Power joint and power robot

Abstract

The invention relates to the technical field of power robots, in particular to a power joint and a power robot. The power joint comprises a joint assembly, a power assembly and a quick release assembly; the joint assembly comprises a first joint and a second joint, and the second joint is movably connected to the first joint; the power assembly comprises a power seat, a connecting piece and a driving piece, the connecting piece is movably connected to the power seat and detachably connected to the second joint, the driving piece is connected to the connecting piece and used for being connected with an external power device, and the driving piece is used for driving the connecting piece to move relative to the power seat; the quick release assembly is connected to the power base and detachably connected to the first joint. According to the power joint provided by the embodiment of the invention, the power assembly and the joint assembly are quickly disassembled and connected by arranging the quick disassembly assembly.

Description

Technical Field

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

[0002] Powered joints, as key components in robots and exoskeleton systems, are responsible for connecting and transmitting power. In existing technologies, most powered joints employ an integrated design, tightly integrating power components such as motors and reducers with the joint structure to form a rigid, integrated whole. While this design ensures transmission stability and compactness, it also introduces the inconvenience of disassembly and maintenance, limiting the flexible application of powered joints in various working environments. This is particularly true in scenarios requiring rapid switching between powered and unpowered modes.

[0003] Furthermore, existing powered joints often use mechanical fastening methods such as bolts and pins to connect the power components to the joints, or rely on complex mechanical alignment processes, such as the precise calibration of pulley systems. This not only makes disassembly and assembly of the power components cumbersome and time-consuming, but also increases maintenance costs and operational difficulty, making it difficult to meet the requirements for rapid assembly and disassembly in practical applications. This problem is particularly prominent in rope-driven systems, affecting the overall system's responsiveness and adaptability. Summary of the Invention

[0004] In view of this, the present application provides a power joint and a power robot to solve the problem that the power joints of traditional power robots are usually an integrated structure, cannot quickly switch the power form, and have limited usage scenarios.

[0005] A first aspect of the present application provides a powered joint, comprising:

[0006] The joint assembly includes a first joint and a second joint, wherein the second joint is movably connected to the first joint;

[0007] a power assembly comprising a power base, a connecting member, and a driving member, wherein the connecting member is movably connected to the power base, the connecting member is detachably connected to the second joint, the driving member is connected to the connecting member and is used to connect to an external power device, and the driving member is used to drive the connecting member to move relative to the power base; and

[0008] A quick-release assembly is connected to the power seat, and the quick-release assembly is detachably connected to the first joint.

[0009] In one possible implementation, the quick-release assembly includes a moving part, a reset part, and a locking part, wherein the moving part is movably connected to the power seat, the reset part is respectively connected to the moving part and the power seat, and the locking part is movably connected to the moving part;

[0010] The movable member is provided with a locking notch and a releasing notch. When in the locking position, the movable member drives the locking member to move into the locking notch, and the locking member is engaged with the first joint; when in the releasing position, the movable member drives the locking member to move into the releasing notch, and the locking member is separated from the first joint, and the resetting member is used to drive the movable member to move to the locking notch.

[0011] In one possible implementation, the first joint is provided with a mounting hole, and a locking groove is provided on the inner wall of the mounting hole, and the power seat is plugged into and matched with the mounting hole; the power seat is provided with a movable hole and a locking hole, and the quick-release assembly is passed through the movable hole. When in the locking position, the locking piece is passed through the locking hole and engaged with the locking groove. When in the release position, the locking piece is separated from the locking groove.

[0012] In one possible implementation, the power seat is provided with a limiting flange, and the limiting flange is located on the inner wall of the movable hole; the reset member includes an elastic member and a pressure ring, the elastic member is sleeved on the movable member, and opposite ends of the elastic member are respectively in contact with the pressure ring and the limiting flange;

[0013] And / or, a rotation-stopping groove is provided on the outer wall of the movable member, the power seat is provided with a rotation-stopping portion, and the rotation-stopping groove is plug-fitted with the rotation-stopping portion;

[0014] And / or, at least one guide groove is further provided on the inner wall of the mounting hole, the guide groove is connected to the mounting hole, and the power seat is further provided with at least one guide portion, the guide portion is plugged into and matched with the guide groove;

[0015] And / or, a positioning groove is further provided on the inner wall of the mounting hole, and the power seat is further provided with a positioning portion, and the positioning groove is plug-fitted with the positioning portion.

[0016] In one possible implementation, the first joint is rotatably connected to the second joint, the second joint is provided with an anchoring portion, the connecting member is provided with an anchoring pin, and the anchoring pin is detachably connected to the anchoring portion.

[0017] In one possible implementation, the connecting member is provided with an anchor seat, the anchor pin is provided on the anchor seat, the power seat is provided with a movable groove, the anchor seat can be movably accommodated in the movable groove, and the movable groove is fan-shaped; the first joint is provided with a limiting protrusion, the limiting protrusion is arranged along the circumference of the second joint, and the limiting protrusion is used to abut against the anchor seat when the anchor seat moves to the end of the path.

[0018] In one possible implementation, the driving member includes a connecting cable, the connecting member is provided with a wire groove, the wire groove is at least partially arranged around the circumference of the connecting member, the connecting cable is at least partially accommodated in the wire groove and connected to the connecting member; the power seat is provided with a movable cavity, the connecting member is rotatably connected to the power seat and can be movably accommodated in the movable cavity, the power seat is also provided with a guide hole connected to the movable cavity, and the connecting cable is passed through the guide hole and is used to connect to an external power device.

[0019] In one possible implementation, the connecting cable includes a cable fixing portion and a cable body, the cable fixing portion is connected to the end of the cable body, the wire groove includes a connected clamping groove portion and a connecting groove portion, the connecting groove portion is arranged around the circumference of the connecting member, and the cable fixing portion is clamped to the clamping groove portion;

[0020] And / or, the driving member further includes a guide screw, the guide screw is detachably connected to the power seat, and the connecting cable is passed through the guide screw.

