Joint machine and robot

Abstract

The utility model relates to the technical field of safety communication, in particular to a joint machine and a robot. The joint machine comprises a shell, wherein a control panel, a first circuit board, a second circuit board and a first signal layer are arranged in the shell; the control panel comprises a first surface, and the first surface is provided with a safety CPU and a master control CPU in signal connection with the safety CPU. The first circuit board is located on one side of the control board and faces the first surface, the first signal layer is located on the side, deviating from the first surface, of the control board, the second circuit board is of an annular structure, the second circuit board and the first circuit board define a containing cavity, and the control board is located in the containing cavity; wherein the first circuit board is provided with a first signal line, the second circuit board is provided with a second signal line, the first signal layer comprises a third signal line, and the first signal line, the second signal line and the third signal line are all electrically connected with the safety CPU. The joint machine can resist external attacks, so that the safety of the control panel and related parts in the accommodating cavity is protected.

Description

Technical Field

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

[0002] As the application scope of robots is extended, they are involved in all aspects of social life and production, and are increasingly working with humans. Therefore, in order for robots to coexist harmoniously with humans, the safety of the robot's motion execution components is a major issue that must be addressed.

[0003] The key component of the robot's motion execution is called an articulated machine or an articulated actuator (hereinafter referred to as an articulated machine). The articulated machine receives external motion control instructions, parses the received instruction content, and responds to certain actions or states according to the instruction content. At present, the attacks on articulated machines are mainly physical attacks on their control panels, such as using implantation, modification, and partial replacement to hijack the control capabilities of the control panel, and perform certain unpredictable behaviors according to the conditions triggered by the attacker, which may cause irreparable or irreversible consequences. Utility Model Content

[0004] The present application discloses a joint machine and a robot to solve the problem of low security when the control panel of the existing joint machine is attacked.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a joint machine, which includes a shell, in which a control board, a first circuit board, a second circuit board and a first signal layer are arranged; the control board includes a first surface, on which a safety controller (central processing unit, CPU) and a main control CPU connected to the safety CPU signal are arranged; the first circuit board is located on one side of the control board and faces the first surface, the first signal layer is located on the side of the control board away from the first surface, the second circuit board is an annular structure and is surrounded by the first circuit board to form a accommodating cavity, and the control board is located in the accommodating cavity; wherein the first circuit board is provided with a first signal line, the second circuit board is provided with a second signal line, the first signal layer includes a third signal line, and the first signal line, the second signal line and the third signal line are all electrically connected to the safety CPU.

[0007] The articulated machine provided by this application, wherein the first circuit board, the first signal layer and the second circuit board form a receiving cavity, and the control board is located within the receiving cavity. The trigger signal of the secure CPU can be returned to the secure CPU via the first signal line, the trigger signal of the secure CPU can be returned to the secure CPU via the second signal line, and the trigger signal of the secure CPU can be returned to the secure CPU via the third signal line. Therefore, the receiving cavity is equivalent to a secure compartment. The first circuit board and the first signal layer can resist external attacks along the axial direction of the articulated machine, and the second circuit board can resist external attacks along the radial direction of the articulated machine. When the articulated machine is attacked and the trigger signal received by the secure CPU exceeds the threshold range, the secure CPU will instantly destroy the stored internal key and sensitive data, thereby protecting the security of the control board and related components within the secure compartment.

[0008] Further, the first circuit board is made of a flexible material; and / or, the second circuit board is made of a flexible material.

[0009] Further, the articulated machine further includes a third circuit board, and the first signal layer is disposed on the third circuit board; or, the first signal layer is integrated into the control board.

[0010] Further, the secure CPU includes an input pin and an output pin; one end of the first signal line is connected to the output pin, and the other end of the first signal line is connected to the input pin; one end of the second signal line is connected to the output pin, and the other end of the second signal line is connected to the input pin; one end of the third signal line is connected to the output pin, and the other end of the third signal line is connected to the input pin.

