A drive joint, robot hand and robot

Abstract

This application provides a drive joint, a robotic hand, and a robot. The drive joint includes a lateral drive assembly and a gripping drive assembly. The drive end of the lateral drive assembly is used to connect with the fingers of the robotic hand. The gripping drive assembly includes a connecting bracket, a reducer bracket, a mounting bracket, a first transmission assembly, a first reducer, and a first drive motor. The reducer bracket has a first connecting surface and a second connecting surface facing away from each other. The mounting bracket is connected to the first connecting surface, and the mounting bracket, reducer bracket, and connecting bracket are integrally formed. The first transmission assembly is disposed on the mounting bracket, and its output end is used to connect with the fingers, enabling the fingers to bend towards the palm or unfold away from the palm. The first reducer is connected to the second connecting surface, and its output end is drively connected to the first transmission assembly. The output end of the first drive motor is drively connected to the input end of the first reducer. This application can improve the assembly efficiency of the drive joint.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a drive joint, a manipulator, and a robot. Background Technology

[0002] In fields such as industrial automation, intelligent equipment, and service robots, robotic arms serve as core execution components for operations such as object grasping, handling, and assembly. Their reliability, flexibility, and assembly efficiency directly impact the overall operational performance and industrial application costs of the robot system. The grasping action of a robotic arm primarily relies on drive joints, which transmit power to drive the fingers to perform opening, closing, and gripping actions. These drive joints are the key components determining the grasping performance of a robotic arm.

[0003] In the prior art, the number of assembly parts of the drive joint is large and the assembly precision requirements are high, which leads to the low assembly efficiency of the drive joint. Summary of the Invention

[0004] This application discloses a drive joint and a robotic arm, which can improve the assembly efficiency of the drive joint.

[0005] To achieve the above objectives, this application discloses a drive joint, comprising: A lateral drive assembly, wherein the drive end of the lateral drive assembly is used to connect with the fingers of the robotic hand to drive the fingers to swing within the palm plane of the robotic hand; The crawling driver component includes: A connecting bracket, which is used for fixed connection with the palm of the robotic arm; A speed reducer bracket having a first connecting surface and a second connecting surface facing away from each other; The mounting bracket is connected to the first connecting surface, and the mounting bracket, the reducer bracket, and the connecting bracket are integrally formed. A first transmission component is disposed on the mounting bracket. The output end of the first transmission component is used to connect with the finger and can drive the finger to bend toward the palm or unfold away from the palm. A first reducer is connected to the second connecting surface, and the output end of the first reducer is connected to the first transmission assembly. The first drive motor has its output end connected to the input end of the first reducer.

[0006] In one possible implementation, the first reducer includes a housing with an opening and a planetary gear reducer disposed within the housing. The surface of the housing with the opening is directly connected to the second connecting surface, and the input end of the first transmission component passes through the second connecting surface and is connected to the planetary gear reducer for transmission.

[0007] In one possible implementation, the second connecting surface protrudes and is provided with an embedding part, which is embedded in the opening and is fixedly connected to the housing.

[0008] In one possible implementation, the first transmission component includes a rotating shaft that passes sequentially through the first connecting surface and the second connecting surface and is connected to the output end of the planetary gear reducer. The rotating shaft is connected to the area between the first connecting surface and the second connecting surface of the reducer bracket via the rolling bearing.

[0009] In one possible implementation, the planetary gear reducer includes components disposed within the housing: The sun gear is connected to the output terminal of the first drive motor; Planetary gears, which mesh with the sun gear; An internal gear ring, which is fixedly connected to the housing and meshes with the planetary gear; The planetary carrier is connected to the planetary gears and is also fixedly connected to the drive shaft.

[0010] In one possible implementation, the first transmission component includes: The first worm gear is rotatably mounted on the mounting bracket and is connected to the output end of the first reducer. A first worm gear, comprising a toothless portion and a toothed portion, wherein the toothed portion meshes with the first worm. An output bracket is fixedly connected to the toothless part, and a first transmission hole is provided on the output bracket; A first drive shaft passes through the first drive hole, and both ends of the first drive shaft are used to connect to the fingers so that the fingers bend toward the palm or spread away from the palm around the first drive shaft.

