Driving joint for robot

Abstract

The invention discloses a driving joint of a robot. The driving joint drives legs of the robot to achieve posture conversion. The driving joint comprises a speed reducer assembly, a stator shell, a stator assembly, a rotor assembly, a driving plate and a driving cover; a stator assembly and a rotor assembly which is accommodated in the stator assembly and can rotate relative to the stator assembly are fixed in the stator shell; a central gear is arranged at one end, facing the speed reducer assembly, of the rotor assembly; the speed reducer assembly comprises a planetary speed reducing mechanism which is in meshing transmission with the sun gear; the rotor assembly is arranged in an annular space formed by the stator assembly, and the projections of the speed reducer assembly, the driving plate and the driving cover in the axial direction are at least partially overlapped with the radial projection of the stator assembly; according to the driving joint for the robot, installation is convenient, the space utilization rate is extremely high, a wire harness can be arranged in the driving joint, compact layout is achieved, and motion interference is avoided.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a drive joint for a robot. Background Technology

[0002] Legged robots, such as bionic quadrupeds or bipedal robots, demonstrate enormous application potential in fields such as inspection, rescue, exploration, and specialized services due to their superior mobility in complex, unstructured terrain. The core of the motion performance of these robots relies on the efficient and reliable actuation of multiple joints in their legs. These joints typically integrate components such as motors, reducers, actuators, and sensors to form an independent drive unit.

[0003] Currently, the joint modules widely used in legged robots primarily rely on lever-based mechanical designs for posture changes. Furthermore, traditional drive units suffer from low space utilization and insufficient structural compactness: due to the narrow and limited leg space, extremely stringent requirements are placed on the radial dimensions of the joints. Existing joint designs typically employ a simple series layout of motors and reducers, or have an unreasonable internal structural layout, resulting in excessively large radial dimensions and axial lengths. This not only limits the design of the robot's leg structure, making it difficult to achieve more biomimetic and flexible configurations, but also encroaches on space for important components such as sensors and wiring, becoming a major bottleneck in the miniaturization and lightweighting of robots.

[0004] When installing joints onto components such as the thighs and calves of a robot's legs, existing joint mounting interfaces are often asymmetrical or lack sufficient positioning features. This necessitates aligning angles during assembly, making it impossible to achieve universal interchangeability between left and right leg joints, increasing component management costs and assembly complexity. Furthermore, the lack of effective guidance and error-proofing designs makes it prone to positional deviations during tightening, affecting transmission accuracy.

[0005] Connecting the wiring harness between the internal motor and the drive board (PCB) of a joint is typically a tedious process. Existing designs require manually aligning and soldering multiple wiring harnesses in a confined space, which is time-consuming, labor-intensive, and prone to errors, severely impacting production efficiency and reliability.

[0006] The internal components of a joint (such as the reducer and motor housing) are typically fitted with interference or tight connections to ensure coaxiality and rigidity. However, this makes disassembly extremely difficult when maintenance or replacement of internal parts is required. The lack of dedicated disassembly mechanisms often forces maintenance personnel to use tools such as pry bars, which can easily cause irreversible damage to precision components.

[0007] In summary, existing legged robot joint components, while pursuing high power density, sacrifice structural compactness and maintainability. Their drawbacks of "large size and difficulty in installation and disassembly" directly restrict the further improvement of legged robot performance and the promotion of commercial applications.

[0008] Therefore, there is an urgent need for a new joint component design that can achieve extremely high space utilization while ensuring sufficient output torque and stiffness, and fundamentally simplify the installation and maintenance process, thereby providing the core power foundation for the next generation of high-performance legged robots. Summary of the Invention

[0009] This invention overcomes the shortcomings of the prior art and proposes a drive joint for robots that is easy to install, has extremely high space utilization, and can embed the wiring harness inside the drive joint to achieve a compact layout and avoid motion interference.

[0010] The technical solution of the present invention is as follows: A drive joint for a robot, which drives the robot's legs to achieve posture transformation; the drive joint includes a reducer assembly, a stator housing, a stator assembly, a rotor assembly, a drive plate, and a drive cover; The stator assembly is fixed inside the stator housing, and the rotor assembly is housed within the stator assembly and is rotatable relative to it. The rotor assembly has a central gear at one end facing the reducer assembly; The reducer assembly includes a planetary reduction mechanism that meshes with the central gear. A drive plate and a drive cover are provided on the side of the stator housing away from the reducer assembly; The rotor assembly is disposed within the annular space formed by the stator assembly, and the axial projections of the reducer assembly, drive plate, and drive cover at least partially overlap with the radial projection of the stator assembly.

[0011] Furthermore, it also includes connectors located on the side of the drive board near the reducer assembly.

[0012] Furthermore, two connectors are provided, and they are arranged symmetrically at the center.

[0013] Furthermore, the stator housing is provided with a mounting structure for connecting with external structural components on its outer periphery. The mounting structure is centrally symmetrically distributed, allowing the drive joint to be mounted to the external structural components in two orientations, rotating 180° around the central axis.

