A high-rigidity arm joint, a robot arm and an intelligent robot

Abstract

The application discloses a high-rigidity arm joint, a robot arm and an intelligent robot. The high-rigidity arm joint comprises a first rotating body drive, a second rotating body drive, a first joint arm and a second joint arm. The first joint arm comprises two first connecting plates and a first connecting piece connected between one end of the two first connecting plates. The second joint arm comprises two second connecting plates and a second connecting piece connected between one end of the two second connecting plates. The first rotating body drive is arranged between the other end of the two first connecting plates. The other end of the two second connecting plates is respectively stacked on the other end of the two first connecting plates. The other end of one of the second connecting plates is detachably connected with a rotating part of the first rotating body drive. The other end of the other second connecting plate is rotatably connected with the other end of the other first connecting plate through a rotating assembly. The second rotating body drive is arranged on the inner side of the second connecting piece. The high-rigidity arm joint has high rigidity, simple design, is suitable for heavy-load robots and is fast to disassemble and assemble.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a high-rigidity arm joint, a robotic arm, and an intelligent robot. Background Technology

[0002] Currently, most humanoid robots in the industry are designed for light-duty applications. The joints of these light-duty robot arms use simple single-support rotational connections, which lack sufficient rigidity and are unsuitable for heavy-duty robots. Furthermore, there are few arm designs in the industry that meet heavy-duty requirements. Existing heavy-duty robot arms, when using a dual-support design, have overly complex support designs at the fixed end, making assembly and disassembly difficult.

[0003] Based on this, there is still room for improvement in balancing high rigidity and ease of assembly and disassembly of current heavy-duty robotic arms. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a high-rigidity arm joint, a robotic arm, and an intelligent robot, which improves upon the fact that the existing heavy-duty robotic arm dual-support design is relatively complex and cannot simultaneously achieve high rigidity and ease of assembly and disassembly.

[0005] The present invention solves the above-mentioned technical problems mainly through the following technical solutions: A high-rigidity arm joint is provided, comprising a first rotation drive, a second rotation drive, a first articulated arm, and a second articulated arm. The first articulated arm includes two first connecting plates and a first connector connected between one end of the two first connecting plates. The second articulated arm includes two second connecting plates and a second connector connected between one end of the two second connecting plates. The first rotation drive is disposed between the other ends of the two first connecting plates. The other ends of the two second connecting plates are respectively stacked on the other ends of the two first connecting plates. The other end of one of the second connecting plates is detachably connected to the rotating part of the first rotation drive. The other end of the other second connecting plate is rotatably connected to the other end of the other first connecting plate through a rotating assembly. The second rotation drive is mounted on the inner side of the second connector.

[0006] Furthermore, the first connecting member is a plate-shaped component, with one end of each of the two first connecting plates respectively disposed on the two side ends of the first connecting member, and one end of each of the two first connecting plates respectively connected to the two side ends of the first connecting member by bolts.

[0007] Furthermore, each of the two sides of the first connector is provided with a side plate extending toward one side and parallel to each other, and one end of each of the two first connector plates is connected to the side plates on both sides by bolts.

[0008] Furthermore, the second connector includes two arc-shaped clips, which are respectively fixed to the inner side of one end of the two second connecting plates. Together they form a ring. The two clips are engaged with one end of the second rotating drive and are detachably connected to one end of the second rotating drive by a bolt passing through it. The rotating part of the second rotating drive passes between the two second connecting plates.

[0009] Furthermore, one end of the first rotating drive is detachably connected to the other end of one of the first connecting plates by bolts.

[0010] Furthermore, one end of the first rotating drive is detachably connected to the other end of one of the first connecting plates, the rotating part of the first rotating drive passes through the other end of one of the first connecting plates, and the other end of the other first connecting plate is provided with a limiting ring sleeve adapted to the first rotating drive, and the other end of the first rotating drive is embedded in the limiting ring sleeve.

[0011] Furthermore, the rotating part of the first rotating body drive is disc-shaped, and the rotating part is detachably connected to one end of one of the second connecting plates by bolts.

