Multi-shaft robotic arm

Abstract

The utility model provides a multi-axis robotic arm which comprises a base, a first arm section, a second arm section, a third arm section, a fourth arm section and a fifth arm section, the first arm section, the second arm section, the third arm section, the fourth arm section and the fifth arm section are installed on the base and sequentially and rotatably connected from head to tail, the fifth arm section is used for installing a load, the first arm section can rotate relative to the base, and a rotating shaft of the first arm section is axially in the first direction. The first arm section, the second arm section and the third arm section are sequentially stacked on the same side in the second direction, the rotating shaft direction of the second arm section and the third arm section is in the second direction, the rotating shaft axial direction of the fourth arm section is in the second direction or the third direction, the second direction is not parallel to the first direction, and the third direction is not parallel to the second direction. And the axial direction of the rotating shaft of the fifth arm section is not parallel to the axial direction of the rotating shaft of the fourth arm section. According to the multi-axis robotic arm, the first arm section, the second arm section and the third arm section are sequentially arranged on the same side in the second direction in a stacked mode, all the arm sections cannot interfere with the front arm sections in the working process, and the multi-axis robotic arm has high freedom degree and flexibility.

Description

Technical Field

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

[0002] Robots have now been widely used in the industrial field, such as handling, assembling, inspecting and other processes. Please refer to Figure 1 , which records a robotic arm in the related art. The robotic arm includes a base 1, a plurality of robotic arm housings 2, and joints 3 connected between the base 1 and the robotic arm housings 2. An air joint 4 and an electrical joint 5 are provided on the joints 3. However, the arm segments of this robotic arm cannot rotate 360 degrees, and their rotation ranges are restricted by each other. Therefore, this robotic arm is quite limited when working in a narrow space. Summary of the Utility Model

[0003] In view of this, the purpose of the utility model is to provide a more flexible multi-axis robotic arm.

[0004] The technical solution adopted by the utility model is: a multi-axis robotic arm, including a base and a first arm segment, a second arm segment, a third arm segment, a fourth arm segment and a fifth arm segment which are rotatably connected in sequence from the head to the tail and mounted on the base. The fifth arm segment is used for mounting a load. The first arm segment is rotatable relative to the base. The axis of the rotation shaft of the first arm segment is along a first direction. The first arm segment, the second arm segment and the third arm segment are arranged in layers on the same side in sequence along a second direction. The axis directions of the rotation shafts of the second arm segment and the third arm segment are along the second direction. The axis of the rotation shaft of the fourth arm segment is along the second direction or a third direction. The second direction is not parallel to the first direction. The third direction is not parallel to the second direction. The axis of the rotation shaft of the fifth arm segment is not parallel to the axis of the rotation shaft of the fourth arm segment.

[0005] In a preferred embodiment, the rotation angle ranges of the first arm segment, the second arm segment and the third arm segment are all greater than or equal to 360 degrees, and the rotation angle ranges of the fourth arm segment and the fifth arm segment are also greater than or equal to 360 degrees.

[0006] In a preferred embodiment, an externally output installation rotation part is further provided on the fifth arm segment. The axis of the rotation shaft of the installation rotation part is not parallel to the axis of the rotation shaft of the fifth arm segment. The load is mounted on the installation rotation part.

[0007] In a preferred embodiment, the first arm segment is rotatably connected to the base. The first arm segment, the second arm segment, the third arm segment, the fourth arm segment and the fifth arm segment are connected in sequence from the head to the tail. The rotation angle ranges of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment and the installation rotation part are all greater than or equal to 360 degrees.

[0008] In a preferred embodiment, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment, and the mounting rotating part can all rotate independently under the drive of corresponding drive mechanisms. In the first working posture, the rotating shaft of the mounting rotating part is coaxial with the rotating shaft of the first arm segment.

[0009] In a preferred embodiment, when the second arm segment rotates downward towards the base, there is a gap between the lower end of the second arm segment and the first arm segment or the base.

[0010] In a preferred embodiment, the first arm segment is rotatably connected to the base, the length of the first arm segment is greater than the length of the second arm segment, or in the radial direction of the base, the second arm segment is located outside the upper edge of the base.

[0011] In a preferred embodiment, the first arm segment is rotatably connected to the base, the first arm segment has an extension portion extending along a first direction and away from the base, the extension portion is offset from the center of the rotating shaft of the first arm segment in a second direction, the second arm segment is rotatably connected to the extension portion, and the second arm segment is located on the side of the extension portion closer to the center of the rotating shaft of the first arm segment in the second direction.

[0012] In a preferred embodiment, the first arm segment further includes a base portion, the extension portion is connected to one end of the base portion, the base portion is rotatably connected to the base, the second arm segment is located above the base portion, and when the second arm segment rotates downward towards the base portion, there is a gap between it and the upper surface of the base portion.

[0013] In a preferred embodiment, the axial direction of the rotating shaft of the fourth arm segment is along the second direction, and the first arm segment, the second arm segment, the third arm segment, and the fourth arm segment are stacked on the same side in sequence along the second direction.

[0014] In a preferred embodiment, the first arm segment is rotatably connected to the base, the first arm segment includes a base portion and an extension portion connected to one end of the base portion and extending along a first direction and away from the base, the extension portion is offset from the center of the rotating shaft of the first arm segment in a second direction, the base portion is rotatably connected to the base, the second arm segment is rotatably connected to the extension portion, the second arm segment is located on the side of the extension portion closer to the center of the rotating shaft of the first arm segment in the second direction and above the base portion, and when the second arm segment rotates downward towards the base portion, there is a gap between it and the upper surface of the base portion;

[0015] The base portion extends in the second direction, and the length of the base portion in the second direction is greater than the sum of the lengths of the second arm segment and the third arm segment in the second direction; or the base portion extends in the second direction, and the length of the base portion in the second direction is greater than the sum of the lengths of the second arm segment, the third arm segment, and the fourth arm segment in the second direction.

