Joint motor, leg assembly and robot

Abstract

The present application provides a joint motor, a leg assembly and a robot, wherein the joint motor includes a housing, a first mounting portion, a second mounting portion and an output portion, wherein the housing has a first surface and a second surface disposed opposite to each other, and the first surface and the second surface are distributed along the axial direction of the housing; the first mounting portion is disposed on the first surface and is provided with a first assembly hole; the second mounting portion is disposed on the second surface and is provided with a second assembly hole; the output is disposed on the housing and is located on the same side of the housing as the first mounting portion, and is provided with a third assembly hole; wherein the opening direction of at least one of the first assembly hole, the second assembly hole and the third assembly hole is radial to the housing. The leg assembly includes the above-mentioned joint motor. The robot includes the above-mentioned leg assembly. In the above manner, the present application reduces the number of components and improves the efficiency and simplicity of disassembly and assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint motors, and in particular to a joint motor, a leg component and a robot. Background Art

[0002] The quadruped robot, also known as the robot dog, looks similar to a real animal "dog". The quadruped robot mainly includes a trunk, leg components and a head. The leg components specifically include joint motors, thighs and calves. The joint motor drives the thighs and calves to move, thereby realizing various movement forms and gaits of the robot dog. The disassembly process of the leg components of existing quadruped robots is very cumbersome and the replacement efficiency is low. Summary of the invention

[0003] A first aspect of an embodiment of the present application provides a joint motor, comprising a shell, a first mounting portion, a second mounting portion and an output portion, wherein the shell has a first surface and a second surface arranged opposite to each other, and the first surface and the second surface are distributed along the axial direction of the shell; the first mounting portion is arranged on the first surface and is provided with a first assembly hole; the second mounting portion is arranged on the second surface and is provided with a second assembly hole; the output is arranged on the shell, is located on the same side of the shell as the first mounting portion, and is provided with a third assembly hole; wherein the opening direction of at least one of the first assembly hole, the second assembly hole and the third assembly hole is the radial direction of the shell.

[0004] A second aspect of an embodiment of the present application provides a leg assembly of a robot, comprising a leg and the above-mentioned joint motor; the leg is connected to the joint motor through an assembly part so as to drive the leg to move through the joint motor.

[0005] A third aspect of an embodiment of the present application provides a robot, comprising a torso and the above-mentioned leg assembly, wherein the leg assembly is connected to the torso so that the torso is driven to move by the movement of the leg assembly.

[0006] The joint motor provided in the embodiment of the present application has an opening direction of at least one of the first assembly hole, the second assembly hole and the third assembly hole being radial, and thus the assembly direction of the assembly part is also radial. Therefore, when disassembling the components connected to the joint motor, the assembly part can be directly disassembled from the radial direction, and only the components that need to be disassembled can be disassembled without first disassembling other components that cause obstruction in the axial direction, thereby reducing the disassembly steps and improving the disassembly efficiency and simplicity.

[0007] The robot provided in the embodiment of the present application has at least one of the first assembly hole, the second assembly hole and the third assembly hole of the joint motor adopted in the leg assembly having a radial opening direction. Therefore, only one connecting part is needed to connect the first joint motor and the second joint motor, thereby reducing the number of parts and components, thereby reducing the assembly amount, and at the same time reducing the weight of the robot, which can reduce the cost. In addition, when the joint motor needs to be replaced, the target joint motor can be removed directly by removing the radially distributed assembly parts that fix the target joint motor, without disassembling other joint motors or components. The disassembly steps are simple, the replacement efficiency is high, and the mass production is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1 is a schematic structural diagram of a robot according to an embodiment of the present application;

[0010] Figure 2 It is a schematic diagram of the assembly structure of the leg assembly of the robot according to an embodiment of the present application;

[0011] Figure 3 yes Figure 2 Schematic diagram of the disassembly of the leg assembly;

[0012] Figure 4 is a schematic structural diagram of a joint motor of a robot leg assembly according to an embodiment of the present application;

[0013] Figure 5 yes Figure 4 A structural diagram of the joint motor from another perspective;

[0014] Figure 6 is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application;

[0015] Figure 7 yes Figure 6 A structural diagram of the joint motor from another perspective;

