Circuit board damping and anti-shaking device of joint module and robot joint module

Abstract

The utility model discloses a circuit board damping and anti-shake device of a joint module and a robot joint module. The circuit board damping and anti-shake device comprises a shell, a rubber damping ring, a power driving board, a circuit board mounting ring, a control board, a connecting column and a damping spring. An inner side protruding part of the circuit board installation ring is provided with an inner side protruding part through hole, the connecting bolt in the connecting column penetrates through the inner side protruding part through hole, the damping springs are installed on the two sides of the inner side protruding part through hole and arranged on the connecting column in a sleeving mode, and the power drive board and the control board are symmetrically installed on the connecting column relative to the circuit board installation ring and are fixed through the connecting nut in a screwed mode. The circuit board mounting ring is embedded into the rubber damping ring through the fixing columns and fixed, and the rubber damping ring is fixed to the fixing part of the shell through bolts. Therefore, axial shock absorption and shake prevention of the circuit board of the joint module are achieved.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a circuit board shock absorption and vibration prevention device for a joint module and a robot joint module. Background Technology

[0002] With the continuous development and upgrading of industry, robots are being used more and more widely in industrial fields and many other areas, and the performance requirements for robots are also increasing. Currently, mainstream servo integrated joint modules have limited space, and within this limited space, they integrate reducers, servo motors, brakes, encoders, power drive boards, and control boards, resulting in a high degree of integration. The reducers, servo motors, and brakes all generate vibration during operation. Prolonged exposure to vibration can easily lead to mechanical damage, performance degradation, and shortened lifespan for electronic components, and in severe cases, direct functional failure. Therefore, vibration damping and anti-shake treatment is necessary for the circuit boards of integrated joint modules.

[0003] As robots output more and more power, the requirements for the torque output of integrated joint modules are also higher, making the vibration reduction and anti-shake issues of integrated joint module circuit boards more critical. Utility Model Content

[0004] The problem to be solved by this utility model is to provide a circuit board shock absorption and anti-shake device for a joint module and a robot joint module.

[0005] To solve the above problems, this utility model provides a circuit board vibration damping and anti-shake device for a joint module and a robot joint module. To achieve the above objectives, the technical solution adopted by this utility model to solve its technical problems is as follows:

[0006] A circuit board vibration damping and anti-shake device for a joint module includes: a longitudinal vibration damping and anti-shake mechanism, comprising a circuit board mounting ring, a power drive board and a control board symmetrically mounted on both sides thereof, a connecting post, and a damping spring; the connecting post is vertically fixed to the circuit board mounting ring, the damping spring is sleeved on the connecting post, and one end of the damping spring abuts against the circuit board mounting ring, and the other end abuts against the power drive board or the control board; a transverse vibration damping and anti-shake structure, comprising a housing, a rubber damping ring, and a circuit board mounting ring; the rubber damping ring is fixed to the inner wall of the housing, and the circuit board mounting ring is fixed to the radial inner side of the rubber damping ring.

[0007] As a further improvement of this utility model, the inner wall of the outer shell has a protruding fixing part, the fixing part has a number of shock-absorbing ring mounting threaded holes, the rubber shock-absorbing ring has a number of shock-absorbing ring mounting through holes, and the shock-absorbing ring mounting threaded holes and shock-absorbing ring mounting through holes are arranged in a ring array.

[0008] As a further improvement of this utility model, the rubber damping ring is vertically fixed with a fixing column. Both the rubber damping ring and the fixing column are made of silicone rubber, and the hardness of the fixing column is greater than that of the rubber damping ring.

[0009] As a further improvement of this utility model, the rubber damping ring is provided with a damping ring arc groove, and the damping ring arc groove and the damping ring mounting through hole are distributed alternately on the rubber damping ring; the damping ring arc groove penetrates the inner ring and outer ring of the rubber damping ring radially.

[0010] As a further improvement of this utility model, the shock absorber ring has an arc-shaped groove fixing hole on the arc-shaped groove. The arc-shaped groove fixing hole extends axially and forms an axial opening only at one shaft end of the rubber shock absorber ring. The opening of the arc-shaped groove fixing hole faces the fixing part of the outer shell and contacts and fixes with the fixing part.

