Multifunctional fixing device, robot joint actuator and robot

Abstract

The utility model relates to the technical field of robots, in particular to a multifunctional fixing device, a robot joint actuator and a robot. The multifunctional fixing device specifically comprises a buckle, one end of the buckle is detachably connected with the shell front cover, and the other end of the buckle is detachably connected with the shell rear cover; gaps are formed between the buckles and the shell front cover and between the buckles and the shell rear cover, the gaps are used for cable management of the joint actuator, and the buckles are used for protecting cables in the gaps. A mode of routing in an external channel of the joint actuator shell fixing device is adopted, and parts such as a slip ring and a mechanical buckle used for internal routing are omitted, so that the complexity of a motor cable routing mechanical structure is reduced, and meanwhile, the mounting process of joint actuator cable routing can be simplified; meanwhile, due to the fact that the buckle is in a detachable connection mode and can serve as a cable overhauling window, when the cable breaks down, the buckle can be detached, and the cable in the buckle can be overhauled and maintained conveniently.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a multifunctional fixing device, a robot joint actuator and a robot. Background Art

[0002] All robot motion joints are equipped with integrated actuators to complete the motion commands of the master control unit. In addition to providing sufficient torque, the robot has higher requirements for the motion accuracy of the joint actuator. Robot joint actuators usually use a dual encoder solution to obtain high-precision position information.

[0003] First, regarding the wiring method, in the dual encoder topology of the traditional joint actuator, the encoder signal lines, power lines, signal buses and other cables on the actuator rotor side and the actuator stator side all need to be connected through the intermediate slip ring structure. In this topology, since the encoder is on the actuator rotor side, its power supply and communication lines must be provided to the other side by the slip ring, which increases the number and size of the slip rings and makes the design redundant.

[0004] Secondly, regarding the housing fixing method, there are two main methods for fixing the joint actuator housing: axial fixing on the output side of the reducer and radial fixing of the joint actuator housing. In the existing joint actuator housing fixing device, there are the following two problems: (1) The joint actuator housing fixing device has poor flexibility. When the axial length of the joint actuator changes, multiple mechanical parts need to be redesigned; (2) The mechanical structure of the joint actuator cable routing method is complex and has poor reliability. Summary of the invention

[0005] The present disclosure provides a multifunctional fixing device, a robot joint actuator and a robot.

[0006] According to one aspect of the present disclosure, a multifunctional fixing device for a joint actuator housing is provided, wherein the joint actuator comprises a housing front cover, a housing rear cover, and a joint actuator output shaft, wherein the housing front cover and the housing rear cover are respectively arranged at two ends of the joint actuator output shaft; the fixing device comprises:

[0007] A buckle, one end of which is detachably connected to the front cover of the housing, and the other end of which is detachably connected to the rear cover of the housing;

[0008] A gap is provided between the buckle and the housing front cover and the housing rear cover. The gap is used for wiring the joint actuator, and the buckle is used for protecting the cables in the gap.

[0009] Optionally, the buckle includes a vertical portion, a first horizontal portion, and a second horizontal portion, one end of the vertical portion is connected to the first horizontal portion; the other end of the vertical portion is connected to the second horizontal portion.

[0010] Optionally, the shell front cover and the shell rear cover are connected to each other to form a cylindrical shell, and the vertical portion is arranged in the circumference of the cylindrical shell to form a vertical gap between the vertical portion and the cylindrical shell.

[0011] Optionally, the first horizontal portion is fixed to one end of the front cover of the shell near the output disc of the joint actuator output shaft, and a first horizontal gap is formed between the first horizontal portion and the front cover of the shell; the second horizontal portion is arranged on the outer side of the rear cover of the shell, and a second horizontal gap is formed between the second horizontal portion and the rear cover of the shell.

[0012] Optionally, the joint actuator further comprises a rotating assembly, which is arranged on the front cover of the shell and connected to the output disc of the output shaft of the joint actuator via a transmission mechanism; the rotating assembly is fixed to the front cover of the shell via the buckle.

