CN213566217U - Joint driving mechanism and robot - Google Patents

Abstract

The utility model provides a joint actuating mechanism and robot, joint actuating mechanism includes the U-shaped connecting piece, rotate the joint steering wheel of connecting in the steering wheel frame of U-shaped connecting piece and being fixed in the steering wheel frame, the steering wheel frame is located in the U-shaped space that the U-shaped connecting piece encloses, the both ends of steering wheel frame are erect between two relative lateral walls of U-shaped connecting piece, the U-shaped connecting piece includes first lateral part, second lateral part and U-shaped bottom, one side of steering wheel frame is rotated and is connected in first lateral part, the opposite side of steering wheel frame is used for connecting outside actuating mechanism. The utility model provides a joint actuating mechanism and robot, the axis of the rotation axis of steering wheel frame and the axis of the rotatory output shaft of joint steering wheel are the contained angle setting, make two degrees of freedom of joint all integratable in U-shaped connecting piece department, need not to set up drive arrangement on thigh component, can improve the barycenter of robot leg structure, reduce the required drive power of shank joint.

Description

Joint driving mechanism and robot

Technical Field

The utility model belongs to the technical field of intelligent machine, more specifically say, relate to a joint actuating mechanism and robot.

Background

In the field of robots, particularly in the field of gait walking of humanoid biped robots, weight distribution of legs is an important index influencing the performance of the robots. The conventional arrangement of the driving joints of the biped robot in the market at present, for example, the driving joints of the hip are usually placed at the thigh structural member and then transmitted to the hip of the robot through the form of a connecting rod or a synchronous belt. Due to the design, the weight of the leg is generally large, the height of the center of mass of the leg from the ground is generally low, the moment of inertia of the leg structure is generally large, and the requirement on leg joint driving force is high. The increase in the driving force also increases the weight of the driving joint, and eventually affects the overall motion performance of the robot.

Disclosure of Invention

An object of the embodiment of the utility model is to provide a joint actuating mechanism and robot to the drive joint setting of hip that exists among the solution prior art leads to the lower, the higher technical problem of shank joint drive power requirement of robot shank barycenter in thigh member department.

In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides a joint actuating mechanism, including U-shaped connecting piece, rotate connect in the steering wheel frame of U-shaped connecting piece and be fixed in joint steering wheel in the steering wheel frame, the steering wheel frame is located in the U-shaped space that the U-shaped connecting piece encloses, the both ends of steering wheel frame erect between two relative lateral walls of U-shaped connecting piece, the U-shaped connecting piece includes first lateral part, second lateral part and connects first lateral part with the U-shaped bottom of second lateral part, one side of steering wheel frame rotate connect in first lateral part, the opposite side of steering wheel frame is used for connecting outside actuating mechanism, the axis of rotation of steering wheel frame with the axis of the rotatory output shaft of joint steering wheel is the contained angle setting.

In one embodiment, the rotation axis of the steering engine frame is perpendicular to the axis of the rotation output shaft of the joint steering engine.

In one embodiment, the first side portion is provided with a first mounting hole for the external driving mechanism to extend into and be connected with the steering engine frame, the second side portion is provided with a second mounting hole, and a support assembly for enabling the steering engine frame to be rotatably connected to the second side portion is arranged in the second mounting hole.

In one embodiment, the support assembly is a first bearing; or, the supporting component is including being fixed in the outer lane subassembly of second mounting hole department, locating in the second mounting hole and with steering wheel frame fixed connection's inner circle subassembly and locating the inner circle subassembly with support bearing between the outer lane subassembly, the outer lane subassembly with the second side is formed with first annular jointly, the inner circle subassembly has the second annular, support bearing's periphery is located in the first annular, support bearing's interior week is located in the second annular.

In one embodiment, the outer ring assembly comprises an outer ring body and a first fastener for fixing the outer ring body to the second side part, the outer ring body is provided with a first flange extending into the second mounting hole, a second flange radially extends from one side of the second mounting hole, which is close to the steering engine frame, and a first annular groove is formed between the first flange and the second flange; the inner ring assembly comprises a first inner ring, a second inner ring fixed with the steering engine frame and a second fastener used for fixing the first inner ring and the second inner ring, the surface of the second inner ring is provided with an annular step, and the first inner ring faces one side of the second inner ring and the annular step together form the second annular groove.

