Joint module and robot

Abstract

According to the joint module and the robot, when the joint module is applied to the robot, the first connecting end of the first joint is connected with a first mechanical arm, the second connecting end of the second joint is connected with a second mechanical arm, and when a driver drives the first mechanical arm and the second mechanical arm to be folded, the first mechanical arm is connected with the second mechanical arm. The first connecting end is bent in the direction close to the second joint, and the second connecting end is bent in the direction close to the first joint, so that the first mechanical arm and the second mechanical arm can be folded to be in a parallel state, and the storage space of the whole robot after being folded is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a joint module and a robot. Background Art

[0002] With the development of science and technology, robots are being used more and more widely in industry.

[0003] In related technologies, in order to increase the degree of freedom of the robot's execution end, the robot usually includes multiple robotic arms that are articulated in sequence so that any two adjacent robotic arms can rotate relative to each other; when the robot is stored or transported, the various robotic arms of the robot need to be folded to reduce the storage space of the robot.

[0004] However, after the two hinged robotic arms are folded to a certain extent, the hinged parts of the two robotic arms will interfere with each other, so that there will be a certain angle between the two robotic arms after folding, making the storage space of the entire robot larger after folding. Utility Model Content

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. In a first aspect, the present invention provides a joint module. A robot using the joint module of this embodiment has a smaller storage space after folding. In a second aspect, the present invention provides a robot.

[0006] According to the embodiment of the first aspect of the present invention, the joint module provided includes a joint assembly and a driver; the joint assembly includes a first joint and a second joint, the opposite ends of the first joint respectively form a first hinge end and a first connecting end, the opposite ends of the second joint respectively form a second hinge end and a second connecting end, the first hinge end and the second hinge end are hinged to each other, the first connecting end is bent in a direction close to the second joint, and is used to connect to the first robotic arm, the second connecting end is bent in a direction close to the first joint, and is used to connect to the second robotic arm; the driver is provided on the first joint, the output end of the driver is connected to the second joint, and the driver is used to drive the second joint to rotate relative to the first joint along a preset axis.

[0007] The joint module described in the present invention has at least the following beneficial effects: when the joint module of the present application is applied to a robot, the first connecting end of the first joint is connected to the first robotic arm, and the second connecting end of the second joint is connected to the second robotic arm. When the driver drives the first robotic arm and the second robotic arm to fold, the first connecting end is bent in the direction close to the second joint, and the second connecting end is bent in the direction close to the first joint, so that the first robotic arm and the second robotic arm can be folded to a parallel state, thereby reducing the storage space of the entire robot after folding.

[0008] According to the joint module described in the embodiment of the first aspect of the present invention, it includes two joint assemblies arranged side by side, the first joint includes a hinge section, a connecting section and a transition section, the opposite ends of the transition section are respectively connected to the hinge section and the connecting section, the end of the hinge section away from the transition section forms a first hinge end, and the end of the connecting section away from the hinge section forms a first connecting end, and both first connecting ends are used to connect to the first robotic arm; in the same joint assembly, the connecting section is located on the side of the hinge section close to the other joint assembly.

[0009] According to the joint module described in the embodiment of the first aspect of the present invention, the driver is arranged between the two first hinge ends, and the opposite ends of the driver are fixedly connected to the two first hinge ends respectively, and the output end of the driver is connected to the second joint of one of the joint components.

[0010] According to the joint module described in the embodiment of the first aspect of the present invention, the output end of the driver and the second joint are fixedly connected by a threaded connection; a first abutment structure is provided on one of the output end and the second joint, and a second abutment structure is provided on the other, and the first abutment structure abuts against the second abutment structure to prevent the second joint from rotating relative to the output end along a preset axis.

[0011] According to the joint module described in the embodiment of the first aspect of the present invention, the second joint is provided with a connecting protrusion located on a preset axis, a protrusion is formed on the circumferential surface of the connecting protrusion, and the protrusion forms a first abutment structure; a connecting groove adapted to the connecting protrusion is provided on the output end, an abutment groove is formed on the groove side wall of the connecting groove, the connecting protrusion is passed through the connecting groove, and the protrusion is passed through the abutment groove, and the groove wall of the abutment groove forms a second abutment structure.

