Anti-collision structure, robot joint and robot

Abstract

The utility model provides an anti-collision structure, a robot joint and a robot, and relates to the technical field of robots. A flexible part of the anti-collision structure is nested in a limb, the flexible part comprises a first transmission ring, a second transmission ring and a plurality of rigid bodies, and an output shaft is sleeved with the first transmission ring; the diameter of the second transmission ring is smaller than that of the first transmission ring, and the second transmission ring and the first transmission ring are concentrically arranged; the plurality of rigid bodies are arranged between the first transmission ring and the second transmission ring; the periphery, making contact with the multiple rigid bodies, of the second transmission ring is provided with flexible parts in one-to-one correspondence with the multiple rigid bodies, and the multiple flexible parts have the restorable deformation capacity so that the multiple rigid bodies can be switched between the first position and the second position relative to the second transmission ring. According to the anti-collision structure, the flexible component is additionally arranged between the limb and the output shaft, so that external impact energy is effectively absorbed, dispersed and converted, and direct damage of impact force to components at limb joints is prevented.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to an anti-collision structure, a robot joint, and a robot. Background Art

[0002] During the actual operation of a robot, it often faces various unforeseen emergencies, such as a suddenly increased load or an accidental impact. These situations pose a huge challenge to the joint parts of the robot, and in particular, may cause significant damage to the joint motors, reduction units, and the overall connection structure. Under the repeated strong loads, key components such as precision gears, bearings, and transmission shafts may have problems such as fatigue fracture or permanent deformation, seriously affecting the normal operation of the robot and even causing its function to be lost.

[0003] In response to the above problems, the traditional solution is mainly to replace the damaged components. This means that once key components such as motors and reducers fail, the robot operation must be suspended and hardware replacement is required. However, this solution has a high cost and a cumbersome process, involving not only the cost of purchasing components, but also implicit expenses such as downtime, maintenance labor input, and possible secondary debugging.

[0004] Therefore, how to provide an anti-collision structure, a robot joint, and a robot that can disperse or transfer the received impact force is an urgent problem to be solved at present. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide an anti-collision structure, a robot joint, and a robot to solve the problem of damage to the joint parts of the robot caused by a suddenly increased load or an accidental impact.

[0006] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] The first aspect of the present application provides an anti-collision structure applied to the limb of a robot, including a driving mechanism and a flexible component; the flexible component is nested in the limb and is located between the output shaft extending in the second direction of the driving mechanism and the limb extending in the first direction, and is used for transmitting power. The flexible component includes: a first transmission ring, a second transmission ring, and a plurality of rigid bodies. The first transmission ring is sleeved on the output shaft; the diameter of the second transmission ring is smaller than that of the first transmission ring and is concentrically arranged with the first transmission ring, and the second transmission ring is sleeved on the output shaft; a plurality of rigid bodies are arranged between the first transmission ring and the second transmission ring; wherein, the outer circumference of the second transmission ring in contact with the plurality of rigid bodies is provided with flexible parts corresponding to the plurality of rigid bodies one by one, and the plurality of flexible parts have the ability of recoverable deformation so that the plurality of rigid bodies can switch between a first position and a second position relative to the second transmission ring; the second direction is perpendicular to the first direction and the longitudinal direction.

[0008] In some embodiments, each flexible portion includes a first limiting groove that is elastically deformable and recessed toward the center of the second transmission ring, and a second limiting groove that is elastically deformable and recessed toward the center of the second transmission ring; each rigid body includes a connecting end and a collision end, the connecting end is fixed to the first transmission ring; the collision end is opposite to the connecting end and abuts against the flexible portion; wherein, when a plurality of rigid bodies are in the first position relative to the second transmission ring, the collision ends of the plurality of rigid bodies abut against the first limiting grooves of the flexible portions corresponding thereto respectively; when a plurality of rigid bodies are in the second position relative to the second transmission ring, the collision ends of the plurality of rigid bodies abut against the second limiting grooves of the flexible portions corresponding thereto respectively.

[0009] In some embodiments, each rigid body is a spherical rigid body; each flexible portion includes a buffer groove and an elastic telescopic component, the opening of the buffer groove corresponds to and fits the rigid body; the elastic telescopic component is arranged in the buffer groove, one end of the elastic telescopic component facing away from the rigid body is fixed to the bottom of the buffer groove and the other end is against the rigid body; wherein, when the multiple rigid bodies are in the first position relative to the second transmission ring, the multiple rigid bodies compress the elastic telescopic component and enter the buffer groove through the opening, and when the multiple rigid bodies are in the second position relative to the second transmission ring, each elastic telescopic component stretches and pushes the rigid body between the first transmission ring and the second transmission ring.

