Joint structure and robot having the same

Abstract

The application provides a joint structure and a robot with the same. The robot in the application comprises the joint structure, which comprises a joint body, a driver, a radiator base, a radiator, a heat conduction component and a fan component, etc. The heat conduction component is attached to the heating electrical element on the driver, so that the heat inside the joint structure of the robot is transmitted to the radiator through the heat conduction component, and then the air around the radiator is driven to flow by the fan component, so that the heat is quickly dissipated to the outside of the joint structure, thereby solving the problem that the core parts of the joint structure of the robot in the prior art generate a large amount of heat but cannot be effectively cooled.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a joint structure and a robot having the same. Background Technology

[0002] The core components of existing collaborative robot joint modules, such as reducers, servo motors, brakes, encoders, and drivers, are all installed inside the module housing. However, the servo motors, brakes, and drivers generate a lot of heat during operation.

[0003] Because the housings of the servo motor and brake are in close contact with the module housing, the heat generated by their operation can be dissipated to the outside of the joint module through the module housing. However, the driver has electrical components such as chips and power amplifiers that are prone to generating heat, and since there is no housing structure in contact with the module housing, the heat generated by the operation of these electrical components cannot be dissipated through the module housing.

[0004] In addition, because the module housing is a sealed structure, it is difficult to generate airflow. After the driver has been running for a long time, a lot of heat will easily accumulate around it, which will accelerate the aging of the electrical components on the driver, reduce the life of the driver, and even cause the driver to burn out if the temperature is too high. Summary of the Invention

[0005] The main objective of this invention is to provide a joint structure and a robot having the same, in order to solve the problem of heat dissipation in the actuators of existing joint structures.

[0006] To achieve the above objectives, according to one aspect of the present invention, a joint structure is provided, including a joint body and a driver mounted on the joint body, the driver being used to control the operation of a motor. The joint structure further includes: a radiator base mounted on the joint body; a radiator mounted on the radiator base and separating the inner cavity of the joint body and the radiator through the radiator base; a heat-conducting component connected to the driver, the radiator base having a through hole through which the heat-conducting component passes and connects to the radiator to transfer heat from the driver to the radiator; and a fan component disposed opposite to the radiator to dissipate heat from the radiator through airflow driven by the fan component.

[0007] Furthermore, the joint structure also includes: a radiator cover, which covers the outside of the fan assembly and the radiator; wherein, the radiator cover is provided with an air inlet and an exhaust port communicating with its cavity, so that the airflow outside the radiator cover is introduced into the cavity of the radiator cover through the air inlet by the fan assembly and discharged through the exhaust port after passing through the radiator.

[0008] Furthermore, the joint structure also includes: multiple air inlets, which are distributed at intervals along the circumference of the radiator cover; and / or multiple exhaust holes, which are all located at the bottom of the radiator cover, each exhaust hole being a strip-shaped hole, and the multiple exhaust holes being arranged side by side; and / or the radiator cover being detachably connected to the radiator base.

[0009] Furthermore, the driver includes multiple driver boards arranged at intervals; the heat conduction component includes multiple heat conduction plates, which are arranged one-to-one with the multiple driver boards. Each heat conduction plate is disposed on a corresponding driver board and connected to a heat sink to transfer heat from the corresponding driver board to the heat sink.

[0010] Furthermore, the heat-conducting component also includes multiple heat-conducting layers, with a heat-conducting layer sandwiched in the gap between each heat-conducting plate and the corresponding drive plate, and / or a heat-conducting layer sandwiched in the gap between each heat-conducting plate and the heat sink.

[0011] Furthermore, each heat-conducting plate includes a base plate and a heat-conducting pipe. The heat-conducting pipe is connected to the base plate, and the end of the heat-conducting pipe away from the base plate passes through a through hole and is connected to the heat sink.

[0012] Furthermore, the actuator includes a first drive plate and a first support column, the first drive plate being connected to the joint body via the first support column; the heat conduction assembly includes a first heat conduction sheet, the first heat conduction sheet including a first base plate and a first heat conduction pipe, the first base plate being disposed opposite to the first heat dissipation area of ​​the first drive plate for mounting electronic components, the first heat conduction pipe being connected to the side of the first heat conduction sheet away from the first drive plate and being connected to the heat sink after passing through a through hole.

