Robot mechanical arm

Abstract

The embodiment of the utility model provides a robot mechanical arm which comprises a mechanical arm base, a mechanical arm control panel, a first joint mechanism, a second joint mechanism, a mechanical large arm structure, a third joint mechanism, a fourth joint mechanism, a mechanical small arm structure, a fifth joint mechanism and a sixth joint mechanism. The robot mechanical arm is fixedly connected with the robot trunk through the mechanical arm base, the large mechanical arm structure is connected with the mechanical arm base through the second joint mechanism and the first joint mechanism, and the small mechanical arm structure is connected with the large mechanical arm structure through the fourth joint mechanism and the third joint mechanism. The fifth joint mechanism and the sixth joint mechanism are arranged at the tail end of the small mechanical arm structure, and the small mechanical arm structure is connected with the robot clamping jaw structure through the fifth joint mechanism and the sixth joint mechanism. Through the arrangement of the multiple joint mechanisms, the large arm and the small arm, multi-degree-of-freedom rotation of the mechanical arm can be achieved, the weight of the tail end is light, and the load of the tail end is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot mechanical arm. Background Art

[0002] With the development of computer technology, microelectronics technology, and network technology, robotics has also experienced rapid growth. Currently, robots are used not only in the industrial sector but also in areas closely related to people's lives, such as service robots, educational robots, and entertainment robots. These robots have structures such as heads, torsos, robotic arms, and grippers, and their production and application have brought convenience and fun to human life. However, in existing technologies, the end weight of the robotic arm is relatively heavy, resulting in a small end load, so it can only connect to a lighter gripper structure. In addition, most robotic arms use external wiring, which makes the overall appearance of the robot more cluttered. Utility Model Content

[0003] The present application provides a robotic manipulator to solve at least one of the problems in the above-mentioned prior art.

[0004] According to an embodiment of the present application, a robot manipulator is provided, comprising: a manipulator base, a manipulator control panel, a first joint mechanism, a second joint mechanism, a mechanical arm structure, a third joint mechanism, a fourth joint mechanism, a mechanical arm structure, a fifth joint mechanism, and a sixth joint mechanism, wherein the manipulator control panel is disposed in the manipulator base, the robot manipulator is fixedly connected to a robot trunk via the manipulator base, the mechanical arm structure is connected to the manipulator base via the second joint mechanism and the first joint mechanism, the mechanical arm structure is connected to the mechanical arm structure via the fourth joint mechanism and the third joint mechanism, and the fifth joint mechanism and the sixth joint mechanism are disposed at the end of the mechanical arm structure, and the mechanical arm structure is connected to a robot gripper structure via the fifth joint mechanism and the sixth joint mechanism;

[0005] Wherein, the first joint mechanism includes a first arm motor, the second joint mechanism includes a second arm motor, the first arm motor is fixedly installed on the robot arm base, and the output shaft of the first arm motor is fixedly connected to the second joint mechanism, and the output shaft of the second arm motor is fixedly connected to the mechanical arm structure; when the first arm motor is working, the first arm motor drives the robot mechanical arm to rotate along the central axis perpendicular to the mechanical arm base; when the second arm motor is working, the second arm motor drives the mechanical arm structure to rotate along the central axis of the output shaft of the second arm motor, and the output shaft of the second arm motor is fixedly connected to the mechanical arm structure; The central axis of the shaft is perpendicular to the central axis of the robotic arm base; the third joint mechanism includes a third arm motor, and the fourth joint mechanism includes a fourth arm motor. The third arm motor is fixedly arranged at the end of the robotic arm structure, and the output shaft of the third arm motor is fixedly connected to the fourth joint mechanism, and the output shaft of the fourth arm motor is fixedly connected to the robotic small arm structure; when the third arm motor is working, the third arm motor drives the robotic small arm structure to rotate along the central axis of the output shaft of the third arm motor, and the central axis of the output shaft of the third arm motor is parallel to the central axis of the output shaft of the second arm motor; when When the fourth arm motor is working, the fourth arm motor drives the mechanical arm structure to rotate along the central axis of the output shaft of the fourth arm motor, and the central axis of the output shaft of the fourth arm motor is perpendicular to the central axis of the output shaft of the third arm motor; the fifth joint mechanism includes a fifth arm motor, and the sixth joint mechanism includes a sixth arm motor. The fifth arm motor is fixedly arranged at the end of the mechanical arm structure, and the output shaft of the fifth arm motor is fixedly connected to the sixth joint mechanism, and the output shaft of the sixth arm motor is fixedly connected to the robot gripper structure; when the fifth arm motor is working, the fifth arm motor drives The robot gripper structure rotates along the central axis of the output shaft of the fifth arm motor, and the central axis of the output shaft of the fifth arm motor is perpendicular to the central axis of the output shaft of the fourth arm motor; when the sixth arm motor is working, the sixth arm motor drives the robot gripper structure to rotate along the central axis of the output shaft of the sixth arm motor, and the central axis of the output shaft of the sixth arm motor is perpendicular to the central axis of the output shaft of the fifth arm motor; the robot arm control board is electrically connected to the first arm motor, the second arm motor, the third arm motor, the fourth arm motor, the fifth arm motor and the sixth arm motor respectively.

[0006] In some embodiments of the present application, the first joint mechanism further includes a first arm bearing, a first arm bearing seat, a base housing, a first joint output component, and a second joint output component;

[0007] The base shell is fixedly mounted on the robotic arm base, and the first arm motor and the robotic arm control board are arranged in the base shell; the first arm bearing is fixedly mounted on the first arm motor through the first arm bearing seat; the first joint output member is fixedly mounted on the output shaft of the first arm motor, and a first joint connection portion is provided in the middle of the first joint output member, and both ends of the first joint connection portion extend in a direction perpendicular to the first joint output member and in a direction away from the first joint output member, and the first joint connection portion is provided with a first joint mounting hole passing through its opposite end surfaces; the second joint output member is rotatably connected to the open end of the base shell away from the robotic arm base through the first arm bearing, the end surface of the second joint output member located inside the base shell is provided with a first joint annular groove, and the middle portion of the second joint output member is provided with a second joint mounting hole passing through the second joint output member, the second joint mounting hole is arranged corresponding to the first joint mounting hole, the second joint output member is provided with at least one first arm threading hole passing through the inside and outside of the base shell, and the end surface of the second joint output member located outside the base shell is fixedly connected to the second arm motor seat of the second arm motor; the first joint connection One end of the first joint connecting part close to the first arm motor is inserted into the output shaft of the first arm motor, and the other end of the first joint connecting part away from the first arm motor is inserted into the middle of the second joint output part, and the second joint mounting hole and the first joint mounting hole are sequentially penetrated by bolts, and are fixedly connected to the output shaft of the first arm motor. The second joint output part, the first joint output part and the output shaft of the first arm motor are fixedly connected, and a first wiring gap is formed between the second joint output part, the first joint output part and the first arm motor, and the wires outside the base shell are passed through the first arm. The hole, the first wiring gap and the shell gap between the first arm motor and the base shell are electrically connected to the robotic arm control board; a first joint limit block is provided on the outer surface of the first arm bearing seat, and a second joint limit block is provided on the second joint output member, and the second joint limit block is provided corresponding to the first joint limit block, and the second joint limit block is blocked by the first joint limit block to limit the rotation of the output shaft of the first arm motor; the first arm bearing seat is provided with a first arm threading block passing through the inside and outside thereof; at least one data interface electrically connected to the robotic arm control board is provided on the base shell.