[0010] In some embodiments, the collision end of the rigid body is a spherical structure that can rotate relative to the connection end.

[0011] In some embodiments, the anti-collision structure also includes a first friction plate and a second friction plate, the first friction plate is arranged on a side of the limb close to the driving mechanism; the second friction plate is arranged on a side of the driving mechanism close to the limb and the second friction plate corresponds to the first friction plate.

[0012] In some embodiments, the output shaft includes a first shaft segment and a second shaft segment, the first shaft segment extends along the second direction and is fixed to the drive mechanism; the second shaft segment extends along the second direction and is detachably connected to an end of the first shaft segment away from the drive mechanism.

[0013] In some embodiments, the output shaft is detachably connected to the body of the drive mechanism.

[0014] In some embodiments, the flexible portion may be made of elastic steel.

[0015] A second aspect of the present application provides a robot joint, which includes the above-mentioned anti-collision structure.

[0016] A third aspect of the present application provides a robot comprising the above-mentioned anti-collision structure.

[0017] Compared with the prior art, the anti-collision structure provided by the present application includes a driving mechanism and a flexible component. The flexible component is nested on the limb and is located between the output shaft and the limb. When the limb is impacted externally, the limb transmits the received impact force to the flexible component. Extrusion occurs between the multiple flexible parts of the second transmission ring of the flexible component and the corresponding multiple rigid bodies, and the flexible parts undergo elastic deformation. After the elastic deformation occurs, due to the action of its own elastic potential energy, the flexible parts can gradually return to their original state without continuous external force. During the process of deformation recovery, the second transmission ring will rotate relative to the surrounding rigid bodies. This rotation mechanism helps to disperse and transform the impact force originally directed at the main body of the limb. Through the elastic buffering effect of the flexible parts and the rotational transfer of the second transmission ring, the external impact force is effectively absorbed and resolved, thereby avoiding excessive damage or destruction to the limb caused by the impact force. Therefore, the anti-collision structure effectively absorbs, disperses, and transforms the external impact energy by adding a flexible component between the limb and the output shaft, reducing the direct damage of the impact force to the components at the limb joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By referring to the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present application will become readily understood. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0019] Figure 1 Schematically shows an overall structural diagram of an anti-collision structure provided by the present application;

[0020] Figure 2 Schematically shows a cross-sectional structural diagram of an anti-collision structure provided by the present application;

[0021] Figure 3 Schematically shows an overall structural diagram of another anti-collision structure provided by the present application.

[0022] Description of the reference numerals in the drawings:

[0023] 1. Limb; 2. Driving mechanism; 21. Output shaft; 3. Flexible component; 31. First transmission ring; 32. Second transmission ring; 33. Rigid body; 321. Flexible part; 3211. First limiting groove; 3212. Second limiting groove; 3213. Buffer groove; 3214. Elastic telescopic component; A. First direction; B. Second direction. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0025] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which this application belongs.

[0026] When the robot faces additional loads or impacts, components such as joint motors, motor output shafts 21, or gears may be damaged. The inventor wants to add a buffer structure between the limb 1 and the output shaft 21 to prevent damage to the joint parts of the robot caused by impacts in emergencies.

[0027] Embodiment 1

[0028] Refer to the attached Figure 1 - attached Figure 3 Referring to the attached drawings, Embodiment 1 of the present utility model provides an anti-collision structure applied to the limb 1 of a robot, including a driving mechanism 2 and a flexible component 3; the flexible component 3 is nested in the limb 1 and is located between the output shaft 21 extending along the second direction B of the driving mechanism 2 and the limb 1 extending along the first direction A, and is used for transmitting power. The flexible component 3 includes: a first transmission ring 31, a second transmission ring 32, and a plurality of rigid bodies 33. The first transmission ring 31 is sleeved on the output shaft 21; the diameter of the second transmission ring 32 is smaller than that of the first transmission ring 31 and is concentrically arranged with the first transmission ring 31, and the second transmission ring 32 is sleeved on the output shaft 21; a plurality of rigid bodies 33 are arranged between the first transmission ring 31 and the second transmission ring 32; wherein, the outer periphery of the second transmission ring 32 in contact with the plurality of rigid bodies 33 is provided with flexible parts 321 corresponding to the plurality of rigid bodies 33 one by one, and the plurality of flexible parts 321 have the ability of recoverable deformation so that the plurality of rigid bodies 33 can switch between a first position and a second position relative to the second transmission ring 32; the second direction B is perpendicular to the first direction A and the longitudinal direction.