[0013] Furthermore, the heat-conducting component includes a first heat-conducting layer, which fills the gap between the first heat-conducting sheet and the first heat dissipation area; and / or the heat-conducting component includes a third heat-conducting layer, which fills the gap between the first heat-conducting pipe and the heat sink.

[0014] Furthermore, the driver includes a second drive plate and a second support column, the second drive plate being connected to the first support column via the second support column; the heat-conducting assembly includes a second heat-conducting sheet, the second heat-conducting sheet including a second base plate and a second heat-conducting pipe, the second base plate being disposed opposite to the second heat dissipation area of ​​the second drive plate for mounting electronic components, the second heat-conducting pipe being connected to the side of the second heat-conducting sheet away from the second drive plate and being connected to the heat sink after passing through a through hole.

[0015] Furthermore, both the first and second support columns include interconnected threaded rod segments and support rod segments with threaded holes. The first support column is threadedly connected to the joint body via the threaded rod segments. A first mounting hole is provided on the first drive plate, which is opposite to the threaded hole of the first support column. The threaded rod segment of the second support column passes through the first mounting hole and is threadedly connected to the threaded hole of the first support column. A second mounting hole is provided on the second drive plate, which is opposite to the threaded hole of the second support column. The driver also includes a fastening bolt, which passes through the second mounting hole and is threadedly connected to the threaded hole of the second support column.

[0016] Furthermore, the heat-conducting component includes a second heat-conducting layer that fills the gap between the second heat-conducting sheet and the second heat dissipation area; and / or the heat-conducting component includes a fourth heat-conducting layer that fills the gap between the second heat-conducting pipe and the heat sink.

[0017] Furthermore, there are multiple through holes, which are spaced apart; and / or the heat sink includes a heat sink plate, heat sink fins, and a fan mounting post, one side of the heat sink plate is used to connect with the heat conduction component, and the other side of the heat sink plate is used to set the heat sink fins and the fan mounting post; the fan component is connected to the fan mounting post; and / or a sealing mounting groove is provided on the side of the heat sink near the heat conduction component, and the joint structure also includes a sealing gasket, which is installed in the sealing mounting groove and sandwiched between the heat sink and the heat sink base.

[0018] According to another aspect of the present invention, a robot is provided, comprising the joint structure described above.

[0019] Applying the technical solution of this invention, the robot of this invention includes a joint structure, which comprises a joint body, a actuator, a heat sink base, a heat sink, a heat-conducting component, and a fan component. The heat-conducting component is in contact with the heat-generating electrical components on the actuator, allowing heat inside the robot joint structure to be transferred to the heat sink through the heat-conducting component. The fan component then drives airflow around the heat sink, rapidly dissipating the heat to the outside of the joint structure. This solves the problem in existing technologies where core components of robot joint structures generate a large amount of heat but cannot effectively dissipate it. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic diagram of an embodiment of the joint structure according to the present invention is shown; Figure 2 A first cross-sectional view of an embodiment of the joint structure according to the present invention is shown; Figure 3 A second cross-sectional view of an embodiment of the joint structure according to the present invention is shown; Figure 4 A third cross-sectional view of an embodiment of the joint structure according to the present invention is shown; Figure 5 A fourth sectional view of an embodiment of the joint structure according to the present invention is shown; Figure 6 A schematic diagram illustrating the first heat dissipation principle of an embodiment of the joint structure according to the present invention is shown; Figure 7 A second schematic diagram of the heat dissipation principle according to an embodiment of the joint structure of the present invention is shown; Figure 8 A first structural schematic diagram of an embodiment of a joint structure radiator base according to the present invention is shown; Figure 9 A second structural schematic diagram of an embodiment of a heat sink base with a joint structure according to the present invention is shown; Figure 10 A first structural schematic diagram of an embodiment of a heat sink casing with a joint structure according to the present invention is shown; Figure 11 A second structural schematic diagram of an embodiment of a heat sink cover with a joint structure according to the present invention is shown; Figure 12 A first structural schematic diagram of an embodiment of a support column of a joint structure according to the present invention is shown; Figure 13 A second structural schematic diagram of an embodiment of the support column of the joint structure according to the present invention is shown; Figure 14 A schematic diagram of an embodiment of the first drive plate of the joint structure according to the present invention is shown; Figure 15 A schematic diagram of an embodiment of the second drive plate of the joint structure according to the present invention is shown; Figure 16 A first structural schematic diagram of an embodiment of the first heat-conducting sheet of the joint structure according to the present invention is shown; Figure 17 A second structural schematic diagram of an embodiment of the first heat-conducting sheet of the joint structure according to the present invention is shown; Figure 18 A first structural schematic diagram of an embodiment of the second heat-conducting sheet of the joint structure according to the present invention is shown; Figure 19 A second structural schematic diagram of an embodiment of the second heat-conducting sheet of the joint structure according to the present invention is shown; Figure 20A first structural schematic diagram of an embodiment of a heat sink with a joint structure according to the present invention is shown; Figure 21 A second structural schematic diagram of an embodiment of a heat sink with a joint structure according to the present invention is shown; and Figure 22 A schematic diagram of an embodiment of a sealing gasket for a joint structure according to the present invention is shown.

