CN218927794U - Neck joint module and robot - Google Patents

Abstract

The utility model provides a neck joint module and a robot, and relates to the field of robots. The cervical joint module comprises a fixed part, a movable part and a driving module; the driving module comprises a driving motor, a transmission assembly and a rotating shaft assembly; the rotating shaft assembly comprises a wiring channel which is axially and penetratingly arranged in the rotating assembly, and two ends of the wiring channel are respectively communicated with the fixed part and the movable part; the rotating shaft assembly is fixedly connected with the movable part and is rotatably connected with the fixed part; the driving motor is positioned at the fixed part and is in power connection with the rotating shaft assembly through the transmission assembly, and the driving motor is used for driving the rotating shaft assembly to rotate relative to the fixed part so as to drive the movable part to rotate relative to the fixed part. The wire harness can be routed through the routing channel, the neck joint module is simple in structure and concealed in routing, and the risk of wire harness bending and damage caused by the rotation of the movable part is avoided.

Description

Neck joint module and robot

technical field

The utility model relates to the technical field of robots, in particular to a neck joint module and a robot.

Background technique

A humanoid robot (or humanoid robot, simulation robot, imitation person, bionic person, English is HumanoidRobots, also written as Androids) is a kind of robot with a human-like appearance.

In the related art, a humanoid robot imitates the appearance of a human being and has a torso, a head and four limbs. Wherein, the head and the torso are rotatably connected through the neck joint, and the neck joint mostly uses mechanisms such as gears, chains, motor-belts, and connecting rods to realize the head rotation.

With the higher requirements for the flexibility and movement of humanoid robots, the head of the robot needs to integrate more electronic components, and the wiring between the head and the torso becomes more and more complicated. However, the structure of the neck joint using the above-mentioned mechanism is relatively complicated, and there is insufficient space for wiring, and there is a risk of bending and damaging the wiring harness.

Utility model content

The utility model provides a neck joint module and a robot, which can solve the problem in the related art that the structure of the neck joint of a humanoid robot is complex and affects the wiring of the head.

Described technical scheme is as follows:

In one aspect, a neck joint module is provided, the neck joint module includes a fixed part, a movable part and a driving module;

The drive module includes a drive motor, a transmission assembly and a rotating shaft assembly;

The rotating shaft assembly includes a wiring channel, the wiring channel is arranged axially through the rotating shaft assembly, and the two ends of the wiring channel are respectively connected to the fixed part and the movable part;

The rotating shaft assembly is fixedly connected to the movable part and rotatably connected to the fixed part;

The drive motor is located in the fixed part, the drive motor is power-coupled with the rotating shaft assembly through the transmission assembly, and the driving motor is used to drive the rotating shaft assembly to rotate relative to the fixed part to drive The movable part rotates relative to the fixed part.

In some embodiments, the rotating shaft assembly includes a moment shaft and a support shaft;

The support shaft is coaxially and rotatably sleeved in the moment shaft, and the wiring channel is located in the support shaft;

The support shaft includes a first end and a second end, the first end is fixedly connected to the fixed part, and the second end is rotatably connected to the movable part;

The torque shaft includes a third end and a fourth end, the third end is power-coupled to the driving motor through the transmission assembly, and the fourth end is fixedly connected to the movable part.

In some embodiments, the transmission assembly includes a first gear member and a second gear member;

The first gear part is connected with the output shaft of the driving motor, and the second gear part is coaxially connected with the third end.

In some embodiments, the number of teeth of the first gear member is less than the number of teeth of the second gear member.

In some embodiments, the outer peripheral surface of the third end portion is provided with at least one limit fitting portion, and the at least one limit fitting portion protrudes outward along the outer peripheral surface of the third end portion, and the at least one The limit assembly part provides axial limit for the second gear member.

In some embodiments, the at least one position-limiting assembly part is provided with a first fixing hole, the second gear part is provided with a second fixing hole, and the first fixing hole and the second fixing hole are connected by screws , the first fixing hole and the second fixing hole provide a circumferential limit for the second gear member.

