A joint assembly and a robot

Abstract

The present application provides a joint assembly and a robot, and relates to the field of robot technology. The joint assembly includes: a first joint component provided with a limiting space and an opening, a second joint component at least partially located in the limiting space, a shaft component passing through the first joint component and the second joint component, and a fastener sleeved on the shaft component and abutting against the first joint component. The first joint component is sleeved on the second joint component through the limiting space and the opening, and the fastener can move along the axial direction of the shaft component, so that when the fastener abuts against the first joint component, a force is applied in the direction of the second joint component to elastically deform the first joint component. When the joint assembly provided by the present application is assembled, a force is applied to the first joint component in the direction of the second joint component along the axial direction of the shaft component by the fastener, so that the first joint component is elastically deformed under the action of the force, thereby utilizing the elastic deformation of the first joint component to achieve the effect of reducing the axial gap between the joint components.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a joint assembly and a robot. Background Art

[0002] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present disclosure, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to those skilled in the art.

[0003] The joint assembly is an important structure in the robot that realizes the mutual movement between the two joint arms. Due to processing errors and assembly errors, axial clearance is easily generated between the joint parts. The mechanical movement caused by the axial clearance will affect the robot's movement accuracy and cause structural vibration of the robot. How to reduce the axial clearance between the joint parts in the joint assembly is a problem that needs to be urgently solved in this field. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a joint assembly and a robot, aiming to solve the technical problem of how to reduce the axial clearance between joint parts in the joint assembly.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a joint assembly, comprising:

[0007] The first joint part defines a limiting space and is provided with an opening communicating with the limiting space;

[0008] A second joint component is at least partially located in the limiting space, and the first joint component is sleeved on the second joint component through the limiting space and the opening;

[0009] A shaft member, passing through the first joint member and the second joint member, so as to enable the first joint member to be rotatably connected with the second joint member;

[0010] A fastener is sleeved on the shaft and abuts against the first joint component. The fastener can move along the axial direction of the shaft so that when the fastener abuts against the first joint component, a force is applied toward the second joint component to elastically deform the first joint component.

[0011] In one embodiment of the first aspect, the first joint component includes a first connection part, a second connection part and a third connection part, the third connection part is connected between the first connection part and the second connection part, the first connection part, the second connection part and the third connection part enclose the limiting space and the opening, the shaft member is passed through the first connection part and the second connection part, the fastener is located on the side of the second connection part away from the first connection part along the axial direction of the shaft member, and the fastener abuts against the second connection part.

[0012] In one embodiment of the first aspect, the first connecting portion, the second connecting portion and the third connecting portion are combined to form a U-shaped structure.

[0013] In one embodiment of the first aspect, the shaft member includes a limiting portion and a shaft body portion connected to each other, a first through hole connected to the limiting space is provided on the first joint member, the shaft body portion is passed through the first through hole, the limiting portion is located outside the limiting space, the limiting portion is located at one end of the shaft body portion and extends in a direction perpendicular to the axial direction of the shaft member, and abuts against the first connecting portion, and the fastener is sleeved and connected to one end of the shaft body portion away from the limiting portion.

[0014] In one embodiment of the first aspect, the limiting portion is movable along the axial direction of the shaft, so that when the limiting portion abuts against the first joint component, a force is applied in a direction toward the second joint component to elastically deform the first joint component.

[0015] In one embodiment of the first aspect, the fastener includes a first nut, the first nut is sleeved on the shaft body and threadedly connected to the shaft body, and the first nut abuts against the first joint component.

[0016] In one embodiment of the first aspect, the fastener further includes a second nut, which is sleeved on the shaft body and threadedly connected to the shaft body, and the second nut is located at an end of the first nut away from the first joint and abuts against the first nut.

[0017] In one embodiment of the first aspect, the second joint component includes a fourth connecting portion and a bearing portion, the fourth connecting portion is provided with a second through hole, and is provided with a groove connected to the second through hole, the groove is connected to the limiting space, the bearing portion is provided at the groove, and the shaft member is passed through the bearing portion, the groove and the second through hole.

