Posture holding device, joint module and robot

Abstract

According to the posture keeping device, the joint module and the robot, the first component and the second component are arranged, the first component and the second component can be selectively connected or separated, when the first component and the second component are separated, the rotating shaft of the joint module can rotate freely, and when the first component and the second component are connected, the rotating shaft of the joint module can rotate freely. Due to the fact that the first connecting part and the second connecting part are connected in the matched mode, the rotating shaft of the joint module stops rotating step by step, the posture keeping function is achieved, and compared with a traditional scheme that posture keeping is achieved through cooperation between friction faces, the scheme can be suitable for the scene with the large rotating shaft load.

Description

Technical Field

[0001] The present invention belongs to the technical field of motors, and in particular relates to a posture maintaining device, a joint module and a robot. Background Art

[0002] With technological advancements, robots are gradually entering the scene. Whether it's a yangko dancing robot or a four-legged robotic dog, they all reflect the rapid development of the robotics industry. Joint modules are core components of robots. For example, two adjacent finger joints of a robot can be driven by a joint module, controlling the rotation of one finger joint relative to the other. While researching existing technologies, the applicant discovered that existing joint modules have poor posture retention capabilities. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a posture maintaining device, a joint module and a robot, aiming to solve the problem of poor posture maintaining effect in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is: A posture maintaining device is provided for maintaining the posture of a joint module, wherein the joint module includes a housing and a rotating shaft axially arranged on the housing and capable of rotating. The device is characterized in that the posture maintaining device includes: a first component for connecting to the housing; a second component for connecting to the rotating shaft and capable of rotating with the rotating shaft, the first component and the second component being selectively connected or separated; and a connecting assembly including a first connecting portion and a second connecting portion, the first connecting portion being arranged on a side of the first component facing the second component, and the second connecting portion being arranged on a side of the second component facing the first component; When the first component is connected to the second component, the first connecting portion is matched with the second connecting portion to limit the rotation of the second component.

[0005] Optionally, the first component includes a first body; The first connecting portion is a recessed structure, and the recessed structure is provided on the first surface of the first body; The second component includes a second body; The second connecting portion is a protruding structure, the protruding structure is protruding from the second surface of the second body, and the protruding structure is matched and connected with the recessed structure.

[0006] Optionally, the first surface is provided with a first friction surface, and the side of the protruding structure facing the first surface is provided with a second friction surface.

[0007] Optionally, the recessed structure is composed of a recessed hole and a groove; along the circumference of the first component, the recessed hole is connected to the groove.

[0008] Optionally, a transition structure is provided between the recessed structure and the first surface.

[0009] Optionally, a plurality of the recessed structures are arranged at intervals along the circumference and / or radial direction of the first component, and a plurality of the protruding structures are arranged at intervals along the circumference and / or radial direction of the second component.

[0010] Optionally, the first component includes an electromagnet and a permanent magnet, both the electromagnet and the permanent magnet are connected to the first body, and the electromagnet is configured to offset the magnetic field of the permanent magnet when energized.

[0011] Optionally, the first body includes a mounting plate and a stop member, the permanent magnet is fixed to the mounting plate, the stop member is connected to the side of the permanent magnet facing away from the mounting plate, and the mounting plate, the stop member and the permanent magnet jointly define a accommodating space, which is used to accommodate the electromagnet.

[0012] Optionally, the second component includes a connecting member, an elastic member and a telescopic member, the connecting member is used to be sleeved on the rotating shaft, the connecting member is connected to the second body via the telescopic member, the elastic member is sleeved on the telescopic member, one end of the elastic member is connected to the second body, and the other end of the elastic member is connected to the connecting member.

[0013] The present invention further provides a joint module, comprising: a shell and a rotating shaft axially arranged on the shell and capable of rotating. The joint module uses the above-mentioned posture maintaining device to maintain its posture.

[0014] The present invention also provides a robot, which uses the joint module as described above.

