Joint mechanism and robot

Abstract

The invention relates to the technical field of robots, in particular to a joint mechanism and a robot, and aims to solve the problem that joints of the robot are difficult to have both small size and large torque. In the joint mechanism, a second joint assembly and a first joint assembly are rotatably connected around a first axis, a driving assembly drives the second joint assembly to rotate, a first meshing assembly can rotate around the first axis, and a second meshing assembly is arranged on the first joint assembly and can be driven by the first meshing assembly to move. The elastic piece is arranged on the first joint assembly and can stretch out and draw back along a straight line under the action of the second meshing assembly, the straight line and the first axis are in different planes, and a force arm exists between elastic force provided when the elastic piece releases elastic potential energy and the rotating center of the second meshing assembly, so that the elastic piece can provide torque for rotation of the second joint assembly. The output torque of the driving assembly can be designed to be small, so that the driving assembly of a small specification can be selected, and the joint of the robot is small in size and large in torque.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a joint mechanism and a robot. Background Art

[0002] In robotics, joints form the joints of robots. As the core moving components of robots, the output torque and size of these joints are important indicators of robot performance. The output torque of a joint determines the load it can carry and its ability to overcome resistance, while the size of the joint affects the overall compactness and flexibility of the robot.

[0003] However, to increase output torque, joint mechanisms often require higher-power motors. High-power motors are typically larger, resulting in larger robot joints. While efforts to reduce the size of robot joints are underperforming, insufficient output torque is encountered. This makes it difficult for robot joints to achieve both small size and high torque, limiting the robot's application scenarios. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a joint mechanism and a robot to solve the problem that the joints of the robot are difficult to have both small size and high torque.

[0005] One embodiment of the present application provides a joint mechanism, comprising: a first joint assembly; a second joint assembly, rotatably connected to the first joint assembly around a first axis; a drive assembly, arranged on the first joint assembly and connected to the second joint assembly, for driving the second joint assembly to rotate around the first axis; at least one first meshing assembly, connected to the drive assembly and / or the second joint assembly, and capable of rotating around the first axis under the action of the drive assembly and / or the second joint assembly; at least one second meshing assembly, arranged on the first joint assembly and meshingly connected to the first meshing assembly, so that the second meshing assembly moves under the drive of the first meshing assembly; at least one elastic member, which can be extended or shortened along a straight line, the straight line being unequal to the first axis, the first end of the elastic member being arranged on the first joint assembly, and the second end of the elastic member being connected to or abutting against the second meshing assembly, so as to extend or shorten along the straight line under the action of the second meshing assembly.

[0006] In some implementations, the straight line lies on a plane perpendicular to the first axis.

[0007] In some embodiments, the second engaging assembly includes: a second engaging member, including a connected second engaging portion and a cam portion, the second engaging portion being rotatably arranged on the first joint assembly around a second axis, the second engaging portion being engaged and connected to the first engaging assembly so as to rotate around the second axis under the drive of the first engaging assembly, the cam portion having a circumferential side surface around the circumference of the second axis, and the circumferential side surface having a high point and a low point, the circumferential side surface being connected or abutting the second end of the elastic member, and the size of the elastic member along the straight line when the second engaging member rotates to the high point toward the second end of the elastic member is smaller than the size of the elastic member along the straight line when the second engaging member rotates to the low point toward the second end of the elastic member.

[0008] In some embodiments, the first engaging assembly includes: a first engaging member connected to the second joint assembly and engaged with the second engaging portion; wherein the second axis is parallel to the first axis, the cam portion and the second engaging portion are distributed along the extension direction of the second axis, and are located on the side of the second engaging portion away from the second joint assembly.

[0009] In some embodiments, the first engaging member includes a first connecting portion and a first engaging portion arranged and connected along the extension direction of the first axis, the first connecting portion is connected to the second joint assembly, the first engaging portion is located on the side of the first connecting portion away from the second joint assembly, and the first engaging portion is engaged with the second engaging portion; the cam portion is located on the side of the second engaging portion away from the first connecting portion.

[0010] In certain implementations, on a plane perpendicular to the first axis, an orthographic projection of the first connecting portion includes a ring shape, and an orthographic projection of the first engaging portion includes a sector shape.

[0011] In some implementations, the second engaging member has a first side and a second side arranged opposite to each other along the extension direction of the second axis, and the first joint assembly is rotatably connected to the first side around the second axis; the joint mechanism also includes: a support member, which is arranged on the first joint assembly and is rotatably connected to the second side around the second axis.

[0012] In certain embodiments, the second engaging member also includes the bearing connecting portion connected to the cam portion or the second engaging portion, the bearing connecting portion is located on the second side and extends along the extension direction of the second axis; the support member has a first accommodating space and a first opening that are interconnected, and the bearing connecting portion extends into the first accommodating space from the first opening; the joint mechanism also includes: a first bearing, located in the first accommodating space, the inner ring of the first bearing is sleeved on the bearing connecting portion, and the outer ring of the first bearing is connected to the inner wall of the support member that encloses the first accommodating space.

[0013] In some implementations, the first joint assembly includes a first shell and a second shell arranged relative to each other along the extension direction of the first axis, the first shell and the second shell are snapped together to form a second accommodating space, the drive assembly is located in the second accommodating space, the first shell has a second opening, and the second opening is connected to the second accommodating space; the second joint assembly includes a second connecting part and a third connecting part arranged relative to each other along the extension direction of the first axis, the second connecting part is connected to the drive assembly through the second opening, the drive assembly is used to drive the second connecting part to rotate around the first axis, the third connecting part is rotatably connected to the second shell around the first axis, and the first engaging assembly is connected to the side of the third connecting part away from the second shell.

