Joint mechanism and robot with same

Abstract

The invention provides a joint mechanism and a robot with the joint mechanism, the joint mechanism comprises a moving arm, a wire passing channel is arranged in the moving arm, and the wire passing channel extends along the length direction of the moving arm; the joint seat is connected with the moving arm, the moving arm is rotatably arranged relative to the joint seat, a mounting cavity is formed in the joint seat, and the mounting cavity communicates with the wire passing channel; at least part of the driving assembly is arranged in the mounting cavity, and the driving assembly is in driving connection with the moving arm so as to drive the moving arm to rotate; and the conductive slip ring is arranged in the mounting cavity, and the conductive cable passes through the conductive slip ring and then is arranged in the wire passing channel in a penetrating manner. The problem that in the prior art, a robot cable is arranged on the surface of a robot joint and is prone to damage is solved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a joint mechanism and a robot having the same. Background Art

[0002] When the robot is working, the protection of cables is one of the key factors to ensure the normal operation of the robot. The cables not only need to withstand the stress caused by mechanical movement, but also avoid damage caused by wear during the movement of the robot's joints.

[0003] The cables of traditional robots are directly fixed on the surface of the robot's joints, which can easily cause shaking during movement. This can cause instability in the robot during high-precision operations, affecting the accuracy and reliability of the operations. In addition, the cables are prone to friction and collision with the external environment during long-term mechanical movement, causing cable wear or even breakage, which not only reduces the service life of the cables but also affects the normal operation of the robot. Summary of the invention

[0004] The main purpose of the present invention is to provide a joint mechanism and a robot having the same, so as to solve the problem in the prior art that robot cables arranged on the robot joint surface are prone to damage.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a joint mechanism is provided, including: a moving arm, a wire passing channel is arranged in the moving arm, and the wire passing channel extends along the length direction of the moving arm; a joint seat, connected to the moving arm, the moving arm is rotatably arranged relative to the joint seat, and a mounting cavity is arranged in the joint seat, and the mounting cavity is connected to the wire passing channel; a driving component, at least partially arranged in the mounting cavity, the driving component is connected to the moving arm to drive the moving arm to rotate; a conductive slip ring is arranged in the mounting cavity, and the conductive cable passes through the conductive slip ring and is inserted into the wire passing channel.

[0006] Furthermore, the driving assembly includes: a driving component, which is arranged in the installation cavity; a supporting component, one end of the supporting component is connected to the driving component, and the other end is connected to the moving arm, and the driving component drives the moving arm to rotate through the supporting component; and a conductive slip ring is sleeved on the supporting component.

[0007] Furthermore, the joint mechanism also includes: a connecting flange, which is arranged between the supporting component and the movable arm, and the connecting flange is connected to the supporting component and the movable arm respectively; a wire passing hole is arranged on the connecting flange, and the wire passing channel is connected to the installation cavity through the wire passing hole.

[0008] Furthermore, the joint mechanism also includes: a buffer component, which is arranged at one end of the moving arm close to the joint seat, the buffer component includes a first body and a second body connected to each other, the first body is passed through the wire passage, the second body is fitted with the end face of the moving arm, the first body and the second body are connected by an arc-shaped transition body, at least part of the conductive cable is in contact with the buffer component, so as to protect the conductive cable by the buffer component.

[0009] Furthermore, a threading hole is provided on the joint seat, and the threading hole is connected to the installation cavity; the joint mechanism also includes: a wire fixing clamp, which is provided on the joint seat, and a passing space is provided between the wire fixing clamp and the joint seat. After the conductive cable passes through the passing space, it is inserted into the installation cavity through the threading hole.

[0010] Furthermore, the joint mechanism also includes: a through cavity, which is arranged in the movable arm, the through cavity extends along the length direction of the movable arm, the through-line channel is arranged on the side of the through cavity, and the through cavity is used to penetrate the target workpiece.

[0011] Furthermore, the joint mechanism also includes: a through pipe fitting, which is arranged in the installation cavity, the cavity of the through pipe fitting is connected with the through cavity, and the target workpiece is sequentially passed through the through pipe fitting and the through cavity; a bearing component, which is respectively connected to the through pipe fitting and the movable arm so that the movable arm can rotate relative to the through pipe fitting.

