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 a plurality of spaced-apart actuating blocks; a clutch including a fixing member, a star wheel, wedges, and an elastic member, the wedges including a wedging portion; the fixing member connected to the housing, the fixing member including an inner ring portion; the star wheel having at least one recessed clearance groove from its side, each clearance groove containing at least one wedge, and the wedging portion of the wedge protruding from the clearance groove, the wedging portion being located between two adjacent actuating blocks; the elastic member being partially disposed within the clearance groove and connected at one end to the star wheel and at the other end to the wedge; the plurality of actuating blocks being disposed between the inner ring portion and the star wheel; when the clutch is in a self-locking state, the wedging portion is pressed against the inner ring portion by the elastic member; when the shift fork rotates, the actuating blocks actuate the wedges, 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: An electric motor, comprising a housing, a stator, and a rotor, wherein the stator and the rotor are both disposed within the housing; A shift fork, connected to the rotor, includes multiple spaced-apart actuating blocks; a clutch, including a fixing member, a star wheel, a wedge, and an elastic element, the wedge including a wedge-tightening portion, the fixing member being connected to the housing, the fixing member including an inner ring portion, the star wheel having at least one recessed clearance groove from the side, each clearance groove having at least one wedge, the wedge-tightening portion of the wedge protruding from the clearance groove, the wedge-tightening portion being located between two adjacent actuating blocks, the elastic element being partially disposed within the clearance groove and connected at one end to the star wheel and at the other end to the wedge; In the radial direction of the star wheel, a plurality of actuating blocks are disposed between the inner ring and the star wheel. When the clutch is in a self-locking state, at least one of the wedge-tightening portions is pressed against the inner ring by the elastic member. When the shift fork rotates, the actuating block moves the wedge block to release the self-locking state of the clutch.

[0005] Optionally, when the clutch is in a self-locking state, the plurality of wedges are pressed against the inner ring by the elastic element and wedged tightly. In the tangential direction of the star wheel, the force component between at least one wedge and the inner ring points in a clockwise direction, and the force component between at least one wedge and the inner ring points in a counterclockwise direction.

[0006] Optionally, the clearance groove passes through the star wheel and allows at least one of the wedges to pass through, such that a wedge-tightening portion protrudes from each end of the clearance groove; When the clutch is in a self-locking state, the two wedge-tightening portions protruding from the same clearance groove are respectively pressed by the elastic element to wedge tightly with the inner ring portion.

[0007] Optionally, the clearance groove is a recess, and the wedge is provided in the recess, with the wedge-tightening part of the wedge protruding from the recess; when the clutch is in a self-locking state, the wedge-tightening part is pressed against the inner ring by the elastic member.

[0008] Optionally, the wedge 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 wedge clamping part, and the angle between the bottom surface and the inclined surface is greater than or equal to 30° and less than or equal to 70°.

[0009] Optionally, the wedge block further includes a top surface, which is connected to the side of the inclined surface away from the bottom surface, the top surface is parallel to the bottom surface, and the top surface is connected to the elastic element.

[0010] Optionally, in a direction perpendicular to the axial direction of the star wheel and the inward direction of the clearance groove, the width of the clearance groove is greater than the width of the wedge.

[0011] Optionally, the centerline of the clearance groove is arranged radially along the star wheel.

[0012] Optionally, the inner ring, the actuating block, and the star wheel are arranged concentrically.

[0013] 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. The joint module also includes a speed reducer surrounded by the second surrounding portion.

[0014] 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; The input end of the reducer is connected to the star wheel via the shift fork.

[0015] 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.

[0016] Optionally, 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.

[0017] Optionally, the elastic element includes a spring.

[0018] 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.

[0019] According to a third aspect of the present disclosure, a robot is provided, including a joint module as described in any one of the above embodiments.

[0020] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: As can be seen from the above embodiments, the mechanical structure of the clutch in this disclosure is used to achieve braking of the joint module, realizing fully mechanical self-locking braking, without consuming electrical energy, and with stable braking effect. Especially when used in intelligent joints, the motor can stop outputting power, and the clutch is used to achieve steady-state self-locking of the intelligent joint, which has a significant effect on the energy saving of the intelligent joint's battery and the range of operation. At the same time, the mechanical self-locking of the clutch does not affect the power output of the motor, which is conducive to realizing unidirectional power transmission of the joint module.

[0021] 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

[0022] 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.

[0023] Figure 1 This is a schematic diagram of the structure of a joint module as illustrated by an example.