[0029] Specifically, this anti-collision structure is applied to the limb 1 of the robot. Here, the limb 1 includes but is not limited to leg joints, waist joints, and elbow joints. The flexible component 3 is nested in the limb 1 and is located at the junction of the output shaft 21 and the limb 1, forming a buffer structure. The sizes of the first transmission ring 31 and the second transmission ring 32 of the flexible component 3 can be set according to the size of the output shaft 21. In addition, the specific shapes of the first transmission ring 31 and the second transmission ring 32 can be regular circular rings or elliptical rings, etc. Here, the specific shapes of the first transmission ring 31 and the second transmission ring 32 are not specifically limited and can be set according to actual needs. The number of rigid bodies 33 between the first transmission ring 31 and the second transmission ring 32 can be set according to actual needs. The rigid body 33 can specifically be a circular steel ball, a cylindrical steel column, or other structures. The rigid body 33 can be fixed on the first transmission ring 31 or can be arranged to roll between the first transmission ring 31 and the second transmission ring 32. The specific shape of the flexible part 321 corresponding to each of the multiple rigid bodies 33 on the second transmission ring 32 can be a groove structure adapted to the rigid body 33. The specific material of the flexible part 321 can be a material with recoverable deformation ability such as plastic or spring steel. The number of flexible parts 321 can be equal to or greater than the number of rigid bodies 33, and no specific limitation is made here.

[0030] The anti-collision structure provided by this application includes a driving mechanism 2 and a flexible component 3. The flexible component 3 is nested in the limb 1 and is located between the output shaft 21 and the limb 1. When the limb 1 is impacted externally, the limb 1 transfers the received impact force to the flexible component 3. Extrusion occurs between the multiple flexible parts 321 of the second transmission ring 32 of the flexible component 3 and the rigid bodies 33 corresponding to them one by one, and the flexible parts 321 undergo elastic deformation. After the elastic deformation occurs, due to the action of its own elastic potential energy, the flexible part 321 can gradually return to its original state without continuous external force. During the process of deformation recovery, the second transmission ring 32 will rotate relative to the surrounding rigid bodies 33. This rotation mechanism helps to disperse and transform the impact force originally directed at the main body of the limb 1. Through the elastic buffering effect of the flexible part 321 and the rotational transfer of the second transmission ring 32, the external impact force is effectively absorbed and resolved, thus avoiding excessive damage or destruction to the limb 1 caused by the impact force. Therefore, this anti-collision structure realizes the effective absorption, dispersion, and transformation of the external impact energy by adding the flexible component 3 between the limb 1 and the output shaft 21, reducing the direct damage of the impact force to the structure of the limb 1.

[0031] In some embodiments, each flexible portion 321 includes a first limiting groove 3211 that is elastically deformable and recessed toward the center of the second transmission ring 32, and a second limiting groove 3212 that is elastically deformable and recessed toward the center of the second transmission ring 32; each rigid body 33 includes a connecting end and a ramming end, the connecting end is fixed to the first transmission ring 31; the ramming end faces away from the connecting end and abuts against the flexible portion 321; wherein, when the plurality of rigid bodies 33 are in the first position relative to the second transmission ring 32, the ramming ends of the plurality of rigid bodies 33 respectively abut against the first limiting grooves 3211 of the flexible portions 321 corresponding thereto; when the plurality of rigid bodies 33 are in the second position relative to the second transmission ring 32, the ramming ends of the plurality of rigid bodies 33 respectively abut against the second limiting grooves 3212 of the flexible portions 321 corresponding thereto.

