Joint unit shell with fastening structure, joint unit, connecting mechanism and robot

Abstract

The utility model relates to the technical field of foot type robots, in particular to a joint unit shell with a fastening structure, a joint unit, a connecting mechanism and a robot. The utility model discloses a joint unit shell with a fastening structure. The joint unit shell comprises a front shell body, a rear shell body and a clamping ring. A plurality of convex parts and concave parts which are matched and embedded with each other are arranged at the joint of the front shell and the rear shell, so that the front shell and the rear shell are fixedly connected in the circumferential direction; the annular clamping groove is formed in the protruding part, after the clamping ring is clamped in, axial connection and fixation of the front shell and the rear shell are achieved, a screw-free fixing structure capable of fixing the front shell and the rear shell is formed, and compared with traditional bolt connection and other connection modes, assembly and disassembly are more convenient and faster, and the disassembly and assembly efficiency is effectively improved; and the mounting position of a bolt does not need to be reserved, and the outer diameter of the joint unit can be smaller, so that the overall structure is more compact, the visual impression can be effectively improved, and popularization and use are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of foot type robot, especially joint unit shell with fastening structure, joint unit, connecting mechanism and robot. BACKGROUND

[0002] The foot type robot contains numerous joint units, such as the joint units of humanoid robots, which usually reach dozens, and belong to the core unit of the foot type robot; the existing joint unit assembly connection adopts bolt fastening, and the number of required bolts is large, and assembly, maintenance and disassembly are not convenient; and bolt mounting positions need to be reserved on the circumference of the joint unit, so that the diameter of the joint unit becomes large, and due to the large number of joint units, the overall size and weight of the foot type robot become large.

[0003] Further, a Chinese patent (publication number CN219755150U) discloses a robot transmission mechanism and a quadruped robot applying the same, which comprises joint unit two and joint unit one, and a disassembly and assembly connecting assembly is arranged between the joint unit two and the joint unit one; the disassembly and assembly connecting assembly comprises a radial extension piece and a hoop piece hooped to the outer circle of the radial extension piece.

[0004] The above scheme fixes and connects the upper and lower two-stage power units at the joint of the robot through the hoop piece and the radial extension piece, which can reduce the amount of screws used, but still requires the use of bolts or screws during the assembly process of the joint shell, resulting in inconvenient assembly, maintenance and disassembly, and affecting the disassembly efficiency; and bolt mounting positions still need to be reserved on the circumference of the joint unit shell, resulting in a large volume of the joint unit, an uncompact structure, and affecting the visual appearance, which is not conducive to popularization and use.

[0005] The information disclosed in this background is only used to understand the background of the utility model concept, so it can include information that does not constitute prior art. UTILITY MODEL CONTENT

[0006] In view of the above problems or one of the above problems, the purpose of the utility model is to provide a joint unit shell with fastening structure, joint unit, connecting mechanism and robot, which uses a snap ring connection instead of traditional bolt connection, and is convenient for assembly and disassembly, and has a compact structure.

[0007] The utility model discloses a joint unit shell, joint unit and robot, through setting up the mutually adaptive embedding's convex part and inner recess at the junction of front casing and rear casing, realize the connection fixed of both circumferential direction, through setting up the annular clamping groove on the convex part, after clamping into the snap ring, realize the axial connection fixed of both of front casing and rear casing, form a kind of without screw fixed structure that can fix front casing and rear casing, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast, effectively improves the dismounting efficiency, and because the installation position of bolt need not be reserved, the outer diameter of joint unit can be made smaller, so the overall structure is more compact, and then visual perception can be effectively improved, and it is beneficial to popularization and use.

