CN220094643U - Mechanical arm convenient for wiring - Google Patents

Abstract

The utility model discloses a mechanical arm convenient for wiring, which comprises at least two joint modules, wherein the first joint module comprises a first output shaft and a first control board, and a first hollow wiring groove and a first internal wire inlet and outlet hole are formed on one side of the first control board away from the first output shaft; a first internal wire outlet hole is formed in the side wall of the support shell of the first joint module; the second joint module comprises a second output shaft and a second control board, and a second hollow wire outlet hole and a second internal wire inlet and outlet hole are formed in one side, far away from the second output shaft, of the second control board; and a second internal wire outlet hole is formed in the side wall of the support shell of the second joint module. The utility model provides a mechanical arm convenient for wiring, and provides a wiring mode of an internal joint module of the mechanical arm, which can simplify the wiring of the mechanical arm and improve the flexibility of the mechanical arm.

Description

Mechanical arm convenient for wiring

Technical Field

The utility model relates to the field of joint modules, in particular to a mechanical arm convenient to wire.

Background

With the development of automation, the robot arm generally includes a plurality of joint modules to form a multi-axis robot, for example, a common six-axis robot arm includes six joint modules. The adjacent joint modules in the existing mechanical arm are mostly supported by a supporting frame on one side, and then a walking line is carried out. The output connection of unilateral bearing structure is fixed in the same side of joint module with walking the line, is unfavorable for the circuit to arrange.

Disclosure of Invention

The present utility model is directed to solving, at least to some extent, one of the problems in the related art. Therefore, the utility model aims to provide the mechanical arm convenient for wiring, and provides a wiring mode of the joint module inside the mechanical arm, which can simplify the wiring of the mechanical arm and improve the flexibility of the mechanical arm.

In order to achieve the above purpose, the present utility model adopts the following technical scheme: the mechanical arm convenient for wiring comprises at least two joint modules, wherein the first joint module comprises a first output shaft and a first control board, and a first hollow wiring groove and a first internal wire inlet and outlet hole are formed on one side of the first control board away from the first output shaft; a first internal wire outlet hole is formed in the side wall of the support shell of the first joint module;

the second joint module comprises a second output shaft and a second control board, and a second hollow wire outlet hole and a second internal wire inlet and outlet hole are formed in one side, far away from the second output shaft, of the second control board; and a second internal wire outlet hole is formed in the side wall of the support shell of the second joint module.

Further, the device also comprises a third joint module, a fourth joint module, a fifth joint module and a sixth joint module; the output shafts of the second joint module, the third joint module and the fifth joint module are parallel to each other, and the output shafts of the fourth joint module and the sixth joint module are parallel to each other; the output shaft of the first joint module is vertical to the output shafts of the second joint module and the fourth joint module; and the output shafts of the first joint module, the fourth joint module and the sixth joint module are hollow structures.

Further, the intersection point of the output shafts of the fifth joint module and the sixth joint module coincides with the intersection point of the output shafts of the fourth joint module and the fifth joint module.

Further, a first connecting component connected with the second joint module is arranged on the outer side of the first joint module, the first connecting component comprises a first connecting body and first front-end connecting frames arranged in parallel, wherein the first front-end connecting frames are fixedly connected with the first connecting body, and the first front-end connecting frames are perpendicular to the first connecting body; the first connecting body is fixed at the tail end of the first joint module, and the first front end connecting frame is fixed at the front end of the second joint module.

Further, the side wall of the support shell of the second joint module is connected with the side wall of the support shell of the third joint module;

the third joint module comprises a third output shaft and a third control board, and a third hollow wire outlet hole and a third internal wire inlet and outlet hole are formed in one side, far away from the third output shaft, of the third control board; and a third internal wire outlet hole is formed in the side wall of the support shell of the third joint module.

Further, the third joint module and the fourth joint module are connected through a second connecting assembly, the second connecting assembly comprises a second connecting body and a second front end connecting frame, the second front end connecting frame is fixedly connected with the second connecting body, the second front end connecting frame is perpendicular to the second connecting body, the second connecting body is fixed at the tail end of the fourth joint module, and the second front end connecting frame is fixed at the front end of the third joint module;

the fourth joint module comprises a fourth output shaft and a fourth control board, and a fourth internal wire outlet hole is formed in the side wall of the supporting shell of the fourth joint module; the fourth output shaft is of a hollow structure.

