Robot joint and robot

Abstract

The utility model discloses a robot joint and a robot. The robot joint comprises a first joint body, a driving part, a second joint body, a limiting part and a triggering part. The second joint body is rotationally connected with the first joint body and connected with the driving part, and the second joint body rotates by a preset angle relative to the first joint body under the action of the driving part; the limiting piece is fixed to the first joint body, and a containing cavity and an opening communicating with the containing cavity are formed in the limiting piece; the triggering piece is arranged in the containing cavity, and at least part of the triggering piece protrudes out of the opening; when the rotating angle of the second joint body relative to the first joint body is larger than the preset angle, the second joint body abuts against and extrudes the triggering piece, and the triggering piece controls the driving piece to stop working. According to the robot joint, the situation that the second joint body exceeds the movement range, and consequently a robot and the surrounding environment are damaged is prevented, and the reliability of a product is improved.

Description

Technical Field

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

[0002] With the advancement of technology, robots are increasingly being used, bringing significant convenience to people's lives and production. In the field of robotics, each moving joint is controlled by a servo. The robot's control system indirectly controls the movements of various parts of the robot's body by controlling the motion of the servo, enabling the robot to achieve its intended function. Each part of the robot's body has a specific range of motion and operates within it. However, if this range of motion is exceeded, the robot may cause damage to its surroundings, or even harm nearby people.

[0003] In related technologies, in order to ensure the range of motion of each component of the robot and to prevent the control system from failing or misoperating, in addition to the precise control of the control system, a limit device is added to the moving component. Usually, a hard limit is formed in the form of a limit block, or a limit block plus a buffer structure such as rubber is used to limit the range of motion. However, structures such as limit blocks are purely mechanical structures, that is, they use a hard-on-hard structure, and there is hard contact between the two components, resulting in the weaker structure being prone to failure risk as the number of operations increases, and even the moving component may break through the limit device, causing damage to itself and the environment, affecting the user experience of the robot. Utility Model Content

[0004] In view of this, the purpose of this application is to overcome the deficiencies in the prior art and to provide a robot joint and a robot.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a robot joint, the robot joint comprising:

[0007] first joint body;

[0008] driving parts;

[0009] a second joint body, rotatably connected to the first joint body and connected to the driving member, wherein the second joint body rotates relative to the first joint body by a preset angle under the action of the driving member;

[0010] a limiting member fixed to the first joint body, wherein the limiting member is provided with an accommodating cavity and an opening communicating with the accommodating cavity;

[0011] a trigger member disposed in the accommodating cavity, wherein at least a portion of the trigger member protrudes from the opening;

[0012] When the second joint body rotates relative to the first joint body at an angle greater than the preset angle, the second joint body abuts against and presses the trigger member, and the trigger member controls the driving member to stop working.

[0013] The robot joint provided by the present application has a second joint body that is rotatably connected relative to the first joint body, and under the action of a driving member, the second joint body rotates relative to the first joint body. At the same time, a trigger member is provided on the limiting member. In this way, when the angle of rotation of the second joint body relative to the first joint body is greater than a preset angle, the second joint body abuts and squeezes the trigger member, and the trigger member controls the driving member to stop working. At this time, the second joint body stops rotating, which is equivalent to achieving soft contact of the limit of the moving parts, ensuring the effectiveness of the limit, preventing the moving parts from exceeding the range of motion and causing damage to the robot and the surrounding environment, thereby protecting the robot itself and the surrounding environment, and improving the reliability of the product.

[0014] In addition, the robot joint according to the present application may also have the following additional technical features:

[0015] In one embodiment of the first aspect, the triggering member includes:

[0016] A trigger body, the trigger body is disposed in the accommodating cavity, and the trigger body has a mounting cavity;

[0017] A trigger button is movably disposed in the mounting cavity, and at least a portion of the trigger button protrudes from the opening.

[0018] In one embodiment of the first aspect, the movable stroke of the trigger button relative to the trigger body is S mm, and the dimension of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.

[0019] In one embodiment of the first aspect, the limiting component and the first joint body are an integrally formed structure.

[0020] In one embodiment of the first aspect, an abutting surface is provided on the second joint body at a position abutting against the triggering member.

[0021] In one embodiment of the first aspect, a wiring hole connected to the accommodating cavity is provided on the limiting member, the wiring hole is oriented in a first direction, the opening is oriented in a second direction, and the first direction and the second direction are set at an angle R, satisfying the relationship: 0°<R≤180°.