[0008] The utility model discloses a connecting mechanism, through setting up the mutually adaptive embedding's convex part and inner recess at the junction of first connecting body and second connecting body, realize the connection fixed of both circumferential direction, through setting up the annular clamping groove on the convex part, after clamping into the snap ring, realize the axial connection fixed of both of first connecting body and second connecting body, form a kind of without screw fixed structure that can fix first connecting body and second connecting body, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast, effectively improves the dismounting efficiency, and because the installation position of bolt need not be reserved, the outer diameter of connecting mechanism can be made smaller, so the overall structure is more compact, and then visual perception can be effectively improved, and it is beneficial to popularization and use.

[0009] To realize one of the above purposes, the first technical solution of the utility model is:

[0010] The joint unit shell with the fastening structure includes a front casing, a rear casing and a snap ring.

[0011] The junction of the front casing and the rear casing is provided with a convex part and an inner recess that can be mutually adapted and embedded.

[0012] The outer surface of the convex part is provided with a clamping groove in the circumferential direction, and when the convex part and the inner recess are mutually embedded, the clamping groove forms an annular clamping groove for mounting the snap ring.

[0013] As a preferred technical measure:

[0014] The convex part is formed by extending the front casing or the rear casing in the axial direction.

[0015] Or / and, the convex parts are uniformly distributed on the edges of the front casing or the rear casing.

[0016] Or / and, the convex part and the inner recess are provided with a stop step that can be mutually embedded in the radial direction, and the stop step is a convex platform or a concave platform.

[0017] Or / and, the snap ring is a ring structure with a notch, at least one end of which is provided with a bent part extending to the outer surface of the front shell or the rear shell; the convex part, the concave part, the front shell and the rear shell are alternatively or selectively provided with an embedded slot for accommodating the bent part; the bent part of the snap ring is placed in the embedded slot to form an embedded limiting structure, which can effectively fix the snap ring, thereby enhancing the reliability of the shell assembly and avoiding the slipping of the two shells and the snap ring.

[0018] Or / and, the snap ring is a ring structure with a notch, at least one end of which is provided with a bent part extending to the outer surface of the front shell or the rear shell; the convex part, the concave part, the front shell and the rear shell are alternatively or selectively provided with an embedded slot for accommodating the bent part; the bent part of the snap ring is placed in the embedded slot to form an embedded limiting structure, which can effectively fix the snap ring, thereby enhancing the reliability of the shell assembly and avoiding the slipping of the two shells and the snap ring.

[0019] The bent part of the snap ring is inserted into the insertion hole or the insertion slot to form a firm insertion structure, so that the snap ring can be effectively fixed, thereby enhancing the reliability of the shell assembly and avoiding the slipping of the two shells and the snap ring.

[0020] As a preferred technical measure:

[0021] The length of the embedded slot is E millimeters, and the width is F millimeters, which is communicated with the annular clamping groove;

[0022] 1.5<E<8, 0.7<F<5;

[0023] Or / and, the insertion hole or the insertion slot is arranged on the annular clamping groove.

[0024] To achieve one of the above purposes, the second technical scheme of the utility model is:

[0025] The joint unit shell with the fastening structure comprises a front shell, a rear shell and a snap ring.

[0026] The front shell is provided with at least one convex part one and a concave part one;

[0027] The rear shell is provided with at least one convex part two and a concave part two;

[0028] The outer surfaces of the convex part one and the convex part two are respectively provided with clamping grooves;

[0029] When the front shell and the rear shell are assembled, the convex part one and the concave part two are embedded; the concave part one and the convex part two are embedded, and a plurality of clamping grooves are spliced together to form an annular clamping groove for mounting the snap ring;

[0030] The annular clamping groove is assembled with the snap ring to realize the screwless fastening of the front shell and the rear shell.

[0031] The utility model discloses a kind of joint units, comprising front shell and rear shell, the front shell and the rear shell are connected by the joint unit, the front shell and the rear shell are connected by the joint unit, and the joint unit is connected by the joint unit.

[0032] Further, the plurality is two or more.

[0033] As a preferred technical measure:

[0034] The cross-sectional shape, number and position of the first protruding part and the second concave part are matched.

