Joint assembly and robot with same

Abstract

The invention provides a joint assembly and a robot with the same. The joint assembly comprises a first joint part and a second joint part, a second joint part; the connecting part is provided with an oil inlet and a mounting cavity; the rotating shaft part is rotatably arranged in the mounting cavity in a penetrating manner and divides the mounting cavity into a first chamber and a second chamber; the first elastic assembly is arranged in the first cavity and comprises a first separation part; the limiting structure has a limiting state and a limiting releasing state; and the oil storage assembly has an oil outlet state and an oil return state. The joint assembly has a balance state, a force storage state and an auxiliary state, and when the joint assembly is in the balance state, the limiting structure is in the limiting state; when the joint assembly is in a force storage state, the limiting structure is in a limiting state, the oil storage assembly is in an oil outlet state, and the first partition part slides; when the joint assembly is in the auxiliary state, the limiting structure is in the limiting relieving state, the oil storage assembly is in the oil return state, and the rotating shaft part rotates relative to the connecting part.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a joint assembly and a robot having the same. Background Art

[0002] A multi-joint power-assist robot is a comprehensive robot system that integrates sensing, control, information, mobile computing and other technologies. Its core parts include structural materials, energy sources, control, drive and biomechanics. These robots usually have multiple degrees of freedom, which can assist the wearer's joint movement and provide force support, enabling the wearer to complete more complex movements and tasks. Multi-joint power-assist robots are mainly divided into three types: upper limb, lower limb and full body power-assist robots.

[0003] However, existing power-assisted robots all use motors and other driving parts to drive their joints, which results in their high rigidity and inability to flexibly assist the human body's joints in exerting force. Summary of the invention

[0004] The present invention provides a joint assembly and a robot having the same, so as to solve the problem that the exoskeleton robots in the prior art all drive the joints through driving parts such as motors, resulting in large rigidity and inability to flexibly assist force according to the joints of the human body.

[0005] The present invention provides a joint assembly, which includes: a first joint part, a second joint part, a connecting part, a rotating shaft component, a first elastic component, a limiting structure and an oil storage component; the connecting part is arranged at one end of the first joint part in the extension direction, and the connecting part has an oil inlet, an installation cavity, a circulation hole and a first oil storage cavity; the rotating shaft component is arranged at one end of the second joint part in the extension direction, and the end of the rotating shaft component away from the second joint part can be rotatably inserted into the installation cavity, and the rotating shaft component divides the installation cavity into a first cavity and a second cavity which are independent of each other along the circumference of the rotating shaft component, and the first cavity and the second cavity both extend along the circumference of the rotating shaft component.

[0006] The first elastic component is arranged in the first chamber, and the first elastic component includes a first elastic member, a first partition and a second elastic member connected in sequence along the length direction of the first chamber, one end of the first elastic member away from the first partition is arranged on the rotating shaft component, and one end of the second elastic member away from the first partition is arranged on the rotating shaft component. The first partition is movably arranged in the first chamber, and the first partition divides the first chamber into a first branch chamber and a second branch chamber that are independent of each other. The first elastic member is located in the first branch chamber, and the second elastic member is located in the second branch chamber; the oil inlet, the first oil storage chamber, the flow hole and the first branch chamber are connected in sequence.

[0007] The limiting structure is arranged between the rotating shaft component and the connecting part. The limiting structure has a relatively set limiting state and a released limiting state. When the limiting structure is in the limiting state, the limiting structure restricts the rotating shaft component from rotating in a first direction relative to the connecting part; when the limiting structure is in the released limiting state, the rotating shaft component can rotate in the first direction relative to the connecting part.

[0008] The oil storage assembly has a second oil storage chamber and a connecting port which are interconnected. The connecting port is connected to the oil inlet. The oil storage assembly has an oil discharge state and an oil return state. When the oil storage assembly is in the oil discharge state, the oil flows from the second oil storage chamber through the first oil storage chamber to the first branch chamber. When the oil storage assembly is in the oil return state, the oil flows from the first branch chamber through the first oil storage chamber to the second oil storage chamber.

[0009] The joint assembly has a balanced state, a force storage state and an auxiliary state. When the joint assembly is in a balanced state, the limiting structure is in a limited state, and the first partition is in a stationary state; when the joint assembly is in a force storage state, the limiting structure is in a limited state, the oil storage assembly is in an oil discharge state, and the first partition slides along the first direction; when the joint assembly is in the auxiliary state, the limiting structure is in a released limit state, the oil storage assembly is in an oil return state, and the shaft component rotates relative to the connecting part along the first direction.

[0010] The first direction is the direction from the first elastic member to the second elastic member.