[0021] In a possible implementation, there are two driving members, and the two driving members are used to drive the connecting member to move in two directions.

[0022] A second aspect of the present application provides a power robot comprising a power joint as described in any one of the above.

[0023] The implementation of the embodiments of the present application has the following beneficial effects:

[0024] The power joint in this embodiment utilizes a quick-release assembly to enable rapid assembly and disassembly between the power assembly and joint assembly. Compared to conventional power robots that use bolts or pins for fastening, this quick-release assembly simplifies the disassembly process, eliminating the need for traditional mechanical alignment and complex calibration steps. This improves the efficiency of power assembly and disassembly, reducing maintenance effort and time costs.

[0025] Furthermore, the use of quick-release components enables the powered joint to flexibly switch between powered and unpowered modes, meeting the adaptability requirements of the powered robot in various working environments. Connecting the first joint to the powered base with a quick-release component ensures a stable connection while allowing for easy separation or coupling of the powered components, improving the overall system's responsiveness and ease of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0027] Figure 1 shows a stereoscopic view of a powered joint according to an embodiment of the present invention;

[0028] Figure 2 A schematic structural diagram of a power joint in an embodiment of the present invention is shown;

[0029] Figure 3 An exploded view of a joint assembly in an embodiment of the present invention is shown;

[0030] Figure 4 Shows a front view of a joint assembly in an embodiment of the present invention;

[0031] Figure 5 Shown Figure 4 Sectional view along line AA;

[0032] Figure 6 An exploded view of a joint assembly in an embodiment of the present invention is shown;

[0033] Figure 7 shows a perspective view of a power seat in an embodiment of the present invention;

[0034] Figure 8 A partial structural schematic diagram of a power assembly in an embodiment of the present invention is shown.

[0035] Reference numerals:

[0036] 10. Power joints;

[0037] 100, joint assembly; 110, first joint; 111, joint seat; 1111, mounting hole; 11111, locking slot; 11112, guide slot; 11113, positioning slot; 1112, position-limiting protrusion; 1113, shaft; 112, joint connector; 120, second joint; 121, anchoring portion; 1211, anchoring hole; 130, spherical bearing;

[0038] 200, power assembly; 210, power seat; 211, movable hole; 2111, limiting flange; 2112, anti-rotation portion; 212, locking hole; 213, movable groove; 214, guide portion; 215, positioning portion; 216, movable cavity; 2161, guide hole; 220, connecting member; 221, anchoring seat; 2211, anchoring pin; 222, wire groove; 2221, clamping groove; 2222, connecting groove; 230, driving member; 231, connecting cable; 2311, cable fixing portion; 2312, cable body; 232, guide screw; 240, power bearing;

[0039] 300, quick-release assembly; 310, moving part; 311, locking notch; 312, release notch; 313, anti-rotation groove; 320, reset part; 321, elastic part; 322, pressure ring; 330, locking part. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are 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.

[0041] Powered joints, as key components in robots and exoskeleton systems, are responsible for connecting and transmitting power. In existing technologies, most powered joints employ an integrated design, tightly integrating power components such as motors and reducers with the joint structure to form a rigid, integrated whole. While this design ensures transmission stability and compactness, it also introduces the inconvenience of disassembly and maintenance, limiting the flexible application of powered joints in various working environments. This is particularly true in scenarios requiring rapid switching between powered and unpowered modes.

[0042] Furthermore, existing powered joints often use mechanical fastening methods such as bolts and pins to connect the power components to the joints, or rely on complex mechanical alignment processes, such as the precise calibration of pulley systems. This not only makes disassembly and assembly of the power components cumbersome and time-consuming, but also increases maintenance costs and operational difficulty, making it difficult to meet the requirements for rapid assembly and disassembly in practical applications. This problem is particularly prominent in rope-driven systems, affecting the overall system's responsiveness and adaptability.

[0043] Based on this, see Figures 1 to 8As shown, an embodiment of the present invention provides a power joint 10, which includes a joint assembly 100, a power assembly 200 and a quick-release assembly 300; the joint assembly 100 includes a first joint 110 and a second joint 120, and the second joint 120 is movably connected to the first joint 110; the power assembly 200 includes a power seat 210, a connecting member 220 and a driving member 230, the connecting member 220 is movably connected to the power seat 210, the connecting member 220 is detachably connected to the second joint 120, the driving member 230 is connected to the connecting member 220 and is used to connect to an external power device, and the driving member 230 is used to drive the connecting member 220 to move relative to the power seat 210; the quick-release assembly 300 is connected to the power seat 210, and the quick-release assembly 300 is detachably connected to the first joint 110.

[0044] The power joint 10 in this embodiment utilizes a quick-release assembly 300 to enable rapid assembly and disassembly between the power assembly 200 and the joint assembly 100. Compared to conventional power robots employing bolts or pins for fastening, the quick-release assembly 300 in this embodiment simplifies the disassembly process, avoids traditional mechanical alignment and complex calibration steps, improves the efficiency of assembly and disassembly of the power assembly 200, and reduces maintenance complexity and time costs.

[0045] Furthermore, the use of the quick-release assembly 300 enables the powered joint 10 to flexibly switch between powered and unpowered modes, meeting the adaptability requirements of a powered robot in various working environments. Connecting the first joint 110 and the power base 210 via the quick-release assembly 300 ensures a stable connection while allowing for easy separation or coupling of the power assembly 200, improving the overall system response speed and ease of operation.

[0046] Specifically, the quick-release assembly 300 includes a moving member 310, a reset member 320, and a locking member 330. These components cooperate to achieve a quick assembly and disassembly connection between the power assembly 200 and the joint assembly 100. Specifically, the moving member 310 is movably connected to the power base 210 and can move relative to the power base 210 in a predetermined direction; the reset member 320 is connected to the moving member 310 and the power base 210, respectively, and acts as an elastic reset, used to drive the moving member 310 back to the initial locked position; and the locking member 330 is movably connected to the moving member 310 and is responsible for achieving mechanical locking and release with the first joint 110.

