CN117733901A - Joint and robot - Google Patents

Abstract

The invention provides a joint and a robot, comprising: the bracket is provided with an installation cavity; an output structure; the swing assembly is at least partially movably arranged in the mounting cavity, and the output structure is mounted on the swing assembly; the first driving assembly and the second driving assembly are arranged on the bracket, and are in driving connection with the output structure, and the first driving assembly provides driving force for the output structure to autorotate around a third direction; the second driving component is in driving connection with the output structure through the swinging component and provides driving force for swinging of the output structure around the first direction or a second direction perpendicular to the first direction. The invention solves the problem of large inertia of the shoulder joint driving piece in the prior art.

Description

Joint and robot

Technical Field

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

Background

With the development of robot technology and the spread of applicable fields, robots have gradually become an irreplaceable tool in the fields of production, service and the like. The articulated robot is widely used because of its advantages such as flexible motion and compact structure. Robots in the related art generally include mechanical shoulder joints to simulate the shoulders of a human body, and support a robot arm to perform lifting, rotating, and the like.

The shoulder joint usually requires two degrees of freedom of oscillation and one direction of rotation, which requires a plurality of driving members to perform different driving, and the shoulder joint is usually connected in series in order to reduce interference of mutual movement between the respective members. However, the series connection causes an increase in inertia of the driving member, which requires an increase in power of the driving member, and the driving member of high power causes an increase in occupied space and an increase in cost.

Disclosure of Invention

The invention mainly aims to provide a joint so as to solve the problem of large inertia of a driving piece in the prior art of shoulder joints.

In order to achieve the above object, according to one aspect of the present invention, there is provided a joint comprising: the bracket is provided with an installation cavity; an output structure; the swing assembly is at least partially movably arranged in the mounting cavity, and the output structure is mounted on the swing assembly; the first driving assembly and the second driving assembly are arranged on the bracket, and are in driving connection with the output structure, and the first driving assembly provides driving force for the output structure to autorotate around a third direction; the second driving component is in driving connection with the output structure through the swinging component and provides driving force for swinging of the output structure around the first direction or a second direction perpendicular to the first direction.

Further, the first drive assembly is co-linear or angled with the output structure along a third direction; and/or the second driving components are arranged in pairs, and the two second driving components arranged in pairs are collinear along the first direction.

Further, the support includes first arm section, second arm section and the third arm section of connecting in order, and along the same side of third direction first arm section and third arm section are located the second arm section, and first arm section, second arm section and third arm section enclose into the installation cavity, and first drive assembly sets up on the second arm section, and second drive assembly sets up on first arm section and/or third arm section, and output structure sets up in the outside of installation cavity.

Further, the swing assembly comprises a first swing part and a second swing part, the output structure is rotatably arranged on the second swing part around a third direction, and the second driving assembly drives the first swing part, the second swing part and the output structure to synchronously rotate around the first direction; or the second driving assembly drives the second swinging part to rotate around the second direction, and the second swinging part drives the output structure to synchronously rotate around the second direction.

Further, at least a part of the first swinging part is movably arranged in the mounting cavity; and/or the second swing portion is located outside the mounting cavity.

Further, the joint further comprises a transmission assembly, the second driving assembly is in driving connection with the swinging assembly through the transmission assembly, the transmission assembly is provided with a locking state and a transmission state, and when the transmission assembly is in the locking state, the second driving assembly drives the first swinging part and the second swinging part to swing around the first direction through the transmission assembly; when the transmission assembly is in a transmission state, the second driving assembly drives the second swinging part to swing around the second direction through the transmission assembly.

Further, the second driving assembly is provided in pairs, and the transmission assembly includes: two first transmission members arranged in pairs; the first end of the second transmission piece is rotatably arranged on the first swinging part along the second direction, the second end of the second transmission piece is connected with the second swinging part, and two second driving components arranged in pairs are respectively in driving connection with the second transmission piece through the first transmission piece; when the transmission assembly is in a transmission state, the two first transmission parts are both in rotary connection with the second transmission part, and the second transmission part drives the output structure to rotate around the second direction; when the transmission assembly is in a locking state, the two first transmission parts are respectively abutted with the second transmission parts to lock the second transmission parts, and the first transmission parts and the second transmission parts synchronously rotate around the first direction.