[0016] Figure 8 is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application;

[0017] Fig. 9 is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application;

[0018] Fig.10 yes Figure 2 Another schematic diagram of the structure of the leg assembly is shown, showing the state of the second shell of the thigh after being disassembled;

[0019] Fig.11 For two Figure 4 and Figure 5 The schematic diagram of the joint motor after assembly is shown;

[0020] Fig.12 is a schematic diagram of the assembly structure of a leg assembly of a robot according to another embodiment of the present application; and

[0021] Fig.13 yes Fig.12 Schematic diagram of the disassembly of the leg assembly. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0023] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0024] See also Figure 1 , Figure 1 : is a schematic diagram of the structure of a robot in an embodiment of the present application. The robot can be a machine device that can complete functions such as walking, running, and jumping under the control of a control system. A relatively typical robot structure is a robot dog, that is, a robot structure including a trunk and four legs. Of course, the robot in this embodiment can also be a structure including two, three or more legs, or even a structure including one leg, which is not specifically limited here.

[0025] Specifically, the robot 100 of the present application includes but is not limited to a trunk 200 and a leg assembly 300 connected to the trunk 200. It should be noted that the terms "including" and "having" in the embodiments of the present application and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or components inherent to these processes, methods, products or devices. Among them, the trunk 200 of the robot may include a control circuit board, and the detailed features of this part are within the understanding of the skilled technicians and will not be repeated here. The leg assembly 300 is connected to the trunk 200 and can move, thereby driving the trunk 200 to move.

[0026] See also Figure 2 and Figure 3 , Figure 2 It is a schematic diagram of the assembly structure of the leg assembly of the robot according to an embodiment of the present application; Figure 3 yes Figure 2 Schematic diagram of the disassembly of the leg assembly.

[0027] The leg assembly 300 may include a joint motor 10 and a leg 30. The leg 30 is connected to the joint motor 10 through an assembly (not shown) so as to drive the leg 30 to move through the joint motor 10.

[0028] See also Figure 4 and Figure 5 , Figure 4 is a schematic diagram of the structure of a joint motor of a robot leg assembly according to an embodiment of the present application, Figure 5 yes Figure 4 Schematic diagram of the structure of the joint motor from another perspective.

[0029] Specifically, the joint motor 10 may include a housing 20 and a first mounting portion 40, a second mounting portion 60 and an output portion 80 arranged on the housing 20. The housing 20 may be cylindrical, having a first surface 21 and a second surface 22 arranged opposite to each other, and the first surface 21 and the second surface 22 are distributed along the axial direction of the housing 20. That is, the first surface 21 and the second surface 22 are respectively located at the two ends of the cylinder. A space is formed inside the housing 20 for installing and arranging the parts inside the motor. In some embodiments, the joint motor may also include a housing and an end cover, the housing including a side wall and a bottom wall connected to one end of the side wall, and the end cover is provided at the other end of the side wall opposite to the bottom wall. The housing and the end cover jointly define a accommodating space. That is, the outer surface of the bottom wall is equivalent to the above-mentioned first surface 21, and the outer surface of the end cover is equivalent to the above-mentioned second surface 22. It should be noted that the terms "first", "second" and "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first", "second", or "third" may explicitly or implicitly include at least one of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] The first mounting portion 40 is disposed on the first surface 21 and is provided with a first assembly hole 41 for the assembly part to be inserted therein, thereby connecting the first mounting portion 40 with other components. The second mounting portion 60 is disposed on the second surface 22 and is provided with a second assembly hole 61 for the assembly part to be inserted therein, thereby connecting the second mounting portion 60 with other components. The output portion 80 is disposed on the housing 20 and is located on the same side of the housing 20 as the first mounting portion 40, and is provided with a third assembly hole 81 for the assembly part to be inserted therein, thereby connecting the output portion 80 with other components.

[0031] At least one of the first assembly hole 41, the second assembly hole 61 and the third assembly hole 81 has an opening direction in the radial direction of the housing 20. The opening direction is the direction of the opening of the hole. In order to simplify the description, the following text uses "axial" to represent the axial direction of the housing 20, and "radial" to represent the radial direction of the housing 20.

