Joint body and robot

Abstract

The utility model relates to a joint body and a robot. The joint body comprises a base and a first joint arm. The base comprises a fixing seat and a connecting seat, the fixing seat is suitable for being fixed to a workbench, the connecting seat is connected to the fixing seat, and the end, away from the fixing seat, of the connecting seat is bent to be spaced from the fixing seat so that the connecting seat and the fixing seat jointly form a mounting socket. One end of the shell is rotatably embedded in the mounting socket and rotatably connected to the base, and the first driving piece is arranged in the fixing base and is in transmission connection with the shell. According to the joint body, the bending moment resistance of the first joint arm is improved, and then the rigidity of the whole robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint body and a robot. Background Art

[0002] The SCARA robot (assembly robot) is a cylindrical coordinate industrial robot. As an important branch of the industrial robot field, it has been widely used in many industry scenarios due to its fast operation cycle, easy deployment, small space occupation and the fact that it only has four axes and is cheaper than the traditional six-axis. Such as automobile manufacturing, new energy, semiconductors, hardware processing, etc.

[0003] A Chinese patent with publication number CN204997689U discloses a wire tube connection mechanism and a horizontal joint robot, which discloses the basic structure of the horizontal joint robot, including a first base (base), a connecting rod (upper arm), and an arm (lower arm), wherein the upper arm is connected to the end of the lower arm away from the base, and the lower arm, a moving part, and the base are in a cantilever support form. This structural form has a poor ability to resist bending moments in terms of force, thereby affecting the rigidity of the entire machine and reducing the stability of the robot when in use. Utility Model Content

[0004] The embodiments of the present application provide a joint body and a robot.

[0005] In the first aspect, the embodiment of the present application provides a joint body, including a base and a first joint arm. The base includes a fixed seat and a connecting seat, the fixed seat is suitable for being fixed to a workbench, the connecting seat is connected to the fixed seat, one end of the connecting seat away from the fixed seat is bent to be spaced relatively from the fixed seat to form a mounting socket together with the fixed seat, the first joint arm includes a shell and a first driving member, one end of the shell is rotatably embedded in the mounting socket and rotatably connected to the base, and the first driving member is arranged in the fixed seat and is transmission-connected to the shell.

[0006] In some optional examples, the connecting seat includes a first connecting portion and a first clamping portion, the first connecting portion is connected to the fixed seat and protrudes relative to the fixed seat, the first clamping portion is connected to the first connecting portion and protrudes relative to the first connecting portion to be arranged at a relative interval with the fixed seat, and the fixed seat, the first connecting portion and the first clamping portion jointly define an installation socket.

[0007] In some optional examples, the connecting seat includes a first connecting portion and a first clamping portion, the first connecting portion is connected to the fixed seat and protrudes relative to the fixed seat, the first clamping portion is connected to the first connecting portion and protrudes relative to the first connecting portion to be arranged at a relative interval with the fixed seat, and the fixed seat, the first connecting portion and the first clamping portion jointly define an installation socket.

[0008] In some optional examples, the first joint arm is rotatably connected between the fixing seat and the first clamping portion, and the fixing seat and the first clamping portion are respectively located on opposite sides of the first joint arm to jointly clamp the first joint arm.

[0009] In some optional examples, the fixed seat and the first clamping portion apply a first force in opposite directions to the first joint arm, and the joint body also includes a second joint arm, which is rotatably connected to the first joint arm, and the direction of the load force formed by the second joint arm on the first joint arm is parallel to the direction of the first force.

[0010] In some optional examples, the joint body also includes a second joint arm, which is rotatably connected to the first joint arm, and the second joint arm includes a first mounting shell and a second mounting shell, one end of the second mounting shell is connected to the first mounting shell, and the other end of the second mounting shell is bent to be opposite to the first mounting shell to form a mounting notch together with the first mounting shell, and one end of the first joint arm is rotatably embedded in the mounting notch.

[0011] In some optional examples, the second mounting shell includes a second connecting portion and a second clamping portion, the second connecting portion is connected to the first mounting shell and protrudes relative to the first mounting shell, the second clamping portion is connected to the second connecting portion and protrudes relative to the second connecting portion to be arranged relative to the first mounting shell, and the first mounting shell, the second connecting portion and the second clamping portion jointly define a mounting notch.