In one embodiment, the steering engine frame is cylindrical, and two bosses which are respectively connected with the support component and the external driving mechanism are arranged on the outer peripheral surface of the steering engine frame in a protruding mode.

In one embodiment, the joint steering engine comprises a motor, a speed reducer arranged at one end of the motor, and an encoder arranged at the other end of the motor and used for detecting the rotation angle of the motor.

In one embodiment, the motor comprises a motor shell, a stator arranged in the motor shell, a rotor and a rotating shaft assembly fixed on the rotor, the motor shell comprises a cylindrical peripheral wall and a motor end cover covering one end of the cylindrical peripheral wall, and the encoder is fixed on the outer side of the motor end cover.

In one embodiment, the cylindrical peripheral wall has an inner cylindrical portion inside, and an annular cover is connected between one end of the cylindrical peripheral wall facing away from the motor end cover and one end of the inner cylindrical portion facing away from the motor end cover, the rotating shaft assembly includes a motor shaft fixed to the rotor and disposed outside the inner cylindrical portion, a transfer shaft fixed to the motor shaft, and a second bearing, the transfer shaft is disposed inside the inner cylindrical portion, and the second bearing is supported between an inner wall of the inner cylindrical portion and an outer wall of the transfer shaft.

The utility model also provides a robot, including foretell joint drive structure, still including being used for the drive steering wheel frame pivoted side pendulum actuating mechanism and by joint steering wheel drive's thigh subassembly.

The utility model provides a joint actuating mechanism and robot's beneficial effect lies in: compared with the prior art, the utility model discloses joint actuating mechanism includes the U-shaped connecting piece, steering wheel frame and joint steering wheel, the steering wheel frame is located in U type space, and rotate and connect in the steering wheel frame, the joint steering wheel is fixed in the steering wheel frame, and the axis of the rotation axis of steering wheel frame and the rotary output shaft of joint steering wheel is the contained angle setting, make two degrees of freedom of joint all integratable in U-shaped connecting piece department, need not to set up drive arrangement on thigh component, can improve the barycenter of robot leg structure, reduce the required drive power of shank joint.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a three-dimensional structure diagram of a joint driving mechanism provided in an embodiment of the present invention;

fig. 2 is a three-dimensional structure diagram of a U-shaped connecting member provided in the embodiment of the present invention;

fig. 3 is a cross-sectional view of a support assembly provided by an embodiment of the present invention;

fig. 4 is a three-dimensional structure diagram of a steering engine frame provided in the embodiment of the present invention;

fig. 5 is a sectional view of a joint steering engine provided in the embodiment of the present invention;

fig. 6 is a perspective view of a leg structure of a robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-a joint drive mechanism; 11-U-shaped connectors; 111-a first side; 1110 — a first mounting hole; 112-a second side; 1120-second mounting hole; 1121 — a second flange; 113-U-shaped bottom; 12-a steering engine frame; 121-boss; 13-joint steering engine; 131-a motor; 1311-motor housing; 13111-cylindrical peripheral wall; 13112-motor end cap; 13113-annular cover; 13114-an inner barrel; 13115-bearing end cap; 1312-a stator; 1313-a rotor; 1314-a rotating shaft component; 13141-motor shaft; 13142-a transfer shaft; 13143 — second bearing; 13144-inner collar; 13145-outer collar; 132-a reducer; 133-an encoder; 14-a support assembly; 141-an outer ring assembly; 1410-a first ring groove; 1411-an outer race body; 14111-a first flange; 1412-a first fastener; 142-an inner race assembly; 1420-a second ring slot; 1421 — first inner ring; 1422 — second inner ring; 14221 — annular step; 1423 — second fastener; 143-support bearings; 2-side swing driving mechanism; 21-side oscillating motor; 22-a transmission assembly; 23-sidesway reducer; 3-a thigh component; 4-lower leg assembly.