[0011] Furthermore, the joint assembly also has a reset state. When the joint assembly is in the reset state, the oil storage assembly is in the oil return state, and the limiting structure is in the limit release state, the shaft component rotates relative to the connecting part along a second direction, and the second direction is opposite to the first direction.

[0012] Furthermore, the joint assembly also includes: a second elastic assembly, which is arranged in the second chamber, the second elastic assembly includes a third elastic member, a second partition and a fourth elastic member which are interconnected along the extension direction of the second chamber, one end of the third elastic member away from the second partition is arranged on the rotating shaft member, one end of the fourth elastic member away from the second partition is arranged on the rotating shaft member, and the second partition is fixedly arranged on the connecting portion.

[0013] Furthermore, the second branch cavity and the second cavity are both communicated with the space outside the connecting part.

[0014] Furthermore, the mounting cavity is circular, and the shaft component includes: a shaft body, at least a portion of which is rotatably arranged in the mounting cavity, and the shaft body passes through the mounting cavity along the axial direction; a first protrusion, which is arranged on the circumferential surface of the shaft body, and an end of the first protrusion away from the shaft body is sealingly abutted against a side wall of the mounting cavity; a second protrusion, which is arranged on the circumferential surface of the shaft body, and the second protrusion is spaced apart from the first protrusion along the circumferential direction of the shaft body, and an end of the second protrusion away from the shaft body is sealingly abutted against a side wall of the mounting cavity, and the shaft body, the first protrusion and the second protrusion cooperate to separate the mounting cavity into a first chamber and a second chamber that are independent of each other.

[0015] Furthermore, the first oil storage cavity is arranged in an annular shape outside the mounting cavity along the circumference of the rotating shaft component.

[0016] Further, the connecting part includes: an outer cylinder component, having a mounting port and a accommodating cavity connected in sequence, the mounting port being coaxial with the rotating shaft component; an inner cylinder component, having an opening end and a blocking end arranged opposite to each other, the inner cylinder component being coaxial with the mounting port, the inner cylinder component being arranged in the accommodating cavity, the opening end being arranged on the outer periphery of the mounting port, a mounting cavity being formed between the inner side of the inner cylinder component and the outer cylinder component, a first oil storage cavity being formed between the outer side of the inner cylinder component and the outer cylinder component, a flow hole being arranged on the side wall of the inner cylinder component, and the rotating shaft component being traversably inserted into the mounting cavity through the mounting port.

[0017] Furthermore, the limiting structure includes: a limiting block, which is arranged on the rotating shaft component, and the limiting block has a first end face and a second end face which are arranged opposite to each other along the circumference of the rotating shaft component; a limiting rod, one end of which is rotatably arranged on the connecting portion, and the other end of the limiting rod is abutted against or separated from the first end face; an elastic portion, which is arranged between the limiting rod and the connecting portion, and is used to apply a force to the limiting rod to abut against the first end face.

[0018] Furthermore, the limiting structure is arranged in the first oil storage chamber. When the joint assembly is in a balanced state, the limiting rod and the circulation hole are arranged opposite to each other. When the joint assembly is in an auxiliary state, the oil flowing out of the circulation hole drives the limiting rod to rotate so that the limiting rod is separated from the first end face.

[0019] Furthermore, the present invention also provides a robot, which includes the above-mentioned joint assembly.

[0020] By applying the technical solution of the present invention, the joint assembly is used in an assistive robot to provide auxiliary force for joint bending for the wearer wearing the assistive robot. The joint assembly can automatically adjust the assistance according to the wearer's movement requirements through the coordinated work of the first elastic assembly and the oil storage assembly. In the power storage state, the first elastic assembly stores energy to prepare for subsequent actions; while in the auxiliary state, through the flow of oil and the deformation of the first elastic assembly, the joint assembly can flexibly assist the force according to the human joints, provide the wearer with smooth and continuous assistance, make the bending of the joints more natural and smooth, and reduce the wearer's physical exertion when performing actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 A schematic diagram of the structure of the robot provided by the present invention is shown;

[0023] Figure 2 A schematic structural diagram of a joint assembly provided by the present invention is shown;

[0024] Figure 3 A partial structural cross-sectional view of the joint assembly provided by the present invention when it is in a balanced state is shown;

[0025] Figure 4 A partial structural cross-sectional view of the joint assembly provided by the present invention when it is in a force storage state is shown;

[0026] Figure 5 A partial structural cross-sectional view of the joint assembly provided by the present invention when it is in an auxiliary state is shown;

[0027] Figure 6 A partial structural cross-sectional view of the second joint portion provided by the present invention is shown.

