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 comprises a plurality of shifting blocks which are arranged at intervals; the clutch comprises a fixing piece, a star wheel, wedge blocks and an elastic piece, each wedge block comprises a wedge-caulking part, the fixing piece is connected with the shell, the fixing piece comprises an inner ring part, the star wheel is provided with at least one receding groove which sinks inwards from the side face, each receding groove is internally provided with at least one wedge block, the wedge-caulking part of each wedge block protrudes out of the corresponding receding groove and is located between every two adjacent shifting blocks, and the elastic piece is connected with the elastic piece. The elastic piece is partially arranged in the receding groove, one end of the elastic piece is connected with the star wheel, the other end of the elastic piece is connected with the wedge block, the poking blocks are arranged between the inner ring part and the star wheel, when the clutch is in a self-locking state, the wedge-caulking part is pressed by the elastic piece to be wedged with the inner ring part, and when the shifting fork rotates, the poking blocks poke the wedge block to release the self-locking state of the clutch.

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; a clutch, the clutch includes a fixing member, a star wheel, a wedge block and an elastic member, the wedge block includes a wedge-tightening portion, the fixing member is connected to the housing, the fixing member includes an inner ring portion, the star wheel is provided with at least one avoidance groove sunken from the side, each of the avoidance grooves is provided with at least one wedge block, and the wedge-tightening portion of the wedge block protrudes out of the avoidance groove, the wedge-tightening portion is located between two adjacent shift blocks, the elastic member is partially arranged in the avoidance groove, one end of the elastic member is connected to the star wheel, and the other end is connected to the wedge block;

[0007] In the radial direction of the star wheel, a plurality of the shift blocks are arranged between the inner ring portion and the star wheel. When the clutch is in a self-locking state, at least one of the wedging portions is pressed by the elastic member to be wedged with the inner ring portion. When the shift fork rotates, the shift block shifts the wedge block to release the self-locking state of the clutch.

[0008] Optionally, when the clutch is in a self-locking state, the plurality of wedging portions are pressed by the elastic member to be wedged with the inner ring portion, and in the tangential direction of the star wheel, the force component between at least one wedging portion and the inner ring portion points in a clockwise direction, and the force component between at least one wedging portion and the inner ring portion points in a counterclockwise direction.

[0009] Optionally, the avoidance groove passes through the star wheel and is provided for at least one wedge block to pass through, so that a wedge tightening portion protrudes from each end of the avoidance groove;

[0010] When the clutch is in a self-locking state, the two wedging portions protruding out of the same avoidance groove are respectively pressed by the elastic member to be wedged against the inner ring portion.

[0011] Optionally, the avoidance groove is a groove, the wedge block is arranged in the groove, and the wedging portion of the wedge block protrudes out of the groove; when the clutch is in a self-locking state, the wedging portion is pressed by the elastic member to be wedged with the inner ring portion.

[0012] Optionally, the wedge block includes a bottom surface and an inclined surface connected to the bottom surface, the connection between the inclined surface and the bottom surface forms the wedging portion, and the angle formed by the bottom surface and the inclined surface is greater than or equal to 30° and less than or equal to 70°.

[0013] Optionally, the wedge block further includes a top surface, the top surface is connected to an end of the bottom surface facing away from the bottom surface, the top surface is arranged parallel to the bottom surface, and the top surface is connected to the elastic member.

[0014] Optionally, in a direction perpendicular to the axial direction of the star wheel and the inwardly recessed direction of the avoidance groove, the width of the avoidance groove is greater than the width of the wedge block.

[0015] Optionally, the center line of the avoidance groove is arranged along the radial direction of the star wheel.

[0016] Optionally, the inner ring portion, the shift block and the star wheel are concentrically arranged.

[0017] 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;

[0018] The joint module also includes a reducer surrounded by the second surrounding portion.

[0019] 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;

[0020] The input end of the reducer is provided with the shift fork and connected with the star wheel.

[0021] 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.

