Camera assembly mounting structure of mechanical arm and multi-axis mechanical arm

Abstract

The utility model relates to the technical field of robots, and particularly discloses a camera shooting assembly installation structure of a mechanical arm and a multi-axis mechanical arm, the camera shooting assembly installation structure of the mechanical arm comprises an arm section body, and the arm section body comprises a shell. A camera shooting assembly and a driving joint assembly used for driving the arm section body to move are arranged in the shell, the driving joint assembly and the camera shooting assembly are arranged in a spaced mode, a lens of the camera shooting assembly can penetrate through the shell to shoot an external object, and the camera shooting assembly installation structure of the mechanical arm further comprises a wire. The wire is used for connecting the controller and the camera shooting assembly, and the wire is sealed in the shell. Due to the fact that the camera shooting assembly is arranged in the shell, the camera shooting assembly is shielded and protected through the shell, when the mechanical arm works, the camera shooting assembly is prevented from colliding with other objects and being damaged, the working stability is ensured, and the appearance of the mechanical arm can be more attractive.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a camera assembly mounting structure of a robotic arm and a multi-axis robotic arm. Background Art

[0002] Robots are important intelligent automation devices, with industrial robots widely used in industries such as equipment manufacturing and the automotive industry. A robotic arm is a type of robot. Featuring multiple inputs and outputs, high nonlinearity, and strong coupling, it is a complex system. It is widely used in industrial assembly, safety, and explosion protection, and is valued for its operational flexibility. The robotic arm is one of the most widely used mechanical devices in the robotics field, capable of receiving commands and precisely locating itself to a specific point in three-dimensional (or two-dimensional) space to perform operations.

[0003] The robotic arm usually needs to be equipped with a camera assembly to work in order to accurately locate the position of the workpiece to be grasped or to cooperate with the movement of the robotic arm to take pictures of the workpiece to be inspected. When the existing robotic arm is used with a camera assembly, the camera assembly is usually externally connected to the outside of the robotic arm, such as a shooting device mounting structure and a Scara industrial robot disclosed in Chinese patent CN205600717U. The camera in the patent (equivalent to the camera assembly) is connected to the end of the Scara industrial robot (one type of robotic arm) through the shooting device mounting structure. However, since the camera is externally connected to the robotic arm, not only does it make the overall robotic arm less beautiful, but it also affects the flexibility of the robotic arm due to the external placement of the camera. In addition, the camera assembly is external and there is no structure to protect it. It may collide with other objects during the working process, thereby damaging the camera assembly or causing the instability of the camera assembly in taking pictures and detecting. Utility Model Content

[0004] The utility model aims to solve the technical problems existing in the above-mentioned prior art and provides a camera assembly mounting structure of a robotic arm and a multi-axis robotic arm, so that the multi-axis robotic arm has a beautiful appearance and can also protect the camera assembly.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] The camera assembly mounting structure of a robotic arm described in the present invention includes an arm segment body, the arm segment body includes a shell, a camera assembly and a driving joint assembly for driving the arm segment body to move are arranged in the shell, the driving joint assembly and the camera assembly are spaced apart, the lens of the camera assembly can take pictures of external objects through the shell, and the camera assembly mounting structure of the robotic arm also includes a wire, which is used to connect a controller and the camera assembly, and the wire is enclosed in the shell.

[0007] The camera assembly mounting structure of a robotic arm described in the present invention sets the camera assembly inside the shell of the arm section body, allowing the lens of the camera assembly to photograph the external object to be photographed through the shell. Since the camera assembly is built into the shell, the shell encloses and protects the camera assembly. When the robotic arm is working, the camera assembly is prevented from colliding with other objects, preventing damage to the camera assembly, ensuring its working stability, and also ensuring the accuracy of the camera assembly's photography. In addition, by installing the camera assembly inside the shell, it forms a visual effect of an integral whole with the robotic arm, making the appearance of the robotic arm more beautiful, and the built-in camera assembly does not affect the flexibility of the robotic arm. In addition, by directly setting the camera assembly inside the shell of the arm section body, the internal space of the shell of the arm section body is fully utilized, making the overall structure of the robotic arm more compact.

[0008] Furthermore, a first through hole is provided on one surface of the housing, the lens of the camera assembly faces the first through hole, and the housing outside the camera assembly and the housing outside the driving joint assembly are an integrated structure;

[0009] Alternatively, the shell includes a first shell and a second shell that are separately arranged, the second shell is connected to the first shell, the driving joint assembly is arranged in the first shell, the camera assembly is arranged in the second shell, a first through hole is provided on one surface of the second shell, and the lens of the camera assembly faces the first through hole.

[0010] Furthermore, a first through hole is provided on one surface of the housing, and the lens portion of the camera assembly extends out of the first through hole, and the housing outside the camera assembly and the housing outside the driving joint assembly are an integrated structure;

[0011] Alternatively, the housing includes a first housing and a second housing that are separately provided, the second housing is connected to the first housing, the driving joint assembly is provided in the first housing, the camera assembly is provided in the second housing, a first through hole is provided on one surface of the second housing, and a lens portion of the camera assembly extends out of the first through hole;

[0012] Alternatively, the shell includes a first shell and a second shell that are separately arranged, the second shell is connected to the first shell, the driving joint assembly is arranged in the first shell, the camera assembly is arranged in the second shell, and the second shell is made of a transparent material.

[0013] Furthermore, a transparent plate is provided at the first through hole to close the first through hole;

[0014] Alternatively, a transparent plate for closing the first through hole is provided at the first through hole, and a sealing ring is provided between the transparent plate and the first through hole.