[0024] Figure 2 yes Figure 1 Exploded view of the mid-joint module.

[0025] Figure 3 yes Figure 1 A cross-sectional schematic diagram of the mid-joint module.

[0026] Figure 4 yes Figure 3 A schematic diagram of its breakdown.

[0027] Figure 5 yes Figure 1 Another cross-sectional schematic diagram of the joint module.

[0028] Figure 6 This is a schematic cross-sectional view of a wedge block according to an exemplary embodiment. Detailed Implementation

[0029] 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.

[0030] 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.

[0031] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various 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, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0032] Figure 1 This is a schematic diagram of the structure of a joint module as illustrated in an example. Figure 2 yes Figure 1 Exploded view of the mid-joint module Figure 3 yes Figure 1 Cross-sectional schematic diagram of the mid-joint module Figure 4 yes Figure 3 Decomposition diagram Figure 5 yes Figure 1 Another cross-sectional schematic diagram of the mid-joint module. (See diagram below.) Figures 1-5 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 2As shown, the shift fork 2 may include a first shift block 21 and a second shift block 22. The rotation of the rotor 13 can drive the first shift block 21 and the second shift block 22 to rotate. The spacing between the first shift block 21 and the second shift block 22 can form... Figure 5 The image shows the upper end gap at the top and the lower end gap at the bottom.

[0033] 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, 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, and the fixing member 31 includes a plurality of concentric inner ring portions 311 with an arc-shaped structure; in the radial direction of the star wheel 32, the first actuating block 21 and the second actuating block 22 are disposed between the inner ring portion 311 and the star wheel 32.

[0034] Wedge 33 includes a wedging portion, for example Figures 1-5 In the illustrated embodiment, the wedge block 33 includes a first wedge-tightening portion 331 and a second wedge-tightening portion 332 located at both ends, and the star wheel 32 is provided with a recessed clearance groove 321 from the side. For example, such as... Figure 5 As shown, the clearance groove 321 can be a through groove through the star wheel 32. The wedge block 33 is disposed in the clearance groove 321, and the first wedge-tightening part 331 of the wedge block 33 protrudes from one end of the clearance groove 321, and the second wedge-tightening part 332 protrudes from the other end of the clearance groove 321. The first wedge-tightening part 331 and the second wedge-tightening part 332 are both located between the first actuating block 21 and the second actuating block 22. For example, the first wedge-tightening part 331 is located in the upper gap formed by the first actuating block 21 and the second actuating block 22, and the second wedge-tightening part 332 is located in the lower gap formed by the first actuating block 21 and the second actuating block 22.

[0035] The elastic element 34 can be partially disposed within the clearance groove 321, with one end connected to the star wheel 32 and the other end connected to the wedge block 33. This allows the deformation of the elastic element 34 to provide force to the wedge block 33, ensuring that when the clutch 3 is in a self-locking state, both the first wedging portion 331 and the second wedging portion 332 of the wedge block 33 are pressed against the inner ring portion 311 by the elastic element 34. Based on this, as... Figure 5As shown, the first wedge-tightening part 331 located in the upper gap abuts against the inner ring part 311, and the second wedge-tightening part 332 located in the lower gap abuts against the inner ring part 311. Thus, when the star wheel 32 is used as an input end and has a clockwise movement tendency, the first wedge-tightening part 331 in the upper gap can restrict the star wheel 32 from moving clockwise, thereby preventing the motor 1 from rotating in the clockwise direction. When the star wheel 32 is used as an input end and has a counterclockwise movement tendency, the second wedge-tightening part 332 in the lower gap can restrict the star wheel 32 from moving counterclockwise, thereby preventing the motor 1 from rotating in the clockwise direction. This realizes the bidirectional self-locking of the joint module and the bidirectional reverse stop function of the joint module, which can prevent the motor 1 from rotating clockwise or counterclockwise under the action of external force, and greatly protect the motor 1.

[0036] 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 clockwise. The first actuating block 21 and the second actuating block 22 can rotate the 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 actuating block 21 and the second actuating block 22 of the shift fork 2 to rotate clockwise. The first actuating block 21 and the second actuating block 22 can rotate the wedge block 33, thereby releasing the self-locking state of the clutch 3 and driving the star wheel 32 to rotate counterclockwise, realizing the power output of the joint module.

[0037] 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.

