Joint assembly and multi-axis mechanical arm

Abstract

The utility model relates to the field of robots, and particularly discloses a joint assembly and a multi-shaft mechanical arm, after the joint assembly is electrified, a driving mechanism drives a connecting shaft to rotate, the connecting shaft drives a speed reducing mechanism to rotate, and the speed reducing mechanism drives a main output shaft to rotate. When the adjacent mechanical arm sections are connected, part of the mechanical arm sections are connected to one mechanical arm section, the output end of the main output shaft is connected to the other mechanical arm section, and therefore the mechanical arm section connected with the output end of the main output shaft can be driven to rotate through rotation of the main output shaft, and relative rotation between the adjacent mechanical arm sections is achieved. Normal operation of the adjacent mechanical arm sections can be guaranteed through the joint assembly, the main output shaft and the connecting shaft form a sleeved connection relation, the driving mechanism and the speed reducing mechanism are contained in the joint assembly, the connecting shaft is sleeved with the driving mechanism, and the main output shaft is sleeved with the speed reducing mechanism. Therefore, the joint assembly is compact in structure and small in size, and is suitable for the mechanical arm which is compact in structure and small in size.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint assembly and a multi-axis robotic arm having the joint assembly. Background Technology

[0002] Robots are important intelligent automation devices, with industrial robots widely used in industries such as equipment manufacturing and the automotive industry. Robotic arms are a type of robot, characterized by multiple inputs and outputs, high nonlinearity, and strong coupling. They are complex systems widely used in industrial assembly, safety and explosion protection, and are highly valued for their operational flexibility. Robotic arms are one of the most widely used mechanical devices in the field of robotics; they can receive commands and precisely position themselves at a point in three-dimensional (or two-dimensional) space to perform tasks.

[0003] Existing robotic arms typically consist of multiple arm segments connected by joint assemblies, enabling relative movement between the connected segments to achieve the desired function. However, existing joint assemblies are bulky and not compact enough, making them unsuitable for compact robotic arms. Utility Model Content

[0004] The present invention aims to provide a joint assembly with a compact structure and small size; in addition, the present invention also provides a multi-axis robotic arm having such a joint assembly.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0006] The present invention discloses a joint assembly comprising a main output shaft, a connecting shaft, a drive 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, and 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, and the output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, and then, after being reduced in speed by the reduction mechanism, drives the main output shaft to rotate. The drive mechanism includes a motor rotor and a motor stator. The motor rotor is sleeved on the connecting shaft, and the motor stator is sleeved on the motor rotor.

[0007] The joint assembly described in this invention, upon power-on, drives the connecting shaft to rotate, which in turn drives the reduction mechanism to rotate. The reduction mechanism then drives the main output shaft to rotate. Since the joint assembly connects adjacent robotic arm segments, a portion of the connection is made to one segment, while the output end of the main output shaft is connected to the other. Thus, rotation of the main output shaft drives the robotic arm segment connected to its output end to rotate, achieving relative rotation between adjacent robotic arm segments. This joint assembly ensures the normal operation of adjacent robotic arm segments. Furthermore, by forming a sleeved connection between the main output shaft and the connecting shaft, and by housing the driving mechanism and reduction mechanism inside the joint assembly, with the driving mechanism sleeved outside the connecting shaft and the reduction mechanism sleeved outside the main output shaft, the joint assembly achieves a compact structure and small size, making it suitable for compact and small robotic arms.

[0008] Furthermore, the joint assembly also includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the braking mechanism, the driving mechanism, and the deceleration mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

[0009] Furthermore, the braking mechanism includes a brake stator and a brake pad. The brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft. The brake pad is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. When the brake pad is separated from the brake stator, the driving mechanism drives the connecting shaft to rotate. When the brake pad contacts the brake stator, it stops the connecting shaft from rotating.

[0010] Furthermore, one of the brake stator and the brake pad is equipped with an electromagnet, and the other is equipped with a magnet. The magnetism of the electromagnet when it is energized is the same as that of the magnet. When the electromagnet is energized, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate. When the electromagnet is de-energized, the brake pad contacts the brake stator to stop the rotation of the connecting shaft.

[0011] Alternatively, one of the brake stator and the brake pad may be equipped with an electromagnet, and the other with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate; in the second current direction, the magnetism of the electromagnet is opposite to that of the magnet, the brake pad contacts the brake stator to stop the rotation of the connecting shaft.

[0012] Alternatively, the brake stator and brake pads are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

[0013] Furthermore, the joint assembly also includes a heat dissipation mechanism, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, the drive mechanism, and the reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

[0014] The heat dissipation mechanism includes a heat dissipation mounting base and multiple fan blades. The heat dissipation mounting base is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is provided on the heat dissipation mounting base, and the multiple fan blades are spaced apart along the circumference of the annular connecting plate.

[0015] Furthermore, the joint assembly also includes an encoder assembly, which includes an encoder PCB board and at least one encoder disk. The encoder PCB board is sleeved around the connecting shaft and does not rotate with the connecting shaft. The encoder disk is sleeved on the connecting shaft and / or the main output shaft and rotates with it. The encoder disk is electrically connected to the encoder PCB board.

[0016] The encoder assembly, drive mechanism, and reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

[0017] Furthermore, there are two encoder disks, both of which are electrically connected to the encoder PCB board. One encoder disk is fitted onto the connecting shaft and rotates with the connecting shaft, and is used to test the rotational speed of the connecting shaft. The other encoder disk is fitted onto the main output shaft and rotates with the main output shaft, and is used to test the rotational speed of the main output shaft. The two encoder disks are respectively located on both sides of the encoder PCB board.

[0018] Furthermore, an end cap is provided at the end of the main output shaft away from the reduction mechanism. The end cap is sleeved on the main output shaft, and a first bearing is provided between the end cap and the main output shaft.

[0019] Furthermore, guide bearings are respectively provided at both ends of the motor rotor;

[0020] Alternatively, a sealed bearing may be provided between the connecting shaft and the main output shaft;

[0021] Alternatively, the deceleration mechanism includes a wave generator, a flexible wheel, and a rigid wheel. The wave generator is the input end of the deceleration mechanism, and it is sleeved around the main output shaft and connected to the connecting shaft. The flexible wheel is the output end of the deceleration mechanism, and it is sleeved on the wave generator. The flexible wheel and the wave generator can rotate relative to each other. The flexible wheel is also connected to the main output shaft. The rigid wheel is sleeved on the flexible wheel, and it can rotate relative to the rigid wheel.

[0022] The present invention discloses a multi-axis robotic arm comprising a lifting arm, a first swing arm, a second swing arm, a third swing arm, and a rotating arm. The lifting arm moves up and down along a first direction. The first, second, and third swing arms are stacked along the first direction. The rotation axes of the first, second, and third swing arms extend along the first direction. The first, second, third, and rotating arms are sequentially distributed from the head end to the tail end of the multi-axis robotic arm. The second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, and the rotating arm rotates relative to the third swing arm. The rotation axis of the rotating arm is not parallel to the rotation axes of the first, second, and third swing arms. The lifting arm is connected to one of the first and rotating arms, or connected between two of the first, second, third, and rotating arms.