[0012] Furthermore, the driving assembly includes: a driving component, which is arranged in the installation cavity; a supporting component, one end of the supporting component is connected to the driving component, and the other end is connected to the movable arm, and the driving component drives the movable arm to rotate through the supporting component; a conductive slip ring is sleeved on the supporting component; the driving component and the supporting component are sequentially sleeved on the through pipe.

[0013] Furthermore, a protective coating is provided on the inner wall surface of the through pipe and the inner wall surface of the through cavity respectively, and the protective coating is one or more of a polytetrafluoroethylene layer, a ceramic layer or a polyurethane layer.

[0014] According to another aspect of the present invention, a robot is provided, including a joint mechanism and an execution workpiece, wherein the execution workpiece is arranged at the end of the joint mechanism, and the execution workpiece is driven to move by the joint mechanism, and the joint mechanism is the above-mentioned joint mechanism.

[0015] According to the technical solution of the present invention, the joint mechanism includes a moving arm, a joint seat, a driving assembly and a conductive slip ring. A wire-passing channel is arranged in the moving arm, and the wire-passing channel extends along the length direction of the moving arm. The joint seat is connected to the moving arm, and the moving arm is rotatably arranged relative to the joint seat. A mounting cavity is arranged in the joint seat, and the mounting cavity is communicated with the wire-passing channel. At least part of the driving assembly is arranged in the mounting cavity, and the driving assembly is connected to the moving arm to drive the moving arm to rotate. The conductive slip ring is arranged in the mounting cavity, and the conductive cable is arranged in the wire-passing channel after passing through the conductive slip ring. By arranging the wire-passing channel inside the moving arm, the cable can avoid direct contact with the external environment, reduce the wear and damage of the cable caused by external friction, collision and harsh environmental factors, and thus extend the service life of the cable. The use of the conductive slip ring ensures the continuity of the electrical connection when the moving arm rotates, and avoids the instability that may be caused by the traditional cable connection method. At the same time, the wire-passing channel is communicated with the mounting cavity inside the joint seat, which optimizes the cable layout, reduces the shaking and stress of the cable during the joint movement, and improves the stability and accuracy of the robot joint movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A cross-sectional view of a joint mechanism according to the present invention is shown;

[0018] Figure 2 A structural schematic diagram of a joint mechanism according to the present invention from a first viewing angle is shown;

[0019] Figure 3 A structural schematic diagram of a joint mechanism according to the present invention from a second viewing angle is shown;

[0020] Figure 4 A structural schematic diagram from a third viewing angle of the joint structure according to the present invention is shown.

[0021] The above drawings include the following reference numerals:

[0022] 100, movable arm; 110, wire passage; 120, through cavity; 200, joint seat; 210, installation cavity; 220, threading hole; 230, wire clamp; 300, drive assembly; 310, drive component; 320, support component; 330, drive motor; 340, first pulley; 350, second pulley; 360, transmission belt; 400, conductive slip ring; 500, connecting flange; 510, wire passage hole; 600, buffer component; 710, through pipe fitting; 720, bearing component. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] As mentioned in the background technology, in existing welding robots, the welding machine cables connected to the driving parts of each joint are directly attached to the outside of the robot. The cables are prone to friction and collision with the external environment during long-term mechanical movement, causing cable wear or even breakage, affecting the normal operation of the robot. Therefore, in response to the above-mentioned technical problems, the joint mechanism of the present application is provided with a wire passing channel 110 inside the movable arm 100, and the conductive cable of the driving part of the joint arm is arranged in the wire passing channel 110, wherein the welding robot includes multiple movable arms, and a driving part is arranged between two adjacent movable arms. The conductive cable is passed through the wire passing channel 110 and electrically connected to the adjacent driving part. In this way, the conductive cable is built into the arm of the robot, thereby reducing the contact between the cable and the surrounding environment, such as the wear that may occur during high-speed movement or contact with sharp edges, reducing the shaking and friction of the cable during movement, and improving the overall stability and reliability of the robot. At the same time, in order to prevent the movable arm 100 from twisting the conductive cable during rotation, a conductive slip ring is arranged in the mounting cavity 210 of the joint seat 200, which ensures the continuity of the electrical connection when the movable arm 100 rotates, optimizes the cable layout, and reduces the shaking and stress of the cable during joint movement.

