Joint modules, intelligent limbs and robots

Abstract

This disclosure relates to a joint module, an intelligent limb, and a robot. The joint module includes: a motor, which includes a housing, a stator, and a rotor, both of which are disposed within the housing; a shift fork connected to the rotor, and the shift fork includes multiple spaced-apart actuating blocks; a clutch, which includes a fixing member, a star wheel, a clamping member, and an elastic member, the fixing member being connected to the housing and including an inner ring portion; the star wheel including a wheel body and a protrusion extending outward from the wheel body; wherein, in the radial direction of the wheel body, the actuating blocks are disposed between the inner ring portion and the wheel body, and the protrusion is located between two adjacent actuating blocks, the protrusion, the wheel body, the inner ring portion, and the actuating blocks forming a receiving cavity; a clamping member is provided within the receiving cavity, and when the clutch is in a self-locking state, the clamping member is pressed and locked between the inner ring portion and the wheel body by the elastic member, and when the shift fork rotates, the actuating blocks actuate the clamping member, releasing the self-locking state of the clutch.

Description

Technical Field

[0001] This disclosure relates to the field of terminal technology, and more particularly to a joint module, intelligent limbs, and robots. Background Technology

[0002] In some intelligent application scenarios, robots are often needed to perform related functions. When performing certain actions, the robot's hand or leg segments may need to be fixed in a certain position, typically achieved through electromagnetic braking. However, electromagnetic braking requires a power source and a controller to manage the energization and engagement of the electromagnetic brake coil, which can lead to power waste and reduce battery life. Summary of the Invention

[0003] This disclosure provides a joint module, an intelligent limb, and a robot to address shortcomings in related technologies.

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

[0005] An electric motor, comprising a housing, a stator, and a rotor, wherein the stator and the rotor are both disposed within the housing;

[0006] A shift fork, which is connected to the rotor, and the shift fork includes a plurality of spaced-apart shifting blocks;

[0007] The clutch includes a fixed member, a star wheel, a clamping member, and an elastic member. The fixed member is connected to the housing and includes an inner ring portion. The star wheel includes a wheel body and a protrusion extending outward from the wheel body.

[0008] In the radial direction of the wheel body, the actuating block is disposed between the inner ring portion and the wheel body, and the protrusion is located between two adjacent actuating blocks. The protrusion, the wheel body, the inner ring portion, and the actuating block form a receiving cavity. The receiving cavity is provided with the abutting member. When the clutch is in a self-locking state...

[0009] The compressive elastic force of the elastic element presses against the abutment, causing the abutment to be wedged between the wheel and the inner ring. When the shift fork rotates, the shift block moves the abutment, releasing the self-locking state of the clutch.

[0010] Optionally, when the clutch is in a self-locking state, the compressive elastic force on the abutment members located on both sides of the same protrusion has a component force 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 element is connected to the protrusion and / or the wheel body, and the other end is connected to the abutment.

[0013] Optionally, the wheel body includes an inclined surface disposed between the protrusion and the actuating block, and when the clutch is in a self-locking state, the abutment is wedged between the inclined surface and the inner ring portion;

[0014] Of the two inclined planes located on both sides of the same protrusion, one has a positive slope and the other has a negative slope.

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

[0016] Optionally, the volume of the receiving cavity near the actuating block is smaller than the volume of the receiving cavity near the protrusion.

[0017] Optionally, the inner ring, the actuating block, and the wheel are arranged concentrically.

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

[0019] The joint module also includes a speed 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 opposite ends of the first surrounding portion; the shift fork is connected to the rotor;

[0021] The input end of the reducer is connected to the star wheel via the shift fork.

[0022] Optionally, the fastener further includes multiple support bars and an outer ring portion, wherein the multiple 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 includes:

[0024] The main body is connected to the rotor, and the main body is located at the end of the rotor opposite to the connecting portion.

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

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

[0027] Optionally, the clamping element includes a roller, and the elastic element includes a spring.

