Multi-axis robotic arm

Abstract

The present invention provides a multi-axis robotic arm, comprising a base, and a first arm segment, a second arm segment, a third arm segment, a fourth arm segment, and a fifth arm segment which are rotatably connected in sequence from a proximal end to a distal end and mounted on the base. The fifth arm segment is used for mounting a load. The first arm segment is rotatable relative to the base, and the rotating axis direction of the first arm segment is in a first direction. The first arm segment, the second arm segment, and the third arm segment are stacked successively on the same side in a second direction, and the rotating axis directions of the second arm segment and the third arm segment are in the second direction. The rotating axis direction of the fourth arm segment is in the second direction or in a third direction, wherein the second direction is not parallel to the first direction, and the third direction is not parallel to the second direction. The rotating axis direction of the fifth arm segment is not parallel to the rotating axis direction of the fourth arm segment. In the multi-axis robotic arm of embodiments of the present invention, by arranging the first arm segment, the second arm segment, and the third arm segment to be stacked successively on the same side in the second direction, each arm segment does not interfere with a preceding arm segment during operation, thereby achieving a high degree of freedom and flexibility.

Description

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 been widely used in industrial fields, such as carrying, assembling, detecting and other processes. Referring to FIG. 1, a robot arm is recorded in the related art, which includes a base 1, a plurality of robot arm housings 2 and a joint 3 connected between the base 1 and the robot arm housings 2, and the joint 3 is provided with a gas connector 4 and an electrical connector 5. However, the arm segments of such a robot arm cannot rotate 360 degrees, and the rotation range of each other is limited, so such a robot arm is more limited when working in a narrow space.

[0003] SUMMARY

[0004] Therefore, the purpose of the present application is to provide a more flexible multi-axis robot arm.

[0005] The technical solution used by the present application is: a multi-axis robot arm, comprising a base and a first arm segment, a second arm segment, a third arm segment, a fourth arm segment and a fifth arm segment installed on the base and connected in turn from the head to the tail, the fifth arm segment is used for installing a load, the first arm segment is rotatable relative to the base, the rotation axis of the first arm segment is in the first direction, the first arm segment, the second arm segment and the third arm segment are arranged in the same side in the second direction in turn, and the rotation axis of the second arm segment and the third arm segment is in the second direction, the rotation axis of the fourth arm segment is in the second direction or the third direction, the second direction is not parallel to the first direction, the third direction is not parallel to the second direction, the rotation axis of the fifth arm segment is not parallel to the rotation axis of the fourth arm segment, and the first arm segment, the second arm segment, the third arm segment, the fourth arm segment and the fifth arm segment can rotate independently under the driving of the corresponding driving mechanism.

[0006] In the preferred embodiment, the rotation angle range of the first arm segment, the second arm segment and the third arm segment is greater than or equal to 360 degrees, and the rotation angle range of the fourth arm segment and the fifth arm segment is also greater than or equal to 360 degrees.

[0007] In the preferred embodiment, the fifth arm segment is further provided with an externally output mounting rotating part, the rotation axis of the mounting rotating part is not parallel to the rotation axis of the fifth arm segment, and the load is mounted on the mounting rotating part.

[0008] In the preferred embodiment, the first arm segment is rotatably connected to the base, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment and the fifth arm segment are sequentially connected end to end, and the rotation angle range of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment and the mounting rotating part is greater than or equal to 360 degrees.

[0009] In the preferred embodiment, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment and the mounting rotating part can be independently rotated under the driving of the corresponding driving mechanism, and in the first working posture, the rotation axis of the mounting rotating part is coaxial with the rotation axis of the first arm segment.

[0010] In the preferred embodiment, when the second arm segment is rotated to the direction downwardly toward the base, the lower end of the second arm segment has a gap with the first arm segment or the base.

[0011] In the preferred embodiment, the first arm segment is rotatably connected to the base, and the length of the first arm segment is greater than the length of the second arm segment or the second arm segment is located on the outer side of the base along the radial direction of the base.

[0012] In the preferred embodiment, the first arm segment is rotatably connected to the base, the first arm segment has an extension part extending in a first direction and away from the base, the extension part deviates from the center of the rotation axis of the first arm segment in a second direction, the second arm segment is rotatably connected to the extension part, and the second arm segment is located on the side of the extension part close to the center of the rotation axis of the first arm segment in the second direction.

[0013] In the preferred embodiment, the first arm segment further includes a base part, the extension part is connected to one end of the base part, the base part is rotatably connected to the base, the second arm segment is located above the base part, and when the second arm segment is rotated to the direction downwardly toward the base part, a gap is formed between the second arm segment and the upper surface of the base part.

[0014] In the preferred embodiment, the rotation axis of the fourth arm segment is axially along the second direction, and the first arm segment, the second arm segment, the third arm segment and the fourth arm segment are sequentially and laterally stacked along the second direction.

[0015] In the preferred embodiment, the first arm section is rotatably connected to the base, the first arm section comprises a base part and an extension part connected to one end of the base part and extending away from the base in a first direction, the extension part deviates from the center of the rotation axis of the first arm section in a second direction, the base part is rotatably connected to the base, the second arm section is rotatably connected to the extension part, the second arm section is located on the side of the extension part close to the center of the rotation axis of the first arm section in the second direction and above the base part, and when the second arm section rotates downward toward the base part, there is a gap between the second arm section and the upper surface of the base part.

[0016] The base part extends in the second direction, and the length of the base part in the second direction is greater than the sum of the lengths of the second arm section and the third arm section in the second direction; or the base part extends in the second direction, and the length of the base part in the second direction is greater than the sum of the lengths of the second arm section, the third arm section, and the fourth arm section in the second direction.

