CN217333897U - Key device and robot with same - Google Patents

Abstract

The application relates to a key device and a robot with the same. The key device comprises a pressing plate and at least two keys. The pressing plate is provided with at least two pressing parts, and one side of each pressing part, which is close to the circuit board, is provided with a first groove. The key, the first switch and the pressing part are arranged in a one-to-one correspondence mode respectively, one end of the key is located in the corresponding first groove, and the other end of the key is abutted to the corresponding first switch. The pressing part is driven by external force to move towards the direction close to the first switch and trigger the first switch. Therefore, different pressing parts on one pressing plate replace a plurality of exposed keys, on one hand, dust and water vapor are prevented from entering the key device from the space between adjacent keys, and the dustproof and waterproof performance of the key device is improved; on the other hand, the pressing parts of the pressing plate are located on the same surface, dirt is not prone to being left, the exposed surface of the pressing plate is convenient to clean, cleanliness of the key device is improved, and user experience is improved.

Description

Key device and robot with same

Technical Field

The application relates to the technical field of robots, in particular to a key device and a robot with the same.

Background

With the development of technology, robots play an increasingly important role in the production and life of people, wherein a cooperative robot as a lightweight robot in an industrial robot can assist people to efficiently complete industrial work. The cooperative robot converts electric energy into mechanical energy through a driving circuit and a motor to drive mechanical arms of the robot to move. A plurality of different keys are arranged on the shell of the cooperative robot, and a user controls the movement of the cooperative robot by pressing the keys. However, the number of keys on the housing of the conventional cooperative robot is large, dirt is easily left between adjacent keys, and the keys are not easy to clean, so that the cleanliness of the keys on the housing is low.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a key device and a robot having the same, which are used to solve the technical problems in the prior art that dirt is likely to remain between keys of a cooperative robot and the key device is not easy to clean.

A first aspect of embodiments of the present application provides a key device for assembly with a power device, the key device including:

the shell is provided with a first through hole penetrating through the shell;

the circuit board is positioned on one side of the shell, and at least two first switches are arranged on one side of the circuit board close to the shell;

the pressing plate comprises at least two pressing parts which are arranged at intervals and positioned in the first through hole, and one side of each pressing part, which is close to the circuit board, is provided with a first groove;

each key corresponds to one first switch and one pressing part, one end of each key is located in the corresponding first groove, and the other end of each key is abutted to the corresponding first switch;

the key is configured to move in a direction approaching the first switch in response to the pressing part and can trigger the first switch.

In one embodiment, a stop component is arranged between the shell and the press plate, and the stop component can prevent the press plate from extending out of the first through hole in the direction away from the circuit board.

In one embodiment, the pressing plate is round, and a limiting component is arranged between the pressing plate and the shell and can prevent the pressing plate and the first through hole from rotating relatively.

In one embodiment, the stop assembly comprises a first stop portion and a second stop portion which abut against each other;

the first through hole is a stepped hole, the large-diameter end of the stepped hole faces the circuit board, and the first stopping part is formed on the stepped surface of the stepped hole; the second stopping part is positioned at the side edge of the pressing plate.

In one embodiment, the limiting component comprises a limiting groove and a limiting part which are mutually embedded;

the limiting groove is located on one of the hole wall of the first through hole and the side wall of the pressing plate, and the limiting part is located on the other of the hole wall of the first through hole and the side wall of the pressing plate.

In one embodiment, a first sealing member is arranged on one side of the shell close to the circuit board, and part of the first sealing member is positioned between the press plate and the key;

the orthographic projection of the first sealing piece on the shell covers the first through hole.

In one embodiment, a second through hole penetrating through the pressing plate is formed in the center of the pressing plate, a protruding portion is arranged on one side, close to the pressing plate, of the first sealing element, and the protruding portion is located in the second through hole;

a second switch is arranged on one side of the circuit board close to the shell, and the protruding part is arranged close to the second switch; the protruding part is driven by external force to move towards the direction close to the second switch and triggers the second switch.

