Joint module, robot arm and robot

Abstract

This application discloses a joint module, a robotic arm, and a robot. The joint module includes a housing, a first terminal block, a drive component, a rotating structure, a second terminal block, a first conductive component, and a second conductive component. The first terminal block is mounted on the housing, and the second terminal block is mounted on the rotating structure. The first conductive component is mounted on the housing and electrically connected to the first terminal block. The second conductive component is disposed on the rotating structure and electrically connected to the second terminal block. When the rotating structure rotates relative to the housing around a first axis, the rotating structure drives the second conductive component to rotate relative to the first conductive component around the first axis. The second conductive component and the first conductive component can always maintain an electrical connection, so that the first terminal block and the second terminal block are always electrically connected. Thus, the rotation of the rotating structure relative to the housing does not cause the wiring harness inside the joint module to twist, which can prevent the wiring harness from affecting the reliability and flexibility of the joint module.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a joint module, a robotic arm, and a robot. Background Technology

[0002] In related technologies, robots are usually composed of multiple interconnected joint modules, that is, the rotating part of the upper-level joint module is connected to the fixed part of the lower-level joint module. In order to realize the signal and power transmission between the joint modules, the fixed parts of two adjacent joint modules also need to be connected by wire harnesses.

[0003] However, during the actual operation of the robot, the fixed and rotating parts of the upper-level joint module will rotate relative to each other, and the rotating part of the upper-level joint module will drive the fixed part of the lower-level joint module to rotate. This will cause the wiring harness between the two adjacent joint modules to twist as well. If the twist angle of the wiring harness is too large or the number of twists is too many, the wiring harness is prone to loosening, breaking, tangling, wear and other phenomena. Furthermore, due to the presence of the wiring harness, the joint module cannot rotate freely at large angles, which greatly reduces the robot's flexibility and reliability. Utility Model Content

[0004] This application provides a joint module, a robotic arm, and a robot, which can solve the technical problem of wiring harnesses affecting the reliability and flexibility of robots.

[0005] In a first aspect, embodiments of this application provide a joint module, which includes:

[0006] case;

[0007] The first terminal is installed in the housing;

[0008] A first conductive element is installed in the housing and is electrically connected to the first terminal block;

[0009] The driving component is mounted on the housing;

[0010] A rotating structure is movably disposed in the housing and is connected to the output end of the drive component for transmission.

[0011] The second terminal block is installed on the rotating structure; and

[0012] The second conductive element is installed on the rotating structure and electrically connected to the second terminal block, and the second conductive element slides in contact with and is electrically connected to the first conductive element;

[0013] The driving member is used to drive the rotating structure to rotate about a first axis relative to the housing, thereby driving the second conductive member to rotate relative to the first conductive member and electrically connect them, so that the first terminal and the second terminal are electrically connected.

[0014] Secondly, embodiments of this application provide a robotic arm, which includes:

[0015] At least two joint modules as described above; and

[0016] A connecting harness, one end of which is connected to the first terminal of one of the two joint modules, and the other end of which is connected to the second terminal of the other of the two joint modules.

[0017] Thirdly, embodiments of this application provide a robot, which includes:

[0018] Robot body; and

[0019] The robotic arm described above is mounted on the robot body.

[0020] Based on the joint module, robotic arm, and robot of this application embodiment, by electrically connecting the first terminal block and the first conductive element and installing them both in the housing, electrically connecting the second terminal block and the second conductive element and installing them both in the rotating structure, and drivingly connecting the output end of the drive unit to the rotating structure, when the drive unit drives the rotating structure to rotate relative to the housing around the first axis, the rotating structure can drive the second conductive element to rotate relative to the first conductive element around the first axis, and the second conductive element and the first conductive element can always maintain an electrical connection, so that the first terminal block and the second terminal block are always electrically connected. Thus, the rotation of the rotating structure relative to the housing will not cause the wiring harness inside the joint module to twist, and can prevent the wiring harness from affecting the reliability and flexibility of the joint module.