[0023] The multi-axis robotic arm further includes a first swing arm joint, a second swing arm joint, and a third swing arm joint. The pivots 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 is connected to the lifting arm through the first swing arm joint, 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.

[0024] At least one of the first swing arm joint, the second swing arm joint, and the third swing arm joint employs the joint assembly described above.

[0025] The multi-axis robotic arm described in this invention, by incorporating a first swing arm, a second swing arm, and a third swing arm, allows the rotating arm to move more freely to the desired position without blind spots. Furthermore, this robotic arm has a more flexible structure and can operate in confined spaces. In addition, because this multi-axis robotic arm possesses the aforementioned joint components, it enjoys all the beneficial technical effects brought about by these joint components, which will not be elaborated upon further here.

[0026] Furthermore, the first end of the lifting arm is connected to the first end of the first swing arm, the first end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the first end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, and the rotating arm is connected to the tail end of the third swing arm.

[0027] Furthermore, the lifting arm includes a lifting arm body, a storage base, and a lifting drive device. The second end of the lifting arm body is installed in the storage base, and the lifting drive device is also installed in the storage base. The lifting drive device is connected to the second end of the lifting arm body. A lifting through hole is provided at the top of the storage base. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. Under the drive of the lifting drive device, the lifting arm body rises and falls relative to the lifting through hole of the storage base.

[0028] Furthermore, the lifting arm body has a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body. The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body retracts into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

[0029] Alternatively, the lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is driveably connected between the lifting drive motor and the lifting arm body. A lifting slider is fixed at the bottom of the lifting arm body. A lifting slide rail extending along a first direction is provided in the storage seat. The lifting transmission assembly includes a drive wheel, a driven wheel, a synchronous belt, and a lead screw. The lifting slider is threadedly engaged with the lead screw and slidably engaged with the lifting slide rail. The drive wheel is connected to the output shaft of the lifting drive motor. The lead screw is connected to the driven wheel. The drive wheel and the driven wheel are driven by the synchronous belt. The lifting drive motor drives the lead screw to rotate through the drive wheel, driven wheel, and synchronous belt, further causing the lifting slider to move up and down relative to the lead screw.

[0030] Furthermore, the rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm is drivably rotatable relative to the third swing arm about its own axis of rotation, and the axis of rotation of the first rotating arm is not parallel to the axis of rotation 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 is provided with a rotating part. The rotating part is drivably rotatable relative to the first rotating arm about its own axis of rotation, and the axis of rotation of the rotating part is not parallel to the axis of rotation of the first rotating arm.

[0031] Furthermore, the multi-axis robotic arm also includes a first rotating arm joint and a second rotating arm joint. The rotation axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is disposed in the third swing arm and / or the first rotating arm and is used to drive the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is disposed in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm and is used to drive the rotating part to rotate relative to the first rotating arm. At least one of the first rotating arm joint and the second rotating arm joint adopts the joint assembly described above. Attached Figure Description

[0032] The above and other objects, features, and advantages of this invention will become clearer through a more detailed description of the preferred embodiments shown in the accompanying drawings. The same reference numerals indicate the same parts throughout the drawings, and the drawings are not intentionally drawn to scale with actual dimensions; the focus is on illustrating the gist of this invention.

[0033] Figure 1 This is a schematic diagram of one embodiment of the joint component in this utility model.

[0034] Figure 2 for Figure 1 A cross-sectional view of the joint components.

[0035] Figure 3 for Figure 1 A schematic diagram of the heat dissipation mechanism of the joint assembly.

[0036] Figure 4 and Figure 5 This is a schematic diagram of another embodiment of the joint assembly in this utility model (wherein, Figure 4 There is only one coded disk in it. Figure 5 It has two coded disks.

[0037] Figure 5-1 for Figure 5 Exploded view.

[0038] Figure 6 This is a schematic diagram of another embodiment of the joint component in this utility model.

[0039] Figure 7 A schematic diagram of a joint assembly with perforations.

[0040] Figure 8 and Figure 9 These are schematic diagrams of the multi-axis robotic arm from different perspectives in Embodiment 1 of this utility model.

[0041] Figure 10 for Figure 8 A top view of a multi-axis robotic arm.

[0042] Figure 11 and Figure 12 for Figure 8 A schematic diagram of the structure of a multi-axis robotic arm after some parts have been removed.

[0043] Figure 13 for Figure 10 A sectional view along the AA direction.

[0044] Figure 14 This is a schematic diagram of the structure of the multi-axis robotic arm in Embodiment 2 of this utility model.

[0045] Figure 15 This is a schematic diagram of the structure of the multi-axis robotic arm in Embodiment 3 of this utility model.

[0046] Figure 16 This is a schematic diagram of the structure of the multi-axis robotic arm in Embodiment 4 of this utility model.

[0047] Figure 17 for Figure 16 A partial structural cross-sectional view of a multi-axis robotic arm.

[0048] Figure 18 This is a schematic diagram of the structure of the multi-axis robotic arm in Embodiment 5 of this utility model.

[0049] Figure 19 This is a schematic diagram of the structure of the multi-axis robotic arm in Embodiment Six of this utility model. Detailed Implementation

[0050] To facilitate understanding of this utility model, a more comprehensive description will be given below with reference to the accompanying drawings.

[0051] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to and integrated with the other component, or there may be an intervening component present. The terms "mounted," "one end," "the other end," and similar expressions used in this document are for illustrative purposes only.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0053] This utility model specifically provides an embodiment of a joint assembly, see [link to embodiment]. Figure 1-4The system includes a main output shaft 701, a connecting shaft 702, a drive mechanism 704, and a reduction mechanism 703. The main output shaft 701 is an axially through hollow structure, allowing electrical wires and air pipes 900 to pass through. The output end of the main output shaft 701 is equipped with a flange for connection to the corresponding boom body or for connection to a load. 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 701. The drive mechanism 704 is sleeved on the outside of the connecting shaft 702 and is used to drive the connecting shaft 702 to rotate, which then drives the main output shaft 701 to rotate after being reduced in speed by the reduction mechanism 703. Specifically, the drive mechanism 704 includes a motor rotor 7041 and a motor stator 7042. The motor rotor 7041 is sleeved on the connecting shaft 702, which can be understood as the motor rotor 7041 being sleeved on the outside of the connecting shaft 702. The motor stator 7042 is sleeved on the motor rotor 7041, which can be understood as the motor stator 7042 being sleeved on the outside of the motor rotor 7041, and is used to drive the motor rotor 7041 to rotate. When the joint assembly 70 connects two adjacent arm segments, the housings of the reduction mechanism 703 and the drive mechanism 704 can be fixed on the preceding arm segment, while the output end of the main output shaft 701 is fixedly connected to the following arm segment. Since the drive mechanism 704 generally rotates at a higher speed while the swing arm rotates at a lower speed, the power output of the drive mechanism 704 is sent to the connecting shaft 702. This power is then transmitted through the connecting shaft 702 to the input end of the reduction mechanism 703. After being reduced in speed by the reduction mechanism 703, the power is output through the output end of the reduction mechanism 703 to the main output shaft 701, and then transmitted to the main arm body through the main output shaft 701. The main output shaft 701 is designed as an axially through-hole hollow structure, allowing cables, air pipes, and other wiring to pass through its inner cavity for electrical connections, thus avoiding external placement of cables and air pipes on the robotic arm. This results in a compact internal structure and a neat and aesthetically pleasing appearance for the robotic arm. The joint assembly 70, through the sleeved connection between the main output shaft 701 and the connecting shaft 702, allows for a more compact structure.

