Telescopic arm and multi-axis mechanical arm

Abstract

The telescopic arm comprises a telescopic arm body, a storage seat and a telescopic driving device, a telescopic through hole is formed in the top of the storage seat, the first end of the telescopic arm body penetrates through the telescopic through hole, the second end of the telescopic arm body is installed in the storage seat, and the telescopic arm body is installed in the storage seat. And the telescopic driving device is also installed in the storage seat, the telescopic driving device is connected with the second end of the telescopic arm body, and the telescopic arm body is driven by the telescopic driving device to stretch out and draw back relative to the telescopic through hole of the storage seat. The telescopic arm and the multi-shaft mechanical arm have the advantage of being compact in structure.

Description

TECHNICAL FIELD

[0001] The utility model relates to industrial robot technical field, concretely relates to telescopic arm and multi -shaft machine arm. BACKGROUND

[0002] With the rapid development of robot technology, heavy equipment carrying work in many occasions is completed by robots. Using robots has obvious advantages of high efficiency and saving labor, and robots have been widely used in industrial fields, such as carrying, assembling, detecting and other processes. SCARA robot is one of commonly used robots. The standard of SCARA (Selective Compliance Assembly Robot Arm) robot is horizontal rotation and rotation, which cannot meet the application of more complex scenes.

[0003] At present, in order to expand the working range of the robot, part of the robot is also provided with a telescopic arm that can be lifted, but the structure of the telescopic arm at present is not compact enough, and needs to occupy more space. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the utility model aims at providing a telescopic arm and multi -shaft machine arm with more compact structure.

[0005] The utility model provides a telescopic arm, including telescopic arm body, storage seat and telescopic drive arrangement, the top of storage seat is equipped with telescopic through -hole, the first end of telescopic arm body passes through telescopic through -hole, the second end of telescopic arm body is installed in storage seat, telescopic drive arrangement is also installed in storage seat, telescopic drive arrangement is connected with the second end of telescopic arm body, the telescopic arm body is driven under the telescopic drive arrangement, and the telescopic arm body telescopes relative to the telescopic through -hole of storage seat.

[0006] Preferably, the second end bottom of telescopic arm body is equipped with through -hole, telescopic drive arrangement includes telescopic drive motor, and the telescopic drive motor is located just below the second end of telescopic arm body, when the first end of telescopic arm body is retracted in storage seat, the telescopic drive motor is inserted into the through -hole in the second end bottom of telescopic arm body.

[0007] Preferably, the telescopic driving device further comprises a telescopic transmission assembly, which is drivingly connected between the telescopic driving motor and the telescopic arm body, the bottom of the telescopic arm body is fixed with a telescopic sliding block, the receiving seat is provided with a telescopic sliding rail extending in the first direction, the telescopic transmission assembly comprises a driving wheel, a driven wheel, a synchronous belt and a lead screw, the telescopic sliding block is threadedly connected with the lead screw and slidingly connected with the telescopic sliding rail, the driving wheel is connected with the output shaft of the telescopic driving motor, the lead screw is connected with the driven wheel, the driving wheel and the driven wheel are drivingly connected through the synchronous belt, and the telescopic driving motor drives the lead screw to rotate through the driving wheel, the driven wheel and the synchronous belt, so as to further drive the telescopic sliding block to move up and down relative to the lead screw.

[0008] Preferably, the telescopic sliding block comprises a vertical plate extending in the first direction and a horizontal plate connected perpendicularly to the vertical plate, the telescopic sliding rail is arranged on the side wall of the receiving seat, the vertical plate is slidingly connected with the telescopic sliding rail, and the lead screw is threadedly connected with the vertical plate, the second end of the telescopic arm body is fixed on the horizontal plate, the telescopic driving motor is located directly below the horizontal plate and is half-enclosed by the vertical plate and the horizontal plate, the horizontal plate is provided with an avoiding through hole, the telescopic driving motor is inserted into the avoiding through hole when the first end of the telescopic arm body is retracted into the receiving seat, and the telescopic through hole is provided with an annular sealing element, the telescopic arm body passes through the annular sealing element and is sealingly connected with the annular sealing element.

[0009] The utility model also provides a machine arm, including telescopic arm and first swing arm and first swing arm joint as above-mentioned, first swing arm is connected with telescopic arm through first swing arm joint, first swing arm can be driven relative to telescopic arm rotates,

[0010] The first end of the telescopic arm body is provided with a hollow structure, the first swing arm joint is installed in the hollow structure of the telescopic arm body, and when the first end of the telescopic arm body is retracted into the receiving seat, the first swing arm joint extends into the receiving seat.

[0011] Preferably, when the first end of the telescopic arm body is retracted into the receiving seat, at least half of the first swing arm joint extends into the receiving seat.

[0012] Preferably, the robot arm further comprises a second swing arm, a third swing arm and a rotating arm, the telescopic arm rises and falls along a first direction, the first swing arm, the second swing arm and the third swing arm are stacked along the first direction, the rotating axes of the first swing arm, the second swing arm and the third swing arm axially extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the robot arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotating axis of the rotating arm is not parallel to the axial directions of the rotating axes of the first swing arm, the second swing arm and the third swing arm;

[0013] The robotic arm also includes a second swing arm joint and a third swing arm joint. The rotating shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint. The first swing arm joint, the second swing arm joint and the third swing arm joint are also respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotating shafts of the first swing arm, the second swing arm and the third swing arm to rotate; the second swing arm is connected to the first swing arm through the second swing arm joint, the third swing arm is connected to the second swing arm through the third swing arm joint, and the rotating arm is directly connected to the third swing arm.

[0014] Preferably, 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 swing arm, and the rotating axis of the first rotating arm is not parallel to the rotating axis of the first swing arm, the second swing arm and the third swing arm, the second rotating arm is connected to the first rotating arm, and a rotating part is provided on the second rotating arm, the rotating part can be driven to rotate around its own rotating axis relative to the first rotating arm, and the rotating axis of the rotating part is not parallel to the rotating axis of the first rotating arm.

[0015] Preferably, the rotation axes of the first swing arm, the second swing arm and the third swing arm are axially parallel, and the rotation angle ranges of the first swing arm, the second swing arm and the third swing arm are all greater than or equal to 360 degrees.