[0008] In some embodiments of the present application, the second joint mechanism further includes a second arm bearing, a second arm motor seat, and a second arm bearing seat;

[0009] The second arm motor is arranged in the second arm motor seat, the second arm bearing is arranged in the second arm bearing seat, the second arm motor seat and the second arm bearing seat are docked and fixed, and the second arm motor seat and the second arm bearing seat are both fixedly connected to the output shaft of the first arm motor, the output shaft of the second arm motor is fixedly connected to the mechanical arm structure, and the mechanical arm structure is rotatably connected between the second arm bearing and the second arm bearing seat.

[0010] In some embodiments of the present application, the mechanical arm structure includes an arm connecting frame, an arm upper frame, an arm lower frame, and an arm housing;

[0011] The lifting mechanism is a base which is provided with a base which is fixed with a set of wheels and has a first end fixed with a gear to the first gear and a second end of the gear to be rotated by the first gear. The three parts of the upper arm lower frame are fixedly connected, and a second wiring gap is formed between the upper arm upper frame and the lower arm lower frame, and one end of the upper arm upper frame and the upper arm lower frame away from the upper arm connecting frame are respectively fixedly connected to the third joint mechanism; the upper arm housing includes an upper arm upper shell and a lower arm housing, and the upper arm lower shell is bolted and fixedly connected to the upper arm lower frame, and the upper arm upper shell is buckled and connected with the upper arm lower shell so that the upper arm connecting frame, the upper arm frame and the lower arm frame are located inside the shell of the upper arm housing; a first joint limiting groove is provided on the outer surfaces of the second arm motor seat and the second arm bearing seat, and the first joint limiting groove is a groove structure with a preset rotation angle, and the upper arm output part and the upper arm auxiliary part are both arranged in the first joint limiting groove, and the first joint limiting groove limits the rotation of the output shaft of the second arm motor.

[0012] In some embodiments of the present application, the third joint mechanism further includes a third arm motor seat, a third arm bearing, a third arm bearing seat, and a first joint connecting frame;

[0013] The third arm motor is fixedly installed in the third arm motor seat, the third arm bearing is installed in the third arm bearing seat, and the third arm bearing seat is buckled and fixedly connected to the third arm motor seat; the first joint connecting frame includes a first joint output part, a first joint auxiliary part and a second joint connecting part, and the fourth joint mechanism is arranged on one end face of the second joint connecting part, and one end of the first joint output part and one end of the first joint auxiliary part are respectively fixedly connected with bolts on the opposite sides of the second joint connecting part, and the other end of the first joint output part is fixedly connected to the output shaft of the third arm motor, and the first joint The other end of the joint auxiliary part is rotatably connected to the third arm bearing seat through the third arm bearing; a second joint limiting groove is provided on the outer surface of the third arm motor seat and the outer surface of the third arm bearing seat, and a third joint limiting block is provided on the inner surface of the first joint output part and the inner surface of the first joint auxiliary part, and the two third joint limiting blocks are respectively arranged in a one-to-one correspondence with the two second joint limiting grooves, and the third joint limiting block is arranged in the second joint limiting groove, and the rotation of the output shaft of the third arm motor is limited by moving the third joint limiting block in the second joint limiting groove.

[0014] In some embodiments of the present application, the fourth joint mechanism further includes a fourth arm motor seat, a fourth arm bearing, a fifth arm bearing, a fourth arm bearing seat, and a joint output shaft;

[0015] The fourth arm motor is fixedly installed in the fourth arm motor seat, the fourth arm bearing and the fifth arm bearing are both installed in the fourth arm bearing seat, and the fourth arm bearing seat is fixedly connected to the fourth arm motor seat by snapping, one end of the joint output shaft is fixedly connected to the output shaft of the fourth arm motor, and the other end of the joint output shaft is fixedly connected to the mechanical forearm structure through the fourth arm bearing and the fifth arm bearing.

[0016] In some embodiments of the present application, the mechanical arm structure includes a first arm connecting rod, a second arm connecting rod, a third arm connecting rod, an arm shell bracket, and an arm shell;

[0017] The two ends of the second fork arm connecting rod are respectively fixedly connected to one end of the first fork arm connecting rod and one end of the third fork arm connecting rod, the other end of the first fork arm connecting rod is fixedly connected to the other end of the joint output shaft, and the other end of the third fork arm connecting rod is fixedly connected to the fifth arm motor seat of the fifth arm motor; a fourth joint limit block is provided on the output shaft of the fourth arm motor, and a fifth joint limit block (not shown in the figure) is provided on the inner surface of the fourth arm bearing seat, and the fifth joint limit block is arranged corresponding to the fourth joint limit block, and the fourth joint limit block is blocked by the fifth joint limit block to limit the rotation of the output shaft of the fourth arm motor; one end of the fork arm shell bracket is fixedly connected to the end surface of the fourth arm bearing seat, and the fork arm shell is fixedly connected through the fork arm shell bracket, and the first fork arm connecting rod, the second fork arm connecting rod, the third fork arm connecting rod and the fork arm shell bracket are located in the fork arm shell.

[0018] In some embodiments of the present application, the forearm housing includes a forearm upper housing, a forearm lower housing, and a forearm snap housing;

[0019] The forearm lower shell is fixedly connected with the forearm shell bracket bolt, and the forearm lower shell is provided with a forearm slot at opposite ends near the inner surface of the fifth arm motor, and the forearm snap shell is provided with two forearm blocks, and the two forearm blocks are respectively provided with one-to-one correspondence with the two forearm slots, and are fixedly clamped in the forearm slots by the forearm blocks, and the forearm snap shell is fixedly connected to one end of the forearm lower shell to form a circular through hole connecting the mechanical forearm structure and the fifth joint mechanism; the forearm upper shell is provided with two forearm connecting clamp parts at one end near the fourth arm motor seat, and the first joint output part and the first joint auxiliary part A joint shell is respectively provided on the outer surface, and a circular ring groove is provided on the circumferential side end surface of each joint shell. The two forearm connecting shell parts are respectively snap-connected to the circular ring groove, and the forearm upper shell is snap-connected and fixed to the forearm snap shell, and the forearm upper shell is bolt-fixed to the forearm lower shell, so that the forearm upper shell, the forearm lower shell and the forearm snap shell together form a relatively closed forearm inner cavity, and the first forearm connecting rod, the second forearm connecting rod, the third forearm connecting rod, the forearm shell bracket, the fourth arm bearing, the fifth arm bearing, the fourth arm bearing seat and the joint output shaft are located in the forearm inner cavity.