[0028] The above drawings include the following reference numerals:

[0029] 10. First joint;

[0030] 20. Second joint;

[0031] 30. Connecting part;

[0032] 301, oil inlet; 302, installation cavity; 303, circulation hole; 304, first oil storage cavity;

[0033] 31. Outer cylinder component; 32. Inner cylinder component;

[0034] 40. Rotating shaft component;

[0035] 41. Rotating shaft body; 42. First protrusion; 43. Second protrusion;

[0036] 50. a first elastic component;

[0037] 51. first elastic member; 52. first partition; 53. second elastic member;

[0038] 60. Limiting structure;

[0039] 61. Limit block; 62. Limit rod; 63. Elastic part;

[0040] 70. Oil storage assembly;

[0041] 80. A second elastic component;

[0042] 81. third elastic member; 82. second partition; 83. fourth elastic member;

[0043] 90. Adjusting bolt;

[0044] 01, first branch cavity; 02, second branch cavity; 03, third branch cavity; 04, fourth branch cavity;

[0045] 110. Waist connector;

[0046] 120, foot connector;

[0047] 130, ankle joint;

[0048] 140. Straps. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present invention will be described clearly and completely below 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. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0050] like Figures 1 to 3As shown, the present invention provides a joint assembly, which includes a first joint part 10, a second joint part 20, a connecting part 30, a rotating shaft component 40, a first elastic component 50, a limiting structure 60 and an oil storage component 70; the connecting part 30 is arranged at one end of the extension direction of the first joint part 10, and the connecting part 30 has an oil inlet 301, a mounting cavity 302, a flow hole 303 and a first oil storage cavity 304; the rotating shaft component 40 is arranged at one end of the extension direction of the second joint part 20, and the end of the rotating shaft component 40 away from the second joint part 20 is rotatably arranged in the mounting cavity 302, and the first joint part 10 and the second joint part 20 have achieved mutual rotation through the mutual cooperation of the rotating shaft component 40 and the connecting part 30. The rotating shaft component 40 divides the mounting cavity 302 into a first chamber and a second chamber that are independent of each other along the circumference of the rotating shaft component 40, and the first chamber and the second chamber both extend along the circumference of the rotating shaft component 40.

[0051] The first elastic component 50 is arranged in the first chamber, and the first elastic component 50 includes a first elastic member 51, a first partition 52 and a second elastic member 53 connected in sequence along the length direction of the first chamber, the end of the first elastic member 51 away from the first partition 52 is arranged on the rotating shaft component 40, and the end of the second elastic member 53 away from the first partition 52 is arranged on the rotating shaft component 40, the first partition 52 is movably arranged in the first chamber, and the first partition 52 divides the first chamber into a first branch chamber 01 and a second branch chamber 02 that are independent of each other, the first elastic member 51 is located in the first branch chamber 01, and the second elastic member 53 is located in the second branch chamber 02; the oil inlet 301, the first oil storage chamber 304, the flow hole 303 and the first branch chamber 01 are connected in sequence.

[0052] It can be understood that both the first branch cavity 01 and the second branch cavity 02 extend along the circumference of the rotating shaft component 40 .

[0053] The limiting structure 60 is arranged between the rotating shaft component 40 and the connecting part 30, and the limiting structure 60 has a relatively set limiting state and a releasing limiting state. When the limiting structure 60 is in the limiting state, the limiting structure 60 limits the rotating shaft component 40 from rotating along a first direction relative to the connecting part 30; when the limiting structure 60 is in the releasing limiting state, the rotating shaft component 40 can rotate along a first direction and a second direction relative to the connecting part 30, and the second direction is opposite to the first direction.

[0054] In the embodiment of this solution, the first direction is clockwise.

[0055] The oil storage assembly 70 has a second oil storage chamber and a connecting port which are interconnected. The connecting port is connected to the oil inlet 301. The oil storage assembly 70 has an oil outlet state and an oil return state. When the oil storage assembly 70 is in the oil outlet state, the oil flows from the second oil storage chamber through the first oil storage chamber 304 to the first branch chamber 01. When the oil storage assembly 70 is in the oil return state, the oil flows from the first branch chamber 01 through the first oil storage chamber 304 to the second oil storage chamber.

[0056] like Figures 3 to 5 As shown, the joint assembly has a balanced state, a force storage state and an auxiliary state. When the joint assembly is in a balanced state, the limiting structure 60 is in a limited state, and the first partition 52 is in a stationary state; when the joint assembly is in a force storage state, the limiting structure 60 is in a limited state, the oil storage assembly 70 is in an oil discharge state, and the first partition 52 slides along the first direction; when the joint assembly is in the auxiliary state, the limiting structure 60 is in a released limit state, the oil storage assembly 70 is in an oil return state, and the shaft component 40 rotates relative to the connecting portion 30 along the first direction.

[0057] In the embodiment of the present solution, the first direction is the direction from the first elastic member 51 to the second elastic member 53. The first elastic member 51 and the second elastic member 53 are spaced apart and distributed in the clockwise direction.

