Joint Module and Humanoid Robot

Abstract

The present application relates to the field of robot technology, and discloses a joint module and a humanoid robot. The joint module includes a joint housing, an adapter, an inner gear ring and a fixed plate. The external connection part of the adapter is assembled with the joint housing through a group of radially arranged fasteners, and the reducer is accommodated on the inner side of the internal connection part of the adapter through the inner gear ring, and is fastened and fixed with the external connection part through the flange part of the inner gear ring and the fixed plate. Through the setting of the adapter, there is no need to connect the housing with the reducer. The joint housing is provided with a radial first assembly hole on the side of the assembly end of the reducer to meet the assembly of the reducer, while taking into account the assembly of the motor and the reducer.

Description

Technical Field

[0001] This application relates to the technical field of robotics, and relates to a joint module and a humanoid robot. Background Art

[0002] In robotics, a joint module provides precise power output through the combination of a motor and a reducer, supporting the robot to complete predetermined actions. Among the two main components, the motor outputs power as the core driving element, and its rotor is rigidly connected to the input end of the reducer; the reducer undertakes the functions of power transmission and speed regulation, and its output end directly drives the target moving component, ultimately achieving high-precision execution of the preset action trajectory of the robot. Summary of the Invention

[0003] This application provides a joint module and a humanoid robot, aiming to propose a new assembly structure for the joint module.

[0004] In one solution, a joint module is provided, which mainly includes a joint housing, an adapter, an internal gear ring, and a fixing plate. The joint housing is generally in a hollow cylindrical shape, and a plurality of first assembly holes are arranged at intervals in the radial direction at one end thereof;

[0005] The adapter includes an inner connecting portion generally in a hollow cylindrical shape and an outer connecting portion generally in a hollow circular ring shape. A plurality of second assembly holes are arranged at intervals in the axial direction of the outer connecting portion, and a plurality of third assembly holes are arranged at intervals in the radial direction;

[0006] The internal gear ring includes a gear ring portion and a flange portion. A plurality of fourth assembly holes and a plurality of fifth assembly holes are arranged at intervals in the flange portion;

[0007] The fixing plate is generally in a hollow ring shape, and a plurality of sixth assembly holes and seventh assembly holes are arranged at intervals therein;

[0008] The internal gear ring and the fixing plate are relatively fixed by passing a first set of fasteners through a plurality of fourth assembly holes and a plurality of sixth assembly holes;

[0009] The fixing plate, the internal gear ring and the adapter are relatively fixed by passing a second set of fasteners through a plurality of seventh assembly holes, a plurality of fifth assembly holes and a plurality of second assembly holes;

[0010] The joint housing and the adapter are relatively fixed by passing a third set of fasteners through a plurality of first assembly holes and a plurality of third assembly holes.

[0011] In one solution, the first assembly hole is a countersunk through hole with a countersunk head located on the outer wall of the joint housing;

[0012] The second assembly hole is a threaded hole;

[0013] The third assembly hole is a threaded hole;

[0014] The fourth assembly hole is a countersunk through hole with the countersunk head located near the gear ring part;

[0015] The fifth assembly hole is a through hole;

[0016] The sixth assembly hole is a threaded hole;

[0017] The seventh assembly hole is a countersunk through hole with the countersunk head located on the outer side surface of the fixed disk.

[0018] In one solution, at one end of the joint housing where the first assembly hole is formed, a mating groove is further provided. The mating groove is located inside the end face of the joint housing, and the mating groove abuts against at least a part of the outer edge of the flange portion.

[0019] In one solution, the joint module further includes a mask. The mask includes a mask portion in the shape of a hollow circular ring and a connecting portion located radially outside the mask portion. The connecting portion is generally in the shape of a hollow cylinder, and the connecting portion is nested on the outer edge of the gear ring portion. The mask portion covers the opening at one end of the gear ring portion facing away from the flange portion.

[0020] In one solution, the mask portion includes an outer ring portion and an inner ring portion. The thickness of the outer ring portion is less than that of the inner ring portion. The end face of the gear ring portion facing away from the output flange abuts against the outer ring portion, and the radial extension distance of the outer ring portion is greater than the thickness of the gear ring portion facing away from the output flange.