[0014] In some embodiments, the second shell has a first through hole extending through the second shell along the extension direction of the first axis, the third connecting portion has a second through hole extending through the third connecting portion along the extension direction of the first axis, and the first meshing component has a third through hole extending through the first meshing component along the extension direction of the first axis. The first through hole, the second through hole and the third through hole are connected and are all used as line channels.

[0015] In some implementations, the third connecting portion has an arcuate groove, which is arranged around the first axis; the second shell includes: a shell body, which is engaged with the first shell to form the second accommodating space, and the third connecting portion is rotatably connected to the shell body around the first axis, wherein the first engaging component is connected to the side of the third connecting portion away from the shell body; a support shaft portion, which is connected to the shell body and is located on the side of the shell body away from the first shell, and the support shaft portion passes through the arcuate groove and is rotatably connected to the second engaging member around the second axis.

[0016] In a second aspect, an embodiment of the present application provides a robot comprising: at least one joint mechanism mentioned in the first aspect.

[0017] In some implementations, the robot also includes: a chassis assembly, a first joint assembly carrying the joint mechanism, and the chassis assembly is used to enable the robot to walk; wherein, the shape of the second joint assembly of the joint mechanism includes a long strip, and the first end of the second joint assembly is rotatably connected to the first joint assembly around a first axis, and when the second end of the second joint assembly rotates in a direction away from the chassis assembly, the elastic member releases elastic potential energy.

[0018] The joint mechanism provided in this embodiment comprises a second joint assembly rotatably connected to the first joint assembly about a first axis, a drive assembly driving the second joint assembly to rotate, a first meshing assembly capable of rotating about the first axis under the action of the drive assembly and / or the second joint assembly, a second meshing assembly disposed on the first joint assembly and capable of moving under the drive of the first meshing assembly, a first end of an elastic member disposed on the first joint assembly, and a second end of the elastic member connected to or abutting the second meshing assembly, such that the elastic member extends or shortens along a straight line under the action of the second meshing assembly. The elastic member can release elastic potential energy during the extension or shortening process. Because the straight line is not aligned with the first axis, the thrust or pull provided by the elastic member when releasing the elastic potential energy can form a moment arm with the rotation center of the second meshing assembly, allowing the elastic member to provide torque for the rotation of the second joint assembly, thereby enabling the drive assembly to be designed to have a smaller output torque, thereby enabling the selection of a smaller drive assembly. This helps reduce the volume and weight of the joint formed by the joint mechanism, allowing the robot joint to have both a small size and high torque, and reducing heat generation in the robot joint.

[0019] In addition, the maximum torque provided by the elastic member can be adjusted by adjusting the vertical distance between the straight line and the first axis and the elastic coefficient of the elastic member to adapt to drive components of different specifications, thereby increasing the selectable range of drive components. There is no need to select a drive component with a maximum output torque greater than the maximum output torque required by the joint mechanism, which is conducive to further reducing the volume and weight of the joint formed by the joint mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0021] Figure 1 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0022] Figure 2Shown is a front view of a robot provided in one embodiment of the present application.

[0023] Figure 3 Shown is a structural schematic diagram of a joint mechanism provided in one embodiment of the present application.

[0024] Figure 4 The following is an example of an embodiment of the present application. Figure 3 A partial enlarged view of point A in the middle.

[0025] Figure 5 Shown is a front view of a joint mechanism provided in one embodiment of the present application.

[0026] Figure 6 Shown is a right side view of a joint mechanism provided in one embodiment of the present application.

[0027] Figure 7 The figure shows a structural schematic diagram of the joint mechanism provided by one embodiment of the present application when the high point faces the second end of the elastic member.

[0028] Figure 8 The figure shows a structural schematic diagram of the joint mechanism provided by an embodiment of the present application when the low point faces the second end of the elastic member.

[0029] Figure 9 Shown is a structural schematic diagram of a joint mechanism provided in another embodiment of the present application.

[0030] Figure 10 The following is an example of an embodiment of the present application. Figure 5 Schematic cross-sectional view of the middle joint mechanism along line BB.

[0031] Figure 11 Shown is a schematic structural diagram of a first joint assembly provided in one embodiment of the present application.

[0032] Figure 12 Shown is a schematic structural diagram of a first engaging member provided in one embodiment of the present application.

[0033] Figure 13 Shown is a schematic structural diagram of a second engaging member provided in one embodiment of the present application.

[0034] Figure 14 Shown is a schematic structural diagram of a support member provided in one embodiment of the present application.

[0035] Reference numerals: 1. Robot; 10. Joint mechanism; 11. First joint assembly; 110. First housing; 1100. Second opening; 111. Second housing; 1110. First through hole; 1111. Housing body; 1112. Support shaft; 112. Second accommodating space; 12. Second joint assembly; 120. Second connecting portion; 121. Third connecting portion; 1210. Second through hole; 1211. Arc groove; 122. First end of second joint assembly; 123. Second end of second joint assembly; 13. Driving assembly; 14. First meshing assembly; 140. First meshing member; 1400. First connecting portion; 1401. First meshing member part; 141, third through hole; 15, second meshing assembly; 150, second meshing member; 1500, second meshing portion; 1501, cam portion; 1502, circumferential side surface; 1503, bearing connecting portion; 1504, first side; 1505, second side; 16, elastic member; 160, first end of the elastic member; 161, second end of the elastic member; 17, supporting member; 170, first accommodating space; 171, first opening; 172, accommodating space; 173, third opening; 174, fourth opening; 18, first bearing; 19, second bearing; 20, chassis assembly; L1, first axis; L2, second axis; SL, straight line. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0037] In robotics, joints form the joints of robots. As the core moving components of robots, the output torque and size of these joints are important indicators of robot performance. The output torque of a joint determines the load it can carry and its ability to overcome resistance, while the size of the joint affects the overall compactness and flexibility of the robot.

