Multi-shaft robotic arm

Abstract

The utility model provides a multi-axis robotic arm which comprises a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm, the lifting arm ascends and descends in the first direction, the first swing arm, the second swing arm and the third swing arm are stacked in the first direction, and rotating shafts of the first swing arm, the second swing arm and the third swing arm axially extend in the first direction. 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, the axial direction of a rotating shaft of the rotating arm is not parallel to the axial direction of rotating shafts of the first swing arm, the second swing arm and the third swing arm, and the lifting arm is connected with 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. Through the arrangement of the first swing arm, the second swing arm and the third swing arm, the rotating arm can move to the needed position more freely, no operation blind area exists, the structure of the mechanical arm is more flexible, and the mechanical arm can work in a narrow space.

Description

Technical Field

[0001] The present invention 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 in processes like handling, assembling, and inspecting. The SCARA robot is one of the commonly used robots. The standard of a SCARA (Selective Compliance Assembly Robot Arm) robot is horizontal rotation and swiveling, with at most four rotating shafts. The rotation angle of each shaft is limited, and the degrees of freedom are not flexible enough. It is only suitable for simple object handling and assembly operations and cannot meet the application requirements in more complex scenarios.

[0003] Please refer to Figure 1 , Chinese Patent Application CN107854779A discloses a robotic treatment couch for radiotherapy with a SCARA structure, which includes a lifting device 1, a first horizontal rotating arm 2 connected to the lifting device 1, a second horizontal rotating arm 3 connected to the first horizontal rotating arm 2, a combined rotating joint 4 connected to the second horizontal rotating arm 3, and a couch board 5 connected to the combined rotating joint 4. However, due to only having two horizontal rotating arms in this robotic structure, blind spots are easily formed between the two horizontal rotating arms during some complex operations, restricting the applicable scenarios of this robotic structure. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a more flexible multi-axis robotic arm.

[0005] The technical solution used in the present invention is as follows:

[0006] A multi-axis robotic arm 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 in 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 rotating shafts of the first swing arm, the second swing arm, and the third swing arm are eccentrically arranged on the first swing arm, the second swing arm, and the third swing arm respectively. 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. Moreover, 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 either the first swing arm or 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.

[0007] In a preferred embodiment, the lifting arm is connected to the head end of the first swing arm, or is connected between the first swing arm and the second swing arm, or is connected between the second swing arm and the third swing arm, or is connected between the tail end of the third swing arm and the rotating arm, or is connected to the tail end of the rotating arm, and the lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm are all driven independently.

[0008] In a preferred embodiment, the multi-axis robot arm also includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotating shafts of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. The first swing arm joint, the second swing arm joint, and the third swing arm joint are also respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shafts of the first swing arm, the second swing arm, and the third swing arm to rotate; the first swing arm is connected to the lifting arm through the first swing arm joint, and the first swing arm can be driven to rotate relative to the lifting arm, the second swing arm is connected to the first swing arm through the second swing arm joint, the third swing arm is connected to the second swing arm through the third swing arm joint, and the rotating arm is directly connected to the third swing arm.

[0009] In a preferred embodiment, the first end of the lifting arm is connected to the head end of the first swing arm, the head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint, and the rotating arm is connected to the tail end of the third swing arm.

[0010] In a preferred embodiment, the lifting arm includes a lifting arm body, a storage seat and a lifting drive device. The storage seat is in the shape of a box. The second end of the lifting arm body is installed in the storage seat. The lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is opened on the top of the storage seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the storage seat under the drive of the lifting drive device.

[0011] In a preferred embodiment, the lifting arm body is a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body. The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is transmission-connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body is retracted into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

[0012] In a preferred embodiment, the lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is drivingly connected between the lifting drive motor and the lifting arm body. A lifting slider is fixed to the bottom of the lifting arm body. A lifting slide rail extending in a first direction is provided in the receiving seat. The lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt, and a lead screw. The lifting slider is in threaded cooperation with the lead screw and is slidably engaged with the lifting slide rail. The driving wheel is connected to the output shaft of the lifting drive motor, and the lead screw is connected to the driven wheel. The driving wheel and the driven wheel are drivingly engaged through the synchronous belt. The lifting drive motor drives the lead screw to rotate through the driving wheel, the driven wheel, and the synchronous belt, further causing the lifting slider to move up and down relative to the lead screw.

[0013] In a preferred embodiment, the lifting slider includes a vertical plate extending in the first direction and a horizontal plate perpendicularly connected to the vertical plate. The lifting slide rail is provided on the side wall of the receiving seat. The vertical plate is slidably connected to the lifting slide rail, and the lead screw is in threaded cooperation with the vertical plate. The second end of the lifting arm body is fixed to the horizontal plate. The lifting drive motor is located directly below the horizontal plate and is semi-surrounded by the vertical plate and the horizontal plate. An avoidance through hole is provided in the horizontal plate. When the first end of the lifting arm body retracts into the receiving seat, the lifting drive motor is inserted into the avoidance through hole. An annular seal is provided at the lifting through hole. The lifting arm body passes through the annular seal and is in sealed cooperation with the annular seal.

[0014] In a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the rotation axes of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively provided in the first swing arm joint, the second swing arm joint, and the third swing arm joint; the multi-axis robotic arm includes a base. The first swing arm is rotatably connected to the base through the first swing arm joint. The first swing arm joint is provided in the base and / or the first swing arm;

[0015] The lifting arm is connected between the tail end of the first swing arm and the head end of the second swing arm. The second swing arm is connected to the lifting arm through the second swing arm joint. The second swing arm joint is arranged in the lifting arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the lifting arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm; or

[0016] The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the first swing arm. The lifting arm is connected between the tail end of the second swing arm and the head end of the third swing arm. The head end of the third swing arm is connected to the lifting arm through the third swing arm joint. The third swing arm joint is arranged in the lifting arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the lifting arm. The rotating arm is directly connected to the tail end of the third swing arm; or

[0017] The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the second swing arm. The lifting arm is connected between the tail end of the third swing arm and the rotating arm.

[0018] In a preferred embodiment, the multi-axis robotic arm includes a base. The lifting arm is connected between the base and the first swing arm. The head end of the first swing arm is fixedly connected to the lifting arm. The lifting arm can drive the first swing arm to rotate relative to the base;

[0019] The multi-axis robotic arm further includes a second swing arm joint and a third swing arm joint. The rotating shafts of the second swing arm and the third swing arm are respectively located in the second swing arm joint and the third swing arm joint. The second swing arm joint and the third swing arm joint are respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotating shafts of the second swing arm and the third swing arm to rotate;

[0020] The head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm.

[0021] In a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation axes of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively arranged in the first swing arm joint, the second swing arm joint, and the third swing arm joint.

[0022] The multi-axis robotic arm further includes a base. The first swing arm is rotatably connected to the base through a first swing arm joint. The first swing arm joint is arranged in the base and / or the first swing arm. The head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm. The lifting arm is connected to the rotating arm, and a lifting driving device is arranged in the lifting arm.

[0023] In a preferred embodiment, the lifting driving device includes a lifting driving motor and a lifting transmission assembly. The lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt, a lead screw, a lead screw nut, and a ball guide bearing. The driving wheel is connected to the output shaft of the lifting driving motor. The lead screw nut is connected to the driven wheel. The driving wheel and the driven wheel are connected by a synchronous belt transmission. The lead screw and the lead screw nut are in threaded cooperation. The ball guide bearing is sleeved outside the lead screw. The lifting driving motor drives the lead screw nut to rotate through the driving wheel, the driven wheel, and the synchronous belt, and further makes the lead screw move up and down relative to the lead screw nut and the ball guide bearing.