[0018] In one embodiment of the first aspect, the groove includes a first groove body and a second groove body, the first groove body is located on one side of the fourth connecting portion along the axial direction of the shaft, and the second groove body is located on the other side of the fourth connecting portion along the axial direction of the shaft;

[0019] The bearing portion comprises a first bearing and a second bearing, wherein the first bearing and the second bearing each comprise an inner ring and an outer ring arranged around the inner ring, the outer ring of the first bearing is at least partially arranged in the first groove body, the inner ring of the first bearing is sleeved on the shaft member, the outer ring of the second bearing is at least partially arranged in the second groove body, and the inner ring of the second bearing is sleeved on the shaft member;

[0020] The first joint component is provided with a first boss and a second boss. The first boss is located on one side of the first joint component along the axial direction of the shaft component and abuts against the inner ring of the first bearing. The second boss is located on the other side of the first joint component along the axial direction of the shaft component and abuts against the inner ring of the second bearing.

[0021] In one embodiment of the first aspect, a side of the first bearing away from the second bearing is flush with a side of the fourth connection portion away from the second bearing, and a side of the second bearing away from the first bearing is flush with a side of the fourth connection portion away from the first bearing.

[0022] In one embodiment of the first aspect, the first bearing is a first angular contact bearing, the second bearing is a second angular contact bearing, and the first angular contact bearing and the second angular contact bearing are arranged opposite to each other in the axial direction of the shaft.

[0023] In a second aspect, an embodiment of the present application provides a robot comprising the joint assembly described in any embodiment of the first aspect above.

[0024] The beneficial effects of this application are as follows:

[0025] When assembling the joint assembly provided in the present application, a force is applied to the first joint component in the axial direction toward the second joint component through a fastener along the axial direction of the shaft component, so that the first joint component undergoes elastic deformation under the action of the force, thereby utilizing the elastic deformation of the first joint component to achieve the effect of reducing the axial gap between the joint components.

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and understandable, preferred embodiments are specifically listed below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a joint assembly in one embodiment of the present application is shown;

[0029] Figure 2 A schematic structural diagram of a joint assembly from one perspective in one embodiment of the present application is shown;

[0030] Figure 3 Another perspective structural schematic diagram of a joint assembly in one embodiment of the present application is shown;

[0031] Figure 4 Shows Figure 3 Schematic diagram of the cross-sectional structure at AA in the middle;

[0032] Figure 5 A schematic structural diagram of a first joint component from one perspective in one embodiment of the present application is shown;

[0033] Figure 6 Shows Figure 5 Schematic diagram of the cross-sectional structure at the middle BB;

[0034] Figure 7 A schematic diagram of the assembly structure of a shaft member and a fastener in one embodiment of the present application is shown;

[0035] Figure 8 A schematic structural diagram of a second joint component from one perspective in one embodiment of the present application is shown;

[0036] Fig. 9 Shows Figure 8 Schematic diagram of the enlarged structure at CC in the middle;

[0037] Fig.10 The schematic diagram of the three-dimensional decomposition structure of the second joint part in one embodiment of the present application is shown. Figure 1 ;

[0038] Fig.11 The schematic diagram of the three-dimensional decomposition structure of the second joint part in one embodiment of the present application is shown. Figure 2 .

[0039] Description of main component symbols:

[0040] 100-joint assembly; 110-first joint component; 111-first connecting portion; 112-second connecting portion; 113-third connecting portion; 1131-limiting space; 1132-opening; 1133-first through hole; 114-support portion; 1141-first boss; 1142-second boss; 120-second joint component; 121-fourth connecting portion; 1211-second through hole; 1212-groove; 12121-first slot body; 12122-second slot body; 122-bearing portion; 1221-first bearing; 1222-second bearing; 130-shaft component; 131-limiting portion; 132-shaft body; 140-fastener; 141-first nut; 142-second nut; d-axial clearance. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the description of the present application, terms such as "center", "longitudinal", "lateral", "length", "width", "height", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In addition, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] In the description of this application, the terms "first", "second", etc. are used to distinguish different objects and cannot be understood as indicating or implying a specific order or a primary and secondary relationship, or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] In the description of this application, the term "and / or" indicates that there may be three relationships. For example, A and / or B may indicate that A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0047] In the description of this application, "parallel" includes not only the absolutely parallel situation, but also the roughly parallel situation conventionally recognized in engineering; at the same time, "perpendicular" also includes not only the absolutely perpendicular situation, but also the roughly perpendicular situation conventionally recognized in engineering. For example, if the angle between two directions is 80° to 90°, the two directions can be considered perpendicular; if the angle between two directions is 0° to 10°, the two directions can be considered parallel.

[0048] like Figure 1 As shown, in the first aspect, an embodiment of the present application provides a joint assembly 100, which relates to the field of robotics technology and is mainly used in robots to achieve relative movement between two joint arms.

[0049] It should be noted that the above-mentioned robots include but are not limited to humanoid robots, animal bionic robots, cleaning robots, etc., and no specific restrictions are made on the types of robots. Of course, in addition to being applied to robots, the joint assembly 100 can also be applied to mechanical arms and optical instruments, and no specific restrictions are made on the application scenarios of the joint assembly 100.

[0050] like Figure 1 and Figure 2 As shown, the joint assembly 100 provided in this embodiment includes: a first joint component 110 , a second joint component 120 , a shaft component 130 and a fastener 140 .

[0051] Among them, the first joint component 110 defines a limiting space 1131 and is provided with an opening 1132 connected to the limiting space 1131. At least part of the second joint component 120 is located in the limiting space 1131. The first joint component 110 is sleeved on the second joint component 120 through the limiting space 1131 and the opening 1132. The shaft component 130 is penetrated through the first joint component 110 and the second joint component 120 so that the first joint component 110 is rotatably connected with the second joint component 120. The fastener 140 is sleeved on the shaft component 130 and abuts against the first joint component 110. The fastener 140 can move along the axial direction of the shaft component 130 so that when the fastener 140 abuts against the first joint component 110, a force is applied toward the second joint component 120 to elastically deform the first joint component 110.

[0052] Exemplarily, the material of the first joint component 110 and / or the second joint component 120 can be metal, plastic, etc., such as 45 steel, 40Cr, T10 steel, etc., and no specific limitation is made to the material of the joint components.

[0053] It should be noted that, through the setting of the opening 1132 and the limiting space 1131, the first joint component 110 has elastic deformation ability and can be elastically deformed under the action of force, that is, it can be elastically deformed when subjected to the force applied by the fastener 140. The direction of the force can be parallel to the axial direction of the shaft component 130, or it can intersect with the axial direction of the shaft component 130 but not perpendicular to it. No specific restrictions are made here.

[0054] It can be understood that in the joint assembly 100 provided in the present embodiment, the first joint component 110 defines a limiting space 1131, and an opening 1132 is provided on the first joint component 110, the opening 1132 is connected to the limiting space 1131, at least a portion of the second joint component 120 is located in the limiting space 1131, the first joint component 110 is sleeved on the second joint component 120 through the limiting space 1131 and the opening 1132, the shaft component 130 is penetrated through the first joint component 110 and the second joint component 120, so that the first joint component 110 is rotatably connected with the second joint component 120, the fastener 140 is sleeved on the shaft component 130 and abuts against the first joint component 110, the fastener 140 can move along the axial direction of the shaft component 130, so as to further apply a force toward the second joint component 120 to the first joint component 110 when the fastener 140 abuts against the first joint component 110.

[0055] Based on the above structure, when the joint assembly 100 provided in this embodiment is assembled, a force is applied to the first joint component 110 in the axial direction of the shaft component 130 toward the second joint component 120 through the fastener 140, so that the first joint component 110 undergoes elastic deformation under the action of the force, thereby utilizing the elastic deformation of the first joint component 110 to achieve the effect of reducing the axial gap d between the joint components.