[0011] As a further improvement of this utility model, the outer wall of the circuit board mounting ring has an integral radially outwardly extending outer protrusion, and the outer protrusion has an outer protrusion through hole.

[0012] As a further improvement of this utility model, the inner ring of the circuit board mounting ring extends radially inward with an inner protrusion. Several inner protrusions are arranged in a ring array. The power drive board and the control board are provided with through holes that correspond to the inner protrusions along the axial direction.

[0013] As a further improvement of this utility model, the inner protrusion through hole on the inner protrusion is matched with the connecting bolt in the connecting column, and the connecting bolt contacts the inner protrusion through hole through grease.

[0014] As a further improvement of this utility model, one end of the shock-absorbing spring contacts the circuit board mounting ring, and the other end contacts the power drive board or control board; in the initial state, the shock-absorbing spring has a pre-compression amount; the connecting post is a stepped shaft, the diameter corresponding to the middle part of the connecting post is larger than the diameter corresponding to its two ends, and the middle part of the connecting post is fixed through the circuit board mounting ring.

[0015] On the other hand, a robot joint module includes the aforementioned joint module's circuit board vibration damping and anti-shake device.

[0016] The beneficial technical effects of the circuit board vibration damping and anti-shake device for a joint module according to this application include:

[0017] Longitudinal vibration damping and anti-vibration refers to axial vibration damping and anti-vibration, while lateral vibration damping and anti-vibration refers to circumferential and radial vibration damping and anti-vibration. Longitudinally, a circuit board mounting ring is used for axial vibration damping of the circuit board. The power drive board and control board are symmetrically mounted on the circuit board mounting ring relative to it. Springs are installed between the circuit board mounting ring and the power drive board and control board, effectively preventing axial vibration of the circuit board and ensuring that the relative position between the power drive board and control board does not change. Laterally, the circuit board mounting ring is fixed to the outer shell by rubber damping rings, effectively preventing high-frequency circumferential vibration of the circuit board. This adapts to various vibration patterns of the robot joint module under complex working conditions. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an exploded view of one embodiment of a circuit board vibration damping and anti-shake device for a joint module according to this utility model;

[0020] Figure 2 This is a perspective view of the outer shell of an embodiment of a circuit board shock absorption and vibration prevention device for a joint module according to this utility model.

[0021] Figure 3 This is a perspective view of a rubber shock-absorbing ring in one embodiment of a circuit board vibration damping and anti-shake device for a joint module according to this utility model.

[0022] Figure 4 This is a perspective view of a rubber shock-absorbing ring and a circuit board mounting ring, representing one embodiment of a circuit board vibration damping and anti-shake device for a joint module according to this utility model.

[0023] Figure 5 This is an exploded view of the connecting column of one embodiment of the circuit board shock absorption and vibration prevention device for a joint module according to this utility model;

[0024] Figure 6 This is a perspective view of one embodiment of a circuit board vibration damping and anti-shake device for a joint module according to this utility model;

[0025] Figure 7 This is a longitudinal sectional view of one embodiment of a circuit board vibration damping and anti-shake device for a joint module according to this utility model.

[0026] 1-Outer shell; 101-Fixing part; 102-Damping ring mounting threaded hole; 2-Rubber damping ring; 201-Damping ring mounting through hole; 202-Damping ring arc groove; 203-Arc groove fixing hole; 3-Power drive board; 4-Circuit board mounting ring; 401-Outer protrusion; 402-Inner protrusion; 403-Outer protrusion through hole; 404-Inner protrusion through hole; 405-Fixing post; 5-Control board; 6-Connecting post; 601-Connecting bolt; 602-Connecting bolt support platform; 603-Connecting nut; 604-External thread section; 7-Damping spring; A-Reverse side of silicone rubber damping ring. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to specific embodiments:

[0028] To achieve the purpose of this utility model, a circuit board vibration damping and anti-shake device for a joint module is provided, comprising a housing 1, a rubber damping ring 2, a power drive board 3, a circuit board mounting ring 4, a control board 5, a connecting post 6, and a damping spring 7. The rubber damping ring 2 is fixed to the fixing part 101 on the inner side of the housing 1 using bolts through a damping ring mounting through hole 201 on the rubber damping ring 2 and a damping ring mounting threaded hole 102 on the housing 1, for circumferential vibration damping and anti-shake. The circuit board mounting ring 4 has an arc-shaped outer protrusion 401, and the corresponding rubber damping ring 2 has an arc-shaped damping groove 202. The arc-shaped outer protrusion 401 on the circuit board mounting ring 4 is embedded into the arc-shaped damping groove 202 on the rubber damping ring 2. Furthermore, a fixing post 405 is used to fix the rubber damping ring 2 and the circuit board mounting ring 4 through the arc-shaped groove fixing hole 203 and the outer protrusion through hole 403. The connecting post 6 passes through the inner protrusion through hole 404 on the inner protrusion 402 on the circuit board mounting ring 4. The shock-absorbing spring 7 is installed on the connecting post 6 on both sides of the inner protrusion through hole 404. The power drive board 3 and the control board 5 are symmetrically installed on the connecting bolt support platform 602 in the connecting post 6 relative to the circuit board mounting ring 4, and are threaded together by the connecting nut 603 for axial vibration reduction and anti-shaking.

[0029] By using the circumferential fixing structure of the rubber damping ring 2 and the outer shell 1, combined with the axially symmetrical layout of the circuit board mounting ring 4 and the damping spring 7, the circuit board can be suppressed in both circumferential and axial vibrations, thus achieving multi-dimensional anti-vibration.

[0030] In some other embodiments of this utility model, the shock-absorbing ring mounting threaded hole 102 on the outer shell 1 corresponds to the shock-absorbing ring mounting through hole 201 on the rubber shock-absorbing ring 2 and is evenly distributed circumferentially, with a quantity of six in each case.

[0031] The beneficial effects of adopting the above technical solution are: the six circumferentially evenly distributed shock absorber mounting threaded holes 102 and shock absorber mounting through holes 201 make the fixing force distribution between the rubber shock absorber 2 and the outer shell 1 balanced, avoiding shock absorption failure caused by local stress concentration.

[0032] In some other embodiments of this invention, the rubber damping ring 2 is made of silicone rubber. The fixing post 405 is made of hard silicone rubber.

[0033] The beneficial effects of adopting the above technical solution are: the silicone rubber damping ring 2 ensures that it maintains elasticity under high temperature conditions; the rigid silicone rubber fixing post 405 balances connection strength and cushioning requirements, reducing vibration transmission caused by rigid contact.

[0034] In some other embodiments of this utility model, the rubber damping ring 2 is provided with an arc-shaped damping ring arc groove 202, which is offset from the damping ring mounting through hole 201 on the rubber damping ring 2 and is evenly distributed circumferentially, with a total of six grooves. Correspondingly, the circuit board mounting ring 4 is provided with an arc-shaped outer protrusion 401, which is evenly distributed circumferentially, with a total of six protrusions.

[0035] The beneficial effects of adopting the above technical solution are: the six staggered damping ring arc grooves 202 and the outer protrusions 401 are designed to fit together, which transforms sliding friction into local rolling friction and reduces the interference of friction vibration on circumferential damping.

[0036] In some other embodiments of this utility model, the arc-shaped groove 202 of the shock absorber ring is provided with an arc-shaped groove fixing hole 203. The arc-shaped groove fixing hole 203 penetrates through the reverse side A of the rubber shock absorber ring, but does not penetrate through the opposite side of the reverse side A of the rubber shock absorber ring. The reverse side A of the rubber shock absorber ring 2 contacts and is fixed to the fixing part 101 inside the outer shell 1.

[0037] The beneficial effects of adopting the above technical solution are: the arc-shaped groove fixing hole 203 is designed to pass through on one side to form a limiting structure, while the non-penetrating surface provides elastic support, which enhances the deformation absorption capacity of the rubber damping ring 2 for circumferential vibration.

[0038] In some other embodiments of this utility model, the circuit board mounting ring 4 has three inner protrusions 402, which are evenly distributed circumferentially. Correspondingly, the power drive board 3 and the control board 5 have three through holes, which are evenly distributed circumferentially.

