Multi-axis robotic arm

Abstract

Provided in the present invention is 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 raises and lowers in a first direction; the first swing arm, the second swing arm, and the third swing arm are stacked in the first direction; rotating shafts of the first swing arm, the second swing arm, and the third swing arm axially extend in the first direction; 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; a rotating shaft of the rotating arm is not axially parallel to the rotating shafts of the first swing arm, the second swing arm, and the third swing arm; and the lifting arm is connected to one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm, and the rotating arm. The provision of the first swing arm, the second swing arm and the third swing arm enables the rotating arm to move to the desired position more freely, without operation blind spots. Moreover, the structure of the robotic arm is more flexible, allowing the robotic arm to operate in narrow spaces.

Description

A multi-axis robot arm TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a multi-axis robot arm. BACKGROUND

[0002] Robots have now been widely used in industrial fields, such as carrying, assembling, detecting and other processes. SCARA robot is one of the commonly used robots. The standard of SCARA (Selective Compliance Assembly Robot Arm) robot is horizontal rotation and rotation, and at most four rotation axes, the rotation angle of each axis is limited, and the degree of freedom is not flexible enough, which is only suitable for simple object carrying and assembling and other operation requirements, and cannot meet the application of more complex scenes.

[0003] Please refer to FIG. 1, Chinese patent application CN107854779A discloses a SCARA structure robot treatment bed for radiotherapy, which comprises a lifting device 1, a first horizontal rotating arm 2 connected with the lifting device 1, a second horizontal rotating arm 3 connected with the first horizontal rotating arm 2, a combined rotating joint 4 connected with the second horizontal rotating arm 3, and a bed plate 5 connected with the combined rotating joint 4. However, due to only two horizontal rotating arms, the robot structure is prone to form a blind area between the two horizontal rotating arms when performing some complex operations, so that the application scene of the robot structure is limited.

[0004] SUMMARY

[0005] Therefore, the purpose of the present application is to provide a more flexible multi-axis robot arm.

[0006] The technical scheme used by the present application is:

[0007] A multi-axis robot arm, comprising a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm, the lifting arm is lifted along a first direction, the first swing arm, the second swing arm and the third swing arm are arranged in layers along the first direction, the rotation shafts of the first swing arm, the second swing arm and the third swing arm extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are distributed in sequence from the head end to the tail end of the multi-axis robot arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotation shaft of the rotating arm is not parallel to the rotation shafts of the first swing arm, the second swing arm and the third swing arm, the lifting arm is connected with one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm.

[0008] In the preferred embodiment, the lifting arm is connected to the head end of the first swing arm, or connected between the first swing arm and the second swing arm, or connected between the second swing arm and the third swing arm, or connected between the tail end of the third swing arm and the rotating arm, or connected to the tail end of the rotating arm, and the lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm are independently driven.

[0009] In the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation of the rotation shafts of the first swing arm, the second swing arm and the third swing arm; the first swing arm is connected to the lifting arm through the first swing arm joint, and the first swing arm is driven to rotate relative to the lifting arm; 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.

[0010] In the preferred embodiment, the first end of the lifting arm is connected to the head end of the first swing arm, the head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the head 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.

[0011] In the preferred embodiment, the lifting arm comprises a lifting arm body, a receiving seat and a lifting driving device, the receiving seat is in the shape of a box, the second end of the lifting arm body is installed in the receiving seat, the lifting driving device is also installed in the receiving seat, the lifting driving device is connected to the second end of the lifting arm body, the top of the receiving seat is provided with 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, and the lifting arm body is lifted relative to the lifting through hole of the receiving seat under the driving of the lifting driving device.

[0012] In the preferred embodiment, the lifting arm body is in a hollow structure, the second end of the lifting arm body is provided with a through hole at the bottom, the lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly is transmissionally connected between the lifting driving motor and the lifting arm body, the lifting driving motor is located directly below the second end of the lifting arm body, and when the first end of the lifting arm body is retracted into the receiving seat, the lifting driving motor is inserted into the through hole at the bottom of the second end of the lifting arm body.

[0013] In the preferred embodiment, the lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly is drivingly connected between the lifting driving motor and the lifting arm body, the bottom of the lifting arm body is fixed with a lifting sliding block, the receiving seat is provided with a lifting sliding rail extending along the first direction, the lifting transmission assembly comprises a driving wheel, a driven wheel, a synchronous belt and a lead screw, the lifting sliding block is threadedly connected with the lead screw and slidingly connected with the lifting sliding rail, the driving wheel is connected with the output shaft of the lifting driving motor, the lead screw is connected with the driven wheel, the driving wheel and the driven wheel are drivingly connected through the synchronous belt, the lifting driving motor drives the lead screw to rotate through the driving wheel, the driven wheel and the synchronous belt, and further drives the lifting sliding block to move up and down relative to the lead screw.

[0014] In the preferred embodiment, the lifting sliding block comprises a vertical plate extending along the first direction and a horizontal plate connected perpendicularly to the vertical plate, the lifting sliding rail is arranged on the side wall of the receiving seat, the vertical plate is slidingly connected with the lifting sliding rail, the lead screw is threadedly connected with the vertical plate, the second end of the lifting arm body is fixed on the horizontal plate, the lifting driving motor is located directly below the horizontal plate and is half-enclosed by the vertical plate and the horizontal plate, the horizontal plate is provided with an avoiding through hole, when the first end of the lifting arm body is retracted into the receiving seat, the lifting driving motor is inserted into the avoiding through hole, the avoiding through hole is provided with an annular sealing element, the lifting arm body passes through the annular sealing element and is sealingly connected with the annular sealing element.

[0015] In the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are located in the first swing arm joint, the second swing arm joint and the third swing arm joint respectively, the first swing arm joint, the second swing arm joint and the third swing arm joint are further provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device respectively for driving the rotation shafts of the first swing arm, the second swing arm and the third swing arm to rotate; the multi-axis robot arm comprises a base, the first swing arm is rotatably connected to the base through the first swing arm joint, and the first swing arm joint is arranged in the base and / or the first swing arm;

[0016] The lifting arm is connected between the tail end of the first swing arm and the head end of the second swing arm, the second swing arm is connected to the lifting arm through the second swing arm joint, the second swing arm joint is arranged in the lifting arm and / or the second swing arm, and the second swing arm joint is used for driving the second swing arm to rotate relative to the lifting arm, the head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and the third swing arm joint is used for driving the third swing arm to rotate relative to the second swing arm, and the rotating arm is directly connected to the tail end of the third swing arm; or

[0017] The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and the second swing arm joint is used for driving the second swing arm to rotate relative to the first swing arm, the lifting arm is connected between the tail end of the second swing arm and the head end of the third swing arm, the head end of the third swing arm is connected to the lifting arm through the third swing arm joint, the third swing arm joint is arranged in the lifting arm and / or the third swing arm, and the third swing arm joint is used for driving the third swing arm to rotate relative to the lifting arm, and the rotating arm is directly connected to the tail end of the third swing arm; or

[0018] The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and the second swing arm joint is used for driving the second swing arm to rotate relative to the first swing arm, the head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and the third swing arm joint is used for driving the third swing arm to rotate relative to the second swing arm, and the lifting arm is connected between the tail end of the third swing arm and the rotating arm.

[0019] In the preferred embodiment, the multi-axis robot arm comprises a base, the lifting arm is connected between the base and the first swing arm, the head end of the first swing arm is fixedly connected to the lifting arm, and the lifting arm can drive the first swing arm to rotate relative to the base;

[0020] The multi-axis robot arm further comprises a second swing arm joint and a third swing arm joint, rotation shafts of the second swing arm and the third swing arm are arranged in the second swing arm joint and the third swing arm joint respectively, and the second swing arm joint and the third swing arm joint are respectively provided with second swing arm driving devices and third swing arm driving devices for driving the rotation shafts of the second swing arm and the third swing arm to rotate;

[0021] The first end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm; the first end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm; and the rotating arm is directly connected to the tail end of the third swing arm.

[0022] In the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged in the first swing arm joint, the second swing arm joint and the third swing arm joint respectively, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation shafts of the first swing arm, the second swing arm and the third swing arm to rotate.

[0023] The multi-axis robot arm further comprises a base, the first swing arm is rotatably connected to the base through a first swing arm joint, the first swing arm joint is arranged in the base and / or the first swing arm, the first end of the second swing arm is connected to the tail end of the first swing arm through a second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm, the first end of the third swing arm is connected to the tail end of the second swing arm through a third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm, the rotating arm is directly connected to the tail end of the third swing arm, the lifting arm is connected to the rotating arm, and the lifting arm is provided with a lifting driving device.

[0024] In the preferred embodiment, the lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly comprises a driving wheel, a driven wheel, a synchronous belt, a lead screw, a lead screw nut and a ball guide bearing, the driving wheel is connected to the output shaft of the lifting driving motor, the lead screw nut is connected to the driven wheel, the driving wheel and the driven wheel are drivingly connected through the synchronous belt, the lead screw is threadedly matched with the lead screw nut, and the ball guide bearing is sleeved on the lead screw, the lifting driving motor drives the lead screw nut to rotate through the driving wheel, the driven wheel and the synchronous belt, and further drives the lead screw to move up and down relative to the lead screw nut and the ball guide bearing.

[0025] In the preferred embodiment, the rotating arm is provided with a grabbing device, a detection device, a fixing clamp or a connecting device.

