the second rotating arm 52. The second through holes are sealed by the first cover plate 91 and the second seal 67. In addition, the third mounting housing 401 and the fourth mounting housing 511 are integrally formed and connected.

[0054] In the preferred embodiment, refer to Figure 1 , Figure 3 , Figure 5 and Figure 10The lifting arm 10 includes a lifting arm body, a storage seat 12 and a lifting drive device 13. The storage seat 12 is in the shape of a box, the second end of the lifting arm body is installed in the storage seat 12, and the lifting drive device 13 is also installed in the storage seat 12. In this embodiment, the lifting drive device 13 is connected to the second end of the lifting arm body in a transmission manner. A third through hole is provided on the top of the storage seat 12, and the first end of the lifting arm body passes through the third through hole and is connected to the first swing arm 20. The lifting drive device 13 is configured to drive the lifting arm body to rise and fall relative to the third through hole of the storage seat 12. In this embodiment, the storage seat 12 can be used as the base of the multi-axis robot arm, and the storage seat 12 can be fixed on the ground or other installation platforms. A fourth seal 66 is provided between the third through hole and the lifting arm body for sealing the connection between the two. By providing the fourth seal 66, pollutants such as external moisture and dust can be prevented from entering the interior of the multi-axis robot arm from the connection between the lifting arm body and the storage seat 12, thereby effectively protecting the precision components inside the multi-axis robot arm. In this embodiment, see Figure 1 and 6 A top plate 121 is arranged on the top of the storage seat 12, a fourth through hole is arranged on the top plate 121, and a connection plate 122 with a central through hole is arranged in the fourth through hole, the lifting arm body passes through the central through hole of the connection plate 122, and a mounting groove is arranged on the inner wall of the connection plate 122, a portion of the fourth sealing member 66 is embedded in the mounting groove, and a portion of the fourth sealing member 66 protrudes out of the mounting groove, when the lifting arm body passes through the through hole on the connection plate 122, the side wall of the lifting arm body squeezes the fourth sealing member 66, so that the fourth sealing member 66 is deformed and closely attached to the outer wall of the lifting arm body and fills the mounting groove, thereby sealing the connection between the lifting arm body and the connection plate 122, that is, the fourth sealing member 66 is arranged between the third through hole and the lifting arm body. In addition, the lifting installation shell 101 is the installation shell of the lifting arm body.

[0055] Through the cooperation of the above-mentioned sealing components, the multi-axis robotic arm in the utility model can be effectively sealed, so that the interior of the multi-axis robotic arm in the utility model forms an effective sealing state, ensuring that the internal precision components are not damaged and can operate normally, thereby effectively extending the service life of the multi-axis robotic arm.

[0056] In addition, in this embodiment, see Figure 10, the lifting drive device 13 in the lifting arm 10 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt, a lead screw 134, a lead screw nut, and a ball guide bearing. The driving wheel 132 is connected to the output shaft of the lifting drive motor 131. The lead screw nut is connected to the driven wheel 133. The driving wheel 132 and the driven wheel 133 are drivingly connected by a synchronous belt 135. The lead screw 134 is in threaded engagement with the lead screw nut. The ball guide bearing is sleeved outside the lead screw 134. The lifting drive motor 131 drives the lead screw nut to rotate through the above-mentioned driving wheel 132, driven wheel 133, and synchronous belt, and further makes the lead screw 134 move up and down relative to the lead screw nut and the ball guide bearing. The lifting transmission assembly is drivingly connected between the lifting drive motor 131 and the lifting arm body. The lifting drive motor 131 is located directly below the second end of the lifting arm body. When the first end of the lifting arm body retracts into the storage seat 12, the lifting drive motor 131 is inserted into the through hole at the bottom of the second end of the lifting arm body. When the lifting arm body is in the retracted state, it is sleeved outside the lifting drive motor 131, which can reduce the overall height of the storage seat 12 and make the structure of the multi-axis robotic arm more compact.