[0021] The above figures include the following reference numerals: 1. Joint body; 2. Radiator base; 21. Through hole; 3. Radiator cover; 31. Exhaust hole; 32. Air inlet; 41. First support column; 42. Second support column; 43. Threaded rod segment; 44. Threaded hole; 45. Support rod segment; 5. First drive plate; 50. Driver; 51. First heat dissipation area; 52. First mounting hole; 6. First thermal conductive layer; 7. First thermal conductive sheet; 70. Thermal conductive assembly; 71. First base plate. ; 72. First heat pipe; 8. Second drive plate; 81. Second heat dissipation area; 82. Second mounting hole; 9. Second heat-conducting layer; 10. Second heat-conducting fin; 101. Second base plate; 102. Second heat pipe; 11. Heat sink; 111. Heat sink plate; 112. Fan mounting post; 113. Heat dissipation fins; 114. Sealed mounting groove; 12. Third heat-conducting layer; 13. Sealing gasket; 14. Fan assembly; 15. Fourth heat-conducting layer. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] Please refer to Figures 1 to 22 The present invention provides a joint structure, including a joint body 1 and a driver 50 mounted on the joint body 1, the driver 50 being used to control the operation of a motor.

[0024] To dissipate heat accumulated in the joint structure, the joint structure also includes a radiator base 2, a radiator 11, and a heat-conducting component 70. The radiator base 2 is mounted on the joint body 1, while the radiator 11 is mounted on the radiator base 2. The radiator base 2 separates the inner cavity of the joint body 1 from the radiator 11, allowing heat from the joint body 1 to be dissipated through the radiator 11. The heat-conducting component 70 is connected to the actuator 50. The radiator base 2 has a through hole 21 through which the heat-conducting component 70 passes and connects to the radiator 11, transferring heat from the actuator 50 to the radiator 11. Thus, heat from the joint body 1 is transferred to the radiator 11 for dissipation via the heat-conducting component 70.

[0025] In addition, the joint structure also includes a fan component 14, which is disposed opposite to the heat sink 11 so that the airflow driven by the fan component 14 can dissipate heat from the heat sink 11. This arrangement can improve the working efficiency of the heat sink 11 and make the heat dissipate to the outside of the joint structure more quickly.

[0026] The joint structure of this invention includes a joint body 1, a driver 50, a heat sink base 2, a heat sink 11, a heat-conducting component 70, and a fan component 14. The heat-conducting component 70 is in contact with the heat-generating electrical components on the driver 50, allowing heat inside the joint structure to be transferred to the heat sink 11 via the heat-conducting component 70. The fan component 14 then drives airflow around the heat sink 11, rapidly dissipating the heat to the outside of the joint structure. This solves the problem in existing technologies where core components of robot joint structures generate a large amount of heat but cannot effectively dissipate it.

[0027] Specifically, such as Figure 10 and Figure 11 As shown, the joint structure in this embodiment also includes a radiator cover 3, which covers the outside of the fan component 14 and the radiator 11. The radiator cover 3 is provided with an air inlet 32 ​​and an exhaust 31 communicating with its cavity. The fan component 14 draws air from the outside of the radiator cover 3 into the cavity of the radiator cover 3 through the air inlet 32, and then through the radiator 11 before exhausting it through the exhaust 31. This allows the fan component 14 to accelerate the airflow speed inside the radiator 11, thereby improving the heat dissipation efficiency of the radiator 11.

