CN110154080B - Joint drive module, seven-axis robotic arm and robot - Google Patents

Abstract

The invention provides a joint driving module, a seven-axis mechanical arm and a robot, wherein a first stator winding and a second stator winding are respectively arranged on the radial inner side and the radial outer side of a rotor winding of a motor rotor, and the driving motor adopts a double-winding motor, so that larger torque can be provided under the same size, and the joint driving module can achieve larger rotating speed and torque under the smaller size; namely, the first joint, the fifth joint and the seventh joint are set as rotating joints, the second joint, the third joint, the fourth joint and the sixth joint are set as swinging joints, and the arrangement mode can ensure enough arm expansion and coverage area of the robot, can avoid overlong size of a single arm pipe, particularly the size of the second to fifth mechanical arms, can flexibly realize various complex actions, thereby expanding flexible detection coverage area and improving application effect of the robot in a narrow space.

Description

Joint drive module, seven-axis robotic arm and robot

Technical field

The invention belongs to the field of robotic arms, and in particular relates to a joint drive module, a seven-axis robotic arm and a robot.

Background technique

Articulated robots are driven by motors with the same number of degrees of freedom. Collaborative robots and small compact robots often install motors at corresponding joint positions, eliminating the need for long-distance transmission mechanisms. Existing robots of this type have large joints and thick and straight arms, making the robot inflexible and unsuitable for use in narrow spaces, and it is difficult to improve its functional parameters.

At present, collaborative robots and small compact robot joints use motors and reducers as joint drive modules. Some highly integrated drive modules are also equipped with encoders, drive circuit boards, torque sensors, etc. Due to the speed reducer, the entire joint module is larger in size, which in turn results in a larger joint size in the entire robotic arm and a lower joint speed. And if this kind of module is not equipped with a reducer, the ordinary joint motor used will have insufficient torque. That is to say, for the joint motor module in the prior art, when the size is limited, the torque and the rotation speed are inversely related, which greatly affects the performance of the robot; and in the prior art, the 7-axis joint In all robots, the first joint, the third joint, the fifth joint and the seventh joint are set as rotating joints, and the second joint, the fourth joint and the sixth joint are set as swing joints. This arrangement causes the robot's big arm to and forearm size are longer.

In view of this, it is necessary to provide a joint drive module, a seven-axis robotic arm and a robot to solve the main technical problems faced in the existing technology.

Contents of the invention

In view of the above technical problems, the present invention proposes a joint drive module, a seven-axis mechanical arm and a robot to solve the above technical problems.

In order to achieve the above objects, the technical solutions adopted by the present invention are:

A joint drive module includes a first joint module and a second joint module, the first joint module includes a drive motor, the drive motor includes a motor rotor and a motor stator; the motor rotor includes a rotor base, a rotor shaft and a Rotor winding, the rotor shaft and the rotor winding are coaxially arranged and fixedly connected to the rotor base respectively; the motor stator includes a stator base and a stator winding, the stator winding is fixedly connected to the stator base ;

The rotor shaft is sleeved at the center of the stator base and the second joint module; wherein, the rotor shaft is rotationally connected to the stator base, and the rotor shaft is fixedly connected to the second joint module, A gap is set between the stator base and the second joint module;

The stator winding includes a first stator winding and a second stator winding, and the stator base is provided with an annular open cavity; the first stator winding, the second stator winding and the rotor winding are coaxial is arranged in the annular open cavity; wherein the first stator winding is arranged radially inside the rotor winding, the second stator winding is arranged radially outside the rotor winding, and the third stator winding is arranged radially inside the rotor winding. Both the stator winding and the second stator winding are arranged with a gap from the rotor winding.

Preferably, the first joint module further includes an encoder for detecting and recording angle information and position information of the joint drive module, and the encoder is fixedly connected to the rotor shaft and the stator base respectively; The second joint module includes a joint module body and a joint drive controller. The joint drive controller is installed on the joint module body; the joint drive controller is electrically connected to the encoder to read the joint Angle information and position information of the drive module.

