Joint module, intelligent limb joint and robot

Abstract

The invention relates to a joint module, an intelligent limb joint and a robot. The joint module comprises a motor, the motor comprises a shell, a stator and a rotor, and the stator and the rotor are both arranged in the shell; the shifting fork is connected with the rotor, and the shifting fork comprises a plurality of shifting blocks which are arranged at intervals; the clutch comprises a fixing piece, a star wheel, an abutting piece and an elastic piece, the fixing piece is connected with the shell, and the fixing piece comprises an inner ring part; the star wheel comprises a wheel body and a protruding part protruding outwards from the wheel body. In the radial direction of the wheel body, the shifting blocks are arranged between the inner ring part and the wheel body, the protruding parts are located between every two adjacent shifting blocks, and the protruding parts, the wheel body, the inner ring part and the shifting blocks define a containing cavity. An abutting piece is arranged in the containing cavity, when the clutch is in a self-locking state, the abutting piece is pressed by the elastic piece in an abutting mode and clamped between the inner ring part and the wheel body, and when the shifting fork rotates, the shifting block shifts the abutting piece, and the self-locking state of the clutch is relieved.

Description

Technical Field

[0001] The present disclosure relates to the field of terminal technology, and in particular to a joint module, an intelligent limb and a robot. Background Art

[0002] For some intelligent use scenarios, robots are usually needed to implement related functional operations. The hand or leg joints of the robot may need to be fixed in a certain position when performing some actions, which is usually achieved by electromagnetic braking. However, electromagnetic braking requires a power supply and a controller to control the energization and attraction of the electromagnetic brake coil, which will cause power waste to a certain extent and is not conducive to the battery life. Summary of the invention

[0003] The present disclosure provides a joint module, an intelligent limb and a robot to solve the deficiencies in the related art.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a joint module, comprising:

[0005] A motor, comprising a housing, a stator and a rotor, wherein the stator and the rotor are both arranged in the housing;

[0006] A shift fork, the shift fork is connected to the rotor, and the shift fork includes a plurality of shift blocks arranged at intervals;

[0007] A clutch, the clutch comprising a fixing member, a star wheel, a pressing member and an elastic member, the fixing member is connected to the housing, the fixing member comprises an inner ring portion; the star wheel comprises a wheel body and a convex portion protruding outward from the wheel body;

[0008] Wherein, in the radial direction of the wheel body, the toggle block is arranged between the inner ring portion and the wheel body, the convex portion is located between two adjacent toggle blocks, and the convex portion, the wheel body, the inner ring portion and the toggle block form an accommodating cavity; the abutting member is arranged in the accommodating cavity, and when the clutch is in a self-locking state,

[0009] The compressive elastic force of the elastic member presses the pressing member, so that the pressing member is wedged between the wheel body and the inner ring portion. When the shift fork rotates, the shift block shifts the pressing member to release the self-locking state of the clutch.

[0010] Optionally, when the clutch is in a self-locking state, the compressive elastic force exerted on the abutting members located on both sides of the same convex portion has component forces pointing in opposite directions in the tangential direction of the wheel body.

[0011] Optionally, the abutting members located on both sides of the same protrusion are connected to the same elastic member, and the elastic member passes through the protrusion and / or the wheel body;

[0012] Alternatively, one end of each elastic member is connected to the protrusion and / or the wheel body, and the other end is connected to the abutting member.

[0013] Optionally, the wheel body includes an inclined surface arranged between the convex portion and the shifting block, and when the clutch is in a self-locking state, the abutting member is wedged between the inclined surface and the inner ring portion;

[0014] One of the two inclined surfaces located on both sides of the same protrusion has a positive slope and the other has a negative slope.

[0015] Optionally, the slopes of the two inclined surfaces located on both sides of the same protrusion are opposite.

[0016] Optionally, the volume of the accommodating cavity at one end close to the toggle block is smaller than the volume of the accommodating cavity at one end close to the convex portion.

[0017] Optionally, the inner ring portion, the shift block and the wheel body are concentrically arranged.