[0020] In some embodiments of the present application, the fifth joint mechanism further includes a fifth arm motor base, an arm output frame, an arm wire pressing buckle, and an arm wire pressing housing;

[0021] The fifth arm motor is fixedly installed in the fifth arm motor seat; the arm output frame is an L-shaped bracket structure, and one end of the vertical part of the arm output frame away from the horizontal part is fixedly connected to the output shaft of the fifth arm motor, and the sixth arm motor seat of the sixth arm motor is fixedly arranged on the horizontal part of the arm output frame; a sixth joint limit block is provided on the motor seat end surface of the fifth arm motor seat close to its output shaft, and the sixth joint limit block blocks the vertical part of the arm output frame to limit the rotation of the output shaft of the fifth arm motor; the arm wire buckle is provided on the motor tail cover of the fifth arm motor seat, and the wires of the sixth arm motor are pressed and limited by the arm wire buckle, and pass through the arm wire buckle to enter the forearm housing of the mechanical forearm structure; the arm wire buckle shell is fixedly connected to the motor tail cover of the fifth arm motor seat to block the arm wire buckle.

[0022] In some embodiments of the present application, the sixth joint mechanism further includes a sixth arm motor seat and a clamping claw fixing seat;

[0023] The sixth arm motor is fixedly installed in the sixth arm motor seat; and the sixth arm motor seat is arranged on the end surface of the horizontal part of the arm output frame close to the fifth arm motor seat, and the output shaft of the sixth arm motor passes through the horizontal part of the arm output frame and is fixedly connected to the clamp fixing seat, and the robot clamp structure is fixedly installed on the clamp fixing seat.

[0024] The beneficial effects of the embodiments of the present application are as follows:

[0025] The robot arm can realize multi-degree-of-freedom rotation of the arm through the setting of multiple joint mechanisms and large and small arms, and the end weight is light, which increases the end load. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 A schematic diagram of the structure of the robot arm provided in an embodiment of the present application;

[0028] Figure 2 This is a schematic diagram of the assembly of the robot arm base, the first joint mechanism, and the second joint mechanism in the robot arm provided in an embodiment of the present application;

[0029] Figure 3A schematic diagram of a portion of the structure of the first joint mechanism in the robot arm provided in an embodiment of the present application;

[0030] Figure 4 A schematic cross-sectional view of a first joint mechanism in a robot arm provided in an embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the assembly of the first joint output component of the robot arm provided in an embodiment of the present application;

[0032] Figure 6 A schematic structural diagram of a first joint mechanism, a second joint mechanism, and a large arm structure in a robot arm provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the assembly of the lower shell of the upper arm of the robot arm provided in an embodiment of the present application;

[0034] Figure 8 Schematic diagram of the assembly of the second joint mechanism, the upper arm frame, and the lower arm frame in the robot arm provided in an embodiment of the present application;

[0035] Figure 9 This is a schematic diagram of the assembly of the upper arm, lower arm, and third joint mechanism of the robot arm provided in an embodiment of the present application;

[0036] Figure 10 Schematic diagram of the assembly of the third joint mechanism, the fourth joint mechanism, the mechanical arm structure, the fifth joint mechanism, and the sixth joint mechanism in the robot arm provided in an embodiment of the present application;

[0037] Figure 11 This is a schematic diagram of the structure of the third joint mechanism, the fourth joint mechanism, the mechanical forearm structure, the fifth joint mechanism, and the sixth joint mechanism of the robot arm provided in an embodiment of the present application without the motor bearings and the forearm upper shell and the forearm snap shell installed;

[0038] Figure 12 A schematic structural diagram of the first joint auxiliary portion of the robot arm provided in an embodiment of the present application;

[0039] Figure 13 A schematic diagram of a portion of the structure of the fourth joint mechanism in the robot arm provided in an embodiment of the present application;

[0040] Figure 14 A schematic structural diagram of the fourth arm motor and the fourth arm bearing seat in the robot arm provided in an embodiment of the present application;

[0041] Figure 15 A schematic diagram of the assembly of the connecting rods of the mechanical arm structure of the robot mechanical arm provided in an embodiment of the present application;

[0042] Figure 16 This is a schematic diagram of the assembly of the lower shell and the snap-on shell of the forearm in the robot arm provided in an embodiment of the present application;

[0043] Figure 17 A schematic diagram of the structure of the forearm snap-on housing of the robot arm provided in an embodiment of the present application;

[0044] Figure 18 A schematic diagram of the structure of the upper shell of the forearm of the robot mechanical arm provided in an embodiment of the present application;

[0045] Figure 19 This is a schematic assembly diagram of the sixth joint mechanism and the fifth joint mechanism in the robot arm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this utility model.

[0047] It should be noted that the terms "including," "having," and any variations thereof in the embodiments and drawings of this application are intended to cover non-exclusive inclusions. For example, "including" is not limited to the listed structures, but may optionally include structures not listed, or may optionally include other components inherent to those structures.

[0048] The present application discloses a robotic arm, which is described in detail below.