Further, the first swinging portion includes: a base plate section having a mounting hole extending in a second direction, at least a portion of the second transmission member being rotatably disposed within the mounting hole; the side plate section is provided with the side plate section respectively along the both ends of first direction bottom plate section, and the installation region is enclosed to bottom plate section and side plate section, has the via hole that extends along first direction on the side plate section, and at least a portion of first driving medium rotationally sets up in the inside of via hole, exposes first driving medium and the second driving medium drive connection in the inside of installation region.

Further, the first transmission member comprises a first sleeve section and first helical teeth arranged at one end of the first sleeve section, which is far away from the first driving assembly, and the first helical teeth are exposed in the installation area; the second transmission piece comprises a second sleeve section and second helical teeth arranged at one end, deviating from the second driving assembly, of the second sleeve section, the second helical teeth are exposed in the installation area, and the first helical teeth are meshed with the second helical teeth.

Further, the second swinging part comprises a first plate section and a second plate section which are formed by bending, the first plate section is connected with the second transmission piece, and the second plate section is arranged between the output structure and the first driving assembly along the third direction.

Further, the second board section is provided with a third through hole extending along a third direction, and at least one part of the output structure penetrates through the third through hole to be connected with the first driving assembly.

Further, the joint further comprises a universal joint, and the first driving assembly is in driving connection with the output structure through the universal joint.

Further, the universal joint is disposed inside the mounting cavity. A region arranged along the first direction and between two first transmission members arranged in pairs of the transmission assembly; and/or the universal joint is arranged above a second transmission part of the transmission assembly along a second direction.

According to another aspect of the present invention, there is provided a robot comprising the above-mentioned joint.

By applying the technical scheme of the invention, the following technical effects are realized:

1. the driving components are independently installed, so that the driving components work independently, serial connection among the driving components is avoided, and inertia of the driving components is reduced.

2. Through the rotation of two second drive assembly different directions, be convenient for drive output structure first direction and the rotation of second direction.

3. The universal joint and the transmission structure are separated from each other in the arrangement position, so that the interference of movement among the components can be avoided, and the working stability of the components is improved.

4. The different driving parts are all arranged on one bracket, so that the compactness of the whole structure can be improved, the joint can be miniaturized, and the occupation of the space is reduced.

5. The first driving piece drives the output structure to rotate; the second driving piece drives the rotation of two directions of output structure, through the cooperation between first driving piece and the second driving piece, realizes the rotation of three directions of output structure, can truly simulate the joint of people.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of an embodiment;

FIG. 2 is a schematic diagram of a direct embodiment;

fig. 3 is a schematic structural view of the swing assembly.

Wherein the above figures include the following reference numerals:

1. a bracket; 11. a first arm segment; 12. a second arm segment; 13. a third arm segment; 14. a mounting cavity; 2. an output structure; 3. a swing assembly; 31. a first swing portion; 311. a floor section; 3111. a mounting hole; 312. a side plate section; 3121. a first via; 32. a second swing portion; 321. a first plate segment; 322. a second plate segment; 3221. a third via; 4. a first drive assembly; 5. a second drive assembly; 6. a transmission assembly; 61. a first transmission member; 62. a second transmission member; 7. and a universal joint.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

It is noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless otherwise indicated.

In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.

In order to solve the problem of large inertia of a shoulder joint driving piece in the prior art, the invention provides a joint, and a plurality of driving pieces are arranged on the same bracket, so that the driving pieces are respectively and independently arranged, and the situation of large inertia caused by series connection of the driving pieces is avoided.

Example 1

A joint, see fig. 1 to 3, comprises a stand 1, an output structure 2, a swing assembly 3, a first drive assembly 4 and a second drive assembly 5. The support 1 is provided with an installation cavity 14, at least one part of the swinging component 3 is movably arranged in the installation cavity 14, the output structure 2 is arranged on the swinging component 3, the first driving component 4 and the second driving component 5 are arranged on the support 1, the first driving component 4 is in driving connection with the output structure 2, the first driving component 4 provides driving force for the output structure 2 to rotate around a third direction, the second driving component 5 is in driving connection with the output structure 2 through the swinging component 3, and the second driving component 5 provides driving force for the output structure 2 to swing around the first direction or a second direction perpendicular to the first direction.