[0015] The beneficial effects of the present application are: the posture maintaining device, joint module and robot provided in this embodiment, by setting a first component and a second component, the first component and the second component can be selectively connected or separated, when the first component is separated from the second component, the rotating shaft of the joint module can rotate freely, when the first component is connected to the second component, due to the matching connection between the first connection part and the second connection part, the rotating shaft of the joint module gradually stops rotating, thereby realizing the posture maintaining function. Compared with the traditional scheme of achieving posture maintaining through the cooperation between friction surfaces, this scheme can be suitable for scenarios with large shaft loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A three-dimensional diagram of a joint module according to an embodiment of the present invention; Figure 2 Schematic diagram of the internal structure of the joint module according to an embodiment of the present invention; Figure 3 for Figure 2 A magnified view of the structure at point A; Figure 4 This is a schematic structural diagram of a first component according to an embodiment of the present invention; Figure 5 This is a schematic structural diagram of another first component according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a second component according to an embodiment of the present invention; Figure 7 Schematic diagram of the process of the protruding structure moving toward the recessed structure according to an embodiment of the present invention.

[0018] Among them, the reference numerals in the figures are: 10. Joint module; 11. Housing; 12. Rotating shaft; 20. Posture holding device; 200, first component; 201, first body; 2011, mounting plate; 2012, drag block; 2013, first surface; 202, electromagnet; 203, permanent magnet; 204, transition structure; 210, second component; 211, second body; 2111, second surface; 212, connecting member; 213, elastic member; 214, telescopic member; 23. Connecting assembly; 231. First connecting portion; 2311. Recessed structure; 2312. Recessed hole; 2313. Groove; 232. Second connecting portion; 2321. Protruding structure. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit this application.

[0020] It should be noted that when a component is referred to as being "fixed on" or "provided on" another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0021] See also Figures 1 to 3 The embodiment of the present application provides a posture maintaining device 20 for maintaining the posture of the joint module 10. The posture maintaining device 20 of the embodiment of the present application is loaded in the joint module 10, so as to maintain the posture of the joint module 10.

[0022] The joint module 10 includes a housing 11 and a rotating shaft 12 . The rotating shaft 12 is axially disposed on the housing 11 and is capable of rotating.

[0023] The shell 11 is in the shape of a hollow cylinder, and the two ends of the shell 11 along the axial direction are opened respectively. It can be understood that, like the traditional joint module 10, the joint module 10 of the present application also includes a rotor (not numbered in the figure) and a stator (not numbered in the figure) arranged in the shell 11, wherein the stator is fixedly installed in the shell 11, and the rotor is connected to the shell 11 through a bearing. The rotor can be driven to rotate by changing the current passing through the stator coil, thereby driving the rotating shaft 12 to rotate. In some possible examples, one end of the shell 11 is also connected to a harmonic reducer.

[0024] See also Figures 3 to 6 The posture maintaining device 20 of the embodiment of the present application includes: a first component 200, a second component 210 and a connecting component 23.

[0025] The first component 200 is generally annular and can be connected to the housing 11 so as to remain relatively stationary relative to the rotating shaft 12. In some possible examples, the first component 200 can be a circular ring or a semi-circular ring. The first component 200 can be fixedly connected to the inner wall of the housing 11 by screws. It should be noted that the first component 200 does not directly contact the rotating shaft 12, the rotor, or other rotating components.

[0026] The second component 210 can also be ring-shaped or sheet-shaped. The second component 210 can be made of metal, such as stainless steel. The second component 210 is used to directly contact and fixedly connect with the rotating shaft 12. The second component 210 is connected to the rotating shaft 12. When the rotating shaft 12 rotates, the second component 210 rotates with the rotating shaft 12.

