CN116766254A

CN116766254A - Joint structure and robot

Info

Publication number: CN116766254A
Application number: CN202310724237.3A
Authority: CN
Inventors: 黄建威; 凌国海; 张志波; 朱骏野; 高小云; 张天翼
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2023-06-16
Filing date: 2023-06-16
Publication date: 2023-09-19

Abstract

The invention relates to a joint structure and a robot, and relates to the technical field of robots. The joint structure comprises a shell, a rotating assembly and a conductive module; the rotating component and the shell can rotate relatively; the conductive module comprises a fixed conductive link and a rotary conductive link, wherein the fixed conductive link is arranged in the shell, the rotary conductive link is electrically connected with the fixed conductive link, the rotary conductive link and the fixed conductive link can rotate relatively, and one end of the rotary conductive link extends to the outside of the shell and is connected with the rotary assembly; when the rotating assembly rotates relative to the shell, the rotating conductive link is driven to integrally rotate relative to the fixed conductive link and the shell. The technical scheme disclosed by the invention can solve the problem that the wire harness between the static part and the rotating part is easy to twist and pull when the traditional joint module rotates, so that the wire harness is broken.

Description

Joint structure and robot

Technical Field

The invention relates to the technical field of robots, in particular to a joint structure and a robot.

Background

The cooperative robot is a robot designed and interacted with human beings in a close range in a common working space, is formed by combining and installing a plurality of joint modules, and realizes power supply and control of a plurality of joints through wiring harnesses installed inside the joint modules. The joint module comprises a static part and a rotating part, wherein the static part and the rotating part can rotate relatively, and the static part and the rotating part are electrically connected through a wire harness.

However, the inventors found that there are at least the following problems in the prior art: when the cooperative robot operates, the joint module enables the rotating part to rotate according to the movement instruction, the wire harness between the static part and the rotating part is stressed to be pulled, twisted and bent, and the wire harness is enabled to be broken in wire cores, the joint welding spots are separated and the like when the cooperative robot operates for a long time, so that the operation stability of the cooperative robot is affected.

Disclosure of Invention

The embodiment of the invention provides a joint structure and a robot, which can solve the problem that when the existing joint module rotates, a wire harness between a static part and a rotating part is easy to twist and pull, so that the wire harness is broken.

In a first aspect, an embodiment of the present invention provides a joint structure, including:

a housing;

a rotating assembly rotatable relative to the housing;

the conductive module comprises a fixed conductive link and a rotary conductive link, wherein the fixed conductive link is arranged in the shell, the rotary conductive link is electrically connected with the fixed conductive link, the rotary conductive link and the fixed conductive link can rotate relatively, and one end of the rotary conductive link extends to the outside of the shell and is connected with the rotary assembly;

when the rotating assembly rotates relative to the shell, the rotating conductive link is driven to integrally rotate relative to the fixed conductive link and the shell.

In one embodiment, the conductive module comprises a conductive slip ring positioned in the shell, the conductive slip ring comprises a rotating part and a fixed part, and the rotating part is electrically connected with the fixed part and can rotate relatively;

the rotating part is arranged on the rotating assembly, the fixing part is arranged on the shell, the rotating part is electrically connected with the rotating conductive link, and the fixing part is electrically connected with the fixing conductive link.

In one embodiment, the rotary conductive link includes a rotary wire and a rotary interface, and two ends of the rotary wire are respectively electrically connected with the rotary interface and the rotary part.

In one embodiment, the rotating assembly includes:

an output member rotatable relative to the housing, the output member being at least partially external to the housing;

a transition piece having one end connected to the output piece, the transition piece being partially located within the housing;

the rotating part is connected with one end of the transition piece, which is far away from the output piece.

In one embodiment, an end face of the output member, which is remote from the end of the housing, is provided with an output groove extending in a first direction;

the end face of the transition piece is provided with a transition groove which is collinear with and communicated with the output groove to jointly form a cable groove; the transition piece is provided with a transition hole penetrating through the transition piece in a second direction, and the second direction is perpendicular to the first direction;

the wire of the rotary conductive link is arranged in the transition hole, and the other wire of the rotary conductive link and the rotary interface are both arranged in the cable groove.