[0011] In one possible implementation, the lateral drive component includes: Second drive motor; The second worm gear is connected to the output end of the second drive motor. The second worm gear meshes with the second worm, and the second worm gear is provided with a second transmission hole; The second drive shaft passes through the second drive hole and is fixed relative to the second worm wheel along the circumference of the second worm wheel. The second drive shaft is perpendicular to the first drive shaft. A swing bracket is fixedly connected to the second drive shaft and is rotatable around the second drive shaft. The swing bracket is also used to connect to the finger.

[0012] In one possible implementation, the first drive shaft has a ball portion that passes through the first drive hole.

[0013] In one possible implementation, the drive joint further includes a backlash-free tension spring, one end of which is connected to the mounting bracket and the other end is used to connect to the finger. The backlash-free tension spring can drive the first worm gear to move closer to the first worm.

[0014] In one possible implementation, the planet carrier is provided with a connecting hole, the sun gear includes a gear portion and a shaft portion connected to each other, the gear portion meshes with the planet gear, and the shaft portion is interference-fitted with the connecting hole.

[0015] Secondly, this application also provides a robotic arm, including the drive joint of any of the claims in the first aspect.

[0016] Thirdly, this application also provides a robot, including the robotic arm of the second aspect.

[0017] Compared with the prior art, the beneficial effects of this application are as follows: This embodiment integrates the mounting bracket, reducer bracket, and connecting bracket into a single unit, effectively reducing the number of parts in the gripping drive assembly, simplifying the assembly process, and improving assembly efficiency. It also eliminates cumulative errors caused by assembling multiple parts, improving assembly accuracy and transmission stability, enhancing overall structural rigidity and load-bearing capacity. Furthermore, it reduces the overall volume of the drive joint, facilitating miniaturization and compact design of the robot, reducing manufacturing costs, and improving the reliability and service life of the drive joint. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is an assembly diagram of the drive joint from a first-view perspective provided in an embodiment of this application; Figure 2 This is an assembly diagram of the drive joint from a second perspective provided in an embodiment of this application; Figure 3 This is a schematic diagram of the integrally formed connecting bracket, mounting bracket, etc. provided in the embodiments of this application; Figure 4 This is a right view of the drive joint provided in an embodiment of this application; Figure 5 yes Figure 4 Cross-sectional view at point AA; Figure 6 This is a partial exploded view of the drive joint provided in an embodiment of this application; Figure 7 This is an exploded view of the drive joint provided in an embodiment of this application; Figure 8 This is a side view of the swing assembly provided in an embodiment of this application; Figure 9 yes Figure 8 Cross-sectional view at point BB; Figure 10 This is a schematic diagram of the sun gear structure provided in an embodiment of this application.

[0020] Explanation of reference numerals in the attached figures: 100-Drive joint; 110 - Lateral drive assembly; 111 - Second drive motor; 112 - Second worm gear; 113 - Second worm wheel; 114 - Second drive shaft; 115 - Swing bracket; 116 - Second reducer; 120 - Gripping drive assembly; 121 - Connecting bracket; 122 - Reducer bracket; 1221 - First connecting surface; 1222 - Second connecting surface; 123 - Mounting bracket; 124 - First transmission assembly; 1241 - Rotating shaft; 1242 - Rolling bearing; 1243 - First worm; 1244 - First worm wheel; 1245 - Output bracket; 1246 - First transmission shaft; 125 - First reducer; 1251 - Housing; 1252 - Planetary gear reducer; 12521 - Sun gear; 12522 - Planetary gear; 12523 - Planet carrier; 1253 - Embedding part; 126 - First drive motor; 12A - Gear part; 12B - Shaft part; 130 - Backlash-free tension spring. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0023] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0024] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0025] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0026] The technical solution of this application will be further described below with reference to specific embodiments and accompanying drawings.

[0027] See Figure 1 , Figure 2 and Figure 3This application provides a drive joint 100, which includes a lateral drive assembly 110 and a gripping drive assembly 120. The drive end of the lateral drive assembly 110 is used to connect with the fingers of a robotic hand to drive the fingers to swing within the palm plane of the robotic hand. The gripping drive assembly 120 includes a connecting bracket 121, a reducer bracket 122, a mounting bracket 123, a first transmission assembly 124, a first reducer 125, and a first drive motor 126. The connecting bracket 121 is used to fix the connection to the palm of the robotic hand. The reducer bracket 122 has opposing first connecting surfaces 122. 1. A second connecting surface 1222; a mounting bracket 123 is connected to the first connecting surface 1221, and the mounting bracket 123, the reducer bracket 122, and the connecting bracket 121 are integrally formed; a first transmission component 124 is disposed on the mounting bracket 123, and the output end of the first transmission component 124 is used to connect with the finger, which can drive the finger to bend towards the palm or unfold away from the palm; a first reducer 125 is connected to the second connecting surface 1222, and the output end of the first reducer 125 is connected to the first transmission component 124; the output end of the first drive motor 126 is connected to the input end of the first reducer 125.