[0021] In one solution, a reinforcing portion is provided between the outer side surface of the gear ring portion of the internal gear ring and the flange portion. The reinforcing portion connects the outer side surface of the gear ring portion and the side surface of the flange portion facing away from the output flange.

[0022] In one solution, the inner connecting portion of the adapter is nested outside the connecting portion of the mask, and the inner connecting portion is fixedly assembled on the outer edge of the gear ring portion through the connecting portion.

[0023] In one solution, the flange portion of the internal gear ring is in the shape of a polygonal flange; or, the flange portion of the internal gear ring is in the shape of a triangular flange; or, the flange portion of the internal gear ring is in the shape of a quadrilateral flange.

[0024] In one solution, the adapter, the internal gear ring, and the fixed disk are respectively provided with pin holes, and the pin hole on the internal gear ring is a through hole, and one or more positioning pins are respectively assembled in the corresponding pin holes of the adapter, the internal gear ring, and the fixed disk.

[0025] In one solution, a humanoid robot is provided, which mainly includes the joint module as described above.

[0026] Advantages of the present application:

[0027] The present application provides a joint module and a humanoid robot. The joint module is provided with an adapter. Its external connection part is assembled with the joint housing through a set of radially arranged fasteners. The reducer is accommodated inside the internal connection part of the adapter, and is fastened and fixed to the external connection part through the flange part and the fixing plate of the internal gear ring. Through the setting of the adapter, there is no need to connect the joint housing and the reducer anymore. The joint housing is provided with a radial first assembly hole on the side of the assembly end of the reducer, which can meet the assembly of the reducer while taking into account the assembly of the motor and the reducer. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 is a bottom view schematic diagram of a joint module in an embodiment of the present application;

[0030] Figure 2 is Figure 1 a cross-sectional view schematic diagram of the joint module along the A - O - A direction;

[0031] Figure 3 is Figure 2 a partial enlarged view schematic diagram of the joint module at C;

[0032] Figure 4 a cross-sectional view schematic diagram of the joint module along the B - O - B direction;

[0033] Figure 5 is a partial exploded view schematic diagram of the reducer of a joint module in an embodiment of the present application;

[0034] Figure 6 is an exploded view schematic diagram of the housing and the reducer of a joint module in an embodiment of the present application;

[0035] Figure 7 is a three-dimensional structure schematic diagram of the adapter of a joint module in an embodiment of the present application;

[0036] Figure 8 is a cross-sectional view schematic diagram of the adapter of a joint module in an embodiment of the present application;

[0037] Figure 9 is a three-dimensional structure schematic diagram of the joint housing of a joint module in an embodiment of the present application;

[0038] Figure 10It is a three-dimensional structural schematic diagram of an internal gear ring of a joint module in an embodiment of the present application;

[0039] Figure 11 It is a three-dimensional structural schematic diagram of a fixing plate of a joint module in an embodiment of the present application;

[0040] Figure 12 It is a three-dimensional structural schematic diagram of a mask of a joint module in an embodiment of the present application;

[0041] Figure 13 It is a partial sectional schematic diagram of a mask of a joint module in an embodiment of the present application;

[0042] Figure 14 It is a three-dimensional structural schematic diagram of a humanoid robot in an embodiment of the present application;

[0043] Figure 15 It is a schematic diagram of the waist-hip structure of a humanoid robot from the rear view perspective in an embodiment of the present application.