In one embodiment, the fixed conductive link includes a fixed wire, a fixed interface, and a driving male interface, and the fixed portion, the driving male interface, and the fixed interface are sequentially connected in series through the fixed wire.

In one embodiment, the housing comprises:

a main body portion extending in a second direction, a fixing hole extending in a first direction being provided on a side wall of the main body portion;

a split portion provided on a side wall of the main body portion, the split portion extending in the first direction, the fixing hole being located in the split portion;

wherein, part of the fixed conducting wires of the fixed conducting link and the fixed interfaces are arranged in the fixed holes.

In one embodiment, the joint structure comprises a transfer module arranged in the housing, the transfer module comprises a plurality of electronic parts arranged along a first direction, one of the plurality of electronic parts is provided with a driving female interface, and the driving female interface is in butt joint with the driving male interface so as to realize electric connection.

In one embodiment, the rotating interface of the rotating conductive link may interface with the stationary interface of the stationary conductive link.

In one embodiment, the joint structure comprises a driving member arranged in the shell and electrically connected with the switching module, and an output shaft of the driving member can drive the rotating assembly to rotate relative to the shell.

In a second aspect, embodiments of the present invention provide a robot comprising a joint structure as described above.

In one embodiment, the robot includes a plurality of joint structures, two adjacent joint structures are perpendicular, an output piece of one joint structure of the two adjacent joint structures is connected with a split part of the other joint structure of the two adjacent joint structures, and a rotating interface of the one joint structure of the two adjacent joint structures is butted with a fixing interface of the other joint structure of the two adjacent joint structures so as to realize electric connection.

Compared with the prior art, the embodiment of the invention has the advantages that the rotating assembly and the shell can be electrically connected while relatively rotating by arranging the conductive module; the conductive module enables the rotary conductive link to synchronously rotate along with the rotary assembly by arranging the rotary conductive link on the rotary assembly; through setting up fixed conductive link in the shell, make the motion state of fixed conductive link and shell the same, and can take place relative rotation with rotating conductive link, rotating assembly, avoided when rotating assembly rotates, rotated conductive link and fixed conductive link and take place to twist reverse, pull, improved the running stability of robot to when having solved current joint module and running at rotating part, the pencil is easy to take place to twist reverse, buckle and lead to the problem of inefficacy because of the atress.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

FIG. 1 is a cross-sectional view of a joint structure provided by an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the joint structure provided by the embodiment of FIG. 1;

fig. 3 is a schematic perspective view of a conductive module provided in the embodiment of fig. 1;

FIG. 4 is a schematic perspective view of the output member provided by the embodiment of FIG. 1;

FIG. 5 is a schematic perspective view of a transition piece provided by the embodiment of FIG. 1;

FIG. 6 is an exploded view of the housing provided by the embodiment of FIG. 1;

fig. 7 is a schematic perspective view illustrating connection of a plurality of joint structures of a robot according to another embodiment of the present invention;

fig. 8 is a cross-sectional view of the robot provided by the embodiment of fig. 7 with a plurality of joint structures connected.

Reference numerals:

1. a first joint structure; 2. a second joint structure; 10. a housing; 110. a main body portion; 1101. a cylinder; 1102. a partition plate; 1103. a slip ring mounting hole; 1104. a slip ring limiting hole; 1105. a mounting part; 1106. a fixing hole; 120. a split part; 1201. a split hole; 20. a switching module; 210. driving a female interface; 30. a rotating assembly; 310. an output member; 3101. an output slot; 3102. a transition mounting groove; 3103. a transitional positioning hole; 3104. a transition limit hole; 3105. expanding the hole; 320. a transition piece; 3201. a transition groove; 3202. a transition hole; 3203. a transition pipe; 3204. a transition flange; 3205. a mating hole; 3206. a transition flange hole; 330. an annular space; 40. a conductive module; 410. rotating the conductive link; 4101. rotating the wire; 4102. rotating the interface; 420. a fixed conductive link; 4201. fixing the lead; 4202. a fixed interface; 4203. driving a male interface; 430. a conductive slip ring; 4301. a rotating part; 4302. a fixing part; 4303. a slip ring flange; 4304. a mounting surface; 4305. a slip ring flange hole; 50. a driving member.

