Joint structure, joint module, and robot

Abstract

The application discloses a joint structure, a joint module and a robot. The joint structure comprises a shell, the shell having a hollow cavity; a first joint, the first joint being arranged in the hollow cavity, the first joint comprising a first fixing part and a first rotating part rotatably connected with the first fixing part, the first rotating part being fixedly connected with the shell; and a second joint, the second joint being arranged in the hollow cavity, the second joint comprising a second fixing part and a second rotating part rotatably connected with the second fixing part. The joint structure, the joint module and the robot disclosed by the application can solve the problem that the joint structure of the robot in the prior art is relatively complex.

Description

Technical Field

[0001] This invention belongs to the field of robot-related technology, specifically relating to a joint structure, a joint module, and a robot. Background Technology

[0002] Existing quadruped robots typically have three joints per leg. Joint 1 drives the thigh and joint 2, while joint 3 drives the entire leg, along with joints 1 and 2, to rotate outwards. The leg's swaying motion during joint 1 and 3 rotation can cause finger pinching, resulting in injury to the user and lacking aesthetic appeal. Furthermore, the power and communication cables connecting the joint 3 motor to the joint 1 motor, and vice versa, experience significant movement during motor rotation, easily leading to cable damage.

[0003] On the other hand, the drive unit of existing quadruped robots is usually composed of a motor and a planetary reducer, which is complex in structure and difficult to reduce in cost.

[0004] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is that the joint structure of the robot is relatively complex.

[0006] To solve the above-mentioned technical problems, the present invention provides a joint structure, comprising: a shell having a hollow cavity; a first joint disposed within the hollow cavity, the first joint including a first fixing member and a first rotating member rotatably connected to the first fixing member, the first rotating member being fixedly connected to the shell; and a second joint disposed within the hollow cavity, the second joint including a second fixing member and a second rotating member rotatably connected to the second fixing member.

[0007] Optionally, the joint structure further includes a first fixing seat, a first fixing member fixedly connected to the first fixing seat, and a second fixing member fixedly connected to the outer shell.

[0008] Optionally, the second rotating component includes: a rotating component body; and a rotating component bracket, the rotating component bracket being fixedly connected to the rotating component body.

[0009] Optionally, the rotating component support includes a first hollow shaft that protrudes from the side of the rotating component support away from the first joint.

[0010] Optionally, the first fixing seat has a second hollow shaft that protrudes from the side of the first fixing seat near the second joint and is fixedly connected to the first fixing member.

[0011] Optionally, the joint structure also includes a second fixing seat, through which the second fixing member is fixedly connected to the housing.

[0012] Optionally, the second fixing seat has a third hollow shaft that protrudes from the side of the second fixing seat near the first joint and is fixedly connected to the second fixing member.

[0013] Optionally, the joint structure further includes: a first drive plate, which is fixedly connected to the first fixed seat; and a second drive plate, which is disposed between the first joint and the second joint and fixedly connected to the housing.

[0014] Alternatively, the outer shell may be spherical or a portion thereof.

[0015] Optionally, the outer shell includes a first half-shell and a second half-shell, which are fixedly connected to form a hollow cavity.

[0016] The present invention also provides a joint structure, comprising: a housing having a hollow cavity; a first joint disposed within the hollow cavity, the first joint including a first fixing member and a first rotating member rotatably connected to the first fixing member, the first rotating member being fixedly connected to the housing; a second joint disposed within the hollow cavity, the second joint including a second fixing member and a second rotating member rotatably connected to the second fixing member; a rotating shaft passing through the first joint and the second joint and fixedly connected to the housing; and a first encoder assembly including a first encoder magnet and a first encoder read head, the first encoder magnet being fixedly connected to the end of the rotating shaft away from the second joint, the first encoder read head being correspondingly arranged with the central axis of the rotating shaft for detecting the rotation angle of the first rotating member.

[0017] Optionally, the joint structure further includes a second encoder assembly, which includes: a second encoder magnet, which is fixedly connected to the second rotating member; an encoder plate, which is spaced apart from the end of the rotating shaft away from the first joint and fixedly connected to the housing; and a second encoder read head, which is disposed on the encoder plate and corresponds to the central axis of the rotating shaft, for detecting the rotation angle of the second rotating member.

[0018] Optionally, the second encoder magnet is a magnetic ring, which is sleeved on the rotating shaft.