[0058] In this solution, the joint assembly is used in an assistive robot to provide auxiliary force for joint bending for a wearer of the assistive robot.

[0059] In the embodiment of the present solution, the oil storage assembly 70 includes an oil storage bag and a connecting pipe which are interconnected, the oil storage bag is deformable, and the connecting pipe is connected to the oil inlet 301. The oil storage bag can be arranged at the bottom of the wearer's foot, and when the wearer is walking, the oil storage assembly 70 can be switched between the oil discharge state and the oil return state.

[0060] By applying the technical solution of the present invention, the joint assembly can automatically adjust the assistance according to the wearer's movement requirements through the coordinated work of the first elastic assembly 50 and the oil storage assembly 70.

[0061] Specifically, when the joint assembly is in a balanced state, the limiting structure 60 limits and locks the shaft component 40, so that the shaft component 40 cannot rotate in the first direction, and the first partition 52 is in the initial position; when the wearer's foot falls down and contacts the ground, the joint assembly enters a force storage state, and the oil storage component 70 enters an oil discharge state. The oil storage component 70 supplies oil from the second oil storage chamber to the first branch chamber 01. The flow of oil pushes the first partition 52 to move in the first direction, compressing the first elastic member 51, while the second elastic member 53 is stretched to achieve energy storage. At this time, the limiting structure 60 still maintains a limiting state, and the rotation of the shaft component 40 relative to the connecting portion 30 is limited. When the wearer's foot tends to lift up, the joint assembly enters the auxiliary state, and the oil storage assembly 70 enters the oil return state. The oil flows back from the first branch cavity 01 to the oil storage assembly 70 through the oil inlet. During this process, the limiting structure 60 switches to the limit release state, and the shaft component 40 is no longer restricted. At this time, the compressed first elastic member 51 gradually extends, and the stretched second elastic member 53 gradually retracts. This process will drive the shaft component 40 to rotate in the first direction, and then drive the second joint part 20 to rotate clockwise relative to the first joint part 10 with the shaft component 40 as the base point, thereby providing the wearer with a smooth and continuous auxiliary force for lifting the leg.

[0062] In the embodiment of this solution, through the coordinated work of the first elastic component 50 and the oil storage component 70, the joint component can automatically and dynamically adjust the power according to the movement direction and strength of the wearer's legs, reduce the wearer's physical exertion when performing actions, and improve the wearer's comfort. The limiting structure 60 can also effectively reduce possible damage to the wearer's joints and improve safety.

[0063] like Figure 1 and Figure 2 As shown, further, the joint assembly also has a reset state. When the joint assembly is in the reset state, the oil storage assembly 70 is in the oil return state, and the limiting structure 60 is in the limit release state, the shaft component 40 rotates relative to the connecting part 30 along the second direction, and the second direction is opposite to the first direction.

[0064] In the embodiment of the present scheme, when the joint assembly is in the reset state, the oil storage assembly 70 is in the oil return state, the oil in the first branch chamber 01 flows back to the second oil storage chamber through the first oil storage chamber 304, and the limiting structure 60 is in the limit release state. When the rotation angle of the second joint part 20 relative to the first joint part 10 reaches the maximum, the first elastic member 51 is in a stretched state, and the second elastic member 53 is in a compressed state. Thereafter, the joint assembly will enter the reset state, and the first elastic member 51 and the second elastic member 53 will gradually return to the initial state, which will drive the shaft component 40 to rotate in the second direction relative to the connecting part 30 until the shaft component 40 returns to the position in the equilibrium state. At this time, the limiting structure 60 will limit the shaft component 40 again, so that the shaft component 40 cannot rotate in the first direction. Through such a design, the joint assembly can not only provide intelligent assistance for joint bending, but also enable the joint to be naturally and smoothly reset after the action is completed, preparing for the next action, thereby improving the reliability of the device.

[0065] like Figure 2 and Figure 3 As shown, further, the joint assembly also includes a second elastic assembly 80, which is arranged in the second chamber. The second elastic assembly 80 includes a third elastic member 81, a second partition 82 and a fourth elastic member 83 which are interconnected along the extension direction of the second chamber, an end of the third elastic member 81 away from the second partition 82 is arranged on the rotating shaft member 40, an end of the fourth elastic member 83 away from the second partition 82 is arranged on the rotating shaft member 40, and the second partition 82 is fixedly arranged on the connecting portion 30.

[0066] In the embodiment of this solution, the first elastic member 51 , the second elastic member 53 , the third elastic member 81 and the fourth elastic member 83 are sequentially distributed along the circumference of the rotating shaft component 40 .

