Joint hinging structure of foot type robot and foot type robot

Abstract

The utility model provides a joint hinging structure of a foot type robot and the foot type robot, the joint hinging structure of the foot type robot comprises a thigh assembly which is provided with a first mounting groove and a second mounting groove; the first bearing is mounted in the first mounting groove; the second bearing is mounted in the second mounting groove; the shank assembly is arranged between the first bearing and the second bearing; the rotating shaft assembly is provided with a first pressing part and a second pressing part. According to the joint hinging structure of the foot type robot, the inner ring of the first bearing, the inner ring of the second bearing and the shank assembly are clamped through the rotating shaft assembly, so that the rotating shaft assembly, the inner ring of the first bearing, the inner ring of the second bearing and the shank assembly form a whole; the first bearing and the second bearing can reduce shaking of the rotating shaft assembly and the shank assembly, bearings do not need to be arranged between the shank assembly and the rotating shaft assembly, the number of parts is reduced, cost is reduced, and the structure is simplified.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a joint articulation structure of a foot-type robot and the foot-type robot. Background Art

[0002] A legged robot usually consists of a body, multiple thigh assemblies hinged to the body, and multiple calf assemblies hinged to the thigh assemblies. The thigh assemblies and the calf assemblies are usually hinged through a rotating shaft. However, there is an axial / radial shaking problem between the rotating shaft and the thigh assemblies, and the calf assemblies have an axial / radial shaking problem relative to the rotating shaft. Bearings need to be added at both ends of the rotating shaft to prevent the shaking of the rotating shaft, and bearings also need to be added between the calf assembly and the rotating shaft to prevent the shaking between the calf assembly and the rotating shaft. This results in the use of more parts overall, a complex structure and high cost. Utility Model Content

[0003] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a joint articulation structure of a legged robot and a legged robot.

[0004] One embodiment of the present invention provides a joint articulation structure of a legged robot, comprising:

[0005] A thigh assembly, wherein the thigh assembly is provided with a first mounting slot and a second mounting slot arranged opposite to each other;

[0006] a first bearing, mounted in the first mounting groove;

[0007] a second bearing, mounted in the second mounting groove;

[0008] a calf assembly, the calf assembly being partially disposed between the first bearing and the second bearing;

[0009] A rotating shaft assembly, wherein the rotating shaft assembly has a first clamping portion and a second clamping portion that are relatively spaced apart, and the rotating shaft assembly is sequentially passed through the inner ring of the first bearing, the calf assembly, and the inner ring of the second bearing, the first clamping portion is located on the side of the inner ring of the first bearing away from the calf assembly, and the second clamping portion is located on the side of the inner ring of the second bearing away from the calf assembly, and the first clamping portion and the second clamping portion cooperate to clamp the inner ring of the first bearing, the calf assembly, and the inner ring of the second bearing.

[0010] In some optional embodiments, a first axial limiting portion is provided in the first mounting groove, the first axial limiting portion is located on a side of the first bearing away from the calf assembly, and the first axial limiting portion is axially limitedly engaged with an outer ring of the first bearing;

[0011] A second axial limiting portion is provided in the second mounting groove. The second axial limiting portion is located on a side of the second bearing away from the calf assembly. The second axial limiting portion is axially limited in cooperation with an outer ring of the second bearing.

[0012] In some optional embodiments, a fixing ring is further provided on the thigh component. The fixing ring is arranged on a side of the first bearing close to the calf component and presses the outer ring of the first bearing against the first axial limiting portion.

[0013] In some optional embodiments, the outer ring of the first bearing is interference fit with the first mounting groove, and the outer ring of the second bearing is interference fit with the second mounting groove;

[0014] The rotating shaft assembly is interference fit with the inner ring of the first bearing and the inner ring of the second bearing respectively.

[0015] In some optional embodiments, protruding press-fit portions are respectively provided on both sides of the calf assembly, and the inner ring of the first bearing and the inner ring of the second bearing correspondingly abut the press-fit portions on both sides of the calf assembly.

[0016] In some optional embodiments, the rotating shaft assembly includes a first shaft portion and a second shaft portion that are detachably connected to each other, the first shaft portion is provided with the first clamping portion, the second shaft portion is provided with the second clamping portion, the first shaft portion is passed through the inner ring of the first bearing and a part of the calf assembly, and the second shaft portion is passed through the inner ring of the second bearing and another part of the calf assembly.