[0035] Or / and, the cross-sectional shape, number and position of the first concave part and the second protruding part are matched.

[0036] As a preferred technical measure:

[0037] The cross-sectional shape of the first protruding part and the second concave part is respectively fan-shaped or triangular or arc-shaped or trapezoidal or square, and the number is respectively N; N is 2 or 3 or 4 or 5 or 6, and preferably N is 4.

[0038] Or / and, the cross-sectional shape of the first concave part and the second protruding part is respectively fan-shaped or triangular or arc-shaped or trapezoidal or square, and the number is respectively M; M is 2 or 3 or 4 or 5 or 6, and preferably M is 4.

[0039] As a preferred technical measure:

[0040] The front shell and the rear shell are respectively columnar structure or variable-diameter structure, and the cross section is circular or concentric circle or mixed shape with square and circular.

[0041] Or / and, the first protruding part, the first concave part and the front shell are integrally formed.

[0042] The second protruding part, the second concave part and the rear shell are integrally formed, which is simple in structure, practical and convenient for production and manufacture.

[0043] Or / and, the first concave part is formed by the end wall of the two adjacent first protruding parts; the second concave part is formed by the end wall of the two adjacent second protruding parts.

[0044] Or / and, the number of the snap ring is one or more, which is a circle structure with a notch, which is bent by a metal wire or a metal strip or a metal sheet, forming an elastic clamping structure, which is simple, practical and convenient for production and manufacture. Preferably, the snap ring is made of spring round wire.

[0045] As a preferred technical measure:

[0046] The number of the clamping groove is one or more, and the cross-sectional shape of the clamping groove matches the cross-sectional shape of the snap ring;

[0047] Or / and, the groove depth of the clamping groove is A, and the ring diameter of the snap ring is B; the A>=B.

[0048] To achieve one of the above purposes, the third technical scheme of the utility model is:

[0049] The joint unit with the fastening structure, the application of the joint unit shell with the fastening structure, which comprises a front shell body and a rear shell body; the front shell body is provided with a speed reducer, and the rear shell body is provided with a motor.

[0050] To achieve one of the above purposes, the fourth technical scheme of the utility model is:

[0051] The connecting mechanism with the fastening structure comprises a first connecting body, a second connecting body and a snap ring;

[0052] The first connecting body is provided with at least one protruding part one and an inner recess part one;

[0053] The second connecting body is provided with at least one protruding part two and an inner recess part two;

[0054] The outer surfaces of the protruding part one and the protruding part two are respectively provided with clamping grooves;

[0055] When the first connecting body and the second connecting body are assembled, the protruding part one and the inner recess part two are embedded; the inner recess part one and the protruding part two are embedded, and a plurality of clamping grooves are spliced together to form an annular clamping groove for mounting the snap ring;

[0056] The annular clamping groove is assembled with the snap ring to realize the screwless fastening of the first connecting body and the second connecting body.

[0057] The utility model discloses a kind of joint units, and the joint unit is provided with the fastening structure, and the fastening structure is connected between first connecting body and second connecting body, and the fastening structure is connected between first connecting body and second connecting body.

[0058] As preferred technical measures:

[0059] The first connecting body is a joint motor body or a joint motor shell or a robot body or a robot shell or a connecting rod or a joint unit or a joint unit shell.

[0060] Or / and, the second connecting body is a robot body or a robot shell or a joint motor body or a joint motor shell or a connecting rod or a joint unit or a joint shell unit.

[0061] Or / and, the first connecting body and the second connecting body are assembled together by the snap ring to form a screwless fastening robot body or a robot shell or a joint motor body or a joint motor shell or a connecting rod structure or a joint unit or a joint shell unit or an assembly structure for a joint motor and a connecting rod.

[0062] Or / and, the snap ring is provided with a bending portion on the ring body or the notch end portion; the first connecting body and the second connecting body are alternatively or all provided with an embedding slot for accommodating the bending portion; the bending portion of the snap ring is placed into the embedding slot to form an embedded limiting structure, which can effectively fix the snap ring, thereby enhancing the reliability of the assembly of the two connecting bodies and avoiding the slipping of the two connecting bodies and the snap ring.