[0047] The moving part 310 is provided with a locking slot 311 and a release slot 312. When in the locking position, the moving part 310 drives the locking part 330 to move into the locking slot 311, and the locking part 330 is engaged with the first joint 110; when in the releasing position, the moving part 310 drives the locking part 330 to move into the release slot 312, and the locking part 330 is separated from the first joint 110, and the reset part 320 is used to drive the moving part 310 to move to the locking slot 311.

[0048] To remove the power module 200, the operator applies external force to move the movable member 310 relative to the power base 210, aligning the release notch 312 with the locking member 330. The locking member 330 then moves and separates from the first joint 110, allowing the power module 200 to be easily removed without the need for additional tools or complex mechanical alignment procedures. This simple and quick disassembly process makes it suitable for rapid on-site maintenance and replacement of the power module.

[0049] During assembly of the power assembly 200, the elastic action of the reset member 320 forces the movable member 310 back to the locked position, allowing the locking member 330 to enter the locking notch 311. The locking member 330 then engages with the first joint 110, completing the fixed connection between the power assembly 200 and the joint assembly 100. This locking process eliminates the need for complex adjustments, ensures connection stability and repeatability, and improves the overall system's response speed and ease of operation.

[0050] In order to solve the problem that existing quick release technologies generally require two-handed operation or the use of auxiliary tools, the quick release assembly 300 used in the present invention realizes the function of unlocking by pressing on one side through the rational design of the structure of the moving part 310.

[0051] Specifically, the movable member 310 is designed so that the operator can press or push the ring of the movable member 310 with one hand, driving the locking member 330 to move from the locking notch 311 to the release notch 312, thereby releasing the lock and completing the separation of the power assembly 200 from the joint assembly 100. This design simplifies the assembly and disassembly process, avoiding the cumbersome operation of traditional quick-release devices that require pressing two buckles simultaneously or using tools such as wrenches.

[0052] Furthermore, the elastic action of the reset member 320 ensures that the movable member 310 automatically resets after the external force is released, and the locking member 330 re-enters the locking notch 311, achieving automatic locking, further enhancing operational convenience and safety. Single-sided operation not only reduces operational complexity for the user but also alleviates the difficulties associated with posture restrictions during on-site disassembly and assembly, making it particularly suitable for rapid maintenance and adjustment of wearable devices such as exoskeletons.

[0053] Through the unilateral pressing quick-release structure, the disassembly and assembly process of the power joint 10 is more flexible and efficient, and the maintenance time and labor intensity are significantly reduced, which is conducive to improving the on-site application experience and usage efficiency of the robot and exoskeleton system.

[0054] In one embodiment, the first joint 110 is provided with a mounting hole 1111, and a locking groove 11111 is provided on the inner wall of the mounting hole 1111, and the power seat 210 is plugged into the mounting hole 1111; the power seat 210 is provided with a movable hole 211 and a locking hole 212, and the quick-release assembly 300 is passed through the movable hole 211. When in the locked position, the locking member 330 is passed through the locking hole 212 and engaged with the locking groove 11111. When in the release position, the locking member 330 is separated from the locking groove 11111.

[0055] During specific implementation, when assembling the power component 200 and the joint component 100, first insert the power seat 210 into the mounting hole 1111 of the first joint 110, and then the reset member 320 drives the moving member 310 to push the locking member 330 toward the locking slot 311, so that the locking member 330 extends from the locking hole 212 and is engaged with the locking slot 11111 on the inner wall of the mounting hole 1111, thereby realizing a reliable connection between the power component 200 and the first joint 110, ensuring the stable transmission of the transmission force and the mechanical strength of the connection.

[0056] To remove the power assembly 200, the operator drives the movable member 310 to move the locking member 330 from the locking notch 311 to the release notch 312. The locking member 330 then separates from the locking slot 11111, releasing the locked state. At this point, the power base 210 can be easily withdrawn from the mounting hole 1111, achieving rapid separation of the power assembly 200 from the joint assembly 100. This makes the disassembly process simple and does not require complex tools.

[0057] This design achieves a secure and convenient connection between the power assembly 200 and the joint assembly 100 by interlocking the mounting hole 1111 with the power base 210, combined with the snap-fitting action of the locking member 330 in the quick-release assembly 300 and the locking slot 11111. This structure not only improves the assembly efficiency of the power joint 10 and reduces maintenance time, but also ensures a reliable and secure connection. It is suitable for robot and exoskeleton system scenarios that require frequent assembly and disassembly or power mode switching.

[0058] Specifically, the locking member 330 can specifically adopt a spherical structure, such as a steel ball. The use of a sphere as a locking member has the following advantages: the spherical structure has a simple shape, which is convenient for flexible rolling and positioning in the locking slot 311 and the release slot 312 of the movable member 310, and can achieve smooth locking and releasing actions, reduce the jamming phenomenon, and improve the operational reliability of the quick release assembly 300. The steel ball material has high hardness and good wear resistance, and can withstand the repeated mechanical loads and friction generated by the power joint 10 during use, ensuring the long-term durability and connection stability of the locking member 330. The contact surface of the sphere is point contact, which can achieve precise clamping with the locking slot 11111 of the first joint 110 or the matching part of the power seat 210, providing reliable positioning and locking effects, while reducing contact surface wear. The ball-shaped locking element, coupled with the locking notch 311 and release notch 312 of the movable element 310, combines with the elastic force of the elastic element 321 to achieve automatic reset and locking, ensuring that the power assembly 200 can be quickly and securely connected and disconnected from the joint assembly 100 during assembly and disassembly. Furthermore, the steel ball structure is simple, with low manufacturing and replacement costs, facilitating maintenance and mass production, making it suitable for industrial applications of the quick-release assembly 300 of the power joint 10.