[0039] The beneficial effects of adopting the above technical solution are: the three circumferentially evenly distributed inner protrusions 402 simplify the structural constraints while ensuring the installation accuracy of the connecting column 6, and avoid the increase in vibration transmission path caused by excessive restriction.

[0040] In some other embodiments of this utility model, the inner protrusion through hole 404 on the inner protrusion 402 is engaged with the connecting bolt 601 in the connecting column 6, and the connecting bolt 601 is in contact with the inner protrusion through hole 404 by grease.

[0041] The beneficial effects of adopting the above technical solution are: the lubricating grease reduces the friction coefficient between the connecting bolt 601 and the inner protruding through hole 404, thereby reducing frictional energy consumption and high-frequency micro-vibration during the axial vibration transmission process.

[0042] In some other embodiments of this utility model, the inner side of the damping spring 7 is in contact with the side wall of the connecting bolt 601 through grease. One end of the damping spring 7 is in contact with the circuit board mounting ring 4, and the other end is in contact with the power drive board 3 or control board 5. In the initial state, all the damping springs 7 have a certain amount of compression. The stiffness of each damping spring 7 is the same.

[0043] The beneficial effects of adopting the above technical solution are: the pre-compressed damping spring 7 provides initial preload to ensure immediate response; consistent stiffness ensures balanced damping in all directions, limits compression stroke, and maintains linear buffering capacity.

[0044] Please refer to Figures 1 to 5 As shown, it illustrates a preferred specific structure of the present invention, which includes a housing 1, a rubber shock-absorbing ring 2, a power drive board 3, a circuit board mounting ring 4, a control board 5, a connecting post 6, and a shock-absorbing spring 7.

[0045] like Figure 2 As shown, the outer casing 1 is provided with a fixing part 101 and a shock-absorbing ring mounting threaded hole 102. For example... Figure 3 As shown, the rubber damping ring 2 has a damping ring mounting through hole 201, a damping ring arc groove 202, and an arc groove fixing hole 203. The damping ring mounting threaded hole 102 on the outer shell 1 corresponds to the damping ring mounting through hole 201 on the rubber damping ring 2 and is evenly distributed circumferentially, totaling six. Since the rubber damping ring 2 is made of silicone rubber elastic material, this facilitates the fixing of the rubber damping ring 2. The rubber damping ring 2 is fixed to the fixing part 101 on the inner side of the outer shell 1 with bolts through the damping ring mounting through hole 201 on the rubber damping ring 2 and the damping ring mounting threaded hole 102 on the outer shell 1, for circumferential vibration damping and anti-vibration. The arc groove fixing hole 203 penetrates on the reverse side A of the rubber damping ring, but does not penetrate on the opposite side of the reverse side A of the rubber damping ring. The reverse side A of the rubber damping ring 2 contacts the fixing part 101 on the inner side of the outer shell 1, which is used to restrict the movement of the fixing post 405.

[0046] like Figure 4As shown, the circuit board mounting ring 4 has an outer protrusion 401, an inner protrusion 402, an outer protrusion through hole 403, an inner protrusion through hole 404, and a fixing post 405. The arc-shaped outer protrusion 401 on the circuit board mounting ring 4 corresponds to the arc-shaped damping ring groove 202 on the rubber damping ring 2. The protrusions are offset from the damping ring mounting through holes 201 on the rubber damping ring 2 and are evenly distributed circumferentially, totaling six, to ensure effective fixation of the circuit board mounting ring 4. The arc-shaped outer protrusion 401 on the circuit board mounting ring 4 is embedded into the damping ring groove 202 on the rubber damping ring 2, and the fixing post 405 fixes the rubber damping ring 2 to the circuit board mounting ring 4 through the arc-shaped groove fixing hole 203 and the outer protrusion through hole 403. The arc-shaped structure, to a certain extent, transforms the sliding friction at the connection into rolling friction, reducing additional vibration sources. The fixing post 405 is made of hard silicone rubber, which reduces the vibration caused by friction between the fixing post 405 and the fixing part 101 while ensuring a firm connection.

[0047] The power drive board 3 and the control board 5 are respectively provided with through holes that correspond to the inner protrusion through holes 404 on the inner protrusion 402 on the circuit board mounting ring 4, and are evenly distributed circumferentially, with a total of three.