[0056] like Figures 2 to 4 As shown, in one embodiment, the first joint component 110 includes a first connection portion 111, a second connection portion 112 and a third connection portion 113, the third connection portion 113 is connected between the first connection portion 111 and the second connection portion 112, the first connection portion 111, the second connection portion 112 and the third connection portion 113 are enclosed to form a limiting space 1131 and an opening 1132, the shaft component 130 passes through the first connection portion 111 and the second connection portion 112, the fastener 140 is located on the side of the second connection portion 112 away from the first connection portion 111 along the axial direction of the shaft component 130, and the fastener 140 is abutted against the second connection portion 112.

[0057] It can be understood that when the joint assembly 100 provided in this embodiment is assembled, a force is applied to the second connection part 112 in the axial direction of the shaft 130 toward the second joint part 120 through the fastener 140, so that the second connection part 112 is elastically deformed relative to the third connection part 113 under the action of the force, thereby utilizing the elastic deformation of the second connection part 112 to achieve the effect of reducing the axial gap d between the joint parts.

[0058] like Figure 5 and Figure 6 As shown, further, the first connection part 111, the second connection part 112 and the third connection part 113 are enclosed to form a U-shaped structure, that is, the shape of the first joint component 110 is U-shaped. The U-shaped first joint component 110 is more likely to undergo elastic deformation under the action of force, thereby being able to more effectively reduce the axial gap d.

[0059] Of course, for the above embodiments, the first connecting portion 111, the second connecting portion 112 and the third connecting portion 113 may also be enclosed to form an arc-shaped structure, an arch-shaped structure, an M-shaped structure, an inverted V-shaped structure, etc. When the first joint component 110 presents the above shapes, it can also undergo elastic deformation under the action of force to reduce the axial gap d. No specific restrictions are made on the shape of the first joint component 110 herein.

[0060] like Figures 3 to 6As shown, further, the shaft member 130 includes a limit portion 131 and a shaft body portion 132 connected to each other, a first through hole 1133 communicating with the limit space 1131 is provided on the first joint member 110, the shaft body portion 132 is passed through the first through hole 1133, the limit portion 131 is located outside the limit space 1131, the limit portion 131 is located at one end of the shaft body portion 132 and extends in a direction perpendicular to the axial direction of the shaft member 130, and abuts against the first connecting portion 111 of the first joint member 110, and the fastener 140 is sleeved and connected to one end of the shaft body portion 132 away from the limit portion 131.

[0061] Exemplarily, there may be a clearance fit or a transition fit between the shaft body portion 132 and the first through hole 1133 , so that the shaft body portion 132 can slide along the first through hole 1133 relative to the first joint component 110 in the axial direction of the shaft component 130 .

[0062] It can be understood that since the limiting portion 131 is connected to one end of the shaft body 132 and abuts against the first connecting portion 111 of the first joint component 110, and at the same time, the fastener 140 is connected to the end of the shaft body 132 away from the limiting portion 131 and abuts against the second connecting portion 112 of the first joint component 110, thus, under the support of the limiting portion 131, the fastener 140 can apply a force to the first joint component 110 in the direction of the second joint component 120, so that the first joint component 110 elastically deforms in the direction of the second joint component 120, thereby achieving the effect of reducing the axial gap d.

[0063] like Figure 3 and Figure 4 As shown, further, the limiting portion 131 can move along the axial direction of the shaft 130, so that when the limiting portion 131 abuts against the first joint component 110, a force is applied toward the second joint component 120 to elastically deform the first joint component 110. In this way, under the action of the limiting portion 131 and the fastener 140, the first joint component 110 can be elastically deformed on both sides of the axial direction of the shaft 130, so that the axial gap d on both sides can be reduced.

[0064] like Figures 2 to 4 As shown, further, the fastener 140 includes a first nut 141 , the first nut 141 is sleeved on the shaft body 132 and threadedly connected to the shaft body 132 , and the first nut 141 abuts against the first joint component 110 .