[0022] In one embodiment of the first aspect, the driving member includes a fixed part and an output part, the output part is rotatably arranged on the fixed part, the fixed part is fixedly connected to the first joint body, and the output part is connected to the second joint body to drive the second joint body to rotate relative to the first joint body.

[0023] In a second aspect, the present application also provides a robot comprising the robot joint described in any of the above embodiments.

[0024] The robot provided in this application has the above-mentioned robot joint. The robot includes the robot joint described in any of the above embodiments, and therefore has all the beneficial effects of the robot joint, which will not be described in detail here.

[0025] In one embodiment of the second aspect, the robot further includes a controller, which is electrically connected to the trigger member and the driving member, respectively, and is used to control the operation of the driving member.

[0026] In one embodiment of the second aspect, the robot further includes a control switch and a power supply, wherein the control switch, the power supply, and the driving member form a closed circuit;

[0027] The control switch is electrically connected to the trigger component.

[0028] In one embodiment of the second aspect, the robot further includes a body, and the first joint body is fixed to the body. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 A schematic diagram of a three-dimensional structure of a robot joint provided by some embodiments of the present application is shown;

[0031] Figure 2 Shown Figure 1 A one-view structural diagram of the robot joints in FIG;

[0032] Figure 3 Shown Figure 2 AA-direction cross-sectional structural diagram shown in ;

[0033] Figure 4 Shown Figure 2BB direction cross-sectional structural diagram shown in ;

[0034] Figure 5 Shown Figure 4 The enlarged structural diagram of the C portion shown in FIG;

[0035] Figure 6 A schematic structural diagram of a robot joint provided by some embodiments of the present application without a second joint body is shown;

[0036] Figure 7 A schematic diagram showing an embodiment of the present application in which the first joint body and the limiting member are integrally formed;

[0037] Figure 8 Shown Figure 7 An enlarged structural diagram of the D portion shown in FIG;

[0038] Figure 9 Shown Figure 7 Schematic diagram of the three-dimensional structure of the structure shown in;

[0039] Figure 10 A schematic structural diagram of a trigger member in one embodiment of the present application is shown;

[0040] Figure 11 A schematic diagram showing the control principle of a robot provided by another embodiment of the present application is shown;

[0041] Figure 12 A flow chart of a robot joint motion control method in some embodiments of the present application is shown.

[0042] Description of main component symbols:

[0043] 100 - robot joint; 110 - first joint body; 120 - second joint body; 121 - contact surface; 130 - driving member; 131 - fixing portion; 132 - output portion; 140 - limiting member; 141 - accommodating cavity; 142 - opening; 143 - wiring hole; 150 - trigger member; 151 - trigger body; 152 - trigger button;

[0044] 200-robot; 210-controller; 220-control switch; 230-power supply; 240-fault warning unit;

[0045] x-first direction; y-second direction. DETAILED DESCRIPTION

[0046] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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, and therefore should not be understood as a limitation on the present application.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0049] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0050] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0051] Each part of the robot has a certain range of motion and operates within it. However, if it exceeds the specified range of motion, the robot may cause local damage or damage to the surrounding environment, or even harm nearby people.

[0052] In related technologies, to ensure the range of motion of each robot component and prevent control system failure or malfunction, in addition to precise control by the control system, limit devices are added to the moving components. These limit devices typically use hard limits in the form of limit blocks, or use limit blocks combined with rubber or other buffer structures. When the moving component rotates a certain angle, the hard contact of the limit blocks limits the range of motion. However, structures such as limit blocks are purely mechanical, that is, they use a hard-on-hard-on structure.

[0053] The inventors found that hard contact between the two components can cause the weaker part to fail more frequently as the number of operations increases, and even the moving parts can break through the limit device, causing damage to themselves and the environment, affecting the user experience of the robot.

[0054] In order to solve the above technical problems, an embodiment of the present application provides a robot joint 100, which is mainly used on a robot 200.

[0055] like Figure 1 and Figure 2 As shown, the robot joint 100 includes a first joint body 110 , a driving member 130 , a second joint body 120 , a limiting member 140 and a triggering member 150 .

[0056] Combine Figure 4 As shown, the second joint body 120 is rotatably connected to the first joint body 110 and is connected to the driving member 130. Under the action of the driving member 130, the second joint body 120 rotates relative to the first joint body 110 by a preset angle. That is, when the driving member 130 is working normally, it drives the second joint body 120 to rotate relative to the first joint body 110 by a preset angle.