[0028] To improve the heat dissipation efficiency of the heat sink 11, the heat sink cover 3 in this embodiment can be implemented in the following ways: The first implementation: In order to improve the efficiency of the gas input to the radiator 11, multiple air inlets 32 are provided, and the multiple air inlets 32 are distributed circumferentially along the outer casing 3 of the radiator.

[0029] The second implementation: In order to improve the efficiency of the gas output of the radiator 11, there are multiple exhaust holes 31. All multiple exhaust holes 31 are set at the bottom of the radiator cover 3. Each exhaust hole 31 is a strip hole, and multiple exhaust holes 31 are arranged side by side.

[0030] The third implementation: In order to facilitate the installation or replacement of the radiator 11, the radiator cover 3 is detachably connected to the radiator base 2.

[0031] Similarly, to improve the heat dissipation efficiency of the heat sink 11, the driver 50 includes multiple driver plates arranged at intervals, thereby increasing the contact area between the driver 50 and the heat-conducting component 70 and transferring heat from the joint structure to the heat sink 11 to a greater extent. To cooperate with the multiple driver plates in transferring heat, the heat-conducting component 70 also includes multiple heat-conducting plates, each corresponding to one of the multiple driver plates. Each heat-conducting plate is disposed on its respective driver plate and connected to the heat sink 11 to transfer heat from the corresponding driver plate to the heat sink 11.

[0032] In addition, to enable more efficient transfer of heat generated by multiple drive boards to multiple heat-conducting plates, the heat-conducting assembly 70 also includes multiple heat-conducting layers, with a heat-conducting layer sandwiched in the gap between each heat-conducting plate and its corresponding drive board. Similarly, a heat-conducting layer is also sandwiched in the gap between each heat-conducting plate and the heat sink 11, so that the heat generated by the multiple drive boards is transferred to the multiple heat-conducting plates through the heat-conducting layers, and then further transferred to the heat sink 11 for heat dissipation through other heat-conducting layers.

[0033] Specifically, in order to connect the heat-conducting fins to the heat sink and form a relatively whole, each heat-conducting fin includes a base plate and a heat-conducting pipe. The heat-conducting pipe is connected to the base plate, and the end of the heat-conducting pipe away from the base plate passes through the through hole 21 and is connected to the heat sink 11, so that the heat-conducting fins can transfer heat to the heat sink 11 through the heat-conducting pipe.

[0034] like Figure 12 and Figure 13 As shown, in order to mount the actuator 50 on the joint body 1 and make it a relatively fixed whole, the joint structure also includes a support column, which is divided into a first support column 41 and a second support column 42.

[0035] like Figure 14 , Figure 16 and Figure 17 As shown, the specific structure of the driver 50 and the heat-conducting assembly 70 in this embodiment is as follows: The driver 50 includes a first drive plate 5 and a first support column 41. The first drive plate 5 is connected to the joint body 1 through the first support column 41, so that the driver 50 is mounted on the joint body 1. In order to receive and conduct heat, the heat-conducting assembly 70 includes a first heat-conducting sheet 7. The first heat-conducting sheet 7 includes a first base plate portion 71 and a first heat-conducting pipe 72. The first base plate portion 71 is disposed opposite to the first heat dissipation area 51 of the first drive plate 5 for mounting electronic components. The first heat-conducting pipe 72 is connected to the side of the first heat-conducting sheet 7 away from the first drive plate 5 and passes through the through hole 21 and is connected to the heat sink 11, so that the heat generated by the first heat dissipation area 51 is transferred to the heat sink 11 through the first heat-conducting pipe 72.

[0036] Specifically, the first base plate 71 includes a polygonal plate and protruding plates disposed at opposite ends of the polygonal plate, and the first heat-conducting pipe 72 is disposed on the protruding plates. Preferably, the polygonal plate is a rhomboid plate.