[0012] Furthermore, the rotating assembly includes a positioning post, a rotating shaft, and a bearing. The rotating shaft is coaxially fixed to one end of the positioning post. A through hole is provided at the other end of another second connecting plate, through which the positioning post passes. A fixing plate is provided at the other end of the positioning post, and the fixing plate is connected to the other end of another second connecting plate by bolts. A bearing hole is provided at the other end of another first connecting plate, and the bearing is installed in the bearing hole. The rotating shaft extends into the inner ring of the bearing and is assembled with the inner ring of the bearing.

[0013] The beneficial effects of this high-rigidity arm joint are as follows: This high-rigidity arm has high joint stiffness, a simple structural design, is suitable for heavy-duty robots, and is quick to assemble and disassemble.

[0014] A robotic arm is also provided, including a shoulder joint rotation drive, an upper arm, and a lower arm. The upper arm includes a high-rigidity arm joint and an upper arm extension support. A first connector of the high-rigidity arm joint is connected to the rotating portion of the shoulder joint rotation drive, and a second rotating portion of the high-rigidity arm joint is connected to one end of the upper arm extension support. The lower arm includes multiple high-rigidity arm joints linearly distributed. In two adjacent high-rigidity arm joints, the rotating portion of the second rotating drive of one high-rigidity arm joint is connected to the first connector of the other high-rigidity arm joint. The first connector located at one end of the lower arm is connected to the other end of the upper arm extension support, and a functional end is connected to the other end of the lower arm.

[0015] The beneficial effects of the robotic arm of this invention are as follows: The robot arm has high rigidity, quick assembly and disassembly between joints, and flexible movements.

[0016] It also provides an intelligent robot, including a robotic arm. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the high-rigidity arm joint provided in this embodiment of the utility model; Figure 2 This is a structural schematic diagram of the high-rigidity arm joint provided in another embodiment of the present invention; Figure 3 This is an exploded view of the structure in the high-rigidity arm joint provided in this embodiment of the utility model; Figure 4 This is a structural cross-sectional view of the connection between two joint arms in a high-rigidity arm joint provided in this embodiment of the utility model; Figure 5 This is a schematic diagram of the structure of the robot arm provided in an embodiment of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0024] Please see Figures 1 to 4 This application provides a high-rigidity arm joint. The two articulated arms of this high-rigidity arm joint are connected by a double-sided support and rotation, which effectively improves the rigidity of the entire arm while retaining the flexibility of the articulated arms. Furthermore, the double supports between the articulated arms are detachable, allowing for quick assembly and disassembly, and the structural design is relatively simple.

[0025] Specifically, the high-rigidity arm joint includes a first rotation drive 1, a second rotation drive 2, a first joint arm 3, and a second joint arm 4.

[0026] The first articulated arm 3 includes two parallel first connecting plates 31 and a first connector 32 connected between one end of the two first connecting plates 31. The first articulated arm 3 forms a U-shaped frame structure. The first rotating drive 1 is disposed between the other ends of the two first connecting plates 31 of the first articulated arm 3. One end of the main body of the first rotating drive 1 is detachably connected to the other end of one of the first connecting plates 31. The other end of the main body of the first rotating drive 1 is not fixed to the other end of the other first connecting plate 31, but the entire main body of the first rotating drive 1 is "clamped" between the other ends of the two first connecting plates 31. The rotating part of the first rotating drive 1 passes through the hole adapted to the other end of one of the first connecting plates 31 and protrudes outside the first connecting plate 31. The rotation center line of the first rotating drive 1 is perpendicular to the two first connecting plates 31.