[0054] In the preferred embodiment, see Figure 1-4 Guide bearings 7043 are also provided at both ends of the motor rotor 7041; by setting guide bearings 7043, the rotation position of the motor rotor 7041 can be restricted to ensure precise transmission.

[0055] In the preferred embodiment, see Figure 1-4The joint assembly 70 also includes a braking mechanism 705, which cooperates with the connecting shaft 702 to stop the rotation of the connecting shaft 702 during braking, thereby stopping the rotation of the main output shaft 701. Specifically, the braking mechanism 705 includes a brake stator 7051 and a brake pad 7052. The brake stator 7051 is sleeved on the outside of the connecting shaft 702 and does not rotate with the connecting shaft 702. The brake stator 7051 is fixedly connected to the housing 7044 and therefore does not rotate with the connecting shaft 702. The brake pad 7052 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. When the brake pad 7052 separates from the brake stator 7051, the drive mechanism 704 drives the connecting shaft 702 to rotate. When the brake pad 7052 contacts the brake stator 7051, it stops the rotation of the connecting shaft 702. The braking mechanism 705, the drive mechanism 704, and the 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 701, so as to... Figure 2 From a perspective of the joint assembly, the joints are arranged sequentially from bottom to top. This arrangement makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size of the joint assembly 70, which is more conducive to its application in small and precise robotic arms.

[0056] In the preferred embodiment, the braking mechanism 705 can achieve braking and releasing in multiple ways. This utility model specifically provides two implementation methods. The first implementation method: One of the brake stator 7051 and brake pad 7052 is equipped with an electromagnet. An electromagnet is one that is magnetized and generates magnetism only when energized. The other is equipped with a magnet, which is an ordinary magnet and inherently possesses magnetism. The magnetism of the electromagnet when energized is the same as that of the magnet. When the electromagnet is energized, the brake pad 7052 separates from the brake stator 7051, and the drive mechanism 704 drives the connecting shaft 702 to rotate. When the electromagnet is de-energized, the brake pad 7052 contacts the brake stator 7051 to stop the rotation of the connecting shaft 702. The second implementation involves equipping one of the brake stator 7051 and brake pad 7052 with an electromagnet and the other with a magnet. When the electromagnet is energized, in the first current direction, the electromagnet's magnetism is the same as the magnet's, causing the brake pad 7052 to separate from the brake stator 7051, and the drive mechanism 704 to drive the connecting shaft 702 to rotate. In the second current direction, the electromagnet's magnetism is opposite to the magnet's, causing the brake pad 7052 to contact the brake stator 7051, thus stopping the connecting shaft 702 from rotating. The first and second current directions are opposite; that is, the current direction can be changed using alternating current to form both directions. By changing the current direction, the electromagnet's magnetism changes accordingly, making it the same as or opposite to the magnetism of a conventional magnet, thus achieving repulsion or attraction, thereby releasing or braking the connecting shaft 702. Furthermore, the brake stator 7051 and brake pad 7052 are sequentially arranged along the axial direction of the main output shaft 701 towards its output end. Figure 2 From a perspective of the joint assembly, the arrangement from bottom to top makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size and making it more suitable for use on small and precise robotic arms.

[0057] In the preferred embodiment, see Figure 1-4 The brake assembly 705 also includes a brake pad retaining ring 7053, which is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The brake pad 7052 is connected to the side of the brake pad retaining ring 7053 facing the brake stator 7051, and the brake pad 7052 is indirectly connected to the connecting shaft 702 through the brake pad retaining ring 7053.

[0058] In some embodiments, the joint assembly 70 may include a heat dissipation mechanism 706, see [link to previous document]. Figure 2-3The 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, the drive mechanism 704, and the reduction mechanism 703 are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701. Figure 2 From a perspective of the joint assembly, the arrangement from bottom to top makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size and making it more suitable for use on small and precise robotic arms.

[0059] In the preferred embodiment, see Figure 2-3 The heat dissipation mechanism 706 includes a heat dissipation mounting base 7061 and a plurality of fan blades 7062. The heat dissipation mounting base 7061 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. An annular connecting plate 7064 is provided on the heat dissipation mounting base 7061, and the plurality of fan blades 7062 are spaced apart circumferentially along the annular connecting plate 7064. In addition, the fan blades 7062 are vertically connected to the annular connecting plate 7064, or the fan blades 7062 are connected to the annular connecting plate 7064 at an angle to the radial direction of the annular connecting plate 7064. A portion of the fan blades 7062 extends beyond the annular connecting plate 7064, and the fan blades 7062 have an L-shaped sidewall that is simultaneously connected to the sidewall and one end face of the annular connecting plate 7064. By setting up a heat dissipation mechanism 706, the fan blades 7062 rotate to generate airflow, which quickly dissipates the heat generated inside the joint assembly 70. Multiple heat dissipation holes can be set on the end cover 707, and the hot airflow driven by the fan blades 7062 will flow out quickly from the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0060] In the preferred embodiment, see Figure 1-6 and Figure 5-1The joint assembly 70 also includes an encoder assembly, which includes an encoder PCB board 7071 and at least one encoder disk 7072. The encoder PCB board 7071 is sleeved around the connecting shaft 702 and does not rotate with the connecting shaft 702. The encoder disk 7072 is sleeved on the connecting shaft 702 and / or the main output shaft 701 and rotates with it. The encoder disk 7072 is electrically connected to the encoder PCB board 7071. Specifically, the encoder PCB board 7071 is connected to the encoder housing 7073, and the encoder housing 7073 is connected to the outer shell 7044. When the encoder disk... When there is only one encoder 7072, it can be fitted onto the connecting shaft 702 to detect the rotational speed of the connecting shaft 702, i.e., the input shaft rotational speed. Alternatively, it can be fitted onto the main output shaft 701 to detect the rotational speed of the main output shaft 701, i.e., the output shaft rotational speed. When there are two encoders 7072, one encoder 7072 is fitted onto the connecting shaft 702, and the other encoder 7072 is fitted onto the main output shaft 701, respectively, to accurately detect the rotational speeds of the input and output shafts, thereby achieving precise control of the output rotational speed of the joint assembly. Figure 2 From the perspective of the encoder assembly, drive mechanism 704 and reduction mechanism 703 are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701, which further makes the internal structure of the joint assembly 70 very compact, making the overall volume of the joint assembly 70 smaller, which is more conducive to its application on small and precise robotic arms.