[0019] Optionally, the end of the rotating shaft away from the first joint has a connecting plate, and the rotating shaft is fixedly connected to the housing through the connecting plate.

[0020] Optionally, the connecting plate has multiple hollow areas, which are spaced apart along the circumference of the connecting plate.

[0021] The present invention also provides a joint module, comprising: a third joint, the third joint including a third rotating member; the aforementioned joint structure, at least a portion of the joint structure being fixedly connected to the third rotating member; the joint structure further comprising an output portion, the output portion being fixedly connected to a second joint and located at the center of the joint structure.

[0022] Optionally, the rotation center line of the third rotating member passes through the center of the joint structure.

[0023] Optionally, the output section has a central through hole for the rotating shaft of the avoidance joint structure.

[0024] Optionally, the joint module further includes: a leg structure, the leg structure being connected to the outer shell of the joint structure, the first rotating member of the joint structure driving the leg structure to rotate relative to the third joint; a follower, the follower being disposed at the connection between the thigh and the lower leg of the leg structure; and a transmission member, the output part of the joint structure being connected to the follower via the transmission member, for driving the lower leg to rotate relative to the thigh, the outer shell of the joint structure having a second notch to avoid the transmission member.

[0025] Optionally, the output part is a pulley and the transmission component is a synchronous belt; or the output part is a cam and the transmission component is a transmission link.

[0026] Optionally, the first and second joints of the joint structure are symmetrically arranged along the centerline of the transmission component.

[0027] Optionally, at least a portion of the third rotating member is spherical or a part of a sphere in the overall shape of the joint structure.

[0028] The present invention also provides a robot including the joint module described above.

[0029] Optionally, the robot also includes a body, with at least a portion of the third joint of the joint module disposed on the body for driving the joint module to move in the outward swing direction.

[0030] The technical solution provided by this invention has the following advantages:

[0031] The joint structure provided by this invention has a first joint and a second joint both disposed within the hollow cavity of the outer shell. The first rotating component is fixedly connected to the outer shell, enabling the first joint to drive the second joint and the outer shell to rotate. The second joint can be connected to the next-level connecting component to output power outward. In this way, while ensuring the normal driving function of the first and second joints, the first and second joints are integrated into one space to form an integral joint structure, thereby saving space, simplifying the overall structure of the joint, and greatly reducing costs and improving response speed by eliminating the need for a reducer. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the joint structure at one angle in a specific embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the joint structure from another angle in a specific embodiment of the present invention;

[0035] Figure 3 for Figure 2 Cross-sectional view at point AA;

[0036] Figure 4 This is an exploded view of the first joint in a specific embodiment of the present invention;

[0037] Figure 5 This is an exploded view of the second joint in a specific embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the rotating component bracket in a specific embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the structure of the first fixing seat in a specific embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of the second fixing seat in a specific embodiment of the present invention;

[0041] Figure 9 This is a structural schematic diagram of a joint module at one angle in a specific embodiment of the present invention;

[0042] Figure 10 This is a structural schematic diagram of the joint module from another angle in a specific embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 10-Outer shell; 11-First half-shell; 12-Second half-shell; 13-Second notch; 20-First joint; 21-First fixing member; 22-First rotating member; 30-Second joint; 31-Second fixing member; 32-Second rotating member; 321-Rotating member body; 322-Rotating member bracket; 3221-First hollow shaft; 40-Output section; 41-Center through hole; 50-Rotating shaft; 60-Connecting disc; 61-Hollowed area; 70-First encoder assembly; 71-First encoder magnet; 72-First encoder... Encoder reader head; 80-First fixed base; 81-Second hollow shaft; 90-First drive plate; 100-First bearing; 110-Second bearing; 120-Second fixed base; 121-Third hollow shaft; 130-Third bearing; 140-Second drive plate; 141-First notch; 150-Third joint; 151-Third rotating component; 160-Leg structure; 170-Transmission component; 180-Second encoder assembly; 181-Second encoder magnet; 182-Second encoder reader head; 183-Encoder plate. Detailed Implementation

[0045] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0046] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0047] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0048] This invention solves the problem of complex joint structures in existing robots.

[0049] like Figures 1 to 5 , Figures 9 to 10As shown, the joint structure includes a housing 10, a first joint 20, and a second joint 30. The housing 10 has a hollow cavity. The first joint 20 is disposed within the hollow cavity and includes a first fixing member 21 and a first rotating member 22 rotatably connected to the first fixing member 21. The first rotating member 22 is fixedly connected to the housing 10. The second joint 30 is disposed within the hollow cavity and includes a second fixing member 31 and a second rotating member 32 rotatably connected to the second fixing member 31.

