Joint mechanisms and robots with them

Abstract

This invention provides a joint mechanism and a robot having the same. The joint mechanism includes: a movable arm with a wire-passing channel extending along its length; a joint seat connected to the movable arm, the movable arm being rotatably disposed relative to the joint seat, the joint seat having a mounting cavity communicating with the wire-passing channel; a drive assembly, at least partially disposed within the mounting cavity, the drive assembly being drivenly connected to the movable arm to drive its rotation; and a conductive slip ring disposed within the mounting cavity, through which a conductive cable passes and then through the wire-passing channel. This application solves the problem in the prior art where robot cables located on the surface of the robot joint are prone to damage.

Description

Technical Field

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

[0002] Protecting the cables is one of the key factors in ensuring the normal operation of a robot. The cables not only need to withstand the stress brought about by mechanical movement, but also need to avoid damage caused by wear and tear during the movement of the robot's various joints.

[0003] Traditional robots have cables that are directly fixed to the surface of the robot's joints. These cables are prone to wobbling during movement, causing instability when the robot is performing high-precision tasks, which affects the accuracy and reliability of the work. In addition, the cables are prone to friction and collision with the external environment during long-term mechanical movement, which can lead to cable wear and even breakage. This not only reduces the lifespan of the cables but also affects the normal operation of the robot. Summary of the Invention

[0004] The main objective of this invention is to provide a joint mechanism and a robot having the same, in order to solve the problem that robot cables in the prior art are prone to damage when placed on the surface of the robot joint.

[0005] To achieve the above objectives, according to one aspect of the present invention, a joint mechanism is provided, comprising: a movable arm having a wire passage provided therein, the wire passage extending along the length direction of the movable arm; a joint seat connected to the movable arm, the movable arm being rotatably disposed relative to the joint seat, the joint seat having a mounting cavity provided therein, the mounting cavity communicating with the wire passage; a drive assembly at least partially disposed within the mounting cavity, the drive assembly being drively connected to the movable arm to drive the movable arm to rotate; and a conductive slip ring disposed within the mounting cavity, a conductive cable passing through the conductive slip ring and then through the wire passage.

[0006] Furthermore, the drive assembly includes: a drive component disposed within the mounting cavity; a support component, one end of which is connected to the drive component and the other end of which is connected to the movable arm, wherein the drive component drives the movable arm to rotate via the support component; and a conductive slip ring sleeved on the support component.

[0007] Furthermore, the joint mechanism also includes: a connecting flange, disposed between the support component and the movable arm, the connecting flange being connected to both the support component and the movable arm; the connecting flange is provided with a wire-passing hole, and the wire-passing channel communicates with the mounting cavity through the wire-passing hole.

[0008] Furthermore, the joint mechanism also includes a buffer component disposed at one end of the movable arm near the joint seat. The buffer component includes a first body and a second body connected to each other. The first body passes through the cable passage, and the second body fits against the end face of the movable arm. The first body and the second body are connected by an arc-shaped transition body. At least a portion of the conductive cable contacts the buffer component to protect the conductive cable through the buffer component.

[0009] Furthermore, the joint seat is provided with a wire hole, which communicates with the mounting cavity; the joint mechanism also includes a wire clamp, which is provided on the joint seat, and a through space is provided between the wire clamp and the joint seat. After the conductive cable passes through the through space, it passes through the wire hole into the mounting cavity.

[0010] Furthermore, the joint mechanism also includes: a cavity disposed within the movable arm, the cavity extending along the length of the movable arm, a wire passage disposed to the side of the cavity, and the cavity being used to pass through the target workpiece.

[0011] Furthermore, the joint mechanism also includes: a through pipe, disposed in the mounting cavity, the cavity of the through pipe being connected to the through cavity, the target workpiece being sequentially inserted into the through pipe and the through cavity; and a bearing component, which is connected to the through pipe and the movable arm respectively, so that the movable arm rotates relative to the through pipe.

[0012] Furthermore, the drive assembly includes: a drive component disposed within the mounting cavity; a support component, one end of which is connected to the drive component and the other end of which is connected to the movable arm, wherein the drive component drives the movable arm to rotate via the support component; a conductive slip ring is sleeved on the support component; and the drive component and the support component are sequentially sleeved on the through pipe.