[0061] In addition, with Figure 2 From the perspective of [the specific context], when the joint assembly 70 has a heat dissipation mechanism 706, the encoder assembly, heat dissipation mechanism, braking mechanism, drive mechanism, and reduction mechanism are sequentially arranged along the axial direction of the main output shaft 701 towards its output end. Combined with the sleeved connection between the main output shaft 701 and the connecting shaft 702, this makes the internal structure of the joint assembly 70 very compact, resulting in a smaller overall size and making it more suitable for application in small and precise robotic arms. Figure 5 From the perspective of the joint assembly 70, when the joint assembly 70 does not have a heat dissipation mechanism 706, the encoder assembly, brake mechanism, drive mechanism and deceleration mechanism are arranged sequentially along the axial direction of the main output shaft 701 toward the output end of the main output shaft 701. Combined with the sleeve connection relationship between the main output shaft 701 and the connecting shaft 702, the internal structure of the joint assembly 70 is very compact, making the overall volume of the joint assembly 70 smaller, which is more conducive to its application in small and precise robotic arms.

[0062] In the preferred embodiment, see Figure 1-6An end cap 707 is provided at one end of the main output shaft 701 away from the reduction mechanism 703 (that is, the end opposite to the output end). The end cap 707 is sleeved on the main output shaft 701, and a first bearing 708 is provided between the end cap 707 and the main output shaft 701. The first bearing 708 can enhance the load-bearing capacity of the joint assembly 70 and make it more durable.

[0063] In the preferred embodiment, see Figure 1-6 A sealed bearing 709 is provided between the connecting shaft 702 and the main output shaft 701. By providing the sealed bearing 709, lubricating oil can be prevented from entering the joint assembly 70 from between the connecting shaft 702 and the main output shaft 701 and becoming contaminated.

[0064] In the preferred embodiment, see Figure 1-6 The reduction mechanism 703 is a harmonic reducer. The reduction mechanism 703 includes a wave generator 7031, a flexible wheel 7033, and a rigid wheel 7032. The wave generator 7031 is the input end of the reduction mechanism 703. The wave generator 7031 is sleeved on the periphery of the main output shaft 701 and connected to the connecting shaft 702. The flexible wheel 7033 is the output end of the reduction mechanism 703. The flexible wheel 7033 is sleeved on the wave generator 7031, and the flexible wheel 7033 and the wave generator 7031 can rotate relative to each other. The flexible wheel 7033 is also connected to the main output shaft 701. The rigid wheel 7032 is sleeved on the flexible wheel 7033, and the flexible wheel 7033 can rotate relative to the rigid wheel 7032.

[0065] Furthermore, the joint assembly in this invention can be square in shape, such as... Figure 6 As shown, it can also be cylindrical, such as... Figure 1-5 As shown, however, regardless of the shape, it does not affect the internal structure of the joint assembly. Also see... Figure 7 The encoder housing 7073 is also provided with a through hole 7074, through which the operator can insert a wrench into the joint assembly 70 to operate the internal fasteners, or the wires of the drive mechanism 704 and the brake mechanism 705 can be passed through the through hole 7074.

[0066] In some embodiments, an annular mounting plate 7045 is provided on the outside of the housing 7044, and the annular mounting plate 7045 is connected to the surface of the corresponding arm segment body.

[0067] In existing technologies, the control circuit board used to control the operation of the joint assembly is located outside the joint assembly and is independent of it. The joint assembly and the control circuit board need to be electrically connected, resulting in unsightly and untidy exposed wires, as well as potential safety hazards. Therefore, in this embodiment, the circuit control board is located inside the joint assembly, for example, inside the outer casing, thus integrating the circuit control board and the joint assembly into one unit. This not only improves aesthetics but also avoids the safety hazards caused by exposed wires. The circuit control board is electrically connected to the braking mechanism, the drive mechanism, and the encoder assembly, respectively, and is used to control the operation of these components.

[0068] This utility model also provides a specific implementation of a multi-axis robotic arm; see [link to implementation details]. Figure 1-19 It includes a lifting arm 10, a first swing arm 20, a second swing arm 30, a third swing arm 40, and a rotating arm 50. The lifting arm 10 is drivably raised and lowered along a first direction. Figure 8 The first direction shown is vertical. In other embodiments, when the multi-axis robotic arm is mounted in other ways, such as fixed to a wall, it can also be horizontal. The term "lifting" here is for ease of understanding and does not limit the first direction to vertical, but rather refers to movement along the first direction. The first swing arm 20, the second swing arm 30, and the third swing arm 40 are stacked along the first direction. This stacking arrangement does not mean that the first swing arm 20, the second swing arm 30, and the third swing arm 40 are stacked together, but rather that the first swing arm 20, the second swing arm 30, and the third swing arm 40 are located at different heights along the first direction. The rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 extend axially along the first direction, and the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are not coaxially aligned. The axial extension of the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 along the first direction is not strictly limited to the axial extension of the rotation axes being parallel to the first direction; there can be a certain angle of deviation (e.g., a deviation of 2-10 degrees). The fact that the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are not set on the same axis means that in a plane perpendicular to the first direction, the rotation axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are spaced a certain distance apart. Figure 2The dotted lines on the first swing arm 20, the second swing arm 30, and the third swing arm 40 indicate their rotation axes. The first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are sequentially distributed from the head end to the tail end of the multi-axis robotic arm. Multi-axis robotic arms are typically mounted in a specific position and equipped with other working parts (such as fixtures, detection devices, welding devices, etc.) to perform their work. Here, the head end of the multi-axis robotic arm refers to its mounting end, and the tail end refers to its working end. From the perspective of a multi-section arm, the sequential distribution of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 from the head end to the tail end does not imply that the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 must be continuous; other arm sections can be added in between. The only limitation is the order in which these four components appear 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 rotating arm 50 is drivably rotatable relative to the third swing arm 40 about its own axis of rotation, and the axis of rotation of the rotating 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 rotating arm 50 can be composed of multiple rotating axes in different directions, the phrase "the axis of rotation of the rotating 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" refers to the first axis of rotation of the rotating arm 50 relative to the third swing arm 40 being non-parallel to the axes of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40, without specifying whether the axes of other rotating axes are parallel. For more information, please refer to [link / reference needed]. Figure 8 , Figures 14 to 19In several embodiments of this utility model, the rotating arm 50 is composed of two rotating shafts. In some operating states, the axial direction of the latter rotating shaft is parallel to the axial direction of the rotating shafts of the first swing arm 20, the second swing arm 30, and the third swing arm 40. The lifting arm 10 is connected to one of the first swing arm 20 and the rotating arm 50, or connected between two of the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50. The statement that the lifting arm 10 is connected to one of the first swing arm 20 and the rotating arm 50 means that the lifting arm 10 is only connected to the first swing arm 20 or the rotating arm 50, and not connected to the other arms among the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50. Those skilled in the art will understand that "driveable" means that it can move under the drive of a drive mechanism. In other embodiments, at least one of the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 can also move under human power. In a preferred embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 can all be driven independently. That is, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are all equipped with independent drive mechanisms, and the movement of each arm section does not interfere with each other, resulting in better flexibility and operability.

[0069] By setting a first swing arm 20, a second swing arm 30, and a third swing arm 40, the rotating arm 50 can move more freely to the desired position without blind spots. Moreover, the structure of this robotic arm is more flexible and can work in narrow spaces.

[0070] In a preferred embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20 (e.g., Figures 9 to 14 As shown), or connected to the tail end of the rotating arm 50 (as shown). Figures 7 to 19 (As shown). In other embodiments, the lifting 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 lifting arm 10 between different arm sections, different effects can be achieved.