[0038] However, to increase output torque, joint mechanisms often require higher-power motors. High-power motors are typically larger, resulting in larger robot joints. While efforts to reduce the size of robot joints are underperforming, insufficient output torque is encountered. This makes it difficult for robot joints to achieve both small size and high torque, limiting the robot's application scenarios.

[0039] Furthermore, the market offers a wide variety of motor specifications to choose from, but the maximum output torque required by the joint mechanism is often not equal to the maximum output torque of commercially available motors. To meet the joint's maximum output torque requirement, motors with a higher maximum output torque must be selected, further increasing the size of the robot joint.

[0040] In view of this, the present application proposes a joint mechanism and a robot. The specific structures of the joint mechanism and the robot are described below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 1 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application. Figure 2 Shown is a front view of a robot provided in one embodiment of the present application. Figure 3 Shown is a structural schematic diagram of a joint mechanism provided in one embodiment of the present application. Figure 4 The following is an example of an embodiment of the present application. Figure 3 A partial enlarged view of point A in the middle. Figure 5 Shown is a front view of a joint mechanism provided in one embodiment of the present application. Figure 6 Shown is a right side view of a joint mechanism provided in one embodiment of the present application. Figure 7 The figure shows a structural schematic diagram of the joint mechanism provided by one embodiment of the present application when the high point faces the second end of the elastic member. Figure 8 The figure shows a structural schematic diagram of the joint mechanism provided by an embodiment of the present application when the low point faces the second end of the elastic member. Figure 9 Shown is a structural schematic diagram of a joint mechanism provided in another embodiment of the present application. Figure 10 The following is an example of an embodiment of the present application. Figure 5 Schematic cross-sectional view of the middle joint mechanism along line BB. Figure 11 Shown is a schematic structural diagram of a first joint assembly provided in one embodiment of the present application. Figure 12 Shown is a schematic structural diagram of a first engaging member provided in one embodiment of the present application. Figure 13 Shown is a schematic structural diagram of a second engaging member provided in one embodiment of the present application. Figure 14 Shown is a schematic structural diagram of a support member provided in one embodiment of the present application.

[0042] like Figures 1 to 14 As shown, the joint mechanism 10 includes: a first joint component 11 , a second joint component 12 , a driving component 13 , at least one first engagement component 14 , at least one second engagement component 15 and at least one elastic member 16 .

[0043] The joint mechanism 10 can be used to form the joints of the robot 1. For example, the joint mechanism 10 can be used to form one or more of the following: foot joints, leg joints, arm joints, hand joints, trunk joints, and head joints. For example, the joint mechanism 10 can be used to form an ankle joint, the first joint assembly 11 can be used to form a foot, and the second joint assembly 12 can be used to form a leg.

[0044] Illustratively, the robot 1 may be a bionic robot or an industrial robot, which is not specifically limited in this application.

[0045] The second joint assembly 12 is rotatably connected to the first joint assembly 11 about the first axis L1. The driving assembly 13 is disposed on the first joint assembly 11 and is connected to the second joint assembly 12, and is used to drive the second joint assembly 12 to rotate about the first axis L1. The first meshing assembly 14 can be connected to the driving assembly 13 and can rotate about the first axis L1 under the action of the driving assembly 13. The first meshing assembly 14 can also be connected to the second joint assembly 12 and can rotate about the first axis L1 under the action of the second joint assembly 12. The second meshing assembly 15 is disposed on the first joint assembly 11 and is meshedly connected to the first meshing assembly 14, so that the second meshing assembly 15 is driven by the first meshing assembly 14 to move.

[0046] The elastic member 16 is capable of extending or contracting along a line SL that is not aligned with the first axis L1. A first end 160 of the elastic member is disposed on the first joint assembly 11. A second end 161 of the elastic member is connected to or abuts the second engagement assembly 15, allowing the elastic member to extend or contract along the line SL under the action of the second engagement assembly 15.

[0047] In some application scenarios, such as Figure 7 and Figure 8 As shown, the drive assembly 13 can drive the second joint assembly 12 to rotate in a first direction about the first axis L1, thereby achieving a movement of the joint mechanism 10. The first meshing assembly 14 can be disposed on the second joint assembly 12 and, driven by the second joint assembly 12, rotate about the first axis L1 in the first direction. The second meshing assembly 15 is driven by the first meshing assembly 14 to move, thereby shortening the elastic member 16 along the straight line SL and placing the elastic member 16 in a compressed state. This achieves the accumulation of elastic potential energy of the elastic member 16.

[0048] When the driving component 13 drives the second joint component 12 to rotate along the second direction around the first axis L1, another action of the joint mechanism 10 is realized. Driven by the second joint component 12, the first meshing component 14 rotates along the second direction around the first axis L1. The second meshing component 15 is driven to move by the first meshing component 14, so that the elastic member 16 in a compressed state stretches along the straight line SL. The release of the elastic potential energy of the elastic member 16 is realized, and because the straight line SL is not in the same plane as the first axis L1, the elastic force provided by the elastic member 16 during the release of the elastic potential energy can have a force arm with the rotation center of the second meshing component 15, so that the elastic member 16 can provide a torque during the rotation of the second meshing component 15 along the second direction. The second direction is opposite to the first direction. For example, the first direction can be clockwise, and the second direction can be counterclockwise.

[0049] In some application scenarios, the drive assembly 13 can drive the second joint assembly 12 to rotate about the first axis L1 in a first direction, thereby achieving a movement of the joint mechanism 10. The first meshing assembly 14 can be disposed on the drive assembly 13 and, driven by the drive assembly 13, rotate about the first axis L1 in the first direction. The second meshing assembly 15 is driven by the first meshing assembly 14 to move, thereby extending the elastic member 16 along the straight line SL and placing the elastic member 16 in a stretched state. This achieves the accumulation of elastic potential energy of the elastic member 16.