[0015] Furthermore, the arm segment body is further provided with a rotating portion and an output joint assembly for driving the rotating portion to rotate, the output joint assembly is provided in the housing, and the rotating portion is located outside the housing for rotationally connecting with an external device;

[0016] The driving joint assembly is arranged at the connection end of the arm segment body, the camera assembly is arranged at the free end of the arm segment body, and the output joint assembly is arranged between the driving joint assembly and the camera assembly;

[0017] Alternatively, the driving joint assembly is arranged at the connection end of the arm segment body, and the camera assembly is arranged between the driving joint assembly and the output joint assembly.

[0018] Furthermore, the direction of the lens of the camera assembly is the same as the direction of the output end of the rotating part.

[0019] Furthermore, the driving joint assembly has a hollow rotating shaft, the wire is connected to the camera assembly, and the other end passes through the hollow rotating shaft of the driving joint assembly and is connected to the controller located outside the shell.

[0020] The utility model describes a multi-axis robotic arm, comprising a lifting arm, a first arm segment and a second arm segment, wherein the lifting arm, the first arm segment and the second arm segment are distributed in sequence from the head end to the tail end of the multi-axis robotic arm, the lifting arm is lifted and lowered along a first direction, the first arm segment and the second arm segment are stacked along the first direction, the rotating shafts of the first arm segment and the second arm segment axially extend along the first direction, the rotating shafts of the first arm segment and the second arm segment are correspondingly eccentrically arranged on the first arm segment and the second arm segment, the first arm segment is rotatably connected to the lifting arm through a joint assembly and can swing relative to the lifting arm, the second arm segment is rotatably connected to the first arm segment through a joint assembly and can swing relative to the first arm segment, and the second arm segment is provided with the camera assembly mounting structure of the above-mentioned robotic arm.

[0021] Furthermore, a lifting arm is connected to the head end of the first arm section, and the lifting arm includes a lifting arm body, a storage seat, and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. 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 arm section. The lifting arm body is driven by the lifting drive device to rise and fall relative to the lifting through hole of the storage seat.

[0022] 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, a lifting slider is fixed to the bottom of the lifting arm body, and a lifting slide rail extending along a first direction is provided in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly engaged with the screw rod and slidably engaged with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are driven by the synchronous belt, and the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, further causing the lifting slider to move up and down relative to the screw rod;

[0023] The lifting slider includes a vertical plate extending along the first direction and a horizontal plate vertically connected to the vertical plate. The lifting slide rail is arranged on the side wall of the storage seat. The vertical plate is slidably connected to the lifting slide rail. The screw rod is threadedly engaged with the vertical plate. The second end of the lifting arm body is fixed on the horizontal plate. The lifting drive motor is located directly below the horizontal plate and is half surrounded by the vertical plate and the horizontal plate. An avoidance through hole is opened on the horizontal plate. When the first end of the lifting arm body is retracted into the storage 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 sealed with the annular seal.

[0024] The utility model discloses a multi-axis robot arm, comprising a lifting arm, a first arm segment, a second arm segment, a third arm segment and a rotating arm, wherein the lifting arm is lifted and lowered along a first direction, the first arm segment, the second arm segment and the third arm segment are stacked along the first direction, the rotating axes of the first arm segment, the second arm segment and the third arm segment axially extend along the first direction, the first arm segment, the second arm segment, the third arm segment and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis robot arm, the second arm segment rotates relative to the first arm segment, the third arm segment rotates relative to the second arm segment, the rotating arm rotates relative to the third arm segment, and the rotating axis of the rotating arm is not parallel to the axial axes of the rotating axes of the first arm segment, the second arm segment and the third arm segment, the lifting arm is connected to one of the first arm segment and the rotating arm, or is connected between two of the first arm segment, the second arm segment, the third arm segment and the rotating arm;

[0025] 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 rotating axis relative to the third arm segment, and the axial direction of the rotating axis of the first rotating arm is not parallel to the axial directions of the rotating axes of the first arm segment, the second arm segment, and the third arm segment. The second rotating arm is connected to the first rotating arm, and the second rotating arm is provided with the camera component mounting structure of the above-mentioned robotic arm.

[0026] Furthermore, the first arm segment is connected to the lifting arm via a rotating shaft of the first arm segment, and the first arm segment is drivable to rotate relative to the lifting arm. The second arm segment is connected to the first arm segment via a rotating shaft of the second arm segment, and the third arm segment is connected to the second arm segment via a rotating shaft of the third arm segment.

[0027] The lifting arm is arranged vertically, the first arm segment, the second arm segment and the third arm segment rotate horizontally, the axis of the first rotating arm is arranged horizontally and is perpendicular to the axial direction of the rotating shaft of the first arm segment, the second arm segment and the third arm segment, and 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.

[0028] The multi-axis robotic arm of the present invention, by incorporating the aforementioned robotic arm camera assembly mounting structure, possesses all the beneficial technical effects provided by the aforementioned robotic arm camera assembly mounting structure, which will not be elaborated upon here. Furthermore, the multi-axis robotic arm formed by combining the various arm segments can be moved more freely to a desired position, eliminating operational blind spots. Furthermore, the multi-axis robotic arm is more flexible in structure and can operate in confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0030] Figure 1 This is a three-dimensional diagram of the first embodiment of the multi-axis robotic arm of the present invention.

[0031] Figure 2 This is a three-dimensional diagram of the second embodiment of the multi-axis robotic arm of the present invention.

[0032] Figure 3 for Figure 1 sectional view of .

[0033] Figure 4 for Figure 2 sectional view of .

[0034] Figure 5 This is a schematic diagram of the structure of the multi-axis robotic arm after removing some components.

[0035] Figure 6 Schematic diagram of the internal structure of the lifting arm of a multi-axis robotic arm.

[0036] Figure 7 Schematic diagram of the structure of a multi-axis robotic arm with the top cover removed to expose the operating opening.

