CN116572282B - Joint structure and robot - Google Patents

Abstract

The application provides a joint structure and a robot, wherein the joint structure is used for being connected with a connecting rod structure, and comprises a shell component and an electric component arranged in the shell component; the exhaust assembly, shell assembly and electrical component form the exhaust passage jointly, and the exhaust assembly includes first exhaust component, and the air inlet of first exhaust component communicates with the cavity in the shell assembly except for the exhaust passage, and the gas outlet of first exhaust component communicates with the exhaust passage to make exhaust assembly pass through the exhaust passage with the gas exhaust in the shell assembly to the outside of shell assembly, with the not good problem of radiating effect of the joint module of the cooperation robot among the solution prior art.

Description

Joint structure and robot

Technical Field

The present application relates to a cooperative robot, and more particularly, to a joint structure and a robot.

Background

At present, the cooperative robot is used as a novel industrial robot, so that the robot is thoroughly free from the constraint of guardrails and surrounding cages, the cooperative combat of the robot and staff on a production line is realized, the novel industrial robot has the advantages of high cost performance, safety, easiness in use and the like, the novel industrial robot has the creative product performance and wide application field, the development of manufacturing enterprises is greatly promoted, and a new era is opened for the development of the industrial robot.

Since the cooperative robot has a compact, precise and fast motion characteristic, how to effectively dissipate heat of the joint module integrated by the driving motor, the speed reducer and other components becomes a great difficulty.

However, in the prior art, heat dissipation is generally performed by adding a heat sink to the outside of the joint module, adding a heat pipe to the inside of the robot, and the like. On the one hand, the heat dissipation modes may affect the beauty, on the other hand, the realization is more complicated, the heat dissipation efficiency is low, main heat is still concentrated at each joint module, and effective heat dissipation cannot be provided for a servo system of the robot, so that the temperature at the joint module is higher, the working efficiency of the robot is affected, and even the damage of electric elements is caused.

Disclosure of Invention

The application mainly aims to provide a joint structure and a robot, which are used for solving the problem that a joint module of a cooperative robot in the prior art is poor in heat dissipation effect.

In order to achieve the above object, according to one aspect of the present application, there is provided a joint structure for connection with a link structure, the joint structure comprising: a housing assembly and an electrical assembly disposed within the housing assembly; the exhaust assembly, the shell assembly and the electric assembly jointly form an exhaust channel, the exhaust assembly comprises a first exhaust component, an air inlet of the first exhaust component is communicated with a cavity in the shell assembly except for the exhaust channel, an air outlet of the first exhaust component is communicated with the exhaust channel, and the exhaust assembly is used for exhausting air in the shell assembly to the outer side of the shell assembly through the exhaust channel.

Further, the electrical assembly comprises a motor component, the housing component comprises a first housing, the motor component is arranged in the first housing, and a first cavity is defined between the inner wall of the first housing and the outer wall of the motor component; the air inlet of the first exhaust component is in communication with the first cavity.

Further, the exhaust passage includes a first passage section, the first housing has a first mounting opening, the housing assembly includes a first cover, a gap between the first cover and an end face of the motor member forms the first passage section, and an air outlet of the first exhaust member communicates with the first passage section.

Further, the first cover body has a first cover body having a first passage inner end surface which is inclined with respect to a plane perpendicular to an axis of the output shaft of the motor part so that a flow area of the first passage section gradually increases in a direction away from the air outlet of the first exhaust part.

Further, the first cover body further includes a first mounting flange connected with the first cover body and extending in a circumferential direction of the first cover body, the first mounting flange protruding toward the first housing with respect to the first cover body so that the first cover body is detachably mounted with the first housing through the first mounting flange.

Further, the exhaust passage includes a second passage section, and a side of the motor member remote from the first chamber is configured to form the second passage section such that the air flow exiting from the air outlet of the first exhaust member flows through the second passage section.

Further, the electrical assembly further comprises a speed reducer component, the motor component is in driving connection with the speed reducer component, and a second channel section is defined among the side wall of the motor component, the side wall of the first shell and the first end face of the speed reducer component.