[0027] Driven by an external force, the first component 200 and the second component 210 (or a portion of the second component 210) can be selectively connected or disconnected. In one possible example, the first component 200 includes an electromagnet 202 and a permanent magnet 203. The electromagnet 202 is configured to offset the magnetic field of the permanent magnet 203 when energized. That is, under normal circumstances, when the permanent magnet 203 is energized, the electromagnet 202 and the permanent magnet 203 do not generate an attractive force toward the second component 210. When the magnetic field of the electromagnet 202 is increased or decreased, the second component 210 can be attracted by the permanent magnet 203 and move at least partially axially toward the first component 200, thereby achieving connection between the first component 200 and the second component 210.

[0028] The connecting assembly 23 includes a first connecting portion 231 and a second connecting portion 232, which are respectively disposed on the first component 200 and the second component 210. In one possible example, the first connecting portion 231 is disposed on the side of the first component 200 facing the second component 210, and the second connecting portion 232 is disposed on the side of the second component 210 facing the first component 200. That is, the first connecting portion 231 and the second connecting portion 232 are disposed opposite each other. When the first component 200 and the second component 210 are connected, the first connecting portion 231 and the second connecting portion 232 mate and connect to limit the rotation of the second component 210.

[0029] It should be noted that the second connecting portion 232 can also be set on the first component 200, and the first connecting portion 231 can also be set on the second component 210. In this embodiment, because the first component 200 is fixedly connected to the shell 11, the first connecting portion 231 is set on the first component 200, and the overall strength can still be maintained.

[0030] It can be understood that in this embodiment, by setting the first component 200 and the second component 210, the first component 200 and the second component 210 can be selectively connected or separated. When the first component 200 and the second component 210 are separated, the rotating shaft 12 of the joint module 10 can rotate freely. When the first component 200 and the second component 210 are connected, the first connecting part 231 and the second connecting part 232 are matched and connected, so that the rotating shaft 12 of the joint module 10 gradually stops rotating, realizing the function of posture maintenance. Compared with the traditional solution of achieving posture maintenance through cooperation between friction surfaces, this solution can be suitable for scenarios where the load on the rotating shaft 12 is large.

[0031] In one possible example, in order to adapt to a scenario where the load on the rotating shaft 12 is small: See also Figure 4-5 The first component 200 includes a first body 201. The first body 201 is generally annular, has a certain thickness, and is made of metal, so that it can withstand large load impacts and has good magnetic conductivity. The cross-section of the first body 201 can be generally symmetrical "L"-shaped. The first body 201 is provided with a center hole for the rotation shaft 12 to pass through.

[0032] A first surface 2013 is provided on a side of the first body 201 facing the second component 210 , and the first surface 2013 may be a plane.

[0033] The first connection portion 231 is a recessed structure 2311 provided on the first surface 2013 of the first body 201. In a possible example, the recessed structure 2311 may be a regular blind hole, such as a hemispherical blind hole, which can reduce the impact of the opening on the overall strength of the first component 200.

[0034] See also Figure 6 The second component 210 includes a second body 211, which is made of at least partly metal material, so that it can move under the action of a magnetic field. The second body 211 made of metal material has good magnetic permeability and can move toward the first component 200 under the attraction of the permanent magnet 203. The second body 211 made of metal material has good strength. When the first connecting member and the second connecting member are connected, it can withstand the torque generated by the rotating shaft 12 from rotation to stationary.

[0035] A second surface 2111 is provided on a side of the second body 211 facing the first component 200 . The second surface 2111 may be a plane.

[0036] The second connection portion 232 is a protruding structure 2321 . The protruding structure 2321 is protruded from the second surface 2111 of the second body 211 .

[0037] It is understood that the shapes of the protruding structure 2321 and the recessed structure 2311 can match each other. For example, when the recessed structure 2311 is a hemispherical blind hole, the protruding structure 2321 can also be hemispherical. Alternatively, the recessed structure 2311 can also be shaped like the space between two teeth of a gear, and the protruding structure 2321 can be shaped like a single tooth of the gear.