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

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

[0030] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0031] As can be seen from the above embodiments, the mechanical structure of the clutch in this disclosure is used to realize the braking of the joint module, realizing fully mechanical self-locking braking, without consuming electrical energy, and with stable braking effect. In particular, when the motor stops outputting, the clutch can be used to achieve steady-state self-locking, which has a significant effect on the battery energy saving and battery life of the related terminals equipped with this joint module.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

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

[0034] Figure 1 This is a schematic diagram of the structure of a joint module according to an exemplary embodiment.

[0035] Figure 2 yes Figure 1 A cross-sectional schematic diagram of the mid-joint module.

[0036] Figure 3 yes Figure 2 A schematic diagram of its breakdown.

[0037] Figure 4 yes Figure 1 Another cross-sectional schematic diagram of the joint module. Detailed Implementation

[0038] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

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

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

[0041] Figure 1 This is a schematic diagram of the structure of a joint module according to an exemplary embodiment. Figure 2 yes Figure 1 Cross-sectional schematic diagram of the mid-joint module Figure 3 yes Figure 2 Decomposition diagram Figure 4 yes Figure 1 Another cross-sectional schematic diagram of the mid-joint module. (See diagram below.) Figures 1-4 As shown, the joint module includes a motor 1, a shift fork 2, and a clutch 3. The motor 1 includes a housing 11, a stator 12, and a rotor 13. The stator 12 and rotor 13 are respectively disposed within the housing 11. The shift fork 2 is connected to the rotor 13, and the rotor 13 drives the shift fork 2 to rotate. The shift fork 2 also includes multiple spaced-apart actuating blocks, 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 can be driven to rotate by the rotation of the rotor 13.

[0042] The clutch 3 includes a fixing member 31, a star wheel 32, a clamping member 33, and an elastic member 34. The fixing member 31 is connected to the housing 11, and the two are relatively fixed together. The fixing member 31 includes an inner ring portion 311, such as... Figure 2 As shown, the inner ring portion 311 can be a full-circle structure, or the inner ring portion 311 can be an arc-shaped structure at one end. The fixing member 31 includes multiple concentrically arranged arc-shaped inner ring portions 311. The star wheel 32 includes a wheel body 321 and a protrusion 322 extending outward from the wheel body 321. In the radial direction of the wheel body 321, the first actuating block 21 and the second actuating block 22 are disposed between the inner ring portion 311 and the wheel body 321, and the protrusion 322 is located between the first actuating block 21 and the second actuating block 22. For example... Figure 2 As shown, a single protrusion 322 is provided between the upper end gaps between the first actuating block 21 and the second actuating block 22, and a single protrusion 322 is provided between the lower end gaps between the first actuating block 21 and the second actuating block 22. The first actuating block 21, the protrusion 322, the wheel body 321 and the inner ring 311 can cooperate to form an upper left receiving cavity and a lower left receiving cavity. The second actuating block 22, the protrusion 322, the wheel body 321 and the inner ring 311 can also cooperate to form an upper right receiving cavity and a lower right receiving cavity.