[0025] Please refer to Figures 1 to 4 The present application provides a joint mechanism, including: a moving arm 100, a wire-passing channel 110 is provided in the moving arm 100, and the wire-passing channel 110 extends along the length direction of the moving arm 100; a joint seat 200, connected to the moving arm 100, the moving arm 100 is rotatably arranged relative to the joint seat 200, a mounting cavity 210 is provided in the joint seat 200, and the mounting cavity 210 is communicated with the wire-passing channel 110; a driving component 300, at least partially arranged in the mounting cavity 210, the driving component 300 is drivingly connected to the moving arm 100 to drive the moving arm 100 to rotate; a conductive slip ring 400, arranged in the mounting cavity 210, and the conductive cable passes through the conductive slip ring 400 and then passes through the wire-passing channel 110.

[0026] According to the joint mechanism provided by the present application, it includes a moving arm 100, a joint seat 200, a driving assembly 300 and a conductive slip ring 400. A wire-passing channel 110 is provided in the moving arm 100, and the wire-passing channel 110 extends along the length direction of the moving arm 100; the joint seat 200 is connected to the moving arm 100, and the moving arm 100 is rotatably arranged relative to the joint seat 200. A mounting cavity 210 is provided in the joint seat 200, and the mounting cavity 210 is communicated with the wire-passing channel 110; at least part of the driving assembly 300 is arranged in the mounting cavity 210, and the driving assembly 300 is drivingly connected to the moving arm 100 to drive the moving arm 100 to rotate; the conductive slip ring 400 is arranged in the mounting cavity 210, and the conductive cable passes through the conductive slip ring 400 and is arranged in the wire-passing channel 110. By arranging the wire-passing channel 110 inside the moving arm 100, the cable can avoid direct contact with the external environment, reduce the wear and damage of the cable caused by external friction, collision and harsh environmental factors, and thus extend the service life of the cable. The use of the conductive slip ring 400 ensures the continuity of the electrical connection when the mobile arm 100 rotates, avoiding the instability that may be caused by the traditional cable connection method. At the same time, the wire passage 110 is connected to the installation cavity 210 inside the joint seat 200, which optimizes the cable layout, reduces the shaking and stress of the cable during the joint movement, and improves the stability and accuracy of the robot joint movement.

[0027] In a specific implementation process, the inner diameter of the wire passage 110 is 10 mm to 20 mm to ensure that a welding cable with a diameter of 6 mm can be accommodated, while leaving enough gap to avoid friction between the cables.

[0028] The inner surface of the cable passage 110 is coated with polytetrafluoroethylene to reduce the friction of the conductive cable on the inner wall of the passage, thereby improving the sliding efficiency of the cable and extending its service life.

[0029] Specifically, Figures 1 to 3 As shown, the driving assembly 300 includes: a driving component 310, which is arranged in the installation cavity 210; a supporting component 320, one end of the supporting component 320 is connected to the driving component 310, and the other end is connected to the moving arm 100, and the driving component 310 drives the moving arm 100 to rotate through the supporting component 320; and a conductive slip ring 400 is sleeved on the supporting component 320. The driving component 310 is arranged in the installation cavity 210 and connected to the moving arm 100 through the supporting component 320, forming a direct and stable power transmission path. This design reduces the energy loss in the power transmission process, ensures the smoothness and precision of the rotation of the moving arm 100, and enhances the transmission efficiency and stability of the entire joint mechanism.