[0016] Preferably, the robot arm further comprises a second swing arm joint and a third swing arm joint, the rotation axes of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint, and at least one of the first swing arm joint, the second swing arm joint and the third swing arm joint adopts the following joint assembly:

[0017] The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure penetrating in the axial direction, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved outside the connecting shaft and used for driving the connecting shaft to rotate, then the connecting shaft drives the main output shaft to rotate through the speed reduction mechanism;

[0018] The main output shaft is the rotation shaft of the corresponding first swing arm, second swing arm or third swing arm, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device or third swing arm driving device;

[0019] The joint assembly further comprises a brake mechanism and a heat dissipation mechanism, the brake mechanism is matched with the connecting shaft and used for stopping the rotation of the connecting shaft when braking, thereby stopping the rotation of the main output shaft, the heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft, the heat dissipation mechanism is provided with a fan blade, and the heat dissipation mechanism, brake mechanism, driving mechanism and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft and towards the output end of the main output shaft;

[0020] An end cover is arranged at the end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft, the speed reduction mechanism is a harmonic reducer, the speed reduction mechanism comprises a wave generator, a flexible gear and a rigid gear, the wave generator is sleeved outside the main output shaft and connected with the connecting shaft, the flexible gear is sleeved outside the wave generator, and the rigid gear is sleeved outside the flexible gear and connected with the main output shaft;

[0021] The heat dissipation mechanism comprises a heat dissipation mounting seat, the heat dissipation mounting seat is sleeved outside the connecting shaft and can rotate with the connecting shaft, the heat dissipation mounting seat is provided with an annular connecting plate, and a plurality of fan blades are arranged on the annular connecting plate in the circumferential direction of the annular connecting plate.

[0022] The telescopic arm and the multi-shaft robot arm structure are more compact. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements throughout. The embodiments of the present application, illustrated in the drawings, are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the present application. The detailed description set forth below in connection with the appended drawings is intended as a description of the present application and is not intended to represent the only form in which the present application can be constructed or utilized.

[0024] Figure 1 And Figure 2 It is a different perspective structure schematic view of the multi-shaft robot arm of the embodiment one of the present application.

[0025] Figure 3 for Figure 1 A top view of a multi-axis robotic arm.

[0026] Figure 4 and Figure 5 for Figure 1 Schematic diagram of the structure of the multi-axis robotic arm after removing some components.

[0027] Figure 6 for Figure 3 AA section view.

[0028] Figure 7 This is a schematic structural diagram of a multi-axis robotic arm according to a second embodiment of the present invention.

[0029] Figure 8 This is a schematic structural diagram of a multi-axis robotic arm according to a third embodiment of the present invention.

[0030] Figure 9 This is a schematic structural diagram of a multi-axis robotic arm according to a fourth embodiment of the present invention.

[0031] Figure 10 for Figure 9 A partial structural cross-sectional view of a multi-axis robotic arm.

[0032] Figure 11 This is a schematic structural diagram of a multi-axis robotic arm according to a fifth embodiment of the present invention.

[0033] Figure 12 This is a structural diagram of a multi-axis robotic arm according to a sixth embodiment of the present invention.

[0034] Figure 13 This is a schematic structural diagram of a joint assembly according to an embodiment of the present invention.

[0035] Figure 14 for Figure 13 Cross-sectional view of the joint assembly.

[0036] Figure 15 for Figure 13 Schematic diagram of the structure of the heat dissipation mechanism of the joint component. DETAILED DESCRIPTION

[0037] The technical scheme of the utility model will be described in further detail below with reference to the drawings and specific embodiments, so that the skilled in the art can better understand the utility model and implement it, but the embodiments are not used as the limitation of the utility model, and in the embodiments, it should be understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only used for the convenience of describing the utility model, and therefore cannot be understood as the limitation of the utility model on the orientation, structure and operation of the indicated device or element.

[0038] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element and integrated with it, or a middle element can exist at the same time. The terms "mount", "one end", "the other end" and similar expressions used in the utility model are only for the purpose of illustration.

[0039] Please refer to Figure 1-15 The utility model embodiment provides a kind of multi-axis machine arm, it includes telescopic arm 10, first swing arm 20, second swing arm 30, third swing arm 40 and rotating arm 50. Telescopic arm 10 is driven along the first direction and is lifted. Figure 2 The first direction shown is vertical direction, and in other embodiments, it can also be horizontal direction when the multi-axis machine arm is installed in other ways, for example, fixed on wall surface. Here, the lifting is also described for the convenience of understanding the technical scheme, and is not limited to the first direction being vertical direction, but refers to moving along the first direction. First swing arm 20, second swing arm 30, third swing arm 40 are stacked along the first direction. Here, the stacked arrangement is not limited to first swing arm 20, second swing arm 30, third swing arm 40 being stacked together, but refers to first swing arm 20, second swing arm 30, third swing arm 40 being located at different heights in the first direction. The rotation shafts of first swing arm 20, second swing arm 30, third swing arm 40 extend along the first direction, and the rotation shafts of first swing arm 20, second swing arm 30, third swing arm 40 are arranged differentially. The rotation shafts of first swing arm 20, second swing arm 30, third swing arm 40 extending along the first direction are not strictly limited to the rotation shafts being parallel to the first direction, but can also deviate at a certain angle (for example, 2-10 degrees of deviation). The rotation shafts of first swing arm 20, second swing arm 30, third swing arm 40 are arranged differentially, which means that the rotation shafts of first swing arm 20, second swing arm 30, third swing arm 40 are spaced apart by a certain distance in the plane perpendicular to the first direction. Figure 2The dashed lines on the first swing arm 20, the second swing arm 30, and the third swing arm 40 are the axes of rotation thereof. The first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotary arm 50 are sequentially arranged from the head end to the tail end of the multi-axis robot arm. The multi-axis robot arm is usually installed at a certain position and carries other working parts (such as clamps, detection devices, welding devices, etc.) to work. Here, the head end of the multi-axis robot arm refers to the installation end thereof, and the tail end refers to the working end thereof. From the perspective of the multi-joint arm, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotary arm 50 are sequentially arranged from the head end to the tail end of the multi-axis robot arm, but this does not mean that the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotary arm 50 must be continuous, and other arm joints can also be added therebetween. The only limitation is the appearance order of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotary arm 50 from the head end to the tail end. The second swing arm 30 is drivably rotatable relative to the first swing arm 20, and the third swing arm 40 is drivably rotatable relative to the second swing arm 30. The rotary arm 50 is drivably rotatable relative to the third swing arm 40 about the axis of rotation of the rotary arm 50, and the axis of rotation of the rotary arm 50 is not parallel to the axes of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40. It should be noted that since the rotary arm 50 can be composed of multiple rotary axes in different directions, the axis of rotation of the rotary arm 50 relative to the first swing arm 20, the second swing arm 30, and the third swing arm 40 is not parallel to the axis of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40. This does not limit whether the axes of rotation of other rotary axes are parallel. In fact, please refer to Figure 2 、 Figures 8 to 13In various embodiments of the present invention, the pivoting arm 50 is composed of two pivoting axes. In certain operating conditions, the axis of the latter pivoting axis is parallel to the axis of the pivoting axes of the first, second, and third swing arms 20, 30, and 40. The telescopic arm 10 is connected to one of the first, second, third, and third swing arms 20, 30, 40, or 50, or is connected between any of the first, second, third, and third swing arms 20, 30, 40, and 50. Reference to the telescopic arm 10 being connected to one of the first, second, third, and third swing arms 50 means that the telescopic arm 10 is only connected to the first, second, third, and third swing arms 50, and not to the other arms. Those skilled in the art will appreciate that the term "drivably" means capable of movement under the drive of a drive mechanism. In other embodiments, at least one of the telescopic arm 10, first, second, third, third, and third swing arms 40, or 50 may be driven manually. In a preferred embodiment, the telescopic arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 can all be driven independently, that is, the telescopic arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 are all provided with independent driving mechanisms, and the movements of each arm section do not interfere with each other, and their flexibility and operability are better.

