Robot

Abstract

The utility model discloses a robot which comprises a mechanical arm and a joint assembly. A first abutting structure is arranged on the mechanical arm; the joint assembly comprises a driver and a joint connecting piece, the driver is connected with the joint connecting piece and used for driving the joint connecting piece to rotate around a preset axis, the joint connecting piece is fixedly connected with the mechanical arm through a first threaded connecting piece, and a second abutting structure is arranged on the joint connecting piece; the second abutting structure and the first abutting structure abut against each other at least in the circumferential direction of the preset axis. According to the robot, when the driver drives the joint connecting piece to start moving and the driver drives the joint connecting piece to stop moving, the shearing force generated between the mechanical arm and the joint connecting piece can be partially borne by the first abutting structure and the second abutting structure, and therefore the shearing force borne by the first threaded connecting piece is reduced; and the service life of the first threaded connecting piece is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical engineering, in particular to a robot. Background Art

[0002] In order to give the execution end of the robot more degrees of freedom, the robot includes multiple robotic arms distributed in sequence, and any two adjacent robotic arms are connected by a joint assembly. Under the drive of the joint assembly, the two adjacent robotic arms can move relative to each other.

[0003] In the prior art, the joint assembly includes a driver and a joint connector. The joint connector is connected to the robotic arm via a threaded connector. The driver is connected to the joint connector. When driven by the driver, the joint connector can drive the robotic arm to move.

[0004] However, when the driver drives the joint connector to start moving, and when the driver drives the joint connector to stop moving, due to the influence of inertia, the threaded connector connecting the joint connector and the robotic arm will be subjected to a large shear force, which makes the threaded connector connecting the joint connector and the robotic arm prone to breakage, and its service life is often short. 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. The present invention provides a robot. In the robot of the present application, the threaded connection connecting the joint connection part and the robot arm has a longer service life.

[0006] According to an embodiment of the present invention, the robot provided includes a robotic arm and a joint assembly; a first abutment structure is provided on the robotic arm; the joint assembly includes a driver and a joint connector, the driver is connected to the joint connector, and is used to drive the joint connector to rotate around a preset axis, the joint connector is fixedly connected to the robotic arm through a first threaded connector, a second abutment structure is provided on the joint connector, and the second abutment structure and the first abutment structure abut each other at least in the circumferential direction of the preset axis.

[0007] The robot described in the present utility model has at least the following beneficial effects: in the robot of the present application, the joint connector is fixedly connected to the robotic arm through a first threaded connector. Since the robotic arm is provided with a first abutment structure, the joint connector is provided with a second abutment structure, and the second abutment structure and the first abutment structure abut each other at least in the circumferential direction of the preset axis; when the driver drives the joint connector to start moving, and the driver drives the joint connector to stop moving, the shear force generated between the robotic arm and the joint connector can be partially borne by the first abutment structure and the second abutment structure, thereby reducing the shear force borne by the first threaded connector, and thereby extending the service life of the first threaded connector.

[0008] According to the robot described in the embodiment of the present utility model, the mechanical arm includes a clamping portion, which forms a first abutment structure; a clamping groove is provided on the joint connecting part, which forms a second abutment structure, and the clamping groove includes a first groove wall and a second groove wall distributed circumferentially along a preset axis. The clamping portion is inserted into the clamping groove and abuts against the first groove wall and the second groove wall respectively.

[0009] According to the robot described in an embodiment of the present invention, the clamping groove also includes a third groove wall, the opposite ends of the third groove wall are respectively connected to the first groove wall and the second groove wall, and the first threaded connection piece is passed through the third groove wall and is threadedly connected to the clamping portion.

[0010] According to the robot described in the embodiment of the present utility model, the joint assembly also includes a mounting seat, the driver is provided on the mounting seat, and the joint connecting part is rotatably provided on the mounting seat around a preset axis; a third abutment structure and a fourth abutment structure are provided on the mounting seat, and a fifth abutment structure and a sixth abutment structure are provided on the joint connecting part, the third abutment structure can abut with the fifth abutment structure so that the joint connecting part is in a first state relative to the mounting seat, and the fourth abutment structure can abut with the sixth abutment structure so that the joint connecting part is in a second state relative to the mounting seat.

[0011] According to the robot described in an embodiment of the present invention, the mounting seat is provided with a first abutment protrusion and a second abutment protrusion distributed circumferentially along a preset axis, and the first abutment protrusion and the second abutment protrusion respectively form a third abutment structure and a fourth abutment structure; the joint connecting part is provided with a first abutment surface and a second abutment surface distributed circumferentially along the preset axis, and the first abutment surface and the second abutment surface respectively form a fifth abutment structure and a sixth abutment structure.