In some embodiments, the rotating shaft assembly further includes a bearing;

The inner ring of the bearing is connected to the second end, and the outer ring of the bearing is respectively connected to the fourth end and the movable part.

In some embodiments, the fourth end portion is provided with a first flange portion, and one axial side of the outer ring of the bearing element is connected to the first flange portion, and the outer ring of the bearing element is connected to the first flange portion. The other axial side is connected with the movable part.

In some embodiments, the movable part, the outer ring of the bearing member and the first flange part are through-connected by screws.

In some embodiments, the cross-sectional shape of the first end is non-circular, the fixing part is provided with a positioning groove, and the shape of the positioning groove is the same as the cross-sectional shape of the first end, so The first end is connected with the positioning groove.

In some embodiments, the fixed part includes a first wire passing hole, and the movable part includes a second wire passing hole;

The first wire passing hole communicates with the wire routing channel, and the second wire passing hole communicates with the wire routing channel.

In another aspect, a robot is provided, the robot includes the neck joint module described in the present invention, and a torso and a head; the fixed part is connected with the torso, and the movable part is connected with the Head connection.

The beneficial effects brought by the technical solution provided by the utility model at least include:

The neck joint module of the utility model utilizes a driving motor, a transmission assembly and a rotating shaft assembly to drive the relative rotation of the movable part and the fixed part, wherein the rotating shaft assembly is fixedly connected to the fixed part, and rotatably connected to the movable part. A wiring channel is provided through it, and the two ends of the routing channel are respectively connected to the fixed part and the movable part, so that the wiring harness between the fixed part and the movable part can be routed through the routing channel. The structure of the neck joint module is simple and concealed. The cable is routed in the same way, and the movable part rotates without the risk of bending or damaging the wire harness.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. For example, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic structural view of the neck joint module provided by the embodiment of the present invention;

Fig. 2 is a structural sectional view of the neck joint module provided by the embodiment of the present invention;

Fig. 3 is an exploded view of the structure of the neck joint module provided by the embodiment of the present invention;

Fig. 4 is a schematic structural view of the moment axis provided by the embodiment of the present invention;

Fig. 5 is a schematic structural view of a support shaft provided by an embodiment of the present invention;

Fig. 6 is a partial enlarged view of A in Fig. 3 .

The reference signs in the figure represent respectively:

1. Fixed part; 11. First wire hole; 12. Positioning slot;

2. The movable part; 21. The second wire hole;

3. Drive module;

31. Drive motor;

32. Transmission assembly; 321. The first gear part; 322. The second gear part; 3221. The second fixing hole;

33. Rotary shaft assembly; 331. Cable channel; 332. Support shaft; 3321. First end; 3322. Second end; 3323. Second flange; 333. Moment shaft; 3331. Third end ; 3332, the fourth end; 3333, the limit assembly part; 33331, the first fixing hole; 3334, the first flange part;

34. Bearing parts.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present invention. Rather, they are merely examples of devices and methods consistent with aspects of the invention as recited in the appended claims.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" The orientation or positional relationship indicated by , "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application of the utility model and simplifying the description, rather than indicating or implying No device or element must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the invention.

Unless otherwise defined, all technical terms used in the embodiments of the present invention have the same meanings as commonly understood by those of ordinary skill in the art.

In related technologies, the main characteristics of humanoid robots include: 1. Can work in the daily environment of human beings; 2. Can use the tools used by human beings in daily life; 3. Have an appearance similar to human beings.

The key for humanoid robots to complete the above functions and characteristics lies in a large number of sensors, such as distance sensors, light sensors, sound sensors, pressure sensors, vision sensors, cameras, radar sensors and so on. Moreover, following the principle of human bionics, functional sensors similar to human facial features are usually arranged on the head of a humanoid robot, and are electrically connected to the control center and power supply module in the torso through a wiring harness.

However, the gears, chains and other mechanisms used in the neck joint in the related art have complex structures and occupy a large space, which has a great impact on the wiring of the head harness, and may also cause bending of the harness during head movement. Folding, pressure loss and other issues.