[0040] The embodiment of the utility model provides a first swing arm 20, a second swing arm 30, and a third swing arm 40, so that the rotating arm 50 can be moved more freely to the desired position without an operational blind spot. Moreover, the structure of the robot arm is more flexible and can work in a narrow space.

[0041] In a preferred embodiment, the telescopic arm 10 is connected to the head end of the first swing arm 20 (such as Figures 1 to 9 ), or connected to the tail end of the rotating arm 50 (as shown Figure 9-10 In other embodiments, the telescopic arm 10 may also be connected between the first swing arm 20 and the second swing arm 30, or between the second swing arm 30 and the third swing arm 40, or between the tail end of the third swing arm 40 and the rotating arm 50. By arranging the telescopic arm 10 between different arm sections, different effects can be achieved.

[0042] Please refer to Figure 1-7In the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, a third swing arm joint 42, and the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, and the rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are respectively provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, and the rotation shaft 41 of the third swing arm 40. The first swing arm 20 is connected with the telescopic arm 10 through the first swing arm joint 22, and the first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the telescopic arm 10. The second swing arm 30 is connected with the first swing arm 20 through the second swing arm joint 32, and the third swing arm 40 is connected with the second swing arm 30 through the third swing arm joint 42. The rotating arm 50 is directly connected with the third swing arm 40. The first swing arm joint 22 is fixed relative to the telescopic arm 10, the second swing arm joint 32 is fixed relative to the first swing arm 20, and the third swing arm joint 42 is fixed relative to the second swing arm 30. When the rotation shaft 21 of the first swing arm 20 is driven to rotate by the first swing arm driving device, the first swing arm 20 rotates relative to the telescopic arm 10. Correspondingly, when the rotation shaft 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20, and when the rotation shaft 41 of the third swing arm 40 rotates, the third swing arm 40 rotates relative to the second swing arm 30.

[0043] In a further preferred embodiment, the first end of the telescopic arm 10 is connected to the first end of the first swing arm 20, the first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the first end of the third swing arm 40 is connected to the tail end of the second swing arm 20 through the third swing arm joint 42, and the rotating arm 50 is connected to the tail end of the third swing arm 40. The first swing arm 20, the second swing arm 30, and the third swing arm 40 have a certain length in the radial direction, and the telescopic arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are connected end to end, which can achieve better flexibility.

[0044] Please refer to Figure 1-7, the telescopic arm 10 comprises a telescopic arm body 11, a receiving seat 12 and a telescopic driving device 13. The receiving seat 12 is in the shape of a box, the second end of the telescopic arm body 11 is installed in the receiving seat 12, the telescopic driving device 13 is also installed in the receiving seat 12, and the telescopic driving device 13 is in transmission connection with the second end of the telescopic arm body 12. A telescopic through hole is formed in the top of the receiving seat 12, the first end of the telescopic arm body 11 passes through the telescopic through hole and is connected with the first swing arm 20. The telescopic arm body 11 is lifted and lowered relative to the telescopic through hole of the receiving seat 12 under the driving of the telescopic driving device 13. In the embodiment, the receiving seat 12 can be used as the base of the multi-axis robot arm, and the receiving seat 12 can be fixed on the ground or other mounting platform. Please refer to Figure 13 In Embodiment Seven, the telescopic arm 10 can also be provided with a sliding seat 19 on one side, the sliding seat 19 is connected with a screw rod and moves up and down under the action of the screw rod mechanism, and the first swing arm 20 is installed on the sliding seat 19. In other embodiments, the telescopic arm 10 can also have other structures.

[0045] In a further preferred embodiment, the telescopic arm body 11 is provided with a hollow structure, and a through hole is formed in the bottom of the second end of the telescopic arm body 11. The telescopic driving device 13 comprises a telescopic driving motor 131 and a telescopic transmission assembly, the telescopic transmission assembly is in transmission connection between the telescopic driving motor 131 and the telescopic arm body 11, the telescopic driving motor 131 is located directly below the second end of the telescopic arm body 11, and when the first end of the telescopic arm body 11 is retracted into the receiving seat 12, the telescopic driving motor 131 is inserted into the through hole in the bottom of the second end of the telescopic arm body 11. When the telescopic arm body 11 is in the retracted state, it is sleeved outside the telescopic driving motor 131, so that the overall height of the receiving seat 12 can be reduced, and the structure of the multi-axis robot arm is more compact.

[0046] Reference Figure 6 In a further preferred embodiment, the first end of the telescopic arm body 11 is provided with a hollow structure, and the first swing arm joint 22 is installed in the hollow structure. When the first end of the telescopic arm body 11 is retracted into the receiving seat 12, the first swing arm joint 22 extends into the receiving seat 12. In this embodiment, the first swing arm joint 22 is installed in the hollow structure of the first end of the telescopic arm body 11, and when the telescopic arm body 11 is retracted, the first swing arm joint installed in the hollow structure is retracted into the receiving seat 12 together with the telescopic arm body 11. The height of the multi-axis robot arm can be further reduced, and the structure of the multi-axis robot arm is more compact.