[0017] In some optional embodiments, the first shaft portion includes a first shaft segment and a second shaft segment connected to each other, the outer diameter of the first shaft segment is larger than the outer diameter of the second shaft segment, the first shaft segment is inserted into the first bearing, a first avoidance gap is formed between the first shaft segment and the side portion of the calf component, the second shaft segment is inserted into a portion of the calf component, and the first pressing portion is provided on the first shaft segment;

[0018] The second shaft portion includes a third shaft segment and a fourth shaft segment that are connected to each other. The outer diameter of the third shaft segment is larger than the outer diameter of the fourth shaft segment. The third shaft segment is passed through the second bearing. A second avoidance gap is formed between the second shaft segment and the side of the calf assembly. The fourth shaft segment is passed through another part of the calf assembly, and the second clamping portion is arranged on the third shaft segment.

[0019] In some optional embodiments, the rotating shaft assembly includes a locking member, which is passed through the first shaft portion and the second shaft portion and is locked with the first shaft portion and / or the second shaft portion.

[0020] In some optional embodiments, an axial hole is provided on the calf assembly, a portion of the first shaft portion extends into the axial hole, a portion of the second shaft portion extends into the axial hole, and an adjustment gap is formed between the portion of the first shaft portion located in the axial hole and the portion of the second shaft portion located in the axial hole.

[0021] Another embodiment of the present invention provides a legged robot, comprising: a joint articulation structure of a legged robot as described above.

[0022] Compared with the prior art, the joint hinge structure of the foot-type robot of the present invention clamps the inner ring of the first bearing, the inner ring of the second bearing and the calf assembly through the rotating shaft assembly, so that the rotating shaft assembly, the inner ring of the first bearing, the inner ring of the second bearing and the calf assembly form a whole, so that the first bearing and the second bearing can reduce the shaking of the rotating shaft assembly and the calf assembly, and there is no need to arrange bearings between the calf assembly and the rotating shaft assembly, which reduces the number of parts, reduces costs, simplifies the structure, and the rotating shaft assembly, the inner ring of the first bearing, the inner ring of the second bearing and the calf assembly form a whole to improve the structural strength; the second bearing adopts a movable design, which is conducive to adapting to the tolerance of parts and assembly tolerance.

[0023] In order to more clearly understand the present invention, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a joint hinge structure of a legged robot according to an embodiment of the present invention;

[0025] Figure 2 An exploded view of the joint hinge structure of a legged robot according to an embodiment of the present invention;

[0026] Figure 3 A cross-sectional view of a joint hinge structure of a legged robot according to an embodiment of the present invention;

[0027] Figure 4 for Figure 3 An enlarged view of point A is shown.

[0028] Description of reference numerals:

[0029] 10. Thigh assembly; 11. First mounting slot; 111. First axial limiting portion; 12. Second mounting slot; 121. Second axial limiting portion; 13. Fixed ring; 14. Housing; 15. Movable plug-in slot; 20. First bearing; 30. Second bearing; 40. Calf assembly; 41. Pressing fit portion; 50. Rotating shaft assembly; 51. First pressing portion; 52. Second pressing portion; 53. First shaft portion; 531. First shaft section; 532. Second shaft section; 533. First avoidance gap; 54. Second shaft portion; 541. Third shaft section; 542. Fourth shaft section; 543. Second avoidance gap; 55. Locking member; 56. Adjustment gap. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0033] In the description of this utility model, reference to the terms "one embodiment," "some optional implementations," or "some optional embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0034] In the prior art, a legged robot usually consists of a body, multiple thigh assemblies hinged to the body, and multiple calf assemblies hinged to the thigh assemblies. The thigh assemblies and the calf assemblies are hinged through a rotating shaft. To improve stability, bearings are added at both ends of the rotating shaft to prevent the rotating shaft from shaking. Bearings are also needed between the calf assembly and the rotating shaft to prevent shaking between the calf assembly and the rotating shaft. A total of at least 3 bearings are required, which results in the use of more overall parts, a complex structure and high cost.

[0035] The joint hinge structure of the foot-type robot of the present invention clamps the inner ring of the first bearing, the inner ring of the second bearing and the calf assembly through the rotating shaft assembly, so that the rotating shaft assembly, the inner ring of the first bearing, the inner ring of the second bearing and the calf assembly form a whole, so that the first bearing and the second bearing can simultaneously reduce the shaking of the rotating shaft assembly and the calf assembly, so there is no need to arrange bearings between the calf assembly and the rotating shaft assembly, which reduces the number of parts, reduces costs and simplifies the structure.

