Articulation mechanism and robot

Abstract

The application discloses a joint mechanism and a robot. The joint mechanism comprises a first joint rod, a second joint rod and a locking device. The first joint rod is nested with the second joint rod. The second joint rod is movable relative to the first joint rod. The locking device comprises a driving assembly and a locking assembly. The locking assembly is arranged in the first joint rod. The driving assembly is used for driving the locking assembly to move, so that the locking assembly can lock the second joint rod. In the application, the nested arrangement mode is adopted, so that the second joint rod is movable relative to the first joint rod and meets the functional requirements of a mechanical arm. On this basis, the locking assembly is arranged in the first joint rod and can lock the second joint rod. The structure space is ingeniously utilized, so that the joint size is reduced and the appearance is simple and concise.

Description

Technical Field

[0001] This application relates to the field of robotic arm joint technology, and more particularly to a joint mechanism and robot. Background Technology

[0002] In related technologies, most joints in robotic arms or support arms can only extend or rotate. To achieve both extension and rotation simultaneously, the robotic arm requires multiple joints working together. Even if a single joint possesses both extension and rotation capabilities, its structural design is often complex to ensure proper locking, resulting in a relatively large or long overall joint size, which cannot meet the needs of smaller devices. Utility Model Content

[0003] This application proposes a joint mechanism to effectively solve the technical problem in related technologies where joints with both telescopic and rotational functions are large in size, leading to complex joint structures to meet locking requirements.

[0004] This application also proposes a robot that includes the aforementioned joint mechanism.

[0005] The first aspect of this application provides a joint mechanism, including: a first joint rod, a second joint rod, and a locking device;

[0006] The first joint rod is nested within the second joint rod, and the second joint rod is movable relative to the first joint rod;

[0007] The locking device includes a driving component and a locking component. The locking component is disposed within the first joint rod. The driving component is used to drive the locking component to move so that the locking component can lock the second joint rod.

[0008] Furthermore, the locking device includes a mounting base, the second joint rod is fixedly connected to the mounting base, and the driving component is disposed on the mounting base and used to drive the locking component to move, so that the locking component locks the second joint rod when it acts on the inner wall of the first joint rod.

[0009] Furthermore, the locking assembly includes a brake pad component having a friction surface, the friction surface of which is used to lock the second joint rod when it abuts against the inner wall of the first joint rod.

[0010] Furthermore, the drive assembly includes a drive component and a transmission component. The drive component is used to drive the locking assembly to move through the transmission component, so that the locking assembly can move in a direction relatively close to or away from the inner wall of the first joint rod.

[0011] Furthermore, the transmission component includes a first pull rod, a second pull rod, a third pull rod, and a fourth pull rod; the driving component includes a push-pull electromagnet; and at least two locking assemblies are provided.

[0012] The push-pull rod of the push-pull electromagnet is rotatably connected to one end of the first pull rod and one end of the second pull rod.

[0013] At least one of the locking components is rotatably connected to the other end of the first pull rod and one end of the third pull rod;

[0014] At least one of the locking components is rotatably connected to the other end of the second pull rod and one end of the fourth pull rod;

[0015] The other end of the third tie rod is rotatably connected to the other end of the fourth tie rod, so that the first tie rod, the second tie rod, the third tie rod and the fourth tie rod form a parallel four-bar linkage.

[0016] Furthermore, at least one of the first pull rod, the second pull rod, the third pull rod, and the fourth pull rod is provided, and the number of the first pull rod and the fourth pull rod is the same, and the number of the second pull rod and the third pull rod is the same.

[0017] Furthermore, a retaining ring component for limiting axial movement is provided between the other end of the third tie rod and the other end of the fourth tie rod.

[0018] Furthermore, the drive assembly also includes a guide component for guiding the movement of the locking assembly;

[0019] And / or the drive assembly further includes a spring element for providing an elastic force acting on the locking assembly to enable the locking assembly to be maintained at or reset to a position acting on the inner wall of the first joint rod.