[0012] According to the joint module described in the embodiment of the first aspect of the present invention, a third abutment structure is provided on the first hinged end, and a fourth abutment structure and a fifth abutment structure are provided on the second hinged end. The fourth abutment structure can abut against the third abutment structure to prevent the second joint from continuing to rotate forward relative to the first joint, and the fifth abutment structure can abut against the third abutment structure to prevent the second joint from continuing to rotate backward relative to the first joint.

[0013] According to the joint module described in the embodiment of the first aspect of the present invention, a first abutment protrusion is provided on the first hinged end, and the first abutment protrusion forms a third abutment structure. A second abutment protrusion and a third abutment protrusion are provided on the second hinged end. The second abutment protrusion and the third abutment protrusion are both provided on the moving path of the first abutment protrusion, and along the moving direction of the first abutment protrusion, the first abutment protrusion is located between the second abutment protrusion and the third abutment protrusion, the second abutment protrusion forms a fourth abutment structure, and the third abutment protrusion forms a fifth abutment structure.

[0014] The robot provided according to the embodiment of the second aspect of the present invention includes the joint module provided by the embodiment of the first aspect of the present invention; the robot also includes a first robotic arm and a second robotic arm, the first robotic arm is connected to the first connecting end, and the second robotic arm is connected to the second connecting end.

[0015] According to the robot described in the embodiment of the second aspect of the present utility model, the first robotic arm and the second robotic arm are both provided with wiring channels for wiring.

[0016] The robot according to the embodiment of the second aspect of the present invention further includes a first shell and a second shell, the first shell enclosing the first robotic arm and the first joint, and the second shell enclosing the second robotic arm and the second joint.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a structural diagram of a joint module according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 Exploded view of the joint module shown;

[0021] Figure 3 for Figure 2 A partial enlarged view of the structure at point A of the joint module shown;

[0022] Figure 4 for Figure 1 A schematic structural diagram of the second joint of the joint module shown;

[0023] Figure 5 This is a structural diagram of a joint module according to an embodiment of the present invention, in which a first robotic arm and a second robotic arm are installed;

[0024] Figure 6 The figure is a schematic structural diagram of a robot according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] Joint module 10;

[0027] Joint assembly 100; first joint 110; hinge section 111; first hinge end 111a; first abutting protrusion 111b; connecting section 112; first connecting end 112a; transition section 113; second joint 120; second hinge end 121; second abutting protrusion 121a; third abutting protrusion 121b; second connecting end 122; connecting protrusion 123; protrusion 123a; wire groove 124;

[0028] Driver 200; output end 210; connecting groove 211; abutting groove 211a;

[0029] First robotic arm 300;

[0030] Second robotic arm 400;

[0031] First housing 500; first splicing portion 510; second splicing portion 520;

[0032] Second shell 600 ; third splicing portion 610 ; fourth splicing portion 620 . DETAILED DESCRIPTION

[0033] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0035] In the description of this utility model, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0036] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0037] Reference below Figures 1 to 4 The joint module 10 according to the first aspect of the present invention will be described in detail.

[0038] refer to Figure 1 According to the first embodiment of the present invention, the joint module 10 includes a joint assembly 100 and a driver 200 .

[0039] The joint assembly 100 includes a first joint 110 and a second joint 120, the opposite ends of the first joint 110 respectively form a first hinged end 111a and a first connecting end 112a, the opposite ends of the second joint 120 respectively form a second hinged end 121 and a second connecting end 122, the first hinged end 111a and the second hinged end 121 are hinged to each other, the first connecting end 112a is bent in a direction close to the second joint 120, and is used to connect to the first robotic arm 300, the second connecting end 122 is bent in a direction close to the first joint 110, and is used to connect to the second robotic arm 400; the driver 200 is provided on the first joint 110, and the output end 210 of the driver 200 is connected to the second joint 120, and the driver 200 is used to drive the second joint 120 to rotate relative to the first joint 110 along a preset axis.