Further, the exhaust passage includes a third passage section and a fourth passage section, the speed reducer member has a wire passing hole, the wire passing hole of the speed reducer member forms the third passage section, a side of the speed reducer member away from the motor member forms the fourth passage section, and both ends of the third passage section are respectively communicated with the second passage section and the fourth passage section, so that the air flow discharged by the first exhaust member flows out to the outside of the housing assembly after passing through the third passage section and the fourth passage section.

Further, the housing assembly further comprises a second housing having a second mounting opening and a second cover detachably mounted to the second housing; the second shell is detachably connected with the first shell; the speed reducer component is arranged in the second shell; the exhaust channel comprises a fourth channel section for exhausting air flow to the outer side of the shell assembly, and the fourth channel section is surrounded by the second end face of the speed reducer component, the second shell and the second cover body.

Further, the fourth passage section includes a first branch section formed by a gap between the second cover body and the end face of the speed reducer section, the first branch section communicates with the third passage section, the second cover body has a second cover body having a second passage inner end face which is inclined with respect to a plane perpendicular to an axis of the output shaft of the speed reducer section, so that a flow area of the first branch section is gradually increased in a direction away from an outlet of the third passage section.

Further, the second cover body further includes a second mounting flange connected to the second cover body and extending in a circumferential direction of the second cover body, the second mounting flange protruding toward the first housing with respect to the second cover body so that the second cover body is detachably mounted with the second housing through the second mounting flange.

Further, the fourth channel section further comprises a second branch section which is communicated with the first branch section and is located on one side, far away from the third channel section, of the first branch section, and a second branch section is formed between the outer wall of the speed reducer component and the inner wall of the second shell in a surrounding mode, so that gas in the shell assembly is discharged to the outer side of the shell assembly through the second branch section.

Further, the shell component is used for being connected with the connecting rod structure, the exhaust component further comprises a second exhaust component, an air inlet of the second exhaust component is communicated with the exhaust channel, and an air outlet of the second exhaust component is communicated with the cavity of the connecting rod structure.

Further, the second exhaust member is disposed obliquely with respect to the axis of the link structure such that the air outlet of the second exhaust member is disposed toward the inner wall of the link structure.

According to another aspect of the present application, there is provided a robot including a joint structure and a link structure, the joint structure being the above-mentioned joint structure.

By applying the technical scheme of the application, the joint structure comprises the shell component and the electrical component arranged in the shell component, the shell component and the electrical component jointly form an exhaust channel, the exhaust component comprises a first exhaust component, an air inlet of the first exhaust component is communicated with a cavity except for the exhaust channel in the shell component, an air outlet of the first exhaust component is communicated with the exhaust channel, so that the exhaust component can exhaust gas in the shell component to the outer side of the shell component through the exhaust channel, and the exhaust component is arranged in the shell component. The exhaust channel is formed through the clearance between the shell component and the electrical component, the exhaust component is arranged in the shell component, the air inlet of the first exhaust component is communicated with the cavity between the electrical component and the shell component, the air outlet is communicated with the exhaust channel, and then heat in the cavity of the shell component is discharged to the outer side of the shell component along the extending direction of the exhaust channel through the exhaust component, so that a single circulating channel for heat flow is formed in the joint module of the cooperative robot, the heat at the joint module is continuously transferred into the connecting rod with a large cavity, and the heat dissipation treatment of the joint module is realized, so that the problem that the heat dissipation effect of the joint module of the cooperative robot in the prior art is poor is solved. The technical scheme of the application is easy to realize, and has high heat dissipation effect and low cost.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

FIG. 1 shows a schematic cross-sectional view of a robot according to an embodiment of the robot of the present application;

FIG. 2 shows a schematic cross-sectional view of the joint and link structure of FIG. 1 in an assembled state;

FIG. 3 shows a schematic cross-sectional view of the robot of FIG. 1 from the B-B perspective;

FIG. 4 shows a schematic cross-sectional view of the robot of FIG. 1 from the C-C perspective;

fig. 5 shows a schematic perspective view of an exhaust assembly of the joint structure of the robot in fig. 1.