[0020] Furthermore, a bearing is provided inside the first joint rod, and the second joint rod is movably disposed inside the first joint rod via the bearing.

[0021] As can be seen from the above technical solutions, the embodiments of this application have at least the following beneficial effects: by nesting, the second joint rod can move relative to the first joint rod and meet the functional requirements of the robotic arm. On this basis, the locking component is set inside the first joint rod and can lock the second joint rod. By cleverly utilizing the structural space, the joint size is reduced and the appearance is kept simple.

[0022] A second aspect of this application provides a robot including a joint mechanism as described in the first aspect of this application.

[0023] It is easy to understand that the robot in the second aspect embodiment of this application has the same technical effect as the joint mechanism in the first aspect embodiment, and therefore will not be described again.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A cross-sectional view of a joint mechanism provided in one embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the structure of a locking device provided in one embodiment of this application.

[0028] Figure label:

[0029] 100. First joint rod;

[0030] 200. Second joint rod;

[0031] 300. Locking device; 310. Drive assembly; 311. Drive component; 312. Transmission component; 3121. First pull rod; 3122. Second pull rod; 3123. Third pull rod; 3124. Fourth pull rod; 313. Snap ring assembly; 314. Guide component; 315. Spring component; 320. Locking assembly; 321. Brake pad assembly; 330. Mounting base;

[0032] 400. Bearings;

[0033] 510, First shaft component; 520, Second shaft component; 530, Third shaft component; 540, Fourth shaft component. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] See Figures 1 to 2 As shown, an embodiment of the first aspect of this application discloses a joint mechanism, including a first joint rod 100, a second joint rod 200, and a locking device 300.

[0036] The first joint rod 100 is nested within the second joint rod 200, and the second joint rod 200 is movable relative to the first joint rod 100. The locking device 300 includes a driving component 310 and a locking component 320. The locking component 320 is disposed within the first joint rod 100. The driving component 310 is used to drive the locking component 320 to move so that the locking component 320 can lock the second joint rod 200.

[0037] In the embodiments of this application, the second joint rod 200 can move relative to the first joint rod 100 and meet the functional requirements of the robotic arm through a nested arrangement. On this basis, the locking component 320 is set inside the first joint rod 100 and can lock the second joint rod 200. By cleverly utilizing the structural space, the joint size is reduced and the appearance is kept simple.

[0038] It is understood that the second joint rod 200 can move relative to the first joint rod 100 in at least one of the following ways: rotation or movement. Therefore, when the first joint rod 100 is nested outside the second joint rod 200, the second joint rod 200, when configured to move axially, enables the joint mechanism to have a telescopic function. Similarly, when the second joint rod 200 is configured to rotate about its axis, it enables the joint mechanism to have a rotatable function. In the embodiments of this application, the second joint rod 200 can rotate and move relative to the first joint rod 100, allowing the joint mechanism to simultaneously have telescopic and rotational functions. Furthermore, by providing the locking device 300, the locking assembly 320 is disposed within the first joint rod 100 and used to lock the second joint rod 200, thereby reducing the size of the joint mechanism without affecting the locking effect.

[0039] In some embodiments, the drive assembly 310 is disposed within the first joint rod 100 and is used to drive the locking assembly 320. In other embodiments, the drive assembly 310 is disposed outside the first joint rod 100, and can also drive the locking assembly 320 located within the first joint rod 100 to move by means such as magnetic drive or rope drive.

[0040] It should be understood that the locking assembly 320 locks the second joint rod 200 in two ways: direct locking and indirect locking. In some embodiments, when the locking assembly 320 locks the second joint rod 200 by direct locking, the locking method includes, but is not limited to: directly fixing the second joint rod 200 by the locking assembly 320, such as by clamping, fixed connection and other common fixing methods; or locking by the locking assembly 320 being engaged in the movement path of the second joint rod 200.