Detailed Description

The invention will be further described with reference to the accompanying drawings.

The cooperation robot is formed by combining and installing a plurality of joint modules, and power supply and control of a plurality of joints are realized through a wire harness installed inside the joint modules. The joint module comprises a static part and a rotating part, wherein the static part and the rotating part can rotate relatively, and the static part and the rotating part are electrically connected through a wire harness.

In order to solve the above-mentioned problems, at least one embodiment of the present invention provides a joint structure, which includes a housing 10, a rotating assembly 30, and a conductive module 40; the rotating assembly 30 is rotatable relative to the housing 10; the conductive module 40 includes a fixed conductive link 420 disposed in the housing 10 and a rotating conductive link 410 electrically connected to the fixed conductive link 420, the rotating conductive link 410 being rotatable with respect to the fixed conductive link 420, one end of the rotating conductive link 410 extending to the outside of the housing 10 and being connected to the rotating assembly 30; wherein, when the rotating assembly 30 rotates relative to the housing 10, the rotating conductive link 410 is driven to rotate integrally relative to the fixed conductive link 420 and the housing 10.

As can be seen from the above, the rotary assembly 30 and the housing 10 can be electrically connected while being rotated relatively by providing the conductive module 40; the conductive module 40 enables the rotary conductive link 410 to synchronously rotate along with the rotary assembly 30 by arranging the rotary conductive link 410 on the rotary assembly 30; through setting up fixed conductive link 420 in the shell, make fixed conductive link 420 the same with the motion state of shell 10, and can take place relative rotation with rotating conductive link 410, rotating assembly 30, avoided when rotating assembly 30 rotates, rotating conductive link 410 and fixed conductive link 420 take place to twist reverse, pull, improved the running stability of robot to the problem that the pencil easily causes the inefficacy because of the atress takes place to twist reverse, buckle when current joint module is running at the rotating part has been solved.

As shown in fig. 1 and 2, the joint structure includes a housing 10, a rotating assembly 30, and a conductive module 40; the rotating assembly 30 is rotatable relative to the housing 10. The rotating assembly 30 can be connected with other joint structures of the robot and drive the other joint structures to rotate together, so that the cooperative work among a plurality of joint structures of the robot is realized.

As shown in fig. 1, the first direction is parallel to the X direction, and the second direction is parallel to the Y direction; the housing 10 has an axis a parallel to the second direction, the rotating assembly 30 is arranged coaxially with the axis a, and the rotating assembly 30 is rotatable about the axis a.

The conductive module 40 includes a fixed conductive link 420 disposed in the housing 10 and a rotating conductive link 410 electrically connected to the fixed conductive link 420, the rotating conductive link 410 being rotatable with respect to the fixed conductive link 420, one end of the rotating conductive link 410 extending to the outside of the housing 10 and being connected to the rotating assembly 30.

By providing the conductive module 40, not only can the electrical connection between the components in the joint structure be achieved, but also a basis is provided for the electrical connection between the joint structure and other external devices. The transmission of electrical signals and data signals between the components in the joint structure is achieved by the provision of a fixed conductive link 420 within the housing 10; the interaction of the electrical signals, data signals is achieved by extending the rotary conductive link 410 to the exterior of the housing 10 and connecting with the rotating assembly 30 so that the joint structure is electrically connected with other joint structures of the robot or external devices.

Wherein, when the rotating assembly 30 rotates relative to the housing 10, the rotating conductive link 410 is driven to rotate integrally relative to the fixed conductive link 420 and the housing 10.

