Joint module and robot

Abstract

The utility model discloses a joint module and a robot, relates to the technical field of robots, and solves the technical problem that a pickup piece can be quickly replaced only through manual intervention or an additional power source in the related technology. The joint module comprises a joint seat, a pickup part and a quick-release assembly, the first end of the pickup part is used for picking up a to-be-used object, the quick-release assembly is arranged between the pickup part and the joint seat and comprises a first connecting part, a second connecting part and a quick-release part, the first connecting part is arranged at the second end of the pickup part, and the quick-release part is arranged at the second end of the pickup part. The second connecting piece is arranged at the first end of the joint seat, the first connecting piece is connected with the second connecting piece, the quick release piece is connected with at least one of the first connecting piece and the second connecting piece, and the quick release piece can drive at least one of the first connecting piece and the second connecting piece to generate separation force in the first direction; the separating force is larger than the connecting force of the first connecting piece and the second connecting piece, and the first direction is the direction in which the first connecting piece and the second connecting piece deviate from each other.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on the Chinese patent application with application number 202410771315.X, application date June 14, 2024, and application name “A joint module and robot”, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to but is not limited to the field of robotics, and in particular to a joint module and a robot. Background Art

[0004] With the improvement of intelligence, people use robots to pick up objects to be used. Usually, a joint module is set at the end of the robot arm, and the picking piece is connected to the joint seat of the joint module. However, as the types of objects to be used increase, the picking piece needs to be replaced to adapt to different objects to be used.

[0005] In the related art, when replacing the picking member, manual intervention or an additional power source is required to provide a separation force between the picking member and the joint seat to separate the picking member from the joint seat, thereby achieving the purpose of quickly replacing the picking member. Utility Model Content

[0006] The present application provides a joint module and a robot, wherein the joint module itself can provide a separation force between a picking piece and a joint seat, and the purpose of quickly replacing the picking piece can be achieved without the intervention of manual labor or an additional power source.

[0007] In order to achieve the above-mentioned purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0008] In the first aspect, the present application provides a joint module, which includes a joint seat, a picking piece and a quick-release assembly, wherein the first end of the picking piece is used to pick up objects to be used, the quick-release assembly is arranged between the picking piece and the joint seat, and the quick-release assembly includes a first connecting piece, a second connecting piece and a quick-release piece, the first connecting piece is arranged at the second end of the picking piece, the second connecting piece is arranged at the first end of the joint seat, the first connecting piece and the second connecting piece are connected, the quick-release piece is connected to at least one of the first connecting piece and the second connecting piece, the quick-release piece can drive at least one of the first connecting piece and the second connecting piece to generate a separation force along a first direction, the separation force is greater than the connection force between the first connecting piece and the second connecting piece, and the first direction is the direction in which the first connecting piece and the second connecting piece depart from each other.

[0009] The joint module provided by the present application has the first connecting member arranged at the second end of the picking member, and the second connecting member arranged at the first end of the joint seat, and the first connecting member and the second connecting member are connected. At this time, the picking member and the joint seat are in a connected state, and the quick-release member is connected to at least one of the first connecting member and the second connecting member. At the same time, the quick-release member can drive at least one of the first connecting member and the second connecting member to generate a separation force along the first direction, and the separation force is greater than the connection force between the first connecting member and the second connecting member. When the picking member needs to be replaced, the quick-release member can drive at least one of the first connecting member and the second connecting member to generate a separation force along the first direction. The separation force is generated by the quick-release member itself, which is different from the separation force generated by manual intervention or an external power source in the related art. In other words, the joint module provided by the present application can achieve the purpose of rapid replacement without the intervention of manual or additional power sources. In short, the joint module provided by the present application has the beneficial effect of being able to provide a separation force between the picking member and the joint seat by itself, and can achieve the rapid replacement of the picking member without the intervention of manual or additional power sources.

[0010] In an implementation provided in the present application, the first connecting member includes a first area, the first area is provided with a first magnetic member, the second connecting member includes a second area, the second area is provided with a second magnetic member, and the magnetic pole of the first magnetic member is opposite to the magnetic pole of the second magnetic member.

[0011] In an implementation method provided in the present application, the first connecting member includes a third area, the third area is provided with a third magnetic member, the second connecting member includes a fourth area, the fourth area is provided with a fourth magnetic member, the magnetic pole of the third magnetic member is opposite to the magnetic pole of the fourth magnetic member, and the quick release member drives one of the first connecting member and the second connecting member to rotate relative to the other.

[0012] In an implementation method provided in the present application, there are multiple first areas and multiple third areas, and the multiple first areas and multiple third areas are arranged alternately to form an annular area; there are multiple second areas and multiple fourth areas, and the multiple second areas and multiple fourth areas are arranged alternately to form an annular area.

[0013] In an implementation method provided in the present application, the picking piece forms a first accommodating cavity having a first opening, the first opening is located at the second end of the picking piece and faces the second connecting piece, the first connecting piece is movably arranged in the first accommodating cavity, the first end of the joint seat forms a second accommodating cavity having a second opening, the second opening faces the first connecting piece, the second connecting piece is fixed in the second accommodating cavity, and the first accommodating cavity and the second accommodating cavity are connected.

[0014] In an implementable manner provided in the present application, the quick release member rotates relative to the first connecting member or the second connecting member, and the quick release member is provided with a fifth magnetic member, and the fifth magnetic member attracts the first connecting member or the second connecting member.

[0015] In an implementation method provided in the present application, a limiting assembly is arranged between the second end of the picking member and the first end of the joint seat. When the first connecting member and the second connecting member are connected, the limiting assembly is used to at least limit the displacement of the first connecting member and the second connecting member along the first direction.

[0016] In an implementable method provided in the present application, the limiting assembly includes a limiting protrusion arranged on the outer contour of the second end of the picking member along a side away from the first accommodating cavity, and a limiting groove with a third opening arranged at the first end of the joint seat, the third opening facing the first connecting member, and when the first connecting member and the second connecting member are connected, the limiting protrusion abuts against the groove wall of the limiting groove opposite to the third opening.

[0017] In an implementation method provided in the present application, along the second direction, the groove wall size of the limiting groove is the same as the size of the limiting protrusion, and when the first connecting member and the second connecting member are connected, the limiting protrusion abuts against the groove wall of the limiting groove along the second direction, wherein the first direction is perpendicular to the second direction.

[0018] In an implementation provided in the present application, the quick release member includes a stop protrusion arranged on a side facing the first connecting member, and when the first connecting member and the second connecting member are connected, the stop protrusion abuts against a side of the limiting protrusion facing the second opening.