[0026] In the preferred embodiment, the rotating arm comprises a first rotating arm and a second rotating arm, the first rotating arm is driven to rotate around its own rotating shaft relative to the third swing arm, and the rotating shaft of the first rotating arm is not parallel to the rotating shafts 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 the second rotating arm is provided with a rotating part, which is driven to rotate around its own rotating shaft relative to the first rotating arm, and the rotating shaft of the rotating part is not parallel to the rotating shaft of the first rotating arm.

[0027] In the preferred embodiment, the multi-axis robot arm further comprises a first rotating arm joint and a second rotating arm joint, the rotating shafts of the first rotating arm and the second rotating arm are located in the first rotating arm joint and the second rotating arm joint respectively, and the first rotating arm joint and the second rotating arm joint are further provided with a first rotating driving device and a second rotating driving device respectively for driving the rotating shaft of the first rotating arm and the rotating part of the second rotating arm to rotate, the first rotating arm is connected to the third swing arm through the first rotating arm joint, and the first rotating arm joint is arranged in the third swing arm and / or the first rotating arm for driving the first rotating arm to rotate relative to the third swing arm; the second rotating arm joint is arranged in the first rotating arm and / or the second rotating arm and connected to the rotating part of the second rotating arm for driving the rotating part to rotate relative to the first rotating arm.

[0028] In the preferred embodiment, the third swing arm comprises a main body part, a connecting part and a mounting part, the third swing arm joint part is located in the main body part, the connecting part connects the main body part and the mounting part, the mounting part is in a columnar shape, the axis of the columnar shape is perpendicular to the rotating shaft axis of the third swing arm, the main body of the first rotating arm is in a columnar shape, the main body of the first rotating arm is coaxially connected to the mounting part, and the first rotating arm joint is at least partially mounted in the mounting part; or

[0029] The third swing arm comprises a main body part and a mounting part, the third swing arm joint part is located in the main body part, the mounting part is in a columnar shape, the axis of the columnar shape is perpendicular to the rotating shaft axis of the third swing arm, the main body of the first rotating arm is in a columnar shape, the main body of the first rotating arm is coaxially connected to the mounting part, and the first rotating arm joint is at least partially mounted in the mounting part.

[0030] In the preferred embodiment, when the central axes of the rotating shafts of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotating shaft of the first rotating arm is perpendicular to the plane in which the central axes of the rotating shafts of the first swing arm, the second swing arm and the third swing arm are arranged; or

[0031] When the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotation shaft of the first rotation arm is parallel to the plane in which the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged or is located in the plane in which the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged.

[0032] In a preferred embodiment, the central axis of the rotation shaft of the first rotation arm is perpendicular to the central axis of the rotation shaft of the third swing arm, the central axes of the rotation shafts of the first rotation arm and the second rotation arm are perpendicular, and the rotation angle range of the first rotation arm and the second rotation arm is greater than or equal to 360 degrees.

[0033] In a preferred embodiment, the first swing arm is connected to the lifting arm through the rotation shaft of the first swing arm and is drivably rotated relative to the lifting arm, the second swing arm is connected to the first swing arm through the rotation shaft of the second swing arm, the third swing arm is connected to the second swing arm through the rotation shaft of the third swing arm, the rotation arm is directly connected to the third swing arm, the rotation arm includes a first rotation arm and a second rotation arm, the first rotation arm is directly connected to the third swing arm, the first rotation arm is drivably rotated relative to the third swing arm about its own rotation shaft, and the central axis of the rotation shaft of the first rotation arm is not parallel to the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm, the second rotation arm is connected to the first rotation arm, the second rotation arm is provided with a rotation part, the rotation part is drivably rotated relative to the first rotation arm about its own rotation shaft, and the central axis of the rotation shaft of the rotation part is not parallel to the central axis of the rotation shaft of the first rotation arm.

[0034] In a preferred embodiment, the lifting arm is vertically arranged, the first swing arm, the second swing arm and the third swing arm are horizontally rotated, the central axis of the rotation shaft of the first rotation arm is horizontally arranged and is perpendicular to the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm, and the central axis of the rotation shaft of the second rotation arm is perpendicular to the central axis of the rotation shaft of the first rotation arm.

[0035] In a preferred embodiment, the multi-axis robot arm further includes a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation of the rotation shafts of the first swing arm, the second swing arm and the third swing arm.

[0036] The first end of the first swing arm is connected to the first end of the lifting arm through a first swing arm joint, the first swing arm joint is arranged in the lifting arm and / or the first swing arm, and is used for driving the first swing arm to rotate relative to the lifting arm; the first end of the second swing arm is connected to the second end of the first swing arm through a second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm; the first end of the third swing arm is connected to the second end of the second swing arm through a third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm.

[0037] The multi-axis robot arm further comprises a first rotary arm joint and a second rotary arm joint, the rotary shafts of the first rotary arm and the second rotary arm are arranged in the first rotary arm joint and the second rotary arm joint respectively, and the first rotary arm joint and the second rotary arm joint are further respectively provided with a first rotary driving device and a second rotary driving device for driving the rotary shaft of the first rotary arm and the rotary part of the second rotary arm to rotate; the first rotary arm is connected to the third swing arm through the first rotary arm joint, the first rotary arm joint is arranged in the third swing arm and / or the first rotary arm, and is used for driving the first rotary arm to rotate relative to the third swing arm; the second rotary arm joint is arranged in the first rotary arm and / or the second rotary arm, and is connected to the rotary part of the second rotary arm, and is used for driving the rotary part to rotate relative to the first rotary arm.

[0038] The lifting arm comprises a lifting arm body, a receiving seat and a lifting driving device, the receiving seat is in the shape of a box, the second end of the lifting arm body is installed in the receiving seat, and the lifting driving device is also installed in the receiving seat; the lifting driving device is connected to the lifting arm body; a lifting through hole is formed in the top of the receiving seat, the first end of the lifting arm body passes through the lifting through hole and is connected to the first swing arm, and the lifting arm body is lifted relative to the lifting through hole of the receiving seat under the driving of the lifting driving device.

[0039] In the preferred embodiment, the rotary shafts of the first swing arm, the second swing arm and the third swing arm are axially parallel, and the rotary angle range of the first swing arm, the second swing arm and the third swing arm is greater than or equal to 360 degrees.

[0040] In the preferred embodiment, the multi-axis robot arm further comprises a translation guide rail and a translation driving device, the lifting arm is installed on the translation guide rail, and the translation driving device is connected to the translation guide rail and drives the lifting arm to translate on the translation guide rail.

[0041] In the preferred embodiment, the multi-axis robot arm further comprises a translation guide rail and a translation driving device, the base is mounted on the translation guide rail, and the translation driving device is connected with the translation guide rail to drive the base to translate on the translation guide rail.

[0042] In the preferred embodiment, the lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm all have hollow housings, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are also hollow structures, and the multi-axis robot arm further comprises electric wires and / or air pipes, part of the electric wires and / or air pipes extend from the head end to the tail end of the multi-axis robot arm, pass through the lifting arm, the rotation shaft of the first swing arm, the first swing arm, the rotation shaft of the second swing arm, the second swing arm, the rotation shaft of the third swing arm, the third swing arm, and extend to the rotating arm.

[0043] In the preferred embodiment, the first swing arm, the second swing arm and the third swing arm all have hollow housings, and a detachable upper cover is arranged on the housing of at least one of the first swing arm, the second swing arm and the third swing arm above the position corresponding to the rotation shaft.

[0044] In the preferred embodiment, at least one of the first swing arm joint, the second swing arm joint and the third swing arm joint adopts a joint assembly as follows:

[0045] The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure axially through, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved outside the connecting shaft to drive the connecting shaft to rotate, and then drive the main output shaft to rotate through the speed reduction mechanism;

[0046] The main output shaft is the rotation shaft of the corresponding first swing arm, second swing arm or third swing arm, and the driving mechanism is the first swing arm driving device, second swing arm driving device or third swing arm driving device.

[0047] In the preferred embodiment, the joint assembly further comprises a brake mechanism and a heat dissipation mechanism, the brake mechanism cooperates with the connecting shaft to stop the rotation of the connecting shaft and the rotation of the main output shaft when braking, the heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft, the heat dissipation mechanism is provided with a fan blade, and the heat dissipation mechanism, brake mechanism, driving mechanism and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft to the output end of the main output shaft.

[0048] An end cover is arranged at the end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft, the speed reduction mechanism is a harmonic reducer, the speed reduction mechanism comprises a wave generator, a flexible gear and a rigid gear, the wave generator is sleeved on the outside of the main output shaft and connected with the connecting shaft, the flexible gear is sleeved on the outside of the wave generator, and the rigid gear is sleeved on the outside of the flexible gear and connected with the main output shaft;

[0049] The heat dissipation mechanism comprises a heat dissipation mounting seat, the heat dissipation mounting seat is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, and an annular connecting plate is arranged on the heat dissipation mounting seat, and a plurality of fan blades are arranged on the annular connecting plate in a circumferential direction.

[0050] In the preferred embodiment, at least one of the first rotary arm joint and the second rotary arm joint adopts a joint assembly as follows:

[0051] The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure axially through, the connecting shaft is sleeved on the outside of the main output shaft, the speed reduction mechanism is sleeved on the outside of the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved on the outside of the connecting shaft and used for driving the connecting shaft to rotate, then the connecting shaft drives the main output shaft to rotate after being reduced by the speed reduction mechanism;

[0052] The main output shaft is the rotation shaft of the corresponding first rotary arm or second rotary arm, and the driving mechanism is the corresponding first rotary driving device or second rotary driving device.