[0047] In a further preferred embodiment, when the first end of the telescopic arm body 11 is retracted into the receiving seat 12, at least half of the first swing arm joint 22 extends into the receiving seat. The receiving seat 12 can accommodate the first swing arm joint 22, and the overall structure of the robot arm is more compact.

[0048] In a further preferred embodiment, the telescopic drive device 13 includes a telescopic drive motor 131 and a telescopic transmission assembly. The telescopic transmission assembly is transmission-connected between the telescopic drive motor 131 and the telescopic arm body 11. A telescopic slider 14 is fixed to the bottom of the telescopic arm body 11, and a telescopic rail 123 extending in a first direction is disposed within the storage base 12. The telescopic transmission assembly includes a driving wheel 132, a driven wheel 133, a synchronous belt, and a screw 134. The telescopic slider 14 is threadedly engaged with the screw 134 and slidably engaged with the telescopic rail 123. The driving wheel 132 is connected to the output shaft of the telescopic drive motor 131, and the screw 134 is connected to the driven wheel 133. The driving and driven wheels 132 and 133 are driven by a synchronous belt. The telescopic drive motor 131, through the driving wheel 132, driven wheel 133, and synchronous belt, drives the screw 134 to rotate, further causing the telescopic slider 14 to move up and down relative to the screw 134.

[0049] In a further preferred embodiment, the telescopic slider 14 includes a vertical plate 142 extending along a first direction and a horizontal plate 141 perpendicularly connected to the vertical plate 142. The telescopic rail 123 is provided on the side wall 122 of the storage seat 12, and the vertical plate 142 is slidably connected to the telescopic rail 123. The screw rod 134 is threadedly engaged with the vertical plate 142. Specifically, two parallel telescopic rails 123 are provided on the side wall 122 of the storage seat 12, and two sliding blocks that slide correspondingly with the telescopic rails are provided on the back of the vertical plate 142. The screw rod 134 is located between the two telescopic rails 123, and a nut that threads with the screw rod 134 is also provided on the back of the vertical plate 142. The second end of the telescopic arm body 11 is fixed to the horizontal plate 141, and the telescopic 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 telescopic slider 14 is in an inverted "L" shape. In other embodiments, the telescopic slider 14 may also be in an inverted "U" shape. A clearance hole 143 is defined in the horizontal plate 141. When the first end of the telescopic arm body 11 is retracted into the storage seat 12, the telescopic drive motor 131 is inserted into the clearance hole 143. This structure also reduces the overall height of the storage seat 12, making the multi-axis robot arm more compact. Of course, in this embodiment, a through hole can also be defined at the bottom of the second end of the telescopic arm body 11. When the first end of the telescopic arm body 11 is retracted into the storage seat 12, the telescopic drive motor 131 first inserts into the clearance hole 143 in the horizontal plate 141 and then into the through hole at the bottom of the second end of the telescopic arm body 11. An annular seal 19 is also provided at the telescopic through hole. The telescopic arm body 11 passes through the annular seal 19 and seals with the annular seal 19. The annular seal 19 prevents dust, water droplets, and the like from entering the storage seat 12.

[0050] Please refer to Figure 9 and 10In a preferred embodiment, the multi-axis robotic arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42, respectively. A first swing arm driving device, a second swing arm driving device, and a third swing arm driving device are also respectively disposed in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate. The multi-axis robotic arm further comprises a base 60. The first swing arm 20 is rotatably connected to the base 60 via the first swing arm joint 22. The first swing arm joint 22 is disposed in the base 60 and / or the first swing arm 20. In this embodiment, a portion of the first swing arm joint 22 is located within the base 60, while the remaining portion extends into the first swing arm 20. This structure makes the first swing arm 20 more compact and compact. In other embodiments, the first swing arm joint 22 may be located only within the base 60 or the first swing arm 20. In the following embodiments, the description of the locations of the second swing arm joint 32, the third swing arm joint 42, the first pivot arm joint, and the second pivot arm joint is similar and will not be repeated here.

[0051] In some embodiments, the telescopic arm 10 is connected between the tail end of the first swing arm 20 and the head end of the second swing arm 30. The second swing arm 30 is connected to the first end of the telescopic arm 10 via a second swing arm joint 32. The second swing arm joint 32 is disposed in the telescopic arm 10 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the telescopic arm 10. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 via a third swing arm joint 42. The third swing arm joint 42 is disposed in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0052] In other embodiments, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20, the telescopic arm 10 is connected between the tail end of the second swing arm 30 and the head end of the third swing arm 40, the head end of the third swing arm 40 is connected to the first end of the telescopic arm 10 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the telescopic arm 10 and / or the third swing arm 42, and is used to drive the third swing arm 40 to rotate relative to the telescopic arm 10, and the rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0053] In some embodiments, the first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through a second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through a third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The telescopic arm 10 is connected between the tail end of the third swing arm 40 and the rotating arm 50.