[0037] Figure 8 This is a three-dimensional diagram of the third embodiment of the multi-axis robotic arm of the present invention (six-axis robotic arm). DETAILED DESCRIPTION

[0038] In order to facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings.

[0039] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element. The terms "mounted", "one end", "the other end" and similar expressions used herein are for illustrative purposes only.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0041] The utility model provides a specific embodiment of the camera assembly installation structure of a robotic arm, see Figure 1 and 2 , including an arm segment body, the arm segment body including a housing, within which is disposed a camera assembly 2 and a driving joint assembly 3 for driving the arm segment body to move. The driving joint assembly 3 is spaced apart from the camera assembly 2. By spacing the two apart, mutual interference can be avoided, ensuring that the two are independent of each other; and the lens of the camera assembly 2 can photograph external objects through the housing; the camera assembly mounting structure of the robotic arm also includes a wire, which is used to connect the controller and the camera assembly 2. The wire is enclosed in the housing to prevent the wire from being exposed and affecting the aesthetic appearance of the robotic arm. The robotic arm is usually installed in a certain position and carries other loads (such as a clamp, welding device, etc.) to work. According to the working requirements of the robotic arm, the corresponding load is selected, and the robotic arm drives the camera assembly 2 to move and photograph the workpiece to locate it, so as to provide the robotic arm with the accurate position of the workpiece, thereby enabling the robotic arm to perform precise operations on the workpiece. In addition, the connection method of the camera assembly 2 in the housing can be detachably connected by a snap-fit structure, a threaded fitting structure, etc. The camera assembly 2 can be a camera, CCD, or other device capable of taking pictures.

[0042] The present invention provides a variety of specific embodiments of different connection positions of the camera assembly in the housing. Figure 3 and 4A first through hole 4 is provided on one surface of the shell, and the lens of the camera assembly 2 faces the first through hole 4. The shell outside the camera assembly 2 and the shell outside the driving joint assembly 3 are an integrated structure. The so-called integrated structure can be understood as the shell of the camera assembly 2 is built into the shell of the driving joint assembly, and the two shells have partially overlapping walls or share a wall. It can also be understood as the shell of the camera assembly 2 is externally connected to the outer side wall of the shell of the driving joint assembly. Regardless of whether a built-in structure or an external structure is adopted, the shell of the camera assembly 2 and the shell of the driving joint assembly 3 are both integrally formed. In addition, by making the shell outside the camera assembly built into the shell outside the driving joint assembly, the arm segment body can be made beautiful as a whole and the internal structure compact, and the mechanical arm formed by the arm segment body can also be made beautiful in appearance and compact in structure. In addition, the integrated structure can simplify the assembly process and improve the sealing performance. For the second embodiment, see Figure 4 The shell includes a first shell and a second shell 1 which are separately arranged. The second shell 1 is connected to the first shell, and the two can be connected by welding or fasteners; the driving joint assembly is arranged in the first shell, the camera assembly 2 is arranged in the second shell 1, the first through hole 4 is arranged on one surface of the second shell 1, and the lens of the camera assembly 2 faces the first through hole 4. A complete shell is formed by the cooperation of the first shell and the second shell 1. The position of the second shell 1 can be freely set according to actual needs to achieve the effect of hiding the camera assembly 2 and protecting the camera assembly 2; the setting position of the second shell 1 is preferably set on the side wall of the first shell. The third embodiment, this embodiment differs from the first embodiment in that the lens of the camera assembly 2 partially extends from the first through hole 4 to take photos or videos of the external workpiece to be photographed. The fourth embodiment, this embodiment differs from the second embodiment in that the lens of the camera assembly 2 partially extends from the first through hole 4 to take photos or videos of the external workpiece to be photographed. The fifth embodiment is different from the second embodiment in that the second housing 1 is made of a transparent material, so there is no need to set a through hole for the lens to take pictures on the second housing 1. Of course, in order to facilitate the maintenance of the camera assembly 2, an inspection through hole can still be set on the second housing 1 according to actual needs. In addition, see Figure 1 and Figure 2 In addition to the first and second embodiments, when a first through hole 4 is provided, a transparent plate may be provided at the first through hole 4 to seal the first through hole 4. A sealing ring may also be provided between the transparent plate and the first through hole 4. The transparent plate shields the first through hole 4 to prevent contaminants such as moisture and dust from entering the multi-axis robotic arm and potentially damaging the precision components or contaminating the camera lens. In addition to providing a transparent plate at the first through hole 4, a first sealing ring may also be provided between the transparent plate and the first through hole 4 to achieve a better sealing effect.

[0043] In the preferred embodiment, see Figure 1 、 2 8, the arm segment body is further provided with a rotating portion 522 and an output joint assembly for driving the rotating portion 522 to rotate, the output joint assembly is provided in the housing, and the rotating portion 522 is located outside the housing for rotationally connecting with an external device (or load); wherein, see Figure 2 and 4 , the driving joint assembly 3 is arranged at the connecting end of the arm segment body, the camera assembly 2 is arranged at the free end of the arm segment body, and the output joint assembly is arranged between the driving joint assembly 3 and the camera assembly 2; or, see Figure 1 and 3 The driving joint assembly 3 is arranged at the connection end of the arm segment body, and the camera assembly 2 is arranged between the driving joint assembly 3 and the output joint assembly. This structure can not only protect the camera assembly 2, but also make the appearance of the arm segment body more beautiful, make full use of the internal space of the arm segment body, and make its structure more compact.

[0044] In the preferred embodiment, see Figure 1 、 2 In addition, the lens of the camera assembly 2 faces the same direction as the output end of the rotating portion 522. This is beneficial for accurately locating the position of the workpiece to be processed and for accurately operating the workpiece to be processed by the load connected to the output end of the rotating portion 522.