[0028] The fingers mentioned above can be the index finger, middle finger, ring finger, little finger, etc. The following explanation mainly uses the index finger as an example.

[0029] The aforementioned finger swinging within the palm plane of the robotic hand refers to the index finger swinging towards or away from the middle finger within the palm plane.

[0030] The aforementioned first transmission component 124 can be a worm gear assembly, a bevel gear assembly, etc.

[0031] Since the mounting bracket 123, the reducer bracket 122 and the connecting bracket 121 are integrally formed, compared with the separate configuration of the mounting bracket 123, the reducer bracket 122 and the connecting bracket 121, on the one hand, it eliminates the assembly steps such as positioning, alignment and locking between multiple parts, reduces assembly time and improves overall assembly efficiency.

[0032] On the other hand, the one-piece molding structure can be processed into all mounting surfaces, mounting holes and mating positions in one go, and the processing accuracy is controllable. It eliminates the cumulative error of multi-part assembly from the structure, ensuring that the mounting reference of the first reducer 125 and the first transmission component 124 is stable and the coaxiality is high, the power transmission is smoother, and the grasping action accuracy is improved.

[0033] In other words, by integrally molding the mounting bracket 123, reducer bracket 122, and connecting bracket 121, this embodiment can effectively reduce the number of parts in the gripping drive assembly 120, simplify the assembly process, and improve assembly efficiency; at the same time, it can eliminate the cumulative error caused by the assembly of multiple parts, improve the assembly accuracy and transmission stability, enhance the overall structural rigidity and load-bearing capacity; and reduce the overall volume of the drive joint 100, which is conducive to realizing the miniaturization and compact design of the robot, reducing the manufacturing cost, and improving the operational reliability and service life of the drive joint 100.

[0034] In some possible embodiments, see Figure 2 , Figure 4 and Figure 5 The first reducer 125 includes a housing 1251 with an opening and a planetary gear reducer 1252 disposed in the housing 1251. The surface where the opening of the housing 1251 is located is directly connected to the second connecting surface 1222. The input end of the first transmission component 124 passes through the second connecting surface 1222 and is connected to the planetary gear reducer 1252 for transmission.

[0035] Since the surface where the opening of the housing 1251 is located is directly connected to the second connecting surface 1222, compared with the intermediate components such as flanges and positioning sleeves between the housing 1251 and the mounting bracket 123 in the transmission structure, on the one hand, the intermediate transition structure is eliminated, the number of parts is reduced, and it is beneficial to the miniaturization design of the gripping drive assembly 120.

[0036] On the other hand, the open end face of the housing 1251 is directly connected to the second connecting surface 1222 as the mounting reference surface, which improves the fitting accuracy between the two and effectively avoids the angle deviation and eccentricity error caused by the intermediate connecting parts. This ensures that the output end of the first reducer 125 and the input end of the first transmission component 124 have higher coaxiality, the power transmission is smoother, and the risk of transmission noise, jamming and uneven wear is reduced.

[0037] In some possible embodiments, see Figure 5 The second connecting surface 1222 is provided with a protruding embedding part 1253, which is embedded in the opening and is fixedly connected to the housing 1251.

[0038] The fixed connection between the embedded part 1253 and the housing 1251 includes, but is not limited to, the embedded part 1253 being interference-fitted into the opening, or the embedded part 1253 being welded to the housing 1251.

[0039] Since the embedded part 1253 is embedded in the opening and fixedly connected to the housing 1251, the embedded part 1253 and the opening of the housing 1251 form an embedded positioning fit, which can achieve pre-positioning in the radial and circumferential directions, effectively restricting the radial offset and circumferential rotation of the first reducer 125 relative to the second connecting surface 1222, ensuring the coaxiality and transmission alignment between the first reducer 125 and the first transmission assembly 124, and improving the power transmission accuracy and running stability.