[0054] Please refer to Figure 8-13 In preferred embodiments, the multi-axis robot arm comprises a base 60, the telescopic arm 10 is connected between the base 60 and the first swing arm 20, the first end of the first swing arm 20 is fixedly connected to the telescopic arm 10, and the telescopic arm 10 can drive the first swing arm 20 to rotate relative to the base 60. That is, the first swing arm 20 does not rotate relative to the telescopic arm 10, but rotates together with the telescopic arm 10 relative to the base 60, and the rotation axis of the telescopic arm 10 is also the rotation axis of the first swing arm 20. The structures of the second swing arm 30, the third swing arm 40 and the rotating arm 50 can be the same as those in the first embodiment. Figures 1 to 7 The multi-axis robot arm further comprises the second swing arm joint 32 and the third swing arm joint 42, the rotation axes of the second swing arm 30 and the third swing arm 40 are located in the second swing arm joint 32 and the third swing arm joint 42 respectively, and the second swing arm joint 32 and the third swing arm joint 42 are further respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotation axes 31 and 41 of the second swing arm 30 and the third swing arm 40 to rotate. The first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0055] Please refer to Figure 9-10In the fourth embodiment, the multi-axis robot arm further comprises a first swing joint 22, a second swing joint 32, a third swing joint 42, a rotation shaft 21 of the first swing arm 20, a rotation shaft 31 of the second swing arm 30, and a rotation shaft 41 of the third swing arm 40, which are respectively arranged in the first swing joint 22, the second swing joint 32, and the third swing joint 42. The first swing joint 22, the second swing joint 32, and the third swing joint 42 are respectively provided with a first swing driving device, a second swing driving device, and a third swing driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, and the rotation shaft 41 of the third swing arm 40. The multi-axis robot arm further comprises a base 60. The first swing arm 20 is rotatably connected to the base 60 through the first swing joint 22 arranged in the base 60 and / or the first swing arm 20. The first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing joint 32 arranged in the first swing arm 20 and / or the second swing arm 30, for driving the rotation of the second swing arm 30 relative to the first swing arm 20. The first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing joint 42 arranged in the second swing arm 30 and / or the third swing arm 40, for driving the rotation of the third swing arm 40 relative to the second swing arm 30. The rotating arm 50 is directly connected to the tail end of the third swing arm 40. The telescopic arm 10 is connected to the rotating arm 50. The telescopic driving device 13 is arranged in the telescopic arm 10. The telescopic arm 10 is further provided with a mounting platform 137 for mounting a load (such as a clamp, a detection device, etc.), which is connected to the telescopic driving device 13 and is lifted under the driving of the telescopic driving device 13.

[0056] In a further preferred embodiment, the telescopic driving device 13 comprises a telescopic driving motor 131 and a telescopic transmission assembly. The telescopic transmission assembly comprises a driving wheel 132, a driven wheel 133, a synchronous belt 135, a lead screw 134, a lead screw nut 138, and a ball guide bearing 136. The driving wheel 132 is connected to the output shaft of the telescopic driving motor 131. The lead screw nut 138 is connected to the driven wheel 133. The driving wheel 132 and the driven wheel 133 are drivingly connected through the synchronous belt 135. The lead screw 134 and the lead screw nut 135 are threadedly engaged. The ball guide bearing 136 is sleeved on the lead screw 134. The telescopic driving motor 131 drives the rotation of the lead screw nut 138 through the driving wheel 132, the driven wheel 133, and the synchronous belt 135, and further drives the lead screw 134 to move up and down relative to the lead screw nut 138 and the ball guide bearing 136. The mounting platform 137 is fixed to the top end of the lead screw 134.

[0057] In a preferred embodiment, when the rotating arm 50 is located at the tail end of the multi-axis robot arm, the rotating arm 50 is provided with a load such as a grabbing device, a detection device, a fixing clamp, or a connecting device, etc. for driving these loads to work.

[0058] Please refer to Figures 1 to 7 In a preferred embodiment, the pivoting arm 50 comprises a first pivoting arm 51 and a second pivoting arm 52. The first pivoting arm 51 is drivably rotatable relative to the third swing arm 40 about its own pivot axis. The pivot axis of the first pivoting arm 51 is axially non-parallel to the pivot axes of the first, second, and third swing arms 20, 30, and 40. The second pivoting arm 52 is connected to the first pivoting arm 51 and is provided with a pivoting portion 521. The pivoting portion 521 is drivably rotatable relative to the first pivoting arm 51 about its own pivot axis. The pivot axis of the pivoting portion 521 is axially non-parallel to the pivot axis of the first pivoting arm 51. In this embodiment, the pivoting portion 521 is an output flange. The combination of the first and second pivoting arms 51, 52, enables the multi-axis robotic arm to perform a variety of complex movements with high flexibility, enabling it to complete various tasks even in confined spaces. Of course, in other embodiments, the pivoting arm 50 may have only one pivoting arm section, such as the first pivoting arm 51, or may have three or even more pivoting arm sections. In this embodiment, the telescopic arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for enabling the rotating arm 50 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 robot arm to perform various movements (similar to the function of a human wrist).

[0059] In a further preferred embodiment, the multi-axis robot arm also includes a first rotating arm joint and a second rotating arm joint 522, and the rotating shafts of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm joint and the second rotating arm joint 522 are also respectively provided with a first rotation drive device and a second rotation drive device for driving the rotating shaft of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm 40 and / or the first rotating arm 51, and is used to drive the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is provided in the first rotating arm 51 and / or the second rotating arm 52, and is connected to the rotating part 521 of the second rotating arm 52, and is used to drive the rotating part 521 to rotate relative to the first rotating arm 51.

[0060] In a further preferred embodiment, please refer to Figure 3 and 4The third swing arm 40 comprises a main body 46, a connecting part 47 and a mounting part 48. The third swing arm joint 42 is partially located in the main body 46 and partially located in the second swing arm 30. The connecting part 47 connects the main body 46 and the mounting part 48. The mounting part 48 is in a columnar shape and the axial direction of the columnar shape is perpendicular to the axis 41 of the third swing arm 40. The main body of the first rotating arm 51 is in a columnar shape and coaxially connected to the mounting part 48. The first rotating arm joint is at least partially mounted in the mounting part 48. By this design, when the axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located in the same plane, the axis of the rotating part 521 of the second rotating arm 52 is also located in the plane, which facilitates the positioning and calibration of the multi-axis robot arm.

[0061] Please refer to Figure 8 In another preferred embodiment, the third swing arm 40 comprises a main body 46 and a mounting part 48. The third swing arm joint 42 is partially located in the main body 46. The mounting part 48 is in a columnar shape and the axial direction of the columnar shape is perpendicular to the axis 41 of the third swing arm 40. The main body of the first rotating arm 51 is in a columnar shape and coaxially connected to the mounting part 48. The first rotating arm joint is at least partially mounted in the mounting part 48.

[0062] Please refer to Figures 1 to 7 In a further preferred embodiment, when the axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in the same plane (as shown in Figure 4 , the axis of the first rotating arm 51 is perpendicular to the plane in which the axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located. This facilitates the positioning and calibration of the multi-axis robot arm. In another preferred embodiment, when the axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in the same plane, the axis of the first rotating arm 51 is parallel to the plane in which the axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located or located in the plane. Figure 8 The embodiment shown in

[0063] In the preferred embodiment, the rotation axis of the first rotating arm 51 is perpendicular to the rotation axis of the third swing arm 40, the rotation axes of the first rotating arm 51 and the second rotating arm 52 are perpendicular, and the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is greater than or equal to 360 degrees. When the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is equal to 360 degrees, the first rotating arm 51 and the second rotating arm 52 can reciprocate, and when the rotation angle range is greater than 360 degrees, the first rotating arm 51 and the second rotating arm 52 can continuously rotate in one direction. Through the above arrangement, the multi-axis robot arm has high degree of freedom and flexibility, and can complete complex actions in a narrow space. It should be noted that the perpendicularity referred to in the present application can be spatial perpendicularity, and is not limited to two lines in the same plane.