[0071] Please refer to Figure 8 , Figure 11 and Figure 13In a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 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 also respectively provided with a first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 41 of the third swing arm 40 to rotate. The first swing arm 20 is connected to the lifting arm 10 via the first swing arm joint 22. The first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the lifting arm 10. The second swing arm 30 is connected to the first swing arm 20 via the second swing arm joint 32. The third swing arm 40 is connected to the second swing arm 30 via the third swing arm joint 42. The rotating arm 50 is directly connected to the third swing arm 40, meaning no other arm sections are added between the rotating arm 50 and the third swing arm 40. The first swing arm joint 22 is fixed relative to the lifting arm 10, the second swing arm joint 32 is fixed relative to the first swing arm 20, and the third swing arm joint 42 is fixed relative to the second swing arm 30. When the pivot 21 of the first swing arm 20 is driven to rotate by the first swing arm drive device, the first swing arm 20 rotates relative to the lifting arm 10. Correspondingly, when the pivot 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20. When the pivot 41 of the third swing arm 40 rotates, the third swing arm 40 rotates relative to the second swing arm 30.

[0072] In a further preferred embodiment, the first end of the lifting 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 via a 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 via a 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 lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 are connected end to end, which can achieve good flexibility.

[0073] Please refer to Figure 8 , Figure 12 and Figure 13The lifting arm 10 includes a lifting arm body 11, a storage base 12, and a lifting drive device 13. The storage base 12 is box-shaped, with the second end of the lifting arm body 11 installed inside. The lifting drive device 13 is also installed inside the storage base 12 and is drively connected to the second end of the lifting arm body 12. A lifting through-hole is provided at the top of the storage base 12, through which the first end of the lifting arm body 11 passes and connects to the first swing arm 20. Driven by the lifting drive device 13, the lifting arm body 11 rises and falls relative to the lifting through-hole of the storage base 12. In this embodiment, the storage base 12 can serve as the base of the multi-axis robotic arm, and can be fixed to the ground or other mounting platform. Please refer to... Figure 19 In embodiment seven, the lifting arm 10 may also have a sliding seat 19 on one side, the sliding seat 19 being connected to a lead screw and moving up and down under the action of the lead screw mechanism, with the first swing arm 20 mounted on the sliding seat 19. In other embodiments, the lifting arm 10 may also have other structures.

[0074] In a further preferred embodiment, the lifting arm body 11 has a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body 11. The lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly is drively connected between the lifting drive motor 131 and the lifting arm body 11. The lifting drive motor 131 is located directly below the second end of the lifting arm body 11. When the first end of the lifting arm body 11 is retracted into the storage seat 12, the lifting drive motor 131 is inserted into the through hole at the bottom of the second end of the lifting arm body 11. When the lifting arm body 11 is in the retracted state, it is fitted over the lifting drive motor 131, which reduces the overall height of the storage seat 12 and makes the structure of the multi-axis robotic arm more compact.

[0075] In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly is driveably connected between the lifting drive motor 131 and the lifting arm body 11. A lifting slider 14 is fixed to the bottom of the lifting arm body 11, and a lifting slide rail 123 extending along a first direction is provided in the storage seat 12. The lifting transmission assembly includes a drive wheel 132, a driven wheel 133, a timing belt, and a lead screw 134. The lifting slider 14 is threadedly engaged with the lead screw 134 and slidably engaged with the lifting slide rail 123. The drive wheel 132 is connected to the output shaft of the lifting drive motor 131, and the lead screw 134 is connected to the driven wheel 133. The drive wheel 132 and the driven wheel 133 are driven by the timing belt. The lifting drive motor 131 drives the lead screw 134 to rotate through the drive wheel 132, the driven wheel 133, and the timing belt, further causing the lifting slider 14 to move up and down relative to the lead screw 134.

[0076] In a further preferred embodiment, the lifting slider 14 includes a vertical plate 142 extending along a first direction and a horizontal plate 141 vertically connected to the vertical plate 142. A lifting slide rail 123 is disposed on the side wall 122 of the storage base 12, and the vertical plate 142 is slidably connected to the lifting slide rail 123. A lead screw 134 is threadedly engaged with the vertical plate 142. Specifically, two parallel lifting slide rails 123 are disposed on the side wall 122 of the storage base 12. Two sliding blocks corresponding to the lifting slide rails are disposed on the back of the vertical plate 142. The lead screw 134 is located between the two lifting slide rails 123, and a nut threadedly engaged with the lead screw 134 is also disposed on the back of the vertical plate 142. The second end of the lifting arm body 11 is fixed to the horizontal plate 141, and the lifting drive motor 131 is located directly below the horizontal plate 141 and is partially surrounded by the vertical plate 142 and the horizontal plate 141. In this embodiment, the lifting slider 14 is inverted "L" shape; in other embodiments, the lifting slider 14 can also be inverted "U" shape. A clearance through hole 143 is provided on the horizontal plate 141. When the first end of the lifting arm body 11 retracts into the storage seat 12, the lifting drive motor 131 inserts into the clearance through hole 143. This structure can also reduce the overall height of the storage seat 12, making the structure of the multi-axis robotic arm more compact. Of course, in this embodiment, a through hole can also be provided at the bottom of the second end of the lifting arm body 11. When the first end of the lifting arm body 11 retracts into the storage seat 12, the lifting drive motor 131 first inserts into the clearance through hole 143 on the horizontal plate 141, and then enters the through hole at the bottom of the second end of the lifting arm body 11. An annular seal 19 is also provided at the lifting through hole. The lifting arm body 11 passes through the annular seal 19 and is sealed to it. The annular seal 19 can prevent dust, water droplets, etc., from entering the storage seat 12.

[0077] Please refer to Figure 16 and 17In a preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 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 also respectively provided with a first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 41 of the third swing arm 40 to rotate. The multi-axis robotic arm also includes a base 60. The first swing arm 20 is rotatably connected to the base 60 via the first swing arm joint 22, and 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 in the base 60, and the other portion extends into the first swing arm 20. This structure allows the first swing arm 20 to be more compact and smaller. In other embodiments, the first swing arm joint 22 may also be located solely in the base 60 or within the first swing arm 20. The descriptions of the positions of the second swing arm joint 32, the third swing arm joint 42, the first rotating arm joint, and the second rotating arm joint in the following embodiments are similar and will not be repeated.

[0078] In some embodiments, the lifting arm 10 is connected between the tail end of the first swing arm 20 and the head end of the second swing arm 30. The second swing arm 30 is connected to the first end of the lifting arm 10 via a second swing arm joint 32. The second swing arm joint 32 is disposed in the lifting arm 10 and / or the second swing arm 30 and is used to drive the second swing arm 30 to rotate relative to the lifting arm 10. The head end of the third swing arm 40 is connected to the tail end of the second swing arm 30 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.