[0019] In an implementation method provided in the present application, a first guide groove is provided along the outer contour of the first end of the joint seat on a side away from the second accommodating cavity, the first guide groove extends in a direction close to the third opening, and a stop protrusion is provided in the first guide groove and slides relative to the first guide groove.

[0020] In an implementable method provided in the present application, the joint module also includes an elastic member, a first end of the elastic member abuts against the groove wall of the first guide groove, and a second end of the elastic member abuts against the stop protrusion, and the elastic member is used to provide a rebound force for the stop protrusion to reach the third opening.

[0021] In an implementable method provided in the present application, a mounting groove with a fourth opening is also provided on one side of the first guide groove provided on the outer contour of the first end of the joint seat, the orientation of the fourth opening is the same as that of the third opening, the mounting groove is connected to the first guide groove, and the stop protrusion can enter the first guide groove through the mounting groove.

[0022] In an implementation provided in the present application, the joint module further includes a seal, which is disposed at the connection between the first accommodating cavity and the second accommodating cavity to seal the first accommodating cavity and the second accommodating cavity.

[0023] In an implementable method provided in the present application, a second guide groove is provided on the side of the outer contour of the second end of the picking member facing away from the first accommodating cavity, a third guide groove is provided on the sealing member, and a first guide protrusion is provided on the side of the first end of the joint seat facing away from the second accommodating cavity. The extension directions of the second guide groove, the third guide groove and the first guide protrusion are the same as the first direction, and the first guide protrusion extends into the second guide groove and the third guide groove to guide the first connecting member and the second connecting member to connect or separate.

[0024] In an implementable method provided in the present application, the picking piece forms a first accommodating cavity with openings at the first and second ends, the first end of the picking piece is connected to the outside, and the second end of the picking piece is connected to the second accommodating cavity, and the joint module also includes a vacuum pumping piece, and the vacuum pumping port of the vacuum pumping piece is connected to the first accommodating cavity or the second accommodating cavity, and is used to vacuum the first accommodating cavity.

[0025] In an implementation method provided in the present application, the joint module also includes a vacuum detection component, which is arranged in the first accommodating cavity or the second accommodating cavity and is used to detect the vacuum degree of the first accommodating cavity.

[0026] In a second aspect, an embodiment of the present application further provides a robot, comprising a robotic arm and a joint module provided in any one of the first aspects, wherein the second end of the joint seat in the joint module is connected to the robot.

[0027] The robot provided in the present application, since it includes the joint module provided in any one of the first aspects, has the same technical effect, that is, it provides a separation force between the picking piece and the joint seat, and can achieve the purpose of quickly replacing the picking piece without the intervention of manual or additional power sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 One of the structural schematic diagrams of the robot provided in the embodiment of the present application;

[0029] Figure 2 The second structural diagram of the robot provided in the embodiment of the present application;

[0030] Figure 3 A schematic diagram of the structure of the joint module provided in the embodiment of the present application;

[0031] Figure 4 A cross-sectional view of a joint module provided in an embodiment of the present application;

[0032] Figure 5 One of the exploded schematic diagrams of the joint module provided in the embodiment of the present application;

[0033] Figure 6 The second exploded schematic diagram of the joint module provided in the embodiment of the present application;

[0034] Figure 7 A schematic diagram of a structure in which a limited position protrusion is provided on a picking member in a joint module provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of the structure of a joint module provided in an embodiment of the present application, in which a vacuum pump and a vacuum detection component are arranged on the joint seat;

[0036] Fig. 9 A schematic diagram of the structure of a joint seat in a joint module provided in an embodiment of the present application;

[0037] Fig.10 One of the structural schematic diagrams of the quick-release assembly provided in the embodiment of the present application;

[0038] Fig.11 The second structural diagram of the quick-release assembly provided in the embodiment of the present application;

[0039] Fig.12 One of the structural schematic diagrams of the first connecting member and the second connecting member in the quick-release assembly provided in an embodiment of the present application;

[0040] Fig.13 The second structural schematic diagram of the first connecting member and the second connecting member in the quick-release assembly provided in the embodiment of the present application;

[0041] Fig.14 A schematic diagram of the distribution of the first area and the third area in the first connecting member in the quick-release assembly provided in an embodiment of the present application;

[0042] Fig.15 A schematic diagram of the distribution of the second area and the fourth area in the second connecting member in the quick-release assembly provided in an embodiment of the present application.

[0043] Reference numerals:

[0044] 1-joint module; 11-joint seat; 111-second accommodating chamber; 112-first guide groove; 113-installing groove; 114-first guide protrusion; 12-picking piece; 121-first accommodating chamber; 122-second guide groove; 123-nut; 13-quick release assembly; 131-first connecting piece; 1311-first area; 1312-third area; 132-second connecting piece; 1321-second area; 1322-fourth area; 133-quick release piece; 1331-fifth magnetic piece; 1332-stop protrusion; 14-limiting assembly; 141-limiting protrusion; 142-limiting groove; 15-elastic piece; 16-sealing piece; 161-third guide groove; 17-vacuuming piece; 18-vacuum detection piece; A-first direction; B-second direction; 2-robotic arm. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0046] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the specific technical scheme of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0047] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0048] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to the changes in the orientation of the components in the drawings.

[0049] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0050] In the embodiments of the present application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0051] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0052] An embodiment of the present application provides a robot, which may be a humanoid robot simulating a human shape, or a robot simulating fruits, vegetables, or plants, such as a radish robot. It should be noted that the embodiment of the present application does not limit the type of robot.

[0053] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 The embodiment of the present application provides a robot, which includes a mechanical arm 2 and a joint module 1, and the second end of the joint seat 11 of the joint module 1 is connected to the mechanical arm 2. Taking the robot as a humanoid robot as an example, the mechanical arm 2 can be a mechanical arm located at the position of the humanoid robot's arm, and the joint module 1 can be a joint module located at the wrist joint of the humanoid robot. Of course, the mechanical arm 2 can be a mechanical arm located at the position of the humanoid robot's leg, and the joint module 1 can also be a joint module of the humanoid robot's leg joint. This embodiment of the present application does not limit this.

[0054] The robot provided in the embodiment of the present application, the mechanical arm 2 can be made of metal materials such as steel or aluminum alloy, or can be made of non-metallic materials such as carbon fiber, aramid fiber and glass fiber, and the embodiment of the present application does not make specific limitations on this.

[0055] In the robot provided in the embodiment of the present application, the second end of the joint seat 11 of the joint module 1 is connected to the robot arm 2, and the connection method thereof may be a threaded connection, a rotating shaft connection or a snap connection, etc., which is not limited in the embodiment of the present application.