[0012] In some optional examples, the first articulated arm is rotatably connected between the first mounting shell and the second clamping portion, and the first mounting shell and the second clamping portion are respectively located on opposite sides of the first articulated arm to jointly clamp the first articulated arm.

[0013] In some optional examples, one end of the second articulated arm away from the first articulated arm is used to install the load end of the robot, and the first mounting shell and the second clamping portion apply a second force in opposite directions to the first articulated arm, and the direction of the second force is suitable to be parallel to the direction of the load force applied by the load end to the first articulated arm.

[0014] In some optional examples, the second articulated arm also includes a second driving member, which is transmission-connected between the first mounting portion and the shell; the first driving member is used to drive the shell to rotate relative to the base around a first axis, and the second driving member is used to drive the first mounting shell to rotate relative to the shell around a second axis, and the first axis is parallel to the second axis.

[0015] In a second aspect, an embodiment of the present application further provides a robot, comprising the above-mentioned joint body and an end driver, wherein the end driver is connected to the joint body.

[0016] In some optional examples, the end drive includes a first drive component, a second drive component and an output member, the first drive component is transmission-connected to the output member for driving the output member to rotate around a third axis, and the second drive component is transmission-connected to the output member for driving the output member to move along the third axis.

[0017] Compared with the prior art, in the joint body provided in the embodiment of the present application, the base and the first joint arm are rotatably connected, and the end of the first joint arm is embedded in the mounting socket jointly formed by the fixing seat and the connecting seat, and the connecting seat cooperates with the fixing seat to clamp and support the first joint arm from both sides. When the other end of the first joint arm is subjected to force, the fixing seat and the connecting seat on both sides of the first joint arm can provide reaction force support, providing the first joint arm with a pulling force to resist bending moment, thereby improving the rigidity of the entire robot and improving the stability of the robot during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a module block diagram of a robot provided in one embodiment of the present application.

[0020] Figure 2 It is a three-dimensional structural schematic diagram of a joint body and an end driver provided in one embodiment of the present application.

[0021] Figure 3 yes Figure 2 Schematic diagram of the internal structure of the joint body and end drive.

[0022] Figure 4 yes Figure 2 A simplified schematic diagram of the force analysis of the joint body shown.

[0023] Explanation of reference numerals: 100, joint body; 10, base; 12, fixing seat; 121, top surface; 123, bottom surface; 13, mounting socket; 14, connecting seat; 141, first connecting part; 143, first clamping part; 20, first joint arm; 21, shell; 23, first driving member; 30, second joint arm; 31, first mounting shell; 32, second mounting shell; 321, second connecting part; 323, second clamping part; 33, mounting notch; 34, second driving member; 200, robot; 201, end drive; 2012, first driving assembly; 2014, second driving assembly; 2016, output member; 203, execution end. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0025] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0026] See also Figure 1 , an embodiment of the present application provides a joint body 100 and a robot 200 , and the joint body 100 can be applied to the robot 200 .

[0027] This specification does not limit the specific type of the robot 200. For example, the robot 200 may be an industrial robot arm robot or a collaborative robot. In this embodiment, the robot 200 is a cylindrical coordinate industrial robot. The robot 200 may include the aforementioned joint body 100, an end driver 201, and an execution end 203. The end driver 201 is connected between the joint body 100 and the execution end 203, and is used to drive the execution end 203 to move relative to the joint body 100 under the drive of the joint body 100. This specification does not limit the specific type of the execution end 203. The execution end 203 may be a joint of the robot 200, such as a wrist joint or an elbow joint. The execution end 203 may also be a fixture.

[0028] See also Figure 2, the joint body 100 may include a base 10 and a first joint arm 20. Among them, the base 10 can be set on a workbench in the application environment of the robot 200, and is used to install other structures of the robot 200. The base 10 may include a fixed seat 12 and a connecting seat 14, and the fixed seat 12 is suitable for being fixed on the aforementioned workbench. The connecting seat 14 is connected to the fixed seat 12, and one end of the connecting seat 14 away from the fixed seat 12 is bent to be relatively spaced from the fixed seat 12 to form a mounting socket 13 together with the fixed seat 12. The first joint arm 20 includes a shell 21 and a first driving member 23, one end of the shell 21 is rotatably embedded in the mounting socket 13 and rotatably connected to the base 10, and the first driving member 23 is arranged in the fixed seat 12 and is transmission-connected to the shell 21.