[0038] It should be noted that matching connection does not mean that the protruding structure 2321 and the recessed structure 2311 have the same shape. The outer contours of the protruding structure 2321 and the recessed structure 2311 may not be completely matched. For example, when the recessed structure 2311 is a hemispherical blind hole, the protruding structure 2321 is not necessarily a hemispherical shape of the same size. The protruding structure 2321 can be cylindrical, as long as it can fall into the recessed structure 2311 and be locked.

[0039] See also Figure 7 In one possible example, to accommodate posture retention requirements in multiple scenarios, first surface 2013 is provided with a first friction surface (not numbered in the figure), and a second friction surface (not numbered in the figure) is provided on the side of protruding structure 2321 facing first surface 2013. In one possible example, the first friction surface is a friction layer on first surface 2013, and the second friction surface is a friction layer on protruding structure 2321.

[0040] Specifically, the surface roughness of the first surface 2013 is relatively high, and the surface roughness of the side of the protruding structure 2321 that contacts the first surface 2013 is also relatively high. When the protruding structure 2321 is moved toward the first component 200 by the magnetic force, the protruding structure 2321 may not directly mate with the recessed structure 2311, but may first abut against the first surface 2013. At this time, friction exists between the protruding structure 2321 and the first surface 2013.

[0041] In this example, a first friction surface is provided on the first surface 2013. When the external load is small, the friction between the protruding structure 2321 and the first surface 2013 can stop the rotation of the shaft 12, that is, the posture is maintained. When the external load is large, the friction between the protruding structure 2321 and the first surface 2013 cannot maintain the posture. At this time, the shaft 12 continues to rotate, which can drive the protruding structure 2321 to rotate on the first surface 2013. Due to the effect of magnetic force, the protruding structure 2321 will fall into the recessed structure 2311 when it rotates to above the recessed structure 2311, thereby providing a stronger limiting effect.

[0042] It is understood that if the shapes of the protruding structure 2321 and the recessed structure 2311 are irregular, or if the machining precision of the protruding structure 2321 and the recessed structure 2311 is not high, the protruding structure 2321 and the recessed structure 2311 may become stuck. When the permanent magnet 203 is energized, the electromagnet 202 and the permanent magnet 203 do not generate an attractive force on the second component 210, and the protruding structure 2321 cannot be separated from the recessed structure 2311. To address the above problem: In one possible example, the recessed structure 2311 is formed by a recessed hole 2312 and a groove 2313.

[0043] Specifically, the number of recessed holes 2312 can be one or two. When there are two recessed holes 2312, the two recessed holes 2312 are spaced apart along the circumference of the first component 200, and the groove 2313 can connect the two recessed holes 2312. That is, two recessed holes 2312 are spaced apart along the circumference of the first component 200 (first surface 2013), and the two recessed holes 2312 have substantially the same size. The two recessed holes 2312 are connected by the groove 2313. The circumferential size of the groove 2313 can be selected based on actual conditions. When the protruding structure 2321 and the recessed structure 2311 become stuck, the rotating shaft 12 can be controlled to retract in the opposite direction to the groove 2313, thereby achieving axial separation of the protruding structure 2321 and the recessed hole 2312.

[0044] It can be seen from the above embodiments that in some cases, when the protruding structure 2321 moves toward the first component 200 under the action of magnetic force, the protruding structure 2321 may not be directly matched and connected with the recessed structure 2311, but first abuts against the first surface 2013. The protruding structure 2321 rotates a certain distance along the circumference of the first surface 2013 and then falls into the recessed structure 2311. At this time, the protruding structure 2321 may directly hit the recessed structure 2311, which may cause damage after multiple impacts.

[0045] See also Figure 5 and Figure 7 In order to solve the above problem, a transition structure 204 is provided between the recessed structure 2311 and the first surface 2013. In an optional example, the transition structure 204 can be an inclined surface or an arc surface.