[0048] like Figure 5 As shown, the connecting column 6 is composed of a connecting bolt 601 and a connecting nut 603. The connecting bolt 601 has a connecting bolt support platform 602 for fixing the power drive board 3 and the control board 5.

[0049] In a preferred embodiment of this utility model, the connecting post 6 passes through the inner protrusion through hole 404 on the inner protrusion 402 of the circuit board mounting ring 4. The inner side of the damping spring 7 contacts the side wall of the connecting bolt 601 through grease. The inner protrusion through hole 404 on the inner protrusion 402 mates with the connecting bolt 601 in the connecting post 6, and the connecting bolt 601 contacts the inner protrusion through hole 404 through grease, reducing the vibration caused by friction between the connecting post 6, the circuit board mounting ring 4, and the damping spring 7. The damping spring 7 is installed on the connecting posts 6 on both sides of the inner protrusion through hole 404. The power drive board 3 and the control board 5 are symmetrically installed on the connecting bolt support platform 602 in the connecting post 6 relative to the circuit board mounting ring 4, and are screwed together by the connecting nut 603. One end of the shock-absorbing spring 7 contacts the circuit board mounting ring 4, and the other end contacts the power drive board 3 or the control board 5. In the initial state, all the shock-absorbing springs 7 have a certain amount of compression and the stiffness of the shock-absorbing springs 7 is consistent. When the integrated robot joint module works, the compressed shock-absorbing springs 7 cannot reach their own limit compression position. Thus, when the integrated robot joint module works, the above method can effectively avoid the axial vibration of the power drive board and the control board, and also ensure that the relative position between the power drive board and the control board does not change.

[0050] The key feature of the circuit board vibration damping and anti-shaking device for a joint module in this application is that: for axial vibration damping of the circuit board, a circuit board mounting ring 4 is provided, and the power drive board 3 and the control board 5 are symmetrically arranged with respect to the circuit board mounting ring 4. A damping spring 7 is provided between the circuit board mounting ring 4 and the power drive board 3 and the control board 5, which effectively avoids axial vibration of the circuit board and ensures that the relative position between the power drive board 3 and the control board 5 does not change.

[0051] For circumferential vibration damping of the circuit board, the circuit board mounting ring 4 is fixed to the outer shell 1 by the rubber damping ring 2. The rubber damping ring 2 is made of silicone rubber, which can adjust the hardness and still ensure elasticity at high temperature, effectively avoiding high-frequency circumferential vibration of the circuit board.

[0052] Overall, the rubber damping ring 2 and the damping spring 7 work together to provide good damping for the circuit board in the circumferential, axial and other directions.

[0053] In addition, such as Figure 1 As shown, the outer shell 1 is a cylindrical shell structure with an oblique opening at one end.

[0054] like Figure 4 As shown, the outer protrusion 401 makes the outer edge of the circuit board mounting ring 4 resemble a petal shape.

[0055] like Figure 7As shown, the rubber damping ring 2 and the circuit board mounting ring 4 are located in the same axial position, with the circuit board mounting ring 4 located radially inward of the rubber damping ring 2. The control board 5 and the power drive board 3 are located on opposite axial sides of the circuit board mounting ring 4, respectively. The connecting post 6 passes through the circuit board mounting ring 4, and the control board 5 and the power drive board 3 are fixed at both ends of the connecting post 6, respectively.

[0056] like Figure 7 As shown, each connecting post 6 has two sets of 7, one of which has its axial ends abutting against the circuit board mounting ring 4 and the control board 5 respectively, and the other 7 has its axial ends abutting against the circuit board mounting ring 4 and the power drive board 3 respectively.

[0057] like Figure 6 As shown, the outer shell 1 is a cylindrical shell structure with only one shaft end opening. The opening of the outer shell 1 is an oblique opening, that is, the plane where the opening of the outer shell 1 is located forms an angle other than a right angle with the axis of the outer shell 1.

[0058] like Figure 4 As shown, the outer protrusion 401 is an integer multiple of the inner protrusion 402, and the number of outer protrusions 401 can be twice the number of inner protrusions 402. Each inner protrusion 402 corresponds to one outer protrusion 401 in the radial direction outward.