Preferably, the annular open chamber includes a first annular side wall and a second annular side wall, the first annular side wall and the second annular side wall are coaxially arranged with the rotor shaft, and the first annular side wall is arranged radially inside the second annular side wall; the opening direction of the annular open chamber is arranged away from the second joint module, and at the opening of the annular open chamber, the second annular The side wall is protrudingly disposed relative to the first annular side wall; the rotor base is disposed at an axial end of the rotor shaft away from the second joint module, and is disposed opposite to the opening of the annular open chamber. ; The rotor shaft is rotationally connected to the first annular side wall, and the rotor base is rotationally connected to the second annular side wall.

Preferably, the joint module body is provided with a central through hole, the rotor rotating shaft is coaxially arranged with the second joint module through the central through hole, and the rotor rotating shaft is a hollow rotating shaft.

Preferably, a bearing is provided between the rotor shaft and the first annular side wall and between the rotor base and the second annular side wall.

Preferably, a cover is installed at the opening of the annular open chamber, and the cover is fixedly connected to the second annular side wall.

A seven-axis robotic arm includes the above-mentioned joint drive module, and also includes a base, a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm, a fifth robotic arm, and a sixth robotic arm; wherein , between the base and the first robotic arm, between the first robotic arm and the second robotic arm, between the second robotic arm and the third robotic arm, between the third robotic arm and the fourth robotic arm, between the fourth robotic arm and the fifth robotic arm, between the fifth robotic arm and the sixth robotic arm, and between the sixth robotic arm and the sixth robotic arm. The joint drive module is installed at the end of the robotic arm.

Preferably, between the base and the first robotic arm, between the first robotic arm and the second robotic arm, between the second robotic arm and the third robotic arm, between the third robotic arm and the fourth robotic arm, between the fourth robotic arm and the fifth robotic arm, between the fifth robotic arm and the sixth robotic arm, and between the The joint drive modules installed at the end of the sixth robotic arm are respectively defined as a first joint drive module, a second joint drive module, a third joint drive module, a fourth joint drive module, a fifth joint drive module, and a sixth joint drive module. module and the seventh joint drive module; when the base, the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm and the When the central axes of the sixth robotic arm are parallel, the rotor shafts of the first joint drive module, the fifth joint drive module and the seventh joint drive module are arranged in parallel, and the second joint drive module, The rotor shafts of the third joint drive module, the fourth joint drive module and the sixth joint drive module are arranged in parallel, and the first joint drive module, the fifth joint drive module and the seventh joint drive module are arranged in parallel. The rotor rotating shaft of the module is arranged perpendicularly to the rotor rotating shafts of the second joint driving module, the third joint driving module, the fourth joint driving module and the sixth joint driving module.

Preferably, the arm length ratio of the second robotic arm, the third robotic arm, the fourth robotic arm, the fifth robotic arm and the sixth robotic arm is 5:5:3:2: 2.

A robot includes the above-mentioned seven-axis mechanical arm.

The advantages and positive effects of the present invention are:

1. The joint drive module, seven-axis robotic arm and robot of the present invention are provided with a first stator winding and a second stator winding respectively radially inside and radially outside the rotor winding of the motor rotor, The drive motor adopts a double-winding motor, which can provide greater torque under the same size, so that the joint drive module can achieve greater rotation speed and torque under smaller size;

2. In the joint drive module, seven-axis robotic arm and robot of the present invention, the rotor shaft is set as a hollow shaft, and the first to sixth robotic arms of the seven-axis robotic arm use a hollow tubular structure. The load wire is routed internally through the hollow shaft and hollow tube;

3. The seven-axis robotic arm and robot of the present invention, when the base, the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm, the When the central axes of the fifth robotic arm and the sixth robotic arm are parallel (also called the fully extended state), all the joint drive modules of the first joint drive module, the fifth joint drive module, and the seventh joint drive module The rotor shafts are arranged in parallel, the rotor shafts of the second joint drive module, the third joint drive module, the fourth joint drive module and the sixth joint drive module are arranged in parallel, and the first joint drive module, The rotor shafts of the fifth joint drive module and the seventh joint drive module and all of the second joint drive module, the third joint drive module, the fourth joint drive module and the sixth joint drive module The rotor shaft is set vertically, that is, the first joint, the fifth joint, and the seventh joint are set as rotating joints, and the second joint, the third joint, the fourth joint, and the sixth joint are set as swing joints. Compared with the existing In the technical seven-axis articulated robots, the first joint, the third joint, the fifth joint and the seventh joint are set as rotation joints and the second joint, the fourth joint and the sixth joint are set as swing joints. This arrangement is This arrangement allows the robot to ensure sufficient arm span and coverage, while also preventing the size of a single arm tube from being too long, especially the size of the second to fifth robotic arms, which can flexibly realize various complex actions, thereby expanding flexibility The detection coverage can also improve the application effect of robots in narrow spaces.