In one embodiment, a protrusion is arranged on one side of the first sealing element close to the shell, and a second groove which is mutually embedded with the protrusion is arranged on one side of the shell close to the first sealing element; the protrusion is arranged around the key.

In one embodiment, a pressure plate is arranged on one side of the first sealing element far away from the shell, and the pressure plate is pressed on the first sealing element;

and/or the shell is provided with an assembly hole, the inner wall surface of the assembly hole is attached with a second sealing element, and a first fastener penetrates through the assembly hole and is connected with the power device; the sectional areas of the assembly hole and the second sealing element are gradually reduced along the fastening direction of the first fastening piece; the first sealing element and the second sealing element are both flexible elements.

According to the key device, the pressing plate is arranged, and the pressing parts are arranged on the pressing plate, so that a user can trigger the first switch on the circuit board by pressing the pressing parts of the pressing plate. Compared with the arrangement mode that a plurality of keys are exposed, on one hand, the pressing parts of the pressing plate are positioned on the same surface, so that no obvious protrusion or recess exists on the outer surface of the key device, and the appearance is better; on the other hand, different pressing parts on one pressing plate replace a plurality of exposed keys, so that dust and water vapor are prevented from entering the key device from the space between adjacent keys, and the dustproof and waterproof performance of the key device is improved; on the other hand, the pressing parts of the pressing plate are located on the same surface, dirt is not prone to being left, cleaning is convenient, cleanliness of the key device is improved, and user experience is improved.

A second aspect of embodiments of the present application provides a robot, which includes a joint and the key device of the first aspect, where the key device and the joint are connected through a third fastener of the key device.

The partial shell of the key device is wrapped on the outer side of the joint, a third sealing element is arranged between the joint and the shell, a sealing groove is formed in one side, close to the shell, of the joint, and at least part of the third sealing element is located in the sealing groove.

According to the robot, the pressing plate is arranged on the key device, and the at least two pressing parts are arranged on the pressing plate, so that a user can trigger the first switch on the circuit board by pressing the pressing parts of the pressing plate. Compared with the arrangement mode that a plurality of keys are exposed, on one hand, the pressing parts of the pressing plate are positioned on the same surface, so that no obvious protrusion or recess exists on the outer surface of the key device, and the appearance is better; on the other hand, one pressing plate replaces a plurality of exposed keys, so that dust and water vapor are prevented from entering the key device from the space between adjacent keys, and the dustproof and waterproof performance of the robot is improved; on the other hand, the pressing parts of the pressing plate are located on the same surface, dirt is not prone to being left, cleaning is convenient, cleanliness of the robot at the key device is improved, and user experience is improved.

Drawings

Fig. 1 is a front view of a key device and a joint in a combined state according to an embodiment of the present application;

FIG. 2 is a schematic cross-sectional view A-A of FIG. 1;

FIG. 3 is an enlarged view of section I of FIG. 2;

fig. 4 is an exploded schematic view of a key device according to an embodiment of the present application;

FIG. 5 is an enlarged view of section II of FIG. 4;

fig. 6 is a schematic structural view of a pressing plate of a key device according to an embodiment of the present application at a first viewing angle;

fig. 7 is a schematic structural view of a pressing plate of a key device according to an embodiment of the present application at a second viewing angle;

fig. 8 is a schematic structural diagram of a first sealing member of a key device according to an embodiment of the present application at a first viewing angle;

fig. 9 is a schematic structural diagram of a first sealing member of a key device according to an embodiment of the present application at a second viewing angle;

fig. 10 is an exploded view of fig. 1.

Reference numerals: 100-a key device; 110-a housing; 111-a first via; 112-assembly holes; 113-a second groove; 120-a circuit board; 121-a first switch; 122-a second switch; 130-pressing plate; 131-a pressing part; 132 — a first groove; 133-a second via; 140-a key; 141-pits; 151-a stop assembly; 1511-first stop; 1512-a second stop; 152-a spacing assembly; 1521-a limit groove; 1522-a limiting part; 160-a first seal; 161-a projection; 162-a bump; 163-a containment chamber; 170-pressing plate; 180-a second seal; 191-a first fastener; 192-a second fastener; 193-third fastener; 200-joint; 210-a seal groove; 300-third seal.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

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 at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integral parts thereof; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

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 intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, 2 and 3, in a first aspect, an embodiment of the present application provides a key device for being assembled with a power device, and the key device and the power device can form a device with a key function on the outer surface after being assembled. In the embodiment of the present application, the power unit will be described by taking a joint of a robot as an example.