[0021] Furthermore, during the assembly of the robotic arm, the rotating structure of the upper-level joint module is assembled with the housing of the lower-level joint module, and the second terminal of the upper-level joint module is electrically connected to the first terminal of the lower-level joint module through a connecting harness. This enables the two joint modules to transmit signals and power. When the rotating structure of the upper-level joint module drives the housing of the lower-level joint module to rotate, the second terminal of the upper-level joint module, the first terminal of the lower-level joint module, and the connecting harness can rotate synchronously around the first axis, thereby preventing the connecting harness from twisting and thus preventing the connecting harness from affecting the reliability and flexibility of the robotic arm. Attached Figure Description

[0022] 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 the structures shown in these drawings without creative effort.

[0023] Figure 1 A front view of the joint module provided in the embodiments of this application;

[0024] Figure 2 This is a top view of the joint module provided in an embodiment of this application;

[0025] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure at point AA;

[0026] Figure 4 This is a schematic diagram of the internal circuit connection structure of the joint module provided in the embodiments of this application.

[0027] Explanation of icon numbers:

[0028] 100. Joint module; 11. First terminal block; 12. Circuit board; 13. First connecting wire; 14. Housing; 141. First cavity; 142. Second cavity; 143. First mounting platform; 15. Drive component; 151. Mounting base; 152. Motor rotor; 153. Motor stator; 20. Rotating structure; 21. Second terminal block; 22. Second connecting wire; 23. Transmission component; 231. Sun gear; 232. Planet gear; 233. Planet gear support; 234. Internal gear ring; 24. Output component; 241. Second mounting platform; 30. First conductive component; 301. Conductive ring; 40. Second conductive component; 401. Conductive brush head; 4011. Conductive contact; N. First axis.

[0029] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0031] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0032] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] In related technologies, joint modules are commonly used in robotic arms, quadrupedal robot dogs, and humanoid robots. They are key components for realizing the robot's motion functions. A joint module typically consists of a fixed part and a rotating part. When the joint module is powered on, the rotating part can rotate coaxially relative to the fixed part. The power lines and signal lines of the joint module are all located on the fixed part. A robot is composed of multiple joint modules connected in series. That is, the rotating part of the upper-level joint module is connected to the fixed part of the lower-level joint module, and the fixed parts of two joint modules also need to be connected through power lines and signal lines.

[0035] However, since the rotating part of the upper-level joint module is connected to the fixed part of the lower-level joint module, and there are power lines and signal lines connecting the fixed parts of the two joint modules, when the rotating part of the upper-level joint module drives the fixed part of the lower-level joint module to rotate, the power lines and signal lines between the fixed parts of the two joint modules will twist. Since the power lines and signal lines cannot twist indefinitely, the rotation degree usually needs to be less than 180°, which greatly limits the joint angle of the robot, thus limiting the robot's flexibility. Furthermore, since the power lines and signal lines need to twist repeatedly during robot movement, they are prone to loosening, breakage, entanglement, wear, and other phenomena, thereby reducing the reliability of the robot.

[0036] To resolve the above issues, please refer to [link / reference]. Figures 1 to 3In a first aspect, this application proposes a joint module 100. In an embodiment of this application, the joint module 100 includes a housing 14, a first terminal block 11, a drive component 15, a rotating structure 20, a second terminal block 21, a first conductive component 30, and a second conductive component 40. The first terminal block 11 and the first conductive component 30 are both mounted on the housing 14, and the first conductive component 30 is electrically connected to the first terminal block 11. The drive component 15 is mounted on the housing 14. The rotating structure 20 is movably disposed within the housing 14 and is drively connected to the output end of the drive component 15. The second terminal block 21 is connected to the second conductive component 40. All components 40 are mounted on the rotating structure 20, and the second conductive component 40 is electrically connected to the second terminal 21. The second conductive component 40 is in sliding contact with and electrically connected to the first conductive component 30. The driving component 15 is used to drive the rotating structure 20 to rotate relative to the housing 14 about the first axis N, so that the rotating structure 20 can drive the second conductive component 40 to rotate relative to the first conductive component 30, and the second conductive component 40 can be in sliding contact with the first conductive component 30, so that the second conductive component 40 can be electrically connected to the first conductive component 30, and so that the first terminal 11 is electrically connected to the second terminal 21.