[0027] The second articulated arm 4 includes two parallel second connecting plates 41 and a second connector 42 connecting one end of the two second connecting plates 41. The second articulated arm 4 is integrally formed into a U-shaped frame structure. The other ends of the two second connecting plates 41 are respectively on the outer side of the other ends of the two first connecting plates 31. The first connecting plates 31 and the second connecting plates 41 are parallel to each other. The other end of one of the second connecting plates 41 is detachably connected to the rotating part of the first rotating drive 1, forming one of the connection support points of the aforementioned "double support". The other end of the other second connecting plate 41 is rotatably connected to the other end of the other first connecting plate 31 through a rotating component 5 detachably connected to it, forming the other connection support point of the aforementioned "double support". Furthermore, the rotation center line of the rotating component 5 is on the same straight line as the center line of the rotating part of the first rotating drive 1. That is to say, the rotation center lines of the other ends of the two second connecting plates 41 are consistent, which allows the two articulated arms to rotate flexibly and smoothly relative to each other.

[0028] The second rotating drive 2 is mounted on the second connector 42 at one end of the two second connecting plates 41, and its main body is located between one end of the two second connecting plates 41, which is equivalent to being located inside the second joint arm 4, wherein the rotation center line of the first rotating drive 1 is perpendicular to the rotation center line of the second rotating drive 2.

[0029] During disassembly, it is only necessary to remove the rotating component 5 and then disconnect the rotating part of the first rotating drive 1 from the first connecting plate 31, which allows the first joint arm 3 and the second joint arm 4 to separate quickly.

[0030] In this embodiment, the first rotation drive 1 in the first joint arm 3 can drive the second joint arm 4 to swing relative to the first joint arm 3, and the second rotation drive 2 in the second joint arm 4 can drive other components connected to it to rotate through the rotating part.

[0031] In some embodiments, the first connector 32 is a plate-shaped component, with one end of each of the two first connecting plates 31 disposed on the two side ends of the first connector 32. One end of each of the two first connecting plates 31 is connected to the two side ends of the first connector 32 by bolts, thereby realizing quick assembly and disassembly of the two first connecting plates 31 and the first connector 32.

[0032] More specifically, the two sides of the first connecting member 32 are respectively provided with side plates extending towards one side and parallel to each other (the length or width of the side plates can be flexibly set according to actual needs). One end of the two first connecting plates 31 is respectively attached to the outer side of the two side plates and is connected to each other by bolts passing through the first connecting plates 31 and the side plates. This makes the first articulated arm 3 form a U-shaped high-rigidity sheet metal part.

[0033] In some embodiments, when two high-rigidity arm joints are combined with each other, the rotating portion of the second rotation drive 2 of one high-rigidity arm joint is connected to the center of the first connector 32 of the other high-rigidity arm joint.

[0034] In some embodiments, the second connector 42 is designed as a modular component. This way, after disassembling the rotating assembly 5, the second connector 42 connecting one of the second connecting plates 41 connected to the rotating assembly 5 to its other end can be removed without being restricted by the other second connecting plate 41 in the direction spanning the two second connecting plates 41, making disassembly more convenient. Specifically, during the disassembly of the rotating assembly 5, the second connecting plate 41 connected to the rotating assembly 5 must move along the rotation center line of the rotating assembly 5. At this time, the remaining second connecting plate 41 connected to the rotating part of the first rotating drive 1 cannot move in this direction, resulting in disassembly obstruction. This would require separating the rotating part of the first rotating drive 1 from the second connecting plate 41, which would necessitate the complete disassembly of the second joint arm 4. This process is inherently constrained. Therefore, designing the second connector 42 as a modular component means that the individual second connecting plates 41 are not connected as a whole, allowing for individual disassembly.

[0035] Specifically, the second connecting member 42 includes two arc-shaped clips, each fixed to the inner side of one end of one of the two second connecting plates 41. Together, they form a ring, which engages with one end of the second rotating drive 2 and is detachably connected to that end via a bolt passing through it. When disassembling the second connecting plate 41 connected to the rotating assembly 5, first remove the clips at one end from the bolt connection to one end of the second rotating drive 2, and then remove the rotating assembly 5. The second connecting plate 41 on that side can then be removed independently without affecting the assembly of the second connecting plate 41 on the other side with the rotating parts of the second rotating drive 2 and the first rotating drive 1.