In this embodiment, the joint may be an anthropomorphic shoulder joint, but is not limited to the shoulder joint and may be other similar joint structures.

The first driving component 4 and the second driving component 5 are both arranged on the bracket 1, and the first driving component 4 and the second driving component 5 work independently, so that the parts driven by the first driving component 4 to move and the parts driven by the second driving component 5 to move are mutually independent, and the serial connection is not generated, thereby reducing the inertia of the first driving component 4 and the second driving component 5, and reducing the power of the first driving component 4 and the second driving component 5.

The first direction is the X direction in the figure, and the second direction is the Y direction in the figure. The output structure 2 simulates a human arm, the whole is a cylindrical structure, and the third direction is the axis direction of the output structure 2.

In this embodiment, the first drive assembly 4 and the second drive assembly 5 may each be a motor.

Further, the first drive assembly 4 is co-linear or angled with the output structure 2 in a third direction.

The output structure 2 simulates a human arm, the whole is a cylindrical structure, and the first driving component 4 drives the output structure 2 to rotate along the axis of the output structure, so that the rotation of the human arm is simulated.

Further, the second driving assemblies 5 are arranged in pairs, and the two second driving assemblies 5 arranged in pairs are collinear in the first direction.

The two second driving components 5 are collinear, so that the two second driving components 5 can work better synchronously, and errors in driving caused by dislocation of the two second driving components are avoided.

Further, the support 1 comprises a first arm segment 11, a second arm segment 12 and a third arm segment 13 which are sequentially connected, the first arm segment 11 and the third arm segment 13 are located on the same side of the second arm segment 12 along the third direction, the first arm segment 11, the second arm segment 12 and the third arm segment 13 enclose a mounting cavity 14, the first driving assembly 4 is arranged on the second arm segment 12, the second driving assembly 5 is arranged on the first arm segment 11 and/or the third arm segment 13, and the output structure 2 is arranged outside the mounting cavity 14.

The first driving component 4 and the second driving component 5 are arranged at different positions of the bracket 1, and the work of the first driving component 4 and the second driving component 5 is relatively independent, so that the situation of series connection is avoided, and the motion inertia of the first driving component 4 and the second driving component 5 is reduced.

Further, the swinging assembly 3 includes a first swinging part 31 and a second swinging part 32, the output structure 2 is rotatably arranged on the second swinging part 32 around the third direction, and the second driving assembly 5 drives the first swinging part 31, the second swinging part 32 and the output structure 2 to synchronously rotate around the first direction; or the second driving component 5 drives the second swinging part 32 to rotate around the second direction, and the second swinging part 32 drives the output structure 2 to synchronously rotate around the second direction.

The first swinging part 31 and the second swinging part 32 have different movement directions, and the second driving assembly 5 drives the first swinging part 31 or the second swinging part 32 to move by different driving modes, so that the rotation of the output structure 2 in the first direction or the second direction is realized.

Further, at least a part of the first swinging portion 31 is movably disposed inside the mounting chamber 14.

This makes it possible to reasonably utilize the space inside the installation cavity 14 to reduce the utilization of the space, thereby enabling the entire apparatus to be miniaturized.

Further, the second swing portion 32 is located outside the mounting chamber 14.

In this way, the movement of the second swing portion 32 does not interfere with the bracket 1, thereby facilitating the movement of the second swing portion 32.

Further, the joint further comprises a transmission assembly 6, the second driving assembly 5 is in driving connection with the swinging assembly 3 through the transmission assembly 6, the transmission assembly 6 is provided with a locking state and a transmission state, and when the transmission assembly 6 is in the locking state, the second driving assembly 5 drives the first swinging part 31 and the second swinging part 32 to swing around the first direction through the transmission assembly 6; when the transmission assembly 6 is in the transmission state, the second driving assembly 5 drives the second swinging part 32 to swing around the second direction through the transmission assembly 6.

When the transmission assembly 6 is in the locking state, the power transmission assembly cannot transmit the power, the power of the second driving assembly 5 is directly transmitted to the swinging assembly 3 through the transmission assembly 6, and the first swinging part 31 and the second swinging part 32 of the swinging assembly 3 simultaneously rotate around the first direction.