[0013] Optionally, the rotating assembly is fixed to the front cover of the shell through the first horizontal portion of the buckle, and the first horizontal portion is provided with a slot for fixing the rotating assembly.

[0014] Optionally, one end of the buckle is fixed to the front cover of the shell by a plurality of screws.

[0015] Optionally, the cable includes a power line and a signal line; and a partition for separating the power line and the signal line is provided on the inner side of the buckle.

[0016] Optionally, the partition is a wire groove arranged on the inner side of the buckle, for accommodating the power line and the signal line respectively.

[0017] Optionally, the separator is a first lining layer respectively coated on the outer surface of the power line and a second lining layer respectively coated on the outer surface of the signal line.

[0018] Optionally, the partition is an isolation fence arranged between the power line and the signal line.

[0019] Optionally, the cable includes a temperature sensor signal line, a temperature sensor power line, a motor winding line, an encoder signal line, and an encoder power line.

[0020] Optionally, the joint actuator may or may not include a reducer.

[0021] According to a second aspect of the present disclosure, a robot joint actuator is provided, comprising the multifunctional fixing device described in any one of the above technical solutions.

[0022] According to a third aspect of the present disclosure, a robot is provided, comprising at least one robot joint actuator described in the above technical solution.

[0023] The present disclosure provides a multifunctional fixing device for a joint actuator housing. When the axial length of the motor changes (the axial length increases or decreases), it is only necessary to increase or decrease the length of the joint actuator housing fixing device accordingly to achieve adaptation to motors with different axial lengths, without the need to redesign other mechanical components, thereby improving the flexibility of the joint actuator housing fixing device; in addition, a wiring method is adopted in the external channel of the joint actuator housing fixing device, thereby eliminating components such as slip rings and mechanical clips used for internal wiring, thereby reducing the complexity of the mechanical structure of the motor cable wiring, and at the same time simplifying the installation process of the joint actuator cable wiring.

[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0026] Figure 1 is a schematic structural diagram of a multifunctional fixing device of a joint actuator housing in an embodiment of the present disclosure;

[0027] Figure 2 is a cross-sectional view of a multifunctional fixing device of a joint actuator housing in an embodiment of the present disclosure;

[0028] Figure 3 is a schematic structural diagram of a multifunctional fixing device of a joint actuator housing provided with a rotating assembly in an embodiment of the present disclosure;

[0029] Figure 4 is an overall cross-sectional view of a joint actuator in an embodiment of the present disclosure;

[0030] Figure 5 is a front view of a buckle in an embodiment of the present disclosure;

[0031] Figure 6 is a cross-sectional view of a buckle in an embodiment of the present disclosure;

[0032] Figure 7 is a schematic diagram of the structure of a buckle in an embodiment of the present disclosure;

[0033] Figure 8 is an overall cross-sectional view of a joint actuator provided with a lining in an embodiment of the present disclosure;

[0034] Fig. 9 is a front view of a buckle provided with a lining in an embodiment of the present disclosure;

[0035] Fig.10 is a cross-sectional view of a buckle provided with a lining in an embodiment of the present disclosure;

[0036] Fig.11 is a schematic diagram of the structure of a buckle provided with a lining in an embodiment of the present disclosure;

[0037] Fig.12 is an overall cross-sectional view of a joint actuator provided with a separation fence in an embodiment of the present disclosure;

[0038] Fig.13 is a front view of a buckle provided with a barrier in an embodiment of the present disclosure;

[0039] Fig.14 is a cross-sectional view of a buckle provided with a barrier in an embodiment of the present disclosure;

[0040] Fig.15 is a schematic structural diagram of a buckle provided with an isolation fence in an embodiment of the present disclosure;

[0041] Fig.16 is an overall cross-sectional view of a joint actuator provided with a wire groove in an embodiment of the present disclosure;

[0042] Fig.17 is a front view of a buckle provided with a wire groove in an embodiment of the present disclosure;

[0043] Fig.18 is a cross-sectional view of a buckle provided with a wire groove in an embodiment of the present disclosure;

[0044] Fig.19 is a schematic structural diagram of a buckle provided with a wire groove in an embodiment of the present disclosure;

[0045] Fig. 20 It is a structural diagram of a buckle without an encoder in an embodiment of the present disclosure.