[0040] In some possible embodiments, see Figure 5 The first transmission assembly 124 includes a rotating shaft 1241, which passes through the first connecting surface 1221 and the second connecting surface 1222 in sequence and is connected to the output end of the planetary gear reducer 1252. The rotating shaft 1241 is connected to the area between the first connecting surface 1221 and the second connecting surface 1222 of the reducer bracket 122 through a rolling bearing 1242.

[0041] Therefore, by having the rotating shaft 1241 pass through both the first connecting surface 1221 and the second connecting surface 1222, and supported by the rolling bearing 1242 in the area between the first connecting surface 1221 and the second connecting surface 1222, a stable support structure with long span and double-end face constraint can be formed. This can effectively reduce the radial runout, sway and axial movement of the rotating shaft 1241 under high-speed rotation and load gripping, and avoid transmission jamming, increased noise and uneven wear caused by the bending deformation of the rotating shaft 1241.

[0042] Optionally, the rotating shaft 1241 is mounted on the reducer bracket via a thrust bearing.

[0043] Optionally, a mounting groove is formed on the second connecting surface 1222, the rolling bearing 1242 is mounted in the mounting groove, and the rotating shaft 1241 abuts against the rolling bearing 1242 when it passes through the mounting groove.

[0044] In some possible embodiments, see Figure 5 The planetary gear reducer 1252 includes a sun gear 12521, planet gears 12522, an internal gear ring, and a planet carrier 12523 disposed within a housing 1251. The sun gear 12521 is connected to the output end of the first drive motor 126; the planet gears 12522 mesh with the sun gear 12521; the internal gear ring is fixedly connected to the housing 1251 and meshes with the planet gears 12522; the planet carrier 12523 is connected to the planet gears 12522 and is also fixedly connected to the drive shaft.

[0045] Therefore, the planetary gear reducer 1252 is a coaxial split-flow transmission, which can achieve a large reduction ratio in a small volume. It can convert the high speed and low torque of the first drive motor 126 into a low speed and high torque output, providing sufficient clamping torque for the gripping action of the robot arm and ensuring stable and reliable gripping.

[0046] Furthermore, the sun gear 12521, planet gear 12522, internal gear ring and planet carrier 12523 are all arranged coaxially, with a short transmission path and high radial and axial space utilization, which can significantly reduce the overall volume of the first reducer 125, making the gripping drive assembly 120 more compact, which is conducive to realizing the miniaturization and lightweight design of the drive joint 100 and the robot.

[0047] In some possible embodiments, see Figure 5 The first transmission assembly 124 includes a first worm 1243, a first worm wheel 1244, an output bracket 1245, and a first transmission shaft 1246. The first worm 1243 is rotatably mounted on the mounting bracket 123 and is connected to the output end of the first reducer 125. The first worm wheel 1244 includes a toothless part and a toothed part, and the toothed part meshes with the first worm 1243. The output bracket 1245 is fixedly connected to the toothless part and has a first transmission hole. The first transmission shaft 1246 passes through the transmission hole, and both ends of the first transmission shaft 1246 are used to connect with fingers so that the fingers bend toward the palm or spread away from the palm around the first transmission shaft 1246.

[0048] Therefore, the first transmission component 124 engages with the first worm gear 1243 and the first worm wheel 1244 to achieve a large reduction ratio, high torque output, and self-locking function, ensuring stable gripping. The first worm wheel 1244 adopts a toothed and toothless section, which can eliminate redundant tooth structure while ensuring meshing transmission, effectively reducing the volume of the first worm wheel 1244. This is conducive to the lightweight and compact design of the drive joint 100 and improves the finger movement response speed. The output bracket 1245 is directly fixed to the toothless section and drives the finger through the first transmission shaft 1246, making the transmission chain shorter, the structure more compact, and the assembly simpler. At the same time, it improves the transmission rigidity and smoothness of movement, which meets the design requirements of miniaturization and high precision of the drive joint 100.

[0049] In some possible embodiments, see Figure 6 and Figure 7The lateral drive assembly 110 includes a second drive motor 111, a second worm gear 112, a second worm wheel 113, a second transmission shaft 114, and a swing bracket 115. The second worm gear 112 is connected to the output end of the second drive motor 111. The second worm wheel 113 meshes with the second worm gear 112 and has a second transmission hole. The second transmission shaft 114 passes through the second transmission hole and is fixed relative to the second worm wheel 113 along its circumference. The second transmission shaft 114 is perpendicular to the first transmission shaft 1246. The swing bracket 115 is fixedly connected to the second transmission shaft 114 and can rotate around the second transmission shaft. The swing bracket 115 is also used to connect with a finger.