The key device 100 includes:

the housing 110 has a first through hole 111 penetrating the housing 110.

The circuit board 120 is located at one side of the housing 110, and at least two first switches 121 are disposed at one side of the circuit board 120 close to the housing 110. It is understood that the joint 200 of the robot may be provided with a control board, and the connection terminal on the circuit board 120 is electrically connected to the control board circuit. The housing 110 may include an inner side and an outer side, wherein after the housing 110 is connected to the joint 200, the circuit board 120 is assembled on the inner side of the housing 110, and the user's fingers are located on the outer side of the housing 110, so as to control the movement of the robot by pressing the key device 100.

According to board 130, press board 130 to be located first through-hole 111, and press and have two at least pressing portions 131 that the interval set up on board 130, all pressing portions 131 all are located first through-hole 111, and the one side that is close to circuit board 120 of each pressing portion 131 all is provided with first recess 132. In the embodiment of the present application, the pressing plate 130 has a plurality of pressing portions 131, each pressing portion 131 may correspond to a different control function, and the control function corresponding to each pressing portion 131 may be set according to the actual situation.

At least two keys 140, the first switch 121 and the pressing portion 131 are respectively arranged in a one-to-one correspondence manner, that is: one key 140 corresponds to one first switch 121 and one pressing portion 131. One end of the key 140 is located in the corresponding first groove 132, and the other end of the key 140 abuts against the corresponding first switch 121. Thus, when the user presses the pressing portion 131 on the outer side of the housing 110, the pressing portion 131 drives the key 140 to move toward the first switch 121 by an external force, and triggers the first switch 121.

It should be noted that, in the related art, a plurality of keys 140 are disposed on the housing of the cooperative robot, the plurality of keys 140 are arranged at intervals, and the distance between adjacent keys 140 is small. After the cooperative robot is used for a long time, dirt such as dust and oil stain is easily remained on the housing between the adjacent keys 140, and when the keys 140 are wiped, the dirt on the housing between the adjacent keys 140 is not easily wiped due to the small distance between the adjacent keys 140, so that the cleanliness of the keys 140 on the housing is low, and the user experience is reduced.

By providing the pressing plate 130 and providing at least two pressing portions 131 on the pressing plate 130, the user can trigger the first switch 121 on the circuit board 120 by pressing the pressing portions 131 of the pressing plate 130. Compared with the arrangement mode that the plurality of keys 140 are exposed, on one hand, the pressing parts 131 of the pressing plate 130 are positioned on the same surface, so that no obvious protrusion or recess exists on the outer surface of the key device 100, and the appearance is better; on the other hand, one pressing plate 130 replaces a plurality of exposed keys 140, so that dust and water vapor are prevented from entering the key device 100 from the space between adjacent keys 140, and the dustproof and waterproof performance of the key device 100 is improved; on the other hand, the pressing portions 131 of the pressing plate 130 are all located on the same surface, so that dirt is not easily left, cleaning is convenient, cleanliness of the key device 100 is improved, and user experience is improved.

It is understood that the pressing plate 130 may be a rectangular plate, and if the pressing plate 130 is a rectangular plate, the two pressing portions 131 may be located at opposite ends of the pressing plate 130. The shape of the pressing plate 130 is not limited in the embodiment of the present application. In the embodiment of the present invention, the pressing plate 130 is illustrated as a circular pressing plate, and the pressing plate 130 is provided with four pressing portions 131, and the four pressing portions 131 are arranged in a central symmetry manner with respect to the center of the pressing plate 130.