[0018] Optionally, the housing includes a first surrounding portion, a second surrounding portion and a connecting portion, the first surrounding portion is arranged around the outside of the second surrounding portion, the first surrounding portion is connected to the fixing member, and the connecting portion is connected between the first surrounding portion and the second surrounding portion; the stator and the rotor are arranged between the first surrounding portion and the second surrounding portion;

[0019] The joint module also includes a reducer surrounded by the second surrounding portion.

[0020] Optionally, the fixing member is connected to the first surrounding portion, and the fixing member and the connecting portion are located at two opposite ends of the first surrounding portion; the shift fork is connected to the rotor;

[0021] The input end of the reducer is provided with the shift fork and connected with the star wheel.

[0022] Optionally, the fixing member further includes a plurality of support bars and an outer ring portion, wherein the plurality of support bars are connected between the outer ring portion and the inner ring portion, and the outer ring portion is connected to the first surrounding portion.

[0023] Optionally, the shift fork comprises:

[0024] a main body portion, the main body portion being connected to the rotor and being located at an end of the rotor away from the connecting portion,

[0025] A shift fork surrounding portion, wherein the shift fork surrounding portion and the shift block are respectively connected to the main body portion, and the shift fork surrounding portion is arranged around the inner ring portion;

[0026] The joint module also includes a bearing, which is supported between the inner ring portion and the fork surrounding portion.

[0027] Optionally, the pressing member includes a roller, and the elastic member includes a spring.

[0028] According to a second aspect of an embodiment of the present disclosure, there is provided an intelligent limb, comprising a joint module as described in any one of the above.

[0029] According to a second aspect of an embodiment of the present disclosure, there is provided a robot comprising a joint module as described in any one of the above.

[0030] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0031] It can be seen from the above embodiments that the mechanical structure of the clutch is used in the present disclosure to achieve braking of the joint module, realizing full mechanical self-locking braking, without wasting electric energy, and having a stable braking effect. Especially when the motor stops outputting, the clutch can be used to achieve steady-state self-locking, which has a significant effect on battery energy saving and battery life of the relevant terminals equipped with the joint module.

[0032] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0034] Figure 1 It is a schematic structural diagram of a joint module according to an exemplary embodiment.

[0035] Figure 2 yes Figure 1 Schematic diagram of the cross section of the mid-joint module.

[0036] Figure 3 yes Figure 2 Schematic diagram of the decomposition.

[0037] Figure 4 yes Figure 1 Another cross-sectional diagram of the mid-joint module. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0039] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0040] It should be understood that although the terms fork, bracket, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, fork information may also be referred to as bracket information, and similarly, bracket information may also be referred to as fork information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0041] Figure 1 is a structural diagram of a joint module according to an exemplary embodiment. Figure 2 yes Figure 1 Cross-sectional diagram of the middle joint module, Figure 3 yes Figure 2 Schematic diagram of the decomposition of Figure 4 yes Figure 1 Another cross-sectional diagram of the middle joint module. Figure 1-Figure 4 As shown, the joint module includes a motor 1, a fork 2 and a clutch 3. The motor 1 includes a housing 11, a stator 12 and a rotor 13, wherein the stator 12 and the rotor 13 are respectively arranged in the housing 11, the fork 2 is connected to the rotor 13, and the fork 2 can be driven to rotate by the rotor 13. The fork 2 also includes a plurality of shift blocks arranged at intervals, such as Figure 2 As shown, the shift fork 2 may include a first shift block 21 and a second shift block 22 , and the first shift block 21 and the second shift block 22 may be driven to rotate by the subsequent rotation of the rotor 13 .