[0045] In a preferred embodiment, the driving joint assembly 3 has a hollow shaft. A wire is connected to the camera assembly 2, with the other end passing through the hollow shaft of the driving joint assembly 3 and connected to a controller located outside the housing. Specifically, the wire can be directly connected to the controller and camera assembly 2, respectively, or indirectly connected to the camera assembly 2 via a relay circuit board provided within the housing. Furthermore, the controller can utilize existing technology.

[0046] The utility model also provides a specific implementation of a multi-axis robotic arm, see Figure 1-4 , is a specific embodiment of a four-axis robotic arm. The multi-axis robotic arm includes a lifting arm 10, a first arm section 20, and a second arm section 30. The lifting arm 10 rises and falls along a first direction. Depending on the placement of the multi-axis robotic arm, the first direction may also change. Figure 1 and Figure 3The first direction in the text is vertical. In other embodiments, when the multi-axis robotic arm is installed in other ways, such as when fixed to a wall, the first direction can also be horizontal. The term "lifting" is used here to facilitate understanding of the technical solution and does not limit the first direction to a vertical direction, but rather refers to movement along the first direction. The first arm segment 10 and the second arm segment 20 are stacked along the first direction. The stacked arrangement referred to here does not limit the first arm segment 20 and the second arm segment 30 to being stacked together, but rather refers to the first arm segment 20 and the second arm segment 30 being located at different heights in the first direction. The rotating axes of the first arm segment 10 and the second arm segment 20 extend axially along the first direction, and the rotating axes of the first arm segment 20 and the second arm segment 30 are not arranged axially. The axial extension of the rotating axes of the first arm segment 20 and the second arm segment 30 along the first direction does not strictly limit the rotating axes to be parallel to the first direction, and there may also be a certain angle deviation (for example, a deviation of 2-10 degrees). The rotating axes of the first arm segment 20 and the second arm segment 30 are not arranged axially, which means that in a plane perpendicular to the first direction, the rotating axes of the first arm segment 20 and the second arm segment 30 are separated by a certain distance.

[0047] In this embodiment, see Figure 1-4, the rotating shafts of the first arm segment 10 and the second arm segment 20 are eccentrically arranged on the first arm segment 10 and the second arm segment 20 respectively; the eccentric arrangement refers to that the distance from one part of the arm segment to the center of the rotating shaft is greater than the distance from the other part to the center of the rotating shaft. The first arm segment 20 and the second arm segment 30 are distributed in sequence from the head end to the tail end of the robotic arm. A rotating part 522 is provided at the tail end of the second arm segment 20, and the axial direction of the rotating part 522 extends along the first direction. The robotic arm of this embodiment is usually installed in a certain position, and the rotating part can carry other working parts (such as a grasping device, a detection device, a welding device, a fixing fixture, other connecting devices, etc.) to work. The head end of the robotic arm referred to here refers to its installation end, and the tail end refers to its working end. The first arm segment 20 and the second arm segment 30 are distributed sequentially from the head end to the tail end of the multi-axis robot arm. It does not mean that the first arm segment 20 and the second arm segment 30 must be continuous. Other arm segments can also be added in between. It only limits the order of appearance of the first arm segment 20, the second arm segment 30 from the head end to the tail end. The second arm segment 30 can be driven to rotate relative to the first arm segment 20. The lifting arm is connected to the first arm segment or the second arm segment, or the lifting arm is connected between the first arm segment and the second arm segment. It is clear to those skilled in the art that the term "drivable" means that it can move under the drive of a driving mechanism. In one embodiment, at least one of the lifting arm 10, the first arm segment 20, the second arm segment 30, and the rotating part can also move under human drive. Alternatively, the lifting arm 10, first arm segment 20, second arm segment 30, and rotating portion can all be driven independently, that is, the lifting arm 10, first arm segment 20, second arm segment 30, and rotating portion are each provided with an independent drive mechanism, so that the movement of each arm segment does not interfere with each other, and the flexibility and maneuverability are improved. The embodiment of the utility model, by providing the lifting arm 10, first arm segment 20, second arm segment 30, and rotating portion, allows the rotating portion to be more flexible when carrying other loads, and each axis can rotate over 360 degrees in any posture, without any restrictions imposed by the mechanism or wiring.

[0048] In this embodiment, see Figure 3 and 4 There are joint assemblies between the first arm segment 20 and the lifting arm 10, between the second arm segment 30 and the first arm segment 20, and between the second arm segment 30 and the rotating part 522. The first arm segment 20 is rotatably connected to the lifting arm 10 through the joint assembly and can swing relative to the lifting arm 10. The second arm segment 30 is rotatably connected to the first arm segment 20 through the joint assembly and can swing relative to the first arm segment 20. The above joint assemblies can adopt the joint assembly structure in the prior art.

[0049] In this embodiment, see Figure 3 and 4The second arm section 30 is provided with the aforementioned camera assembly mounting structure of the robotic arm, namely: a camera assembly 2 and a driving joint assembly 3 for driving the arm section body to move are provided in the housing of the second arm section 30 (equivalent to the arm section body). In a four-axis robotic arm, since the second arm section 30 needs to move relative to the first arm section 20 and the rotating part 522 respectively, two joint assemblies are provided in the second arm section 30. One joint assembly is used to connect the second arm section 30 with the first arm section 20, namely the driving joint assembly 3, and the other joint assembly is used to connect the second arm section 30 with the rotating part 522, namely the output joint assembly 5. The driving joint assembly and the output joint assembly are respectively spaced apart from the camera assembly 2. In this embodiment, the lens of the camera assembly 2 faces the top surface of the housing, and the lens of the camera assembly 2 can take pictures of external objects through the housing. The four-axis robotic arm movement drives the camera assembly to take pictures of the workpiece to be processed and position it, so that the load connected to the rotating part 522 can accurately operate the workpiece to be processed. Since the camera component is built into the four-axis robotic arm, the appearance of the four-axis robotic arm is more beautiful, and it can also effectively protect the camera component from damage and the lens from being contaminated.