[0044] Reference numerals in the figure:

[0045] 1, joint housing; 11, first assembly hole; 12, mating groove;

[0046] 2, adapter; 21, internal connection part; 22, external connection part; 221, second assembly hole; 222, third assembly hole; 23, first pin hole;

[0047] 3, internal gear ring; 31, gear ring part; 32, flange part; 321, fourth assembly hole; 322, fifth assembly hole; 33, strengthening part; 34, second pin hole;

[0048] 4, fixing plate; 41, sixth assembly hole; 42, seventh assembly hole; 43, third pin hole;

[0049] 5, mask; 51, mask part; 511, outer ring part; 512, inner ring part; 52, connecting part;

[0050] 61, first fastener; 62, second fastener; 63, third fastener; 64, positioning pin;

[0051] 71, head; 72, torso; 73, arm; 74, waist omnidirectional joint; 75, hip structural member; 76, waist yaw joint; 77, hip pitch joint; 78, leg roll joint; 79, leg yaw joint; 80, thigh; 81, knee joint; 82, calf; 83, ankle joint;

[0052] h1 is the thickness of the outer ring part; h2 is the thickness of the inner ring part;

[0053] X is the first horizontal direction; Y is the second horizontal direction; Z is the vertical direction. Detailed implementation manners

[0054] The following will further describe in detail specific embodiments of the present application in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application. Similarly, the following embodiments are only partial embodiments of the present application rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0056] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0057] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present invention, unless otherwise clearly defined or limited, a first feature being "on" or "under" 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", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. A first feature being "under", "beneath" and "underneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0059] In the present invention, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in connection 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 specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0060] In the present invention, the concept of "substantially in the shape of" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall characteristics, so it can be classified as "substantially in the shape of" a certain shape. For example, when describing a circular object, it is described as "substantially circular", meaning that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, it is described as "substantially cube-shaped", meaning that the overall shape of the object is a cube, but there are differences in some non-functional details.

[0061] In one embodiment, please refer to Figures 1 to 6 , a joint module is provided, which mainly includes a joint housing 1, an adapter 2, an internal gear ring 3 and a fixing plate 4. The joint housing 1 is substantially in the shape of a hollow cylinder, and a plurality of first assembly holes 11 are arranged at intervals in the radial direction at one end thereof. The adapter 2 includes an inner connecting portion 21 substantially in the shape of a hollow cylinder and an outer connecting portion 22 substantially in the shape of a hollow ring. A plurality of second assembly holes 221 are arranged at intervals in the axial direction on the outer connecting portion 22, and a plurality of third assembly holes 222 are arranged at intervals in the radial direction. The internal gear ring 3 includes a gear ring portion 31 and a flange portion 32. A plurality of fourth assembly holes 321 and a plurality of fifth assembly holes 322 are arranged at intervals on the flange portion 32. The fixing plate 4 is substantially in the shape of a hollow ring, and a plurality of sixth assembly holes 41 and seventh assembly holes 42 are arranged at intervals thereon.

[0062] The first set of fasteners (such as Figure 5 the first fastener 61) passes through a plurality of fourth assembly holes 321 and a plurality of sixth assembly holes 41 for fixed connection, so that the internal gear ring 3 and the fixed disk 4 are relatively fixed. The second set of fasteners (such as Figure 5 the second fastener 62) passes through a plurality of seventh assembly holes 42, a plurality of fifth assembly holes 322 and a plurality of second assembly holes 221 for fixed connection, so that the fixed disk 4, the internal gear ring 3 and the adapter 2 are relatively fixed. The third set of fasteners (such as Figure 5 the third fastener 63) passes through a plurality of first assembly holes 11 and a plurality of third assembly holes 222 for fixed connection, so that the joint housing 1 and the adapter 2 are relatively fixed.

[0063] The outer connection part 22 of the adapter 2 is assembled with the joint housing 1 through a set of radially arranged fasteners, and the speed reducer is accommodated inside the inner connection part 21 of the adapter 2, and is fastened and fixed through the flange part 32 of the internal gear ring 3 and the fixed disk 4 to the outer connection part 22. Through the setting of the adapter 2, there is no need to connect the joint housing 1 and the speed reducer anymore. The joint housing 1 is provided with radial first assembly holes 11 on the side of the assembly end of the speed reducer, which can meet the assembly of the speed reducer and also take into account the assembly of the motor and the speed reducer.