[0012] According to the robot described in an embodiment of the present invention, the joint assembly includes two joint connectors, both of which are rotatably provided on a mounting seat along a preset axis, and the two joint connectors are respectively connected to the robotic arm through a first threaded connector; two first abutment structures are provided on the robotic arm, the first abutment structure and the second abutment structure are arranged in a one-to-one correspondence, and the corresponding first abutment structures and the second abutment structures abut each other at least in the circumferential direction of the preset axis.

[0013] According to the robot described in an embodiment of the present invention, the joint connection part includes an articulated section and a connecting section, the articulated section is hinged to the mounting seat, the third abutment structure and the fourth abutment structure are both arranged on the articulated section, the connecting section is fixedly connected to the robotic arm through a first threaded connection part, and the second abutment structure is arranged on the connecting section; the relative distance between the two connecting sections is smaller than the relative distance between the two articulated sections.

[0014] According to the robot provided by the embodiment of the present invention, the joint connecting member further includes a transition section, wherein the ends of the two transition sections that are close to each other are respectively connected to a connecting section, and the ends of the two transition sections that are far away from each other are respectively connected to a hinge section.

[0015] According to the robot described in the embodiment of the present invention, the output end of the driver is fixedly connected to the joint connector through a second threaded connector; the joint connector is provided with an insertion shaft, and a plurality of protrusions are formed on the axial surface of the insertion shaft. The output end of the driver is provided with an insertion hole adapted to the insertion shaft, and the insertion shaft is inserted into the insertion hole.

[0016] According to the robot described in the embodiment of the present invention, the insertion shaft is located on the preset axis, and a plurality of second threaded connectors are arranged at intervals around the preset axis.

[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 schematic structural diagram of a robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the joint assembly and robotic arm of the robot shown;

[0021] Figure 3 for Figure 1 A schematic structural diagram of the joint assembly of the robot shown;

[0022] Figure 4 for Figure 3 Exploded view of the joint assembly shown;

[0023] Figure 5 for Figure 3 Schematic diagram of the structure of the joint connector of the joint assembly shown.

[0024] Reference numerals:

[0025] Robotic arm 10; Clamping portion 11;

[0026] Joint assembly 20;

[0027] Driver 100; preset axis 101; through hole 110;

[0028] Joint connector 200; first joint connector 200A; second joint connector 200B; hinge section 210; first abutting surface 211; second abutting surface 212; insertion shaft 213; protrusion 213a; connecting section 220; engaging groove 221; first groove wall 221a; second groove wall 221b; third groove wall 221c; transition section 230;

[0029] Mounting base 300 ; bottom plate 310 ; first ear plate 320 ; first abutting protrusion 321 ; second abutting protrusion 322 ; second ear plate 330 . DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] Reference below Figures 1 to 5 The robot of the present utility model is described in detail.

[0035] refer to Figure 1 and Figure 2According to an embodiment of the present invention, the robot includes a robotic arm 10 and a joint assembly 20; the joint assembly 20 includes a driver 100 and a joint connector 200, the driver 100 is connected to the joint connector 200, and is used to drive the joint connector 200 to rotate around a preset axis 101, and the joint connector 200 is fixedly connected to the robotic arm 10 through a first threaded connector.

[0036] For example, the preset axis 101 extends in the left-right direction. Under the drive of the driver 100 , the joint connector 200 can drive the robot arm 10 to rotate around the preset axis 101 through the first threaded connector.

[0037] It should be noted that when the driver 100 drives the joint connector 200 to start rotating around the preset axis 101, the joint connector 200 needs to drive the robotic arm 10 to rotate around the preset axis 101 through the first threaded connector. At this time, in the circumferential direction of the preset axis 101, the robotic arm 10 will apply a large load to the joint connector 200 through the first threaded connector. Accordingly, the first threaded connector needs to bear a large shear force. In this case, the first threaded connector is prone to breakage, thereby reducing the service life of the first threaded connector; similarly, when the driver 100 stops driving the joint connector 200 to rotate around the preset axis 101, at this time, since the robotic arm 10 still has a certain kinetic energy, in the circumferential direction of the preset axis 101, the robotic arm 10 will apply a large load to the joint connector 200 through the first threaded connector. Accordingly, the first threaded connector will bear a large shear force. In this case, the first threaded connector is prone to breakage, thereby reducing the service life of the first threaded connector.