[0036] In some embodiments, multiple spaced-apart, protruding arc-shaped limiting flanges (represented by 'a' in the figure) can be provided on the outer edge of the locking piece near the second rotating drive 2. This allows one end of the second rotating drive 2 to fit into a circular area enclosed by the multiple limiting flanges. The second rotating drive 2 is positioned and installed during assembly and will not shift. The two locking pieces together form a "complete ring," which is fitted around one end of the second rotating drive 2. Each locking piece has multiple axially penetrating bolt holes spaced along the circumferential direction, through which bolts are inserted to assemble with the bolt holes at one end of the second rotating drive 2.

[0037] In this embodiment, both the first rotary drive 1 and the second rotary drive 2 use compatible motors, and their main bodies are cylindrical. The rotating parts of both include a main shaft extending to one end and a disc coaxially fixed at the end of the main shaft. The connection structure between the second connecting plate 41 and the rotating part of the first rotary drive 1 is as follows: multiple screw holes are provided circumferentially on the rotating part, and the other end of the second connecting plate 41 also has through holes adapted to multiple bolts. The bolts pass through the through holes at the other end of the second connecting plate 41 and then extend into or pass through the screw holes of the rotating part of the first rotary drive 1 to achieve connection and assembly.

[0038] In some embodiments, a limiting ring 31 adapted to the end of the first rotating drive 1 is provided on the other side of the first connecting plate 31 connected to the non-rotating part of the main body of the first rotating drive 1. The end of the first rotating drive 1 is embedded in the limiting ring 311. This ensures that the end of the first rotating drive 1 away from its rotating part does not undergo displacement relative to the other end of the first connecting plate 31, and the first rotating drive 1 is very securely assembled in the two first connecting plates 31. It is restricted in both the axial and radial directions, which increases the rigidity of the assembly to a certain extent.

[0039] In some embodiments, see Figure 3 and Figure 4 The rotating assembly 5 includes a positioning post 51, a rotating shaft 52, and a bearing 53. A through hole is provided at the other end of the second connecting plate 41 connected to the rotating assembly 5 for the positioning post 51 to pass through. The positioning post 51 protrudes from the side of the second connecting plate 41 opposite to the first connecting plate 31, and a fixing plate 511 is fixed to the protruding end. The fixing plate 511 is connected to the other end of the second connecting plate 41 by multiple bolts passing through it. A rotating shaft 52 is coaxially provided at the end of the positioning post 51 near the first connecting plate 31. A bearing hole is provided at the corresponding end of the first connecting plate 31, and a bearing 53 is installed in the bearing hole. The rotating shaft 52 extends into the bearing 53 and is assembled with the inner ring of the bearing 53. This allows the second connecting plate 41 to rotate relative to the outer ring of the bearing 53, i.e., to rotate flexibly relative to the first connecting plate 31, through the positioning post 51 and the rotating shaft 52.

[0040] Of course, in some other embodiments, a bearing hole can also be opened at the other end of the second connecting plate 41, and a bearing can be installed therein. The positioning pin 51 extends into the bearing on the second connecting plate 41 and is assembled with the inner ring of the bearing.

[0041] In this embodiment, when disassembling the rotating assembly 5, first remove the bolts connecting the fixed plate 511 and the second connecting plate 41, then disconnect the assembly between the rotating shaft 52 and the bearing 53. At the same time, the bolts connecting the second connecting piece 42 that contacts the second connecting plate 41 and the end of the second rotating drive 2 are connected, and the second connecting plate 41 can be removed.

[0042] In some embodiments, an annular bearing cover e is installed on the outer side of the first connecting plate 31 corresponding to the bearing 53. The bearing cover e is installed on the outer side of the first connecting plate 31 and assembled with the first connecting plate 31 by bolts to ensure that the bearing 53 will not loosen after assembly.

[0043] See Figure 5 In this embodiment, a high-rigidity arm joint is applied to a robot arm. Specifically, the robot arm mainly includes a shoulder joint rotation drive 6, an upper arm, and a lower arm.