[0032] In some embodiments, among the first assembly hole 41, the second assembly hole 61 and the third assembly hole 81, two assembly holes have radial opening directions, while another assembly hole has an axial opening direction. Figure 4 and Figure 5The joint motor 10 shown shows that the opening direction of the second assembly hole 61 and the third assembly hole 81 is radial, while the opening direction of the first assembly hole 41 is axial. It can be understood that in some other embodiments, the opening direction of the first assembly hole 41 and the second assembly hole 61 can be radial, and the opening direction of the third assembly hole 81 can be axial; or, the opening direction of the first assembly hole 41 and the third assembly hole 81 can be radial, and the opening direction of the second assembly hole 61 can be axial.

[0033] In some embodiments, among the first assembly hole 41, the second assembly hole 61 and the third assembly hole 81, only one assembly hole has a radial opening direction, while the other two assembly holes have an axial opening direction. For example, the opening direction of the first assembly hole 41 is radial, and the opening directions of the second assembly hole 61 and the third assembly hole 81 are axial; or the opening direction of the second assembly hole 61 is radial, and the opening directions of the first assembly hole 41 and the third assembly hole 81 are axial; or the opening direction of the third assembly hole 81 is radial, and the opening directions of the first assembly hole 41 and the second assembly hole 61 are axial. This application does not limit this.

[0034] In some embodiments, such as Figure 6 and Figure 7 As shown, Figure 6 is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application, Figure 7 yes Figure 6 The structural diagram of the joint motor from another perspective. The opening directions of the first assembly hole 41, the second assembly hole 61 and the third assembly hole 81 are all radial.

[0035] In this embodiment, the first mounting portion 40 is generally annular, arranged at the periphery of the first surface 21, and protrudes in a direction away from the second surface 22 relative to the first surface 21. The annular first mounting portion 40 includes a first inner side surface and a first outer side surface that are arranged oppositely, and a first bottom surface and a first top surface that are connected between the first inner side surface and the first outer side surface and are arranged oppositely. The first bottom surface is connected to the first surface 21. The first inner side surface is the surface facing the axis of the joint motor 10, and the first outer side surface is the surface away from the axis of the joint motor 10.

[0036] When the opening direction of the first assembly hole 41 is axial, the first assembly hole 41 is opened on the first top surface and extends toward the first bottom surface (eg, Figure 4 shown).

[0037] When the opening direction of the first assembly hole 41 is radial, the first assembly hole 41 is opened on the outer periphery of the first mounting portion 40. Specifically, the first assembly hole 41 is opened on the first outer side surface and extends toward the first inner side surface. The number of the first assembly holes 41 can be multiple and evenly distributed on the outer periphery of the first mounting portion 40.

[0038] The second mounting portion 60 protrudes relative to the second surface 22 in a direction away from the first surface 21. The second mounting portion 60 may include a plurality of protrusions, and the plurality of protrusions are evenly distributed around the periphery of the second surface 22. Second assembly holes 61 are provided on the plurality of protrusions. Specifically, each protrusion includes a second inner side surface and a second outer side surface that are oppositely disposed, and a second bottom surface and a second top surface that are connected between the second inner side surface and the second outer side surface and are oppositely disposed. The first and second top surfaces are connected to the second surface 22. The second inner side surface is the surface facing the axis of the joint motor 10, and the second outer side surface is the surface facing away from the axis of the joint motor 10.

[0039] When the opening direction of the second assembly hole 61 is axial, the second assembly hole 61 is opened on the second top surface and extends toward the second bottom surface. Figure 8 As shown, Figure 8 It is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application.

[0040] When the opening direction of the second assembly hole 61 is radial, the second assembly hole 61 is opened on the second outer side and extends toward the second inner side (eg Figure 4-Figure 7 shown).

[0041] It is understandable that in some other embodiments, the second mounting portion 60 may also be a continuous whole, for example, in the shape of a circular ring. The second assembly holes 61 are evenly distributed on the second mounting portion 60 .