[0046] For example, the inclined surface may be inclined at an angle of 30°, 45°, or 60° relative to the first surface 2013. It should be noted that the greater the angle, the faster the protruding structure 2321 falls into the recessed structure 2311 along the inclined surface. The specific angle can be selected based on actual conditions and is not limited in this application. For example, the arc surface can be controlled by the value of the curvature radius. The specific value can be selected based on actual conditions and is not limited in this application.

[0047] It can be understood that through the transition structure 204 of this example, when the protruding structure 2321 falls into the recessed structure 2311, the transition structure 204 gradually slides into the recessed structure 2311, thereby avoiding the protruding structure 2321 from directly hitting the recessed structure 2311 and extending the service life of each component.

[0048] It can be seen from the above embodiments that in some cases, when the protrusion structure 2321 abuts against the first surface 2013 and provides friction, the friction provided by a single protrusion structure 2321 may be limited. Therefore, in one possible example: along the circumferential and / or radial direction of the second component 210, multiple protrusion structures 2321 can be arranged at intervals, and multiple protrusion structures 2321 are in contact with the first surface 2013, thereby providing multiple friction forces that can be linearly superimposed, which can meet the application scenarios of various different external loads.

[0049] See also Figure 4 Furthermore, in a possible example: along the circumference and / or radial direction of the first component 200, a plurality of recessed structures 2311 are arranged at intervals, and along the circumference and / or radial direction of the second component 210, a plurality of protruding structures 2321 are arranged at intervals.

[0050] When the external load is large, the friction between the protruding structure 2321 and the first surface 2013 is insufficient to support the external load to achieve posture maintenance. At this time, the rotating shaft 12 continues to rotate, driving the protruding structure 2321 to rotate along the circumference of the first surface 2013 for a certain distance and then fall into the recessed structure 2311. At this time, since this rotation distance may be too long, the posture maintenance effect is poor.

[0051] In this example, there are multiple recessed structures 2311, which are distributed circumferentially. The circumferential distance between two adjacent recessed structures 2311 is greatly reduced, thereby reducing the rotation distance of the rotating shaft 12 to better achieve the posture maintenance effect.

[0052] It should be noted that this application does not impose any restrictions on the number of recessed structures 2311. The number of recessed structures 2311 can be flexibly selected based on the technical guidance of this application. The radial positions of the multiple recessed structures 2311 are the same as the radial positions of the multiple protruding structures 2321, thereby ensuring that each protruding structure 2321 can fall into the corresponding recessed structure 2311.

[0053] See also Figure 3 In some possible examples, in order to achieve the installation of the electromagnet 202 and the permanent magnet 203, the first component 200 includes the electromagnet 202 and the permanent magnet 203. The electromagnet 202 can be an electromagnetic coil, and the permanent magnet 203 can be a magnetic ring. The electromagnet 202 and the permanent magnet 203 are both connected to the first body 201. For example, the cross-sectional shape of the first body 201 can be roughly symmetrical "L" shape. The permanent magnet 203 is mounted on the first body 201, so that there is a gap between the first body 201 and the electromagnet 202 in the radial direction. The electromagnet 202 is mounted on the first body 201 and is arranged in the above-mentioned gap, so that the permanent magnet 203 can be configured to cancel the magnetic field of the permanent magnet 203 when power is applied.

[0054] See also Figure 3-5 In a possible example, the first body 201 includes a mounting plate 2011 and a blocking member 2012 .

[0055] The mounting plate 2011 is generally circular and has a cylindrical body disposed thereon. The central passage of the cylindrical body serves as the aforementioned central hole. The mounting plate 2011 is provided with a plurality of threaded holes along its circumference, through which the mounting plate 2011 can be secured to the housing 11. The permanent magnet 203 is sleeved outside the cylindrical body and secured to the mounting plate 2011 by glue.

[0056] The drag block 2012 is connected to the side of the permanent magnet 203 away from the mounting plate 2011. The outer side of the cylinder of the mounting plate 2011, the inner side of the drag block and the inner side of the permanent magnet 203 together define an accommodating space for accommodating the electromagnet 202.