Further, the input end of the fourth joint module is connected with the side wall of the supporting shell of the fifth joint module; the fifth joint module comprises a fifth output shaft and a fifth control board, and a fifth hollow wire outlet hole and a fifth internal wire inlet and outlet hole are formed in one side, far away from the fifth output shaft, of the fifth control board; and a fifth internal wire outlet hole is formed in the side wall of the supporting shell of the fifth joint module.

Further, the fifth joint module and the sixth joint module are connected through a third connecting assembly, the third connecting assembly comprises a third connecting body and a third front end connecting frame, the third front end connecting frame is fixedly connected with the third connecting body, the third front end connecting frame is perpendicular to the third connecting body, the third connecting body is fixed at the tail end of the sixth joint module, and the third front end connecting frame is fixed at the front end of the fifth joint module;

the sixth joint module comprises a sixth output shaft and a sixth control board, a sixth hollow wiring groove is formed on one side, far away from the sixth output shaft, of the sixth control board, and a sixth internal wire outlet hole is formed in the center of the sixth control board; the sixth output shaft is of a hollow structure.

Further, a first bracket wiring hole is formed in the first front end connecting frame, a second bracket wiring hole is formed in the second front end connecting frame, and a third bracket wiring hole is formed in the third front end connecting frame.

Further, the terminal wiring is connected to the sixth control board through the hollow structure of the sixth output shaft and the sixth internal wire outlet hole; the six-axis wiring is connected to the sixth control board through a sixth hollow wiring groove;

the six-axis outgoing line and the five-axis incoming line are connected to a fifth control board through a third bracket wiring hole and a fifth hollow outgoing line hole; the five-axis wiring is connected to the fifth control board through the fifth internal wire outlet hole and the fifth internal wire inlet and outlet hole;

the five-axis outgoing line and the four-axis incoming line are connected to the fourth control board through a fifth internal outgoing line inlet hole; the four-axis wiring is connected to the fourth control board through a fourth internal wire outlet hole;

the four-axis outgoing line and the three-axis incoming line are connected to the third control board through a hollow structure of the fourth output shaft, a second bracket wiring hole and a third hollow outgoing line hole; the triaxial wiring is connected to the third control board through the third internal wire outlet hole and the third internal wire inlet and outlet hole;

the three-axis outgoing line and the two-axis incoming line are connected to the second control board through the third internal outgoing line hole and the second internal outgoing line hole; the two-axis wiring is connected to the second control board through the second internal wire outlet hole and the second internal wire inlet and outlet hole;

the two-axis outgoing line and the one-axis incoming line are connected to the first control board through the second hollow outgoing line control, the first bracket wiring hole and the first hollow wiring groove; a shaft connection is connected to the first control board through the first internal wire outlet and the first internal wire inlet and outlet.

Further, the six-axis connection includes a six-axis motor wire, and a control wire connected to the six-axis end effector.

Compared with the prior art, the technical scheme provided by the embodiment of the utility model has the following advantages: the mechanical arm convenient for wiring comprises at least two joint modules, wherein the first joint module comprises a first output shaft and a first control board, and a first hollow wiring groove and a first internal wire inlet and outlet hole are formed on one side of the first control board away from the first output shaft; a first internal wire outlet hole is formed in the side wall of the support shell of the first joint module; the second joint module comprises a second output shaft and a second control board, and a second hollow wire outlet hole and a second internal wire inlet and outlet hole are formed in one side, away from the second output shaft, of the second control board; a second internal wire outlet hole is formed in the side wall of the support shell of the second joint module; the two-axis incoming line is connected to the second control board through the third internal incoming and outgoing line hole and the second internal incoming and outgoing line hole; the two-axis wiring is connected to the second control board through the second internal wire outlet hole and the second internal wire inlet and outlet hole; the two-axis outgoing line and the one-axis incoming line are connected to the first control board through the second hollow outgoing line control, the first bracket wiring hole and the first hollow wiring groove; a shaft connection wire is connected to the first control board through the first internal wire outlet hole and the first internal wire inlet and outlet hole; the utility model concentrates the wiring at the front end position of the second joint module, can simplify the wiring of the mechanical arm and improve the flexibility of the mechanical arm.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic view of a robot arm according to the present utility model;