[0065] It can be understood that when assembling the joint assembly 100 provided in this embodiment, the elastic deformation degree of the first joint component 110 can be adjusted by screwing the first nut 141, so as to achieve the effect of adjusting the axial clearance d. At the same time, the setting of the first nut 141 plays a role in tightening the shaft component 130, thereby reducing the possibility of the shaft component 130 detaching from the first joint component 110.

[0066] like Figure 2 and Figure 7 As shown, further, the fastener 140 also includes a second nut 142, which is sleeved on the shaft body 132 and threadedly connected to the shaft body 132. The second nut 142 is located at one end of the first nut 141 away from the first joint 110 and abuts against the first nut 141.

[0067] It can be understood that by adding the second nut 142 at the end of the first nut 141 away from the first joint 110, this double nut design can effectively reduce the possibility of the fastener 140 detaching from the shaft 130, so that the first joint 110 and the second joint 120 can rotate relative to each other stably and smoothly.

[0068] Of course, for the above embodiment, the fastener 140 can also be a screw, a wedge block, a pin, etc. When the fastener 140 is a pin, a pin hole is provided at one end of the shaft body 132 away from the limiting portion 131, the pin is passed through the pin hole, and abuts against the first joint 110; in addition, the fastener 140 can also be a buckle slidably sleeved on the shaft body 132, and a slot is provided on the shaft body 132. The buckle can move along the axial direction of the shaft body 132, and when it moves to a preset position, it is snapped into the slot to fasten the shaft 130. The above two structures can also fasten the shaft 130, and can apply a force to the first joint 110 in the direction of the second joint 120. No specific restrictions are made on the type of the fastener 140. In addition, the shaft 130 can be selected from bolts, screws, etc., and the bolts are, for example, hexagonal bolts. At this time, the limiting portion 131 is the nut of the bolt, and the shaft body 132 is the screw rod of the bolt. The internal thread of the first nut 141, the internal thread of the second nut 142 and the external thread of the screw rod can further be selected as fine threads.

[0069] like Figure 3 and Figure 4 As shown, in one embodiment, the second joint component 120 includes a fourth connecting portion 121 and a bearing portion 122, the fourth connecting portion 121 is provided with a second through hole 1211, and is provided with a groove 1212 connected to the second through hole 1211, the groove 1212 is connected to the limiting space 1131, the bearing portion 122 is provided at the groove 1212, and the shaft component 130 is passed through the bearing portion 122, the groove 1212 and the second through hole 1211.

[0070] It can be understood that, by providing the bearing portion 122 , the friction generated when the first joint component 110 and the second joint component 120 rotate relative to each other can be reduced, so that the movement of the joint assembly 100 is smoother and more stable.

[0071] like Figure 4 , Fig.10 and Fig.11 As shown, further, the groove 1212 includes a first groove body 12121 and a second groove body 12122, the first groove body 12121 is located on one side of the fourth connecting portion 121 along the axial direction of the shaft member 130, and the second groove body 12122 is located on the other side of the fourth connecting portion 121 along the axial direction of the shaft member 130, and the bearing portion 122 includes a first bearing 1221 and a second bearing 1222, and the first bearing 1221 and the second bearing 1222 both include an inner ring and an outer ring arranged around the inner ring, and the outer ring of the first bearing 1221 is at least partially arranged in the first groove body 12121, and the inner ring of the first bearing 1221 The ring is sleeved on the shaft 130, the outer ring of the second bearing 1222 is at least partially arranged in the second groove body 12122, the inner ring of the second bearing 1222 is sleeved on the shaft 130, and a support portion 114 is arranged on the first joint 110. The support portion 114 includes a first boss 1141 and a second boss 1142. The first boss 1141 is located on one side of the first joint 110 along the axial direction of the shaft 130, and abuts against the inner ring of the first bearing 1221. The second boss 1142 is located on the other side of the first joint 110 along the axial direction of the shaft 130, and abuts against the inner ring of the second bearing 1222.