[0050] In the preferred embodiment, see Figure 1-7 The lifting arm 10 is connected to the head end of the first arm section 20. 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. The lifting drive device 13 is also installed in the storage seat 12. The lifting drive device 13 is transmission-connected to the second end of the lifting arm body 12. A lifting through hole is provided at the top of the storage seat 12. The first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first arm section 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 robotic arm, and the storage seat 12 can be fixed on the ground or other mounting platform.

[0051] In the preferred embodiment, see Figure 1-7 The lifting arm body 11 is a hollow structure, and a through hole is formed 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 retracted, it is sheathed outside the lifting drive motor 131, which can reduce the overall height of the storage seat 12 and make the structure of the multi-axis robot arm more compact.

[0052] In the preferred embodiment, see Figure 1-7 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. 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 provided 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 engaged with the screw rod 134 and slidingly engaged with the lifting rail 123. The driving wheel 132 is connected to the output shaft of the lifting drive motor 131, and the screw rod 134 is connected to the driven wheel 133. The driving wheel 132 and the driven wheel 133 are driven by a synchronous belt. The lifting drive motor 131 drives the screw rod 134 to rotate through the above-mentioned driving wheel 132, driven wheel 133, and synchronous belt, further causing the lifting slider 14 to move up and down relative to the screw rod 134.

[0053] In the preferred embodiment, see Figure 1-7 The lifting slider 14 includes a vertical plate 142 extending along a first direction and a horizontal plate 141 vertically connected to the vertical plate 142. The lifting rail 123 is arranged on the side wall 122 of the storage seat 12, and the vertical plate 142 is slidably connected to the lifting rail 123. The screw rod 134 is threadedly engaged with the vertical plate 142. Specifically, two parallel lifting rails 123 are arranged on the side wall 122 of the storage seat 12, and two sliding blocks corresponding to the lifting rails are arranged on the back of the vertical plate 142. The screw rod 134 is located between the two lifting rails 123, and a nut threadedly engaged with the screw rod 134 is also provided on the back of the vertical plate 142. The second end of the lifting arm body 11 is fixed on the horizontal plate 141, and the lifting drive motor 131 is located directly below the horizontal plate 141 and is half 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 can also be in an inverted "U" shape. A clearance hole 143 is provided on the horizontal plate 141. 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 clearance hole 143. This structure can also reduce the overall height of the storage seat 12, making the structure of the multi-axis robot arm more compact. Of course, in this embodiment, a through hole can also be provided at the bottom of 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 first inserts into the clearance 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 is also provided at the lifting hole. The lifting arm body 11 passes through the annular seal and is sealed with the annular seal. The annular seal prevents dust, water droplets, etc. from entering the storage seat 12.

[0054] In the preferred embodiment, see Figure 1-7The first end of the lifting arm body 11 is provided with a hollow structure. The joint assembly connecting the lifting arm and the first arm section is partially installed in this hollow structure. When the first end of the lifting arm body 11 is retracted into the storage seat 12, the joint assembly extends into the storage seat 12. In this embodiment, the hollow structure of the first end of the lifting arm body 11 is used to install the joint assembly. When the lifting arm body 11 is retracted, the joint assembly installed in the hollow structure retracts into the storage seat 12 along with the lifting arm body 11. This can further reduce the height of the multi-axis robotic arm, making the multi-axis robotic arm more compact.

[0055] In the preferred embodiment, see Figure 1-7 The multi-axis robotic arm also includes wires and / or air pipes, some of which pass through the lifting arm, the first arm segment, and the second arm segment, and exit from the rotating portion of the second arm segment. Specifically, the first arm segment 20 and the second arm segment 30 have arm segment wiring channels, and some of the wires and / or air pipes 900 can pass through the arm segment wiring channels of the first arm segment 20 and the second arm segment 30. The reference to some wires and / or air pipes 900 is because some of the wires and air pipes 900 (for example, the wires connecting the first arm segment 20) do not need to extend to the rotating portion. The wires are used to power the electrical components in each arm segment (such as the drive device), and the air pipes can be used to supply air to the load. In this embodiment, the wires and / or air pipes 900 are routed inside the first arm segment 20 and the second arm segment 30, so that the wires and / or air pipes 900 are not exposed, are less likely to be tangled, and are more aesthetically pleasing. The arm segment wiring channels in this embodiment refer to any non-exposed channels within the first arm segment 20 and the second arm segment 30 that can be threaded. In addition, the rotating shafts of the first arm segment 20 and the second arm segment 30 both have rotating shaft threading channels, which are a way of implementing the arm segment wiring channels. Of course, the arm segment wiring channels can also have other wiring channels in addition to the rotating shaft threading channels. The arm segment wiring channels are composed of the rotating shaft threading channels and other wiring channels in the arm segment. Some wires and / or air pipes 900 pass through the rotating shaft threading channels of the rotating shafts of the first arm segment 20 and the second arm segment 30. By directly routing the wires and / or air pipes 900 through the inside of the rotating shaft, the arm segment is not affected by the wires and / or air pipes 900 when it swings, and the wires and / or air pipes 900 are not affected by the swing of the arm segment. In addition, the aforementioned "rotating shaft" can be the output shaft in the joint assembly, that is, a rotating shaft threading channel is set in the output shaft of the joint assembly to allow the wires and / or air pipes 900 to pass through.