[0030] The conductive slip ring 400 is sleeved on the support component 320, which not only realizes the continuity of the electrical connection, but also avoids excessive bending and wear of the cable during the joint movement. This allows the cable to maintain a stable state inside the slip ring through physical isolation, ensuring the safety of the cable even when the joint rotates significantly, thereby extending the service life of the cable. The combination of the support component 320 and the conductive slip ring 400, as well as the close fit with the installation cavity 210 and the wire channel 110, enhances the sealing performance of the joint mechanism. By integrating the drive component 310 and the conductive slip ring 400 around the support component 320, this design achieves a compact layout of the joint mechanism, reduces the need for additional support structures, and contributes to the lightweight design of the entire robot joint, thereby improving the robot's movement flexibility and energy efficiency.

[0031] Among them, the driving component 310 is a reducer, and the driving assembly 300 also includes a driving motor 330, a first pulley 340, a second pulley 350 and a transmission belt 360. The driving motor 330 is arranged on the joint seat 200. The driving shaft of the driving motor 330 is provided with a first pulley 340, and the second pulley 350 is connected to the reducer. The first pulley 340 and the second pulley 350 are connected by a transmission belt 360. The driving motor 330 is arranged on the outer side of the joint seat 200. By adopting a combination of pulleys and transmission belts, the driving assembly 300 can realize the smooth transmission of the power of the driving motor 330 to the moving arm 100. The belt drive has good buffering and vibration absorption capabilities, reduces mechanical shock and vibration, and improves the stability and reliability of the system. The design of the pulley and the transmission belt allows the driving assembly 300 to be arranged in a compact manner in the joint seat 200 while maintaining sufficient transmission efficiency. This layout method not only saves space, but also facilitates maintenance and adjustment of the transmission assembly. The transmission belt 360 in the belt transmission system may become loose after a long period of operation, but by adjusting the tensioning mechanism, the tension of the transmission belt can be easily adjusted to ensure the efficiency of the transmission system. At the same time, the replacement of the first pulley 340 and the second pulley 350 is also relatively simple, reducing maintenance costs and downtime.

[0032] The joint mechanism also includes: a connecting flange 500, which is arranged between the support component 320 and the moving arm 100, and the connecting flange 500 is connected to the support component 320 and the moving arm 100 respectively; a wire hole 510 is arranged on the connecting flange 500, and the wire passage 110 is connected to the installation cavity 210 through the wire hole 510. The wire hole 510 on the connecting flange 500 provides a clear passage path for the cable, ensuring a smooth transition of the cable from the installation cavity 210 of the joint seat 200 to the wire passage 110 of the moving arm 100, avoiding possible kinking and wear of the cable when the joint rotates, and improving the transmission efficiency and service life of the cable. The connecting flange 500 serves as a connecting bridge between the support component 320 and the moving arm 100, and through its precise connection with the two components, it enhances the mechanical stability of the entire joint mechanism. The use of the flange ensures the alignment and tight fixation between the two components, reduces the relative displacement during the movement, and improves the bearing capacity and movement accuracy of the joint.

[0033] Further, the joint mechanism also includes: a buffer component 600, which is arranged at one end of the moving arm 100 close to the joint seat 200, and the buffer component 600 includes a first body and a second body connected to each other, the first body is inserted into the wire passage 110, the second body is fitted with the end face of the moving arm 100, the first body and the second body are connected by an arc-shaped transition body, and at least part of the conductive cable is in contact with the buffer component 600, so as to protect the conductive cable through the buffer component 600. The design of the buffer component 600, especially its arc-shaped transition body, can effectively reduce the stress concentration of the conductive cable during joint movement. When the moving arm 100 rotates, the cable contacts the arc-shaped transition body of the buffer component 600, and the tensile and bending forces of the cable are dispersed by the flexibility of the arc-shaped body, thereby avoiding damage to the cable due to excessive stress. The close connection between the first body and the second body, and the fit with the end face of the moving arm 100, provide additional physical protection for the conductive cable. This design prevents the direct exposure of the cable at the joint, and reduces the risk of cable damage due to external factors such as collision and wear.