[0042] The clutch 3 includes a fixing member 31, a star wheel 32, a pressing member 33 and an elastic member 34. The fixing member 31 is connected to the housing 11 to achieve relative fixation. The fixing member 31 includes an inner ring portion 311. Figure 2 As shown, the inner ring portion 311 can be a full-circle structure, or the inner ring portion 311 is an arc-shaped structure at one end, and the fixing member 31 includes a plurality of concentrically arranged inner ring portions 311 in an arc-shaped structure, the star wheel 32 includes a wheel body 321 and a convex portion 322 protruding outward from the wheel body 321, and in the radial direction of the wheel body 321, the first toggle block 21 and the second toggle block 22 are arranged between the inner ring portion 311 and the wheel body 321, and the convex portion 322 is located between the first toggle block 21 and the second toggle block 22, such as Figure 2 As shown in the figure, a single protrusion 322 is provided between the upper end gap between the first toggle block 21 and the second toggle block 22, and a single protrusion 322 is provided between the lower end gap between the first toggle block 21 and the second toggle block 22. The first toggle block 21, the protrusion 322, the wheel body 321 and the inner ring portion 311 can cooperate to form an upper left accommodating cavity and a lower left accommodating cavity, and the second toggle block 22, the protrusion 322, the wheel body 321 and the inner ring portion 311 can also cooperate to form an upper right accommodating cavity and a lower right accommodating cavity.

[0043] Furthermore, a retaining member 33 is respectively provided in the upper left accommodating chamber, the lower left accommodating chamber, the upper right accommodating chamber and the lower right accommodating chamber. When the clutch 3 is in the self-locking state, the retaining member 33 in the upper left accommodating chamber is pressed by the compressive elastic force of the elastic member 34, so that the retaining member 33 is wedged between the inner ring portion 311 and the wheel body 321. Similarly, the retaining member 33 in the lower left accommodating chamber is pressed by the compressive elastic force of the elastic member 34, so that the retaining member 33 is wedged between the inner ring portion 311 and the wheel body 321. The retaining member 33 in the upper right accommodating chamber is pressed by the compressive elastic force of the elastic member 34, so that the retaining member 33 is wedged between the inner ring portion 311 and the wheel body 321. The elastic force is pressed so that the retaining member 33 is wedged between the inner ring portion 311 and the wheel body 321. Therefore, when the star wheel 32 is used as the input end to input power, since the retaining member 33 is clamped between the inner ring portion 311 and the wheel body 321, when the star wheel 32 has a tendency to rotate clockwise, due to the action of the retaining member 33 in the upper right accommodating chamber and the lower left accommodating chamber, the star wheel 32 and the fixing member 31 become a main body moving together, and the fixed setting of the fixing member 31 limits the rotation of the star wheel 32; similarly, when the star wheel 32 has a tendency to rotate counterclockwise, due to the action of the retaining member 33 in the lower right accommodating chamber and the upper left accommodating chamber, the rotation of the star wheel 32 can be limited, thereby avoiding the reversal of the motor 1 caused by external force.

[0044] When the rotor 13 rotates clockwise, the first toggle block 21 and the second toggle block 22 of the shift fork 2 are driven to rotate, and the first toggle block 21 can toggle the locking piece 33 in the upper left accommodating chamber, and the second toggle block 22 can toggle the locking piece 33 in the lower right accommodating chamber, thereby driving the star wheel 32 to rotate clockwise; similarly, when the rotor 13 rotates counterclockwise, the first toggle block 21 and the second toggle block 22 of the shift fork 2 are driven to rotate, and the first toggle block 21 can toggle the locking piece 33 in the lower left accommodating chamber, and the second toggle block 22 can toggle the locking piece 33 in the upper right accommodating chamber, thereby driving the star wheel 32 to rotate counterclockwise, thereby realizing the power output of the joint module.

[0045] It can be seen from the above embodiments that the mechanical structure of the clutch 3 is used in the present disclosure to achieve braking of the joint module, realizing full mechanical self-locking braking, without wasting electric energy, and having a stable braking effect. Especially when used in intelligent limbs, the motor 1 can stop outputting, and the clutch 3 can be used to achieve steady-state self-locking of the intelligent limb, which has a significant effect on the battery energy saving and battery life of the intelligent limb. At the same time, the mechanical self-locking of the clutch 3 will not affect the power output of the motor 1, and can realize one-way power transmission of the joint module to avoid reversal of the motor 1.