[0050] When the driving component 13 drives the second joint component 12 to rotate along the second direction around the first axis L1, another action of the joint mechanism 10 is realized. Driven by the second joint component 12, the first meshing component 14 rotates along the second direction around the first axis L1. The second meshing component 15 is driven to move by the first meshing component 14, thereby shortening the elastic member 16 in a stretched state along the straight line SL. The release of the elastic potential energy of the elastic member 16 is realized, and because the straight line SL is not in the same plane as the first axis L1, the elastic force provided by the elastic member 16 during the release of the elastic potential energy can have a force arm with the rotation center of the second meshing component 15, so that the elastic member 16 can provide a torque during the rotation of the second meshing component 15 in the second direction.

[0051] For example, Figure 7 and Figure 8 As shown, second end 161 of the elastic member is connected to or abuts second engaging assembly 15, allowing it to extend or contract along line SL under the action of second engaging assembly 15. During at least a portion of this extension or contraction, elastic member 16 is in a compressed state. This arrangement allows elastic member 16 to release its elastic potential energy in a compressed state and provide thrust, thereby providing torque for the rotation of second engaging assembly 15.

[0052] For example, when the first engagement component 14 rotates in the first direction about the first axis L1 , the elastic member 16 shortens along the straight line SL. When the first engagement component 14 rotates in the second direction about the first axis L1 , the elastic member 16 lengthens along the straight line SL.

[0053] Illustratively, the first meshing assembly 14 may include one or more gears. Illustratively, the first meshing assembly 14 may include a combination of one or more of a spur gear, a bevel gear, a helical gear, a turbine, a sprocket, and a synchronous gear. Illustratively, the second meshing assembly 15 may include any structure capable of meshing with the first meshing assembly 14 and converting the rotational motion of the first meshing assembly 14 into a linear motion output. Illustratively, the second meshing assembly 15 may include a combination of one or more of a rack, a worm gear, a synchronous gear, a timing belt, a sprocket, and a transmission chain.

[0054] For example, the first meshing assembly 14 may include a spur gear, the central axis of which coincides with the first axis L1. The spur gear can rotate about the first axis L1 under the control of the drive assembly 13 and / or the second joint assembly 12. The second meshing assembly 15 may include a rack. The rack meshes with the spur gear and is slidably connected to the first joint assembly 11 to slide along the straight line SL. The rack is connected to the second end 161 of the elastic member and enables the elastic member 16 to extend or contract along the straight line SL.

[0055] The elastic member 16 may include any elastic member capable of extending or contracting along the straight line SL. The elastic member 16 may be an elastic structure or made of an elastic material. For example, the elastic member 16 may be a spring. For example, the elastic member 16 may be a fluid spring. In some application scenarios, the elastic member 16 may be a nitrogen spring. For example, the elastic member 16 may also be a rubber rope or a rubber block.

[0056] Exemplarily, the drive assembly 13 may include one or more of the following drive structures: a gear set, a sprocket chain, a screw guide, a power cylinder, a motor, and a crank slider. For example, the drive assembly 13 may include a motor, such as a stepper motor or a servo motor. Alternatively, the drive assembly 13 may be a joint module.

[0057] For example, a first engagement component 14, a second engagement component 15, and an elastic member 16 can form a torque compensation component. The joint mechanism 10 can include multiple torque compensation components. For example, the joint mechanism 10 can include two torque compensation components, one of which can be used to provide torque when the second joint component 12 rotates in a first direction about the first axis L1, and the other can be used to provide torque when the second joint component 12 rotates in a second direction about the first axis L1.

[0058] In the joint mechanism 10 provided in this embodiment, the second joint assembly 12 is rotatably connected to the first joint assembly 11 about a first axis L1. The drive assembly 13 drives the second joint assembly 12 to rotate. The first meshing assembly 14 is capable of rotating about the first axis L1 under the action of the drive assembly 13 and / or the second joint assembly 12. The second meshing assembly 15 is disposed on the first joint assembly 11 and is capable of moving under the action of the first meshing assembly 14. The first end 160 of the elastic member is disposed on the first joint assembly 11, and the second end 161 of the elastic member is connected to or abuts the second meshing assembly 15, so that the elastic member 16 extends or shortens along the straight line SL under the action of the second meshing assembly 15. The elastic member 16 can release elastic potential energy during the extension or shortening process. Since the straight line SL is not in the same plane as the first axis L1, a force arm can exist between the thrust or pull provided by the elastic member 16 when releasing the elastic potential energy and the rotation center of the second meshing component 15, so that the elastic member 16 can provide torque for the rotation of the second joint component 12, so that the output torque of the drive component 13 can be designed to be smaller, so that a smaller-sized drive component 13 can be selected, which is beneficial to reducing the volume and weight of the joint formed by the joint mechanism 10, so that the joint of the robot 1 can have both small volume and large torque, and reduce the heat generation of the joint of the robot 1.

[0059] In addition, the maximum torque provided by the elastic member 16 can be adjusted by adjusting the vertical distance between the straight line SL and the first axis L1 and the elastic coefficient of the elastic member 16 to adapt to drive components 13 of different specifications, thereby increasing the selectable range of the drive component 13. There is no need to select a drive component 13 with a maximum output torque greater than the maximum output torque required by the joint mechanism 10, which is conducive to further reducing the volume and weight of the joint formed by the joint mechanism 10.