Detailed Description

In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The joint driving mechanism 1 according to the embodiment of the present invention will now be described.

Referring to fig. 1, in one embodiment of the present invention, the joint driving mechanism 1 includes a U-shaped connecting member 11, a steering engine frame 12 and a joint steering engine 13, the U-shaped connecting member 11 forms a U-shaped space, the steering engine frame 12 is disposed in the U-shaped space of the U-shaped connecting member 11, the steering engine frame 12 is rotatably connected to the U-shaped connecting member 11, two ends of the steering engine frame 12 are clamped between two opposite side portions of the U-shaped connecting member 11, the steering engine frame 12 can be driven by an external driving mechanism, and rotates relative to the U-shaped connecting member 11. The joint steering engine 13 is fixed in the steering engine frame 12 and rotates along with the steering engine frame 12. The joint steering gear 13 is provided with a rotary output shaft, and the rotary output shaft of the joint steering gear 13 and the rotation axis of the steering gear frame 12 form an included angle, so that the joint steering gear 13 and the external driving structure can be integrated on the U-shaped connecting piece 11 at the same time. When the joint driving mechanism 1 is applied to hip joints, the U-shaped connecting piece 11 is equivalent to a hip joint structural piece, and the joint steering engine 13 and the external driving mechanism can be integrated on the U-shaped connecting piece 11 without being arranged on thigh structural pieces, so that the mass center of a leg structure can be improved.

The joint driving mechanism 1 in the above embodiment, including U-shaped connecting piece 11, steering wheel frame 12 and joint steering wheel 13, steering wheel frame 12 is located in U type space, and rotate and connect in steering wheel frame 12, joint steering wheel 13 is fixed in steering wheel frame 12, and the axis of the rotation axis of steering wheel frame 12 is the contained angle setting with the axis of the rotatory output shaft of joint steering wheel 13, make two degrees of freedom of joint all integratable in U-shaped connecting piece 11 department, need not to set up drive arrangement on thigh component, can improve the barycenter of robot leg structure, reduce the required drive power of leg joint.

Optionally, the rotation axis of the steering engine frame 12 is perpendicular to the axis of the rotation output shaft of the joint steering engine 13, so that the external driving mechanism and the joint steering engine 13 are orthogonally arranged, and can be used for realizing side-swing motion of thighs and front-swing motion of thighs respectively, and the leg-bending mechanism is more anthropomorphic. In other embodiments, the included angle between the rotation axis of the steering engine frame 12 and the axis of the rotation output shaft of the joint steering engine 13 may also be between 80 ° and 90 °, such as 85 °, 87 °, 89 °.

In one embodiment of the present invention, referring to fig. 2, the U-shaped connecting member 11 includes a first side portion 111, a second side portion 112 and a U-shaped bottom portion 113, the U-shaped bottom portion 113 connects the first side portion 111 and the second side portion 112, and two ends of the steering engine frame 12 are erected between the first side portion 111 and the second side portion 112. First mounting hole 1110 has been seted up to first lateral part 111, and outside actuating mechanism can stretch into in the U-shaped space from first mounting hole 1110, and is connected with steering wheel frame 12 to drive steering wheel frame 12 and rotate relative U-shaped connecting piece 11. Optionally, an external driving structure is rotatably connected to the first mounting hole 1110; or, the steering engine frame 12 extends into the first mounting hole 1110 and is rotatably connected to the first side portion 111; alternatively, the steering engine frame 12 is rotatably connected to the first side portion 111 via the support assembly 14. Second side 112 has seted up second mounting hole 1120, is equipped with supporting component 14 in the second mounting hole 1120, and steering wheel frame 12 passes through supporting component 14 and rotates to be connected in second side 112.