[0014] Furthermore, the stator housing and / or the reducer assembly are provided with at least one disassembly hole, which is a threaded hole, and a thrust can be generated by screwing in a screw to push the reducer assembly out of the stator housing assembly.

[0015] Furthermore, the stator assembly is a ring motor, and its wire harness welding end is provided with a local boss; The stator housing has a positioning hole on the side facing the drive plate that matches the shape of the boss. When the stator assembly is installed in the stator housing, the boss is embedded in the positioning hole, thereby fixing the position of the wire harness welding end.

[0016] Furthermore, it includes a wiring structure, which includes a base fixed to the stator housing of the drive joint, a winding structure fixedly connected to the rotor assembly of the drive joint, and a wiring harness for connection. The wire harness has at least four fixed ends, and is sequentially formed into a first wire harness, a second wire harness, and a third wire harness; wherein, the two ends of the first wire harness are fixedly connected to a first fixed end on the stator housing of the drive joint and a second fixed end on the base, respectively; one end of the third wire harness is fixedly connected to a third fixed end on the winding structure, and the other end is a fourth fixed end for connecting external signals; and the positions of the first wire harness and the third wire harness remain unchanged.

[0017] Furthermore, when viewed from the axial direction of the drive joint, the maximum outer contour portion of the wiring structure overlaps with the maximum outer contour of the drive joint.

[0018] Furthermore, the two ends of the second wire harness are respectively fixedly connected to the second fixed end on the base and the third fixed end on the winding structure; when the drive joint rotates inside, the second wire harness will rotate with the drive joint in the axial space, resulting in tightening and loosening.

[0019] Furthermore, soft rubber coating structures are provided at both ends of the second section of the wire harness to absorb the stress of the second section of the wire harness in both tight and loose states.

[0020] The advantages of this invention compared to the prior art are: This solution achieves extremely high structural compactness and optimizes space utilization through innovative built-in layout and segmented wiring harness management. Since the maximum outline of the wiring structure is at least partially or even completely within the maximum outline of the drive joint, the wiring harness is fully built-in. This avoids the problem of external wiring occupying additional radial space, making the drive joint and even the entire robot leg structure more compact and small, which is beneficial for the robot to achieve more flexible movement and a better overall layout.

[0021] This solution fundamentally eliminates motion interference and external risks by embedding and fixing the wiring harness inside the joint, isolating the harness (especially the first and third segments) from the external environment during joint movement. This completely avoids the scratches, pulling, and obstruction of optical components that are prone to occur with external wiring, greatly improving the safety and reliability of the robot's operation.

[0022] Through a three-segment harness design of "static-dynamic-static," motion is concentrated and controlled in the second segment of the harness. The first and third segments remain stationary relative to the joint housing, avoiding stress concentration and fatigue fracture caused by repeated bending at the root. Simultaneously, the tightness and looseness of the second segment within the axial space constitute a controllable, low-curvature bending method, which is more beneficial for harness protection than random swaying.

[0023] By setting soft rubber coating structures at both ends of the second section of the follower wire harness, the stress peaks generated when the wire harness switches between tight and loose states can be effectively buffered and absorbed, resulting in a smooth transition. This further reduces metal fatigue of the wire core and wear of the insulation layer, extending the service life of the wire harness.

[0024] This design ensures the stability of power and signal transmission. The entire wiring structure is reliably fixed to the stator and rotor of the drive joint through the base and winding structure components, with a clear and stable connection path. This stable connection method ensures that the continuity of power and signal transmission is not affected under the condition of repeated forward and reverse rotation of the joint, laying a solid foundation for the stable control of the robot.

[0025] The wiring structure of this solution is particularly suitable for highly integrated drive joint modules with compact axial projection, and can be effectively applied to various connection parts of robot legs, demonstrating its good versatility and promotional value. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the robot of the present invention; Figure 2 This is another schematic diagram of the overall structure of the robot of the present invention; Figure 3 This is a schematic diagram of the robot leg assembly and main body assembly of the present invention; Figure 4 This is a schematic diagram of the wiring harness connection between the leg assembly and the main torso assembly of the present invention; Figure 5 For the present invention Figure 4 Enlarged view of a portion; Figure 6 This is a schematic diagram of the wiring harness connection for the leg assembly of the present invention; Figure 7 This is a schematic diagram of the drive joint structure of the present invention; Figure 8This is a schematic diagram of the winding structure of the present invention; Figure 9 For the present invention Figure 7 A schematic diagram showing the removal of the winding structure. Figure 10 This is a schematic diagram of the base structure of the present invention; Figure 11 This is a schematic diagram of the drive joint and wiring harness structure of the present invention; Figure 12 This is a cross-sectional view of the drive joint of the present invention; Figure 13 This is a cross-sectional view of the drive joint of the present invention from another perspective; Figure 14 This is a schematic diagram of the drive joint portion of the present invention; Figure 15 This is a schematic diagram of the drive joint and wiring harness structure of the present invention from another perspective; Figure 16 This is a schematic diagram of the drive joint of the present invention without the drive plate and drive cover; Figure 17 This is a schematic diagram of the drive joint with the drive cover removed according to the present invention; Figure 18 This is a schematic diagram of the joint shell of the present invention.