[0022] Optionally, the shift fork comprises:

[0023] 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,

[0024] 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;

[0025] The joint module also includes a bearing, which is supported between the inner ring portion and the fork surrounding portion.

[0026] Optionally, the elastic member includes a spring.

[0027] 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.

[0028] According to a third 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.

[0029] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0030] 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 fully mechanical self-locking braking, without wasting electric energy, and having a stable braking effect. Especially when used in intelligent limbs, the motor can stop output and the clutch can be used to achieve steady-state self-locking of the intelligent limbs, which has a significant effect on battery energy saving and battery life of the intelligent limbs. At the same time, the mechanical self-locking of the clutch will not affect the power output of the motor, which is conducive to realizing unidirectional power transmission of the joint module.

[0031] 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

[0032] 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.

[0033] Figure 1 It is a schematic diagram of the structure of a joint module according to an exemplary embodiment.

[0034] Figure 2 yes Figure 1 Schematic diagram of the disassembled center joint module.

[0035] Figure 3 yes Figure 1 Schematic diagram of the cross section of the mid-joint module.

[0036] Figure 4 yes Figure 3 Schematic diagram of the decomposition.

[0037] Figure 5 yes Figure 1 Another cross-sectional diagram of the mid-joint module.

[0038] Figure 6 is a schematic cross-sectional view of a wedge according to an exemplary embodiment. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] It should be understood that although the terms first, second, 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, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first 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".

[0042] Figure 1 is a structural diagram of a joint module according to an exemplary embodiment, Figure 2 yes Figure 1 Schematic diagram of the disassembly of the joint module. Figure 3 yes Figure 1 Cross-sectional diagram of the middle joint module, Figure 4 yes Figure 3 Schematic diagram of the decomposition of Figure 5 yes Figure 1 Another cross-sectional diagram of the middle joint module. Figure 1-Figure 5 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. The first shift block 21 and the second shift block 22 may be driven to rotate by the subsequent rotation of the rotor 13. The first shift block 21 and the second shift block 22 may be spaced apart to form a shift fork 2. Figure 5 The upper gap at the upper end and the lower gap at the lower end are shown in FIG.

[0043] The clutch 3 includes a fixing member 31, a star wheel 32, a wedge block 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 structural setting, or the inner ring portion 311 can be 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; in the radial direction of the star wheel 32, the first toggle block 21 and the second toggle block 22 are arranged between the inner ring portion 311 and the star wheel 32.

[0044] The wedge block 33 includes a wedging portion, such as Figure 1-Figure 5 In the illustrated embodiment, the wedge block 33 includes a first wedging portion 331 and a second wedging portion 332 located at both ends, and the star wheel 32 is provided with an avoidance groove 321 sunken from the side. Figure 5 As shown, the avoidance groove 321 can be a through groove that passes through the star wheel 32, and the wedge block 33 is arranged in the avoidance groove 321, and the first wedging portion 331 of the wedge block 33 protrudes from one end of the avoidance groove 321, and the second wedging portion 332 protrudes from the other end of the avoidance groove 321, and the first wedging portion 331 and the second wedging portion 332 are both located between the first toggle block 21 and the second toggle block 22. For example, the first wedging portion 331 is located in the upper end space formed by the first toggle block 21 and the second toggle block 22, and the second wedging portion 332 is located in the lower end gap formed by the first toggle block 21 and the second toggle block 22.

[0045] The elastic member 34 can be partially disposed in the avoidance groove 321, and one end of the elastic member 34 can be connected to the star wheel 32 and the other end can be connected to the wedge block 33, so that the elastic member 34 can provide a force on the wedge block 33 through deformation, so that when the clutch 3 is in the self-locking state, the first wedging portion 331 and the second wedging portion 332 of the wedge block 33 are pressed by the elastic member 34 to abut against the inner ring portion 311. Based on this, if Figure 5 As shown in , the first wedging portion 331 located in the upper end gap abuts against the inner ring portion 311, and the second wedging portion 332 located in the lower end gap abuts against the inner ring portion 311. Therefore, when the star wheel 32 serves as the input end and has a clockwise movement tendency, due to the action of the first wedging portion 331 in the upper end gap, the star wheel 32 can be restricted from moving clockwise, thereby preventing the motor 1 from rotating in the clockwise direction. When the star wheel 32 serves as the input end and has a counterclockwise movement tendency, due to the action of the second wedging portion 332 in the lower end gap, the star wheel 32 can be restricted from moving counterclockwise, thereby preventing the motor 1 from rotating in the clockwise direction. The two-way self-locking of the joint module is realized, and the two-way non-return function of the joint module is realized. The motor 1 can be prevented from reversing clockwise or counterclockwise under the action of external force, thereby greatly protecting the motor 1.