[0013] Furthermore, a protective coating is provided on the inner wall surface of the pipe fitting and the inner wall surface of the cavity, and the protective coating is one or more of polytetrafluoroethylene layer, ceramic layer or 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 disposed at the end of the joint mechanism and the joint mechanism drives the execution workpiece to move, and the joint mechanism is the joint mechanism described above.

[0015] According to the technical solution of this invention, the joint mechanism includes a movable arm, a joint seat, a drive assembly, and a conductive slip ring. A wire-passing channel is provided within the movable arm, extending along its length. The joint seat is connected to the movable arm, and the movable arm is rotatably mounted relative to the joint seat. A mounting cavity is provided within the joint seat, communicating with the wire-passing channel. At least a portion of the drive assembly is disposed within the mounting cavity, and the drive assembly is driven by the movable arm to drive its rotation. The conductive slip ring is disposed within the mounting cavity, and the conductive cable passes through the conductive slip ring and then through the wire-passing channel. By placing the wire-passing channel inside the movable arm, the cable avoids direct contact with the external environment, reducing cable wear and damage caused by external friction, collisions, and harsh environmental factors, thereby extending the cable's service life. The use of the conductive slip ring ensures the continuity of electrical connection during movable arm rotation, avoiding the instability that may arise from traditional cable connection methods. Simultaneously, the communication between the wire-passing channel and the mounting cavity inside the joint seat optimizes the cable layout, reduces cable swaying and stress during joint movement, and improves the stability and accuracy of the robot's joint movement. Attached Figure Description

[0016] 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:

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

[0018] Figure 2 A first-view structural schematic diagram of the joint mechanism according to the present invention is shown;

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

[0020] Figure 4 A third-view structural schematic diagram of the joint structure according to the present invention is shown.

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

[0022] 100. Moving arm; 110. Wire passage; 120. Through cavity; 200. Joint seat; 210. Mounting cavity; 220. Wire hole; 230. Wire clamp; 300. Drive assembly; 310. Drive component; 320. Support component; 330. Drive motor; 340. First pulley; 350. Second pulley; 360. Drive belt; 400. Conductive slip ring; 500. Connecting flange; 510. Wire hole; 600. Buffer component; 710. Through pipe fitting; 720. Bearing component. Detailed Implementation

[0023] 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.

[0024] As mentioned in the background section, in existing welding robots, the welding machine cables that connect to the drive components of each joint are directly attached to the outside of the robot. During long-term mechanical movement, the cables are prone to friction and collision with the external environment, resulting in cable wear or even breakage, which affects the normal operation of the robot. Therefore, to address the aforementioned technical problems, the joint mechanism of this application includes a wire passage 110 inside the movable arm 100, where the conductive cables of the drive components of the joint arm are placed. The welding robot includes multiple movable arms, with drive components positioned between adjacent movable arms. By threading the conductive cables through the wire passage 110 and electrically connecting them to adjacent drive components, the conductive cables are housed within the robot's arm, reducing contact between the cables and the surrounding environment, such as wear that may occur during high-speed movement or contact with sharp edges. This also reduces cable swaying and friction during movement, improving the overall stability and reliability of the robot. Furthermore, to prevent the movable arm 100 from twisting the conductive cables during rotation, a conductive slip ring is provided in the mounting cavity 210 of the joint seat 200, ensuring the continuity of electrical connection during the rotation of the movable arm 100, optimizing the cable layout, and reducing cable swaying and stress during joint movement.

[0025] Please refer to Figures 1 to 4 This application provides a joint mechanism, including: a movable arm 100, in which a wire passage 110 is provided, extending along the length of the movable arm 100; a joint seat 200, connected to the movable arm 100, the movable arm 100 being rotatably disposed relative to the joint seat 200, the joint seat 200 having a mounting cavity 210 communicating with the wire passage 110; a drive assembly 300, at least partially disposed within the mounting cavity 210, the drive assembly 300 being drively connected to the movable arm 100 to drive the movable arm 100 to rotate; and a conductive slip ring 400, disposed within the mounting cavity 210, through which a conductive cable passes and then through the wire passage 110.