Through setting the rotation conductive link 410 on the rotating assembly 30, the rotation conductive link 410 can rotate synchronously with the rotating assembly 30, and through setting the fixed conductive link 420 in the housing 10, the fixed conductive link 420 is identical to the housing 10 and the transfer module 20 in motion state, and can rotate relative to the rotation conductive link 410 and the rotating assembly 30, so that the problem that the wire harness fails due to torsion and pulling of the rotation conductive link 410 and the fixed conductive link 420 when the rotating assembly 30 rotates is avoided, and the operation stability of the robot is ensured.

As shown in fig. 1 and 3, in some embodiments, the conductive module 40 includes a conductive slip ring 430 located in the housing 10, where the conductive slip ring 430 includes a rotating portion 4301 and a fixed portion 4302, and the rotating portion 4301 is electrically connected to the fixed portion 4302 and can rotate relatively; the rotating portion 4301 is disposed on the rotating assembly 30, the fixing portion 4302 is disposed on the housing 10, the rotating portion 4301 is electrically connected to the rotating conductive link 410, and the fixing portion 4302 is electrically connected to the fixed conductive link 420.

It should be noted that, the conductive slip ring 430 is an electromechanical component for transmitting current and data signals from the fixed device to the rotating device; conductive slip ring 430 includes brushes, which are critical components for transmitting power or signals.

The fixing portion 4302 is provided with a slip ring flange 4303, and the slip ring flange 4303 is connected to the housing 10 by a screw; the rotating portion 4301 may rotate about the axis a, and the rotating portion 4301 may be connected to the rotating assembly 30 by a screw or a key to rotate synchronously with the rotating assembly 30.

By arranging the conductive slip ring 430 to realize the rotary connection and electrical connection of the rotary conductive link 410 and the fixed conductive link 420, the structure can be greatly simplified, and the damage of the wires of the conductive module 40 due to torsion, bending and the like during rotation can be effectively avoided.

As shown in fig. 1 and 3, in some embodiments, the rotating conductive link 410 includes a rotating wire 4101 and a rotating interface 4102, and two ends of the rotating wire 4101 are electrically connected to the rotating interface 4102 and the rotating portion 4301, respectively.

The number of the rotating wires 4101 may be set as needed, for example, a plurality of wires may be arranged side by side, and used for power supply, data signal transmission, and the like.

By providing the rotational interface 4102 provides a structural basis for electrical connection and signal transfer between the joint structure and other joint structures, or with external devices, the harness connection is simplified and the installation efficiency is improved.

As shown in fig. 1, in some embodiments, the rotating assembly 30 includes an output member 310 and a transition member 320; the output member 310 is rotatable relative to the housing 10, the output member 310 being at least partially located outside the housing 10; one end of the transition piece 320 is connected to the output piece 310, and the transition piece 320 is partially located within the housing 10; the turn 4301 is coupled to an end of the transition piece 320 remote from the output piece 310.

It should be noted that, the transition piece 320 includes a transition pipe 3203 and a transition flange 3204 connected to one end of the transition pipe 3203, and the transition piece 320 and the output piece 310 may be connected by screws.

For example, as shown in fig. 1, 4 and 5, a transition mounting groove 3102 adapted to the shape of the transition flange 3204 is provided on the end surface of the output member 310 at the end far from the housing 10, and a transition positioning hole 3103 and a plurality of transition limiting holes 3104 are provided on the transition mounting groove 3102, and the plurality of transition limiting holes 3104 are arranged at equal intervals around the transition positioning hole 3103 in the circumferential direction; a plurality of transition flange holes 3206 are formed in the transition flange 3204, the plurality of transition flange holes 3206 are in one-to-one correspondence with the plurality of transition limiting holes 3104, and the transition flange holes 3206 are coaxially arranged with the corresponding transition limiting holes 3104;

the transition tube 3203 is inserted through the transition positioning hole 3103, the transition flange 3204 is located in the transition mounting groove 3102, and screws pass through the transition flange hole 3206 and the transition limiting hole 3104 to connect the transition piece 320 and the output piece 310.