[0017] In the preferred embodiment, the base, the first arm section, the second arm section, the third arm section, the fourth arm section, and the fifth arm section all have hollow shells, the base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, and the fourth arm section and the fifth arm section are rotatably connected through joint assemblies, the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section, and the fifth arm section are respectively arranged on the joint assemblies between the base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, and the fourth arm section and the fifth arm section, and the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section, and the fifth arm section all have hollow structures, part of the electric wires and / or air pipes pass through the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section, and the fifth arm section in sequence and extend out of the mounting rotating part.

[0018] In the preferred embodiment, the base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, and the fourth arm section and the fifth arm section are rotatably connected through joint assemblies, the fifth arm section is further provided with a joint assembly connected to the mounting rotating part, at least one of the third arm section, the fourth arm section, and the fifth arm section comprises a transverse column and a longitudinal column connected to each other and vertically arranged in the axial direction, independent joint assemblies are respectively arranged in the transverse column and the longitudinal column, the electric wires and / or air pipes pass through one of the transverse column and the longitudinal column and the corresponding joint assembly, enter the other of the transverse column and the longitudinal column and the corresponding joint assembly, and pass out of the other of the transverse column and the longitudinal column; or

[0019] The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are connected by joint assemblies, and the fifth arm segment is provided with a joint assembly connected with the mounting rotating part, the third arm segment, the fourth arm segment and the fifth arm segment each include a transverse column and a longitudinal column which are connected with each other and are perpendicular to each other in the axial direction, the transverse column of the third arm segment is connected with the second arm segment, the longitudinal column of the third arm segment is coaxially arranged with the longitudinal column of the fourth arm segment, the transverse column of the fourth arm segment is coaxially arranged with the transverse column of the fifth arm segment, the mounting rotating part is mounted on the longitudinal column of the fifth arm segment, the joint assembly between the second arm segment and the third arm segment partially extends into the transverse column of the third arm segment, the joint assembly between the third arm segment and the fourth arm segment partially extends into the longitudinal column of the third arm segment and partially extends into the longitudinal column of the fourth arm segment, the joint assembly between the fourth arm segment and the fifth arm segment partially extends into the transverse column of the fourth arm segment and partially extends into the transverse column of the fifth arm segment, the joint assembly provided in the fifth arm segment and connected with the mounting rotating part is mounted on the longitudinal column of the fifth arm segment, and the electric wires and / or the air pipe pass through the joint assemblies between the base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment in sequence and then pass out of the mounting rotating part.

[0020] In the preferred embodiment, the rotation axis of the fourth arm segment is in the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, and the rotation axis of the fifth arm segment is perpendicular to the rotation axis of the fourth arm segment.

[0021] In the preferred embodiment, the base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are connected by joint assemblies, and at least one of the joint assemblies has the following structure:

[0022] The joint assembly includes a main output shaft, a connecting shaft, a driving mechanism and a speed reduction mechanism, the main output shaft is a hollow structure penetrating in the axial direction, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved outside the connecting shaft and is used to drive the connecting shaft to rotate and then drive the main output shaft to rotate through the speed reduction mechanism.

[0023] The main output shaft is the rotation shaft of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment and fifth arm segment, and the driving mechanism is the driving mechanism of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment and fifth arm segment.

[0024] In the preferred embodiment, the joint assembly further comprises a brake mechanism cooperating with the connecting shaft to stop the rotation of the connecting shaft and the main output shaft when braking, the brake mechanism, the driving mechanism and the speed reduction mechanism are sequentially arranged along the axial direction of the main output shaft towards the output end of the main output shaft, 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.

[0025] In the preferred embodiment, 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.

[0026] The joint assembly further comprises a heat dissipation mechanism, the heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, 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 towards the output end of 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 in the circumferential direction.

[0027] In the preferred embodiment, the load is a gripping device, a detection device, a fixing clamp or a connecting device.

[0028] In the preferred embodiment, at least one of the following between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment adopts the sealing structure of the robot arm:

[0029] The sealing structure of the robot arm comprises a front arm, a rear arm and a joint assembly, a first surface of the front arm and a second surface of the rear arm are respectively provided with mounting holes, one end of the joint assembly extends into the front arm from the mounting hole on the first surface of the front arm and is connected with the front arm, the other end of the joint assembly extends into the rear arm from the mounting hole on the second surface of the rear arm and is connected with the rear arm, the front arm and the rear arm can relatively rotate through the joint assembly, and a sealing element is arranged at the joint assembly and between the front arm and the rear arm or between one of the front arm and the rear arm and the joint assembly.

[0030] In the preferred embodiment, a neck is arranged on the mounting hole of the forearm towards the neck of the rear arm, the neck on the forearm is extended into the rear arm by the mounting hole of the rear arm, and the seal is arranged between the side wall of the neck of the forearm and the side wall of the rear arm; or

[0031] The connecting member is arranged on the outer side wall of the joint assembly, and when the joint assembly is connected between the forearm and the rear arm, the joint assembly is mounted on the forearm or the rear arm through the connecting member thereon, and the seal is arranged between the joint assembly and the side wall of the forearm or the rear arm which does not mount the connecting member.

[0032] The multi-axis robot arm of the embodiment of the present application is provided with the first arm segment, the second arm segment and the third arm segment which are arranged in the same side and stacked in sequence along the second direction, so that each arm segment of the multi-axis robot arm does not interfere with the previous arm segment during work, and the multi-axis robot arm has high freedom and flexibility and can complete complex actions in a narrow space. BRIEF DESCRIPTION OF DRAWINGS

[0033] 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 preferred embodiments thereof as illustrated in the accompanying drawings. In the drawings, like reference numerals refer to like elements throughout, and the drawings are not necessarily drawn to scale, emphasis instead being placed upon illustrating the principles of the present application.

