Articulation mechanism, articulation assembly and robot

Abstract

Provided are a joint mechanism, a joint assembly, and a robot. The joint mechanism includes a controller and a housing assembly. The housing assembly includes an end cover. The end cover includes a first main body portion and a first protruding portion. The first protruding portion protrudes from the first main body portion. The controller and the first protruding portion are located on the same side of the first main body portion. The joint mechanism includes a liquid containing cavity. The joint mechanism includes a first component. The first component includes a first containing portion. At least part of the liquid containing cavity is located in the first containing portion. The first containing portion is in contact with the controller. The end cover includes a first containing cavity. The first containing cavity extends through the first main body portion and the first protruding portion in an axial direction of the first protruding portion. The joint mechanism includes a first mounting base. The first mounting base is located in the first containing cavity. The first mounting base is fixed to an inner peripheral wall of the first main body portion. The first mounting base has a first flow-through opening. The first flow-through opening is in communication with the liquid containing cavity. Heat generated by the controller can be conducted through the first containing portion. The heat dissipation efficiency of the controller is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a joint mechanism, joint assembly, and robot. Background Technology

[0002] In related technologies, robot joints with modular design have a high degree of integration. A single joint module contains many heat-generating components such as motors and drivers, resulting in high heat generation power of the robot joint.

[0003] The heat dissipation of the actuator is particularly important. Currently, the heat dissipation of robot joints is generally passive, which is achieved through the natural convection between the joint itself and the outside air. The heat dissipation efficiency needs to be further improved. Summary of the Invention

[0004] A joint mechanism is provided, the joint mechanism including a controller and a housing assembly, the housing assembly including an end cap, the end cap including a first body portion and a first protrusion, the first protrusion protruding from the first body portion, the controller and the first protrusion being located on the same side of the first body portion, the joint mechanism including a liquid receiving cavity, the joint mechanism including a first component, the first component including a first receiving portion, at least a portion of the liquid receiving cavity being located in the first receiving portion, the first receiving portion contacting the controller, the end cap including the first receiving cavity, the first receiving cavity penetrating the first body portion and the first protrusion in the axial direction of the first protrusion, the joint mechanism including a first mounting base, the first mounting base being located in the first receiving cavity, the first mounting base being fixed to the inner peripheral wall of the first body portion, the first mounting base having a first flow port communicating with the liquid receiving cavity.

[0005] The joint mechanism includes a liquid containment cavity and a first component. The first component includes a first receiving portion, at least a portion of which is located in the first receiving portion. The first receiving portion is in contact with the controller and can conduct heat generated by the controller, thereby improving the heat dissipation efficiency of the controller.

[0006] A joint assembly is provided, the joint assembly including a joint mechanism and a first liquid conduit, the first liquid conduit being in communication with the liquid receiving cavity.

[0007] The joint mechanism includes a liquid containment cavity and a first component. The first component includes a first receiving portion, at least a portion of which is located in the first receiving portion. The first receiving portion is in contact with the controller and can conduct heat generated by the controller, thereby improving the heat dissipation efficiency of the controller.

[0008] A robot is provided, the robot including a joint mechanism, the robot including a heat exchanger having a liquid channel communicating with a liquid receiving cavity.

[0009] The joint mechanism includes a liquid containment cavity and a first component. The first component includes a first receiving portion, at least a portion of which is located in the first receiving portion. The first receiving portion is in contact with the controller and can conduct heat generated by the controller, thereby improving the heat dissipation efficiency of the controller. Attached Figure Description

[0010] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the joint mechanism provided by the present invention;

[0011] Figure 2 for Figure 1 Cross-sectional view of the joint mechanism;

[0012] Figure 3 for Figure 1 A schematic diagram of the controller structure;

[0013] Figure 4 for Figure 1 A schematic diagram of the structure of the end cap with the first component and the first mounting base;

[0014] Figure 5 for Figure 1 A partial sectional view showing the first base being installed on the end cap and cooperating with the second base;

[0015] Figure 6 for Figure 2 A cross-sectional view of the first component;

[0016] Figure 7 for Figure 5 A magnified view of part A in the middle;

[0017] Figure 8 This is a cross-sectional view of the first base;

[0018] Figure 9 A cross-sectional view of the second base fitted onto the first and second liquid pipes;

[0019] Figure 10 A partial structural diagram illustrating another connection method between the first base and the second base;

[0020] Figure 11 This is a cross-sectional view of another embodiment of the first component provided by the present invention after installation;

[0021] Figure 12 yes Figure 11 A magnified view of part A in the middle;

[0022] Figure 13 yes Figure 11 A cross-sectional view of the first component;

[0023] Figure 14 yes Figure 11 A cross-sectional schematic diagram of another embodiment of the first component.