[0026] The joint mechanism provided in this application includes a movable arm 100, a joint seat 200, a drive assembly 300, and a conductive slip ring 400. A wire-passing channel 110 is provided within the movable arm 100, extending along the length of the movable arm 100. The joint seat 200 is connected to the movable arm 100, and the movable arm 100 is rotatably disposed relative to the joint seat 200. A mounting cavity 210 is provided within the joint seat 200, communicating with the wire-passing channel 110. At least a portion of the drive assembly 300 is disposed within the mounting cavity 210, and the drive assembly 300 is drively connected to the movable arm 100 to drive the movable arm 100 to rotate. The conductive slip ring 400 is disposed within the mounting cavity 210, and the conductive cable passes through the conductive slip ring 400 and then through the wire-passing channel 110. By placing the wire-passing channel 110 inside the movable arm 100, the cable can avoid direct contact with the external environment, reducing cable wear and damage caused by external friction, collisions, and harsh environmental factors, thereby extending the cable's service life. The use of conductive slip ring 400 ensures the continuity of electrical connection when the mobile arm 100 rotates, avoiding the instability that may be caused by traditional cable connection methods. At the same time, the cable passage 110 is connected to the mounting cavity 210 inside the joint seat 200, which optimizes the cable layout, reduces cable sway and stress during joint movement, and improves the stability and accuracy of robot joint movement.

[0027] In the specific implementation process, the inner diameter of the cable passage 110 is 10mm to 20mm to ensure that it can accommodate welding cables with a diameter of 6mm, 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, improve the sliding efficiency of the cable and extend its service life.

[0029] Specifically, such as Figures 1 to 3 As shown, the drive assembly 300 includes: a drive component 310 disposed within the mounting cavity 210; a support component 320, one end of which is connected to the drive component 310, and the other end of which is connected to the movable arm 100. The drive component 310 drives the movable arm 100 to rotate via the support component 320; and a conductive slip ring 400 is sleeved on the support component 320. By placing the drive component 310 within the mounting cavity 210 and connecting it to the movable arm 100 via the support component 320, a direct and stable power transmission path is formed. This design reduces energy loss during power transmission, ensures the smoothness and precision of the movable arm 100's rotation, and enhances the transmission efficiency and stability of the entire joint mechanism.

[0030] The conductive slip ring 400, fitted onto the support component 320, not only ensures continuity of the electrical connection but also prevents excessive bending and wear of the cable during joint movement. This physical isolation keeps the cable stable within the slip ring, ensuring cable safety even during significant joint rotation and extending cable lifespan. The combination of the support component 320 and the conductive slip ring 400, along with their tight fit with the mounting cavity 210 and the cable passage 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, reducing the need for additional support structures and contributing to a lightweight design of the entire robot joint, thereby improving the robot's motion flexibility and energy efficiency.

[0031] The drive component 310 is a speed reducer, and the drive assembly 300 also includes a drive motor 330, a first pulley 340, a second pulley 350, and a transmission belt 360. The drive motor 330 is mounted on the joint seat 200. The first pulley 340 is mounted on the drive shaft of the drive motor 330. The second pulley 350 is connected to the speed reducer, and the first pulley 340 and the second pulley 350 are connected by the transmission belt 360. The drive motor 330 is located on the outside of the joint seat 200. By using the combination of pulleys and a transmission belt, the drive assembly 300 can smoothly transmit the power of the drive motor 330 to the moving arm 100. The belt drive has good buffering and vibration absorption capabilities, reducing mechanical shock and vibration, and improving the stability and reliability of the system. The design of the pulleys and the transmission belt allows the drive assembly 300 to be arranged in a compact manner within the joint seat 200 while maintaining sufficient transmission efficiency. This layout not only saves space but also facilitates the maintenance and adjustment of the transmission assembly. The drive belt 360 in the belt drive system may loosen after prolonged operation, but the tension of the drive belt can be easily adjusted by adjusting the tensioning mechanism to ensure the efficiency of the drive system. Meanwhile, the replacement of the first pulley 340 and the second pulley 350 is relatively simple, reducing maintenance costs and downtime.