[0046] In order to ensure that the clutch 3 can self-lock and release the self-locking state of the clutch 3 when the motor 1 rotates, the volume of the accommodating chamber 4 near the toggle block is smaller than the volume of the accommodating chamber 4 near the convex portion 322. Therefore, the elastic member 34 can press the pressing member 33 against the end of the accommodating chamber 4 with a small volume, so that the pressing member 33 is clamped. When the toggle block rotates, the pressing member 33 can be pushed to the end of the accommodating chamber with a large volume, so as to unlock the pressing member 33, and the star wheel 32 can rotate with the fork 2. The fork 2 can be an independent part independent of the clutch 3 and the motor 1, or the fork 2 can be an integral structure with the rotor, or the fork 2 can be a part of the clutch 3, which is not limited by the present disclosure. The pressing member 33 can include a roller or other cylindrical structure, and the elastic member 34 can be a spring, such as a coil spring, a leaf spring, or a scroll spring.

[0047] It should be noted that, in the aforementioned embodiment, the fork 2 includes two toggle blocks, the first toggle block 21 and the second toggle block 22, for example. In other embodiments, the fork 2 may also include three or more toggle blocks, and the present disclosure does not limit this. In the aforementioned embodiment, a single abutting member 33 is arranged in each accommodating chamber 4 as an example. In other embodiments, a plurality of mutually connected abutting members 33 may also be provided, and the elastic member 34 may act on any abutting member 33. In the aforementioned embodiment, the upper left accommodating chamber, the lower left accommodating chamber, the upper right accommodating chamber and the lower right accommodating chamber are respectively provided with abutting members 33 as an example, so as to realize the clockwise and counterclockwise bidirectional check function. In fact, in other embodiments, the abutting members 33 are only provided in the upper left accommodating chamber and the upper right accommodating chamber, and the clockwise and counterclockwise bidirectional check function can also be realized. In some other embodiments, any of the upper left accommodating chamber, the lower left accommodating chamber, the upper right accommodating chamber and the lower right accommodating chamber may be provided with abutting members 33, so as to realize the check function in the clockwise or counterclockwise direction. In the above embodiment, a single protrusion 322 is provided between the first toggle block 21 and the second toggle block 22 as an example for explanation. In other embodiments, multiple protrusions may be provided in the gap between the first toggle block 21 and the second toggle block 22, wherein the protrusion 322 located at the edge is used to form the accommodating cavity 4, which may be specifically designed as required. Optionally, the fork 2 may also include an embodiment of three or more toggle blocks, and the specific implementation direction may refer to the above embodiment, which will not be repeated here.

[0048] In the above embodiment, a single protrusion 322 is provided between the first toggle block 21 and the second toggle block 22, and the compressive elastic force exerted on the abutting members 33 on both sides of the same protrusion 322 has components pointing in opposite directions in the tangential direction of the wheel body 321. Figure 4 As shown, the compressive elastic force on the abutting piece 33 in the upper left accommodating chamber has a component force pointing in the counterclockwise direction in the tangential direction of the wheel body 321, and the compressive elastic force on the abutting piece 33 in the upper right accommodating chamber has a component force pointing in the clockwise direction in the wheel body 321 and upward. Based on this, when the star wheel 32 has a clockwise movement tendency, the abutting piece 33 in the upper right accommodating chamber is wedged between the inner ring part 311 and the wheel body 321, and the star wheel 32 cannot rotate clockwise; when the star wheel 32 has a counterclockwise movement tendency, the abutting piece 33 in the upper left accommodating chamber is wedged between the inner ring part 311 and the wheel body 321, and the star wheel 32 cannot rotate counterclockwise, thereby realizing the two-way non-return function of the joint module.