[0044] The upper arm includes a high-rigidity arm joint (defined as the first high-rigidity arm joint, referred to as A in the figure) and an upper arm extension support 7. A shoulder joint rotation drive 6 is mounted on a fixed shoulder joint carrier (referred to as L in the figure). The rotating portion of the shoulder joint rotation drive 6 passes through the shoulder joint carrier and is located on one side of the carrier. The first connector 32 of the first high-rigidity arm joint is close to one side of the shoulder joint carrier and is bolted to the rotating portion of the shoulder joint rotation drive 6. The rotating portion of the second rotation drive 2 of the first high-rigidity arm joint is connected to one end of the upper arm extension support 7. The shoulder joint rotation drive 6 can drive the upper arm and lower arm to rotate synchronously, simulating shoulder joint movement and the forward and backward, up and down swinging of the upper and lower arms. The first rotation drive 1 of the first high-rigidity arm joint drives the upper arm to swing up and down, simulating the raising and lowering of the upper arm. Simultaneously, the second rotation drive 2 of the first high-rigidity arm joint drives the upper arm extension support 7 to rotate, simulating the rotation of the upper arm around its "bone line".

[0045] The lower arm includes multiple high-rigidity arm joints (defined as second high-rigidity arm joints, referred to as B in the figure). These second high-rigidity arm joints are linearly distributed. When both the upper and lower arms are hanging down, the first high-rigidity arm joint, the upper arm extension support 7, and the multiple second high-rigidity arm joints are distributed on the same vertical line. In two adjacent second high-rigidity arm joints, the rotating part of the second rotation drive 2 of one second high-rigidity arm joint is connected to the first connector 32 of the other second high-rigidity arm joint. The first connector 32 located at one end of the lower arm (that is, the upper end when the robot arm is hanging down) is connected to the other end of the upper arm extension support 7. In this lower arm, the multiple second high-rigidity arm joints can achieve rotation of the lower arm around the bone line through the coordinated operation of the first rotation drive 1 and the second rotation drive 2, and the rotation drive at the end can simulate the wrist flipping action.

[0046] In this embodiment, the shoulder joint rotation drive uses a motor or other components of a suitable model.

[0047] In this embodiment, in each high-rigidity arm joint, a mechanical limiting block is fixed at the outer adapting position of the other end of one of the first connecting plates 31 connected to the rotating part of the first rotating drive 1. The other end of each first connecting plate 31 and the other end of each second connecting plate 41 are designed to be circular. When the second connecting plate 41 on the same side as the mechanical limiting block is rotated by the first rotating drive 1, it will approach the mechanical limiting block and be blocked by the mechanical limiting block. The blocking position of the mechanical limiting block is set according to actual needs. For example, when the connection between the upper arm and the lower arm rotates, it prevents the upper arm from moving inward in reverse joint movement, and the height of the upper arm raised is limited to a certain angle above it, that is, the angle formed between the upper arm and the horizontal plane. Specifically, refer to Figure 1 and Figure 5 The mechanical limit block (d in the figure) is positioned to prevent the second connecting plate 41 from swinging to its maximum position in the figure.

[0048] A functional end is configured at the end of the entire robot arm away from the shoulder joint rotation drive 6. This functional end can carry various compatible tools or electrical components to realize the robot arm's interaction with the outside world.

[0049] The entire robotic arm is mostly used in intelligent robots to enable flexible movements of the intelligent robotic arm, and it can meet the requirement of high rigidity to achieve heavy-load activities or movements.