[0011] Further, the first signal line is connected to the output pin through a first component, and the first component includes a first conductive element and a second conductive element. The first conductive element is disposed on the first circuit board, and the second conductive element is disposed on the control board; the first signal line is connected to the input pin through a second component, and the second component includes a third conductive element and a fourth conductive element. The third conductive element is disposed on the first circuit board, and the fourth conductive element is disposed on the control board; and / or, the second signal line is connected to the output pin through a third component, and the third component includes a fifth conductive element and a sixth conductive element. The fifth conductive element is disposed on the second circuit board, and the sixth conductive element is disposed on the control board; the second signal line is connected to the input pin through a fourth component, and the fourth component includes a seventh conductive element and an eighth conductive element. The seventh conductive element is disposed on the second circuit board, and the eighth conductive element is disposed on the control board.

[0012] Further, the fifth conductive element extends along the radial direction of the annular structure; and / or, the seventh conductive element extends along the radial direction of the annular structure.

[0013] Further, the first circuit board is provided with a first ground wire, and the first ground wire is electrically connected to the control board; and / or, the second circuit board is provided with a second ground wire, and the second ground wire is electrically connected to the control board; and / or, the first signal layer is provided with a third ground wire, and the third ground wire is electrically connected to the control board.

[0014] Further, the first signal wire is a serpentine signal wire provided on the surface of the first circuit board; and / or, the second signal wire is a serpentine signal wire provided on the surface of the second circuit board; and / or, the third signal wire is a serpentine signal wire provided on the first signal layer.

[0015] Further, the width of the first ground wire is equal to the width of the first signal wire; and / or, the width of the second ground wire is equal to the width of the second signal wire; and / or, the width of the third ground wire is equal to the width of the third signal wire.

[0016] In a second aspect, the present application provides a robot, which includes a main controller and the joint machine of the first aspect, and the main controller is signal-connected to the main control CPU.

[0017] Since the robot includes the joint machine in the present application, the robot also has an active defense function and can effectively resist various physical means of external attacks, making the entire robot system reach a new security level. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of a joint machine according to an embodiment of the present application;

[0019] Figure 2 It is a schematic diagram of the internal active defense network of a joint machine according to an embodiment of the present application;

[0020] Figure 3 It is a schematic structural diagram of the first circuit board installed in the second housing according to an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of the topological design of the dynamic signal of a joint machine according to an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the principle of the active defense network of a joint machine according to an embodiment of the present application;

[0023] Figure 6 It is a schematic structural diagram of the first circuit board according to an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the package of the first circuit board and the second housing according to an embodiment of the present application;

[0025] Figure 8 It is a schematic structural diagram of the second circuit board according to an embodiment of the present application;

[0026] Figure 9 Schematic diagram of the second circuit board forming a ring structure according to an embodiment of the present application;

[0027] Figure 10 Schematic diagram of the topological design of the dynamic signal of the joint machine according to an embodiment of the present application;

[0028] Figure 11 Schematic diagram of the structure of the signal line according to an embodiment of the present application;

[0029] Figure 12 Exploded view of the joint machine according to an embodiment of the present application;

[0030] Figure 13 Schematic diagram of the principle of the active defense network of the robot according to an embodiment of the present application.

[0031] Reference numerals in the drawings: 100 - housing; 110 - first outer shell; 120 - second outer shell; 200 - control board; 210 - first interface; 300 - first circuit board; 310 - first signal line; 320 - first ground line; 400 - second circuit board; 410 - second signal line; 420 - second ground line; 500 - first signal layer; 510 - third signal line; 520 - third ground line; 600 - security CPU; 610 - output pin; 611 - first output pin; 612 - second output pin; 620 - input pin; 621 - first input pin; 622 - second input pin; 700 - main control CPU; 800 - encapsulating glue; 900 - main controller;

[0032] 10 - first component; 11 - first conductive element; 12 - second conductive element; 20 - second component; 21 - third conductive element; 22 - fourth conductive element; 30 - third component; 31 - fifth conductive element; 32 - sixth conductive element; 40 - fourth component; 41 - seventh conductive element; 42 - eighth conductive element; 50 - first conductive component; 51 - first conductive part; 52 - second conductive part; 60 - second conductive component; 61 - third conductive part; 62 - fourth conductive part;

[0033] 80 - first connecting part; 90 - second connecting part; 01 - first surface; 02 - second surface; 03 - receiving cavity; 04 - first bin; 05 - second bin; 06 - first mounting hole; 07 - second mounting hole. Detailed implementation manners

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] With the extension of the application scope of robots, for example, humanoid robots or intelligent robots can be applied to various life or work scenarios, and they are increasingly working in collaboration with humans. Therefore, in order for robots to coexist harmoniously with humans, the safety of the robot's motion execution components is a major issue that must be addressed.