[0050] By placing both the first joint 20 and the second joint 30 within the hollow cavity of the outer casing 10, and fixing the first rotating component 22 to the outer casing 10, the first joint 20 can drive the second joint 30 and the outer casing 10 to rotate. The second joint 30 can connect to the next-stage connector to output power. This integrates the first joint 20 and the second joint 30 into a single space, forming an integrated joint structure, while ensuring their normal driving function. This saves space, simplifies the overall joint structure, and significantly reduces costs and improves response speed by eliminating the need for a reducer. Furthermore, there is no relative movement between the first joint 20 and the second joint 30, thus preventing cable movement and avoiding cable damage caused by large joint rotation amplitudes.

[0051] like Figures 3 to 4 As shown, the joint structure also includes an output section 40. The output section 40 is fixedly connected to the second joint 30 and located at the center of the joint structure. That is, the output section 40 is located between the first joint 20 and the second joint 30. Specifically, the end of the output section 40 away from the first joint 20 is fixedly connected to the second rotating member 32.

[0052] like Figure 3 and Figure 5 As shown, the joint structure also includes a rotating shaft 50, which passes through the first joint 20 and the second joint 30 and is fixedly connected to the outer casing 10. In this embodiment, the central axis of the rotating shaft 50 is the same straight line as the rotation center line of the first rotating member 22 and the rotation center line of the second rotating member 32. That is, the first joint 20 and the second joint 30 are arranged in parallel within the hollow cavity, and both the first rotating member 22 and the second rotating member 32 rotate around the rotating shaft 50.

[0053] like Figure 3 As shown, the output section 40 has a central through hole 41 to avoid the rotating shaft 50. That is to say, the rotating shaft 50 also passes through the output section 40.

[0054] In this embodiment, the joint structure is the same as that of a robot. Accordingly, both the first joint 20 and the second joint 30 are joint motors. That is, the rotating components of the two joints are rotors, and the fixed components are stators. Of course, the joint structure in this embodiment is not limited to the joint structure of a robot and can be applied to other aspects. The joints do not necessarily have to be motors, as long as they have the corresponding rotational relationship.

[0055] It should be noted that a fixed connection refers to a connection between two components where there is no relative movement between them, including detachable and non-detachable connections. Specifically, the connection between the first rotating component 22 and the outer casing 10 can be any one of the following: threaded connection, keyed connection, pin connection, riveting, welding, or integral molding. Of course, it can also be a detachable or non-detachable connection other than those mentioned above, as long as it serves the corresponding fixing function.

[0056] Specifically, the outer shell 10 is spherical or a portion of a sphere. Since the joint structure needs to connect to other structures via the side of the outer shell 10, the outer shell 10 is a portion of a sphere. In this embodiment, since the output part 40 is located in the middle of the joint structure, only one side of the outer shell 10 needs to connect to other structures; that is, the shape of the outer shell 10 is a sphere with a cut surface on one side. The cut surface of the outer shell 10 is parallel to the rotation plane of the first rotating member 22 and the second rotating member 32. By designing the joint structure with a spherical profile, the rotation space of the joint structure does not change when the first joint 20 drives the second joint 30 and the outer shell 10 to rotate, and when the second joint 30 drives the component connected to the output part to rotate, thus preventing injury to the user, such as fingers being pinched. Furthermore, the spherical profile also gives the joint structure a better aesthetic appearance. Of course, the outer shell 10 can also be cylindrical or other shapes, as long as the rotation space does not change when the joint structure rotates; the choice can be made according to actual needs.

[0057] like Figures 1 to 5 , Figures 9 to 10 As shown, the outer shell 10 includes a first half-shell 11 and a second half-shell 12. The first half-shell 11 and the second half-shell 12 are fixedly connected to form a hollow cavity. It can be understood that one of the first half-shell 11 and the second half-shell 12 is hemispherical, and the other is a hemispherical shape with a cut surface. In this embodiment, the first half-shell 11 and the second half-shell 12 are fixed together by screws. Specifically, one of the first half-shell 11 and the second half-shell 12 has multiple mounting holes perpendicular to the circular surface of the opening along its circumference; correspondingly, the other half has multiple threaded holes corresponding to the mounting holes on its end face. The screws pass through the mounting holes and extend into the threaded holes, thereby fixing the first half-shell 11 and the second half-shell 12 together.