[0024] In a preferred embodiment, a grasping device, a detection device, a fixing fixture, or a connecting device is arranged on the rotating arm.

[0025] In a preferred embodiment, 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 a rotating part is provided 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.

[0026] In a preferred embodiment, the multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint. The rotation axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. A first rotation driving device and a second rotation driving device for driving the rotation axis of the first rotating arm and the rotating part of the second rotating arm to rotate are respectively provided in the first rotating arm joint and the second rotating arm joint. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm and / or the first rotating arm for driving the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is provided in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm for driving the rotating part to rotate relative to the first rotating arm.

[0027] In a preferred embodiment, the third swing arm includes a main body part, a connecting part, and a mounting part. Part of the third swing arm joint is located in the main body part. The connecting part connects the main body part and the mounting part. The mounting part is columnar and the axial direction of the column is perpendicular to the axial direction of the rotation axis of the third swing arm. The main body of the first rotating arm is columnar, and the main body of the first rotating arm is coaxially connected to the mounting part. At least part of the first rotating arm joint is mounted in the mounting part; or

[0028] The third swing arm includes a main body part and a mounting part. Part of the third swing arm joint is located in the main body part. The mounting part is columnar and the axial direction of the column is perpendicular to the axial direction of the rotation axis of the third swing arm. The main body of the first rotating arm is columnar, and the main body of the first rotating arm is coaxially connected to the mounting part. At least part of the first rotating arm joint is mounted in the mounting part.

[0029] In a preferred embodiment, when the central axes of the rotation axes of the first swing arm, the second swing arm, and the third swing arm are arranged in the same plane, the central axis of the rotation axis of the first rotating arm is perpendicular to the plane where the central axes of the rotation axes of the first swing arm, the second swing arm, and the third swing arm are located; or

[0030] When the axis center lines of the rotation axes of the first swing arm, the second swing arm, and the third swing arm are arranged in the same plane, the axis center line of the rotation axis of the first rotating arm is parallel to the plane where the axis center lines of the rotation axes of the first swing arm, the second swing arm, and the third swing arm are located or is located in the plane where the axis center lines of the rotation axes of the first swing arm, the second swing arm, and the third swing arm are located.

[0031] In a preferred embodiment, the axial direction of the rotation axis of the first rotating arm is perpendicular to the axial direction of the rotation axis of the third swing arm, the axial directions of the rotation axes of the first rotating arm and the second rotating arm are perpendicular, and the rotation angle ranges of the first rotating arm and the second rotating arm are greater than or equal to 360 degrees.

[0032] In a preferred embodiment, the first swing arm is connected to the lifting arm through the rotation axis of the first swing arm, the first swing arm is drivably rotatable relative to the lifting arm, the second swing arm is connected to the first swing arm through the rotation axis of the second swing arm, the third swing arm is connected to the second swing arm through the rotation axis of the third swing arm, the rotating arm is directly connected to the third swing arm, the rotating arm includes a first rotating arm and a second rotating arm, the first rotating arm is directly connected to the third swing arm, the first rotating arm is drivably rotatable relative to the third swing arm around 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, a rotating part is provided on the second rotating arm, the rotating part is drivably rotatable relative to the first rotating arm around 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.

[0033] In a preferred embodiment, the lifting arm is arranged vertically, the first swing arm, the second swing arm, and the third swing arm rotate horizontally, the axis of the first rotating arm is arranged horizontally and is perpendicular to the axial directions of the rotation axes of the first swing arm, the second swing arm, and the third swing arm, and the axial direction of the rotation axis of the second rotating arm is perpendicular to the axial direction of the rotation axis of the first rotating arm.

[0034] In a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation axes of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively provided in the first swing arm joint, the second swing arm joint, and the third swing arm joint;

[0035] The head end of the first swing arm is connected to the first end of the lifting arm through a first swing arm joint. The first swing arm joint is arranged in the lifting arm and / or the first swing arm and is used to drive the first swing arm to rotate relative to the lifting arm. The head end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used to drive the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used to drive the third swing arm to rotate relative to the second swing arm;

[0036] The multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint. The rotating shafts of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. A first rotation driving device and a second rotation driving device for driving the rotation of the rotating shaft of the first rotating arm and the rotating part of the second rotating arm are respectively arranged in the first rotating arm joint and the second rotating arm joint. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is arranged in the third swing arm and / or the first rotating arm and is used to drive the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is arranged in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm and is used to drive the rotating part to rotate relative to the first rotating arm;

[0037] The lifting arm includes a lifting arm body, a receiving seat and a lifting driving device. The receiving seat is in the shape of a box. The second end of the lifting arm body is installed in the receiving seat. The lifting driving device is also installed in the receiving seat. The lifting driving device is connected to the lifting arm body. A lifting through hole is formed in the top of the receiving seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted relative to the lifting through hole of the receiving seat under the drive of the lifting driving device.

[0038] In a preferred embodiment, the axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm are parallel, and the rotation angle ranges of the first swing arm, the second swing arm and the third swing arm are all greater than or equal to 360 degrees.

[0039] In a preferred embodiment, the multi-axis robotic arm further includes a translation guide rail and a translation driving device. The lifting arm is installed on the translation guide rail. The translation driving device is connected to the translation guide rail and drives the lifting arm to translate on the translation guide rail.

[0040] In a preferred embodiment, the multi-axis robotic arm further includes a translation guide rail and a translation driving device. The base is mounted on the translation guide rail, and the translation driving device is connected to the translation guide rail to drive the base to translate on the translation guide rail.

[0041] In a preferred embodiment, the lifting arm, the first swing arm, the second swing arm, the third swing arm, and the rotating arm all have hollow shells. The rotating shafts of the first swing arm, the second swing arm, and the third swing arm are also hollow structures. The multi-axis robotic arm further includes electric wires and / or air pipes. Part of the electric wires and / or air pipes extend from the head end to the tail end of the multi-axis robotic arm, pass through the lifting arm, the rotating shaft of the first swing arm, the first swing arm, the rotating shaft of the second swing arm, the second swing arm, the rotating shaft of the third swing arm, the third swing arm, and extend to the rotating arm.

[0042] In a preferred embodiment, the first swing arm, the second swing arm, and the third swing arm all have hollow shells, and a detachable upper cover is provided at a position corresponding to the rotating shaft above the shell of at least one of the first swing arm, the second swing arm, and the third swing arm.

[0043] In a preferred embodiment, at least one of the first swing arm joints, the second swing arm joints, and the third swing arm joints adopts the following joint assembly:

[0044] 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 decelerated by the reduction mechanism.

[0045] The main output shaft is the rotating shaft of the corresponding first swing arm, second swing arm, or third swing arm, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device, or third swing arm driving device.

[0046] In a preferred embodiment, 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 when braking, and thus stop 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 reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft.

[0047] 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. The speed reduction mechanism is a harmonic speed reducer, which includes a wave generator, a flexspline, and a rigid gear. 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. The rigid gear is sleeved outside the flexspline and is connected to the main output shaft;

[0048] 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. An annular connecting plate is provided on the heat dissipation mounting seat, and a plurality of fan blades are arranged at intervals along the circumference of the annular connecting plate.