[0032] Specifically, as Figure 1 shown, each rigid body 33 includes a connecting end and a ramming end, the connecting end faces the first transmission ring 31 and the connecting end can be fixed to the first transmission ring 31 by welding, and the ramming end abuts against the flexible portion 321. Each flexible portion 321 includes a first limiting groove 3211 and a second limiting groove 3212, the first limiting groove 3211 and the second limiting groove 3212 are adjacent, the shapes and sizes of the first limiting groove 3211 and the second limiting groove 3212 are adapted to the ramming end of the rigid body 33, or the first limiting groove 3211 is adapted to the ramming end of the rigid body 33, and the second limiting groove 3212 is adapted to the protruding portion of the first transmission ring 31 in contact therewith, and the sizes and shapes of the first limiting groove 3211 and the second limiting groove 3212 may be the same or different. In order to enable the second transmission ring 32 to rotate more easily relative to the rigid body 33 when the limb 1 is impacted, a smooth transition is provided between the first limiting groove 3211 and the second limiting groove 3212. In addition, in order to increase the buffering effect, the entire second transmission ring 32 can be designed as a ring structure made of a material with recoverable deformation ability. When the limb 1 is impacted, extrusion occurs between the first limiting groove 3211 and the ramming end, the second transmission ring 32 rotates, and the ramming end moves relative to the first limiting groove 3211, so that the ramming end slides from the first limiting groove 3211 to the second limiting groove 3212. In addition, when the second transmission ring 32 is squeezed with the rigid body 33, in order to facilitate the rotation of the second transmission ring 32, the ramming end of the rigid body 33 is set as a spherical shape, and the first limiting groove 3211 and the second limiting groove 3212 are set as arc-shaped grooves adapted to the ramming end.

[0033] In some embodiments, each rigid body 33 is a spherical rigid body 33; each flexible part 321 includes a buffer groove 3213 and an elastic telescopic member 3214, the opening of the buffer groove 3213 corresponds to and fits the rigid body 33; the elastic telescopic member 3214 is arranged in the buffer groove 3213, one end of the elastic telescopic member 3214 away from the rigid body 33 is fixed to the bottom of the buffer groove 3213 and the other end abuts against the rigid body 33; wherein, when a plurality of rigid bodies 33 are in a first position relative to the second transmission ring 32, the plurality of rigid bodies 33 compress the elastic telescopic members 3214 and enter the buffer groove 3213 through the opening, and when the plurality of rigid bodies 33 are in a second position relative to the second transmission ring 32, each elastic telescopic member 3214 elongates and abuts the rigid body 33 between the first transmission ring 31 and the second transmission ring 32.

[0034] Specifically, as Figure 3 shown, each rigid body 33 is set as a spherical rigid body 33, and the size of the spherical rigid body 33 can be set according to the distance between the first transmission ring 31 and the second transmission ring 32. Each flexible member 3 includes a buffer groove 3213 and an elastic telescopic member 3214. The elastic telescopic member 3214 can specifically be a spring. The elastic telescopic member 3214 is arranged in the buffer groove 3213 and one end of the elastic telescopic member 3214 can be fixed in the buffer groove 3213 by welding or gluing. The other end of the elastic telescopic member 3214 abuts against the rigid body 33. The length of the elastic telescopic member 3214 can be set according to the depth of the buffer groove 3213, and the specific length of the elastic telescopic member 3214 is not specifically limited here. When the limb 1 is impacted, the distance between the side of the second transmission ring 32 opposite to the impacted part and the first transmission ring 31 decreases. The rigid body 33 on the side where the distance between the first transmission ring 31 and the second transmission ring 32 decreases and the elastic telescopic member 3214 are squeezed to compress the elastic telescopic member 3214 into the buffer groove 3213, and the rigid body 33 enters the corresponding buffer groove 3213, that is: a plurality of rigid bodies 33 are in a first position relative to the second transmission ring 32. When the external force disappears, the elastic telescopic member 3214 returns to its initial extended state, and the rigid body 33 is located at the opening of the buffer groove 3213, that is: the rigid body 33 is in a second position relative to the second transmission ring 32.

[0035] In some embodiments, the impact end of the rigid body 33 is a spherical structure that can rotate relative to the connection end.

[0036] Specifically, as Figure 1 、 Figure 3As shown, when the limb 1 is hit, the distance between the side of the second transmission ring 32 opposite to the hit part and the first transmission ring 31 is reduced, and compression occurs between the rigid body 33 and the elastic telescopic component 3214 on the side where the distance between the first transmission ring 31 and the second transmission ring 32 is reduced. In order to facilitate relative sliding between the flexible portion 321 of the second transmission ring 32 and the rigid body 33 to disperse the impact force, the collision end of the rigid body 33 is arranged to be a spherical structure that can rotate relative to the connecting end.