[0059] Specifically, the power seat 210 is provided with a limiting flange 2111, and the limiting flange 2111 is located on the inner wall of the movable hole 211; the reset member 320 includes an elastic member 321 and a pressure ring 322, the elastic member 321 is sleeved on the movable member 310, and the opposite ends of the elastic member 321 are respectively in contact with the pressure ring 322 and the limiting flange 2111.

[0060] By the mutual cooperation of the limiting flange 2111 and the pressure ring 322, the relative two end positions of the elastic member 321 can be limited, and the compression and rebound deformation range of the elastic member 321 can be effectively controlled. When the movable member 310 moves along the predetermined direction relative to the power base 210, the movable member 310 drives the pressure ring 322 to move, and the pressure ring 322 is relatively close to the limiting flange 2111, thereby compressing the elastic member 321. After being compressed, the elastic member 321 generates an elastic restoring force, which pushes the movable member 310 to automatically reset after the external force is released, drives the locking member 330 to return to the locked state, and ensures the safe connection between the power assembly 200 and the joint assembly 100. On the contrary, when the movable member 310 returns to the initial position, the elastic release of the elastic member 321 causes the pressure ring 322 and the limiting flange 2111 to maintain a suitable gap, preventing the elastic member 321 from being damaged due to excessive compression.

[0061] The arrangement of the limiting flange 2111 and the pressure ring 322 not only effectively limits the deformation of the elastic member 321, preventing excessive deformation and fatigue damage during use, but also ensures the elastic performance and service life of the elastic member 321 through stable end support. This design makes the reset member 320 more compact, and the compression and release processes of the elastic member 321 are both completed within the movable hole 211, fully utilizing space, reducing exposed components, and improving the stability and reliability of the overall mechanical structure.

[0062] Furthermore, movable hole 211 guides the movement of movable member 310, ensuring smooth movement along a predetermined trajectory. This prevents deflection that could cause locking member 330 to become stuck or prevent accurate switching between locked and released states. Furthermore, the inner wall of movable hole 211, combined with retaining flange 2111, limits the maximum compression and minimum clearance of elastic member 321, effectively preventing excessive deformation and loss of elastic recovery.

[0063] Specifically, the elastic member 321 may be a coil spring structure. The coil spring has the advantages of good elastic recovery performance, simple and compact structure, and can achieve effective elastic compression and release when the moving member 310 moves relative to the power base 210, thereby driving the moving member 310 to return to the locked position.

[0064] In one embodiment, a rotation-stop groove 313 is provided on the outer wall of the movable member 310, and a rotation-stop portion 2112 is provided on the power base 210. The rotation-stop groove 313 engages with the rotation-stop portion 2112. This structural design primarily limits relative rotation between the power base 210 and the movable member 310, ensuring that the movable member 310 moves only in a predetermined linear direction, thereby preventing misalignment or jamming caused by rotation.

[0065] The anti-rotation groove 313 can be shaped as an elongated strip or an open slot, capable of accommodating the anti-rotation portion 2112 and allowing it to slide within the groove. The anti-rotation portion 2112 can be a protrusion or a pin-like structure that is inserted into the anti-rotation groove 313 to form a mating connection. This plug-in fit restricts the movement of the moving member 310 within the power base 210 to linear reciprocating motion, preventing the moving member 310 from rotating about the axis of the power base 210.

[0066] Through the cooperation between the anti-rotation groove 313 and the anti-rotation part 2112, not only the precise guidance of the linear movement of the moving part 310 is achieved, but also the structural stability of the quick-release assembly 300 is improved, ensuring the accuracy of the movement path and position of the locking part 330, thereby ensuring reliable connection and quick disassembly between the power assembly 200 and the joint assembly 100.

[0067] In one embodiment, at least one guide groove 11112 is further provided on the inner wall of the mounting hole 1111. The guide groove 11112 is connected to the mounting hole 1111. The power base 210 is further provided with at least one guide portion 214. The guide portion 214 is pluggably engaged with the guide groove 11112. The cooperation between the guide portion 214 and the guide groove 11112 realizes the installation guide function between the power base 210 and the first joint 110.

[0068] Specifically, guide groove 11112 may be a longitudinal groove formed along the inner wall of mounting hole 1111, and guide portion 214 may be a raised structure having dimensions matching those of guide groove 11112. When power base 210 is inserted into mounting hole 1111, guide portion 214 fits within guide groove 11112, accurately positioning and guiding power base 210 along the path defined by guide groove 11112 during installation, thereby preventing radial displacement or rotation of power base 210 within the mounting hole.

[0069] The establishment of this guide structure helps improve the accuracy and efficiency of the assembly of the power assembly 200 and the first joint 110. The cooperation between the guide groove 11112 and the guide portion 214 allows for convenient and rapid insertion and positioning of the power base 210, reducing assembly difficulties and subsequent debugging work caused by misalignment. Furthermore, this structure ensures a stable connection between the power assembly 200 and the joint assembly 100, which helps improve the overall transmission accuracy and mechanical stability of the power joint 10.

[0070] It should be noted that the number of guide grooves 11112 can be one, two or more, which is determined according to the size of the mounting hole 1111 and the structural form of the power base 210. The arrangement of multiple guide grooves and guide parts can evenly distribute the guiding force, improve the stability and coaxiality of the installation, and prevent the power base 210 from tilting or shaking during use.

[0071] In one embodiment, the inner wall of the mounting hole 1111 is further provided with a positioning groove 11113, and the power base 210 is further provided with a positioning portion 215. The positioning groove 11113 is plugged into and engaged with the positioning portion 215. This mating structure is primarily used to implement a foolproof function between the power base 210 and the first joint 110, preventing the power assembly 200 from being installed incorrectly or in the incorrect direction.