[0042] The output portion 80 protrudes relative to the first mounting portion 40 in a direction away from the second surface 22. The output portion 80 rotates with the output shaft of the motor. The output portion 80 can be the output shaft of the joint motor 10, that is, the part that directly outputs the motion and force of the joint motor 10, or it can be a component connected to the output shaft of the joint motor 10. For example, Figure 4 and Figure 7 The output part 80 shown is generally hollow cylindrical, including a side wall 82 and a bottom wall 84 arranged at one end of the side wall 82, and the other end has no bottom wall and is open. The bottom wall 84 is fixedly connected to the output shaft of the joint motor 10, and when the output shaft rotates, the output part 80 is driven to rotate.

[0043] When the opening direction of the third assembly hole 81 is axial, the third assembly hole 81 is opened at the other end of the side wall 82 opposite to the bottom wall 84 and extends toward the bottom wall 84. Fig. 9 As shown, Fig. 9 It is a schematic structural diagram of a joint motor of a robot leg assembly according to another embodiment of the present application.

[0044] When the opening direction of the third assembly hole 81 is radial, the third assembly hole 81 is opened at the outer periphery of the output portion 80. Specifically, the "outer periphery" refers to the outer periphery of the side wall 82. The third assembly hole 81 extends from the outer surface of the side wall 82 toward the inner surface of the side wall 82 (e.g., Figure 4 and Figure 6 The number of the third assembly holes 81 can be multiple and evenly distributed along the periphery of the output portion 80 .

[0045] Please combine Figure 3 , Figure 4 and Fig.10 , Fig.10 yes Figure 2 Another structural schematic diagram of the leg assembly shown shows the state after the second shell of the thigh is disassembled. The leg 30 may include a thigh 31 and a calf 32 connected to each other. The thigh 31 defines a receiving space. The calf 32 includes a transmission member 321 and a moving member 322. At least a portion of the transmission member 321 is accommodated in the receiving space. The moving member 322 is rotatably connected to the transmission member 321 and is located outside the receiving space.

[0046] The joint motor 10 may include a first joint motor 11, a second joint motor 12 and a third joint motor 13 connected to each other. The structures of the first joint motor 11, the second joint motor 12 and the third joint motor 13 may be the same or different.

[0047] In this embodiment, the first joint motor 11 can also be called a hip joint motor, which is connected to the trunk 200 of the robot 100. The second joint motor 12 can also be called a thigh joint motor, which is connected to the output part of the first joint motor 11. The third joint motor 13 can also be called a calf joint motor, which is connected to the output part of the second joint motor 12. Among them, the thigh 31 is connected to the first mounting part of the third joint motor 13. The calf 32 is connected to the output part of the third joint motor 13. Therefore, driving the first joint motor 11 can drive the second joint motor 12, the third joint motor 13, the thigh 31 and the calf 32 to move together. Driving the second joint motor 12 can drive the third joint motor 13, the thigh 31 and the calf 32 to move together. Driving the third joint motor 13 can drive the calf 32 to move.

[0048] In some embodiments, the second joint motor 12 is connected to the first joint motor 11 via a connecting member 50. Figure 4The connecting member 50 includes a first connecting portion 51 and a second connecting portion 52, wherein the second connecting portion 52 is connected to the first connecting portion 51 and is bent relative to the first connecting portion 51. The first connecting portion 51 is provided with a fourth assembly hole 511, and is connected to the output portion of the first joint motor 11 through an assembly member penetrating the fourth assembly hole 511 and the third assembly hole of the first joint motor 11. The second connecting portion 52 is provided with a fifth assembly hole 521, and the second connecting portion 52 is connected to the second joint motor 12, thereby connecting the first joint motor 11 and the second joint motor 12 together.

[0049] Please continue reading Figure 2-5 and Fig.10 The present application is introduced below by taking the first joint motor 11, the second joint motor 12 and the third joint motor 13 as having the same structure, the second assembly hole 61 and the third assembly hole 81 having radial opening directions, and the first assembly hole 41 having axial opening directions as an example.