[0041] When the locking assembly 320 locks the second joint rod 200 indirectly, the locking method includes, but is not limited to: connecting the locking assembly 320 to the second joint rod 200 via a connector and moving synchronously with the second joint rod 200, locking the second joint rod 200 by locking its own position, such as by pressing the locking assembly 320 against the inner wall of the first joint rod 100, or by fixing the locking assembly 320 to the inner wall of the first joint rod 100 via a connector or a pin; or connecting the locking assembly 320 to the second joint rod 200 via a connector and moving synchronously with the second joint rod 200, and at an appropriate time driving the locking assembly 310 to extend and be limited by the set limiting structure, thereby locking the second joint rod 200, etc.

[0042] The following will combine Figures 1 to 2 The joint mechanism disclosed in the embodiments of this application will be explained and described in detail.

[0043] In some embodiments of this application, reference is made to Figure 1 The locking device 300 includes a mounting base 330, a second joint rod 200 fixedly connected to the mounting base 330, and a driving assembly 310 disposed on the mounting base 330 and used to drive the locking assembly 320 to move, so that the locking assembly 320 locks the second joint rod 200 when it acts on the inner wall of the first joint rod 100. It is understood that the second joint rod 200 is fixedly connected to the mounting base 330, the mounting base 330 is located inside the first joint rod 100 and moves synchronously with the second joint rod 200, and the driving assembly 310 is disposed on the mounting base 330 so that the position of the mounting base 330 can be limited when the locking assembly 320 acts on the inner wall of the first joint rod 100, achieving the effect of locking the second joint rod 200. Therefore, when the second joint rod 200 moves to different positions, the driving assembly 310 can lock the second joint rod 200 by driving the locking assembly 320 to move.

[0044] In some embodiments, the top of the mounting base 330 is used to fix the second joint rod 200, the drive assembly 310 is disposed inside the mounting base 330, and the locking assembly 320 extends from the side of the mounting base 330 so as to act on the inner wall of the first joint rod 100 to achieve the locking effect.

[0045] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The locking assembly 320 includes a brake pad component 321, which has a friction surface. The friction surface of the brake pad component 321 is used to lock the second joint rod 200 when it abuts against the inner wall of the first joint rod 100. It can be understood that by using the friction surface of the brake pad component 321 to abut against the inner wall of the first joint rod 100, the locking effect is further improved by friction limiting, in addition to the limiting effect achieved by abutment, ensuring reliable locking in both the rotational and traversing directions.

[0046] In some embodiments, the brake pad component 321 includes a brake pad and a mounting block for mounting the brake pad. The brake pad is configured to fit the inner wall profile of the first joint rod 100 to ensure reliable contact.

[0047] In this embodiment of the application, at least one locking component 320 is provided. In some embodiments, multiple locking components 320 may be provided to simultaneously abut against the inner wall of the first joint rod 100 at intervals to improve the locking effect.

[0048] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The drive assembly 310 includes a drive component 311 and a transmission component 312. The drive component 311 drives the locking assembly 320 to move via the transmission component 312, so that the locking assembly 320 can move in a direction relatively close to or away from the inner wall of the first joint rod 100. It is understood that by providing driving force through the drive component 311 and designing the movement path of the locking assembly 320 through the transmission component 312, the locking assembly 320 can reliably act on the inner wall of the first joint rod 100 and lock the second joint rod 200, and can also unlock the second joint rod 200 when it leaves the inner wall of the first joint rod 100, allowing it to move relative to the first joint rod 100.

[0049] In some embodiments, to ensure sufficient static friction between the friction surface and the inner wall of the first joint rod 100 to guarantee the locking effect, this can be achieved through the structural design of the transmission component 312 and the adjustment of the driving force of the drive component 311. This increases the frictional force within a controllable range by increasing the static pressure, thereby improving the locking effect. Furthermore, the frictional force can also be increased by designing the coefficient of friction between the friction surface and the inner wall of the first joint rod 100, thus improving the locking effect.