[0063] Or / and, the snap ring is provided with a penetrating portion on the ring body or the notch end portion; the first connecting body and the second connecting body are alternatively or all provided with a plug hole or a plug slot for accommodating the penetrating portion. The penetrating portion of the snap ring is inserted into the plug hole or the plug slot to form a firm plug-in structure, thereby effectively fixing the snap ring and enhancing the reliability of the assembly of the connecting bodies and avoiding the slipping of the two connecting bodies and the snap ring.

[0064] To achieve one of the above purposes, the fifth technical scheme of the utility model is as follows:

[0065] A robot comprises the joint unit shell with the fastening structure, the joint unit with the fastening structure or the connecting mechanism with the fastening structure.

[0066] The robot is a quadruped robot or a biped robot or a mechanical arm or a humanoid robot or a wheeled robot.

[0067] Compared with the prior art, the utility model has the advantages that:

[0068] The utility model discloses a kind of joint unit shell, joint unit and robot, by setting mutually adaptive fitting's protruding portion and inner recess at the junction of front shell and rear shell, the connection and fixation of circumferential direction of two are realized;By setting annular clamping groove on protruding portion, after clamping into snap ring, the axial connection and fixation of front shell and rear shell two are realized.Form a kind of without screw fastening structure that can fix front shell and rear shell, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast, effectively improve dismounting efficiency;And since the installation position of bolt need not be reserved, the outer diameter of joint unit can be made smaller, so overall structure is more compact, which can effectively improve visual impression, facilitate use.

[0069] Further, the utility model discloses a kind of joint unit shell, joint unit and robot, by setting mutually adaptive fitting's protruding portion and inner recess at the junction of first connecting body, second connecting body, the connection and fixation of circumferential direction of two are realized;By setting annular clamping groove on protruding portion, after clamping into snap ring, the axial connection and fixation of first connecting body, second connecting body two are realized.Form a kind of without screw fastening structure that can fix first connecting body, second connecting body, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast, effectively improve dismounting efficiency;And since the installation position of bolt need not be reserved, the outer diameter of connecting mechanism can be made smaller, so overall structure is more compact, which can effectively improve visual impression, facilitate use.

[0070] Further, the utility model discloses a kind of joint unit shell, joint unit and robot, by setting mutually adaptive fitting's protruding portion and inner recess at the junction of front shell and rear shell, the connection and fixation of circumferential direction of two are realized;By setting annular clamping groove on protruding portion along circumferential direction, after clamping into snap ring, the axial connection and fixation of front shell and rear shell two are realized.The above-mentioned fixed structure of front shell and rear shell, only by snap ring can realize the connection and fixation of two, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast;And since the installation position of bolt need not be reserved, the outer diameter of joint unit can be made smaller, so overall structure is more compact, which can reduce the overall size of foot type robot.

[0071] The utility model will be further described in detail in connection with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0072] Figure 1 It is a structure schematic view of the joint unit shell with fastening structure of the utility model.

[0073] Figure 2 is an exploded view of the joint unit shell with the fastening structure of the utility model;

[0074] Figure 3 is a partial schematic view of the joint unit shell A part with the fastening structure of the utility model;

[0075] Figure 4 is a partial schematic view of the joint unit shell B part with the fastening structure of the utility model;

[0076] Figure 5 is another structure schematic view of the joint unit shell (without assembling the snap ring) of the utility model;

[0077] Figure 6 is the first structure schematic view of the snap ring of the utility model;

[0078] Figure 7 is a structure schematic view of the joint unit shell (assembling the first kind of snap ring) of the utility model;

[0079] Figure 8 is the second structure schematic view of the snap ring of the utility model;

[0080] Figure 9 is a structure schematic view of the joint unit shell (assembling the second kind of snap ring) of the utility model.