[0060] In some embodiments, as Figure 4 and Figure 7 As shown, the straight line SL lies on a plane perpendicular to the first axis L1. That is, the straight line SL is not aligned with and is perpendicular to the first axis L1. This arrangement allows the elastic member 16 to expand and contract in a direction perpendicular to the first axis L1, so that the elastic force provided by the elastic member 16 is perpendicular to the first axis L1. This fully utilizes the elastic force provided by the elastic member 16, ensuring that the plane of the torque provided by the elastic member 16 is perpendicular to the first axis L1, thereby improving the efficiency of the elastic force of the elastic member 16.

[0061] In some embodiments, as Figure 4 、 Figure 7 、 Figure 8 and Figure 13As shown, the second engagement assembly 15 includes a second engagement member 150. The second engagement member 150 includes a second engagement portion 1500 and a cam portion 1501 connected to each other. The second engagement portion 1500 is rotatably disposed on the first joint assembly 11 about the second axis L2. The second engagement portion 1500 is engaged with the first engagement assembly 14 and rotates about the second axis L2 under the drive of the first engagement assembly 14.

[0062] The cam portion 1501 has a circumferential side surface 1502 extending in a circumferential direction around the second axis L2. Circumferential side surface 1502 has a high point and a low point. Circumferential side surface 1502 is connected to or abuts against the second end 161 of the elastic member. When the second engaging member 150 rotates to a high point toward the second end 161 of the elastic member, the dimension of the elastic member 16 along the straight line SL is smaller than when the second engaging member 150 rotates to a low point toward the second end 161 of the elastic member.

[0063] For example, when the second engagement member 150 rotates from a high point toward the second end 161 of the elastic member to a low point toward the second end 161 of the elastic member, the elastic member 16 can extend along the straight line SL. When the second engagement member 150 rotates from a low point toward the second end 161 of the elastic member to a high point toward the second end 161 of the elastic member, the elastic member 16 can shorten along the straight line SL.

[0064] Illustratively, the circumferential side surface 1502 may have a slide groove extending circumferentially about the second axis L2, and the second end 161 of the elastic member may be slidably connected to the slide groove. Illustratively, the second end 161 of the elastic member may be movably connected to the circumferential side surface 1502. For example, the second end 161 of the elastic member may be movably connected to the circumferential side surface 1502 via a fisheye bearing. Illustratively, the circumferential side surface 1502 may have a groove, the depth of which extends perpendicular to the direction of the second axis L2. The groove may have an abutment wall on a side facing the circumferential side surface 1502, the abutment wall being disposed opposite the groove bottom. The second end 161 of the elastic member extends into the groove and abuts the abutment wall.

[0065] For example, the second engagement portion 1500 includes a plurality of engagement teeth, which may be located on the circumferential side surface 1502. For example, the second engagement member 150 may be an integrally formed member. The second engagement portion 1500 and the cam portion 1501 may also be connected by bonding, welding, or screwing.

[0066] The joint mechanism 10 provided in this embodiment comprises a second meshing member 150 including a second meshing portion 1500 and a cam portion 1501 connected to each other. The second meshing portion 1500 is meshedly connected to the first meshing component 14 so that the second meshing member 150 can rotate around the second axis L2. The circumferential side surface 1502 of the cam portion 1501 has a high point and a low point in the circumferential direction of the second axis L2. The circumferential side surface 1502 is connected to or abuts against the second end 161 of the elastic member. The rotation of the second meshing member 150 can make the high point or the low point face the second end 161 of the elastic member, thereby realizing the extension or shortening of the elastic member 16. The structure is simple and easy to implement.

[0067] In some embodiments, as Figure 4 、 Figure 5 、 Figure 10 and Figure 12 As shown, the first engagement assembly 14 includes a first engagement member 140. The first engagement member 140 is connected to the second joint assembly 12 and engages with the second engagement portion 1500. The second axis L2 is parallel to the first axis L1. The cam portion 1501 and the second engagement portion 1500 are arranged along the extension direction of the second axis L2 and are located on the side of the second engagement portion 1500 facing away from the second joint assembly 12.

[0068] The first engagement member 140 is connected to the second joint assembly 12, simplifying the connection to the drive assembly 13. The first engagement member 140 directly engages with the second engagement portion 1500, and since the second axis L2 is parallel to the first axis L1, the engagement between the first engagement member 140 and the second engagement portion 1500 is not a two-bevel gear engagement. Instead, the first engagement member 140 and the second engagement portion 1500 can be distributed on a plane perpendicular to the first axis L1, which helps reduce the size of the joint mechanism 10 along the direction extending from the first axis L1.

[0069] In addition, the second meshing portion 1500 and the cam portion 1501 are distributed along the extension direction of the second axis L2, rather than being located on the circumferential side surface 1502 of the cam portion 1501, so that the setting positions of the high point and the low point do not need to consider the influence of the second meshing portion 1500, thereby increasing the design flexibility of the second meshing member 150, so that the second meshing member 150 can be suitable for more application scenarios, and is conducive to reducing the size of the second meshing member 150 along the direction perpendicular to the second axis L2, reducing the force arm of the meshing teeth of the second meshing portion 1500, and helping to increase the meshing tooth life of the second meshing portion 1500.

[0070] At the same time, the cam portion 1501 is located on the side of the second engaging portion 1500 away from the second joint assembly 12, so that the cam portion 1501 has more movement space so that the cam portion 1501 can connect or abut with the second end 161 of the elastic member and make the elastic member 16 extend or shorten.

[0071] In some embodiments, as Figure 4 、 Figure 6 、 Figure 10 、 Figure 12 and Figure 13 As shown, the first engagement member 140 includes a first connecting portion 1400 and a first engagement portion 1401 arranged and connected along the extending direction of the first axis L1. The first connecting portion 1400 is connected to the second joint assembly 12, and the first engagement portion 1401 is located on a side of the first connecting portion 1400 away from the second joint assembly 12. The first engagement portion 1401 engages with the second engagement portion 1500. The cam portion 1501 is located on a side of the second engagement portion 1500 away from the first connecting portion 1400.