[0049] Among them, Figure 4As shown, the abutting members 33 located on both sides of the same convex portion 322 can be connected to the same elastic member 34, for example, the elastic member 34 can be connected to the two abutting members by passing through the convex portion 322; in other embodiments, the elastic member 34 can also be connected to the two abutting members by passing through the wheel body 321, or partially pass through the wheel body 321 and partially pass through the convex portion 322 to connect to the two abutting members 33. Optionally, in some embodiments, the elastic member 34 and the abutting member 33 are connected in a one-to-one correspondence, and the other end of the elastic member 34 can be connected to the convex portion 322 used to enclose the corresponding accommodating cavity 4, the elastic member 34 can be directly connected to the side surface of the convex portion 322, or a groove can be formed in the convex portion 322, and the elastic member 34 is partially arranged in the groove and connected to the convex portion 322 of the groove. Of course, the elastic member 34 can also be connected to the abutting member 33 at one end and connected to the wheel body 321 at the other end.

[0050] In the above embodiment, the wheel body 321 includes an inclined surface disposed between the convex portion 322 and the toggle block. When the clutch 3 is in the self-locking state, the abutting member 33 is wedged between the inclined surface and the inner ring portion 311. The slope of one of the two inclined surfaces located on both sides of the same convex portion 322 is a positive number, and the slope of the other is a negative number. For example, Figure 4 As shown, the upper left accommodating cavity and the upper right accommodating cavity are located on both sides of the same convex portion 322, a first inclined surface 3211 is provided between the first toggle block 21 and the convex portion 322, and when the clutch 3 is in the self-locking state, the abutting piece 33 in the upper left accommodating cavity is wedged between the first inclined surface 3211 and the inner ring portion 311; a second inclined surface 3212 is provided between the second toggle block 22 and the convex portion 322, and when the clutch 3 is in the self-locking state, the abutting piece 33 in the upper right accommodating cavity is wedged between the second inclined surface 3212 and the inner ring portion 311, with the horizontal rightward direction as the positive direction and the vertical upward direction as the positive direction. The direction is a square, the slope of the first inclined surface 3211 is a positive number, and the slope of the second inclined surface 3212 is a negative number, so that the spatial volume of the upper left accommodating chamber gradually increases from the direction close to the first toggle block 21 to the convex portion 322, that is, the volume increases in the clockwise direction, providing movement space for the clamping member 33 when the self-locking state of the clutch 3 is released; the spatial volume of the upper right accommodating chamber gradually increases from the direction close to the second toggle block 22 to the convex portion 322, that is, it gradually increases in the counterclockwise direction, providing movement space for the clamping member 33 when the self-locking state of the clutch 3 is released.

[0051] Furthermore, the slopes of the two inclined surfaces on both sides of the same convex portion 322 are opposite numbers, for example, the slopes of the first inclined surface 3211 and the second inclined surface 3212 are opposite numbers, that is, the slopes of the first inclined surface 3211 and the second inclined surface 3212 are equal, for example, the first inclined surface 3211 and the second inclined surface 3212 can be arranged in a mirror image to simplify the processing of the star wheel 32. It should be noted that, when the star wheel 32 includes multiple convex portions 322, the inclined surfaces of the wheel body 321 can be respectively provided on both sides of any one or more of the convex portions 322, and the specific design can be as needed.

[0052] In some embodiments, the plurality of shifting blocks of the shift fork 2 may all be shifting blocks with an arc-shaped structure, and the inner ring portion 311 , the shifting blocks, and the wheel body 321 may be concentrically arranged.

[0053] In some embodiments, in order to decelerate the motor 1, the joint module may further include a reducer 6, and in order to improve the integration of the joint module, the reducer 6 may be integrated into the housing 11. For example, the housing 11 may include a first surrounding portion 111, a second surrounding portion 112 and a connecting portion 113, wherein the first surrounding portion 111 is arranged around the outside of the second surrounding portion 112, the first surrounding portion 111 is connected to the fixing member 31, the connecting portion 113 is connected between the first surrounding portion 111 and the second surrounding portion 112, the stator 12 and the rotor 13 may be arranged between the first surrounding portion 111 and the second surrounding portion 112, and the second surrounding portion 112 is arranged around the reducer 6. Based on this, the second surrounding portion 112 is arranged around the reducer 6, which is conducive to the compact layout of the joint module on the one hand, and is conducive to reducing the height size of the joint module on the other hand, thereby facilitating the reduction of the length size of the intelligent limb of the configured joint module, and is conducive to reducing the terminal inertia of the intelligent limb, and is conducive to motion control of the intelligent limb. The reducer 6 may be a planetary reducer, a harmonic reducer, or a cycloid reducer, etc., and the present disclosure does not limit this.