[0036] See also Figure 1 and Figure 2 One embodiment of the present invention provides a joint articulation structure of a legged robot, comprising:

[0037] The thigh component 10 is provided with a first mounting slot 11 and a second mounting slot 12 arranged opposite to each other;

[0038] The first bearing 20 is installed in the first installation groove 11;

[0039] The second bearing 30 is installed in the second installation groove 12;

[0040] a calf assembly 40 , wherein the calf assembly 40 is partially disposed between the first bearing 20 and the second bearing 30 ;

[0041] See also Figure 2 、 Figure 3 and Figure 4, the rotating shaft assembly 50, the rotating shaft assembly 50 has a first pressing portion 51 and a second pressing portion 52 arranged at a relative interval, the rotating shaft assembly 50 is sequentially penetrated through the inner ring of the first bearing 20, the calf assembly 40 and the inner ring of the second bearing 30, the first pressing portion 51 is located on the side of the inner ring of the first bearing 20 away from the calf assembly 40, the first pressing portion 51 presses on the side of the inner ring of the first bearing 20 away from the calf assembly 40, the second pressing portion 52 is located on the side of the inner ring of the second bearing 30 away from the calf assembly 40, the second pressing portion 52 presses on the side of the inner ring of the second bearing 30 away from the calf assembly 40, the first pressing portion 51 and the second pressing portion 52 cooperates to clamp the inner ring of the first bearing 20, the inner ring of the calf assembly 40, and the inner ring of the second bearing 30, so that the shaft assembly 50, the inner ring of the first bearing 20, the inner ring of the calf assembly 40, and the inner ring of the second bearing 30 form a single unit. The outer ring of the first bearing 20 and the outer ring of the second bearing 30 reduce the shaking of the unit. In other words, the first bearing 20 and the second bearing 30 can reduce the shaking of the shaft assembly 50 and the calf assembly 40. This eliminates the need for a bearing between the calf assembly 40 and the shaft assembly 50, reduces the number of parts and reduces costs, makes the structure simpler, and helps shorten production and assembly time. In addition, because the shaft assembly 50, the inner ring of the first bearing 20, the inner ring of the calf assembly 40, and the inner ring of the second bearing 30 form a single unit, the structural rigidity and strength of the shaft assembly 50, the inner ring of the first bearing 20, the inner ring of the calf assembly 40, and the inner ring of the second bearing 30 are improved.

[0042] See also Figure 2 and Figure 4 In some optional embodiments, a first axial stopper 111 is provided within the first mounting groove 11. The first axial stopper 111 is located on the side of the first bearing 20 away from the calf assembly 40 and axially limits the outer ring of the first bearing 20. A second axial stopper 121 is provided within the second mounting groove 12. The second axial stopper 121 is located on the side of the second bearing 30 away from the calf assembly 40 and axially limits the outer ring of the second bearing 30. The first mounting groove 11 and the first axial stopper 111 can limit the axial and radial position of the first bearing 20 within the first mounting groove 11. The second mounting groove 12 and the second axial stopper 121 can limit the axial and radial position of the second bearing 30 within the second mounting groove 12, thereby limiting the axial and radial positions of the rotating shaft assembly 50, the first bearing 20, the calf assembly 40, and the second bearing 30 within the rotating shaft assembly 50. It should be noted that the axial direction of the first installation groove 11 , the axial direction of the second installation groove 12 , and the axial direction of the rotating shaft assembly 50 are substantially parallel.

[0043] See also Figure 2 and Figure 4Due to the production tolerances of various parts and the assembly tolerances during assembly, there is a tolerance in the axial spacing between the first bearing 20 and the second bearing 30 on the side away from each other in the rotating shaft assembly 50, which can easily lead to the first bearing 20 and the second bearing 30 being unable to be installed. For this reason, in some optional embodiments, a fixing ring 13 is also provided on the thigh assembly 10. The fixing ring 13 is arranged on the side of the first bearing 20 close to the calf assembly 40, and presses the outer ring of the first bearing 20 against the first axial limiting portion 111. The fixing ring 13 can cooperate with the first axial limiting portion 111 to axially position the outer ring of the first bearing 20, thereby increasing the structural rigidity.