[0037] In some embodiments, the anti-collision structure also includes a first friction plate and a second friction plate, the first friction plate is arranged on a side of the limb 1 close to the driving mechanism 2; the second friction plate is arranged on a side of the driving mechanism 2 close to the limb 1 and the second friction plate corresponds to the first friction plate.

[0038] Specifically, Figure 2 As shown, in order to improve the anti-collision performance, the first friction plate and the second friction plate (not shown in the figure) are respectively arranged at the relative positions of the limb 1 and the drive mechanism 2. The size and friction coefficient of the first friction plate and the second friction plate can be set according to actual needs. The size and friction coefficient of the first friction plate and the second friction plate are not specifically limited here. When the robot is hit by an accident, the impact force will be transmitted to the first friction plate through the limb 1 in turn, and then the first friction plate and the second friction plate will come into contact and generate friction resistance, forming an effective energy buffer. Through the friction between the two friction plates, the impact force can be gradually converted into friction heat energy, rather than being instantly transmitted to the precision parts at the joint, thereby avoiding the hard collision between the limb 1 and the output shaft 21, and effectively protecting the internal structure of the joint from damage.

[0039] In some embodiments, the output shaft 21 includes a first shaft segment and a second shaft segment. The first shaft segment extends along the second direction B and is fixed to the drive mechanism 2 . The second shaft segment extends along the second direction B and is detachably connected to an end of the first shaft segment away from the drive mechanism 2 .

[0040] Specifically, Figure 2 As shown, the output shaft 21 includes a first shaft section and a second shaft section. The lengths of the first shaft section and the second shaft section can be the same or different, and can be set according to actual needs. The second shaft section is connected to the end of the first shaft section away from the driving mechanism 2. The two can be detachably installed by means of threaded connection, magnetic connection, undercut connection or mortise and tenon connection. Figure 2The reverse connection shown in the figure: One end of the output shaft 21 close to the body of the drive mechanism 2 is provided with a hooking portion that is adapted to and corresponds to the installation groove of the body of the drive mechanism 2. The hooking portion is provided with a convex tooth portion for restricting the movement of the output shaft 21 in the second direction B. In order to facilitate the convex tooth portion to enter the installation groove, the convex tooth portion is provided with a guiding surface that forms an angle with the first direction A, and this angle can be set according to actual needs. When the output shaft 21 is strongly impacted in the direction parallel to the axis and the shaft segment is damaged, the operator does not need to replace the drive mechanism 2 as a whole, but only needs to locally replace the damaged shaft segment, that is: it is possible to choose to replace the first shaft segment or the second shaft segment. This method reduces the maintenance cost of the equipment and saves the inspection time and resources.

[0041] In some embodiments, the output shaft 21 is detachably connected to the body of the drive mechanism 2.

[0042] Specifically, as Figure 2 shown, the output shaft 21 can be connected to the body of the drive mechanism 2 by means of threaded connection, magnetic attraction connection, reverse connection or mortise and tenon connection, etc. to achieve detachable installation. When the output shaft 21 is strongly impacted in the direction parallel to the axis and the shaft segment is damaged, the operator does not need to replace the drive mechanism 2 as a whole, but only needs to locally replace the damaged output shaft 21. This setting reduces the maintenance cost of the equipment and saves the inspection time and resources.

[0043] In some embodiments, the flexible portion 321 can be made of elastic steel.

[0044] Specifically, as Figure 1 、 Figure 2 shown, the flexible portion 321 can be made of elastic steel. The elastic steel has a very high yield strength and elastic limit, and can withstand deformation within a large load range and can quickly return to its original state.

[0045] Embodiment Two

[0046] The second aspect of the present application provides a robot joint, which includes the above-mentioned anti-collision structure.

[0047] A robot joint provided by the second embodiment of the present application includes the above-mentioned anti-collision structure. By adding one or more of the above-mentioned anti-collision structures at the joint of the robot, the impact force received at the joint can be dispersed or transformed, reducing the direct damage of the impact force to the components at the joint of the limb 1.

[0048] Embodiment Three

[0049] The third aspect of the present application provides a robot, which includes the above-mentioned anti-collision structure.

[0050] A robot provided in Embodiment 3 of the present application includes the above anti-collision structure. The specific positions where the anti-collision structure is provided include, but are not limited to, the joints of the robot, and can also be provided in other parts of the robot, such as the waist, neck and other parts. By adding one or more of the above anti-collision structures to the parts that need to be protected, the impact force received by these parts can be dispersed or transformed, reducing the direct damage caused by the impact force to these parts.