[0056] In the robot provided in the embodiment of the present application, the second end of the joint seat 11 of the joint module 1 is connected to the robot arm 2, and the angle formed by the extension direction of the second end of the joint seat 11 and the extension direction of the robot arm 2 can be a fixed value and is unchanged. In one example, refer to Figure 2 When the joint seat 11 is located at the current position, the extension direction of the second end of the joint seat 11 is parallel to the extension direction of the robot arm 2. In another example, referring to Figure 1 The extension direction of the second end of the joint seat 11 is perpendicular to the extension direction of the robot arm 2; Figure 2 The angle formed by the extension direction of the second end of the joint seat 11 and the extension direction of the robot arm 2 is not a fixed value, but is variable. In one example, the angle formed by the extension direction of the second end of the joint seat 11 and the extension direction of the robot arm 2 is between 0 degrees and 180 degrees. Here, it should be supplemented that the embodiment of the present application does not limit the angle range formed by the extension direction of the second end of the joint seat 11 and the extension direction of the robot arm 2.

[0057] In one possible implementation method provided in the embodiment of the present application, referring to Figure 2, the angle formed by the extension direction of the second end of the joint seat 11 and the extension direction of the robot 2 is 0 degrees to 90 degrees, so as to enhance the diversity of the robot. Specifically, a connecting hole is provided on the second end of the joint seat 11, and a connecting shaft is provided on the robot 2. The connecting shaft extends into the connecting hole to fix the joint seat 11 on the robot, and the joint seat 11 can swing along the axial direction of the connecting shaft to change the extension direction of the second end of the joint seat 11 and the extension direction of the robot 2. On this basis, a hovering limiter can be provided on the robot 2 or the joint seat 11. When the extension direction of the second end of the joint seat 11 is required to form a specific angle with the extension direction of the robot 2, the hovering limiter extends relative to the robot 2 or the joint seat 11 to limit the rotation of the connecting shaft; when the joint seat 11 is required to continue to rotate relative to the robot 2, the hovering limiter retracts relative to the robot 2 or the joint seat 11 to cancel the limit on the connecting shaft.

[0058] Reference Figure 5 and Figure 6 Specifically, the embodiment of the present application also provides a joint module 1, the joint module 1 includes a joint seat 11, a picking piece 12 and a quick-release assembly 13, wherein the first end of the picking piece 12 is used to pick up objects to be used, the quick-release assembly 13 is arranged between the picking piece 12 and the joint seat 11, the quick-release assembly 13 includes a first connecting piece 131, a second connecting piece 132 and a quick-release piece 133, the first connecting piece 131 is arranged at the second end of the picking piece 12, the second connecting piece 132 is arranged at the first end of the joint seat 11, the first connecting piece 131 and the second connecting piece 132 are connected, the quick-release piece 133 is connected to at least one of the first connecting piece 131 and the second connecting piece 132, the quick-release piece 133 can drive at least one of the first connecting piece 131 and the second connecting piece 132 to generate a separation force along a first direction A, the separation force is greater than the connection force of the first connecting piece 131 and the second connecting piece 132, and the first direction A is the direction in which the first connecting piece 131 and the second connecting piece 132 depart from each other.

[0059] In the embodiment of the present application, the first end of the picking member 12 is used to pick up the object to be used. Here, the way the first end of the picking member 12 picks up the object to be used can be a negative pressure adsorption method, a clamping method, a magnetic adsorption method, etc., and the embodiment of the present application does not limit this.

[0060] The way in which the first end of the picking member 121 picks up the object to be used is negative pressure adsorption. Specifically, the picking member 12 to be picked up forms a first accommodating chamber 121 with an opening at least at the first end, and then the first accommodating chamber is evacuated so that the pressure in the first accommodating chamber 121 is less than the external pressure. In other words, the first accommodating chamber 121 is in a negative pressure state. Under the pressure difference formed by the first accommodating chamber 121 and the external pressure, the picking member 12 adsorbs the object to be used. In some embodiments, the picking member 121 can also be called a suction cup.

[0061] In the embodiment of the present application, the first end of the picking member 12 is used to pick up the objects to be used. Here, the objects to be used can be bag-shaped objects, box-shaped objects, bottle-shaped objects, etc.; the objects to be used can be made of metal materials, plastics, paper materials, etc., and the embodiment of the present application does not limit the shape and type of the objects to be used.

[0062] In the embodiment of the present application, the first connecting member 131 is arranged at the second end of the picking member 12. Here, the first connecting member 131 can be movably arranged at the second end of the picking member 12. For example, the first connecting member 131 can be rotated relative to the second end of the picking member 12. Of course, the first connecting member 131 can also be fixedly arranged at the second end of the picking member 12, and this embodiment of the present application is not limited to this.

[0063] Reference Figure 7 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 In the embodiment of the present application, the first connecting member 131 is arranged at the second end of the picking member 12. Here, the first connecting member 131 can be directly arranged at the second end of the picking member 12; of course, the first connecting member 131 can also be arranged at the second end of the picking member 12 through the nut 123, and this embodiment of the present application is not limited to this.

[0064] In the embodiment of the present application, the second connecting member 132 is arranged at the first end of the joint seat 11. Here, the second connecting member 132 can be movably arranged at the first end of the joint seat 11, for example, the second connecting member 132 can be rotated relative to the first end of the joint seat 11; of course, the second connecting member 132 can also be fixedly arranged at the first end of the joint seat 11, and this embodiment of the present application is not limited to this.

[0065] In the embodiment of the present application, the first connecting member 131 and the second connecting member 132 are connected. Here, the connection method of the first connecting member 131 and the second connecting member 132 can be a snap connection, an adhesive connection, a threaded connection, a magnetic connection, etc., and the embodiment of the present application does not limit this.

[0066] For example, the first connecting member 131 is a first magnetic member, and the second connecting member 132 is a second magnetic member. The magnetic pole of the first magnetic member is opposite to the magnetism of the first magnetic member. According to the principle that like magnets repel each other and opposite magnets attract each other, the first connecting member 131 and the second connecting member 132 are magnetically connected by the first magnetic member and the second magnetic member.

[0067] In the embodiment of the present application, the quick release part 133 is connected to at least one of the first connecting part 131 and the second connecting part 132. Here, the quick release part 133 can be connected only to the first connecting part 131. Of course, the quick release part 133 can also be connected only to the second connecting part 132. In addition, the quick release part 133 can also be connected to both the first connecting part 131 and the second connecting part 132. This embodiment of the present application does not limit this.