[0046] When the rotor 13 rotates clockwise, it drives the first toggle block 21 and the second toggle block 22 of the shift fork 2 to rotate clockwise, and the first toggle block 21 and the second toggle block 22 can rotate the oscillating wedge block 33, thereby releasing the self-locking state of the clutch 3 and driving the star wheel 32 to rotate clockwise; when the rotor 13 rotates counterclockwise, it drives the first toggle block 21 and the second toggle block 22 of the shift fork 2 to rotate clockwise, and the first toggle block 21 and the second toggle block 22 can rotate the oscillating wedge block 33, thereby releasing the self-locking state of the clutch 3 and driving the star wheel 32 to rotate counterclockwise, thereby realizing the power output of the joint module.

[0047] 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.

[0048] In order to ensure that the clutch 3 can be self-locked and release the self-locking state of the clutch 3 when the motor 1 rotates, the width of the avoidance groove 321 is greater than the width of the wedge block 33 in a direction perpendicular to the axial direction of the star wheel 32 and the inward direction of the avoidance groove 321, that is, Figure 5 As shown in FIG, in the horizontal direction, the width of the avoidance groove 321 is greater than the width of the wedge block 33, so that under the action of the shift fork 2, the Figure 5When the self-locking state in the clutch is unlocked, since the width of the avoidance groove 321 is larger than the width of the wedge block 33, space can be provided for the wedge block 33 to move under the toggle of the first toggle block 21 and the second toggle block 22. 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 in the present disclosure. The wedge block 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.

[0049] It should be noted that, in the aforementioned embodiment, the fork 2 is taken as an example including two shift blocks, the first shift block 21 and the second shift block 22. In other embodiments, the fork 2 may also include three or more shift blocks, and the present disclosure does not limit this. In the aforementioned embodiment, the wedge block 33 is pressed by one elastic member 34. In other embodiments, each wedge block 33 may also be pressed by multiple elastic members 34.

[0050] In the above-mentioned embodiment, the wedge block 33 includes a first wedging portion 331 and a second wedging portion 332 which are respectively wedged with the inner ring portion 311, so that the anti-clockwise and clockwise check functions of the joint module can be realized when the star wheel 32 is used as the input end. In fact, in other embodiments, the wedge block 33 may also include a single wedging portion which is wedged with the inner ring portion 311, for example, it may only include a first wedging portion 331 located in the upper end gap, which is wedged with the inner ring portion 311 after being subjected to a horizontal rightward elastic force, so that the clockwise rotation when the star wheel 32 is used as the input end can be restricted, so as to realize the one-way check function of the joint module; similarly, it may also be a second wedging portion 332 located in the lower end gap, which is wedged with the inner ring portion 311 after being subjected to a horizontal rightward elastic force, so that the counterclockwise rotation when the star wheel 32 is used as the input end can be restricted, so as to realize the one-way check function of the joint module. When the joint module includes a plurality of wedge blocks 33 , the number of wedging portions included in each wedge block 33 may be the same or different.