[0079] In other embodiments, the first end of the second swing arm 30 is connected to the tail 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 lifting arm 10 is connected between the tail end of the second swing arm 30 and the first end of the third swing arm 40. The first end of the third swing arm 40 is connected to the first end of the lifting arm 10 via a third swing arm joint 42. The third swing arm joint 42 is disposed in the lifting arm 10 and / or the third swing arm 42 and is used to drive the third swing arm 40 to rotate relative to the lifting arm 10. The rotating arm 50 is directly connected to the tail end of the third swing arm 40.

[0080] In some embodiments, the first end of the second swing arm 30 is connected to the tail 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 first 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 lifting arm 10 is connected between the tail end of the third swing arm 40 and the rotating arm 50.

[0081] Please refer to Figure 15 and 19 In a preferred embodiment, the multi-axis robotic arm includes a base 60, a lifting arm 10 connected between the base 60 and a first swing arm 20, and the head end of the first swing arm 20 fixedly connected to the lifting arm 10. The lifting 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 lifting arm 10, but rotates with the lifting arm 10 relative to the base 60, and the axis of rotation of the lifting arm 10 is also the axis of rotation 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 in Embodiment 1. Figures 8 to 13 The same applies. The multi-axis robotic arm also includes a second swing arm joint 32 and a third swing arm joint 42. The pivots 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. The second swing arm joint 32 and the third swing arm joint 42 are also respectively provided with a second swing arm drive device and a third swing arm drive device for driving the pivots 31 of the second swing arm 30 and the pivots 41 of 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 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 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 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.

[0082] Please refer to Figure 16 , 17In embodiment four, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 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 also respectively provided with a first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 41 of the third swing arm 40 to rotate. The multi-axis robotic arm also includes a base 60. The first swing arm 20 is rotatably connected to the base 60 via the first swing arm joint 22, which is disposed 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 via the second swing arm joint 32, which 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 first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 via the third swing arm joint 42, which 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. The lifting arm 10 is connected to the rotating arm 50, and a lifting drive device 13 is disposed in the lifting arm 10. The lifting arm 10 is also provided with an installation platform 137 for installing loads (such as clamps, testing equipment, etc.). The installation platform 137 is connected to the lifting drive device 13 and is lifted and lowered under the drive of the lifting drive device 13.

[0083] In a further preferred embodiment, the lifting drive device 13 includes a lifting drive motor 131 and a lifting transmission assembly. The lifting transmission assembly includes a drive wheel 132, a driven wheel 133, a timing belt 135, a lead screw 134, a lead screw nut 138, and a ball bearing 136. The drive wheel 132 is connected to the output shaft of the lifting drive motor 131, and the lead screw nut 138 is connected to the driven wheel 133. The drive wheel 132 and the driven wheel 133 are connected by a timing belt 135. The lead screw 134 and the lead screw nut 135 are threaded together, and the ball bearing 136 is sleeved on the lead screw 134. The lifting drive motor 131 drives the lead screw nut 138 to rotate through the drive wheel 132, the driven wheel 133, and the timing belt 135, further causing the lead screw 134 to move up and down relative to the lead screw nut 138 and the ball bearing 136. The mounting platform 137 is fixed to the top of the lead screw 134.

[0084] In a preferred embodiment, when the rotating arm 50 is located at the tail end of the multi-axis robotic arm, the rotating arm 50 is equipped with loads such as a gripping device, a detection device, a fixing fixture, or a connecting device to drive these loads to work.

[0085] Please refer to Figures 8 to 14 In a preferred embodiment, the rotating arm 50 includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 is drivably rotatable relative to the third swing arm 40 about its own axis of rotation, and the axial direction of the first rotating arm 51 is not parallel to the axial directions 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 is provided with a rotating part 521. The rotating part 521 is drivably rotatable relative to the first rotating arm 51 about its own axis of rotation, and the axial direction of the rotating part 521 is not parallel to the axial direction of the first rotating arm 51. In this embodiment, the rotating part 521 is an output flange. By combining the first rotating arm 51 and the second rotating arm 52, the multi-axis robotic arm can perform various complex movements with high flexibility, and can complete various work requirements even in narrow spaces. Of course, in other embodiments, the rotating arm 50 may have only one rotating arm segment, such as only the first rotating arm 51, or it may have three or more rotating arm segments. In this embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for enabling the rotating arm 50 to reach any position within the working range (similar to the function of a human arm), while the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robotic arm to perform various actions (similar to the function of a human wrist).

[0086] In a further preferred embodiment, the multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint 522. The 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 disposed 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 disposed 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.

[0087] In a further preferred embodiment, please refer to Figure 9 and 10The third swing arm 40 includes 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 cylindrical, and its axial direction is perpendicular to the axis of rotation 41 of the third swing arm 40. The main body of the first rotating arm 51 is cylindrical and coaxially connected to the mounting part 48. The first rotating arm joint is at least partially mounted in the mounting part 48. This design ensures that when the central axes of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are in the same plane, the central axis of the rotating part 521 of the second rotating arm 52 is also located in that plane, facilitating the positioning and calibration of the multi-axis robotic arm.

[0088] Please refer to Figure 15 In another preferred embodiment, the third swing arm 40 includes 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 columnar and the axis of the column is perpendicular to the axis of the rotation shaft 41 of the third swing arm 40. The main body of the first rotating arm 51 is columnar and is coaxially connected to the mounting part 48. The first rotating arm joint is at least partially mounted in the mounting part 48.

[0089] Please refer to Figures 8 to 13 In a further preferred embodiment, when the central axes of rotation of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are arranged in the same plane (e.g. Figure 10 As shown, the central axis of the first rotating arm 51 is perpendicular to the plane containing the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40. This facilitates the positioning and calibration of the multi-axis robotic arm. In another preferred embodiment, when the central 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 central axis of the first rotating arm 51 is parallel to the plane containing the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40, or lies within the plane containing the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40. Figure 14 In the embodiment shown, the central axis of the first rotating arm 51 is located in the plane containing the central axes of the first swing arm 20, the second swing arm 30, and the third swing arm 40.

[0090] In a preferred embodiment, the axis of rotation of the first rotating arm 51 is perpendicular to the axis of rotation of the third swing arm 40, and the axes of rotation of the first rotating arm 51 and the second rotating arm 52 are perpendicular, with the rotation angle range of the first rotating arm 51 and the second rotating arm 52 being 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; when the rotation angle range is greater than 360 degrees, they can rotate continuously in one direction. Through the above configuration, the multi-axis robotic arm can have a high degree of freedom and flexibility, and can complete complex actions in a narrow space. It should be noted that the perpendicularity referred to in this application can be spatial perpendicularity, and is not limited to two lines in the same plane.

[0091] Please refer to Figures 8 to 13 The first swing arm 20 is connected to the lifting arm 10 via its pivot 21. The first swing arm 20 is drivably rotatable relative to the lifting arm 10. The second swing arm 30 is connected to the first swing arm 20 via its pivot 31. The third swing arm 40 is connected to the second swing arm 30 via its pivot 41. The rotating arm 50 is directly connected to the third swing arm 40. The rotating arm 50 includes a first rotating arm 51 and a second rotating arm 52. The first rotating arm 51 is drivably rotatable relative to the third swing arm 40 around its own pivot axis, and the axial direction of the pivot axis of the first rotating arm 51 is not parallel to the axial directions of the pivot 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. The second rotating arm 52 is provided with a rotating part 521, which can be driven to rotate relative to the first rotating arm 51 around its own axis. The axial direction of the rotating part 521 is not parallel to the axial direction of the first rotating arm 51. In this embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, and the third swing arm 40 are responsible for enabling the rotating arm 50 to reach any position within its working range, while the first rotating arm 51 and the second rotating arm 52 enable the load of the multi-axis robotic arm to perform various actions.