[0037] In this embodiment, the outer contour of the housing 14 is cylindrical. The first terminal 11 is mounted on the housing 14 and can be exposed from the outer surface of the housing 14, thereby facilitating the connection of the first terminal 11 to an external wiring harness. The driving member 15 is mounted inside the housing 14. The rotating structure 20 is movably assembled inside the housing 14, and the rotating structure 20 is connected to the output end of the driving member 15. The driving member 15 can drive the rotating structure 20 to rotate relative to the housing 14 around the first axis N. The first axis N can be collinear with the axis of the housing 14, making the rotation of the rotating structure 20 relative to the housing 14 more stable. The second terminal 21 is located on the outermost side of the rotating structure 20, and the second terminal 21 can also be exposed from the outer surface of the housing 14, facilitating the connection of the second terminal 21 to an external wiring harness.

[0038] The first conductive element 30 is disposed inside and connected to the housing 14. The first conductive element 30 is electrically connected to the first terminal 11. The second conductive element 40 is mounted on the rotating structure 20 and is electrically connected to the second terminal 21. When the driving member 15 drives the rotating structure 20 to rotate relative to the housing 14 around the first axis N, the rotating structure 20 can drive the second conductive element 40 to rotate relative to the first conductive element 30 around the first axis N. Since the second conductive element 40 and the first conductive element 30 are in sliding contact, the second conductive element 40 can always maintain an electrical connection with the first conductive element 30 during the rotation process, so that even when the rotating structure 20 is rotating, the second terminal 21 and the first terminal 11 can always be electrically connected.

[0039] Therefore, when the rotating structure 20 rotates relative to the housing 14, the joint module 100 can transmit signals and power through the first conductive element 30 and the second conductive element 40, so that the wiring harness inside the joint module 100 will not be twisted, thus preventing the wiring harness from affecting the reliability and flexibility of the joint module 100.

[0040] Please see Figure 3 and Figure 4 In some embodiments, the first conductive element 30 and the second conductive element 40 are arranged along the extension direction of the first axis N, and at least one of the first conductive element 30 and the second conductive element 40 is arranged around the first axis N once.

[0041] It is understandable that during the rotation of the second conductive element 40 around the first axis N, the movement trajectory of the second conductive element 40 will form a ring-shaped area extending around the first axis N. In order to ensure that the first conductive element 30 and the second conductive element 40 can always be in contact, the first conductive element 30 and the second conductive element 40 need to always have a contact point within the ring-shaped area.

[0042] In this embodiment, by arranging the first conductive element 30 and the second conductive element 40 along the extension direction of the first axis N, and by having at least one of the first conductive element 30 and the second conductive element 40 circle the first axis N, the projection of at least one of the first conductive element 30 and the second conductive element 40 in the extension direction of the first axis N coincides with the projection of the annular region in the extension direction of the first axis N. This ensures that the first conductive element 30 and the second conductive element 40 can always slide in contact, thus ensuring that the first conductive element 30 and the second conductive element 40 can always be electrically connected.

[0043] More specifically, the first conductive element 30 can be configured as a ring structure, so that the first conductive element 30 rotates around the first axis N once. Alternatively, the second conductive element 40 can be configured as a ring structure, so that the second conductive element 40 rotates around the first axis N once. Or, both the first conductive element 30 and the second conductive element 40 can be configured as ring structures to ensure that the first conductive element 30 and the second conductive element 40 can always slide in contact.

[0044] Please see Figure 3 and Figure 4 In some embodiments, one of the first conductive element 30 and the second conductive element 40 has a conductive loop 301 that extends around the first axis N, and the other of the first conductive element 30 and the second conductive element 40 has a conductive brush head 401 that slides in contact with and is electrically connected to the conductive loop 301.