[0016] In a preferred embodiment, the base, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment all have hollow shells. The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, and the fourth arm segment and the fifth arm segment are all rotatably connected by joint components. The rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are respectively arranged on the joint components between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment. Moreover, the rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are all of hollow structures. Part of the wires and / or air pipes sequentially pass through the rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment and extend out from the installation rotation portion.

[0017] In a preferred embodiment, the base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, and the fourth arm segment and the fifth arm segment are all rotatably connected by joint components. A joint component connected to the installation rotation portion is further arranged in the fifth arm segment. At least one of the third arm segment, the fourth arm segment, and the fifth arm segment includes a transverse cylinder and a longitudinal cylinder that are connected to each other and axially perpendicular. Independent joint components are respectively arranged in the transverse cylinder and the longitudinal cylinder. The wires and / or air pipes pass through one of the transverse cylinder and the longitudinal cylinder and the corresponding joint component, enter the other of the transverse cylinder and the longitudinal cylinder and the corresponding joint component, and extend out from the other of the transverse cylinder and the longitudinal cylinder; or

[0018] The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, and the fourth arm segment and the fifth arm segment are all rotatably connected via a joint assembly, and the fifth arm segment is also provided with a joint assembly connected to the installation rotating part, and the third arm segment, the fourth arm segment, and the fifth arm segment all include a transverse column and a longitudinal column that are connected to each other and axially perpendicular, the transverse column of the third arm segment is rotatably connected to the second arm segment, the longitudinal column of the third arm segment is rotatably connected to the longitudinal column of the fourth arm segment and is coaxially arranged, the transverse column of the fourth arm segment is rotatably connected to the transverse column of the fifth arm segment and is coaxially arranged, the installation rotating part is installed on the longitudinal column of the fifth arm segment, and the second arm segment and the third arm segment are connected. The joint assembly between the arm segments partially extends into the transverse column of the third arm segment, the joint assembly between the third arm segment and the fourth arm segment partially extends into the longitudinal column of the third arm segment, and the other portion extends into the longitudinal column of the fourth arm segment, the joint assembly between the fourth arm segment and the fifth arm segment partially extends into the transverse column of the fourth arm segment, and the other portion extends into the transverse column of the fifth arm segment, the joint assembly arranged in the fifth arm segment and connected to the mounting rotating part is installed on the longitudinal column of the fifth arm segment, and some wires and / or air pipes pass through the joint assemblies between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment in sequence, and pass through the mounting rotating part.

[0019] In a preferred embodiment, the rotation axis of the fourth arm segment is axially along a third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, and the rotation axis of the fifth arm segment is axially perpendicular to the rotation axis of the fourth arm segment.

[0020] In a preferred embodiment, the base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, and the fourth arm segment and the fifth arm segment are all rotatably connected via joint assemblies, and at least one of the joint assemblies has the following structure:

[0021] 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 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.

[0022] The main output shaft is the rotating shaft of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment, and fifth arm segment, and the driving mechanism is the driving mechanism of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment, and fifth arm segment.

[0023] In a preferred embodiment, the joint assembly further includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, and thus stop the main output shaft from rotating. The braking mechanism, driving mechanism, and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft. A 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.

[0024] In a preferred embodiment, the speed reduction mechanism is a harmonic reducer, which includes a wave generator, a flexspline, and a rigid ring. The wave generator is sleeved outside the main output shaft and is connected to the connecting shaft. The flexspline is sleeved outside the wave generator, and the rigid ring is sleeved outside the flexspline and is connected to the main output shaft;

[0025] The joint assembly further includes a heat dissipation mechanism, which is sleeved outside the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, braking mechanism, driving mechanism, and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft; 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.

[0026] In a preferred embodiment, the load is a grasping device, a detection device, a fixing fixture, or a connecting device.

[0027] In a preferred embodiment, at least one of the following robotic arm sealing structures is adopted between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment:

[0028] The sealing structure of the robotic arm includes a front arm, a rear arm, and a joint assembly. Mounting holes are 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 mounting 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 mounting 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 sealing member is provided at 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.

[0029] In a preferred embodiment, a neck portion facing the rear arm is provided at the mounting hole of the front arm. The neck portion on the front arm extends into the rear arm through the mounting hole of the rear arm, and the sealing member is provided between the side wall of the neck portion on the front arm and the side wall of the rear arm; or

[0030] 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 mounted on the front arm or the rear arm through the connecting member thereon, and the 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 mounted.

[0031] In the multi-axis robotic arm according to the embodiment of the present invention, by arranging the first arm segment, the second arm segment, and the third arm segment to be sequentially stacked on the same side along the second direction, it is ensured that each arm segment of the multi-axis robotic arm will not interfere with the previous arm segment during operation, enabling the multi-axis robotic arm to have a high degree of freedom and flexibility and be able to complete complex movements in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features, and advantages of the present invention will become more apparent from the preferred embodiments of the present invention shown in the drawings. Identical reference numerals indicate identical parts throughout all the drawings, and the drawings are not deliberately drawn to scale in actual size, with the emphasis on showing the gist of the present invention.

[0033] Figure 1 It is a schematic structural diagram of a multi-axis robotic arm in the related art.