FIG. 2 is a schematic cross-sectional view of a robot arm according to the present utility model;

FIG. 3 is a schematic view of a connection structure of a first joint module and a second joint module according to the present utility model;

FIG. 4 is a schematic view of a connection structure of a third joint module and a fourth joint module according to the present utility model;

FIG. 5 is a schematic view of a fifth joint module and a sixth joint module according to the present utility model;

reference numerals: 1. a first joint module; 19. a first output shaft; 18. a first control board; 2. a second joint module; 29. a second output shaft; 28. a second control board; 3. a third joint module; 39. a third output shaft; 38. a third control board; 4. a fourth joint module; 49. a fourth output shaft; 48. a fourth control board; 5. a fifth joint module; 59. a fifth output shaft; 58. a fifth control board; 6. a sixth joint module; 69. a sixth output shaft; 68. a sixth control board; 11. a first hollow wire trough; 13. a first bracket wiring hole; 15. a first internal wire outlet hole; 16. a first internal wire inlet and outlet hole; 21. a second internal wire outlet hole; 22. a second internal wire inlet and outlet hole; 23. a second hollow wire outlet hole; 31. a third internal wire outlet hole; 32. a third internal wire inlet and outlet hole; 33. a third hollow wire outlet hole; 34. a second bracket wiring hole; 42. a fourth internal wire outlet hole; 51. a fifth internal wire outlet hole; 52. fifth internal wire inlet and outlet holes; 53. a fifth hollow wire outlet hole; 54. a third bracket wiring hole; 61. a sixth hollow wiring groove; 62. a sixth internal wire outlet hole; 71. a first front end connection rack; 72. a first bearing end cap; 73. a first bearing; 74. a second support frame; 76. a first connection body; 77. a second connection body; 78. a second front end connection rack; 80. a third connection body; 81. and a third front end connecting frame.

Detailed Description

For a clearer understanding of technical features, objects and effects of the present utility model, a detailed description of embodiments of the present utility model will be made with reference to the accompanying drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "rear", "upper", "lower", "left", "right", "longitudinal", "transverse", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail", etc. are configured and operated in specific directions based on the directions or positional relationships shown in the drawings, and are merely for convenience of describing the present utility model, not to indicate that the mechanism or element referred to must have specific directions, and thus should not be construed as limiting the present utility model.

It should also be noted that unless explicitly stated or limited otherwise, terms such as "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. When an element is referred to as being "on" or "under" another element, it can be "directly" or "indirectly" on the other element or one or more intervening elements may also be present. The terms "first," "second," "third," and the like are used merely for convenience in describing the present utility model and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby features defining "first," "second," "third," etc. may explicitly or implicitly include one or more such features. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present utility model. It will be apparent, however, to one skilled in the art that the present utility model may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, mechanisms, circuits, and methods are omitted so as not to obscure the description of the present utility model with unnecessary detail.

Example 1

Referring to fig. 1-5, the mechanical arm for facilitating routing provided by the present utility model includes at least two joint modules, the first joint module 1 includes a first output shaft 19 (not shown in fig. 2) and a first control board 18 (not shown in fig. 2), and a first hollow routing slot 11 and a first internal wire inlet and outlet hole 16 (not shown in fig. 2) are formed on a side of the first control board 18 (not shown in fig. 2) away from the first output shaft 19 (not shown in fig. 2); a first internal wire outlet hole 15 (not shown in fig. 2) is arranged on the side wall of the supporting shell of the first joint module 1;

the second joint module 2 comprises a second output shaft 29 and a second control board 28, and a second hollow wire outlet hole 23 and a second internal wire inlet and outlet hole 22 are arranged on one side of the second control board 28 away from the second output shaft 29; the side wall of the supporting shell of the second joint module 2 is provided with a second internal wire outlet hole 21.

