Low-speed transmission shaft of joint module of humanoid robot, joint module, motion joint of humanoid robot and humanoid robot

Abstract

The invention relates to the technical field of robots, and discloses a low-speed transmission shaft of a joint module of a humanoid robot, the joint module, a motion joint of the humanoid robot and the humanoid robot, and the low-speed transmission shaft comprises a first shaft and a second shaft which are coaxially connected through an axial decoupling type torque coupling structure. The low-speed transmission shaft is designed to be of a structure formed by combining the first shaft and the second shaft, and the first shaft and the second shaft are allowed to have relative displacement in the axial direction while keeping synchronous transmission through the axial decoupling type torque coupling structure; a set distance can be always kept between an output code disc and a reading head in the output encoder, so that the influence of axial movement of a low-speed transmission shaft in the prior art on the detection precision of the output encoder is effectively avoided, and high-precision control and immediate feedback can be realized during operation of the joint module; and the accuracy and reliability of the motion joint execution tail end control of the humanoid robot are improved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a low-speed transmission shaft in a joint module of a humanoid robot, a joint module including the low-speed transmission shaft, a motion joint of the humanoid robot, and the humanoid robot. Background Art

[0002] A humanoid robot is a robot that imitates human appearance and behavior. The joint modules in its motion joints are generally composed of motor components, reducer components, encoders, etc. The encoders include input encoders and output encoders. The low-speed encoder seat in the output encoder is connected to the output end of the reducer through a low-speed transmission shaft. The output code disk on the low-speed encoder seat and the corresponding reader cooperate to collect the speed, position and other information of the reducer output end and feed it back to the drive system to control the joints.

[0003] A set distance needs to be maintained between the output code disk and the reading head in order to accurately read the information. However, in actual operation, the moving joints of the humanoid robot tilt downward when walking, swing in multiple directions, or when impacted by external forces, which will cause the low-speed drive shaft driven by the output end of the reducer to move axially, causing the distance between the output code disk connected to the low-speed drive shaft and the reading head to change, thereby causing the problem of inaccurate output encoder detection. Summary of the invention

[0004] The purpose of the present application is to overcome the defects of the prior art and to provide a low-speed transmission shaft in a joint module of a humanoid robot, a joint module related to the low-speed transmission shaft, a humanoid robot motion joint and a humanoid robot.

[0005] In a first aspect, the present application provides a low-speed transmission shaft of a joint module of a humanoid robot, comprising a first shaft and a second shaft coaxially connected via an axially decoupled torque coupling structure.

[0006] In some embodiments of the low-speed transmission shaft of the present application, a first open cavity is axially constructed at one end of the first shaft facing the second shaft, and an end of the second shaft facing the first shaft is embedded in the first open cavity, so that the first shaft and the second shaft are axially nested; in the radial direction of the first shaft, at least one threaded fastener with a flat bottom is provided, and the threaded fastener abuts against the outer wall of the second shaft embedded in the first open cavity, and the abutting position of the threaded fastener defines a gap between the end face of the second shaft facing the first shaft and the bottom face of the first open cavity.

[0007] In some embodiments of the low-speed transmission shaft of the present application, a connecting shaft is arranged between the first shaft and the second shaft, and a second open cavity is axially constructed at one end of the connecting shaft facing the second shaft, and an end of the second shaft facing the connecting shaft is embedded in the second open cavity, so that the connecting shaft and the second shaft are axially nested, and the other end of the connecting shaft is coaxially fixedly connected to the first shaft; in the radial direction of the connecting shaft, at least one threaded fastener with a flat bottom is provided, and the threaded fastener abuts against the outer wall of the second shaft embedded in the second open cavity, and the abutting position of the threaded fastener defines the distance between the end face of the second shaft facing the connecting shaft and the bottom face of the second open cavity. A gap is set between the first shaft and the second shaft; or, a connecting shaft is set between the first shaft and the second shaft, and the connecting shaft has a second open cavity axially constructed at one end facing the first shaft, and the first shaft is embedded in the second open cavity at one end facing the connecting shaft, so that the connecting shaft and the first shaft are axially nested, and the other end of the connecting shaft is coaxially fixedly connected to the second shaft; in the radial direction of the connecting shaft, at least one threaded fastener with a flat bottom is set, and the threaded fastener abuts against the outer wall of the first shaft embedded in the second open cavity, and the abutting position of the threaded fastener defines a gap between the end face of the first shaft facing the connecting shaft and the bottom face of the second open cavity.

[0008] In some embodiments of the low-speed transmission shaft of the present application, one end of the first shaft facing the second shaft is defined as a first coupling portion, and one end of the second shaft facing the first shaft is defined as a second coupling portion. The first coupling portion cooperates with the second coupling portion to allow axial relative displacement while transmitting torque, thereby forming a torque-coupled and axially decoupled structure after the first shaft and the second shaft are coaxially connected.

[0009] In some embodiments of the low-speed transmission shaft of the present application, a connecting shaft is provided between the first shaft and the second shaft, and one end of the first shaft facing the connecting shaft is defined as a first coupling portion, and one end of the connecting shaft facing the first shaft is defined as a second coupling portion, and the first coupling portion cooperates with the second coupling portion to allow relative axial displacement while transmitting torque, and the other end of the connecting shaft is axially coupled with the end of the second shaft facing the connecting shaft, so that the first shaft and the second shaft are respectively coaxially connected through the connecting shaft to form a torque-coupled and axially decoupled structure; or, a connecting shaft is provided between the first shaft and the second shaft, one end of the second shaft facing the connecting shaft is defined as a first coupling portion, and one end of the connecting shaft facing the second shaft is defined as a second coupling portion, and the first coupling portion cooperates with the second coupling portion to allow relative axial displacement while transmitting torque, and the other end of the connecting shaft is axially coupled with the end of the first shaft facing the connecting shaft, so that the first shaft and the second shaft are respectively coaxially connected through the connecting shaft to form a torque-coupled and axially decoupled structure.

[0010] In some embodiments of the low-speed transmission shaft of the present application, the first coupling portion is axially configured with a first coupling structure, the second coupling portion is axially configured with a second coupling structure, and the first coupling structure and the second coupling structure are nested.

[0011] In some embodiments of the low-speed transmission shaft of the present application, the second coupling structure is at least one connecting plane axially constructed on the outer wall of the second coupling part, the first coupling structure is a first connecting hole axially constructed on the first coupling part with an opening facing the second coupling part, and the inner wall of the first connecting hole is configured with a coupling surface that cooperates with the connecting plane; or, the first coupling structure is at least one connecting plane axially constructed on the outer wall of the first coupling part, the second coupling structure is a first connecting hole axially constructed on the second coupling part with an opening facing the first coupling part, and the inner wall of the first connecting hole is configured with a coupling surface that cooperates with the connecting plane; when the first coupling structure and the second coupling structure are nested, the connecting plane abuts the coupling surface.