[0037] Furthermore, to improve thermal conductivity, the thermally conductive component 70 includes a first thermally conductive layer 6 and a third thermally conductive layer 12. The first thermally conductive layer 6 fills the gap between the first thermally conductive sheet 7 and the first heat dissipation area 51, while the third thermally conductive layer 12 fills the gap between the first thermally conductive pipe 72 and the heat sink 11. This allows the heat generated in the first heat dissipation area 51 to be transferred firstly through the first thermally conductive layer 6 to the first thermally conductive sheet 7, and then through the third thermally conductive layer 12 to the heat sink 11.

[0038] like Figure 15 , Figure 18 and Figure 19 As shown, the specific structure of the driver 50 and the heat-conducting assembly 70 in this embodiment is as follows: The driver 50 includes a second driving plate 8 and a second support column 42. The second driving plate 8 is connected to the first support column 41 through the second support column 42, so that the second driving plate 8 is mounted on the first driving plate 5. In order to receive and conduct heat, the heat-conducting assembly 70 includes a second heat-conducting sheet 10. The second heat-conducting sheet 10 includes a second base plate portion 101 and a second heat-conducting pipe 102. The second base plate portion 101 is disposed opposite to the second heat dissipation area 81 of the second driving plate 8 for mounting electronic components. The second heat-conducting pipe 102 is connected to the side of the second heat-conducting sheet 10 away from the second driving plate 8 and passes through the through hole 21 and is connected to the heat sink 11, so that the heat generated by the second heat dissipation area 81 is transferred to the heat sink 11 through the second heat-conducting pipe 102.

[0039] Specifically, the second base plate 101 includes a polygonal plate and protruding plates disposed at opposite ends of the polygonal plate, and the second heat pipe 102 is disposed on the protruding plates. Preferably, the polygonal plate is a rhomboid plate.

[0040] like Figure 12 and Figure 13 As shown, in order to mount the second drive plate 8 on the first drive plate 5 and form a relatively whole, both the first support column 41 and the second support column 42 include threaded rod segments 43 and support rod segments 45 with threaded holes 44 that are connected to each other. The first support column 41 is threadedly connected to the joint body 1 through the threaded rod segments 43, so that the second drive plate 8 and the first drive plate 5 and the joint body 1 form a relatively fixed whole.

[0041] To mount the first drive plate 5 and the second drive plate 8 onto the joint body 1, the first drive plate 5 is provided with a first mounting hole 52, which is opposite to the threaded hole 44 of the first support column 41; the threaded rod segment 43 of the second support column 42 passes through the first mounting hole 52 and is threadedly connected to the threaded hole 44 of the first support column 41; to connect the first drive plate 5 and the second drive plate 8, the second drive plate 8 is provided with a second mounting hole 82, which is opposite to the threaded hole 44 of the second support column 42; the actuator 50 also includes a fastening bolt, which passes through the second mounting hole 82 and is threadedly connected to the threaded hole 44 of the second support column 42, so that the second drive plate 8 and the first drive plate 5 and the joint body 1 become a relatively fixed whole.

[0042] Furthermore, to improve thermal conductivity, the thermally conductive component 70 includes a second thermally conductive layer 9 and a fourth thermally conductive layer 15. The second thermally conductive layer 9 fills the gap between the second thermally conductive sheet 10 and the second heat dissipation area 81, and the fourth thermally conductive layer 15 fills the gap between the second thermally conductive pipe 102 and the heat sink 11. This allows the heat generated in the second heat dissipation area 81 to be transferred first through the second thermally conductive layer 9 to the second thermally conductive sheet 10, and then through the fourth thermally conductive layer 15 to the heat sink 11.

[0043] The specific structural form of the heat sink in this embodiment is as follows: The first structural form: such as Figure 8 and Figure 9 As shown, in order to connect the various parts of the joint structure into a relatively detachable whole, multiple through holes 21 are provided, and the multiple through holes 21 are spaced apart. Each through hole 21 can be set with different sizes and shapes according to the specific form of each fixing post.

[0044] The second structural form: such as Figure 20 and Figure 21 As shown, the heat sink 11 includes a heat sink 111, heat dissipation fins 113, and a fan mounting post 112. One side of the heat sink 111 is used to connect to the heat conduction component 70, and the other side of the heat sink 111 is used to mount the heat dissipation fins 113 and the fan mounting post 112, so that the heat transferred to the heat conduction component 70 is transferred to the heat sink 11 through the heat sink 111 for heat dissipation. To improve the heat dissipation efficiency of the heat sink 11, a fan component 14 is connected to the fan mounting post 112, so that the fan component 14 is positioned close to the heat sink 11.