[0027] The diagram shows the following components: drive joint 1, reducer assembly 1-1, planetary reduction mechanism 1-11, planetary carrier 1-12, stator housing 1-2, mounting protrusion 1-21, stator assembly 1-3, boss 1-31, rotor assembly 1-4, center gear 1-41, groove 1-42, drive plate 1-5, drive cover 1-6, symmetrical ribs 1-8, disassembly hole 1-9, connector 1-10. 2. Wiring structure, 2-1. Wire harness, 2-2. Base, 2-3. Winding structure, 2-31. Wiring boss, 2-21. First wire harness segment, 2-22. Second wire harness segment, 2-23. Third wire harness segment, 2-24. First fixed end, 2-25. Second fixed end, 2-26. Third fixed end, 2-27. Fourth fixed end, 2-28. Soft rubber coating structure; 3. Joint shell, 3-1. Main body assembly, 4. Thigh body, 5. Lower leg body, 6. Tire assembly, 7. Wheel joint assembly, 8. Side swing joint assembly, 9. Hip joint assembly, 10. Knee joint assembly, 11. Detailed Implementation

[0028] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. Parts not described in detail in this solution can be implemented using conventional technical means. Example 1

[0029] like Figure 1 , Figures 11-18 As shown, a drive joint 1 of a robot drives the robot's legs to achieve posture transformation. This overcomes the complexity and control difficulties of using mechanical structures to drive the leg structure. The drive joint 1 directly drives the robot's legs to provide the power source for flexible posture transformation.

[0030] The specific drive joint 1 includes a reducer assembly 1-1, a stator housing 1-2, a stator assembly 1-3, a rotor assembly 1-4, a drive plate 1-5, and a drive cover 1-6; The stator assembly 1-3 and the rotor assembly 1-4, which are housed within the stator housing 1-2 and can rotate relative to each other, are fixed inside the stator housing 1-2. A central gear 1-41 is provided at one end of the rotor assembly 1-4 facing the reducer assembly 1-1; The reducer assembly 1-1 includes a planetary reduction mechanism 1-11 that meshes with the central gear 1-41; The stator housing 1-2 is provided with a drive plate 1-5 and a drive cover 1-6 on the side away from the reducer assembly 1-1; The rotor assembly 1-4 is disposed within the annular space formed by the stator assembly 1-3, and the axial projections of the reducer assembly 1-1, the drive plate 1-5, and the drive cover 1-6 at least partially overlap with the radial projection of the stator assembly 1-3.

[0031] By employing a highly integrated axial stacking layout (projection overlap of reducer, stator / rotor, drive plates 1-5, and drive covers 1-6) and a built-in rotor, the radial and axial space of the joint is maximized, achieving miniaturization and compactness of the drive joint 1.

[0032] Preferably, connector 1-10 is also included, which is disposed on the side of drive plate 1-5 near reducer assembly 1-1. By placing connector 1-10 on the side of drive plate 1-5 near reducer, the routing path of external wiring harnesses is optimized. This allows wiring harnesses to be connected from the "side" or "inside" of the joint, rather than being led out from the tail end, avoiding excessive bending and interference of wiring harnesses in the confined space of the robot's legs, and improving the reliability and neatness of the connection.

[0033] Two connectors 1-10 are provided, arranged symmetrically at the center. The direct effect of having two symmetrical connectors 1-10 is to achieve bidirectional universality of the electrical signal interface. This allows either connector 1-10 to function normally when the joint is rotated 180° for installation, without needing to change the wiring harness connection method or software configuration, greatly enhancing the flexibility and fault tolerance of joint installation.

[0034] The stator housing 1-2 has mounting structures on its outer periphery for connection with external structural components. These mounting structures are centrally symmetrically distributed, allowing the drive joint 1 to be mounted to the external structural components in two orientations, rotating 180° around its central axis. This design greatly simplifies the robot's structural design (e.g., the left and right legs can use identical joints), reduces the variety of parts and inventory costs, simplifies the assembly process, and improves assembly efficiency.

[0035] The mounting structure includes: multiple screw holes and multiple pin holes symmetrically arranged on the outer periphery of the stator housing 1-2; and symmetrical ribs 1-8 for initial positioning by engaging with grooves on external structural components. The stator housing 1-2 and the reducer assembly 1-1 are connected and positioned by symmetrically distributed pins and screws. The combination of symmetrical ribs, pin holes, and screw holes enables fast, precise, and stable installation. The ribs provide initial guidance and positioning, the pin holes ensure precise radial positioning and prevent torsion, and the screw holes provide final tightening force. These three elements work together to ensure no shaking after joint installation, good connection rigidity, and high stability.