Referring to fig. 3, the support assembly 14 includes an outer ring assembly 141, an inner ring assembly 142, and a support bearing 143. The outer ring assembly 141 is fixed on the second side portion 112, the inner ring assembly 142 is fixedly connected with the steering engine frame 12, and the support bearing 143 is arranged between the inner ring assembly 142 and the outer ring assembly 141 so as to realize the rotary connection between the steering engine frame 12 and the U-shaped connecting piece 11. The outer ring component 141 is fixed around the second mounting hole 1120, the outer ring component 141 and the second side portion 112 form a first ring groove 1410 together, and the first ring groove 1410 can also be directly formed on the outer ring component 141. The inner race assembly 142 has a second race 1420. The outer ring of the support bearing 143 is disposed in the first ring groove 1410, and the inner ring of the support bearing 143 is disposed in the second ring groove 1420, so that the inner ring component 142 can rotate relative to the outer ring component 141, and rotation of the steering engine frame 12 relative to the U-shaped connecting member 11 is achieved.

Optionally, referring to fig. 3, the collar assembly 141 includes a collar body 1411 and a first fastener 1412, the collar body 1411 is fixed to the second side portion 112, and the first fastener 1412 is used for fixing the collar body 1411 to the second side portion 112. The outer ring body 1411 can be fixed on the side of the second side portion 112, which faces away from the U-shaped space, and is fixed on the periphery of the second mounting hole 1120, the outer ring body 1411 has a first flange 14111 extending into the second mounting hole 1120, a second flange 1121 is radially extended from one side of the second mounting hole 1120, which is close to the steering engine frame 12, and a first annular groove 1410 is formed by the side surface of the first flange 14111, the inner wall of the second mounting hole 1120, and the side wall of the second flange 1121. The inner ring assembly 142 includes a first inner ring 1421, a second inner ring 1422, and a second fastener 1423, the second fastener 1423 can fix the first inner ring 1421 and the second inner ring 1422 to each other, the surface of the second inner ring 1422 has an annular step 14221, the side of the first inner ring 1421 facing the second inner ring 1422 and the annular step 14221 form a second annular groove 1420, the first annular groove 1410 and the second annular groove 1420 face each other to accommodate the support bearing 143, and the inner ring and the outer ring of the support bearing 143 are stopped. In other embodiments, the inner ring assembly 142 includes only the first inner ring 1421 and the second inner ring 1422, and the first inner ring 1421 and the second inner ring 1422 are integrally formed, and the second ring channel 1420 is formed on the first inner ring 1421 or the second inner ring 1422. The first fastener 1412 and the second fastener 1423 may be screws, pins, or the like.

In one embodiment of the present invention, please refer to fig. 4, the steering engine frame 12 is cylindrical, and two bosses 121 are convexly disposed on the outer peripheral surface of the steering engine frame 12, wherein one boss 121 is used for being connected to an external driving mechanism, and the other boss 121 is used for being connected to the supporting component 14, and is specifically selected to be fixedly connected to the second inner ring 1422 of the supporting component 14. The steering engine frame 12 can be hollowed, so that the weight of the steering engine frame 12 can be reduced, and the joint steering engine 13 can dissipate heat more easily.

In one embodiment of the present invention, please refer to fig. 5, the joint steering engine 13 includes a motor 131, a speed reducer 132 and an encoder 133, the speed reducer 132 and the encoder 133 are respectively disposed at two ends of the motor 131, the speed reducer 132 is used for reducing the output rotation speed of the motor 131 to adapt to the rotation speed of the robot joint, and the encoder 133 is used for detecting the rotation angle of the motor 131 for position feedback. Reducer 132 may be selected as a harmonic reducer, RV reducer, planetary reducer, cycloidal pin gear reducer, or the like. The encoder 133 may be selected from a photoelectric encoder, a magnetic encoder, a capacitive encoder, a rotary transformer, a potentiometer, and the like. The reducer 132 may be fixed to one end of the steering engine frame 12, the reducer 132 is exposed out of the steering engine frame 12, and the motor 131 and the encoder 133 are disposed in the steering engine frame 12.