[0038] Based on the above problems, in some embodiments of the present invention, a first abutment structure is provided on the robotic arm 10, and a second abutment structure is provided on the joint connection part 200, and the second abutment structure and the first abutment structure abut against each other at least in the circumferential direction of the preset axis 101.

[0039] It can be understood that since the second abutment structure and the first abutment structure abut against each other at least in the circumferential direction of the preset axis 101, in the circumferential direction of the preset axis 101, when the robot arm 10 applies a load to the joint connector 200, these loads can be partially transmitted directly to the joint connector 200 through the first abutment structure and the second abutment structure, thereby reducing the shear force borne by the first threaded connector and thereby increasing the service life of the first threaded connector.

[0040] Specifically, the extension direction of the first threaded connector is parallel to the extension direction of the preset axis 101 , and the first threaded connector passes through the joint connector 200 and is threadedly connected to the robotic arm 10 .

[0041] It should be noted that if the first abutment structure is not provided on the robotic arm 10 and the second abutment structure is not provided on the joint connector 200, when the driver 100 drives the joint connector 200 to start rotating around the preset axis 101, the joint connector 200 will also drive the robotic arm 10 to rotate around the preset axis 101. In this case, under the action of inertia, the robotic arm 10 is prone to axial rotation around the first threaded connector relative to the joint connector 200, causing the first threaded connector and the robotic arm 10 to rotate relative to each other, thereby causing the first threaded connector and the robotic arm 10 to loosen.

[0042] In the robot of the present invention, since the second abutment structure and the first abutment structure abut against each other at least in the circumferential direction of the preset axis 101, under the action of the first abutment structure and the second abutment structure, the rotation of the robotic arm 10 relative to the joint connection 200 around the preset axis 101 can be limited, thereby limiting the relative rotation of the first threaded connection and the robotic arm 10, so as to reduce the probability of loosening between the first threaded connection and the robotic arm 10.

[0043] It should be noted that the first threaded connection member is a part such as a bolt or a screw used to achieve threaded connection.

[0044] In a further embodiment of the present invention, reference is made to Figure 2 and Figure 5 The robotic arm 10 includes a clamping portion 11, which forms a first abutment structure; a clamping groove 221 is provided on the joint connecting member 200, which forms a second abutment structure. The clamping groove 221 includes a first groove wall 221a and a second groove wall 221b distributed circumferentially along the preset axis 101. The clamping portion 11 is inserted into the clamping groove 221 and abuts against the first groove wall 221a and the second groove wall 221b respectively.

[0045] For example, Figures 3 to 5 As shown, the joint connecting member 200 is provided with a snap-fitting groove 221 extending forward and backward, and the snap-fitting groove 221 includes a first groove wall 221a and a second groove wall 221b arranged opposite to each other, and the first groove wall 221a is located on the upper side of the second groove wall 221b, and the snap-fitting portion 11 is passed through the snap-fitting groove 221 and respectively abuts against the first groove wall 221a and the second groove wall 221b.

[0046] It can be understood that, under the drive of the driver 100, when the joint connector 200 drives the robotic arm 10 to rotate upward, a part of the load applied by the robotic arm 10 to the joint connector 200 is transmitted to the joint connector 200 through the clamping portion 11 and the second groove wall 221b, and the other part is transmitted to the joint connector 200 through the first threaded connector, thereby reducing the shear force borne by the first threaded connector, thereby extending the service life of the first threaded connector; when the joint connector 200 drives the robotic arm 10 to rotate downward, a part of the load applied by the robotic arm 10 to the joint connector 200 is transmitted to the joint connector 200 through the clamping portion 11 and the first groove wall 221a, and the other part is transmitted to the joint connector 200 through the first threaded connector, thereby reducing the shear force borne by the first threaded connector, thereby extending the service life of the first threaded connector.

[0047] In some embodiments of the present invention, the clamping groove 221 also includes a third groove wall 221c, the opposite ends of the third groove wall 221c are respectively connected to the first groove wall 221a and the second groove wall 221b, and the first threaded connection piece is passed through the third groove wall 221c and is threadedly connected to the clamping portion 11.

[0048] For example, Figure 5 As shown, the third groove wall 221c is located on a vertical plane, the upper end of the third groove wall 221c is connected to the first groove wall 221a, and the lower end of the third groove wall 221c is connected to the second groove wall 221b. The first threaded connection member extends in the left and right directions, and the first threaded connection member is passed through the third groove wall 221c and is threadedly connected to the clamping portion 11.