[0064] Please refer to Figures 1 to 7 , the first swing arm 20 is connected with the telescopic arm 10 through the rotation axis 21 of the first swing arm 20, the first swing arm 20 is driven to rotate relative to the telescopic arm 10, the second swing arm 30 is connected with the first swing arm 20 through the rotation axis 31 of the second swing arm 30, the third swing arm 40 is connected with the second swing arm 30 through the rotation axis 41 of the third swing arm 40, and the rotating arm 50 is directly connected with the third swing arm 40. The rotating arm 50 includes the first rotating arm 51 and the second rotating arm 52, the first rotating arm 51 is driven to rotate relative to the third swing arm 40 around the rotation axis of the first rotating arm 51 itself, and the rotation axis of the first rotating arm 51 is not parallel to the rotation axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and the second rotating arm 52 is provided with a rotating part 521, the rotating part 521 is driven to rotate relative to the first rotating arm 51 around the rotation axis of the rotating part 521 itself, and the rotation axis of the rotating part 521 is not parallel to the rotation axis of the first rotating arm 51. In the embodiment, the telescopic arm 10, the first swing arm 20, the second swing arm 30 and the third swing arm 40 are responsible for making the rotating arm 50 reach any position in the working range, and the first rotating arm 51 and the second rotating arm 52 are responsible for making the load of the multi-axis robot arm make various actions.

[0065] In a further preferred embodiment, the telescopic arm 10 is vertically arranged, the first swing arm 20, the second swing arm 30 and the third swing arm 40 horizontally rotate, the axis of the first rotating arm 51 is horizontally arranged and is perpendicular to the rotation axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40, and the axis of the second rotating arm 52 is perpendicular to the axis of the first rotating arm 51. In the embodiment, the telescopic arm 10 can be used as the base of the multi-axis robot arm and is fixed on the ground or other mounting platform.

[0066] In a further preferred embodiment, the multi-axis robotic arm further comprises a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 are further provided with a first swing arm driving device, a second swing arm driving device, and a third swing arm driving device, respectively, for driving the rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40 to rotate.

[0067] The leading end of the first swing arm 20 is connected to the first end of the telescopic arm 10 via a first swing arm joint 22. The first swing arm joint 22 is disposed in the telescopic arm 10 and / or the first swing arm 20 and is used to drive the first swing arm 20 to rotate relative to the telescopic arm 10. The leading end of the second swing arm 30 is connected to the trailing end of the first swing arm 20 via a second swing arm joint 32. The second swing arm joint 32 is disposed in the first swing arm 20 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The leading end of the third swing arm 40 is connected to the trailing end of the second swing arm 30 via a third swing arm joint 42. The third swing arm joint 42 is disposed in the second swing arm 30 and / or the third swing arm 40 and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30.

[0068] The multi-axis robot arm also includes a first rotating arm joint and a second rotating arm joint 522. The rotating shafts of the first rotating arm 51 and the second rotating arm 52 are respectively located in the first rotating arm joint and the second rotating arm joint 522. The first rotating arm joint and the second rotating arm joint 522 are also respectively provided with a first rotation drive device and a second rotation drive device for driving the rotating shaft of the first rotating arm 51 and the rotating part 521 of the second rotating arm 52 to rotate. The first rotating arm 51 is connected to the third swing arm 40 through the first rotating arm joint. The first rotating arm joint is provided in the third swing arm 40 and / or the first rotating arm 51, and is used to drive the first rotating arm 51 to rotate relative to the third swing arm 40. The second rotating arm joint 522 is provided in the first rotating arm 51 and / or the second rotating arm 52, and is connected to the rotating part 521 of the second rotating arm 52, and is used to drive the rotating part 521 to rotate relative to the first rotating arm 51.

[0069] The telescopic arm 10 comprises a telescopic arm body 11, a storage base 12, and a telescopic drive mechanism 13. The storage base 12 is box-shaped, with the second end of the telescopic arm body 11 mounted within it. The telescopic drive mechanism 13 is also mounted within the storage base 12 and is in driving connection with the second end of the telescopic arm body 12. A telescopic aperture is defined at the top of the storage base 12, through which the first end of the telescopic arm body 11 passes and connects to the first swing arm 20. Driven by the telescopic drive mechanism 13, the telescopic arm body 11 rises and falls relative to the telescopic aperture in the storage base 12.

[0070] In a further preferred embodiment, the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are axially parallel, and the rotation angle ranges of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are all greater than or equal to 360 degrees.

[0071] Please refer to Figure 11 In the fifth embodiment, the multi-axis robot arm further includes a translation guide rail 82 and a translation drive device 81, the telescopic arm 10 is mounted on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82 to drive the telescopic arm 10 to translate on the translation guide rail 82. In this embodiment, the telescopic arm 10 is connected to the head end of the first swing arm 20, and the translation drive device 81 drives the telescopic arm 10 to translate on the translation guide rail 82, thereby driving the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 to translate accordingly, thereby increasing the range of motion of the multi-axis robot arm. In other embodiments, when the multi-axis robot arm has a base 60, the multi-axis robot arm can also be provided with a translation guide rail 82 and a translation drive device 81, and the base 60 is mounted on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82 to drive the base 60 to translate on the translation guide rail 82.

[0072] Please refer to Figure 4 and Figure 6In a preferred embodiment, the telescopic arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the pivoting arm 50 all have hollow housings. The pivot shafts of the first, second, and third swing arms 20, 30, and 40 are also hollow structures. The multi-axis robotic arm further includes electrical wiring and / or air pipes 900. Part of these electrical wiring and / or air pipes 900 extend from the front end to the rear end of the multi-axis robotic arm, passing through the telescopic arm 10, the pivot shaft 21 of the first swing arm 20, the pivot shafts 31 of the first swing arm 20, the second swing arm 30, the pivot shafts 41 of the second swing arm 30, the third swing arm 40, and the third swing arm 40, to the pivoting arm 50. The term "partial" refers to electrical wiring and / or air pipes 900 because some of these wiring and air pipes 900 (e.g., the wiring connecting the first swing arm 20) do not need to extend to the pivoting arm 50. The electrical wiring is used to power electrical components (e.g., the drive mechanism) in each arm segment, and the air pipes are used to supply air to the load. In some embodiments, the air pipes may not be provided. A connector 15 may be provided on the telescopic arm 10 (e.g., the receiving seat 12 of the telescopic arm 10) for connecting external wires and air pipes. This wiring method can make the structure of the multi-axis robot arm more concise and safer.