[0053] In the preferred embodiment, the joint assembly further comprises a brake mechanism and a heat dissipation mechanism, the brake mechanism cooperates with the connecting shaft and is used for stopping the rotation of the connecting shaft and the rotation of the main output shaft when braking, the heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, and a fan blade is arranged on the heat dissipation mechanism, and the heat dissipation mechanism, the brake mechanism, the driving mechanism and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft and towards the output end of the main output shaft;

[0054] An end cover is arranged at the end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft, the speed reduction mechanism is a harmonic reducer, the speed reduction mechanism comprises a wave generator, a flexible gear and a rigid gear, the wave generator is sleeved on the outside of the main output shaft and connected with the connecting shaft, the flexible gear is sleeved on the outside of the wave generator, and the rigid gear is sleeved on the outside of the flexible gear and connected with the main output shaft;

[0055] The heat dissipation mechanism comprises a heat dissipation mounting base, which is sleeved on the outer side of the connecting shaft and can rotate with the connecting shaft, and an annular connecting plate is arranged on the heat dissipation mounting base, and a plurality of fan blades are arranged on the annular connecting plate in a circumferential direction.

[0056] The first swing arm, the second swing arm and the third swing arm are arranged, so that the rotating arm can be more freely moved to a required position, and there is no operation blind area, and the structure of the machine arm is more flexible, and the machine arm can work in a narrow space. BRIEF DESCRIPTION OF DRAWINGS

[0057] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which similar reference characters refer to similar elements throughout the several views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the application. In the drawings:

[0058] Fig. 1 is a structural schematic view of a multi-axis machine arm in the prior art.

[0059] Figs. 2 and 3 are structural schematic views of a multi-axis machine arm in an embodiment of the present application from different perspectives.

[0060] Fig. 4 is a top view of the multi-axis machine arm in Fig. 2.

[0061] Figs. 5 and 6 are structural schematic views of the multi-axis machine arm in Fig. 2 with some components removed.

[0062] Fig. 7 is a sectional view along A-A in Fig. 4.

[0063] Fig. 8 is a structural schematic view of a multi-axis machine arm in an embodiment of the present application.

[0064] Fig. 9 is a structural schematic view of a multi-axis machine arm in an embodiment of the present application.

[0065] Fig. 10 is a structural schematic view of a multi-axis machine arm in an embodiment of the present application.

[0066] Fig. 11 is a partial structural sectional view of the multi-axis machine arm in Fig. 10.

[0067] Fig. 12 is a structural schematic view of a multi-axis machine arm in an embodiment of the present application.

[0068] Fig. 13 is a structural schematic view of a multi-axis machine arm in an embodiment of the present application.

[0069] Fig. 14 is a structural schematic view of a joint assembly in an embodiment of the present application.

[0070] Fig. 15 is a sectional view of the joint assembly in Fig. 14.

[0071] Fig. 16 is a structural schematic diagram of the heat dissipation mechanism of the joint assembly of Fig. 14. DETAILED DESCRIPTION

[0072] The technical solutions of the present application will be further described in detail below in combination with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it. However, the embodiments are not intended to limit the present application. In the embodiments, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0073] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element and integrated as a whole, or there can be a middle element. The terms "mount", "one end", "the other end" and the like used in the present application are only for the purpose of illustration.

[0074] Please refer to FIG. 2 to FIG. 16, the embodiment of the present application provides a multi-axis robot arm, which comprises 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 driven to lift along a first direction. The first direction shown in FIG. 2 is a vertical direction, and in other embodiments, it can also be a horizontal direction when the multi-axis robot arm is installed in other ways, for example, fixed on a wall. Here, the lifting is also stated for the convenience of understanding the technical solution, and it is not limited that the first direction is a vertical direction, but refers to moving along the first direction. The first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in layers along the first direction. Here, the layered 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 means that the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located at different heights in the first direction. The rotation shafts 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 shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in different axes. The rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 extending axially along the first direction are not strictly limited to be parallel to the first direction, but can also deviate at a certain angle (for example, 2-10 degrees). The rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 arranged in different axes means that the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are spaced apart at a certain distance in a plane perpendicular to the first direction. The dashed lines on the first swing arm 20, the second swing arm 30 and the third swing arm 40 in FIG. 2 are the axial directions of the rotation shafts. 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 robot arm. The multi-axis robot arm is usually installed at a certain position and carries other working parts (such as clamps, detection devices, welding devices, etc.) to work. Here, the head end of the multi-axis robot arm refers to its mounting end, and the tail end refers to its working end. From the perspective of multi-joint arms, 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 robot arm, which does not mean that the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 must be continuous, and other arm joints can also be added therebetween. The only limitation is the appearance order of the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 from the head end to the tail end. The second swing arm 30 is driven to rotate relative to the first swing arm 20, and the third swing arm 40 is driven to rotate relative to the second swing arm 30. The rotating arm 50 is driven to rotate relative to the third swing arm 40 around the rotation shaft of the rotating arm 50 itself, and the rotation shaft of the rotating arm 50 is not parallel to the rotation shafts 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 combined by multiple rotating shafts in different directions, the "axis direction of the rotating shaft of the rotating arm 50 is not parallel to the axis direction of the rotating shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40" refers to that the axis direction of the first rotating shaft of the rotating arm 50 relative to the third swing arm 40 is not parallel to the axis direction of the rotating shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40, and does not limit whether the axis direction of other rotating shafts is parallel. In fact, referring to FIG. 2 and FIG. 8-13, in multiple embodiments of the present application, the rotating arm 50 is combined by two rotating shafts, and in some working states, the axis direction of the latter rotating shaft is parallel to the axis 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 "connected to one of the first swing arm 20 and the rotating arm 50" refers to that the lifting arm 10 is only connected to the first swing arm 20 or the rotating arm 50, and is not connected to other arms of 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 should know that "drivable" refers to that the movement can be driven by a driving 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 be driven by human force. In preferred embodiments, 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 be independently driven, 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 provided with independent driving mechanisms, and the movement of each arm section does not interfere with each other, and the flexibility and operability are better.

[0075] The embodiments of the present application set the first swing arm 20, the second swing arm 30 and the third swing arm 40, so that the rotating arm 50 can move to the required position more freely, without operation blind area, and the structure of the machine arm is more flexible, which can work in narrow space.

[0076] In preferred embodiments, the lifting arm 10 is connected to the first end of the first swing arm 20 (as shown in FIG. 2-9), or connected to the tail end of the rotating arm 50 (as shown in FIG. 10-11). In other embodiments, the lifting arm 10 can also be connected between the first swing arm 20 and the second swing arm 30, or connected between the second swing arm 30 and the third swing arm 40, or connected between the tail end of the third swing arm 40 and the rotating arm 50. By setting the lifting arm 10 between different arm sections, different effects can be achieved.

[0077] Please refer to FIG. 2, FIG. 5 and FIG. 7, in the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, a third swing arm joint 42, the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42 are respectively provided with the first swing arm driving device, the second swing arm driving device, the third swing arm driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40. The first swing arm 20 is connected with the lifting arm 10 through the first swing arm joint 22, and the first swing arm 20 can be driven by the first swing arm joint 22 to rotate relative to the lifting arm 10. The second swing arm 30 is connected with the first swing arm 20 through the second swing arm joint 32, and the third swing arm 40 is connected with the second swing arm 30 through the third swing arm joint 42. The rotating arm 50 is directly connected with the third swing arm 40, that is, there is no other arm joint 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 rotation shaft 21 of the first swing arm 20 is driven to rotate by the first swing arm driving device, the first swing arm 20 rotates relative to the lifting arm 10. Correspondingly, when the rotation shaft 31 of the second swing arm 30 rotates, the second swing arm 30 rotates relative to the first swing arm 20, and when the rotation shaft 41 of the third swing arm 40 rotates, the third swing arm 40 rotates relative to the second swing arm 30.

[0078] 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 through the second swing arm joint 32, the first end of the third swing arm 40 is connected to the tail end of the second swing arm 20 through the third swing arm joint 42, and the rotating arm 50 is connected to the tail end of the third swing arm 40. The first swing arm 20, the second swing arm 30, and the third swing arm 40 have a certain length in the radial direction, and the 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 better flexibility.

[0079] Please refer to FIG. 2, FIG. 6 and FIG. 7, the lifting arm 10 comprises a lifting arm body 11, a receiving seat 12 and a lifting driving device 13. The receiving seat 12 is in the shape of a box, the second end of the lifting arm body 11 is installed in the receiving seat 12, and the lifting driving device 13 is also installed in the receiving seat 12 and is in transmission connection with the second end of the lifting arm body 12. A lifting through hole is formed in the top of the receiving seat 12, the first end of the lifting arm body 11 passes through the lifting through hole and is connected with the first swing arm 20. The lifting arm body 11 is lifted and lowered relative to the lifting through hole of the receiving seat 12 under the driving of the lifting driving device 13. In the embodiment, the receiving seat 12 can be used as the base of the multi-axis robot arm, and the receiving seat 12 can be fixed on the ground or other mounting platform. Please refer to FIG. 13, in the seventh embodiment, the lifting arm 10 can also be provided with a sliding seat 19 on one side, the sliding seat 19 is connected with a lead screw and moves up and down under the action of the lead screw mechanism, and the first swing arm 20 is installed on the sliding seat 19. In other embodiments, the lifting arm 10 can also have other structures.