[0067] Furthermore, the second partition 82 divides the second chamber into a third branch chamber 03 and a fourth branch chamber 04 which are independent of each other, and the first branch chamber 01, the second branch chamber 02, the third branch chamber 03 and the fourth branch chamber 04 are spaced apart along the circumference of the shaft component 40. The third elastic member 81 is located in the third branch chamber 03, and the fourth elastic member 83 is located in the fourth branch chamber 04.

[0068] When the joint assembly is in a balanced state and a force storage state, the third elastic member 81 and the fourth elastic member 83 are in a balanced state. When the joint assembly is in an auxiliary state, as the rotating shaft component 40 gradually rotates along the first direction, the third elastic member 81 is gradually compressed and the fourth elastic member 83 is gradually stretched. When the third elastic member 81 is in the extreme compression position and the fourth elastic member 83 is in the extreme stretching position, the auxiliary state ends and the joint assembly enters the reset state. When the joint assembly enters the reset state, the third elastic member 81 gradually extends, the fourth elastic member 83 gradually retracts, the first elastic member 51 gradually extends, the second elastic member 53 gradually retracts, and the joint assembly gradually returns to its initial state.

[0069] Furthermore, the second branch cavity 02 and the second chamber are both connected to the space outside the connecting portion 30. With such a configuration, when the joint assembly is in a power storage state, the size of the space inside the second branch cavity 02 changes, and the second branch cavity 02 is connected to the external space, which can maintain the stability of the air pressure inside the second branch cavity 02; when the joint assembly is in an auxiliary state and a reset state, the sizes of the spaces inside the second branch cavity 02, the third branch cavity 03, and the fourth branch cavity 04 change, and the second branch cavity 02, the third branch cavity 03, and the fourth branch cavity 04 are respectively connected to the external space to maintain the stability of the air pressure inside the second branch cavity 02, the third branch cavity 03, and the fourth branch cavity 04, thereby improving the stability and reliability of the joint assembly.

[0070] Furthermore, the mounting cavity 302 is circular, and the shaft component 40 includes a shaft body 41, a first protrusion 42 and a second protrusion 43. At least a portion of the shaft body 41 is rotatably arranged in the mounting cavity 302, and the shaft body 41 passes through the mounting cavity 302 along the axial direction; the first protrusion 42 is arranged on the circumferential surface of the shaft body 41, and the end of the first protrusion 42 away from the shaft body 41 is sealed and abutted against the side wall of the mounting cavity 302; the second protrusion 43 is arranged on the circumferential surface of the shaft body 41, and the second protrusion 43 and the first protrusion 42 are spaced apart along the circumference of the shaft body 41, and the end of the second protrusion 43 away from the shaft body 41 is sealed and abutted against the side wall of the mounting cavity 302, and the shaft body 41, the first protrusion 42 and the second protrusion 43 cooperate to separate the mounting cavity 302 into a first chamber and a second chamber that are independent of each other.

[0071] In this solution, the first protrusion 42 is connected to the second elastic member 53 and the third elastic member 81 respectively, and the second protrusion 43 is connected to the first elastic member 51 and the fourth elastic member 83 respectively.

[0072] When the joint assembly is in a force storage state, the limiting structure 60 is in a limiting state. At this time, the shaft component 40 remains relatively still relative to the connecting part 30, and the oil enters the first branch cavity 01 and pushes the first partition part 52 to slide along the first direction. When the first partition part 52 slides, the first elastic part 51 is extended and the second elastic part 53 is compressed.

[0073] When the joint assembly is in the auxiliary state, the limiting structure 60 is in the released limit state, the second elastic member 53 gradually extends, the first elastic member 51 gradually contracts, and the first protrusion 42 slides along the second direction under the action of the first elastic member 51 and the second elastic member 53; during the contraction of the first elastic member 51, a force is applied to the second protrusion 43 to slide in one direction, and during the extension of the second elastic member 53, a force is applied to the first protrusion 42 to slide in the first direction, so that the first protrusion 42 and the second protrusion 43 drive the shaft body 41 to rotate along the first direction; during this process, the third elastic member 81 is gradually compressed, and the fourth elastic member 83 gradually extends.

[0074] When the first protrusion 42 and the second protrusion 43 are in the extreme movement position, the joint assembly will enter the reset state, the third elastic member 81 will gradually extend, the fourth elastic member 83 will gradually compress, the second elastic member 53 will gradually retract, the first elastic member 51 will gradually extend, the first protrusion 42, the second protrusion 43 and the shaft body 41 will rotate in the second direction relative to the connecting part 30 until the first elastic member 51, the second elastic member 53, the third elastic member 81 and the fourth elastic member 83 are all in a balanced state, and the limiting structure 60 is in the limiting state again.

[0075] Furthermore, the first oil storage chamber 304 is annularly arranged outside the mounting chamber 302 along the circumference of the shaft component 40. Such an arrangement enables the first oil storage chamber 304 to store more oil.

