CN215789962U

CN215789962U - Joint hinge structure, robot leg structure and robot

Info

Publication number: CN215789962U
Application number: CN202121775880.1U
Authority: CN
Inventors: 丁宏钰; 汪文广; 黄亮; 胡毅森; 李友朋
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2022-02-11
Anticipated expiration: 2031-07-30

Abstract

The utility model provides a joint hinge structure, a robot leg structure and a robot, wherein the joint hinge structure comprises a first connecting piece, a second connecting piece, a bearing and a pin shaft structure, the first connecting piece is provided with two first hinge parts which are arranged at intervals, an installation space is formed between the two first hinge parts, and the second connecting piece is provided with a second hinge part extending into the installation space; the pin shaft structure passes through the first hinge part and the second hinge part, the outer ring of the bearing is in interference fit with the second connecting hole, and the inner ring of the bearing is in interference fit with the pin shaft structure; the pin shaft structure is provided with a shaft shoulder which is used for abutting against one end of the inner ring of the bearing, a protruding piece which is used for abutting against the other end of the inner ring of the bearing is arranged on one first hinged portion, and the protruding piece and the shaft shoulder extend into the installation space. The joint hinge structure, the robot leg structure and the robot provided by the utility model have the advantages of compact structure, small volume, small damping and large borne bending moment.

Description

Joint hinge structure, robot leg structure and robot

Technical Field

The utility model belongs to the technical field of intelligent equipment, and particularly relates to a joint hinge structure, a robot leg structure and a robot.

Background

In the field of robots, there are many rotational connection structures, such as joints and joints, joints and connecting rods, and connecting rods, and most of the rotational connection structures need to adopt an articulated structure. And the robot inner space is compact, and the part is more, and articulated structure often can be bulky in order to guarantee its transmission precision, occupies the inner space of robot, but articulated structure is indispensable again in the robot, so leads to the installation space compactness of robot. In addition, the existing hinge structure has large damping, small bending moment and poor adaptability.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a joint hinge structure, a robot leg structure and a robot, and aims to solve the technical problems that the hinge structure in the prior art is large in size, large in damping and small in borne bending moment.

In order to achieve the purpose, the utility model adopts the technical scheme that: the joint hinge structure comprises a first connecting piece and a second connecting piece which are hinged with each other, wherein the first connecting piece is provided with two first hinge parts which are arranged at intervals, an installation space is formed between the two first hinge parts, the second connecting piece is provided with a second hinge part which extends into the installation space, the first hinge part is provided with a first connecting hole, and the second hinge part is provided with a second connecting hole; the joint hinge structure further comprises a bearing and a pin shaft structure, the pin shaft structure is inserted into the two first connecting holes and the second connecting holes, the outer ring of the bearing is in interference fit with the inner wall of the second connecting hole, and the inner ring of the bearing is in interference fit with the outer ring of the pin shaft structure; the pin shaft structure is provided with a shaft shoulder used for abutting against one end of the inner ring of the bearing, a protruding piece used for abutting against the other end of the inner ring of the bearing is arranged on one of the first hinged parts, and the protruding piece and the shaft shoulder extend into the installation space.

In one embodiment, the protruding member is integrally formed with one of the first hinges or is provided separately therefrom.

In one embodiment, when the protrusion is separate from one of the first hinges, the protrusion is a spacer.

In one embodiment, one side of one of the first hinge parts facing the installation space is provided with an installation groove, the gasket is arranged in the installation groove, and the depth of the installation groove is smaller than the thickness of the gasket.

In one embodiment, the length of the projection extending into the mounting space is equal to the length of the shoulder extending into the mounting space.

In one embodiment, the pin structure comprises a pin and a screw, the pin is arranged to penetrate through the two first connecting holes and the second connecting hole, the inserting end of the pin is provided with a screw hole, and the screw extends into one of the first connecting holes and is in threaded connection with the screw hole.

In one embodiment, the pin comprises a head, a first shaft section and a second shaft section which are connected in sequence, the diameter of the first shaft section is larger than that of the second shaft section, the shaft shoulder is formed between the first shaft section and the second shaft section, the first shaft section penetrates through one of the first connecting holes, and the second shaft section penetrates through the bearing and the other first connecting hole.