Wherein the above figures include the following reference numerals:

10. a housing assembly; 11. an electrical component; 110. a motor component; 111. a speed reducer component; 12. a first cover; 121. a first cover main body; 122. an inner end surface of the first channel; 123. a first mounting flange; 13. a first housing; 14. a second housing; 15. a first cavity; 17. a second cover; 171. a second cover main body; 172. an inner end surface of the second channel; 173. a second mounting flange; 18. a wire through hole; 20. an exhaust passage; 21. a first channel segment; 22. a second channel segment; 23. a third channel segment; 24. a fourth channel segment; 241. a first branch section; 242. a second branch section; 30. an exhaust assembly; 31. a first exhaust member; 310. an air inlet; 311. an air outlet; 32. a second exhaust member; 321. an air inlet; 322. an air outlet; 40. a connecting rod structure.

Detailed Description

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1 to 5, applying the first aspect of the present application, there is provided a joint structure for connection with a link structure 40, the joint structure including a housing assembly 10 and an electrical assembly 11 and an exhaust assembly 30 provided in the housing assembly 10, the housing assembly 10 and the electrical assembly 11 together forming an exhaust passage 20, the exhaust assembly 30 including a first exhaust member 31, an air inlet 310 of the first exhaust member 31 communicating with a cavity in the housing assembly 10 other than the exhaust passage 20, an air outlet 311 of the first exhaust member 31 communicating with the exhaust passage 20, so that the exhaust assembly 30 discharges air in the housing assembly 10 to an outside of the housing assembly 10 through the exhaust passage 20.

By applying the technical scheme of the embodiment, the joint module is internally provided with a plurality of electrical components, so that the internal structure of the joint module is compact, and the joint module is internally provided with precise vulnerable components such as a sensor, a speed reducer and the like, and a higher sealing grade is required, so that sealing rings are designed at the positions of the first cover body 12, the second cover body 17, the adapter flange and the like for sealing, the joint module of the cooperative robot is poor in heat dissipation capability and concentrated in heat, and the electric component 11 is easy to damage and influence the working efficiency of the cooperative robot. Therefore, the exhaust channel 20 is formed through the gap between the housing assembly 10 and the electrical assembly 11, the exhaust assembly 30 is arranged in the housing assembly 10, the air inlet 310 of the first exhaust component 31 is communicated with the cavity between the electrical assembly 11 and the housing assembly 10, the air outlet 311 is communicated with the exhaust channel 20, and then the heat in the cavity of the housing assembly 10 is discharged to the outer side of the housing assembly 10 along the extending direction of the exhaust channel 20 through the exhaust assembly 30, so that a single circulation channel for heat flow is formed in the joint module of the cooperative robot, the heat at the joint module is continuously transferred into the connecting rod with a larger cavity, the heat dissipation treatment of the joint module is realized, and a small gap is formed between the housing assemblies 10, so that negative pressure is not formed in the housing assembly 10 during the heat dissipation operation, and the problem that the heat dissipation effect of the joint module of the cooperative robot in the prior art is poor is solved.

In order to remove heat concentrated in the joint module out of the joint module, the electrical assembly 11 comprises a motor component 110, the housing assembly 10 comprises a first housing 13, the motor component 110 is arranged in the first housing 13, and a first cavity 15 is defined between the inner wall of the first housing 13 and the outer wall of the motor component 110; the air inlet 310 of the first exhaust component 31 communicates with the first cavity 15; wherein the first housing 13 is annular; the motor component 110 includes a motor main body and a first installation end plate, the end surface of the motor is the first installation end plate, and the first installation end surface is parallel to the horizontal plane. In this way, the heat generated in the housing assembly 10 due to the compact installation structure of the electrical assembly 11 is concentrated in the first cavity 15, and is communicated with the first cavity 15 through the air inlet 310 of the first exhaust component 31, so that the air in the first cavity 15 flows into the exhaust channel 20, is exhausted to the outside of the housing assembly 10 through the exhaust channel 20, and the heat dissipation operation of the joint module is completed.