[0029] In the joint body 100 provided in the embodiment of the present application, the base 10 and the first joint arm 20 are rotatably connected, and the end of the first joint arm 20 is embedded in the mounting socket 13 jointly formed by the fixed seat 12 and the connecting seat 14. The connecting seat 14 cooperates with the fixed seat 12 to clamp and support the first joint arm 20 from both sides. When the other end of the first joint arm 20 is subjected to force, the fixed seat 12 and the connecting seat 14 on both sides of the first joint arm 20 can provide reaction force support, providing the first joint arm 20 with a pulling force to resist bending moment, thereby improving the rigidity of the entire robot 200 and improving the stability of the robot 200 during use.

[0030] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In this embodiment, the fixing base 12 is used to be fixedly connected to the workbench, and the fixing base 12 has a top surface 121 and a bottom surface 123 opposite to each other, and the bottom surface 123 is used to support the use place of the robot 200. Among them, the "bottom surface 123" can be understood as the side surface of the fixing base 12 fixed to and in contact with the workbench in the application scenario, and the "top surface 121" is the side surface of the fixing base 12 away from the aforementioned workbench.

[0032] In this embodiment, the connection seat 14 is connected to the top surface 121 of the fixed seat 12. The connection seat 14 is set to a hollow structure and communicates with the inner cavity of the fixed seat 12. The hollow space in the connection seat 14 can be used for routing cables of the robot 200. This specification does not limit the specific structure of the connection seat 14. As an example, the connection seat 14 may include a first connection portion 141 and a first clamping portion 143. The first connection portion 141 is connected to the fixed seat 12 and protrudes relative to the top surface 121 of the fixed seat 12. The first clamping portion 143 is connected to an end of the first connection portion 141 away from the fixed seat 12. The first clamping portion 143 protrudes relative to the side wall of the first connection portion 141 to be arranged relative to the fixed seat 12. The fixed seat 12, the first connection portion 141 and the first clamping portion 143 jointly define the installation socket 13.

[0033] The base 10 can be integrally formed by casting to ensure high structural strength and transmission stability. Therefore, although the fixed seat 12 and the connecting seat 14 use different names to refer to different parts of the base 10, these names should not be regarded as restrictions on the structure of the base 10. These names are made only for the convenience of description. For example, the connection between the fixed seat 12 and the connecting seat 14 can be an integrally formed connection structure, and there may be no obvious dividing line between the fixed seat 12 and the connecting seat 14. In other embodiments, the base 10 can be formed by assembly connection to reduce the difficulty of preparation and increase the convenience of assembly. For example, after the fixed seat 12 and the connecting seat 14 can be independently prepared, they can be assembled together by fasteners to form the overall structure of the base 10. In this embodiment, the connection between the first connecting portion 141 and the fixed seat 12 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the first clamping portion 143 is independently prepared and connected to the first connecting portion 141 by fasteners during assembly.

[0034] Please also see Figure 2 and Figure 3 In this embodiment, the housing 21 is connected between the base 10 and the second articulated arm 30, and the first driving member 23 is connected between the housing 21 and the base 10. The first driving member 23 is used to drive the housing 21 to rotate relative to the base 10 around the first axis X. When the robot 200 is in use, the base 10 is fixed on the workbench, and the first axis X intersects with the plane where the workbench is located, for example, the first axis X is substantially perpendicular to the plane where the workbench is located.

[0035] The present specification does not limit the specific structure of the first driving member 23. For example, the first driving member 23 may include a rotating motor, a reducer, or a rotating cylinder. The fixing seat 12 may be provided with a mounting port for installing the first driving member 23, and the mounting port may connect the inner cavity of the fixing seat 12 with the outside. During installation, the first driving member 23 is installed in the inner cavity of the fixing seat 12 through the aforementioned mounting port, and the output end of the first driving member 23 may extend out of the inner cavity of the fixing seat 12 to facilitate transmission connection to the housing 21.