In one embodiment, the outer peripheral surface of the first shaft section has a first support surface for abutting one of the first connection holes, and the outer peripheral surface of the second shaft section has a second support surface for abutting the other of the first connection holes.

In one embodiment, the first shaft section is in interference fit with one of the first connection holes and the second shaft section is in interference fit with the other of the first connection holes.

The utility model also provides a robot leg structure which comprises the joint hinge structure, a thigh crank, a thigh connecting rod and a shank structural part;

the thigh crank and the thigh connecting rod are rotatably connected through the joint hinge structure, and one of the thigh crank and the thigh connecting rod is the first connecting piece, and the other one of the thigh crank and the thigh connecting rod is the second connecting piece; and/or the thigh connecting rod and the shank structural part are rotationally connected through the joint hinge structure, one of the thigh connecting rod and the shank structural part is the first connecting piece, and the other one of the thigh connecting rod and the shank structural part is the second connecting piece.

The utility model also provides a robot which comprises the joint hinge structure.

The joint hinge structure, the robot leg structure and the robot provided by the utility model have the beneficial effects that: compared with the prior art, the joint hinge structure comprises a first connecting piece, a second connecting piece, a bearing and a pin shaft structure, wherein the first connecting piece is provided with two first hinge parts, the second hinge part of the second connecting piece extends into the space between the two first hinge parts, the bearing is in interference fit with the second hinge hole of the second hinge part, the pin shaft structure penetrates through the first connecting holes of the two first hinge parts and the bearing to realize the rotary connection of the first connecting piece and the second connecting piece, and the arrangement of the bearing can ensure the transmission precision of the bearing. The pin shaft structure is simultaneously supported by the two first hinged parts, so that two ends of the pin shaft structure can be supported, and the joint hinged structure can bear larger bending moment. The bearing, the second hinge part and the first hinge part form a gap to reduce the damping during rotation by arranging the shaft shoulder abutting against one end of the bearing inner ring on the pin shaft structure and arranging the bulge part abutting against the other end of the bearing inner ring on the first hinge part. In addition, the joint hinge structure can be realized only by the pin shaft structure and the bearing except the first connecting piece and the second connecting piece, so that the joint hinge structure has the advantages of less parts, compact structure and smaller volume.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is an exploded view of a joint hinge structure provided in an embodiment of the present invention;

FIG. 2 is a cross-sectional view of a joint articulation structure provided by an embodiment of the present invention;

fig. 3 is a structural diagram of a robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-a first connector; 10-an installation space; 11-a first hinge; 110-a first connection hole; 111-a first sink; 112-a second sink; 113-a mounting groove; 2-a second connector; 21-a second hinge; 210-a second connection hole; 3-a bearing; 4-pin structure; 41-a pin; 411-head; 412-a first shaft section; 413-a second shaft section; 414 — a first support surface; 415-a second support surface; 42-screws; 5-a protrusion;

100-knee anterior steering engine; 200-thigh crank; 300-thigh links; 400-lower leg structure.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

The articulated structure provided by the embodiment of the present invention will now be described. The joint hinge structure is used in a rotary connecting structure to realize mutual rotation of the two connecting pieces.