[0058] like Figure 3 , Figures 5 to 6 As shown, the second rotating member 32 includes a rotating member body 321 and a rotating member bracket 322. The rotating member bracket 322 is fixedly connected to the rotating member body 321. The rotating member bracket 322 is located on the side of the second fixed member 31 near the first joint 20, that is, near the center of the hollow cavity. The rotating member bracket 322 includes a first hollow shaft 3221. The first hollow shaft 3221 protrudes from the side of the rotating member bracket 322 away from the first joint 20. The rotating shaft 50 passes through the first hollow shaft 3221.

[0059] like Figure 3 and Figure 5 As shown, the joint structure also includes a third bearing 130. The third bearing 130 is sleeved on the rotating shaft 50 and fixedly connected to the inner wall of the first hollow shaft 3221. By providing the third bearing 130, the second rotating member 32 can be rotatably connected to the rotating shaft 50.

[0060] like Figures 1 to 4 , Figure 7 As shown, the joint structure also includes a first fixing seat 80. A first fixing member 21 is fixedly connected to the first fixing seat 80. In this embodiment, an opening is provided on the cut surface of the first half-shell 11 to allow the first fixing seat 80 to extend into the hollow cavity and be fixedly connected to the first fixing member 21. Specifically, the first fixing seat 80 has a second hollow shaft 81, which protrudes from the side of the first fixing seat 80 near the second joint 30, and is fixedly connected to the first fixing member 21. That is, the first fixing seat 80 is fixedly connected to the first fixing member 21 via the second hollow shaft 81.

[0061] Furthermore, such as Figures 3 to 4 As shown, the joint structure also includes a first bearing 100 and a second bearing 110. The first bearing 100 is sleeved on the output part 40 and fixedly connected to the inner wall of the second hollow shaft 81. The second bearing 110 is spaced apart from the first bearing 100. The second bearing 110 is sleeved on the rotating shaft 50 and fixedly connected to the inner wall of the second hollow shaft 81. By providing the first bearing 100 and the second bearing 110, the first fixed seat 80 can be rotatably connected to the output part 40 and the rotating shaft 50.

[0062] In this embodiment, the second fixing member 31 is fixedly connected to the outer casing 10. Specifically, as shown... Figure 3 , Figure 5 and Figure 8 As shown, the joint structure also includes a second fixing seat 120, and the second fixing member 31 is fixedly connected to the outer shell 10 through the second fixing seat 120. In this case, the second fixing seat 120 is fixedly connected to the second half-shell 12.

[0063] like Figure 3 , Figure 5 and Figure 8 As shown, the second fixing seat 120 has a third hollow shaft 121. The third hollow shaft 121 protrudes from the side of the second fixing seat 120 near the first joint 20, and the third hollow shaft 121 is fixedly connected to the second fixing member 31.

[0064] like Figures 1 to 4 As shown, the joint structure also includes a first drive plate 90. The first drive plate 90 is fixedly connected to the first fixed seat 80. Specifically, the first drive plate 90 is located on the side of the first fixed seat 80 away from the first joint 20 and is fixed to the first fixed seat 80 by screws. In this embodiment, the first drive plate 90 is circular, and multiple opening slots are provided at intervals on the periphery of the first drive plate 90. The first fixed seat 80 is provided with multiple threaded holes corresponding to each other. The screws pass through the opening slots of the first drive plate 90 and extend into the threaded holes of the first fixed seat 80, thereby fixing the first drive plate 90 to the first fixed seat 80. The first drive plate 90 is electrically connected to the first joint 20 to control the movement of the first joint 20.

[0065] like Figures 3 to 4 As shown, the joint structure also includes a first encoder assembly 70. The first encoder assembly 70 includes a first encoder magnet 71 and a first encoder read head 72. The first encoder magnet 71 is fixedly connected to the end of the rotating shaft 50 away from the second joint 30, and the first encoder read head 72 is correspondingly arranged with respect to the central axis of the rotating shaft 50, used to detect the rotation angle of the first rotating member 22. In this embodiment, the first encoder magnet 71 is cylindrical, and the joint structure also includes a connecting sleeve. The end of the rotating shaft 50 away from the second joint 30 and the first encoder magnet 71 extend into the connecting sleeve, thereby fixing the first encoder magnet 71 to the rotating shaft 50. In this embodiment, the first encoder read head 72 is located at the center of the first drive plate 90, and the first drive plate 90 supplies power to the first encoder read head 72.