[0080] In a further preferred embodiment, the lifting arm body 11 is in a hollow structure, a through hole is formed in the bottom of the second end of the lifting arm body 11, the lifting driving device 13 comprises a lifting driving motor 131 and a lifting transmission assembly, the lifting transmission assembly is in transmission connection between the lifting driving motor 131 and the lifting arm body 11, the lifting driving motor 131 is located directly below the second end of the lifting arm body 11, and when the first end of the lifting arm body 11 is retracted into the receiving seat 12, the lifting driving motor 131 is inserted into the through hole in 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 sleeved outside the lifting driving motor 131, so that the overall height of the receiving seat 12 can be reduced, and the structure of the multi-axis robot arm is more compact.

[0081] In a further preferred embodiment, the lifting driving device 13 comprises a lifting driving motor 131 and a lifting transmission assembly, the lifting transmission assembly is in transmission connection between the lifting driving motor 131 and the lifting arm body 11, a lifting sliding block 14 is fixed to the bottom of the lifting arm body 11, and a lifting sliding rail 123 extending in the first direction is arranged in the receiving seat 12. The lifting transmission assembly comprises a driving wheel 132, a driven wheel 133, a synchronous belt and a lead screw 134, the lifting sliding block 14 is in threaded cooperation with the lead screw 134 and is in sliding cooperation with the lifting sliding rail 123, the driving wheel 132 is connected with the output shaft of the lifting driving motor 131, the lead screw 134 is connected with the driven wheel 133, and the driving wheel 132 and the driven wheel 133 are in transmission cooperation through the synchronous belt. The lifting driving motor 131 drives the lead screw 134 to rotate through the driving wheel 132, the driven wheel 133 and the synchronous belt, and further drives the lifting sliding block 14 to move up and down relative to the lead screw 134.

[0082] In a further preferred embodiment, the lifting slider 14 comprises a vertical plate 142 extending along the first direction and a horizontal plate 141 connected perpendicularly to the vertical plate 142, and the lifting slide rail 123 is arranged on the side wall 122 of the receiving seat 12, and the vertical plate 142 is in sliding connection with the lifting slide rail 123. The lead screw 134 is in threaded cooperation with the vertical plate 142. Specifically, two parallel lifting slide rails 123 are arranged on the side wall 122 of the receiving seat 12, the back of the vertical plate 142 is provided with two sliding blocks in sliding cooperation with the lifting slide rails, the lead screw 134 is located between the two lifting slide rails 123, and the back of the vertical plate 142 is further provided with a nut in threaded cooperation with the lead screw 134. The second end of the lifting arm body 11 is fixed on the horizontal plate 141, and the lifting drive motor 131 is located directly below the horizontal plate 141 and is half-enclosed by the vertical plate 142 and the horizontal plate 141. In this embodiment, the lifting slider 14 is in an inverted "L" shape, and in other embodiments, the lifting slider 14 can also be in an inverted "U" shape. The horizontal plate 141 is provided with a relief through hole 143, and when the first end of the lifting arm body 11 is retracted into the receiving seat 12, the lifting drive motor 131 is inserted into the relief through hole 143. Such a structure can also reduce the overall height of the receiving seat 12, and make the structure of the multi-axis robot arm more compact. Of course, in this embodiment, the bottom of the second end of the lifting arm body 11 can also be provided with a through hole, and when the first end of the lifting arm body 11 is retracted into the receiving seat 12, the lifting drive motor 131 is first inserted into the relief 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. The lifting through hole is further provided with an annular sealing element 19, and the lifting arm body 11 passes through the annular sealing element 19 and is in sealing cooperation with the annular sealing element 19. The annular sealing element 19 can prevent dust, water droplets and the like from entering the receiving seat 12.

[0083] Please refer to FIG. 10 and 11, in the preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, a third swing arm joint 42, a rotation shaft 21 of the first swing arm 20, a rotation shaft 31 of the second swing arm 30, a rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42 are respectively provided with a first swing arm driving device, a second swing arm driving device, a third swing arm driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40. The multi-axis robot arm further comprises a base 60, the first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, and the first swing arm joint 22 is arranged in the base 60 and / or the first swing arm 20. In this embodiment, part of the first swing arm joint 22 is located in the base 60, and the other part extends into the first swing arm 20. This structure can make the structure of the first swing arm 20 more compact and small. In other embodiments, the first swing arm joint 22 can also be arranged only in the base 60 or the first swing arm 20. In the following embodiments, the description of the arrangement position of the second swing arm joint 32, the third swing arm joint 42, the first rotation arm joint and the second rotation arm joint is similar, and will not be repeated here.

[0084] 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 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the lifting arm 10 and / or the second swing arm 30, and is used for driving 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 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used for driving the third swing arm 40 to rotate relative to the second swing arm 30, and the tail end of the third swing arm 40 is directly connected with the rotation arm 50.

[0085] In other embodiments, the head end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used for driving 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 head end of the third swing arm 40, the head end of the third swing arm 40 is connected to the first end of the lifting arm 10 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the lifting arm 10 and / or the third swing arm 42, and is used for driving the third swing arm 40 to rotate relative to the lifting arm 10, and the tail end of the third swing arm 40 is directly connected with the rotation arm 50.

[0086] In some embodiments, the first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through a second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through a third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The lifting arm 10 is connected between the tail end of the third swing arm 40 and the rotating arm 50.

[0087] Please refer to FIG. 9 and FIG. 13. In the preferred embodiment, the multi-axis robot arm comprises a base 60, the lifting arm 10 is connected between the base 60 and the first swing arm 20, the first end of the first swing arm 20 is fixedly connected with the lifting arm 10, and 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 together with the lifting arm 10 relative to the base 60, and the rotation axis of the lifting arm 10 is also the rotation axis of the first swing arm 20. The structures of the second swing arm 30, the third swing arm 40 and the rotating arm 50 can be the same as those in the first embodiment (FIG. 2 to FIG. 7). The multi-axis robot arm further comprises a second swing arm joint 32 and a third swing arm joint 42, the rotation axes of the second swing arm 30 and the third swing arm 40 are located in the second swing arm joint 32 and the third swing arm joint 42 respectively, and the second swing arm joint 32 and the third swing arm joint 42 are further respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotation axes 31 and 41 of the second swing arm 30 and the third swing arm 40 to rotate. The first end of the second swing arm 30 is connected with the tail end of the first swing arm 20 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used to drive the second swing arm 30 to rotate relative to the first swing arm 20. The first end of the third swing arm 40 is connected with the tail end of the second swing arm 30 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used to drive the third swing arm 40 to rotate relative to the second swing arm 30. The rotating arm 50 is directly connected with the tail end of the third swing arm 40.

[0088] Please refer to FIG. 10, 11, in the fourth embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, a third swing arm joint 42, a rotation shaft 21 of the first swing arm 20, a rotation shaft 31 of the second swing arm 30, a rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42 are respectively provided with a first swing arm driving device, a second swing arm driving device, a third swing arm driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40. The multi-axis robot arm further comprises a base 60. The first swing arm 20 is rotatably connected to the base 60 through the first swing arm joint 22, the first swing arm joint 22 is arranged in the base 60 and / or the first swing arm 20, the first end of the second swing arm 30 is connected to the tail end of the first swing arm 20 through the second swing arm joint 32, the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30, and is used for driving the rotation of the second swing arm 30 relative to the first swing arm 20, the first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40, and is used for driving the rotation of the third swing arm 40 relative to the second swing arm 30, the rotating arm 50 is directly connected to the tail end of the third swing arm 40, the lifting arm 10 is connected to the rotating arm 50, and the lifting driving device 13 is arranged in the lifting arm 10. The lifting arm 10 is further provided with a mounting platform 137 for mounting a load (such as a clamp, a detection device, etc.), the mounting platform 137 is connected with the lifting driving device 13 and is lifted under the driving of the lifting driving device 13.

[0089] In a further preferred embodiment, the lifting driving device 13 comprises a lifting driving motor 131 and a lifting transmission assembly, the lifting transmission assembly comprises a driving wheel 132, a driven wheel 133, a synchronous belt 135, a lead screw 134, a lead screw nut 138 and a ball guide bearing 136, the driving wheel 132 is connected with the output shaft of the lifting driving motor 131, the lead screw nut 138 is connected with the driven wheel 133, the driving wheel 132 and the driven wheel 133 are drivingly connected through the synchronous belt 135, the lead screw 134 and the lead screw nut 135 are threadedly matched, and the ball guide bearing 136 is sleeved on the lead screw 134. The lifting driving motor 131 drives the rotation of the lead screw nut 138 through the driving wheel 132, the driven wheel 133 and the synchronous belt 135, and further drives the lead screw 134 to move up and down relative to the lead screw nut 138 and the ball guide bearing 136. The mounting platform 137 is fixed at the top end of the lead screw 134.

[0090] In a preferred embodiment, when the rotating arm 50 is located at the tail end of the multi-axis robot arm, the rotating arm 50 is provided with a load such as a grabbing device, a detection device, a fixed clamp or a connecting device, etc. for driving these loads to work.