[0036] The key components of a robot's motion execution are called articulated machines or articulated actuators (hereinafter referred to as articulated machines). At present, attacks on articulated machines are mainly physical attacks on their control panels, such as using implants, modifications, and partial replacements to hijack the control capabilities of the control panel, and executing certain unpredictable behaviors based on the conditions triggered by the attacker, which may cause irreparable or irreversible consequences.

[0037] In view of this, an embodiment of the present application provides a joint machine, Figure 1 This is a schematic diagram of the structure of a joint machine according to an embodiment of the present application. Figure 2 This is a schematic diagram of the internal active defense network of the joint machine according to an embodiment of the present application. Please refer to Figure 1 and Figure 2 The articulator includes a housing 100, in which a control board 200, a first circuit board 300, a second circuit board 400 and a first signal layer 500 are arranged. The control board 200 includes a first surface 01 and a second surface 02 arranged opposite to each other, and the first surface 01 is provided with a safety controller (central processing unit, CPU) 600 and a main control CPU 700 connected to the safety CPU 600 by signal. Among them, the main control CPU 700 can receive external motion control instructions, and the main control CPU 700 then transmits the instruction signal to the action-executing component of the articulator through the safety CPU 600 to perform related actions. The first circuit board 300 is located on one side of the control board 200 and faces the first surface 01, and the first signal layer 500 is located on the side of the control board 200 away from the first surface 01. The second circuit board 400 is a ring structure and is surrounded by the first circuit board 300 to form a receiving cavity 03, and the control board 200 is located in the receiving cavity 03. Among them, the first circuit board 300 is provided with a first signal line 310, the second circuit board 400 is provided with a second signal line 410, the first signal layer 500 includes a third signal line 510, and the first signal line 310, the second signal line 410 and the third signal line 510 are all electrically connected to the security CPU 600.

[0038] Referring to Figure 1 , the accommodation cavity 03 can be fully enclosed or semi-enclosed. The first circuit board 300 and the first signal layer 500 of the above-mentioned joint machine can resist external attacks along the axial direction D1 of the joint machine, and the second circuit board 400 can resist external attacks along the radial direction D2 of the joint machine. When the joint machine is attacked and the trigger signal received by the security CPU 600 exceeds the threshold range, the security CPU 600 will instantly destroy the stored internal key and sensitive data, and the joint machine will return to the unpersonalized state, and it is necessary to re-personalize and fill the factory key, so as to protect the security of the control board 200 and the related components in the accommodation cavity 03.

[0039] Among them, the security CPU can be a 32-bit high-security general-core design security processor, which integrates a flash memory (Flash ROM) and a random access memory (random access memory, RAM) internally, and has an independently powered and security-protected 4KB NVRAM and an algorithm-specific RAM. It can support SM2 / RSA / ECC public key cryptography algorithms, support SM1 / SM4 / SM7 / DES / TDES / AES symmetric cryptography algorithms, and support SM3 / SHA1 / SHA256 HASH algorithms. The above-mentioned Flash ROM, RAM, and NVRAM data can be encrypted and scrambled to enhance the security of the joint machine.

[0040] In some optional embodiments, the defense means provided by the security CPU itself also includes pre-etching metal grids on the surface of the IC silicon chip to protect the ROM and RAM areas, which can resist attacks on the memory by electron probes or ion probes.

[0041] Optionally, the protection of the clock oscillator (independent of the external clock crystal oscillator) inside the security CPU can resist attacks on the operating frequencies of each part of the chip clock tree. Optionally, the security CPU further includes a sensitive temperature sensor, which can detect environmental bypass attacks outside the temperature range. Optionally, the security CPU further includes a sensitive voltage sensor, which can detect power overvoltage and undervoltage bypass attacks outside the voltage range.