In one embodiment of the present invention, referring to fig. 1 and fig. 2, the joint hinge structure includes a first connecting member 1, a second connecting member 2, a bearing 3 and a pin structure 4, the first connecting member 1 and the second connecting member 2 are rotatably connected to each other, the bearing 3 is disposed in the second connecting member 2, and the pin structure 4 passes through the bearing 3 in the first connecting member 1 and the second connecting member 2 to rotatably connect the first connecting member 1 and the second connecting member 2. The first connecting member 1 has two first hinge portions 11, the two first hinge portions 11 are spaced apart from each other, and an installation space 10 is formed between the two first hinge portions 11. The first hinge part 11 may be disposed at an end of the first connecting member 1; the second connecting piece 2 is provided with a second hinge part 21, and the second hinge part 21 can be arranged at the end part of the second connecting piece 2; the second hinge portion 21 is interposed between the two first hinge portions 11 which are spaced apart. The first hinge parts 11 are provided with first connecting holes 110, the second hinge parts 21 are provided with second connecting holes 210, when the second hinge parts 21 are inserted between the two first hinge parts 11, the first connecting holes 110 and the second connecting holes 210 are opposite, the pin structure 4 sequentially passes through one of the first connecting holes 110, the second connecting holes 210 and the other first connecting hole 110, the bearing 3 is arranged in the second connecting hole 210, and the pin structure 4 passes through the inner ring of the bearing 3. The two ends of the pin structure 4 are respectively supported by the two first connecting holes 110, so that the pin structure 4 is more stable, and the bending moment that the joint hinge structure can bear is larger. The outer lane of bearing 3 sets up with the inner wall interference fit of second connecting hole 210, and the inner circle of bearing 3 sets up with the outer lane interference fit of round pin axle construction 4 to make bearing 3 can form effective support to second connecting hole 210, when second connecting piece 2 rotates relative first connecting piece 1, can guarantee turned angle's transmission precision, rotate moreover and be more steady, the condition that can not appear rocking. For the case that the bearing 3 is disposed in the first connection hole 110, only one bearing 3 is needed when the bearing 3 is disposed in the second connection hole 210, so that the number of the bearings 3 used can be reduced, and the cost of parts can be reduced. The pin structure 4 has a shoulder, one end of the inner ring of the bearing 3 abuts against the shoulder, a protruding member 5 is arranged on one of the first hinge parts 11, and the other end of the inner ring of the bearing 3 abuts against the protruding member 5. Wherein the protruding member 5 is provided on a surface of the first hinge part 11 facing the other first hinge part 11. Because protruding piece 5 and shaft shoulder all extend to in the installation space 10, namely make the both ends of bearing 3 all with first articulated portion 11 towards installation space 10 one side interval setting, bearing 3 and second articulated portion 21 all do not contact with first articulated portion 11 for when first connecting piece 1 and second connecting piece 2 rotate each other, can not rub each other, therefore can reduce transmission damping, reduce the energy consumption.

The joint hinge structure in the above embodiment includes the first connecting member 1, the second connecting member 2, the bearing 3 and the pin structure 4, the first connecting member 1 has two first hinge portions 11, the second hinge portion 21 of the second connecting member 2 extends between the two first hinge portions 11, the bearing 3 is in interference fit with the second connecting hole 210 of the second hinge portion 21, the pin structure 4 passes through the first connecting holes 110 of the two first hinge portions 11 and the bearing 3, thereby realizing the rotational connection between the first connecting member 1 and the second connecting member 2, and the setting of the bearing 3 can ensure the transmission precision thereof. The pin structure 4 is supported by the two first hinge parts 11 at the same time, so that two ends of the pin structure 4 can be supported, and the joint hinge structure can bear larger bending moment. By providing a shoulder on the pin structure 4 abutting one end of the inner race of the bearing 3 and a boss 5 on the first hinge part 11 abutting the other end of the inner race of the bearing 3, a gap is formed between the bearing 3 and the first hinge part 11 and between the second hinge part 21 and the first hinge part 11 to reduce the damping during rotation. In addition, the joint hinge structure can be realized only by the pin shaft structure 4 and the bearing 3 except the first connecting piece 1 and the second connecting piece 2, so that the joint hinge structure has the advantages of less parts, compact structure and smaller volume.

The thickness of the bearing 3 may be the same as that of the second hinge portion 21, so that two ends of the bearing 3 are respectively flush with two sides of the second hinge portion 21. In this way, the first hinge portion 11 and the second hinge portion 21 do not contact each other. Of course, in other embodiments, the thickness of the bearing 3 may be smaller or larger than the thickness of the second hinge part 21, as long as the first hinge part 11 and the second hinge part 21 can be made not to contact each other.

When the joint hinge structure is installed, the bearing 3 is firstly pressed into the second connecting hole 210 of the second connecting piece 2 in an interference manner, then the protruding piece 5 is placed on the side surface of one of the first hinge parts 11 (if the protruding piece 5 and the first hinge parts 11 are integrally formed, the step is omitted), then the second hinge part 21 of the second connecting piece 2 is inserted between the two first hinge parts 11 of the first connecting piece 1, and the pin shaft structure 4 is pressed into the first hinge part 11 and the second hinge part 21 by using a jig and the like.

In one embodiment of the present invention, the protruding member 5 and one of the first hinge portions 11 are integrally formed, so that there is no need to additionally install the protruding member 5, and an installation step can be omitted, thereby making installation simpler. The protrusion 5 is disposed at a side of the first hinge part 11 facing the installation space 10, and the protrusion 5 may have a ring shape, and is disposed concentrically with the first connection hole 110, for the pin shaft structure 4 to pass through.