[0054] In the above embodiment, the output power of the motor 1 can be transmitted to the reducer via the clutch 3. For example, the fixing member 31 can be connected to the first surrounding portion 111, and the fixing member 31 and the connecting portion 113 are located at opposite ends of the first surrounding portion 111. In other words, the fixing member 31 can be arranged at an open end of the cavity between the first surrounding portion 111 and the second surrounding portion 112. The shift fork 2 is connected to the rotor 13. The reducer 6 includes an input end 61, which can be connected to the star wheel 32 through the shift fork 2, so that the power of the motor 1 is transmitted to the reducer 6 through the star wheel 32, and further transmitted through the output end of the reducer 6.

[0055] In order to achieve the connection between the fixing member 31 and the housing 11, the fixing member 31 further includes an outer ring portion 313 and a plurality of brackets 312, wherein the plurality of brackets 312 are connected between the inner ring portion 311 and the outer ring portion 313, and the outer ring portion 313 is connected to the housing 11. Thus, the structure of the fixing member 31 can be extended outward through the brackets 312, so as to further achieve the connection with the first surrounding portion 111 through the outer ring portion 313. The plurality of brackets 312 can be radially arranged on the periphery of the inner ring portion 311, so as to achieve the purpose of weight reduction while achieving a stable connection.

[0056] Furthermore, the fork 2 also includes a main body 23 and a fork surrounding portion 24, the main body 23 is connected to the rotor 13, and the main body 23 is located at the end of the rotor 13 away from the connecting portion 113, that is, the main body 23 is located at the opening end of the cavity between the first surrounding portion 111 and the second surrounding portion 112, so that the fork 2 and the fixing member 31 are relatively close to each other in the axial direction of the housing 11, which is conducive to realizing the relative position relationship between the subsequent shifting block and the inner ring portion 311. The shifting fork surrounding portion 24 and the shifting block are respectively connected to the main body 23, and the shifting fork surrounding portion 24 is arranged around the outer side of the inner ring portion 311. The joint module also includes a bearing 5, which is supported between the inner ring portion 311 and the shifting fork surrounding portion 24, so as to realize the relative rotation between the shifting fork 2 and the fixing member 31, so that the star wheel 32 can be driven to rotate through the shifting fork 2. Among them, the bearing 5 can be a cross roller bearing to improve the bending and torsion resistance of the joint module.

[0057] Furthermore, the joint module further includes a motor drive controller 7, which can be connected to the end of the fixing member 31 away from the reducer 6, and the motor drive controller 7 can be used to control the rotation of the motor 1. Optionally, the above description is based on the example that the output power of the motor 1 can be transmitted to the reducer 6 via the clutch 3. In other embodiments, the output power of the motor 1 can be output to the clutch 3 via the reducer 6 and then output via the clutch 3.

[0058] Based on the above embodiments, the present disclosure further provides an intelligent limb, which may include the joint module described in any of the above embodiments. The intelligent limb may be used as an independent device, or the intelligent limb may be a component of other intelligent devices.

[0059] The present disclosure also provides a robot, which may include the joint module described in any of the aforementioned embodiments, and the joint module can be used as a leg shutdown module, a hand joint module, a neck joint module, etc. of the robot. By using the joint module, after the robot stands stably, the motor 1 can stop outputting torque, and the self-locking performance of each leg joint module can be used to maintain steady-state standing.