[0046] The reference numerals in the specific implementation manner are as follows:

[0047] Shell front cover 1; threaded hole 101; shell rear cover 2; joint actuator output shaft 3; output disk 31 of joint actuator output shaft 3; buckle 4; vertical portion 41; first horizontal portion 42; second horizontal portion 43; gap 5; vertical gap 51; first horizontal gap 52; second horizontal gap 53; rotating assembly 6; transmission mechanism 7; motor side encoder 8; cable 9; power line 91; signal line 92; wire trough 10; first lining 11; second lining 12; isolation fence 13. DETAILED DESCRIPTION

[0048] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0049] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0050] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).

[0051] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0052] With the rapid development of the robotics industry, robots are increasingly being used to collaborate with humans. In order to meet the various standards for collaboration with humans, higher requirements are placed on collaborative robots in terms of accuracy, volume, safety, and other aspects. For a robot, the movement of each joint is inseparable from the motor, reducer, encoder, and driver. For traditional large robots, the space requirements for robots are not high, so in order to save costs, traditional robots are basically directly spliced ​​together by many of the above-mentioned modules with different functions, with a low degree of integration, resulting in traditional robots being larger and more bulky.

[0053] For collaborative robots, the space requirements are extremely high, so we have to combine all functional modules to obtain more integrated modular actuators and install them at various joints to obtain the most compact space layout, which is also conducive to production and maintenance, and can have more cost advantages. It can be said that the integration and cost of joint actuators are the core competitiveness of robots. The way the joint actuator cables are routed will also affect the integration and cost of joint actuators.

[0054] The present disclosure provides a multifunctional fixing device for a joint actuator housing, such as Figure 1 As shown, the joint actuator comprises a housing front cover 1, a housing rear cover 2, and a joint actuator output shaft 3, wherein the housing front cover 1 and the housing rear cover 2 are respectively arranged at two ends of the joint actuator output shaft 3; the fixing device also comprises:

[0055] The buckle 4 has one end detachably connected to the housing front cover 1 , and the other end detachably connected to the housing rear cover 2 .

[0056] Specifically, since the buckle 4 and the shell front cover 1 and the shell rear cover 2 are detachably connected, it can not only serve as a fixing device of the shell, but also as a cable inspection window. When a cable fails, the buckle 4 can be removed to facilitate the inspection and maintenance of the cable in the buckle 4.

[0057] A gap 5 is provided between the buckle 4 and the housing front cover 1 and the housing rear cover 2 . The gap 5 is used for routing the joint actuator, and the buckle 4 is used for protecting the cables in the gap 5 .

[0058] Specifically, a plurality of threaded holes 101 may be provided in the circumference of the housing front cover 1 to achieve radial fixation of the joint actuator.

[0059] The gap 5 formed between the buckle 4 and the housing front cover 1 and the housing rear cover 2 can be used for routing the cables. The buckle 4 is used to protect the encoder signal line, power line, signal bus and other cables 9 on the actuator rotor side and the actuator stator side to avoid direct exposure of the cables when they are routed externally. The buckle 4 can play a role of isolation and protection.

[0060] By setting a gap between the buckle 4 and the front cover 1 and the rear cover 2 of the shell, the cable routing position is creatively changed, avoiding the connection through the intermediate slip ring structure in the prior art, and eliminating components such as slip rings and mechanical buckles used for internal routing, thereby reducing the complexity of the motor cable routing mechanical structure and simplifying the installation process of the joint actuator cable routing.