[0042] Continuing to refer to Figure 1 , the housing 100 includes a first outer shell 110 and a second outer shell 120, and the first outer shell 110 and the second outer shell 120 enclose a closed chamber. Among them, the first outer shell 110 and the second outer shell 120 can be connected by a first connecting member 80. The first outer shell 110 and the second outer shell 120 are both provided with first mounting holes 06, the first mounting holes 06 are provided with internal threads, and the first connecting member 80 is provided with external threads. Specifically, the first connecting member 80 can be a screw or a bolt, and the first connecting member 80 is threadedly connected to the first mounting hole 06.

[0043] Continue to refer to Figure 1 , the first housing 110 and the control board 200 can be connected through the second connecting member 90. Both the first housing 110 and the control board 200 are provided with second mounting holes 07. The second mounting holes 07 are provided with internal threads, and the second connecting member 90 is provided with external threads. Specifically, the second connecting member 90 can be a screw or a bolt, and the second connecting member 90 is threadedly connected to the second mounting hole 07.

[0044] It can be understood that the second circuit board 400 is made of a flexible material, that is, the second circuit board 400 can be a flexible printed circuit (FPC). The second circuit board 400 can be a circular ring, a triangular ring, a quadrilateral ring or other polygonal rings, and can be specifically designed according to actual needs. As Figure 2 shown, the second circuit board 400 can be a circular FPC.

[0045] In some alternative embodiments, the first circuit board 300 can be a rigid printed circuit board (PCB) or an FPC. When the first circuit board 300 is an FPC, it can more sensitively monitor external attacks and can be more conveniently installed into the housing 100. Figure 3 Schematic diagram of the structure of the first circuit board of an embodiment of the present application mounted on the second housing. As Figure 3 shown, when the first circuit board 300 is an FPC, it can be adhered to the inner surface of the second housing 120.

[0046] In some alternative embodiments, the joint machine further includes a third circuit board 500. The first signal layer 510 is provided on the third circuit board 500, and the third circuit board 500 faces the second surface 02. Among them, the third circuit board 500 can be a rigid PCB or an FPC. In other alternative embodiments of the present application, as Figure 2 shown, the first signal layer 500 is integrated on the control board 200, that is, the surface of the first signal layer 500 facing away from the first surface 01 is the second surface 02 of the control board 200. When the above structure is adopted, the manufacturing process can be simplified and the manufacturing cost can be reduced.

[0047] Figure 4 Schematic diagram of the topological design of the dynamic signal of the joint machine of an embodiment of the present application. Refer to Figure 4, the secure CPU 600 includes an input pin 620 and an output pin 610. One end of the first signal line 310 is connected to the output pin 610, and the other end of the first signal line 310 is connected to the input pin 620. The trigger signal sent by the secure CPU 600 returns from the output pin 610 through the first signal line 310 to the input pin 620. One end of the second signal line 410 is connected to the output pin 610, and the other end of the second signal line 410 is connected to the input pin 620. The trigger signal sent by the secure CPU 600 returns from the output pin 610 through the second signal line 410 to the input pin 620. One end of the third signal line 510 is connected to the output pin 610, and the other end of the third signal line 510 is connected to the input pin 620. The trigger signal sent by the secure CPU 600 returns from the output pin 610 through the third signal line 510 to the input pin 620.

[0048] Among them, the number of output pins and input pins can each be one, two, or more. When the number of both output pins and input pins is one, the first signal line, the second signal line, and the third signal line are connected in series.

[0049] When the number of both output pins and input pins is two, two of the first signal line, the second signal line, and the third signal line are connected in parallel. As Figure 4 shown, the output pin 610 includes a first output pin 611 and a second output pin 612, and the input pin 620 includes a first input pin 621 and a second input pin 622. Among them, the trigger signal sent by the secure CPU 600 is transmitted from the first output pin 611 to the third signal line 510 and the first signal line 310, and then returns to the secure CPU 600 through the third signal line 510 and the first input pin 621. The trigger signal sent by the secure CPU 600 is transmitted from the second output pin 612 to the third signal line 510 and the second signal line 410, and then returns to the secure CPU 600 through the third signal line 510 and the second input pin 622.