[0045] Optionally, the first conductive element 30 includes a first mounting plate and a conductive ring 301, and the second conductive element 40 includes a second mounting plate and a conductive brush head 401. The first mounting plate and the second mounting plate are arranged at intervals along the extension direction of the first axis N. The first mounting plate is connected to the housing 14, and the second mounting plate is connected to the rotating structure 20. The conductive ring 301 is provided on the side of the first mounting plate facing the second mounting plate. The conductive ring 301 extends around the first axis N. The conductive brush head 401 is provided on the side of the second mounting plate facing the first mounting plate. The conductive brush head 401 is slidably connected to and electrically connected to the conductive ring 301. When the rotating structure 20 rotates relative to the housing 14 around the first axis N, the rotating structure 20 drives the second mounting plate and the conductive brush head 401 to rotate synchronously around the first axis N. The conductive brush head 401 can always be in contact with the conductive ring 301 so that the first terminal 11 and the second terminal 21 are always electrically connected.

[0046] In some other embodiments, the first conductive element 30 may include a conductive brush head 401, and the second conductive element 40 may include a conductive loop 301, which can also make the first terminal 11 and the second terminal 21 always electrically connected.

[0047] Please see Figure 3 and Figure 4 In some embodiments, the conductive brush head 401 includes multiple sets of conductive contact groups, which are arranged at intervals along a direction perpendicular to the first axis N. Each conductive contact group includes multiple conductive contacts 4011, which are arranged at intervals around the first axis N. All conductive contacts 4011 are in sliding contact with and electrically connected to the conductive ring 301.

[0048] Optionally, taking the example of the first conductive element 30 including a conductive loop 301 and the second conductive element 40 including a conductive brush head 401, the conductive brush head 401 and the second terminal 21 can be connected by multiple wire harnesses, and each wire harness is connected to a group of conductive contacts. Since the multiple groups of conductive contacts are arranged at intervals along a direction perpendicular to the first axis N, when the conductive brush head 401 rotates relative to the conductive loop 301 around the first axis N, each group of conductive contacts can rotate around the first axis N, so that each group of conductive contacts slides in contact with the conductive loop 301 and is electrically connected, and the multiple groups of conductive contacts will not affect each other. When a circuit fault occurs between the conductive brush head 401 and the second terminal 21, the multiple groups of conductive contacts can be tested separately, and only the faulty conductive contact group needs to be repaired, which can increase the reliability of the joint module 100.

[0049] In a group of conductive contacts, multiple conductive contacts 4011 are arranged at intervals around the first axis N. When the conductive brush head 401 rotates relative to the conductive ring 301 around the first axis N, the movement trajectories of the multiple conductive contacts 4011 are the same, and the multiple conductive contacts 4011 can all slide and electrically connect with the conductive ring 301, so that the conductive brush head 401 and the conductive ring 301 can be electrically connected more stably, which can further increase the reliability of the joint module 100.

[0050] Please see Figure 4 In some embodiments, the joint module 100 further includes a circuit board 12 and a first connecting line 13. The circuit board 12 is mounted on the housing 14 and has a first terminal 11. The circuit board 12 is connected to the first conductive element 30 through the first connecting line 13. The rotating structure 20 also includes a second connecting line 22. The second conductive element 40 is connected to the second terminal 21 through the second connecting line 22.

[0051] Optionally, the circuit board 12 serves as the control unit of the joint module 100. The circuit board 12 is disposed inside the housing 14, and the circuit board 12 also integrates a first terminal 11. The first terminal 11 is electrically connected to the circuit board 12. The circuit board 12 is also connected to the first conductive element 30 through a first connecting line 13. That is, the circuit board 12 is electrically connected to the conductive loop 301 of the first conductive element 30 through the first connecting line 13, so that the first terminal 11 is electrically connected to the conductive loop 301 of the first conductive element 30 through the first connecting line 13. The conductive brush head 401 of the second conductive element 40 is electrically connected to the second terminal 21 through a second connecting line 22.