[0066] like Figures 3 to 4 As shown, the joint structure also includes a second drive plate 140. The second drive plate 140 is disposed between the first joint 20 and the second joint 30 and is fixedly connected to the outer shell 10. In this embodiment, the second drive plate 140 is fixedly connected to the second half-shell 12. The connection method between the second drive plate 140 and the second half-shell 12 is the same as the connection method between the first drive plate 90 and the first fixing seat 80 described above, and will not be repeated here. It can be understood that the second drive plate 140 divides the hollow cavity into two regions, which correspond to the first half-shell 11 and the second half-shell 12 respectively, and the first joint 20 and the second joint 30 are respectively housed in the two regions.

[0067] like Figure 4 As shown, the second drive board 140 has a first notch 141 that avoids the output section 40.

[0068] like Figure 3 , Figure 5 As shown, the joint structure also includes a second encoder assembly 180. The second encoder assembly 180 includes a second encoder magnet 181, an encoder plate 183, and a second encoder read head 182. The second encoder magnet 181 is fixedly connected to the second rotating member 32. The encoder plate 183 is spaced apart from the end of the rotating shaft 50 away from the first joint 20 and is fixedly connected to the housing 10. The first encoder read head 72 is disposed on the encoder plate 183 and corresponds to the central axis of the rotating shaft 50, and is used to detect the rotation angle of the second rotating member 32. In this embodiment, the encoder plate 183 is fixedly connected to the second fixed base 120; that is, the encoder plate 183 is fixedly connected to the housing 10 via the second fixed base 120.

[0069] In this embodiment, the second encoder magnet 181 is a magnetic ring, which is sleeved on the rotating shaft 50. Specifically, the first hollow shaft 3221 extends into the third hollow shaft 121, and the second encoder magnet 181 is also located in the third hollow shaft 121 and is fixedly connected to the end of the first hollow shaft 3221 away from the first joint 20.

[0070] like Figure 3 , Figure 5 As shown, the end of the rotating shaft 50 away from the first joint 20 has a connecting plate 60. The rotating shaft 50 is fixedly connected to the outer casing 10 through the connecting plate 60. In this embodiment, the connecting plate 60 is fixedly connected to the second fixing seat 120, that is, the connecting plate 60 is fixedly connected to the outer casing 10 through the second fixing seat 120.

[0071] like Figure 5 As shown, the connecting disk 60 has a hollowed-out area 61. There are multiple hollowed-out areas 61, which are spaced apart along the circumference of the connecting disk 60. By setting the hollowed-out areas 61, sufficient magnetic field strength can be ensured between the second encoder magnet 181 and the second encoder read head 182, ensuring the normal use of the second encoder assembly 180.

[0072] like Figures 9 to 10 As shown, this application also provides a joint module, including a third joint 150 and the joint structure described above. The third joint 150 includes a third rotating member 151 and a third fixing member, the third rotating member 151 and the third fixing member being rotatably connected. At least a portion of the joint structure is fixedly connected to the third rotating member 151. That is, the joint module in this embodiment includes three joints.

[0073] In this embodiment, the third rotating member 151 is fixedly connected to the first fixed seat 80 of the joint structure.

[0074] In this embodiment, the third rotating member 151 includes an L-shaped connecting portion and a rotating portion. The connecting portion is fixedly connected to the first fixed seat 80, and the rotating portion is parallel to the rotating shaft 50. The rotation center line of the third rotating member 151 passes through the center of the joint structure.

[0075] In this embodiment, at least a portion of the third rotating member 151 is spherical or a portion of a sphere in relation to the overall shape of the joint structure. Specifically, the portion of the third rotating member 151 located at the cut surface of the first half-shell 11 is a portion of a sphere, thus integrating with the spherical contour of the joint structure. Correspondingly, the rotation center line of the third rotating member 151 passes through the center of the sphere of the joint structure.

[0076] In this embodiment, the first joint 20 and the second joint 30 of the joint structure are symmetrically arranged along the center line of the transmission member 170. It can be understood that the center line of the transmission member 170 and the rotation center line of the third rotating member 151 are located in the same plane, which is the plane of symmetry between the first joint 20 and the second joint 30. With this arrangement, the rotation center line of the third rotating member 151 passes through the center of the sphere of the joint structure, and the output arm of the third joint 150 is zero, minimizing the load on the third joint 150.