[0050] Figure 5 is the schematic diagram of the active defense network of the joint machine in an embodiment of the present application. Referring to Figure 5 , after the main control CPU 700 receives an external instruction, it transmits the instruction signal to the secure CPU 600. The first signal line 310, the second signal line 410, and the third signal line 510 are all signal-connected to the secure CPU 600 and jointly form the active defense network of the joint machine.

[0051] Optionally, when the number of both output pins and input pins is three, the first signal line, the second signal line, and the third signal line are all connected in parallel.

[0052] In some alternative embodiments, in the present application, at least one of the following three measures can be adopted to ensure that the signal cannot be copied:

[0053] 1) A sequence of the number of active defense pulses randomly generated; 2) A parameter of the pulse time interval randomly generated; 3) Random pulse amplitude grades.

[0054] Among them, when the active defense signal exceeds the threshold range set inside the secure CPU, it is determined that the joint machine is under attack, and the secure CPU will instantaneously destroy the master key, working key, and sensitive data stored in the internal SRAM.

[0055] Optionally, in the present application, the joint machine can pass an application programming interface (API) for setting the active defense sleep wake-up frequency that has been encapsulated to coordinate the balance between power consumption and the security strength of active defense, thereby improving the flexibility of the application of the joint machine.

[0056] Figure 6 It is a schematic structural diagram of the first circuit board of an embodiment of the present application. Figure 7 It is a schematic diagram of the encapsulation of the first circuit board and the second housing of an embodiment of the present application. Please refer to Figure 2 、 Figure 4 、 Figure 6 and Figure 7 , the first signal line 310 is connected to the output pin 610 through the first component 10. The first component 10 includes a first conductive element 11 and a second conductive element 12. The first conductive element 11 is disposed on the first circuit board 300, and the second conductive element 12 is disposed on the control board 200. Among them, the first conductive element 11 can be an elastic conductive element disposed on the first circuit board 300. Specifically, the first conductive element 11 can be a spring pogo pin or a metal shrapnel, etc. The second conductive element 12 can be a conductive contact disposed on the control board 200. The first conductive element 11 and the second conductive element 12 can be directly in contact connection or welded connection.

[0057] Optionally, the first signal line 310 is connected to the input pin 620 through the second component 20. The second component 20 includes a third conductive element 21 and a fourth conductive element 22. The third conductive element 21 is disposed on the first circuit board 300, and the fourth conductive element 22 is disposed on the control board 200. Among them, the third conductive element 21 can be an elastic conductive element disposed on the first circuit board 300. Specifically, the first conductive element 11 can be a spring pogo pin or a metal shrapnel, etc. The fourth conductive element 22 can be a conductive contact disposed on the control board 200. The third conductive element 21 and the fourth conductive element 22 can be directly in contact connection or welded connection.

[0058] To increase the difficulty of attack, such asFigure 7 As shown, the first circuit board 300, the second housing 120, the first component 10, and the second component 20 can be completely cured together using the modified encapsulating adhesive 800. The modified encapsulating adhesive 800 can improve its physical properties such as temperature resistance and tear strength. Any physical disassembly and attack on the axial direction can easily damage or trigger the active defense network formed by the first signal line 310. At the same time, the curing and sealing also improve the reliability and environmental adaptability of the entire defense network.

[0059] Please continue to refer to Figure 7 , during the assembly process, the conductive contacts on the control board 200 will contact the elastic conductive elements of the first circuit board 300. After the assembly is completed, the elastic conductive elements are compressed along the axial direction D1 and the signal path becomes effective. Once a disassembly activity on the housing 100 of the articulated machine occurs, the signal link will be disconnected, triggering the active defense mechanism.

[0060] Figure 8 It is a schematic structural diagram of the second circuit board according to an embodiment of the present application. Figure 9 It is a schematic diagram of the second circuit board forming an annular structure according to an embodiment of the present application. Please refer to Figure 1 , Figure 2 , Figure 4 , Figure 8 and Figure 9 , the second signal line 410 is connected to the output pin 610 through the third component 30. The third component 30 includes a fifth conductive element 31 and a sixth conductive element 32. The fifth conductive element 31 is disposed on the second circuit board 400, and the sixth conductive element 32 is disposed on the control board 200. Among them, the fifth conductive element 31 can be an elastic conductive element disposed on the second circuit board 400. Specifically, the fifth conductive element 31 can be a spring pin or a metal shrapnel, etc. The sixth conductive element 32 can be a conductive contact disposed on the control board 200. The fifth conductive element 31 and the sixth conductive element 32 can be directly contact-connected or welded-connected.