[0068] In the embodiment of the present application, the quick release component 133 can drive at least one of the first connecting component 131 and the second connecting component 132 to generate a separation force along the first direction A. Here, the quick release component 133 can only drive the first connecting component 131 to generate a separation force along the first direction A. Of course, the quick release component 133 can also only drive the second connecting component 132 to generate a separation force along the first direction A. In addition, the quick release component 133 can also simultaneously drive the first connecting component 131 and the second connecting component 132 to simultaneously generate a separation force in the first direction A. This embodiment of the present application is not limited to this.

[0069] In the embodiment of the present application, the quick release component 133 can drive at least one of the first connecting component 131 and the second connecting component 132 to generate a separation force along the first direction A. Here, the quick release component 133 can be a spring, which can drive at least one of the first connecting component 131 and the second connecting component 132 to generate an elastic force along the first direction A; the quick release component 133 can be an electromagnet, which can drive at least one of the first connecting component 131 and the second connecting component 132 to generate an electromagnetic force along the first direction A when the electromagnet is energized; of course, if the first connecting component 131 and the second connecting component 132 are magnets connected in a magnetically attractive manner, the quick release component 133 can drive the first connecting component 131 and the second connecting component 132 to rotate and transform into a magnetically repulsive repulsive force, and the embodiment of the present application does not limit this.

[0070] In the joint module 1 provided in the embodiment of the present application, since the first connecting member 131 is connected to the second end of the picking member 12, and the second connecting member 132 is connected to the first end of the joint seat 11, the first connecting member 131 is connected to the second connecting member 132. At this time, the picking member 12 and the joint seat 11 are in a connected state, and the quick release member 133 is connected to at least one of the first connecting member 131 and the second connecting member 132. At the same time, the quick release member 133 can drive at least one of the first connecting member 131 and the second connecting member 132 to generate a separation force along the first direction A, and the separation force is greater than the connection force between the first connecting member 131 and the second connecting member 132. When replacement is required When picking up the part 12, the quick release part 133 can drive at least one of the first connecting part 131 and the second connecting part 132 to generate a separation force along the first direction A. The separation force is generated by the quick release part 133 itself, which is different from the related art in which the separation force is generated by manual intervention or an external power source. In other words, the joint module 1 provided in the present application can achieve the purpose of rapid replacement without the intervention of manual or additional power sources. In short, the joint module 1 provided in the present application has the function of providing a separation force between the picking up part 12 and the joint seat 11 by itself, and can achieve the beneficial effect of rapid replacement of the picking up part 12 without the intervention of manual or additional power sources.

[0071] Reference Figure 5 , Figure 6 , Fig.12 , Fig.13 , Fig.14 and Fig.15 In a joint module 1 provided in an embodiment of the present application, a first connecting member 131 includes a first area 1311, a first magnetic member is provided in the first area 1311, a second connecting member 132 includes a second area 1321, a second magnetic member is provided in the second area 1321, and a magnetic pole of the first magnetic member is opposite to a magnetic pole of the second magnetic member.

[0072] In the embodiment of the present application, the first connecting member 131 includes a first area 1311. Here, the first area 1311 can be the entire area of ​​the first connecting member 131. Of course, it can also be a partial area of ​​the first connecting member 131. This embodiment of the present application is not limited to this.

[0073] In the embodiment of the present application, the second connecting member 132 includes a second area 1321. Here, the second area 1321 can be the entire area of ​​the second connecting member 132. Of course, it can also be a partial area of ​​the second connecting member 132. This embodiment of the present application is not limited to this.

[0074] In one example, the magnetic pole of the first magnetic component is an N pole, and the magnetic pole of the second magnetic component is an S pole. In another example, the magnetic pole of the second magnetic component is an N pole, and the magnetic pole of the first magnetic component is an S pole. This embodiment of the application is not limited to this.

[0075] The joint module 1 provided in the embodiment of the present application has a magnetic pole of the first magnetic part opposite to the magnetic pole of the second magnetic part. In other words, the first magnetic part and the second magnetic part attract each other. Therefore, it is only necessary to make the first area 1311 and the second area 1321 overlap and the first connecting part 131 and the second connecting part 132 are magnetically attracted to each other, so that the connection between the joint seat 11 and the picking part 12 can be quickly achieved, thereby reducing the difficulty of connecting the joint seat 11 and the picking part 12.

[0076] Reference Figure 5 , Figure 6 , Fig.12 , Fig.13 , Fig.14 and Fig.15 The embodiment of the present application provides a joint module 1, the first connecting member 131 includes a third area 1312, the third area 1312 is provided with a third magnetic member, the second connecting member 132 includes a fourth area 1322, the fourth area 1322 is provided with a fourth magnetic member, the magnetic pole of the third magnetic member is opposite to the magnetic pole of the fourth magnetic member, and the quick release member 133 drives one of the first connecting member 131 and the second connecting member 132 to rotate relative to the other.

[0077] In one example, the magnetic pole of the first magnetic component is the N pole, the magnetic pole of the second magnetic component is the S pole, the magnetic pole of the third magnetic component is the S pole, and the magnetic pole of the fourth magnetic component is the N pole; in another example, the magnetic pole of the first magnetic component is the S pole, the magnetic pole of the second magnetic component is the N pole, the magnetic pole of the third magnetic component is the N pole, and the magnetic pole of the fourth magnetic component is the S pole.

[0078] In the embodiment of the present application, the quick release member 133 drives one of the first connecting member 131 and the second connecting member 132 to rotate relative to the other. Here, the quick release member 133 can be driven by magnetic attraction, mechanical structure, or hydraulic pressure, which is not limited by the embodiment of the present application.

[0079] In the embodiment of the present application, the quick release member 133 drives one of the first connecting member 131 and the second connecting member 132 to rotate relative to the other. Here, the quick release member 133 can drive the first connecting member 131 to rotate relative to the second connecting member 132; the quick release member 133 can also drive the second connecting member 132 to rotate relative to the first connecting member 131. This embodiment of the present application is not limited to this.

[0080] In the joint module 1 provided by the embodiment of the present application, since the magnetic pole of the first magnetic part is opposite to the magnetic pole of the second magnetic part, and the magnetic pole of the third magnetic part is opposite to the magnetic pole of the fourth magnetic part, it can be known that the magnetic pole of the first magnetic part is opposite to the magnetic pole of the third magnetic part, and the magnetic pole of the second magnetic part is opposite to the magnetic pole of the fourth magnetic part. When the first area 1311 and the second area 1321 coincide with each other, the first connecting part 131 and the second connecting part 132 are magnetically attracted, or, when the third area 1312 and the fourth area 1322 coincide with each other, the first connecting part 131 and the second connecting part 132 are magnetically attracted, and since the quick release part 133 can drive one of the first connecting part 131 and the second connecting part 132 to rotate relative to the other, when the first area 1311 and the fourth area 1322 coincide with each other, and the third area 1312 and the second area 1321 coincide with each other, the first connecting part 131 and the second connecting part 132 repel each other. In other words, the first connecting part 131 and the second connecting part 132 generate a repulsive force along the first direction A. Only by driving one of the first connecting member 131 and the second connecting member 132 to rotate relative to the other through the quick release member 133, the magnetic connection between the first connecting member 131 and the second connecting member 132 and the separation of the first connecting member 131 and the second connecting member 132 can be realized, thereby realizing quick replacement, which has the advantages of small structure and high reliability.