[0038] In order to ensure that the clutch 3 can self-lock and release itself when the motor 1 rotates, the width of the clearance 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 clearance groove 321. Figure 5 As shown, in the horizontal direction, the width of the clearance groove 321 is greater than the width of the wedge block 33, so that under the action of the fork 2, it can move from... Figure 5When the self-locking state is unlocked, since the width of the clearance groove 321 is larger than the width of the wedge 33, space can be provided for the wedge 33 to move under the action of the first actuating block 21 and the second actuating block 22. 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 impose any specific limitations. The wedge 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.

[0039] It should be noted that, in the foregoing embodiments, the fork 2 is described as having two actuating blocks, namely the first actuating block 21 and the 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 restrictions on this. In the foregoing embodiments, the wedge 33 is described as being pressed by an elastic member 34. In other embodiments, each wedge 33 may be pressed by multiple elastic members 34.

[0040] In the aforementioned embodiment, the wedge block 33 includes a first wedge-tightening portion 331 and a second wedge-tightening portion 332, which are respectively wedge-tightened with the inner ring portion 311. This enables the joint module to achieve both counterclockwise and clockwise counterclockwise rotation prevention functions when the star wheel 32 is used as the input end. In other embodiments, the wedge block 33 may also include a single wedge-tightening portion that is wedge-tightened with the inner ring portion 311. For example, it may only include the first wedge-tightening portion 331 located in the upper gap. This first wedge-tightening portion 331 is wedge-tightened with the inner ring portion 311 after being subjected to a horizontal rightward elastic force, thereby restricting the clockwise rotation of the star wheel 32 when it is used as the input end and achieving the one-way counterclockwise rotation prevention function of the joint module. Similarly, it may also include a second wedge-tightening portion 332 located in the lower gap. This second wedge-tightening portion 332 is wedge-tightened with the inner ring portion 311 after being subjected to a horizontal rightward elastic force, thereby restricting the counterclockwise rotation of the star wheel 32 when it is used as the input end and achieving the one-way counterclockwise rotation prevention function of the joint module. When the joint module includes multiple wedges 33, the number of wedges included in each wedge 33 may be the same or different.

[0041] In other words, when the clutch 3 is in the self-locking state, one or more wedging portions can be pressed against the inner ring portion 311 by the elastic element 34. In the tangential direction of the star wheel 32, when the force component between each wedging portion and the inner ring portion 311 points in either a counterclockwise or clockwise direction, the unidirectional anti-reverse function of the joint module can be achieved. However, if the force component between at least one wedging portion and the inner ring portion 311 points in a clockwise direction, and the force component between at least one wedging portion and the inner ring portion 311 points in a counterclockwise direction, the bidirectional anti-reverse function of the joint module can be achieved, for example... Figure 5In the illustrated embodiment, the force between the first wedge-tightening part 331 and the inner ring part 311 in the upper gap is horizontal to the right, so the tangential component of the force on the star wheel 32 points clockwise. Similarly, the force between the second wedge-tightening part 332 and the inner ring part 311 in the lower gap is horizontal to the right, so the tangential component of the force on the star wheel 32 points counterclockwise. This achieves a bidirectional anti-reverse function for the joint module. The one or more wedge-tightening parts can belong to the same wedge block 33 or different wedge blocks.

[0042] In the embodiments provided in this disclosure, the example given is a star wheel 32 having a single through-hole clearance groove 321, and a wedge block 33 including a first wedge portion 331 and a second wedge portion 332 disposed within the single through-hole clearance groove 321. In practice, the through-hole clearance groove 321 can also accommodate multiple wedge blocks 33, provided that each end of the clearance groove 321 has a wedge portion protruding from it. Thus, when the clutch 3 is in a self-locking state, the two wedge portions protruding from the same clearance groove 321 can be pressed against the inner ring portion 311 by the elastic member 34, and the elastic force on the two wedge portions has opposite components in the axial direction around the star wheel 32, thereby achieving bidirectional reverse stop of the joint module. Of course, in other embodiments, the star wheel 32 can also have a single through-hole clearance groove 321, and each clearance groove 321 can accommodate one or more wedge blocks. Implementation methods related to each clearance groove 321 can be found in [reference needed]. Figure 5 The embodiment shown satisfies the design principle of non-interference in movement between wedges.