Therefore, the utility model provides a neck joint module, which has the advantages of simple structure and concealed wire routing, and there is no risk of bending or damaging the wire harness during the rotation of the movable part.

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the implementation of the present utility model will be further described in detail below in conjunction with the accompanying drawings.

Fig. 1 is a schematic structural view of the neck joint module provided by the embodiment of the present invention; Fig. 2 is a structural sectional view of the neck joint module provided by the embodiment of the present invention.

On the one hand, as shown in FIGS. 1 and 2 , this embodiment provides a neck joint module. The neck joint module includes a fixed part 1 , a movable part 2 and a driving module 3 .

The driving module 3 includes a driving motor 31 , a transmission assembly 32 and a rotating shaft assembly 33 .

The rotating shaft assembly 33 includes a routing channel 331, which is arranged axially through the rotating shaft assembly 33, and the two ends of the routing channel 331 are connected to the fixed part 1 and the movable part 2 respectively; The part 2 is fixedly connected and rotatably connected with the fixed part 1; the driving motor 31 is located at the fixed part 1, and the driving motor 31 is power-coupled with the rotating shaft assembly 33 through the transmission assembly 32, and the driving motor 31 is used to drive the rotating shaft assembly 33 relative to the fixed The part 1 rotates to drive the movable part 2 to rotate relative to the fixed part 1 .

The neck joint module of this embodiment uses the driving motor 31, the transmission assembly 32 and the rotating shaft assembly 33 to drive the relative rotation between the movable part 2 and the fixed part 1, wherein the rotating shaft assembly 33 is fixedly connected to the fixed part 1 and rotatably connected to the movable part 2. A wiring channel 331 is arranged axially through the rotating shaft assembly 33, and the two ends of the wiring channel 331 are respectively connected to the fixed part 1 and the movable part 2, so that the wire harness between the fixed part 1 and the movable part 2 can pass through the The cable routing channel 331 is routed, the structure of the neck joint module is simple, and the wires are routed in a concealed manner, and there is no risk of bending or damaging the wire harness even when the movable part 2 rotates.

As shown in FIGS. 2 and 3 , in some embodiments, the rotating shaft assembly 33 includes a torque shaft 333 and a supporting shaft 332 ; Inside; the support shaft 332 includes a first end 3321 and a second end 3322, the first end 3321 is fixedly connected with the fixed part 1, and the second end 3322 is rotatably connected with the movable part 2; the moment shaft 333 includes a third The end portion 3331 and the fourth end portion 3332 , the third end portion 3331 is power-coupled with the driving motor 31 through the transmission assembly 32 , and the fourth end portion 3332 is fixedly connected with the movable part 2 .

In the neck joint module of the present embodiment, the function of the rotating shaft assembly 33 has two functions, one is to support the movable part 2 and the robot structure (such as the head) connected with the movable part 2, and the other is to support the movable part 2 and the robot structure (such as the head) connected with the movable part 2; Part 2 provides rotational power so that its movable part 2 realizes at least one degree of freedom required by the neck joint.

The support shaft 332 in the rotating shaft assembly 33 plays a supporting role, that is, the movable part 2 is supported on the fixed part 1, and the moment shaft 333 plays a role of rotational driving, that is, it can drive the movable part 2 to have at least one rotational degree of freedom relative to the fixed part 1 .

During the working process of the neck joint module of this embodiment, the driving motor 31 drives the third end 3331 of the torque shaft 333 through the transmission assembly 32, and the rotational torque shaft 333 is transmitted to the fourth end 3332, thereby making the entire torque shaft 333 rotate , the movable part 2 is fixedly connected with the fourth end part 3332 , so as to rotate and move with the fourth end part 3332 . On the other hand, the first end 3321 of the support shaft 332 is fixedly connected with the fixed part 1 and rotatably connected with the movable part 2, that is, the supporting force can be transmitted between the fixed part 1 and the movable part 2 without affecting the movable part. The rotation of part 2 has an effect.