[0061] In some alternative embodiments, the second signal line 410 is connected to the input pin 620 through the fourth component 40. The fourth component 40 includes a seventh conductive element 41 and an eighth conductive element 42. The seventh conductive element 41 is disposed on the second circuit board 400, and the eighth conductive element 42 is disposed on the control board 200. Among them, the seventh conductive element 41 can be an elastic conductive element disposed on the second circuit board 400. Specifically, the seventh conductive element 41 can be a spring pin or a metal shrapnel, etc. The eighth conductive element 42 can be a conductive contact disposed on the control board 200. The seventh conductive element 41 and the eighth conductive element 42 can be directly contact-connected or welded-connected.

[0062] Such as Figure 8As shown, the second circuit board 400 can be strip-shaped. Both the fifth conductive element 31 and the seventh conductive element 41 can be protrusions connected to the second circuit board 400, and the protrusions extend along the width direction D3 of the second circuit board 400. As Figure 2 and Figure 9 shown, after assembly, the second circuit board 400 is in an annular shape. The second circuit board 400 can be attached to the inner wall of the housing 100. Both the fifth conductive element 31 and the seventh conductive element 41 are bent by 90°, that is, both the fifth conductive element 31 and the seventh conductive element 41 extend along the radial direction of the annular structure to respectively contact the sixth conductive element 32 and the eighth conductive element 42 provided on the control board 200.

[0063] Among them, the number of the first components 10 can be one, two, or more. Similarly, the number of the second components 20 can be one, two, or more. Similarly, the number of the third components 30 can be one, two, or more. Similarly, the number of the fourth components 40 can be one, two, or more. The number of the first components 10, the second components 20, the third components 30, or the fourth components 40 can be designed according to specific situations, such as comprehensively considering the dimensions of the articulated machine, the first circuit board 300, the second circuit board 400, or the first signal layer 500 and the manufacturing cost.

[0064] It can be understood that when the number of the first components 10, the second components 20, the third components 30, or the fourth components 40 in this application is multiple, the first signal line 310, the second signal line 410, or the third signal line 510 can all adopt a more complex winding mode to increase the difficulty of attack.

[0065] Figure 10 is a schematic diagram of the topological design of the dynamic signal of the articulated machine according to an embodiment of this application. Referring to Figure 10 , the first signal layer 500 is integrated on the control board 200. One end of the third signal line 510 is connected to the output pin 610 of the secure CPU 600, and one end of the third signal line 510 is connected to the input pin 620 of the secure CPU 600. There are two groups of first components 10 and two groups of second components 20 between the first signal line 310 and the third signal line 510. That is, the transmission path of the trigger signal sent by the secure CPU 600 is to pass through the third signal line 510, the first signal line 310, the third signal line 510, the first signal line 310, and the third signal line 510 in sequence and then return to the secure CPU 600. Similarly, there are two groups of third components 30 and two groups of fourth components 40 between the second signal line 410 and the third signal line 510. That is, the transmission path of the trigger signal sent by the secure CPU 600 is to pass through the third signal line 510, the second signal line 410, the third signal line 510, the second signal line 410, and the third signal line 510 in sequence and then return to the secure CPU 600.

[0066] Reference may continue to be made to Figure 2 、 Figure 3 、 Figure 6 and Figure 7 , the first circuit board 300 is provided with a first ground wire 320, and the first ground wire 320 is electrically connected to the control board 200. Among them, the first ground wire 320 and the control board 200 are connected through a first conductive component 50, and the first conductive component 50 includes a first conductive member 51 and a second conductive member 52. The first conductive member 51 is disposed on the first circuit board 300, and the second conductive member 52 is disposed on the control board 200. Among them, the first conductive member 51 can be an elastic conductive element disposed on the first circuit board 300. Specifically, the first conductive member 51 can be a spring pin or a metal shrapnel, etc. The second conductive member 52 can be a conductive contact disposed on the control board 200. The first conductive member 51 and the second conductive member 52 can be directly in contact connection or welded connection.