[0064] In the above setting, the adapter 2 radially fixes the speed reducer with the inner connection part 21, and uses the fastening connection between the outer connection part 22 and the fixed disk 4 of the speed reducer for axial fixation of the speed reducer. Thus, the speed reducer can be fixed with a set of fasteners. At the same time, the outer connection part 22 of the adapter 2 can also be assembled and connected with the outer joint housing 1, and there is no need to connect the joint housing 1 and the speed reducer anymore. Such a setting, on the one hand, can assemble and connect the joint housing 1 and the speed reducer assembly with a set of fasteners, the assembly method is simple, and the assembly efficiency is high. On the other hand, since the outer connection part 22 of the adapter 2 is directly radially connected to the joint housing 1, the joint housing 1 only needs to be provided with radial first assembly holes 11 to meet the assembly requirements, and there is no need to perform complex structural design at the speed reducer assembly end of the joint housing 1 to adapt to the speed reducer. In this way, the thickness requirement for the joint housing 1 is reduced, the thickness and outer diameter of the housing can be reduced, and the processing and manufacturing costs of the housing can be reduced.

[0065] In one embodiment, one end of the joint housing 1 far from the first assembly hole 11 is mainly used for configuring the motor. The internal gear ring 3 is the internal gear ring of the speed reducer, and its radial outer side is the radial outer side of the speed reducer. The fixed disk 4 is used to seal one end of the speed reducer and form a bearing position on the output flange side, which is convenient for assembling the bearing.

[0066] In one embodiment, please refer to Figure 1 , Figure 5 and Figure 6The first assembly hole 11 is a countersunk through hole with a countersunk head located on the outer wall of the joint housing 1; the second assembly hole 221 is a threaded hole; the third assembly hole 222 is a threaded hole; the fourth assembly hole 321 is a countersunk through hole with a countersunk head located near the ring gear portion 31; the fifth assembly hole 322 is a through hole; the sixth assembly hole 41 is a threaded hole; the seventh assembly hole 42 is a countersunk through hole with a countersunk head located on the outer side of the fixing plate 4.

[0067] The threaded hole is convenient for fasteners to enter and form threaded fastening, with good fastening effect and not easy to fall off. The setting of the countersunk through hole can ensure that the fastener head is fully embedded in it, avoiding mechanical interference that may be caused by exposed parts, and effectively improving the safety and appearance smoothness of the assembly by reducing surface protrusions.

[0068] In one embodiment, see Figure 5 There are eight first fasteners 61, arranged in an array of two and surrounding, and there are eight corresponding fourth assembly holes 321 and sixth assembly holes 41, arranged in an array of two and surrounding.

[0069] In one embodiment, see Figure 5 There are four second fasteners 62 arranged in an array and surrounding, corresponding to the seventh assembly hole 42, the fifth assembly hole 322 and the second assembly hole 221, which are four and arranged in an array and surrounding.

[0070] In one embodiment, see Figure 6 There are two third fasteners 63 , corresponding to two first assembly holes 11 and two third assembly holes 222 , and the two third fasteners 63 and the two groups of first assembly holes 11 and third assembly holes 222 are arranged opposite to each other.

[0071] In one embodiment, see Figure 2 , Figure 3 as well as Figure 9 One end of the joint housing 1 having the first assembly hole 11 is also provided with a matching groove 12 , which is located on the inner side of the end surface of the joint housing 1 , and abuts against at least part of the outer edge of the flange portion 32 .

[0072] The matching groove 12 is provided to form radial positioning of the flange portion 32, so as to realize positioning between the reducer and the joint housing 1. At the same time, the matching groove 12 can also form an axial limit of the inner gear ring 3, reducing the risk of the reducer abutting the motor along the axial direction.

[0073] In one embodiment, see Figure 2 , Figure 3 as well as Figure 9 The outer side of the flange portion 32 is a polygonal structure, and the position farthest from the axis of the flange portion 32 is an arc, and the diameter of the arc is adapted to the diameter of the matching groove 12.