[0034] FIG. 1 is a structural schematic diagram of a multi-axis robot arm in the related art.

[0035] FIGS. 2 and 3 are structural schematic diagrams of the multi-axis robot arm in different states according to an embodiment of the present application.

[0036] FIG. 4 is a sectional view of the multi-axis robot arm according to the embodiment of the present application.

[0037] FIG. 5 is a structural schematic diagram of a multi-axis robot arm according to another embodiment of the present application.

[0038] FIG. 6 is a structural schematic diagram of a multi-axis robot arm according to another embodiment of the present application.

[0039] FIG. 7 is a structural schematic diagram of a joint assembly according to an embodiment of the present application.

[0040] FIG. 8 is a sectional view of the joint assembly of FIG. 7.

[0041] FIG. 9 is a structural schematic diagram of a heat dissipation mechanism of the joint assembly of FIG. 8.

[0042] FIG. 10 is a schematic diagram of a sealing structure of a multi-axis robot arm according to an embodiment of the present application.

[0043] FIG. 11 is a schematic diagram of a sealing structure of a multi-axis robot arm according to another embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solutions of the present application will be described in further 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 device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0045] 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 a middle element can exist at the same time. The terms "mount", "one end", "the other end", and the like used in the present application are only for the purpose of illustration.

[0046] Please refer to FIGS. 2-11, the embodiments of the present application provide a multi-axis robot arm, which includes a base 80 and a first arm segment 10, a second arm segment 20, a third arm segment 30, a fourth arm segment 40 and a fifth arm segment 50 mounted on the base 80 and connected in sequence from the head to the tail. That is, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 are mounted as a whole on the base 80, and are rotatably connected between the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50. The multi-axis robot arm is usually installed at a certain position and carries a load 90 (such as a clamp, a detection device, a welding device, etc.) to work. The head end of the multi-axis robot arm referred to herein refers to its mounting end, and the tail end refers to its working end. In the embodiments, the base 80 is used to be installed on the ground, a wall or other working platforms, and the fifth arm segment 50 is used to install the load 90. In embodiments one and two, the fifth arm segment 50 is provided with a mounting rotating part 53 rotatable relative to the rotating shaft of the fifth arm segment 50, and the load 90 is mounted on the mounting rotating part 53. In other embodiments, the load 90 can also be directly fixed on the fifth arm segment 50.

[0047] The first arm segment 10 is rotatable relative to the base 80, and the rotation axis of the first arm segment 10 is in the first direction. In the embodiment, the first arm segment 10 is directly rotatably connected to the base 80, and in other embodiments, a rotating member rotatable relative to the base 80 and having a rotation axis in the first direction can be arranged on the base 80, and the first arm segment 10 is fixed to or rotatably connected to the rotating member, and the first arm segment 10 is rotatable relative to the base 80 and has a rotation axis in the first direction under the driving of the rotating member.

[0048] The first arm segment 10, the second arm segment 20, and the third arm segment 30 are arranged in sequence and on the same side in the second direction, and the rotation axes of the second arm segment 20 and the third arm segment 30 are in the second direction. The first arm segment 10, the second arm segment 20, and the third arm segment 30 are arranged in sequence and on the same side in the second direction, which means that in the second direction, the second arm segment 20 is on one side of the first arm segment 10, and the third arm segment 30 is on the side of the second arm segment 20 away from the first arm segment 10, and the three are connected in layers. For example, in FIG. 4, the first arm segment 10, the second arm segment 20, and the third arm segment 30 are arranged in layers from right to left, the second arm segment 20 is on the left side of the first arm segment 10, and the third arm segment 30 is on the side (left side) of the second arm segment 20 away from the first arm segment 10.

[0049] The rotation axis of the fourth arm segment 40 is in the second direction or the third direction. Please refer to FIGS. 2-4, in embodiment one, the rotation axis of the fourth arm segment 40 is in the third direction. Please refer to FIG. 5, in embodiment two, the rotation axis of the fourth arm segment 40 is in the second direction. The second direction is not parallel to the first direction, and the third direction is not parallel to the second direction. In the embodiment of FIG. 2, the dashed line represents the rotation axis of each arm segment, the first direction is the up-down direction, and the second direction is the horizontal direction. In some postures of the multi-axis robot arm, the third direction can be parallel to the first direction. The rotation axis of the fifth arm segment 50 is not parallel to the rotation axis of the fourth arm segment 40.

[0050] By arranging the first arm segment 10, the second arm segment 20, and the third arm segment 30 in sequence and on the same side in the second direction, the multi-axis robot arm can have high freedom and flexibility, and can complete complex actions in a narrow space without interference with the previous arm segment during work.

[0051] In the preferred embodiment, the rotation angle range of the first arm segment 10, the second arm segment 20, and the third arm segment 30 is greater than or equal to 360 degrees, and the rotation angle range of the fourth arm segment 40 and the fifth arm segment 50 is also greater than or equal to 360 degrees. When the rotation angle range of the first arm segment 10 is equal to 360 degrees, the first arm segment 10 can reciprocally rotate 360 degrees relative to the base 80, and when the rotation angle range is greater than 360 degrees, the first arm segment 10 can continuously rotate in one direction. The second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 have similar rotation conditions as the first arm segment 10. Since each arm segment can rotate 360 degrees or more, the multi-axis robot arm has high degrees of freedom and flexibility, can complete complex actions in a narrow space, and has few blind spots.