[0034] In the specific implementation process, Figure 2As shown, the joint seat 200 is provided with a threading hole 220, and the threading hole 220 is connected with the installation cavity 210; the joint mechanism also includes: a wire clamp 230, which is arranged on the joint seat 200, and a through space is arranged between the wire clamp 230 and the joint seat 200. After the conductive cable passes through the through space, it passes through the threading hole 220 into the installation cavity 210. The use of the wire clamp 230 ensures the stable fixation of the conductive cable on the joint seat 200, prevents the cable from shaking or moving unnecessarily during the movement of the robot, thereby reducing the wear of the cable, improving the service life of the cable and the reliability of the entire joint mechanism. The connection design of the threading hole 220 and the installation cavity 210 makes the arrangement and installation process of the cable smoother, without the need for complex external wiring, simplifies the cable management of the robot joint, and reduces the risk of failure caused by improper cable arrangement. The design of the threading hole 220 can be coordinated with the layout of the conductive slip ring 400, and through reasonable cable path planning, the electromagnetic interference between the cables is reduced, and the stability and quality of signal transmission are improved.

[0035] In the present application, the joint mechanism is a joint mechanism of a welding robot, and the welding wire needs to be transported by the joint mechanism. The joint mechanism also includes: a through cavity 120, which is arranged in the movable arm 100, and the through cavity 120 extends along the length direction of the movable arm 100, and the through-line channel 110 is arranged on the side of the through cavity 120, and the through cavity 120 is used to penetrate the target workpiece. Among them, the target workpiece is a welding wire, and the setting of the through cavity 120 provides an independent and direct transmission path for the welding wire, ensuring the smooth transmission of the welding wire from the wire feeder to the welding point. This design avoids the problem of friction and bending between the welding wire and the outside of the joint in the traditional welding robot, and improves the transmission efficiency and stability of the welding wire. The welding wire is transmitted inside the through cavity 120, which is completely isolated from the external environment, reduces the wear of the welding wire caused by friction or collision, extends the service life of the welding wire, and reduces the production cost.

[0036] The separation design of the wire passage 110 and the through cavity 120 makes the management of cables and welding wires simpler. The cables can be transported independently through the wire passage, avoiding mutual interference with the welding wire, optimizing the layout of the cables, and improving the service life of the cables and the reliability of the joint mechanism.

[0037] Furthermore, the joint mechanism also includes: a through pipe 710, which is arranged in the installation cavity 210, and the through pipe 710 is connected to the through cavity 120, and the target workpiece is sequentially inserted into the through pipe 710 and the through cavity 120; a bearing component 720, and the bearing component 720 is respectively connected to the through pipe 710 and the movable arm 100, so that the movable arm 100 rotates relative to the through pipe 710. The use of the bearing component 720 ensures the smooth rotation of the movable arm 100 relative to the through pipe 710, reduces the friction and vibration during the movement, and improves the movement accuracy and stability of the joint mechanism of the welding robot; the setting of the through pipe 710 realizes the independent transmission path of the welding cable and the target workpiece. This design avoids physical contact and possible mutual interference between the cable and the workpiece, improves the protection effect of the cable, and ensures the smooth and accurate transmission of the workpiece. As a force transmission point, the high precision and low friction characteristics of the bearing component 720 ensure that the force output by the drive assembly 300 can be efficiently and accurately transmitted to the movable arm 100, reducing energy loss,

[0038] The driving assembly 300 includes: a driving component 310, which is arranged in the installation cavity 210; a supporting component 320, one end of which is connected to the driving component 310, and the other end of which is connected to the moving arm 100, and the driving component 310 drives the moving arm 100 to rotate through the supporting component 320; a conductive slip ring 400 is sleeved on the supporting component 320; and the driving component 310 and the supporting component 320 are sleeved on the through pipe 710 in sequence. The integrated design of the driving assembly 300, the conductive slip ring 400 and the through pipe 710 makes the internal layout of the joint mechanism more compact. This design reduces the volume of the joint mechanism, improves the overall flexibility of the robot, and facilitates operation in a small space. The stable power output of the driving assembly 300 and the electrical connection reliability of the conductive slip ring 400, plus the protection of the cable through the pipe 710, jointly improve the overall reliability of the joint mechanism of the welding robot and reduce production losses caused by equipment problems.