[0050] Specifically, an assembly hole is provided on the trunk 100, and the first joint motor 11 is connected to the trunk through an assembly part, wherein the assembly part is passed through the first assembly hole of the first joint motor 11 and the assembly hole on the trunk. In some embodiments, the first joint motor 11 can be arranged inside the trunk 100. The connecting member 50 is connected to the first joint motor 11 through an assembly part, and the assembly part is passed through the third assembly hole of the first joint motor 11 and the fourth assembly hole 511 of the connecting member 50. The second joint motor 12 is connected to the first joint motor 11 through an assembly part, and the assembly part is passed through the fifth assembly hole 521 of the connecting member 50 and the second assembly hole of the second joint motor 11. The third joint motor 13 is connected to the second joint motor 12 through an assembly part, and the assembly part is passed through the third assembly hole of the second joint motor 12 and the second assembly hole of the third joint motor 13. In this embodiment, the second joint motor 12 and the third joint motor 13 are located on the same side of the connecting member 50. The thigh 31 is provided with a sixth assembly hole 311 (such as Fig.10 As shown), and is connected to the third joint motor 13 through an assembly part, and the assembly part is penetrated into the sixth assembly hole 311 and the first assembly hole of the third joint motor 13.

[0051] In this embodiment, the thigh 31 includes a first shell 312 and a second shell 313. The sixth assembly hole 311 is provided on the first shell 312. The second shell 313 is detachably connected to a side of the first surgical part 312 away from the third joint motor 13 and opposite to the third joint motor 13, so that when the second shell 313 is opened, the sixth assembly hole 311 is exposed to the outside.

[0052] When a component needs to be replaced or reinforced, it needs to be disassembled. The desired disassembly procedure is to disassemble only the component that needs to be disassembled as much as possible, without having to disassemble other components before disassembling the target component, thereby reducing the disassembly steps and improving the disassembly efficiency and simplicity.

[0053] For example, in this embodiment, when the first joint motor 11 needs to be replaced, since the connecting member 50 and the first joint motor 11 are connected only at the output part through the assembly part penetrating the first joint motor 11 and the fourth assembly hole 511, and the assembly part is radially distributed and will not be blocked by other parts, the assembly part can be directly removed, thereby removing the connecting member 50 from the output end of the first joint motor 11, and finally disassembling and taking out the first joint motor 11 from the inside of the robot trunk 100.

[0054] When the second joint motor 12 needs to be replaced, since the second joint motor 12 is connected through the assembly part penetrating the second assembly hole of the second joint motor 12 and the sixth assembly hole 521 of the connecting member 50, and is connected through the assembly part penetrating the third assembly hole of the second joint motor 12 and the second assembly hole of the third joint motor 13, and the assembly parts at the two positions are radially distributed and will not be blocked by other parts, the assembly parts at the two positions can be directly removed, so as to detach the second joint motor 12 from between the connecting member 50 and the third joint motor 13.

[0055] When the third joint motor 13 needs to be replaced, since the third joint motor 13 is connected by the assembly parts that penetrate the second assembly hole of the third joint motor 13 and the third assembly hole of the second joint motor 13, and the assembly parts are radially distributed, they will not be blocked by other parts. Therefore, the assembly parts at this position can be directly removed, so that the third joint motor 13 can be removed from the second joint motor 12. In addition, the third joint motor 13 is connected by the assembly parts that penetrate the first assembly hole of the third joint motor 13 and the sixth assembly hole 311 of the thigh 31, and since the opening direction of the first assembly hole is axial, the assembly parts will be blocked by the shell of the thigh. At this time, it is necessary to first remove the second shell 313 of the thigh from the first shell 312, so that the sixth assembly hole 311 is exposed to the outside, and then the assembly parts at this position can be removed, and the transmission member 321 of the calf 32 can be removed from the output part of the third joint motor 13, so that the third joint motor 13 can be detached from the leg. There is no need to remove the entire shell of the thigh.

[0056] Therefore, when the robot of this embodiment needs to replace the first joint motor 11 or the second joint motor 12, there is no need to dismantle other joint motors first. The target joint motor can be removed directly by removing the radially distributed assembly parts fixed to the target joint motor. The disassembly steps are simple and the replacement efficiency is high.

[0057] When replacing the third joint motor 13, since the thigh shell includes a separate first shell 312 and a second shell 313, it is only necessary to remove the second shell 313 of the thigh and then remove the third joint motor 13 by removing the assembly parts. There is no need to remove the entire thigh shell. In this way, the assembly position of the thigh 31 and the calf 32 will not be changed, so no assembly error will occur when disassembling and replacing parts, and disassembly and assembly will be easier.