[0043] Furthermore, abutment members 33 are respectively provided in the upper left receiving cavity, lower left receiving cavity, upper right receiving cavity, and lower right receiving cavity. When the clutch 3 is in the self-locking state, the abutment member 33 in the upper left receiving cavity is pressed by the compressive elastic force of the elastic member 34, so that the abutment member 33 is wedged between the inner ring portion 311 and the wheel body 321. Similarly, the abutment member 33 in the lower left receiving cavity is pressed by the compressive elastic force of the elastic member 34, so that the abutment member 33 is wedged between the inner ring portion 311 and the wheel body 321; the abutment member 33 in the upper right receiving cavity is pressed by the compressive elastic force of the elastic member 34, so that the abutment member 33 is wedged between the inner ring portion 311 and the wheel body 321; the abutment member 33 in the lower right receiving cavity is pressed by the compressive elastic force of the elastic member 34, so that the abutment member 33 is wedged between the inner ring portion 311 and the wheel body 321; the abutment member 33 in the lower right receiving cavity is pressed by the compressive elastic force of the elastic member 34. The elastic force compresses and weds the clamping member 33 between the inner ring 311 and the wheel body 321. This ensures that when the star wheel 32 is used as the input end for power input, the clamping member 33 is locked between the inner ring 311 and the wheel body 321. When the star wheel 32 tends to rotate clockwise, the clamping member 33 in the upper right and lower left accommodating cavities makes the star wheel 32 and the fixing member 31 move together as a single entity. The fixed setting of the fixing member 31 restricts the rotation of the star wheel 32. Similarly, when the star wheel 32 tends to rotate counterclockwise, the clamping member 33 in the lower right and upper left accommodating cavities restricts the rotation of the star wheel 32, thus preventing external forces from causing the motor 1 to reverse.

[0044] When the rotor 13 rotates clockwise, it drives the first actuating block 21 and the second actuating block 22 of the shift fork 2 to rotate. The first actuating block 21 can move the retaining member 33 in the upper left cavity, and the second actuating block 22 can move the retaining member 33 in the lower right cavity, thereby driving the star wheel 32 to rotate clockwise. Similarly, when the rotor 13 rotates counterclockwise, it drives the first actuating block 21 and the second actuating block 22 of the shift fork 2 to rotate. The first actuating block 21 can move the retaining member 33 in the lower left cavity, and the second actuating block 22 can move the retaining member 33 in the upper right cavity, thereby driving the star wheel 32 to rotate counterclockwise, thus realizing the power output of the joint module.

[0045] As can be seen from the above embodiments, the mechanical structure of the clutch 3 in this disclosure is used to realize the braking of the joint module, realizing fully mechanical self-locking braking, without consuming electrical energy, and the braking effect is stable. Especially when used in intelligent joints, the motor 1 can stop outputting, and the clutch 3 is used to realize the steady-state self-locking of the intelligent joint, which has a significant effect on the battery energy saving and battery life of the intelligent joint. 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 the unidirectional power transmission of the joint module, avoiding the reversal of the motor 1.

[0046] In order to ensure that the clutch 3 can self-lock and be released when the motor 1 rotates, the volume of the receiving cavity 4 near the actuating block is smaller than the volume of the receiving cavity 4 near the protrusion 322. Therefore, the elastic element 34 can press the abutment 33 against the smaller end of the receiving cavity 4, thus locking the abutment 33. When the actuating block rotates, the abutment 33 can be moved to the larger end of the receiving cavity, thereby unlocking the abutment 33. The star wheel 32 can rotate with the shift fork 2. The shift fork 2 can be an independent part separate from the clutch 3 and the motor 1, or the shift fork 2 can be an integral structure with the rotor, or the shift fork 2 can be a part of the clutch 3. This disclosure does not limit the specific components. The abutment 33 can include a roller or other cylindrical structure, and the elastic element 34 can be a spring, such as a coil spring, leaf spring, or spiral spring.

[0047] It should be noted that, in the forked embodiments, the fork 2 is described as having two actuating blocks, a first actuating block 21 and a second actuating block 22. In other embodiments, the fork 2 may also include three or more actuating blocks, and this disclosure does not impose any limitation on this. In the forked embodiments, a single abutting member 33 is arranged in each receiving cavity 4. In other embodiments, multiple interconnected abutting members 33 may also be provided, and the elastic member 34 may act on any abutting member 33. In the forked embodiments, abutting members 33 are respectively provided in the upper left receiving cavity, the lower left receiving cavity, the upper right receiving cavity, and the lower right receiving cavity to achieve a bidirectional clockwise and counterclockwise anti-reverse function is described. In fact, in other embodiments, abutting members 33 are provided only in the upper left receiving cavity and the upper right receiving cavity, which can also achieve a bidirectional clockwise and counterclockwise anti-reverse function. In some other embodiments, abutting members 33 may be provided in any one of the upper left receiving cavity, the lower left receiving cavity, the upper right receiving cavity, and the lower right receiving cavity to achieve an anti-reverse function in the clockwise or counterclockwise direction. In the foregoing embodiments, the example of a single protrusion 322 between the first actuating block 21 and the second actuating block 22 is used for illustration. In other embodiments, multiple protrusions may also be provided within the gap between the first actuating block 21 and the second actuating block 22, wherein the protrusion 322 located at the edge is used to form the receiving cavity 4, and the specific design can be customized as needed. Optionally, the fork 2 may also include embodiments with three or more actuating blocks. The specific implementation direction can be referred to the foregoing embodiments, and will not be repeated here.