[0076] In the embodiment of the present scheme, the connecting part 30 includes an outer cylinder component 31 and an inner cylinder component 32, the outer cylinder component 31 has a mounting port and a accommodating cavity connected in sequence, and the mounting port is coaxial with the rotating shaft component 40; the inner cylinder component 32 has an opening end and a blocking end arranged opposite to each other, the inner cylinder component 32 is coaxial with the mounting port, the inner cylinder component 32 is arranged in the accommodating cavity, and the opening end is arranged on the outer periphery of the mounting port, a mounting cavity 302 is formed between the inner side of the inner cylinder component 32 and the outer cylinder component 31, a first oil storage cavity 304 is formed between the outer side of the inner cylinder component 32 and the outer cylinder component 31, the flow hole 303 is arranged on the side wall of the inner cylinder component 32, and the rotating shaft component 40 is traversably penetrated into the mounting cavity 302 through the mounting port.

[0077] It can be understood that in the embodiment of this scheme, the outer cylinder component 31 and the inner cylinder component 32 are coaxial; the cross-sectional area of ​​the inner cylinder component 32 is smaller than the cross-sectional area of ​​the outer cylinder component 31, and the cross-sectional area of ​​the inner cylinder component 32 is larger than the cross-sectional area of ​​the installation port.

[0078] In the embodiment of the present solution, the oil will enter and exit the first branch cavity 01 of the installation cavity 302 through the circulation hole 303. The shaft component 40, the outer cylinder component 31 and the inner cylinder component 32 are all coaxially arranged, so that when the shaft component 40 rotates relative to the connecting part 30, the stability of the joint assembly can be maintained, thereby improving the structural rationality of the joint assembly.

[0079] Furthermore, the limiting structure 60 includes a limiting block 61, a limiting rod 62 and an elastic portion 63. The limiting block 61 is arranged on the rotating shaft component 40, and the limiting block 61 has a first end face and a second end face that are relatively arranged along the circumference of the rotating shaft component 40; one end of the limiting rod 62 is rotatably arranged on the connecting portion 30, and the other end of the limiting rod 62 is abutted against or separated from the first end face; the elastic portion 63 is arranged between the limiting rod 62 and the connecting portion 30, and the elastic portion 63 is used to apply a force to the limiting rod 62 to abut against the first end face.

[0080] In the embodiment of the present solution, when the limiting structure 60 is in the limiting state, the limiting rod 62 abuts against the first end surface, and when the limiting structure 60 is in the releasing state, the limiting rod 62 is separated from the first end surface. The elastic portion 63 enables the limiting rod 62 to stably abut against the limiting block 61 to keep the limiting structure 60 in the limiting state, and also enables the limiting structure 60 to switch from the limiting state to the releasing state. The limiting rod 62 abuts against the limiting block 61 in a timely and stable manner, thereby improving the reliability and stability of the joint assembly.

[0081] In the embodiment of this solution, the shaft body 41 passes through the inner cylinder component 32 along the axial direction, and part of the shaft body 41 is arranged in the first oil storage cavity 304. The shaft body 41 is also rotatably arranged on the end surface of the outer cylinder component 31 away from the installation opening. Such an arrangement can improve the stability of the shaft body 41 during rotation.

[0082] Furthermore, the limiting structure 60 is arranged in the first oil storage chamber 304. When the joint assembly is in a balanced state, the limiting rod 62 is arranged opposite to the circulation hole 303. When the joint assembly is in an auxiliary state, the oil flowing out of the circulation hole 303 drives the limiting rod 62 to rotate, so that the limiting rod 62 is separated from the first end surface. Such an arrangement enables the limiting structure 60 to switch the working state in a timely manner under relative conditions. The limiting structure 60 can be switched from the limiting state to the released limiting state through the flow of oil, without manual adjustment, thereby improving the convenience of the joint assembly.

[0083] In the embodiment of this solution, the limit block 61 is disposed on the circumference of a section of the rotating shaft body 41 located in the first oil storage chamber 304 .

[0084] Furthermore, when the joint assembly is in a balanced state, the oil inlet 301 and the limit rod 62 are sequentially distributed along the horizontal direction, and the top end of the limit rod 62 is inclined toward the direction of the rotating shaft body 41 and abuts against the stopper of the limit block 61, and the bottom end of the limit rod 62 is inclined toward the inner wall of the outer cylinder component 31. When the joint assembly is in an auxiliary state, the oil flowing out of the flow hole 303 directly acts on the limit rod 62 to rotate the limit rod 62, and the top end of the limit rod 62 is separated from the limit block 61.

[0085] In the embodiment of the present solution, the length of at least one of the first joint portion 10 and the second joint portion 20 is adjustable.