Optionally, the motor 131 includes a motor housing 1311, a stator 1312, a rotor 1313, and a rotating shaft assembly 1314, the stator 1312, the rotor 1313, and the rotating shaft assembly 1314 are disposed in the motor housing 1311, the stator 1312 is fixed to the motor housing 1311, the rotor 1313 is disposed inside the stator 1312, and when the motor 131 is in operation, the stator 1312 generates an excitation magnetic field and the rotor 1313 is driven to rotate by the excitation magnetic field. The rotating shaft assembly 1314 is fixedly connected with the rotor 1313, and the rotating motion of the motor 131 is output through the rotating shaft assembly 1314. The motor housing 1311 includes a cylindrical peripheral wall 13111 and a motor cover 13112, the motor cover 13112 is fixed to one end of the cylindrical peripheral wall 13111, and the encoder 133 is fixed to the outside of the motor cover 13112. The encoder 133 is disposed inside the steering engine frame 12, and an encoder cover is not required to be additionally disposed, so that the number of structural members of the joint driving mechanism 1 can be reduced.

Alternatively, the inner wall of the cylindrical peripheral wall 13111 has an inner cylinder part 13114, and one end of the cylindrical peripheral wall 13111 facing away from the motor cover 13112 and one end of the inner cylinder part 13114 facing away from the motor cover 13112 are connected by the ring cover 13113. The rotating shaft assembly 1314 comprises a motor shaft 13141, an adapter shaft 13142 and a second bearing 13143, the motor shaft 13141 is fixedly connected with the rotor 1313, the motor shaft 13141 is arranged outside the inner cylinder part 13114, the adapter shaft 13142 and the second bearing 13143 are arranged inside the inner cylinder part 13114, the second bearing 13143 is not required to be arranged at two ends of the rotating shaft assembly 1314, and the whole structure of the motor 131 can be more compact. One end of the transfer shaft 13142 is fixedly connected to the motor shaft 13143 by extending out of the inner cylinder 13114, and the other end is connected to the speed reducer 132. The second bearing 13143 is used for supporting the adapter shaft 13142, the outer ring of the second bearing 13143 is in interference fit with the inner wall of the inner cylinder 13114, and the inner ring of the second bearing 13143 is in interference fit with the outer wall of the adapter shaft 13142. The number of the second bearings 13143 may be two, and an inner retainer 13144 for stopping an inner race of the second bearings 13143 and an outer retainer 13145 for stopping an outer race of the second bearings 13143 are provided between the two second bearings 13143. The opening of the inner cylinder 13114 facing the end of the speed reducer 132 may be covered with a bearing cover 13115 for stopping the second bearing 13143 in the axial direction, and the adapter shaft 13142 is connected to the speed reducer 132 through the bearing cover 13115.

The utility model provides a robot still provides, please refer to fig. 6, and the robot includes the joint drive structure in any above-mentioned embodiment, still includes side pendulum actuating mechanism 2 and thigh subassembly 3, and outside actuating mechanism in the above-mentioned embodiment is side pendulum actuating mechanism 2 promptly, and side pendulum actuating mechanism 2 is fixed in on the U-shaped connecting piece 11 for drive steering wheel frame 12 is rotatory, and thigh subassembly 3 is connected in joint steering wheel 13, drives 3 preceding pendulums of thigh subassembly through joint steering wheel 13. The side pendulum driving mechanism 2 and the joint driving mechanism 1 can be integrated at the U-shaped connecting piece 11, a driving device is not required to be arranged on the thigh component 3, the mass center of the leg structure of the robot can be improved, and the driving force required by the leg joint is reduced. The robot may further comprise a lower leg assembly 4, the lower leg assembly 4 being pivotally connected to the thigh assembly 3.