[0040] For example, Figure 1 As shown, the right end of the first joint 110 forms a first hinged end 111a, the left end of the first joint 110 forms a first connecting end 112a, the right end of the second joint 120 forms a second hinged end 121, and the left end of the second joint 120 forms a second connecting end 122. The first hinged end 111a and the second hinged end 121 are rotatably connected around an axis extending forward and backward, and the first hinged end 111a is located on the rear side of the second hinged end 121, the first connecting end 112a is located on the upper side of the second connecting end 122, and the first connecting end 112a is bent downward relative to the first hinged end 111a, and the second connecting end 122 is bent upward relative to the second hinged end 121. The driver 200 is provided on the first joint 110, and the output end 210 of the driver 200 is connected to the second joint 120.

[0041] When the joint module 10 of the present invention is in use, the first connection end 112a is connected to the first robotic arm 300, and the second connection end 122 is connected to the second robotic arm 400. Driven by the driver 200, the first hinged end 111a and the second hinged end 121 can rotate relative to each other so that the first connection end 112a and the second connection end 122 are closer to or farther away from each other, thereby realizing the first robotic arm 300 and the second robotic arm 400 being closer to or farther away from each other.

[0042] It can be understood that since the first connecting end 112a is bent downward relative to the first hinge end 111a, and the second connecting end 122 is bent upward relative to the second hinge end 121, under the drive of the driver 200, when the first robotic arm 300 and the second robotic arm 400 are close to each other, the first robotic arm 300 and the second robotic arm 400 can move relative to each other until they remain parallel to each other, so as to reduce the storage space of the entire robot.

[0043] In some embodiments of the present invention, the joint module 10 includes two joint assemblies 100 arranged side by side, the first joint 110 includes an articulating section 111, a connecting section 112 and a transition section 113, the opposite ends of the transition section 113 are respectively connected to the articulating section 111 and the connecting section 112, the end of the articulating section 111 away from the transition section 113 forms a first articulating end 111a, the end of the connecting section 112 away from the articulating section 111 forms a first connecting end 112a, and both first connecting ends 112a are used to connect to the first robotic arm 300; in the same joint assembly 100, the connecting section 112 is located on the side of the articulating section 111 close to the other joint assembly 100.

[0044] For example, Figure 1 and Figure 2 As shown, the joint module 10 includes two joint assemblies 100 distributed side by side in the front-to-back direction, the front and rear ends of the driver 200 are respectively connected to the two first joints 110, and the output end 210 of the driver 200 is connected to the second joint 120 located on the front side; the first joint 110 includes an articulated section 111, a transition section 113 and a connecting section 112 connected in sequence, the right end of the articulated section 111 forms a first articulated end 111a, and the left end of the connecting section 112 forms a first connecting end 112a, and the transition section 113 extends along the front-to-back direction. For the first joint 110 located on the front side, the left end of the articulated section 111 is connected to the front end of the transition section 113, and the right end of the connecting section 112 is connected to the rear end of the transition section 113. For the first joint 110 located on the rear side, the left end of the articulated section 111 is connected to the rear end of the transition section 113, and the right end of the connecting section 112 is connected to the front end of the transition section 113.

[0045] When the joint module 10 of this embodiment is applied to a robot, the first robotic arm 300 partially passes through the area between the two connecting segments 112 and is respectively connected to the two connecting segments 112 .

[0046] It can be understood that since the distance between the two connecting sections 112 is smaller than the distance between the two articulated sections 111, the cross-sectional size of the first robotic arm 300 can be set smaller to reduce the overall volume of the first robotic arm 300 and at the same time reduce the manufacturing cost of the first robotic arm 300.

[0047] It can be understood that by setting up two joint assemblies 100, the two first joints 110 of the two joint assemblies 100 can cooperate with the connection to the first robotic arm 300 to improve the connection strength between the first robotic arm 300 and the joint module 10; at the same time, the two second joints 120 of the two joint assemblies 100 can cooperate with the connection to the second robotic arm 400 to improve the connection strength between the second robotic arm 400 and the joint module 10.