[0052] When the rotating structure 20 rotates relative to the housing 14 about the first axis N, the conductive brush head 401, the second connecting wire 22, and the second terminal 21 all rotate relative to the housing 14 about the first axis N. More specifically, the conductive brush head 401 rotates relative to the conductive ring 301 about the first axis N, the second connecting wire 22 rotates relative to the first connecting wire 13 about the first axis N, and the second terminal 21 rotates relative to the first terminal 11 about the first axis N. As a result, the wiring harness inside the joint module 100 will not twist on its own, which can prevent the wiring harness from affecting the reliability and flexibility of the joint module 100.

[0053] Please see Figure 4 In some embodiments, the first terminal 11 and the second terminal 21 are arranged at intervals in the extension direction of the first axis N.

[0054] Specifically, the joint module 100 has a first end and a second end along the extension direction of the first axis N. The first terminal 11 is located at the first end of the joint module 100, and the second terminal 21 is located at the second end of the joint module 100. When assembling the robot, since the two joint modules 100 are assembled together along the extension direction of the first axis N, the first terminal 11 and the second terminal 21 in one joint module 100 are arranged at intervals along the extension direction of the first axis N. This facilitates the electrical connection between the second terminal 21 of the upper-level joint module 100 and the first terminal 11 of the lower-level joint module 100, thereby reducing the assembly difficulty of the robot.

[0055] Please see Figure 3 In some embodiments, the housing 14 has a first cavity 141 and a second cavity 142 arranged sequentially along the extension direction of the first axis N. The first cavity 141 and the second cavity 142 are connected. The driving member 15 is installed in the housing 14 and disposed in the first cavity 141. The first conductive member 30 and the second conductive member 40 are both disposed in the second cavity 142. The first conductive member 30 is connected to the housing 14. The first conductive member 30 and the second conductive member 40 are arranged sequentially along the extension direction of the first axis N.

[0056] Optionally, the interior of the housing 14 defines a first cavity 141 and a second cavity 142, which are arranged along the extension direction of the first axis N and are interconnected, so that the interior of the housing 14 can form two chambers for accommodating other components, thereby facilitating the reasonable installation of other components inside the housing 14.

[0057] In this embodiment, the driving component 15 can be a motor, and the driving component 15 includes a mounting base 151, a motor stator 153, and a motor rotor 152. The mounting base 151, the motor stator 153, and the motor rotor 152 are all disposed in the first cavity 141, and the mounting base 151, the motor stator 153, and the motor rotor 152 are arranged along the extension direction of the first axis N, so that the mounting base 151, the motor stator 153, and the motor rotor 152 can be compactly assembled in the first cavity 141.

[0058] More specifically, the mounting base 151 is connected to the inner wall defining the first cavity 141, the motor rotor 152 is rotatably connected to the mounting base 151, and the output end of the motor rotor 152 is connected to the rotating structure 20. The motor rotor 152 is driven by the motor stator 153 to drive the rotating structure 20 to rotate around the first axis N. The first conductive element 30 and the second conductive element 40 are both disposed in the second cavity 142, and the first conductive element 30 is connected to the inner wall defining the second cavity 142, and the second conductive element 40 is connected to the part of the rotating structure 20 located in the second cavity 142. Thus, the first conductive element 30 and the second conductive element 40 can be easily integrated into the housing 14, and the first conductive element 30 and the second conductive element 40 are arranged along the extension direction of the first axis N, so that the second conductive element 40 can rotate around the first axis N relative to the first conductive element 30 as the rotating structure 20 rotates.

[0059] Please see Figure 3 In some embodiments, the rotating structure 20 includes a transmission member 23 and an output member 24. The transmission member 23 is disposed in the first cavity 141 and is connected to the output end of the drive member 15. The transmission member 23 is used to increase the output torque of the drive member 15. The output member 24 is disposed in the second cavity 142 and is connected to the transmission member 23. The transmission member 23 is used to drive the output member 24 to rotate around the first axis N. The output member 24 is connected to the second conductive member 40 and the second terminal 21.