In another embodiment of the present invention, the protrusion 5 and the first hinge 11 are separately provided, and the protrusion 5 is mounted on the side of the first hinge 11 facing the mounting space 10 when mounted, and the end of the bearing 3 abuts against the protrusion. The protrusion 5 may be ring-shaped and disposed concentrically with the first connection hole 110 for the pin shaft structure 4 to pass through. The protruding piece 5 can be a gasket, and the gasket is common, wide in use and low in cost.

Optionally, when the protruding member 5 and one of the first hinge portions 11 are separately disposed, a mounting groove 113 is formed in a side of the first hinge portion 11 facing the mounting space 10, the protruding member 5 is disposed in the mounting groove 113, and the mounting groove 113 has a positioning function on the protruding member 5, so as to prevent the protruding member 5 from sliding relative to the first hinge portion 11. Wherein, the depth of the mounting groove 113 is less than the thickness of the protrusion 5, so that after the protrusion 5 is mounted in the mounting groove 113, the protrusion 5 still protrudes from the side of the first hinge part 11 facing the mounting space 10, therefore, the bearing 3 and the side of the first hinge part 11 facing the mounting space 10 can have a gap, preventing the bearing 3 and the first hinge part 11 from rubbing against each other. The shape of the mounting groove 113 is the same as that of the protrusion 5, so that the protrusion 5 can be fitted into the mounting groove 113.

In one embodiment of the present invention, referring to fig. 2, the length of the protrusion 5 extending into the installation space 10 is equal to the length of the shoulder extending into the installation space 10, i.e. the distance between the top surface of the protrusion 5 and the side of the corresponding first hinge portion 11 facing the installation space 10 is L1, the distance between the side of the corresponding first hinge portion 11 facing the installation space 10 is L2, and the distances between the shoulders and the side of the corresponding first hinge portion 11 facing the installation space 10 are equal to each other, L1 and L2. Therefore, the distance between the two ends of the bearing 3 and the two first hinging parts 11 is equal, the two first hinging parts 11 are symmetrically arranged relative to the bearing 3, firstly, the stress of the two first hinging parts 11 is more balanced, secondly, one side of the bearing 3 is prevented from contacting with one first hinging part 11, and the low-damping rotation of the first connecting piece 1 and the second connecting piece 2 is ensured.

In one embodiment of the present invention, referring to fig. 1 and fig. 2, the pin structure 4 includes a pin 41 and a screw 42, the pin 41 is disposed through two first connection holes 110 and two second connection holes 210, specifically, sequentially disposed through the first connection hole 110, the second connection hole 210 and the second first connection hole 110. One end of the pin 41 passing through the first and second connection holes 110 and 210 has a screw hole, and when the pin 41 is inserted from the first connection hole 110, the screw 42 is inserted from the second first connection hole 110 and is screw-coupled with the screw hole of the pin 41. Thereby, the first connecting piece 1 and the second connecting piece 2 are mutually tensioned, and the first connecting piece 1 and the second connecting piece 2 are prevented from shaking or loosening.

Optionally, a first sunken groove 111 is formed in a side of one of the first hinge portions 11 facing away from the installation space 10, the first sunken groove 111 and the first connection hole 110 are concentrically arranged, the first sunken groove 111 is used for accommodating a head 411 of the pin 41, a second sunken groove 112 is formed in a side of the other one of the first hinge portions 11 facing away from the installation space 10, the second sunken groove 112 and the first connection hole 110 are concentrically arranged, and the second sunken groove 112 is used for accommodating a head of the screw 42. When the pin 41 and the screw 42 are screw-locked, the distance between the head of the screw 42 and the head 411 of the pin 41 is gradually shortened, so that the first hinge part 11 and the second hinge part 21 are tightened to each other, preventing the pin 41 from being released. Therefore, when the joint hinge structure works for a long time, the first connecting piece 1 and the second connecting piece 2 cannot be loosened. The head of the screw 42 can be in a straight line shape, a cross shape, a hexagonal groove shape and other structures, so that the screw 42 can be conveniently installed and detached by using a detaching tool.