When the transmission assembly 6 is in a transmission state, the transmission assembly 6 can transmit at this time, and after the power of the second driving assembly 5 is transmitted to the swinging assembly 3 through the transmission assembly 6, a part of the swinging assembly 3, that is, the second swinging assembly 3 rotates around the second direction.

Further, the second driving assemblies 5 are arranged in pairs, and the transmission assembly 6 includes: two first transmission members 61 provided in pairs; the second transmission member 62, the first end of the second transmission member 62 is rotatably disposed on the first swinging portion 31 along the second direction, the second end of the second transmission member 62 is connected with the second swinging portion 32, and the two second driving assemblies 5 disposed in pairs are respectively in driving connection with the second transmission member 62 through the first transmission member 61; when the transmission assembly 6 is in a transmission state, the two first transmission parts 61 are both in rotary connection with the second transmission part 62, and the second transmission part 62 drives the output structure 2 to rotate around the second direction; when the transmission assembly 6 is in the locked state, the two first transmission members 61 respectively abut against the second transmission member 62 to lock the second transmission member 62, and the first transmission member 61 and the second transmission member 62 synchronously rotate around the first direction.

The second drive assembly 5 drives the first transmission member 61, and the movement of the second drive member is transmitted to the second transmission member 62 via the first transmission member 61. The second transmission member 62 is connected to the second swinging portion 32, so that the second transmission member 62 rotates to drive the second swinging portion 32 to rotate.

When the transmission assembly 6 is in the transmission state, the second transmission member 62 can rotate to drive the second swinging portion 32 to rotate, so as to realize the rotation of the output structure 2 in the second direction.

When the transmission assembly 6 is in the locking state, the second transmission member 62 rotates, and at this time, the first transmission member 61 drives the first swinging portion 31 to rotate, so as to drive the second swinging portion 32 mounted on the first swinging portion 31 and the output structure 2 mounted on the second swinging portion 32 to rotate along the first direction.

Further, the first swinging portion 31 includes: a base plate section 311 having a mounting hole 3111 extending in the second direction, at least a portion of the second transmission 62 being rotatably disposed inside the mounting hole 3111; the side plate section 312, two ends of the bottom plate section 311 along the first direction are respectively provided with the side plate section 312, the bottom plate section 311 and the side plate section 312 enclose a mounting area, the side plate section 312 is provided with a first through hole 3121 extending along the first direction, at least one part of the first transmission member 61 is rotatably arranged in the first through hole 3121, and the first transmission member 61 and the second transmission member 62 exposed in the mounting area are in driving connection.

By disposing at least a portion of the second transmission member 62 inside the mounting hole 3111, when the transmission assembly 6 is in the locked state, the first transmission member 61 drives the second transmission member 62 to rotate in the first direction, and the second transmission member 62 rotates synchronously with the first swinging portion 31, so that the second swinging portion 32 and the output structure 2 are driven to rotate around the first direction.

Through holes formed in the side plate sections 312 provide space for rotation of the first transmission member 61.

Further, the first transmission member 61 comprises a first sleeve section and a first helical tooth arranged at an end of the first sleeve section facing away from the first drive assembly 4, the first helical tooth being exposed inside the mounting area; the second transmission member 62 includes a second sleeve segment and a second helical tooth disposed at an end of the second sleeve segment facing away from the second drive assembly 5, the second helical tooth being exposed within the mounting region, the first helical tooth being engaged with the second helical tooth.

The engagement of the first helical teeth with the second helical teeth can better transmit the rotation of the second drive assembly 5.

When the two second driving assemblies 5 rotate in the same direction, the two first helical teeth want to drive the second helical teeth to rotate in opposite directions, and the second helical teeth are in a clamped state and cannot rotate.

When the two second driving assemblies 5 rotate reversely, the two first helical teeth want to drive the second helical teeth to rotate in the same direction, and the second helical teeth are in a rotatable state.

In this embodiment, the same direction means that the driving directions of the two first helical teeth to the second helical teeth are the same; the reverse direction means that the driving directions of the two first helical teeth and the second helical teeth are opposite.

Further, the second swinging part 32 includes a first plate section 321 and a second plate section 322 which are formed by bending, the first plate section 321 is connected with the second transmission member 62, and the second plate section 322 is disposed between the output structure 2 and the first driving assembly 4 along the third direction.