In an alternative embodiment, referring to fig. 4, 5 and 6, a stop assembly 151 is disposed between the housing 110 and the pressing plate 130, and the stop assembly 151 can prevent the pressing plate 130 from protruding out of the first through hole 111 in a direction away from the circuit board 120. Thus, the pressing plate 130 is prevented from falling off from the first through hole 111, and the assembling stability of the pressing plate 130 is improved.

In an alternative embodiment, referring to fig. 5 and 6, a limiting component 152 is disposed between the pressing plate 130 and the housing 110, and the limiting component 152 can prevent the pressing plate 130 from rotating relative to the first through hole 111. Thus, the pressing plate 130 is prevented from rotating in the first through hole 111, the pressing portion 131 of the pressing plate 130 is prevented from being misaligned with the key 140 and the first switch 121, and the connection stability of the pressing plate 130, the key 140 and the first switch 121 is improved.

In an alternative embodiment, as shown with reference to fig. 5 and 6, the stop assembly 151 includes a first stop 1511 and a second stop 1512 abutting each other. The first through hole 111 is a stepped hole, a large diameter end of the stepped hole faces the circuit board 120, and a first stopper 1511 is formed on a stepped surface of the stepped hole. The second stopping portion 1512 is disposed around the side edge of the pressing plate 130, and a step surface is formed at the connection portion between the second stopping portion 1512 and the pressing plate 130, and the two step surfaces are fitted to each other. This structure can make the first through-hole 111 have a better stopping effect on the pressing plate 130.

In an alternative embodiment, referring to fig. 5 and 6, the position-limiting component 152 includes a position-limiting groove 1521 and a position-limiting part 1522 which are engaged with each other. The limiting groove 1521 is located on the sidewall of the pressing plate 130, and the limiting portion 1522 is located on the hole wall of the first through hole 111. Wherein, spacing groove 1521 can set up two to two spacing grooves 1521 symmetry sets up, and spacing portion 1522's quantity and setting position all with spacing groove 1521 looks adaptation. Therefore, on one hand, the pressing plate 130 can be prevented from rotating in the first through hole 111, the pressing part 131 on the pressing plate 130 can be prevented from being dislocated with the key 140 and the first switch 121, and the connection stability of the pressing plate 130, the key 140 and the first switch 121 can be improved; on the other hand, when the board 130 is pressed in the assembly, the limiting component 152 can play a fool-proof role, avoid the assembly dislocation of the pressing board 130, and improve the assembly efficiency of the pressing board 130.

In an alternative embodiment, as shown in fig. 3, a first sealing member 160 is disposed on a side of the housing 110 adjacent to the circuit board 120, and a portion of the first sealing member 160 is located between the pressing plate 130 and the key 140. An orthographic projection of the first seal 160 on the housing 110 covers the first through hole 111. Since external dust and moisture are easily introduced from the gap between the pressing plate 130 and the housing 110 and the gap between the keys 140, the first sealing member 160 is disposed to form a barrier at the first through hole 111, so as to prevent the external dust and moisture from being introduced into the key device 100 from the first through hole 111, thereby improving the dustproof and waterproof performance of the key device 100.

In an alternative embodiment, as shown in fig. 6 and 7, the pressing plate 130 is provided with a second through hole 133 penetrating the pressing plate 130 at the center thereof, and the first sealing member 160 is provided with a protrusion 161 at a side thereof adjacent to the pressing plate 130, the protrusion 161 being located in the second through hole 133. As shown in fig. 3, a side of the circuit board 120 close to the housing 110 is provided with a second switch 122, a side of the protruding portion 161 close to the second switch 122 is provided with an accommodating cavity 163, one end of the key 140 is located in the accommodating cavity 163, and the other end of the key 140 abuts against the second switch 122. When the user presses the protrusion 161, the protrusion 161 drives the key 140 to move toward the second switch 122 by an external force, and triggers the second switch 122.

Specifically, the surface of the side of the protrusion 161 away from the circuit board 120 may be flush with the surface of the side of the pressing plate 130 away from the circuit board 120. Thus, the outer surfaces of the key device 100 can be positioned on the same horizontal plane, and the appearance of the key device 100 can be improved.