[0012] In some embodiments of the low-speed transmission shaft of the present application, the second coupling structure is at least one convex tooth radially constructed on the outer wall of the second coupling part, the first coupling structure is an opening of the first coupling part axially constructed toward the second connecting hole of the second coupling part, and the inner wall of the second connecting hole is correspondingly constructed with at least one tooth groove that cooperates with the convex tooth; or, the first coupling structure is at least one convex tooth radially constructed on the outer wall of the first coupling part, the second coupling structure is an opening of the second coupling part axially constructed toward the second connecting hole of the first coupling part, and the inner wall of the second connecting hole is correspondingly constructed with at least one tooth groove that cooperates with the convex tooth; when the first coupling structure and the second coupling structure are nested, the convex tooth is embedded in the tooth groove.

[0013] In some embodiments of the low-speed transmission shaft of the present application, the first coupling structure is a plurality of first latching teeth arranged axially from the first coupling part to the second coupling part; the second coupling structure is a plurality of second latching teeth arranged axially from the second coupling part to the first coupling part and corresponding to the first latching teeth; when the first coupling structure and the second coupling structure are nested, the first latching teeth and the second latching teeth are staggered and docked, and after docking, a gap is arranged axially between the first latching teeth and the second latching teeth.

[0014] In some embodiments of the low-speed transmission shaft of the present application, the first coupling portion is provided with a first coupling member, the second coupling portion is constructed with a third coupling structure, and the first coupling member cooperates with the third coupling structure to allow axial relative displacement between the first coupling portion and the second coupling portion while transmitting torque; or, the second coupling portion is provided with a first coupling member, the first coupling portion is constructed with a third coupling structure, and the first coupling member cooperates with the third coupling structure to allow axial relative displacement between the first coupling portion and the second coupling portion while transmitting torque.

[0015] In some embodiments of the low-speed transmission shaft of the present application, a third open cavity is axially constructed at one end of the first coupling portion toward the second coupling portion, the first coupling member includes at least one pin radially arranged on the first coupling portion, the third coupling structure is at least one slot axially constructed on the second coupling portion, the length of which is slightly larger than the outer diameter of the pin, the second coupling portion is embedded in the third open cavity, the pin is inserted into the slot, and the outer diameter of the pin is transitionally matched with the width of the slot; or, a third open cavity is axially constructed at one end of the second coupling portion toward the first coupling portion, the first coupling member includes at least one pin radially arranged on the first coupling portion, the third coupling structure is at least one slot axially constructed on the first coupling portion, the length of which is slightly larger than the outer diameter of the pin, the first coupling portion is embedded in the third open cavity, the pin is inserted into the slot, and the outer diameter of the pin is transitionally matched with the width of the slot.

[0016] In some embodiments of the low-speed transmission shaft of the present application, a fourth open cavity is axially constructed at one end of the first coupling part toward the second coupling part, a first keyway is axially constructed along the inner wall of the fourth open cavity, a key is provided on the second coupling part, the second coupling part is embedded in the fourth open cavity, and the key is embedded in the first keyway; or, a fourth open cavity is axially constructed at one end of the second coupling part toward the first coupling part, a first keyway is axially constructed along the inner wall of the fourth open cavity, a key is provided on the first coupling part, the first coupling part is embedded in the fourth open cavity, and the key is embedded in the first keyway.

[0017] In the second aspect, the present application also provides a joint module, including a motor assembly, a reducer assembly, and also includes an input encoder for detecting an output displacement signal or position information of the motor assembly and an output encoder for detecting an output displacement signal or position information of the reducer assembly, and the low-speed encoder seat in the output encoder is connected to the low-speed transmission shaft described above.

[0018] In some embodiments of the low-speed transmission shaft joint module of the present application, the motor assembly includes a rotor frame connected to the rotor and driven to rotate by the rotor, the rotor frame includes a supporting cylinder with a hollow cavity, the first shaft in the low-speed transmission shaft is arranged at the center of the supporting cylinder, one end is coaxially connected to one end of the second shaft through an axially decoupled torque coupling structure, and the other end is connected to the low-speed encoder seat, the second shaft is arranged at the center of the reducer assembly, and the other end is connected to the output end of the reducer assembly.

[0019] In some embodiments of the low-speed transmission shaft joint module of the present application, a first bearing and a second bearing are sandwiched radially between the inner wall of the supporting cylinder and the outer wall of the first shaft, the first bearing is arranged close to the reducer assembly, and the second bearing is arranged away from the reducer assembly, and the projections of the first bearing and the second bearing in the axial direction of the low-speed transmission shaft coincide; a first limiting flange is radially provided on the outer wall of the first shaft, and a second limiting flange is radially provided on the inner wall of the supporting cylinder toward the center direction, the first bearing abuts against the first limiting flange with its inner ring facing the outer side of the reducer assembly, and its outer ring abuts against the second limiting flange, the second bearing abuts against the low-speed encoder seat with its inner ring facing away from the reducer assembly, and its outer ring abuts against the high-speed encoder seat in the input encoder, and the high-speed encoder seat is connected to the supporting cylinder.

[0020] In a third aspect, the present application also provides a humanoid robot motion joint, at least one of which adopts the joint module described above.

[0021] In a fourth aspect, the present application also provides a humanoid robot, wherein at least one motion joint of the humanoid robot adopts the motion joint described above.

[0022] Beneficial effects of this application: The low-speed transmission shaft of the joint module of the humanoid robot provided in the present application adopts a first shaft and a second shaft coaxially connected with an axially decoupled torque coupling structure, so that the first shaft and the second shaft are allowed to have axial displacement while maintaining synchronous rotation. In this way, it can be ensured that the set distance between the output code disk and the reader is always maintained, and the influence of the axial movement of the low-speed transmission shaft in the prior art on the detection accuracy of the output encoder is effectively avoided. It can ensure high-precision control and instant feedback during the operation of the joint module, and improve the accuracy and reliability of the terminal control of the humanoid robot's motion joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of a three-dimensional structure of a first low-speed transmission shaft provided in an embodiment of the present application; Figure 2 A schematic diagram of the first low-speed transmission shaft structure provided in an embodiment of the present application; Figure 3 A schematic diagram of the assembly of a first low-speed transmission shaft structure provided in an embodiment of the present application; Figure 4 A schematic diagram of the assembly of a second low-speed transmission shaft structure provided in an embodiment of the present application; Figure 5 A schematic diagram of a third low-speed transmission shaft structure decomposition provided in an embodiment of the present application; Figure 6 A schematic diagram of a fourth low-speed transmission shaft structure decomposition provided in an embodiment of the present application; Figure 7 A schematic diagram of the assembly of a fifth low-speed transmission shaft structure provided in an embodiment of the present application; Figure 8 A schematic diagram of a sixth low-speed transmission shaft structure decomposition provided in an embodiment of the present application; Fig. 9 The sixth low-speed transmission shaft structure assembly diagram provided in the embodiment of the present application Figure 1 ; Fig.10 The sixth low-speed transmission shaft structure assembly diagram provided in the embodiment of the present application Figure 2 ; Fig.11 A seventh low-speed transmission shaft structure decomposition schematic diagram provided in an embodiment of the present application; Fig.12 A schematic diagram of the seventh low-speed transmission shaft structure assembly provided in an embodiment of the present application; Fig.13 It is a schematic diagram of the joint module structure provided in an embodiment of the present application; Fig.14 It is a structural schematic diagram of a joint module provided in an embodiment of the present application applied to a hip-span joint of a humanoid robot; Fig.15 It is a schematic diagram of the structure of a humanoid robot provided in an embodiment of the present application.