[0049] In a preferred embodiment, at least one of the first rotating arm joint and the second rotating arm joint adopts the following joint assembly:

[0050] 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, and the output end of the speed 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 decelerated by the speed reduction mechanism;

[0051] The main output shaft is the rotating shaft of the corresponding first rotating arm or second rotating arm, and the driving mechanism is the corresponding first rotation driving device or second rotation driving device.

[0052] In a preferred embodiment, 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 when braking, and thus stop 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 driving mechanism, and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft;

[0053] 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. The speed reduction mechanism is a harmonic speed reducer, which includes a wave generator, a flexspline, and a rigid gear. 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. The rigid gear is sleeved outside the flexspline and is connected to the main output shaft;

[0054] 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 arranged 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.

[0055] In the embodiment of the present invention, by setting the first swing arm, the second swing arm, and the third swing arm, the rotating arm can move to the required position more freely, without operation blind spots, and the structure of this robotic arm is more flexible and can work in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] 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. The same reference numerals indicate the same parts in 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.

[0057] Figure 1 It is a schematic structural diagram of a multi-axis robotic arm in the prior art.

[0058] Figure 2 and Figure 3 It is a schematic structural diagram of the multi-axis robotic arm of Embodiment 1 of the present invention from different perspectives.

[0059] Figure 4 is Figure 2 The top view of the multi-axis robotic arm.

[0060] Figure 5 and Figure 6 is Figure 2 The schematic structural diagram of the multi-axis robotic arm with some components removed.

[0061] Figure 7 is Figure 4 The A-A sectional view.

[0062] Figure 8 It is a schematic structural diagram of the multi-axis robotic arm of Embodiment 2 of the present invention.

[0063] Figure 9 It is a schematic structural diagram of the multi-axis robotic arm of Embodiment 3 of the present invention.

[0064] Figure 10 It is a schematic structural diagram of the multi-axis robotic arm of Embodiment 4 of the present invention.

[0065] Figure 11 is Figure 10 The partial structural sectional view of the multi-axis robotic arm.

[0066] Figure 12 It is a schematic structural diagram of the multi-axis robotic arm of Embodiment 5 of the present invention.

[0067] Figure 13 Schematic structural diagram of the multi-axis robotic arm according to the sixth embodiment of the present invention.

[0068] Figure 14 Schematic structural diagram of the joint assembly according to the embodiment of the present invention.

[0069] Figure 15 is Figure 14 Cross-sectional view of the joint assembly of

[0070] Figure 16 is Figure 14 Schematic structural diagram of the heat dissipation mechanism of the joint assembly of Detailed implementation manners

[0071] 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 examples given are not intended to limit the present invention. In this embodiment, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are 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 construed as a limitation to the present invention.

[0072] 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.

[0073] Please refer to Figures 2 to 16 , the embodiment of the present invention provides a multi-axis robotic arm, 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 can be driven to lift in the first direction. Figure 2The first direction shown is the vertical direction. In other embodiments, when the multi-axis robotic arm is installed in other ways, such as fixed on a wall, it can also be the horizontal direction. The lifting mentioned here is also described for the convenience of understanding the technical solution, not to limit the first direction to the vertical direction, but to refer to the movement 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 so-called stacked setting 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 coaxially arranged. 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 (for example, a deviation of 2-10 degrees). The non-coaxial arrangement of the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 means that in the 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 rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are eccentrically arranged on the first swing arm 20, the second swing arm 30, and the third swing arm 40 respectively. The so-called eccentric arrangement means that the distance from one part of the swing arm to the center of the rotation axis is greater than the distance from the other part to the center of the rotation axis. 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 at 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-segment 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 mean that the first swing arm 20, second swing arm 30, third swing arm 40, and rotating arm 50 must be continuous. Other arm segments 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 around its own rotation axis of the rotating arm 50, 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, the second swing arm 30, and the third swing arm 40. It should be noted that since the rotating arm 50 can be composed of multiple rotation axes in 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, the second swing arm 30, and the 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, the second swing arm 30, and the third swing arm 40, and does not limit whether the axial directions of other rotation axes are parallel. In fact, please refer to Figure 2 , Figures 8 to 13, in multiple embodiments of the present invention, the rotating arm 50 is composed of two rotating shafts. In some working states, the axial direction of the latter rotating shaft is parallel to the axial directions of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The lifting arm 10 is connected to either the first swing arm 20 or the rotating arm 50, or is connected between two of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50. The statement that the lifting arm 10 is connected to either the first swing arm 20 or 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, the second swing arm 30, the third swing arm 40, and the rotating arm 50. Those skilled in the art understand that the term "drivably" means that it can move under the drive of a drive mechanism. In other embodiments, at least one of 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 also move under human power. 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 driven independently, 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.

[0074] By providing the first swing arm 20, the second swing arm 30, and the third swing arm 40 in the embodiments of the present invention, the rotating arm 50 can move to the required position more freely, without operating blind spots, and the structure of this robotic arm is more flexible and can work in a narrow space.

[0075] In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20 (as Figures 2 to 9 shown), or is connected to the tail end of the rotating arm 50 (as Figures 10 to 11 shown). 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 setting the lifting arm 10 between different arm sections, different effects can be achieved.

[0076] Please refer to Figure 2 、 Figure 5 and Figure 7, in a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotation shafts 21 of the first swing arm 20, 31 of the second swing arm 30, and 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation shafts 21 of the first swing arm 20, 31 of the second swing arm 30, and 41 of the third swing arm 40 to rotate are respectively provided in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm 20 is connected to the lifting arm 10 through the first swing arm joint 22. The first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the lifting arm 10. The second swing arm 30 is connected to the first swing arm 20 through the second swing arm joint 32. The third swing arm 40 is connected to the second swing arm 30 through the third swing arm joint 42. The rotating arm 50 is directly connected to the third swing arm 40, that is, no other arm segments are added between the rotating arm 50 and the third swing arm 40. The first swing arm joint 22 is fixed relative to the lifting arm 10. The second swing arm joint 32 is fixed relative to the first swing arm 20. The third swing arm joint 42 is fixed relative to the second swing arm 30. When the rotation shaft 21 of the first swing arm 20 is driven by the first swing arm driving device to rotate, the first swing arm 20 rotates relative to the lifting arm 10. Correspondingly, when the rotation shaft 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20. When the rotation shaft 41 of the third swing arm 40 rotates, the third swing arm 40 rotates relative to the second swing arm 30.

[0077] In a further preferred embodiment, the first end of the lifting arm 10 is connected to the head end of the first swing arm 20. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 20 through the third swing arm joint 42. The rotating arm 50 is connected to the tail end of the third swing arm 40. The first swing arm 20, the second swing arm 30, and the third swing arm 40 have a certain length in the radial direction. 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 connected end to end, enabling relatively good flexibility.