[0036] In the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] One end of the housing 21 is rotatably connected between the first clamping portion 143 and the fixing seat 12, and the first clamping portion 143 and the fixing seat 12 are respectively located on opposite sides of the housing 21 to jointly clamp the housing 21. The first clamping portion 143 and the fixing seat 12 jointly clamp the housing 21, indirectly providing a pulling force to resist the bending moment to the housing 21, improving the stability of the installation and operation of the housing 21, and improving the overall rigidity of the joint body 100.

[0038] Please also see Figure 2 and Figure 4 In this embodiment, the fixed seat 12 and the first clamping portion 143 apply a first force F1 in opposite directions to the first joint arm 20. The joint body 100 may also include a second joint arm 30, which is rotatably connected to the first joint arm 20. The direction of the load force F2 formed by the second joint arm 30 on the first joint arm 20 is parallel to the direction of the first force F1. The first force F1 applied by the fixed seat 12 and the first clamping portion 143 to the first joint arm 20 offsets the load force F2 applied by the second joint arm 30 to the first joint arm 20 to a certain extent, thereby improving the ability of the first joint arm 20 to resist bending moments, thereby improving the overall rigidity of the robot 200.

[0039] Please refer again Figure 2 and Figure 3, one side of the shell 21 close to the fixed seat 12 is covered outside the partial structure of the first driving member 23 and is transmission-connected to the output end of the first driving member 23. The shell 21 has an inner cavity, and the output end of the first driving member 23 is accommodated in the inner cavity of the shell 21. The first clamping portion 143 is connected to the shell 21, and the connecting part of the two is provided with a connecting hole to connect the inner cavity of the fixed seat 12 to the inner cavity of the shell 21. In order to facilitate the installation of the cables of the robot 200, the shell 21 can be split into two parts for processing, for example, split into a lower shell and an upper cover. During installation, the cables are first laid in the lower shell. After the laying is completed, the upper cover is fixed to the lower shell to form a complete shell 21.

[0040] In this embodiment, the second articulated arm 30 includes a first mounting shell 31 and a second mounting shell 32, one end of the second mounting shell 32 is connected to the first mounting shell 31, and the other end of the second mounting shell 32 is bent to be spaced opposite to the first mounting shell 31 to form a mounting notch 33 together with the first mounting shell 31. One end of the first articulated arm 20 is rotatably embedded in the mounting notch 33.

[0041] The end of the first articulated arm 20 is embedded in the mounting notch 33 formed by the first mounting shell 31 and the second mounting shell 32. The second mounting shell 32 cooperates with the first mounting shell 31 to clamp and support the first articulated arm 20 from both sides, providing the first articulated arm 20 with a pulling force to resist bending moment, thereby improving the rigidity of the entire robot 200 and the stability of the robot 200 during use.

[0042] The first mounting shell 31 is rotatably connected to the housing 21, and the second mounting shell 32 is connected to the first mounting shell 31. The second mounting shell 32 is connected to a side of the first mounting shell 31 close to the first articulated arm 20, and the second mounting shell 32 is configured as a hollow structure and communicates with the inner cavity of the first mounting shell 31, which can be used for routing cables of the robot 200.

[0043] The present specification does not limit the specific structure of the second mounting shell 32. As an example, the second mounting shell 32 may include a second connecting portion 321 and a second clamping portion 323. The second connecting portion 321 is connected to the bottom of the first mounting shell 31 (the side of the first mounting shell 31 close to the first articulated arm 20) and protrudes relative to the bottom. The second clamping portion 323 is connected to an end of the second connecting portion 321 away from the first mounting shell 31. The second clamping portion 323 protrudes relative to the side wall of the second connecting portion 321 to be spaced relative to the first mounting shell 31. The first mounting shell 31, the second connecting portion 321 and the second clamping portion 323 jointly define the mounting notch 33.

[0044] In this embodiment, the connection between the second connection portion 321 and the first mounting shell 31 is an integrally formed connection structure, which improves the structural strength of the two. In order to facilitate assembly, the second clamping portion 323 is prepared independently and connected to the second connection portion 321 by fasteners during assembly.