[0074] In one embodiment, please refer to Figure 2 , Figure 5 , and Figure 6 . The joint module further includes a mask 5. The mask 5 includes a mask portion 51 in a hollow circular ring shape and a connecting portion 52 located radially outside the mask portion 51. The connecting portion 52 is generally in a hollow cylindrical shape. The connecting portion 52 is nested on the outer edge of the gear ring portion 31, and the mask portion 51 covers the opening at one end of the gear ring portion 31 facing away from the flange portion 32.

[0075] The setting of the mask 5 is used to form a separation between the speed reducer and the motor. On the one hand, it plays a role in electrical isolation. On the other hand, it also prevents the substances in the speed reducer or the motor from penetrating each other, resulting in damage to the joint module.

[0076] In one embodiment, please refer to Figure 2 , Figure 12 , and Figure 13 . The mask portion 51 includes an outer ring portion 511 and an inner ring portion 512. The thickness h1 of the outer ring portion 511 is less than the thickness h2 of the inner ring portion 512. The end face of the gear ring portion 31 facing away from the output flange abuts against the outer ring portion 511, and the radial extension distance of the outer ring portion 511 is greater than the thickness of the gear ring portion 31 facing away from the output flange.

[0077] The setting of the outer ring portion 511 can abut against the end face of the gear ring portion 31. Its smaller thickness can increase the distance between the gear ring portion 31 and the motor. The larger the isolation space, the better the isolation effect in the compact joint module.

[0078] In one embodiment, please refer to Figure 2 , Figure 12 , and Figure 13 . The thickness h2 of the inner ring portion 512 is greater than the thickness h1 of the outer ring portion 511, and the part of the inner ring portion 512 that is larger than the outer ring portion 511 extends into the inside of the gear ring portion 31. The inner ring portion 512 can increase the structural strength of the mask 5, avoid occupying the space between the gear ring portion 31 and the motor, and increase the structural strength while ensuring the isolation effect.

[0079] In one embodiment, please refer to Figure 2 , and Figure 4 . The inner connecting portion 21 of the adapter 2 is nested outside the connecting portion 52 of the mask 5, and the inner connecting portion 21 is fixedly assembled on the outer edge of the gear ring portion 31 through the connecting portion 52.

[0080] Such a setting makes the mask 5, the gear ring portion 31, and the inner connecting portion 21 relatively fixed, ensuring effective assembly. The mask 5 also forms an isolation between the gear ring portion 31 and the inner connecting portion 21, avoiding direct rigid cooperation between the two, and playing a certain protective role.

[0081] In one embodiment, the radially inner side of the outer ring of the mask 5 abuts against the radially outer side of the ring gear portion 31, and the radially outer side of the outer ring of the mask 5 abuts against the radially inner side of the inner connection portion 21. Such an arrangement enables the outer ring of the mask 5 to be clamped between the inner connection portion 21 and the ring gear portion 31, effectively fixing the mask 5 without the need to provide fasteners, reducing the assembly difficulty and the component processing difficulty.

[0082] In one embodiment, referring to Figure 2 、 Figure 4 and Figure 10 , a reinforcing portion 33 is provided between the outer side surface of the ring gear portion 31 of the internal gear ring 3 and the flange portion 32. The reinforcing portion 33 connects the outer side surface of the ring gear portion 31 and the side surface of the flange portion 32 facing away from the output flange. The provision of the reinforcing portion 33 is used to increase the structural strength of the ring gear portion 31 to meet the transmission requirements inside the ring gear portion 31. In addition, the reinforcing portion 33 being located on the side close to the flange portion 32 is beneficial to structural stability and ensures stable output on the output flange side of the speed reducer.

[0083] In one embodiment, the flange portion 32 of the internal gear ring 3 is in the shape of a polygonal flange. The polygonal flange can extend a certain radial distance outward through the side edges while ensuring the structural strength, meeting the assembly requirements without setting the flange portion 32 according to the maximum outer diameter requirement. Compared with the traditional solution, the mass of the flange portion 32 can be reduced, realizing the lightweight of the joint module.

[0084] In one embodiment, the flange portion 32 of the internal gear ring 3 is in the shape of a triangular flange.