[0078] Please refer to Figure 2 , Figure 6 and Figure 7The lifting arm 10 includes a lifting arm body 11, 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 11 is installed in the storage seat 12, the lifting drive device 13 is also installed in the storage seat 12, and the lifting drive device 13 is transmission-connected to the second end of the lifting arm body 12. A lifting through hole is provided on the top of the storage seat 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. Driven by the lifting drive device 13, the lifting arm body 11 is lifted and lowered relative to the lifting through hole of the storage seat 12. In this embodiment, the storage seat 12 can serve as the base of the multi-axis robot arm, and the storage seat 12 can be fixed on the ground or other installation platforms. Please refer to Figure 13 In the seventh embodiment, the lifting arm 10 may also be provided with a sliding seat 19 on one side thereof, the sliding seat 19 is connected to the screw rod, and moves up and down under the action of the screw rod mechanism, and the first swing arm 20 is installed on the sliding seat 19. In other embodiments, the lifting arm 10 may also be other structures.

[0079] In a further preferred embodiment, the lifting arm body 11 is a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body 11. The lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly is connected between the lifting drive motor 131 and the lifting arm body 11. The lifting drive motor 131 is located directly below the second end of the lifting arm body 11. When the first end of the lifting arm body 11 is retracted 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 11. When the lifting arm body 11 is in the retracted state, it is sleeved outside the lifting drive motor 131, so that the overall height of the storage seat 12 can be reduced, making the structure of the multi-axis robot arm more compact.

[0080] In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly, the lifting transmission assembly is transmission-connected between the lifting drive motor 131 and the lifting arm body 11, a lifting slider 14 is fixed to the bottom of the lifting arm body 11, and a lifting rail 123 extending along the first direction is arranged in the storage seat 12. The lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt and a screw rod 134, the lifting slider 14 is threadedly matched with the screw rod 134, and is slidingly matched with the lifting rail 123, the driving wheel 132 is connected to the output shaft of the lifting drive motor 131, the screw rod 134 is connected to the driven wheel 133, and the driving wheel 132 and the driven wheel 133 are matched through the synchronous belt transmission. The lifting drive motor 131 drives the screw rod 134 to rotate through the above-mentioned driving wheel 132, the driven wheel 133 and the synchronous belt, and further causes the lifting slider 14 to move up and down relative to the screw rod 134.

[0081] In a further preferred embodiment, the lifting slider 14 includes a vertical plate 142 extending in the first direction and a horizontal plate 141 vertically connected to the vertical plate 142. The lifting slide rail 123 is disposed on the side wall 122 of the receiving seat 12, and the vertical plate 142 is slidably connected to the lifting slide rail 123. The lead screw 134 is in threaded cooperation with the vertical plate 142. Specifically, two parallel lifting slide rails 123 are provided on the side wall 122 of the receiving seat 12. Two sliding blocks corresponding to the lifting slide rails are provided on the back of the vertical plate 142. The lead screw 134 is located between the two lifting slide rails 123. A nut in threaded cooperation with the lead screw 134 is also provided on the back of the vertical plate 142. The second end of the lifting arm body 11 is fixed to the horizontal plate 141. The lifting drive motor 131 is located directly below the horizontal plate 141 and is semi-surrounded by the vertical plate 142 and the horizontal plate 141. In this embodiment, the lifting slider 14 is in an inverted "L" shape. In other embodiments, the lifting slider 14 may also be in an inverted "U" shape. An avoidance through hole 143 is formed in the horizontal plate 141. When the first end of the lifting arm body 11 retracts into the receiving seat 12, the lifting drive motor 131 is inserted into the avoidance through hole 143. Such a structure can also reduce the overall height of the receiving seat 12 and make the structure of the multi-axis robotic arm more compact. Of course, in this embodiment, a through hole may also be formed at the bottom of the second end of the lifting arm body 11. When the first end of the lifting arm body 11 retracts into the receiving seat 12, the lifting drive motor 131 first inserts into the avoidance through hole 143 on the horizontal plate 141 and then enters the through hole at the bottom of the second end of the lifting arm body 11. An annular seal 19 is also provided at the lifting through hole. The lifting arm body 11 passes through the annular seal 19 and is in sealed cooperation with the annular seal 19. The annular seal 19 can prevent dust, water droplets, etc. from entering the receiving seat 12.

[0082] Please refer to Figure 10 and 11, in a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotation shafts 21 of the first swing arm 20, the rotation shafts 31 of the second swing arm 30, and the rotation shafts 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation shafts 21 of the first swing arm 20, the rotation shafts 31 of the second swing arm 30, and the rotation shafts 41 of the third swing arm 40 to rotate are respectively provided in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The multi-axis robotic arm further includes a base 60. The first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, and the first swing arm joint 22 is provided in the base 60 and / or the first swing arm 20. In this embodiment, a part of the first swing arm joint 22 is located in the base 60, and the other part extends into the first swing arm 20. This structure can make the structure of the first swing arm 20 more compact and small. In other embodiments, the first swing arm joint 22 can also be only provided in the base 60 or the first swing arm 20. In the following embodiments, the descriptions of the installation positions of the second swing arm joint 32, the third swing arm joint 42, the first rotating arm joint, and the second rotating arm joint are all similar to this and will not be repeated.

[0083] In some embodiments, the lifting arm 10 is connected between the tail end of the first swing arm 20 and the head end of the second swing arm 30. The second swing arm 30 is connected to the first end of the lifting arm 10 through the second swing arm joint 32. The second swing arm joint 32 is provided in the lifting arm 10 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the lifting arm 10. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42. The third swing arm joint 42 is provided in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0084] In some other embodiments, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32. The second swing arm joint 32 is provided in the first swing arm 20 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The lifting arm 10 is connected between the tail end of the second swing arm 30 and the head end of the third swing arm 40. The head end of the third swing arm 40 is connected to the first end of the lifting arm 10 through the third swing arm joint 42. The third swing arm joint 42 is provided in the lifting arm 10 and / or the third swing arm 42 and is used to drive the third swing arm 40 to rotate relative to the lifting arm 10. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0085] In some other embodiments, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32. The second swing arm joint 32 is disposed in the first swing arm 20 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42. The third swing arm joint 42 is disposed in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The lifting arm 10 is connected between the tail end of the third swing arm 40 and the rotating arm 50.

[0086] Please refer to Figure 9 and 13 , in a preferred embodiment, the multi-axis robotic arm includes a base 60. The lifting arm 10 is connected between the base 60 and the first swing arm 20. The head end of the first swing arm 20 is fixedly connected to the lifting arm 10. The lifting arm 10 can drivably drive the first swing arm 20 to rotate relative to the base 60. That is, the first swing arm 20 does not rotate relative to the lifting arm 10, but rotates relative to the base 60 together with the lifting arm 10. The rotation axis of the lifting arm 10 is also the rotation axis of the first swing arm 20. The structures of the second swing arm 30, the third swing arm 40, and the rotating arm 50 can be the same as those in Embodiment 1 ( Figures 2 to 7 ). The multi-axis robotic arm further includes a second swing arm joint 32 and a third swing arm joint 42. The rotation axes of the second swing arm 30 and the third swing arm 40 are respectively located in the second swing arm joint 32 and the third swing arm joint 42. The second swing arm joint 32 and the third swing arm joint 42 are respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotation axis 31 of the second swing arm 30 and the rotation axis 41 of the third swing arm 40 to rotate. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32. The second swing arm joint 32 is disposed in the first swing arm 20 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42. The third swing arm joint 42 is disposed in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0087] Please refer to Figure 10 、 11, in the fourth embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotating shafts 21 of the first swing arm 20, the rotating shafts 31 of the second swing arm 30, and the rotating shafts 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation of the rotating shafts 21 of the first swing arm 20, the rotating shafts 31 of the second swing arm 30, and the rotating shafts 41 of the third swing arm 40 are respectively provided in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The multi-axis robotic arm further includes a base 60. The first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, and the first swing arm joint 22 is provided in the base 60 and / or the first swing arm 20. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, and the second swing arm joint 32 is provided in the first swing arm 20 and / or the second swing arm 30 for driving the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, and the third swing arm joint 42 is provided in the second swing arm 30 and / or the third swing arm 40 for driving the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40, and the lifting arm 10 is connected to the rotating arm 50. A lifting driving device 13 is provided in the lifting arm 10. An installation platform 137 is further provided in the lifting arm 10 for installing a load (such as a fixture, a detection device, etc.). The installation platform 137 is connected to the lifting driving device 13 and moves up and down under the drive of the lifting driving device 13.