The two-axis incoming line is connected to the second control board 28 through the third internal incoming and outgoing line hole 32 and the second internal incoming and outgoing line hole 22; the two-axis wiring is connected to the second control board 28 through the second internal wire outlet hole 21 and the second internal wire inlet and outlet hole 22; the two-axis connection comprises a motor wire and a brake wire of the second joint module 2. The two-axis outgoing line and the one-axis incoming line are connected to the first control board 18 (not shown in fig. 2) through the second hollow outgoing line hole 23, the first bracket wiring hole 13 and the first hollow wiring groove 11; a shaft wire is connected to the first control board 18 (not shown in fig. 2) through the first inner wire outlet 15 (not shown in fig. 2) and the first inner wire inlet 16 (not shown in fig. 2). The one-axis connection comprises the motor wire and the brake wire of the first joint module 1. The utility model concentrates the wiring at the front end position of the second joint module, can simplify the wiring of the mechanical arm and improve the flexibility of the mechanical arm.

Example 2

Referring to fig. 1 to 4, in this embodiment, a six-axis mechanical arm is taken as an example to describe the connection and wiring between each joint module in detail:

the mechanical arm convenient for wiring in the embodiment comprises a first joint module 1, a second joint module 2, a third joint module 3, a fourth joint module 4, a fifth joint module 5 and a sixth joint module 6; wherein, the output shafts of the second joint module 2, the third joint module 3 and the fifth joint module 5 are parallel to each other, and the output shafts of the fourth joint module 4 and the sixth joint module 6 are parallel to each other; the output shaft of the first joint module 1 is perpendicular to the output shafts of the second joint module 2 and the fourth joint module 4. And the output shafts of the first joint module 1, the fourth joint module 4 and the sixth joint module 6 are hollow structures.

Illustrating: the output shafts of the first joint module 1 extend along the Z-axis direction, the output shafts of the second joint module 2, the third joint module 3, and the fifth joint module 5 extend along the X-axis direction, and the output shafts of the fourth joint module 4 and the sixth joint module 6 extend along the Y-axis direction. The directions of the X axis, the Y axis and the Z axis can be interchanged, and only three axes are required to be mutually perpendicular in a three-dimensional space.

Further, in the present utility model, the intersection point of the output shafts of the fifth joint module 5 and the sixth joint module 6 coincides with the intersection point of the output shafts of the fourth joint module 4 and the fifth joint module 5. The direction of the output shaft can represent the direction of the corresponding joint module, the output shaft of the fourth joint module 4 and the output shaft of the sixth joint module 6 at the tail end of the mechanical arm are positioned on the same straight line, and the intersection point of the output shaft of the fourth joint module 4 and the intersection point of the output shaft of the sixth joint module 5 coincide; the structure can ensure that the tail end of the mechanical arm has higher flexibility, and when the tail end actuator is arranged on one side of the sixth joint module far away from the fifth joint module, the tail end actuator has higher flexibility relative to the fourth joint module and the fifth joint module, so that the tail end actuator can flexibly move.

The outer side of the first joint module 1 is provided with a first connecting component connected with the second joint module 2, the first connecting component comprises a first connecting body 76 and first front end connecting frames 71 which are arranged in parallel, wherein the first front end connecting frames 71 are fixedly connected with the first connecting body 76, and the first front end connecting frames 71 are perpendicular to the first connecting body 76; the first connecting body 76 is fixed at the end of the first joint module 1, and the first front end connecting frame 71 is fixed at the front end and the end of the second joint module 2.

The front end and the tail end of the second joint module 2 are respectively provided with a second control board 28, and the first front end connecting frame 71 is positioned on one side of the second control board 28 away from the second output shaft 29. A second supporting frame 74 is further disposed between the first front end connecting frame 71 and the second control board 28, and the second supporting frame 74 is located at a side of the first front end connecting frame 71 away from the first connecting body 76. The first front end connecting frame 71 and the second supporting frame 74 are respectively provided with a first connecting through hole and a first supporting through hole parallel to the second control board 28, and the first connecting through hole and the first supporting through hole are connected through a first bearing 73 and a first bearing 73 end cover 72.

In the utility model, the second joint module 2 and the third joint module 3 are arranged in parallel, and the side wall of the support shell of the second joint module 2 is connected with the side wall of the support shell of the third joint module 3.

The outer side of the fourth joint module 4 is provided with a second connecting component connected with the third joint module 3, the second connecting component comprises a second connecting body 77 and a second front end connecting frame 78 which is arranged in parallel, wherein the second front end connecting frame 78 is fixedly connected with the second connecting body 77, and the second front end connecting frame 78 is perpendicular to the second connecting body 77; the second connecting body 77 is fixed at the end of the fourth joint module 4, and the second front connecting frame 78 is fixed at the front end and the end of the third joint module 3.