[0049] Figure 1 – Figure 19 FIG. 1 shows a robot arm according to an embodiment of the present application. Figure 1 – Figure 19As shown, the robot manipulator comprises: a manipulator base 1, a manipulator control panel 2, a first joint mechanism 3, a second joint mechanism 4, a mechanical arm structure 5, a third joint mechanism 6, a fourth joint mechanism 7, a mechanical arm structure 8, a fifth joint mechanism 9 and a sixth joint mechanism 10. Specifically, the manipulator control panel 2 is disposed in the manipulator base 1, the robot manipulator is fixedly connected to the robot torso through the manipulator base 1, the mechanical arm structure 5 is connected to the manipulator base 1 through the second joint mechanism 4 and the first joint mechanism 3, the mechanical arm structure 8 is connected to the mechanical arm structure 5 through the fourth joint mechanism 7 and the third joint mechanism 6, and the fifth joint mechanism 9 and the sixth joint mechanism 10 are disposed at the end of the mechanical arm structure 8, and the mechanical arm structure 8 is connected to the robot gripper structure through the fifth joint mechanism 9 and the sixth joint mechanism 10. At the same time, the first joint mechanism 3 includes a first arm motor 31, and the second joint mechanism 4 includes a second arm motor. The first arm motor 31 is fixedly installed on the robot arm base 1, and the output shaft of the first arm motor 31 is fixedly connected to the second joint mechanism 4, and the output shaft of the second arm motor is fixedly connected to the robot arm structure 5. When the first arm motor 31 is working, the first arm motor 31 drives the robot arm to rotate along the central axis perpendicular to the robot arm base 1, and when the second arm motor is working, the second arm motor drives the robot arm structure 5 to rotate along the central axis of the output shaft of the second arm motor, and the central axis of the output shaft of the second arm motor is perpendicular to the central axis of the robot arm base 1. The third joint mechanism 6 includes a third arm motor, and the fourth joint mechanism 7 includes a fourth arm motor 71. The third arm motor is fixedly set at the end of the robot arm structure 5, and the output shaft of the third arm motor is fixedly connected to the fourth joint mechanism 7, and the output shaft of the fourth arm motor 71 is fixedly connected to the robot arm structure 8. When the third arm motor is working, the third arm motor drives the mechanical arm structure 8 to rotate along the central axis of the output shaft of the third arm motor, and the central axis of the output shaft of the third arm motor is parallel to the central axis of the output shaft of the second arm motor. When the fourth arm motor 71 is working, the fourth arm motor 71 drives the mechanical arm structure 8 to rotate along the central axis of the output shaft of the fourth arm motor 71, and the central axis of the output shaft of the fourth arm motor 71 is perpendicular to the central axis of the output shaft of the third arm motor. In addition, the fifth joint mechanism 9 includes a fifth arm motor, and the sixth joint mechanism 10 includes a sixth arm motor. The fifth arm motor is fixedly arranged at the end of the mechanical arm structure 8, and the output shaft of the fifth arm motor is fixedly connected to the sixth joint mechanism 10, and the output shaft of the sixth arm motor is fixedly connected to the robot gripper structure.When the fifth arm motor is operating, the fifth arm motor drives the robot gripper structure to rotate along the central axis of the output shaft of the fifth arm motor, and the central axis of the output shaft of the fifth arm motor is perpendicular to the central axis of the output shaft of the fourth arm motor 71. When the sixth arm motor is operating, the sixth arm motor drives the robot gripper structure to rotate along the central axis of the output shaft of the sixth arm motor, and the central axis of the output shaft of the sixth arm motor is perpendicular to the central axis of the output shaft of the fifth arm motor. In addition, the robot arm control board 2 is electrically connected to the first arm motor 31, the second arm motor, the third arm motor, the fourth arm motor 71, the fifth arm motor, and the sixth arm motor, respectively, for controlling the movement of the robot arm. It should be noted that in the embodiment of the present application, when the robot arm is extended to the farthest distance, that is, when the robot arm structure 5, the robot arm structure 8, and the first joint mechanism 3 extend in the same direction, the central axis of the robot arm base 1, the central axis of the output shaft of the fourth arm motor 71, and the central axis of the output shaft of the sixth arm motor are in the same straight line.

[0050] In some embodiments, as Figure 2 – Figure 5As shown, the first joint mechanism 3 also includes a first arm bearing (not shown in the figure), a first arm bearing seat 33, a base shell 34, a first joint output member 35, and a second joint output member 36. Among them, the base shell 34 is fixedly mounted on the robot arm base 1. The base shell 34 and the robot arm base 1 together constitute a cavity structure for accommodating the first arm motor 31, the first arm bearing, the first arm bearing seat 33, and the robot arm control board 2. The first arm motor 31 is fixedly mounted on the robot arm base 1 through a motor mounting bracket, and the robot arm control board 2 is arranged between the robot arm base 1 and the motor mounting bracket. At the same time, the first arm bearing is fixedly mounted on the first arm motor 31 through the first arm bearing seat 33. In order to achieve the connection between the first joint mechanism 3 and the second joint mechanism 4 and transmit torque, the second joint mechanism 4 is connected to the output shaft of the first arm motor 31 through the first joint output member 35 and the second joint output member 36. Specifically, the first joint output component 35 is fixedly mounted on the output shaft of the first arm motor 31, and a first joint connection portion 351 is provided in the middle of the first joint output component 35. The two ends of the first joint connection portion 351 extend perpendicularly to the first joint output component 35, respectively, in directions away from the first joint output component 35. The first joint connection portion 351 is provided with first joint mounting holes 352 extending through opposite end surfaces thereof. The second joint output component 36 is rotatably connected to the open end of the base housing 34 away from the robot arm base 1 via a first arm bearing, thereby sealing the cavity formed by the base housing 34 and the robot arm base 1. A second joint mounting hole 362 is provided in the middle of the second joint output component 36, extending through the second joint output component 36, and correspondingly arranged with the first joint mounting hole 352. One end of the first joint connecting part 351 close to the first arm motor 31 is inserted into the output shaft of the first arm motor 31, and the other end of the first joint connecting part 351 away from the first arm motor 31 is inserted into the middle of the second joint output part 36. The second joint mounting hole 362 and the first joint mounting hole 352 are penetrated in sequence by bolts, and are fixedly connected to the output shaft of the first arm motor 31. The second joint output part 36, the first joint output part 35 and the output shaft of the first arm motor 31 are fixedly connected, and the end face of the second joint output part 36 located outside the base shell 34 is fixedly connected to the second arm motor seat 41 of the second arm motor, thereby realizing the connection between the first joint mechanism 3 and the second joint mechanism 4.During the specific implementation process, a first joint protrusion 353 is further provided on the end surface of the first joint output component 35 close to the second joint output component 36. Correspondingly, a first joint groove (not shown in the figure) is provided on the end surface of the second joint output component 36 close to the first joint output component 35. The first joint groove and the first joint protrusion 353 are arranged correspondingly. The first joint protrusion 353 is clamped in the first joint groove to achieve a positioning connection between the first joint output component 35 and the second joint output component 36, and increase the contact area between the two, thereby ensuring the stability of the connection between the first joint mechanism 3 and the second joint mechanism 4. In addition, a first joint annular groove 361 is further provided on the end surface of the second joint output component 36 located within the base shell 34, and the second joint output component 36 is provided with at least one first arm threading hole 363 that passes through the inside and outside of the base shell 34. When the first joint output component 35 and the second joint output component 36 are assembled, the setting of the first joint annular groove 361 forms a first wiring gap between the second joint output component 36, the first joint output component 35, and the first arm motor 31. The first arm bearing seat 33 is also provided with a first arm threading block 332 that passes through the inside and outside thereof, so that the wires outside the base shell 34 are electrically connected to the robot arm control board 2 through the first arm threading hole 363, the first wiring gap, the first arm threading block 332, and the shell gap between the first arm motor 31 and the base shell 34. In addition, a first joint limit block 331 is provided on the outer surface of the first arm bearing seat 33, and a second joint limit block 364 is provided on the second joint output member 36. The second joint limit block 364 is arranged corresponding to the first joint limit block 331. When the first arm motor 31 is in operation, the first arm motor 31 drives the first joint output member 35 and the second joint output member 36 to rotate. During this process, the first joint limit block 331 blocks the second joint limit block 364, limiting the rotation of the output shaft of the first arm motor 31 to prevent the wiring within the base housing 34 from becoming entangled and affecting the operation of the first arm motor 31. Furthermore, the base housing 34 is also provided with at least one data interface 21 electrically connected to the robot arm control board 2, so that the robot arm control board 2 transmits data through the data interface 21.