[0081] Reference Figure 5 , Figure 6 , Fig.12 , Fig.13 , Fig.14 and Fig.15 The embodiment of the present application provides a joint module 1, wherein the first area 1311 and the third area 1312 are both multiple, and the multiple first areas 1311 and the multiple third areas 1312 are arranged alternately to form an annular area, and the second area 1321 and the fourth area 1322 are both multiple, and the multiple second areas 1321 and the multiple fourth areas 1322 are arranged alternately to form an annular area.

[0082] In the embodiment of the present application, there can be multiple first areas 1311 and second areas 1321. For example, there are four first areas 1311 and four third areas 1312. The four first areas 1311 and the four third areas 1312 are arranged alternately to form an annular area. There are four second areas 1321 and four fourth areas 1322. The four second areas 1321 and the four fourth areas 1322 are arranged alternately to form an annular area.

[0083] The joint module 1 provided in the embodiment of the present application has a plurality of first areas 1311 and a plurality of third areas 1312 which are staggered to form an annular area, and a plurality of second areas 1321 and a plurality of fourth areas 1322 which are staggered to form an annular area. In this way, the quick-release part 133 can drive one of the first connecting part 131 and the second connecting part 132 to rotate relative to the other at a smaller angle, thereby realizing the connection or separation of the first connecting part 131 and the second connecting part 132, thereby further accelerating the replacement speed.

[0084] Reference Figure 5 , Figure 6 , Fig.12 , Fig.13 , Fig.14 and Fig.15 An embodiment of the present application provides a joint module 1, wherein a quick release component 133 rotates relative to a first connecting component 131 or a second connecting component 132, and the quick release component 133 is provided with a fifth magnetic component 1331, and the fifth magnetic component 1331 adsorbs the first connecting component 131 or the second connecting component 132.

[0085] In the embodiment of the present application, the quick release component 133 is provided with a fifth magnetic component 1331 . Here, a through hole can be provided on the quick release component 133 , and the fifth magnetic component 1331 can be detachably installed in the through hole, thereby facilitating replacement or repair of the fifth magnetic component 1331 .

[0086] In the embodiment of the present application, the fifth magnetic member adsorbs the first connecting member 131 or the second connecting member 132. Taking the fifth magnetic member 1331 adsorbing the first connecting member 131 as an example, the magnetic poles of the fifth magnetic member 1331 and the first magnetic member are opposite, or the magnetic poles of the fifth magnetic member 1331 and the third magnetic member are opposite.

[0087] The joint module 1 provided in the embodiment of the present application has a quick-release part 133 that can rotate relative to the first connecting part 131 or the second connecting part 132, and a fifth magnetic part 1331 is provided on the quick-release part 133. The fifth magnetic part 1331 absorbs the first connecting part 131 or the second connecting part 132, thereby driving the first connecting part 131 to rotate relative to the second connecting part 132, or the second connecting part 132 to rotate relative to the first connecting part 131. The method of magnetically driving one of the first connecting part 131 and the second connecting part 132 to rotate relative to the other is adopted, which has the effect of convenient operation and easy implementation.

[0088] Reference Figure 5 and Figure 6The embodiment of the present application provides a joint module 1, the picking member 12 forms a first accommodating cavity 121 with a first opening, the first opening is located at the second end of the picking member 12 and faces the second connecting member 132, the first connecting member 131 is movably arranged in the first accommodating cavity 121, the first end of the joint seat 11 forms a second accommodating cavity 111 with a second opening, the second opening faces the first connecting member 131, the second connecting member 132 is fixed in the second accommodating cavity 111, and the first accommodating cavity 121 is connected to the second accommodating cavity 111.

[0089] In the embodiment of the present application, the first connecting member 131 is movably disposed in the first accommodating cavity 121, which means that the first connecting member 131 can rotate relative to the first accommodating cavity 121, and at the same time, the first connecting member 131 can move relative to the first accommodating cavity 121 toward the second accommodating cavity 111. In addition, the first connecting member 131 is movably disposed in the first accommodating cavity 121, and here, the first connecting member 131 is movably disposed on a boss disposed in the first accommodating cavity 121, so that the first connecting member 131 can be restricted from moving in a direction away from the second accommodating cavity 111.

[0090] In the embodiment of the present application, the second connecting member 132 is fixed in the second accommodating cavity 111. Here, the second connecting member 132 can be bonded in the second accommodating cavity 111; the second connecting member 132 can be fixed in the second accommodating cavity 111 by a snap-fit ​​structure; the second connecting member 132 can be fixed in the second accommodating cavity 111 by a threaded structure, and the embodiment of the present application does not impose any limitation on this.

[0091] The joint module 1 provided in the embodiment of the present application has the first connecting member 131 movably arranged in the first accommodating cavity 121, and the second connecting member 132 fixed in the second accommodating cavity 111, and the first accommodating cavity 121 and the second accommodating cavity 111 are connected, so that the first connecting member 131 and the second connecting member 132 move in the cavity formed by the first accommodating cavity 121 and the second accommodating cavity 111. In other words, the first accommodating cavity 121 and the second accommodating cavity 111 provide protection for the first connecting member 131 and the second connecting member 132.

[0092] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 An embodiment of the present application provides a joint module 1, in which a limiting assembly 14 is arranged between the second end of the picking member 12 and the first end of the joint seat 11. When the first connecting member 131 and the second connecting member 132 are connected, the limiting assembly 14 is used to at least limit the displacement of the first connecting member 131 and the second connecting member 132 along the first direction A.

[0093] In the embodiment of the present application, a limiting assembly 14 is provided between the second end of the picking member 12 and the first end of the joint seat 11. When the first connecting member 131 and the second connecting member 132 are connected, the limiting assembly 14 is used to at least limit the displacement of the first connecting member 131 and the second connecting member 132 along the first direction A. Here, the limiting assembly 14 can limit the displacement of the first connecting member 131 in a direction away from the second connecting member 132. In addition, the limiting assembly 14 can also limit the displacement of the second connecting member 132 in a direction away from the first connecting member 131. On this basis, the limiting assembly 14 can also limit the displacement of the first connecting member 131 and the second connecting member 132 in other directions, and the embodiment of the present application does not limit this.