[0049] It can be understood that since the first groove wall 221a and the second groove wall 221b are only used to abut the clamping part 11 in the circumferential direction of the preset axis 101, passing the first threaded connection part through the third groove wall 221c can make the area of ​​the first groove wall 221a and the second groove wall 221b smaller.

[0050] It should be noted that, driven by the driver 100, the joint connector 200 can drive the robotic arm 10 to rotate around the preset axis 101; however, in the actual use of the robot, it is often only necessary for the robotic arm 10 to rotate around the preset axis 101 within a certain angle range.

[0051] Based on the above problems, in some embodiments of the present invention, reference Figure 2 and Figure 3The joint assembly 20 also includes a mounting seat 300, the driver 100 is arranged on the mounting seat 300, and the joint connector 200 is rotatably arranged on the mounting seat 300 around a preset axis 101; a third abutment structure and a fourth abutment structure are provided on the mounting seat 300, and a fifth abutment structure and a sixth abutment structure are provided on the joint connector 200. The third abutment structure can abut with the fifth abutment structure so that the joint connector 200 is in a first state relative to the mounting seat 300, and the fourth abutment structure can abut with the sixth abutment structure so that the joint connector 200 is in a second state relative to the mounting seat 300.

[0052] For example, when the driver 100 drives the joint connector 200 to rotate forward a certain angle around the preset axis 101, the third abutment structure can abut against the fifth abutment structure to prevent the joint connector 200 from continuing to rotate forward. At this time, the joint connector 200 is in the first state; when the driver 100 drives the joint connector 200 to rotate backward a certain angle around the preset axis 101, the fourth abutment structure can abut against the sixth abutment structure to prevent the joint connector 200 from continuing to rotate backward. At this time, the joint connector 200 is in the second state.

[0053] It can be understood that by arranging the third abutment structure and the fourth abutment structure on the mounting seat 300 and the fifth abutment structure and the sixth abutment structure on the joint connecting member 200, the joint connecting member 200 can be switched between the first state and the second state, and the joint connecting member 200 can be rotated within a certain angle range around the preset axis 101.

[0054] In a further embodiment of the present invention, reference is made to Figure 2 and Figure 4 The mounting seat 300 is provided with a first abutting protrusion 321 and a second abutting protrusion 322 distributed circumferentially along the preset axis 101, and the first abutting protrusion 321 and the second abutting protrusion 322 respectively form a third abutting structure and a fourth abutting structure; the joint connecting part 200 is provided with a first abutting surface 211 and a second abutting surface 212 distributed circumferentially along the preset axis 101, and the first abutting surface 211 and the second abutting surface 212 respectively form a fifth abutting structure and a sixth abutting structure.

[0055] Furthermore, when the driver 100 drives the joint connector 200 to rotate forward around the preset axis 101 for a certain angle, the first abutment surface 211 can abut against the first abutment protrusion 321 to prevent the joint connector 200 from continuing to rotate forward around the preset axis 101. At this time, the joint connector 200 is in the first state; when the driver 100 drives the joint connector 200 to rotate backward around the preset axis 101 for a certain angle, the second abutment surface 212 can abut against the second abutment protrusion 322 to prevent the joint connector 200 from continuing to rotate backward around the preset axis 101. At this time, the joint connector 200 is in the second state.

[0056] In order to improve the stability of the connection between the joint assembly 20 and the robotic arm 10, in some embodiments of the present invention, the joint assembly 20 includes two joint connectors 200, both of which are rotatably provided on the mounting seat 300 along the preset axis 101, and the two joint connectors 200 are respectively connected to the robotic arm 10 through first threaded connectors; two first abutment structures are provided on the robotic arm 10, and the first abutment structure and the second abutment structure are arranged one by one, and the corresponding first abutment structures and the second abutment structures abut each other at least in the circumferential direction of the preset axis 101.

[0057] For example, Figures 2 to 4 As shown, the two joint connectors 200 are distributed along the left and right directions, and the joint connector 200 on the left is the first joint connector 200A, and the joint connector 200 on the right is the second joint connector 200B. The clamping groove 221 on the first joint connector 200A opens to the right, and the clamping groove 221 on the second joint connector 200B opens to the left. The robot arm 10 is provided with two clamping parts 11, and the two clamping parts 11 respectively form two second abutment structures. The two clamping parts 11 are distributed along the left and right directions. , and the clamping portion 11 on the left side is inserted into the clamping groove 221 of the first joint connector 200A, and the clamping portion 11 on the right side is inserted into the clamping groove 221 of the second joint connector 200B, and the third groove wall 221c of the clamping groove 221 on the first joint connector 200A is fixedly connected to the clamping portion 11 on the left side through a first threaded connector, and the third groove wall 221c of the clamping groove 221 on the second joint connector 200B is fixedly connected to the clamping portion 11 on the right side through a first threaded connector.