Further, the second board section 322 has a third via 3221 extending along the third direction, and at least a portion of the output structure 2 is connected to the first driving component 4 through the third via 3221.

The second transmission member 62 drives the first plate segment 321 to rotate along the first direction or the second direction, the output structure 2 is mounted on the second plate segment 322, and the movement of the second transmission member 62 is transmitted through the first plate segment 321 to drive the second plate segment 322 to rotate, so that the output structure 2 is driven to rotate. The third via 3221 provides space for the transmission of the first drive assembly 4.

Further, the joint further comprises a universal joint 7, and the first drive assembly 4 is in driving connection with the output structure 2 via the universal joint 7.

When the output structure 2 rotates along the first direction and/or the second direction, the output shaft of the first driving component 4 is not collinear with the rotation shaft of the output structure 2, and the output shaft and the rotation shaft are in driving connection through the universal joint 7, so that the two shafts which are not collinear can be driven.

Further, the universal joint 7 is provided inside the mounting chamber 14. The universal joint 7 is arranged in the first direction in the region between the two first transmission members 61 of the transmission assembly 6 arranged in pairs; and/or the universal joint 7 is arranged above the second transmission member 62 of the transmission assembly 6 in the second direction.

By arranging the universal joint 7 in the region between the two first transmission members 61 or by arranging the universal joint 7 above the transmission assembly 6 in the second direction, it is possible to prevent the occurrence of interference of the movement between the universal joint 7 and the transmission assembly 6, and to increase the relative stability of the movement between the transmission assembly 6 and the universal joint 7.

Example two

The present embodiment provides a robot including the joint in the first embodiment.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

1. the driving components are independently installed, so that the driving components work independently, serial connection among the driving components is avoided, and inertia of the driving components is reduced.

2. Through the rotation of two second drive assembly 5 in different directions, be convenient for drive output structure 2 first direction and the rotation of second direction.

3. The positions of the universal joint 7 and the transmission structure are separated, so that the interference of movement between the parts can be avoided, and the working stability of the parts is improved.

4. The different driving parts are all arranged on one bracket, so that the compactness of the whole structure can be improved, the joint can be miniaturized, and the occupation of the space is reduced.

5. The first driving component 4 drives the output structure 2 to rotate; the second driving component 5 drives the output structure 2 to rotate in two directions, and the rotation of the output structure 2 in three directions is realized through the cooperation between the first driving component 4 and the second driving component 5, so that the joint of a person can be truly simulated.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. A joint, comprising:

a bracket (1), the bracket (1) having a mounting cavity (14);

an output structure (2);

the swinging assembly (3), at least one part of the swinging assembly (3) is movably arranged in the mounting cavity (14), and the output structure (2) is mounted on the swinging assembly (3);

the first driving assembly (4) and the second driving assembly (5), the first driving assembly (4) and the second driving assembly (5) are arranged on the bracket (1), the first driving assembly (4) is in driving connection with the output structure (2), and the first driving assembly (4) provides driving force for the output structure (2) to rotate around a third direction;

the second driving component (5) is in driving connection with the output structure (2) through the swinging component (3), and the second driving component (5) provides driving force for swinging of the output structure (2) around a first direction or a second direction perpendicular to the first direction.

2. The joint according to claim 1, wherein,

the first drive assembly (4) is co-linear or arranged at an angle to the output structure (2) along the third direction; and/or

The second driving assemblies (5) are arranged in pairs, and the two second driving assemblies (5) arranged in pairs are collinear along the first direction.

3. Joint according to claim 1, characterized in that the bracket (1) comprises a first arm segment (11), a second arm segment (12) and a third arm segment (13) connected in sequence, the first arm segment (11) and the third arm segment (13) being located on the same side of the second arm segment (12) along a third direction, the first arm segment (11), the second arm segment (12) and the third arm segment (13) enclosing the mounting cavity (14), the first drive assembly (4) being arranged on the second arm segment (12), the second drive assembly (5) being arranged on the first arm segment (11) and/or the third arm segment (13), the output structure (2) being arranged outside the mounting cavity (14).