It should be further noted that the transition piece 320 may be connected to the rotating portion 4301 by a screw, and of course, the transition piece 320 may be connected to the rotating portion 4301 by a key.

For example, as shown in fig. 5, the transition piece 320 is provided with a plurality of fitting holes 3205 on an end thereof remote from the output piece 310, the plurality of fitting holes 3205 being arranged at equal intervals circumferentially around the transition piece 320; the rotation portion 4301 is provided with a plurality of mounting surfaces 4304, the plurality of mounting surfaces 4304 are parallel to the second direction, the plurality of mounting surfaces 4304 are in one-to-one correspondence with the plurality of fitting holes 3205, and the mounting surfaces 4304 are perpendicular to the corresponding fitting holes 3205;

one end of the rotating portion 4301 away from the fixed portion 4302 may be inserted into the transition pipe 3203, and after the screw is screwed with the mating hole 3205, the screw abuts against the mounting surface 4304 to connect the rotating portion 4301 with the transition piece 320.

For example, a key groove is provided in the hole wall of the transition hole 3202, and a transmission key is provided in the rotation portion 4301 so as to be engaged with the key groove.

As shown in fig. 1, 4, and 5, in some embodiments, an output groove 3101 extending in the first direction is provided on an end surface of the output member 310 at an end remote from the housing 10; a transition groove 3201 is arranged on the end surface of the transition piece 320, and the transition groove 3201 is collinear and communicated with the output groove 3101 so as to jointly form a cable groove; the transition piece 320 is provided with a transition hole 3202 penetrating the transition piece 320 in a second direction, and the second direction is perpendicular to the first direction; wherein, a portion of the wires of the rotary conductive link 410 are disposed in the transition hole 3202, and another portion of the wires of the rotary conductive link 410 and the rotary interface 4102 are disposed in the cable slot.

The output groove 3101 is in communication with the transition mounting groove 3102, the transition groove 3201 is disposed on the transition flange 3204, and the rotation interface 4102 is mounted in the cable groove by screws or fasteners.

By co-forming the cable slot on the output member 310 and the transition member 320, providing a transition aperture 3202 on the transition member 320 provides a structural basis for the installation of the rotary conductive link 410.

As shown in fig. 1, 3, in some embodiments, fixed conductive link 420 includes a fixed conductor 4201, a fixed interface 4202, and a driven male interface 4203, with fixed portion 4302, driven male interface 4203, and fixed interface 4202 being serially connected in sequence through fixed conductor 4201.

By providing the driving male interface 4203 and the fixing interface 4202, a structural basis is provided for electrical connection and signal transmission between the joint structure and other joint structures or external devices, so that harness connection is simplified, and installation efficiency is improved.

As shown in fig. 6, in some embodiments, the housing 10 includes a main body portion 110 and a split portion 120; the main body 110 extends along the second direction, and a fixing hole 1106 extending in the first direction is formed in a side wall of the main body 110; the split part 120 is arranged on the side wall of the main body part 110, the split part 120 extends along the first direction, and the fixing hole 1106 is positioned in the split part 120; wherein, part of the fixed wire 4201 of the fixed conductive link 420 and the fixed interface 4202 are disposed in the fixed hole 1106.

It should be noted that, the main body 110 and the split portion 120 may be integrally formed by a mold to achieve connection, as shown in fig. 6, the main body 110 includes a cylinder 1101 and a partition 1102, the partition 1102 is connected to one end of the cylinder 1101 by a screw, and the partition 1102 is connected to the slip ring flange 4303 by a screw.