[0024] Figure label:

[0025] Motor 11, Rotor 111,

[0026] Controller 12, MOSFET 121

[0027] The housing assembly 13 includes a first receiving cavity 131, a first main body portion 1321, a first protrusion 1322, a first through hole 1323, a second through hole 1324, a third through hole 1325, a fourth through hole 1326, a second receiving cavity 133, and an outer shell 134.

[0028] First component 14, first receiving portion 141, second flow port 1411, fourth flow port 1412, first bottom wall portion 1413, first sub-port 1414, second sub-port 1415, third sub-port 1416, first flange portion 1417, second flange portion 1418, first dividing portion 1419, liquid receiving cavity 142, first connecting portion 143, second connecting portion 144.

[0029] First mounting base 15, first flow channel 151, first flow port 1511, third flow port 1512, second flow channel 152, fifth flow port 1521, sixth flow port 1522, third flow channel 153, fourth flow channel 154, first mounting body 155, first connecting part 156.

[0030] Wave generator 1611, first drive shaft 1612, flexible bearing 162, flexible wheel 163, steel wheel 164.

[0031] First output section 171, first hollow shaft 172

[0032] First liquid pipeline 2,

[0033] Second mounting base 3, fifth flow channel 31, sixth flow channel 32, second connecting part 33.

[0034] Second liquid pipeline 4,

[0035] Seal 5,

[0036] 6. Low-speed encoder bracket; 7. Low-speed encoder disk; 8. High-speed encoder bracket; 9. High-speed encoder disk. Detailed Implementation

[0037] It should be noted that although this specification has described the present invention with reference to the above embodiments, those skilled in the art should understand that they can still modify, combine or make equivalent substitutions to the present invention, and all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered within the scope of the present invention.

[0038] refer to Figures 1-2 A joint mechanism includes a motor 11, a controller 12, and a housing assembly 13. The housing assembly 13 has a second receiving cavity 133. The motor 11 is located in the second receiving cavity 133, and the controller 12 is located in the second receiving cavity 133. The motor 11 and the controller 12 are electrically connected, for example, by means of a wire.

[0039] refer to Figures 1-2 The housing assembly 13 includes a housing 134 and an end cap, with the end cap located at one end of the housing 134. The joint mechanism includes a reducer, which includes a wave generator, a flexible bearing 162, a flexible wheel 163, and a steel wheel 164. The wave generator includes a wave generating part 1611 and a first drive shaft 1612. The first drive shaft 1612 protrudes from the wave generating part 1611 in the axial direction. The motor 11 includes a rotor 111, which is sleeved on the first drive shaft 1612. The first drive shaft 1612 rotates synchronously with the rotor 111. The flexible bearing 162 is located between the flexible wheel 163 and the wave generating part 1611. A portion of the external teeth of the flexible wheel 163 meshes with a portion of the internal teeth of the first meshing part.

[0040] refer to Figures 1-2 The reducer is located at the other end of the housing 134. The flexible wheel 163 includes a first fixed part, which is connected to the housing 134. The joint mechanism includes an output component, which includes a first output part 171 and a first hollow shaft 172. In the axial direction of the first hollow shaft 172, the first hollow shaft 172 protrudes from the first output part 171. The first output part 171 is connected to the steel wheel 164 and rotates synchronously. The first drive shaft 1612 surrounds the first hollow shaft 172.

[0041] refer to Figures 1-2 The joint mechanism includes a low-speed encoder bracket 6, a low-speed encoder disk 7, a high-speed encoder bracket 8, and a high-speed encoder disk 9. The low-speed encoder bracket 6 is sleeved on the end of the first hollow shaft 172 away from the first output part 171. The low-speed encoder disk 7 is fixed to the low-speed encoder bracket 6. The high-speed encoder bracket 8 is sleeved on the end of the first drive shaft 1612 away from the wave generator part 1611. The high-speed encoder disk 9 is fixed to the height encoder bracket.