As shown in fig. 1 and 2, the exhaust passage 20 includes a first passage section 21, the first housing 13 has a first mounting opening, the housing assembly 10 includes a first cover 12, a gap between the first cover 12 and an end face of the motor part 110 forms the first passage section 21, and an air outlet 311 of the first exhaust part 31 communicates with the first passage section 21. So arranged, the gas in the first chamber 15 is sucked through the first exhaust member 31 and exhausted into the first channel section 21 to complete the exhaust of the heat generated in the joint module into the exhaust channel 20 and out of the housing assembly 10.

Specifically, the first cover body 12 has a first cover body 121, the first cover body 121 has a first passage inner end surface 122, and the first passage inner end surface 122 is disposed obliquely with respect to a plane perpendicular to an axis of an output shaft of the motor part 110 so that a flow area of the first passage section 21 gradually increases in a direction away from the air outlet 311 of the first air discharge part 31; wherein the first channel inner end surface 122 is inclined to the horizontal. So set up, form first passageway section 21 through the clearance between the terminal surface of the first lid 12 that the slope set up and motor part 110 to make the gas that is discharged by first exhaust part 31 flow to the inner wall of first lid 12 and get into first passageway section 21 after, flow along the direction that first passageway section 21 kept away from first exhaust part 31, and then discharge gas out of housing assembly 10, in order to dispel the heat to the joint module.

Specifically, the first cover 12 further includes a first mounting flange 123, the first mounting flange 123 being connected to the first cover body 121 and extending in the circumferential direction of the first cover body 121, the first mounting flange 123 protruding toward the first housing 13 with respect to the first cover body 121 such that the first cover 12 is detachably mounted with the first housing 13 through the first mounting flange 123. So arranged, by providing a threaded hole at the junction of the first housing 13 and the first cover 12, the first cover 12 is detachably mounted with the first housing 13 by connecting the first cover 12 with the first housing 13 at the first mounting flange 123 with bolts or screws.

In order to continue the gas located in the first channel section 21 along the exhaust channel 20 to the outside of the housing assembly 10, the exhaust channel 20 further comprises a second channel section 22. The electrical assembly 11 further comprises a speed reducer member 111, the motor member 110 being in driving connection with the speed reducer member 111, the side wall of the motor member 110, the side wall of the first housing 13 and the first end face of the speed reducer member 111 enclosing a second channel section 22 therebetween. The side of the motor part 110 remote from the first chamber 15 is used to form the second channel section 22, and the second channel section 22 communicates with the first channel section 21, so that the air flow flowing out from the air outlet 311 of the first air discharge part 31 flows through the first channel section 21 and is discharged into the second channel section 22.

In the present embodiment, the exhaust passage 20 further includes a third passage section 23 and a fourth passage section 24, the speed reducer member 111 has a wire passing hole 18, the wire passing hole 18 of the speed reducer member 111 forms the third passage section 23, a side of the speed reducer member 111 remote from the motor member 110 forms the fourth passage section 24, and both ends of the third passage section 23 are respectively communicated with the second passage section 22 and the fourth passage section 24 so that the air flow discharged by the first exhaust member 31 flows out to the outside of the housing assembly 10 after passing through the third passage section 23 and the fourth passage section 24. So arranged, the openings at two ends of the wire passing hole 18 are respectively communicated with the second channel section 22 and the fourth channel section 24, so that the gas in the second channel section 22 flows through the third channel section 23 and is discharged into the fourth channel section 24, and then the gas is discharged out of the shell assembly 10 through the fourth channel section 24.

As shown in fig. 1 to 4, the housing assembly 10 further includes a second housing 14 and a second cover 17, the second housing 14 having a second mounting opening, the second cover 17 being detachably mounted on the second housing 14; the second housing 14 is detachably connected with the first housing 13; the speed reducer member 111 is mounted in the second casing 14; wherein the exhaust passage 20 comprises a fourth passage section 24 for exhausting the air flow to the outside of the housing assembly 10, the second end surface of the speed reducer member 111, the second housing 14 and the second cover 17 enclose a fourth passage section 24. The fourth passage section 24 is arranged in communication with the third passage section 23 such that the air flow through the third passage section 23 is discharged into the fourth passage section 24 and out of the housing assembly 10.