[0057] In a preferred embodiment, refer to Figure 1 and 3 -13, at least one of the first joint assembly 22 between the lifting arm 10 and the first swing arm 20, the second joint assembly 32 between the first swing arm 20 and the second swing arm 30, the third joint assembly 42 between the second swing arm 30 and the third swing arm 40, the fourth joint assembly 72 between the first rotating arm 51 and the second rotating arm 52, and the fifth joint assembly 82 in the second rotating arm 52 has the following structure:

[0058] Please refer to Figures 11 to 13, including a main output shaft 701, a connecting shaft 702, a driving mechanism 704 and a speed reduction mechanism 703. The main output shaft 701 is a hollow structure with an axial through hole, through which wires and air pipes 900 can pass. A flange is provided on the rotating part of the main output shaft 701 for connecting with the corresponding arm segment. The connecting shaft 702 is sleeved outside the main output shaft 701, and the speed reduction mechanism 703 is sleeved outside the main output shaft 701. The connecting shaft 702 is connected to the input end of the speed reduction mechanism 703, and the rotating part of the speed reduction mechanism 703 is connected to the main output shaft 702. The driving mechanism 704 is sleeved outside the connecting shaft 702 and is used to drive the connecting shaft 702 to rotate, and then drive the main output shaft 701 to rotate after being decelerated by the speed reduction mechanism 703. Specifically, the driving mechanism 704 includes a stator 7042 and a rotor 7041. The rotor 7041 is sleeved outside the connecting shaft 702, and the stator 7042 is sleeved outside the rotor 7041 and is used to drive the rotor 7041 to rotate. The housings of the speed reduction mechanism 703 and the driving mechanism 704 can be fixed on the previous arm segment, and the rotating part of the main output shaft 701 is fixedly connected to the next arm segment. Since the driving mechanism 704 generally rotates at a relatively high speed while the arm segment rotates at a relatively low speed, the power output of the driving mechanism 704 is transmitted to the connecting shaft 702, passed through the connecting shaft 702 to the input end of the speed reduction mechanism 703, decelerated by the speed reduction mechanism 703, and then output to the main output shaft 701 through the rotating part of the speed reduction mechanism 703, and then transmitted to the arm segment through the main output shaft 701. The main output shaft 701 is arranged as a hollow structure with an axial through hole, which can enable cables, air pipes and other lines to pass through the inner cavity of the main output shaft 701 to achieve electrical connection, etc., avoiding the external placement of cables, air pipes, etc. of the multi-axis robotic arm, thereby making the internal structure of the multi-axis robotic arm compact and the appearance neat and beautiful.

[0059] In a preferred embodiment, the joint assembly further includes a braking mechanism 705 and a heat dissipation mechanism 706. The braking mechanism 705 cooperates with the connecting shaft 702 and is used to stop the connecting shaft 702 from rotating during braking, and thus stop the main output shaft 701 from rotating. The heat dissipation mechanism 706 is sleeved outside the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706 is provided with fan blades for dissipating heat from the joint assembly. The heat dissipation mechanism 706, the braking mechanism 705, the driving mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 towards the rotating part of the main output shaft 703, so as to Figure 13 be arranged in sequence from bottom to top in terms of perspective. This arrangement makes the structure of the joint assembly very compact and the volume relatively small.

[0060] In a preferred embodiment, a end cover 707 is provided at one end of the main output shaft 701 away from the reduction mechanism 703 (i.e., the end opposite to the rotating part). The end cover 707 is sleeved on the outside of the main output shaft 701, and a first bearing 708 is provided between the end cover 707 and the main output shaft 701. This first bearing 708 can enhance the load-bearing capacity of the first joint assembly and is more durable. The reduction mechanism 703 is a harmonic reducer. The reduction mechanism 703 includes a wave generator 7031, a flexspline 7033, and a rigid gear 7032. The wave generator 7031 serves as the input end of the reduction mechanism 703, is sleeved on the outside of the connecting shaft 702 and the main output shaft 701, and is connected to the connecting shaft 702. The flexspline 7033 serves as the rotating part of the reduction mechanism 703, is sleeved on the outside of the wave generator 7031, and is connected to the main output shaft 701. The rigid gear 7032 is sleeved on the outside of the flexspline 7033.