[0072] The connection between the first engaging part 140 and the second joint assembly 12 is achieved by setting the first connecting part 1400, so that the area of ​​the positive projection of the first connecting part 1400 on the plane perpendicular to the first axis L1 can be set larger to increase the connection strength between the first engaging part 140 and the second joint assembly 12, and the shape and position setting of the first engaging part 1401 can be more flexible and not affected by the first connecting part 1400.

[0073] In addition, the cam portion 1501 is located on the side of the second meshing portion 1500 away from the first connecting portion 1400, so that the side of the second meshing portion 1500 away from the cam portion 1501 is left empty, thereby leaving space for the setting of the first connecting portion 1400, so that the first connecting portion 1400 can be set larger and will not interfere with the cam portion 1501 and the second meshing portion 1500, and the structure is compact.

[0074] For example, the first engagement member 140 may be an integrally formed member. The first connecting portion 1400 and the first engagement portion 1401 may also be connected by bonding, welding, or screwing.

[0075] In some embodiments, as Figure 12 As shown, on a plane perpendicular to the first axis L1, the shape of the orthographic projection of the first connecting portion 1400 includes a ring shape, and the shape of the orthographic projection of the first meshing portion 1401 includes a sector shape. The connection strength of the annular first connecting portion 1400 to the second joint assembly 12 can be stronger, and the first connecting portion 1400 can withstand a larger overturning moment under the same connection strength. In addition, the shape of the orthographic projection of the first meshing portion 1401 includes a sector shape, the first meshing portion 1401 is not a complete gear, and the shape of the first connecting portion 1400 includes a ring shape, which is conducive to reducing the weight of the first meshing member 140. Exemplarily, the first meshing portion 1401 can be screwed to the second joint assembly 12.

[0076] In some embodiments, as Figure 10As shown, the second engagement member 150 has a first side 1504 and a second side 1505 disposed opposite each other along the extension direction of the second axis L2. The first joint assembly 11 is rotatably connected to the first side 1504 about the second axis L2. The joint mechanism 10 also includes a support member 17. The support member 17 is disposed on the first joint assembly 11 and is rotatably connected to the second side 1505 about the second axis L2.

[0077] Because the first joint assembly 11 is rotatably connected to the first side 1504 about the second axis L2, and the support member 17 is disposed on the first joint assembly 11 and rotatably connected to the second side 1505 about the second axis L2, the second engagement member 150 can withstand greater loads and lateral forces, thereby increasing the upper limit of the torque provided by the elastic member 16. Furthermore, the rotatable connection between the support member 17 and the second side 1505 provides protection for the second engagement member 150, making it less susceptible to external contact and thus ensuring smooth operation.

[0078] In some embodiments, as Figure 10 、 Figure 13 and Figure 14 As shown, the second engagement member 150 further includes a bearing connection portion 1503 connected to the cam portion 1501 or the second engagement portion 1500. The bearing connection portion 1503 is located on the second side 1505 and extends along the extension direction of the second axis L2. The support member 17 has a first accommodating space 170 and a first opening 171 that communicate with each other. The bearing connection portion 1503 extends into the first accommodating space 170 through the first opening 171.

[0079] The joint mechanism 10 further includes a first bearing 18 . The first bearing 18 is located in the first accommodation space 170 . The inner ring of the first bearing 18 is sleeved on the bearing connection portion 1503 , and the outer ring of the first bearing 18 is connected to the inner wall of the support member 17 that encloses the first accommodation space 170 .

[0080] By setting a first accommodating space 170 on the support member 17, the inner wall of the support member 17 enclosing the first accommodating space 170 supports the first bearing 18, so that the outer diameter of the first bearing 18 can be set larger, and then the inner diameter of the first bearing 18 can be set larger, thereby providing better support for the second engaging member 150.

[0081] For example, Figure 14 As shown, the second meshing portion 1500, the cam portion 1501 and the bearing connection portion 1503 are sequentially arranged along the second axis L2. Figure 10 and Figure 14As shown, support member 17 further comprises an interconnected accommodation space 172, a third opening 173, and a fourth opening 174. Elastic member 16 is located in accommodation space 172. First end 160 of the elastic member passes through third opening 173 and connects to first joint assembly 11. Second end 161 of the elastic member passes through fourth opening 174 and connects to or abuts cam portion 1501. Support member 17 protects elastic member 16, preventing accidental contact with the elastic member 16 and potentially affecting its operation. It also enhances the aesthetics of joint mechanism 10.

[0082] In some embodiments, as Figures 9 to 11 As shown, the first joint assembly 11 includes a first housing 110 and a second housing 111 disposed opposite each other along the extension direction of the first axis L1. The first housing 110 and the second housing 111 engage to form a second accommodating space 112, in which the drive assembly 13 is located. The first housing 110 has a second opening 1100 that communicates with the second accommodating space 112.

[0083] The second joint assembly 12 includes a second connecting portion 120 and a third connecting portion 121, which are arranged opposite each other along the extension direction of the first axis L1. The second connecting portion 120 is connected to the drive assembly 13 through the second opening 1100. The drive assembly 13 is configured to drive the second connecting portion 120 to rotate about the first axis L1. The third connecting portion 121 is rotatably connected to the second housing 111 about the first axis L1. The first engagement assembly 14 is connected to the side of the third connecting portion 121 that is away from the second housing 111.

[0084] The first shell 110 and the second shell 111 are fastened together to form a second accommodating space 112 . The second accommodating space 112 accommodates the driving assembly 13 , thereby protecting the driving assembly 13 and improving the overall appearance of the joint mechanism 10 .