The specific connection relationship between the second front-end link 78 and the third joint module 3 is similar to the connection between the first front-end link 71 and the second joint module 2, and will not be described in detail here.

The input end of the fourth joint module 4 is connected with the side wall of the supporting shell of the fifth joint module 5.

The outer side of the sixth joint module 6 is provided with a third connecting component connected with the fifth joint module 5, the third connecting component comprises a third connecting body 80 and a third front end connecting frame 81, wherein the third front end connecting frame 81 is fixedly connected with the third connecting body 80, and the third front end connecting frame 81 is perpendicular to the third connecting body 80; the third connecting body 80 is fixed at the end of the sixth joint module 6, and the third front end connecting frame 81 is fixed at the front end of the fifth joint module 5. The specific connection relationship between the third front-end link 81 and the fifth joint module 5 is similar to the connection between the first front-end link 71 and the second joint module 2, and will not be described in detail here.

Further, the first joint module 1 includes a first output shaft 19 (not shown in fig. 2) and a first control board 18 (not shown in fig. 2), and a first hollow wire groove 11 and a first internal wire inlet and outlet hole 16 (not shown in fig. 2) are formed on a side of the first control board 18 (not shown in fig. 2) away from the first output shaft 19 (not shown in fig. 2); a first internal wire outlet hole 15 (not shown in fig. 2) is arranged on the side wall of the supporting shell of the first joint module 1;

the second joint module 2 comprises a second output shaft 29 and a second control board 28, and a second hollow wire outlet hole 23 and a second internal wire inlet and outlet hole 22 are arranged on one side of the second control board 28 away from the second output shaft 29; a second internal wire outlet hole 21 is formed in the side wall of the supporting shell of the second joint module 2;

the third joint module 3 comprises a third output shaft 39 and a third control board 38, and a third hollow wire outlet hole 33 and a third internal wire inlet and outlet hole 32 are arranged on one side of the third control board 38 away from the third output shaft 39; a third internal wire outlet hole 31 is formed in the side wall of the supporting shell of the third joint module 3;

the fourth joint module 4 comprises a fourth output shaft 49 and a fourth control board 48, and a fourth internal wire outlet hole 42 is formed in the side wall of the supporting shell of the fourth joint module 4; the fourth output shaft 49 has a hollow structure;

the fifth joint module 5 comprises a fifth output shaft 59 and a fifth control board 58, wherein a fifth hollow wire outlet hole 53 and a fifth internal wire inlet and outlet hole 52 are arranged on one side of the fifth control board 58 away from the fifth output shaft 59; a fifth internal wire outlet hole 51 is formed in the side wall of the supporting shell of the fifth joint module 5;

the sixth joint module 6 comprises a sixth output shaft 69 and a sixth control board 68, wherein a sixth hollow wiring groove 61 is formed on one side of the sixth control board 68 far away from the sixth output shaft 69, and a sixth internal wire outlet hole 62 is formed in the center of the sixth control board 68; the sixth output shaft 69 is hollow.

The first front end connecting frame 71 is provided with a first bracket wire hole 13, the second front end connecting frame 78 is provided with a second bracket wire hole 34, and the third front end connecting frame 81 is provided with a third bracket wire hole 54.

Further, the terminal wiring is connected to the sixth control board 68 through the hollow structure of the sixth output shaft 69 and the sixth internal wire outlet hole 62; the six-axis wiring is connected to the sixth control board 68 via the sixth hollow wiring groove 61; the six-axis wiring includes a six-axis motor wire, control wires connected to the six-axis end effector, such as a respiratory light wire, a camera wire, and the like.

The six-axis outgoing line and the five-axis incoming line are connected to a fifth control board 58 through a third bracket wiring hole 54 and a fifth hollow outgoing line hole 53; the five-axis wiring is connected to the fifth control board 58 through the fifth internal wire outlet hole 51 and the fifth internal wire inlet/outlet hole 52; the five-axis connection comprises a motor wire and a brake wire of the fifth joint module 5.

The five-axis outgoing line and the four-axis incoming line are connected to the fourth control board 48 through a fifth internal incoming and outgoing line hole 52; the four-axis wiring is connected to the fourth control board 48 through the fourth internal wire outlet hole 42; the four-axis connection comprises a motor wire and a brake wire of the fourth joint module 4.