[0051] In other words, when the clutch 3 is in the self-locking state, one or more wedging parts may be pressed by the elastic member 34 to be wedged against the inner ring part 311, and when the force components between each wedging part and the inner ring part 311 point in the counterclockwise direction or the clockwise direction in the tangential direction of the star wheel 32, the one-way check function of the joint module can be realized. If at least one force component between the wedging part and the inner ring part 311 points in the clockwise direction, and at least one force component between the wedging part and the inner ring part 311 points in the counterclockwise direction, the two-way check function of the joint module can be realized, for example Figure 5In the embodiment shown, the force between the first wedging portion 331 in the upper end gap and the inner ring portion 311 is horizontally rightward, so the tangential force component of the star wheel 32 points to the clockwise direction, and the force between the second wedging portion 332 in the lower end gap and the inner ring portion 311 is horizontally rightward, so the tangential force component of the star wheel 32 points to the counterclockwise direction, thereby realizing the bidirectional backstop function of the joint module. Among them, the one or more wedging portions can belong to the same wedge block 33 or different wedge blocks.

[0052] In the embodiment provided in the present disclosure, a star wheel 32 is provided with a single through avoidance groove 321, and a wedge block 33 including a first wedging portion 331 and a second wedging portion 332 is provided in the single through avoidance groove 321. In fact, the through avoidance groove 321 can also be provided with multiple wedge blocks 33, so that a wedge block 33 protrudes from each end of the avoidance groove 321. In this way, when the clutch 3 is in a self-locking state, the two wedging portions protruding from the same avoidance groove 321 can be respectively pressed by the elastic member 34 to be wedged with the inner ring portion 311, and the elastic force exerted on the two wedging portions has a component force pointing in opposite directions in the axial direction around the star wheel 32, so that the two-way check of the joint module can be realized. Of course, in other embodiments, a single through avoidance groove 321 can also be provided on the star wheel 32, and each avoidance groove 321 can be provided with a single or multiple wedge blocks. The implementation method related to each avoidance groove 321 can refer to Figure 5 The embodiment shown meets the design principle of non-interference in movement between wedge blocks.

[0053] In some embodiments, the avoidance groove 321 can be a groove sunken from the side of the star wheel 32, and a single wedge block 33 can be set in each groove, and each wedge block 33 includes a wedging portion protruding from the groove. When the clutch 3 is in a self-locking state, the wedging portion of the wedge block 33 can be pressed by the elastic member 34 to wedge with the inner ring portion 311. When it is necessary to realize the one-way check function of the joint module, it can be realized by wedging a single wedging portion with the inner ring portion 311, or it can be realized by wedging multiple wedging portions of multiple wedge blocks with the inner ring portion 311, at this time, the force component between each wedging portion and the inner ring portion 311 is satisfied to point to the counterclockwise direction or the clockwise direction; when it is necessary to realize the two-way check function of the joint module, and the force component between at least one wedging portion of the multiple wedging portions and the inner ring portion 311 points to the clockwise direction, and the force component between at least one wedging portion and the inner ring portion 311 points to the counterclockwise direction. In the above-mentioned embodiments, the center line of the avoidance groove 321 is preferably arranged parallel to the radial direction of the star wheel 32 , for example, a set distance may be set therebetween, or the center line of the avoidance groove 321 may coincide with the radial direction of the star wheel 32 .

[0054] In the above embodiments, Figure 6As shown, the wedge block 33 includes a bottom surface 333 and an inclined surface 334, and the connection between the bottom surface 333 and the inclined surface 334 forms a wedge-tightening portion, such as Figure 6 As shown, the wedge block 33 may include two inclined surfaces 334, wherein the connection between one inclined surface 334 and the bottom surface 333 forms a first wedging portion 331, and the connection between the other inclined surface 334 and the bottom surface 333 forms a second wedging portion 332. Optionally, when the wedge block 33 includes only a single wedging portion, the wedge block 33 may include only a single inclined surface. When the clutch 3 is in a self-locking state, the angle formed by the bottom surface 333 and the inclined surface 334 is greater than or equal to 30° and less than or equal to 70°, thereby avoiding interference between the inclined surface 334 and the inner ring portion 311 due to an excessively large angle, and providing sufficient space for the subsequent release of the clutch 3 from self-locking and the wedge block 33 to move; on the other hand, it can avoid the angle being too small, resulting in low structural strength of the first wedging portion 331 and the second wedging portion 332, which affects the wedging effect. Furthermore, the wedge block 33 also includes a top surface 335, which is connected to a side of the bottom surface 333 away from the inclined surface 334. The top surface 335 can be connected to the elastic member 34, and the compressive elastic force of the elastic member 34 can act on the wedge block 33 through the top surface 335. The top surface 335 and the bottom surface 333 can be arranged in parallel, and the angle formed by the top surface 335 and the inclined surface 334 is complementary to the angle formed by the bottom surface 333 and the inclined surface 334.