[0048] The specific structure of the second joint 120 refers to the first joint 110 .

[0049] In a further embodiment of the present invention, reference is made to Figure 2 The driver 200 is disposed between the two first hinge ends 111a, and the opposite ends of the driver 200 are fixedly connected to the two first hinge ends 111a respectively, and the output end 210 of the driver 200 is connected to the second joint 120 of one of the joint assemblies 100.

[0050] It can be understood that by providing two joint assemblies 100 , the front and rear ends of the driver 200 can be fixedly connected to the two first hinge ends 111 a respectively, thereby improving the installation strength of the driver 200 .

[0051] In some embodiments of the present invention, the output end 210 of the driver 200 and the second joint 120 are fixedly connected by a threaded connection; a first abutment structure is provided on one of the output end 210 and the second joint 120, and a second abutment structure is provided on the other, and the first abutment structure abuts against the second abutment structure to prevent the second joint 120 from rotating along a preset axis relative to the output end 210.

[0052] It should be noted that when the joint module 10 is applied to a robot, the first joint 110 is connected to the first robotic arm 300, and the second joint 120 is connected to the second robotic arm 400. Under the drive of the driver 200, the first joint 110 and the second joint 120 rotate relative to each other to achieve relative rotation between the first robotic arm 300 and the second robotic arm 400; when the output end 210 of the driver 200 and the second joint 120 are fixedly connected only by a threaded connection, since the driver 200 is fixedly mounted on the first joint 110, and the output end 210 of the driver 200 is transmission-connected to the second joint 120, when the driver 200 drives the first joint 110 and the second joint 120 to rotate relative to each other, the threaded connection will be subjected to a large shear force, which is prone to damage.

[0053] In the joint module 10 of this embodiment, a first abutment structure is provided on one of the output end 210 and the second joint 120, and a second abutment structure is provided on the other one, and the first abutment structure abuts against the second abutment structure, so that the output end 210 of the driver 200 can drive the second joint 120 to rotate relative to the first joint 110 through the first abutment structure and the second abutment structure, so as to reduce the shear force on the threaded connection and thereby extend the service life of the threaded connection.

[0054] In a further embodiment of the present invention, reference is made to Figure 3 and Figure 4 The second joint 120 is provided with a connecting protrusion 123 located on a preset axis, and a protrusion 123a is formed on the circumferential surface of the connecting protrusion 123, and the protrusion 123a forms a first abutment structure; the output end 210 is provided with a connecting groove 211 adapted to the connecting protrusion 123, and an abutment groove 211a is formed on the side wall of the connecting groove 211, the connecting protrusion 123 is penetrated into the connecting groove 211, and the protrusion 123a is penetrated into the abutment groove 211a, and the groove wall of the abutment groove 211a forms a second abutment structure.

[0055] Furthermore, when the output end 210 of the driver 200 rotates around the preset axis, the groove wall of the abutting groove 211 a can push the protrusion 123 a, so that the connecting protrusion 123 drives the second joint 120 to rotate around the preset axis.

[0056] It should be noted that when the joint module 10 of the present invention is applied to a robot, the first joint 110 is connected to the first robotic arm 300, and the second joint 120 is connected to the second robotic arm 400. Driven by the driver 200, the first robotic arm 300 and the second robotic arm 400 can rotate relative to each other around a preset axis. However, during the actual use of the robot, the rotation angle of the first robotic arm 300 relative to the second robotic arm 400 often needs to be restricted.

[0057] Based on the above situation, in some embodiments of the present invention, a third abutment structure is provided on the first hinged end 111a, and a fourth abutment structure and a fifth abutment structure are provided on the second hinged end 121. The fourth abutment structure can abut against the third abutment structure to prevent the second joint 120 from continuing to rotate forward relative to the first joint 110, and the fifth abutment structure can abut against the third abutment structure to prevent the second joint 120 from continuing to rotate backward relative to the first joint 110.