[0085] In one embodiment, referring to Figure 5 and Figure 10 , the flange portion 32 of the internal gear ring 3 is in the shape of a quadrilateral flange.

[0086] In one embodiment, adjacent sides of the flange portion 32 are connected by an arc edge, and the diameter of the arc edge is equal to the diameter of the circumscribed circle of the polygon. Such an arrangement enables the arc edge to fit the mating groove 12 and has the function of circumferential positioning.

[0087] In one embodiment, referring to Figure 5 , in the flange portion 32 of the internal gear ring 3, a fourth assembly hole 321 and a fifth assembly hole 322 are provided at the corner formed by two sides, and the two fourth assembly holes 321 and the fifth assembly hole 322 are symmetrically arranged. Such a structure is compact, effectively utilizes the corner position of the polygonal flange portion 32, and the mass distribution of the flange portion 32 is uniform.

[0088] In one embodiment, referring to Figure 5, the adapter 2, the inner gear ring 3 and the fixed plate 4 are all provided with pin holes correspondingly, and the pin holes on the inner gear ring 3 are through holes, and one or more positioning pins 64 are respectively assembled in the corresponding pin holes of the adapter 2, the inner gear ring 3 and the fixed plate 4. The arrangement of the positioning pins 64 and the pin holes facilitates the circumferential positioning of the inner gear ring 3, the fixed plate 4 and the adapter 2, and limits the circumferential freedom of the three.

[0089] In one embodiment, see Figure 5 , Figure 7 and Figure 8 The adapter 2 is provided with a first pin hole 23. The first pin hole 23 is fully open on the side facing the inner gear ring 3, and is half open on the side away from the inner gear ring 3, so that the pin shaft is axially limited on one side of the adapter 2, and the pin shaft cannot be disengaged from the side close to the motor.

[0090] In one embodiment, see Figure 5 and Figure 10 The inner gear ring 3 is provided with a second pin hole 34, and the second pin hole 34 is a through hole.

[0091] In one embodiment, see Figure 5 and Figure 11 The fixed disk 4 is provided with a third pin hole 43 , and the third pin hole 43 is a blind hole, which limits the pin shaft and prevents it from disengaging from the side of the fixed disk 4 away from the inner gear ring 3 .

[0092] In one embodiment, see Figure 14 and Figure 15 , a humanoid robot is provided, which mainly includes a joint module as in any of the above embodiments. The specific structure and beneficial effects of the joint module are detailed in the above embodiments and will not be repeated here. The joint module is mainly used in each joint module of the humanoid robot to achieve stable motion output.

[0093] In some embodiments, see Figure 14 and Figure 15 The humanoid robot includes a head 71, a neck, a trunk 72, a waist, a hip, an arm and a leg. The head 71 and the neck are connected to the trunk 72 in sequence, the two arms are connected to the opposite sides of the trunk 72, the waist includes a waist omnidirectional joint 74 connected to the lower part of the trunk 72, and the lower part is connected to the hip. The hip includes a hip structure 75, and the waist yaw joint 76 is located on the back side of the humanoid robot, and is connected to the connecting seat of the waist omnidirectional joint 74 through a transmission structure to realize the omnidirectional movement of the waist.

[0094] The opposite sides of the hip structure member 75 are provided with inclined hip pitch joints 77. The output ends of the hip pitch joints 77 are connected to the leg roll joints 78 through a connecting member, and the axis of rotation of the hip pitch joints 77 does not intersect with the axis of rotation of the leg roll joints 78. The leg roll joints 78 are connected to the leg yaw joints 79 through a connecting member. The hip pitch joints 77, the leg roll joints 78, and the leg yaw joints 79 simultaneously drive the thigh 80 to realize the movement of the leg.

[0095] The thigh 80 of the leg is connected to the leg yaw joint 79. A knee joint 81 is provided between the thigh 80 and the calf 82 for directly driving the movement of the calf 82. An ankle drive joint is provided on the calf 82 to realize the omnidirectional movement of the ankle joint 83 by driving a rocker arm, and drive the sole of the foot to rotate to adapt to different bottom surface requirements. Such a multi-degree-of-freedom robot can realize actions such as mimicking human walking, standing, and bending. Combined with the arm, it can also realize complex behavioral actions such as carrying and climbing over.