[0081] In the figure: 1, front shell body; 2, rear shell body; 3, snap ring; 4, protruding part; 5, inner recess; 6, clamping groove; 7, stop step; 8, embedding groove; 9, insertion hole; 31, bending part; 32, insertion part; 41, protruding part one; 42, inner recess one; 51, protruding part two; 52, inner recess two. DETAILED DESCRIPTION

[0082] In the following, the utility model is further described in combination with the drawings and specific embodiments, and it should be noted that the following described embodiments or technical features can be combined to form new embodiments without conflict.

[0083] It should be noted that when two elements are "fixedly connected", the two elements can be directly connected or there can be a middle element. Conversely, when an element is referred to as "directly on" another element, there is no intermediate element. The terms "axial", "circumferential", "upper", "lower" and similar expressions used herein are only for illustrative purposes.

[0084] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0085] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 The utility model discloses a first specific embodiment of joint unit shell with fastening structure has:

[0086] A joint unit shell with fastening structure, including front shell body 1, rear shell body 2, and the joint is equipped with the projection 4 and the inner recess 5 of mutual adaptation inlaying, the outer surface of projection 4 is equipped with the clamping groove 6 along the circumference, when projection 4 and the inner recess 5 are inlaid each other, the clamping groove 6 is spliced and is the annular clamping groove of mounting snap ring 3.

[0087] The utility model discloses a joint unit shell with fastening structure, through setting the projection 4 and the inner recess 5 of mutual adaptation inlaying at the joint of front shell body 1 and rear shell body 2, realize the connection and fixed of the circumferential direction of both, through setting the annular clamping groove along the circumferential direction on projection 4, after clamping into snap ring 3, realize the axial connection and fixed of both of front shell body 1 and rear shell body 2. The above-mentioned fixed structure of front shell body 1 and rear shell body 2 can realize the connection and fixed of both only through snap ring 3, compared with the connection mode such as traditional bolt connection, assembly disassembly is more convenient and fast, and because the installation position of bolt is not needed, the outer diameter of joint unit can be made smaller, so the overall structure is more compact.

[0088] In the embodiment, the projection 4 is formed along the axial direction of the front shell body 1 or the rear shell body 2, and the projection 4 is uniformly distributed on the edge of the front shell body 1 or the edge of the rear shell body 2.

[0089] In the embodiment, the projection 4 and the inner recess 5 are provided with a stop step 7 inlaid each other along the radial direction. The stop step 7 is arranged to fixedly connect the front shell body 1 and the rear shell body 2 in the radial direction.

[0090] In the embodiment, the front shell body 1 is provided with a planetary reduction assembly, and the rear shell body 2 is provided with a motor assembly.

[0091] The utility model discloses a second specific embodiment of joint unit shell with fastening structure:

[0092] A joint unit shell with fastening structure, including front shell body 1, rear shell body 2 and snap ring 3;

[0093] The joint of the front shell 1 and the rear shell 2 is provided with a convex part 4 and an inner recess 5 which can be mutually fitted and matched;

[0094] The outer surface of the convex part 4 is provided with a clamping groove 6 in the circumferential direction, and when the convex part 4 and the inner recess 5 are mutually fitted and matched, the clamping groove 6 forms an annular clamping groove for mounting the clamping ring 3.

[0095] In the embodiment, the convex part 4 is formed in the axial direction of the front shell 1 or the rear shell 2.

[0096] The convex part 4 is uniformly distributed on the edge of the front shell 1 or the edge of the rear shell 2.

[0097] The convex part 4 and the inner recess 5 are provided with a stop step 7 which can be mutually fitted and matched in the radial direction.

[0098] As shown in the third specific embodiment of the joint unit shell with the fastening structure, Figure 5 The utility model discloses a joint unit shell with fastening structure, which comprises a front shell 1 with a containing cavity, a rear shell 2 and a clamping ring 3.