During the rotation process of the movable part 2 relative to the fixed part 1, the support shaft 332 remains still, and the wiring channel 331 also remains stationary, and the rotational movement will not affect the wiring harness in the wiring channel 331, and the wiring environment is relatively static , the safety of the wiring harness is higher.

3, in some embodiments, the transmission assembly 32 includes a first gear 321 and a second gear 322; the first gear 321 is connected to the output shaft of the drive motor 31, and the second gear 322 is connected to the third gear. The ends 3331 are connected coaxially.

Using two gear parts to form a stable and reliable transmission assembly 32 helps to improve the power stability and safe transmission of the drive motor 31 and prevent the movable part 2 from shaking during rotation.

As shown in FIG. 4 , in some embodiments, the number of teeth of the first gear member 321 is smaller than the number of teeth of the second gear member 322 . In this embodiment, the second gear member 322 is the driven wheel, and the first gear member 321 is the driving wheel. By setting the number of teeth of the driven wheel to be greater than that of the driving wheel, the gear transmission ratio can be used to achieve the effect of deceleration and torque increase.

As shown in FIG. 4 , in some embodiments, the outer peripheral surface of the third end portion 3331 is provided with at least one limiting fitting portion 3333 , and at least one limiting fitting portion 3333 protrudes outward along the outer peripheral surface of the third end portion 3331 , At least one limiting assembly portion 3333 provides axial limiting for the second gear member 322 .

In order to ensure the assembly accuracy of the second gear member 322 in the transmission assembly 32 and the third end 3331 of the torque shaft 333, at least one limit fitting part 3333 is provided on the outer peripheral surface of the third end part 3331, and the limit fitting part 3333 and A matching space for the second gear member 322 is reserved between the ends of the torque shaft 333 , so that the second gear member 322 is sleeved on the outer peripheral surface of the torque shaft 333 . The limit assembly part 3333 can provide an axial limit for the second gear part 322 and improve the assembly accuracy of the second gear part 322 .

Exemplarily, the quantity of the limiting assembly part 3333 is, for example, one, two, three and so on. When the number of the limiting fitting parts 3333 is two or more, the limiting fitting parts 3333 are arranged at intervals along the outer peripheral surface of the third end part 3331 .

For example, when there are three limiting fitting parts 3333 , the three limiting fitting parts 3333 are evenly spaced along the outer peripheral surface of the third end part 3331 .

In some possible implementation manners, the limit assembly part 3333 and the torque shaft 333 are integrally formed, for example, by adopting metal casting process, CNC processing process, 3D printing process and so on.

It is also possible that the limit assembly part 3333 is processed and imaged separately, and then connected with the torque shaft 333 as a whole by welding connection, adhesive connection and other techniques.

As shown in FIG. 4 , in some embodiments, at least one limit assembly part 3333 is provided with a first fixing hole 33331 , the second gear member 322 is provided with a second fixing hole 3221 , the first fixing hole 33331 and the second fixing hole 3221 are connected by screws, and the first fixing hole 33331 and the second fixing hole 3221 provide a circumferential limit for the second gear member 322 .

In order to ensure the reliability of the connection between the second gear member 322 and the torque shaft 333 and prevent the two from slipping, the first fixing hole 33331 of the limit assembly part 3333 and the second fixing hole 3221 of the second gear member 322 are connected by screws, and the second gear member 322 The two gear members 322 and the torque shaft 333 are circumferentially fixed.

2 and 3, in some embodiments, the rotating shaft assembly 33 further includes a bearing 34; the inner ring of the bearing 34 is connected to the second end 3322, and the outer ring of the bearing 34 is respectively connected to the fourth end 3332 is connected with active part 2.

In order to reduce the friction force during the rotation of the movable part 2 and improve the smoothness of the movement of the movable part 2, a bearing 34 is arranged in the neck joint module, and the inner ring of the bearing 34 is connected with the second end 3322 of the support shaft 332 , the outer ring of the bearing 34 is connected with the fourth end 3332 of the moment shaft 333 and the movable part 2, thereby, the bearing 34 is used to transmit the supporting force between the movable part 2 and the support shaft 332, and the rotation resistance of the movable part 2 is relatively low. Smaller, smoother movement.