[0077] In this embodiment, the joint module is a robot's joint module. Correspondingly, the third joint 150 is also a joint motor. That is, the third rotating component 151 of the third joint 150 is a rotor, and the third fixed component is a stator. Of course, the joint module in this embodiment is not limited to a robot's joint module and can be applied to other aspects. The third joint 150 does not necessarily have to be a motor, as long as it has the corresponding rotational relationship.

[0078] like Figures 1 to 3 , Figure 10 As shown, the joint module also includes a leg structure 160, a follower, and a transmission component 170. The leg structure 160 is connected to the outer shell 10 of the joint structure, and the first rotating component 22 of the joint structure drives the leg structure 160 to rotate relative to the third joint 150. The follower is located at the connection between the thigh and lower leg of the leg structure 160. The output unit 40 is connected to the follower via the transmission component 170 and is used to drive the lower leg to rotate relative to the thigh. That is, in this embodiment, the first joint 20 drives the second joint 30 and the entire leg structure 160 to rotate relative to the third joint 150, the second joint 30 drives the lower leg of the leg structure 160 to rotate relative to the thigh, and the third joint 150 drives the entire joint structure and the leg structure 160 to rotate together.

[0079] like Figure 1 and Figure 3 As shown, the housing 10 has a second notch 13 that avoids the transmission member 170.

[0080] In this embodiment, the output section 40 is a pulley, and the transmission component 170 is a synchronous belt. Correspondingly, the driven component is a driven pulley. The two ends of the synchronous belt are respectively sleeved on the output section 40 and the driven component, thereby transmitting power from the output section 40 to the driven component.

[0081] In one optional embodiment, the output section 40 is a cam, and the transmission component 170 is a transmission link. Of course, the output section 40 and the transmission component 170 can also be other types of structures, which can be selected according to actual needs.

[0082] This application also provides a robot including the aforementioned joint module.

[0083] Furthermore, the robot in this embodiment is a quadruped robot. Of course, the joint module in this embodiment can also be applied to other types of robots, and can be selected according to actual needs.

[0084] In this embodiment, the robot also includes a torso, and at least a portion of the third joint 150 of the joint module is disposed on the torso for driving the joint module to move in the outward swing direction. Specifically, a third fixing member is disposed on the torso of the quadruped robot. The third rotating member 151 drives the entire joint structure and leg structure 160 to rotate relative to the third fixing member, thereby moving in the outward swing direction.

[0085] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0086] 1. The first joint 20 and the second joint 30 are integrated into one space to form an integrated joint structure, thereby saving space, simplifying the overall structure of the joint, and greatly reducing costs and improving response speed by eliminating the reducer.

[0087] 2. There is no relative movement between the first joint 20 and the second joint 30, so there will be no situation where the cable follows the movement between the two, thus avoiding cable damage caused by large joint rotation.

[0088] 3. The rotation center line of the third rotating component 151 passes through the center of the ball of the joint structure, and the output arm of the third joint 150 is zero, which minimizes the load on the third joint 150.

[0089] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A joint structure, characterized in that, include: The outer casing (10) has a hollow cavity; The first joint (20) is disposed in the hollow cavity. The first joint (20) includes a first fixing member (21) and a first rotating member (22) rotatably connected to the first fixing member (21). The first rotating member (22) is fixedly connected to the outer shell (10). The second joint (30) is disposed in the hollow cavity. The second joint (30) includes a second fixing member (31) and a second rotating member (32) rotatably connected to the second fixing member (31). A rotating shaft (50) passes through the first joint (20) and the second joint (30) and is fixedly connected to the outer shell (10); The first encoder assembly (70) includes a first encoder magnet (71) and a first encoder read head (72). The first encoder magnet (71) is fixedly connected to one end of the rotating shaft (50) away from the second joint (30). The first encoder read head (72) is arranged corresponding to the central axis of the rotating shaft (50) and is used to detect the rotation angle of the first rotating member (22). The joint structure further includes a first fixing seat (80), and the first fixing member (21) is fixedly connected to the first fixing seat (80); the second fixing member (31) is fixedly connected to the outer shell (10); The joint structure also includes an output part (40), which is fixedly connected to the second joint (30) and located at the center of the joint structure; The output section (40) has a central through hole (41) that avoids the rotating shaft (50) of the joint structure. The transmission member (170) and the output part (40) of the joint structure are connected to the driven member through the transmission member (170). The outer shell (10) of the joint structure has a second notch (13) that avoids the transmission member (170).