4. Joint according to claim 1, characterized in that the oscillating assembly (3) comprises a first oscillating portion (31) and a second oscillating portion (32), the output structure (2) being rotatably arranged on the second oscillating portion (32) about a third direction,

the second driving assembly (5) drives the first swinging part (31), the second swinging part (32) and the output structure (2) to synchronously rotate around a first direction; or alternatively

The second driving assembly (5) drives the second swinging part (32) to rotate around the second direction, and the second swinging part (32) drives the output structure (2) to synchronously rotate around the second direction.

5. The joint according to claim 4, wherein,

at least one part of the first swinging part (31) is movably arranged in the mounting cavity (14); and/or

The second swing portion (32) is located outside the mounting cavity (14).

6. Joint according to claim 4, characterized in that it further comprises a transmission assembly (6), said second driving assembly (5) being in driving connection with said oscillating assembly (3) through said transmission assembly (6), said transmission assembly (6) having a locked state and a transmission state,

when the transmission assembly (6) is in the locking state, the second driving assembly (5) drives the first swinging part (31) and the second swinging part (32) to swing around the first direction through the transmission assembly (6);

when the transmission assembly (6) is in the transmission state, the second driving assembly (5) drives the second swinging part (32) to swing around the second direction through the transmission assembly (6).

7. Joint according to claim 6, characterized in that the second drive assemblies (5) are arranged in pairs, the transmission assembly (6) comprising:

two first transmission members (61) arranged in pairs;

the first end of the second transmission member (62) is rotatably arranged on the first swinging part (31) along the second direction, the second end of the second transmission member (62) is connected with the second swinging part (32), and the two second driving assemblies (5) arranged in pairs are respectively in driving connection with the second transmission member (62) through the first transmission member (61);

when the transmission assembly (6) is in the transmission state, the two first transmission parts (61) are both in rotary connection with the second transmission part (62), and the second transmission part (62) drives the output structure (2) to rotate around the second direction; when the transmission assembly (6) is in the locking state, the two first transmission members (61) are respectively abutted with the second transmission members (62) to lock the second transmission members (62), and the first transmission members (61) and the second transmission members (62) synchronously rotate around a first direction.

8. Joint according to claim 7, characterized in that the first oscillating portion (31) comprises:

-a base plate section (311), the base plate section (311) having a mounting hole (3111) extending in the second direction, at least a portion of the second transmission member (62) being rotatably arranged inside the mounting hole (3111);

the side plate section (312), along the first direction the both ends of bottom plate section (311) are provided with respectively curb plate section (312), bottom plate section (311) with curb plate section (312) enclose into the installation region, have on curb plate section (312) along first direction the first via hole (3121) that extends, at least a portion of first driving medium (61) rotationally set up in the inside of first via hole (3121), expose the inside of installation region first driving medium (61) with second driving medium (62) drive connection.

9. The joint according to claim 8, wherein,

the first transmission part (61) comprises a first sleeve section and first helical teeth arranged at one end of the first sleeve section, which is far away from the first driving assembly (4), and the first helical teeth are exposed in the installation area;

the second transmission piece (62) comprises a second sleeve section and second helical teeth arranged at one end of the second sleeve section, which is far away from the second driving assembly (5), the second helical teeth are exposed in the installation area, and the first helical teeth are meshed with the second helical teeth.

10. Joint according to claim 7, characterized in that the second oscillating portion (32) comprises a first plate section (321) and a second plate section (322) which are bent and shaped, the first plate section (321) being connected to the second transmission member (62), the second plate section (322) being arranged between the output structure (2) and the first drive assembly (4) in the third direction.

11. Joint according to claim 10, wherein the second plate section (322) has a third via (3221) extending in a third direction, at least a portion of the output structure (2) being connected to the first drive assembly (4) through the third via (3221).

12. Joint according to claim 1, characterized in that the joint further comprises a universal joint (7), through which universal joint (7) the first drive assembly (4) is in driving connection with the output structure (2).

13. Joint according to claim 12, characterized in that the universal joint (7) is arranged inside the mounting cavity (14);

-the universal joint (7) is arranged in the first direction in a region between two first transmission members (61) of the transmission assembly (6) arranged in pairs; and/or

The universal joint (7) is arranged above a second transmission member (62) of the transmission assembly (6) along the second direction.

14. A robot comprising a joint according to any one of claims 1 to 13.