[0048] In the aforementioned embodiment, a single protrusion 322 is provided between the first actuating block 21 and the second actuating block 22, and the compressive elastic force experienced by the abutting members 33 located on both sides of the same protrusion 322 has components pointing in opposite directions in the tangential direction of the wheel body 321. For example Figure 4 As shown, the compressive elastic force on the abutment 33 in the upper left cavity has a counterclockwise component in the tangential direction of the wheel body 321, and the compressive elastic force on the abutment 33 in the upper right cavity has a clockwise component in the tangential direction of the wheel body 321. Based on this, when the star wheel 32 has a clockwise tendency to move, the star wheel 32 cannot rotate clockwise because the abutment 33 in the upper right cavity is wedged between the inner ring 311 and the wheel body 321; when the star wheel 32 has a counterclockwise tendency to move, the star wheel 32 cannot rotate counterclockwise because the abutment 33 in the upper left cavity is wedged between the inner ring 311 and the wheel body 321, thus achieving the bidirectional anti-reverse function of the joint module.

[0049] Among them, still with Figure 4As shown, the abutment members 33 located on both sides of the same protrusion 322 can be connected to the same elastic member 34. For example, the elastic member 34 can pass through the protrusion 322 and connect to the two abutment members. In other embodiments, the elastic member 34 can also pass through the wheel body 321 and connect to the two abutment members, or it can partially pass through the wheel body 321 and partially pass through the protrusion 322 and connect to the two abutment members 33. Optionally, in some embodiments, the elastic member 34 and the abutment member 33 are connected in a one-to-one correspondence, and the other end of the elastic member 34 can be connected to the protrusion 322 used to form the corresponding receiving cavity 4. The elastic member 34 can be directly connected to the side surface of the protrusion 322, or a groove can be formed in the protrusion 322, and the elastic member 34 can be partially disposed in the groove and connected to the protrusion 322 in the groove. Of course, the elastic member 34 can also be connected at one end to the abutment member 33 and at the other end to the wheel body 321.

[0050] In the above embodiment, the wheel body 321 includes an inclined surface disposed between the protrusion 322 and the actuating block. When the clutch 3 is in a self-locking state, the abutment 33 is wedged between the inclined surface and the inner ring portion 311. One of the two inclined surfaces located on both sides of the same protrusion 322 has a positive slope, and the other has a negative slope. For example, such as... Figure 4 As shown, the upper left and upper right receiving cavities are located on opposite sides of the same protrusion 322. A first inclined surface 3211 is provided between the first actuating block 21 and the protrusion 322. When the clutch 3 is in the self-locking state, the abutment 33 in the upper left receiving 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 actuating block 22 and the protrusion 322. When the clutch 3 is in the self-locking state, the abutment 33 in the upper right receiving cavity is wedged between the second inclined surface 3212 and the inner ring portion 311. The direction is horizontal to the right as the positive direction, and vertically upward. The direction is square, the slope of the first inclined plane 3211 is positive and the slope of the second inclined plane 3212 is negative. In this way, the volume of the upper left cavity gradually increases from the direction near the first actuating block 21 to the protrusion 322, that is, the volume increases in the clockwise direction, providing the movement space of the abutment 33 when the self-locking state of the clutch 3 is released; the volume of the upper right cavity gradually increases from the direction near the second actuating block 22 to the protrusion 322, that is, it gradually increases in the counterclockwise direction, providing the movement space of the abutment 33 when the self-locking state of the clutch 3 is released.