Description of the drawings

Figure 1 is a schematic structural diagram of a joint drive module according to the present invention;

Figure 2 is a cross-sectional view of the seven-axis robotic arm of the present invention;

Figure 3 is a schematic structural diagram of the seven-axis robotic arm of the present invention in a fully extended state;

In the figure: 1. First joint module; 111. Rotor base; 112. Rotor shaft; 113. Rotor winding; 121. Stator base; 1211. Annular open chamber; 1212. First annular side wall; 1213. Second annular side wall; 122, first stator winding; 123, second stator winding; 13, encoder; 14, bearing; 2, second joint module; 21, joint module body; 22, joint drive controller; 31. Base; 311. First joint drive module; 32. First mechanical arm; 321. Second joint drive module; 33. Second mechanical arm; 331. Third joint drive module; 34. Third mechanical arm; 341. The fourth joint drive module; 35. The fourth mechanical arm; 351. The fifth joint drive module; 36. The fifth mechanical arm; 361. The sixth joint drive module; 37. The sixth mechanical arm; 371. The seventh joint Drive module; 38. Joint sealing ring; 39. Joint buckle cover.

Detailed ways

Below, the present invention is described in detail through exemplary embodiments. It is to be understood, however, that elements, structures, and features of one embodiment may be beneficially combined in other embodiments without further recitation.

In the description of the present invention, it should be noted that the circumferential direction of the object is the circumferential direction, the direction along the radius is the radial direction, and the axis direction of the rotating shaft is the axial direction; the terms "inner", "outer", "upper", " The orientations or positional relationships indicated by "down", "front", "back", etc. are based on the positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must be Has a specific orientation, is constructed and operates in a specific orientation and is therefore not to be construed as limiting the invention. Furthermore, the terms “first”, “second” and “third” are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

A joint drive module includes a first joint module 1 and a second joint module 2. The first joint module 1 includes a drive motor, and the drive motor includes a motor rotor and a motor stator; the motor rotor includes a rotor base 111 , the rotor shaft 112 and the rotor winding 113. The rotor shaft 112 and the rotor winding 113 are coaxially arranged and fixedly connected to the rotor base 111 respectively; preferably, the rotor shaft 112 and the rotor base 111 Integrated molding arrangement; the motor stator includes a stator base 121 and a stator winding, and the stator winding is fixedly connected to the stator base 121;

The rotor rotating shaft 112 is sleeved at the center of the stator base 121 and the second joint module 2; wherein, the rotor rotating shaft 112 is rotationally connected with the stator base 121, and the rotor rotating shaft 112 is connected with the third joint module 2. The two joint modules 2 are fixedly connected, and the stator base 121 and the second joint module 2 are provided with a gap;

The stator winding includes a first stator winding 122 and a second stator winding 123. The stator frame 121 is provided with an annular open cavity 1211; the first stator winding 122, the second stator winding 123 and The rotor winding 113 is coaxially disposed in the annular open cavity 1211; wherein, the first stator winding 122 is disposed radially inside the rotor winding 113, and the second stator winding 123 is disposed in Radially outside the rotor winding 113 , the first stator winding 122 and the second stator winding 123 are both disposed with a gap from the rotor winding 113 .

The joint drive module of the present invention is provided with a first stator winding 122 and a second stator winding 123 respectively on the radial inner side and the radial outer side of the rotor winding 113 of the motor rotor. The driving motor adopts double The winding motor can provide greater torque in the same size, so that the joint drive module can achieve greater rotation speed and torque in a smaller size.

Continuing to refer to FIG. 1 , the first joint module 1 also includes an encoder 13 for detecting and recording angle information and position information of the joint drive module. The encoder 13 is connected to the rotor shaft 112 and the stator respectively. The machine base 121 is fixedly connected; the second joint module 2 includes a joint module body 21 and a joint drive controller 22, and the joint drive controller 22 is installed on the joint module body 21; the joint drive controller 22 and The encoder 13 is electrically connected to read the angle information and position information of the joint drive module. The joint drive module of the present invention includes a drive motor, an encoder 13 and a joint drive controller 22, and is not provided with a reducer. The weight and volume of the joint drive module are reduced.