[0072] Specifically, positioning groove 11113 can be a rectangular groove formed along the inner wall of mounting hole 1111, and positioning portion 215 can be a rectangular protrusion with dimensions matching positioning groove 11113. This rectangular cross-sectional shape ensures that power base 210 can only be inserted into mounting hole 1111 in a single correct orientation, thereby avoiding mechanical interference, loose connections, or malfunctions caused by incorrect installation orientation.

[0073] To achieve the desired coordination between these functions, the cross-sections of guide portion 214 and guide groove 11112 can be designed as arcs or other non-rectangular shapes, primarily serving as guides for installation. Positioning portion 215 and positioning groove 11113, on the other hand, utilize rectangular cross-sections to enhance foolproof positioning. This differentiated design ensures that guide portion 214 and positioning portion 215 each perform their respective functions during installation, ensuring smooth guidance of power base 210 while preventing misassembly.

[0074] Through the cooperation between the positioning portion 215 and the positioning groove 11113, the power component 200 can quickly and accurately find the correct installation direction during assembly, reduce the assembly error rate, and improve assembly efficiency and safety. It is especially suitable for power joints 10 that require frequent disassembly or rapid on-site maintenance.

[0075] Specifically, the first joint 110 is rotatably connected to the second joint 120 . The second joint 120 is provided with an anchoring portion 121 . The connecting member 220 is provided with an anchoring pin 2211 . The anchoring pin 2211 is detachably connected to the anchoring portion 121 .

[0076] In this embodiment, the first joint 110 and the second joint 120 are rotatably connected via a spherical bearing 130, ensuring smooth relative rotation between the two joints with low frictional resistance, thereby improving the motion accuracy and transmission efficiency of the dynamic joint 10. Spherical bearing 130 can be a rolling bearing, a sliding bearing, or other suitable bearing type, with the specific choice determined based on load requirements, motion speed, and operating environment.

[0077] The second joint 120 is provided with an anchoring portion 121, and an anchoring hole 1211 is provided on the anchoring portion 121. The connecting member 220 is provided with an anchoring pin 2211, and the anchoring pin 2211 is detachably inserted into the anchoring hole 1211 to achieve detachable fixation of the connecting member 220 and the second joint 120. The cooperation between the anchoring pin 2211 and the anchoring hole 1211 ensures the reliable transmission of the transmission force, while facilitating the rapid disassembly and maintenance of the power assembly 200 and the joint assembly 100. Specifically, the anchoring pin 2211 can be in the form of a pin, a cylindrical pin, an elastic pin, etc., and different structures can be selected according to actual design requirements to ensure the firmness of the connection and facilitate the disassembly operation.

[0078] When installing the power assembly 200, the power base 210 is quickly connected to the first joint 110 via the quick-release assembly 300, and the connector 220 is connected to the second joint 120 via the anchor pin 2211 and the anchor hole 1211. The driving member 230 is connected to the connector 220 and is used to receive external power and drive the connector 220, thereby causing the second joint 120 to rotate relative to the first joint 110, realizing the motion function of the power joint 10.

[0079] This structure enables the power assembly 200 to effectively drive the second joint 120 about the rotation axis of the first joint 110, while also facilitating assembly and disassembly of the power assembly and joint assembly, as well as maintenance. The removable connection between the anchor pin 2211 and the anchor hole 1211 ensures the stability of the power joint 10 during power transmission, while also meeting the requirements for rapid on-site disassembly, replacement, and maintenance.

[0080] In one embodiment, the connecting member 220 is provided with an anchor seat 221, the anchor pin 2211 is provided on the anchor seat 221, the power seat 210 is provided with a movable groove 213, the anchor seat 221 can be movably accommodated in the movable groove 213, and the movable groove 213 is arranged in a fan shape; the first joint 110 is provided with a limiting protrusion 1112, the limiting protrusion 1112 is arranged along the circumference of the second joint 120, and the limiting protrusion 1112 is used to abut against the anchor seat 221 when the anchor seat 221 moves to the end of the path, thereby realizing mechanical limitation of the movement of the anchor seat 221.

[0081] The fan-shaped structure of the movable groove 213 limits the range of motion of the anchor seat 221 to a specific angle. Specifically, the angle of the fan can be determined based on actual design requirements, for example, 90°, 180°, 270°, or a range close to 360°. It should be noted that the selection of the fan angle should be determined based on the power output range of the driver 230 and the operating limits of the cable drive system, ensuring that the rotation of the second joint 120 does not exceed the allowable range of the power transmission mechanism, thereby preventing damage or failure of the cable driver 230 due to exceeding the tension range.

[0082] When the second joint 120, via the driver 230, drives the anchor seat 221 along the movable slot 213, the anchor pin 2211 moves accordingly. When the anchor seat 221 reaches the end of its path within the movable slot 213, the limiting protrusion 1112 contacts the anchor seat 221, physically limiting the anchor seat 221 and thus limiting the rotational range of the second joint 120. This limiting structure effectively prevents the second joint 120 from rotating beyond a predetermined angle, thus preventing the dynamic joint 10 from overrotating and potentially causing cable breakage, power loss, or mechanical damage.

[0083] Anchor pin 2211, located on anchor seat 221, serves as a connecting element between connector 220 and anchor portion 121 of second joint 120, ensuring stable power transmission and facilitating disassembly and maintenance. The restricted movement of anchor seat 221 within movable slot 213 allows connector 220 to flexibly rotate second joint 120 while being physically restricted by stop protrusion 1112, ensuring safe movement.