As shown in FIG. 4 , in some embodiments, the fourth end portion 3332 is provided with a first flange portion 3334, and one axial side of the outer ring of the bearing member 34 is connected to the first flange portion 3334, and the bearing member 34 The other axial side of the outer ring is connected with the movable part 2 .

A first flange portion 3334 is provided at the fourth end portion 3332 of the moment shaft 333. The first flange portion 3334 is used to connect one axial side of the outer ring of the bearing 34, and the other axial side of the outer ring of the bearing 34. The side is connected with the movable part 2, the third end 3331 of the torque shaft 333 is driven by the second gear 322, and the fourth end 3332 rotates accordingly, and the rotational torque is evenly transmitted to the bearing 34 by the first flange 3334 The outer ring of the bearing part 34 is then transmitted to the movable part 2 to complete the rotary drive of the movable part 2, and the structure is compact and stable.

As shown in FIG. 2, in some embodiments, the movable part 2, the outer ring of the bearing part 34 and the first flange part 3334 are through-connected by screws, thereby improving the connection between the movable part 2, the bearing part 34 and the first flange part. 3334 connection reliability.

As shown in FIGS. 5 and 6, in some embodiments, the cross-sectional shape of the first end portion 3321 is non-circular, and the fixing part 1 is provided with a positioning groove 12. The shape of the positioning groove 12 is the same as that of the first end portion 3321 The cross-sectional shapes are the same, and the first end portion 3321 is connected to the positioning groove 12 .

Exemplarily, the cross-sectional shape of the first end portion 3321 is a quincunx shape, and the shape of the positioning groove 12 is a corresponding quincunx shape. Stabilize the anti-rotation connection and improve the structural rigidity of the neck joint module.

As shown in FIG. 5 , in some embodiments, the second end portion 3322 of the support shaft 332 is provided with a second flange portion 3323 , and the second flange portion 3323 is used to connect with the inner ring of the bearing member 34 , thereby using the bearing The member 34 supports the movable part 2 stably.

As shown in FIG. 2, in some embodiments, the fixed part 1 includes a first wire passing hole 11, and the movable part 2 includes a second wire passing hole 21; the first wire passing hole 11 communicates with the wiring channel 331, and the second passing wire hole The wire hole 21 communicates with the wire channel 331 .

The wire harness in the neck joint module of this embodiment is arranged in the wire passage 331, and is connected to the side of the fixed part 1 and the side of the movable part 2 through the first wire hole 11 and the second wire hole 21 respectively, Realize the harness connection of the fixed part 1 and the movable part 2.

On the other hand, this embodiment provides a robot, the robot includes the neck joint module of the present invention; the fixed part 1 is connected with the torso of the robot, and the movable part 2 is connected with the head of the robot.

The robot of this embodiment adopts the neck joint module of the present invention, and has all the beneficial technical effects of all the embodiments herein.

It should be noted that "several" and "at least one" mentioned herein refer to one or more, and "multiple" and "at least two" refer to two or more. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently. The character "/" generally indicates that the contextual objects are an "or" relationship.

In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a flexible connection. Detachable connection, or integral connection; it can be mechanical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present utility model, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "below" a second feature may include direct contact between the first and second features, and may also include the first and second features being in direct contact with each other. The features are not in direct contact but through another feature between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. "Below", "beneath" and "under" the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In the description of this specification, references to the terms "certain embodiments," "one embodiment," "some embodiments," "exemplary embodiments," "examples," "specific examples," or "some examples" To describe means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention.

The above is only an embodiment of the utility model, and is not intended to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the principles of the utility model shall be included in the protection of the utility model. within range.