[0060] The transmission component 23 can be a reducer, gearbox, or brake, etc., which can increase torque. In this embodiment, the transmission component 23 can be a reducer, and the transmission component 23 includes an internal gear ring 234, planetary gears 232, a sun gear 231, and a planetary gear carrier 233. The internal gear ring 234 is disposed in the first cavity 141 and connected to the motor stator 153. Specifically, the motor stator 153 forms a receiving cavity, the internal gear ring 234 is located in the receiving cavity and connected to the motor stator 153, the sun gear 231 is disposed in the first cavity 141 and connected to the output end of the motor rotor 152, the internal gear ring 234 extends around the sun gear 231, the planetary gears 232 are mounted on the planetary gear carrier 233, and the planetary gears 232 are located between the sun gear 231 and the internal gear ring 234, and the planetary gears 232 mesh with the sun gear 231 and the internal gear ring 234. The planetary gear carrier 233 is connected to the output component 24.

[0061] When the motor stator 153 drives the motor rotor 152 to rotate, the motor stator 153 drives the sun gear 231 to rotate around the first axis N. The sun gear 231 can drive the planet gears 232 to rotate, and the planet gears 232 rotate around the first axis N along the internal gear ring 234. This allows the planet gears 232 to drive the planet gear carrier 233 to rotate around the first axis N, thereby driving the output component 24 to rotate around the first axis N. This, in turn, drives the second conductive component 40 and the second terminal 21 to rotate around the first axis N together. Furthermore, the output torque of the drive component 15 can be increased by utilizing the tooth ratio of the sun gear 231 to the planet gears 232.

[0062] Please see Figure 3 In some embodiments, the housing 14 defines the inner wall of the second cavity 142 to form a first mounting platform 143, the output member 24 has a second mounting boss, the first mounting platform 143 and the second mounting platform 241 are arranged at intervals along the extension direction of the first axis N, the first conductive member 30 is disposed on the first mounting platform 143, and the second conductive member 40 is disposed on the second mounting platform 241.

[0063] Optionally, the first mounting platform 143 has a first mounting surface perpendicular to the first axis N, and the second mounting platform 241 has a second mounting surface parallel to the first mounting surface. The second mounting surface and the first mounting surface are arranged at intervals along the extension direction of the first axis N. The first conductive element 30 is disposed on the first mounting surface, and the second conductive element 40 is disposed on the second mounting surface, so that the first conductive element 30 can slide in contact with the second conductive element 40, thereby making reasonable use of the space in the second cavity 142.

[0064] More specifically, the first mounting platform 143 is a ring structure extending around the first axis N, which can provide support for the conductive ring 301 of the first conductive element 30. The second mounting platform 241 is also a ring structure extending around the first axis N, and the dimension of the second mounting platform 241 in the direction perpendicular to the first axis N is smaller than the dimension of the first mounting platform 143 in the direction perpendicular to the first axis N. The second conductive element 40 is disposed on the second mounting platform 241, and the projection of the conductive brush head 401 in the direction of extension of the first axis N falls on the conductive ring 301, so that the conductive brush head 401 can slide in contact with the conductive ring 301 and be electrically connected.

[0065] Secondly, this application proposes a robotic arm comprising at least two joint modules 100 and a connecting harness, one end of which is connected to a first terminal 11 of one of the two joint modules 100, and the other end of which is connected to a second terminal 21 of the other of the two joint modules 100.

[0066] It should be noted that when assembling the robotic arm, the rotating structure 20 of the upper-level joint module 100 is connected to the housing 14 of the lower-level joint module 100 through a transmission connection, and the second terminal 21 of the upper-level joint module 100 is electrically connected to the first terminal 11 of the lower-level joint module 100 through a connecting wire harness, so that the two joint modules 100 can realize signal and power transmission.