[0051] In other embodiments, Figure 1 、 Figure 2 、 Figure 4 and Figure 6As shown, the second joint mechanism 4 also includes a second arm bearing, a second arm motor seat 41 and a second arm bearing seat 42. The second arm motor is arranged in the second arm motor seat 41, the second arm bearing is arranged in the second arm bearing seat 42, and the second arm motor seat 41 and the second arm bearing seat 42 are fixedly connected to each other. At the same time, the second arm motor seat 41 and the second arm bearing seat 42 are fixedly connected to the output shaft of the first arm motor 31, and the output shaft of the second arm motor is fixedly connected to the mechanical arm structure 5. The mechanical arm structure 5 is rotationally connected to the second arm bearing and the second arm bearing seat 42, and then the second arm motor drives the mechanical arm structure 5 to rotate.

[0052] Further, such as Figure 6 – Figure 9As shown, the mechanical boom structure 5 includes a boom connecting frame 51, a boom upper frame 52, a boom lower frame 53, and a boom housing 54. The boom connecting frame 51 includes a boom output portion 511 and a boom auxiliary portion 512. One end of the boom output portion 511 is fixedly connected to the output shaft of the second arm motor, while one end of the boom auxiliary portion 512 is rotatably connected to the second arm bearing seat 42 via a second arm bearing. The other ends of the boom output portion 511 and the other ends of the boom auxiliary portion 512 are respectively provided with a boom mounting plate 513, which are fixedly connected to the boom upper frame 52 and the boom lower frame 53 through the two boom mounting plates 513. In detail, each boom mounting plate 513 is a rectangular plate structure, and a boom mounting groove 521 is provided on the opposite side surfaces of the boom upper frame 52 and the opposite side surfaces of the boom lower frame 53, and the boom upper frame 52 and the boom lower frame 53 are symmetrically arranged. When the boom upper frame 52 and the boom lower frame 53 are relatively buckled and fixedly connected by bolts, the two boom mounting grooves 521 on the same side of the boom upper frame 52 and the boom lower frame 53 together constitute a rectangular groove matching the boom mounting plate 513, and each boom mounting plate 513 is respectively clamped in the two boom mounting grooves 521 on the same side of the boom upper frame 52 and the boom lower frame 53, and each boom mounting plate 513 is respectively fixedly connected to the boom upper frame 52 and the boom lower frame 53 with bolts, so that the boom connecting frame 51, the boom upper frame 52 and the boom lower frame 53 are fixedly connected. At the same time, the ends of the upper arm frame 52 and the lower arm frame 53 away from the arm connecting frame 51 are respectively fixedly connected to the third joint mechanism 6. In addition, the structural design of the upper arm frame 52 and the lower arm frame 53 of the mechanical arm structure 5 forms a second wiring gap between the upper arm frame 52 and the lower arm frame 53. The wires of the third joint mechanism 6 are routed to the second joint mechanism 4 through the second wiring gap, and the arm housing 54 surrounds the outside of the upper arm frame 52 and the lower arm frame 53, so that the mechanical arm structure 5 has no external wiring, which is more beautiful. In further detail, the boom housing 54 includes a boom upper shell 541 and a boom lower shell 542. The boom lower shell 542 is bolted to the boom lower frame 53. The boom upper shell 541 is bolted to the boom connecting frame 51, and the boom upper shell 541 and the boom lower shell 542 are snap-fitted and connected, so that the boom connecting frame 51, the boom upper frame 52 and the boom lower frame 53 are located inside the shell of the boom housing 54. In addition, a first joint limiting groove 43 is provided on the outer surface of the second arm motor seat 41 and the second arm bearing seat 42. The first joint limiting groove 43 is a groove structure with a preset rotation angle. The upper arm output part 511 and the upper arm auxiliary part 512 are both arranged in the first joint limiting groove 43. When the second arm motor is working, the second arm motor drives the upper arm output part 511 and the upper arm auxiliary part 512 to rotate in the first joint limiting groove 43. Therefore, through the setting of the first joint limiting groove 43, the rotation of the output shaft of the second arm motor is limited to prevent the wires from being entangled.

[0053] In other embodiments, Figure 1 、 Figure 7 and Figure 9 – Figure 12 As shown, the third joint mechanism 6 also includes a third arm motor seat 61, a third arm bearing, a third arm bearing seat 62, and a first joint connecting frame 63. The third arm motor is fixedly mounted in the third arm motor seat 61, the third arm bearing is mounted in the third arm bearing seat 62, and the third arm bearing seat 62 is fixedly connected to the third arm motor seat 61 by snapping. The first joint connecting frame 63 includes a first joint output portion 631, a first joint auxiliary portion 632, and a second joint connecting portion 633. The fourth joint mechanism 7 is disposed on one end surface of the second joint connecting portion 633, and one end of the first joint output portion 631 and one end of the first joint auxiliary portion 632 are respectively fixedly connected to opposite side surfaces of the second joint connecting portion 633 with bolts. The other end of the first joint output portion 631 is fixedly connected to the output shaft of the third arm motor, and the other end of the first joint auxiliary portion 632 is rotatably connected to the third arm bearing seat 62 via the third arm bearing, thereby driving the fourth joint mechanism 7 to rotate via the third arm motor. Furthermore, a second joint limiting groove 611 is provided on the outer surface of the third arm motor seat 61 and the outer surface of the third arm bearing seat 62. Correspondingly, a third joint limiting block 635 is provided on the inner surface of the first joint output part 631 and the inner surface of the first joint auxiliary part 632, and the two third joint limiting blocks 635 are respectively arranged in one-to-one correspondence with the two second joint limiting grooves 611. The third joint limiting block 635 is arranged in the second joint limiting groove 611. When the third arm motor is working, the third arm motor drives the first joint output part 631 and the first joint auxiliary part 632 to rotate, and the third joint limiting block 635 moves in the second joint limiting groove 611 to limit the rotation of the output shaft of the third arm motor to prevent the wires from being entangled.