[0099] The utility model discloses a joint unit shell with fastening structure, which comprises a front shell 1 with a containing cavity, a rear shell 2 and a clamping ring 3.

[0100] When the front shell 1 and the rear shell 2 are assembled, the convex part one 41 and the inner recess two 52 are fitted and matched; the inner recess one 42 and the convex part two 51 are fitted and matched, and a plurality of clamping grooves 6 are spliced together to form an annular clamping groove for mounting the clamping ring 3; the annular clamping groove is assembled with the clamping ring 3 to realize the screwless fastening of the front shell 1 and the rear shell 2.

[0101] In the embodiment, the cross-sectional shape, number and position of the convex part one 41 and the inner recess two 52 are matched; the cross-sectional shape, number and position of the inner recess one 42 and the convex part two 51 are matched.

[0102] In the embodiment, the cross-sectional shape of the convex part one 41 and the inner recess two 52 is respectively a sector, a triangle, an arc, a trapezoid or a square, and the number thereof is respectively one; the cross-sectional shape of the inner recess one 42 and the convex part two 51 is respectively a sector, a triangle, an arc, a trapezoid or a square, and the number thereof is respectively one.

[0103] In the embodiment, the front shell 1 and the rear shell 2 are columnar structures respectively; the protruding part one 41, the inner recess part one 42 and the front shell 1 are integrally formed; the protruding part two 51, the inner recess part two 52 and the rear shell 2 are integrally formed; the inner recess part one 42 is formed by end walls of the two adjacent protruding part ones 41; the inner recess part two 52 is formed by end walls of the two adjacent protruding part twos 51.

[0104] In the embodiment, the number of the snap ring 3 is one, which is a circle structure with a notch, and is made of a metal wire to form an elastic clamping structure.

[0105] In the embodiment, the number of the snap groove 6 is one, and the cross-sectional shape of the snap groove 6 matches the cross-sectional shape of the snap ring 3; the groove depth of the snap groove 6 is A, and the ring diameter of the snap ring 3 is B; A=B.

[0106] As shown in Figure 6 , Figure 7 the utility model discloses a fourth specific embodiment of joint unit shell with fastening structure:

[0107] A joint unit shell with fastening structure, comprising a front shell 1, a rear shell 2 and a snap ring 3.

[0108] The joint unit shell with fastening structure also discloses a fifth specific embodiment of joint unit shell with fastening structure:

[0109] The outer surface of the protruding part 4 is provided with a snap groove 6 in the circumferential direction, and when the protruding part 4 and the inner recess part 5 are embedded with each other, a plurality of snap grooves 6 form annular snap grooves for installing the snap ring 3.

[0110] The snap ring 3 is a ring structure with a notch, and the two ends are respectively provided with a bending part 31; the protruding part 4 is provided with two embedding grooves 8. The length of the embedding groove 8 is 3mm, and the width is 1.8mm, which is communicated with the annular snap groove.

[0111] As shown in Figure 8 , Figure 9 the utility model discloses a fourth specific embodiment of joint unit shell with fastening structure:

[0112] A joint unit shell with fastening structure, comprising a front shell 1, a rear shell 2 and a snap ring 3.

[0113] The joint unit shell with fastening structure also discloses a fifth specific embodiment of joint unit shell with fastening structure:

[0114] The outer surface of the protruding part 4 is provided with a snap groove 6 in the circumferential direction, and when the protruding part 4 and the inner recess part 5 are embedded with each other, a plurality of snap grooves 6 form annular snap grooves for installing the snap ring 3.

[0115] The clasp ring 3 is a ring structure with notches, and a through part 32 is arranged at each notch end; two insertion holes 9 for accommodating the through part 32 are arranged on the ring-shaped clamping groove.

[0116] The utility model discloses a kind of concrete embodiments of joint unit with fastening structure:

[0117] A joint unit with fastening structure, which comprises a front shell 1 and a rear shell 2, a planetary reducer is arranged in the front shell 1, and a motor is arranged in the rear shell 2.