[0042] refer to Figures 2-3The controller 12 is located on the side of the high-speed encoder disk 9 away from the motor 11. The end cover includes a first main body 1321 and a first protrusion 1322. The first protrusion 1322 protrudes from the first main body 1321 toward the first hollow shaft 172. The controller 12 is sleeved on the first protrusion 1322. The controller 12 and the first protrusion 1322 are located on the same side of the first main body 1321.

[0043] refer to Figures 2-7 The joint mechanism includes a liquid containment cavity 142 and a first component 14. The first component 14 includes a first receiving portion 141. At least a portion of the liquid containment cavity 142 is located in the first receiving portion 141, and the first receiving portion 141 is in contact with the controller 12.

[0044] refer to Figures 5-7 The end cap includes a first receiving cavity 131. In the axial direction of the first protrusion 1322, the first receiving cavity 131 passes through the first main body 1321 and the first protrusion 1322. The joint mechanism includes a first mounting base 15, which is located in the first receiving cavity 131 and is fixed to the inner peripheral wall of the first main body 1321. The first mounting base 15 has a first flow port 1511, which communicates with the liquid receiving cavity 142.

[0045] The joint mechanism includes a liquid-containing cavity 142 and a first component 14. The first component 14 includes a first receiving portion 141. At least a portion of the liquid-containing cavity 142 is located in the first receiving portion 141. The first receiving portion 141 is in contact with the controller 12. When the joint mechanism needs to dissipate heat, the liquid-containing cavity 142 can be filled with liquid (e.g., coolant). The heat generated by the controller 12 can be conducted to the coolant through the liquid-containing cavity 142 of the first receiving portion 141, thereby allowing the liquid in the liquid-containing cavity 142 to absorb the heat generated by the controller 12 and improve the heat dissipation efficiency of the controller 12.

[0046] The first mounting base 15 has a first flow port 1511, which is connected to the liquid receiving cavity 142, allowing the liquid in the liquid receiving cavity 142 to flow and improving the heat dissipation performance of the first component 14 to the controller 12.

[0047] The end cap includes a first receiving cavity 131. In the axial direction of the first protrusion 1322, the first receiving cavity 131 passes through the first main body 1321 and the first protrusion 1322. The joint mechanism includes a first mounting base 15, which is located in the first receiving cavity 131 and is fixed to the inner peripheral wall of the first main body 1321, thereby reducing the size of the joint mechanism and miniaturizing the joint structure.

[0048] refer to Figures 5-7The first protrusion 1322 has a first through hole 1323, the first component 14 has a second flow port 1411, the first through hole 1323 is opposite to the second flow port 1411, the first mounting base 15 has a first flow channel 151, the first flow channel 151 has a third flow port 1512, the first flow port 1511 is located at one end of the first flow channel 151, the third flow port 1512 is located at the other end of the first flow channel 151, and the third flow port 1512 is opposite to the first through hole 1323.

[0049] refer to Figures 5-7 The first receiving portion 141 includes a first bottom wall portion 1413 and a first extension portion. The first extension portion is located between the first bottom wall portion 1413 and the first main body portion 1321. The first extension portion surrounds the liquid receiving cavity 142, which is located between the first main body portion 1321 and the first bottom wall portion 1413. The first receiving portion 141 can be welded to the first main body portion 1321.

[0050] Optionally, the end cap and the first component 14 are made of metal, which will not be elaborated here.

[0051] refer to Figures 5-7 The first receiving portion 141 includes a first dividing portion 1419, which is located between the first bottom wall portion 1413 and the first main body portion 1321. The first extension portion includes a first sub-part 1414, a second sub-part 1415, and a third sub-part 1416. The first sub-part 1414 and the second sub-part 1415 are generally located on the same plane, and the third sub-part 1416 is parallel to the first sub-part 1414. One end of the first dividing portion 1419 is sealed to the first protrusion 1322. A portion of the first dividing portion 1419 is located between the first sub-part 1414 and the second sub-part 1415. The other end of the first dividing portion 1419 has a gap with the third sub-part 1416. The first component 14 includes a fourth flow port 1412, with the second flow port 1411 located on one side of the first dividing portion 1419 and the fourth flow port 1412 located on the other side of the first dividing portion 1419.

[0052] Liquid (e.g., coolant) can enter from the second flow port 1411 into a partial liquid receiving cavity 142 located on one side of the first division 1419, then pass through the gap between the first division 1419 and the third sub-section 1416 into a partial liquid receiving cavity 142 located on the other side of the first division 1419, and then flow out through the fourth flow port 1412, thus extending the flow path of the liquid and improving the heat dissipation performance of the first component 14 on the controller 12.