[0084] Compared to linear slots or infinite rotation designs, the fan-shaped movable groove 213 structure can effectively control the range of motion of the second joint 120, limiting rotation to within 360°, thereby preventing the rope-type drive member 230 from exceeding its design range. Rope drive systems inherently have tension range limitations and transmission path length limitations. The fan-shaped limit structure can coordinate the mechanical range of motion with the rope tension operating range, preventing rope slack or overstretching, and improving the reliability and service life of the drive system. In one embodiment, the contact surface design between the limit protrusion 1112 and the anchor seat 221 must take into account wear resistance and cushioning properties. Wear-resistant materials or elastic cushioning can be used to prevent damage or noise caused by repeated collisions. Specifically, the driving member 230 includes a connecting cable 231, and the connecting member 220 is provided with a wire groove 222, which is at least partially arranged around the circumference of the connecting member 220, and the connecting cable 231 is at least partially accommodated in the wire groove 222 and connected to the connecting member 220; in this embodiment, the setting of the wire groove 222 not only serves to locate the installation position of the connecting cable 231, but also prevents it from slipping or loosening during movement by winding and fixing the connecting cable 231, thereby ensuring the stability and safety of power transmission.

[0085] The power base 210 is provided with a movable cavity 216, the connecting member 220 is rotatably connected to the power base 210 and can be movably accommodated in the movable cavity 216, the power base 210 is also provided with a guide hole 2161 connected to the movable cavity 216, and the connecting cable 231 is passed through the guide hole 2161 and is used to connect to an external power device.

[0086] In one embodiment, the axial direction of guide hole 2161 is tangential to the circumference of power base 210. This arrangement allows for smooth guidance of connecting cable 231 as it passes through guide hole 2161, reducing friction and cable wear, thereby improving power transmission efficiency and the lifespan of the system. Furthermore, the provision of guide hole 2161 restricts the movement path of connecting cable 231, preventing it from excessively bending or deviating, thereby ensuring stable operation of the rope drive.

[0087] In this embodiment, power assembly 200 utilizes a cable drive. This means that the traction force of a cable 231 drives connector 220 to rotate relative to power base 210, which in turn drives second joint 120 to rotate relative to first joint 110, thereby achieving the motion function of powered joint 10. Compared to traditional gear or shaft drives, cable drives offer a more compact and lightweight structure, and can achieve a wider range of transmission angles, making them suitable for robots and exoskeleton systems requiring flexible transmission.

[0088] It's worth noting that the active cavity 216 is separated from the active hole 211 where the quick-release assembly 300 resides. This design effectively isolates the power transmission portion from the quick-release connection, preventing mutual interference. It also makes the overall structure of the power base 210 more compact, making it easier to arrange and maintain. The separate arrangement also facilitates independent operation of the quick-release assembly 300, improving ease of assembly and disassembly.

[0089] Specifically, the connecting cable 231 utilizes a pre-tensioned cable structure, which automatically aligns the pulley path at the joint end during insertion using its own tension, eliminating the tedious steps of traditional manual alignment. This automatic alignment not only simplifies the installation process but also ensures the precise positioning of the connecting cable 231 within the dynamic joint 10, reducing wear and energy loss caused by misalignment and improving transmission stability and efficiency.

[0090] In addition, the pre-tensioned connecting cable 231 generates a certain amount of tension during operation. If this tension is not effectively offset, it may cause the connection to become loose or the mechanism to become loose. To this end, the present invention applies an axial preload force through the movable member 310 and utilizes the elastic action of the reset member 320 to maintain a moderate pressure on the movable member 310 against the connecting cable 231, thereby effectively offsetting the working tension generated by the connecting cable 231 during power transmission. The presence of this preload force not only ensures the stable fixation of the connecting cable 231 and prevents it from becoming loose during operation, but also improves the transmission response speed and safety of the entire power joint 10.

[0091] This design achieves automatic alignment and stable pre-tightening of the connecting cable 231, improves the installation convenience and operational reliability of the power joint 10, and meets the technical requirements of robots and exoskeleton systems for efficient, stable and easy-to-maintain power transmission systems in complex motion environments.

[0092] In this embodiment, when the locking member 330 enters the locking position and is engaged with the locking groove of the first joint 110, a moderate elastic driving force can be applied by the reset member 320 to cause the locking member 330 to have a slight collision or friction contact with the power seat 210 and / or the surface of the first joint 110.

[0093] This collision not only produces a distinct "click" sound, serving as an audible reminder of a successful connection, but also helps the operator intuitively determine that the power assembly 200 is securely locked to the joint assembly 100, thus avoiding misconnections caused by visual blind spots or improper operation. Furthermore, the mechanical feedback generated by the touch enhances the tactile experience of operation, improving operational safety and confirmation during assembly and disassembly.

[0094] In one embodiment, the connecting cable 231 includes a cable fixing portion 2311 and a cable body 2312, the cable fixing portion 2311 is connected to the end of the cable body 2312, the wire groove 222 includes a connected snap-fit ​​groove portion 2221 and a connecting groove portion 2222, the connecting groove portion 2222 is arranged circumferentially around the connecting member 220, and the cable fixing portion 2311 is snap-fitted to the snap-fit ​​groove portion 2221.

[0095] Specifically, the outer diameter of the cable fixing portion 2311 is designed to be larger than the outer diameter of the cable body 2312. This structural feature ensures that when the cable body 2312 moves along its axial direction, the end of the cable fixing portion 2311 can abut the end of the engaging groove 2221, thereby mechanically driving the connecting member 220. Through this abutment, the pulling force of the cable body 2312 can be effectively transmitted to the connecting member 220, causing the connecting member 220 to rotate relative to the power base 210, thereby driving the second joint 120 to rotate relative to the first joint 110.

[0096] Connecting groove 2222 plays an important role in accommodating and positioning cable body 2312, preventing the cable from radially deflecting or becoming loose during operation, ensuring a stable cable motion path, and reducing friction and wear between the cable and connector 220. The circumferential design of connecting groove 2222 allows cable body 2312 to be rationally distributed along the circumference of connector 220, further enhancing the compactness and stability of the transmission system.