[0094] In the embodiment of the present application, the limiting assembly 14 is used to at least limit the position of the first connecting member 131 and the second connecting member 132 along the first direction A. The limiting assembly 14 can be a limiting protrusion 141 set on the first connecting member 131 and a limiting groove 142 set on the second connecting member 132. Of course, the limiting assembly 14 can also be a limiting groove 142 set on the first connecting member 131 and a limiting protrusion 141 set on the second connecting member 132. This embodiment of the present application is not limited to this. Here, it should be supplemented that the limiting assembly 14 is not limited to being set on the first connecting member 131 and the second connecting member 132, and can also be set on the second end of the picking member 12 and the first end of the joint seat 11.

[0095] The joint module 1 provided in the embodiment of the present application has a limiting component 14 arranged between the second end of the picking member 12 and the first end of the joint seat 11, and when the first connecting member 131 and the second connecting member 132 are connected, the limiting component 14 can at least limit the displacement of the first connecting member 131 and the second connecting member 132 along the first direction A to improve the accuracy of the connection between the first connecting member 131 and the second connecting member 132.

[0096] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 The embodiment of the present application provides a joint module 1, and the limiting assembly 14 includes a limiting protrusion 141 arranged on the outer contour of the second end of the picking member 12 along a side away from the first accommodating cavity 121, and a limiting groove 142 with a third opening is arranged at the first end of the joint seat 11, and the third opening faces the first connecting member 131. When the first connecting member 131 and the second connecting member 132 are connected, the limiting protrusion 141 abuts against the groove wall of the limiting groove 142 opposite to the third opening.

[0097] In the embodiment of the present application, the limiting assembly 14 includes a limiting protrusion 141 provided on the side of the outer contour of the second end of the picking member 12 away from the first accommodating cavity 121. Here, the limiting protrusion 141 can be an integral structure with the outer contour of the second end of the picking member 12, or can be a separate structure, which is not limited by the embodiment of the present application. In one possible implementation provided by the embodiment of the present application, a through hole is provided on the side of the outer contour of the second end of the picking member 12 away from the first accommodating cavity 121, and the limiting protrusion 141 can extend into the through hole and transitionally fit with the hole wall of the through hole.

[0098] In the joint module 1 provided in the embodiment of the present application, when the first connecting member 131 and the second connecting member 132 are connected, the limiting protrusion 141 abuts against the groove wall of the limiting groove 142 opposite to the third opening, which can further limit the first connecting member 131 from continuing to move in the direction close to the second connecting member 132.

[0099] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 An embodiment of the present application provides a joint module 1, wherein along the second direction B, the groove wall size of the limiting groove 142 is the same as the size of the limiting protrusion 141, and when the first connecting member 131 and the second connecting member 132 are connected, the limiting protrusion 141 abuts against the groove wall of the limiting groove 142 along the second direction B, wherein the first direction A is perpendicular to the second direction B.

[0100] In the embodiment of the present application, the first direction A is perpendicular to the second direction B. For example, if the first connecting member 131 and the second connecting member 132 are both cylindrical, the first direction A is the axial direction of the first connecting member 131 and the second connecting member 132, and the second direction B is the circumferential direction of the first connecting member 131 and the second connecting member 132. When the first connecting member 131 and the second connecting member 132 are connected, the limiting protrusion 141 abuts against the groove wall of the limiting groove 142 along the second direction B. In this way, the first connecting member 131 and the second connecting member 132 can be circumferentially limited.

[0101] In the joint module 1 provided in the embodiment of the present application, when the first connecting member 131 and the second connecting member 132 are connected, the limiting protrusion 141 abuts against the groove wall of the limiting groove 142 along the second direction B, which can further limit the movement of the first connecting member 131 and the second connecting member 132 along the second direction B.

[0102] Reference Figure 5 , Figure 6 , Fig.10 and Fig.11The embodiment of the present application provides a joint module 1, the quick release part 133 includes a stop protrusion 1332 arranged on one side toward the first connecting part 131, and when the first connecting part 131 and the second connecting part 132 are connected, the stop protrusion 1332 abuts against the side of the limiting protrusion 141 toward the second opening.

[0103] In the embodiment of the present application, the quick release member 133 includes a stop protrusion 1332 arranged on a side facing the first connecting member 131. Here, the stop protrusion 1332 can be located on the movement path from the limit position to the limit groove 142, and when the quick release member 133 can rotate relative to the first connecting member 131 and the second connecting member 132, due to the principle of like attracts like, the first connecting member 131 will quickly be magnetically attracted to the second connecting member 132. At this time, the limit protrusion 141 can push the stop protrusion 1332 away, so that the limit protrusion 141 abuts against the groove wall of the limit groove 142. Of course, the stop protrusion 1332 may not be located on the movement path from the limit protrusion 141 to the limit groove 142, and this embodiment of the present application is not limited to this.

[0104] In the joint module 1 provided in the embodiment of the present application, when the first connecting member 131 and the second connecting member 132 are connected, the stop protrusion 1332 abuts against the side of the limiting protrusion 141 facing the second opening, so that the first connecting member 131 can be further restricted from moving in a direction away from the second connecting member 132.

[0105] Reference Figure 5 , Figure 6 , Fig.10 and Fig.11 An embodiment of the present application provides a joint module 1, in which a first guide groove 112 is arranged on the outer contour of the first end of the joint seat 11 along a side away from the second accommodating cavity 111, and the first guide groove 112 extends in a direction close to the third opening. A stop protrusion 1332 is arranged in the first guide groove 112 and slides relative to the first guide groove 112.

[0106] The joint module 1 provided in the embodiment of the present application has a first guide groove 112 set on the outer contour of the first end of the joint seat 11 along a side away from the second accommodating cavity 111, and the first guide groove 112 extends in a direction close to the third opening, and the stop protrusion 1332 is set in the first guide groove 112. In this way, the quick release part 133 can be assembled on the first end of the joint seat 11. At the same time, the stop protrusion 1332 slides relative to the first guide groove 112, which can drive the quick release part 133 to rotate relative to the first end of the joint seat 11.