[0061] When the axial length of the joint actuator output shaft 3 changes, it is only necessary to adjust the length of the housing front cover 1 and the buckle 4 to adapt to motors with different axial lengths without redesigning other mechanical components, thereby improving the flexibility of the joint actuator housing fixing device.

[0062] As an optional implementation, the cable 9 includes a power line 91 and a signal line 92; a partition for separating the power line and the signal line is provided on the inner side of the buckle.

[0063] For example, Figure 16-20 As shown, the partition may be a wire groove 10 disposed on the inner side of the buckle 4 , and the wire groove 10 may include a plurality of semicircular grooves for accommodating the power line 91 and the signal line 92 respectively.

[0064] Specifically, the partition can separate the power line with high heat generation from the signal line with low heat generation in the cable to avoid mutual interference. In particular, the power line may generate electromagnetic interference, affecting the quality of signal transmission. The cable trough can be set to preset the position of the cable to prevent the cable from moving around. In addition to protecting the cable, it can also make the cable arrangement neat and beautiful, save space in the buckle, and facilitate the later inspection and maintenance of the cable.

[0065] As another optional implementation, Figure 8-11 As shown, the separator is a first lining layer 11 respectively covering the outer surface of the power line 91 and a second lining layer 12 covering the outer surface of the signal line 92 .

[0066] Specifically, on the one hand, the lining layer can be made of metal, which can conduct heat and prevent heat accumulation. On the other hand, the lining layer can reduce the impact of mechanical force on the cable, and is used to withstand the mechanical force (compression or tension) acting on the cable, while also playing the role of electric field shielding and preventing external electromagnetic wave interference.

[0067] As another optional implementation, Figure 12-15 As shown, the partition is a barrier 13 disposed between the power line 91 and the signal line 92 .

[0068] Specifically, the isolation fence 13 can be made of metal to separate the power line 91 with high heat generation and the signal line 92 with low heat generation in the cable to avoid mutual interference. In particular, the power line may generate electromagnetic interference, affecting the signal transmission quality. Fig.12 As shown, the isolation fence 13 separates the inner side of the buckle into two wiring spaces for accommodating cables, and the power line 91 and the signal line 92 can be respectively arranged in two different wiring spaces. In addition, in addition to protecting the cables, the isolation fence 13 can also make the cable arrangement neat and beautiful, save space in the buckle, and facilitate the later inspection and maintenance of the cables.

[0069] As an optional implementation, the cable 9 includes a temperature sensor signal line, a temperature sensor power line, a motor winding line, an encoder signal line, and an encoder power line.

[0070] As an optional implementation, Figure 2 As shown, the buckle 4 includes a vertical portion 41, a first horizontal portion 42, and a second horizontal portion 43. One end of the vertical portion 41 is connected to the first horizontal portion 42, and the vertical portion 41 and the first horizontal portion 42 can be perpendicular to each other or not perpendicular to each other; the other end of the vertical portion 41 is connected to the second horizontal portion 43, and the vertical portion 41 and the second horizontal portion 43 can be perpendicular to each other or not perpendicular to each other.

[0071] The housing front cover 1 and the housing rear cover 2 are connected to each other to form a cylindrical housing. The vertical portion 41 is arranged in the circumference of the cylindrical housing and can be parallel to the joint actuator output shaft 3, forming a vertical gap 51 between the vertical portion 41 and the cylindrical housing. The vertical portion 41 can also be non-parallel to the joint actuator output shaft 3. The first horizontal portion 42 is fixed to one end of the housing front cover 1 close to the output disc 31 of the joint actuator output shaft 3, and a first horizontal gap 52 is formed between the first horizontal portion 42 and the housing front cover 1; the second horizontal portion 43 is arranged on the outer side of the housing rear cover 2, and a second horizontal gap 53 is formed between the second horizontal portion 43 and the housing rear cover 2.