[0057] The outer contour of the blocking member 2012 is roughly "Z"-shaped, and a portion thereof can be connected to the permanent magnet 203 , and the other portion can cover the aforementioned accommodating space to prevent the coil in the accommodating space from detaching. It can be understood that the first surface 2013 is a surface of the blocking member 2012 .

[0058] See also Figure 6 The second component 210 includes a connecting member 212 , an elastic member 213 and a telescopic member 214 .

[0059] The coupling 212 is configured to be sleeved onto the shaft 12. It is understood that the rotation of the shaft 12 is transmitted via the coupling 212. In one possible example, the coupling 212 is generally annular and sleeved onto the shaft 12. The coupling 212 is connected to the shaft 12 via a key, and when the shaft 12 rotates, the coupling 212 rotates with it. The coupling 212 is connected to the second body 211 via a telescopic member 214, i.e., the second body 211 and the coupling 212 are respectively disposed at opposite ends of the telescopic member 214.

[0060] Referring to the telescopic structure of an umbrella, the telescopic member 214 can be a telescopic rod or an arc-shaped telescopic piece. The telescopic member 214 comprises at least two sections, one of which is at least partially contained within the other and capable of telescopic movement. It is understood that by providing the telescopic member 214, the second component 210 can both rotate with the rotating shaft 12 and axially move the second body 211 toward the first component 200. In one example, when the telescopic member 214 is a telescopic rod, multiple telescopic rods can be provided, spaced symmetrically along the circumference, thereby maintaining good symmetry and stability of the second component 210 and improving force transmission.

[0061] The elastic member 213 may be a spring or an elastic rope, mainly providing linear elastic force. The spring is sleeved on the telescopic member 214 . One end of the elastic member 213 is connected to the second body 211 , and the other end of the elastic member 213 is connected to the coupling 212 .

[0062] It is understood that because the second body 211 and the coupling 212 are connected by the telescopic rod, when the second body 211 is subjected to a magnetic force, the coupling 212 is fixed to the rotating shaft 12 and cannot move, causing the second body 211 to move toward the first body 201, driving the telescopic rod and the elastic member 213 to extend. When the magnetic force disappears, the elastic member 213 returns to its natural length, driving the telescopic rod to shorten, thereby moving the second body 211 away from the first body 201.

[0063] Optionally, when the telescopic rod is in the initial state, the length of the spring can be made smaller than the natural length (in a partially compressed state), thereby providing corresponding elastic force to prevent the second body 211 from axially moving when the second component 210 rotates with the rotating shaft 12.

[0064] See also Figure 3-7 , below is an overall description of the working principle of this application: The first component 200 is fixed to the housing 11 , and the second component 210 is fixedly connected to the rotating shaft 12 .

[0065] When the permanent magnet 203 is energized, the electromagnet 202 and the permanent magnet 203 do not generate an attractive force on the second component 210 ; When the magnetic field of the electromagnet 202 is increased or decreased, the second body 211 of the second component 210 can move axially toward the first component 200 under the attraction of the permanent magnet 203, driving the telescopic rod and the elastic member 213 to extend until the protruding structure 2321 on the second body 211 contacts the first surface 2013 of the first body 201. Since the first surface 2013 is provided with a first friction surface and the protruding structure 2321 is provided with a second friction surface, when the rotating shaft 12 rotates, the protruding structure 2321 is driven to rotate on the first surface 2013 through the transmission path of the connecting member 212-telescopic rod-second body 211-, so that the first friction surface and the second friction surface generate friction (the magnetic field provides attraction), and the rotating shaft 12 is decelerated through the second body 211-telescopic rod-connecting member 212.

[0066] When the friction force generated by the first friction surface and the second friction surface is insufficient to maintain the posture, the protruding structure 2321 continues to move on the first surface 2013 until it falls into the recessed structure 2311 , and the recessed structure 2311 can lock the rotating shaft 12 .