[0072] It can be understood that, since the outer ring of the first bearing 1221 is at least partially disposed in the first groove 12121, the inner ring of the first bearing 1221 is sleeved on the shaft 130, the outer ring of the second bearing 1222 is at least partially disposed in the second groove 12122, and the inner ring of the second bearing 1222 is sleeved on the shaft 130, at the same time, the first boss 1141 is located on one side of the first joint 110 along the axial direction of the shaft 130, and abuts against the inner ring of the first bearing 1221, and the second boss 1142 is located on the other side of the first joint 110 along the axial direction of the shaft 130, and abuts against the inner ring of the second bearing 1222. In this way, the first bearing 1221 and the second bearing 1222 can be preloaded to improve the smoothness and stability of the joint assembly 100. At the same time, such a symmetrical arrangement enables the first joint component 110 and the second joint component 120 to have better balance when they rotate relative to each other, improves the unbalanced force on the two opposite sides of the joint assembly 100 along the axial direction of the shaft 130, thereby further improving the smoothness and stability of the movement of the joint assembly 100.

[0073] It should be noted that since the inner ring and outer ring of the first bearing 1221 and the second bearing 1222 can rotate relative to each other, and the first joint component 110 is connected to the inner rings of the first bearing 1221 and the second bearing 1222 through the shaft 130, the fourth connecting part 121 is connected to the outer rings of the first bearing 1221 and the second bearing 1222 through the first groove body 12121 and the second groove body 12122, so that the first joint component 110 and the second joint component 120 can rotate relative to each other.

[0074] like Figure 8 and Fig. 9 As shown, further, the side of the first bearing 1221 away from the second bearing 1222 is flush with the side of the fourth connection part 121 away from the second bearing 1222, and the side of the second bearing 1222 away from the first bearing 1221 is flush with the side of the fourth connection part 121 away from the first bearing 1221. In this way, combined with the supporting effect of the first boss 1141 and the second boss 1142, the possibility of the first joint part 110 transitioning to fit the fourth connection part 121 and causing the axial gap d to be too small can be effectively reduced, thereby improving the situation of parts wear and insufficient movement smoothness due to the too small axial gap d.

[0075] Furthermore, the outer ring of the entire first bearing 1221 is just completely accommodated in the first groove body 12121, and the outer ring of the entire second bearing 1222 is just completely accommodated in the second groove body 12122, which can also effectively reduce the possibility of the first joint component 110 transitioning to fit the fourth connecting part 121 and causing the axial gap d to be too small.

[0076] like Figure 8 and Fig. 9 As shown, further, the first bearing 1221 is a first angular contact bearing, the second bearing 1222 is a second angular contact bearing, and the first angular contact bearing and the second angular contact bearing are arranged opposite to each other along the axial direction of the shaft 130. This arrangement of the angular contact bearings arranged opposite to each other further improves the situation where the joint assembly 100 is subjected to unbalanced forces on two opposite sides along the axial direction of the shaft 130.

[0077] Of course, for the above embodiment, the first angular contact bearing and the second angular contact bearing may further be double-row angular contact ball bearings, four-point angular contact ball bearings, thrust angular contact ball bearings, and the like.

[0078] In a second aspect, an embodiment of the present application provides a robot, comprising the joint assembly 100 in any embodiment of the first aspect described above.

[0079] Exemplarily, the joint assembly 100 can be applied to the leg structure, foot structure, hand structure, etc. of a humanoid robot to realize relative movement between two joint arms, such as relative rotation between the calf and thigh, relative rotation between the calf and the sole of the foot, relative rotation between the forearm and the upper arm, relative rotation between the palm and the forearm, relative rotation between the fingers and the palm, etc.

[0080] It can be understood that since the robot provided in this embodiment has the joint component 100 in any embodiment of the first aspect mentioned above, it has all the beneficial effects of the joint component 100, which will not be described one by one here.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0082] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A joint assembly, characterized in that: include: The first joint part defines a limiting space and is provided with an opening communicating with the limiting space; A second joint component is at least partially located in the limiting space, and the first joint component is sleeved on the second joint component through the limiting space and the opening; A shaft member, passing through the first joint member and the second joint member, so as to enable the first joint member to be rotatably connected with the second joint member; A fastener is sleeved on the shaft and abuts against the first joint component. The fastener can move along the axial direction of the shaft so that when the fastener abuts against the first joint component, a force is applied toward the second joint component to elastically deform the first joint component.