[0058] It can be understood that by providing a third abutment structure on the first hinged end 111a and providing a fourth abutment structure and a fifth abutment structure on the second hinged end 121, under the drive of the driver 200, when the second joint 120 rotates forward relative to the first joint 110 until the third abutment structure and the fourth abutment structure abut against each other, the second joint 120 cannot continue to rotate forward relative to the first joint 110; when the second joint 120 rotates backward relative to the first joint 110 until the third abutment structure and the fifth abutment structure abut against each other, the second joint 120 cannot continue to rotate backward relative to the first joint 110; thereby, the second joint 120 can rotate relative to the first joint 110 within a certain angle range.

[0059] In a further embodiment of the present invention, reference is made to Figure 1 and Figure 2 A first abutting protrusion 111b is provided on the first hinged end 111a, and the first abutting protrusion 111b forms a third abutting structure. A second abutting protrusion 121a and a third abutting protrusion 121b are provided on the second hinged end 121. The second abutting protrusion 121a and the third abutting protrusion 121b are both provided on the moving path of the first abutting protrusion 111b, and along the moving direction of the first abutting protrusion 111b, the first abutting protrusion 111b is located between the second abutting protrusion 121a and the third abutting protrusion 121b. The second abutting protrusion 121a forms a fourth abutting structure, and the third abutting protrusion 121b forms a fifth abutting structure.

[0060] Furthermore, when the second joint 120 rotates forwardly by a certain angle relative to the first joint 110, the first abutment protrusion 111b can abut against the second abutment protrusion 121a to prevent the second joint 120 from continuing to rotate forwardly relative to the first joint 110; when the second joint 120 rotates backwardly by a certain angle relative to the first joint 110, the first abutment protrusion 111b can abut against the third abutment protrusion 121b to prevent the second joint 120 from continuing to rotate backwardly relative to the first joint 110.

[0061] refer to Figure 5 and Figure 6 The robot according to the embodiment of the second aspect of the present invention includes the joint module 10 of the embodiment of the first aspect of the present invention; the robot also includes a first robotic arm 300 and a second robotic arm 400, the first robotic arm 300 is connected to the first connection end 112a, and the second robotic arm 400 is connected to the second connection end 122.

[0062] In a further embodiment of the present invention, wiring channels for wiring are provided inside the first robotic arm 300 and the second robotic arm 400 .

[0063] It can be understood that by providing a wiring channel inside the first robotic arm 300 and the second robotic arm 400, the wires in the robot can be routed through the wiring channel, so that the channel walls of the wiring channel can protect the wires.

[0064] In a further embodiment of the present invention, reference is made to Figure 2 A wire groove 124 is provided on a side of the first joint 110 close to the driver 200 , and the wire groove 124 is connected to the wiring channel.

[0065] It is understood that by providing the wire trough 124, the wires can sequentially extend through the wiring channel and the wire trough 124 to the driver 200 and be electrically connected to the driver 200. The provision of the wire trough 124 can protect the wires on the one hand and standardize the wiring routes of the wires on the other hand.

[0066] In some embodiments of the present invention, the robot further includes a first shell 500 and a second shell 600 , the first shell 500 enclosing the first robotic arm 300 and the first joint 110 , and the second shell 600 enclosing the second robotic arm 400 and the second joint 120 .

[0067] For example, Figure 6 As shown, the robot also includes a first shell 500 and a second shell 600. The first shell 500 includes a first splicing portion 510 and a second splicing portion 520 distributed along the front and back. The first splicing portion 510 and the second splicing portion 520 jointly define a first wrapping cavity, and the first robotic arm 300 and the first joint 110 are accommodated in the first wrapping cavity; the second shell 600 includes a third splicing portion 610 and a fourth splicing portion 620 distributed along the front and back. The third splicing portion 610 and the fourth splicing portion 620 jointly define a second wrapping cavity, and the second robotic arm 400 and the second joint 120 are accommodated in the second wrapping cavity.