[0032] The joint mechanism also includes a connecting flange 500, disposed between the support component 320 and the movable arm 100. The connecting flange 500 is connected to both the support component 320 and the movable arm 100. The connecting flange 500 has a cable passage hole 510, through which the cable passage channel 110 communicates with the mounting cavity 210. The cable passage hole 510 on the connecting flange 500 provides a clear path for the cable, ensuring a smooth transition of the cable from the mounting cavity 210 of the joint seat 200 to the cable passage channel 110 of the movable arm 100. This avoids possible kinking and wear of the cable during joint rotation, improving cable transmission efficiency and service life. The connecting flange 500 acts as a connecting bridge between the support component 320 and the movable arm 100, enhancing the mechanical stability of the entire joint mechanism through its precise connection with the two components. The use of the flange ensures alignment and tight fixation between the two components, reducing relative displacement during movement and improving the joint's load-bearing capacity and movement accuracy.

[0033] Furthermore, the joint mechanism also includes a buffer component 600, disposed at one end of the movable arm 100 near the joint seat 200. The buffer component 600 includes a first body and a second body connected to each other. The first body passes through the cable passage 110, and the second body is in contact with the end face of the movable arm 100. The first body and the second body are connected by an arc-shaped transition body. At least a portion of the conductive cable contacts the buffer component 600 to protect the conductive cable. The design of the buffer component 600, especially its arc-shaped transition body, can effectively reduce stress concentration in the conductive cable during joint movement. When the movable arm 100 rotates, the cable contacts the arc-shaped transition body of the buffer component 600. The flexibility of the arc-shaped body disperses the tensile and bending forces on the cable, thereby preventing damage to the cable due to excessive stress. The tight connection between the first and second bodies, and their contact with the end face of the movable arm 100, provide additional physical protection for the conductive cable. This design prevents the cable from being directly exposed at the joint, reducing the risk of cable damage due to external factors such as collisions and abrasion.

[0034] In the specific implementation process, such as Figure 2As shown, the joint seat 200 is provided with a wire-passing hole 220, which communicates with the mounting cavity 210. The joint mechanism also includes a wire clamp 230, which is disposed on the joint seat 200. A through-space is provided between the wire clamp 230 and the joint seat 200. After the conductive cable passes through the through-space, it passes through the wire-passing hole 220 and enters the mounting cavity 210. The use of the wire clamp 230 ensures the stable fixation of the conductive cable on the joint seat 200, preventing unnecessary shaking or movement of the cable during robot movement, thereby reducing cable wear, improving cable life and the reliability of the entire joint mechanism. The communication design between the wire-passing hole 220 and the mounting cavity 210 makes the cable arrangement and installation process smoother, eliminating the need for complex external wiring, simplifying cable management of the robot joint, and reducing the risk of failure due to improper cable arrangement. The design of the wire-passing hole 220 can be matched with the layout of the conductive slip ring 400. Through reasonable cable path planning, electromagnetic interference between cables is reduced, and the stability and quality of signal transmission are improved.

[0035] In this application, the joint mechanism is the joint mechanism of a welding robot, which is used to feed welding wire. The joint mechanism also includes a cavity 120, which is set inside the movable arm 100 and extends along the length of the movable arm 100. A wire passage 110 is set on the side of the cavity 120, which is used to pass the target workpiece. The target workpiece is the welding wire. The cavity 120 provides an independent and direct transmission path for the welding wire, ensuring smooth transmission of the welding wire from the wire feeder to the welding point. This design avoids the problems of friction and bending between the welding wire and the joint exterior in traditional welding robots, improving the transmission efficiency and stability of the welding wire. The welding wire is transmitted inside the cavity 120, completely isolated from the external environment, reducing wear caused by friction or collision, extending the service life of the welding wire, and reducing production costs.

[0036] The separate design of the cable passage 110 and the passage cavity 120 simplifies the management of cables and welding wires. Cables can be transported independently through the cable passage, avoiding mutual interference with welding wires, optimizing cable layout, and improving cable lifespan and the reliability of the joint mechanism.

[0037] Furthermore, the joint mechanism also includes: a pipe 710 disposed within the mounting cavity 210, the cavity of which communicates with the passage cavity 120, through which the target workpiece is sequentially inserted; and a bearing component 720 connected to both the pipe 710 and the moving arm 100, allowing the moving arm 100 to rotate relative to the pipe 710. The use of the bearing component 720 ensures smooth rotation of the moving arm 100 relative to the pipe 710, reducing friction and vibration during movement and improving the motion accuracy and stability of the welding robot's joint mechanism. The pipe 710 establishes an independent transmission path between the welding cable and the target workpiece. This design avoids physical contact and potential interference between the cable and the workpiece, improving cable protection while ensuring smooth and accurate workpiece transmission. 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 is efficiently and accurately transmitted to the moving arm 100, reducing energy loss.