[0052] It should be noted that the rotation shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 refer to the rotation shafts of the arm segments relative to the previous arm segment (towards the front end of the multi-axis robot arm), and the rotation angle range refers to the rotation angle range relative to the previous arm segment, and for the first arm segment 10, the rotation angle range is relative to the base 80. The rotation shaft axial direction of the first arm segment 10 is not strictly limited to being parallel to the first direction, and can have a certain angular deviation (for example, 2-10 degrees of deviation). Similarly, the above-mentioned "along the second direction", "along the third direction", and the following "perpendicular" and the like can have a certain angular deviation.

[0053] In the preferred embodiment, the fifth arm segment 50 is further provided with a mounting rotating part 53 that outputs rotation, that is, the mounting rotating part 53 can rotate relative to the body of the fifth arm segment 50, the rotation shaft axial direction of the mounting rotating part 53 is not parallel to the rotation shaft axial direction of the fifth arm segment 50, and the load 90 is mounted on the mounting rotating part 53. The load 90 can be a gripping device, a detection device, a fixed clamp, or a connecting device, etc. By providing the mounting rotating part 53, the load 90 can work more flexibly.

[0054] In the preferred embodiment, the first arm segment 10 is rotatably connected to the base 50, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, and the fifth arm segment 50 are sequentially and end-to-end connected, and the rotation angle range of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50, and the mounting rotating part 53 is greater than or equal to 360 degrees. This arrangement makes the structure of the multi-axis robot arm more flexible and has a larger working radius.

[0055] In the preferred embodiment, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50 and the mounting rotating part 53 can rotate independently under the driving of the corresponding driving mechanism. Specifically, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40, the fifth arm segment 50 and the mounting rotating part 53 are driven by independent joint assemblies 70. Referring to FIG. 4, in the first working posture, the mounting rotating part 53 is coaxial with the first arm segment 10, that is, the mounting rotating part 53 and the first arm segment 10 have the same axial direction of the rotating shaft, and the positions of the rotating shafts are basically consistent. Since the mounting rotating part 53 can be coaxial with the first arm segment 10 in the first working posture, it has almost no blind area when working. For example, in FIG. 4, the mounting rotating part 53 can basically move to any position on the top surface within the working radius of the multi-axis robot arm.

[0056] In the preferred embodiment, when the second arm segment 20 rotates to the direction downward to the base 80, the lower end of the second arm segment 20 has a gap with the first arm segment 10 or the base 80. Through this arrangement, the second arm segment 20 can rotate freely without interference. Specifically, the first arm segment 10 is rotatably connected to the base 80, and the length of the first arm segment 10 is greater than the length of the second arm segment 20 or the second arm segment 20 is located outside the upper end of the base 80 in the radial direction of the base 80 (that is, the outer edge of the upper end connected to the first arm segment 10), so that when the second arm segment 20 rotates to the direction downward to the base 80 (as shown in FIGS. 3 and 5), the lower end of the second arm segment 20 has a gap with the first arm segment 10 or the base 80. Referring to FIG. 4, in embodiment one, the length of the first arm segment 10 is greater than the length of the second arm segment 20. Referring to FIG. 6, in embodiment three, the second arm segment 20 can also be located outside the upper end of the base 80. In this case, even if the length of the first arm segment 10 is less than or equal to the length of the second arm segment 20, when the second arm segment 20 rotates to the direction downward to the base 80, a gap will be formed between the second arm segment 20 and the base 80, and there will be no interference. It should be noted that the second arm segment 20 rotating to the direction downward to the base 80 is described from the perspective of FIGS. 2 to 5. In the actual working scene, since the base 80 can be installed on the wall or other vertical platform, at this time the first direction is the horizontal direction, and the second arm segment 20 rotating to the direction downward to the base 80 actually can be rotating to the left or to the right.

[0057] Please refer to FIG. 2 to FIG. 5, in the preferred embodiment, the first arm segment 10 is rotatably connected to the base 80, the first arm segment 10 has an extension 12 extending in the first direction and away from the base 80 (i.e. extending upward), the extension 12 is offset from the rotation center of the first arm segment 10 in the second direction (i.e. the extension 12 is eccentrically arranged). The second arm segment 20 is rotatably connected to the extension 12, the second arm segment 20 is located on the side of the extension 12 close to the rotation center of the first arm segment 10 in the second direction (i.e. the left side in FIG. 4). By such arrangement, the structure of the first arm segment 10 and the second arm segment 20 is relatively compact, occupies less space, and the center of gravity is stable, which is suitable for operation in a narrow space.

[0058] In further preferred embodiments, the first arm segment 10 further comprises a base portion 11, the extension 12 is connected to one end of the base portion 11, the base portion 11 is rotatably connected to the base 80, and the second arm segment 20 is rotatably connected to the extension 12. The second arm segment 20 is located above the base portion 11, and when the second arm segment 20 rotates downward toward the base portion 11, there is a gap between the second arm segment 20 and the upper surface of the base portion 11. By such arrangement, the first arm segment 10 does not block the rotation of the second arm segment 20 by 360 degrees or more.

[0059] Please refer to FIG. 5, in the second embodiment, the rotation axis of the fourth arm segment 40 is also in the second direction, and the first arm segment 10, the second arm segment 20, the third arm segment 30, and the fourth arm segment 40 are sequentially and laterally arranged in the second direction.