[0059] like Figure 5 As shown, the connecting bolt support platform 602 forms a stepped shaft for the connecting column 6. The connecting bolt support platform 602 is a stepped surface, meaning that the plane containing the connecting bolt support platform 602 is perpendicular to the axis of the connecting column 6 itself. The outer wall of the connecting column 6 also has an external thread section 604, which is located on the relatively thinner end of the shaft in the connecting column 6.

[0060] A robot joint module includes a circuit board vibration damping and anti-shake device for the aforementioned joint module. The robot joint module is an integrated joint module. This robot joint module can be used in humanoid bipedal robots or quadrupedal robots.

[0061] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They should not be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A shock absorption and vibration damping device for a circuit board of a joint module, characterized in that, include: The longitudinal vibration damping and anti-shake mechanism includes a circuit board mounting ring, a power drive board and a control board symmetrically mounted on both sides thereon, a connecting column and a damping spring; the connecting column is vertically fixed to the circuit board mounting ring, the damping spring is sleeved on the connecting column, and one end of the damping spring abuts against the circuit board mounting ring, and the other end abuts against the power drive board or the control board. The lateral shock absorption and vibration prevention structure includes a housing, a rubber shock absorber ring, and a circuit board mounting ring; the rubber shock absorber ring is fixed to the inner wall of the housing, and the circuit board mounting ring is fixed to the radial inner side of the rubber shock absorber ring.

2. The circuit board vibration damping and anti-shake device for the joint module according to claim 1, characterized in that: The inner wall of the outer shell has a protruding fixing part, which has a plurality of shock-absorbing ring mounting threaded holes. The rubber shock-absorbing ring has a plurality of shock-absorbing ring mounting through holes, and the shock-absorbing ring mounting threaded holes and shock-absorbing ring mounting through holes are arranged in a ring array.

3. The circuit board vibration damping and anti-shake device for the joint module according to claim 1, characterized in that: The rubber damping ring is vertically fixed to a fixing column. Both the rubber damping ring and the fixing column are made of silicone rubber, and the hardness of the fixing column is greater than that of the rubber damping ring.

4. The circuit board vibration damping and anti-shake device for the joint module according to claim 2, characterized in that: The rubber damping ring is provided with a damping ring arc groove, and the damping ring arc groove and the damping ring mounting through hole are distributed alternately on the rubber damping ring; The arc-shaped groove of the damping ring extends radially through the inner and outer rings of the rubber damping ring.

5. The circuit board vibration damping and anti-shake device for the joint module according to claim 4, characterized in that: The shock absorber ring has an arc-shaped groove fixing hole, which extends axially and forms an axial opening only at one end of the rubber shock absorber ring. The opening of the arc-shaped groove fixing hole faces the fixing part of the outer shell and is fixed in contact with the fixing part.

6. The circuit board vibration damping and anti-shake device for the joint module according to claim 1, characterized in that: The outer wall of the circuit board mounting ring has an integral radially outwardly extending outer protrusion, and the outer protrusion has an outer protrusion through hole.

7. The circuit board vibration damping and anti-shake device for the joint module according to claim 1, characterized in that: The inner ring of the circuit board mounting ring extends radially inward with an inner protrusion. Several inner protrusions are arranged in a circular array. The power drive board and control board are provided with through holes that correspond axially to the inner protrusions.

8. The circuit board vibration damping and anti-shake device for the joint module according to claim 7, characterized in that: The inner protrusion has an inner protrusion through hole that mates with the connecting bolt in the connecting column, and the connecting bolt contacts the inner protrusion through hole through lubricant.

9. The circuit board vibration damping and anti-shake device for the joint module according to claim 1, characterized in that: One end of the shock-absorbing spring contacts the circuit board mounting ring, and the other end contacts the power drive board or control board; in the initial state, the shock-absorbing spring has a pre-compression amount; The connecting post is a stepped shaft, and the diameter of the middle part of the connecting post is larger than the diameter of its two ends. The middle part of the connecting post is fixed through the circuit board mounting ring.

10. A robot joint module, characterized in that, A circuit board vibration damping and anti-shake device comprising the joint module according to any one of claims 1 to 9.

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