[0053] Multiple dividing sections can be provided on both sides of the first dividing section 1419 to extend the flow path of the liquid, which will not be elaborated here.

[0054] One end of the first dividing part 1419 is sealed to the first protrusion 1322. The sealing connection can be direct, for example, by welding one end of the first dividing part 1419 to the first protrusion 1322; or it can be a gap sealing connection, for example, one end of the first dividing part 1419 is provided with a connecting piece, the connecting piece has a second flow port 1411 and a fourth flow port 1412, and the connecting piece is welded to the first protrusion 1322. This will not be elaborated here.

[0055] refer to Figure 6 The first extension includes a first flange 1417 and a second flange 1418. The first flange 1417 protrudes from one end of the first sub-part 1414. The end of the first flange 1417 away from the first sub-part 1414 is welded to the first protrusion 1322. The second flange 1418 protrudes from one end of the second sub-part 1415. The end of the second flange 1418 away from the second sub-part 1415 is welded to the first protrusion 1322. A portion of the first dividing part 1419 is located between the first flange 1417 and the second flange 1418. A portion of the second flow port 1411 is formed between the first flange 1417 and the first dividing part 1419. A portion of the fourth flow port 1412 is formed between the second flange 1418 and the first dividing part 1419.

[0056] To extend the liquid flow path and improve heat dissipation efficiency for the controller 12, the shape of the first receiving portion 141 can be set to a serpentine shape, similar to a tube, with a semi-circular cross-section, for example, refer to Figure 14 This will not be elaborated upon here.

[0057] refer to Figures 5-8 The first protrusion 1322 has a second through hole 1324, which is opposite to the fourth flow port 1412. The first mounting base 15 has a second flow channel 152, which has a fifth flow port 1521. The fifth flow port 1521 is located at one end of the second flow channel 152 near the first protrusion 1322 and is opposite to the second through hole 1324. The first flow channel 151 and the second flow channel 152 are located on the first mounting base 15, which simplifies the structure and facilitates installation.

[0058] refer to Figure 8 The first mounting base 15 includes a first mounting body 155, the first mounting base 15 has a first mounting groove, the first mounting groove is recessed in the wall portion of the first mounting body 155 opposite to the first protrusion 1322, the first flow port 1511 is located in the wall portion of the first mounting body 155 opposite to the first protrusion 1322, the first mounting groove surrounds the first flow port 1511, and the first mounting groove is used to install the sealing element 5.

[0059] refer to Figures 2-3The controller 12 includes multiple MOSFETs 121, such as six. The first receiving portion 141 is opposite to at least one of the MOSFETs 121 to improve the heat dissipation performance of the MOSFETs 121.

[0060] Optionally, the axial projection of the plurality of MOS transistors 121 of the first protrusion 1322 is located within the axial projection of the first receiving portion 141 of the first protrusion 1322.

[0061] refer to Figure 2 A joint assembly includes the aforementioned joint mechanism and a first liquid conduit 2, the first liquid conduit 2 being connected to a liquid receiving cavity 142.

[0062] refer to Figures 7-9 The joint assembly includes a second mounting base 3, which is sleeved on the first liquid pipe 2. The second mounting base 3 has a fifth flow channel 31. The side wall of the first liquid pipe 2 is provided with an opening, which is opposite to one end of the fifth flow channel 31. The other end of the fifth flow channel 31 is opposite to the first flow port 1511. The fifth flow channel 31 is connected to the liquid receiving cavity 142. The first mounting base 15 and the second mounting base 3 are engaged.

[0063] refer to Figures 7-9 The first mounting base 15 includes a first connecting part 156, which is flat. The second connecting part 33 is provided with a sliding groove. During installation, the first connecting part 156 is slidably mounted to the second connecting part 33.

[0064] refer to Figure 8 The joint assembly includes a seal 5, which is located between the first mounting base 15 and the second mounting base 3. The seal 5 is located in the first mounting groove to improve the sealing performance.

[0065] refer to Figure 10 Another method is provided for the first mounting base 15 and the second mounting base 3 to be snapped together. The first connecting part 156 is arrow-shaped, and the second mounting base 3 includes a second connecting part 33. The first connecting part 156 passes through the second connecting part 33 to connect the first mounting base 15 and the second mounting base 3, which facilitates disassembly and assembly. This will not be described in detail here.