For example, as shown in fig. 1 and 6, the spacer 1102 is provided with a slip ring mounting hole 1103 and a plurality of slip ring limiting holes 1104, and the slip ring limiting holes 1104 are arranged at equal intervals in the circumferential direction around the slip ring mounting hole 1103; the slip ring flange 4303 is provided with a plurality of slip ring flange holes 4305, the slip ring flange holes 4305 and the slip ring limiting holes 1104 are in one-to-one correspondence, the slip ring flange holes 4305 and the corresponding slip ring limiting holes 1104 are coaxially arranged, and screws penetrate through the slip ring limiting holes 1104 and the slip ring flange holes 4305 to connect the partition 1102 and the slip ring flange 4303.

As shown in fig. 6, the side wall of the main body 110 has a mounting portion 1105 perpendicular to the first direction, the fixing hole 1106 is provided in the mounting portion 1105, and the split portion 120 surrounds the mounting portion 1105.

It should be further noted that, the fixing hole 1106 includes a first hole section and a second hole section, the first hole section is configured to be penetrated by the fixing wire 4201, and the fixing interface 4202 is disposed in the second hole section. For example, the fixation interface 4202 may be secured within the second bore segment by screws, snaps.

As shown in fig. 4 and 6, a plurality of split holes 1201 are provided in the side wall of the split portion 120, and the plurality of split holes 1201 are circumferentially equally spaced around the split portion 120; the outer wall of the output member 310 is provided with a plurality of expansion holes 3105, and the plurality of expansion holes 3105 are arranged at equal intervals in the circumferential direction around the output member 310.

By arranging the split parts 120, a structural foundation is provided for expanding and installing a plurality of joint structures, and the split part 120 of one joint structure can be connected with the output piece 310 of the other joint structure, so that structural connection is realized; by providing a fixed interface 4202 that provides an electrical basis for the extended installation of multiple joint structures, the fixed interface 4202 of one joint structure is connected to the rotational interface 4102 of another joint structure, thereby making electrical connection.

As shown in fig. 1, in some embodiments, the joint structure includes a switching module 20 disposed in the housing 10, the switching module 20 includes a plurality of electronic components arranged along the second direction, one of the plurality of electronic components has a driving female interface 210, and the driving female interface 210 interfaces with a driving male interface 4203 to implement an electrical connection. The working state of the driving member 50 is controlled and detected by the arrangement of the switching module 20.

It should be noted that the adapter module 20 is located in the annular space 330 formed by the transition piece 320 and the housing 10, and the adapter module 20 includes, but is not limited to, a dc driver, an incremental encoder, and an absolute encoder, and the driving female interface 210 may be disposed on an electronic component closest to the fixing portion 4302.

In some embodiments, the rotational interface 4102 of the rotational conductive link 410 may interface with the stationary interface 4202 of the stationary conductive link 420.

The rotary interface 4102 and the fixed interface 4202 which can be in butt joint provide a structural foundation for the electrical connection of a plurality of joint structures, so that the joint structures are directly connected electrically through the interfaces, the assembly time is greatly saved, and the problems of time and labor waste and low assembly efficiency in the assembly of the conventional plurality of joint modules are solved.

As shown in fig. 1, in some embodiments, the joint structure includes a driving member 50 disposed in the housing 10 and electrically connected to the adapter module 20, and an output shaft of the driving member 50 can drive the rotating assembly 30 to rotate relative to the housing 10.

It should be noted that, the driving member 50 may be connected to the housing 10 by a screw, and the driving member 50 may be connected to the output member 310 by a screw.

It should be noted that, as shown in fig. 1, the driving member 50 is disposed in the annular space 330, and the switching module 20 and the driving member 50 are sequentially disposed along the second direction; the driving part 50 includes a motor, an output shaft of which is connected to an input shaft of the speed reducer, and a speed reducer, an output shaft of which is connected to the output part 310, thereby driving the output part 310 to rotate relative to the housing 10.

It should be further noted that, the driving member 50 further includes a band-type brake, where the band-type brake can lock the position when the motor is stopped, and the motor is not allowed to move due to an external force, and the band-type brake is a brake of the motor, which is also referred to as a holding brake.

As shown in fig. 7, at least one embodiment of the present invention further provides a robot, which includes the joint structure according to any one of the embodiments of the present invention, and further has all the technical effects brought by the technical solutions of the foregoing embodiments.