[0118] The utility model discloses a kind of concrete embodiments of connecting mechanism with fastening structure:

[0119] A connecting mechanism with fastening structure, comprising a first connecting body, a second connecting body and a clasp ring 3; the first connecting body is provided with at least one protruding part one 41 and an inner recess one 42;

[0120] The second connecting body is provided with at least one protruding part two 51 and an inner recess two 52;

[0121] The outer surfaces of the protruding part one 41 and the protruding part two 51 are respectively provided with clamping grooves 6;

[0122] When the first connecting body and the second connecting body are assembled, the protruding part one 41 and the inner recess two 52 are embedded; the inner recess one 42 and the protruding part two 51 are embedded, and a plurality of clamping grooves 6 are spliced together to form a ring-shaped clamping groove for mounting the clasp ring 3;

[0123] The ring-shaped clamping groove is assembled with the clasp ring 3 to realize the screwless fastening of the first connecting body and the second connecting body.

[0124] In this embodiment, the first connecting body is a joint motor body or a joint motor shell or a robot body or a robot shell or a connecting rod or a joint unit or a joint unit shell;

[0125] The second connecting body is a robot body or a robot shell or a joint motor body or a joint motor shell or a connecting rod or a joint unit or a joint shell unit;

[0126] The first connecting body and the second connecting body are assembled together by the clasp ring 3 to form a screwless fastened robot body or a robot shell or a joint motor body or a joint motor shell or a connecting rod structure or a joint unit or a joint shell unit or a mounting structure for a joint motor and a connecting rod.

[0127] The utility model discloses a kind of concrete embodiments of robot:

[0128] A robot comprising the joint unit housing with the fastening structure or the joint unit with the fastening structure, the robot being a quadruped robot, a biped robot, a mechanical arm, a humanoid robot or a wheeled robot.

[0129] The robot of the utility model, the joint unit is connected and fixed in the circumferential direction through the setting of the mutually adaptive embedded convex part 4 and inner recess 5 at the joint of the front shell body 1 and the rear shell body 2, the setting of the annular clamping slot in the circumferential direction on the convex part 4, and the clamping into the clamping ring 3, the axial connection and fixation of the front shell body 1 and the rear shell body 2. The fixing structure of the front shell body 1 and the rear shell body 2 can realize the connection and fixation of the two only through the clamping ring 3, compared with the traditional bolt connection and other connection modes, the assembly and disassembly are more convenient and fast, and the outer diameter of the joint unit can be made smaller due to the installation position of the bolt, so that the overall structure is more compact, and the overall size of the robot can be reduced.

[0130] A specific embodiment of the quadruped robot of the utility model:

[0131] A quadruped robot comprising the joint unit housing with the fastening structure.

[0132] A specific embodiment of the humanoid robot of the utility model:

[0133] A humanoid robot comprising the joint unit housing with the fastening structure.

[0134] Finally, it should be noted that: the above embodiments are only used to illustrate the technical scheme of the utility model and not to limit it, although the utility model has been described in detail with reference to the above embodiments, the specific implementation of the utility model can still be modified or replaced by the ordinary skilled in the art without departing from the spirit and scope of the utility model, and any modification or equivalent replacement without departing from the spirit and scope of the utility model should be covered in the protection scope of the claims of the utility model.