[0060] In further preferred embodiments, the first arm segment 10 is rotatably connected to the base 80. The first arm segment 10 comprises a base portion 11 and an extension 12 connected to one end of the base portion 11 and extending in the first direction and away from the base 80 (i.e. extending upward), the extension 12 is offset from the rotation center of the first arm segment 10 in the second direction, the base portion 11 is rotatably connected to the base 80, and the second arm segment 20 is rotatably connected to the extension 12. The second arm segment 20 is located on the side of the extension 12 close to the rotation center of the first arm segment 10 in the second direction (i.e. the left side in FIG. 4) and above the base portion 11, and when the second arm segment 20 rotates downward toward the base portion 11, there is a gap between the second arm segment 20 and the upper surface of the base portion 11. The base portion 11 extends in the second direction, and the length of the base portion 11 in the second direction is greater than the sum of the lengths of the second arm segment 20 and the third arm segment 30 in the second direction; or the base portion 11 extends in the second direction, and the length of the base portion 11 in the second direction is greater than the sum of the lengths of the second arm segment 20, the third arm segment 30, and the fourth arm segment 40 in the second direction. Such arrangement makes the structure of the multi-axis robot arm more compact and easy to operate in a narrow space.

[0061] Please refer to FIG. 2 to 4, in the first embodiment, the rotation axis of the fourth arm segment 40 is in the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, the rotation axis of the fifth arm segment 50 is perpendicular to the rotation axis of the fourth arm segment 40, and the rotation axis of the mounting rotating part 53 is perpendicular to the rotation axis of the fifth arm segment 50. By this arrangement, the structure of the multi-axis robot arm is more flexible, and it is easy to move in a narrow space.

[0062] Please refer to FIG. 4, the base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, the fourth arm segment 40 and the fifth arm segment 50 are connected by the joint assembly 70, and the fifth arm segment 50 is also provided with the joint assembly 70 connected with the mounting rotating part 53. At least one of the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 includes a transverse column and a longitudinal column which are connected with each other and perpendicular to each other. Please refer to FIG. 2, in the first embodiment, the third arm segment 30 includes a transverse column 31 and a longitudinal column 32, and the fourth arm segment 40 and the fifth arm segment 50 also include a transverse column and a longitudinal column. Please refer to FIG. 5, in the second embodiment, the fourth arm segment 40 and the fifth arm segment 50 include a transverse column and a longitudinal column, and the third arm segment 30 is not composed of a transverse column and a longitudinal column. In other embodiments, only one of the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 can have a transverse column and a longitudinal column. The transverse column and the longitudinal column are respectively provided with independent joint assemblies 70, the electric wire and / or the gas pipe 60 pass through one of the transverse column and the longitudinal column and the corresponding joint assembly 70, enter the other of the transverse column and the longitudinal column and the corresponding joint assembly 70, and pass out from the other of the transverse column and the longitudinal column. The electric wire is used to supply power for the electrical components (such as the joint assembly 70) in each arm segment, and the gas pipe is used to supply gas for the gas load carried by the multi-axis robot arm. In some embodiments, the gas pipe can also not be provided. By the combination of the transverse column and the longitudinal column, the structure of the multi-axis robot arm is more compact, and the electric wire and / or the gas pipe 60 are all inside the arm segment, so it is very suitable for working in a narrow space.

[0063] Please refer to Fig. 3, in another embodiment, the base 80 is rotatably connected with the first arm segment 10 through the joint assembly 70, the first arm segment 10 is rotatably connected with the second arm segment 20 through the joint assembly 70, the second arm segment 20 is rotatably connected with the third arm segment 30 through the joint assembly 70, the third arm segment 30 is rotatably connected with the fourth arm segment 40 through the joint assembly 70, the fourth arm segment 40 is rotatably connected with the fifth arm segment 50 through the joint assembly 70, and the joint assembly 70 connected with the mounting rotating part 53 is arranged in the fifth arm segment 50. The third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 each comprise a transverse column and a longitudinal column which are connected with each other and vertically arranged in axial direction, the transverse column 31 of the third arm segment 30 is rotatably connected with the second arm segment 20, the longitudinal column 32 of the third arm segment 30 is rotatably connected with the longitudinal column of the fourth arm segment 40 and coaxially arranged, the transverse column of the fourth arm segment 40 is rotatably connected with the transverse column of the fifth arm segment 50 and coaxially arranged, and the mounting rotating part 53 is mounted on the longitudinal column of the fifth arm segment 50. The joint assembly 70 between the second arm segment 20 and the third arm segment 30 partly extends into the transverse column 31 of the third arm segment 30, the joint assembly 70 between the third arm segment 30 and the fourth arm segment 40 partly extends into the longitudinal column 32 of the third arm segment 30 and partly extends into the longitudinal column of the fourth arm segment 40, the joint assembly 70 between the fourth arm segment 40 and the fifth arm segment 50 partly extends into the transverse column of the fourth arm segment 40 and partly extends into the transverse column of the fifth arm segment 50, and the joint assembly 70 connected with the mounting rotating part 53 arranged in the fifth arm segment 50 is mounted on the longitudinal column of the fifth arm segment 50. The part of the electric wire and / or the air pipe 60 extends through the joint assembly between the base 80 and the first arm segment 10, the joint assembly between the first arm segment 10 and the second arm segment 20, the joint assembly between the second arm segment 20 and the third arm segment 30, the joint assembly between the third arm segment 30 and the fourth arm segment 40, the joint assembly between the fourth arm segment 40 and the fifth arm segment 50, and the joint assembly connected with the mounting rotating part 53 arranged in the fifth arm segment 50, and then extends out of the mounting rotating part 53. The part of the electric wire and / or the air pipe 60 is because a part of the electric wire and the air pipe 60 (for example, the electric wire connected with the first arm segment 20) can not extend to the fifth arm segment 50. By this wiring mode, the structure of the multi-axis robot arm can be more simple and safer.