[0039] The inner wall surface of the through pipe 710 and the inner wall surface of the through cavity 120 are respectively provided with a protective coating, and the protective coating is one or more of a polytetrafluoroethylene layer, a ceramic layer or a polyurethane layer. Polytetrafluoroethylene (PTFE), ceramic or polyurethane coating has an extremely low friction coefficient and excellent wear resistance, which can significantly reduce the friction between the cable and the inner wall of the through pipe 710 or the through cavity 120, thereby reducing the wear of the cable and extending its service life. These coating materials have good chemical stability and corrosion resistance. In harsh industrial environments, the coating can effectively protect the through pipe 710 and the through cavity 120 from corrosion, and maintain the long-term operation stability and reliability of the joint mechanism. Due to its elastic properties, the polyurethane coating can provide a buffering and shock absorbing effect, reduce the vibration of the cable during the joint movement, optimize the layout of the cable, make the cable move more smoothly inside the joint, and reduce the failure caused by the kinking or folding of the cable. The surface of the polytetrafluoroethylene and ceramic coatings is smooth and easy to clean, which reduces the accumulation of dirt and dust, reduces the difficulty of regular cleaning and maintenance, helps to maintain the cleanliness inside the joint mechanism, and extends the maintenance cycle of the entire system.

[0040] In the present application, the cable is built into the robot's arm through a hollow wire design, thereby reducing the contact between the cable and the surrounding environment, such as wear and tear that may occur during high-speed movement or contact with sharp edges. By optimizing the cable fixing method, the shaking and friction of the cable during movement are reduced, and the overall stability and reliability of the robot are improved. This is especially important in high-precision operations, ensuring the accuracy and consistency of the robot's operations. The protective structure of the present invention improves the service life and stability of the cable, thereby improving the reliability and performance of the entire robot. In industrial production, the reliability and performance of the robot directly affect production efficiency and product quality. Due to the extended service life of the cable, the maintenance frequency and cost caused by cable damage are reduced. The downtime caused by replacing cables and repairing robots can be reduced, thereby improving production efficiency and reducing operating costs.

[0041] The present application also provides a robot, including a joint mechanism and an execution workpiece, wherein the execution workpiece is arranged at the end of the joint mechanism, and the execution workpiece is driven to move by the joint mechanism, and the joint mechanism is the joint mechanism of the above embodiment.

[0042] Specifically, in order to ensure the sealing of the joint assembly, sealing measures are designed: a first O-ring is installed between the reducer and the support component 320, a second O-ring is installed between the support component 320 and the connecting flange 500, and a third O-ring is installed between the movable arm 100 and the joint seat 200.

[0043] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0044] According to the joint mechanism provided by the present application, it includes a moving arm 100, a joint seat 200, a driving assembly 300 and a conductive slip ring 400. A wire-passing channel 110 is provided in the moving arm 100, and the wire-passing channel 110 extends along the length direction of the moving arm 100; the joint seat 200 is connected to the moving arm 100, and the moving arm 100 is rotatably arranged relative to the joint seat 200. A mounting cavity 210 is provided in the joint seat 200, and the mounting cavity 210 is communicated with the wire-passing channel 110; at least part of the driving assembly 300 is arranged in the mounting cavity 210, and the driving assembly 300 is drivingly connected to the moving arm 100 to drive the moving arm 100 to rotate; the conductive slip ring 400 is arranged in the mounting cavity 210, and the conductive cable passes through the conductive slip ring 400 and is arranged in the wire-passing channel 110. By arranging the wire-passing channel 110 inside the moving arm 100, the cable can avoid direct contact with the external environment, reduce the wear and damage of the cable caused by external friction, collision and harsh environmental factors, and thus extend the service life of the cable. The use of the conductive slip ring 400 ensures the continuity of the electrical connection when the mobile arm 100 rotates, avoiding the instability that may be caused by the traditional cable connection method. At the same time, the wire passage 110 is connected to the installation cavity 210 inside the joint seat 200, which optimizes the cable layout, reduces the shaking and stress of the cable during the joint movement, and improves the stability and accuracy of the robot joint movement.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint mechanism, characterized in that: include: A movable arm (100), wherein a wire-passing channel (110) is provided in the movable arm (100), and the wire-passing channel (110) extends along the length direction of the movable arm (100); A joint seat (200) is connected to the movable arm (100); the movable arm (100) is rotatably arranged relative to the joint seat (200); a mounting cavity (210) is arranged in the joint seat (200); and the mounting cavity (210) is communicated with the wire passage (110); A driving assembly (300) is at least partially disposed in the mounting cavity (210), and the driving assembly (300) is drivingly connected to the movable arm (100) to drive the movable arm (100) to rotate; A conductive slip ring (400) is arranged in the installation cavity (210); and a conductive cable passes through the conductive slip ring (400) and then passes through the cable passage (110).