[0057] The limiting member 140 is fixed to the first joint body 110 and defines a receiving cavity 141 and an opening 142 communicating with the receiving cavity 141 . The triggering member 150 is disposed in the receiving cavity 141 and at least partially protrudes from the opening 142 .

[0058] During the movement of the robot joint 100, when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, that is, when the driving member 130 fails or the controller 210 of the robot 200 fails or is misoperated, resulting in the rotation angle of the second joint body 120 being greater than the preset angle, at this time, the second joint body 120 abuts and squeezes the trigger member 150, and the trigger member 150 controls the driving member 130 to stop working.

[0059] It is understood that, for example, if the preset angle is 60 degrees, when the second joint body 120 rotates relative to the first joint body 110 to an angle of 61 degrees, 65 degrees, etc., the second joint body 120 will contact the trigger member 150, causing the trigger member 150 to be triggered, thereby controlling the driving member 130 to stop working. Of course, the preset angle can be designed based on the range of motion of the robot joint 100 when it is designed, and the preset angle can also be 45 degrees, 50 degrees, 70 degrees, etc.

[0060] Exemplarily, the trigger 150 is directly mounted on the circuit of the driver 130. The trigger 150 is in a normally closed state. When touched by the second joint body 120, the trigger 150 is disconnected, thereby breaking the circuit of the driver 130 and stopping the driver 130 from working.

[0061] The robot joint 100 provided in the embodiment of the present application has a second joint body 120 that is rotatably connected relative to the first joint body 110, and under the action of the driving member 130, the second joint body 120 rotates relative to the first joint body 110. At the same time, a trigger member 150 is provided on the limiting member 140. In this way, when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 abuts and squeezes the trigger member 150, and the trigger member 150 controls the driving member 130 to stop working. At this time, the second joint body 120 stops rotating, which is equivalent to achieving soft contact of the limit of the moving part, ensuring the effectiveness of the limit, and preventing the second joint body 120 (i.e., the moving part) from exceeding the range of motion and causing damage to the robot 200 and the surrounding environment, thereby protecting the robot 200 itself and the surrounding environment and improving the reliability of the product.

[0062] like Figure 10As shown, in one embodiment, the trigger member 150 includes a trigger body 151 and a trigger button 152. The trigger body 151 is disposed in the accommodating cavity 141, and the trigger body 151 has a mounting cavity. The trigger button 152 is movably disposed in the mounting cavity, and the trigger button 152 at least partially protrudes from the opening 142. In this embodiment, the trigger button 152 at least partially protrudes from the outside of the opening 142, that is, at least a portion of the trigger button 152 is exposed to the outside of the opening 142, so that when the second joint body 120 rotates relative to the first joint body 110 at an angle greater than a preset angle, it can touch the trigger button 152, thereby causing the trigger member 150 to send a control signal to the driving member 130, causing the driving member 130 to stop working.

[0063] like Figure 4 and Figure 5 As shown, in the embodiment in which the trigger member 150 includes a trigger body 151 and a trigger button 152, the movable stroke of the trigger button 152 relative to the trigger body 151 is S mm, and the dimension of the trigger button 152 protruding from the opening 142 is D mm, satisfying the relationship: S ≥ D. In this embodiment, the movable stroke S of the trigger button 152 is greater than the dimension D of the trigger button 152 protruding from the opening 142. In this way, when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 can abut against the trigger button 152, causing the trigger button 152 to retract and trigger the trigger member 150. During this process, because S is greater than D, the trigger button 152 will not come into hard contact with the trigger body 151 when the second joint body 120 squeezes the trigger button 152, thereby preventing damage to the trigger button 152 and improving product reliability.

[0064] like Figure 7 and Figure 8 As shown, in one embodiment, the stopper 140 and the first joint body 110 are integrally formed. In this embodiment, the stopper 140 and the first joint body 110 are integrally formed. The integral molding of the two facilitates manufacturing and improves production efficiency. In addition, the integral molding of the two eliminates the need for connecting the stopper 140 and the first joint body 110 through a connecting structure, which can increase the structural strength between the two.

[0065] like Figure 1As shown, in one embodiment, an abutment surface 121 is provided on the second joint body 120 at a position where the trigger member 150 abuts. In this embodiment, when the second joint body 120 rotates relative to the first joint body 110 at a greater than a predetermined angle, the abutment surface 121 of the second joint body 120 abuts against the trigger button 152, causing the trigger button 152 to retract. An elastic layer can be provided on the surface of the abutment surface 121 to protect the trigger button 152. The elastic layer can be made of a rubber material.