[0091] Please refer to FIG. 2 to FIG. 8, in the preferred embodiment, the rotating arm 50 comprises a first rotating arm 51 and a second rotating arm 52, the first rotating arm 51 is drivably rotated relative to the third swing arm 40 around the rotation axis of the first rotating arm 51 itself, and the rotation axis of the first rotating arm 51 is not parallel to the rotation axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and the second rotating arm 52 is provided with a rotating part 521, which is drivably rotated relative to the first rotating arm 51 around the rotation axis of the rotating part 521 itself, and the rotation axis of the rotating part 521 is not parallel to the rotation axis of the first rotating arm 51. In the embodiment, the rotating part 521 is an output flange. Through the combination of the first rotating arm 51 and the second rotating arm 52, the multi-axis robot arm can make various complex movements, and has high flexibility, and can complete various work requirements in narrow space. Of course, in other embodiments, the rotating arm 50 can also have only one rotating arm section, for example, only the first rotating arm 51, or can have three or more rotating arm sections. In the embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30 and the third swing arm 40 are responsible for making the rotating arm 50 reach any position in the working range (similar to the function of human arm), and the first rotating arm 51 and the second rotating arm 52 are responsible for making the load of the multi-axis robot arm make various movements (similar to the function of human wrist).

[0092] In further preferred embodiments, the multi-axis robot arm further comprises a first rotating arm joint and a second rotating arm joint 522, the rotation axes of the first rotating arm 51 and the second rotating arm 52 are located in the first rotating arm joint and the second rotating arm joint 522 respectively, and the first rotating arm joint and the second rotating arm joint 522 are further provided with a first rotating driving device and a second rotating driving device respectively for driving the rotation axis 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 arranged in the third swing arm 40 and / or the first rotating arm 51, and is used for driving the first rotating arm 51 to rotate relative to the third swing arm 40, and the second rotating arm joint 522 is arranged 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 for driving the rotating part 521 to rotate relative to the first rotating arm 51.

[0093] In a further preferred embodiment, referring to Figs. 3 and 4, the third swing arm 40 comprises a main body 46, a connecting portion 47 and a mounting portion 48. The third swing arm joint 42 is partially located in the main body 46 and partially in the second swing arm 30. The connecting portion 47 connects the main body 46 and the mounting portion 48. The mounting portion 48 is in the shape of a cylinder and the axis of the cylinder 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 in the shape of a cylinder and is coaxially connected to the mounting portion 48. The first rotating arm joint is at least partially mounted in the mounting portion 48. With this design, when the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located in the same plane, the axis of the rotating portion 521 of the second rotating arm 52 is also located in the plane, which facilitates the positioning and calibration of the multi-axis robot arm.

[0094] Referring to Fig. 9, in another preferred embodiment, the third swing arm 40 comprises a main body 46 and a mounting portion 48. The third swing arm joint 42 is partially located in the main body 46. The mounting portion 48 is in the shape of a cylinder and the axis of the cylinder 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 in the shape of a cylinder and is coaxially connected to the mounting portion 48. The first rotating arm joint is at least partially mounted in the mounting portion 48.

[0095] Referring to Figs. 2 to 7, in a further preferred embodiment, when the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in the same plane (as shown in Fig. 4), the axis of the rotation shaft of the first rotating arm 51 is perpendicular to the plane in which the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located. This facilitates the positioning and calibration of the multi-axis robot arm. In another preferred embodiment, when the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are arranged in the same plane, the axis of the rotation shaft of the first rotating arm 51 is parallel to or located in the plane in which the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located. The embodiment shown in Fig. 8 is an example in which the axis of the rotation shaft of the first rotating arm 51 is located in the plane in which the axes of the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are located.

[0096] In the preferred embodiment, the rotation axis of the first rotating arm 51 is axially perpendicular to the rotation axis of the third swing arm 40, the rotation axes of the first rotating arm 51 and the second rotating arm 52 are perpendicular, and the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is greater than or equal to 360 degrees. When the rotation angle range of the first rotating arm 51 and the second rotating arm 52 is equal to 360 degrees, the first rotating arm 51 and the second rotating arm 52 can reciprocate, and when the rotation angle range is greater than 360 degrees, the first rotating arm 51 and the second rotating arm 52 can continuously rotate in one direction. Through the above arrangement, the multi-axis robot arm has high degree of freedom and flexibility, and can complete complex actions in a narrow space. It should be noted that the perpendicularity referred to in the present application can be spatial perpendicularity, and is not limited to two lines in the same plane.

[0097] Please refer to FIGS. 2 to 7, the first swing arm 20 is connected with the lifting arm 10 through the rotation axis 21 of the first swing arm 20, and the first swing arm 20 is drivably rotated relative to the lifting arm 10, the second swing arm 30 is connected with the first swing arm 20 through the rotation axis 31 of the second swing arm 30, the third swing arm 40 is connected with the second swing arm 30 through the rotation axis 41 of the third swing arm 40, and the rotating arm 50 is directly connected with the third swing arm 40. The rotating arm 50 includes the first rotating arm 51 and the second rotating arm 52, the first rotating arm 51 is drivably rotated relative to the third swing arm 40 around the rotation axis of the first rotating arm 51 itself, and the rotation axis of the first rotating arm 51 is not parallel to the rotation axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40. The second rotating arm 52 is connected to the first rotating arm 51, and the second rotating arm 52 is provided with a rotating part 521, the rotating part 521 is drivably rotated relative to the first rotating arm 51 around the rotation axis of the rotating part 521 itself, and the rotation axis of the rotating part 521 is not parallel to the rotation axis of the first rotating arm 51. In the embodiment, the lifting arm 10, the first swing arm 20, the second swing arm 30 and the third swing arm 40 are responsible for making the rotating arm 50 reach any position in the working range, and the first rotating arm 51 and the second rotating arm 52 are responsible for making the load of the multi-axis robot arm make various actions.

[0098] 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 are horizontally rotated, the axis of the first rotating arm 51 is horizontally arranged and is perpendicular to the rotation axes of the first swing arm 20, the second swing arm 30 and the third swing arm 40, and the axis of the second rotating arm 52 is perpendicular to the axis of the first rotating arm 51. In the embodiment, the lifting arm 10 can be used as the base of the multi-axis robot arm and is fixed on the ground or other mounting platform.

[0099] In a further preferred embodiment, the multi-axis robot arm further comprises a first swing arm joint 22, a second swing arm joint 32, a third swing arm joint 42, the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40 are respectively located in the first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42. The first swing arm joint 22, the second swing arm joint 32, the third swing arm joint 42 are respectively provided with a first swing arm driving device, a second swing arm driving device, a third swing arm driving device for driving the rotation of the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the third swing arm 40.

[0100] The first end of the first swing arm 20 is connected to the first end of the lifting arm 10 through the first swing arm joint 22, and the first swing arm joint 22 is arranged in the lifting arm 10 and / or the first swing arm 20 to drive the rotation of the first swing arm 20 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 through the second swing arm joint 32, and the second swing arm joint 32 is arranged in the first swing arm 20 and / or the second swing arm 30 to drive the rotation of the second swing arm 30 relative to the first swing arm 20. The first end of the third swing arm 40 is connected to the tail end of the second swing arm 30 through the third swing arm joint 42, and the third swing arm joint 42 is arranged in the second swing arm 30 and / or the third swing arm 40 to drive the rotation of the third swing arm 40 relative to the second swing arm 30.

[0101] The multi-axis robot arm further comprises a first rotation arm joint and a second rotation arm joint 522, the rotation shaft of the first rotation arm 51 and the rotation shaft of the second rotation arm 52 are respectively located in the first rotation arm joint and the second rotation arm joint 522, and the first rotation arm joint and the second rotation arm joint 522 are respectively provided with a first rotation driving device and a second rotation driving device for driving the rotation of the rotation shaft of the first rotation arm 51 and the rotation part 521 of the second rotation arm 52. The first rotation arm 51 is connected to the third swing arm 40 through the first rotation arm joint, the first rotation arm joint is arranged in the third swing arm 40 and / or the first rotation arm 51 to drive the rotation of the first rotation arm 51 relative to the third swing arm 40, and the second rotation arm joint 522 is arranged in the first rotation arm 51 and / or the second rotation arm 52 and connected with the rotation part 521 of the second rotation arm 52 to drive the rotation of the rotation part 521 relative to the first rotation arm 51.

[0102] The lifting arm 10 comprises a lifting arm body 11, a receiving seat 12 and a lifting driving device 13. The receiving seat 12 is in a box shape, the second end of the lifting arm body 11 is installed in the receiving seat 12, and the lifting driving device 13 is also installed in the receiving seat 12, and the lifting driving device 13 is in transmission connection with the second end of the lifting arm body 12. The top of the receiving seat 12 is provided with a lifting through hole, the first end of the lifting arm body 11 passes through the lifting through hole and is connected with the first swing arm 20. The lifting arm body 11 is lifted relative to the lifting through hole of the receiving seat 12 under the driving of the lifting driving device 13.

[0103] In a further preferred embodiment, the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are axially parallel, and the rotation angle range of the first swing arm 20, the second swing arm 30 and the third swing arm 40 is all greater than or equal to 360 degrees.