[0066] refer to Figures 7-9The joint assembly includes a second liquid conduit 4, a second mounting base 3 fitted onto the second liquid conduit 4, the second mounting base 3 having a sixth flow channel 32, the side wall of the second liquid conduit 4 having an opening opposite one end of the sixth flow channel 32, the second liquid conduit 4 communicating with the sixth flow channel 32, the second flow channel 152 having a sixth flow port 1522, the other end of the sixth flow channel 32 being opposite to the sixth flow port 1522, the sixth flow channel 32 communicating with the liquid receiving cavity 142 through a second through hole 1324, facilitating the installation and disassembly of the first liquid conduit 2 and the second liquid conduit 4, thereby miniaturizing the joint assembly.

[0067] A robot is also provided, including the joint mechanism described above. The robot includes a heat exchanger with a liquid channel. The liquid channel is connected to a liquid receiving cavity 142 through a first liquid pipe 2 and a second liquid pipe 4. Optionally, the heat dissipation can be adjusted in a timely manner by detecting the temperature of the controller 12, thereby improving the working efficiency and stability of the joint mechanism.

[0068] Meanwhile, the robot includes multiple joint mechanisms. The side walls of the first liquid pipe 2 and the second liquid pipe 4 can be provided with multiple openings. The first liquid pipe 2 and the second liquid pipe 4 can pass through the first protrusion 1322 and the first hollow shaft 172 to dissipate heat from the multiple joint mechanisms. This will not be elaborated here.

[0069] The materials of the first liquid pipe 2 and the second liquid pipe 4 are rubber and the like, which will not be described in detail here.

[0070] refer to Figures 11-13 The first protrusion 1322 has a third through hole 1325. The first component 14 is a pipe. The first component 14 includes a first connecting part 143. The first connecting part 143 is located at one end of the first receiving part 141. The first connecting part 143 passes through the third through hole 1325. The first mounting base 15 has a third flow channel 153. The first flow port 1511 is located at the end of the third flow channel 153 away from the first protrusion 1322. A portion of the first connecting part 143 is located in the third flow channel 153. The first connecting part 143 can be welded to the first mounting base 15.

[0071] refer to Figures 11-12 The first protrusion 1322 includes a fourth through hole 1326, the first component 14 includes a second connector 144, the second connector 144 is located at the other end of the first receiving portion 141, the second connector 144 passes through the fourth through hole 1326, the first mounting base 15 has a fourth flow channel 154, and a portion of the first connector 143 is located in the fourth flow channel 154.

[0072] Optionally, the first component 14, the end cap, and the first mounting base 15 can be integrally reflowed through a furnace; this will not be elaborated upon here.

[0073] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A joint mechanism, characterized in that, The joint mechanism includes a controller (12) and a housing assembly (13). The housing assembly (13) includes an end cap, which includes a first body portion (1321) and a first protrusion (1322). The first protrusion (1322) protrudes from the first body portion (1321). The controller (12) and the first protrusion (1322) are located on the same side of the first body portion (1321). The joint mechanism includes a liquid receiving cavity (142). The joint mechanism includes a first component (14), which includes a first receiving portion (141). At least a portion of the liquid receiving cavity (142) is located in the first receiving portion (141). The first receiving portion (141) contacts the controller (12), the end cap includes a first receiving cavity (131), the first receiving cavity (131) passes through the first main body portion (1321) and the first protrusion (1322) in the axial direction of the first protrusion (1322), the joint mechanism includes a first mounting base (15), the first mounting base (15) is located in the first receiving cavity (131), the first mounting base (15) is fixed to the inner peripheral wall of the first main body portion (1321), the first mounting base (15) has a first flow port (1511), the first flow port (1511) communicates with the liquid receiving cavity (142).

2. The joint mechanism according to claim 1, characterized in that, The first protrusion (1322) has a first through hole (1323), the first component (14) has a second flow port (1411), the first through hole (1323) is opposite to the second flow port (1411), the first mounting base (15) has a first flow channel (151), the first flow channel (151) has a third flow port (1512), the first flow port (1511) is located at one end of the first flow channel (151), the third flow port (1512) is located at the other end of the first flow channel (151), and the third flow port (1512) is opposite to the first through hole (1323).

3. The joint mechanism according to claim 2, characterized in that, The first receiving portion (141) includes a first bottom wall portion (1413) and a first extension portion. The first extension portion is located between the first bottom wall portion (1413) and the first main body portion (1321). The first extension portion surrounds the liquid receiving cavity (142), which is located between the first main body portion (1321) and the first bottom wall portion (1413).