[0061] Please refer to Figure 13 , in a preferred embodiment, the heat dissipation mechanism 706 includes a heat dissipation mounting base 7061. The heat dissipation mounting base 7061 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 706. An annular connecting plate 7064 is provided on the heat dissipation mounting base 7061. A plurality of fan blades 7062 are arranged at intervals along the circumferential direction of the annular connecting plate 7064. By providing the heat dissipation assembly 706, the fan blades 7062 rotate to generate wind power to quickly blow out the heat generated by the internal work of the joint assembly 70. A plurality of heat dissipation holes can be provided on the end cover 707, and the hot air flow fanned by the fan blades 7062 will quickly flow out from the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0062] It can be understood that when the joint assembly connects the lifting arm to the first swing arm 20, the flange of the rotating part of the main output shaft 701 in the joint assembly extends into the first swing arm 20 and is connected to the first swing arm 20, and the rest of the joint assembly is located in the lifting arm 10 and is connected to the lifting arm 10. By driving the driving mechanism 704, the flange drives the first swing arm 20 to rotate, so that the first swing arm 20 can swing relative to the lifting arm 10; when the joint assembly connects the first swing arm 20 to the second swing arm 30, the flange of the rotating part of the main output shaft 701 in the joint assembly extends into the second swing arm 30 and is connected to the second swing arm 30, and the rest of the joint assembly is located in the first swing arm 20 and is connected to the first swing arm 20. By driving the driving mechanism 704, the flange drives the second swing arm 30 to rotate, so that the second swing arm 30 can swing relative to the first swing arm 20; when the joint assembly connects the third swing arm 40 to the second swing arm 30, the flange of the rotating part of the main output shaft 701 in the joint assembly extends into the third swing arm 40 and is connected to the third swing arm 40, and the rest of the joint assembly is located in the second swing arm 30 and is connected to the second swing arm 30. By driving the driving mechanism 704, the flange drives the third swing arm 40 to rotate, so that the third swing arm 40 can swing relative to the second swing arm 30; when the joint assembly connects the first rotating arm 51 to the second rotating arm 52, the flange of the rotating part of the main output shaft 701 in the joint assembly extends into the first rotating arm 51 and is connected to the first rotating arm 51, and the rest of the joint assembly is located in the second rotating arm 52 and is connected to the second rotating arm 52. By driving the driving mechanism 704, the flange drives the second rotating arm 52 to rotate, and the rotation of the first rotating arm 51 is only around the axis of the main output shaft 701; when the joint assembly is arranged in the second rotating arm 52, the flange of the rotating part of the main output shaft 701 in the joint assembly extends out of the second rotating arm 52, and the part located in the second rotating arm is connected to the second rotating arm 52. By driving the driving mechanism 704, the flange drives the load connected to the second rotating arm to rotate, and the rotation of the second rotating arm is only around the axis of the main output shaft 701.

[0063] This embodiment also specifically provides an implementation manner of a multi-axis robotic arm. Refer to Figure 2 , the multi-axis robotic arm in this embodiment is different from the multi-axis robotic arm in Figure 1 in that it does not have a rotating arm and a third swing arm, and another difference between the multi-axis robotic arm in this embodiment and the embodiment of the multi-axis robotic arm in Figure 1 is that the rotating part is arranged on the second swing arm, and the axis of the rotating part extends along the first direction. Refer to Figure 2 . Except for the above two differences, the other structures of the multi-axis robotic arm in this embodiment refer to the corresponding structures of the multi-axis robotic arm in the foregoing Figure 1 , and will not be elaborated here.

[0064] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A sealing structure of a robotic arm, characterized in that: It includes a forearm, a hindarm and a joint assembly. First through holes are respectively formed in the first surface of the forearm and the second surface of the hindarm. One end of the joint assembly extends into the forearm through the first through hole in the first surface of the forearm and is connected to the forearm, and the other end extends into the hindarm through the first through hole in the second surface of the hindarm and is connected to the hindarm. The forearm and the hindarm can rotate relative to each other through the joint assembly. A first seal is provided at the joint assembly between the forearm and the hindarm or between one of the forearm and the hindarm and the joint assembly.