[0097] The advantage of this structure is that the cable fixing portion 2311 cooperates with the engaging groove portion 2221 to reliably secure the cable to the connector 220, avoiding the risk of loosening that can occur with traditional cable ends secured by tying or gluing, while also facilitating assembly and disassembly for maintenance. The cable body 2312 can move freely along the connecting groove portion 2222, ensuring flexible and responsive power transmission.

[0098] In one embodiment, the drive member 230 further includes a lead screw 232, which is detachably connected to the power base 210, and a connecting cable 231 is disposed within the lead screw 232. The lead screw 232 has a hollow interior, through which the connecting cable 231 is disposed, thereby guiding and protecting the connecting cable 231. The hollow design of the lead screw 232 not only provides a stable conveying channel for the connecting cable 231, preventing the cable from bending, wearing, or deflecting during operation, but also effectively reduces direct contact between the cable and the external environment, thereby increasing the cable's service life and the stability of power transmission.

[0099] Specifically, the lead screw 232 has two threads on its exterior, one of which mates with a corresponding thread on the power base 210, ensuring reliable assembly and disassembly of the lead screw 232. This threaded connection facilitates quick on-site disassembly and installation, meeting the maintenance and replacement requirements of the power joint 10, avoiding the traditional complex disassembly steps, and improving assembly efficiency.

[0100] Another threaded section is located at the distal end of lead screw 232, for connection to an external device, such as a protective cover, seal, or guide structure. This connection with the external device forms a closed channel, further protecting connecting cable 231 from external factors such as dust, moisture, and mechanical damage, thereby improving the system's environmental adaptability and reliability. This closed channel structure not only physically protects connecting cable 231 but also limits its vibration and oscillation to a certain extent, ensuring the transmission accuracy and responsiveness of the rope drive system.

[0101] Furthermore, the material of lead screw 232 should balance strength, rigidity, and wear resistance. Common materials include high-strength aluminum alloy, stainless steel, or engineering plastics. The specific selection should be optimized based on the operating environment, load requirements, and cost. Anti-loosening features, such as spring washers or locking adhesive, can be used at threaded connections to prevent loosening due to vibration.

[0102] In one embodiment, the first joint 110 includes a joint seat 111 and a joint connector 112. The joint seat 111 can be detachably mounted on the joint connector 112. The joint connector 112, as a structural component connected to an external component, is responsible for transmitting the motion of the power joint 10 to the external mechanical structure, thereby driving the movement of the external component.

[0103] Specifically, there are two joint seats 111, symmetrically arranged along opposite sides of the joint connector 112. The two joint seats 111 are arranged relative to each other to form a shaft portion 1113. This shaft portion 1113 serves as an important structural support for mounting the spherical bearing 130, providing rotational support for the second joint 120. The spherical bearing 130 is mounted within the shaft portion 1113, enabling the second joint 120 to achieve flexible and stable rotation around the axis of the first joint 110.

[0104] The symmetrical arrangement of the two joint seats 111 not only helps form a structurally complete shaft portion 1113, but also effectively disperses and withstands torque from the second joint 120 and external loads, thereby improving the mechanical strength and rotational stability of the dynamic joint 10. By rationally designing the size and shape of the joint seats 111, the installation accuracy and load-bearing capacity of the spherical plain bearing 130 can be guaranteed, reducing vibration and wear during operation and extending the system's service life.

[0105] Removing the joint seat 111 allows for inspection, replacement, or adjustment of the joint bearing 130 and the second joint 120, improving maintenance efficiency. The joint connector 112, as the interface for carrying and transmitting power, should be structurally designed to ensure a secure connection with external components and accurate positioning, meeting the rigidity and stability requirements during power transmission.

[0106] Specifically, there are two driving members 230, each used to drive the connecting member 220 in two opposite directions, thereby achieving bidirectional motion control of the power assembly 200. The power base 210 and the connecting member 220 are rotatably connected. The power bearing 240 is mounted on the shaft 1113 of the first joint 110, and the spherical bearing 130 is installed within the shaft 1113, achieving rotational connection and support between the second joint 120 and the first joint 110, ensuring the rotational stability and transmission accuracy of the joint.

[0107] Specifically, the two driving members 230 are respectively connected to the connecting member 220 and act on different driving positions of the connecting member 220. By applying driving torques in opposite directions to the connecting member 220, the connecting member 220 can rotate clockwise or counterclockwise about the rotation axis of the power base 210. In this way, the power assembly 200 can achieve bidirectional drive control of the second joint 120, meeting the requirements for flexible joint movement in power robots, such as exoskeleton systems.

[0108] Among them, one driving member 230 is responsible for driving the connecting member 220 to rotate clockwise relative to the power base 210, while the other driving member 230 drives the connecting member 220 to rotate counterclockwise relative to the power base 210. The coordinated operation of the two driving members 230 enables the connecting member 220 to achieve rapid and precise angle adjustment in two directions, thereby driving the second joint 120 to rotate bidirectionally relative to the first joint 110, expanding the range of motion and control accuracy of the power joint 10. This dual-drive structure can also achieve detailed adjustment of the joint movement speed and torque by separately controlling the actions of the two driving members 230, thereby improving the response speed and movement flexibility of the power joint 10.

[0109] The present invention also provides a power robot comprising the power joint 10 of any of the above embodiments. As a key transmission unit in the robot, the power joint 10 enables power drive and flexible assembly and disassembly of the joint, and is suitable for connection to a power structure, such as the knee joint in an exoskeleton system.

[0110] Specifically, the power robot of this embodiment utilizes the power joint 10 described in any of the aforementioned embodiments to achieve a quick assembly and disassembly connection between the power assembly 200 and the joint assembly 100. The quick-release assembly 300 provided in the power joint 10, through the cooperation of the moving member 310, the reset member 320, and the locking member 330, enables the power assembly 200 to be easily and quickly connected or disconnected from the joint assembly 100, simplifying the disassembly and assembly process.