[0034] Figure 2 and Figure 3 It is a schematic structural diagram of the multi-axis robotic arm in the first embodiment of the present invention in different states.

[0035] Figure 4 It is a cross-sectional view of the multi-axis robotic arm in the first embodiment of the present invention.

[0036] Figure 5 It is a schematic structural diagram of the multi-axis robotic arm in the second embodiment of the present invention.

[0037] Figure 6 It is a schematic structural diagram of the multi-axis robotic arm in the third embodiment of the present invention.

[0038] Figure 7 It is a schematic structural diagram of the joint assembly according to the embodiment of the present invention.

[0039] Figure 8 For Figure 7 a cross-sectional view of the joint assembly.

[0040] Figure 9 For Figure 8 a schematic structural diagram of the heat dissipation mechanism of the joint assembly.

[0041] Figure 10 Schematic diagram of the sealing structure of the multi-axis robotic arm according to an embodiment of the present invention.

[0042] Figure 11 Schematic diagram of the sealing structure of the multi-axis robotic arm according to another embodiment of the present invention. Detailed implementation manners

[0043] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it. However, the embodiments cited are not intended to limit the present invention. In this embodiment, it should be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[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 an intermediate element at the same time. The terms "installation", "one end", "the other end" and similar expressions used in the present invention are only for the purpose of illustration.

[0045] Please refer to Figures 2 to 11 , an embodiment of the present invention provides a multi-axis robotic arm, which includes a base 80 and a first arm segment 10, a second arm segment 20, a third arm segment 30, a fourth arm segment 40, and a fifth arm segment 50 that are sequentially rotatably connected from the head to the tail and installed on the base 80. That is, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are installed on the base 80 as a whole, and the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are rotatably connected to each other. The multi-axis robotic arm is usually installed in a certain position and carries a load 90 (such as a fixture, a detection device, a welding device, etc.) to work. The head end of the multi-axis robotic arm referred to here is its installation end, and the tail end is its working end. From the head to the tail means from the head end to the tail end. In this embodiment, the base 80 is used to be installed on the ground, on the wall, or on other working platforms, and the fifth arm segment 50 is used to install the load 90. In the first and second embodiments, an installation rotating part 53 that can rotate relative to the rotating shaft of the fifth arm segment 50 is provided on the fifth arm segment 50, and the load 90 is installed on the installation rotating part 53. In some other embodiments, the load 90 can also be directly fixed on the fifth arm segment 50.

[0046] The first arm segment 10 is rotatable relative to the base 80, and the axial direction of the rotation axis of the first arm segment 10 is along the first direction. In this embodiment, the first arm segment 10 is directly rotatably connected to the base 80. In other embodiments, a rotating member that can rotate relative to the base 80 and whose axial direction of the rotation axis is along the first direction may be provided on the base 80. The first arm segment 10 is fixed to the rotating member or the first arm segment 10 is rotatably connected to the rotating member. The first arm segment 10 is rotatable relative to the base 80 driven by the rotating member and the axial direction of the rotation axis is along the first direction.

[0047] The first arm segment 10, the second arm segment 20, and the third arm segment 30 are sequentially stacked on the same side along the second direction, and the axial directions of the rotation axes of the second arm segment 20 and the third arm segment 30 are along the second direction. The statement that the first arm segment 10, the second arm segment 20, and the third arm segment 30 are sequentially stacked on the same side along the second direction means that in the second direction, the second arm segment 20 is located on one side of the first arm segment 10, the third arm segment 30 is located on the side of the second arm segment 20 away from the first arm segment 10, and the three are stacked and connected. For Figure 4 example, the first arm segment 10, the second arm segment 20, and the third arm segment 30 are stacked from right to left. The second arm segment 20 is located on the left side of the first arm segment 10, and the third arm segment 30 is located on the side of the second arm segment 20 away from the first arm segment 10 (left side).

[0048] The axial direction of the rotation axis of the fourth arm segment 40 is along the second direction or the third direction. Please refer to Figures 2 to 4 In Embodiment 1, the axial direction of the rotation axis of the fourth arm segment 40 is along the third direction. Please refer to Figure 5 In Embodiment 2, the axial directions of the rotation axes of the fourth arm segment 40 are all along the second direction. The second direction is not parallel to the first direction, and the third direction is not parallel to the second direction. In Figure 2 the embodiment shown, the dotted lines represent the rotation axes of the respective arm segments. The first direction is the up-down direction, and the second direction is the horizontal direction. In certain postures of the multi-axis robotic arm, the third direction can be parallel to the first direction. The axial direction of the rotation axis of the fifth arm segment 50 is not parallel to the axial direction of the rotation axis of the fourth arm segment 40.

[0049] By arranging the first arm segment 10, the second arm segment 20, and the third arm segment 30 to be sequentially stacked on the same side along the second direction, it is ensured that the respective arm segments of the multi-axis robotic arm do not interfere with the previous arm segments during operation, enabling the multi-axis robotic arm to have a high degree of freedom and flexibility and be able to complete complex actions in a narrow space.

[0050] In a preferred embodiment, the rotation angle ranges of the first arm segment 10, the second arm segment 20, and the third arm segment 30 are all greater than or equal to 360 degrees, and the rotation angle ranges of the fourth arm segment 40 and the fifth arm segment 50 are also greater than or equal to 360 degrees. When the rotation angle range of the first arm segment 10 is equal to 360 degrees, the first arm segment 10 can rotate reciprocally 360 degrees relative to the base 80. When the rotation angle range is greater than 360 degrees, it can continuously rotate unidirectionally. The rotation conditions of the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are similar to those of the first arm segment 10. Since each arm segment can rotate 360 degrees or more, the multi-axis robotic arm has a high degree of freedom and flexibility, can complete complex actions in a narrow space, and has very few working blind spots.