[0050] Since the second worm gear 113 meshes with the second worm 112, the second worm gear 113 and the second worm 112 form a worm gear transmission structure, which can achieve a large single-stage reduction ratio in a small space, effectively amplifying the output torque of the second drive motor 111 to meet the driving force required for the lateral swing of the finger; at the same time, the worm gear has a self-locking characteristic, which can prevent the finger from lateral movement or deflection under the action of external force when the motor is powered off or stops driving, ensuring the stability and reliability of the lateral posture, and improving the accuracy and safety of the grasping operation.

[0051] In addition, since the second drive shaft 114 and the first drive shaft 1246 are arranged in a spatially perpendicular manner, the two degrees of freedom of the finger's lateral swing and flexion-extension grasping motions are independent of each other and do not interfere with each other, realizing the compound decoupled motion of the finger's flexion-extension and lateral swing, thereby improving the robot's motion flexibility, adaptability and ability to work in complex conditions.

[0052] Optional, see Figure 6 The lateral drive assembly 110 also includes a second reducer 116, which can be a single-stage planetary gear reducer or a multi-stage planetary gear reducer.

[0053] Alternatively, the housing of the second reducer 116 is directly connected to the bracket for mounting the second worm gear 113.

[0054] In some possible embodiments, see Figure 7 The first drive shaft 1246 has a ball portion that passes through the first drive hole.

[0055] When the second drive shaft 114 drives the swing bracket 115 to swing, the swing bracket 115 can drive the finger to swing. In order to enable the finger to swing smoothly, there needs to be adaptive compensation for coaxial error and angular deviation between the first drive shaft 1246 and the first drive hole. Therefore, a ball is provided on the first drive shaft 1246 and the ball passes through the first drive hole.

[0056] In some possible embodiments, see Figure 8and Figure 9 The drive joint 100 also includes a backlash-free tension spring 130. One end of the backlash-free tension spring 130 is connected to the mounting bracket 123, and the other end is used to connect with a finger. The backlash-free tension spring 130 can drive the first worm gear 1244 to move closer to the first worm 1243.

[0057] Since one end of the backlash-eliminating tension spring 130 is connected to the mounting bracket 123 and the other end is used to connect with the finger, the backlash-eliminating tension spring 130 can drive the first worm gear 1244 to move close to the first worm 1243. Therefore, the backlash-eliminating tension spring 130 continuously provides elastic preload, so that the first worm gear is always elastically pressed and close to the first worm 1243, automatically compensating for the tooth backlash, machining error and wear clearance generated during long-term operation, avoiding backlash, wobbling and positioning deviation caused by meshing clearance, and significantly improving the positional accuracy and repeatability of finger flexion and extension movements.

[0058] In some possible embodiments, the connecting bracket 121 is provided with welding clearance holes.

[0059] By providing welding clearance holes on the connecting bracket 121, it is easy to weld the rolling bearing 1242 to the groove wall of the mounting groove using laser.

[0060] In some possible embodiments, see Figure 10 The planet carrier 12523 is provided with a connecting hole. The sun gear 12521 includes a gear part 12A and a shaft part 12B that are connected to each other. The gear part 12A meshes with the planet gear 12522, and the shaft part 12B is interference-fitted with the connecting hole.

[0061] Therefore, compared to setting a spline structure on the gear section 12A to connect with the planet carrier 12523, this embodiment simplifies the structural design of the sun gear 12521, while strengthening the connection between the sun gear 12521 and the planet carrier 12523, thus improving the reliability of the first reducer 125 operation.

[0062] This application also provides a robotic arm, including the drive joint 100 in the above embodiments, thereby improving the assembly efficiency of the robotic arm.

[0063] Among them, the aforementioned robotic hand can be a bionic robotic hand, a dexterous hand, etc.

[0064] This application also provides a robot, including the aforementioned robotic arm, thereby improving the robot's assembly efficiency.