[0038] The drive assembly 300 includes: a drive component 310 disposed within the mounting cavity 210; a support component 320, one end of which is connected to the drive component 310 and the other end to the movable arm 100, the drive component 310 driving the movable arm 100 to rotate via the support component 320; a conductive slip ring 400 sleeved on the support component 320; and the drive component 310 and the support component 320 sequentially sleeved on the through pipe 710. The integrated design of the drive 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 size of the joint mechanism, improves the overall flexibility of the robot, and facilitates operation in confined spaces. The stable power output of the drive assembly 300 and the reliable electrical connection of the conductive slip ring 400, along with the cable protection provided by the through pipe 710, jointly improve the overall reliability of the welding robot's joint mechanism and reduce production losses caused by equipment problems.

[0039] Protective coatings are applied to the inner walls of the pipe fitting 710 and the cavity 120, respectively. These coatings are one or more of polytetrafluoroethylene (PTFE), ceramic, or polyurethane layers. PTFE, ceramic, or polyurethane coatings have extremely low coefficients of friction and excellent wear resistance, significantly reducing friction between the cable and the inner walls of the pipe fitting 710 or cavity 120, thereby reducing cable wear and extending its service life. These coating materials all possess good chemical stability and corrosion resistance. In harsh industrial environments, the coatings effectively protect the pipe fitting 710 and cavity 120 from corrosion, maintaining the long-term operational stability and reliability of the joint mechanism. Polyurethane coatings, due to their elastic properties, provide cushioning and shock absorption, reducing cable vibration during joint movement, optimizing cable layout, and making cable movement within the joint smoother, reducing failures caused by cable kinks or folds. PTFE and ceramic coatings have smooth surfaces that are easy to clean, reducing the accumulation of dirt and dust, lowering the difficulty of regular cleaning and maintenance, helping to maintain the cleanliness of the joint mechanism, and extending the maintenance cycle of the entire system.

[0040] In this application, a hollow cable routing design allows the cable to be embedded inside the robot's arm, thereby reducing the cable's contact with the surrounding environment, such as potential wear during high-speed movement or contact with sharp edges. Optimizing the cable's fixing method reduces cable sway and friction during movement, improving the robot's overall stability and reliability. This is particularly important in high-precision operations, ensuring the accuracy and consistency of the robot's work. The protective structure of this invention improves the cable's lifespan and stability, thus enhancing the overall reliability and performance of the robot. In industrial production, the reliability and performance of robots directly affect production efficiency and product quality. The extended cable lifespan reduces maintenance frequency and costs due to cable damage. It also reduces downtime caused by cable replacement and robot repair, thereby improving production efficiency and reducing operating costs.

[0041] This application also provides a robot, including a joint mechanism and an execution workpiece. The execution workpiece is disposed at the end of the joint mechanism, and the joint mechanism drives the execution workpiece to move. The joint mechanism is the joint mechanism of the above embodiment.

[0042] Specifically, to ensure the sealing of the joint components, the following 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 moving arm 100 and the joint seat 200.

[0043] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0044] The joint mechanism provided in this application includes a movable arm 100, a joint seat 200, a drive assembly 300, and a conductive slip ring 400. A wire-passing channel 110 is provided within the movable arm 100, extending along the length of the movable arm 100. The joint seat 200 is connected to the movable arm 100, and the movable arm 100 is rotatably disposed relative to the joint seat 200. A mounting cavity 210 is provided within the joint seat 200, communicating with the wire-passing channel 110. At least a portion of the drive assembly 300 is disposed within the mounting cavity 210, and the drive assembly 300 is drively connected to the movable arm 100 to drive the movable arm 100 to rotate. The conductive slip ring 400 is disposed within the mounting cavity 210, and the conductive cable passes through the conductive slip ring 400 and then through the wire-passing channel 110. By placing the wire-passing channel 110 inside the movable arm 100, the cable can avoid direct contact with the external environment, reducing cable wear and damage caused by external friction, collisions, and harsh environmental factors, thereby extending the cable's service life. The use of conductive slip ring 400 ensures the continuity of electrical connection when the mobile arm 100 rotates, avoiding the instability that may be caused by traditional cable connection methods. At the same time, the cable passage 110 is connected to the mounting cavity 210 inside the joint seat 200, which optimizes the cable layout, reduces cable sway and stress during joint movement, and improves the stability and accuracy of robot joint movement.