[0051] It should be noted that the rotation axes of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 referred to in this application all refer to the rotation axes of the arm segments relative to the previous arm segment (forward is towards the head end of the multi-axis robotic arm), and the rotation angle ranges referred to also refer to the rotation angle ranges relative to the previous arm segment. For the first arm segment 10, it is the rotation angle range relative to the base 80. The axial direction of the rotation axis of the first arm segment 10 along the first direction is not strictly limited to being parallel to the first direction, and there can also be a certain angle deviation (for example, a deviation of 2 - 10 degrees). Similarly, in the above descriptions of "along the second direction", "along the third direction", and the following "perpendicular", etc., there can also be a certain angle deviation.

[0052] In a preferred embodiment, an installation rotation part 53 for externally outputting rotation is further provided on the fifth arm segment 50, that is, the installation rotation part 53 can rotate relative to the body of the fifth arm segment 50. The axial direction of the rotation axis of the installation rotation part 53 is not parallel to the axial direction of the rotation axis of the fifth arm segment 50, and the load 90 is installed on the installation rotation part 53. The load 90 can be a grasping device, a detection device, a fixed fixture, or a connecting device, etc. By providing the installation rotation part 53, the load 90 can work more flexibly.

[0053] In a preferred embodiment, the first arm segment 10 is rotatably connected to the base 50. The first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are connected end to end in sequence. The rotation angle ranges of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50, and the installation rotation part 53 are all greater than or equal to 360 degrees. This setting method makes the structure of the multi-axis robotic arm more flexible and has a larger working radius.

[0054] In a preferred embodiment, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50, and the mounting rotating part 53 can all rotate independently under the drive of corresponding drive mechanisms. Specifically, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50, and the mounting rotating part 53 are all driven by independent joint assemblies 70. Please refer to Figure 4 , in the first working posture, the mounting rotating part 53 is coaxial with the first arm segment 10, that is, the axial direction of the rotating shaft of the mounting rotating part 53 is the same as that of the first arm segment 10, and the positions of the rotating shafts are basically the same. Since the mounting rotating part 53 can be coaxial with the first arm segment 10 in the first working posture, there is almost no blind area during its operation. Taking Figure 4 as an example, the mounting rotating part 53 can basically move to any position on the top surface within the working radius of this multi-axis robotic arm.

[0055] In a preferred embodiment, when the second arm segment 20 rotates downward towards the base 80, there is a gap between the lower end of the second arm segment 20 and the first arm segment 10 or the base 80. By this setting, the second arm segment 20 can rotate freely without interference. Specifically, the first arm segment 10 is rotatably connected to the base 80, and the length of the first arm segment 10 is greater than the length of the second arm segment 20, or the second arm segment 20 is located outside the upper edge of the base 80 in the radial direction of the base 80 (that is, the outer edge of the upper end connected to the first arm segment 10), so that when the second arm segment 20 rotates downward towards the base 80 (such as Figure 3 and Figure 5 shown), there is a gap between the lower end of the second arm segment 20 and the first arm segment 10 or the base 80. Please refer to Figure 4 , in the first embodiment, the length of the first arm segment 10 is greater than the length of the second arm segment 20. Please refer to Figure 6 , in the third embodiment, the second arm segment 20 can also be located outside the upper edge of the base 80. In this case, even if the length of the first arm segment 10 is less than or equal to the length of the second arm segment 20, when the second arm segment 20 rotates downward towards the base 80, a gap will be formed with the base 80 and there will be no interference. It should be noted that when it is referred to that the second arm segment 20 rotates downward towards the base 80 in this application, it is from the perspective of Figures 2 to 5 . In the actual working scenario, since the base 80 can be installed on a wall or other vertical platforms, at this time the first direction is the horizontal direction, and when it is referred to that the second arm segment 20 rotates downward towards the base 80, it may actually be to the left or to the right.

[0056] Please refer to Figures 2 to 5, in a preferred embodiment, the first arm segment 10 is rotatably connected to the base 80. The first arm segment 10 has an extension portion 12 extending in a first direction and away from the base 80 (i.e., extending upward). The extension portion 12 is offset from the axis center of the first arm segment 10 in a second direction (i.e., the extension portion 12 is eccentrically arranged). The second arm segment 20 is rotatably connected to the extension portion 12, and the second arm segment 20 is located on a side of the extension portion 12 closer to the axis center of the first arm segment 10 in the second direction (i.e., Figure 4 the left side in

[0057] ). By such an arrangement, the structures of the first arm segment 10 and the second arm segment 20 are relatively compact, occupy less space, and have a relatively stable center of gravity, making them suitable for operating in narrow spaces.

[0058] Please refer to Figure 5 , in the second embodiment, the axial direction of the rotation axis of the fourth arm segment 40 also extends in the second direction, and the first arm segment 10, the second arm segment 20, the third arm segment 30, and the fourth arm segment 40 are arranged in layers on the same side in sequence along the second direction.