[0068] It can be understood that by setting the first shell 500, the first shell 500 can wrap the first robotic arm 300 and the first joint 110 to achieve protection for the first robotic arm 300 and the first joint 110; by setting the second shell 600, the second shell 600 can wrap the second robotic arm 400 and the second joint 120 to achieve protection for the second robotic arm 400 and the second joint 120.

[0069] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A joint module, characterized in that: include: A joint assembly comprising a first joint and a second joint, wherein opposite ends of the first joint respectively form a first hinge end and a first connecting end, and opposite ends of the second joint respectively form a second hinge end and a second connecting end, the first hinge end and the second hinge end being hingedly connected, the first connecting end being bent toward the second joint and being used to connect to the first robotic arm, and the second connecting end being bent toward the first joint and being used to connect to the second robotic arm; A driver is provided on the first joint, an output end of the driver is connected to the second joint, and the driver is used to drive the second joint to rotate relative to the first joint along a preset axis.

2. A joint module according to claim 1, characterized in that: It comprises two joint assemblies arranged side by side, the first joint comprises an articulation section, a connecting section and a transition section, the opposite ends of the transition section are respectively connected to the articulation section and the connecting section, the end of the articulation section away from the transition section forms the first articulation end, the end of the connecting section away from the articulation section forms the first connecting end, and both of the first connecting ends are used to connect to the first robotic arm; in the same joint assembly, the connecting section is located on the side of the articulation section close to the other joint assembly.

3. A joint module according to claim 2, characterized in that: The driver is arranged between the two first hinge ends, and two opposite ends of the driver are fixedly connected to the two first hinge ends respectively, and the output end of the driver is connected to the second joint of one of the joint assemblies.

4. A joint module according to claim 1, characterized in that: The output end of the driver and the second joint are fixedly connected by a threaded connection; a first abutment structure is provided on one of the output end and the second joint, and a second abutment structure is provided on the other, and the first abutment structure abuts against the second abutment structure to prevent the second joint from rotating relative to the output end along the preset axis.

5. A joint module according to claim 4, characterized in that: The second joint is provided with a connecting protrusion located on the preset axis, and a protrusion is formed on the circumferential surface of the connecting protrusion, and the protrusion forms the first abutment structure; the output end is provided with a connecting groove adapted to the connecting protrusion, and an abutment groove is formed on the groove side wall of the connecting groove, the connecting protrusion is passed through the connecting groove, and the protrusion is passed through the abutment groove, and the groove wall of the abutment groove forms the second abutment structure.

6. The joint module according to claim 1, characterized in that: A third abutment structure is provided on the first hinged end, and a fourth abutment structure and a fifth abutment structure are provided on the second hinged end. The fourth abutment structure can abut against the third abutment structure to prevent the second joint from continuing to rotate forward relative to the first joint, and the fifth abutment structure can abut against the third abutment structure to prevent the second joint from continuing to rotate backward relative to the first joint.

7. A joint module according to claim 6, characterized in that: A first abutting protrusion is provided on the first hinged end, and the first abutting protrusion forms the third abutting structure. A second abutting protrusion and a third abutting protrusion are provided on the second hinged end. The second abutting protrusion and the third abutting protrusion are both provided on the moving path of the first abutting protrusion, and along the moving direction of the first abutting protrusion, the first abutting protrusion is located between the second abutting protrusion and the third abutting protrusion. The second abutting protrusion forms the fourth abutting structure, and the third abutting protrusion forms the fifth abutting structure.

8. A robot, characterized in that: Comprising the joint module according to any one of claims 1 to 7; the robot also includes a first robotic arm and a second robotic arm, the first robotic arm is connected to the first connecting end, and the second robotic arm is connected to the second connecting end.

9. A robot according to claim 8, characterized in that: The first robotic arm and the second robotic arm are both provided with wiring channels for wiring.

10. The robot according to claim 8, characterized in that: It also includes a first shell and a second shell, the first shell enclosing the first robotic arm and the first joint, and the second shell enclosing the second robotic arm and the second joint.

Images