[0044] See also Figure 2 In this embodiment, the thigh component 10 includes two shells 14, which are detachably matched by means of screws or the like. The two shells 14 are respectively provided with a first mounting groove 11 and a second mounting groove 12. The two shells 14 can be disassembled to facilitate the assembly of the first bearing 20, the second bearing 30, the calf component 40 and the shaft component 50. During installation, the first bearing 20 is secured within the first mounting groove 11 by the retaining ring 13. The second bearing 30 can be installed without first being inserted into the second mounting groove 12. The shaft assembly 50 locks the inner race of the first bearing 20, the lower leg assembly 40, and the inner race of the second bearing 30. The first bearing 20 is secured within the first mounting groove 11, restricting the axial position of the first bearing 20 within the first mounting groove 11. Consequently, the axial positions of the shaft assembly 50, the first bearing 20, the lower leg assembly 40, and the second bearing 30 within the shaft assembly 50 are also restricted. The two housings 14 are then assembled, allowing the second bearing 30 to enter the second mounting groove 12 and for the second bearing stop 121 to press against the outer race of the second bearing 30, thereby tightening the second bearing 30. The spacing between the first bearing 20 and the second bearing 30 can increase or decrease due to production and assembly tolerances. The removable connection between the two housings 14 accommodates these tolerances, preventing assembly failures and reducing component precision requirements. In this embodiment, the two housings 14 are removably connected via screws.

[0045] In some optional embodiments, a protruding press-fit portion 41 is provided on both sides of the calf component 40. The inner ring of the first bearing 20 and the inner ring of the second bearing 30 correspondingly abut against the press-fit portions 4141 on both sides of the calf component 40. The press-fit portions 4141 maintain a certain distance between the calf component 40 and the thigh component 10, allowing the calf component 40 to rotate smoothly. In this embodiment, a movable insertion slot 15 is provided on the thigh component 10. The first installation slot 11 and the second installation slot 12 are arranged on both sides of the movable insertion slot 15. Part of the calf component 40 is arranged in the movable insertion slot 15. The protruding press-fit portion 4141 helps maintain a suitable distance between the calf component 40 and the inner wall of the movable insertion slot 15. Please refer to Figure 2 The specific structure of the rotating shaft assembly 50 can be appropriately designed according to actual needs. For example, in some optional embodiments, the rotating shaft assembly 50 includes a first shaft portion 53 and a second shaft portion 54 that are detachably connected to each other, a first clamping portion 51 is provided on the first shaft portion 53, and a second clamping portion 52 is provided on the second shaft portion 54. The first shaft portion 53 is passed through the inner ring of the first bearing 20 and a part of the calf assembly 40, and the first shaft portion 53 can provide support for the inner ring of the first bearing 20 and the calf assembly 40. The second shaft portion 54 is passed through the inner ring of the second bearing 30 and another part of the calf assembly 40, and the second shaft portion 54 can provide support for the inner ring of the second bearing 30 and the calf assembly 40, so that the overall structure is relatively stable and has high strength.

[0046] See also Figure 4 In some optional embodiments, the first shaft portion 53 includes a first shaft segment 531 and a second shaft segment 532 connected to each other. The outer diameter of the first shaft segment 531 is larger than the outer diameter of the second shaft segment 532. The first shaft segment 531 is inserted into the first bearing 20. A first avoidance gap 533 is formed between the first shaft segment 531 and the side of the calf component 40. In this embodiment, a first step portion is formed on the side of the first shaft segment 531 facing the second shaft segment 532. The first step portion and the press-fit portion 41 of the calf component 40 form a first avoidance gap 533. 33; the second shaft section 532 is passed through a part of the calf component 40, and the first clamping portion 51 is arranged on the first shaft section 531; the first avoidance gap 533 can prevent the first shaft section 531 from directly pressing on the side of the calf component 40, which causes the inner ring of the first bearing 20 to be unable to press on the calf component 40, and ensure that the first clamping portion 51 can press the inner ring of the first bearing 20 on the calf component 40, which is beneficial to improve the connection stability among the inner ring of the first bearing 20, the first shaft section 53 and the calf component 40.

[0047] The second shaft portion 54 includes a third shaft segment 541 and a fourth shaft segment 542 that are connected to each other. The outer diameter of the third shaft segment 541 is larger than the outer diameter of the fourth shaft segment 542. The third shaft segment 541 is passed through the second bearing 30. A second avoidance gap 543 is formed between the third shaft segment 541 and the side of the calf component 40. In this embodiment, a second step portion is formed on the side of the third shaft segment 541 facing the fourth shaft segment 542. The second step portion and the press-fit portion 41 of the calf component 40 form a second avoidance gap 543. The fourth shaft Segment 542 is passed through another part of the calf component 40, and the second clamping portion 52 is arranged on the third shaft segment 541; the second avoidance gap 543 can prevent the third shaft segment 541 from directly pressing on the side of the calf component 40, causing the inner ring of the second bearing 30 to be unable to press on the calf component 40, ensuring that the second clamping portion 52 can press the inner ring of the second bearing 30 on the calf component 40, which is beneficial to improve the connection stability among the inner ring of the second bearing 30, the second shaft portion 54 and the calf component 40.