[0067] When the rotating structure 20 of the upper-level joint module 100 drives the housing 14 of the lower-level joint module 100 to rotate, the second terminal 21 of the upper-level joint module 100, the first terminal 11 of the lower-level joint module 100, and the connecting harness can rotate synchronously around the first axis N. Thus, when the robotic arm is working, the connecting harness between the two joint modules 100 will not twist, which can prevent the connecting harness from being damaged due to its own twisting. Also, the connecting harness will not restrict the joint angle of the robotic arm, thereby preventing the connecting harness from affecting the reliability and flexibility of the robotic arm.

[0068] Thirdly, this application proposes a robot, which includes a robot body and a robotic arm as described above, the robotic arm being mounted on the robot body.

[0069] The beneficial effects of the robot in this application are the same as those of the robotic arm in this application, and will not be repeated here.

[0070] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" 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, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0071] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A joint module, characterized in that, include: case; The first terminal is installed in the housing; A first conductive element is installed in the housing and is electrically connected to the first terminal block; The driving component is mounted on the housing; A rotating structure is movably disposed in the housing and is connected to the output end of the drive component for transmission. The second terminal block is installed on the rotating structure; as well as The second conductive element is installed on the rotating structure and electrically connected to the second terminal block, and the second conductive element slides in contact with and is electrically connected to the first conductive element; The driving member is used to drive the rotating structure to rotate about a first axis relative to the housing, thereby driving the second conductive member to rotate relative to the first conductive member and electrically connect them, so that the first terminal and the second terminal are electrically connected.

2. The joint module as described in claim 1, characterized in that, The first conductive element and the second conductive element are arranged along the extension direction of the first axis, and at least one of the first conductive element and the second conductive element extends around the first axis once.

3. The joint module as described in claim 1 or 2, characterized in that, One of the first conductive element and the second conductive element has a conductive loop extending around the first axis. The other of the first conductive element and the second conductive element has a conductive brush head that slides in contact with and is electrically connected to the conductive loop.

4. The joint module as described in claim 3, characterized in that, The conductive brush head includes multiple sets of conductive contact groups, which are arranged at intervals along a direction perpendicular to the first axis. Each conductive contact group includes multiple conductive contacts, which are arranged at intervals around the first axis. All of the multiple conductive contacts slide in contact with and are electrically connected to the conductive ring.

5. The joint module as described in claim 1, characterized in that: The joint module also includes a circuit board and a first connecting line. The circuit board is mounted on the housing and has a first terminal block. The circuit board is connected to the first conductive element through the first connecting line. The rotating structure also includes a second connecting line, through which the second conductive element is connected to the second terminal.

6. The joint module as described in claim 1, characterized in that, The first terminal block and the second terminal block are arranged at intervals along the extension direction of the first axis.

7. The joint module as described in claim 1, characterized in that, The housing includes a first cavity and a second cavity arranged sequentially along the extension direction of the first axis, and the first cavity and the second cavity are in communication. The driving component is installed in the first cavity, and the first conductive component and the second conductive component are both disposed in the second cavity. The first conductive component is connected to the housing, and the first conductive component and the second conductive component are arranged sequentially along the extension direction of the first axis.

8. The joint module as described in claim 7, characterized in that, The rotating structure includes: A transmission component is disposed within the first cavity and is connected to the output end of the drive component. The transmission component is used to increase the output torque of the drive component. An output component is disposed in the second cavity and is connected to the transmission component for transmission. The transmission component is used to drive the output component to rotate around the first axis. The output component is connected to the second conductive component and the second terminal block.

9. The joint module as described in claim 8, characterized in that, The housing defines the inner wall of the second cavity to form a first mounting platform, and the output component has a second mounting platform; The first mounting platform and the second mounting platform are arranged at intervals along the extension direction of the first axis, the first conductive element is disposed on the first mounting platform, and the second conductive element is disposed on the second mounting platform.

10. A robotic arm, characterized in that, include: At least two joint modules as described in any one of claims 1-9; as well as A connecting harness, one end of which is connected to the first terminal of one of the two joint modules, and the other end of which is connected to the second terminal of the other of the two joint modules.

11. A robot, characterized in that, include: Robot body; as well as The robotic arm as described in claim 10 is mounted on the robot body.

Images