[0051] Furthermore, the slopes of the two inclined surfaces located on both sides of the same protrusion 322 are opposite numbers. For example, the slopes of the first inclined surface 3211 and the second inclined surface 3212 are opposite numbers, meaning that 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 machining of the star wheel 32. It should be noted that when the star wheel 32 includes multiple protrusions 322, any one or more of the protrusions 322 can have inclined surfaces of wheel bodies 321 on both sides, which can be designed as needed.

[0052] In some embodiments, the multiple actuating blocks of the shift fork 2 can all be arc-shaped actuating blocks, and the inner ring 311, the actuating blocks and the wheel 321 can be concentrically arranged.

[0053] In some embodiments, to reduce the speed of motor 1, the joint module may also include a speed reducer 6. Furthermore, to improve the integration of the joint module, the speed reducer 6 may be integrated within 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. The first surrounding portion 111 is disposed around the outside of the second surrounding portion 112 and is connected to the fixing member 31. The connecting portion 113 connects between the first surrounding portion 111 and the second surrounding portion 112. The stator 12 and the rotor 13 may be disposed between the first surrounding portion 111 and the second surrounding portion 112. The second surrounding portion 112 surrounds the speed reducer 6. Therefore, by surrounding the speed reducer 6 with the second surrounding portion 112, it is beneficial for a compact layout of the joint module and for reducing the height of the joint module, thereby reducing the length of the intelligent limb segment of the configured joint module, reducing the end effector inertia of the intelligent limb segment, and facilitating motion control of the intelligent limb segment. The reducer 6 can be a planetary reducer, a harmonic reducer, or a cycloidal reducer, etc., and this disclosure does not impose any restrictions on it.

[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 part 111, and the fixing member 31 and the connecting part 113 are located at opposite ends of the first surrounding part 111. In other words, the fixing member 31 can be provided at one end of the opening of the cavity between the first surrounding part 111 and the second surrounding part 112. The shift fork 2 is connected to the rotor 13. The reducer 6 includes an input end 61, which can pass through the shift fork 2 and be connected to the star wheel 32, thereby transmitting the power of the motor 1 to the reducer 6 through the star wheel 32, and further transmitting it through the output end of the reducer 6.

[0055] To achieve the connection between the fastener 31 and the housing 11, the fastener 31 further includes an outer ring portion 313 and multiple supports 312. These supports 312 are connected between the inner ring portion 311 and the outer ring portion 313, with the outer ring portion 313 connected to the housing 11. This allows the fastener 31 to extend outwards via the supports 312, further facilitating its connection with the first surrounding portion 111 via the outer ring portion 313. The multiple supports 312 can be radially arranged around the inner ring portion 311, achieving both stable connection and weight reduction.

[0056] Furthermore, the shift fork 2 also includes a main body 23 and a shift fork surround 24. The main body 23 is connected to the rotor 13 and is located at the end of the rotor 13 away from the connecting part 113, that is, the main body 23 is located at the opening end of the cavity between the first surround 111 and the second surround 112. This allows the shift fork 2 and the fixing member 31 to be relatively close to each other in the axial direction of the housing 11, which is beneficial to realizing the relative positional relationship between the subsequent actuating block and the inner ring 311. The shift fork surround 24 and the actuating block are respectively connected to the main body 23, and the shift fork surround 24 is arranged around the outside of the inner ring 311. The joint module also includes a bearing 5, which is supported between the inner ring 311 and the shift fork surround 24, thereby realizing the relative rotation between the shift fork 2 and the fixing member 31, so that the star wheel 32 can be driven to rotate by the shift fork 2. The bearing 5 can be a crossed roller bearing to improve the bending and torsional resistance of the joint module.