2. The sealing structure of the robotic arm according to claim 1, wherein: A protruding neck is provided at the first through hole of the forearm. The neck on the forearm extends into the hindarm through the first through hole of the hindarm. The first seal is provided between the side wall of the neck on the forearm and the side wall of the hindarm; or a protruding neck is provided at the first through hole of the hindarm. The neck on the hindarm extends into the forearm through the first through hole of the forearm. The first seal is provided between the side wall of the neck on the hindarm and the side wall of the forearm. Alternatively, a connecting member is provided on the outer side wall of the joint assembly. When connecting the joint assembly between the forearm and the hindarm, the joint assembly is installed on the forearm or the hindarm through the connecting member. The first seal is provided between the joint assembly and the side wall of the forearm or the hindarm where the connecting member is not installed.

3. The sealing structure of the robotic arm according to claim 1, characterized in that: Second through holes are provided at positions corresponding to the joint assembly on the second surface of the forearm and / or the first surface of the hindarm. A first cover plate is provided at the second through hole. A second seal is provided between the first cover plate and the second through hole.

4. A multi-axis robotic arm, characterized in that: It includes a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm. The lifting arm lifts along a first direction. The first swing arm, the second swing arm and the third swing arm are stacked along the first direction. The axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm extend along the first direction. The first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis robotic arm. The second swing arm rotates relative to the first swing arm. The third swing arm rotates relative to the second swing arm. The rotating arm rotates relative to the third swing arm. And the axial direction of the rotating shaft of the rotating arm is not parallel to the axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm. The lifting arm is connected to one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm. A sealing structure of the robotic arm as described in any one of claims 1-3 is provided between at least two adjacent arms.

5. The multi-axis robotic arm according to claim 4, characterized in that: The rotating arm includes a rotating part. A third seal is provided on the rotating part for sealing the connection between the rotating part of the rotating arm and the load.

6. The multi-axis robotic arm according to claim 5, characterized in that: The rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm can be driven to rotate relative to the third swing arm around its own rotating shaft. And the axial direction of the rotating shaft of the first rotating arm is not parallel to the axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm. The second rotating arm is connected to the first rotating arm. The rotating part is provided on the second rotating arm. The rotating part can be driven to rotate relative to the first rotating arm around its own rotating shaft. The axial direction of the rotating shaft of the rotating part is not parallel to the axial direction of the rotating shaft of the first rotating arm.

7. The multi-axis robotic arm according to any one of claims 4-6, characterized in that: The lifting arm includes a lifting arm body, a storage seat, and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. A third through hole is formed at the top of the storage seat. The first end of the lifting arm body passes through the third through hole and is connected to the first swing arm. The lifting drive device is configured to drive the lifting arm body to lift relative to the third through hole of the storage seat; a fourth sealing member is provided between the third through hole and the lifting arm body to seal the connection between the two.

8. The multi-axis robotic arm according to any one of claims 4-6, characterized in that: At least one of the joint assemblies between the lifting arm and the first swing arm, between the first swing arm and the second swing arm, between the second swing arm and the third swing arm, and in the rotating arm has the following structure: The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a speed reduction mechanism. The main output shaft is a hollow structure with an axial through hole. The connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected to the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected to the main output shaft, and the drive mechanism is sleeved outside the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the speed reduction mechanism; the main output shaft is the rotating shaft of the corresponding first swing arm, second swing arm, third swing arm, or rotating arm, and the drive mechanism is the drive mechanism of the corresponding first swing arm, second swing arm, third swing arm, or rotating arm.