[0065] The aforementioned robots include welding robots, inspection robots, security robots, and so on.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A drive joint (100), characterized in that include: A lateral drive assembly (110), the drive end of which is used to connect with the fingers of the robotic hand to drive the fingers to swing. A grasping driver component (120) includes: A connecting bracket (121) is used for fixed connection with the palm of the robotic arm; A reducer bracket (122) has a first connecting surface (1221) and a second connecting surface (1222) facing away from each other. Mounting bracket (123), the mounting bracket (123) is connected to the first connecting surface (1221), and the mounting bracket (123), the reducer bracket (122) and the connecting bracket (121) are integrally formed; A first transmission component (124) is disposed on the mounting bracket (123). The output end of the first transmission component (124) is used to connect with the finger and can drive the finger to bend toward the palm or unfold away from the palm. The first reducer (125) is connected to the second connecting surface (1222), and the output end of the first reducer (125) is connected to the first transmission assembly (124) in a transmission connection. The first drive motor (126) is connected to the input of the first reducer (125) via a transmission connection.

2. The drive joint (100) according to claim 1, characterized in that The first reducer (125) includes a housing (1251) with an opening and a planetary gear reducer (1252) disposed in the housing (1251). The surface of the housing (1251) with the opening is directly connected to the second connecting surface (1222). The input end of the first transmission assembly (124) passes through the second connecting surface (1222) and is connected to the planetary gear reducer (1252) for transmission.

3. The drive joint (100) according to claim 2, characterized in that, The second connecting surface (1222) is provided with a protruding embedding part (1253), which is embedded in the opening and is fixedly connected to the housing (1251).

4. The drive joint (100) according to claim 3, characterized in that, The first transmission assembly (124) includes a rotating shaft (1241) that passes through the first connecting surface (1221) and the second connecting surface (1222) in sequence and is connected to the output end of the planetary gear reducer (1252). The rotating shaft (1241) is connected to the area between the first connecting surface (1221) and the second connecting surface (1222) of the reducer bracket (122) through the rolling bearing (1242).

5. The drive joint (100) according to claim 4, characterized in that, The planetary gear reducer (1252) includes components disposed within the housing (1251): A sun gear (12521) is connected to the output end of the first drive motor (126); Planetary gear (12522), which meshes with the sun gear (12521); An internal gear ring is fixedly connected to the housing (1251) and meshes with the planetary gear (12522); Planetary carrier (12523), which is connected to the planetary gear (12522), and is also fixedly connected to the rotating shaft (1241).

6. The drive joint (100) according to claim 4, characterized in that, The first transmission assembly (124) includes: The first worm gear (1243) is rotatably mounted on the mounting bracket (123) and is connected to the output end of the first reducer (125). The first worm gear (1244) includes a toothless portion and a toothed portion, the toothed portion meshing with the first worm (1243); Output bracket (1245), the output bracket (1245) is fixedly connected to the toothless part, and the output bracket (1245) is provided with a first transmission hole; A first drive shaft (1246) is inserted into the first drive hole. Both ends of the first drive shaft (1246) are used to connect with the fingers so that the fingers bend toward the palm or spread away from the palm around the first drive shaft (1246).

7. The drive joint (100) according to claim 6, characterized in that, The lateral drive assembly (110) includes: Second drive motor (111); The second worm gear (112) is connected to the output end of the second drive motor (111) in a transmission connection. The second worm gear (113) meshes with the second worm (112), and the second worm gear (113) is provided with a second transmission hole; The second drive shaft (114) passes through the second drive hole and is fixed relative to the second worm gear (113) along the circumference of the second worm gear (113). The second drive shaft (114) is perpendicular to the first drive shaft (1246). A swing bracket (115) is fixedly connected to the second drive shaft (114) and is rotatable around the second drive shaft. The swing bracket (115) is also used to connect to the finger.

8. The drive joint (100) according to claim 7, characterized in that, The first drive shaft (1246) has a ball portion that passes through the first drive hole.

9. The drive joint (100) according to claim 6, characterized in that, The drive joint (100) also includes a backlash-free tension spring (130), one end of which is connected to the mounting bracket (123) and the other end is used to connect to the finger. The backlash-free tension spring (130) can drive the first worm gear (1244) to move closer to the first worm (1243).

10. The drive joint (100) according to claim 5, characterized in that, The planet carrier (12523) is provided with a connecting hole. The sun gear (12521) includes a gear part (12A) and a shaft part (12B) that are connected to each other. The gear part (12A) meshes with the planet gear (12522), and the shaft part (12B) is interference-fitted with the connecting hole.

11. A robotic arm, characterized in that, Includes the drive joint (100) as described in any one of claims 1-10.

12. A robot, characterized in that, Including the robotic arm as described in claim 11.

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