[0066] like Figure 7 、 Figure 8 and Figure 9 As shown, in one embodiment, the limiting member 140 is provided with a wiring hole 143 that communicates with the accommodating cavity 141. The wiring hole 143 is oriented in a first direction x, and the opening 142 is oriented in a second direction y. The first direction x and the second direction y are arranged at an angle R, satisfying the relationship: 0° < R ≤ 180°. In this embodiment, a cable can be passed through the wiring hole 143 to electrically connect to the trigger member 150. The cable is also connected to the power supply 230 or circuit board of the robot 200 to provide power to the trigger member 150. The first direction x and the second direction y are arranged at an angle, that is, the first direction x and the second direction y are different directions, and can be opposite to each other or form a predetermined angle between them, such as 5°, 12°, 90°, 120°, or 180°. This prevents the cable passing through the connection hole from obstructing the trigger button 152.

[0067] like Figure 2 、 Figure 3 and Figure 6 As shown, in one embodiment, the driving member 130 includes a fixing portion 131 and an output portion 132, the output portion 132 is rotatably disposed on the fixing portion 131, the fixing portion 131 is fixedly connected to the first joint body 110, and the output portion 132 is connected to the second joint body 120 to drive the second joint body 120 to rotate relative to the first joint body 110. In this embodiment, the driving member 130 can be a servo or other power source. For example, the fixing portion 131 is fixedly connected to the first joint body 110 by bolts, and the output portion 132 is connected to the second joint body 120 so that when the output portion 132 rotates, the second joint body 120 is driven to rotate.

[0068] An embodiment of the present application further provides a robot 200 (not shown in the figure), comprising the robot joint 100 described in any of the above embodiments.

[0069] The robot 200 provided in this embodiment has the above-mentioned robot joint 100. The robot 200 includes the robot joint 100 in any of the above embodiments, and therefore has all the beneficial effects of the robot joint 100, which will not be described in detail here.

[0070] It should be noted that the robot 200 may be a humanoid robot 200 , a legged robot 200 , or the like.

[0071] like Figure 11 As shown, in one embodiment, the robot 200 further includes a controller 210, which is electrically connected to the trigger member 150 and the driver 130, respectively, and is used to control the operation of the driver 130. In this embodiment, through the configuration of the controller 210, when the trigger member 150 is triggered, a signal indicating failure or malfunction of the driver 130 is sent to the controller 210, and the controller 210 controls the driver 130 to stop operating. At the same time, the controller 210 can control the driver 130 to achieve different rotational speeds to control the rotation speed of the second joint body 120.

[0072] like Figure 11 As shown, in one embodiment, the robot 200 further includes a control switch 220 and a power supply 230 , wherein the control switch 220 , the power supply 230 and the driving member 130 form a closed circuit. The control switch 220 is electrically connected to the trigger member 150 .

[0073] In the present embodiment, illustratively, the trigger 150 is in a normally closed state, and the control switch 220 is used to receive the signal of the trigger 150. At this time, the control switch 220 is closed, the power supply 230 and the driver 130 are connected to form a closed circuit, and the driver 130 works normally. The control unit normally gives the driver 130 an instruction signal, and the driver 130 drives the second joint body 120 to rotate within a preset angle. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the trigger 150, and the trigger 150 is disconnected. At this time, the control switch 220 receives the disconnect signal of the trigger 150, and the control switch 220 is also disconnected. The power supply 230 and the driver 130 are not connected, and the driver 130 stops working.

[0074] 150 is connected to the control unit 220, and the power supply 230 and the driver 130 are connected to form a closed circuit, and the driver 130 works normally. The control unit normally gives the driver 130 instruction signals, and the driver 130 drives the second joint body 120 to rotate within a preset angle. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the trigger 150, and the trigger 150 is closed. At this time, the control switch 220 receives the closed signal of the trigger 150, and the control switch 220 is disconnected, and the power supply 230 and the driver 130 are not connected, and the driver 130 stops working.

[0075] In the above-mentioned embodiment of the control switch 220, the control switch 220 can be a relay, and the trigger member 150 is a switch that controls the relay. After power is turned on, the switch is closed, providing a small current to the relay, and the relay is in an attracted state, so that the power supply 230 and the driving member 130 form a circuit, and the driving member 130 works normally; when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the switch, the relay loses current and is disconnected, thereby causing the driving member 130 to stop working.

[0076] Of course, in other embodiments, the trigger member 150 may also be a micro switch or a limit switch.