The four-axis outgoing line and the three-axis incoming line are connected to the third control board 38 through the hollow structure of the fourth output shaft 49, the second bracket wiring hole 34 and the third hollow outgoing line hole 33; the triaxial wiring is connected to the third control board 38 through the third internal wire outlet hole 31 and the third internal wire inlet and outlet hole 32; the triaxial wiring includes motor wires and brake wires of the third joint module 3.

The triaxial wire outlet and the biaxial wire inlet are connected to the second control board 28 through the third internal wire inlet and outlet hole 32 and the second internal wire inlet and outlet hole 22; the two-axis wiring is connected to the second control board 28 through the second internal wire outlet hole 21 and the second internal wire inlet and outlet hole 22; the two-axis connection comprises a motor wire and a brake wire of the second joint module 2.

The two-axis outgoing line and the one-axis incoming line are connected to the first control board 18 (not shown in fig. 2) through the second hollow outgoing line hole 23, the first bracket wiring hole 13 and the first hollow wiring groove 11; a shaft wire is connected to the first control board 18 (not shown in fig. 2) through the first inner wire outlet 15 (not shown in fig. 2) and the first inner wire inlet 16 (not shown in fig. 2). The one-axis connection comprises the motor wire and the brake wire of the first joint module 1.

A shaft outgoing line and a base incoming line are connected to the base PCB.

The mechanical arm convenient for wiring is simple and clear in wiring and easy to install.

It is to be understood that the above examples only represent preferred embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model; it should be noted that, for a person skilled in the art, the above technical features can be freely combined, and several variations and modifications can be made without departing from the scope of the utility model; therefore, all changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. The mechanical arm convenient for wiring comprises at least two joint modules and is characterized in that the first joint module (1) comprises a first output shaft (19) and a first control board (18), and a first hollow wiring groove (11) and a first internal wire inlet and outlet hole (16) are formed on one side, away from the first output shaft (19), of the first control board (18); a first internal wire outlet hole (15) is formed in the side wall of the supporting shell of the first joint module (1);

the second joint module (2) comprises a second output shaft (29) and a second control board (28), and a second hollow wire outlet hole (23) and a second internal wire inlet and outlet hole (22) are formed in one side, far away from the second output shaft (29), of the second control board (28); and a second internal wire outlet hole (21) is formed in the side wall of the supporting shell of the second joint module (2).

2. The mechanical arm convenient for wiring according to claim 1, further comprising a third joint module (3), a fourth joint module (4), a fifth joint module (5) and a sixth joint module (6); the output shafts of the second joint module (2), the third joint module (3) and the fifth joint module (5) are parallel to each other, and the output shafts of the fourth joint module (4) and the sixth joint module (6) are parallel to each other; the output shaft of the first joint module (1) is vertical to the output shafts of the second joint module (2) and the fourth joint module (4) at the same time; and the output shafts of the first joint module (1), the fourth joint module (4) and the sixth joint module (6) are hollow structures.

3. The mechanical arm convenient for wiring according to claim 2, wherein the intersection point of the output shafts of the fifth joint module (5) and the sixth joint module (6) coincides with the intersection point of the output shafts of the fourth joint module (4) and the fifth joint module (5).

4. The mechanical arm convenient for wiring according to claim 2, wherein a first connecting component for connecting the second joint module (2) is arranged on the outer side of the first joint module (1), the first connecting component comprises a first connecting body (76) and first front end connecting frames (71) which are arranged in parallel, wherein the first front end connecting frames (71) are fixedly connected with the first connecting body (76), and the first front end connecting frames (71) are perpendicular to the first connecting body (76); the first connecting body (76) is fixed at the tail end of the first joint module (1), and the first front end connecting frame (71) is fixed at the front end of the second joint module (2).

5. The mechanical arm convenient for wiring according to claim 4, wherein the side wall of the support housing of the second joint module (2) is connected with the side wall of the support housing of the third joint module (3);

the third joint module (3) comprises a third output shaft (39) and a third control board (38), and a third hollow wire outlet hole (33) and a third internal wire inlet and outlet hole (32) are formed in one side, far away from the third output shaft (39), of the third control board (38); and a third internal wire outlet hole (31) is formed in the side wall of the supporting shell of the third joint module (3).