As shown in fig. 8, in some embodiments, the robot includes a plurality of joint structures, two adjacent joint structures are perpendicular, the output member 310 of one of the two adjacent joint structures is connected to the split portion 120 of the other of the two adjacent joint structures, and the rotational interface 4102 of one of the two adjacent joint structures is butted with the fixed interface 4202 of the other of the two adjacent joint structures to achieve the electrical connection. Therefore, when a plurality of joint structures of the robot run, wire harnesses among the joint structures cannot break or fail due to torsion, bending and the like, and the running stability of the robot is improved; meanwhile, the wire harness connection during the combined installation of the joint structures is simplified and facilitated, and the assembly efficiency of the robot is improved.

For example, as shown in fig. 7 and 8, the robot includes a first joint structure 1 and a second joint structure 2, the output member 310 of the first joint structure 1 is connected to the split portion 120 of the second joint structure 2, and the rotational interface 4102 of the first joint structure 1 is abutted with the fixed interface 4202 of the second joint structure 2; when the output member 310 of the first joint structure 1 rotates, the rotation interface 4102 of the first joint structure 1, the fixed interface 4202 of the second joint structure 2, the housing 10, the transit module 20, and the fixed conductive link 420 all synchronously rotate with the output member 310, so that the rotation interface 4102 of the first joint structure 1 and the fixed interface 4202 of the second joint structure 2 remain relatively stationary without wire harness wrapping.

The output member 310 of the first joint structure 1 is connected to the split portion 120 of the second joint structure 2 by screws, the plurality of expansion holes 3105 of the first joint structure 1 are in one-to-one correspondence with the plurality of split holes 1201 of the second joint structure 2, the expansion holes 3105 are coaxially arranged with the corresponding split holes 1201, and the screws pass through the expansion holes 3105 and the split holes 1201 to connect the first joint structure 1 with the second joint structure 2.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A joint structure, comprising:

a housing;

a rotating assembly rotatable relative to the housing;

2. The joint structure according to claim 1, wherein the conductive module includes a conductive slip ring located in the housing, the conductive slip ring including a rotating portion and a fixed portion, the rotating portion being electrically connected to the fixed portion and rotatable relative to the rotating portion;

3. The joint structure according to claim 2, wherein the rotary conductive link includes a rotary wire and a rotary interface, and both ends of the rotary wire are electrically connected to the rotary interface and the rotary part, respectively.

4. A joint arrangement according to claim 3, wherein the rotation assembly comprises:

5. The joint structure according to claim 4, wherein an end face of the output member remote from the one end of the housing is provided with an output groove extending in the first direction;

6. The joint structure according to claim 3, wherein the fixed conductive link comprises a fixed wire, a fixed interface, and a driving male interface, and the fixed portion, the driving male interface, and the fixed interface are connected in series sequentially through the fixed wire.

7. The joint structure of claim 6, wherein the housing comprises:

8. The joint structure of claim 6, comprising a transfer module disposed within the housing, the transfer module comprising a plurality of electronics arranged along a first direction, one of the plurality of electronics having a drive female interface that interfaces with the drive male interface to effect an electrical connection.

9. The joint structure of claim 6, wherein the rotational interface of the rotational conductive link is mateable with the stationary interface of the stationary conductive link.

10. The joint structure of claim 8, comprising a drive member disposed within the housing and electrically coupled to the adapter module, an output shaft of the drive member being configured to drive the rotating assembly to rotate relative to the housing.

11. A robot comprising a joint structure according to any one of claims 1-10.

12. The robot of claim 11, wherein the robot comprises a plurality of joint structures, two adjacent joint structures are perpendicular, an output piece of one joint structure of the two adjacent joint structures is connected with a split part of the other joint structure of the two adjacent joint structures, and a rotating interface of one joint structure of the two adjacent joint structures is butted with a fixing interface of the other joint structure of the two adjacent joint structures to realize electric connection.