[0050] In some embodiments, the direction in which the locking component 320 moves relative to or away from the inner wall of the first joint rod 100 includes, but is not limited to, radial movement, inclined movement, curved movement, or a combination of at least two movement directions. The direction and path of movement can be adaptively designed without affecting the locking effect, thereby ensuring that the locking component 320 operates normally within the first joint rod 100.

[0051] In some embodiments, when multiple locking components 320 are provided within the first joint rod 100, each locking component 320 can move synchronously or sequentially. Based on the fact that each locking component 320 can abut against the inner wall of the first joint rod 100 and achieve a locking effect, the movement mode can be adaptively adjusted to meet different usage requirements.

[0052] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The transmission component 312 includes a first pull rod 3121, a second pull rod 3122, a third pull rod 3123, and a fourth pull rod 3124. The drive component 311 includes a push-pull electromagnet. At least two locking components 320 are provided. The push-pull rod of the push-pull electromagnet is rotatably connected to one end of the first pull rod 3121 and one end of the second pull rod 3122. At least one locking component 320 is rotatably connected to the other end of the first pull rod 3121 and one end of the third pull rod 3123. At least one locking component 320 is rotatably connected to the other end of the second pull rod 3122 and one end of the fourth pull rod 3124. The other end of the third pull rod 3123 is rotatably connected to the other end of the fourth pull rod 3124, so that the first pull rod 3121, the second pull rod 3122, the third pull rod 3123, and the fourth pull rod 3124 form a parallel four-bar linkage. Understandably, the parallel four-bar linkage can simultaneously drive each locking component 320 to move synchronously and move closer or further apart, and the parallel four-bar linkage ensures the force balance of each locking component 320, so that the second joint 200 can be securely locked. Specifically, the drive component 311 is configured as a push-pull rod including electromagnetic drive. The push-pull rod drives the parallel four-bar linkage to move, thereby driving the two locking components 320 to move. This achieves a transmission effect while also being more adaptable to intermittent motion scenarios, improving the degree of automation.

[0053] Furthermore, at least one of the first pull rod 3121, the second pull rod 3122, the third pull rod 3123, and the fourth pull rod 3124 is provided, with the number of corresponding first pull rods 3121 and fourth pull rods 3124 being the same, and the number of corresponding second pull rods 3122 and third pull rods 3123 being the same. It is understandable that by redundantly setting the number of pull rods, the transmission accuracy and durability of the transmission assembly can be improved. Therefore, based on the multiple pull rods, it is necessary to ensure that the formed parallel four-bar linkage is force-balanced and that the two locking components 320 do not deflect. To this end, based on the structural characteristics of the parallel four-bar linkage, the number of corresponding rods is set to be the same, thereby ensuring that the two brake pad components 321 are force-balanced and achieving the effect of preventing deflection.

[0054] In some embodiments, one first tie rod 3121 and one fourth tie rod 3124 are provided, and two second tie rods 3122 and two third tie rods 3123 are provided. The first tie rod 3121 is located between the two second tie rods 3122, and the fourth tie rod 3124 is located between the two third tie rods 3123, thereby achieving overall force balance.

[0055] In some embodiments, refer to Figure 2 A retaining ring component 313 for limiting axial movement is provided between the other end of the third tie rod 3123 and the other end of the fourth tie rod 3124. It is understood that, in contrast, the other ends of the third tie rod 3123 and the fourth tie rod 3124 do not have a locking assembly 320 or are connected to the drive component 311, so there may be a gap at the connection. By providing the retaining ring component 313, the gap is eliminated and axial movement is limited, thereby making the connection between the other ends of the third tie rod 3123 and the fourth tie rod 3124 tighter and the transmission efficiency higher.