[0059] In a further preferred embodiment, the first arm segment 10 is rotatably connected to the base 80. The first arm segment 10 includes a base portion 11 and an extension portion 12 connected to one end of the base portion 11 and extending in a first direction and away from the base 80 (i.e., extending upward). The extension portion 12 is offset from the axis center of the first arm segment 10 in the second direction. The base portion 11 is rotatably connected to the base 80, and the second arm segment 20 is rotatably connected to the extension portion 12. The second arm segment 20 is located on a side of the extension portion 12 closer to the axis center of the first arm segment 10 in the second direction (i.e., Figure 4 the left side in

[0060] and is located above the base portion 11. When the second arm segment 20 rotates downward towards the base portion 11, there is a gap between it and the upper surface of the base portion 11. The base portion 11 extends in the second direction, and the length of the base portion 11 in the second direction is greater than the sum of the lengths of the second arm segment 20 and the third arm segment 30 in the second direction; or the base portion 11 extends in the second direction, and the length of the base portion 11 in the second direction is greater than the sum of the lengths of the second arm segment 20, the third arm segment 30, and the fourth arm segment 40 in the second direction. This setting method makes the structure of the multi-axis robotic arm more compact and easier to operate in narrow spaces. Figures 2 to 4In the first embodiment, the rotation axis of the fourth arm segment 40 is along the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, the rotation axis of the fifth arm segment 50 is perpendicular to the rotation axis of the fourth arm segment 40, and the rotation axis of the mounting rotating part 53 is perpendicular to the rotation axis of the fifth arm segment 50. Through this arrangement, the structure of the multi-axis robot arm is more flexible and easy to move in a narrow space.

[0061] Please refer to Figure 4 The base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, and the fourth arm segment 40 and the fifth arm segment 50 are all rotatably connected via a joint assembly 70, and the fifth arm segment 50 is also provided with a joint assembly 70 connected to the mounting rotating portion 53. At least one of the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 includes a transverse column and a longitudinal column that are interconnected and axially perpendicular. Please refer to Figure 2 In the first embodiment, the third arm segment 30 includes a transverse column 31 and a longitudinal column 32, and the fourth arm segment 40 and the fifth arm segment 50 also include a transverse column and a longitudinal column. Figure 5 In the second embodiment, the fourth arm section 40 and the fifth arm section 50 both include a transverse column and a longitudinal column, while the third arm section 30 is not composed of a transverse column and a longitudinal column. In other embodiments, only one of the third arm section 30, the fourth arm section 40, and the fifth arm section 50 may have a transverse column and a longitudinal column. Independent joint components 70 are respectively provided in the transverse column and the longitudinal column, and the wires and / or the air pipe 60 pass through one of the transverse column and the longitudinal column and the corresponding joint component 70, enter the other of the transverse column and the longitudinal column and the corresponding joint component 70, and pass out from the other of the transverse column and the longitudinal column. The wires are used to transmit electricity to the electrical components (such as the joint component 70) in each arm section, and the air pipe is used to provide conveying gas for the gas load carried by the multi-axis robot arm. In some embodiments, the air pipe may not be provided. Through the combination of the transverse column and the longitudinal column, the structure of the multi-axis robot arm is more compact, and the wires and / or the air pipe 60 are also inside the arm section, so it is very suitable for working in a narrow space.

[0062] Please refer to Figure 3In another embodiment, the base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, and the fourth arm segment 40 and the fifth arm segment 50 are all rotatably connected through a joint assembly 70, and the fifth arm segment 50 is also provided with a joint assembly 70 connected to the mounting rotating portion 53. The third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 all include a transverse column and a longitudinal column that are connected to each other and axially perpendicular, the transverse column 31 of the third arm segment 30 is rotatably connected to the second arm segment 20, the longitudinal column 32 of the third arm segment 30 is rotatably connected to the longitudinal column of the fourth arm segment 40 and is coaxially arranged, the transverse column of the fourth arm segment 40 is rotatably connected to the transverse column of the fifth arm segment 50 and is coaxially arranged, and the mounting rotating portion 53 is installed on the longitudinal column of the fifth arm segment 50. A portion of the joint assembly 70 between the second arm segment 20 and the third arm segment 30 extends into the transverse column 31 of the third arm segment 30, a portion of the joint assembly 70 between the third arm segment 30 and the fourth arm segment 40 extends into the longitudinal column 32 of the third arm segment 30, and another portion extends into the longitudinal column of the fourth arm segment 40, a portion of the joint assembly 70 between the fourth arm segment 40 and the fifth arm segment 50 extends into the transverse column of the fourth arm segment 40, and another portion extends into the transverse column of the fifth arm segment 50, the joint assembly 70 connected to the mounting rotating part 53 arranged in the fifth arm segment 50 is installed on the longitudinal column of the fifth arm segment 50, and some wires and / or air pipes 60 pass through the joint assemblies between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50 in sequence, and pass through the mounting rotating part 53. The part of the wires and / or air pipes 60 mentioned here is because part of the wires and air pipes 60 (such as the wires connected to the first arm segment 20) do not need to extend to the fifth arm segment 50. Through this wiring method, the structure of the multi-axis robot arm can be made simpler and safer.

[0063] Please refer to Figure 4, in a preferred embodiment, the base 80, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 all have hollow shells. The base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, and the fourth arm segment 40 and the fifth arm segment 50 are all rotatably connected by joint assemblies 70. The rotating shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are respectively arranged on the joint assemblies 70 between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50, specifically being the main output shafts in the following joint assemblies 70. Moreover, the rotating shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are all of hollow structures, and part of the wires and / or air pipes 60 sequentially pass through the rotating shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 and extend out from the mounting rotating part 53. By this wiring method, the structure of the multi-axis robotic arm can be made more concise and safer.

[0064] The base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, and the fourth arm segment 40 and the fifth arm segment 50 are all rotatably connected by joint assemblies 70, and at least one of the joint assemblies 70 has the following structure.