[0085] In addition, the second connecting portion 120 and the third connecting portion 121 are respectively located on both sides of the first joint component 11 along the extension direction of the first axis L1. The second connecting portion 120 is connected to the driving component 13 through the second opening 1100, and the third connecting portion 121 is rotatably connected to the second shell 111 around the first axis L1, which increases the connection strength between the first joint component 11 and the second joint component 12, helps the joint mechanism 10 withstand greater lateral forces, and further improves the integrity of the appearance of the joint mechanism 10.

[0086] In addition, by setting the third connecting part 121, the first engaging component 14 can be connected to the side of the third connecting part 121 away from the second shell 111, so that the elastic member 16 provides a torque to the third connecting part 121, so that the force on both sides of the second joint component 12 along the extension direction of the first axis L1 is more balanced.

[0087] In some embodiments, as Figure 4 and Figure 11 As shown, the second housing 111 has a first through-hole 1110 extending through the second housing 111 along the direction of the first axis L1. The third connecting portion 121 has a second through-hole 1210 extending through the third connecting portion 121 along the direction of the first axis L1. The first engagement component 14 has a third through-hole 141 extending through the first engagement component 14 along the direction of the first axis L1. The first through-hole 1110, the second through-hole 1210, and the third through-hole 141 are connected and serve as circuit passages.

[0088] The first through hole 1110 , the second through hole 1210 and the third through hole 141 are sequentially provided in the second housing 111 , the third connecting portion 121 and the first engagement assembly 14 , so as to facilitate the wiring arrangement of the joint mechanism 10 .

[0089] In some embodiments, as Figure 4 、 Figure 5 、 Figure 10 and Figure 11 As shown, the third connecting portion 121 has an arcuate groove 1211, which is arranged around the first axis L1. The second housing 111 includes a housing body 1111 and a support shaft 1112. The housing body 1111 engages with the first housing 110 to form a second accommodating space 112. The third connecting portion 121 is rotatably connected to the housing body 1111 about the first axis L1. The first engagement assembly 14 is connected to the side of the third connecting portion 121 away from the housing body 1111.

[0090] The support shaft portion 1112 is connected to the housing body 1111 and is located on a side of the housing body 1111 away from the first housing 110. The support shaft portion 1112 passes through the arc-shaped slot 1211 and is rotatably connected to the second engagement member 150 around the second axis L2.

[0091] By providing an arcuate groove 1211 in the third connection portion 121 , the second joint assembly 12 can be avoided during the rotation of the second joint assembly 12 , so that the third connection portion 121 can be larger to increase the strength of the third connection portion 121 itself.

[0092] Illustratively, the support shaft portion 1112 is rotatably connected to the first side 1504 about the second axis L2. Illustratively, the support shaft portion 1112 is rotatably connected to the first engagement portion 1401. Illustratively, the support shaft portion 1112 may be rotatably connected to the first engagement portion 1401 via a second bearing 19.

[0093] like Figure 1 and Figure 2As shown, the embodiment of the present application further provides a robot 1. The robot 1 includes at least one joint mechanism 10 mentioned in the above embodiment. For example, Figure 2 As shown, the robot 1 may include a plurality of connected joint mechanisms 10 .

[0094] Since the robot 1 includes the joint mechanism 10 , the robot 1 has all the technical features and technical effects of the joint mechanism 10 , which will not be described in detail here.

[0095] In some embodiments, as Figure 2 、 Figure 7 and Figure 8 As shown, the robot 1 further includes a chassis assembly 20. The chassis assembly 20 supports the first joint assembly 11 of the joint mechanism 10. The chassis assembly 20 is used to enable the robot 1 to walk. The second joint assembly 12 of the joint mechanism 10 is shaped like an elongated strip. The first end 122 of the second joint assembly is rotatably connected to the first joint assembly 11 about a first axis L1. When the second end 123 of the second joint assembly rotates away from the chassis assembly 20, the elastic member 16 releases elastic potential energy.

[0096] Because the chassis assembly 20 supports the first joint assembly 11 of the joint mechanism 10 and is used to enable the robot 1 to walk, the first joint assembly 11 must bear the weight of the second joint assembly 12 and other components of the robot 1 (such as the torso of the robot 1). Therefore, the joint mechanism 10 must output a relatively large torque. Because the elastic member 16 provides torque compensation for the drive assembly 13, the drive assembly 13 can be designed to be smaller.

[0097] Furthermore, because the elastic member 16 releases elastic potential energy when the second end 123 of the second joint assembly rotates away from the chassis assembly 20, that is, when the center of gravity of the second joint assembly 12 gradually rises, the elastic member 16 can provide torque when the second end 123 of the second joint assembly rotates away from the chassis assembly 20 and the center of gravity of the second joint assembly 12 gradually rises. Furthermore, when the second end 123 of the second joint assembly rotates toward the chassis assembly 20, the elastic member 16 can accumulate elastic potential energy by utilizing the lowering of the center of gravity of the second joint assembly 12.

[0098] Exemplarily, the second end 161 of the elastic member is connected to or abuts the second meshing assembly 15 so as to extend or shorten along the straight line SL under the action of the second meshing assembly 15, and the elastic member 16 is in a compressed state during at least part of the process of extending or shortening the elastic member 16. When the second end 123 of the second joint assembly rotates to the closest distance to the chassis assembly 20, the center of gravity of the second joint assembly 12 and the straight line SL of the joint mechanism 10 are located on the same side of the first axis L1. This arrangement allows the elastic member 16 to release elastic potential energy in a compressed state and provide thrust, thereby providing torque when the second end 123 of the second joint assembly rotates away from the chassis assembly 20 and the center of gravity of the second joint assembly 12 gradually rises.