[0056] In some embodiments, the retaining ring component 313 may be an elastic retaining ring or a retaining ring, preferably an E-type retaining ring to limit displacement.

[0057] In some embodiments of this application, reference is made to Figure 2 The drive assembly 310 also includes a guide component 314, which guides the movement of the locking assembly 320. It is understood that the guide component 314 guides the movement of the locking assembly 320, enabling it to abut or disengage from the inner wall of the first joint rod 100 along a preset movement path, ensuring a stable locking effect. When multiple locking assemblies 320 are provided, the guide component 314 guides the movement of each locking assembly 320 separately.

[0058] In some embodiments, when two locking assemblies 320 are provided and configured to move in a direction that is relatively close or far apart, a guide member 314 is provided between the two locking assemblies 320 and is used to guide the movement of the two locking assemblies 320 respectively.

[0059] In some embodiments, the guide component 314 may be configured as a commonly used guide structure, including but not limited to guide rods, guide grooves, and guide rails.

[0060] In some embodiments of this application, reference is made to Figure 2 The drive assembly 310 also includes a spring member 315, which provides an elastic force to the locking assembly 320 to maintain or reset the locking assembly 320 in a position acting on the inner wall of the first joint rod 100. It is understood that the movement of the locking assembly 320 by the drive assembly 310 is not affected by the force of the spring member 315. After the locking assembly 320 is in position, the spring member 315 can increase the friction generated when the locking assembly 320 acts on the inner wall of the first joint rod 100 by providing the elastic force, thereby improving the locking effect of the locking assembly 320 on the second joint rod 200. Furthermore, the spring member 315 also cooperates with the drive assembly 311 to maintain the position of the locking assembly 320. Since the drive assembly 311 locks the locking assembly 320 in the appropriate position after driving it, the elastic force provided by the spring member 315 can improve the locking effect.

[0061] In some embodiments, the drive component 311 in this application includes a push-pull electromagnet, which is configured to lock when de-energized and unlock when energized. Therefore, when the electromagnet loses power and loses its force, the elastic component 315 can lock the brake pads to the inner wall of the first joint rod 100.

[0062] In some embodiments, the elastic component 315 is a commonly used structural component such as a spring that can generate elastic force through structural deformation. In some embodiments, when two locking assemblies 320 are provided and configured to move in a direction that is relatively close to or far apart from each other, a spring is provided between the two locking assemblies 320 and is used to provide elastic force to the two locking assemblies 320 respectively.

[0063] In some embodiments, the elastic members 315 are symmetrically arranged on the left and right sides of the locking assembly 320, so that the locking assembly 320 is subjected to uniform force.

[0064] In some embodiments of this application, reference is made to Figure 1The first joint rod 100 is equipped with a bearing 400, and the second joint rod 200 is movably mounted within the first joint rod 100 via the bearing 400. It is understood that the bearing 400 assists in the installation of the second joint rod 200 and provides support for its rotation, thereby reducing frictional losses and improving mechanical efficiency. Furthermore, the second joint rod 200, while rotating on the bearing 400, can also move axially, thus enabling the joint to simultaneously possess telescopic and rotational functions. Specific types of bearings 400 can be adaptively configured to meet functional requirements.

[0065] In some embodiments, a stroke linear bearing 400 is used, and when the joint is unlocked, the second joint rod 200 can perform linear motion relative to the first joint rod 100 and rotational motion around the central axis of the bearing 400.

[0066] The joint mechanism of this application embodiment is described in detail below with reference to a specific example. It should be noted that the following embodiment is merely an exemplary description and should not be construed as limiting the embodiments of this application.

[0067] See Figures 1 to 2 As shown, the joint mechanism of this embodiment includes a first joint rod 100, a second joint rod 200, a mounting base 330, a push-pull electromagnet, a first pull rod 3121, a second pull rod 3122, a third pull rod 3123, a fourth pull rod 3124, a first shaft component 510, a second shaft component 520, a third shaft component 530, a fourth shaft component 540, a first brake pad mounting block, a second brake pad mounting block, and a brake pad.