[0025] Reference numerals in the figures: 100- low speed drive shaft; 1- first axis; 101a-first opening cavity; 101b-second opening cavity; 101c - third opening cavity; 101d - fourth opening cavity; 102a-first mounting hole; 102b-second mounting hole; 102c-third mounting hole; 103-threaded fasteners; 11-first coupling portion; 111-first coupling structure; 1111-first connecting hole; 1112-coupling surface; 1113 - second connecting hole; 1114 - tooth groove; 1115 - first latch tooth; 1116 - first keyway; 112-first coupling member; 1121-latch pin; 113- first limiting flange; 2- Second axis; 21-second coupling portion; 211-second coupling structure; 2111-connection plane; 2112-convex teeth; 2113-second latch tooth; 212-third coupling structure; 2121-slot; 2122-second key slot; 213-key; 3-Connecting shaft; A1 - first bottom surface; A2 - second bottom surface; A3 - third bottom surface; A4 - fourth bottom surface; A5 - fifth bottom surface; B1 - first end face; B2 - second end face; B3 - third end face; B4 - fourth end face; B5 - fifth end face; X1 - first gap; X2 - second gap; X3 - third gap; 200-motor assembly; 201-stator; 202-rotor; 203- rotor frame; 2031- supporting cylinder; 20311- second limiting flange; 204-first bearing; 205-second bearing; 206-bearing outer sleeve; 207-bearing inner sleeve; 300-reducer assembly; 301-input shaft; 302-planetary gear mechanism; 303-output end; 400-housing; 500-connecting piece; 600-output encoder; 601-low-speed encoder seat; 700-input encoder; 701-high-speed encoder seat; 1000-joint module. DETAILED DESCRIPTION

[0026] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and Examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0027] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, in the present invention, unless otherwise clearly specified and limited, the term "coaxial connection" means that the axis lines of two or more elements after connection are on the same straight line.

[0031] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0033] In the present invention, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in some non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0034] Some specific implementation plans of the present application are described below in conjunction with the accompanying drawings.

[0035] See also Figure 1-Figure 12 The low-speed transmission shaft 100 of the joint module of the humanoid robot provided in the present application includes a first shaft 1 and a second shaft 2, and the first shaft 1 and the second shaft 2 are coaxially connected on the same axis through an axial decoupling torque coupling structure. This connection mode and structure in which the low-speed transmission shaft is designed as a combination of the first shaft and the second shaft makes the first shaft 1 and the second shaft 2 radially abut after being coaxially connected to form a torque coupling, which can ensure that the first shaft 1 and the second shaft 2 have the same speed after being connected and rotate synchronously. At the same time, there is a certain tolerance and buffer space between the first shaft 1 and the second shaft 2 in the axial direction, allowing relative displacement in the axial direction, that is, forming axial decoupling. In this way, even when the first shaft 1 is impacted, the connection between the first shaft 1 and the second shaft 2 can accommodate and bear such impact through axial displacement, avoiding axial movement of the low-speed second shaft 2, so that the output code disk and the reader can always maintain a set spacing, thereby ensuring the detection accuracy of the output encoder.

[0036] In some embodiments, one end of the first shaft 1 is connected to the output flange of the joint module and torque coupled, and one end of the second shaft 2 is connected to the encoder disc. The encoder reader is designed corresponding to the encoder disc. Usually, the encoder disc (annular surface) and the encoder reader (which can be regarded as a point) are expected to maintain a relative distance of 1 mm, no more and no less, otherwise it will cause reading loss or inaccurate reading. The encoder reader is usually fixed relative to the shell of the joint module and can be regarded as a fixed structure. The encoder disc is fixed relative to the low-speed rotating shaft and usually also belongs to a fixed structure, but because it needs to be supported by rotation, there are inevitable frame quantities and tolerances in the related structures. When the joint module is applied to the design of the robot arm, this problem can be alleviated through engineering design, but if the low-speed rotating shaft is frequently impacted, this damage may be aggravated, resulting in abnormal encoder measurement results. This is the understanding obtained through testing during the development of humanoid robots.

[0037] Among them, the axial decoupling of A (such as the first axis 1) and B (such as the second axis 2) means that A and B can move relative to each other in the axial direction (including the situation where some resistance needs to be overcome, such as the need to overcome some friction), and the torque coupling of A and B means that the torque of A and B can be transmitted synchronously (the ideal situation is that there is no torque loss, but it is not ruled out that there are some losses that will not affect the measurement accuracy of the encoder).

[0038] The axial direction in the above structural description refers to the central axis direction of the low-speed transmission shaft 100, and the radial direction refers to the radial direction radiating outward from the central axis of the low-speed transmission shaft 100. It is worth noting that the expressions of the axial and radial directions are also consistent with the axial and radial expressions directly cited in the positions of other components and the transmission center in the subsequent application, and will not be described in detail.

[0039] See also Figure 1-Figure 3In some embodiments of the low-speed transmission shaft 100 provided in the present application, a first open cavity 101a is axially constructed at one end of the first shaft 1 facing the second shaft 2, the shape of the outer wall of the end of the second shaft 2 facing the first shaft 1 is adapted to the inner wall of the first open cavity 101a, the bottom of the first open cavity 101a is defined with a first bottom surface A1, and the end of the second shaft 2 facing the first shaft 1 is defined with a first end surface B1, the second shaft 2 is embedded in the first open cavity 101a, the first shaft 1 and the second shaft 2 are nested in the axial direction, so that the first shaft 1 and the second shaft 2 are coaxially connected, and the axis center lines of the two are on the same straight line. In the radial direction of one end of the first shaft 1 close to the second shaft 2, and on the side wall of the first opening cavity 101a, at least one through first mounting hole 102a is constructed in the radial direction, and the threaded fasteners 103 corresponding to the number of the first mounting holes 102a can be screwed into the first mounting holes 102a, and the bottom enters the first opening cavity 101a. The bottom of the threaded fastener 103 is a plane, and fasteners such as flat-end set screws and countersunk screws can be selected. When the second shaft 2 is embedded in the first opening cavity 101a, the threaded fastener 103 is screwed through the first mounting hole 102a, and its bottom surface abuts against the outer wall of one end of the second shaft 2 that has been embedded in the first opening cavity 101a, so that the first shaft 1 and the second shaft 2 are radially abutted and fixed after being nested, torque coupling, and synchronous rotation. At the same time, the abutting position of the threaded fastener 103 defines a first gap X1 between the first end face B1 of the second shaft 2 and the first bottom face A1 of the first opening cavity 101a, that is, when the first shaft 1 and the second shaft 2 are torque coupled, there is a certain space between the two in the axial direction - the first gap X1. When the low-speed transmission shaft 100 is impacted, the second shaft 2 can overcome the friction between the threaded fastener 103 and the outer wall of the second shaft 2 and move axially toward the first shaft 1 (axial decoupling). The above-mentioned axial decoupling torque coupling structure composed of the coaxial connection of the first shaft 1 and the second shaft 2 is simple, reliable and low-cost.