[0056] refer to Figure 1-7In a preferred embodiment, the lifting arm 10 is connected to the head end of the first arm segment 20, the shaft threading channel extends along the first direction, and has a first end and a second end along the first direction, and part of the wires and / or air pipes 900 pass from the lifting arm 10 through the shaft threading channel of the joint assembly into the first arm segment 20, and then enter the second arm segment from the shaft threading channel of the joint assembly between the first arm segment and the second arm segment, and finally enter the rotating part from the shaft threading channel of the joint assembly between the second arm segment and the rotating part. In some embodiments, the air pipe may not be provided. A connector 15 may be provided on the lifting arm 10 (for example, the storage seat 12 of the lifting arm 10) for connecting external wires and air pipes. Through this wiring method, the structure of the multi-axis robotic arm can be made simpler and safer. The first and second ends of the shaft threading channel in this embodiment can refer to Figure 4 and Figure 6 To understand, for example Figure 6 After removing the cover, the second end of the shaft threading channel in the first arm section 20 can be seen. The wires and / or air tubes 900 pass through the second end of the shaft threading channel in the first arm section 20 and then enter the second arm section 30. This wiring method ensures that the wiring does not take up space, but is routed inside the shaft without affecting the swing of the arm section.

[0057] refer to Figure 1-7 The first arm segment 20 and / or the second arm segment 30 are provided with an operating opening connected to the outside at the rotating shaft through which the wires and / or air pipes pass in or out, and a cover body 100 that can open or close the operating opening; the ends of the first arm segment 20 and the second arm segment 30 have an overlapping part, and the operating opening is located at the non-overlapping part of the first arm segment 20 and the second arm segment 30. Figure 7 This diagram shows the top cover removed to reveal the access opening. Opening the top cover allows for threading wires and / or air pipes through the robotic arm housing, making it particularly convenient for threading wires and / or air pipes through the arm's rotating shaft and facilitating maintenance.

[0058] The present invention also provides a specific embodiment of a multi-axis robotic arm. Figure 8 , is a specific embodiment of a six-axis robot arm, comprising a lifting arm 10, a first arm segment 20, a second arm segment 30, a third arm segment 40 and a rotating arm 50. The lifting arm 10 can be driven to rise and fall along a first direction. Figure 8With respect to the placement state of the multi-axis robotic arm shown, the first direction is the vertical direction. In other embodiments, when the multi-axis robotic arm is installed in other ways, such as when fixed to a wall, it can also be the horizontal direction. The lifting referred to here is also for the convenience of understanding the technical solution. It does not limit the first direction to the vertical direction, but refers to movement along the first direction. The first arm segment 20, the second arm segment 30, and the third arm segment 40 are stacked along the first direction. The stacking referred to here does not limit the first arm segment 20, the second arm segment 30, and the third arm segment 40 to being stacked together, but refers to the first arm segment 20, the second arm segment 30, and the third arm segment 40 being located at different heights in the first direction. The axial direction of the rotating shaft of the first arm segment 20, the second arm segment 30, and the third arm segment 40 extends along the first direction, and the rotating shafts of the first arm segment 20, the second arm segment 30, and the third arm segment 40 are not arranged coaxially. The axial extension of the rotation axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40 along the first direction is not strictly limited to being parallel to the first direction; they may also deviate by a certain angle (e.g., 2-10 degrees). The non-coaxial arrangement of the rotation axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40 means that the rotation axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40 are separated by a certain distance in a plane perpendicular to the first direction. Figure 2The dotted lines on the first arm segment 20, the second arm segment 30, and the third arm segment 40 are the axial directions of their rotating shafts. The first arm segment 20, the second arm segment 30, the third arm segment 40, and the rotating arm 50 are distributed in sequence from the head end to the tail end of the multi-axis robotic arm. The multi-axis robotic arm is usually installed in a certain position and carries other working parts (such as a clamp, a detection device, a welding device, etc.) to work. The head end of the multi-axis robotic arm referred to here refers to its installation end, and the tail end refers to its working end. From the perspective of the multi-section arm, the first arm segment 20, the second arm segment 30, the third arm segment 40, and the rotating arm 50 are distributed in sequence from the head end to the tail end of the multi-axis robotic arm. It is not limited to that the first arm segment 20, the second arm segment 30, the third arm segment 40, and the rotating arm 50 must be continuous. Other arm segments can also be added in between. What is limited is the order in which the first arm segment 20, the second arm segment 30, the third arm segment 40, and the rotating arm 50 appear from the head end to the tail end. The second arm segment 30 is drivable to rotate relative to the first arm segment 20, and the third arm segment 40 is drivable to rotate relative to the second arm segment 30. The rotating arm 50 is drivable to rotate relative to the third arm segment 40 around its own rotating axis, and the axial direction of the rotating axis of the rotating arm 50 is not parallel to the axial directions of the rotating axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40. It should be noted that since the rotating arm 50 can be composed of a plurality of rotating axes in different directions, the phrase "the axial direction of the rotating axis of the rotating arm 50 is not parallel to the axial directions of the rotating axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40" here refers to the axial direction of the first rotating axis of the rotating arm 50 relative to the third arm segment 40 is not parallel to the axial directions of the rotating axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40, and does not limit whether the axial directions of the other rotating axes are parallel. In fact, in many embodiments of the present invention, the pivot arm 50 is composed of two pivot axes. In some operating conditions, the axis of the latter pivot axis is parallel to the axis of the rotation axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40. The lifting arm 10 is connected to one of the first arm segment 20 and the pivot arm 50, or is connected between two of the first arm segment 20, the second arm segment 30, the third arm segment 40, and the pivot arm 50. Reference to the lifting arm 10 being connected to one of the first arm segment 20 and the pivot arm 50 means that the lifting arm 10 is only connected to the first arm segment 20 or the pivot arm 50, and is not connected to the other arms of the first arm segment 20, the second arm segment 30, the third arm segment 40, and the pivot arm 50. Those skilled in the art will appreciate that the term "drivably" means that the lifting arm 10 can be moved by a drive mechanism. In other embodiments, at least one of the lifting arm 10, the first arm segment 20, the second arm segment 30, the third arm segment 40, and the pivot arm 50 can also be moved by human power.In a preferred embodiment, the lifting arm 10, the first arm section 20, the second arm section 30, the third arm section 40, and the rotating arm 50 can all be driven independently. That is, the lifting arm 10, the first arm section 20, the second arm section 30, the third arm section 40, and the rotating arm 50 are each provided with an independent driving mechanism. The movement of each arm section does not interfere with each other, and the flexibility and operability are improved. In addition, see. Figure 1 In this embodiment, the lifting arm 10 is connected to the head end of the first arm section 20, or to the tail end of the rotating arm 50. In other embodiments, the lifting arm 10 can also be connected between the first arm section 20 and the second arm section 30, or between the second arm section 30 and the third arm section 40, or between the tail end of the third arm section 40 and the rotating arm 50. By arranging the lifting arm 10 between different arm sections, different effects can be achieved.