Further, the annular open chamber 1211 includes a first annular side wall 1212 and a second annular side wall 1213. The first annular side wall 1212 and the second annular side wall 1213 are coaxially arranged with the rotor shaft 112 and are The first annular side wall 1212 is disposed radially inside the second annular side wall 1213; the opening direction of the annular open chamber 1211 is disposed away from the second joint module 2, and in the annular open chamber 1211 At the opening of the chamber, the second annular side wall 1213 is protrudingly disposed relative to the first annular side wall 1212; the rotor base 111 is disposed in the axial direction of the rotor shaft 112 away from the second joint module 2 One end is opposite to the opening of the annular open chamber 1211; the rotor shaft 112 is rotatably connected to the first annular side wall 1212, and the rotor base 111 is rotatably connected to the second annular side wall 1213. connection; preferably, a bearing 14 is provided between the rotor shaft 112 and the first annular side wall 1212 and between the rotor base 111 and the second annular side wall 1213, which can prevent rigid wear and Positioning can be achieved; preferably, a cover is installed at the opening of the annular open chamber 1211, and the cover is fixedly connected to the second annular side wall 1213 to prevent the motor rotor from protruding from the inside.

Further, the joint module body 21 is provided with a central through hole, and the rotor rotating shaft 112 is coaxially arranged with the second joint module 2 through the central through hole, and the rotor rotating shaft 112 is a hollow rotating shaft. The hollow rotating shaft is used to realize internal wiring.

A seven-axis robotic arm includes the above-mentioned joint drive module, a base 31, a first robotic arm 32, a second robotic arm 33, a third robotic arm 34, a fourth robotic arm 35, a fifth robotic arm 36, and The sixth robotic arm 37; wherein, between the base 31 and the first robotic arm 32, between the first robotic arm 32 and the second robotic arm 33, the second robotic arm 33 between the third robotic arm 34 , between the third robotic arm 34 and the fourth robotic arm 35 , between the fourth robotic arm 35 and the fifth robotic arm 36 , and between the third robotic arm 34 and the fourth robotic arm 35 . The joint drive module is installed between the fifth robotic arm 36 and the sixth robotic arm 37 and at the end of the sixth robotic arm 37 .

Further, between the base 31 and the first robotic arm 32 , between the first robotic arm 32 and the second robotic arm 33 , between the second robotic arm 33 and the third robotic arm 33 , between the robotic arms 34, between the third robotic arm 34 and the fourth robotic arm 35, between the fourth robotic arm 35 and the fifth robotic arm 36, between the fifth robotic arm 36 and The joint driving modules installed between the sixth robotic arms 37 and at the end of the sixth robotic arm 37 are respectively defined as a first joint driving module 311, a second joint driving module 321, a third joint driving module 331, The fourth joint driving module 341, the fifth joint driving module 351, the sixth joint driving module 361 and the seventh joint driving module 371; among them, the first joint driving module 311 to the seventh joint driving module 371 are only distinguished by size; when all The base 31, the first mechanical arm 32, the second mechanical arm 33, the third mechanical arm 34, the fourth mechanical arm 35, the fifth mechanical arm 36 and the sixth mechanical arm When the central axes of the arms 37 are parallel (also called the fully extended state), the rotor shafts 112 of the first joint drive module 311 , the fifth joint drive module 351 and the seventh joint drive module 371 are arranged in parallel. , the rotor shafts 112 of the second joint drive module 321, the third joint drive module 331, the fourth joint drive module 341 and the sixth joint drive module 361 are arranged in parallel, and the first joint drive module 311 , the rotor shaft 112 of the fifth joint drive module 351 and the seventh joint drive module 371 and the second joint drive module 321, the third joint drive module 331, the fourth joint drive module 341 and the The rotor shaft 112 of the sixth joint drive module 361 is arranged vertically; furthermore, the position of the first joint drive module 311 is the first joint of the seven-axis mechanical arm, and its corresponding rotation plane is the first joint rotation plane. A; The position of the second joint drive module 321 is the second joint of the seven-axis robotic arm, and its corresponding rotation plane is the second joint rotation plane B; ...; By analogy, the seventh joint drive module The position of 371 is the seventh joint of the seven-axis mechanical arm, and its corresponding rotation plane is the seventh joint rotation plane G; the rotor rotation axis 112 of each joint is perpendicular to its corresponding rotation plane; that is, the first joint, the The fifth joint and the seventh joint are configured as rotating joints, and the second joint, the third joint, the fourth joint and the sixth joint are configured as swing joints; for further explanation, see Figure 3 , when the seven-axis robotic arm is in a fully extended state, the positional relationship of each rotation plane; compared with the existing technology, the seven-axis articulated robot has the first joint, the third joint, the fifth joint and the seventh joint. The joints are set as rotating joints, and the second, fourth and sixth joints are set as swing joints. This arrangement allows the robot to ensure sufficient arm span and coverage while avoiding the size of a single arm tube. Too long, especially the size of the second to fifth robotic arms, can flexibly implement various complex actions, thereby expanding the flexible detection coverage and improving the application effect of the robot in narrow spaces.