Optionally, the yaw driving mechanism 2 includes a yaw motor 21, a transmission assembly 22, and a yaw reducer 23, and the yaw reducer 23 is connected to the steering engine frame 12 to drive the steering engine frame 12 to rotate. The transmission assembly 22 is connected between the side-sway motor 21 and the side-sway reducer 23, and the side-sway reducer 23 and the side-sway motor 21 are separately provided, so that the axial length of the side-sway driving mechanism 2 can be reduced. In addition, the side-sway motor 21 and the side-sway reducer 23 are both fixed to the first side portion 111, improving the integration of the side-sway drive mechanism 2.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. The utility model provides a joint actuating mechanism, its characterized in that, including U-shaped connecting piece, rotate connect in the steering wheel frame of U-shaped connecting piece and be fixed in joint steering wheel in the steering wheel frame, the steering wheel frame is located in the U-shaped space that the U-shaped connecting piece encloses, the both ends of steering wheel frame erect between two relative lateral walls of U-shaped connecting piece, the U-shaped connecting piece includes first lateral part, second lateral part and connects first lateral part with the U-shaped bottom of second lateral part, one side of steering wheel frame rotate connect in first lateral part, the opposite side of steering wheel frame is used for connecting outside actuating mechanism, the axis of rotation of steering wheel frame with the axis of the rotatory output shaft of joint steering wheel is the contained angle setting.

2. The joint drive mechanism according to claim 1, wherein: and the rotation axis of the steering engine frame is perpendicular to the axis of the rotary output shaft of the joint steering engine.

3. The joint drive mechanism according to claim 1, wherein: the steering engine comprises a steering engine frame, a first side portion and a second side portion, wherein the first side portion is provided with a first mounting hole for the external driving mechanism to extend into and be connected with the steering engine frame, the second side portion is provided with a second mounting hole, and a supporting component for enabling the steering engine frame to be rotatably connected with the second side portion is arranged in the second mounting hole.

4. The joint drive mechanism according to claim 3, wherein: the support component is a first bearing; or, the supporting component is including being fixed in the outer lane subassembly of second mounting hole department, locating in the second mounting hole and with steering wheel frame fixed connection's inner circle subassembly and locating the inner circle subassembly with support bearing between the outer lane subassembly, the outer lane subassembly with the second side is formed with first annular jointly, the inner circle subassembly has the second annular, support bearing's periphery is located in the first annular, support bearing's interior week is located in the second annular.

5. The joint drive mechanism according to claim 4, wherein: the outer ring assembly comprises an outer ring body and a first fastener for fixing the outer ring body on the second side part, the outer ring body is provided with a first flange extending into the second mounting hole, a second flange radially extends from one side, close to the steering engine frame, of the second mounting hole, and a first annular groove is formed between the first flange and the second flange; the inner ring assembly comprises a first inner ring, a second inner ring fixed with the steering engine frame and a second fastener used for fixing the first inner ring and the second inner ring, the surface of the second inner ring is provided with an annular step, and the first inner ring faces one side of the second inner ring and the annular step together form the second annular groove.

6. The joint drive mechanism according to claim 3, wherein: the steering engine frame is cylindrical, and two bosses which are respectively connected with the supporting component and the external driving mechanism are arranged on the outer peripheral surface of the steering engine frame in a protruding mode.

7. The joint drive mechanism according to claim 1, wherein: the joint steering engine comprises a motor, a speed reducer arranged at one end of the motor and an encoder arranged at the other end of the motor and used for detecting the rotation angle of the motor.

8. The joint drive mechanism according to claim 7, wherein: the motor comprises a motor shell, a stator and a rotor which are arranged in the motor shell, and a rotating shaft assembly fixed on the rotor, wherein the motor shell comprises a cylindrical peripheral wall and a motor end cover arranged at one end of the cylindrical peripheral wall in a covering mode, and the encoder is fixed on the outer side of the motor end cover.

9. The joint drive mechanism according to claim 8, wherein: the inner part of the cylindrical peripheral wall is provided with an inner cylinder part, an annular cover is connected between one end of the cylindrical peripheral wall, which faces away from the motor end cover, and one end of the inner cylinder part, which faces away from the motor end cover, the rotating shaft assembly comprises a motor shaft, a switching shaft and a second bearing, the motor shaft is fixed on the rotor and arranged outside the inner cylinder part, the switching shaft is fixed on the motor shaft, the switching shaft is arranged in the inner cylinder part, and the second bearing is supported between the inner wall of the inner cylinder part and the outer wall of the switching shaft.

10. Robot, its characterized in that: the joint driving structure as claimed in any one of claims 1 to 9, further comprising a side swing driving mechanism for driving the steering engine frame to rotate and a thigh component driven by the joint steering engine.

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