[0088] In a further preferred embodiment, the lifting driving device 13 includes a lifting driving motor 131 and a lifting transmission assembly. The lifting transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt 135, a lead screw 134, a lead screw nut 138, and a ball guide bearing 136. The driving wheel 132 is connected to the output shaft of the lifting driving motor 131, the lead screw nut 138 is connected to the driven wheel 133, the driving wheel 132 and the driven wheel 133 are connected by the synchronous belt 135 in a transmission manner, the lead screw 134 and the lead screw nut 135 are in a threaded fit, and the ball guide bearing 136 is sleeved outside the lead screw 134. The lifting driving motor 131 drives the lead screw nut 138 to rotate through the driving wheel 132, the driven wheel 133, and the synchronous belt 135, and further makes the lead screw 134 move up and down relative to the lead screw nut 138 and the ball guide bearing 136. The installation platform 137 is fixed to the top end of the lead screw 134.

[0089] In a preferred embodiment, when the rotating arm 50 is located at the tail end of the multi-axis robotic arm, a load such as a grasping device, a detection device, a fixed fixture, or a connecting device is provided on the rotating arm 50 for driving these loads to work.

[0090] Please refer to Figures 2 to 8 , in a preferred embodiment, the rotating arm 50 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 axial direction of the axis of rotation of the first rotating arm 51 is not parallel to the axial directions of 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 axial direction of the axis of rotation of the rotating part 521 is not parallel to the axial direction of the axis of rotation of the first rotating arm 51. In this embodiment, the rotating part 521 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 actions, and has high flexibility, and can also complete various operation requirements in a narrow space. Of course, in other embodiments, the rotating arm 50 can also have only one rotating arm section, for example, only the first rotating arm 51, or can have three or more rotating arm sections. 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 50 to any position within the working range (similar to the function of a human arm), and the first rotating arm 51 and the second rotating arm 52 are responsible for enabling the load of the multi-axis robotic arm to perform various actions (similar to the function of a human wrist).

[0091] In a further preferred embodiment, the multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint 522. The axes of rotation of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. A first rotating drive device and a second rotating drive device for driving the axis of rotation of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate are respectively provided in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm 40 and / or the first rotating arm 51 for driving the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is provided in the first rotating arm 51 and / or the second rotating arm 52 and is connected to the rotating part 521 of the second rotating arm 52 for driving the rotating part 521 to rotate relative to the first rotating arm 51.

[0092] In a further preferred embodiment, please refer to Figure 3 and 4, the third swing arm 40 includes a main body portion 46, a connecting portion 47, and a mounting portion 48. The third swing arm joint 42 is partially located in the main body portion 46 and partially located in the second swing arm 30. The connecting portion 47 connects the main body portion 46 and the mounting portion 48. The mounting portion 48 is columnar, and the axis of the column is perpendicular to the axis of the rotation shaft 41 of the third swing arm 40. The main body of the first rotating arm 51 is columnar, and the main body of the first rotating arm 51 is coaxially connected to the mounting portion 48. The first rotating arm joint is at least partially mounted in the mounting portion 48. Through this design, when the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located in the same plane, the axis center line of the rotating portion 521 of the second rotating arm 52 is also located in this plane, which facilitates the positioning and calibration of the multi-axis robotic arm.

[0093] Please refer to Figure 9 , in another preferred embodiment, the third swing arm 40 includes a main body portion 46 and a mounting portion 48. The third swing arm joint 42 is partially located in the main body portion 46. The mounting portion 48 is columnar, and the axis of the column is perpendicular to the axis of the rotation shaft 41 of the third swing arm 40. The main body of the first rotating arm 51 is columnar, and the main body of the first rotating arm 51 is coaxially connected to the mounting portion 48. The first rotating arm joint is at least partially mounted in the mounting portion 48.

[0094] Please refer to Figures 2 to 7 , in a further preferred embodiment, when the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are arranged in the same plane (as Figure 4 shown), the axis center line of the rotation shaft of the first rotating arm 51 is perpendicular to the plane where the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located. This facilitates the positioning and calibration of the multi-axis robotic arm. In another preferred embodiment, when the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are arranged in the same plane, the axis center line of the rotation shaft of the first rotating arm 51 is parallel to the plane where the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located or is located in the plane where the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located. Figure 8 The embodiment shown is that the axis center line of the rotation shaft of the first rotating arm 51 is located in the plane where the axis center lines of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located.

[0095] In a preferred embodiment, the axial direction of the rotation axis of the first rotating arm 51 is perpendicular to the axial direction of the rotation axis of the third swinging arm 40, the axial directions of the rotation axes of the first rotating arm 51 and the second rotating arm 52 are perpendicular, and the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is greater than or equal to 360 degrees. When the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is equal to 360 degrees, the first rotating arm 51 and the second rotating arm 52 can rotate reciprocally, and when the rotation angle range is greater than 360 degrees, they can continuously rotate unidirectionally. Through the above settings, the multi-axis robotic arm can have a high degree of freedom and flexibility and can complete complex actions in a narrow space. It should be noted that the perpendicularity referred to in this application can be spatial perpendicularity and does not limit that two lines are in the same plane.

[0096] Please refer to Figures 2 to 7 , the first swinging arm 20 is connected to the lifting arm 10 through the rotation axis 21 of the first swinging arm 20, the first swinging arm 20 is drivably rotatable relative to the lifting arm 10, the second swinging arm 30 is connected to the first swinging arm 20 through the rotation axis 31 of the second swinging arm 30, the third swinging arm 40 is connected to the second swinging arm 30 through the rotation axis 41 of the third swinging arm 40, and the rotating arm 50 is directly connected to the third swinging arm 40. The rotating arm 50 includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 is drivably rotatable relative to the third swinging arm 40 around its own rotation axis, and the axial direction of the rotation axis of the first rotating arm 51 is not parallel to the axial directions of the rotation axes of the first swinging arm 20, the second swinging arm 30, and the third swinging 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 around its own rotation axis, and the axial direction of the rotation axis of the rotating part 521 is not parallel to the axial direction of the rotation axis of the first rotating arm 51. In this embodiment, the lifting arm 10, the first swinging arm 20, the second swinging arm 30, and the third swinging arm 40 are responsible for moving the rotating arm 50 to any position within the working range, while the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robotic arm to perform various actions.