[0060] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0061] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A joint module, characterized in that: include: A motor, comprising a housing, a stator and a rotor, wherein the stator and the rotor are both arranged in the housing; A shift fork, the shift fork is connected to the rotor, and the shift fork includes a plurality of shift blocks arranged at intervals; A clutch, the clutch comprising a fixing member, a star wheel, a pressing member and an elastic member, the fixing member is connected to the housing, the fixing member comprises an inner ring portion; the star wheel comprises a wheel body and a convex portion protruding outward from the wheel body; Wherein, in the radial direction of the wheel body, the toggle block is arranged between the inner ring part and the wheel body, the convex part is located between two adjacent toggle blocks, and the convex part, the wheel body, the inner ring part and the toggle block form an accommodating cavity; the retaining member is arranged in the accommodating cavity, and when the clutch is in a self-locking state, the compressive elastic force of the elastic member presses the retaining member, so that the retaining member is wedged between the wheel body and the inner ring part, and when the shift fork rotates, the toggle block toggle the retaining member to release the self-locking state of the clutch.

2. The joint module according to claim 1, characterized in that: When the clutch is in a self-locking state, the compressive elastic force exerted on the abutting members located on both sides of the same convex portion has force components pointing in opposite directions in the tangential direction of the wheel body.

3. The joint module according to claim 2, characterized in that: The abutting members located on both sides of the same protrusion are connected to the same elastic member, and the elastic member passes through the protrusion and / or the wheel body; Alternatively, one end of each elastic member is connected to the protrusion and / or the wheel body, and the other end is connected to the abutting member.

4. The joint module according to claim 2, characterized in that: The wheel body comprises an inclined surface arranged between the convex portion and the shifting block, and when the clutch is in a self-locking state, the abutting member is wedged between the inclined surface and the inner ring portion; One of the two inclined surfaces located on both sides of the same protrusion has a positive slope and the other has a negative slope.

5. The joint module according to claim 4, characterized in that: The slopes of the two inclined surfaces located on both sides of the same protrusion are opposite.

6. The joint module according to claim 1, characterized in that: The volume of the accommodating cavity at one end close to the shifting block is smaller than the volume of the accommodating cavity at one end close to the convex portion.

7. The joint module according to claim 1, characterized in that: The inner ring portion, the shifting block and the wheel body are concentrically arranged.

8. The joint module according to claim 1, characterized in that: The housing includes a first surrounding portion, a second surrounding portion and a connecting portion, wherein the first surrounding portion is arranged around the outside of the second surrounding portion, the first surrounding portion is connected to the fixing member, and the connecting portion is connected between the first surrounding portion and the second surrounding portion; the stator and the rotor are arranged between the first surrounding portion and the second surrounding portion; The joint module also includes a reducer surrounded by the second surrounding portion.

9. The joint module according to claim 8, characterized in that: The fixing member is connected to the first surrounding portion, and the fixing member and the connecting portion are located at two opposite ends of the first surrounding portion; the shift fork is connected to the rotor; The input end of the reducer is provided with the shift fork and connected with the star wheel.

10. The joint module according to claim 9, characterized in that: The fixing member further includes a plurality of support bars and an outer ring portion, wherein the plurality of support bars are connected between the outer ring portion and the inner ring portion, and the outer ring portion is connected to the first surrounding portion.

11. The joint module according to claim 10, characterized in that: The shift fork comprises: a main body portion, the main body portion being connected to the rotor and being located at an end of the rotor away from the connecting portion, A shift fork surrounding portion, wherein the shift fork surrounding portion and the shift block are respectively connected to the main body portion, and the shift fork surrounding portion is arranged around the inner ring portion; The joint module also includes a bearing, which is supported between the inner ring portion and the fork surrounding portion.

12. The joint module according to claim 1, characterized in that: The abutting member comprises a roller, and the elastic member comprises a spring.

13. An intelligent limb, characterized in that: Comprising a joint module as described in any one of claims 1-12.

14. A robot, characterized in that: Comprising a joint module as described in any one of claims 1-12.

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