[0045] The above description is merely a preferred embodiment of the present invention and is not intended to limit the 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. An articulating mechanism comprising: The joint mechanism comprises a movable arm (100) provided with a wire passing channel (110) extending along the length direction of the movable arm (100); a joint base (200) connected with the movable arm (100), the movable arm (100) is rotatably arranged relative to the joint base (200), the joint base (200) is provided with a mounting cavity (210) in communication with the wire passing channel (110); a driving assembly (300) at least partially arranged in the mounting cavity (210), the driving assembly (300) is drivingly connected with the movable arm (100) to drive the movable arm (100) to rotate; and a conductive slip ring (400) arranged in the mounting cavity (210), a conductive cable passes through the conductive slip ring (400) and is arranged in the wire passing channel (110). The driving assembly (300) comprises a driving component (310) arranged in the mounting cavity (210), a supporting component (320) having one end connected with the driving component (310) and the other end connected with the movable arm (100), the driving component (310) drives the movable arm (100) to rotate through the supporting component (320), and the conductive slip ring (400) is sleeved on the supporting component (320). The joint mechanism further comprises a buffer component (600) arranged at one end of the movable arm (100) close to the joint base (200), the buffer component (600) comprises a first body and a second body connected with each other, the first body is arranged in the wire passing channel (110), the second body is attached to the end surface of the movable arm (100), the first body and the second body are connected through an arc-shaped transition body, at least part of the conductive cable is in contact with the buffer component (600) to protect the conductive cable through the buffer component (600). The joint mechanism further comprises a passing cavity (120) arranged in the movable arm (100), the passing cavity (120) extends along the length direction of the movable arm (100), the wire passing channel (110) is arranged at the side of the passing cavity (120), and the passing cavity (120) is used for arranging a target workpiece. The joint mechanism further comprises a passing pipe (710) arranged in the mounting cavity (210), a pipe cavity of the passing pipe (710) is in communication with the passing cavity (120), the target workpiece is arranged in the passing pipe (710) and the passing cavity (120) in sequence, and a bearing component (720) is connected with the passing pipe (710) and the movable arm (100) respectively to enable the movable arm (100) to rotate relative to the passing pipe (710). ​ ​ ​ ​ The driving assembly (300) comprises a driving component (310) arranged in the mounting cavity (210), a supporting component (320) having one end connected with the driving component (310) and the other end connected with the moving arm (100), the driving component (310) driving the moving arm (100) to rotate through the supporting component (320), the conductive slip ring (400) being sleeved on the supporting component (320), and the driving component (310) and the supporting component (320) being sleeved on the through pipe (710) in sequence.

2. The joint mechanism according to claim 1, characterized by The joint mechanism further comprises: a connecting flange (500) arranged between the supporting component (320) and the moving arm (100), the connecting flange (500) being connected with the supporting component (320) and the moving arm (100) respectively; the connecting flange (500) being provided with a wire passing hole (510), and the wire passing channel (110) being communicated with the mounting cavity (210) through the wire passing hole (510).

3. The joint mechanism according to claim 1, wherein The joint base (200) is provided with a wire passing hole (220) communicated with the mounting cavity (210), and the joint mechanism further comprises: a wire fixing clamp (230) arranged on the joint base (200), the wire fixing clamp (230) being provided with a passing space between the wire fixing clamp (230) and the joint base (200), and the conductive cable passing through the passing space and then passing into the mounting cavity (210) through the wire passing hole (220).

4. The joint mechanism according to claim 1, wherein 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.

5. A robot comprising an articulated mechanism and an execution work, the execution work being provided at an end portion of the articulated mechanism, the execution work being moved by the articulated mechanism, characterized by, The joint mechanism is the joint mechanism according to any one of claims 1 to 4.

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