[0064] Please refer to FIG. 4, in the preferred embodiment, the base 80, the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 all have hollow shells, and the base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, the fourth arm segment 40 and the fifth arm segment 50 are all connected by the joint assembly 70. The rotation shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 are arranged on the joint assembly 70 between the base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, the fourth arm segment 40 and the fifth arm segment 50, specifically, it is the main output shaft in the joint assembly 70. And the rotation shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 are all hollow structures, part of the wires and / or air pipes 60 pass through the rotation shafts of the first arm segment 10, the second arm segment 20, the third arm segment 30, the fourth arm segment 40 and the fifth arm segment 50 in turn, and extend from the installation rotating part 53. Through this wiring mode, the structure of the multi-axis robot arm can be more simple and safe.

[0065] The base 80 and the first arm segment 10, the first arm segment 10 and the second arm segment 20, the second arm segment 20 and the third arm segment 30, the third arm segment 30 and the fourth arm segment 40, the fourth arm segment 40 and the fifth arm segment 50 are all connected by the joint assembly 70, and at least one of the joint assemblies 70 has the following structure.

[0066] Please refer to FIGS. 7-9, 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 an electric cable and an air pipe 900 can pass. The output end of the main output shaft 701 is provided with a flange for connecting with a 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 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 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 after being reduced in speed by 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 an electric cable, an air pipe and the like can pass to realize electrical connection, so that the electric cable, the air pipe and the like of the robot arm are not exposed, thereby making the internal structure of the robot arm compact and the appearance neat and beautiful.

[0067] It can be understood that when the joint assembly 70 is used between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50, the main output shaft 701 is the rotation shaft of the corresponding first arm segment 10, second arm segment 20, third arm segment 30, fourth arm segment 40 and fifth arm segment 50, and the driving mechanism 704 is the driving mechanism of the corresponding first arm segment 10, second arm segment 20, third arm segment 30, fourth arm segment 40 and fifth arm segment 50.

[0068] In the preferred embodiment, the joint assembly 70 further comprises a brake mechanism 705, which cooperates with the connecting shaft 702 to stop the rotation of the connecting shaft 702 and the main output shaft 701 when braking. 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 towards the output end of the main output shaft 703, i.e. sequentially arranged from bottom to top in the perspective of FIG. 8. Such arrangement makes the structure of the joint assembly 70 very compact and small in size. 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 load capacity of the joint assembly 70 and make it more durable.

[0069] In the preferred embodiment, 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 and 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.

[0070] The joint assembly 70 further comprises a heat dissipation mechanism 706, which is sleeved on the outside of the connecting shaft 702 and can rotate with the connecting shaft 702 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 towards the output end of the main output shaft 703. 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, which is provided with a plurality of fan blades 7062 at intervals along the circumferential direction thereof. By providing the heat dissipation mechanism 706, the fan blades 7062 can generate wind power to quickly dissipate the heat generated by the internal operation of the joint assembly 70. A plurality of heat dissipation holes can be provided on the end cover 707. The hot air flow generated by the rotation of the fan blades 7062 can quickly flow out of the heat dissipation holes to the outside of the joint assembly 70, thereby ensuring the normal operation of the joint assembly 70.

[0071] Please refer to FIG. 10 and FIG. 11. In the preferred embodiment, at least one of the following sealing structures is adopted between the base 80 and the first arm segment 10, between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50.

[0072] The sealing structure of the robot arm comprises the forearm 200, the rear arm 100 and the joint assembly 70, the first surface of the forearm 200 and the second surface of the rear arm 100 are respectively provided with mounting holes (the mounting hole 201 on the forearm 200 and the mounting hole 101 on the rear arm 100), one end of the joint assembly 70 extends into the forearm 200 from the mounting hole 201 on the first surface of the forearm 200 and is connected with the forearm 200, and the other end of the joint assembly 70 extends into the rear arm 100 from the mounting hole 101 on the second surface of the rear arm 100 and is connected with the rear arm 100. The structure of the joint assembly 70 can refer to the description of the joint assembly 70 described above. Specifically, the housing of the driving mechanism 704 of the joint assembly 70 can be fixed on the forearm 200, and the main output shaft 701 of the joint assembly 70 can be connected with the rear arm 100. The forearm 200 and the rear arm 100 can be relatively rotated through the joint assembly 70. When the base 80 and the first arm segment 10 are provided with the sealing structure of the robot arm described above, the base 80 can be the forearm 200, the first arm segment 10 can be the rear arm 100, and by analogy, it can be applied to the sealing structure between the first arm segment 10 and the second arm segment 20, between the second arm segment 20 and the third arm segment 30, between the third arm segment 30 and the fourth arm segment 40, and between the fourth arm segment 40 and the fifth arm segment 50. The sealing member 300 is arranged at the joint assembly 70 and between the forearm 200 and the rear arm 100 or between one of the forearm 200 and the rear arm 100 and the joint assembly 70. The sealing member 300 can be an O-shaped sealing ring.

[0073] The sealing structure of the robot arm can effectively prevent the moisture, dust and other sundries in the outside from entering the inside of the robot arm from the movement connection between adjacent arm segments, so as to improve the sealing performance of the inside of the robot arm, protect the precise components in the inside of the robot arm, ensure the normal operation of the robot arm and prolong the service life of the robot arm.

[0074] Please refer to FIG. 10, in the preferred embodiment, the neck 202 towards the rear arm 100 is arranged at the mounting hole 201 of the forearm 200, the neck 202 on the forearm 200 extends into the rear arm 100 from the mounting hole 101 of the rear arm 100, and the sealing member 300 is arranged between the outer side wall of the neck 202 of the forearm 200 and the inner side wall of the rear arm 100.