Specifically, the fourth passage section 24 includes a first branch section 241, the gap between the second cover 17 and the end face of the speed reducer member 111 forms the first branch section 241, the first branch section 241 communicates with the third passage section 23, the second cover 17 has a second cover body 171, the second cover body 171 has a second passage inner end face 172, and the second passage inner end face 172 is disposed obliquely with respect to a plane perpendicular to the axis of the output shaft of the speed reducer member 111 so that the flow area of the first branch section 241 gradually increases in a direction away from the outlet of the third passage section 23. In this way, the first branch section 241 is formed by the gap between the second cover 17 and the end face of the speed reducer component 111, so that the air blown by the first exhaust component 31 flows through the first channel section 21, the second channel section 22 and the third channel section 23, flows to the inner wall of the second cover 17 and enters the first branch section 241, flows along the extending direction of the fourth channel section 24, and then is discharged out of the housing assembly 10 to dissipate heat of the joint module, so as to solve the problem of poor heat dissipation effect of the joint module of the cooperative robot in the prior art.

As shown in fig. 1 and 2, the second cover 17 further includes a second mounting flange 173, the second mounting flange 173 being connected with the second cover body 171 and extending in a circumferential direction of the second cover body 171, the second mounting flange 173 protruding toward the first housing 13 with respect to the second cover body 171 such that the second cover 17 is detachably mounted with the second housing 14 through the second mounting flange 173. In this way, by providing a screw hole at the junction of the second housing 14 and the second cover 17, and connecting the second cover 17 to the second housing 14 at the second mounting flange 173 with a bolt or screw, the second cover 17 is detachably mounted to the second housing 14.

Further, the fourth passage section 24 further includes a second branch section 242, and the second branch section 242 communicates with the first branch section 241 and is located on a side of the first branch section 241 away from the third passage section 23, and the second branch section 242 is enclosed between the outer wall of the speed reducer member 111 and the inner wall of the second casing 14, so that the gas in the casing assembly 10 is discharged to the outside of the casing assembly 10 through the second branch section 242. So arranged, the gas flowing out through the third passage section 23 flows into the second branch section 242 in the inclined direction of the second cover 17 after flowing to the inner wall of the second cover 17, and then is discharged to the outside of the housing assembly 10 through the second branch section 242.

In this embodiment, the housing assembly 10 is used to connect with the connecting rod structure 40, the exhaust assembly 30 further includes a second exhaust component 32, the air inlet 321 of the second exhaust component 32 communicates with the exhaust channel 20, and the air outlet 322 of the second exhaust component 32 communicates with the cavity of the connecting rod structure 40. In this way, the first exhaust component 31 is used for exhausting the heat in the first cavity 15 of the housing assembly 10 into the exhaust channel 20, meanwhile, the air inlet 321 of the second exhaust component 32 is communicated with the second branch section 242 of the fourth channel section 24, the air outlet 322 of the second exhaust component 32 is arranged towards the inner wall of the connecting rod structure 40, the air in the second branch section 242 is sucked by the second exhaust component 32 and is exhausted into the cavity of the connecting rod structure 40, the heat dissipation operation along with the joint module is completed, and the problem that the heat dissipation effect of the joint module of the cooperative robot in the prior art is poor is solved.

Specifically, the second exhaust component 32 is disposed obliquely relative to the axis of the connecting rod structure 40, so that the air outlet 322 of the second exhaust component 32 is disposed towards the inner wall of the connecting rod structure 40, and thus, along with the movement of the second exhaust component 32, the air in the fourth channel section 24 is discharged into the cavity of the connecting rod structure 40, the air outlet 322 of the second exhaust component 32 faces the inner wall of the connecting rod structure 40, and the air blown by the second exhaust component 32 flows towards the inner wall of the connecting rod structure 40 and then flows towards the cavity of the connecting rod structure 40, so as to realize heat dissipation of the joint module, further assist the heat transfer in the joint module, and greatly improve the heat dissipation efficiency of the joint module.