[0057] Furthermore, the joint module also includes a motor drive controller 7, which can be connected to the end of the fixing member 31 away from the reducer 6. The motor drive controller 7 can be used to control the rotation of the motor 1. Optionally, the above description uses the example of the output power of the motor 1 being 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 foregoing embodiments, this disclosure also provides an intelligent limb segment, which may include the joint module described in any of the foregoing embodiments. The intelligent limb segment can be used as a standalone device, or it can be a component of other intelligent devices.

[0059] This disclosure also provides a robot that may include the joint module described in any of the foregoing embodiments. The joint module may serve as the robot's leg shutdown module, hand joint module, and neck joint module, etc. Using the joint module, after the robot stands stably, the motor 1 may stop outputting torque, and the self-locking performance of each leg joint module may be used to maintain a stable standing state.

[0060] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0061] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A joint module, characterized in that, include: An electric motor includes a housing, a stator, and a rotor, both of which are disposed within the housing. The housing includes a first surrounding portion, a second surrounding portion, and a connecting portion. The first surrounding portion surrounds the outer side of the second surrounding portion, and the connecting portion connects the first surrounding portion and the second surrounding portion. The stator and the rotor are disposed between the first surrounding portion and the second surrounding portion. A shift fork, which is connected to the rotor, and the shift fork includes a plurality of spaced-apart shifting blocks; The clutch includes a fixing member, a star wheel, a clamping member, and an elastic member. The fixing member is connected to the first surrounding portion, and the fixing member and the connecting portion are located at opposite ends of the first surrounding portion. The fixing member includes an inner ring portion. The star wheel includes a wheel body and a protrusion extending outward from the wheel body. The joint module also includes a reducer surrounded by the second surrounding part, and the input end of the reducer passes through the shift fork and is connected to the star wheel; In the radial direction of the wheel body, the actuating block is disposed between the inner ring portion and the wheel body, and the protrusion is located between two adjacent actuating blocks. The protrusion, the wheel body, the inner ring portion, and the actuating block form a receiving cavity. The receiving cavity is provided with the abutting member. When the clutch is in the self-locking state, the compressive elastic force of the elastic member presses against the abutting member, so that the abutting member is wedged between the wheel body and the inner ring portion. When the shift fork rotates, the actuating block actuates the abutting member, releasing 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 on the abutment members located on both sides of the same protrusion has a component force 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 element is connected to the protrusion and / or the wheel body, and the other end is connected to the abutment.

4. The joint module according to claim 2, characterized in that, The wheel body includes an inclined surface disposed between the protrusion and the actuating block. When the clutch is in a self-locking state, the abutment is wedged between the inclined surface and the inner ring. Of the two inclined planes located on both sides of the same protrusion, one 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 planes located on opposite sides of the same protrusion are opposite numbers.

6. The joint module according to claim 1, characterized in that, The volume of the receiving cavity near the actuating block is smaller than the volume of the receiving cavity near the protrusion.

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

8. The joint module according to claim 1, characterized in that, The fastener also includes multiple support bars and an outer ring portion, with the multiple support bars connected between the outer ring portion and the inner ring portion, and the outer ring portion connected to the first surrounding portion.

9. The joint module according to claim 8, characterized in that, The shift fork includes: The main body is connected to the rotor, and the main body is located at the end of the rotor opposite to the connecting portion. A fork surround portion, wherein the fork surround portion and the actuating block are respectively connected to the main body portion, and the fork surround portion is arranged around the inner ring portion; The joint module also includes a bearing, which is located between the inner ring and the fork surround.

10. The joint module according to claim 1, characterized in that, The clamping element includes rollers, and the elastic element includes springs.

11. An intelligent limb, characterized in that, Includes the joint module as described in any one of claims 1-10.

12. A robot, characterized in that, Includes the joint module as described in any one of claims 1-10.

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