[0104] Please refer to FIG. 12, in the fifth embodiment, the multi-axis robot arm further comprises a translation guide rail 82 and a translation driving device 81, the lifting arm 10 is installed on the translation guide rail 82, the translation driving device 81 is connected with the translation guide rail 82 and drives the lifting arm 10 to translate on the translation guide rail 82. In this embodiment, the lifting arm 10 is connected at the first end of the first swing arm 20, the translation driving device 81 drives the lifting arm 10 to translate on the translation guide rail 82, thereby driving the first swing arm 20, the second swing arm 30, the third swing arm 40 and the rotating arm 50 to correspondingly translate, so as to increase the activity range of the multi-axis robot arm. In other embodiments, when the multi-axis robot arm has the base 60, the multi-axis robot arm can also be provided with the translation guide rail 82 and the translation driving device 81, the base 60 is installed on the translation guide rail 82, the translation driving device 81 is connected with the translation guide rail 82 and drives the base 60 to translate on the translation guide rail 82

[0105] Please refer to FIG. 5 and FIG. 7, in the 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 shells, the rotation shafts of the first swing arm 20, the second swing arm 30 and the third swing arm 40 are also hollow structures, and the multi-axis robot arm further comprises electric wires and / or air pipes 900, part of the electric wires and / or air pipes 900 extend from the head end to the tail end of the multi-axis robot arm, pass through the lifting arm 10, the rotation shaft 21 of the first swing arm 20, the rotation shaft 31 of the first swing arm 20, the rotation shaft 31 of the second swing arm 30, the rotation shaft 41 of the second swing arm 30, the third swing arm 40, and extend to the rotating arm 50. The part of the electric wires and / or air pipes 900 is because part of the electric wires and air pipes 900 (for example, the electric wires connected to the first swing arm 20) can not extend to the rotating arm 50. The electric wires are used to power the electric components (for example, the driving device) in each arm segment, and the air pipes can be used to supply air to the load. In some embodiments, the air pipes can also not be provided. The joint 15 can be provided on the lifting arm 10 (for example, the receiving seat 12 of the lifting arm 10) for connecting external electric wires and air pipes. Through this wiring mode, the structure of the multi-axis robot arm can be more concise and safer.

[0106] Please refer to FIG. 3 and FIG. 5, in the preferred embodiment, the first swing arm 20, the second swing arm 30 and the third swing arm 40 all have hollow shells, and at least one of the shells of the first swing arm 20, the second swing arm 30 and the third swing arm 40 is provided with a detachable upper cover corresponding to the position of the rotation shaft (the part marked with 28 in FIG. 3 is the upper cover of the first swing arm 20). By providing the detachable upper cover, the components in the first swing arm 20, the second swing arm 30 and the third swing arm 40 can be easily maintained and replaced.

[0107] Please refer to FIG. 14, in the above-mentioned embodiment, at least one of the first swing arm joint 22, the second swing arm joint 32 and the third swing arm joint 42 can adopt the following joint assembly, and at least one of the first rotating arm joint and the second rotating arm joint 522 can also adopt the following joint assembly 70.

[0108] Please refer to FIG. 14 to 16, the joint assembly 70 includes a main output shaft 701, a connecting shaft 702, a driving mechanism 704 and a speed reduction mechanism 703. The main output shaft 701 is a hollow structure through which the electric cable and the air pipe 900 can pass. The output end of the main output shaft 701 is provided with a flange for connecting with the corresponding arm segment body. The connecting shaft 702 is sleeved outside the main output shaft 701, the speed reduction mechanism 703 is sleeved outside the main output shaft 701, the connecting shaft 702 is connected with the input end of the speed reduction mechanism 703, the output end of the speed reduction mechanism 703 is connected with the main output shaft 702, and the driving mechanism 704 is sleeved outside the connecting shaft 702 and used for driving the connecting shaft 702 to rotate and then driving the main output shaft 701 to rotate through the speed reduction mechanism 703. Specifically, the driving mechanism 704 includes a stator 7042 and a rotor 7041, the rotor 7041 is sleeved outside the connecting shaft 702, and the stator 7042 is sleeved outside the rotor 7041 and used for driving the rotor 7041 to rotate. The housings of the speed reduction mechanism 703 and the driving mechanism 704 can be fixed on the previous arm segment, and the output end of the main output shaft 701 is fixedly connected with the next arm segment. Since the driving mechanism 704 generally rotates at a high speed, and the swing arm rotates at a low speed, the power output of the driving mechanism 704 is transmitted to the connecting shaft 702, and then transmitted to the input end of the speed reduction mechanism 703 through the connecting shaft 702, and then transmitted to the main output shaft 701 through the output end of the speed reduction mechanism 703, and then transmitted to the arm segment body through the main output shaft 701. The main output shaft 701 is provided as a hollow structure through which the electric cable, the air pipe and the like can pass to realize electrical connection and the like, so that the electric cable, the air pipe and the like of the robot arm are not exposed, and the internal structure of the robot arm is compact, and the appearance is neat and beautiful.

[0109] It can be understood that when the first swing arm joint 22, the second swing arm joint 32 and the third swing arm joint 42 adopt the joint assembly, the main output shaft 701 is the rotation shaft 21 of the corresponding first swing arm 20, the rotation shaft 31 of the corresponding second swing arm 30 and the rotation shaft 41 of the corresponding third swing arm 40, and the driving mechanism is the first swing arm driving device, the second swing arm driving device and the third swing arm driving device. When the first rotation arm joint and the second rotation arm joint 522 adopt the joint assembly, the main output shaft 701 is the rotation shaft of the corresponding first rotation arm 51 or the second rotation arm 52, and the driving mechanism is the first rotation driving device or the second rotation driving device.

[0110] In the preferred embodiment, the joint assembly 70 further comprises a brake mechanism 705 and a heat dissipation mechanism 706. The brake mechanism 705 is matched with the connecting shaft 702, and is used to stop the rotation of the connecting shaft 702, and further stop the rotation of the main output shaft 701 when braking. The heat dissipation mechanism 706 is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702. The heat dissipation mechanism 706 is provided with a fan blade, which is used to dissipate heat from the joint assembly 70. The heat dissipation mechanism 706, the brake mechanism 705, the driving mechanism 704 and the speed reduction mechanism 703 are sequentially arranged along the axial direction of the main output shaft 701 to the output end of the main output shaft 703, that is, from bottom to top in the view of FIG. 15. Such arrangement makes the structure of the joint assembly 70 very compact and small in size.

[0111] In the preferred embodiment, an end cover 707 is arranged at the end of the main output shaft 701 away from the speed reduction mechanism 703 (i.e., the end opposite to the output end). The end cover 707 is sleeved on the outside of the main output shaft 701, and a first bearing 708 is arranged between the end cover 707 and the main output shaft 701. The first bearing 708 can enhance the carrying capacity of the joint assembly 70 and is more durable. The speed reduction mechanism 703 is a harmonic reducer. The speed reduction mechanism 703 comprises a wave generator 7031, a flexspline 7033 and a rigid spline 7032. The wave generator 7031 serves as the input end of the speed reduction mechanism 703, is sleeved on the outside of the connecting shaft 702 and the main output shaft 701, the flexspline 7033 is sleeved on the outside of the wave generator 7031, the rigid spline 7032 is sleeved on the outside of the flexspline 7033 and is connected with the main output shaft 701.

[0112] Please refer to FIG. 16. In the preferred embodiment, the heat dissipation mechanism 706 comprises a heat dissipation mounting base 7061, which is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 706. The heat dissipation mounting base 7061 is provided with an annular connecting plate 7064, and a plurality of fan blades 7062 are arranged on the connecting plate 7064 in the circumferential direction. By arranging the heat dissipation assembly 706, the fan blades 7062 rotate to generate wind power, which quickly fans out the heat generated by the internal working of the joint assembly 70. A plurality of heat dissipation holes can be arranged on the end cover 707. The hot air flow generated by the fan blades 7062 will quickly flow out of the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal working of the joint assembly 70.

[0113] In this specification, unless specifically stated and limited otherwise, a first feature being "on" or "under" a second feature can mean that the first and second features are directly in contact, or that the first and second features are indirectly in contact through an intermediate medium. Also, a first feature being "over", "above" and "on top of" a second feature can mean that the first feature is directly on top of or obliquely on top of the second feature, or that the first feature is merely horizontally higher than the second feature. A first feature being "under", "below" and "underneath" a second feature can mean that the first feature is directly underneath or obliquely underneath the second feature, or that the first feature is merely horizontally lower than the second feature.

[0114] In the description of the specification, the description referring to the terms "preferred embodiment", "further embodiment", "other embodiment" or "specific example" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Also, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

[0115] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary, and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A multi-axis robot arm, characterized by, The multi-axis robot arm comprises a lifting arm, a first swing arm, a second swing arm, a third swing arm and a rotating arm, the lifting arm is lifted along a first direction, the first swing arm, the second swing arm and the third swing arm are arranged in layers along the first direction, the rotation shafts of the first swing arm, the second swing arm and the third swing arm extend along the first direction, the first swing arm, the second swing arm, the third swing arm and the rotating arm are sequentially distributed from the head end to the tail end of the multi-axis robot arm, the second swing arm rotates relative to the first swing arm, the third swing arm rotates relative to the second swing arm, the rotating arm rotates relative to the third swing arm, and the rotation shaft of the rotating arm is not parallel to the rotation shafts of the first swing arm, the second swing arm and the third swing arm, and the lifting arm is connected with one of the first swing arm and the rotating arm, or is connected between two of the first swing arm, the second swing arm, the third swing arm and the rotating arm.

2. The multi-axis robot arm of claim 1, wherein, The lifting arm is connected to the head end of the first swing arm, or is connected between the first swing arm and the second swing arm, or is connected between the second swing arm and the third swing arm, or is connected between the tail end of the third swing arm and the rotating arm, or is connected to the tail end of the rotating arm, and the lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotating arm are independently driven.

3. The multi-axis robot arm of claim 1, wherein, The multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation shafts of the first swing arm, the second swing arm and the third swing arm to rotate. The first swing arm is connected with the lifting arm through the first swing arm joint, and the first swing arm is driven to rotate relative to the lifting arm, the second swing arm is connected with the first swing arm through the second swing arm joint, the third swing arm is connected with the second swing arm through the third swing arm joint, and the rotating arm is directly connected with the third swing arm.