[0036] At least one disassembly hole 1-9 is provided on the stator housing 1-2 and / or the reducer assembly 1-1. The disassembly hole 1-9 is a threaded hole. By screwing in a screw, a thrust is generated to push the reducer assembly 1-1 out of the stator housing 1-2 assembly. The disassembly hole 1-9 (threaded hole) solves the problem of difficult disassembly and maintenance between tightly fitted components. By screwing in a screw to generate a uniform thrust, the reducer assembly 1-1 can be safely and without damage to the stator housing 1-2, avoiding potential damage caused by using pry bars or other tools, and greatly facilitating on-site maintenance.

[0037] The stator assembly 1-3 is a ring motor, and its wire harness welding end is provided with a local boss; The stator housing 1-2 has a positioning hole on the side facing the drive plate 1-5 that matches the shape of the boss. When the stator assembly 1-3 is installed inside the stator housing 1-2, the boss is inserted into the positioning hole, fixing the position of the welding end of the wire harness. The cooperation between the boss and the positioning hole achieves precise pre-positioning of the welding end of the motor wire harness. This allows the motor wire harness to automatically and accurately align with the welding holes on the drive plate 1-5 during subsequent installation, eliminating the tedious manual alignment process, significantly improving production efficiency, and reducing the risk of welding defects.

[0038] The leg includes a thigh body, a lower leg body, and a drive joint 1 as described above, wherein the drive joint 1 connects the thigh body and the lower leg body, and / or the main body assembly and the thigh body. All the structural advantages of the drive joint 1 are directly translated into improved overall robot performance.

[0039] In summary, this solution simplifies the control of the drive joint 1 through direct drive control, eliminating the need for traditional complex mechanical structures. It successfully addresses the two major pain points of existing drive joint 1s: large size and difficult installation and disassembly. Miniaturization is achieved through a highly integrated and compact layout, while extremely convenient installation and maintenance are achieved through a comprehensive symmetrical design and a user-friendly disassembly structure. This provides legged robots with a high-performance, highly reliable, and easy-to-manufacture and maintain key drive component. Example 2

[0040] Based on Embodiment 1, a wiring structure for the drive joint is configured, specifically as follows: Figure 1 , Figures 3 to 10 As shown, it includes a base 2-2 fixed to the stator housing of the drive joint, a winding structure 2-3 fixedly connected to the rotor assembly of the drive joint, and a wire harness for connection. The wire harness has at least four fixed ends, forming a first wire harness 2-21, a second wire harness 2-22, and a third wire harness 2-23 in sequence; wherein, the two ends of the first wire harness 2-21 are respectively fixedly connected to a first fixed end 2-24 on the drive joint stator housing and a second fixed end 2-25 on the base 2-2; one end of the third wire harness 2-23 is fixedly connected to a third fixed end 2-26 on the winding structure 2-3, and the other end is a fourth fixed end 2-27 for connecting external signals; and the positions of the first wire harness 2-21 and the third wire harness 2-23 remain unchanged.

[0041] By dividing the wire harness into three segments and fixing them to the base 2-2 and the winding structure 2-3, "static-dynamic-static" segmented management of the wire harness within the joint is achieved. The first and third segments of the wire harness 2-23 remain stationary, fundamentally avoiding the problem of root fatigue fracture caused by movement, and significantly improving the service life and connection reliability of the wire harness. Movement is concentrated and controlled in the second segment of the wire harness. The first and third segments of the wire harness 2-23 remain stationary relative to the joint shell, avoiding stress concentration and fatigue fracture caused by repeated bending at the root. Simultaneously, the tightness and looseness of the second segment of the wire harness 2-22 in axial space is a controllable, low-curvature bending method, which is more beneficial to the protection of the wire harness than random oscillation.

[0042] Specifically, viewed axially from the drive joint, the maximum outer contour of the wiring structure 2 overlaps with the maximum outer contour of the drive joint. This maximizes the saving of radial space, allowing the drive joint to be made more compact and smaller. This is crucial for robots requiring high-density integrated joints (such as quadruped robots), helping to reduce leg size, avoid motion interference between adjacent joints, and achieve a better overall mechanical structure design.

[0043] The two ends of the second wire harness 2-22 are respectively fixedly connected to the second fixed end 2-25 on the base 2-2 and the third fixed end 2-26 on the winding structure 2-3. When rotation occurs inside the drive joint, the second wire harness 2-22 rotates along with the drive joint in the axial space, resulting in tightening and loosening. This constrains the effect of joint rotation on the wire harness within a specific axial region (the second wire harness 2-22), allowing it to absorb the motion stroke in a controllable, low-curvature "tightening and loosening" manner, rather than random swinging or bending. This controllable deformation is more beneficial to the wire harness than random oscillation, improving the predictability and reliability of the motion.