[0068] The first shaft component 510 is fixed to the push-pull rod of the push-pull electromagnet, the fourth shaft component 540 is fixed to the mounting base 330, the second shaft component 520 is fixed to the first brake pad mounting block, and the third shaft component 530 is fixed to the second brake pad mounting block. The push-pull electromagnet is fixed to the mounting base 330, the second joint rod 200 is mounted and fixed to the mounting base 330, the first joint rod 100 is nested outside the second joint rod 200, and the second joint rod 200 can rotate around its axis and move axially relative to the first joint rod 100. The mounting base 330 is disposed inside the first joint rod 100 and moves with the second joint rod 200.

[0069] Each of the following tie rods has two mounting holes: the first tie rod 3121, the second tie rod 3122, the third tie rod 3123, and the fourth tie rod 3124. The mounting holes on the first tie rod 3121 are used to mount the first shaft component 510 and the second shaft component 520, respectively; the mounting holes on the second tie rod 3122 are used to mount the first shaft component 510 and the third shaft component 530, respectively; the mounting holes on the third tie rod 3123 are used to mount the second shaft component 520 and the fourth shaft component 540, respectively; and the mounting holes on the fourth tie rod 3124 are used to mount the third shaft component 530 and the fourth shaft component 540, respectively. Each tie rod can rotate relative to its corresponding shaft component. Specifically, the center distance between the two mounting holes on the first tie rod 3121 is the same as the center distance between the two mounting holes on the second tie rod 3122, and the center distance between the two mounting holes on the third tie rod 3123 is the same as the center distance between the two mounting holes on the fourth tie rod 3124, so that the movement of the first brake pad mounting block and the second brake pad mounting block is identical. In some embodiments, the center distance between the two mounting holes of the first pull rod 3121 and the center distance between the two mounting holes of the third pull rod 3123 may be the same or different. In the embodiments of this application, it is preferred that they are the same.

[0070] Brake pads are mounted on the first and second brake pad mounting blocks, respectively. When the electromagnet push-pull rod moves upward, the interaction between the rods pushes the first and second brake pad mounting blocks outward, causing the brake pads to lock against the inner wall of the first joint rod 100, thereby locking the second joint rod 200. When the electromagnet push-pull rod moves downward, the interaction between the rods pulls the first and second brake pad mounting blocks inward, causing the brake pads to disengage from the inner wall of the first joint rod 100, thereby unlocking the second joint rod 200.

[0071] Furthermore, it also includes a guide shaft. The first brake pad mounting block has a guide hole, one end of the guide shaft is fixed to the second brake pad mounting block, and the other end is placed in the guide hole on the first brake pad mounting block. This ensures that the first and second brake pad mounting blocks can move outward and inward along the set direction without deflection.

[0072] Furthermore, it also includes a spring, which allows the brake pads to lock onto the inner wall of the first joint rod 100 when the electromagnet is de-energized and loses its force. Preferably, the guide shaft and the spring are arranged symmetrically.

[0073] Furthermore, it also includes a bearing 400, through which the first joint rod 100 and the second joint rod 200 are connected. Preferably, the bearing 400 is a stroke linear bearing 400, so that when the joint is unlocked, the second joint rod 200 can perform linear motion relative to the first joint rod 100 and rotational motion around the central axis of the bearing 400.

[0074] Preferably, the tie rod at the fourth shaft component 540 is installed such that two third tie rods 3123 clamp one fourth tie rod 3124. Similarly, at the second shaft component 520, two third tie rods 3123 clamp one first tie rod 3121. Further, at the third shaft component 530, two second tie rods 3122 clamp one fourth tie rod 3124, and at the first shaft component 510, two second tie rods 3122 clamp one first tie rod 3121. This ensures that the first brake pad mounting block and the second brake pad mounting block are subjected to balanced forces, preventing deflection.