[0073] Please refer to Figure 2 and Figure 4 and Figure 6 In a preferred embodiment, the first swing arm 20, the second swing arm 30, and the third swing arm 40 all have a hollow shell, and a detachable upper cover ( Figure 3 The component numbered 28 is the upper cover of the first swing arm 20. The provision of a detachable upper cover facilitates the inspection and replacement of components in the first swing arm 20, the second swing arm 30, and the third swing arm 40.

[0074] Please refer to Figure 13-15 In the above embodiment, at least one of the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 can adopt the following joint assembly, and at least one of the first rotating arm joint and the second rotating arm joint 522 can also adopt the following joint assembly 70.

[0075] Please refer to Figures 13 to 15The joint assembly 70 includes a main output shaft 701, a connecting shaft 702, a driving mechanism 704 and a reduction mechanism 703. The main output shaft 701 is an axially through hollow structure, which can allow wires and air pipes 900 to pass through. The output end of the main output shaft 701 is provided with a flange for connecting to the corresponding arm section body. The connecting shaft 702 is sleeved on the outside of the main output shaft 701, and the reduction mechanism 703 is sleeved on the outside of the main output shaft 701. The connecting shaft 702 is connected to the input end of the reduction mechanism 703, and the output end of the reduction mechanism 703 is connected to the main output shaft 702. The driving mechanism 704 is sleeved on the outside of the connecting shaft 702 and is used to drive the connecting shaft 702 to rotate, and then drive the main output shaft 701 to rotate after being decelerated by the reduction mechanism 703. Specifically, the drive mechanism 704 includes a stator 7042 and a rotor 7041. The rotor 7041 is mounted on the outside of the connecting shaft 702, and the stator 7042 is mounted on the outside of the rotor 7041, and is used to drive the rotor 7041 to rotate. The outer shell of the reduction mechanism 703 and the drive mechanism 704 can be fixed to the preceding arm section, and the output end of the main output shaft 701 is fixedly connected to the following arm section. Since the drive mechanism 704 generally rotates at a faster speed, while the swing arm rotates at a slower speed, the power of the drive mechanism 704 is output to the connecting shaft 702, transmitted through the connecting shaft 702 to the input end of the reduction mechanism 703, and after being decelerated by the reduction mechanism 703, it is output to the main output shaft 701 through the output end of the reduction mechanism 703, and then transmitted to the main arm section body through the main output shaft 701. The main output shaft 701 is configured as an axially through hollow structure, allowing cables, air pipes and other lines to pass through the inner cavity of the main output shaft 701 to achieve electrical connection, etc., avoiding the external placement of cables, air pipes, etc. of the robot arm, thereby making the internal structure of the robot arm compact and the appearance neat and beautiful.

[0076] It is understood that when the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 adopt the above-mentioned joint assembly, the main output shaft 701 is the corresponding rotating shaft 21 of the first swing arm 20, the rotating shaft 31 of the second swing arm 30, and the rotating shaft 41 of the third swing arm 40, and the driving mechanism is the corresponding first swing arm driving device, the second swing arm driving device, and the third swing arm driving device. When the first rotation arm joint and the second rotation arm joint 522 adopt the above-mentioned joint assembly, the main output shaft 701 is the corresponding rotating shaft of the first rotation arm 51 or the second rotation arm 52, and the driving mechanism is the corresponding first rotation driving device or the second rotation driving device.

[0077] In a preferred embodiment, the joint assembly 70 further includes a brake mechanism 705 and a heat dissipation mechanism 706. The brake mechanism 705 cooperates with the connecting shaft 702 to prevent the connecting shaft 702 from rotating when braking, thereby preventing the main output shaft 701 from rotating. The heat dissipation mechanism 706 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706 is provided with fan blades for dissipating heat to the joint assembly 70. The heat dissipation mechanism 706, the brake mechanism 705, the drive mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 toward the output end of the main output shaft 703, so as to Figure 15 From the perspective of FIG, the joint assembly 70 is arranged in sequence from bottom to top. This arrangement makes the structure of the joint assembly 70 very compact and small in size.

[0078] In a preferred embodiment, an end cap 707 is provided at the end of the main output shaft 701 facing away from the reduction mechanism 703 (i.e., the end opposite the output end). This end cap 707 is mounted on the outside of the main output shaft 701, and a first bearing 708 is disposed between the end cap 707 and the main output shaft 701. This first bearing 708 enhances the load-bearing capacity of the joint assembly 70 and increases its durability. The reduction mechanism 703 is a harmonic reducer, comprising a wave generator 7031, a flexspline 7033, and a rigid spline 7032. The wave generator 7031, serving as the input end of the reduction mechanism 703, is mounted on the outside of the connecting shaft 702 and the main output shaft 701. The flexspline 7033 is mounted on the outside of the wave generator 7031. The rigid spline 7032 is mounted on the outside of the flexspline 7033 and is connected to the main output shaft 701.

[0079] Please refer to Figure 15 In a preferred embodiment, the heat dissipation mechanism 706 includes a heat dissipation mounting base 7061, which is mounted on the outside of the connecting shaft 702 and can rotate with the connecting shaft 706. The heat dissipation mounting base 7061 is provided with an annular connecting plate 7064, and a plurality of fan blades 7062 are arranged at intervals along the circumference of the annular connecting plate 7064. By providing the heat dissipation assembly 706, the rotation of the fan blades 7062 generates wind force to quickly dissipate the heat generated by the internal operation of the joint assembly 70. Multiple heat dissipation holes can be provided in the end cover 707. The hot air flow fanned by the fan blades 7062 will quickly flow out of the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0080] In this specification, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can 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 can 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.

[0081] 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.