Claims (12)

1. A cervical joint module, characterized in that the cervical joint module comprises a fixed part (1), a movable part (2) and a driving module (3);

the driving module (3) comprises a driving motor (31), a transmission assembly (32) and a rotating shaft assembly (33);

the rotating shaft assembly (33) comprises a wiring channel (331), the wiring channel (331) is axially and penetratingly arranged in the rotating shaft assembly (33), and two ends of the wiring channel (331) are respectively communicated with the fixed part (1) and the movable part (2);

the rotating shaft assembly (33) is fixedly connected with the movable part (2) and rotatably connected with the fixed part (1);

the driving motor (31) is located on the fixed portion (1), the driving motor (31) is in power connection with the rotating shaft assembly (33) through the transmission assembly (32), and the driving motor (31) is used for driving the rotating shaft assembly (33) to rotate relative to the fixed portion (1) so as to drive the movable portion (2) to rotate relative to the fixed portion (1).

2. The cervical joint module according to claim 1, characterized in that the rotation shaft assembly (33) comprises a support shaft (332) and a torque shaft (333);

the supporting shaft (332) is coaxially and rotatably sleeved in the moment shaft (333), and the wiring channel (331) is positioned in the supporting shaft (332);

the support shaft (332) comprises a first end (3321) and a second end (3322), wherein the first end (3321) is fixedly connected with the fixed part (1), and the second end (3322) is rotatably connected with the movable part (2);

the torque shaft (333) comprises a third end part (3331) and a fourth end part (3332), the third end part (3331) is in power connection with the driving motor (31) through the transmission assembly (32), and the fourth end part (3332) is fixedly connected with the movable part (2).

3. The cervical joint module according to claim 2, wherein the transmission assembly (32) comprises a first gear member (321) and a second gear member (322);

the first gear piece (321) is connected with an output shaft of the driving motor (31), and the second gear piece (322) is coaxially connected with the third end (3331).

4. A cervical joint module according to claim 3, wherein the number of teeth of the first gear member (321) is smaller than the number of teeth of the second gear member (322).

5. A cervical joint module according to claim 3, wherein the outer circumferential surface of the third end portion (3331) is provided with at least one stop fitting portion (3333), the at least one stop fitting portion (3333) protruding outwards along the outer circumferential surface of the third end portion (3331), the at least one stop fitting portion (3333) providing an axial stop for the second gear member (322).

6. The cervical joint module according to claim 5, wherein the at least one limiting fitting portion (3333) is provided with a first fixing hole (33331), the second gear member (322) is provided with a second fixing hole (3221), the first fixing hole (33331) and the second fixing hole (3221) are connected by a screw, and the first fixing hole (33331) and the second fixing hole (3221) provide circumferential limitation for the second gear member (322).

7. The cervical joint module according to claim 2, characterized in that the rotation shaft assembly (33) further comprises a bearing member (34);

the inner ring of the bearing piece (34) is connected with the second end part (3322), and the outer ring of the bearing piece (34) is respectively connected with the fourth end part (3332) and the movable part (2).

8. The cervical joint module according to claim 7, characterized in that the fourth end portion (3332) is provided with a first flange portion (3334), one axial side of the outer ring of the bearing member (34) is connected with the first flange portion (3334), and the other axial side of the outer ring of the bearing member (34) is connected with the movable portion (2).

9. The cervical joint module according to claim 8, characterized in that the movable part (2), the outer ring of the bearing member (34) and the first flange portion (3334) are connected by screw penetration.

10. The cervical joint module according to claim 2, wherein the first end portion (3321) has a non-circular cross-sectional shape, the fixing portion (1) is provided with a positioning groove (12), the positioning groove (12) has the same shape as the first end portion (3321), and the first end portion (3321) is connected to the positioning groove (12).

11. The cervical joint module according to claim 1, characterized in that the fixed part (1) comprises a first wire via (11) and the movable part (2) comprises a second wire via (21);

the first wire through hole (11) is communicated with the wire channel (331), and the second wire through hole (21) is communicated with the wire channel (331).

12. A robot comprising the cervical joint module of any one of claims 1-11, and a torso and a head; the fixed part (1) is connected with the trunk part, and the movable part (2) is connected with the head part.

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