[0075] Preferably, an E-type snap ring is used to mount on the fourth shaft component 540 to limit the linear displacement of the third tie rod 3123 and the fourth tie rod 3124 relative to the fourth shaft component 540.

[0076] The joint mechanism of this embodiment cleverly utilizes structural space by placing the entire locking device 300 inside the joint, resulting in a smaller joint size and a simple, aesthetically pleasing appearance. Simultaneously, the locking device 300 can lock when power is off and unlock when power is on. After unlocking, the second joint rod 200 can not only move linearly relative to the first joint rod 100 but also rotate. Therefore, after unlocking, the joint can be moved and rotated to any position within its stroke range.

[0077] The robot of the second aspect of this application may be a surgical robot, a loading and unloading robot, etc., and the robot includes: the joint mechanism of the first aspect of this application.

[0078] It is easy to understand that the robot in the second aspect embodiment of this application has the same technical effect as the joint mechanism in the first aspect embodiment, and therefore will not be described again.

[0079] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0080] 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0081] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0082] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A joint mechanism, characterized in that, include: First joint rod, second joint rod, and locking device; The first joint rod is nested within the second joint rod, and the second joint rod is movable relative to the first joint rod; The locking device includes a driving component and a locking component. The locking component is disposed within the first joint rod. The driving component is used to drive the locking component to move so that the locking component can lock the second joint rod.

2. The joint mechanism according to claim 1, characterized in that: The locking device includes a mounting base, the second joint rod is fixedly connected to the mounting base, and the driving component is disposed on the mounting base and used to drive the locking component to move so that the locking component locks the second joint rod when it acts on the inner wall of the first joint rod.

3. The joint mechanism according to claim 2, characterized in that: The locking assembly includes a brake pad component with a friction surface. The friction surface of the brake pad component is used to lock the second joint rod when it abuts against the inner wall of the first joint rod.

4. The joint mechanism according to claim 2, characterized in that: The drive assembly includes a drive component and a transmission component. The drive component is used to drive the locking assembly to move through the transmission component, so that the locking assembly can move in a direction relatively close to or away from the inner wall of the first joint rod.

5. The joint mechanism according to claim 4, characterized in that: The transmission component includes a first pull rod, a second pull rod, a third pull rod, and a fourth pull rod; the driving component includes a push-pull electromagnet; and at least two locking assemblies are provided. The push-pull rod of the push-pull electromagnet is rotatably connected to one end of the first pull rod and one end of the second pull rod. At least one of the locking components is rotatably connected to the other end of the first pull rod and one end of the third pull rod; At least one of the locking components is rotatably connected to the other end of the second pull rod and one end of the fourth pull rod; The other end of the third tie rod is rotatably connected to the other end of the fourth tie rod, so that the first tie rod, the second tie rod, the third tie rod and the fourth tie rod form a parallel four-bar linkage.

6. The joint mechanism according to claim 5, characterized in that: At least one of the first pull rod, the second pull rod, the third pull rod, and the fourth pull rod is provided respectively, and the number of the first pull rod and the fourth pull rod is the same, and the number of the second pull rod and the third pull rod is the same.

7. The joint mechanism according to claim 5, characterized in that: A retaining ring is provided between the other end of the third tie rod and the other end of the fourth tie rod to limit axial movement.

8. The joint mechanism according to claim 4, characterized in that: The drive assembly further includes a guide component for guiding the movement of the locking assembly; And / or the drive assembly further includes a spring member for providing an elastic force acting on the locking assembly to enable the locking assembly to be maintained at or reset to a position acting on the inner wall of the first joint rod.

9. The joint mechanism according to claim 1, characterized in that: The first joint rod is provided with a bearing, and the second joint rod is movably disposed in the first joint rod through the bearing.

10. A robot, characterized in that, include: The joint mechanism as described in any one of claims 1 to 9.

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