[0051] It should be noted that in the description of this specification, the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention; terms such as "connection", "installation", and "fixation" should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0053] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An anti-collision structure, applied to a limb of a robot (1), characterized in that: include: A driving mechanism (2); A flexible component (3) is nested in the limb (1) and is located between an output shaft (21) of the drive mechanism (2) extending along the second direction (B) and the limb (1) extending along the first direction (A), and is used for transmitting power. The flexible component (3) comprises: A first transmission ring (31) sleeved on the output shaft (21); a second transmission ring (32) having a smaller diameter than the first transmission ring (31) and being arranged concentrically with the first transmission ring (31), wherein the second transmission ring (32) is sleeved on the output shaft (21); A plurality of rigid bodies (33) are arranged between the first transmission ring (31) and the second transmission ring (32); The outer periphery of the second transmission ring (32) in contact with the plurality of rigid bodies (33) is provided with flexible parts (321) corresponding one to one with the plurality of rigid bodies (33), and the plurality of flexible parts (321) have a restorable deformation capability so that the plurality of rigid bodies (33) can be switched between a first position and a second position relative to the second transmission ring (32); The second direction (B) is perpendicular to the first direction (A) and the longitudinal direction.

2. The anti-collision structure according to claim 1, characterized in that: Each of the flexible portions (321) comprises a first limiting groove (3211) which is elastically deformable and recessed toward the center of the second transmission ring (32), and a second limiting groove (3212) which is elastically deformable and recessed toward the center of the second transmission ring (32); Each of the rigid bodies (33) comprises: A connecting end fixed to the first transmission ring (31); An impact end, opposite to the connecting end and abutting against the flexible portion (321); Wherein, when the multiple rigid bodies (33) are in the first position relative to the second transmission ring (32), the collision ends of the multiple rigid bodies (33) respectively abut against the first limiting grooves (3211) of the corresponding flexible parts (321); when the multiple rigid bodies (33) are in the second position relative to the second transmission ring (32), the collision ends of the multiple rigid bodies (33) respectively abut against the second limiting grooves (3212) of the corresponding flexible parts (321).

3. The anti-collision structure according to claim 1, characterized in that: Each of the rigid bodies (33) is a spherical rigid body (33); Each flexible portion (321) comprises: A buffer groove (3213), the opening of the buffer groove (3213) corresponds to and fits with the rigid body (33); An elastic telescopic component (3214) is disposed in the buffer groove (3213), one end of the elastic telescopic component (3214) facing away from the rigid body (33) is fixed to the bottom of the buffer groove (3213) and the other end abuts against the rigid body (33); Wherein, when the multiple rigid bodies (33) are in the first position relative to the second transmission ring (32), the multiple rigid bodies (33) compress the elastic telescopic component (3214) and enter the buffer groove (3213) through the opening; when the multiple rigid bodies (33) are in the second position relative to the second transmission ring (32), each of the elastic telescopic components (3214) stretches and pushes the rigid body (33) between the first transmission ring (31) and the second transmission ring (32).

4. The anti-collision structure according to claim 2, characterized in that: The collision end of the rigid body (33) is a spherical structure that can rotate relative to the connection end.

5. The anti-collision structure according to claim 1, characterized in that: Also includes: A first friction plate, arranged on a side of the limb (1) close to the driving mechanism (2); and A second friction plate is arranged on a side of the driving mechanism (2) close to the limb (1), and the second friction plate corresponds to the first friction plate.

6. The anti-collision structure according to claim 1, characterized in that: The output shaft (21) comprises: A first shaft section extending along the second direction (B) and fixed to the driving mechanism (2); and The second shaft segment extends along the second direction (B) and is detachably connected to an end of the first shaft segment facing away from the driving mechanism (2).

7. The anti-collision structure according to claim 1, characterized in that: The output shaft (21) is detachably connected to the body of the driving mechanism (2).

8. The anti-collision structure according to claim 1, characterized in that: The flexible portion (321) may be made of elastic steel.

9. A robot joint, characterized in that: include: An anti-collision structure as claimed in any one of claims 1 to 8.

10. A robot, characterized in that: include: An anti-collision structure as claimed in any one of claims 1 to 8.

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