Furthermore, the above arrangement can change the 7 degrees of freedom in the kinematic inverse solution and the dynamic inverse solution of the seven-axis manipulator into 6 degrees of freedom by setting the angle parameters of the third joint separately, thereby avoiding the 7 degrees of freedom. The robotic arm can back-solve countless results, thus avoiding the different motion paths of each joint of the seven-axis robotic arm when the seven-axis robotic arm repeats the same point-to-point motion in the Cartesian coordinate system, thereby effectively reducing the difficulty of solving and improving the seven-axis robotic arm. The consistency of the path of each joint during repeated movements.

Furthermore, the arm length ratio of the second robotic arm 33 , the third robotic arm 34 , the fourth robotic arm 35 , the fifth robotic arm 36 and the sixth robotic arm 37 is 5: 5:3:2:2; The similar proportions of the size arrangement enable the robot to ensure sufficient arm span and coverage, while avoiding the overlong size of a single arm tube. It can flexibly realize various complex actions, thereby expanding flexible detection coverage. The range can also improve the application effect of robots in narrow spaces. As mentioned above, changing the joint arrangement of the robot arm alone and changing the arm length ratio of the robot arm alone can help the robot achieve the above beneficial effects, and changing both methods at the same time can achieve better beneficial effects.

Preferably, the outer contour of each robot arm is an arc-shaped cylinder, which can reduce the size and weight while ensuring the rigidity of the mechanism. The connection between each robotic arm and the joint drive module adopts an arc-shaped smooth transition to increase structural strength. As shown in Figure 2, each robotic arm adopts a hollow structure. The connection cables of each drive joint module are routed through the interior of the arm tube to provide power and signal transmission lines for the entire robot. Some cables for external loads can also be routed inside the robotic arm. For It is of great help to improve the flexibility of use of the robotic arm and expand the use scenarios; preferably, the hollow tubular structure is made of lightweight and tough composite materials or carbon fiber materials; each drive joint module passes a joint at the mutual docking point of each robotic arm. The sealing ring 38 realizes waterproofing and dustproofing of the joint gap, and a joint buckle cover 39 is buckled on the outside to achieve preliminary protection and aesthetic effects.

Preferably, the main controller of the seven-axis robotic arm adopts embedded development and has a compact structure. It is installed in the base 31 to realize the integration of the main controller of the seven-axis robotic arm and the main body structure, making the whole machine lighter. Quantify and improve the efficiency and reliability of control communication.

A robot includes the above-mentioned seven-axis mechanical arm.

The above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or modify some of the technical features. Equivalent substitutions are made; however, these modifications or substitutions do not cause the essence of the corresponding technical solution to depart from the spirit and scope of the technical solution of each embodiment of the present invention.