[0045] One end of the housing 21 away from the base 10 is rotatably connected between the second clamping portion 323 and the first mounting shell 31, and the second clamping portion 323 and the first mounting shell 31 are respectively located on opposite sides of the first joint arm 20 to jointly clamp the first joint arm 20. The second clamping portion 323 and the first mounting shell 31 jointly clamp the first joint arm 20, indirectly providing a pulling force to resist the bending moment to the first joint arm 20, improving the stability of the installation and operation of the first joint arm 20, and improving the overall rigidity of the robot 200.

[0046] Please refer again Figure 2 and Figure 4 In this embodiment, the end of the second joint arm 30 away from the first joint arm 20 is used to install the load end (i.e., the execution end 203) of the robot 200, and the first mounting shell 31 and the second clamping portion 323 apply a second force F3 in opposite directions to the first joint arm 20, and the direction of the second force F3 is parallel to the direction of the load force F4 formed by the load end of the robot 200 on the first joint arm 20 through the second joint arm 30. The second force F3 applied by the first mounting shell 31 and the second clamping portion 323 to the first joint arm 20 offsets the load force F4 applied by the load end of the robot 200 to the first joint arm 20 to a certain extent, thereby improving the ability of the first joint arm 20 to resist bending moment, thereby improving the overall rigidity of the robot 200.

[0047] Please also see Figure 2 and Figure 3 The second articulated arm 30 further includes a second driving member 34, which is transmission-connected between the first mounting shell 31 and the housing 21. Specifically, the second driving member 34 is connected between the end of the housing 21 away from the base 10 and the first mounting shell 31, and the first mounting shell 31 is rotatably connected to the housing 21. The second driving member 34 is used to drive the first mounting shell 31 to rotate around the second axis Y relative to the housing 21. When the robot 200 is in use, the base 10 is fixed on the workbench, and the second axis Y intersects with the plane where the workbench is located, for example, the second axis Y is approximately perpendicular to the plane where the workbench is located. In this embodiment, the first axis X is parallel to the second axis Y.

[0048] The present specification does not limit the specific structure of the second driving member 34. For example, the second driving member 34 may include a rotating motor, a reducer, or a rotating cylinder. The present specification does not limit the specific installation position of the second driving member 34. For example, the second driving member 34 may be fixedly mounted on the housing 21, and its output end is connected to the first mounting shell 31; or the second driving member 34 may be fixedly mounted on the first mounting shell 31, and its output end is connected to the housing 21. In this embodiment, the end driver 201 is connected to the first mounting shell 31. In order to improve the compactness of the structure and reduce the thickness of the housing 21, the second driving member 34 is fixedly mounted on the first mounting shell 31, and its output end extends out of the first mounting shell 31 and is connected to the housing 21. When the second driving member 34 is started, since the housing 21 is connected to the base 10, and the base 10 is fixed to the workbench, the second driving member 34 drives the first mounting shell 31 to rotate relative to the housing 21.

[0049] In the description of the present application, it should be understood that terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", and "inside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description of the present application and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present application.

[0050] In this embodiment, the end driver 201 may include a first drive assembly 2012, a second drive assembly 2014, and an output member 2016. The first drive assembly 2012 is transmission-connected to the output member 2016 to drive the output member 2016 to rotate around the third axis Z, and the second drive assembly 2014 is transmission-connected to the output member 2016 to drive the output member 2016 to move along the third axis Z. The first axis X, the second axis Y, and the third axis Z are all parallel to each other.

[0051] The first driving assembly 2012 and the second driving assembly 2014 are both disposed in the first mounting shell 31. The output member 2016 is located outside the first mounting shell 31 and can move relative to the first mounting shell 31 under the drive of the first driving assembly 2012 and / or the second driving assembly 2014.