In a first embodiment of the present application, as shown in FIG. 5, the second exhaust component 32 further includes a mounting plate to mount the second exhaust component 32 to the housing assembly 10 via the mounting plate.

In a second aspect of the present application, a robot is provided, which includes a joint structure and a link structure 40, wherein the joint structure is the above mentioned joint structure.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

by applying the technical scheme of the application, an exhaust channel is formed through a gap between the shell component and the electrical component, the exhaust component is arranged in the shell component and is respectively a first exhaust component and a second exhaust component, an air inlet of the first exhaust component is communicated with a cavity between the electrical component and the shell component, an air outlet of the first exhaust component is communicated with the exhaust channel, and the first cover body and the second cover body are arranged at an inclined angle so that gas flows in the exhaust channel along a preset direction; the exhaust channel is a first channel section, a second channel section, a third channel section and a fourth channel section which are communicated with each other in sequence, heat in the joint module discharged by the first exhaust component is discharged outside the shell component through the exhaust channel, and then gas in the exhaust channel is discharged into the cavity in the connecting rod structure through the second exhaust component. The joint module of the cooperative robot is internally provided with a single circulation channel for heat flow, heat at the joint module is continuously transferred into the connecting rod with the larger cavity, heat dissipation treatment of the joint module is realized, and a small gap is formed between the shell components, so that negative pressure is not formed in the shell components when heat dissipation operation is carried out, and the problem that the heat dissipation effect of the joint module of the cooperative robot in the prior art is poor is solved. The design of the inclination type reasonable installation of the two exhaust components and the cover body enables temperature and pressure difference to be generated in the joint module and at the cavity of the connecting rod structure, heat is discharged to the cavity of the connecting rod along with the path of the exhaust channel for heat dissipation, heat concentration of the joint module is avoided, and hidden danger of damage to electrical components due to overhigh heat caused by long-term operation is solved.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present application, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present application; the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (12)

1. A joint structure for connection with a connecting rod structure, the joint structure comprising:

a housing assembly (10) and an electrical assembly (11) disposed within the housing assembly (10);

an exhaust assembly (30), a portion of the housing assembly (10) and a portion of the electrical assembly (11) together forming an exhaust passage (20), the exhaust assembly (30) comprising a first exhaust component (31) and a second exhaust component (32), an air inlet (310) of the first exhaust component (31) being in communication with a cavity within the housing assembly (10) other than the exhaust passage (20), an air outlet (311) of the first exhaust component (31) being in communication with the exhaust passage (20) such that the exhaust assembly (30) exhausts air within the housing assembly (10) to the outside of the housing assembly (10) through the exhaust passage (20); the shell assembly (10) is used for being connected with the connecting rod structure (40), an air inlet (321) of the second exhaust part (32) is communicated with the exhaust channel (20), and an air outlet (322) of the second exhaust part (32) is communicated with a cavity of the connecting rod structure (40);

wherein the second exhaust member (32) is disposed obliquely with respect to the axis of the link structure (40) such that an air outlet (322) of the second exhaust member (32) is disposed toward the inner wall of the link structure (40);

wherein the electrical assembly (11) comprises a motor component (110) and a speed reducer component (111), wherein the motor component (110) is in driving connection with the speed reducer component (111), the housing assembly (10) comprises a first housing (13) and a second housing (14) which are detachably connected, the motor component (110) is arranged in the first housing (13), and the speed reducer component (111) is arranged in the second housing (14); a first cavity (15) is formed between the inner wall of the first shell (13) and the side wall of one side, far away from the speed reducer component (111), of the motor component (110); an air inlet (310) of the first exhaust component (31) communicates with the first cavity (15).

2. The joint structure according to claim 1, characterized in that the exhaust channel (20) comprises a first channel section (21), the first housing (13) has a first mounting opening, the housing assembly (10) comprises a first cover (12), a gap between the first cover (12) and an end face of the motor part (110) forms the first channel section (21), and an air outlet (311) of the first exhaust part (31) communicates with the first channel section (21).