[0092] In a further preferred embodiment, the lifting arm 10 is vertically arranged, the first swing arm 20, the second swing arm 30, and the third swing arm 40 rotate horizontally, the axis of the first rotating arm 51 is horizontally arranged and perpendicular to the rotation axis 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 this embodiment, the lifting arm 10 can serve as the base of the multi-axis robotic arm and be fixed on the ground or other mounting platform.

[0093] In a further preferred embodiment, the multi-axis robotic arm further includes a first swing arm joint 22, a second swing arm joint 32, and a third swing arm joint 42. The pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 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 also respectively provided with a first swing arm drive device, a second swing arm drive device, and a third swing arm drive device for driving the pivot 21 of the first swing arm 20, the pivot 31 of the second swing arm 30, and the pivot 41 of the third swing arm 40 to rotate.

[0094] The first end of the first swing arm 20 is connected to the first end of the lifting arm 10 via a first swing arm joint 22. The first swing arm joint 22 is disposed in the lifting arm 10 and / or the first swing arm 20 and is used to drive the first swing arm 20 to rotate relative to the lifting arm 10. The first end of the second swing arm 30 is connected to the tail 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 first 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.

[0095] The multi-axis robotic 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 disposed 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 disposed 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.

[0096] The lifting arm 10 includes a lifting arm body 11, a storage base 12, and a lifting drive device 13. The storage base 12 is box-shaped, and the second end of the lifting arm body 11 is installed inside the storage base 12. The lifting drive device 13 is also installed inside the storage base 12 and is drively connected to the second end of the lifting arm body 12. A lifting through hole is opened at the top of the storage base 12, and the first end of the lifting arm body 11 passes through the lifting through hole and is connected to the first swing arm 20. Under the drive of the lifting drive device 13, the lifting arm body 11 rises and falls relative to the lifting through hole of the storage base 12.

[0097] 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 parallel, and the rotation angle range of the first swing arm 20, the second swing arm 30, and the third swing arm 40 is greater than or equal to 360 degrees.

[0098] Please refer to Figure 18 In embodiment five, the multi-axis robotic arm further includes a translation guide rail 82 and a translation drive device 81. The lifting arm 10 is mounted on the translation guide rail 82, and the translation drive device 81 is connected to the translation guide rail 82, driving the lifting arm 10 to translate on the translation guide rail 82. In this embodiment, the lifting arm 10 is connected to the head end of the first swing arm 20. The translation drive device 81 drives the lifting arm 10 to translate on the translation guide rail 82, thereby causing the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 to translate accordingly, thus increasing the range of motion of the multi-axis robotic arm. In other embodiments, when the multi-axis robotic arm has a base 60, the multi-axis robotic arm can also be equipped with a translation guide rail 82 and a translation drive device 81. 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, driving the base 60 to translate on the translation guide rail 82.

[0099] Please refer to Figure 11 and Figure 13In a preferred embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30, the third swing arm 40, and the rotating arm 50 all have hollow housings. The pivots of the first swing arm 20, the second swing arm 30, and the third swing arm 40 are also hollow structures. The multi-axis robotic arm also includes electrical wires and / or air pipes 900. A portion of the electrical wires and / or air pipes 900 extend from the head end to the tail end of the multi-axis robotic arm, passing through the pivots 21 of the lifting arm 10, the first swing arm 20, the first swing arm 20, the second swing arm 30, the second swing arm 30, the third swing arm 40, and the third swing arm 40, and extending to the rotating arm 50. The term "a portion of the electrical wires and / or air pipes 900" refers to the fact that some electrical wires and air pipes 900 (e.g., the wires connecting the first swing arm 20) do not need to extend to the rotating arm 50. The electrical wires are used to supply power to the electrical components (e.g., the drive unit) in each arm segment, and the air pipes can be used to supply air to the load. In some embodiments, air pipes may not be provided. A connector 15 can be installed on the lifting arm 10 (e.g., the storage base 12 of the lifting arm 10) for connecting external power cables and air pipes. This wiring method makes the structure of the multi-axis robotic arm simpler and safer.

[0100] Please refer to Figure 9 and Figure 11 In a preferred embodiment, the first swing arm 20, the second swing arm 30, and the third swing arm 40 all have hollow housings, and at least one of the first swing arm 20, the second swing arm 30, and the third swing arm 40 has a detachable top cover on its housing corresponding to the position of the pivot. Figure 9 The component numbered 28 is the top cover of the first swing arm 20. By providing a removable top cover, it is convenient to inspect and replace the components in the first swing arm 20, the second swing arm 30, and the third swing arm 40.

[0101] In the above-described embodiments of the multi-axis robotic arm, at least one of the first swing arm joint 22, the second swing arm joint 32, and the third swing arm joint 42 may employ the aforementioned joint assembly, and at least one of the first rotating arm joint and the second rotating arm joint 522 may also employ the aforementioned joint assembly 70.

[0102] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0103] In the description of this specification, the references to terms such as "preferred embodiment," "another embodiment," "other embodiment," or "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0104] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A joint assembly, characterized in that: The device includes a main output shaft, a connecting shaft, a drive 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, and 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, and the output end of the reduction mechanism is connected to the main output shaft. The drive mechanism is sleeved on the outside of the connecting shaft and is used to drive the connecting shaft to rotate, which then drives the main output shaft to rotate after being reduced in speed by the reduction mechanism. The drive mechanism includes a motor rotor and a motor stator. The motor rotor is sleeved on the connecting shaft, and the motor stator is sleeved on the motor rotor.

2. The joint assembly according to claim 1, characterized in that: The joint assembly also includes a braking mechanism, which cooperates with the connecting shaft to stop the connecting shaft from rotating during braking, thereby stopping the main output shaft from rotating; the braking mechanism, the driving mechanism, and the deceleration mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

3. The joint assembly according to claim 2, characterized in that: The braking mechanism includes a brake stator and brake pads. The brake stator is sleeved on the outside of the connecting shaft and does not rotate with the connecting shaft. The brake pads are sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. When the brake pads are separated from the brake stator, the driving mechanism drives the connecting shaft to rotate. When the brake pads contact the brake stator, the rotation of the connecting shaft is stopped.