[0058] The joint motor 10 of this embodiment has the characteristics of modular assembly. Please refer to Fig.11 , Fig.11 For two Figure 4 and Figure 5 The schematic diagram of the joint motor after assembly is shown. That is, the assembly parts are assembled in the second assembly hole 61 of one joint motor 10 and the third assembly hole 81 of another joint motor to realize the assembly of the two joint motors 10. By assembling in this way, no additional parts are needed; at the same time, different numbers of joint motors 10 can be assembled according to actual needs. In this embodiment, the connection method of the second joint motor 12 and the third joint motor 13 is this method.

[0059] Please combine Figure 6-7 and Figure 12-13 , Fig.12 is a schematic diagram of the assembly structure of a leg assembly of a robot according to another embodiment of the present application; Fig.13 yes Fig.12 The following is an example of the present application in which the first joint motor 11, the second joint motor 12 and the third joint motor 13 have the same structure and the opening directions of the first assembly hole 41, the second assembly hole 61 and the third assembly hole 81 are all radial.

[0060] Specifically, the trunk 100 is provided with an assembly hole, and the first joint motor 11 is connected to the trunk through an assembly part, wherein the assembly part is inserted into the first assembly hole of the first joint motor 11 and the assembly hole on the trunk 100. In some embodiments, the first joint motor 11 can be arranged inside the trunk 100. The connecting member 50 is connected to the first joint motor 11 through an assembly part, and the assembly part is inserted into the third assembly hole of the first joint motor 11 and the fourth assembly hole 411 of the connecting member 50. The second joint motor 12 is connected to the first joint motor 11 through an assembly part, and the assembly part is inserted into the fifth assembly hole 521 of the connecting member 50 and the first assembly hole of the second joint motor 11. The third joint motor 13 is connected to the second joint motor 12 through an assembly part, and the assembly part is inserted into the third assembly hole of the second joint motor 12 and the second assembly hole of the third joint motor 13. In this embodiment, the second joint motor 12 and the third joint motor 13 are located on the opposite sides of the connecting member 50. The thigh 31 is connected to the third joint motor 13 via an assembly part, and the assembly part is inserted into the sixth assembly hole 311 of the thigh 31 and the first assembly hole of the third joint motor 13 .

[0061] When the first joint motor 11 needs to be replaced, the disassembly method of the first joint motor 11 is similar to that in the above embodiment, and will not be described in detail herein.

[0062] When the second joint motor 12 needs to be replaced, since the second joint motor 12 is connected through the assembly part penetrating the first assembly hole of the second joint motor 12 and the sixth assembly hole 521 of the connecting member 50, and is connected through the assembly part penetrating the third assembly hole of the second joint motor 12 and the second assembly hole of the third joint motor 13, and the assembly parts at the two positions are radially distributed and will not be blocked by other parts, the assembly parts at the two positions can be directly removed, so as to detach the second joint motor 12 from between the connecting member 50 and the third joint motor 13.

[0063] When the third joint motor 13 needs to be replaced, since the third joint motor 13 is connected by the assembly parts that penetrate the second assembly hole of the third joint motor 13 and the third assembly hole of the second joint motor 13, and the assembly parts are radially distributed, they will not be blocked by other parts. Therefore, the assembly parts at this position can be directly removed, so that the third joint motor 13 can be removed from the second joint motor 12. In addition, the third joint motor 13 is also connected by the assembly parts that penetrate the first assembly hole of the third joint motor 13 and the sixth assembly hole 311 of the thigh 31. Since the opening directions of the first assembly hole of the third joint motor 13 and the sixth assembly hole 311 are also radial, the assembly parts at this position are also radially distributed, so the assembly parts at this position will not be blocked by the outer shell of the thigh or other parts. At this time, the assembly parts at this position can be directly removed, and the transmission member of the calf 32 can be removed from the output part of the third joint motor 13, so that the third joint motor 13 can be detached from the leg 30. There is no need to remove the outer shell of the thigh 31.