[0052] In this embodiment, in the joint body 100 provided in the embodiment of the present application, the second joint arm 30 and the first joint arm 20 are rotatably connected, and the end of the first joint arm 20 is embedded in the installation notch 33 formed by the first installation shell 31 and the second installation shell 32. The second installation shell 32 cooperates with the first installation shell 31 to clamp and support the first joint arm 20 from both sides, providing a pulling force to resist the bending moment for the first joint arm 20. The end of the connecting seat 14 away from the fixed seat 12 is bent to be relatively spaced from the fixed seat 12 to form a mounting socket 13 with the fixed seat 12. The end of the first joint arm 20 away from the second joint arm 30 is rotatably embedded in the mounting socket 13. The end of the first joint arm 20 is embedded in the mounting socket 13 formed by the fixed seat 12 and the connecting seat 14. The connecting seat 14 cooperates with the fixed seat 12 to clamp and support the first joint arm 20 from both sides, providing a pulling force to resist the bending moment for the first joint arm 20, thereby improving the rigidity of the whole machine of the robot 200 and improving the stability of the robot 200 when in use.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint body, characterized in that: include: A base, the base comprising a fixing base and a connecting base, the fixing base being suitable for being fixed to a workbench, the connecting base being connected to the fixing base, and one end of the connecting base away from the fixing base being bent to be spaced relative to the fixing base to form a mounting socket together with the fixing base; And a first articulated arm, the first articulated arm includes a shell and a first driving member, one end of the shell is rotatably embedded in the mounting socket and rotatably connected to the base, and the first driving member is arranged in the fixing seat and is transmission-connected to the shell.

2. The joint body according to claim 1, characterized in that: The connecting seat includes a first connecting portion and a first clamping portion, the first connecting portion is connected to the fixing seat and protrudes relative to the fixing seat, the first clamping portion is connected to the first connecting portion and protrudes relative to the first connecting portion to be arranged relative to the fixing seat, and the fixing seat, the first connecting portion and the first clamping portion jointly define the mounting socket.

3. The joint body according to claim 2, characterized in that: The first joint arm is rotatably connected between the fixing seat and the first clamping portion. The fixing seat and the first clamping portion are respectively located on opposite sides of the first joint arm to jointly clamp the first joint arm.

4. The joint body according to claim 3, characterized in that: The fixing seat and the first clamping part apply a first force in opposite directions to the first joint arm. The joint body also includes a second joint arm, which is rotatably connected to the first joint arm. The direction of the load force formed by the second joint arm on the first joint arm is parallel to the direction of the first force.

5. The joint body according to claim 1, characterized in that: The joint body also includes a second joint arm, which is rotatably connected to the first joint arm. The second joint arm includes a first mounting shell and a second mounting shell. One end of the second mounting shell is connected to the first mounting shell, and the other end of the second mounting shell is bent to be opposite to the first mounting shell to form a mounting notch together with the first mounting shell. One end of the first joint arm is rotatably embedded in the mounting notch.

6. The joint body according to claim 5, characterized in that: The second mounting shell includes a second connecting portion and a second clamping portion, the second connecting portion is connected to the first mounting shell and protrudes relative to the first mounting shell, the second clamping portion is connected to the second connecting portion and protrudes relative to the second connecting portion to be arranged relative to the first mounting shell, and the first mounting shell, the second connecting portion and the second clamping portion jointly define the mounting notch.

7. The joint body according to claim 6, characterized in that: The first joint arm is rotatably connected between the first mounting shell and the second clamping portion. The first mounting shell and the second clamping portion are respectively located on opposite sides of the first joint arm to jointly clamp the first joint arm.

8. The joint body according to claim 7, characterized in that: One end of the second articulated arm away from the first articulated arm is used to install the load end of the robot, and the first mounting shell and the second clamping portion apply a second force in opposite directions to the first articulated arm, and the direction of the second force is suitable to be parallel to the direction of the load force applied by the load end to the first articulated arm.

9. The joint body according to claim 5, characterized in that: The second articulated arm also includes a second driving member, which is transmission-connected between the first mounting shell and the shell; the first driving member is used to drive the shell to rotate around a first axis relative to the base, and the second driving member is used to drive the first mounting shell to rotate around a second axis relative to the shell, and the first axis is parallel to the second axis.

10. A robot, characterized in that: include: A joint body as claimed in any one of claims 1 to 9; and an end driver connected to the joint body.

11. The robot according to claim 10, characterized in that: The end driver includes a first drive component, a second drive component and an output member, the first drive component is transmission-connected to the output member to drive the output member to rotate around a third axis, and the second drive component is transmission-connected to the output member to drive the output member to move along the third axis.

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