[0067] When the permanent magnet 203 is energized, the electromagnet 202 and the permanent magnet 203 do not generate attraction to the second component 210. At this time, the magnetic force disappears, and the elastic member 213 returns to its natural length, driving the telescopic rod to shorten, so that the second body 211 moves away from the first body 201, thereby causing the protruding structure 2321 to disengage from the recessed structure 2311, and the rotating shaft 12 can continue to rotate.

[0068] See also Figure 1 The embodiment of the present application provides a joint module 10, comprising: a housing 11 and a rotating shaft 12 axially disposed on the housing 11 and capable of self-rotation. As can be seen from the background art, it is difficult for the joint module 10 to maintain its posture when the power is off. The joint module 10 of this embodiment utilizes the above-mentioned posture maintaining device 20 to maintain its posture. The specific structure of the joint module 10 refers to the above-mentioned embodiments. Since the present invention adopts all the technical solutions of all the above-mentioned embodiments, it also has all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0069] An embodiment of the present application further provides a robot, which utilizes the above-mentioned joint module 10 .

[0070] The above are merely optional embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A posture maintaining device for maintaining the posture of a joint module, wherein the joint module comprises a housing and a rotating shaft axially arranged on the housing and capable of rotating, characterized in that: The posture maintaining device comprises: a first component for connecting to the housing; a second component connected to the rotating shaft and capable of rotating along with the rotating shaft, wherein the first component and the second component are selectively connected or separated; and A connecting assembly comprising a first connecting portion and a second connecting portion, wherein the first connecting portion is provided on a side of the first component facing the second component, and the second connecting portion is provided on a side of the second component facing the first component; When the first component is connected to the second component, the first connecting portion is matched with the second connecting portion to limit the rotation of the second component.

2. The posture maintaining device according to claim 1, wherein: The first component includes a first body; The first connecting portion is a recessed structure, and the recessed structure is provided on the first surface of the first body; The second component includes a second body; The second connecting portion is a protruding structure, the protruding structure is protruding from the second surface of the second body, and the protruding structure is matched and connected with the recessed structure.

3. The posture maintaining device according to claim 2, wherein: The first surface is provided with a first friction surface, and the side of the protruding structure facing the first surface is provided with a second friction surface.

4. The posture maintaining device according to claim 2, wherein: The recessed structure is composed of a recessed hole and a groove; along the circumference of the first component, the recessed hole is communicated with the groove.

5. The posture maintaining device according to claim 2, wherein: A transition structure is provided between the recessed structure and the first surface.

6. The posture maintaining device according to claim 2, wherein: A plurality of the recessed structures are arranged at intervals along the circumferential direction and / or radial direction of the first component, and a plurality of the protruding structures are arranged at intervals along the circumferential direction and / or radial direction of the second component.

7. The posture maintaining device according to claim 1, wherein: The first component includes an electromagnet and a permanent magnet. Both the electromagnet and the permanent magnet are connected to the first body. The electromagnet is configured to cancel the magnetic field of the permanent magnet when energized.

8. The posture maintaining device according to claim 7, wherein: The first body includes a mounting plate and a stopper, the permanent magnet is fixed to the mounting plate, the stopper is connected to the side of the permanent magnet facing away from the mounting plate, and the mounting plate, the stopper and the permanent magnet jointly define a accommodating space, which is used to accommodate the electromagnet.

9. The posture maintaining device according to claim 1, wherein: The second component includes a connecting member, an elastic member and a telescopic member. The connecting member is used to be sleeved on the rotating shaft. The connecting member is connected to the second body via the telescopic member. The elastic member is sleeved on the telescopic member. One end of the elastic member is connected to the second body, and the other end of the elastic member is connected to the connecting member.

10. A joint module, characterized in that: include: A shell and a rotating shaft axially arranged on the shell and capable of rotating, and the joint module uses a posture maintaining device according to any one of claims 1 to 9 to maintain its posture.

11. A robot, characterized in that: The robot application comprises the joint module as described in claim 10.

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