[0064] This embodiment further improves the ease of disassembly and assembly. When disassembling the third joint motor 13, there is no need to remove the outer shell of the thigh 31. The leg 60 can be removed from the third joint motor 13 as a whole, ensuring that the leg 30 does not need to be disassembled again after assembly is completed.

[0065] It should be noted that the assembly holes in this application, such as the first, second, third, fourth, fifth and sixth assembly holes, can be threaded holes or through holes, which can be selected according to actual needs and are not limited in this application. Correspondingly, the assembly parts in this application can be bolts, screws, pins and other connectors, which are not limited in this application.

[0066] In the related art, the opening directions of the first assembly hole, the second assembly hole and the third assembly hole of the joint motor of the robot are all axial. Among them, the first joint motor is assembled inside the torso and fixed to the torso. A first connecting member is installed on the first joint motor by bolts. The second joint motor is installed on one side of the first connecting member. A second connecting member is installed on the second joint motor, and the second connecting member and the second joint motor are located on both sides of the first connecting member. The third joint motor is installed on the second connecting member. The thigh and calf are integrally installed at the output end of the third joint motor. In the related art, the robot leg assembly requires two connecting members, which increases the assembly amount and the overall weight of the robot, making the assembly steps cumbersome.

[0067] In addition, since the opening directions of the first assembly hole, the second assembly hole and the third assembly hole of the joint motor are all axial, the components assembled with the joint motor can only be tightened and reinforced by bolts in the axial direction, which makes the disassembly steps cumbersome.

[0068] For example, if the first joint motor needs to be replaced, since the second joint motor is installed on the first connecting part, it will block the connecting bolts between the first joint motor and the first connecting part. Therefore, the first joint motor cannot be directly removed from the torso. Instead, it is necessary to first separate the third joint motor from the second connecting part, and then separate the second connecting part from the first joint motor, and then separate the first connecting part from the second joint motor. Only then can the first joint motor be disassembled and removed from the inside of the robot torso.

[0069] If the second joint motor needs to be replaced, the third joint motor needs to be disassembled first, then the second connecting piece, and then the first connecting piece. Only then can the second joint motor be disassembled and removed from the first connecting piece.

[0070] If the third joint motor needs to be replaced, it is necessary to first disassemble the third joint motor from the second connecting piece, then disassemble the outer shell of the thigh as a whole, and then disassemble the third joint motor from the inside of the thigh. In this process, since the thigh outer shell needs to be disassembled as a whole, more bolts need to be disassembled, and since the thigh outer shell is removed, the connection between the thigh and the calf will be loose, and the installation position of most parts of the leg will be changed, which will cause assembly errors due to disassembly and assembly, and the disassembly and assembly process is also more cumbersome.

[0071] Compared with the related art, the joint motor of the present application has an opening direction of at least one of the first assembly hole, the second assembly hole and the third assembly hole is radial, and thus the assembly direction of the assembly part is also radial. Therefore, when disassembling the components connected to the joint motor, the assembly part can be directly disassembled from the radial direction, and only the components that need to be disassembled can be disassembled without first disassembling other components that cause obstruction in the axial direction, thereby reducing the disassembly steps and improving the disassembly efficiency and simplicity.

[0072] The robot of the present application has at least one of the first assembly hole, the second assembly hole and the third assembly hole of the joint motor adopted in the leg assembly having a radial opening direction. Therefore, only one connecting part is needed to connect the first joint motor and the second joint motor, thereby reducing the number of parts and components, thereby reducing the assembly amount, and at the same time reducing the weight of the robot, which can reduce the cost. In addition, when the joint motor needs to be replaced, the target joint motor can be removed directly by removing the radially distributed assembly parts that fix the target joint motor, without disassembling other joint motors or components. The disassembly steps are simple, the replacement efficiency is high, and the mass production is improved.