[0050] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0051] The above provides a detailed description of a high-rigidity arm joint, robotic arm, and intelligent robot provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A high-rigidity arm joint, characterized in that: The device includes a first rotating drive (1), a second rotating drive (2), a first articulated arm (3), and a second articulated arm (4). The first articulated arm (3) includes two first connecting plates (31) and a first connector (32) connected between one end of the two first connecting plates (31). The second articulated arm (4) includes two second connecting plates (41) and a second connector (42) connected between one end of the two second connecting plates (41). The first rotating drive (1) is disposed between the other ends of the two first connecting plates (31). The other ends of the two second connecting plates (41) are respectively stacked on the other ends of the two first connecting plates (31). The other end of one of the second connecting plates (41) is detachably connected to the rotating part of the first rotating drive (1). The other end of the other second connecting plate (41) is rotatably connected to the other end of the other first connecting plate (31) through a rotating assembly (5). The second rotating drive (2) is mounted on the inner side of the second connector (42).

2. The high-rigidity arm joint according to claim 1, characterized in that: The first connector (32) is a plate-shaped component. One end of each of the two first connecting plates (31) is respectively disposed on the two sides of the first connector (32). One end of each of the two first connecting plates (31) is connected to the two sides of the first connector (32) by bolts.

3. A high-rigidity arm joint according to claim 2, characterized in that: The first connector (32) has side plates extending towards one side and parallel to each other on both sides. One end of the two first connector plates (31) is connected to the side plates on both sides by bolts.

4. A high-rigidity arm joint according to claim 2, characterized in that: The second connector (42) includes two arc-shaped clips, which are respectively fixed to the inner side of one end of the two second connecting plates (41). The two clips together form a ring. The two clips are engaged with one end of the second rotating drive (2) and are detachably connected to one end of the second rotating drive (2) by a bolt passing through it. The rotating part of the second rotating drive (2) passes between the two second connecting plates (41).

5. A high-rigidity arm joint according to claim 1, characterized in that: One end of the first rotating drive (1) is detachably connected to the other end of one of the first connecting plates (31) by bolts.

6. A high-rigidity arm joint according to claim 1, characterized in that: One end of the first rotating drive (1) is detachably connected to the other end of one of the first connecting plates (31). The rotating part of the first rotating drive (1) passes through the other end of one of the first connecting plates (31). The other end of the other first connecting plate (31) is provided with a limiting ring (311) adapted to the first rotating drive (1). The other end of the first rotating drive (1) is embedded in the limiting ring (311).

7. A high-rigidity arm joint according to any one of claims 1 to 6, characterized in that: The rotating part of the first rotating drive (1) is disc-shaped, and the rotating part is detachably connected to one end of one of the second connecting plates (41) by bolts.

8. A high-rigidity arm joint according to any one of claims 1 to 6, characterized in that: The rotating assembly (5) includes a positioning post (51), a rotating shaft (52), and a bearing (53). The rotating shaft (52) is coaxially fixed to one end of the positioning post (51). The other end of the second connecting plate (41) has a through hole through which the positioning post (51) passes. The other end of the positioning post (51) is provided with a fixing plate (511). The fixing plate (511) is connected to the other end of the second connecting plate (41) by bolts. The other end of the first connecting plate (31) has a bearing hole. The bearing (53) is installed in the bearing hole. The rotating shaft (52) extends into the inner ring of the bearing (53) and is assembled with the inner ring of the bearing (53).

9. A robotic arm, characterized in that: The device includes a shoulder joint rotation drive (6), an upper arm, and a lower arm. The upper arm includes a high-rigidity arm joint as described in any one of claims 1 to 8 and an upper arm extension support (7). A first connector (32) of the high-rigidity arm joint is connected to the rotating portion of the shoulder joint rotation drive (6), and a rotating portion of the second rotation drive (2) of the high-rigidity arm joint is connected to one end of the upper arm extension support (7). The lower arm includes a plurality of high-rigidity arm joints as described in any one of claims 1 to 8. The plurality of high-rigidity arm joints are linearly distributed. In two adjacent high-rigidity arm joints, the rotating portion of the second rotation drive (2) of one high-rigidity arm joint is connected to the first connector (32) of the other high-rigidity arm joint. The first connector (32) located at one end of the lower arm is connected to the other end of the upper arm extension support (7). The other end of the lower arm is connected to a functional end.

10. An intelligent robot, characterized in that: Including the robotic arm as described in claim 9.

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