In one embodiment of the present invention, referring to fig. 2, the pin 41 includes a head 411, a first shaft section 412 and a second shaft section 413 connected in sequence, a diameter of the first shaft section 412 is larger than a diameter of the second shaft section 413, so that the above-mentioned shoulder is formed at a connection position of the first shaft section 412 and the second shaft section 413, the shoulder is an end of the first shaft section 412 connected to the second shaft section 413, and an end of an inner ring of the bearing 3 abuts against the shoulder. When the pin 41 is inserted into the first hinge portion 11 and the second hinge portion 21, the first shaft section 412 is inserted into one of the first connection holes 110, the shoulder extends into the installation space 10, and the second shaft section 413 is inserted into the other first connection hole 110. Thus, the pin 41 is supported by the two first connection holes 110, so that the stress of the pin 41 is more balanced, and the bending moment which can be borne by the pin is larger.

Specifically, the outer peripheral surface of the first shaft section 412 has a first supporting surface 414, the first supporting surface 414 is used for abutting against the inner wall of one of the first connection holes 110, the outer peripheral surface of the second shaft section 413 has a second supporting surface 415, and the second supporting surface 415 is used for abutting against the inner wall of the other first connection hole 110, so that the pin 41 has two surfaces which are respectively matched with the two first connection holes 110 through the abutting matching of the first supporting surface 414 and the inner wall of one of the first connection holes 110 and the abutting matching of the second supporting surface 415 and the inner wall of the other second connection hole 210, and the pin 41 is stably supported and matched.

Optionally, the outer wall of the pin 41 is in interference fit with the inner wall of the first connection hole 110, so that when the first connection piece 1 rotates relative to the second connection piece 2, the first connection piece 1, the pin 41 and the inner ring of the bearing 3 rotate synchronously, and under the action of the bearing 3, the rotation of the first connection piece 1 does not generate abnormal sound. Meanwhile, when the second connecting piece 2 rotates relative to the first connecting piece 1, the second connecting piece 2 and the outer ring of the bearing 3 rotate synchronously, and the rotation of the second connecting piece 2 cannot generate abnormal sound under the action of the bearing 3.

When the pin 41 includes the head 411, the first shaft section 412 and the second shaft section 413 which are connected in sequence, the first shaft section 412 is in interference fit with one of the first connection holes 110, and the second shaft section 413 is in interference fit with the other first connection hole 110, so as to prevent the first connection member 1 and the second connection member 2 from making abnormal sound when rotating mutually. Alternatively, the first shaft section 412 is in clearance fit with one of the first connection holes 110, and the second shaft section 413 is in clearance fit with the other first connection hole 110, so that the installation of the pin 41 is facilitated, and the pin is prevented from being stuck in the first connection hole 110 during installation.

The utility model also provides a robot leg structure, please refer to fig. 3, the robot leg structure includes the joint hinge structure in any of the above embodiments. The robot leg structure further comprises a thigh crank 200, a thigh connecting rod 300 and a calf structural part 400, wherein one end of the thigh connecting rod 300 is rotatably connected with the thigh crank 200, and the other end of the thigh connecting rod 300 is rotatably connected with the calf structural part 400. The leg structure of the robot further comprises a knee front steering engine 100, a thigh crank 200 is connected to the output end of the knee front steering engine 100, when the knee front steering engine 100 works, the thigh crank 200 correspondingly rotates, and the thigh crank 200 drives a thigh connecting rod 300 and a shank structural member 400 to rotate, so that the swing of the shank structural member 400 is realized. Wherein, the thigh crank 200 and the thigh connecting rod 300 are rotatably connected through a joint hinge structure, one of the thigh crank 200 and the thigh connecting rod 300 is a first connecting piece 1, and the other one is a second connecting piece 2; the thigh link 300 and the lower leg structure 400 are rotatably connected by a joint hinge structure, and one of the thigh link 300 and the lower leg structure 400 is a first connecting member 1, and the other is a second connecting member 2.

The utility model also provides a robot, please refer to fig. 3, the robot includes the joint hinge structure in any of the above embodiments. The robot may be a leg robot, a humanoid robot, or the like. The robot comprises at least one joint hinge structure and can also comprise driving parts such as a joint steering engine and the like.