[0075] Please refer to Fig. 11, in another embodiment, the joint assembly 70 is provided with a connecting member 71 on the outer side wall, when connecting the joint assembly 70 between the front arm 200 and the rear arm 100, the joint assembly 70 is installed on the front arm 200 or the rear arm 100 through the connecting member 71 thereon, and a sealing member 300 is arranged between the joint assembly 70 and the side wall of the front arm 200 or the rear arm 100 which is not provided with the connecting member 71. Specifically, in Fig. 10, the connecting member 71 is connected with the top end of the front arm 200, and the top end of the front arm 200 is inserted into the mounting hole 101 of the rear arm 100, and a sealing member 300 is arranged between the joint assembly 70 and the inner side wall of the rear arm 100. In other embodiments, the connecting member 71 can also be connected with the inner side wall of the rear arm 100, and at this time, a sealing member 300 is arranged between the joint assembly 70 and the front arm 200.

[0076] In the present specification, unless specifically defined and limited otherwise, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact with an intermediate medium. Moreover, the first feature can be "over", "above", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature can be "under", "below", and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0077] In the description of the present specification, the description of the terms "preferred embodiment", "further embodiment", "other embodiments", "specific example" or the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction.

[0078] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A multi-axis robot arm comprising a base and first, second, third, fourth and fifth arm segments mounted on the base and connected in series rotationally from head to tail, the fifth arm segment being for mounting a load, the first arm segment being rotatable relative to the base, the rotation axis of the first arm segment being axially in a first direction, characterised in that, The first arm segment, the second arm segment, and the third arm segment are sequentially and laterally stacked along a second direction, and the rotation axis direction of the second arm segment and the third arm segment is along the second direction, the rotation axis direction of the fourth arm segment is along the second direction or a third direction, the second direction is not parallel to the first direction, the third direction is not parallel to the second direction, the rotation axis direction of the fifth arm segment is not parallel to the rotation axis direction of the fourth arm segment, and the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment can independently rotate under the driving of the corresponding driving mechanism.

2. The multi-axis robot arm of claim 1, wherein, The rotation angle range of the first arm segment, the second arm segment, and the third arm segment is greater than or equal to 360 degrees, and the rotation angle range of the fourth arm segment and the fifth arm segment is also greater than or equal to 360 degrees.

3. The multi-axis robot arm of claim 1, wherein, The fifth arm segment is further provided with an externally output mounting rotating part, the rotation axis direction of the mounting rotating part is not parallel to the rotation axis direction of the fifth arm segment, and the load is mounted on the mounting rotating part.

4. The multi-axis robot arm of claim 3, wherein, The first arm segment is rotatably connected to the base, the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, and the fifth arm segment are sequentially and end-to-end connected, and the rotation angle range of the first arm segment, the second arm segment, the third arm segment, the fourth arm segment, the fifth arm segment, and the mounting rotating part is greater than or equal to 360 degrees.

5. The multi-axis robot arm of claim 3, wherein, The mounting rotating part can independently rotate under the driving of the driving mechanism, and in the first working posture, the rotation axis of the mounting rotating part is coaxial with the rotation axis of the first arm segment.

6. The multi-axis robot arm of claim 1, wherein, When the second arm segment rotates to a direction downwardly toward the base, a gap is formed between the lower end of the second arm segment and the first arm segment or the base.

7. The multi-axis robot arm of claim 6, wherein, The first arm segment is rotatably connected to the base, and the length of the first arm segment is greater than the length of the second arm segment or the second arm segment is located on the outer side of the base along the radial direction of the base.

8. The multi-axis robot arm of claim 1, wherein, The first arm segment is rotatably connected to the base, the first arm segment has an extension part extending along the first direction and away from the base, the extension part deviates from the rotation axis center of the first arm segment in the second direction, the second arm segment is rotatably connected to the extension part, and the second arm segment is located on the side of the extension part close to the rotation axis center of the first arm segment along the second direction.

9. The multi-axis robot arm of claim 8, wherein, The first arm segment further includes a base part, the extension part is connected to one end of the base part, the base part is rotatably connected to the base, the second arm segment is located above the base part, and when the second arm segment rotates to a direction downwardly toward the base part, a gap is formed between the second arm segment and the upper surface of the base part.

10. The multi-axis robot arm of claim 1, wherein, The rotation axis direction of the fourth arm segment is along the second direction, and the first arm segment, the second arm segment, the third arm segment, and the fourth arm segment are sequentially and laterally stacked along the second direction.

11. The multi-axis robot arm of claim 10, wherein, The first arm section is rotatably connected to the base, and includes a base part and an extension part connected to one end of the base part and extending away from the base in a first direction, the extension part deviating from the center of the rotation axis of the first arm section in a second direction, the base part is rotatably connected to the base, the second arm section is rotatably connected to the extension part, the second arm section is located on the side of the extension part close to the center of the rotation axis of the first arm section in the second direction and above the base part, and a gap is formed between the upper surface of the base part and the second arm section when the second arm section is rotated downward toward the base part. The base part extends in the second direction, and the length of the base part in the second direction is greater than the sum of the lengths of the second arm section and the third arm section in the second direction; or the base part extends in the second direction, and the length of the base part in the second direction is greater than the sum of the lengths of the second arm section, the third arm section and the fourth arm section in the second direction.

12. The multi-axis robot arm of claim 3, wherein, The base, the first arm section, the second arm section, the third arm section, the fourth arm section and the fifth arm section all have hollow housings, and the base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, the fourth arm section and the fifth arm section are rotatably connected through joint assemblies, the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section and the fifth arm section are arranged on the joint assemblies between the base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, the fourth arm section and the fifth arm section, and the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section and the fifth arm section all have hollow structures, and part of the electric wires and / or air pipes pass through the rotation axes of the first arm section, the second arm section, the third arm section, the fourth arm section and the fifth arm section in sequence and extend out of the mounting rotating part.