[0055] In some embodiments, the plurality of shift blocks of the shift fork 2 may all be shift blocks with an arc-shaped structure, and the inner ring portion 311 , the shift block and the star wheel 32 may be concentrically arranged.

[0056] 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.

[0057] In the above embodiment, the output power of the motor 1 can be transmitted to the reducer through 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 the opening 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, and 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. Among them, the reducer 6 can be a planetary reducer, a harmonic reducer or a cycloid reducer, etc., and the present disclosure does not limit this.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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 connected to the rotor and comprising a plurality of shift blocks arranged at intervals; A clutch, the clutch comprising a fixing member, a star wheel, a wedge block and an elastic member, the fixing member being connected to the housing, the fixing member comprising an inner ring portion, the star wheel being provided with at least one avoidance groove sunken from a side surface, each avoidance groove being provided with at least one wedge block, and a wedging portion of the wedge block protruding out of the avoidance groove, the wedging portion being located between two adjacent toggle blocks, the elastic member being partially provided in the avoidance groove and having one end connected to the star wheel and the other end connected to the wedge block; In the radial direction of the star wheel, a plurality of the shift blocks are arranged between the inner ring portion and the star wheel. When the clutch is in a self-locking state, at least one of the wedging portions is pressed by the elastic member to be wedged with the inner ring portion. When the shift fork rotates, the shift block shifts the wedge block 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 plurality of wedging portions are pressed by the elastic member to be wedged with the inner ring portion, and in the tangential direction of the star wheel, the force component between at least one wedging portion and the inner ring portion points in a clockwise direction, and the force component between at least one wedging portion and the inner ring portion points in a counterclockwise direction.

3. The joint module according to claim 1, characterized in that: The avoidance groove passes through the star wheel and is provided for at least one wedge block to pass through, so that a wedge tightening portion protrudes from each of the two ends of the avoidance groove; When the clutch is in a self-locking state, the two wedging portions protruding out of the same avoidance groove are respectively pressed by the elastic member to be wedged against the inner ring portion.

4. The joint module according to claim 1, characterized in that: The avoidance groove is a groove, the wedge block is arranged in the groove, and the wedging portion of the wedge block protrudes out of the groove; when the clutch is in a self-locking state, the wedging portion is pressed by the elastic member to be wedged with the inner ring portion.

5. The joint module according to claim 1, characterized in that: The wedge block includes a bottom surface and an inclined surface connected to the bottom surface, the connection between the inclined surface and the bottom surface forms the wedging portion, and the angle formed by the bottom surface and the inclined surface is greater than or equal to 30° and less than or equal to 70°.

6. The joint module according to claim 5, characterized in that: The wedge block further includes a top surface, the top surface is connected to an end of the bottom surface facing away from the bottom surface, the top surface is arranged parallel to the bottom surface, and the top surface is connected to the elastic member.

7. The joint module according to claim 1, characterized in that: In a direction perpendicular to the axial direction of the star wheel and the inwardly sunken direction of the avoidance groove, the width of the avoidance groove is greater than the width of the wedge block.

8. The joint module according to claim 1, characterized in that: The center line of the avoidance groove is arranged along the radial direction of the star wheel.

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

10. 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.

11. The joint module according to claim 10, 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.

12. The joint module according to claim 11, 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.

13. The joint module according to claim 12, 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.

14. The joint module according to claim 1, characterized in that: The elastic member includes a spring.

15. An intelligent limb, characterized in that: Comprising a joint module as described in any one of claims 1-14.

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

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