[0086] like Figure 6 As shown, the length of the second joint part 20 is adjustable as an example. The second joint part 20 includes a plurality of branch joints which are mutually sleeved. Two adjacent branch joints are slidably matched. After being adjusted to the appropriate position, the two adjacent branch joints are fixed by adjusting bolts 90.

[0087] In the embodiment of the present solution, the specific number of the joint parts of the joint assembly is not limited, wherein the third joint part, the fourth joint part, etc. may also be included. The specific number may be determined according to the usage scenario. Two adjacent joint parts may be connected by the adaptable connecting part 30, the rotating shaft part 40, the first elastic component 50 and the limiting structure 60.

[0088] Furthermore, the present invention also provides a robot, which includes the joint assembly of the above embodiment. The robot can be worn on a person to provide auxiliary power for the joint movement of the wearer when walking.

[0089] In the embodiment of the present solution, a waist connector 110 is also included, and the waist connector 110 is used for the wearer to wear it on the waist. Two groups of joint components are provided, and the two groups of joint components are spaced apart along the length direction of the waist connector 110. The second joint part 20 of the joint component is hinged to the waist connector 110 at one end away from the first joint part 10. The second joint part 20 is adapted to the wearer's thigh, and the first joint part 10 is adapted to the wearer's calf.

[0090] Furthermore, the robot also includes a foot connector 120 and an ankle joint 130 that are interconnected. The foot connector 120 is used to be worn on the foot of the wearer, and the ankle joint 130 is adapted to the ankle of the wearer. The ankle joint 130 is connected to the end of the first joint part 10 away from the second joint part 20 through an adaptive connecting part 30, a rotating shaft part 40, a first elastic component 50 and a limiting structure 60.

[0091] Furthermore, an oil storage bag of the oil storage assembly 70 is installed at the bottom of each foot connector 120 , and the connecting pipes of the oil storage assembly 70 are respectively connected to the oil inlets 301 of the plurality of connecting parts 30 .

[0092] Furthermore, a strap 140 is provided on the second joint part 20 and the first joint part 10 of each joint assembly, and the strap 140 is used to bind and cooperate with the wearer's legs.

[0093] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0094] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0095] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each part itself.

[0096] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0097] In addition, it should be noted that the use of terms such as "first" and "second" to limit parts is only to facilitate the distinction between corresponding parts. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint assembly, characterized in that: include: A first joint portion (10); A second joint portion (20); A connecting portion (30) is arranged at one end of the first joint portion (10) in the extending direction, and the connecting portion (30) has an oil inlet (301), a mounting cavity (302), a circulation hole (303) and a first oil storage cavity (304); A rotating shaft component (40) is arranged at one end of the second joint portion (20) in the extending direction, and one end of the rotating shaft component (40) away from the second joint portion (20) is rotatably inserted into the installation cavity (302), and the rotating shaft component (40) divides the installation cavity (302) into a first cavity and a second cavity that are independent of each other along the circumference of the rotating shaft component (40), and the first cavity and the second cavity both extend along the circumference of the rotating shaft component (40); A first elastic component (50) is arranged in the first chamber. The first elastic component (50) comprises a first elastic member (51), a first partition (52) and a second elastic member (53) which are connected in sequence along the length direction of the first chamber. An end of the first elastic member (51) away from the first partition (52) is arranged on the shaft member (40). An end of the second elastic member (53) away from the first partition (52) is arranged on the shaft member (40). The first partition (52) is movably arranged in the first chamber along the extension direction of the first chamber. The first partition (52) divides the first chamber into a first branch chamber (01) and a second branch chamber (02) which are independent of each other. The first elastic member (51) is located in the first branch chamber (01), and the second elastic member (53) is located in the second branch chamber (02). The oil inlet (301), the first oil storage chamber (304), the flow hole (303) and the first branch chamber (01) are connected in sequence. A limiting structure (60) is arranged between the rotating shaft component (40) and the connecting portion (30), and the limiting structure (60) has a limiting state and a limiting release state which are relatively arranged. When the limiting structure (60) is in the limiting state, the limiting structure (60) limits the rotating shaft component (40) from rotating along a first direction relative to the connecting portion (30); when the limiting structure (60) is in the limiting release state, the rotating shaft component (40) can rotate relative to the connecting portion (30) around the first direction; The oil storage assembly (70) comprises a second oil storage chamber and a communication port which are interconnected, wherein the communication port is connected to the oil inlet (301), and the oil storage assembly (70) has an oil outlet state and an oil return state. When the oil storage assembly (70) is in the oil outlet state, the oil flows from the second oil storage chamber through the first oil storage chamber (304) to the first branch chamber (01); when the oil storage assembly (70) is in the oil return state, the oil flows from the first branch chamber (01) through the first oil storage chamber (304) to the second oil storage chamber; The joint assembly has a balanced state, a power storage state and an auxiliary state. When the joint assembly is in the balanced state, the limiting structure (60) is in the limiting state, and the first partition (52) is in a static state; when the joint assembly is in the power storage state, the limiting structure (60) is in the limiting state, the oil storage assembly (70) is in the oil discharge state, and the first partition (52) slides along the first direction; when the joint assembly is in the auxiliary state, the limiting structure (60) is in the limit release state, the oil storage assembly (70) is in the oil return state, and the shaft component (40) rotates relative to the connecting portion (30) along the first direction; Wherein, the first direction is the direction from the first elastic member (51) to the second elastic member (53).