Claims (8)

1. A joint drive module, including a first joint module and a second joint module, characterized in that: the first joint module includes a drive motor, the drive motor includes a motor rotor and a motor stator; the motor rotor includes a rotor A machine base, a rotor shaft and a rotor winding. The rotor shaft and the rotor winding are coaxially arranged and fixedly connected to the rotor base respectively; the motor stator includes a stator base and a stator winding, and the stator winding is connected to the stator winding. The stator base is fixedly connected; The first joint module also includes an encoder for detecting and recording the angle information and position information of the joint drive module. The encoder is fixedly connected to the rotor shaft and the stator base respectively; the second The joint module includes a joint module body and a joint drive controller. The joint drive controller is installed on the joint module body; the joint drive controller is electrically connected to the encoder to read the joint drive module. Angle information and location information; The rotor shaft is sleeved at the center of the stator base and the second joint module; wherein, the rotor shaft is rotationally connected to the stator base, and the rotor shaft is fixedly connected to the second joint module, A gap is set between the stator base and the second joint module; The stator winding includes a first stator winding and a second stator winding, and the stator base is provided with an annular open cavity; the first stator winding, the second stator winding and the rotor winding are coaxial is arranged in the annular open cavity; wherein the first stator winding is arranged radially inside the rotor winding, the second stator winding is arranged radially outside the rotor winding, and the third stator winding is arranged radially inside the rotor winding. The stator winding and the second stator winding are both arranged with a gap from the rotor winding; The annular open chamber includes a first annular side wall and a second annular side wall, the first annular side wall and the second annular side wall are coaxially arranged with the rotor shaft, and the first annular side wall is arranged at the The radially inner side of the second annular side wall; the opening direction of the annular open chamber is arranged away from the second joint module, and at the opening of the annular open chamber, the second annular side wall Protrudingly disposed relative to the first annular side wall; the rotor base is disposed at an axial end of the rotor shaft away from the second joint module, and is disposed opposite to the opening of the annular open chamber; The rotor shaft is rotatably connected to the first annular side wall, and the rotor base is rotatably connected to the second annular side wall. 2. The joint drive module according to claim 1, characterized in that: the joint module body is provided with a central through hole, the rotor shaft is coaxially arranged with the second joint module through the central through hole, and The rotor shaft is a hollow shaft. 3. The joint drive module according to claim 1, characterized in that: bearings are provided between the rotor shaft and the first annular side wall and between the rotor base and the second annular side wall. . 4. The joint drive module according to claim 1, characterized in that: a cover is installed at the opening of the annular open chamber, and the cover is fixedly connected to the second annular side wall. 5. A seven-axis robotic arm, characterized by: comprising the joint drive module according to any one of claims 1 to 4, and further comprising a base, a first robotic arm, a second robotic arm, a third robotic arm, and a third robotic arm. Four robotic arms, a fifth robotic arm and a sixth robotic arm; wherein, between the base and the first robotic arm, between the first robotic arm and the second robotic arm, the between the second robotic arm and the third robotic arm, between the third robotic arm and the fourth robotic arm, between the fourth robotic arm and the fifth robotic arm, between the fifth robotic arm The joint drive module is installed between the arm and the sixth robotic arm and at the end of the sixth robotic arm. 6. The seven-axis robotic arm according to claim 5, characterized in that: between the base and the first robotic arm, between the first robotic arm and the second robotic arm, between the second robotic arm and the third robotic arm, between the third robotic arm and the fourth robotic arm, between the fourth robotic arm and the fifth robotic arm, between the third robotic arm and the fourth robotic arm. The joint drive modules installed between the fifth robotic arm and the sixth robotic arm and at the end of the sixth robotic arm are respectively defined as a first joint drive module, a second joint drive module, a third joint drive module, and a third joint drive module. Four joint drive modules, fifth joint drive modules, sixth joint drive modules and seventh joint drive modules; when the base, the first robotic arm, the second robotic arm, the third robotic arm, When the central axes of the fourth, fifth, and sixth robotic arms are parallel, the first joint drive module, the fifth joint drive module, and the seventh joint drive module The rotor shafts are arranged in parallel, the rotor shafts of the second joint drive module, the third joint drive module, the fourth joint drive module and the sixth joint drive module are arranged in parallel, and the first joint drive module , the rotor shaft of the fifth joint drive module and the seventh joint drive module and the second joint drive module, the third joint drive module, the fourth joint drive module and the sixth joint drive module. The rotor shaft is arranged vertically. 7. The seven-axis robot arm according to claim 5, characterized in that: the second robot arm, the third robot arm, the fourth robot arm, the fifth robot arm and the sixth robot arm The arm length ratio of the robotic arm is 5:5:3:2:2. 8. A robot, characterized by: comprising the seven-axis robotic arm according to any one of claims 5 to 7.