[0045] Preferably, there are multiple heat dissipation fins 113, which are spaced apart. There are also multiple fan mounting posts 112, which are distributed circumferentially along the heat sink 111. Each fan mounting post 112 has a threaded hole.

[0046] The third structural form: such as Figures 20 to 22 As shown, to ensure the airtightness of the joint structure, a sealing mounting groove 114 is provided on the side of the radiator 11 near the heat-conducting component 70. The joint structure also includes a sealing gasket 13, which is installed in the sealing mounting groove 114 and sandwiched between the radiator 11 and the radiator base 2 to ensure safe heat dissipation. Preferably, both the sealing mounting groove 114 and the sealing gasket 13 are annular, and both the sealing mounting groove 114 and the sealing gasket 13 are provided with multiple through holes for fixing by fasteners passing through the through holes of the sealing mounting groove 114 and the sealing gasket 13.

[0047] The present invention also provides a robot, including the joint structure in this embodiment.

[0048] like Figure 6 and Figure 7 As shown, the heat dissipation principle of the robot joint structure provided by the present invention is as follows: by setting up components such as joint body 1, driver 50, heat sink base 2, heat sink 11, heat conduction component 70 and fan component 14, the heat generated by driver 50 is transferred to heat sink 11 through heat conduction component 70, and then the fan component 14 drives the air flow around heat sink 11 to quickly dissipate the heat to the outside of joint body 1.

[0049] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects: The joint structure and robot provided by this invention dissipate the heat generated by the actuator 50 inside the joint body 1 to the outside of the joint structure by adding a heat sink 11, a heat conduction component 70 and a fan component 14, effectively improving the heat dissipation efficiency of the actuator, thereby reducing the heat accumulation generated by the actuator 50 during long-term operation. Thus, without damaging the original sealed structure of the joint structure, it solves the technical problem in the prior art that the internal temperature is too high and the actuator burns out due to the inability of the joint structure to dissipate heat effectively, extending the service life of the robot and improving work efficiency.

[0050] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A joint structure comprising a joint body (1) and a driver (50) mounted on the joint body (1), the driver (50) being used to control the operation of a motor, characterized in that, The joint structure also includes: Radiator base (2), which is mounted on joint body (1); Radiator (11), the radiator (11) is mounted on the radiator base (2) and the radiator (11) is separated from the inner cavity of the joint body (1) by the radiator base (2). A heat-conducting component (70) is connected to the driver (50). A through hole (21) is provided on the heat sink base (2) so that the heat-conducting component (70) passes through the through hole (21) and connects to the heat sink (11) to transfer the heat on the driver (50) to the heat sink (11). A fan component (14) is disposed opposite to the heat sink (11) to dissipate heat from the heat sink (11) by airflow driven by the fan component (14). The driver (50) includes a plurality of driver boards, which are arranged at intervals. The heat-conducting component (70) includes a plurality of heat-conducting sheets, which are arranged one-to-one with the plurality of driving plates. Each heat-conducting sheet is arranged on the corresponding driving plate and connected to the heat sink (11) to transfer the heat on the corresponding driving plate to the heat sink (11). Each of the heat-conducting plates includes a base plate and a heat-conducting pipe. The base plate is disposed opposite to the heat dissipation area of ​​the corresponding drive plate. The heat-conducting pipe is connected to the base plate. One end of the heat-conducting pipe away from the base plate passes through the through hole (21) and is connected to the heat sink (11). The heat-conducting assembly (70) further includes multiple heat-conducting layers, with the heat-conducting layer sandwiched in the gap between each heat-conducting sheet and the corresponding driving plate, and / or the heat-conducting layer sandwiched in the gap between each heat-conducting sheet and the heat sink (11); The joint structure also includes a radiator cover (3), which covers the outside of the fan component (14) and the radiator (11); wherein, the radiator cover (3) is provided with an air inlet (32) and an exhaust port (31) communicating with its cavity, so that the airflow outside the radiator cover (3) is introduced into the cavity of the radiator cover (3) through the air inlet (32) by the fan component (14) and discharged through the exhaust port (31) after passing through the radiator (11); The joint structure also includes a sealing gasket (13), which is sandwiched between the radiator (11) and the radiator base (2); the driver (50) includes a first drive plate (5) and a first support column (41), and the first drive plate (5) is connected to the joint body (1) through the first support column (41).