[0040] See also Figure 4 In some embodiments of the low-speed transmission shaft 100 provided in the present application, a connecting shaft 3 may be provided between the first shaft 1 and the second shaft 2, wherein the connecting shaft 3 is axially configured with a second open cavity 101b at one end facing the second shaft 2, the outer wall shape of the second shaft 2 at one end facing the connecting shaft 3 is adapted to the inner wall shape of the second open cavity 101b, the bottom of the second open cavity 101b is defined with a second bottom surface A2, the second shaft 2 is defined with a second end surface B2 at one end facing the connecting shaft 3, the second shaft 2 is embedded in the second open cavity 101b of the connecting shaft 3, the second shaft 2 is nested with the connecting shaft 3 in the axial direction, so that the connecting shaft 3 is coaxially connected to the second shaft 2, and the axis center lines of the two are in the same straight line. At the same time, the end of the connecting shaft 3 facing the first shaft 1 is coaxially fixedly connected to the first shaft 1, which can be as shown Figure 4As shown, an internal threaded hole is constructed at one end of the connecting shaft 3 facing the first shaft 1, and an external thread is processed on the outer wall of one end of the first shaft 1 facing the connecting shaft 3, so that the first shaft 1 and the connecting shaft 3 are threadedly connected on the same axis, so that the first shaft 1, the connecting shaft 3 and the second shaft can be coaxially connected on the same axis. Similarly, in the radial direction of the end of the connecting shaft 3 close to the second shaft 2, and on the side wall of the second opening cavity 101b, at least one through second mounting hole 102b is constructed along the radial direction, and the threaded fasteners 103 corresponding to the number of the second mounting holes 102b can be screwed into the second mounting holes 102b, and the bottom enters the second opening cavity 101b. The threaded fasteners 103 are fasteners with a flat bottom, such as flat-end set screws and countersunk screws. When the second shaft 2 is embedded in the second opening cavity 101b, the threaded fastener 103 is screwed through the second mounting hole 102b, and its bottom surface abuts against the outer wall of one end of the second shaft 2 that has been embedded in the second opening cavity 101b, so that the connecting shaft 3 and the second shaft 2 are torque-coupled after being nested. At the same time, the abutting position of the threaded fastener 103 defines an axial gap (not shown) between the second end surface B2 of the second shaft 2 and the second bottom surface A2 of the second opening cavity 101b. The above structure is an axial decoupling torque coupling structure formed by the coaxial connection of the connecting shaft 3 and the second shaft 2, and the connecting shaft 3 is coaxially fixedly connected to the first shaft 1. In this way, the first shaft 1 and the second shaft 2 can be configured with standard parts, and the connecting shaft 3 can be processed with non-standard parts, which can reduce the material cost and processing cost of the low-speed transmission shaft 100 and facilitate replacement. Based on the above concept, it can be understood that the axial decoupling torque coupling structure constructed by the coaxial connection of the first shaft 1, the second shaft 2 and the connecting shaft 3 can also be the axial decoupling torque coupling structure constructed by the coaxial connection of the connecting shaft 3 and the first shaft 1, and the connecting shaft 3 and the second shaft 2 are coaxially fixedly connected, that is: a second opening cavity 101b is axially constructed at one end of the connecting shaft 3 facing the first shaft 1, and the end of the first shaft 1 facing the connecting shaft 3 is embedded in the second opening cavity 101b, so that the connecting shaft 3 and the first shaft 1 are axially nested, and the other end of the connecting shaft 3 is coaxially fixedly connected with the second shaft 2, and at least one threaded fastener 103 with a flat bottom is also provided in the radial direction of the connecting shaft 3, and the threaded fastener 103 abuts against the outer wall of the first shaft 1 that has been embedded in the second opening cavity 101b, and its abutting position defines that an axial gap is provided between the end face of the first shaft 1 and the bottom face of the second opening cavity 101b. In this way, the purpose of the invention of this application can also be achieved, and no specific drawing structure and detailed description are provided here.

[0041] See also Figure 5-Figure 12In some implementation schemes of the low-speed transmission shaft 100 provided in the present application, one end of the first shaft 1 facing the second shaft 2 can be defined as a first coupling portion 11, and one end of the second shaft 2 facing the first shaft 1 can be defined as a second coupling portion 21. The first coupling portion 11 and the second coupling portion 21 cooperate with each other in radial abutment to synchronously transmit torque, and have axial displacement space when subjected to external force, allowing relative axial displacement, thereby forming a torque coupling and axial decoupling structure after the first shaft 1 and the second shaft 2 are coaxially connected.

[0042] See also Figure 5-Figure 7 In some embodiments of the low-speed transmission shaft 100 provided in the present application, a first coupling structure 111 is axially constructed on the first coupling portion 11 of the first shaft 1, and a second coupling structure 211 is axially constructed on the second coupling portion 21 of the second shaft 2. The first coupling structure 111 and the second coupling structure 211 are nested and radially abutted, and relative displacement is allowed in the axial direction, so as to form a torque coupling and axial decoupling structure after the first shaft 1 and the second shaft 2 are coaxially connected.