[0065] Please refer to Figures 7 to 9, the joint assembly 70 includes a main output shaft 701, a connecting shaft 702, a driving mechanism 704, and a speed reduction mechanism 703. The main output shaft 701 has a hollow structure that is axially through, allowing wires and air pipes 900 to pass through. A flange is provided at the output end of the main output shaft 701 for connecting to the corresponding arm section body. The connecting shaft 702 is sleeved outside the main output shaft 701, 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, the output end of the speed reduction mechanism 703 is connected to the main output shaft 702, and 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 for driving the rotor 7041 to rotate. The housings of the speed reduction mechanism 703 and the driving mechanism 704 can be fixed to the previous arm section, and the output end of the main output shaft 701 is fixedly connected to the subsequent arm section. Since the driving mechanism 704 generally rotates at a relatively high speed while the swing arm 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 from the output end of the speed reduction mechanism 703 to the main output shaft 701, and then transmitted to the arm section body through the main output shaft 701. The main output shaft 701 is provided with an axially through hollow structure, which allows lines such as cables and air pipes 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 robotic arm, thereby making the internal structure of the robotic arm compact and the appearance neat and beautiful.

[0066] It can be understood that when the above joint assembly 70 is used between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50, the main output shaft 701 is the rotating shaft of the corresponding first arm segment 10, second arm segment 20, third arm segment 30, fourth arm segment 40, and fifth arm segment 50, and the driving mechanism 704 is the driving mechanism of the corresponding first arm segment 10, second arm segment 20, third arm segment 30, fourth arm segment 40, and fifth arm segment 50.

[0067] In a preferred embodiment, the joint assembly 70 further includes a braking mechanism 705. The braking mechanism 705 cooperates with the connecting shaft 702 to stop the rotation of the connecting shaft 702 during braking, and thus stop the rotation of the main output shaft 701. 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 output end of the main output shaft 703, so as to Figure 8From the perspective of [description missing in the original], they are arranged successively from bottom to top. This arrangement makes the structure of the joint assembly 70 very compact and small in volume. At one end of the main output shaft 701 facing away from the speed reduction mechanism 703 (i.e., the end opposite to the output end), an end cover 707 is provided. 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 joint assembly 70 and is more durable.

[0068] In a preferred embodiment, the speed reduction mechanism 703 is a harmonic reducer. The speed 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 speed reduction mechanism 703 and is sleeved on the outside of the connecting shaft 702 and the main output shaft 701. The flexspline 7033 is sleeved on the outside of the wave generator 7031, and the rigid gear 7032 is sleeved on the outside of the flexspline 7033 and is connected to the main output shaft 701.

[0069] The joint assembly 70 further includes a heat dissipation mechanism 706. The heat dissipation mechanism 706 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702, and is used to dissipate heat from the joint assembly 70. The heat dissipation mechanism 706, the braking mechanism 705, the driving mechanism 704, and the speed reduction mechanism 703 are arranged successively along the axial direction of the main output shaft 701 towards the output end of the main output shaft 703. The heat dissipation mechanism 706 includes a heat dissipation mounting seat 7061. The heat dissipation mounting seat 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 seat 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 wind generated by the rotation of the fan blades 7062 is used to quickly blow out the heat generated inside 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 of the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0070] Please refer to Figure 10 and Figure 11 In a preferred embodiment, at least one of the following machine arm sealing structures is adopted between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50.

[0071] The sealing structure of the robotic arm includes a forearm 200, a rear arm 100, and a joint assembly 70. Mounting holes (mounting hole 201 on the forearm 200 and mounting hole 101 on the rear arm 100) are respectively formed on the first surface of the forearm 200 and the second surface of the rear arm 100. One end of the joint assembly 70 extends into the forearm 200 through the mounting hole 201 on the first surface of the forearm 200 and is connected to the forearm 200, and the other end extends into the rear arm 100 through the mounting hole 101 on the second surface of the rear arm 100 and is connected to the rear arm 100. The structure of the joint assembly 70 can refer to the description of the aforementioned joint assembly 70. Specifically, the housing of the drive mechanism 704 of the joint assembly 70 can be fixed on the forearm 200, and the main output shaft 701 of the joint assembly 70 can be connected to the rear arm 100. The forearm 200 and the rear arm 100 can rotate relative to each other through the joint assembly 70. When the above-mentioned sealing structure of the robotic arm is provided between the base 80 and the first arm segment 10, the base 80 can be the forearm 200, and the first arm segment 10 can be the rear arm 100. By analogy, it can be applied to the sealing structures between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50. A seal 300 is provided at the joint assembly 70 and between the forearm 200 and the rear arm 100 or between one of the forearm 200 and the rear arm 100 and the joint assembly 70. The seal 300 can be an O-ring.

[0072] By providing the seal 300 at the joint assembly 70 and between the forearm 200 and the rear arm 100 or between one of the forearm 200 and the rear arm 100 and the joint assembly 70, the sealing structure of the robotic arm can effectively prevent foreign substances such as moisture and dust in the outside world from entering the interior of the robotic arm from the movement connection of adjacent arm segments, 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.

[0073] Please refer to Figure 10 , in a preferred embodiment, a neck 202 facing the rear arm 100 is provided at the mounting hole 201 of the forearm 200. The neck 202 on the forearm 200 extends into the rear arm 100 through the mounting hole 101 of the rear arm 100, and a seal 300 is provided between the outer side wall of the neck 202 of the forearm 200 and the inner side wall of the rear arm 100.