[0044] Preferably, the drive joint rotor assembly has a groove, and the winding structure 2-3 has a boss that mates with the groove, so as to achieve synchronous rotation of the winding structure 2-3 and the joint rotation assembly. The cooperation between the boss and the groove ensures that the winding structure 2-3 can achieve synchronous rotation with the joint rotor assembly without slippage. This guarantees the accuracy and reliability of power transmission and prevents wire harness entanglement, twisting, or failure caused by relative rotation between the winding structure 2-3 and the rotor.

[0045] The second fixed end 2-25 is located in the edge region of the base 2-2, and the third fixed end 2-26 is located in the axial region of the winding structure 2-3. This provides maximum torsional space for the second section of the wire harness 2-22, making the bending curvature of the harness smoother when it is wound tightly or loosely, further reducing local stress and making the movement process smoother.

[0046] Soft rubber coating structures 2-28 are provided at both ends of the second section of the wire harness 2-22 to absorb the stress of the second section of the wire harness 2-22 in both tight and loose states. It can effectively absorb the stress peak generated by the second section of the wire harness 2-22 when the state changes, especially at the extreme position of movement, and prevent stress concentration at the cable fixing point, thereby greatly improving the fatigue resistance and service life of the wire harness.

[0047] The base 2-2 is directly or indirectly fixed to the drive joint stator housing by means of screws, snap-fit ​​connections, or welding. Through mature and reliable connection methods such as screws and snap-fits, the relative position between the base 2-2 (and the first and second wire harnesses connected to it) and the joint stator housing is absolutely fixed, providing a solid foundation for the static part of the entire wiring structure 2 and ensuring the overall stability of the system.

[0048] Furthermore, the drive plate of the drive joint is fixed to the stator housing of the drive joint and connected to the first fixed end 2-24 of the wiring harness. External signals are stably transmitted to the drive plate fixed to the stator housing through the first fixed end 2-24 of the wiring harness. This wiring structure 2 not only protects the wiring harness, but more importantly, ensures the continuity and stability of power and signal transmission.

[0049] In summary, this solution successfully moves the wiring system from the outside to the inside of the drive joint, simultaneously solving the three major challenges of space occupation, motion interference, and cable reliability without sacrificing joint rotation performance. This provides key technical support for realizing miniaturized, highly reliable, and long-life robots. Example 3

[0050] like Figures 1-18 As shown, a leg assembly for a robot includes a drive joint 1 and a joint housing 3. The drive joint 1 is used between the thigh body 5 and the main body assembly 4, between the thigh body 5 and the lower leg body 6, and between the lower leg body 6 and the wheel joint. The joint housing 3 is used to form the housings of the thigh body 5 and the lower leg body 6, enabling parts reuse. That is, by standardizing the drive joint 1, a unified drive joint 1 unit is formed. This unified drive joint 1 can be applied to different positions on the leg (such as the hip, knee, and wheel joints), achieving multi-purpose use of a single joint. This greatly reduces the types of parts, lowers design and procurement costs, improves production and assembly efficiency, and facilitates later maintenance and spare parts management.

[0051] The specific drive joint 1 includes a reducer assembly 1-1, a stator housing 1-2, a stator assembly 1-3, a rotor assembly 1-4, a drive plate 1-5, and a drive cover 1-6.

[0052] The stator assembly 1-3 and the rotor assembly 1-4, which are housed within the stator housing 1-2 and can rotate relative to each other, are fixed inside the stator housing 1-2.

[0053] A central gear 1-41 is provided at one end of the rotor assembly 1-4 facing the reducer assembly 1-1.

[0054] The reducer assembly 1-1 includes a planetary reduction mechanism 1-11 that meshes with the central gear 1-41. The planet carrier 1-12 at the output end of the planetary reduction mechanism 1-11 provides power output.

[0055] The stator housing 1-2 is provided with a drive plate 1-5 and a drive cover 1-6 on the side away from the reducer assembly 1-1.

[0056] By employing a highly integrated axial stacking layout (projection overlap of reducer, stator / rotor, drive plates 1-5, and drive covers 1-6) and a built-in rotor, the radial and axial space of the joint is maximized, achieving miniaturization and compactness of drive joint 1. This allows the core components of drive joint 1 to be formed into a universally applicable and unified drive joint 1. Drive joint 1 drives the robot's legs to achieve posture transformation.

[0057] The outer ring of the stator housing 1-2 has a near-circular symmetrical structure and is provided with symmetrically distributed mounting protrusions 1-21; the planetary carrier 1-12 is provided with multiple identical mounting slots. This provides flexibility in the installation direction. This symmetrical design allows the joints to be installed without being restricted to a single direction, simplifying the subsequent assembly process and improving the design's tolerance and adaptability.

[0058] The specific leg components also include a side swing structure, a thigh body 5, a lower leg body 6, and a tire assembly 7.

[0059] Multiple modular joint components with identical structures are included: lateral swing joint component 9, hip joint component 10, knee joint component 11, and wheel joint component 8.