[0054] Further, such as Figure 13 – Figure 15As shown, the fourth joint mechanism 7 also includes a fourth arm motor seat 72, a fourth arm bearing 73, a fifth arm bearing 74, a fourth arm bearing seat 75, and a joint output shaft 76. The fourth arm motor 71 is fixedly mounted in the fourth arm motor seat 72, the fourth arm bearing 73 and the fifth arm bearing 74 are both mounted in the fourth arm bearing seat 75, and the fourth arm bearing seat 75 is fixedly connected to the fourth arm motor seat 72 in a snap-fit ​​manner. One end of the joint output shaft 76 is fixedly connected to the output shaft of the fourth arm motor 71, and the other end of the joint output shaft 76 is fixedly connected to the mechanical arm structure 8 via the fourth arm bearing 73 and the fifth arm bearing 74. In the specific implementation process, the fifth arm bearing 74 and the fourth arm bearing seat 75 are paired angular contact bearings. Furthermore, a fourth joint limit block 711 is provided on the output shaft of the fourth arm motor 71, and a fifth joint limit block 751 is provided on the inner surface of the fourth arm bearing seat 75, and the fifth joint limit block 751 is provided corresponding to the fourth joint limit block 711. When the fourth arm motor 71 is working, the output shaft of the fourth arm motor 71 rotates, and the fourth joint limit block 711 is blocked by the fifth joint limit block 751, thereby limiting the rotation of the output shaft of the fourth arm motor 71 to prevent the wires from being entangled.

[0055] like Figure 10 – Figure 18As shown, the mechanical arm structure 8 includes a first arm connecting rod 81, a second arm connecting rod 82, a third arm connecting rod 83, an arm shell bracket 84 and an arm shell 85. Among them, the two ends of the second arm connecting rod 82 are fixedly connected to one end of the first arm connecting rod 81 and one end of the third arm connecting rod 83 respectively, the other end of the first arm connecting rod 81 is fixedly connected to the other end of the joint output shaft 76, and the other end of the third arm connecting rod 83 is fixedly connected to the fifth arm motor seat 91 of the fifth arm motor. Then, through the arrangement of the first arm connecting rod 81, the second arm connecting rod 82 and the third arm connecting rod 83, the torque transmission between the fourth joint mechanism 7 and the fifth joint mechanism 9 is realized. In addition, one end of the arm shell bracket 84 is fixedly connected to the end surface of the fourth arm bearing seat 75, and the arm shell 85 is fixedly connected through the arm shell bracket 84. The first arm connecting rod 81, the second arm connecting rod 82, the third arm connecting rod 83 and the arm shell bracket 84 are located in the arm shell 85. To be more specific, the forearm housing 85 includes a forearm upper shell 851, a forearm lower shell 852 and a forearm snap shell 853. The forearm lower shell 852 is fixedly connected to the forearm housing bracket 84 with bolts, and an forearm snap slot 8521 is respectively provided at the opposite ends of the inner surface of the forearm lower shell 852 near the fifth arm motor. Two forearm clamping blocks 8531 are provided on the forearm snap shell 853, and the two forearm clamping blocks 8531 are respectively corresponding to the two forearm snap slots 8521. The forearm clamping blocks 8531 are fixedly clamped in the forearm snap slots 8521, and the forearm snap shell 853 is fixedly connected to one end of the forearm lower shell 852 to form a circular through hole connecting the mechanical forearm structure 8 and the fifth joint mechanism 9. The separation of the forearm snap shell 853 and the forearm lower shell 852 facilitates the assembly of the forearm housing 85. In addition, two forearm connecting card shells 8511 are provided at one end of the forearm upper shell 851 close to the fourth arm motor seat 72, and a joint housing 634 is provided on the outer surface of the first joint output part 631 and the first joint auxiliary part 632 respectively. A circular groove 6341 is provided on the circumferential side end surface of each joint housing 634, and the two forearm connecting card shells 8511 are respectively snap-connected to the circular groove 6341, and the forearm upper shell 851 and the forearm card The snap-on shell 853 is fixed by a snap connection, and the upper shell 851 of the forearm is fixedly connected with the lower shell 852 of the forearm by bolts, so that the upper shell 851 of the forearm, the lower shell 852 of the forearm and the forearm snap-on shell 853 together form a relatively closed forearm inner cavity, and the first forearm connecting rod 81, the second forearm connecting rod 82, the third forearm connecting rod 83, the forearm shell bracket 84, the fourth arm bearing 73, the fifth arm bearing 74, the fourth arm bearing seat 75 and the joint output shaft 76 are located in the forearm inner cavity.

[0056] In other embodiments, Figure 11 and Figure 19As shown, the fifth joint mechanism 9 also includes a fifth arm motor base 91, an arm output frame 92, an arm wire buckle 93 and an arm wire housing 94. Among them, the fifth arm motor is fixedly installed in the fifth arm motor base 91. The arm output frame 92 is an L-shaped bracket structure. The vertical portion 921 of the arm output frame 92 is fixedly connected to the output shaft of the fifth arm motor at one end away from the horizontal portion 922. The sixth arm motor base 101 of the sixth arm motor is fixedly set on the horizontal portion 922 of the arm output frame 92. Thus, through the design of the arm output frame 92, the connection between the fifth joint mechanism 9 and the sixth joint mechanism 10 is achieved. Furthermore, a sixth joint limit block 911 is provided on the motor base end face of the fifth arm motor base 91 near its output shaft. When the fifth arm motor is working, the fifth arm motor drives the arm output frame 92 to rotate. The sixth joint limit block 911 blocks the vertical portion 921 of the arm output frame 92, limiting the rotation of the output shaft of the fifth arm motor to prevent the wires from being entangled. Furthermore, the arm wire buckle 93 is arranged on the motor tail cover of the fifth arm motor seat 91. The wires of the sixth arm motor are pressed and limited by the arm wire buckle 93, and pass through the arm wire buckle 93 to enter the arm shell 85 of the mechanical arm structure 8. At the same time, the arm wire shell 94 is fixedly connected to the motor tail cover of the fifth arm motor seat 91 to cover the arm wire buckle 93 to avoid external wiring, making the robot arm more beautiful as a whole.

[0057] In addition, if Figure 19 As shown, the sixth joint mechanism 10 further includes a sixth arm motor base 101 and a gripper fixing base 102. The sixth arm motor is fixedly mounted in the sixth arm motor base 101, and the sixth arm motor base 101 is disposed on the end surface of the horizontal portion 922 of the arm output frame 92 close to the fifth arm motor base 91. Meanwhile, the output shaft of the sixth arm motor passes through the horizontal portion 922 of the arm output frame 92 and is fixedly connected to the gripper fixing base 102, thereby fixing the gripper structure of the robot on the gripper fixing base 102.

[0058] In summary, the present application discloses a robotic manipulator, which can realize multi-degree-of-freedom rotation of the manipulator through the arrangement of multiple joint mechanisms and large and small arms, and the end weight is light, thereby increasing the end load.

[0059] Those skilled in the art will understand that the drawings are merely schematic diagrams of one embodiment, and that the components shown in the drawings are not necessarily essential to the practice of the present invention. It should also be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it need not be further defined or explained in subsequent drawings.

[0060] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be a communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances. In addition, in the description of the embodiments of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.

[0061] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection described in the claims.