[0072] As an optional technical solution, the housing front cover 1 and the housing rear cover 2 may also be connected with a component sandwiched therebetween to form a cylindrical housing.

[0073] Through the above technical scheme, the vertical gap 51 and the first horizontal gap 52 and the second horizontal gap 53 form a cable routing channel between the actuator rotor side and the actuator stator side. The cables on the actuator rotor side (i.e., the output disc 31 side of the joint actuator output shaft 3) can be connected to the actuator stator side (i.e., the side of the joint actuator output shaft 3 away from the output disc 31) through the external routing channel formed by the vertical gap 51, the first horizontal gap 52 and the second horizontal gap 53, eliminating components such as slip rings and mechanical clips used for internal routing, thereby reducing the complexity of the mechanical structure of the motor cable routing and simplifying the installation process of the joint actuator cable routing.

[0074] As an optional implementation, Figure 3 As shown, the joint actuator further includes a rotating assembly 6 , which is disposed on the housing front cover 1 and connected to the output disc 31 of the joint actuator output shaft 3 via a transmission mechanism 7 ; the rotating assembly 6 is fixed to the housing front cover 1 via a buckle 4 .

[0075] Specifically, the rotating assembly 6 rotates with the joint actuator output shaft 3 under the transmission action of the transmission mechanism 7, and the motor-side encoder 8 is set corresponding to the rotating assembly 6 to detect the rotation angle of the rotating assembly 6, thereby collecting the change of the joint actuator output shaft 3. In this embodiment, the buckle 4 can not only protect the cable, but also fix the rotating assembly 6.

[0076] As an optional embodiment, the rotating assembly 6 is fixed to the housing front cover 1 through the first horizontal portion 42 of the buckle 4, and the first horizontal portion 42 is provided with a slot for fixing the rotating assembly 6. At the same time, a plurality of screw holes can be provided on the first horizontal portion 42, and the first horizontal portion 42 is fixed to the upper surface of the housing front cover 1 by screws.

[0077] The present disclosure also provides a robot joint actuator, comprising the multifunctional fixing device described in any one of the above embodiments. Figure 1 As shown, the joint actuator comprises a housing front cover 1, a housing rear cover 2, and a joint actuator output shaft 3, wherein the housing front cover 1 and the housing rear cover 2 are respectively arranged at two ends of the joint actuator output shaft 3; the fixing device also comprises:

[0078] The buckle 4 has one end detachably connected to the housing front cover 1 , and the other end detachably connected to the housing rear cover 2 .

[0079] Specifically, since the buckle 4 and the shell front cover 1 and the shell rear cover 2 are detachably connected, it can not only serve as a fixing device of the shell, but also as a cable inspection window. When a cable fails, the buckle 4 can be removed to facilitate the inspection and maintenance of the cable in the buckle 4.

[0080] A gap 5 is provided between the buckle 4 and the housing front cover 1 and the housing rear cover 2 . The gap 5 is used for routing the joint actuator, and the buckle 4 is used for protecting the cables in the gap 5 .

[0081] The gap 5 formed between the buckle 4 and the housing front cover 1 and the housing rear cover 2 can be used for routing the cables. The buckle 4 is used to protect the encoder signal line, power line, signal bus and other cables 9 on the actuator rotor side and the actuator stator side to avoid direct exposure of the cables when they are routed externally. The buckle 4 can play a role of isolation and protection.

[0082] By setting a gap between the buckle 4 and the front cover 1 and the rear cover 2 of the shell, the cable routing position is creatively changed, avoiding the connection through the middle slip ring structure in the prior art, and eliminating components such as slip rings and mechanical buckles used for internal routing, thereby reducing the complexity of the motor cable routing mechanical structure and simplifying the installation process of the joint actuator cable routing, thereby improving the production efficiency of the robot joint actuator and reducing the overall cost of the robot joint actuator.