[0111] Compared to mechanical fastening methods like bolts and pins commonly used in traditional power robots, the quick-release assembly 300 in this embodiment eliminates the need for complex mechanical alignment and multi-step calibration, reducing the need for high-precision alignment during assembly and improving the efficiency of assembly and disassembly of the power assembly 200. This structure not only saves maintenance time and labor costs, but also reduces operational difficulty during maintenance, accommodating the need for rapid on-site replacement or repair.

[0112] Furthermore, the use of the quick-release assembly 300 enables the powered robot to flexibly switch between powered and unpowered modes, enhancing the adaptability and diverse operational capabilities of the robotic system. The design of the powered joint 10 ensures connection stability and reliable power transmission. The quick-release mechanism also facilitates the separation and coupling of the powered components, improving the overall system's responsiveness and ease of use.

[0113] In applications such as lower limb exoskeletons, users can easily remove or install the power module using the quick-release assembly 300, allowing for flexible switching between powered and unpowered modes based on actual needs. This ensures reliable power delivery when power assistance is needed, while allowing for quick removal of the power module when power is not needed, reducing wearer burden, lowering energy consumption, and improving user comfort and system adaptability.

[0114] In addition, the design of the quick-release assembly 300 ensures connection stability and power transmission reliability during disassembly and assembly, avoids structural looseness or unstable transmission caused by frequent disassembly and assembly, and ensures that the power joint 10 can still maintain good mechanical properties after multiple disassembly and assembly.

[0115] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0116] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0117] In the embodiments of the present application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. 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 can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A powered joint, characterized in that: include: The joint assembly includes a first joint and a second joint, wherein the second joint is movably connected to the first joint; a power assembly comprising a power base, a connecting member, and a driving member, wherein the connecting member is movably connected to the power base, the connecting member is detachably connected to the second joint, the driving member is connected to the connecting member and is used to connect to an external power device, and the driving member is used to drive the connecting member to move relative to the power base; and A quick-release assembly is connected to the power seat, and the quick-release assembly is detachably connected to the first joint.

2. The dynamic joint according to claim 1, characterized in that: The quick-release assembly includes a moving part, a reset part, and a locking part. The moving part is movably connected to the power seat. The reset part is respectively connected to the moving part and the power seat. The locking part is movably connected to the moving part. The movable member is provided with a locking notch and a releasing notch. When in the locked position, the movable member drives the locking member to move into the locking notch, and the locking member is engaged with the first joint. In the release position, the moving member drives the locking member to move into the release notch, and the locking member is separated from the first joint, and the resetting member is used to drive the moving member to move into the locking notch.

3. The dynamic joint according to claim 2, characterized in that: The first joint is provided with a mounting hole, and a locking groove is provided on the inner wall of the mounting hole, and the power seat is plugged into and matched with the mounting hole; the power seat is provided with a movable hole and a locking hole, and the quick-release assembly is passed through the movable hole. When in the locking position, the locking piece is passed through the locking hole and engaged with the locking groove. When in the release position, the locking piece is separated from the locking groove.

4. The dynamic joint according to claim 3, characterized in that: The power seat is provided with a limiting flange, and the limiting flange is located on the inner wall of the movable hole; the reset member includes an elastic member and a pressure ring, the elastic member is sleeved on the movable member, and opposite ends of the elastic member are respectively in contact with the pressure ring and the limiting flange; And / or, a rotation-stopping groove is provided on the outer wall of the movable member, the power seat is provided with a rotation-stopping portion, and the rotation-stopping groove is plug-fitted with the rotation-stopping portion; And / or, at least one guide groove is further provided on the inner wall of the mounting hole, the guide groove is connected to the mounting hole, and the power seat is further provided with at least one guide portion, the guide portion is plugged into and matched with the guide groove; And / or, a positioning groove is further provided on the inner wall of the mounting hole, and the power seat is further provided with a positioning portion, and the positioning groove is plug-fitted with the positioning portion.

5. The dynamic joint according to claim 1, characterized in that: The first joint is rotatably connected to the second joint, the second joint is provided with an anchoring portion, the connecting member is provided with an anchoring pin, and the anchoring pin is detachably connected to the anchoring portion.

6. The dynamic joint according to claim 5, characterized in that: The connecting member is provided with an anchor seat, the anchor pin is provided on the anchor seat, the power seat is provided with a movable groove, the anchor seat can be movably accommodated in the movable groove, and the movable groove is fan-shaped; the first joint is provided with a limiting protrusion, the limiting protrusion is arranged along the circumference of the second joint, and the limiting protrusion is used to abut against the anchor seat when the anchor seat moves to the end of the path.

7. The dynamic joint according to claim 5, characterized in that: The driving member includes a connecting cable, the connecting member is provided with a wire groove, the wire groove is at least partially arranged around the circumference of the connecting member, the connecting cable is at least partially accommodated in the wire groove and connected to the connecting member; the power seat is provided with a movable cavity, the connecting member is rotatably connected to the power seat and can be movably accommodated in the movable cavity, the power seat is also provided with a guide hole connected to the movable cavity, and the connecting cable is passed through the guide hole and is used to connect to an external power device.

8. The dynamic joint according to claim 7, characterized in that: The connecting cable includes a cable fixing portion and a cable body, wherein the cable fixing portion is connected to the end of the cable body, and the wire groove includes a connected clamping groove portion and a connecting groove portion, wherein the connecting groove portion is arranged around the circumference of the connecting member, and the cable fixing portion is clamped to the clamping groove portion; And / or, the driving member further includes a guide screw, the guide screw is detachably connected to the power seat, and the connecting cable is passed through the guide screw.

9. The power joint according to any one of claims 1 to 8, characterized in that: There are two driving members, and the two driving members are used to drive the connecting member to move in two directions.

10. A power robot, characterized in that: Comprising the powered joint according to any one of claims 1-9.

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