[0097] In a further preferred embodiment, the lifting arm 10 is arranged vertically, the first swinging arm 20, the second swinging arm 30, and the third swinging arm 40 rotate horizontally, the axis of the first rotating arm 51 is arranged horizontally and is perpendicular to the axial directions of the rotation axes of the first swinging arm 20, the second swinging arm 30, and the third swinging arm 40, and the axis of the second rotating arm 52 is perpendicular to the axis of the first rotating arm 51. In this embodiment, the lifting arm 10 can serve as the base of the multi-axis robotic arm and be fixed on the ground or other mounting platforms.

[0098] In a further preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotation shafts 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, and the rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation shafts 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, and the rotation shaft 41 of the third swing arm 40 to rotate are respectively provided in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42.

[0099] The head end of the first swing arm 20 is connected to the first end of the lifting arm 10 through the first swing arm joint 22. The first swing arm joint 22 is provided in the lifting arm 10 and / or the first swing arm 20 and is used to drive the first swing arm 20 to rotate relative to the lifting arm 10. The head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32. The second swing arm joint 32 is provided in the first swing arm 20 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42. The third swing arm joint 42 is provided in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30.

[0100] The multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint 522. The rotation shafts of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. A first rotating driving device and a second rotating driving device for driving the rotation shaft of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate are respectively provided in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm 40 and / or the first rotating arm 51 and is used to drive the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is provided in the first rotating arm 51 and / or the second rotating arm 52, is connected to the rotating part 521 of the second rotating arm 52, and is used to drive the rotating part 521 to rotate relative to the first rotating arm 51.

[0101] The lifting arm 10 includes a lifting arm body 11, 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 11 is installed in the storage seat 12, and the lifting drive device 13 is also installed in the storage seat 12. The lifting drive device 13 is in transmission connection with the second end of the lifting arm body 12. A lifting through hole is provided at the top of the storage seat 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. The lifting arm body 11 is lifted and lowered relative to the lifting through hole of the storage seat 12 under the drive of the lifting drive device 13.

[0102] In a further preferred embodiment, the axial directions of the rotation shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are parallel, and the rotation angle ranges of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are all greater than or equal to 360 degrees.

[0103] Please refer to Figure 12 , in Embodiment 5, the multi-axis robotic arm further includes a translation guide rail 82 and a translation drive device 81. The lifting arm 10 is installed on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82 to drive the lifting arm 10 to translate on the translation guide rail 82. In this embodiment, the lifting arm 10 is connected to the first end of the first swing arm 20. The translation drive device 81 drives the lifting arm 10 to translate on the translation guide rail 82, driving the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 to translate accordingly, thereby increasing the movement range of the multi-axis robotic arm. In other embodiments, when the multi-axis robotic arm has a base 60, the multi-axis robotic arm can also be provided with a translation guide rail 82 and a translation drive device 81, install the base 60 on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82 to drive the base 60 to translate on the translation guide rail 82

[0104] Please refer to Figure 5 and Figure 7, 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 all have hollow shells. The rotating shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are also hollow structures. The multi-axis robotic arm further includes electric wires and / or air pipes 900. Some of the electric wires and / or air pipes 900 extend from the head end to the tail end of the multi-axis robotic arm, pass through the lifting arm 10, the rotating shaft 21 of the first swing arm 20, the first swing arm 20, the rotating shaft 31 of the second swing arm 30, the second swing arm 30, the rotating shaft 41 of the third swing arm 40, and the third swing arm 40, and extend to the rotating arm 50. The so-called "some of the electric wires and / or air pipes 900" is because some of the electric wires and air pipes 900 (such as the electric wires connecting the first swing arm 20) may not need to extend to the rotating arm 50. The electric wires are used to supply power to the electrical components (such as drive devices) in each arm section, and the air pipes can be used to supply air to the load. In some embodiments, the air pipes may not be provided. A joint 15 may be provided on the lifting arm 10 (such as the receiving seat 12 of the lifting arm 10) for connecting external electric wires and air pipes. By this wiring method, the structure of the multi-axis robotic arm can be made more concise and safer.

[0105] Please refer to Figure 3 and Figure 5 , in a preferred embodiment, the first swing arm 20, the second swing arm 30 and the third swing arm 40 all have hollow shells, and a detachable upper cover is provided at a position corresponding to the rotating shaft above the shell of at least one of the first swing arm 20, the second swing arm 30 and the third swing arm 40 ( Figure 3 the component numbered 28 in the figure is the upper cover of the first swing arm 20). By providing a detachable upper cover, it is convenient to repair and replace the components in the first swing arm 20, the second swing arm 30 and the third swing arm 40.

[0106] Please refer to Figure 14 , in the above embodiment, at least one of the first swing arm joint 22, the second swing arm joint 32 and the third swing arm joint 42 can adopt the following joint assembly, and at least one of the first rotating arm joint and the second rotating arm joint 522 can also adopt the following joint assembly 70.

[0107] Please refer to Figures 14 to 16, 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 is a hollow structure with an axial through-hole, through which the wire and the air pipe 900 can pass. A flange is provided at the output end of the main output shaft 701 for connecting with 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 for driving the connecting shaft 702 to rotate, and then driving 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 arranged as a hollow structure with an axial through-hole, which can enable 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, so that the internal structure of the robotic arm is compact and the appearance is neat and beautiful.

[0108] It can be understood that when the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 adopt the above-mentioned joint assembly, the main output shaft 701 is the rotating shaft 21 of the corresponding first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device, and third swing arm driving device. When the first rotating arm joint and the second rotating arm joint 522 adopt the above-mentioned joint assembly, the main output shaft 701 is the rotating shaft of the corresponding first rotating arm 51 or second rotating arm 52, and the driving mechanism is the corresponding first rotation driving device or second rotation driving device.

[0109] In a preferred embodiment, the joint assembly 70 further includes a braking mechanism 705 and a heat dissipation mechanism 706. The braking mechanism 705 cooperates with the connecting shaft 702 to stop the rotation of the connecting shaft 702 during braking, thereby stopping the rotation of the main output shaft 701. 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 70. The heat dissipation mechanism 706, the braking mechanism 705, the driving mechanism 704, and the 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 15 viewed from Figure 15 , are arranged in sequence from bottom to top. This arrangement makes the structure of the joint assembly 70 very compact and has a small volume.

[0110] In a preferred embodiment, a end cover 707 is provided at one end of the main output shaft 701 facing away from the reduction mechanism 703 (i.e., the end opposite to the output end). The end cover 707 is sleeved outside 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. 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 and is sleeved outside the connecting shaft 702 and the main output shaft 701. The flexspline 7033 is sleeved outside the wave generator 7031, and the rigid gear 7032 is sleeved outside the flexspline 7033 and is connected to the main output shaft 701.

[0111] Please refer to Figure 16 , in a preferred embodiment, the heat dissipation mechanism 706 includes a heat dissipation mounting base 7061. The heat dissipation mounting base 7061 is sleeved outside the connecting shaft 702 and can rotate with the connecting shaft 706. The heat dissipation mounting base 7061 is provided with an annular connecting plate 7064, and 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 during operation. 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.

[0112] In this specification, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate medium. Also, a first feature being "above", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0113] 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.

[0114] 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, 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 moves up and down in a first direction. The first swing arm, the second swing arm and the third swing arm are stacked in 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 in the first direction. The rotating shafts of the first swing arm, the second swing arm and the third swing arm are eccentrically arranged on the first swing arm, the second swing arm and the third swing arm respectively. 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.