Claims

1. A robotic arm, characterized in that: include: A robotic arm base, a robotic arm control panel, a first joint mechanism, a second joint mechanism, a robotic arm structure, a third joint mechanism, a fourth joint mechanism, a robotic arm structure, a fifth joint mechanism, and a sixth joint mechanism, wherein the robotic arm control panel is disposed in the robotic arm base, the robot robotic arm is fixedly connected to the robot torso via the robotic arm base, the robotic arm structure is connected to the robotic arm base via the second joint mechanism and the first joint mechanism, the robotic arm structure is connected to the robotic arm structure via the fourth joint mechanism and the third joint mechanism, and the fifth joint mechanism and the sixth joint mechanism are disposed at the end of the robotic arm structure, and the robotic arm structure is connected to the robot gripper structure via the fifth joint mechanism and the sixth joint mechanism; The first joint mechanism includes a first arm motor, and the second joint mechanism includes a second arm motor. The first arm motor is fixedly mounted on the robotic arm base, and the output shaft of the first arm motor is fixedly connected to the second joint mechanism, and the output shaft of the second arm motor is fixedly connected to the robotic arm structure. When the first arm motor is working, the first arm motor drives the robot robotic arm to rotate along a central axis perpendicular to the robotic arm base. When the second arm motor is working, the second arm motor drives the mechanical arm structure to rotate along the central axis of the output shaft of the second arm motor, and the central axis of the output shaft of the second arm motor is perpendicular to the central axis of the mechanical arm base; the third joint mechanism includes a third arm motor, and the fourth joint mechanism includes a fourth arm motor. The third arm motor is fixedly arranged at the end of the mechanical arm structure, and the output shaft of the third arm motor is fixedly connected to the fourth joint mechanism, and the output shaft of the fourth arm motor is fixedly connected to the mechanical small arm structure; when the third arm motor is working, the third arm motor drives the mechanical small arm structure to rotate along the central axis of the output shaft of the third arm motor, and the central axis of the output shaft of the third arm motor is parallel to the central axis of the output shaft of the second arm motor; when the fourth arm motor is working, the fourth arm motor drives the mechanical small arm structure to rotate along the central axis of the output shaft of the fourth arm motor, and the central axis of the output shaft of the fourth arm motor is parallel to the central axis of the output shaft of the third arm motor The axes are perpendicular to each other; the fifth joint mechanism includes a fifth arm motor, the sixth joint mechanism includes a sixth arm motor, the fifth arm motor is fixedly arranged at the end of the mechanical forearm structure, and the output shaft of the fifth arm motor is fixedly connected to the sixth joint mechanism, and the output shaft of the sixth arm motor is fixedly connected to the robot gripper structure; when the fifth arm motor is working, the fifth arm motor drives the robot gripper structure to rotate along the central axis of the output shaft of the fifth arm motor, and the central axis of the output shaft of the fifth arm motor is perpendicular to the central axis of the output shaft of the fourth arm motor; when the sixth arm motor is working, the sixth arm motor drives the robot gripper structure to rotate along the central axis of the output shaft of the sixth arm motor, and the central axis of the output shaft of the sixth arm motor is perpendicular to the central axis of the output shaft of the fifth arm motor; the mechanical arm control board is electrically connected to the first arm motor, the second arm motor, the third arm motor, the fourth arm motor, the fifth arm motor and the sixth arm motor respectively.

2. The robot arm according to claim 1, characterized in that: The first joint mechanism further includes a first arm bearing, a first arm bearing seat, a base housing, a first joint output component, and a second joint output component; The base shell is fixedly mounted on the robotic arm base, and the first arm motor and the robotic arm control board are arranged in the base shell; The first arm bearing is fixedly mounted on the first arm motor through the first arm bearing seat; the first joint output member is fixedly mounted on the output shaft of the first arm motor, and a first joint connection portion is provided in the middle of the first joint output member, and both ends of the first joint connection portion extend in a direction perpendicular to the first joint output member and in a direction away from the first joint output member, and the first joint connection portion is provided with a first joint mounting hole passing through its opposite end faces; the second joint output member is rotatably connected to the open end of the base shell away from the robotic arm base through the first arm bearing, the end face of the second joint output member located inside the base shell is provided with a first joint annular groove, and the middle part of the second joint output member is provided with a second joint mounting hole passing through the second joint output member, the second joint mounting hole is arranged corresponding to the first joint mounting hole, the second joint output member is provided with at least one first arm threading hole passing through the inside and outside of the base shell, and the end face of the second joint output member located outside the base shell is fixedly connected to the second arm motor seat of the second arm motor; one end of the first joint connection portion close to the first arm motor is inserted into the first arm motor The first joint connecting portion is mounted on the output shaft of the robot, the other end of the first joint connecting portion away from the first arm motor being inserted into the middle of the second joint output member. A bolt is sequentially passed through the second joint mounting hole and the first joint mounting hole and fixedly connected to the output shaft of the first arm motor. The second joint output member, the first joint output member, and the output shaft of the first arm motor are fixedly connected, and a first wiring gap is formed between the second joint output member, the first joint output member, and the first arm motor. Wires outside the base housing are electrically connected to the robot arm control board through the first arm wiring hole, the first wiring gap, and the housing gap between the first arm motor and the base housing. A first joint limit block is provided on the outer surface of the first arm bearing seat, and a second joint limit block is provided on the second joint output member. The second joint limit block is arranged corresponding to the first joint limit block. The first joint limit block blocks the second joint limit block, thereby limiting the rotation of the output shaft of the first arm motor. A first arm wiring block is provided on the first arm bearing seat, which passes through the inside and outside of the first arm bearing seat. The base housing is provided with at least one data interface electrically connected to the robot arm control board.

3. The robot arm according to claim 1, characterized in that: The second joint mechanism further includes a second arm bearing, a second arm motor seat and a second arm bearing seat; The second arm motor is arranged in the second arm motor seat, the second arm bearing is arranged in the second arm bearing seat, the second arm motor seat and the second arm bearing seat are docked and fixed, and the second arm motor seat and the second arm bearing seat are both fixedly connected to the output shaft of the first arm motor, the output shaft of the second arm motor is fixedly connected to the mechanical arm structure, and the mechanical arm structure is rotatably connected between the second arm bearing and the second arm bearing seat.

4. The robot arm according to claim 3, characterized in that: The mechanical arm structure includes an arm connecting frame, an arm upper frame, an arm lower frame and an arm shell; The lifting mechanism is a base which is provided with a base which is fixed with a set of wheels and has a first end fixed with a gear to the first gear and a second end of the gear to be rotated by the first gear. The three parts of the upper arm lower frame are fixedly connected, and a second wiring gap is formed between the upper arm upper frame and the lower arm lower frame, and one end of the upper arm upper frame and the upper arm lower frame away from the upper arm connecting frame are respectively fixedly connected to the third joint mechanism; the upper arm housing includes an upper arm upper shell and a lower arm housing, and the upper arm lower shell is bolted and fixedly connected to the upper arm lower frame, and the upper arm upper shell is buckled and connected with the upper arm lower shell so that the upper arm connecting frame, the upper arm frame and the lower arm frame are located inside the shell of the upper arm housing; a first joint limiting groove is provided on the outer surfaces of the second arm motor seat and the second arm bearing seat, and the first joint limiting groove is a groove structure with a preset rotation angle, and the upper arm output part and the upper arm auxiliary part are both arranged in the first joint limiting groove, and the first joint limiting groove limits the rotation of the output shaft of the second arm motor.