[0107] For example, when the first connecting member 131 and the second connecting member 132 are magnetically attracted, the limiting protrusion 141 needs to abut against the groove wall of the limiting groove 142 driven by the magnetic attraction force, and when the stopping protrusion 1332 is located in the movement trajectory of the limiting protrusion 141 reaching the limiting groove 142, the limiting protrusion 141 pushes the stopping protrusion 1332 away, thereby causing the stopping protrusion 1332 to slide in the first guide groove 112 in a direction away from the third opening, and when the limiting groove 142 abuts against the groove wall of the limiting groove 142, the stopping protrusion 1332 can continue to slide in the first guide groove 112 in a direction close to the third opening and reach the third opening. At this time, the stopping protrusion 1332 abuts against the side of the limiting protrusion 141 facing the second opening, and when the first connecting member 131 and the second connecting member 132 need to be separated, the stopping protrusion 1332 can continue to slide in the first guide groove 112 in a direction away from the third opening The first and second connecting members 131 and 132 are respectively moved in a direction away from the third opening and a direction of rotation relative to each other, so that the magnetic attraction between the first and second connecting members 131 and 132 becomes a repulsive force, thereby separating the first and second connecting members 131 and 132, that is, the first connecting member 131 and the corresponding picking member 12 can be ejected. Here, the picking member 12 can be ejected after aiming to ensure that the ejected picking member 12 is placed in the corresponding position for next use. The stopping projection 1332 can either return to its original position in the first guide groove 112 along the direction close to the third opening, or be in the current position of the first guide groove 112, waiting for the next magnetic attraction between the first and second connecting members 131 and 132.

[0108] Reference Figure 5 , Figure 6 , Fig.10 and Fig.11 An embodiment of the present application provides a joint module 1, which also includes an elastic member 15, wherein the first end of the elastic member 15 abuts against the groove wall of the first guide groove 112, and the second end of the elastic member 15 abuts against the stop protrusion 1332, and the elastic member 15 is used to provide a rebound force for the stop protrusion 1332 to reach the third opening.

[0109] For example, when the first connecting member 131 and the second connecting member 132 are magnetically attracted, the limiting protrusion 141 needs to abut against the groove wall of the limiting groove 142 driven by the magnetic attraction force, and when the stopping protrusion 1332 is located in the movement trajectory of the limiting protrusion 141 reaching the limiting groove 142, the limiting protrusion 141 pushes the stopping protrusion 1332 away, thereby causing the stopping protrusion 1332 to slide in the first guide groove 112 in a direction away from the third opening. At this time, the elastic member 15 is compressed, and when the limiting groove 142 abuts against the groove wall of the limiting groove 142, the restoring force of the elastic member 15 provides the stopping protrusion 1332 with a force that allows it to continue to slide in the first guide groove 112 in a direction close to the third opening until it reaches the third opening. At this time, the stopping protrusion 1332 abuts against the side of the limiting protrusion 141 facing the second opening, and when the first connecting member 131 and the second connecting member 13 When the first and second connecting members 131 and 132 are separated, the stop protrusion 1332 can continue to slide in the first guide groove 112 in a direction away from the third opening and away from the third opening. At this time, the elastic member 15 is under pressure. It should be further explained that the stop protrusion 1332 can slide in the first guide groove 112 in a direction away from the third opening and can also drive one of the first connecting member 131 and the second connecting member 132 to rotate relative to the other, so that the magnetic attraction between the first connecting member 131 and the second connecting member 132 becomes a repulsive force, thereby separating the first connecting member 131 and the second connecting member 132. Under the action of the restoring force of the elastic member 15, the stop protrusion 1332 can return to its original position in the first guide groove 112 in a direction close to the third opening, or it can be at the current position of the first guide groove 112, waiting for the next magnetic attraction of the first connecting member 131 and the second connecting member 132.

[0110] Reference Figure 5 , Figure 6 , Figure 7 and Figure 8 An embodiment of the present application provides a joint module 1, in which a first guide groove 112 is provided on one side of the outer contour of the first end of the joint seat 11, and a mounting groove 113 with a fourth opening is also provided. The orientation of the fourth opening is the same as that of the third opening. The mounting groove 113 is connected to the first guide groove 112, and the stop protrusion 1332 can enter the first guide groove 112 through the mounting groove 113.

[0111] In the embodiment of the present application, a first guide groove 112 is provided on one side of the outer contour of the first end of the joint seat 11, and a fourth opening mounting groove 113 is also provided. The stop protrusion 1332 can enter the first guide groove 112 through the mounting groove 113. Here, the size of the mounting groove 113 along the first direction A and the second direction B needs to be larger than the stop protrusion 1332. Only in this way can it be ensured that the stop protrusion 1332 enters the first guide groove 112 through the mounting groove 113.

[0112] The embodiment of the present application provides a joint module 1 , which further includes a seal 16 , which is disposed at the connection between the first accommodating cavity 121 and the second accommodating cavity 111 to seal the first accommodating cavity 121 and the second accommodating cavity 111 .

[0113] The joint module 1 provided in the embodiment of the present application has a seal 16 disposed at the connection between the first accommodating cavity 121 and the second accommodating cavity 111 to seal the first accommodating cavity 121 and the second accommodating cavity 111, thereby reducing the possibility of foreign matter entering the first accommodating cavity 121 and the second accommodating cavity 111.

[0114] The embodiment of the present application provides a joint module 1, a second guide groove 122 is provided on the side of the outer contour of the second end of the picking member 12 away from the first accommodating cavity 121, a third guide groove 161 is provided on the sealing member 16, and a first guide protrusion 114 is provided on the side of the first end of the joint seat 11 away from the second accommodating cavity 111, and the extension directions of the second guide groove 122, the third guide groove 161 and the first guide protrusion 114 are the same as the first direction A, and the first guide protrusion 114 extends into the second guide groove 122 and the third guide groove 161 to guide the first connecting member 131 and the second connecting member 132 to be connected or separated.

[0115] The joint module 1 provided in the embodiment of the present application is provided with a second guide groove 122 set on the outer contour of the second end of the picking member 12 on a side away from the first accommodating cavity 121, a third guide groove 161 set on the sealing member 16, and a first guide protrusion 114 set on the first end of the joint seat 11 on a side away from the second accommodating cavity 111, and the first guide protrusion 114 extends into the second guide groove 122 and the third guide groove 161 to guide the first connecting member 131 and the second connecting member 132 to be connected or separated, so as to avoid the first connecting member 131 and the second connecting member 132 from being offset during the connection or separation process.

[0116] The embodiment of the present application provides a joint module 1, in which a picking member 12 forms a first accommodating cavity 121 with openings at the first end and the second end, the first end is connected to the outside, and the second end is connected to the second accommodating cavity 111. The joint module 1 also includes a vacuum pumping member 17, and a vacuum pumping port of the vacuum pumping member 17 is connected to the first accommodating cavity 121 or the second accommodating cavity 111, for evacuating the first accommodating cavity 121.