3. The joint structure according to claim 2, wherein the first cover body (12) has a first cover body (121), the first cover body (121) has a first passage inner end surface (122), and the first passage inner end surface (122) is disposed obliquely with respect to a plane perpendicular to an axis of an output shaft of the motor member (110) so that a flow area of the first passage section (21) gradually increases in a direction away from an air outlet (311) of the first air discharge member (31).

4. A joint structure according to claim 3, wherein the first cover body (12) further includes a first mounting flange (123), the first mounting flange (123) being connected to the first cover body (121) and extending in a circumferential direction of the first cover body (121), the first mounting flange (123) protruding toward the first housing (13) with respect to the first cover body (121) so that the first cover body (12) is detachably mounted with the first housing (13) through the first mounting flange (123).

5. Joint construction according to claim 1, characterized in that the exhaust channel (20) comprises a second channel section (22), the side of the motor part (110) remote from the first cavity (15) being adapted to form the second channel section (22) such that an air flow exiting from the air outlet (311) of the first exhaust part (31) flows through the second channel section (22).

6. Joint construction according to claim 5, characterized in that the second channel section (22) is enclosed between a side wall of the motor part (110) remote from the first cavity (15), a side wall of the first housing (13) close to the second housing (14) and a first end face of the reducer part (111).

7. The joint structure according to claim 6, wherein the exhaust passage (20) includes a third passage section (23) and a fourth passage section (24), the speed reducer member (111) has a wire passing hole (18), the wire passing hole (18) of the speed reducer member (111) forms the third passage section (23), a side of the speed reducer member (111) away from the motor member (110) forms the fourth passage section (24), and both ends of the third passage section (23) communicate with the second passage section (22) and the fourth passage section (24), respectively, so that the air flow discharged by the first exhaust member (31) flows out to the outside of the housing assembly (10) after passing through the third passage section (23) and the fourth passage section (24).

8. The joint arrangement according to claim 7, characterized in that the housing assembly (10) further comprises a second cover (17), the second housing (14) having a second mounting opening, the second cover (17) being detachably mounted on the second housing (14); the second shell (14) is detachably connected with the first shell (13); the speed reducer component (111) is mounted in the second housing (14); wherein the exhaust channel (20) comprises a fourth channel section (24) for exhausting an air flow to the outside of the housing assembly (10), and the fourth channel section (24) is surrounded by the second end surface of the speed reducer component (111), the second housing (14) and the second cover (17).

9. The joint structure according to claim 8, characterized in that the fourth passage section (24) includes a first branch section (241), a gap between the second cover body (17) and the end face of the speed reducer member (111) forms the first branch section (241), the first branch section (241) communicates with the third passage section (23), the second cover body (17) has a second cover body (171), the second cover body (171) has a second passage inner end face (172), and the second passage inner end face (172) is disposed obliquely with respect to a plane perpendicular to an axis of an output shaft of the speed reducer member (111) so that a flow area of the first branch section (241) gradually increases in a direction away from an outlet of the third passage section (23).

10. The joint structure according to claim 9, wherein the second cover body (17) further includes a second mounting flange (173), the second mounting flange (173) being connected to the second cover body (171) and extending in a circumferential direction of the second cover body (171), the second mounting flange (173) protruding toward the first housing (13) with respect to the second cover body (171) so that the second cover body (17) is detachably mounted with the second housing (14) through the second mounting flange (173).

11. The joint structure according to claim 10, wherein the fourth passage section (24) further includes a second branch section (242), the second branch section (242) being in communication with the first branch section (241) and being located on a side of the first branch section (241) remote from the third passage section (23), the second branch section (242) being defined between an outer wall of the speed reducer member (111) and an inner wall of the second housing (14) to exhaust gas within the housing assembly (10) to an outside of the housing assembly (10) through the second branch section (242).

12. A robot comprising a joint structure and a link structure, characterized in that the joint structure is the joint structure according to any one of claims 1 to 11.