[0074] Please refer to Figure 11, in another embodiment, a connecting member 71 is provided on the outer side wall of the joint assembly 70. When connecting the joint assembly 70 between the forearm 200 and the rear arm 100, the joint assembly 70 is mounted on the forearm 200 or the rear arm 100 through the connecting member 71 thereon, and a seal 300 is provided between the joint assembly 70 and the side wall of the forearm 200 or the rear arm 100 on which the connecting member 71 is not mounted. Specifically, in Figure 10 , the connecting member 71 is connected to the top end of the forearm 200, and the top end of the forearm 200 is inserted into the mounting hole 101 of the rear arm 100, and a seal 300 is provided between the joint assembly 70 and the inner side wall of the rear arm 100. In other embodiments, the connecting member 71 may also be connected to the inner side wall of the rear arm 100, and at this time, a seal 300 is provided between the joint assembly 70 and the forearm 200.

[0075] In this specification, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0076] 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 the present 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 the different embodiments or examples.

[0077] 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 multi-axis robotic arm, comprising a base and a first arm segment, a second arm segment, a third arm segment, a fourth arm segment, and a fifth arm segment that are rotatably connected in sequence from the head to the tail and are mounted on the base. The fifth arm segment is used to mount a load. The first arm segment is rotatable relative to the base, and the axis of rotation of the first arm segment is axially along a first direction, characterized in that, The first arm segment, the second arm segment, and the third arm segment are arranged in a stacked manner on the same side in sequence along the second direction. The rotation axis directions of the second arm segment and the third arm segment are along the second direction. The rotation axis direction of the fourth arm segment is along the second direction or the third direction. The second direction is not parallel to the first direction. The third direction is not parallel to the second direction. The rotation axis direction of the fifth arm segment is not parallel to the rotation axis direction of the fourth arm segment.

2. The multi-axis robotic arm according to claim 1, wherein The rotation angle ranges of the first arm segment, the second arm segment, and the third arm segment are all greater than or equal to 360 degrees. The rotation angle ranges of the fourth arm segment and the fifth arm segment are also greater than or equal to 360 degrees.

3. The multi-axis robotic arm according to claim 1, characterized in that, An externally output installation rotation part is further provided on the fifth arm segment. The rotation axis direction of the installation rotation part is not parallel to the rotation axis direction of the fifth arm segment. The load is installed on the installation rotation part.

4. The multi-axis robotic arm according to claim 3, wherein The first arm segment is rotatably connected to the base. The first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are connected end to end in sequence. The rotation angle ranges of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment, and the installation rotation part are all greater than or equal to 360 degrees.

5. The multi-axis robotic arm according to claim 3, characterized in that, The first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment, and the installation rotation part can all rotate independently under the drive of corresponding drive mechanisms. In the first working posture, the rotation axis of the installation rotation part is coaxial with the rotation axis of the first arm segment.

6. The multi-axis robotic arm according to claim 1, wherein When the second arm segment rotates to face downward towards the base direction, there is a gap between the lower end of the second arm segment and the first arm segment or the base.

7. The multi-axis robotic arm according to claim 6, characterized in that, The first arm segment is rotatably connected to the base. The length of the first arm segment is greater than the length of the second arm segment or the second arm segment is located outside the upper edge of the base in the radial direction of the base.

8. The multi-axis robotic arm according to claim 1, wherein The first arm segment is rotatably connected to the base. The first arm segment has an extension part extending along the first direction and away from the base. The extension part deviates from the rotation axis center of the first arm segment in the second direction. The second arm segment is rotatably connected to the extension part. The second arm segment is located on the side of the extension part closer to the rotation axis center of the first arm segment along the second direction.

9. The multi-axis robotic arm according to claim 8, wherein The first arm segment further includes a base part. The extension part is connected to one end of the base part. The base part is rotatably connected to the base. The second arm segment is located above the base part. When the second arm segment rotates to face downward towards the base part, there is a gap between it and the upper surface of the base part.

10. The multi-axis robotic arm according to claim 1, characterized in that, The rotation axis direction of the fourth arm segment is along the second direction, and the first arm segment, the second arm segment, the third arm segment, and the fourth arm segment are arranged in a stacked manner on the same side in sequence along the second direction.

11. The multi-axis robotic arm according to claim 10, wherein The first arm segment is rotatably connected to the base. The first arm segment includes a base portion and an extension portion connected to one end of the base portion and extending in a first direction and away from the base. The extension portion is offset from the rotation axis center of the first arm segment in a second direction. The base portion is rotatably connected to the base, and the second arm segment is rotatably connected to the extension portion. The second arm segment is located on a side of the extension portion closer to the rotation axis center of the first arm segment in the second direction and above the base portion. When the second arm segment rotates downward towards the base portion, there is a gap between it and the upper surface of the base portion. The base portion extends in the second direction, and the length of the base portion in the second direction is greater than the sum of the lengths of the second arm segment and the third arm segment in the second direction; or the base portion extends in the second direction, and the length of the base portion in the second direction is greater than the sum of the lengths of the second arm segment, the third arm segment, and the fourth arm segment in the second direction.

12. The multi-axis robotic arm according to claim 3, wherein, The base, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment all have hollow shells. The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are all rotatably connected through joint components. The rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are respectively arranged on the joint components between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment. And the rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are all of hollow structures. Part of the wires and / or air pipes sequentially pass through the rotation axes of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment and extend out from the installation rotation portion.