[0060] The joint shell 3 of the side-swing joint assembly 9 is fixed to the robot body by its mounting protrusion 1-21, and its planetary carrier 1-12 is connected to the side-swing structure to drive its movement.

[0061] The joint shell 3 of the hip joint assembly 10 is fixed to the thigh body 5 by its mounting protrusion 1-21, and its planetary carrier 1-12 is connected to the side swing structure to drive the relative movement of the thigh body 5.

[0062] The joint shell 3 of the knee joint assembly 11 is fixed to the thigh body 5 by its mounting protrusion 1-21, and its planetary carrier 1-12 is connected to the lower leg body 6 to drive the lower leg body 6 to rotate relative to the thigh body 5.

[0063] The joint housing 3 of the wheel joint assembly 8 is fixed to the lower leg body 6 by its mounting protrusion 1-21, and its planetary carrier 1-12 is connected to the tire assembly 7 to drive its rotation.

[0064] The thigh body 5 and / or lower leg body 6, at positions where they mate with the modular joint assembly, are provided with symmetrically distributed bosses 3-1 corresponding to the mounting protrusions 1-21. The mounting protrusions 1-21 and the bosses 3-1 are locked together by fasteners, allowing the modular joint assembly to be installed in either 0° or 180° orientation. That is, through the symmetrically distributed mounting protrusions 1-21, and the combined action of screws and pins for locking, the joint assembly can be installed on the thigh body 5 and lower leg body 6, and can be rotated 180° for installation when a specific orientation is required.

[0065] Therefore, this solution achieves an unprecedented level of standardization by using multiple modular joint components with identical structures to act as joints with different names (lateral swing, hip, knee, wheel joint).

[0066] This means that manufacturers only need to produce one type of joint to meet all the driving requirements of a robot's entire leg or even four legs, significantly reducing manufacturing complexity and cost, and making the assembly of the leg structure as simple and efficient as "building blocks".

[0067] Preferably, the main body assembly 4 is connected to four leg structures: a left foreleg, a left hind leg, a right foreleg, and a right hind leg. The left foreleg and right hind leg have identical structures, and the left hind leg and right foreleg have identical structures. This makes the leg structure highly modular, saving costs and facilitating assembly. Specifically, it achieves complete interchangeability of the robot's left and right leg parts. The left leg's knee joint only needs to be rotated 180° to be used as the right leg's knee joint, eliminating the need for mirrored parts in traditional designs. Only a small number of parts require mirroring, further improving part reusability and reducing inventory and management costs.

[0068] Preferably, the rotor assembly 1-4 is disposed within the annular space formed by the stator assembly 1-3, and the axial projections of the reducer assembly 1-1, drive plate 1-5, and drive cover 1-6 at least partially overlap with the radial projection of the stator assembly 1-3. This minimizes the axial dimension of the drive joint 1, resulting in a more compact structure. This is crucial for the design of the robot's legs, as a smaller joint volume means lighter weight and lower moment of inertia, thereby contributing to improved robot mobility and dynamic response speed.

[0069] The stator housing 1-2 has a mounting structure on its outer periphery for connection with external structural components. This mounting structure is centrally symmetrically distributed, allowing the drive joint 1 to be mounted to the external structural components in two orientations, rotating 180° around its central axis. The mounting structure includes: multiple screw holes and multiple pin holes symmetrically arranged on the outer periphery of the stator housing 1-2; and symmetrical ribs 1-8 for engaging with grooves on the external structural components to achieve initial positioning. This provides another method for mounting components that can be used interchangeably on both left and right legs, and the design of the pins and ribs ensures the accuracy and reliability of the installation, avoiding positioning errors that may occur due to changes in the installation direction.

[0070] The stator housing 1-2 and the reducer assembly 1-1 are connected and positioned by symmetrically distributed pins and screws. At least one disassembly hole 1-9 is provided on the stator housing 1-2 and / or the reducer assembly 1-1. This disassembly hole 1-9 is a threaded hole; by screwing in a screw, a thrust is generated to push the reducer assembly 1-1 out of the stator housing 1-2 assembly. By providing the threaded disassembly hole 1-9, the problem of disassembling highly integrated modules during maintenance is solved. Maintenance personnel only need to screw in a screw to smoothly push out the reducer assembly 1-1, avoiding potential damage to components caused by brute force. This makes on-site maintenance and replacement safer and more convenient, reducing the maintenance threshold and cost.

[0071] The stator assembly 1-3 is a ring motor, and its wire harness 2-1 welding end is provided with a local boss 1-31.

[0072] The stator housing 1-2 has a positioning hole on the side facing the drive plate 1-5 that matches the shape of the boss 1-31. When the stator assembly 1-3 is installed inside the stator housing 1-2, the boss 1-31 is inserted into the positioning hole, fixing the position of the welding end of the wire harness 2-1. This prevents the welding end of the wire harness 2-1 from being in an incorrect position after final assembly, which could interfere with other components (such as the drive plate 1-5), ensuring the reliability of the electrical connection and improving product quality consistency.