[0067] In some alternative embodiments, the second circuit board 400 is provided with a second ground wire 420, and the second ground wire 420 is electrically connected to the control board 200. Among them, the second ground wire 420 and the control board 200 are connected through a second conductive component 60, and the second conductive component 60 includes a third conductive member 61 and a fourth conductive member 62. Please refer to Figure 2 、 Figure 8 and Figure 9 together, the third conductive member 61 is disposed on the second circuit board 400, and the fourth conductive member 62 is disposed on the control board 200. Among them, the third conductive member 61 can be an elastic conductive element disposed on the second circuit board 400. Specifically, the third conductive member 61 can be a spring pin or a metal shrapnel, etc. The fourth conductive member 62 can be a conductive contact disposed on the control board 200. The third conductive member 61 and the fourth conductive member 62 can be directly in contact connection or welded connection.

[0068] In some alternative embodiments, the first signal layer 500 is provided with a third ground wire 520, and the third ground wire 520 is electrically connected to the control board 200. Among them, when the first signal layer 500 is disposed on the third circuit board, the third ground wire 520 and the control board 200 are connected through a third conductive component (not shown in the figure), and the third conductive component includes a fifth conductive member and a sixth conductive member. The fifth conductive member is disposed on the third circuit board, and the sixth conductive member is disposed on the control board 200. Among them, the fifth conductive member can be an elastic conductive element disposed on the third circuit board. Specifically, the fifth conductive member can be a spring pin or a metal shrapnel, etc. The sixth conductive member can be a conductive contact disposed on the control board 200. The fifth conductive member and the sixth conductive member can be directly in contact connection or welded connection.

[0069] Optionally, the first signal line 310 is a serpentine signal line disposed on the surface of the first circuit board 300. Optionally, the second signal line 410 is a serpentine signal line disposed on the surface of the second circuit board 400. Optionally, the third signal line 510 is a serpentine signal line disposed on the first signal layer 500. Figure 11 This is a schematic diagram of the structure of a signal line of an embodiment of the present application, referring to Figure 11 The winding method of the serpentine signal line is random, the routing is dense and there is no rule to follow, which can make the protected circuit board obtain better protection effect. It is understandable that the smaller the width of the serpentine signal line, the better, which can make the wiring on the circuit board denser. The serpentine signal line can be drawn manually in the design software.

[0070] In some optional embodiments, the width of the first ground line 320 is equal to the width of the first signal line 310. Optionally, the width of the second ground line 420 is equal to the width of the second signal line 410. Optionally, the width of the third ground line 520 is equal to the width of the third signal line 510. Wherein, the ratio of the width of the serpentine signal line to the size of the spacing between two adjacent serpentine signal lines can be 1:3, so that the width of the first ground line 320, the width of the second ground line 420 or the width of the third ground line 520 of the PCB design software can be consistent with the width of the serpentine signal line. For example, the width of the serpentine signal line is 0.127mm, and the width of the first ground line 320, the width of the second ground line 420 or the width of the third ground line 520 is also 0.127mm. Wherein, the first ground line 320, the second ground line 420 or the third ground line 520 can be obtained by filling the GND copper cladding layer in the preset area of the circuit board.

[0071] Figure 12 This is an exploded view of a joint machine according to an embodiment of the present application, referring to Figure 12 The joint machine can be a cylindrical structure. The joint machine also includes a first bin 04 and a second bin 05 arranged in the housing 100, the first bin 04 is used to accommodate the motor, and the second bin 05 is used to accommodate the reducer. The motor is located on the side of the control board 200 away from the first circuit board 300, and the motor is connected to the control board 200, and the reducer is connected to the motor and the reducer is located on the side of the motor away from the control board 200.