The robot provided by the utility model adopts the joint hinge structure, the joint hinge structure comprises a first connecting piece 1, a second connecting piece 2, a bearing 3 and a pin shaft structure 4, the first connecting piece 1 is provided with two first hinge parts 11, the second hinge part 21 of the second connecting piece 2 extends into the space between the two first hinge parts 11, the bearing 3 is in interference fit with a second connecting hole 210 of the second hinge part 21, the pin shaft structure 4 penetrates through the first connecting holes 110 of the two first hinge parts 11 and the bearing 3, the rotary connection of the first connecting piece 1 and the second connecting piece 2 is realized, and the arrangement of the bearing 3 can ensure the transmission precision. The pin structure 4 is supported by the two first hinge parts 11 at the same time, so that two ends of the pin structure 4 can be supported, and the joint hinge structure can bear larger bending moment. By providing a shoulder on the pin structure 4 abutting one end of the inner race of the bearing 3 and a boss 5 on the first hinge part 11 abutting the other end of the inner race of the bearing 3, a gap is formed between the bearing 3 and the first hinge part 11 and between the second hinge part 21 and the first hinge part 11 to reduce the damping during rotation. In addition, the joint hinge structure can be realized only by the pin shaft structure 4 and the bearing 3 except the first connecting piece 1 and the second connecting piece 2, so that the joint hinge structure has the advantages of less parts, compact structure and smaller volume. Correspondingly, too much installation space 10 of the robot cannot be occupied, and distribution of structural members such as steering engines and joint members in the robot is facilitated.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a joint hinge structure, includes first connecting piece and the second connecting piece of mutual articulated, its characterized in that: the first connecting piece is provided with two first hinged parts which are arranged at intervals, an installation space is formed between the two first hinged parts, the second connecting piece is provided with a second hinged part which extends into the installation space, the first hinged part is provided with a first connecting hole, and the second hinged part is provided with a second connecting hole; the joint hinge structure further comprises a bearing and a pin shaft structure, the pin shaft structure is inserted into the two first connecting holes and the second connecting holes, the outer ring of the bearing is in interference fit with the inner wall of the second connecting hole, and the inner ring of the bearing is in interference fit with the outer ring of the pin shaft structure; the pin shaft structure is provided with a shaft shoulder used for abutting against one end of the inner ring of the bearing, a protruding piece used for abutting against the other end of the inner ring of the bearing is arranged on one of the first hinged parts, and the protruding piece and the shaft shoulder extend into the installation space.

2. The articulating structure of claim 1, wherein: the protruding part and one of the first hinging parts are integrally formed or arranged in a split mode.

3. The articulating structure of claim 2, wherein: when the protruding part is arranged separately from one of the first hinge parts, the protruding part is a gasket.

4. The joint hinge structure according to claim 3, wherein: one side of one of the first hinging parts facing the mounting space is provided with a mounting groove, the gasket is arranged in the mounting groove, and the depth of the mounting groove is smaller than the thickness of the gasket.

5. The articulating structure of claim 1, wherein: the length of the protruding piece extending into the installation space is equal to the length of the shaft shoulder extending into the installation space.

6. The joint hinge structure according to any one of claims 1 to 5, wherein: the pin structure comprises a pin and a screw, the pin penetrates through the first connecting hole and the second connecting hole, a screw hole is formed in the inserting end of the pin, and the screw extends into one of the first connecting holes and is in threaded connection with the screw hole.

7. The articulating structure of claim 6, wherein: the pin is including the head, first shaft section and the second shaft section that connect gradually, the diameter of first shaft section is greater than the diameter of second shaft section, first shaft section with form between the second shaft section the shaft shoulder, first shaft section passes one of them first connecting hole, the second shaft section passes bearing and another first connecting hole.

8. The articulating structure of claim 7, wherein: the outer peripheral surface of the first shaft section is provided with a first supporting surface used for being abutted with one first connecting hole, and the outer peripheral surface of the second shaft section is provided with a second supporting surface used for being abutted with the other first connecting hole.

9. The articulating structure of claim 7, wherein: the first shaft section is in interference fit with one of the first connecting holes, and the second shaft section is in interference fit with the other first connecting hole.

10. Robot shank structure, its characterized in that: comprising the joint hinge structure according to any one of claims 1-9, further comprising a thigh crank, a thigh link, and a shank structure;

11. Robot, its characterized in that: comprising the joint hinge structure according to any one of claims 1 to 9.