4. The joint assembly according to claim 3, characterized in that: One of the brake stator and the brake pad is equipped with an electromagnet, and the other is equipped with a magnet. The electromagnet has the same magnetic properties as the magnet when it is energized. When the electromagnet is energized, the brake pad separates from the brake stator, and the drive mechanism drives the connecting shaft to rotate. When the electromagnet is de-energized, the brake pad contacts the brake stator to stop the connecting shaft from rotating. Alternatively, one of the brake stator and the brake pad is provided with an electromagnet, and the other is provided with a magnet; when the electromagnet is energized, in the first current direction, the magnetism of the electromagnet is the same as that of the magnet, the brake pad is separated from the brake stator, and the drive mechanism drives the connecting shaft to rotate. In the second current direction, the electromagnet's magnetism is opposite to that of the magnet, and the brake pad contacts the brake stator to stop the connecting shaft from rotating; Alternatively, the brake stator and brake pads are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

5. The joint assembly according to claim 1, characterized in that: The joint assembly also includes a heat dissipation mechanism, which is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. The heat dissipation mechanism, the drive mechanism, and the reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft. The heat dissipation mechanism includes a heat dissipation mounting base and multiple fan blades. The heat dissipation mounting base is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft. An annular connecting plate is provided on the heat dissipation mounting base, and the multiple fan blades are spaced apart along the circumference of the annular connecting plate.

6. The joint assembly according to claim 1, characterized in that: The joint assembly also includes an encoder assembly, which includes an encoder PCB board and at least one encoder disk. The encoder PCB board is sleeved around the connecting shaft and does not rotate with the connecting shaft. The encoder disk is sleeved on the connecting shaft and / or the main output shaft and rotates with it. The encoder disk is electrically connected to the encoder PCB board. The encoder assembly, drive mechanism, and reduction mechanism are arranged sequentially along the axial direction of the main output shaft toward the output end of the main output shaft.

7. The joint assembly according to claim 6, characterized in that: There are two encoder disks, both of which are electrically connected to the encoder PCB board. One encoder disk is fitted onto the connecting shaft and rotates with the connecting shaft, and is used to test the rotational speed of the connecting shaft. The other encoder disk is fitted onto the main output shaft and rotates with the main output shaft, and is used to test the rotational speed of the main output shaft. The two encoder disks are located on opposite sides of the encoder PCB board.

8. The joint assembly according to claim 1, characterized in that: An end cap is provided at the end of the main output shaft away from the reduction mechanism. The end cap is sleeved on the main output shaft, and a first bearing is provided between the end cap and the main output shaft.

9. The joint assembly according to claim 1, characterized in that: Guide bearings are also provided at both ends of the motor rotor; Alternatively, a sealed bearing may be provided between the connecting shaft and the main output shaft; Alternatively, the deceleration mechanism includes a wave generator, a flexible wheel, and a rigid wheel. The wave generator is the input end of the deceleration mechanism, and it is sleeved around the main output shaft and connected to the connecting shaft. The flexible wheel is the output end of the deceleration mechanism, and it is sleeved on the wave generator. The flexible wheel and the wave generator can rotate relative to each other. The flexible wheel is also connected to the main output shaft. The rigid wheel is sleeved on the flexible wheel, and it can rotate relative to the rigid wheel.

10. A multi-axis robotic arm, characterized in that: The multi-axis robotic arm includes a lifting arm, a first swing arm, a second swing arm, a third swing arm, and a rotating arm. The lifting arm moves up and down along a first direction. The first, second, and third swing arms are stacked along the first direction. The axial rotation axes of the first, second, and third swing arms extend along the first direction. The first, second, third, and rotating arms are distributed sequentially from the head end to the tail end of the multi-axis robotic arm. The second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, and the rotating arm rotates relative to the third swing arm. The axial rotation axis of the rotating arm is not parallel to the axial rotation axes of the first, second, and third swing arms. The lifting arm is connected to one of the first swing arm and the rotating arm, or connected between two of the first, second, third, and rotating arms. The multi-axis robotic arm also includes a first swing arm joint, a second swing arm joint, and a third swing arm joint, with the pivots of the first swing arm, the second swing arm, and the third swing arm located in the first swing arm joint, the second swing arm joint, and the third swing arm joint, respectively. The first swing arm is connected to the lifting arm via a first swing arm joint, the second swing arm is connected to the first swing arm via a second swing arm joint, the third swing arm is connected to the second swing arm via a third swing arm joint, and the rotating arm is directly connected to the third swing arm. At least one of the first swing arm joint, the second swing arm joint, and the third swing arm joint employs a joint assembly as described in any one of claims 1-9.

11. The multi-axis robotic arm according to claim 10, characterized in that: The first end of the lifting arm is connected to the first end of the first swing arm, the first end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the first end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, and the rotating arm is connected to the tail end of the third swing arm.

12. The multi-axis robotic arm according to claim 10, characterized in that: The lifting arm includes a lifting arm body, a storage base, and a lifting drive device. The second end of the lifting arm body is installed in the storage base, and the lifting drive device is also installed in the storage base. The lifting drive device is connected to the second end of the lifting arm body. The top of the storage base has a lifting through hole. The first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm. Under the drive of the lifting drive device, the lifting arm body moves up and down relative to the lifting through hole of the storage base.

13. The multi-axis robotic arm according to claim 12, characterized in that: The lifting arm body has a hollow structure, and a through hole is provided at the bottom of the second end of the lifting arm body. The lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is connected between the lifting drive motor and the lifting arm body. The lifting drive motor is located directly below the second end of the lifting arm body. When the first end of the lifting arm body retracts into the storage seat, the lifting drive motor is inserted into the through hole at the bottom of the second end of the lifting arm body. Alternatively, the lifting drive device includes a lifting drive motor and a lifting transmission assembly. The lifting transmission assembly is driveably connected between the lifting drive motor and the lifting arm body. A lifting slider is fixed at the bottom of the lifting arm body. A lifting slide rail extending along a first direction is provided in the storage seat. The lifting transmission assembly includes a drive wheel, a driven wheel, a synchronous belt, and a lead screw. The lifting slider is threadedly engaged with the lead screw and slidably engaged with the lifting slide rail. The drive wheel is connected to the output shaft of the lifting drive motor. The lead screw is connected to the driven wheel. The drive wheel and the driven wheel are driven by the synchronous belt. The lifting drive motor drives the lead screw to rotate through the drive wheel, driven wheel, and synchronous belt, further causing the lifting slider to move up and down relative to the lead screw.

14. The multi-axis robotic arm according to any one of claims 10-13, characterized in that: The rotating arm includes a first rotating arm and a second rotating arm. The first rotating arm is drivably rotatable relative to the third swing arm about its own axis of rotation, and the axis of rotation of the first rotating arm is not parallel to the axis of rotation 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 is provided with a rotating part. The rotating part is drivably rotatable relative to the first rotating arm about its own axis of rotation, and the axis of rotation of the rotating part is not parallel to the axis of rotation of the first rotating arm.

15. The multi-axis robotic arm according to claim 14, characterized in that: The multi-axis robotic arm further includes a first rotating arm joint and a second rotating arm joint. The rotation axes of the first rotating arm and the second rotating arm are respectively located in the first rotating arm joint and the second rotating arm joint. The first rotating arm is connected to the third swing arm through the first rotating arm joint. The first rotating arm joint is disposed in the third swing arm and / or the first rotating arm and is used to drive the first rotating arm to rotate relative to the third swing arm. The second rotating arm joint is disposed in the first rotating arm and / or the second rotating arm and is connected to the rotating part of the second rotating arm and is used to drive the rotating part to rotate relative to the first rotating arm. At least one of the first rotating arm joint and the second rotating arm joint adopts a joint assembly as described in any one of claims 1-9.

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