[0083] The present disclosure also provides a robot, comprising at least one robot joint actuator described in the above embodiments. The robot joint actuator comprises the multifunctional fixing device described in any one of the above embodiments.

[0084] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved, and this document is not limited here.

[0085] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A multifunctional fixing device, applied to a joint actuator, the joint actuator comprising a housing front cover (1), a housing rear cover (2), and a joint actuator output shaft (3), the housing front cover (1) and the housing rear cover (2) being respectively arranged at two ends of the joint actuator output shaft (3); characterized in that: The fixing device comprises: A buckle (4), one end of the buckle (4) is detachably connected to the housing front cover (1), and the other end of the buckle (4) is detachably connected to the housing rear cover (2); A gap (5) is provided between the buckle (4) and the housing front cover (1) and the housing rear cover (2); the gap (5) is used for wiring the joint actuator, and the buckle (4) is used for protecting the cable (9) in the gap (5).

2. The multifunctional fixing device according to claim 1, characterized in that: The buckle comprises a vertical portion (41), a first horizontal portion (42), and a second horizontal portion (43); one end of the vertical portion (41) is connected to the first horizontal portion (42); and the other end of the vertical portion (41) is connected to the second horizontal portion (43).

3. The multifunctional fixing device according to claim 2, characterized in that: The housing front cover (1) and the housing rear cover (2) are connected to each other to form a cylindrical housing; characterized in that the vertical portion (41) is arranged in the circumference of the cylindrical housing to form a vertical gap (51) between the vertical portion (41) and the cylindrical housing.

4. The multifunctional fixing device according to claim 2 or 3, characterized in that: The first horizontal portion (42) is fixed to one end of the housing front cover (1) close to the output disc (31) of the joint actuator output shaft (3), and a first horizontal gap (52) is formed between the first horizontal portion (42) and the housing front cover (1); the second horizontal portion (43) is arranged on the outer side of the housing rear cover (2), and a second horizontal gap (53) is formed between the second horizontal portion (43) and the housing rear cover (2).

5. The multifunctional fixing device according to claim 2, characterized in that: The joint actuator further comprises a rotating assembly (6), which is arranged on the housing front cover (1) and connected to the output disc (31) of the joint actuator output shaft (3) via a transmission mechanism (7); characterized in that the rotating assembly (6) is fixed to the housing front cover (1) via the buckle (4).

6. The multifunctional fixing device according to claim 5, characterized in that: The rotating assembly (6) is fixed to the housing front cover (1) via the first horizontal portion (42) of the buckle (4); the first horizontal portion (42) is provided with a slot for fixing the rotating assembly (6).

7. The multifunctional fixing device according to claim 1, characterized in that: One end of the buckle (4) is fixed to the housing front cover (1) via a plurality of screws.

8. The multifunctional fixing device according to claim 1, characterized in that: The cable (9) comprises a power line (91) and a signal line (92); and is characterized in that a partition for separating the power line (91) and the signal line (92) is provided on the inner side of the buckle (4).

9. The multifunctional fixing device according to claim 8, characterized in that: The partition is a wire groove (10) arranged inside the buckle (4) and used to accommodate the power line (91) and the signal line (92) respectively.

10. The multifunctional fixing device according to claim 8, characterized in that: The separator is a first lining layer (11) respectively covering the outer surface of the power line and a second lining layer (12) covering the outer surface of the signal line.

11. The multifunctional fixing device according to claim 8, characterized in that: The partition is a separation fence (13) arranged between the power line (91) and the signal line (92).

12. The multifunctional fixing device according to any one of claims 8 to 11, characterized in that: The cable (9) comprises a temperature sensor signal line, a temperature sensor power line, a motor winding line, an encoder signal line, and an encoder power line.

13. A robot joint actuator, characterized in that: A multifunctional fixing device comprising any one of claims 1-12.

14. A robot, characterized in that: Comprising at least one robot joint actuator as claimed in claim 13.

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