[0048] The detachable connection between the first shaft portion 53 and the second shaft portion 54 can be designed appropriately according to actual needs. For example, in some optional embodiments, the rotating shaft assembly 50 includes a locking member that passes through the first shaft portion 53 and the second shaft portion 54 and is locked with the first shaft portion 53 and / or the second shaft portion 54. In this embodiment, the locking member 55 is a screw. The first shaft portion 53 is provided with a mounting hole, and the second shaft portion 54 is provided with a threaded hole. The screw is movable through the mounting hole in the first shaft portion 53 and then threadedly engaged with the threaded hole in the second shaft portion 54. The cap of the screw presses the first shaft portion 53 toward the second shaft portion 54. Of course, in other embodiments, the locking member 55 may also be a screw and two nuts that are threadedly engaged with the screw. The first shaft portion 53 and the second shaft portion 54 are both provided with mounting holes, and the screw is movably passed through the mounting hole of the first shaft portion 53 and the mounting hole of the second shaft portion 54. The first shaft portion 53 and the second shaft portion 54 are between the two nuts, and the two nuts respectively cooperate to clamp the first shaft portion 53 and the second shaft portion 54; or, in other embodiments, a threaded hole is provided on the first shaft portion 53, and a threaded portion is provided on the second shaft portion 54, and the second shaft portion 54 is threadedly engaged with the threaded hole.

[0049] In some optional embodiments, the calf assembly 40 is provided with an axial hole, into which a portion of the first shaft portion 53 extends, and a portion of the second shaft portion 54 extends. An adjustable gap 56 is formed between the portion of the first shaft portion 53 located within the axial hole and the portion of the second shaft portion 54 located within the axial hole. This allows the adjustable gap 56 to prevent direct contact between the first shaft portion 53 and the second shaft portion 54 when the first pressing portion 51 presses against the inner race of the first bearing 20 and the second pressing portion 52 presses against the outer race of the second bearing 30. This allows for a certain margin to accommodate production tolerances and prevents the first shaft portion 53 and the second shaft portion 54 from abutting against each other, thereby preventing the first pressing portion 51 from contacting the inner race of the first bearing 20 or the second pressing portion 52 from contacting the inner race of the second bearing 30. In this embodiment, the adjustable gap 56 is formed between the end of the second shaft segment 532 and the end of the fourth shaft segment 542. In addition, the thigh component 10, the calf component 40 and the shaft component 50 are made of waterproof corrosion materials, and the first bearing 20 and the second bearing 30 can also be waterproof bearings, thereby meeting the waterproof requirements without adding a complex waterproof structure, which is conducive to simplifying the structure.

[0050] See also Figure 4 In some optional embodiments, the outer ring of the first bearing 20 is interference fit with the first mounting groove 11, and the outer ring of the second bearing 30 is interference fit with the second mounting groove 12, so that the structural stability among the first bearing 20, the rotating shaft assembly 50 and the first mounting groove 11 is greatly enhanced; the rotating shaft assembly 50 is interference fit with the inner ring of the first bearing 20 and the inner ring of the second bearing 30, respectively. In this embodiment, the first shaft segment 531 of the first shaft portion 53 is interference fit with the inner ring of the first bearing 20, and the third shaft segment 541 of the second shaft portion 54 is interference fit with the inner ring of the second bearing 30, so that the structural stability among the first bearing 20, the rotating shaft assembly 50 and the first mounting groove 11 is greatly enhanced.

[0051] The above-mentioned joint articulation structure of a legged robot can be applied to a legged robot, and the legged robot includes: the above-mentioned joint articulation structure of a legged robot.