[0043] This application Figure 5In the provided implementation scheme, the first coupling structure 111 includes a first connecting hole 1111 axially constructed along the center of the first shaft 1, the first connecting hole 1111 opens toward the second coupling portion 21, and the inner wall of the first connecting hole 1111 is provided with a coupling surface 1112 along the axial direction, so that the shape of the first connecting hole 1111 is roughly D-shaped. The second coupling structure 211 is a connecting plane 2111 axially constructed on the outer wall of the second coupling portion 21, the connecting plane 2111 corresponds to the structure and position of the coupling surface 1112, the outer diameter of the second coupling structure 211 is adapted to the inner diameter of the first connecting hole 1111, and the two can be transitionally matched. The first connecting hole 1111 can be a through hole axially arranged along the center of the first shaft 1, or a blind hole structure with a depth greater than the depth of the position when the second coupling structure 211 and the first coupling structure 111 are nested. When the first coupling structure 111 and the second coupling structure 211 are nested, the end face of the second coupling structure 211 and the bottom of the first connecting hole 1111 have a certain axial gap. It can be understood that at least two coupling surfaces 1112 symmetrical to the axis line can also be provided on the inner wall of the first connection hole 1111 in the axial direction. Accordingly, the second coupling structure 211 is at least two connecting planes 2111 axially constructed on the outer wall of the second coupling portion 21, and the connecting planes 2111 correspond to the structures and positions of the coupling surfaces 1112. The outer diameter of the second coupling structure 211 is adapted to the inner diameter of the first connection hole 1111, and the two can be transitionally matched. When the first coupling structure 111 and the second coupling structure 211 are nested, the second coupling structure 211 is embedded in the first connection hole 1111, and the connecting plane 2111 on the second coupling structure 211 abuts against the coupling surface 1112, so that the first shaft 1 is radially abutted with the second shaft 2, and rotates synchronously, and the synchronous rotation accuracy between the first shaft 1 and the second shaft 2 can be ensured, forming a torque coupling after the first shaft 1 and the second shaft 2 are coaxially connected. At the same time, when the second coupling structure 211 is embedded in the first connecting hole 1111, the third end surface B3 of the second shaft 2 facing the first shaft 1 and the third bottom surface A3 of the first connecting hole 1111 have a certain axial clearance (not shown), so that the first shaft 1 and the second shaft 2 can be axially decoupled after being coaxially connected. When the low-speed transmission shaft 100 is impacted, the connecting plane 2111 on the second shaft 2 can make axial relative displacement (axial decoupling) along the coupling surface 1112 on the first shaft 1. The above-mentioned axial decoupling torque coupling structure composed of the coaxial connection of the first shaft 1 and the second shaft 2 is also simple and reliable in structure, easy to install, and low in processing cost.

[0044] Based on the above concept, it can be understood that the combination structure of the first connecting hole 1111 and the coupling surface 1112 can also be arranged on the second coupling structure 211, and at the same time, a connecting plane 2111 that cooperates and abuts with the coupling surface 1112 in the first connecting hole 1111 is correspondingly arranged on the first coupling structure 111, that is, the first coupling structure 111 and the second coupling structure 211 are interchangeable on the first axis 1 and the second axis 2. Similarly, when the first coupling structure 111 and the second coupling structure 211 are nested, the first axis 1 and the second axis 2 are coaxially connected to form an axially decoupled torque coupling structure. Specific illustration structures and detailed descriptions are no longer provided here.

[0045] This application Figure 6 In the provided embodiment, the second coupling structure 211 is at least one convex tooth 2112 radially configured on the outer wall of the second coupling portion 21, the first coupling structure 111 is a second connection hole 1113 axially configured in the center of the first coupling portion 11, the opening of which faces the second coupling portion 21, and the inner wall of the second connection hole 1113 has at least one tooth groove 1114 that cooperates with the convex tooth 2112. When the first coupling structure 111 and the second coupling structure 211 are nested, the convex tooth 2112 is embedded in the tooth groove 1114, and the two side walls of the convex tooth 2112 abut against the two side walls of the tooth groove 1114, and a transition fit can be adopted to form a radial abutment after the first shaft 1 and the second shaft 2 are coaxially connected, and torque coupling is performed to make the first shaft 1 rotate synchronously with the second shaft 2. At the same time, the axial design depth of the tooth groove 1114 is greater than the embedding position depth of the second coupling structure 211 when the second coupling structure 211 is nested with the first coupling structure 111, so that when the first coupling structure 111 is nested with the second coupling structure 211, the end face of the second coupling structure 211 and the bottom of the tooth groove 1114 have a certain axial gap (not shown), so that the first shaft 1 and the second shaft 2 can be axially decoupled under the action of external force after being coaxially connected. When the low-speed transmission shaft 100 is impacted, the convex teeth 2112 on the second shaft 2 can make axial relative displacement (axial decoupling) along the tooth groove 1114 on the first shaft 1. Similarly, the above-mentioned axial decoupling torque coupling structure composed of the coaxial connection of the first shaft 1 and the second shaft 2 is reliable in connection and very convenient to install.

[0046] Based on the above concept, it can be understood that the combination structure of the second connecting hole 1113 and the tooth groove 1114 can also be arranged on the second coupling structure 211, and at the same time, a convex tooth 2112 that cooperates and abuts with the tooth groove 1114 in the second connecting hole 1113 is correspondingly arranged on the first coupling structure 111, that is, the first coupling structure 111 and the second coupling structure 211 can be interchangeable on the first shaft 1 and the second shaft 2. Similarly, when the first coupling structure 111 and the second coupling structure 211 are nested, the first shaft 1 and the second shaft 2 can be coaxially connected to form an axially decoupled torque coupling structure. Specific illustrations and detailed descriptions are no longer provided here.

[0047] This application Figure 7 In the provided embodiment, the first coupling structure 111 and the second coupling structure 211 are both configured with hollow cavities in the relative axial directions, so that the first coupling structure 111 and the second coupling structure 211 are roughly tubular structures with side wall thickness, and the side wall of the first coupling structure 111 is configured with a plurality of first latch teeth 1115 in an annular manner in the axial direction toward the second coupling portion 21, and the side wall of the second coupling structure 211 is configured with a plurality of second latch teeth 2113 in an annular manner in the axial direction toward the first coupling structure 111, which are adapted to the first latch teeth 1115. When the first coupling structure 111 and the second coupling structure 211 are nested, the first latch teeth 1115 and the second latch teeth 2113 are axially displaced and docked, and are connected in an annular bite, forming a torque coupling after the first shaft 1 and the second shaft 2 are coaxially connected, so that the first shaft 1 rotates synchronously with the second shaft 2. At the same time, a gap is reserved between the top surface of the first latch teeth 1115 and the bottom of the tooth root of the second latch teeth 2113. When the low-speed transmission shaft 100 is impacted, the second latching teeth 2113 on the second shaft 2 may be axially displaced relative to the first latching teeth 1115 on the first shaft 1 (axial decoupling).

[0048] Based on the above Figure 5-Figure 7 In the implementation scheme, it can be understood that a connecting shaft 3 can also be arranged between the first shaft 1 and the second shaft 2, and the connecting shaft 3 is provided with the above-mentioned nested coupling structure at one end facing the first shaft 1 or the second shaft 2. The first shaft 1 and the connecting shaft 3, and the connecting shaft 3 and the second shaft 2 without the above-mentioned coupling structure are coaxially fixedly connected. Similarly, the first shaft 1 and the connecting shaft 3, or the connecting shaft 3 and the second shaft 2 can be torque coupled and rotated synchronously after being coaxially connected. When the low-speed transmission shaft 100 is impacted, the first shaft 1 and the connecting shaft 3, or the connecting shaft 3 and the second shaft 2 can be axially decoupled. The purpose of the invention of the present application can also be achieved. Specific drawing structures and detailed descriptions are no longer provided herein.