[0058] It can be understood that by setting the first joint connector 200A and the second joint connector 200B, the first joint connector 200A and the second joint connector 200B can be connected to the left and right ends of the robotic arm 10 respectively, thereby improving the stability and firmness of the connection between the joint assembly 20 and the robotic arm 10.

[0059] In some embodiments of the present invention, reference Figure 2 The joint connection 200 includes an articulated section 210 and a connecting section 220. The articulated section 210 is hinged to the mounting seat 300. The third abutment structure and the fourth abutment structure are both arranged on the articulated section 210. The connecting section 220 is fixedly connected to the robotic arm 10 through a first threaded connection, and the second abutment structure is arranged on the connecting section 220. The relative distance between the two connecting sections 220 is smaller than the relative distance between the two articulated sections 210.

[0060] It can be understood that since the relative distance between the two connecting sections 220 is smaller than the relative distance between the two articulated sections 210, and the robotic arm 10 is connected to the two articulated sections 210 respectively through the first threaded connection, the cross-sectional size of the robotic arm 10 can be set smaller to achieve miniaturization of the robotic arm 10.

[0061] In a further embodiment of the present invention, the joint connector 200 further includes a transition section 230 , wherein the adjacent ends of the two transition sections 230 are respectively connected to a connection section 220 , and the distant ends of the two transition sections 230 are respectively connected to a hinge section 210 .

[0062] For example, Figure 2 As shown, the transition section 230 is extended in the left-right direction. For the first joint connector 200A, the right end of the transition section 230 is connected to the connecting section 220, and the left end of the transition section 230 is connected to the articulated section 210; for the second joint connector 200B, the right end of the transition section 230 is connected to the articulated section 210, and the left end of the transition section 230 is connected to the connecting section 220.

[0063] It can be understood that since the ends of the two transition sections 230 that are close to each other are respectively connected to a connecting section 220, and the ends of the two transition sections 230 that are far away from each other are respectively connected to an articulated section 210, the two joint connectors 200 can be symmetrically arranged, and the robotic arm 10 can be located on the symmetrical center line of the two joint connectors 200, thereby making the load on the robotic arm 10 more evenly distributed to the two joint connectors 200, so as to improve the service life of the joint connector 200.

[0064] It is understandable that, since the extension direction of the transition section 230 and the extension direction of the connecting section 220 are spaced at a certain angle, the stress borne by both the transition section 230 and the connecting section 220 can be concentrated at the junction therebetween.

[0065] In some embodiments of the present invention, reference Figure 4The mounting base 300 includes a base plate 310, a first ear plate 320 and a second ear plate 330. The first ear plate 320 and the second ear plate 330 are both arranged on the base plate 310 and distributed in the left and right directions. The driver 100 is arranged between the first ear plate 320 and the second ear plate 330, and the left and right ends of the driver 100 are respectively connected to the first ear plate 320 and the second ear plate 330. The first joint connecting member 200A is rotatably connected to the first ear plate 320 and is connected to the output end of the driver 100. The second joint connecting member 200B is rotatably connected to the second ear plate 330.

[0066] In order to achieve the connection between the output end of the driver 100 and the joint connector 200 , in some embodiments of the present invention, the output end of the driver 100 is fixedly connected to the joint connector 200 via a second threaded connector.

[0067] Furthermore, the output end of the driver 100 can drive the joint connector 200 to rotate around the preset axis 101 through the second threaded connector.

[0068] It should be noted that if the output end of the driver 100 and the joint connector 200 are connected only by a second threaded connector, at this time, in the process of the output end of the driver 100 driving the joint connector 200 to rotate around the preset axis 101, the second threaded connector needs to bear a large shear force, making the second threaded connector prone to breakage, thereby shortening the service life of the second threaded connector.

[0069] In order to extend the service life of the second threaded connection member, in a further embodiment of the present invention, reference is made to Figure 4 and Figure 5 The hinged end of the joint connector 200 is provided with an insertion shaft 213 extending left and right, and a plurality of protrusions 213a are formed on the axial surface of the insertion shaft 213. The output end of the driver 100 is provided with an insertion hole 110 adapted to the insertion shaft 213, and the insertion shaft 213 is inserted into the insertion hole 110.