[0073] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A joint motor, characterized in that: include: A shell having a first surface and a second surface disposed opposite to each other, wherein the first surface and the second surface are distributed along the axial direction of the shell; A first mounting portion, disposed on the first surface and having a first assembly hole; A second mounting portion, disposed on the second surface and having a second assembly hole; and An output portion, arranged on the housing, located on the same side of the housing as the first mounting portion, and having a third assembly hole; Wherein, the opening direction of at least one of the first assembly hole, the second assembly hole and the third assembly hole is the radial direction of the shell; The opening directions of the first assembly hole and the second assembly hole are radial, and the opening direction of the third assembly hole is axial; or The opening directions of the second assembly hole and the third assembly hole are radial, and the opening direction of the first assembly hole is axial; or The opening directions of the first assembly hole and the third assembly hole are radial, and the opening direction of the second assembly hole is axial; or The opening directions of the first assembly hole, the second assembly hole and the third assembly hole are all radial.

2. The joint motor according to claim 1, characterized in that: When the opening direction of the first assembly hole is radial, the first mounting portion protrudes relative to the first surface in a direction away from the second surface and surrounds the output portion, and the first assembly holes are evenly distributed along the periphery of the first mounting portion.

3. The joint motor according to claim 1, characterized in that: When the opening direction of the second assembly hole is radial, the second mounting portion includes a plurality of protrusions, and the plurality of protrusions protrude relative to the second surface in a direction away from the first surface; the plurality of protrusions are evenly distributed on the periphery of the second surface, and the plurality of protrusions all open the second assembly hole.

4. The joint motor according to claim 1, characterized in that: When the opening direction of the third assembly hole is radial, the output portion protrudes in a direction away from the second surface relative to the first mounting portion, and the third assembly holes are evenly distributed along the outer circumference of the output portion.

5. A robot leg assembly, characterized in that: include: A leg and a joint motor as claimed in any one of claims 1 to 4; The leg is connected to the joint motor through an assembly part so as to drive the leg to move through the joint motor.

6. The leg assembly according to claim 5, characterized in that: The leg comprises a thigh and a calf connected to each other; The joint motor comprises: A first joint motor, used for connecting to the trunk of the robot; A second joint motor connected to an output portion of the first joint motor; and A third joint motor connected to an output portion of the second joint motor; Among them, the thigh is connected to the first mounting part of the third joint motor to drive the third joint motor to rotate through the second joint motor, thereby driving the thigh to move; the calf is connected to the output part of the third joint motor to drive the calf to move through the third joint motor.

7. The leg assembly according to claim 6, characterized in that: Also included is a connecting piece, the connecting piece comprising: A first connecting portion is provided with a fourth assembly hole and is connected to an output portion of the first joint motor via an assembly member penetrating the fourth assembly hole and the third assembly hole of the first joint motor; and The second connection part is provided with a fifth assembly hole; the second connection part is connected to the first connection part and bent relative to the first connection part; wherein the second connection part is connected to the second joint motor.

8. The leg assembly according to claim 7, characterized in that: When the opening directions of the second assembly hole and the third assembly hole are radial, and the opening direction of the first assembly hole is axial, The second joint motor is connected to the first joint motor through an assembly part which is penetrated through the fifth assembly hole and the second assembly hole of the second joint motor; The third joint motor is connected to the second joint motor through an assembly member penetrating the third assembly hole of the second joint motor and the second assembly hole of the third joint motor; The thigh is provided with a sixth assembly hole, and is connected to the third joint motor via an assembly part penetrating the first assembly hole and the sixth assembly hole of the third joint motor.

9. The leg assembly according to claim 8, characterized in that: The thigh comprises: A first housing, wherein the sixth assembly hole is provided on the first housing; and The second housing is detachably connected to a side of the first housing away from the third joint motor and is opposite to the third joint motor.

10. The leg assembly according to claim 7, characterized in that: When the opening directions of the first assembly hole, the second assembly hole and the third assembly hole are all radial, The second joint motor is connected to the first joint motor through an assembly part which is penetrated through the fifth assembly hole and the first assembly hole of the second joint motor; as well as The third joint motor is connected to the second joint motor through an assembly member penetrating the third assembly hole of the second joint motor and the second assembly hole of the third joint motor; The thigh is provided with a sixth assembly hole, and is connected to the third joint motor via an assembly part penetrating the first assembly hole and the sixth assembly hole of the third joint motor.

11. A robot, characterized in that: It comprises a trunk and the leg assembly according to any one of claims 5 to 10, wherein the leg assembly is connected to the trunk so that the movement of the trunk is driven by the movement of the leg assembly.

Images