[0052] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A joint articulation structure of a legged robot, characterized in that: include: A thigh component (10), wherein the thigh component (10) is provided with a first mounting groove (11) and a second mounting groove (12) arranged opposite to each other; A first bearing (20) is installed in the first installation groove (11); a second bearing (30) mounted in the second mounting groove (12); a calf assembly (40), the calf assembly (40) being partially disposed between the first bearing (20) and the second bearing (30); A rotating shaft assembly (50), wherein the rotating shaft assembly (50) has a first clamping portion (51) and a second clamping portion (52) that are relatively spaced apart. The rotating shaft assembly (50) is sequentially inserted into the inner ring of the first bearing (20), the inner ring of the calf assembly (40), and the inner ring of the second bearing (30). The first clamping portion (51) is located on the side of the inner ring of the first bearing (20) away from the calf assembly (40), and the second clamping portion (52) is located on the side of the inner ring of the second bearing (30) away from the calf assembly (40). The first clamping portion (51) and the second clamping portion (52) cooperate to clamp the inner ring of the first bearing (20), the inner ring of the calf assembly (40), and the inner ring of the second bearing (30).

2. The joint articulation structure of a legged robot according to claim 1, characterized in that: A first axial limiting portion (111) is provided in the first mounting groove (11), the first axial limiting portion (111) is located on a side of the first bearing (20) away from the calf assembly (40), and the first axial limiting portion (111) is axially limitedly matched with an outer ring of the first bearing (20); A second axial limiting portion (121) is provided in the second mounting groove (12), and the second axial limiting portion (121) is located on a side of the second bearing (30) away from the calf assembly (40), and the second axial limiting portion (121) is axially limitedly matched with the outer ring of the second bearing (30).

3. The joint articulation structure of a legged robot according to claim 2, characterized in that: The thigh component (10) is also provided with a fixing ring (13), which is arranged on a side of the first bearing (20) close to the calf component (40) and presses the outer ring of the first bearing (20) against the first axial limiting portion (111).

4. The joint articulation structure of a legged robot according to claim 1, characterized in that: The outer ring of the first bearing (20) is interference-fitted with the first mounting groove (11), and the outer ring of the second bearing (30) is interference-fitted with the second mounting groove (12); The rotating shaft assembly (50) is interference-fitted with the inner ring of the first bearing (20) and the inner ring of the second bearing (30), respectively.

5. The joint articulation structure of a legged robot according to claim 1, characterized in that: Both sides of the calf assembly (40) are respectively provided with protruding press-fit portions (41), and the inner ring of the first bearing (20) and the inner ring of the second bearing (30) correspondingly abut against the press-fit portions (41) on both sides of the calf assembly (40).

6. The joint articulation structure of a legged robot according to any one of claims 1 to 5, characterized in that: The rotating shaft assembly (50) includes a first shaft portion (53) and a second shaft portion (54) which are detachably connected to each other, the first shaft portion (53) is provided with the first pressing portion (51), and the second shaft portion (54) is provided with the second pressing portion (52), the first shaft portion (53) is passed through the inner ring of the first bearing (20) and a part of the calf assembly (40), and the second shaft portion (54) is passed through the inner ring of the second bearing (30) and another part of the calf assembly (40).

7. The joint articulation structure of a legged robot according to claim 6, characterized in that: The first shaft portion (53) includes a first shaft segment (531) and a second shaft segment (532) connected to each other, the outer diameter of the first shaft segment (531) is larger than the outer diameter of the second shaft segment (532), the first shaft segment (531) is inserted into the first bearing (20), a first avoidance gap (533) is formed between the first shaft segment (531) and the side of the calf component (40), the second shaft segment (532) is inserted into a portion of the calf component (40), and the first pressing portion (51) is arranged on the first shaft segment (531); The second shaft portion (54) includes a third shaft segment (541) and a fourth shaft segment (542) connected to each other, the outer diameter of the third shaft segment (541) is larger than the outer diameter of the fourth shaft segment (542), the third shaft segment (541) is passed through the second bearing (30), a second avoidance gap (543) is formed between the second shaft segment (532) and the side of the calf component (40), the fourth shaft segment (542) is passed through another part of the calf component (40), and the second pressing portion (52) is arranged on the third shaft segment (541).

8. The joint articulation structure of a legged robot according to claim 6, characterized in that: The rotating shaft assembly (50) includes a locking member, which is passed through the first shaft portion (53) and the second shaft portion (54) and is locked with the first shaft portion (53) and / or the second shaft portion (54).

9. The joint articulation structure of a legged robot according to claim 6, characterized in that: The calf assembly (40) is provided with an axial hole, a portion of the first axial portion (53) extends into the axial hole, a portion of the second axial portion (54) extends into the axial hole, and an adjustment gap (56) is formed between the portion of the first axial portion (53) located in the axial hole and the portion of the second axial portion (54) located in the axial hole.

10. A legged robot, characterized in that: include: A joint articulation structure for a legged robot as claimed in any one of claims 1 to 9.

Images