13. The multi-axis robotic arm according to claim 3, characterized in that, The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are all rotatably connected through joint components. A joint component connected to the installation rotation portion is further provided in the fifth arm segment. At least one of the third arm segment, the fourth arm segment, and the fifth arm segment includes a transverse cylinder and a longitudinal cylinder that are connected to each other and axially perpendicular. Independent joint components are respectively provided in the transverse cylinder and the longitudinal cylinder. The wires and / or air pipes pass through one of the transverse cylinder and the longitudinal cylinder and the corresponding joint component, enter the other of the transverse cylinder and the longitudinal cylinder and the corresponding joint component, and extend out from the other of the transverse cylinder and the longitudinal cylinder; or The base is rotatably connected to the first arm segment, the first arm segment is rotatably connected to the second arm segment, the second arm segment is rotatably connected to the third arm segment, the third arm segment is rotatably connected to the fourth arm segment, and the fourth arm segment is rotatably connected to the fifth arm segment through joint assemblies. A joint assembly connected to the installation rotating part is also provided in the fifth arm segment. The third arm segment, the fourth arm segment, and the fifth arm segment each include a transverse cylinder and a longitudinal cylinder that are connected to each other and perpendicular to each other in the axial direction. The transverse cylinder of the third arm segment is rotatably connected to the second arm segment. The longitudinal cylinder of the third arm segment is rotatably connected to and coaxially arranged with the longitudinal cylinder of the fourth arm segment. The transverse cylinder of the fourth arm segment is rotatably connected to and coaxially arranged with the transverse cylinder of the fifth arm segment. The installation rotating part is installed on the longitudinal cylinder of the fifth arm segment. The joint assembly between the second arm segment and the third arm segment partially extends into the transverse cylinder of the third arm segment. The joint assembly between the third arm segment and the fourth arm segment partially extends into the longitudinal cylinder of the third arm segment and partially extends into the longitudinal cylinder of the fourth arm segment. The joint assembly between the fourth arm segment and the fifth arm segment partially extends into the transverse cylinder of the fourth arm segment and partially extends into the transverse cylinder of the fifth arm segment. The joint assembly provided in the fifth arm segment and connected to the installation rotating part is installed on the longitudinal cylinder of the fifth arm segment. Part of the wires and / or air pipes sequentially pass through the joint assemblies between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment, and pass out from the installation rotating part.

14. The multi-axis robotic arm according to any one of claims 1 to 9 and 12, characterized in that, The axial direction of the rotating shaft of the fourth arm segment is along the third direction. The second direction is perpendicular to the first direction. The third direction is perpendicular to the second direction. The axial direction of the rotating shaft of the fifth arm segment is perpendicular to the axial direction of the rotating shaft of the fourth arm segment.

15. The multi-axis robotic arm according to any one of claims 1 to 11, characterized in that, The base is rotatably connected to the first arm segment, the first arm segment is rotatably connected to the second arm segment, the second arm segment is rotatably connected to the third arm segment, the third arm segment is rotatably connected to the fourth arm segment, and the fourth arm segment is rotatably connected to the fifth arm segment through joint assemblies. At least one of the joint assemblies has the following structure: The joint assembly includes a main output shaft, a connecting shaft, a driving 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. The output end of the reduction mechanism is connected to the main output shaft. 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 reduced by the reduction mechanism. The main output shaft is the rotating shaft of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment, and fifth arm segment. The driving mechanism is the driving mechanism of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment, and fifth arm segment.

16. The multi-axis robotic arm according to claim 15, wherein, The joint assembly also includes a brake mechanism, which cooperates with the connecting shaft and is used to stop the connecting shaft from rotating when braking, thereby stopping the main output shaft from rotating. The brake mechanism, drive mechanism and reduction mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft. An end cover is arranged at the 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 arranged between the end cover and the main output shaft.

17. The multi-axis robotic arm according to claim 15, wherein The speed reduction mechanism is a harmonic speed reducer, and the speed reduction mechanism includes a wave generator, a flexible wheel and a rigid wheel. The wave generator is sleeved on the outside of the main output shaft and connected to the connecting shaft, the flexible wheel is sleeved on the outside of the wave generator, and the rigid wheel is sleeved on the outside of the flexible wheel and connected to the main output shaft. The joint assembly also includes a heat dissipation mechanism, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, brake mechanism, drive mechanism and reduction mechanism are arranged in sequence along the axial direction of the main output shaft toward the output end of the main output shaft; the heat dissipation mechanism includes a heat dissipation mounting seat, which is sleeved on the outside 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 its circumference.

18. The multi-axis robotic arm according to any one of claims 1 to 11, characterized in that, The load is a grasping device, a detecting device, a fixing fixture or a connecting device.

19. The multi-axis robotic arm according to any one of claims 1 to 11, characterized in that, At least one of the sealing structure of the following robot arm is used between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment: The sealing structure of the robot arm includes a forearm, a rear arm and a joint assembly. The first surface of the forearm and the second surface of the rear arm are respectively provided with mounting holes. One end of the joint assembly extends from the mounting hole on the first surface of the forearm into the forearm and is connected to the forearm, and the other end extends from the mounting hole on the second surface of the rear arm into the rear arm and is connected to the rear arm. The forearm and the rear arm can rotate relative to each other through the joint assembly. A seal is provided at the joint assembly and between the forearm and the rear arm or between one of the forearm and the rear arm and the joint assembly.

20. The multi-axis robotic arm according to claim 19, characterized in that: A neck portion facing the rear arm is provided at the mounting hole of the forearm, the neck portion on the forearm extends into the rear arm through the mounting hole of the rear arm, and the sealing member is provided between the side wall of the neck portion of the forearm and the side wall of the rear arm; or A connecting piece is provided on the outer side wall of the joint assembly. When the joint assembly is connected between the forearm and the rear arm, the joint assembly is installed on the forearm or the rear arm through the connecting piece thereon, and the sealing piece is provided between the joint assembly and the side wall of the forearm or the rear arm where the connecting piece is not installed.

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