In an alternative embodiment, referring to fig. 3 and 8, a protrusion 162 is disposed on a side of the first sealing member 160 close to the housing 110, a second groove 113 engaged with the protrusion 162 is disposed on a side of the housing 110 close to the first sealing member 160, and the protrusion 162 is disposed around the key 140.

By providing the protrusion 162 and the second groove 113 on the first sealing member 160 and the housing 110, which are engaged with each other, and making the protrusion 162 surround the periphery of the key 140, external dust and moisture can be blocked by the protrusion 162 after entering between the housing 110 and the first sealing member 160 from the first through hole 111, and the dust and moisture are prevented from entering the inside of the key device 100 along the joint surface of the first sealing member 160 and the housing 110, so as to further improve the dust-proof and waterproof performance of the key device 100, prevent the dust and moisture from affecting the working performance of the key device 100, improve the Protection grade of the key device 100, and enable the key device 100 to have the Protection grade of the IP (Ingress Protection) 66. In addition, as shown in fig. 9, a side of the first sealing member 160 close to the key 140 is provided with a sealing cavity, and one end of the key 140 may be located in the receiving cavity 163.

In an alternative embodiment, as shown in fig. 3, a pressure plate 170 is disposed on a side of the first seal 160 away from the housing 110, and the pressure plate 170 is pressed against the first seal 160. In this way, the pressing force can be applied to the first sealing member 160 by the pressing plate 170, so that the first sealing member 160 is tightly abutted against the housing 110, and the protrusion 162 and the groove are tightly fitted, so that the first sealing member 160 has better blocking performance against dust and moisture. In the present embodiment, the pressure plate 170 is coupled to the housing 110 by the second fasteners 192.

In an alternative embodiment, as shown in fig. 2, the housing 110 is provided with a mounting hole 112, the inner wall surface of the mounting hole 112 is attached with a second sealing member 180, and a first fastening member 191 is inserted through the mounting hole 112 and connected with the joint 200. Specifically, the fitting hole 112 is a tapered hole, and the first fastening member 191 is screwed in from the large diameter end to the small diameter end at the time of fitting. The sectional area of the second seal 180 is gradually reduced in the fastening direction of the first fastening member 191. In the present embodiment, the second seal 180 is in the shape of a conical ring.

The first and second seals 160, 180 may each be a flexible member. For example, the first and second sealing members 160 and 180 may be made of silicon. On one hand, the first sealing member 160 and the second sealing member 180 have certain flexibility and elasticity, and can deform after being stressed, so that the key device 100 is tighter after being assembled, and has better dustproof and waterproof effects. On the other hand, when the user presses the protrusion 161 of the first sealing member 160, the user's finger is made to feel better.

In the present embodiment, the circuit board 120 is connected to the housing 110 by the third fastening member 193. In addition, as shown in fig. 3, the end of the key 140 near the circuit board 120 has a recess 141, and a portion of the first switch 121 and the second switch 122 may be located in the recess 141. In this way, the keys 140 can be positioned, preventing the keys 140 from being misplaced during pressing.

In a second aspect, an embodiment of the present application further provides a robot, which is shown in fig. 2 and 10, and includes a joint 200 and the key device 100 of the first aspect, wherein the key device 100 and the joint 200 are connected by a first fastener 191 of the key device 100.

Specifically, a part of the housing 110 of the key device 100 is wrapped outside the joint 200, a third sealing element 300 is disposed between the joint 200 and the housing 110, a sealing groove 210 is disposed on a side of the joint 200 close to the housing 110, and a part of the third sealing element 300 is located in the sealing groove 210. In this way, the third sealing member 300 forms a barrier at the joint surface between the joint 200 and the housing 110, so as to prevent external dust and moisture from entering from the joint surface between the joint 200 and the housing 110, thereby improving the dust-proof and water-proof performance of the robot. It is understood that the third seal 300 may be an "O" ring seal.