[0059] In this embodiment, see Figure 8 The rotating arm is provided with the camera assembly mounting structure of the above-mentioned robotic arm. Specifically, the rotating arm includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 can be driven to rotate around its own rotating axis relative to the third arm segment 40, and the axial direction of the rotating axis of the first rotating arm 51 is not parallel to the axial directions of the rotating axes of the first arm segment 20, the second arm segment 30, and the third arm segment 40. The second rotating arm 52 is connected to the first rotating arm 51. The second rotating arm 52 is provided with a rotating part 521. The rotating part 521 can be driven to rotate around its own rotating axis relative to the first rotating arm 51, and the axial direction of the rotating axis of the rotating part 521 is not parallel to the axial direction of the rotating axis of the first rotating arm 51. In this embodiment, the rotating part 522 is an output flange. Through the combination of the first rotating arm 51 and the second rotating arm 52, the multi-axis robotic arm can perform various complex movements with high flexibility and can complete various work requirements even in a narrow space. Of course, in other embodiments, the rotating arm may have only one rotating arm section, such as only the first rotating arm 51, or may have three or even more rotating arm sections. In this embodiment, the lifting arm 10, the first arm section 20, the second arm section 30, and the third arm section 40 are responsible for enabling the rotating arm to reach 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 enable the load of the multi-axis robotic arm to perform various actions (similar to the function of a human wrist). The camera assembly mounting structure of the above-mentioned robotic arm is arranged on the second rotating arm; specifically, in this embodiment, the second rotating arm is equivalent to the arm section body, and a second shell can be provided at the end of the second rotating arm adjacent to the rotating portion 522, and a camera assembly 2 is provided in the second shell, see Figure 8; It is also possible to set a camera assembly 2 inside the second rotating arm 52 and between the joint assembly (equivalent to the driving joint assembly 3) and the rotating part 522 between the first rotating arm 51 and the second rotating arm 52, and drive the camera assembly to move through the joint action of the lifting arm 10, the first arm segment 20, the second arm segment 30, the third arm segment 40, the first rotating arm 51 and the second rotating arm 52 to take photos or videos of the workpiece to be photographed so as to accurately locate the position of the workpiece.

[0060] In a preferred embodiment, the first arm segment 20 is connected to the lifting arm 10 through the rotating shaft of the first arm segment 20, and the first arm segment 20 can be driven to rotate relative to the lifting arm 10, the second arm segment 30 is connected to the first arm segment 20 through the rotating shaft of the second arm segment 30, and the third arm segment 40 is connected to the second arm segment 30 through the rotating shaft of the third arm segment 40; the lifting arm 10 is vertically arranged, the first arm segment 20, the second arm segment 30, and the third arm segment 40 rotate horizontally, the axis of the first rotating arm 51 is horizontally arranged and perpendicular to the rotating shaft axis of the first arm segment 20, the second arm segment 30, and the third arm segment 40, and the rotating shaft axis of the second rotating arm 52 is perpendicular to the rotating shaft axis of the first rotating arm 51.

[0061] In addition to the above contents, the six-axis robot arm in this embodiment Figure 1 and 2 Except for the differences in the structure of the four-axis robotic arm shown, other structures can refer to the structure of the four-axis robotic arm and will not be repeated here.

[0062] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0063] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0064] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A camera assembly mounting structure for a robotic arm, characterized by: The robot arm comprises an arm segment body, which comprises a shell, in which a camera assembly and a driving joint assembly for driving the movement of the arm segment body are arranged, the driving joint assembly and the camera assembly are spaced apart, the lens of the camera assembly can take pictures of external objects through the shell, and the camera assembly mounting structure of the robot arm also comprises a wire, which is used to connect a controller and the camera assembly, and the wire is enclosed in the shell.

2. The camera assembly mounting structure of a robotic arm according to claim 1, wherein: A first through hole is provided on one surface of the housing, the lens of the camera assembly faces the first through hole, and the housing outside the camera assembly and the housing outside the driving joint assembly are an integrated structure; Alternatively, the shell includes a first shell and a second shell that are separately arranged, the second shell is connected to the first shell, the driving joint assembly is arranged in the first shell, the camera assembly is arranged in the second shell, a first through hole is provided on one surface of the second shell, and the lens of the camera assembly faces the first through hole.

3. The camera assembly mounting structure of a robotic arm according to claim 1, wherein: A first through hole is provided on one surface of the housing, and the lens portion of the camera assembly extends out of the first through hole, and the housing outside the camera assembly and the housing outside the driving joint assembly are an integrated structure; Alternatively, the housing includes a first housing and a second housing that are separately provided, the second housing is connected to the first housing, the driving joint assembly is provided in the first housing, the camera assembly is provided in the second housing, a first through hole is provided on one surface of the second housing, and a lens portion of the camera assembly extends out of the first through hole; Alternatively, the shell includes a first shell and a second shell that are separately arranged, the second shell is connected to the first shell, the driving joint assembly is arranged in the first shell, the camera assembly is arranged in the second shell, and the second shell is made of a transparent material.