[0073] The drive board 1-5 has a basically symmetrical structure, with identical connectors 1-10 on both sides. The symmetrical design and identical connectors 1-10 on both sides of the drive board 1-5 mean that regardless of the joint's installation orientation, there is always one side of the connector 1-10 that is easy to connect to. This eliminates the hassle of tangled cables or the need for special wiring, simplifies wiring during assembly, improves assembly efficiency, and makes internal wiring neater and more reliable. Specifically, two connectors 1-10 are provided, arranged centrally symmetrically. This means that these two connectors 1-10 are identical in terms of electronic software control. This allows for continued electrical signal transmission even when the joint assembly is rotated 180° during installation.

[0074] The specific working principle of drive joint 1 is as follows: an external signal is connected to connector 1-10 on drive board 1-5 via wiring harness 2-1. Connector 1-10 inputs a changing electrical signal to the motor on sub-assembly 1-3. Under electromagnetic influence, this drives rotor assembly 1-4 to rotate around the central axis of drive joint 1. Rotor assembly 1-4 is equipped with a central gear 1-41, which uses a planetary reducer to change the transmission speed and increase the torque. The movement of reducer assembly 1-1 ultimately drives the target structural component to move.

[0075] Preferably, the drive joints 1 have a unique wiring structure 2, including a base 2-2 fixed to the stator housing 1-2 of the drive joint 1, a winding structure 2-3 fixedly connected to the rotor assembly 1-4 of the drive joint 1, and a wire harness 2-1 for connection.

[0076] The wire harness 2-1 has at least four fixed ends, forming a first wire harness 2-21, a second wire harness 2-22, and a third wire harness 2-23 in sequence; wherein, the two ends of the first wire harness 2-21 are respectively fixedly connected to a first fixed end 2-24 on the stator housing 1-2 of the drive joint 1 and a second fixed end 2-25 on the base 2-2; one end of the third wire harness 2-23 is fixedly connected to a third fixed end 2-26 on the winding structure 2-3, and the other end is a fourth fixed end 2-27 for connecting external signals; and the positions of the first wire harness 2-21 and the third wire harness 2-23 remain unchanged.

[0077] By dividing wire harness 2-1 into three segments and fixing them to base 2-2 and winding structure 2-3, "static-dynamic-static" segmented management of wire harness 2-1 within the joint is achieved. The first and third segments of wire harness 2-23 remain stationary, fundamentally avoiding root fatigue fracture caused by movement, and significantly improving the service life and connection reliability of wire harness 2-1. Movement is concentrated and controlled in the second segment of wire harness 2-1. The first and third segments of wire harness 2-23 remain stationary relative to the joint housing 3, avoiding stress concentration and fatigue fracture caused by repeated bending at the root. Simultaneously, the tightness and looseness of the second segment of wire harness 2-22 in axial space is a controllable, low-curvature bending method, which is more beneficial to the protection of wire harness 2-1 than random swaying.

[0078] Specifically, viewed axially from the drive joint 1, the maximum outer contour of the wiring structure 2 overlaps with the maximum outer contour of the drive joint 1. This maximizes the saving of radial space, allowing the drive joint 1 to be made more compact and small. This is crucial for robots that require high-density integrated joints (such as quadruped robots), helping to reduce leg size, avoid motion interference between adjacent joints, and achieve a better overall mechanical structure design.

[0079] The two ends of the second wire harness 2-22 are respectively fixedly connected to the second fixed end 2-25 on the base 2-2 and the third fixed end 2-26 on the winding structure 2-3. When rotation occurs inside the drive joint 1, the second wire harness 2-22 rotates along with the drive joint 1 in the axial space, resulting in tightening and loosening. This constrains the effect of joint rotation on the wire harness 2-1 within a specific axial region (the second wire harness 2-22), allowing it to absorb the motion stroke in a controllable, low-curvature "tightening and loosening" manner, rather than random swinging or bending. This controllable deformation is more beneficial to protecting the wire harness 2-1 than random oscillation, improving the predictability and reliability of the motion.

[0080] Preferably, the drive joint 1 rotor assembly 1-4 is provided with a groove 1-42, and the winding structure 2-3 is provided with a wiring boss 2-31 that mates with the groove 1-42, so as to achieve synchronous rotation of the winding structure 2-3 and the joint rotation assembly. The mating of the wiring boss 2-31 and the groove 1-42 ensures that the winding structure 2-3 can achieve synchronous rotation with the joint rotor assembly 1-4 without slippage. This guarantees the accuracy and reliability of power transmission and prevents the wire harness 2-1 from becoming entangled, twisted, or failing due to relative rotation between the winding structure 2-3 and the rotor.

[0081] The second fixed end 2-25 is located in the edge region of the base 2-2, and the third fixed end 2-26 is located in the axial region of the winding structure 2-3. This provides maximum torsional space for the second section of the wire harness 2-22, making the bending curvature of the wire harness 2-1 more gradual when it is wound tightly or loosely, further reducing local stress and making the movement process smoother.