4. The joint mechanism according to claim 3, characterized in that, The first receiving portion (141) includes a first dividing portion (1419), which is located between the first bottom wall portion (1413) and the first main body portion (1321). The first extension portion includes a first sub-part (1414), a second sub-part (1415), and a third sub-part (1416). The first sub-part (1414) and the second sub-part (1415) are substantially located on the same plane, and the third sub-part (1416) is parallel to the first sub-part (1414). One of the first dividing portions (1419) The first part (14) is sealed to the first protrusion (1322), a portion of the first segment (1419) is located between the first sub-part (1414) and the second sub-part (1415), the other end of the first segment (1419) has a gap with the third sub-part (1416), the first component (14) includes a fourth flow port (1412), the second flow port (1411) is located on one side of the first segment (1419), and the fourth flow port (1412) is located on the other side of the first segment (1419).

5. The joint mechanism according to claim 4, characterized in that, The first protrusion (1322) has a second through hole (1324) which is opposite to the fourth flow port (1412). The first mounting base (15) has a second flow channel (152) which has a fifth flow port (1521) located at one end of the second flow channel (152) near the first protrusion (1322) and opposite to the second through hole (1324).

6. The joint mechanism according to claim 1, characterized in that, The first protrusion (1322) has a third through hole (1325), the first component (14) is a pipe, the first component (14) includes a first connecting part (143), the first connecting part (143) is located at one end of the first receiving part (141), the first connecting part (143) passes through the third through hole (1325), the first mounting base (15) has a third flow channel (153), the first flow port (1511) is located at the end of the third flow channel (153) away from the first protrusion (1322), and a portion of the first connecting part (143) is located in the third flow channel (153).

7. The joint mechanism according to claim 5, characterized in that, The first protrusion (1322) includes a fourth through hole (1326), the first component (14) includes a second connecting part (144), the second connecting part (144) is located at the other end of the first receiving part (141), the second connecting part (144) passes through the fourth through hole (1326), the first mounting base (15) has a fourth flow channel (154), and a portion of the first connecting part (143) is located in the fourth flow channel (154).

8. The joint mechanism according to any one of claims 1-6, characterized in that, The first mounting base (15) includes a first mounting body (155), the first mounting base (15) has a first mounting groove, the first mounting groove is recessed in the wall of the first mounting body (155) opposite to the first protrusion (1322), the first flow port (1511) is located in the wall of the first mounting body (155) opposite to the first protrusion (1322), the first mounting groove surrounds the first flow port (1511), and the first mounting groove is used to install the sealing element (5).

9. The joint mechanism according to any one of claims 1-6, characterized in that, The controller (12) includes multiple MOS transistors (121), and the first receiving portion (141) is opposite to at least one of the MOS transistors (121).

10. The joint mechanism according to claim 8, characterized in that, The joint mechanism includes a motor (11), a reducer, and an output component. The housing assembly (13) includes a housing (134), an end cap located at one end of the housing (134), a reducer located at the other end of the housing (134), the reducer having a first drive shaft (1612), and the output component having a first hollow shaft (172). The first drive shaft (1612) surrounds the first hollow shaft (172). The motor (11) includes a rotor (111), which is sleeved on the first drive shaft (1612).

11. A joint assembly, characterized in that, It includes the joint mechanism and the first liquid conduit (2) as described in any one of claims 1-10, wherein the first liquid conduit (2) is in communication with the liquid receiving cavity (142).

12. The joint assembly according to claim 11, characterized in that, The joint assembly includes a second mounting base (3), which is sleeved on the first liquid pipe (2). The second mounting base (3) has a fifth flow channel (31) which communicates with the liquid receiving cavity (142). The first mounting base (15) is engaged with the second mounting base (3).

13. The joint assembly according to claim 12, characterized in that, The joint assembly includes a second liquid conduit (4), a second mounting base (3) sleeved on the second liquid conduit (4), the second mounting base (3) having a sixth flow channel (32), the sixth flow channel (32) communicating with the liquid receiving cavity (142), and the second liquid conduit (4) communicating with the sixth flow channel (32).

14. A robot, characterized in that, The robot includes the joint mechanism according to any one of claims 1-13, and includes a heat exchanger having a liquid channel communicating with the liquid containment cavity (142).

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