[0117] In the embodiment of the present application, the vacuum port of the vacuum component 17 only needs to be connected to the first accommodating chamber 121 or the second accommodating chamber 111. Of course, in order to speed up the vacuuming of the first accommodating chamber 121, the vacuum port of the vacuum component 17 is opposite to the center position of the first accommodating chamber 121. For example, if the first accommodating chamber 121 is cylindrical, the vacuum port of the vacuum component 17 is opposite to the axis of the cylinder.

[0118] An embodiment of the present application provides a joint module 1 , which further includes a vacuum detection component 18 . The vacuum detection component 18 is disposed in the first accommodating cavity 121 or the second accommodating cavity 111 and is used to detect the vacuum degree of the first accommodating cavity 121 .

[0119] The joint module 1 provided in the embodiment of the present application has a vacuum detection member 18 disposed in the first accommodating cavity 121 or the second accommodating cavity 111, and is used to detect the vacuum degree of the first accommodating cavity 121, so as to determine whether the picking member 12 can be successfully negatively adsorbed. The above is only a preferred embodiment of the present application, and is not intended to limit the protection scope of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A joint module, characterized in that: include: Joint seat; A picking piece, wherein the first end of the picking piece is used to pick up the object to be used; A quick release component, the quick release component is arranged between the picking member and the joint seat, the quick release component comprises a first connecting member, a second connecting member and a quick release member, the first connecting member is arranged at the second end of the picking member, the second connecting member is arranged at the first end of the joint seat, the first connecting member and the second connecting member are connected, the quick release member is connected to at least one of the first connecting member and the second connecting member, the quick release member can drive at least one of the first connecting member and the second connecting member to generate a separation force along a first direction, and the separation force is greater than the connection force between the first connecting member and the second connecting member; Wherein, the first direction is a direction in which the first connecting member and the second connecting member are away from each other.

2. The joint module according to claim 1, characterized in that: The first connecting member includes a first area, the first area is provided with a first magnetic member, the second connecting member includes a second area, the second area is provided with a second magnetic member, and the magnetic pole of the first magnetic member is opposite to the magnetic pole of the second magnetic member.

3. The joint module according to claim 2, characterized in that: The first connecting member includes a third area, the third area is provided with a third magnetic member, the second connecting member includes a fourth area, the fourth area is provided with a fourth magnetic member, the magnetic pole of the third magnetic member is opposite to the magnetic pole of the fourth magnetic member, and the quick release member drives one of the first connecting member and the second connecting member to rotate relative to the other; When there are multiple first regions and multiple third regions, multiple first regions and multiple third regions are arranged alternately to form an annular region, and when there are multiple second regions and multiple fourth regions, multiple second regions and multiple fourth regions are arranged alternately to form an annular region.

4. The joint module according to claim 1, characterized in that: The picking member forms a first accommodating cavity with a first opening, the first opening is located at the second end of the picking member and faces the second connecting member, the first connecting member is movably arranged in the first accommodating cavity, the first end of the joint seat forms a second accommodating cavity with a second opening, the second opening faces the first connecting member, the second connecting member is fixed in the second accommodating cavity, and the first accommodating cavity is communicated with the second accommodating cavity; In the case where a limiting assembly is provided between the second end of the picking member and the first end of the joint seat, when the first connecting member and the second connecting member are connected, the limiting assembly is used to at least limit the displacement of the first connecting member and the second connecting member along the first direction; When the quick release member rotates relative to the first connecting member or the second connecting member, the quick release member is provided with a fifth magnetic member, and the fifth magnetic member attracts the first connecting member or the second connecting member.

5. The joint module according to claim 4, characterized in that: The limiting assembly includes a limiting protrusion arranged on the outer contour of the second end of the picking member along a side away from the first accommodating cavity, and a limiting groove having a third opening arranged at the first end of the joint seat, wherein the third opening faces the first connecting member, and when the first connecting member and the second connecting member are connected, the limiting protrusion abuts against a groove wall of the limiting groove opposite to the third opening; Along the second direction, when the size of the groove wall of the limiting groove is the same as the size of the limiting protrusion, after the first connecting member and the second connecting member are connected, the limiting protrusion abuts against the groove wall of the limiting groove along the second direction, and the first direction is perpendicular to the second direction; In the case where the quick release member includes a stop protrusion disposed toward a side of the first connecting member, when the first connecting member and the second connecting member are connected, the stop protrusion abuts against a side of the limiting protrusion toward the second opening.

6. The joint module according to claim 5, characterized in that: A first guide groove is provided on the outer contour of the first end of the joint seat along a side away from the second accommodating cavity, the first guide groove extends in a direction close to the third opening, and the stop protrusion is provided in the first guide groove and slides relative to the first guide groove; When the joint module also includes an elastic member, the first end of the elastic member abuts against the groove wall of the first guide groove, and the second end of the elastic member abuts against the stop protrusion, and the elastic member is used to provide a rebound force for the stop protrusion to reach the third opening.

7. The joint module according to claim 6, characterized in that: A mounting groove with a fourth opening is also provided on one side of the outer contour of the first end of the joint seat. The orientation of the fourth opening is the same as that of the third opening. The mounting groove is connected to the first guide groove, and the stop protrusion can enter the first guide groove through the mounting groove.

8. The joint module according to any one of claims 4 to 7, characterized in that: The joint module further includes a sealing member, which is disposed at a connection point between the first accommodating cavity and the second accommodating cavity to seal the first accommodating cavity and the second accommodating cavity; A second guide groove is provided on the outer contour of the second end of the picking member on a side away from the first accommodating cavity, a third guide groove is provided on the sealing member, and a first guide protrusion is provided on the first end of the joint seat on a side away from the second accommodating cavity, and when the extension directions of the second guide groove, the third guide groove and the first guide protrusion are the same as the first direction, the first guide protrusion extends into the second guide groove and the third guide groove to guide the first connecting member and the second connecting member to be connected or separated.

9. The joint module according to any one of claims 4 to 7, characterized in that: The picking member forms the first accommodating cavity with a first end and a second end both being open, the first end of the first accommodating cavity is communicated with the outside, and the second end of the first accommodating cavity is communicated with the second accommodating cavity, and the joint module further comprises a vacuum pumping member, the vacuum pumping port of the vacuum pumping member is communicated with the first accommodating cavity or the second accommodating cavity, and is used to vacuum the first accommodating cavity; In the case where the joint module further includes a vacuum detection component, the vacuum detection component is disposed in the first accommodating cavity or the second accommodating cavity, and is used to detect the vacuum degree of the first accommodating cavity.

10. A robot, characterized in that: include: Robotic arm; The joint module according to any one of claims 1 to 9, wherein the second end of the joint seat of the joint module is connected to the robotic arm.

Images