4. The multi-axis robot arm of claim 3, wherein, The first end of the lifting arm is connected with the head end of the first swing arm, the head end of the second swing arm is connected with the tail end of the first swing arm through the second swing arm joint, the head end of the third swing arm is connected with the tail end of the second swing arm through the third swing arm joint, and the rotating arm is connected with the tail end of the third swing arm.

5. The multi-axis robot arm of claim 3, wherein, The lifting arm comprises a lifting arm body, a receiving seat and a lifting driving device, the receiving seat is in the shape of a box, the second end of the lifting arm body is installed in the receiving seat, the lifting driving device is also installed in the receiving seat, the lifting driving device is connected with the second end of the lifting arm body, the top of the receiving seat is provided with a lifting through hole, the first end of the lifting arm body passes through the lifting through hole and is connected with the first swing arm, and the lifting arm body is lifted relative to the lifting through hole of the receiving seat under the driving of the lifting driving device.

6. The multi-axis robot arm of claim 5, wherein, The lifting arm body is a hollow structure, and a through hole is formed in the bottom of the second end of the lifting arm body; the lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly is in transmission connection between the lifting driving motor and the lifting arm body, the lifting driving motor is located directly below the second end of the lifting arm body, and the lifting driving motor is inserted into the through hole in the bottom of the second end of the lifting arm body when the first end of the lifting arm body is retracted into the receiving seat.

7. The multi-axis robot arm of claim 5, wherein, The lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly is in transmission connection between the lifting driving motor and the lifting arm body, the bottom of the lifting arm body is fixed with a lifting sliding block, the receiving seat is provided with a lifting sliding rail extending in the first direction, the lifting transmission assembly comprises a driving wheel, a driven wheel, a synchronous belt and a screw rod, the lifting sliding block is in threaded connection with the screw rod and in sliding connection with the lifting sliding rail, the driving wheel is connected with the output shaft of the lifting driving motor, the screw rod is connected with the driven wheel, the driving wheel and the driven wheel are in transmission connection through the synchronous belt, the lifting driving motor drives the screw rod to rotate through the driving wheel, the driven wheel and the synchronous belt, and further drives the lifting sliding block to move up and down relative to the screw rod.

8. The multi-axis robot arm of claim 7, wherein, The lifting sliding block comprises a vertical plate extending in the first direction and a horizontal plate connected perpendicularly to the vertical plate, the lifting sliding rail is arranged on the side wall of the receiving seat, the vertical plate is in sliding connection with the lifting sliding rail, the screw rod is in threaded connection with the vertical plate, the second end of the lifting arm body is fixed on the horizontal plate, the lifting driving motor is located directly below the horizontal plate and is half-enclosed by the vertical plate and the horizontal plate, an avoiding through hole is formed in the horizontal plate, the lifting driving motor is inserted into the avoiding through hole when the first end of the lifting arm body is retracted into the receiving seat, and an annular sealing element is arranged at the lifting through hole, the lifting arm body penetrates through the annular sealing element and is in sealing connection with the annular sealing element.

9. The multi-axis robot arm of claim 1, wherein, The multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are located in the first swing arm joint, the second swing arm joint and the third swing arm joint respectively, and the first swing arm joint, the second swing arm joint and the third swing arm joint are further respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation shafts of the first swing arm, the second swing arm and the third swing arm to rotate; The multi-axis robot arm comprises a base, and the first swing arm is rotatably connected to the base through the first swing arm joint, and the first swing arm joint is arranged in the base and / or the first swing arm; The lifting arm is connected between the tail end of the first swing arm and the head end of the second swing arm, the second swing arm is connected to the lifting arm through the second swing arm joint, the second swing arm joint is arranged in the lifting arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the lifting arm, the head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm, and the rotating arm is directly connected to the tail end of the third swing arm. Or The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm, the lifting arm is connected between the tail end of the second swing arm and the head end of the third swing arm, the head end of the third swing arm is connected to the lifting arm through the third swing arm joint, the third swing arm joint is arranged in the lifting arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the lifting arm, and the rotating arm is directly connected to the tail end of the third swing arm. Or The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm, the head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm, and the lifting arm is connected between the tail end of the third swing arm and the rotating arm.

10. The multi-axis robot arm of claim 1, wherein, The multi-axis robot arm comprises a base, the lifting arm is connected between the base and the first swing arm, the head end of the first swing arm is fixedly connected with the lifting arm, and the lifting arm can drive the first swing arm to rotate relative to the base; The multi-axis robot arm further comprises a second swing arm joint and a third swing arm joint, the rotation shafts of the second swing arm and the third swing arm are located in the second swing arm joint and the third swing arm joint respectively, and the second swing arm joint and the third swing arm joint are respectively provided with a second swing arm driving device and a third swing arm driving device for driving the rotation shafts of the second swing arm and the third swing arm to rotate; The head end of the second swing arm is connected to the tail end of the first swing arm through the second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm, the head end of the third swing arm is connected to the tail end of the second swing arm through the third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm, and the rotating arm is directly connected to the tail end of the third swing arm.

11. The multi-axis robot arm of claim 1, wherein, The multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, rotation shafts of the first swing arm, the second swing arm and the third swing arm are respectively located in the first swing arm joint, the second swing arm joint and the third swing arm joint, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving rotation of the rotation shafts of the first swing arm, the second swing arm and the third swing arm. The multi-axis robot arm further comprises a base, the first swing arm is rotatably connected to the base through the first swing arm joint, the first swing arm joint is arranged in the base and / or 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 second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving rotation of the second swing arm relative to the first swing arm, 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, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving rotation of the third swing arm relative to the second swing arm, the rotating arm is directly connected to the tail end of the third swing arm, the lifting arm is connected to the rotating arm, and the lifting driving device is arranged in the lifting arm.

12. The multi-axis robot arm of claim 11, wherein, The lifting driving device comprises a lifting driving motor and a lifting transmission assembly, the lifting transmission assembly comprises a driving wheel, a driven wheel, a synchronous belt, a lead screw, a lead screw nut and a ball guide bearing, the driving wheel is connected to the output shaft of the lifting driving motor, the lead screw nut is connected to the driven wheel, the driving wheel and the driven wheel are drivingly connected through the synchronous belt, the lead screw is threadedly connected to the lead screw nut, and the ball guide bearing is sleeved on the lead screw, the lifting driving motor drives the lead screw nut to rotate through the driving wheel, the driven wheel and the synchronous belt, and further drives the lead screw to move up and down relative to the lead screw nut and the ball guide bearing.

13. The multi-axis robot arm of any of claims 3-12, wherein, The rotating arm is provided with a grabbing device, a detection device, a fixing clamp or a connecting device.

14. The multi-axis robot arm of any of claims 1-12, wherein, The rotating arm comprises a first rotating arm and a second rotating arm, the first rotating arm is drivingly rotatable relative to the third swing arm about its own rotation shaft, and the rotation shaft of the first rotating arm is axially non-parallel to the rotation shafts 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, the second rotating arm is provided with a rotating part, the rotating part is drivingly rotatable relative to the first rotating arm about its own rotation shaft, and the rotation shaft of the rotating part is axially non-parallel to the rotation shaft of the first rotating arm.

15. The multi-axis robot arm of claim 14, wherein, The multi-axis robot arm further comprises a first rotary arm joint and a second rotary arm joint, rotation shafts of the first rotary arm and the second rotary arm are respectively located in the first rotary arm joint and the second rotary arm joint, and the first rotary arm joint and the second rotary arm joint are respectively provided with first rotary driving devices and second rotary driving devices for driving the rotation of the rotation shaft of the first rotary arm and the rotation part of the second rotary arm, the first rotary arm is connected to the third swing arm through the first rotary arm joint, the first rotary arm joint is arranged in the third swing arm and / or the first rotary arm, and is used for driving the rotation of the first rotary arm relative to the third swing arm, and the second rotary arm joint is arranged in the first rotary arm and / or the second rotary arm, and is connected with the rotation part of the second rotary arm, and is used for driving the rotation of the rotation part relative to the first rotary arm.

16. The multi-axis robot arm of claim 14, wherein, The third swing arm comprises a main body part, a connecting part and a mounting part, the third swing arm joint part is located in the main body part, the connecting part connects the main body part and the mounting part, the mounting part is in a columnar shape, the axial direction of the columnar shape is perpendicular to the axial direction of the rotation shaft of the third swing arm, the main body of the first rotary arm is in a columnar shape, the main body of the first rotary arm is coaxially connected to the mounting part, and the first rotary arm joint is at least partially mounted in the mounting part. Or The third swing arm comprises a main body part and a mounting part, the third swing arm joint part is located in the main body part, the mounting part is in a columnar shape, the axial direction of the columnar shape is perpendicular to the axial direction of the rotation shaft of the third swing arm, the main body of the first rotary arm is in a columnar shape, the main body of the first rotary arm is coaxially connected to the mounting part, and the first rotary arm joint is at least partially mounted in the mounting part.

17. The multi-axis robot arm of claim 14, wherein, When the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotation shaft of the first rotary arm is perpendicular to the plane in which the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged; or When the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged in the same plane, the central axis of the rotation shaft of the first rotary arm is parallel to the plane in which the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged or is located in the plane in which the central axes of the rotation shafts of the first swing arm, the second swing arm and the third swing arm are arranged.