In the robot, the pressing plate 130 is disposed on the key device 100, and at least two pressing portions 131 are disposed on the pressing plate 130, so that a user can trigger the first switch 121 on the circuit board 120 by pressing the pressing portions 131 of the pressing plate 130. Compared with the arrangement mode that the plurality of keys 140 are exposed, on one hand, the pressing parts 131 of the pressing plate 130 are positioned on the same surface, so that no obvious protrusion or recess exists on the outer surface of the key device 100, and the appearance is better; on the other hand, one pressing plate 130 replaces a plurality of exposed keys 140, so that dust and water vapor are prevented from entering the key device 100 from the space between adjacent keys 140, and the dustproof and waterproof performance of the robot is improved; on the other hand, the pressing portions 131 of the pressing plate 130 are located on the same surface, so that dirt is not easily left, the exposed surface of the pressing plate 130 is conveniently cleaned, the cleanliness of the robot at the key device 100 is improved, and the user experience is improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A key device for assembly with a power device, the key device comprising:

the shell is provided with a first through hole penetrating through the shell;

the circuit board is positioned on one side of the shell, and at least two first switches are arranged on one side of the circuit board close to the shell;

the pressing plate comprises at least two pressing parts which are arranged at intervals and positioned in the first through hole, and one side of each pressing part, which is close to the circuit board, is provided with a first groove;

each key corresponds to one first switch and one pressing part, one end of each key is located in the corresponding first groove, and the other end of each key is abutted to the corresponding first switch;

the key is configured to move in a direction approaching the first switch in response to the pressing part and can trigger the first switch.

2. The key device according to claim 1, wherein a stopper member is provided between the housing and the pressing plate, the stopper member preventing the pressing plate from protruding out of the first through hole in a direction away from the circuit board.

3. The key device according to claim 2, wherein the pressing plate is circular, and a limiting member is disposed between the pressing plate and the housing, and the limiting member prevents the pressing plate from rotating relative to the first through hole.

4. The key device of claim 2, wherein the stop assembly comprises a first stop portion and a second stop portion abutting against each other;

the first through hole is a stepped hole, the large-diameter end of the stepped hole faces the circuit board, and the first stopping part is formed on the stepped surface of the stepped hole; the second stopping part is positioned at the side edge of the pressing plate.

5. The key device according to claim 3, wherein the limiting component comprises a limiting groove and a limiting part which are mutually embedded;

the limiting groove is located on one of the hole wall of the first through hole and the side wall of the pressing plate, and the limiting part is located on the other of the hole wall of the first through hole and the side wall of the pressing plate.

6. A key device according to any one of claims 1-5, characterized in that a first seal is provided on a side of said housing adjacent to said circuit board, and part of said first seal is located between said press plate and said key;

an orthographic projection of the first seal member on the housing covers the first through hole.

7. The key device according to claim 6, wherein the center of the pressing plate is provided with a second through hole penetrating through the pressing plate, and one side of the first sealing member adjacent to the pressing plate is provided with a protrusion located in the second through hole;

a second switch is arranged on one side of the circuit board close to the shell, and the protruding part is arranged close to the second switch; the protruding part is driven by external force to move towards the direction close to the second switch and triggers the second switch.

8. The key device according to claim 6, wherein a protrusion is disposed on a side of the first sealing member adjacent to the housing, and a second groove engaged with the protrusion is disposed on a side of the housing adjacent to the first sealing member; the protrusion is arranged around the key.

9. The key device according to claim 6, wherein a pressing plate is arranged on a side of the first sealing member away from the housing, and the pressing plate is pressed on the first sealing member;

and/or the shell is provided with an assembly hole, the inner wall surface of the assembly hole is attached with a second sealing element, and a first fastener penetrates through the assembly hole and is connected with the power device; the sectional areas of the assembly hole and the second sealing element are gradually reduced along the fastening direction of the first fastening piece; the first sealing element and the second sealing element are both flexible elements.

10. A robot comprising a joint and a key device according to any of claims 1-9, said key device and said joint being connected by a first fastener of said key device;

the partial shell of the key device is wrapped on the outer side of the joint, a third sealing element is arranged between the joint and the shell, a sealing groove is formed in one side, close to the shell, of the joint, and at least part of the third sealing element is located in the sealing groove.

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