4. The camera assembly mounting structure of a robotic arm according to claim 2, wherein: A transparent plate is provided at the first through hole to close the first through hole; Alternatively, a transparent plate for closing the first through hole is provided at the first through hole, and a sealing ring is provided between the transparent plate and the first through hole.

5. The camera assembly mounting structure of a robotic arm according to claim 1, wherein: The arm segment body is further provided with a rotating portion and an output joint assembly for driving the rotating portion to rotate, the output joint assembly is arranged inside the housing, and the rotating portion is located outside the housing for rotationally connecting with an external device; The driving joint assembly is arranged at the connection end of the arm segment body, the camera assembly is arranged at the free end of the arm segment body, and the output joint assembly is arranged between the driving joint assembly and the camera assembly; Alternatively, the driving joint assembly is arranged at the connection end of the arm segment body, and the camera assembly is arranged between the driving joint assembly and the output joint assembly.

6. The camera assembly mounting structure of a robotic arm according to claim 5, wherein: The direction of the lens of the camera assembly is the same as the direction of the output end of the rotating part.

7. The camera assembly mounting structure of a robotic arm according to any one of claims 1 to 6, characterized in that: The driving joint assembly has a hollow rotating shaft. The wire is connected to the camera assembly, and the other end passes through the hollow rotating shaft of the driving joint assembly and is connected to a controller located outside the shell.

8. A multi-axis robotic arm, characterized in that: It includes a lifting arm, a first arm segment and a second arm segment, and the lifting arm, the first arm segment and the second arm segment are distributed in sequence from the head end to the tail end of the multi-axis robotic arm, the lifting arm is lifted and lowered along a first direction, the first arm segment and the second arm segment are stacked along the first direction, the rotating shafts of the first arm segment and the second arm segment axially extend along the first direction, the rotating shafts of the first arm segment and the second arm segment are correspondingly eccentrically arranged on the first arm segment and the second arm segment, the first arm segment is rotatably connected to the lifting arm through a joint assembly and can swing relative to the lifting arm, the second arm segment is rotatably connected to the first arm segment through a joint assembly and can swing relative to the first arm segment, and the second arm segment is provided with a camera assembly mounting structure of the robotic arm as described in any one of claims 1-7.

9. The multi-axis robotic arm according to claim 8, wherein: The lifting arm is connected to the head end of the first arm section, and the lifting arm includes a lifting arm body, a storage seat, and a lifting drive device. The second end of the lifting arm body is installed in the storage seat, and the lifting drive device is also installed in the storage seat. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is formed 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 arm section. The lifting arm body is driven by the lifting drive device to rise and fall relative to the lifting through hole of the storage seat. 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, a lifting slider is fixed to the bottom of the lifting arm body, and a lifting slide rail extending along a first direction is provided in the storage seat, the lifting transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting slider is threadedly engaged with the screw rod and slidably engaged with the lifting slide rail, the driving wheel is connected to the output shaft of the lifting drive motor, the screw rod is connected to the driven wheel, the driving wheel and the driven wheel are driven by the synchronous belt, and the lifting drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, further causing the lifting slider to move up and down relative to the screw rod; The lifting slider includes a vertical plate extending along the first direction and a horizontal plate vertically connected to the vertical plate. The lifting slide rail is arranged on the side wall of the storage seat. The vertical plate is slidably connected to the lifting slide rail. The screw rod is threadedly engaged with the vertical plate. The second end of the lifting arm body is fixed on the horizontal plate. The lifting drive motor is located directly below the horizontal plate and is half surrounded by the vertical plate and the horizontal plate. An avoidance through hole is opened on the horizontal plate. When the first end of the lifting arm body is retracted into the storage 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 sealed with the annular seal.

10. A multi-axis robotic arm, characterized in that: The multi-axis robot arm comprises a lifting arm, a first arm segment, a second arm segment, a third arm segment and a rotating arm, wherein the lifting arm is lifted and lowered along a first direction, the first arm segment, the second arm segment and the third arm segment are stacked along the first direction, the rotating axes of the first arm segment, the second arm segment and the third arm segment axially extend along the first direction, the first arm segment, the second arm segment, the third arm segment and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis robot arm, the second arm segment rotates relative to the first arm segment, the third arm segment rotates relative to the second arm segment, the rotating arm rotates relative to the third arm segment, and the rotating axis of the rotating arm is not parallel to the axial axes of the rotating axes of the first arm segment, the second arm segment and the third arm segment, the lifting arm is connected to one of the first arm segment and the rotating arm, or is connected between two of the first arm segment, the second arm segment, the third arm segment and the rotating arm; 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 rotating axis relative to the third arm segment, and the axial direction of the rotating axis of the first rotating arm is not parallel to the axial directions of the rotating axes of the first arm segment, the second arm segment, and the third arm segment. The second rotating arm is connected to the first rotating arm, and the second rotating arm is provided with a camera assembly mounting structure of the robotic arm as described in any one of claims 1-7.

11. The multi-axis robotic arm according to claim 10, wherein: The first arm segment is connected to the lifting arm via a rotating shaft of the first arm segment. The first arm segment is drivable to rotate relative to the lifting arm. The second arm segment is connected to the first arm segment via a rotating shaft of the second arm segment. The third arm segment is connected to the second arm segment via a rotating shaft of the third arm segment. The lifting arm is arranged vertically, the first arm segment, the second arm segment and the third arm segment rotate horizontally, the axis of the first rotating arm is arranged horizontally and is perpendicular to the axial direction of the rotating shaft of the first arm segment, the second arm segment and the third arm segment, and 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.

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