[0077] like Figure 11 As shown, in the above embodiment, exemplarily, the robot also includes a fault reminder unit 240. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 touches the trigger member 150, and the control switch 220 disconnects the circuit of the driving member 130, or the controller 210 controls the driving member 130 to stop working. At this time, the controller 210 records that the trigger member 150 is touched, and the fault reminder unit 240 issues a reminder signal, such as through a screen or sound output, to inform the operator of the failure mode and failure position.

[0078] In one embodiment, the robot 200 further includes a body, and for example, the first joint body 110 is fixed to the body. For example, the first joint body 110 is a thigh, the second joint body 120 is a calf, and the calf moves relative to the thigh. For another example, the first joint body 110 is an upper arm, the second joint body 120 is a forearm, and the forearm rotates relative to the upper arm. Of course, in other embodiments, the first joint body 110 can also be other components on the robot 200, and the second joint body 120 can be other moving components.

[0079] like Figure 12As shown, an embodiment of the present application further provides a method for controlling the motion of a robot joint 100, which is applied to the robot 200 described in any one of the above embodiments. The control method includes the following steps:

[0080] S100 , obtaining the angle at which the driving member 130 drives the second joint body 120 to rotate relative to the first joint body 110 . For example, the obtaining module obtains the angle at which the second joint body 120 rotates relative to the first joint body 110 and sends the angle to the controller 210 (processor) or the trigger member 150 .

[0081] S200, determining whether the acquired angle is greater than the preset angle. If the angle received by the controller 210 is greater than the preset angle, the driving member 130 is controlled to stop working. If the angle received by the controller 210 is less than the preset angle, the driving member 130 is controlled to work normally.

[0082] The robot joint 100 motion control method provided in this embodiment controls the driving member 130 to stop working when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than a preset angle. At this time, the second joint body 120 stops rotating, preventing the moving parts from exceeding the range of motion and causing damage to the robot 200 and the surrounding environment, thereby protecting the robot 200 itself and the surrounding environment and improving the reliability of the product.

[0083] It should be noted that the above-mentioned robot 200 also includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the robot 200 to execute the above-mentioned robot joint 100 motion control method or the functions of the various components in the above-mentioned robot 200.

[0084] The embodiments of the present application further provide a readable storage medium for storing the computer program used in the robot 200. The readable storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations 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 any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0086] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robot joint, characterized in that: include: first joint body; driving parts; a second joint body, rotatably connected to the first joint body and connected to the driving member, wherein the second joint body rotates relative to the first joint body by a preset angle under the action of the driving member; a limiting member fixed to the first joint body, wherein the limiting member is provided with an accommodating cavity and an opening communicating with the accommodating cavity; a trigger member disposed in the accommodating cavity, wherein at least a portion of the trigger member protrudes from the opening; When the second joint body rotates relative to the first joint body at an angle greater than the preset angle, the second joint body abuts against and presses the trigger member, and the trigger member controls the driving member to stop working.

2. The robot joint according to claim 1, characterized in that The triggering member includes: A trigger body, the trigger body is disposed in the accommodating cavity, and the trigger body has a mounting cavity; A trigger button is movably disposed in the mounting cavity, and at least a portion of the trigger button protrudes from the opening.

3. The robot joint according to claim 2, characterized in that: The movable stroke of the trigger button relative to the trigger body is S mm, and the dimension of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.

4. The robot joint according to claim 1, characterized in that The limiting component and the first joint body are an integrally formed structure.

5. The robot joint according to any one of claims 1 to 4, characterized in that A contact surface is provided at a position where the second joint body contacts the trigger member.

6. The robot joint according to any one of claims 1 to 4, characterized in that: The limiting member is provided with a wiring hole connected to the accommodating cavity, the wiring hole is oriented in a first direction, the opening is oriented in a second direction, the first direction and the second direction are set at an angle R, satisfying the relationship: 0°<R≤180°.

7. The robot joint according to claim 1, characterized in that The driving member includes a fixing part and an output part, the output part is rotatably provided on the fixing part, the fixing part is fixedly connected to the first joint body, and the output part is connected to the second joint body to drive the second joint body to rotate relative to the first joint body.

8. A robot, characterized in that: A robot joint comprising the robot joint according to any one of claims 1 to 7.

9. The robot according to claim 8, characterized in that The robot further includes a controller, which is electrically connected to the trigger member and the driving member respectively, and is used to control the operation of the driving member.

10. The robot according to claim 8, characterized in that The robot further includes a control switch and a power supply, wherein the control switch, the power supply and the driving member form a closed circuit; The control switch is electrically connected to the trigger component.

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