[0072] Based on the same technical concept, the present application also provides a robot, Figure 13 This is a schematic diagram of the active defense network of a robot according to an embodiment of the present application, referring to Figure 13 The robot includes a main controller 900 and a joint machine in various possible embodiments of the present application. The main controller 900 is signal-connected to the main control CPU 700. Specifically, the data communicated between the main controller 900 and the main control CPU 700 are all encrypted, and the two can exchange data through an RS485 bus or a CAN bus.

[0073] In the robot provided by this application, the main control CPU of the joint machine receives the instruction signal sent by the main controller. The main control CPU transmits the above signal to the safety CPU and then to the components that perform relevant actions. Among them, when the safety CPU detects an interruption of the trigger signal or exceeds the threshold, the safety CPU will start the self-destruction program to instantaneously erase relevant keys, PIN codes, and sensitive data, thereby ensuring the information and communication security of the joint machine and improving the overall security of the robot.

[0074] Obviously, those skilled in the art can make various changes and modifications to the embodiments of this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these changes and modifications.

Claims

1. A joint machine, characterized in that, It comprises a shell, in which a control board, a first circuit board, a second circuit board and a first signal layer are arranged; the control board comprises a first surface, in which a safety controller and a main control CPU connected to the safety controller by signal are arranged; The first circuit board is located at one side of the control board and faces the first surface, the first signal layer is located at a side of the control board away from the first surface, the second circuit board is an annular structure and is surrounded by the first circuit board to form a receiving cavity, and the control board is located in the receiving cavity; The first circuit board is provided with a first signal line, the second circuit board is provided with a second signal line, the first signal layer includes a third signal line, and the first signal line, the second signal line and the third signal line are all electrically connected to the safety controller.

2. The articulated machine according to claim 1, characterized in that, The first circuit board is made of a flexible material; and / or the second circuit board is made of a flexible material.

3. The articulated machine according to claim 1, characterized in that, The articulator further includes a third circuit board, and the first signal layer is arranged on the third circuit board; or, the first signal layer is integrated into the control board.

4. The articulated machine according to claim 1, wherein The safety controller includes an input pin and an output pin; One end of the first signal line is connected to the output pin, and the other end of the first signal line is connected to the input pin; One end of the second signal line is connected to the output pin, and the other end of the second signal line is connected to the input pin; One end of the third signal line is connected to the output pin, and the other end of the third signal line is connected to the input pin.

5. The articulated machine according to claim 4, characterized in that, The first signal line is connected to the output pin through a first component, the first component includes a first conductive element and a second conductive element, the first conductive element is arranged on the first circuit board, and the second conductive element is arranged on the control board; the first signal line is connected to the input pin through a second component, the second component includes a third conductive element and a fourth conductive element, the third conductive element is arranged on the first circuit board, and the fourth conductive element is arranged on the control board; and / or, The second signal line is connected to the output pin through a third component, the third component includes a fifth conductive element and a sixth conductive element, the fifth conductive element is arranged on the second circuit board, and the sixth conductive element is arranged on the control board; the second signal line is connected to the input pin through a fourth component, the fourth component includes a seventh conductive element and an eighth conductive element, the seventh conductive element is arranged on the second circuit board, and the eighth conductive element is arranged on the control board.

6. The articulated machine according to claim 5, characterized in that, The fifth conductive element extends in the radial direction of the annular structure; and / or, The seventh conductive element extends in a radial direction of the annular structure.

7. The articulated machine according to claim 1, wherein, The first circuit board is provided with a first ground wire, which is electrically connected to the control board; and / or the second circuit board is provided with a second ground wire, which is electrically connected to the control board; and / or the first signal layer is provided with a third ground wire, which is electrically connected to the control board.

8. The articulated machine according to claim 7, wherein, The first signal line is a serpentine signal line provided on the surface of the first circuit board; and / or, the second signal line is a serpentine signal line provided on the surface of the second circuit board; and / or, the third signal line is a serpentine signal line provided on the first signal layer.

9. The articulated machine according to claim 8, characterized in that The width of the first ground line is equal to the width of the first signal line; and / or, the width of the second ground line is equal to the width of the second signal line; and / or, the width of the third ground line is equal to the width of the third signal line.

10. A robot, characterized in that, The robot includes a main controller and a joint machine as described in any one of claims 1-9, and the main controller is signal-connected to the main control CPU.

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