2. The joint assembly according to claim 1, characterized in that: The first joint component includes a first connection part, a second connection part and a third connection part, the third connection part is connected between the first connection part and the second connection part, the first connection part, the second connection part and the third connection part enclose the limiting space and the opening, the shaft member passes through the first connection part and the second connection part, the fastener is located on the side of the second connection part away from the first connection part along the axial direction of the shaft member, and the fastener abuts against the second connection part.

3. The joint assembly according to claim 2, characterized in that: The first connecting portion, the second connecting portion and the third connecting portion are enclosed to form a U-shaped structure.

4. The joint assembly according to claim 2, characterized in that: The shaft member includes a limiting portion and a shaft body portion connected to each other, a first through hole connected to the limiting space is provided on the first joint member, the shaft body portion is passed through the first through hole, the limiting portion is located outside the limiting space, the limiting portion is located at one end of the shaft body portion and extends in a direction perpendicular to the axial direction of the shaft member, and abuts against the first connecting portion, and the fastener is sleeved and connected to one end of the shaft body portion away from the limiting portion.

5. The joint assembly according to claim 4, characterized in that: The limiting portion can move along the axial direction of the shaft component, so that when the limiting portion abuts against the first joint component, a force is applied in a direction toward the second joint component to elastically deform the first joint component.

6. The joint assembly according to claim 4, characterized in that: The fastener comprises a first nut, the first nut is sleeved on the shaft body and threadedly connected to the shaft body, and the first nut abuts against the first joint component.

7. The joint assembly according to claim 6, characterized in that: The fastener further includes a second nut, which is sleeved on the shaft body and threadedly connected to the shaft body. The second nut is located at an end of the first nut away from the first joint and abuts against the first nut.

8. The joint assembly according to any one of claims 1 to 7, characterized in that: The second joint component includes a fourth connecting portion and a bearing portion, the fourth connecting portion is provided with a second through hole, and is provided with a groove connected to the second through hole, the groove is connected to the limiting space, the bearing portion is arranged at the groove, and the shaft member is passed through the bearing portion, the groove and the second through hole.

9. The joint assembly according to claim 8, characterized in that: The groove includes a first groove body and a second groove body, wherein the first groove body is located on one side of the fourth connecting portion along the axial direction of the shaft, and the second groove body is located on the other side of the fourth connecting portion along the axial direction of the shaft; The bearing portion comprises a first bearing and a second bearing, wherein the first bearing and the second bearing each comprise an inner ring and an outer ring arranged around the inner ring, the outer ring of the first bearing is at least partially arranged in the first groove body, the inner ring of the first bearing is sleeved on the shaft member, the outer ring of the second bearing is at least partially arranged in the second groove body, and the inner ring of the second bearing is sleeved on the shaft member; The first joint component is provided with a first boss and a second boss. The first boss is located on one side of the first joint component along the axial direction of the shaft component and abuts against the inner ring of the first bearing. The second boss is located on the other side of the first joint component along the axial direction of the shaft component and abuts against the inner ring of the second bearing.

10. The joint assembly according to claim 9, characterized in that: A side of the first bearing away from the second bearing is flush with a side of the fourth connection portion away from the second bearing, and a side of the second bearing away from the first bearing is flush with a side of the fourth connection portion away from the first bearing.

11. The joint assembly according to claim 9, characterized in that: The first bearing is a first angular contact bearing, the second bearing is a second angular contact bearing, and the first angular contact bearing and the second angular contact bearing are arranged opposite to each other in the axial direction of the shaft.

12. A robot, characterized in that: A joint assembly comprising the joint assembly according to any one of claims 1 to 11.

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