[0043] In some embodiments, the clearance groove 321 can be a recessed groove on the side of the star wheel 32. Each groove can be provided with a single wedge 33, and each wedge 33 includes a wedge-tightening portion protruding from the groove. When the clutch 3 is in a self-locking state, the wedge-tightening portion of the wedge 33 can be pressed against the inner ring portion 311 by the elastic member 34. When it is necessary to realize the one-way reverse stop function of the joint module, it can be achieved by the wedge-tightening portion of a single wedge-tightening portion and the inner ring portion 311, or it can be achieved by the wedge-tightening portions of multiple wedges and the inner ring portion 311. In this case, the force component between each wedge-tightening portion and the inner ring portion 311 is directed in either the counterclockwise or clockwise direction. When it is necessary to realize the two-way reverse stop function of the joint module, and the force component between at least one wedge-tightening portion and the inner ring portion 311 is directed in the clockwise direction and the force component between at least one wedge-tightening portion and the inner ring portion 311 is directed in the counterclockwise direction. In the above embodiments, the center line of the clearance groove 321 is arranged parallel to the radial direction of the star wheel 32, for example, at a set interval, or the center line of the clearance groove 321 can coincide with the radial direction of the star wheel 32.

[0044] In the above embodiments, such as Figure 6As shown, the wedge 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, for example... Figure 6 As shown, the wedge 33 may include two inclined surfaces 334. 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 33 includes only a single wedging portion, the wedge 33 may include only a single inclined surface. When the clutch 3 is in a self-locking state, the angle between the bottom surface 333 and the inclined surface 334 is greater than or equal to 30° and less than or equal to 70°. This avoids interference between the inclined surface 334 and the inner ring portion 311 due to an excessively large angle, providing sufficient space for the subsequent release of the clutch 3 from self-locking and the movement of the wedge 33. On the other hand, it avoids an excessively small angle, which would result in low structural strength of the first wedging portion 331 and the second wedging portion 332, affecting the wedging effect. Furthermore, the wedge 33 also includes a top surface 335, which is connected to the side of the bottom surface 333 away from the inclined surface 334. The top surface 335 can be connected to the elastic element 34, and the compressive elastic force of the elastic element 34 can act on the wedge 33 through the top surface 335. The top surface 335 and the bottom surface 333 can be arranged in parallel, and the angle between the top surface 335 and the inclined surface 334 is complementary to the angle between the bottom surface 333 and the inclined surface 334.

[0045] 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 star wheel 32 can be arranged concentrically.

[0046] 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.

[0047] 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 disposed 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. The reducer 6 can be a planetary reducer, a harmonic reducer, or a cycloidal reducer, etc., and this disclosure does not limit it.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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 wedge, 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 is provided with at least one recessed clearance groove from the side. At least one wedge is provided in each clearance groove, and the wedge-tightening portion of the wedge protrudes from the clearance groove. The wedge-tightening portion is located between two adjacent actuating blocks. The elastic member is partially disposed in the clearance groove and is connected at one end to the star wheel and at the other end to the wedge. 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 star wheel, a plurality of actuating blocks are disposed between the inner ring and the star wheel. When the clutch is in a self-locking state, at least one of the wedge-tightening portions is pressed against the inner ring by the elastic member. When the shift fork rotates, the actuating block moves 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 wedges are pressed against the inner ring by the elastic element and wedged tightly. On the tangential direction of the star wheel, the force component between at least one wedge and the inner ring points in a clockwise direction, and the force component between at least one wedge and the inner ring points in a counterclockwise direction.

3. The joint module according to claim 1, characterized in that, The clearance groove passes through the star wheel and allows at least one of the wedges to pass through, such that a wedge-tightening part protrudes from each end of the clearance groove; When the clutch is in a self-locking state, the two wedge-tightening portions protruding from the same clearance groove are respectively pressed by the elastic element to wedge tightly with the inner ring portion.

4. The joint module according to claim 1, characterized in that, The clearance groove is a recess, and the wedge is provided in the recess, with the wedge-tightening part of the wedge protruding from the recess; when the clutch is in the self-locking state, the wedge-tightening part is pressed against the inner ring by the elastic element.

5. The joint module according to claim 1, characterized in that, The wedge 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 wedge clamping part. The angle between 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 also includes a top surface, which is connected to the side of the inclined surface away from the bottom surface. The top surface is parallel to the bottom surface and is connected to the elastic element.

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 inward direction of the clearance groove, the width of the clearance groove is greater than the width of the wedge.

8. The joint module according to claim 1, characterized in that, The centerline of the clearance groove is arranged radially along the star wheel.

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

10. 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.

11. The joint module according to claim 10, 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.

12. The joint module according to claim 1, characterized in that, The elastic element includes a spring.

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

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

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