2. The joint structure according to claim 1, characterized in that, The joint structure also includes: There are multiple air inlets (32), and the multiple air inlets (32) are distributed at intervals along the circumference of the radiator cover (3); and / or There are multiple exhaust holes (31), all of which are located at the bottom of the radiator cover (3). Each exhaust hole (31) is a strip-shaped hole, and the multiple exhaust holes (31) are arranged side by side; and / or The radiator cover (3) is detachably connected to the radiator base (2).

3. The joint structure according to claim 1, characterized in that, The heat-conducting component (70) includes a first heat-conducting sheet (7), which includes a first base plate (71) and a first heat-conducting pipe (72). The first base plate (71) is disposed opposite to the first heat dissipation area (51) of the first drive plate (5) for mounting electronic components. The first heat-conducting pipe (72) is connected to the side of the first heat-conducting sheet (7) away from the first drive plate (5) and passes through the through hole (21) to be connected to the heat sink (11).

4. The joint structure according to claim 3, characterized in that, The thermally conductive component (70) includes a first thermally conductive layer (6) that fills the gap between the first thermally conductive sheet (7) and the first heat dissipation area (51); and / or The heat-conducting component (70) includes a third heat-conducting layer (12) which fills the gap between the first heat-conducting pipe (72) and the heat sink (11).

5. The joint structure according to claim 3, characterized in that, The driver (50) includes a second drive plate (8) and a second support column (42), wherein the second drive plate (8) is connected to the first support column (41) through the second support column (42); The heat-conducting assembly (70) includes a second heat-conducting sheet (10), which includes a second base plate (101) and a second heat-conducting pipe (102). The second base plate (101) is disposed opposite to the second heat dissipation area (81) of the second drive plate (8) for mounting electronic components. The second heat-conducting pipe (102) is connected to the side of the second heat-conducting sheet (10) away from the second drive plate (8) and passes through the through hole (21) to be connected to the heat sink (11).

6. The joint structure according to claim 5, characterized in that, The first support column (41) and the second support column (42) each include a threaded rod segment (43) and a support rod segment (45) with a threaded hole (44) connected to each other. The first support column (41) is threadedly connected to the joint body (1) through the threaded rod segment (43). The first drive plate (5) is provided with a first mounting hole (52), which is opposite to the threaded hole (44) of the first support column (41); the threaded rod segment (43) of the second support column (42) passes through the first mounting hole (52) and is threadedly connected to the threaded hole (44) of the first support column (41); The second drive plate (8) is provided with a second mounting hole (82), which is opposite to the threaded hole (44) of the second support column (42); the driver (50) also includes a fastening bolt, which passes through the second mounting hole (82) and is threadedly connected to the threaded hole (44) of the second support column (42).

7. The joint structure according to claim 5, characterized in that, The thermally conductive component (70) includes a second thermally conductive layer (9) that fills the gap between the second thermally conductive sheet (10) and the second heat dissipation area (81); and / or The heat-conducting component (70) includes a fourth heat-conducting layer (15) which fills the gap between the second heat-conducting pipe (102) and the heat sink (11).

8. The joint structure according to any one of claims 1 to 7, characterized in that, There are multiple through holes (21), and the multiple through holes (21) are spaced apart; and / or The radiator (11) includes a heat sink (111), heat dissipation fins (113), and a fan mounting post (112). One side of the heat sink (111) is used to connect to the heat-conducting component (70), and the other side of the heat sink (111) is used to mount the heat dissipation fins (113) and the fan mounting post (112). The fan component (14) is connected to the fan mounting post (112); and / or A sealing mounting groove (114) is provided on the side of the radiator (11) near the heat-conducting component (70), and the sealing gasket (13) is installed in the sealing mounting groove (114).

9. A robot comprising a joint structure, characterized in that, The joint structure is the joint structure described in any one of claims 1 to 8.

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