2. The joint assembly according to claim 1, characterized in that: The joint assembly also has a reset state. When the joint assembly is in the reset state, the oil storage assembly (70) is in the oil return state, and when the limiting structure (60) is in the limit release state, the shaft component (40) rotates relative to the connecting portion (30) in a second direction, and the second direction is opposite to the first direction.

3. The joint assembly according to claim 1, characterized in that: The joint assembly also includes: A second elastic component (80) is arranged in the second chamber, and the second elastic component (80) comprises a third elastic member (81), a second partition (82) and a fourth elastic member (83) which are connected to each other along the extension direction of the second chamber, an end of the third elastic member (81) away from the second partition (82) is arranged on the shaft member (40), an end of the fourth elastic member (83) away from the second partition (82) is arranged on the shaft member (40), and the second partition (82) is fixedly arranged on the connecting portion (30).

4. The joint assembly according to claim 1, characterized in that: The second branch cavity (02) and the second cavity are both in communication with the space outside the connecting portion (30).

5. The joint assembly according to claim 1, characterized in that: The mounting cavity (302) is circular, and the rotating shaft component (40) comprises: A rotating shaft body (41), at least a portion of the rotating shaft body (41) is rotatably disposed in the installation cavity (302), and the rotating shaft body (41) passes through the installation cavity (302) along an axial direction; A first protrusion (42) is arranged on the circumferential surface of the rotating shaft body (41), and one end of the first protrusion (42) away from the rotating shaft body (41) is in sealing contact with the side wall of the installation cavity (302); A second protrusion (43) is arranged on the circumferential surface of the rotating shaft body (41); the second protrusion (43) and the first protrusion (42) are spaced apart along the circumference of the rotating shaft body (41); one end of the second protrusion (43) away from the rotating shaft body (41) is sealingly abutted against the side wall of the installation cavity (302); the rotating shaft body (41), the first protrusion (42) and the second protrusion (43) cooperate to separate the installation cavity (302) into a first cavity and a second cavity that are independent of each other.

6. The joint assembly according to claim 1, characterized in that: The first oil storage cavity (304) is arranged in an annular manner outside the installation cavity (302) along the circumference of the rotating shaft component (40).

7. The joint assembly according to claim 6, characterized in that: The connecting portion (30) comprises: The outer cylinder component (31) has a mounting port and a receiving cavity which are connected in sequence, and the mounting port is coaxial with the rotating shaft component (40); The inner cylinder component (32) has an open end and a blocking end which are arranged opposite to each other. The inner cylinder component (32) is coaxial with the mounting opening. The inner cylinder component (32) is arranged in the accommodating cavity. The open end is arranged on the outer periphery of the mounting opening. The mounting cavity (302) is formed between the inner side of the inner cylinder component (32) and the outer cylinder component (31). The first oil storage cavity (304) is formed between the outer side of the inner cylinder component (32) and the outer cylinder component (31). The flow hole (303) is arranged on the side wall of the inner cylinder component (32). The rotating shaft component (40) is drivably arranged in the mounting cavity (302) through the mounting opening.

8. The joint assembly according to claim 1, characterized in that: The limiting structure (60) comprises: A limit block (61) is arranged on the rotating shaft component (40), and the limit block (61) has a first end surface and a second end surface which are arranged opposite to each other along the circumference of the rotating shaft component (40); a limiting rod (62), one end of which is rotatably arranged on the connecting portion (30), and the other end of which is in contact with or separated from the first end surface; The elastic part (63) is arranged between the limiting rod (62) and the connecting part (30), and the elastic part (63) is used to apply a force to the limiting rod (62) to abut against the first end surface.

9. The joint assembly according to claim 8, characterized in that: The limiting structure (60) is arranged in the first oil storage chamber (304); when the joint assembly is in the balanced state, the limiting rod (62) is arranged relative to the circulation hole (303); when the joint assembly is in the auxiliary state, the oil flowing out of the circulation hole (303) drives the limiting rod (62) to rotate, so that the limiting rod (62) is separated from the first end face.

10. A robot, characterized in that: A joint assembly comprising any one of claims 1 to 9.

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