[0082] 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 telescopic arm, characterized in that: It includes a telescopic arm body, a storage seat and a telescopic drive device. A telescopic through hole is opened on the top of the storage seat. The first end of the telescopic arm body passes through the telescopic through hole. The second end of the telescopic arm body is installed in the storage seat. The telescopic drive device is also installed in the storage seat. The telescopic drive device is connected to the second end of the telescopic arm body. Under the drive of the telescopic drive device, the telescopic arm body is telescoped relative to the telescopic through hole of the storage seat.

2. The telescopic arm according to claim 1, wherein: A through hole is provided at the bottom of the second end of the telescopic arm body, and the telescopic drive device includes a telescopic drive motor. The telescopic drive motor is located directly below the second end of the telescopic arm body. When the first end of the telescopic arm body is retracted into the storage seat, the telescopic drive motor is inserted into the through hole at the bottom of the second end of the telescopic arm body.

3. The telescopic arm according to claim 2, wherein: The telescopic drive device also includes a telescopic transmission assembly, which is transmission-connected between the telescopic drive motor and the telescopic arm body. A telescopic slider is fixed to the bottom of the telescopic arm body, and a telescopic slide rail extending along a first direction is provided in the storage seat. The telescopic transmission assembly includes a driving wheel, a driven wheel, a synchronous belt and a screw rod. The telescopic slider is threadedly engaged with the screw rod and slidingly engaged with the telescopic slide rail. The driving wheel is connected to the output shaft of the telescopic drive motor, and the screw rod is connected to the driven wheel. The driving wheel and the driven wheel are driven by the synchronous belt. The telescopic drive motor drives the screw rod to rotate through the above-mentioned driving wheel, driven wheel and synchronous belt, thereby further moving the telescopic slider up and down relative to the screw rod.

4. The telescopic arm according to claim 3, wherein: The telescopic slider includes a vertical plate extending along the first direction and a horizontal plate vertically connected to the vertical plate. The telescopic slide rail is arranged on the side wall of the storage seat. The vertical plate is slidably connected to the telescopic slide rail. The screw rod is threadedly engaged with the vertical plate. The second end of the telescopic arm body is fixed on the horizontal plate. The telescopic 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 telescopic arm body is retracted into the storage seat, the telescopic drive motor is inserted into the avoidance through hole. An annular seal is provided at the telescopic through hole. The telescopic arm body passes through the annular seal and is sealed with the annular seal.

5. A multi-axis robotic arm, characterized in that: The telescopic arm comprises the telescopic arm, the first swing arm and the first swing arm joint according to any one of claims 1 to 4, wherein the first swing arm is connected to the telescopic arm through the first swing arm joint, and the first swing arm is drivable to rotate relative to the telescopic arm. The first end of the telescopic arm body is provided with a hollow structure, the first swing arm joint is installed in the hollow structure of the telescopic arm body, and when the first end of the telescopic arm body is retracted into the storage seat, the first swing arm joint extends into the storage seat.

6. The multi-axis robotic arm according to claim 5, wherein: When the first end of the telescopic arm body is retracted into the storage seat, at least half of the first swing arm joint extends into the storage seat.

7. The multi-axis robotic arm according to claim 5, wherein: The robot arm further includes a second swing arm, a third swing arm and a rotating arm, the telescopic arm rises and falls along a first direction, the first swing arm, the second swing arm and the third swing arm are stacked along the first direction, the rotating axes of the first swing arm, the second swing arm and the third swing arm axially extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the robot arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotating axis of the rotating arm is not parallel to the axial directions of the rotating axes of the first swing arm, the second swing arm and the third swing arm; The robotic arm also includes a second swing arm joint and a third swing arm joint. The rotating shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint. The first swing arm joint, the second swing arm joint and the third swing arm joint are also respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotating shafts of the first swing arm, the second swing arm and the third swing arm to rotate; the second swing arm is connected to the first swing arm through the second swing arm joint, the third swing arm is connected to the second swing arm through the third swing arm joint, and the rotating arm is directly connected to the third swing arm.

8. The multi-axis robotic arm according to claim 7, wherein: 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 swing arm, 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 swing arm, the second swing arm, and the third swing arm. The second rotating arm is connected to the first rotating arm, and a rotating part is provided on the second rotating arm. The rotating part can be driven to rotate around its own rotating axis relative to the first rotating arm, and the axial direction of the rotating axis of the rotating part is not parallel to the axial direction of the rotating axis of the first rotating arm.

9. The multi-axis robotic arm according to claim 5, wherein: The rotation axes of the first swing arm, the second swing arm and the third swing arm are parallel to each other, and the rotation angle ranges of the first swing arm, the second swing arm and the third swing arm are all greater than or equal to 360 degrees.

10. The multi-axis robotic arm according to claim 5, wherein: The robotic arm further includes a second swing arm joint and a third swing arm joint. The rotation axes of the first swing arm, the second swing arm, and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint, and the third swing arm joint. At least one of the first swing arm joint, the second swing arm joint, and the third swing arm joint adopts the following joint assembly: The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism and a reduction mechanism. The main output shaft is an axially through-hollow structure. The connecting shaft is sleeved on the outside of the main output shaft. The reduction mechanism is sleeved on the outside of the main output shaft. The connecting shaft is connected to the input end of the reduction mechanism. The output end of the reduction mechanism is connected to the main output shaft. The driving mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then drive the main output shaft to rotate after being decelerated by the reduction mechanism. The main output shaft is the rotating shaft of the corresponding first swing arm, second swing arm or third swing arm, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device or third swing arm driving device; The joint assembly further includes a brake mechanism and a heat dissipation mechanism. The brake mechanism cooperates with the connecting shaft to prevent the connecting shaft from rotating when braking, thereby preventing the main output shaft from rotating. The heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism is provided with fan blades. The heat dissipation mechanism, brake mechanism, drive mechanism and reduction mechanism are sequentially arranged along the axial direction of the main output shaft toward the output end of the main output shaft. An end cover is provided at one end of the main output shaft away from the reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is provided between the end cover and the main output shaft, the reduction mechanism is a harmonic reducer, and the reduction mechanism includes a wave generator, a flexible spline and a rigid spline, the wave generator is sleeved on the outside of the main output shaft and connected to the connecting shaft, the flexible spline is sleeved on the outside of the wave generator, and the rigid spline is sleeved on the outside of the flexible spline and connected to the main output shaft; The heat dissipation mechanism includes a heat dissipation mounting seat, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mounting seat is provided with an annular connecting plate, and the annular connecting plate is provided with multiple fan blades at intervals along its circumference.

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