[0082] Soft rubber coating structures 2-28 are provided at both ends of the second section of the wire harness 2-22 to absorb the stress of the second section of the wire harness 2-22 in both tight and loose states. It can effectively absorb the stress peak generated by the second section of the wire harness 2-22 when the state changes, especially at the extreme position of movement, and prevent stress concentration at the cable fixing point, thereby greatly improving the fatigue resistance and service life of the wire harness 2-1.

[0083] The base 2-2 is directly or indirectly fixed to the stator housing 1-2 of the drive joint 1 by means of screws, snap-fit ​​connections, or welding. Through mature and reliable connection methods such as screws and snap-fits, the relative position between the base 2-2 (and the first and second wire harnesses 2-1 connected to it) and the joint stator housing 1-2 is absolutely fixed, providing a solid foundation for the static part of the entire wiring structure 2 and ensuring the overall stability of the system.

[0084] The drive plate 1-5 of the drive joint 1 is fixed to the stator housing 1-2 of the drive joint 1 and connected to the first fixed end 2-24 of the wiring harness 2-1. External signals are stably transmitted to the drive plate 1-5 fixed to the stator housing 1-2 through the first fixed end 2-24 of the wiring harness 2-1. This wiring structure 2 not only protects the wiring harness 2-1, but more importantly, ensures the continuity and stability of power and signal transmission.

[0085] This solution successfully moved the wiring system from the outside to the inside of the drive joint 1, simultaneously solving the three major problems of space occupation, motion interference, and cable reliability without sacrificing the joint rotation performance.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the concept of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A drive joint for a robot, characterized in that: The drive joint drives the robot's legs to achieve posture changes; the drive joint includes a reducer assembly, a stator housing, a stator assembly, a rotor assembly, a drive plate, and a drive cover; The stator assembly is fixed inside the stator housing, and the rotor assembly is housed within the stator assembly and is rotatable relative to it. The rotor assembly has a central gear at one end facing the reducer assembly; The reducer assembly includes a planetary reduction mechanism that meshes with the central gear. A drive plate and a drive cover are provided on the side of the stator housing away from the reducer assembly; The rotor assembly is disposed within the annular space formed by the stator assembly, and the axial projections of the reducer assembly, drive plate, and drive cover at least partially overlap with the radial projection of the stator assembly.

2. The drive joint of a robot according to claim 1, characterized in that, It also includes connectors, which are located on the side of the drive board near the reducer assembly.

3. The drive joint of a robot according to claim 2, characterized in that, Two connectors are provided, and they are arranged symmetrically at the center.

4. The drive joint of a robot according to claim 1, characterized in that, The stator housing is provided with a mounting structure for connecting with external structural components on its outer periphery. The mounting structure is centrally symmetrically distributed, so that the drive joint can be installed to the external structural components in two orientations that allow it to rotate 180° around the central axis.

5. A drive joint for a robot according to claim 1, characterized in that, The stator housing and / or the reducer assembly are provided with at least one disassembly hole, which is a threaded hole. By screwing in a screw, a thrust can be generated to push the reducer assembly out of the stator housing assembly.

6. The drive joint of a robot according to claim 1, characterized in that, The stator assembly is a ring motor, and its wire harness welding end is provided with a local boss. The stator housing has a positioning hole on the side facing the drive plate that matches the shape of the boss. When the stator assembly is installed in the stator housing, the boss is embedded in the positioning hole, thereby fixing the position of the wire harness welding end.

7. The drive joint of a robot according to claim 1, characterized in that, It includes a wiring structure, which includes a base fixed to the stator housing of the drive joint, a winding structure fixedly connected to the rotor assembly of the drive joint, and a wire harness for connection. The wire harness has at least four fixed ends, and is sequentially formed into a first wire harness, a second wire harness, and a third wire harness; wherein, the two ends of the first wire harness are fixedly connected to a first fixed end on the stator housing of the drive joint and a second fixed end on the base, respectively; one end of the third wire harness is fixedly connected to a third fixed end on the winding structure, and the other end is a fourth fixed end for connecting external signals; and the positions of the first wire harness and the third wire harness remain unchanged.

8. A drive joint for a robot according to claim 7, characterized in that, Viewed from the axial direction of the drive joint, the maximum outer contour of the wiring structure overlaps with the maximum outer contour of the drive joint.

9. A drive joint for a robot according to claim 7, characterized in that, The two ends of the second section of the wire harness are respectively fixedly connected to the second fixed end on the base and the third fixed end on the winding structure; when the drive joint rotates inside, the second section of the wire harness will rotate with the drive joint in the axial space, resulting in tightening and loosening.

10. The wiring structure of a robot drive joint according to claim 7, characterized in that, Soft rubber coating structures are provided at both ends of the second section of the wire harness to absorb the stress of the second section of the wire harness in both tight and loose states.

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