5. The robot arm according to claim 1, characterized in that: The third joint mechanism also includes a third arm motor seat, a third arm bearing, a third arm bearing seat and a first joint connecting frame; The third arm motor is fixedly installed in the third arm motor seat, the third arm bearing is installed in the third arm bearing seat, and the third arm bearing seat is buckled and fixedly connected to the third arm motor seat; the first joint connecting frame includes a first joint output part, a first joint auxiliary part and a second joint connecting part, and the fourth joint mechanism is arranged on one end face of the second joint connecting part, and one end of the first joint output part and one end of the first joint auxiliary part are respectively fixedly connected with bolts on the opposite sides of the second joint connecting part, and the other end of the first joint output part is fixedly connected to the output shaft of the third arm motor, and the first joint The other end of the joint auxiliary part is rotatably connected to the third arm bearing seat through the third arm bearing; a second joint limiting groove is provided on the outer surface of the third arm motor seat and the outer surface of the third arm bearing seat, and a third joint limiting block is provided on the inner surface of the first joint output part and the inner surface of the first joint auxiliary part, and the two third joint limiting blocks are respectively arranged in a one-to-one correspondence with the two second joint limiting grooves, and the third joint limiting block is arranged in the second joint limiting groove, and the rotation of the output shaft of the third arm motor is limited by moving the third joint limiting block in the second joint limiting groove.

6. The robot arm according to claim 5, characterized in that: The fourth joint mechanism further includes a fourth arm motor seat, a fourth arm bearing, a fifth arm bearing, a fourth arm bearing seat and a joint output shaft; The fourth arm motor is fixedly installed in the fourth arm motor seat, the fourth arm bearing and the fifth arm bearing are both installed in the fourth arm bearing seat, and the fourth arm bearing seat is fixedly connected to the fourth arm motor seat by snapping, one end of the joint output shaft is fixedly connected to the output shaft of the fourth arm motor, and the other end of the joint output shaft is fixedly connected to the mechanical forearm structure through the fourth arm bearing and the fifth arm bearing.

7. The robot arm according to claim 6, characterized in that: The mechanical arm structure includes a first arm connecting rod, a second arm connecting rod, a third arm connecting rod, an arm shell bracket and an arm shell; The two ends of the second fork arm connecting rod are respectively fixedly connected to one end of the first fork arm connecting rod and one end of the third fork arm connecting rod, the other end of the first fork arm connecting rod is fixedly connected to the other end of the joint output shaft, and the other end of the third fork arm connecting rod is fixedly connected to the fifth arm motor seat of the fifth arm motor; a fourth joint limit block is provided on the output shaft of the fourth arm motor, and a fifth joint limit block is provided on the inner surface of the fourth arm bearing seat, and the fifth joint limit block is corresponding to the fourth joint limit block, and the fourth joint limit block is blocked by the fifth joint limit block to limit the rotation of the output shaft of the fourth arm motor; one end of the fork arm shell bracket is fixedly connected to the end surface of the fourth arm bearing seat, and the fork arm shell is fixedly connected through the fork arm shell bracket, and the first fork arm connecting rod, the second fork arm connecting rod, the third fork arm connecting rod and the fork arm shell bracket are located in the fork arm shell.

8. The robot arm according to claim 7, characterized in that: The forearm housing includes a forearm upper shell, a forearm lower shell and a forearm snap shell; The forearm lower shell is fixedly connected with the forearm shell bracket bolt, and the forearm lower shell is provided with a forearm slot at opposite ends near the inner surface of the fifth arm motor, and the forearm snap shell is provided with two forearm blocks, and the two forearm blocks are respectively provided with one-to-one correspondence with the two forearm slots, and are fixedly clamped in the forearm slots by the forearm blocks, and the forearm snap shell is fixedly connected to one end of the forearm lower shell to form a circular through hole connecting the mechanical forearm structure and the fifth joint mechanism; the forearm upper shell is provided with two forearm connecting clamp parts at one end near the fourth arm motor seat, and the first joint output part and the first joint auxiliary part A joint shell is respectively provided on the outer surface, and a circular ring groove is provided on the circumferential side end surface of each joint shell. The two forearm connecting shell parts are respectively snap-connected to the circular ring groove, and the forearm upper shell is snap-connected and fixed to the forearm snap shell, and the forearm upper shell is bolt-fixed to the forearm lower shell, so that the forearm upper shell, the forearm lower shell and the forearm snap shell together form a relatively closed forearm inner cavity, and the first forearm connecting rod, the second forearm connecting rod, the third forearm connecting rod, the forearm shell bracket, the fourth arm bearing, the fifth arm bearing, the fourth arm bearing seat and the joint output shaft are located in the forearm inner cavity.

9. The robotic arm according to claim 1, wherein: The fifth joint mechanism also includes a fifth arm motor base, an arm output frame, an arm wire pressing buckle and an arm wire pressing shell; The fifth arm motor is fixedly installed in the fifth arm motor seat; the arm output frame is an L-shaped bracket structure, and one end of the vertical part of the arm output frame away from the horizontal part is fixedly connected to the output shaft of the fifth arm motor, and the sixth arm motor seat of the sixth arm motor is fixedly arranged on the horizontal part of the arm output frame; a sixth joint limit block is provided on the motor seat end surface of the fifth arm motor seat close to its output shaft, and the sixth joint limit block blocks the vertical part of the arm output frame to limit the rotation of the output shaft of the fifth arm motor; the arm wire buckle is provided on the motor tail cover of the fifth arm motor seat, and the wires of the sixth arm motor are pressed and limited by the arm wire buckle, and pass through the arm wire buckle to enter the forearm housing of the mechanical forearm structure; the arm wire buckle shell is fixedly connected to the motor tail cover of the fifth arm motor seat to block the arm wire buckle.

10. The robot arm according to claim 9, characterized in that: The sixth joint mechanism also includes a sixth arm motor seat and a clamping claw fixing seat; The sixth arm motor is fixedly installed in the sixth arm motor seat; and the sixth arm motor seat is arranged on the end surface of the horizontal part of the arm output frame close to the fifth arm motor seat, and the output shaft of the sixth arm motor passes through the horizontal part of the arm output frame and is fixedly connected to the clamp fixing seat, and the robot clamp structure is fixedly installed on the clamp fixing seat.

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