[0096] In some embodiments, the joint modules in the above embodiments can also be applied to the joint modules of biped robots, point-foot robots, quadruped robots, four-wheel-foot robots, and other robots.

[0097] 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 principle 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 should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. A joint module, characterized in that, Comprising: A joint housing that is generally hollow cylindrical, with one end having a plurality of first assembly holes spaced radially apart; An adapter, including an inner connecting portion that is generally hollow cylindrical and an outer connecting portion that is generally hollow annular. The outer connecting portion has a plurality of second assembly holes spaced axially apart and a plurality of third assembly holes spaced radially apart; An internal gear ring, including a gear ring portion and a flange portion. The flange portion has a plurality of fourth assembly holes and a plurality of fifth assembly holes spaced apart; A fixing plate that is generally hollow annular, having a plurality of sixth assembly holes and seventh assembly holes spaced apart; The internal gear ring and the fixing plate are fixedly connected by a first set of fasteners passing through the plurality of fourth assembly holes and the plurality of sixth assembly holes, so that the internal gear ring and the fixing plate are relatively fixed; The fixing plate, the internal gear ring and the adapter are relatively fixed by a second set of fasteners passing through the plurality of seventh assembly holes, the plurality of fifth assembly holes and the plurality of second assembly holes; The joint housing and the adapter are relatively fixed by a third set of fasteners passing through the plurality of first assembly holes and the plurality of third assembly holes.

2. The joint module according to claim 1, characterized in that The first assembly hole is a countersunk through hole with the countersunk head located on the outer wall of the joint housing; The second assembly hole is a threaded hole; The third assembly hole is a threaded hole; The fourth assembly hole is a countersunk through hole with the countersunk head located adjacent to the gear ring portion; The fifth assembly hole is a through hole; The sixth assembly hole is a threaded hole; The seventh assembly hole is a countersunk through hole with the countersunk head located on the outer side surface of the fixing plate.

3. The joint module according to claim 1, characterized in that One end of the joint housing having the first assembly hole is further provided with a mating groove, which is located inside the end face of the joint housing, and the mating groove abuts at least a part of the outer edge of the flange portion.

4. The joint module according to claim 1, wherein It further comprises: A mask, including a mask portion that is generally hollow annular and a connecting portion located radially outside the mask portion. The connecting portion is generally hollow cylindrical, and the connecting portion is nested on the outer edge of the gear ring portion, and the mask portion covers the opening at one end of the gear ring portion facing away from the flange portion.

5. The joint module according to claim 4, characterized in that The mask portion includes an outer ring portion and an inner ring portion. The thickness of the outer ring portion is less than that of the inner ring portion. The end face of the gear ring portion facing away from the fixing plate abuts against the outer ring portion, and the radial extension distance of the outer ring portion is greater than the thickness of the end of the gear ring portion facing away from the fixing plate.

6. The joint module according to claim 1, characterized in that A reinforcing portion is provided between the outer side surface of the gear ring portion of the internal gear ring and the flange portion, and the reinforcing portion connects the outer side surface of the gear ring portion and the side surface of the flange portion facing away from the fixing plate.

7. The joint module according to claim 4, characterized in that The inner connecting portion of the adapter is nested outside the connecting portion of the mask, and the inner connecting portion is fixedly assembled on the outer edge of the gear ring portion through the connecting portion.

8. The joint module according to claim 1, characterized in that The flange portion of the internal gear ring is in the shape of a polygonal flange.

9. The joint module according to claim 1, characterized in that The adapter, the internal gear ring, and the fixed disk are respectively provided with pin holes, and the pin holes on the internal gear ring are through holes, and one or more positioning pins are respectively assembled in the corresponding pin holes of the adapter, the internal gear ring, and the fixed disk.

10. A humanoid robot, characterized in that, Comprising the joint module according to any one of claims 1 to 9.

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