2. The joint structure according to claim 1, characterized in that, The joint structure further includes a second encoder assembly (180), which includes: The second encoder magnet (181) is fixedly connected to the second rotating member (32); The encoder plate (183) is spaced apart from the end of the rotating shaft (50) away from the first joint (20) and is fixedly connected to the housing (10); The second encoder read head (182) is disposed on the encoder plate (183) and is disposed corresponding to the central axis of the rotating shaft (50) for detecting the rotation angle of the second rotating member (32).

3. The joint structure according to claim 2, characterized in that, The second encoder magnet (181) is a magnetic ring, and the second encoder magnet (181) is sleeved on the rotating shaft (50).

4. The joint structure according to claim 1, characterized in that, The rotating shaft (50) has a connecting plate (60) at one end away from the first joint (20), and the rotating shaft (50) is fixedly connected to the outer shell (10) through the connecting plate (60).

5. The joint structure according to claim 4, characterized in that, The connecting disk (60) has a hollow area (61), and there are multiple hollow areas (61) arranged at intervals along the circumference of the connecting disk (60).

6. The joint structure according to claim 1, characterized in that, The second rotating member (32) includes: Rotating component body (321); Rotating component bracket (322) is fixedly connected to the rotating component body (321).

7. The joint structure according to claim 6, characterized in that, The rotating component support (322) includes a first hollow shaft (3221) that protrudes from the side of the rotating component support (322) away from the first joint (20).

8. The joint structure according to claim 6, characterized in that, The first fixing seat (80) has a second hollow shaft (81), which protrudes from the side of the first fixing seat (80) near the second joint (30) and is fixedly connected to the first fixing member (21).

9. The joint structure according to claim 1, characterized in that, The joint structure also includes a second fixing seat (120), and the second fixing member (31) is fixedly connected to the outer shell (10) through the second fixing seat (120).

10. The joint structure according to claim 9, characterized in that, The second fixing seat (120) has a third hollow shaft (121) that protrudes from the side of the second fixing seat (120) near the first joint (20) and is fixedly connected to the second fixing member (31).

11. The joint structure according to claim 1, characterized in that, The joint structure also includes: The first drive plate (90) is fixedly connected to the first fixed base (80); The second drive plate (140) is disposed between the first joint (20) and the second joint (30) and is fixedly connected to the housing (10).

12. The joint structure according to claim 1, characterized in that, The outer shell (10) is part of a sphere.

13. The joint structure according to any one of claims 1 to 12, characterized in that, The outer shell (10) includes a first half-shell (11) and a second half-shell (12), which are fixedly connected to form the hollow cavity.

14. A joint module, characterized in that, include: The third joint (150) includes a third rotating member (151). The joint structure according to any one of claims 1 to 13, wherein at least a portion of the joint structure is fixedly connected to the third rotating member (151).

15. The joint module according to claim 14, characterized in that, The rotation center line of the third rotating member (151) passes through the center of the joint structure.

16. The joint module according to claim 14, characterized in that, The joint module also includes: A leg structure (160) is connected to the outer shell (10) of the joint structure, and the first rotating component (22) of the joint structure drives the leg structure (160) to rotate relative to the third joint (150). The follower is disposed at the connection between the thigh and the lower leg of the leg structure (160); The transmission component (170) is used to drive the lower leg to rotate relative to the thigh.

17. The joint module according to claim 16, characterized in that, The output section (40) is a pulley, and the transmission component (170) is a synchronous belt; or The output part (40) is a cam, and the transmission component (170) is a transmission link.

18. The joint module according to claim 16, characterized in that, The first joint (20) and the second joint (30) of the joint structure are symmetrically arranged along the center line of the transmission member (170).

19. The joint module according to claim 14, characterized in that, At least a portion of the third rotating member (151) is spherical or a part of a sphere in the overall shape of the joint structure.

20. A robot, characterized in that, Includes the joint module as described in any one of claims 14 to 19.

21. The robot according to claim 20, characterized in that, The robot also includes a body, and at least a portion of the third joint (150) of the joint module is disposed on the body for driving the joint module to move in the outward swing direction.

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