13. The multi-axis robot arm of claim 3, wherein, The base and the first arm section, the first arm section and the second arm section, the second arm section and the third arm section, the third arm section and the fourth arm section, the fourth arm section and the fifth arm section are rotatably connected through joint assemblies, the fifth arm section is further provided with a joint assembly connected to the mounting rotating part, at least one of the third arm section, the fourth arm section and the fifth arm section includes a transverse column and a longitudinal column connected to each other and axially perpendicular, and independent joint assemblies are arranged in the transverse column and the longitudinal column, respectively, the electric wires and / or air pipes pass through one of the transverse column and the longitudinal column and the corresponding joint assembly, enter the other of the transverse column and the longitudinal column and the corresponding joint assembly, and pass out of the other of the transverse column and the longitudinal column; or The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are connected through the joint assembly, the fifth arm segment is provided with a joint assembly connected with the mounting rotating part, the third arm segment, the fourth arm segment and the fifth arm segment comprise the transverse column and the longitudinal column which are connected with each other and are perpendicular to the axial direction, the transverse column of the third arm segment is connected with the second arm segment, the longitudinal column of the third arm segment is coaxially arranged with the longitudinal column of the fourth arm segment, the transverse column of the fourth arm segment is coaxially arranged with the transverse column of the fifth arm segment, the mounting rotating part is mounted on the longitudinal column of the fifth arm segment, the joint assembly between the second arm segment and the third arm segment is partially arranged in the transverse column of the third arm segment, the joint assembly between the third arm segment and the fourth arm segment is partially arranged in the longitudinal column of the third arm segment and partially arranged in the longitudinal column of the fourth arm segment, the joint assembly between the fourth arm segment and the fifth arm segment is partially arranged in the transverse column of the fourth arm segment and partially arranged in the transverse column of the fifth arm segment, the joint assembly arranged in the fifth arm segment and connected with the mounting rotating part is mounted on the longitudinal column of the fifth arm segment, the part of electric wire and / or air pipe is arranged in the joint assembly between the base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment, and is drawn out from the mounting rotating part. The rotation axis of the fourth arm segment is along the third direction, the second direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, and the rotation axis of the fifth arm segment is perpendicular to the rotation axis of the fourth arm segment.

14. The multi-axis robot arm of any of claims 1-9, 12, wherein, The base and the first arm segment, the first arm segment and the second arm segment, the second arm segment and the third arm segment, the third arm segment and the fourth arm segment, the fourth arm segment and the fifth arm segment are connected through the joint assembly, at least one of the joint assemblies has the following structure:

15. The multi-axis robot arm of any one of claims 1 to 11, 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 penetrating through the axial direction, the connecting shaft is sleeved outside the main output shaft, the speed reduction mechanism is sleeved outside the main output shaft, the connecting shaft is connected with the input end of the speed reduction mechanism, the output end of the speed reduction mechanism is connected with the main output shaft, and the driving mechanism is sleeved outside the connecting shaft and used for driving the connecting shaft to rotate and then driving the main output shaft to rotate through the speed reduction mechanism. The main output shaft is the rotation axis of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment and fifth arm segment, and the driving mechanism is the driving mechanism of the corresponding first arm segment, second arm segment, third arm segment, fourth arm segment and fifth arm segment. ​ 16. The multi-axis robot arm of claim 15, wherein, The joint assembly further comprises a brake mechanism matched with the connecting shaft for stopping the rotation of the connecting shaft and the main output shaft when braking, 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, 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.

17. The multi-axis robot arm of claim 15, wherein, 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 joint assembly further comprises a heat dissipation mechanism, the heat dissipation mechanism is sleeved on the outside of the connecting shaft and can rotate with the connecting shaft, 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; 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 in the circumferential direction. The load is a grabbing device, a detection device, a fixing clamp or a connecting device.

18. The multi-axis robot arm of any one of claims 1 to 11, wherein, At least one of the following sealing structures is arranged between the base and the first arm segment, between the first arm segment and the second arm segment, between the second arm segment and the third arm segment, between the third arm segment and the fourth arm segment, and between the fourth arm segment and the fifth arm segment:

19. The multi-axis robot arm of any one of claims 1 to 11, wherein, The sealing structure of the machine arm comprises a front arm, a rear arm and a joint assembly, a first surface of the front arm and a second surface of the rear arm are respectively provided with mounting holes, one end of the joint assembly extends into the front arm from the mounting hole on the first surface of the front arm and is connected with the front arm, the other end of the joint assembly extends into the rear arm from the mounting hole on the second surface of the rear arm and is connected with the rear arm, the front arm and the rear arm can relatively rotate through the joint assembly, and a sealing element is arranged at the joint assembly and between the front arm and the rear arm or between one of the front arm and the rear arm and the joint assembly. A neck portion of the front arm is arranged towards the rear arm at the mounting hole of the front arm, the neck portion of the front arm extends into the rear arm from the mounting hole of the rear arm, and the sealing element is arranged between the side wall of the neck portion of the front arm and the side wall of the rear arm; or 20. The multi-axis robot arm of claim 19, wherein: A connecting piece is arranged on the outer side wall of the joint assembly, when the joint assembly is connected between the front arm and the rear arm, the joint assembly is installed on the front arm or the rear arm through the connecting piece arranged thereon, and the sealing element is arranged between the joint assembly and the side wall of the front arm or the rear arm which does not have the connecting piece. ​

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