[0049] Further based on the above Figure 5-Figure 7 In the implementation scheme, other nested matching structures with the same inventive concept as the first coupling structure 111 and the second coupling structure 211 can also be designed, and all of them are within the protection scope of the present application.

[0050] See also Figure 8-Figure 10In some embodiments of the low-speed transmission shaft 100 provided in the present application, a first coupling member 112 is provided on the first coupling portion 11, and a third coupling structure 212 is configured on the second coupling portion 21; or, a first coupling member 112 is provided on the second coupling portion 21, and a third coupling structure 212 is configured on the first coupling portion 11. The first coupling member 112 cooperates with the third coupling structure 212 to form a radial abutment, so that the torque is synchronously transmitted between the first coupling portion 11 and the second coupling portion 21, and there is an axial displacement space when subjected to external force, allowing relative displacement in the axial direction, forming a torque coupling and axial decoupling structure after the first shaft 1 and the second shaft 2 are coaxially connected.

[0051] This application Figure 8-Figure 10In the provided implementation scheme, a third open cavity 101c is axially constructed at one end of the first coupling portion 11 facing the second coupling portion 21, an outer wall of the second coupling portion 21 is constructed with a shape that matches the inner wall of the third open cavity 101c, a fourth bottom surface A4 is defined at the bottom of the third open cavity 101c, and a fourth end surface B4 is provided at one end of the second coupling portion 21 facing the first coupling portion 11. The second coupling portion 21 is embedded in the third open cavity 101c so that the first coupling portion 11 and the second coupling portion 21 are nested in the axial direction, so that the first shaft 1 and the second shaft 2 are coaxially connected, and the axis lines of the two are in the same straight line, and a second gap X2 is defined between the fourth end surface B4 of the second coupling portion 21 and the fourth bottom surface A4 of the third open cavity 101c. The first coupling member 112 includes at least one latch 1121. At least one third mounting hole 102c is constructed on the side wall of the first coupling portion 11 along the radial direction of the inner wall of the third opening cavity 101c. The latch 1121 is fixed in the third mounting hole 102c along the radial direction of the side wall of the first coupling portion 11, and has an interference fit with the third mounting hole 102c. The bottom passes through the third mounting hole 102c and enters the third opening cavity 101c. The third coupling structure 212 is an axially constructed slot 2121 on the outer wall of the second coupling portion 21. The number of the slots 2121 matches the number of the latch 1121, and its length is slightly larger than the outer diameter of the latch 1121. When the first coupling member 112 cooperates with the third coupling structure 212, the second coupling part 21 is embedded in the third opening cavity 101c of the first coupling part 11, and is nested with the first coupling part 11 in the axial direction. At this time, the lower end of the first coupling member 112-the latch 1121 on the first coupling part 11 is inserted into the slot 2121 in the radial direction, so that the first shaft 1 forms a radial abutment with the second shaft 2 under the cooperation of the latch 1121 and the slot 2121, and the first shaft 1 rotates synchronously with the second shaft 2, forming a torque coupling after the first shaft 1 and the second shaft 2 are coaxially connected. The outer diameter of the latch 1121 and the width of the slot 2121 are in a transitional matching state to ensure the synchronous rotation accuracy between the first shaft 1 and the second shaft 2. When the low-speed transmission shaft 100 is impacted, the latch 1121 on the first shaft 1 can be axially displaced relative to the slot 2121 on the second shaft 2 (axial decoupling). Based on the above concept, it can be understood that the latch 1121 can be a cylindrical pin component or a screw fastener.Similarly, a third opening cavity 101c may be axially constructed at one end of the second coupling portion 21 facing the first coupling portion 11, a third mounting hole 102c may be radially provided on the side wall of the second coupling portion 21, a latch 1121 may be radially fixed to the second coupling portion 21 along the radial direction of the side wall of the second coupling portion 21, a slot 2121 may be axially constructed on the outer wall of the first coupling portion 11, when the first coupling portion 11 is embedded in the third opening cavity 101c of the second coupling portion 21, the latch 1121 may be inserted into the slot 2121 on the outer wall of the first coupling portion 11, and the outer diameter of the latch 1121 may be transitionally matched with the width of the slot 2121, so that the first shaft 1 and the second shaft 2 may be coaxially connected to form an axially decoupled torque coupling structure, and the specific drawing structure and detailed description are not provided here.

[0052] See also Figure 11-Figure 12 In some embodiments of the low-speed transmission shaft 100 provided in the present application, the first coupling portion 11 is axially configured with a fourth opening cavity 101d at one end facing the second coupling portion 21, and the bottom of the fourth opening cavity 101d defines a fifth bottom surface A5; along the axial direction of the inner wall of the fourth opening cavity 101d, a first keyway 1116 is radially configured outward. A second keyway 2122 is axially configured on the outer wall of the second coupling portion 21, and the key 213 is fixed in the second keyway 2122. The shape of the outer wall of the second coupling part 21 is adapted to the shape of the inner wall of the fourth opening cavity 101d. The end of the second coupling part 21 facing the first coupling part 11 is defined with a fifth end face B5. The second coupling part 21 can be embedded in the fourth opening cavity 101d, so that the first coupling part 11 and the second coupling part 21 are nested in the axial direction. At this time, the first keyway 1116 and the second keyway 2122 are arranged radially opposite to each other, and the key 213 is embedded in the first keyway 1116 to form a radial abutment between the first coupling part 11 and the second coupling part 21, so that the first shaft 1 and the second shaft 2 are coaxially connected and torque coupled, and a third gap X3 is defined between the fifth end face B5 of the second coupling part 21 and the fifth bottom face A5 of the fourth opening cavity 101d. The key 213 and the first keyway 1116 are transitionally matched in width to ensure the synchronous rotation accuracy between the first shaft 1 and the second shaft 2. When the low-speed transmission shaft 100 is impacted, the key 213 can slide axially along the first keyway 1116 (axial decoupling). The key connection structure is simple and convenient, and a standard key can be used. Based on the above concept, it can be understood that the above structure can be interchanged on the first shaft 1 and the second shaft 2, and the first shaft 1 and the second shaft 2 can also be coaxially connected to form an axial decoupled torque coupling structure. The specific drawing structure and detailed description are not provided here.

[0053] Similarly, based on the above Figure 8-Figure 12In the embodiment, it can be understood that a connecting shaft 3 can also be arranged between the first shaft 1 and the second shaft 2, and the connecting shaft 3 is provided with the above-mentioned nested coupling structure at one end facing the first shaft 1 or the second shaft 2. The first shaft 1 and the connecting shaft 3 without the coupling structure, and the connecting shaft 3 and the second shaft 2 are coaxially fixedly connected. Similarly, the first shaft 1 and the second shaft 2 can be torque-coupled and rotate synchronously after being coaxially connected by the connecting shaft 3, and the first shaft 1 and the connecting shaft 3, or the connecting shaft 3 and the second shaft 2 can be axially decoupled when the low-speed transmission shaft 100 is impacted. The purpose of the invention of this application can also be achieved, and the specific drawing structure and detailed description are no longer provided here.