9. The multi-axis robotic arm according to claim 8, wherein: The joint assembly further includes a braking mechanism and a heat dissipation mechanism. The braking mechanism cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating. The heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft. A fan blade is provided on the heat dissipation mechanism. The heat dissipation mechanism, the braking mechanism, the drive mechanism, and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the rotating part of the main output shaft; An end cover is provided at one end of the main output shaft away from the speed reduction mechanism. The end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft. The speed reduction mechanism is a harmonic reducer, and the speed reduction mechanism includes a wave generator, a flexible gear, and a rigid gear. The wave generator is sleeved outside the connecting shaft and the main output shaft and is connected to the connecting shaft. The flexible gear is sleeved outside the wave generator and is connected to the main output shaft. The rigid gear is sleeved outside the flexible gear; The heat dissipation mechanism includes a heat dissipation mounting seat. The heat dissipation mounting seat is sleeved outside the connecting shaft and can rotate with the connecting shaft. The heat dissipation mounting seat is provided with an annular connecting plate, and a plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

10. A multi-axis robotic arm, characterized in that: It includes a lifting arm, a first swing arm, and a second swing arm. The lifting arm moves up and down in a first direction. The first swing arm and the second swing arm are stacked in the first direction. The axial directions of the rotation shafts of the first swing arm and the second swing arm extend in the first direction. The rotation shafts of the first swing arm and the second swing arm are eccentrically arranged on the first swing arm and the second swing arm respectively. The second swing arm swings relative to the first swing arm. The lifting arm is connected to the first swing arm and / or the second swing arm. The first swing arm and the second swing arm are sequentially distributed from the head end to the tail end of the robotic arm. A rotating part is provided at the tail end of the second swing arm, and the axial direction of the rotating part extends in the first direction. A sealing structure of the robotic arm as described in any one of claims 1-3 is provided between at least two adjacent arms.

11. The multi-axis robotic arm according to claim 10, characterized in that: A third seal is provided on the rotating part for sealing the connection between the rotating part and the load.

12. The multi-axis robotic arm according to claim 10 or 11, characterized in that: The lifting arm includes a lifting arm body, a receiving seat, and a lifting drive device. The second end of the lifting arm body is installed in the receiving seat, and the lifting drive device is also installed in the receiving seat. A third through hole is provided at the top of the receiving seat. The first end of the lifting arm body passes through the third through hole and is connected to the first swing arm. The lifting drive device is configured to drive the lifting arm body to move up and down relative to the third through hole of the receiving seat; a fourth seal is provided between the third through hole and the lifting arm body for sealing the connection between the two.

13. The multi-axis robotic arm according to claim 10 or 11, characterized in that: At least one of the joint assemblies between the lifting arm and the first swing arm, the joint assembly between the first swing arm and the second swing arm, and the joint assembly in the rotating part has the following structure: The joint assembly includes a main output shaft, a connecting shaft, a drive mechanism, and a reduction mechanism. The main output shaft is a hollow structure with an axial through hole. The connecting shaft is sleeved outside the main output shaft. The reduction mechanism is sleeved outside the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism, and the output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved outside the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism. The main output shaft is the rotation shaft of the corresponding first swing arm, second swing arm, or rotating arm. The drive mechanism is the drive mechanism of the corresponding first swing arm, second swing arm, or rotating arm.

14. The multi-axis robotic arm according to claim 13, wherein: The joint assembly further includes a braking mechanism and a heat dissipation mechanism. The braking mechanism cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating. The heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft. Fan blades are provided on the heat dissipation mechanism. The heat dissipation mechanism, the braking mechanism, the drive mechanism, and the reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft; An end cover is provided at one end of the main output shaft away from the reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft, the reduction mechanism is a harmonic reducer, the reduction mechanism includes a wave generator, a flexible wheel and a rigid wheel, the wave generator is sleeved on the outside of the connecting shaft and the main output shaft, and is connected to the connecting shaft, the flexible wheel is sleeved on the outside of the wave generator and is connected to the main output shaft, and the rigid wheel is sleeved on the outside of the flexible wheel; The heat dissipation mechanism comprises a heat dissipation mounting seat, which is sleeved on the outer side of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is arranged on the heat dissipation mounting seat, and a plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

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