18. The multi-axis robot arm of claim 14, wherein, The axial direction of the rotation shaft of the first rotary arm is perpendicular to the axial direction of the rotation shaft of the third swing arm, the axial directions of the rotation shafts of the first rotary arm and the second rotary arm are perpendicular, and the rotation angle range of the first rotary arm and the second rotary arm is greater than or equal to 360 degrees.

19. The multi-axis robot arm of claim 1, wherein, The first swing arm is connected with the lifting arm through a rotation shaft of the first swing arm, the first swing arm is driven to rotate relative to the lifting arm, the second swing arm is connected with the first swing arm through a rotation shaft of the second swing arm, the third swing arm is connected with the second swing arm through a rotation shaft of the third swing arm, the rotating arm is directly connected with the third swing arm, the rotating arm comprises a first rotating arm and a second rotating arm, the first rotating arm is directly connected with the third swing arm, the first rotating arm is driven to rotate relative to the third swing arm around a rotation shaft of the first rotating arm, and the rotation shaft of the first rotating arm is not parallel to the rotation shafts of the first swing arm, the second swing arm and the third swing arm in an axial direction, the second rotating arm is connected with the first rotating arm, the second rotating arm is provided with a rotating part, the rotating part is driven to rotate relative to the first rotating arm around a rotation shaft of the rotating part, and the rotation shaft of the rotating part is not parallel to the rotation shaft of the first rotating arm in the axial direction.

20. The multi-axis robot arm of claim 19, wherein, The lifting arm is vertically arranged, the first swing arm, the second swing arm and the third swing arm are horizontally rotated, the first rotating arm is horizontally arranged along an axial direction, and is perpendicular to the rotation shafts of the first swing arm, the second swing arm and the third swing arm, and the rotation shaft of the second rotating arm is perpendicular to the rotation shaft of the first rotating arm in the axial direction.

21. The multi-axis robot arm of claim 19, wherein, The multi-axis robot arm further comprises a first swing arm joint, a second swing arm joint and a third swing arm joint, the rotation shafts of the first swing arm, the second swing arm and the third swing arm are respectively arranged in the first swing arm joint, the second swing arm joint and the third swing arm joint, and the first swing arm joint, the second swing arm joint and the third swing arm joint are respectively provided with a first swing arm driving device, a second swing arm driving device and a third swing arm driving device for driving the rotation shafts of the first swing arm, the second swing arm and the third swing arm to rotate; The first end of the first swing arm is connected with the first end of the lifting arm through a first swing arm joint, the first swing arm joint is arranged in the lifting arm and / or the first swing arm, and is used for driving the first swing arm to rotate relative to the lifting arm, the first end of the second swing arm is connected with the second end of the first swing arm through a second swing arm joint, the second swing arm joint is arranged in the first swing arm and / or the second swing arm, and is used for driving the second swing arm to rotate relative to the first swing arm, and the first end of the third swing arm is connected with the second end of the second swing arm through a third swing arm joint, the third swing arm joint is arranged in the second swing arm and / or the third swing arm, and is used for driving the third swing arm to rotate relative to the second swing arm. The multi-axis robot arm further comprises a first rotary arm joint and a second rotary arm joint, the rotary shafts of the first rotary arm and the second rotary arm are respectively located in the first rotary arm joint and the second rotary arm joint, and the first rotary arm joint and the second rotary arm joint are respectively provided with first rotary driving devices and second rotary driving devices for driving the rotary shaft of the first rotary arm and the rotary part of the second rotary arm to rotate, the first rotary arm is connected to the third swing arm through the first rotary arm joint, the first rotary arm joint is arranged in the third swing arm and / or the first rotary arm, and is used for driving the first rotary arm to rotate relative to the third swing arm, and the second rotary arm joint is arranged in the first rotary arm and / or the second rotary arm, and is connected with the rotary part of the second rotary arm, and is used for driving the rotary part to rotate relative to the first rotary arm. The lifting arm comprises a lifting arm body, a receiving seat and a lifting driving device, the receiving seat is in the shape of a box, the second end of the lifting arm body is installed in the receiving seat, the lifting driving device is also installed in the receiving seat, the lifting driving device is connected with the lifting arm body, the top of the receiving seat is provided with a lifting through hole, the first end of the lifting arm body passes through the lifting through hole and is connected with the first swing arm, and the lifting arm body is lifted relative to the lifting through hole of the receiving seat under the driving of the lifting driving device. The rotary shafts of the first swing arm, the second swing arm and the third swing arm are axially parallel, and the rotary angle ranges of the first swing arm, the second swing arm and the third swing arm are all greater than or equal to 360 degrees.

22. The multi-axis robot arm of claim 1, wherein, The multi-axis robot arm further comprises a translation guide rail and a translation driving device, the lifting arm is installed on the translation guide rail, and the translation driving device is connected with the translation guide rail and drives the lifting arm to translate on the translation guide rail.

23. The multi-axis robot arm of any of claims 3-8 and 19-21, wherein, The multi-axis robot arm further comprises a translation guide rail and a translation driving device, the base is installed on the translation guide rail, and the translation driving device is connected with the translation guide rail and drives the base to translate on the translation guide rail.

24. The multi-axis robot arm of any of claims 9-12, wherein, The lifting arm, the first swing arm, the second swing arm, the third swing arm and the rotary arm all have hollow shells, the rotary shafts of the first swing arm, the second swing arm and the third swing arm also have hollow structures, and the multi-axis robot arm further comprises electric wires and / or air pipes, part of the electric wires and / or air pipes extend from the head end to the tail end of the multi-axis robot arm, pass through the rotary shaft of the first swing arm, the rotary shaft of the second swing arm, the rotary shaft of the third swing arm, and extend to the rotary arm.

25. The multi-axis robot arm of any of claims 1-12, 19-22, wherein, The first swing arm, the second swing arm and the third swing arm all have hollow shells, and at least one of the shells of the first swing arm, the second swing arm and the third swing arm is provided with a detachable upper cover corresponding to the position of the rotary shaft.

26. The multi-axis robot arm of any of claims 1-12, 19-22, wherein, At least one of the first swing arm joint, the second swing arm joint and the third swing arm joint adopts a joint assembly as follows:

27. The multi-axis robot arm of any of claims 3-12 and 19-21, wherein, The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure axially penetrating, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the connecting shaft, and the driving mechanism is arranged in the main output shaft. ​ The connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, the driving mechanism is sleeved outside the connecting shaft and is used for driving the connecting shaft to rotate, then the main output shaft is driven to rotate after being reduced by the speed reduction mechanism; The main output shaft is the rotation shaft of the corresponding first swing arm, second swing arm or third swing arm, and the driving mechanism is the corresponding first swing arm driving device, second swing arm driving device or third swing arm driving device.

28. The multi-axis robot arm of claim 27, wherein, The joint assembly further comprises a brake mechanism and a heat dissipation mechanism, the brake mechanism is matched with the connecting shaft, and is used for stopping the rotation of the connecting shaft when braking, thereby stopping the rotation of the main output shaft, the heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft, the heat dissipation mechanism is provided with a fan blade, and the heat dissipation mechanism, brake mechanism, driving mechanism and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft to the output end of the main output shaft; An end cover is arranged at one end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft, the speed reduction mechanism is a harmonic reducer, the speed reduction mechanism comprises a wave generator, a flexible gear and a rigid gear, the wave generator is sleeved outside the main output shaft and connected with the connecting shaft, the flexible gear is sleeved outside the wave generator, and the rigid gear is sleeved outside the flexible gear and connected with the main output shaft; The heat dissipation mechanism comprises a heat dissipation mounting seat, the heat dissipation mounting seat is sleeved outside the connecting shaft and can rotate with the connecting shaft, and the heat dissipation mounting seat is provided with an annular connecting plate, a plurality of fan blades are arranged on the annular connecting plate in a circumferential direction.

29. The multi-axis robot arm of claim 15, wherein, At least one of the first rotation arm joint and the second rotation arm joint adopts the following joint assembly: The joint assembly comprises a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure in the axial direction, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved outside the connecting shaft and is used for driving the connecting shaft to rotate, then the main output shaft is driven to rotate after being reduced by the speed reduction mechanism. The main output shaft is the rotation shaft of the corresponding first rotation arm or second rotation arm, and the driving mechanism is the corresponding first rotation driving device or second rotation driving device.

30. The multi-axis robot arm of claim 29, wherein, The joint assembly further comprises a brake mechanism and a heat dissipation mechanism, the brake mechanism is matched with the connecting shaft, and is used for stopping the rotation of the connecting shaft when braking, thereby stopping the rotation of the main output shaft, the heat dissipation mechanism is sleeved outside the connecting shaft and can rotate with the connecting shaft, the heat dissipation mechanism is provided with a fan blade, and the heat dissipation mechanism, brake mechanism, driving mechanism and speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft to the output end of the main output shaft; An end cover is arranged at one end of the main output shaft away from the speed reduction mechanism, the end cover is sleeved on the main output shaft, and a first bearing is arranged between the end cover and the main output shaft, the speed reduction mechanism is a harmonic reducer, the speed reduction mechanism comprises a wave generator, a flexible gear and a rigid gear, the wave generator is sleeved on the outside of the main output shaft and connected with the connecting shaft, the flexible gear is sleeved on the outside of the wave generator, and the rigid gear is sleeved on the outside of the flexible gear and connected with the main output shaft; The heat dissipation mechanism comprises a heat dissipation mounting seat, the heat dissipation mounting seat is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, an annular connecting plate is arranged on the heat dissipation mounting seat, and a plurality of fan blades are arranged on the annular connecting plate at intervals in the circumferential direction.

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