[0054] See also Fig.13 The present application also provides a joint module 1000, including a motor assembly 200 and a reducer assembly 300 arranged in a shell 400, and also including an input encoder 700 and an output encoder 600, the input encoder 700 is used to detect the output displacement signal or position information of the motor assembly 200, and the output encoder 600 is used to detect the output displacement signal or position information of the reducer assembly 300, wherein the input encoder 700 includes a high-speed encoder seat 701, and the output encoder 600 includes a low-speed encoder seat 601 provided with an output code disk, and the low-speed encoder seat 601 is connected to the low-speed transmission shaft 100 described above.

[0055] See also Fig.13 In some implementation schemes of the joint module 1000 of the present application, the motor assembly 200 includes a stator 201, a rotor 202, and a rotor frame 203 connected to the rotor 202 and driven to rotate by the rotor 202; the reducer assembly 300 includes an input shaft 301, a planetary gear mechanism 302 and an output end 303, and the rotor frame 203 is transmission connected to the input shaft 301 or is transmission connected to the input shaft 301 through a connecting member 500. The rotor frame 203 is provided with a supporting cylinder 2031, and the first shaft 1 in the low-speed transmission shaft 100 is inserted into the hollow cavity of the supporting cylinder 2031. The opposite ends of the first shaft 1 and the second shaft 2 are coaxially connected through an axially decoupled torque coupling structure, and the other outward end is fixedly connected to the low-speed encoder seat 601. The second shaft 2 is arranged at the center of the reducer assembly 300, and the other outward end of the second shaft 2 is connected to the output end 303, and is driven to rotate by the output end 303. The displacement signal or position information output by the reducer assembly 300 is detected by the detection element arranged on the low-speed encoder seat 601.

[0056] The first bearing 204 and the second bearing 205 are sandwiched in the radial direction between the inner wall of the support cylinder 2031 and the outer wall of the first shaft 1, for supporting the rotation of the first shaft 1. The first bearing 204 is arranged close to the reducer assembly 300, and the second bearing 205 is arranged far from the reducer assembly 300. The diameters of the first bearing 204 and the second bearing 205 are substantially the same, and the projections of the two in the axial direction of the low-speed transmission shaft 100 overlap, which can make full use of the length space of the support cylinder 2031 to form a double support on the first shaft 1. The two support points make the first bearing 204 and the second bearing 205 have a certain span in the axial direction of the first shaft 1, which can balance the load, avoid vibration during the rotation of the first shaft 1, improve the stability of the rotation of the first shaft 1, and ensure the stable operation of the low-speed encoder seat 601, thereby ensuring the detection accuracy of the output encoder 600.

[0057] The first bearing 204 and the second bearing 205 can be arranged at intervals, and a bearing outer sleeve 206 and a bearing inner sleeve 207 are arranged between the first bearing 204 and the second bearing 205. The outer ring of the bearing outer sleeve 206 abuts against the inner wall of the supporting cylinder 2031, and the inner ring of the bearing inner sleeve 207 is sleeved on the first shaft 1. A first limiting flange 113 (see FIG. 114 ) is radially arranged on the outer wall of the first shaft 1. Figure 1-Figure 4 , Figure 6-Figure 13 ), the inner wall of the supporting cylinder 2031 is radially provided with a second limiting flange 20311 toward the center direction, the inner ring of the first bearing 204 toward the outer side of the reducer assembly 300 abuts against the first limiting flange 113, the outer ring abuts against the second limiting flange 20311, the inner ring of the second bearing 205 away from the outer side of the reducer assembly 300 abuts against the low-speed encoder seat 601, and the outer ring abuts against the high-speed encoder seat 701 connected and fixed to the supporting cylinder 2031, so that the first bearing 204 and the second bearing 205 are positioned in the axial direction of the first shaft 1.

[0058] See also Fig.14 In some embodiments of the present application, a motion joint of a humanoid robot is further provided, at least one motion joint adopts the above-mentioned joint module 1000, Fig.14 The application of joint module 1000 in the hip joint of a humanoid robot is demonstrated.

[0059] See also Fig.15 In some embodiments of the present application, a humanoid robot is also provided, which adopts a motion joint having the above-mentioned joint module 1000.

[0060] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A low-speed transmission shaft of a joint module of a humanoid robot, characterized in that: include: A first shaft and a second shaft are coaxially connected via an axially decoupled torque coupling structure.

2. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 1, characterized in that: A first open cavity is axially constructed at one end of the first shaft facing the second shaft, and one end of the second shaft facing the first shaft is embedded in the first open cavity, so that the first shaft and the second shaft are axially nested; in the radial direction of the first shaft, at least one threaded fastener with a flat bottom is provided, and the threaded fastener abuts against the outer wall of the second shaft embedded in the first open cavity, and the abutting position of the threaded fastener defines a gap between the end surface of the second shaft facing the first shaft and the bottom surface of the first open cavity.

3. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 1, characterized in that: A connecting shaft is arranged between the first shaft and the second shaft, and a second opening cavity is axially constructed at one end of the connecting shaft facing the second shaft, and an end of the second shaft facing the connecting shaft is embedded in the second opening cavity, so that the connecting shaft and the second shaft are axially nested, and the other end of the connecting shaft is coaxially fixedly connected with the first shaft; at least one threaded fastener with a flat bottom is arranged in the radial direction of the connecting shaft, and the threaded fastener abuts against the outer wall of the second shaft embedded in the second opening cavity, and the abutting position of the threaded fastener defines a gap between the end surface of the second shaft facing the connecting shaft and the bottom surface of the second opening cavity; or, A connecting shaft is arranged between the first shaft and the second shaft, and a second open cavity is axially constructed at one end of the connecting shaft facing the first shaft, and one end of the first shaft facing the connecting shaft is embedded in the second open cavity, so that the connecting shaft and the first shaft are axially nested, and the other end of the connecting shaft is coaxially fixedly connected with the second shaft; in the radial direction of the connecting shaft, at least one threaded fastener with a flat bottom is arranged, and the threaded fastener abuts against the outer wall of the first shaft embedded in the second open cavity, and the abutting position of the threaded fastener defines a gap between the end surface of the first shaft facing the connecting shaft and the bottom surface of the second open cavity.

4. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 1, characterized in that: One end of the first shaft facing the second shaft is defined as a first coupling portion, and one end of the second shaft facing the first shaft is defined as a second coupling portion. The first coupling portion cooperates with the second coupling portion to allow axial relative displacement while transmitting torque, thereby forming a torque coupling and axial decoupling structure after the first shaft and the second shaft are coaxially connected.

5. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 1, characterized in that: A connecting shaft is provided between the first shaft and the second shaft, one end of the first shaft facing the connecting shaft is defined as a first coupling portion, and one end of the connecting shaft facing the first shaft is defined as a second coupling portion, the first coupling portion cooperates with the second coupling portion to allow axial relative displacement while transmitting torque, and the other end of the connecting shaft is axially coupled with one end of the second shaft facing the connecting shaft, so that the first shaft and the second shaft are respectively coaxially connected through the connecting shaft to form a torque-coupled and axially decoupled structure; or, A connecting shaft is arranged between the first shaft and the second shaft, and one end of the second shaft facing the connecting shaft is defined as a first coupling portion, and one end of the connecting shaft facing the second shaft is defined as a second coupling portion. The first coupling portion cooperates with the second coupling portion to allow axial relative displacement while transmitting torque, and the other end of the connecting shaft is axially coupled with one end of the first shaft facing the connecting shaft, so that the first shaft and the second shaft are coaxially connected through the connecting shaft to form a torque-coupled and axially decoupled structure.

6. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 4 or 5, characterized in that: The first coupling portion is axially configured with a first coupling structure, the second coupling portion is axially configured with a second coupling structure, and the first coupling structure and the second coupling structure are nested.

7. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 6, characterized in that: The second coupling structure is at least one connecting plane axially constructed on the outer wall of the second coupling part, the first coupling structure is a first connecting hole axially constructed on the first coupling part with an opening facing the second coupling part, and the inner wall of the first connecting hole is configured with a coupling surface matching the connecting plane; or, The first coupling structure is at least one connecting plane axially configured on the outer wall of the first coupling portion, the second coupling structure is a first connecting hole axially configured on the second coupling portion with an opening facing the first coupling portion, and the inner wall of the first connecting hole is configured with a coupling surface matching the connecting plane; When the first coupling structure and the second coupling structure are nested, the connecting plane abuts against the coupling surface.

8. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 6, characterized in that: The second coupling structure is at least one protruding tooth radially configured on the outer wall of the second coupling part, the first coupling structure is a second connecting hole axially configured on the first coupling part with an opening facing the second coupling part, and the inner wall of the second connecting hole is correspondingly configured with at least one tooth groove cooperating with the protruding tooth; or, The first coupling structure is at least one protruding tooth radially configured on the outer wall of the first coupling part, and the second coupling structure is a second connecting hole axially configured on the second coupling part with an opening facing the first coupling part, and the inner wall of the second connecting hole is correspondingly configured with at least one tooth groove cooperating with the protruding tooth; When the first coupling structure and the second coupling structure are nested, the protruding teeth are embedded in the tooth grooves.

9. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 6, characterized in that: The first coupling structure is a plurality of first latching teeth arranged axially of the first coupling portion toward the second coupling portion; The second coupling structure is a plurality of second latching teeth which are arranged on the second coupling part in the axial direction of the first coupling part and correspond to the first latching teeth; When the first coupling structure and the second coupling structure are nested, the first latching tooth and the second latching tooth are staggeredly docked, and after docking, a gap is provided between the first latching tooth and the second latching tooth in the axial direction.

10. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 4 or 5, characterized in that: The first coupling portion is provided with a first coupling member, the second coupling portion is configured with a third coupling structure, the first coupling member cooperates with the third coupling structure to allow relative axial displacement between the first coupling portion and the second coupling portion while transmitting torque; or, The second coupling portion is provided with a first coupling piece, the first coupling portion is constructed with a third coupling structure, and the first coupling piece cooperates with the third coupling structure to allow axial relative displacement between the first coupling portion and the second coupling portion while transmitting torque.

11. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 10, characterized in that: The first coupling portion is axially configured with a third opening cavity at one end facing the second coupling portion, the first coupling member includes at least one latch pin radially arranged on the first coupling portion, the third coupling structure is at least one slot axially configured on the second coupling portion, the length of which is slightly larger than the outer diameter of the latch pin, the second coupling portion is embedded in the third opening cavity, the latch pin is inserted into the slot, and the outer diameter of the latch pin is transitionally matched with the width of the slot; or, The second coupling portion has an end toward the first coupling portion with a third opening cavity axially constructed therein, the first coupling member includes at least one latch pin radially arranged on the first coupling portion, the third coupling structure is at least one slot axially constructed on the first coupling portion and having a length slightly larger than an outer diameter of the latch pin, the first coupling portion is embedded in the third opening cavity, the latch pin is inserted into the slot, and the outer diameter of the latch pin is transitionally matched with the width of the slot.

12. The low-speed transmission shaft of the joint module of the humanoid robot according to claim 4 or 5, characterized in that: A fourth opening cavity is axially configured at one end of the first coupling portion facing the second coupling portion, a first keyway is axially configured along the inner wall of the fourth opening cavity, a key is provided on the second coupling portion, the second coupling portion is embedded in the fourth opening cavity, and the key is embedded in the first keyway; or, A fourth opening cavity is axially constructed at one end of the second coupling part toward the first coupling part, a first keyway is axially constructed along the inner wall of the fourth opening cavity, a key is provided on the first coupling part, the first coupling part is embedded in the fourth opening cavity, and the key is embedded in the first keyway.

13. The joint module is characterized in that: It includes a motor assembly, a reducer assembly, and also includes an input encoder for detecting an output displacement signal or position information of the motor assembly and an output encoder for detecting an output displacement signal or position information of the reducer assembly, wherein the low-speed encoder seat in the output encoder is connected to the low-speed transmission shaft according to any one of claims 1 to 12.

14. The joint module according to claim 13, characterized in that: The motor assembly includes a rotor frame connected to the rotor and driven to rotate by the rotor, the rotor frame includes a supporting cylinder with a hollow cavity, the first shaft in the low-speed transmission shaft is arranged at the center of the supporting cylinder, one end of the first shaft is coaxially connected to one end of the second shaft through an axially decoupled torque coupling structure, and the other end is connected to the low-speed encoder seat, the second shaft is arranged at the center of the reducer assembly, and the other end is connected to the output end of the reducer assembly.

15. The joint module according to claim 14, characterized in that: A first bearing and a second bearing are sandwiched radially between the inner wall of the supporting cylinder and the outer wall of the first shaft, the first bearing is arranged close to the reducer assembly, and the second bearing is arranged away from the reducer assembly, and the axial projections of the first bearing and the second bearing on the low-speed transmission shaft coincide; a first limiting flange is radially provided on the outer wall of the first shaft, and a second limiting flange is radially provided on the inner wall of the supporting cylinder toward the center direction, the inner ring of the first bearing facing the outer side of the reducer assembly abuts against the first limiting flange, and the outer ring abuts against the second limiting flange, the inner ring of the second bearing facing away from the outer side of the reducer assembly abuts against the low-speed encoder seat, and the outer ring abuts against the high-speed encoder seat in the input encoder, and the high-speed encoder seat is connected to the supporting cylinder.

16. A motion joint of a humanoid robot, characterized in that: At least one motion joint adopts the joint module described in any one of claims 13-15.

17. A humanoid robot, characterized in that The motion joint according to claim 16 is adopted.

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