2. The multi-axis robotic arm according to claim 1, characterized in that, The lifting arm is connected to the head end of the first swing arm, or is connected between the first swing arm and the second swing arm, or is connected between the second swing arm and the third swing arm, or is connected between the tail end of the third swing arm and the rotating arm, or is connected to the tail end of the rotating arm. The lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm are all independently driven.

3. The multi-axis robotic arm according to claim 1, characterized in that, The multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint and a third swing arm joint. The rotating shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint. A first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotating shafts of the first swing arm, the second swing arm and the third swing arm to rotate are respectively arranged in the first swing arm joint, the second swing arm joint and the third swing arm joint. The first swing arm is connected to the lifting arm through the first swing arm joint, and the first swing arm can be driven to rotate relative to the lifting arm. The second swing arm is connected to the first swing arm through the second swing arm joint. The third swing arm is connected to the second swing arm through the third swing arm joint. The rotating arm is directly connected to the third swing arm.

4. The multi-axis robotic arm according to claim 3, wherein, The first end of the lifting arm is connected to the head end of the first swing arm. The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The rotating arm is connected to the tail end of the third swing arm.

5. The multi-axis robotic arm according to claim 3, characterized in that, The lifting arm includes a lifting arm body, a receiving seat and a lifting driving device. The receiving seat is in the shape of a box. The second end of the lifting arm body is installed in the receiving seat. The lifting driving device is also installed in the receiving seat. The lifting driving device is connected to the second end of the lifting arm body. A lifting through hole is opened at the top of the receiving seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted relative to the lifting through hole of the receiving seat under the drive of the lifting driving device.

6. The multi-axis robotic arm according to claim 5, wherein The lifting arm body is a hollow structure, and a through hole is formed at the bottom of the second end of the lifting arm body. The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is drivingly connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body retracts into the receiving seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

7. The multi-axis robotic arm according to claim 5, characterized in that, The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is drivingly connected between the lifting drive motor and the lifting arm body. A lifting slider is fixed to the bottom of the lifting arm body. A lifting slide rail extending in the first direction is provided in the receiving seat. The lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a lead screw. The lifting slider is in threaded cooperation with the lead screw and is slidably engaged with the lifting slide rail. The driving wheel is connected to the output shaft of the lifting drive motor. The lead screw is connected to the driven wheel. The driving wheel and the driven wheel are drivingly engaged through the synchronous belt. The lifting drive motor drives the lead screw to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, and further enables the lifting slider to move up and down relative to the lead screw.

8. The multi-axis robotic arm according to claim 7, wherein, The lifting slider includes a vertical plate extending in the first direction and a horizontal plate perpendicularly connected to the vertical plate. The lifting slide rail is provided on the side wall of the receiving seat. The vertical plate is slidably connected to the lifting slide rail. The lead screw is in threaded cooperation with the vertical plate. The second end of the lifting arm body is fixed to the horizontal plate. The lifting drive motor is located directly below the horizontal plate and is semi-surrounded by the vertical plate and the horizontal plate. A relief through hole is formed in the horizontal plate. When the first end of the lifting arm body retracts into the receiving seat, the lifting drive motor is inserted into the relief through hole. An annular seal is provided at the lifting through hole. The lifting arm body passes through the annular seal and is in sealed cooperation with the annular seal.

9. The multi-axis robotic arm according to claim 1, characterized in that, The multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the rotation axes of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively provided in the first swing arm joint, the second swing arm joint, and the third swing arm joint. The multi-axis robotic arm includes a base. The first swing arm is rotatably connected to the base through a first swing arm joint. The first swing arm joint is provided in the base and / or the first swing arm. The lifting arm is connected between the tail end of the first swing arm and the head end of the second swing arm. The second swing arm is connected to the lifting arm through the second swing arm joint. The second swing arm joint is arranged in the lifting arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the lifting arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm; Or The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the first swing arm. The lifting arm is connected between the tail end of the second swing arm and the head end of the third swing arm. The head end of the third swing arm is connected to the lifting arm through the third swing arm joint. The third swing arm joint is arranged in the lifting arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the lifting arm. The rotating arm is directly connected to the tail end of the third swing arm; Or The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the second swing arm. The lifting arm is connected between the tail end of the third swing arm and the rotating arm.

10. The multi-axis robotic arm according to claim 1, characterized in that, The multi-axis robotic arm includes a base. The lifting arm is connected between the base and the first swing arm. The head end of the first swing arm is fixedly connected to the lifting arm. The lifting arm can be driven to drive the first swing arm to be rotatable relative to the base; The multi-axis robotic arm further includes a second swing arm joint and a third swing arm joint. The rotating shafts of the second swing arm and the third swing arm are respectively located in the second swing arm joint and the third swing arm joint. A second swing arm driving device and a third swing arm driving device for driving the rotating shafts of the second swing arm and the third swing arm to rotate are respectively arranged in the second swing arm joint and the third swing arm joint; The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm.

11. The multi-axis robotic arm according to claim 1, characterized in that, The multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation axes of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively provided in the first swing arm joint, the second swing arm joint, and the third swing arm joint. The multi-axis robotic arm further includes a base. The first swing arm is rotatably connected to the base through the first swing arm joint. The first swing arm joint is provided in the base and / or the first swing arm. The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is provided in the first swing arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is provided in the second swing arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the second swing arm. The rotating arm is directly connected to the tail end of the third swing arm. The lifting arm is connected to the rotating arm, and a lifting driving device is provided in the lifting arm.

12. The multi-axis robotic arm according to claim 11, wherein The lifting driving device includes a lifting driving motor and a lifting transmission assembly. The lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt, a lead screw, a lead screw nut, and a ball guide bearing. The driving wheel is connected to the output shaft of the lifting driving motor. The lead screw nut is connected to the driven wheel. The driving wheel and the driven wheel are connected by a synchronous belt for transmission. The lead screw and the lead screw nut are in threaded cooperation. The ball guide bearing is sleeved outside the lead screw. The lifting driving motor drives the lead screw nut to rotate through the driving wheel, the driven wheel, and the synchronous belt, further causing the lead screw to move up and down relative to the lead screw nut and the ball guide bearing.

13. The multi-axis robotic arm according to any one of claims 3 to 12, characterized in that A grasping device, a detection device, a fixing fixture, or a connecting device is provided on the rotating arm.

14. The multi-axis robotic arm according to any one of claims 1 to 12, 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 around its own rotation axis relative to the third swing arm, 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. A rotating part is provided on the second rotating arm, and the rotating part can be driven to rotate around its own rotation axis relative to the first rotating arm. 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.

15. The multi-axis robotic arm according to claim 14, wherein, The multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint. The rotation axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. The first rotating arm joint and the second rotating arm joint are respectively provided with a first rotation driving device and a second rotation driving device for driving the rotation axis of the first rotating arm and the rotating part of the second rotating arm to rotate. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is arranged in the third swing arm and / or the first rotating arm and is used to drive the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is arranged in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm and is used to drive the rotating part to rotate relative to the first rotating arm.