[0070] Furthermore, when the output end of the driver 100 rotates around the preset axis 101, the protrusion 213a on the insertion shaft 213 can push the joint connector 200 to rotate around the preset axis 101, thereby reducing the shear force borne by the second threaded connector and extending the service life of the second threaded connector.

[0071] In order to ensure that the load at the output end of the driver 100 can be evenly transferred to the joint connector 200 , in a further embodiment of the present invention, the insertion shaft 213 is located on the preset axis 101 , and a plurality of second threaded connectors are spaced apart around the preset axis 101 .

[0072] It should be noted that the second threaded connection member is a part such as a bolt or a screw used to achieve threaded connection.

[0073] 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 robot, characterized in that: include: a robotic arm, wherein the robotic arm is provided with a first abutting structure; The joint assembly includes a driver and a joint connector, wherein the driver is connected to the joint connector and is used to drive the joint connector to rotate around a preset axis. The joint connector is fixedly connected to the robotic arm via a first threaded connector. A second abutment structure is provided on the joint connector, and the second abutment structure and the first abutment structure abut each other at least in the circumferential direction of the preset axis.

2. A robot according to claim 1, characterized in that: The robotic arm includes a clamping portion, which forms the first abutment structure; a clamping groove is provided on the joint connecting member, which forms the second abutment structure, and the clamping groove includes a first groove wall and a second groove wall distributed circumferentially along the preset axis. The clamping portion is inserted into the clamping groove and abuts against the first groove wall and the second groove wall respectively.

3. A robot according to claim 2, characterized in that: The clamping groove further includes a third groove wall, the opposite ends of which are respectively connected to the first groove wall and the second groove wall, and the first threaded connection piece is passed through the third groove wall and is threadedly connected to the clamping portion.

4. A robot according to claim 1, characterized in that: The joint assembly also includes a mounting seat, the driver is provided on the mounting seat, and the joint connecting member is rotatably provided on the mounting seat around the preset axis; a third abutment structure and a fourth abutment structure are provided on the mounting seat, and a fifth abutment structure and a sixth abutment structure are provided on the joint connecting member, the third abutment structure can abut against the fifth abutment structure so that the joint connecting member is in a first state relative to the mounting seat, and the fourth abutment structure can abut against the sixth abutment structure so that the joint connecting member is in a second state relative to the mounting seat.

5. A robot according to claim 4, characterized in that: The mounting seat is provided with a first abutment protrusion and a second abutment protrusion distributed circumferentially along the preset axis, and the first abutment protrusion and the second abutment protrusion respectively form the third abutment structure and the fourth abutment structure; the joint connecting member is provided with a first abutment surface and a second abutment surface distributed circumferentially along the preset axis, and the first abutment surface and the second abutment surface respectively form the fifth abutment structure and the sixth abutment structure.

6. A robot according to claim 4, characterized in that: The joint assembly includes two joint connectors, both of which are rotatably arranged on the mounting seat along the preset axis, and the two joint connectors are respectively connected to the robotic arm through the first threaded connector; two first abutment structures are provided on the robotic arm, the first abutment structures and the second abutment structures are arranged in a one-to-one correspondence, and the corresponding first abutment structures and the second abutment structures abut each other at least in the circumferential direction of the preset axis.

7. A robot according to claim 6, characterized in that: The joint connection member includes an articulated section and a connecting section, the articulated section is hinged to the mounting seat, the third abutment structure and the fourth abutment structure are both arranged on the articulated section, the connecting section is fixedly connected to the robotic arm through the first threaded connection member, and the second abutment structure is arranged on the connecting section; the relative distance between the two connecting sections is smaller than the relative distance between the two articulated sections.

8. A robot according to claim 7, characterized in that: The joint connection member further includes a transition section, wherein the ends of the two transition sections that are close to each other are respectively connected to one of the connection sections, and the ends of the two transition sections that are far away from each other are respectively connected to one of the hinge sections.

9. The robot according to claim 1, characterized in that: The output end of the driver is fixedly connected to the joint connector via a second threaded connector; the joint connector is provided with an insertion shaft, a plurality of protrusions are formed on the axial surface of the insertion shaft, and the output end of the driver is provided with an insertion hole adapted to fit the insertion shaft, and the insertion shaft is inserted into the insertion hole.

10. A robot according to claim 9, characterized in that: The insertion shaft is located on the preset axis, and a plurality of second threaded connectors are arranged at intervals around the preset axis.

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