[0099] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0100] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0101] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0102] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A joint mechanism, characterized in that: include: first joint assembly; a second joint assembly, rotatably connected to the first joint assembly around a first axis; a driving assembly, disposed on the first joint assembly and connected to the second joint assembly, for driving the second joint assembly to rotate around the first axis; at least one first engagement assembly connected to the drive assembly and / or the second joint assembly and capable of rotating around the first axis under the action of the drive assembly and / or the second joint assembly; at least one second engagement component, disposed on the first joint component and engaged with the first engagement component, so that the second engagement component moves under the drive of the first engagement component; At least one elastic member, which can be extended or shortened along a straight line, and the straight line is not aligned with the first axis. The first end of the elastic member is arranged on the first joint assembly, and the second end of the elastic member is connected to or abuts the second engaging assembly so as to extend or shorten along the straight line under the action of the second engaging assembly.

2. The joint mechanism according to claim 1, characterized in that: The straight line lies on a plane perpendicular to the first axis.

3. The joint mechanism according to claim 1, wherein: The second engagement assembly comprises: The second engaging member includes a second engaging portion and a cam portion connected to each other, the second engaging portion being rotatable around a second axis and arranged on the first joint assembly, the second engaging portion being engaged and connected with the first engaging assembly so as to rotate around the second axis under the drive of the first engaging assembly, the cam portion having a circumferential side surface around the circumference of the second axis, and the circumferential side surface having a high point and a low point, the circumferential side surface being connected or abutting against the second end of the elastic member, and the size of the elastic member along the straight line when the second engaging member rotates to the high point toward the second end of the elastic member is smaller than the size of the elastic member along the straight line when the second engaging member rotates to the low point toward the second end of the elastic member.

4. The joint mechanism according to claim 3, characterized in that: The first engagement assembly comprises: a first engaging member connected to the second joint assembly and engaged with the second engaging portion; The second axis is parallel to the first axis, and the cam portion and the second engaging portion are distributed along an extension direction of the second axis and are located on a side of the second engaging portion away from the second joint assembly.

5. The joint mechanism according to claim 4, characterized in that: The first engaging member includes a first connecting portion and a first engaging portion arranged and connected along the extending direction of the first axis, the first connecting portion is connected to the second joint assembly, the first engaging portion is located on a side of the first connecting portion away from the second joint assembly, and the first engaging portion is engaged with the second engaging portion; The cam portion is located on a side of the second engaging portion away from the first connecting portion.

6. The joint mechanism according to claim 5, characterized in that: On a plane perpendicular to the first axis, an orthographic projection of the first connecting portion has a ring shape, and an orthographic projection of the first engaging portion has a sector shape.

7. The joint mechanism according to claim 3, characterized in that: The second engagement member has a first side and a second side that are oppositely arranged along the extension direction of the second axis, and the first joint assembly is rotatably connected to the first side around the second axis; The joint mechanism further comprises: The support member is provided on the first joint assembly and is rotatably connected to the second side around the second axis.

8. The joint mechanism according to claim 7, characterized in that: The second engaging member further includes a bearing connection portion connected to the cam portion or the second engaging portion, wherein the bearing connection portion is located on the second side and extends along the extension direction of the second axis; The support member has a first accommodation space and a first opening that are interconnected, and the bearing connecting portion extends from the first opening into the first accommodation space; The joint mechanism further comprises: The first bearing is located in the first accommodating space, the inner ring of the first bearing is sleeved on the bearing connecting portion, and the outer ring of the first bearing is connected to the inner wall of the support member enclosing the first accommodating space.

9. The joint mechanism according to claim 3, characterized in that: The first joint assembly includes a first shell and a second shell arranged opposite to each other along the extension direction of the first axis, the first shell and the second shell are buckled together to form a second accommodation space, the drive assembly is located in the second accommodation space, the first shell has a second opening, and the second opening is connected to the second accommodation space; The second joint assembly includes a second connecting part and a third connecting part which are arranged opposite to each other along the extension direction of the first axis. The second connecting part is connected to the driving assembly through a second opening. The driving assembly is used to drive the second connecting part to rotate around the first axis. The third connecting part is rotatably connected to the second shell around the first axis. The first engaging assembly is connected to the side of the third connecting part away from the second shell.

10. The joint mechanism according to claim 9, characterized in that: The second shell has a first through hole that passes through the second shell along the extension direction of the first axis, the third connecting part has a second through hole that passes through the third connecting part along the extension direction of the first axis, and the first meshing component has a third through hole that passes through the first meshing component along the extension direction of the first axis. The first through hole, the second through hole and the third through hole are connected and are all used as line channels.

11. The joint mechanism according to claim 9, characterized in that: The third connecting portion has an arc-shaped groove, and the arc-shaped groove is arranged around the first axis; The second housing includes: a housing body, engaging with the first housing body to form the second accommodation space, the third connecting portion being rotatably connected to the housing body about the first axis, wherein the first engaging assembly is connected to a side of the third connecting portion away from the housing body; The support shaft portion is connected to the shell body and is located on a side of the shell body away from the first shell. The support shaft portion passes through the arc groove and is rotatably connected to the second engaging member around the second axis.

12. A robot, characterized in that: include: At least one joint mechanism according to any one of claims 1 to 11.

13. The robot according to claim 12, further comprising: A chassis assembly, carrying the first joint assembly of the joint mechanism, the chassis assembly being used to enable the robot to walk; In which, the shape of the second joint component of the joint mechanism includes a long strip, the first end of the second joint component is rotatably connected to the first joint component around a first axis, and when the second end of the second joint component rotates in a direction away from the chassis component, the elastic part releases elastic potential energy.

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