16. The multi-axis robotic arm according to claim 14, wherein The third swing arm includes a main body part, a connecting part and a mounting part. The third swing arm joint is partially located in the main body part. The connecting part connects the main body part and the mounting part. The mounting part is columnar and the axial direction of the column is perpendicular to the axial direction of the rotation axis of the third swing arm. The main body of the first rotating arm is columnar. The main body of the first rotating arm is coaxially connected to the mounting part. The first rotating arm joint is at least partially mounted in the mounting part. Or The third swing arm includes a main body part and a mounting part. The third swing arm joint is partially located in the main body part. The mounting part is columnar and the axial direction of the column is perpendicular to the axial direction of the rotation axis of the third swing arm. The main body of the first rotating arm is columnar. The main body of the first rotating arm is coaxially connected to the mounting part. The first rotating arm joint is at least partially mounted in the mounting part.

17. The multi-axis robotic arm according to claim 14, wherein When the central axes of the rotation axes of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotation axis of the first rotating arm is perpendicular to the plane where the central axes of the rotation axes of the first swing arm, the second swing arm and the third swing arm are located; or When the central axes of the rotation axes of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotation axis of the first rotating arm is parallel to the plane where the central axes of the rotation axes of the first swing arm, the second swing arm and the third swing arm are located or is located in the plane where the central axes of the rotation axes of the first swing arm, the second swing arm and the third swing arm are located.

18. The multi-axis robotic arm according to claim 14, wherein, The axial direction of the rotation axis of the first rotating arm is perpendicular to the axial direction of the rotation axis of the third swing arm. The axial directions of the rotation axes of the first rotating arm and the second rotating arm are perpendicular, and the rotation angle ranges of the first rotating arm and the second rotating arm are greater than or equal to 360 degrees.

19. The multi-axis robotic arm according to claim 1, wherein, The first swing arm is connected to the lifting arm through the rotating shaft of the first swing arm. The first swing arm is rotatable relative to the lifting arm in a driving manner. The second swing arm is connected to the first swing arm through the rotating shaft of the second swing arm. The third swing arm is connected to the second swing arm through the rotating shaft of the third swing arm. The rotating arm is directly connected to the third swing arm. The rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm is directly connected to the third swing arm. The first rotating arm is rotatable relative to the third swing arm around its own rotating shaft in a driving manner, 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. A rotating part is provided on the second rotating arm. The rotating part is rotatable relative to the first rotating arm around its own rotating shaft in a driving manner, and 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.

20. The multi-axis robotic arm according to claim 19, wherein, The lifting arm is arranged vertically. The first swing arm, the second swing arm, and the third swing arm rotate horizontally. The axis of the first rotating arm is arranged horizontally and is perpendicular to the axial directions of the rotating shafts of the first swing arm, the second swing arm, and the third swing arm. The axial direction of the rotating shaft of the second rotating arm is perpendicular to the axial direction of the rotating shaft of the first rotating arm.

21. The multi-axis robotic arm according to claim 19, wherein, The multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The rotating shafts of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotating shafts of the first swing arm, the second swing arm, and the third swing arm to rotate are respectively provided in the first swing arm joint, the second swing arm joint, and the third swing arm joint. The head end of the first swing arm is connected to the first end of the lifting arm through the first swing arm joint. The first swing arm joint is arranged in the lifting arm and / or the first swing arm and is used for driving the first swing arm to rotate relative to the lifting arm. The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint. The second swing arm joint is arranged in the first swing arm and / or the second swing arm and is used for driving the second swing arm to rotate relative to the first swing arm. The head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint. The third swing arm joint is arranged in the second swing arm and / or the third swing arm and is used for driving the third swing arm to rotate relative to the second swing arm. The multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint. The rotating shafts of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. A first rotating drive device and a second rotating drive device for driving the rotation of the rotating shaft of the first rotating arm and the rotating part of the second rotating arm are respectively provided in the first rotating arm joint and the second rotating arm joint. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm and / or the first rotating arm and is used for driving the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is provided in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm and is used for driving the rotating part to rotate relative to the first rotating arm; The lifting arm includes a lifting arm body, a receiving seat and a lifting drive device. The receiving seat is in the shape of a box. The second end of the lifting arm body is installed in the receiving seat. The lifting drive device is also installed in the receiving seat. The lifting drive device is connected to the lifting arm body. A lifting through hole is provided at the top of the receiving seat. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. The lifting arm body is lifted and lowered relative to the lifting through hole of the receiving seat under the drive of the lifting drive device.

22. The multi-axis robotic arm according to claim 1, wherein, The axial directions of the rotating shafts of the first swing arm, the second swing arm and the third swing arm are parallel, and the rotation angle ranges of the first swing arm, the second swing arm and the third swing arm are all greater than or equal to 360 degrees.

23. The multi-axis robotic arm according to any one of claims 3-8 and 19-21, characterized in that, The multi-axis robotic arm further includes a translation guide rail and a translation drive device. The lifting arm is installed on the translation guide rail. The translation drive device is connected to the translation guide rail and drives the lifting arm to translate on the translation guide rail.

24. The multi-axis robotic arm according to any one of claims 9-12, characterized in that, The multi-axis robotic arm further includes a translation guide rail and a translation drive device. The base is installed on the translation guide rail. The translation drive device is connected to the translation guide rail and drives the base to translate on the translation guide rail.

25. The multi-axis robotic arm according to any one of claims 1-12, 19-22, characterized in that, The lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm all have hollow shells. The rotating shafts of the first swing arm, the second swing arm and the third swing arm are also hollow structures. The multi-axis robotic arm further includes electric wires and / or air pipes. Some of the electric wires and / or air pipes extend from the head end to the tail end of the multi-axis robotic arm, pass through the lifting arm, the rotating shafts of the first swing arm, the first swing arm, the rotating shafts of the second swing arm, the second swing arm, the rotating shafts of the third swing arm, the third swing arm, and extend to the rotating arm.

26. The multi-axis robotic arm according to any one of claims 1-12, 19-22, characterized in that, The first swing arm, the second swing arm and the third swing arm all have hollow shells, and a detachable upper cover is provided at a position corresponding to the rotating shaft above the shell of at least one of the first swing arm, the second swing arm and the third swing arm.

27. The multi-axis robotic arm according to any one of claims 3-12 and 19-21, characterized in that, At least one of the first swing arm joint, the second swing arm joint and the third swing arm joint adopts the following joint assembly: 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, and the output end of the speed 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 decelerated by the speed reduction mechanism; The main output shaft is the rotating shaft of the corresponding first swing arm, second swing arm, or third swing arm, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device, or third swing arm driving device.

28. The multi-axis robotic arm according to claim 27, characterized in that, 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 output end of the main output shaft; A end cover is provided at one end of the main output shaft facing 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, which includes a wave generator, a flexible gear, and a rigid gear. The wave generator is sleeved outside the main output shaft and is connected to the connecting shaft. The flexible gear is sleeved outside the wave generator, and the rigid gear is sleeved outside the flexible gear and is connected to 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. The heat dissipation mounting seat is provided with an annular connecting plate, and a plurality of fan blades are arranged at intervals along the circumferential direction of the annular connecting plate.

29. The multi-axis robotic arm according to claim 15, wherein, At least one of the first rotating arm joint and the second rotating arm joint adopts the following joint assembly: 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, and the output end of the speed 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 decelerated by the speed reduction mechanism; The main output shaft is the rotating shaft of the corresponding first rotating arm or second rotating arm, and the driving mechanism is the corresponding first rotation driving device or second rotation driving device.

30. The multi-axis robotic arm according to claim 29, 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. 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 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 comprises 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, the rigid wheel is sleeved on the outside of the flexible wheel and connected to the main output shaft; 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.

Images