2. The joint mechanism according to claim 1, characterized in that: The driving assembly (300) comprises: A driving component (310) is arranged in the installation cavity (210); a supporting component (320), one end of the supporting component (320) being connected to the driving component (310), and the other end of the supporting component (320) being connected to the movable arm (100), and the driving component (310) drives the movable arm (100) to rotate via the supporting component (320); The conductive slip ring (400) is sleeved on the supporting component (320).

3. The joint mechanism according to claim 2, characterized in that: The joint mechanism also includes: a connecting flange (500) disposed between the supporting component (320) and the movable arm (100), wherein the connecting flange (500) is connected to the supporting component (320) and the movable arm (100) respectively; The connection flange (500) is provided with a wire passing hole (510), and the wire passing channel (110) is communicated with the installation cavity (210) through the wire passing hole (510).

4. The joint mechanism according to claim 2, characterized in that: The joint mechanism also includes: A buffer component (600) is arranged at one end of the movable arm (100) close to the joint seat (200), and the buffer component (600) includes a first body and a second body connected to each other, the first body is inserted into the wire passage (110), the second body is in contact with the end surface of the movable arm (100), the first body and the second body are connected by an arc-shaped transition body, and at least a portion of the conductive cable is in contact with the buffer component (600) so as to protect the conductive cable through the buffer component (600).

5. The joint mechanism according to claim 1, characterized in that: The joint seat (200) is provided with a threading hole (220), and the threading hole (220) is communicated with the installation cavity (210); the joint mechanism further comprises: A wire fixing clamp (230) is arranged on the joint seat (200), and a through space is arranged between the wire fixing clamp (230) and the joint seat (200). After the conductive cable passes through the through space, it passes through the threading hole (220) into the installation cavity (210).

6. The joint mechanism according to claim 1, characterized in that: The joint mechanism also includes: A through cavity (120) is arranged in the movable arm (100), the through cavity (120) extends along the length direction of the movable arm (100), the wire passage (110) is arranged on the side of the through cavity (120), and the through cavity (120) is used to penetrate a target workpiece.

7. The joint mechanism according to claim 6, characterized in that: The joint mechanism also includes: A through pipe (710) is arranged in the installation cavity (210), the cavity of the through pipe (710) is communicated with the through cavity (120), and the target workpiece is sequentially inserted into the through pipe (710) and the through cavity (120); A bearing component (720) is connected to the through-tube component (710) and the movable arm (100) respectively, so that the movable arm (100) can rotate relative to the through-tube component (710).

8. The joint mechanism according to claim 7, characterized in that: The driving assembly (300) comprises: A driving component (310) is arranged in the installation cavity (210); a supporting component (320), one end of the supporting component (320) being connected to the driving component (310), and the other end of the supporting component (320) being connected to the movable arm (100), and the driving component (310) drives the movable arm (100) to rotate via the supporting component (320); The conductive slip ring (400) is sleeved on the supporting component (320); The driving component (310) and the supporting component (320) are sequentially sleeved on the passing pipe (710).

9. The joint mechanism according to claim 7, characterized in that: The inner wall surface of the through pipe (710) and the inner wall surface of the through cavity (120) are respectively provided with a protective coating, and the protective coating is one or more of a polytetrafluoroethylene layer, a ceramic layer, or a polyurethane layer.

10. A robot, comprising a joint mechanism and an execution workpiece, wherein the execution workpiece is arranged at the end of the joint mechanism and the execution workpiece is driven to move by the joint mechanism, characterized in that: The joint mechanism is the joint mechanism according to any one of claims 1 to 9.

Images