6. The mechanical arm convenient for wiring according to claim 5, wherein the third joint module (3) and the fourth joint module (4) are connected through a second connecting assembly, the second connecting assembly comprises a second connecting body (77) and a second front end connecting frame (78), the second front end connecting frame (78) is fixedly connected with the second connecting body (77), the second front end connecting frame (78) is perpendicular to the second connecting body (77), the second connecting body (77) is fixed at the tail end of the fourth joint module (4), and the second front end connecting frame (78) is fixed at the front end of the third joint module (3);

the fourth joint module (4) comprises a fourth output shaft (49) and a fourth control board (48), and a fourth internal wire outlet hole (42) is formed in the side wall of the supporting shell of the fourth joint module (4); the fourth output shaft (49) is of a hollow structure.

7. The mechanical arm convenient for wiring according to claim 6, wherein the input end of the fourth joint module (4) is connected with the side wall of the supporting shell of the fifth joint module (5); the fifth joint module (5) comprises a fifth output shaft (59) and a fifth control board (58), wherein a fifth hollow wire outlet hole (53) and a fifth internal wire inlet and outlet hole (52) are formed in one side, far away from the fifth output shaft (59), of the fifth control board (58); a fifth internal wire outlet hole (51) is formed in the side wall of the supporting shell of the fifth joint module (5).

8. The mechanical arm convenient for wiring according to claim 7, wherein the fifth joint module (5) and the sixth joint module (6) are connected through a third connecting assembly, the third connecting assembly comprises a third connecting body (80) and a third front end connecting frame (81), the third front end connecting frame (81) is fixedly connected with the third connecting body (80), the third front end connecting frame (81) is perpendicular to the third connecting body (80), the third connecting body (80) is fixed at the tail end of the sixth joint module (6), and the third front end connecting frame (81) is fixed at the front end of the fifth joint module (5);

the sixth joint module (6) comprises a sixth output shaft (69) and a sixth control board (68), a sixth hollow wiring groove (61) is formed on one side, far away from the sixth output shaft (69), of the sixth control board (68), and a sixth internal wire outlet hole (62) is formed in the center of the sixth control board (68); the sixth output shaft (69) is of a hollow structure.

9. The mechanical arm convenient to wire according to claim 8, wherein a first bracket wire hole (13) is formed in the first front end connecting frame (71), a second bracket wire hole (34) is formed in the second front end connecting frame (78), and a third bracket wire hole (54) is formed in the third front end connecting frame (81).

10. A robot arm for facilitating routing according to claim 9, wherein the terminal wiring is connected to a sixth control board (68) through a hollow structure of a sixth output shaft (69) and a sixth internal wire outlet hole (62); the six-axis wiring is connected to a sixth control board (68) through a sixth hollow wiring groove (61);

the six-axis outgoing line and the five-axis incoming line are connected to a fifth control board (58) through a third bracket wiring hole (54) and a fifth hollow outgoing line hole (53); the five-axis wiring is connected to a fifth control board (58) through a fifth internal wire outlet hole (51) and a fifth internal wire inlet and outlet hole (52);

the five-axis outgoing line and the four-axis incoming line are connected to a fourth control board (48) through a fifth internal incoming and outgoing line hole (52); the four-axis wiring is connected to a fourth control board (48) through a fourth internal wire outlet hole (42);

the four-axis outgoing line and the three-axis incoming line are connected to a third control board (38) through a hollow structure of a fourth output shaft (49), a second bracket wiring hole (34) and a third hollow outgoing line hole (33); the triaxial wiring is connected to the third control board (38) through the third internal wire outlet hole (31) and the third internal wire inlet and outlet hole (32);

the three-axis outgoing line and the two-axis incoming line are connected to the second control board (28) through the third internal outgoing line hole (32) and the second internal outgoing line hole (22); the two-axis wiring is connected to the second control board (28) through the second internal wire outlet hole (21) and the second internal wire inlet and outlet hole;

the two-axis outgoing line and the one-axis incoming line are connected to a first control board (18) through a second hollow outgoing line control, a first bracket wiring hole (13) and a first hollow wiring groove (11); a shaft connection is connected to the first control board (18) through the first internal wire outlet hole (15) and the first internal wire inlet/outlet hole (16).