Claims

1. A joint unit housing with fastening structure, characterized in that, it comprises a front shell (1), a rear shell (2) and a clasp (3); a protrusion (4) and an inner recess (5) are arranged at the joint of the front shell (1) and the rear shell (2) and can be mutually fitted; a clamping groove (6) is arranged on the outer surface of the protrusion (4) in the circumferential direction, and when the protrusion (4) and the inner recess (5) are mutually fitted, the clamping groove (6) forms an annular clamping groove for mounting the clasp (3). 2.The joint unit housing with fastening structure according to claim 1, characterized in that, the protrusion (4) is formed by extending the front shell (1) or the rear shell (2) in the axial direction; or / and, the protrusions (4) are uniformly distributed on the edge of the front shell (1) or the edge of the rear shell (2); or / and, the protrusion (4) and the inner recess (5) are provided with a stop step (7) that can be mutually fitted in the radial direction; or / and, the clasp (3) is a ring structure with a gap, at least one end of which is provided with a bending portion (31) extending to the outer surface of the front shell (1) or the rear shell (2); the protrusion (4), the inner recess (5), the front shell (1) and the rear shell (2) are selectively or selectively or all provided with an embedding groove (8) for accommodating the bending portion (31); or / and, the clasp (3) is a ring structure with a gap, and at the gap end thereof is provided with a penetrating portion (32) extending to the inner cavity of the front shell (1) or the rear shell (2); the protrusion (4), the inner recess (5), the front shell (1) and the rear shell (2) are selectively or selectively or all provided with a jack (9) or a slot for accommodating the penetrating portion (32). 3.The joint unit housing with fastening structure according to claim 2, characterized in that, the length of the embedding groove (8) is E millimeters, and the width is F millimeters, which is communicated with the annular clamping groove; 1.5<E<8, 0.7<F<5; or / and, the jack (9) or the slot is arranged on the annular clamping groove. 4.A joint unit housing with fastening structure, characterized in that, it comprises a front shell (1) with a receiving cavity, a rear shell (2) and a clasp (3); the front shell (1) is provided with at least one protrusion one (41) and an inner recess one (42); the rear shell (2) is provided with at least one protrusion two (51) and an inner recess two (52); the outer surface of the protrusion one (41) and the protrusion two (51) is respectively provided with a clamping groove (6); when the front shell (1) and the rear shell (2) are assembled, the protrusion one (41) and the inner recess two (52) are fitted; the inner recess one (42) and the protrusion two (51) are fitted, and a plurality of clamping grooves (6) are spliced together to form an annular clamping groove for mounting the clasp (3); the annular clamping groove is assembled with the clasp (3) to realize the screwless fastening of the front shell (1) and the rear shell (2). 5.The joint unit housing with fastening structure according to claim 4, characterized in that, the cross-sectional shape, number and position of the protrusion one (41) and the inner recess two (52) are matched. Or / and, the cross-sectional shape, number and position of the first inner recess (42) and the second protrusion (51) are matched.

6. The joint unit shell with fastening structure according to claim 4, characterized in that, The cross-sectional shape of the first protrusion (41) and the second inner recess (52) is respectively a sector or a triangle or an arc or a trapezoid or a square, and the number thereof is respectively N; Or / and, the cross-sectional shape of the first inner recess (42) and the second protrusion (51) is respectively a sector or a triangle or an arc or a trapezoid or a square, and the number thereof is respectively M.

7. The joint unit shell with fastening structure according to claim 4, characterized in that, The front shell (1) and the rear shell (2) are respectively a columnar structure or a variable-diameter structure, and the cross section thereof is a circle or concentric circles or a mixed shape with a square and a circle; Or / and, the first protrusion (41), the first inner recess (42) and the front shell (1) are integrally formed; The second protrusion (51), the second inner recess (52) and the rear shell (2) are integrally formed; Or / and, the first inner recess (42) is formed by the end wall of the two adjacent first protrusions (41); the second inner recess (52) is formed by the end wall of the two adjacent second protrusions (51); Or / and, the number of the snap ring (3) is one or more, which is a circle structure with a notch, and is formed by bending a metal wire or a metal strip or a metal sheet to form an elastic clamping structure.

8. The joint unit shell with fastening structure according to any one of claims 4-7, characterized in that, The number of the clamping groove (6) is one or more, and the cross-sectional shape thereof is matched with the cross-sectional shape of the snap ring (3); Or / and, the groove depth of the clamping groove (6) is A, and the ring diameter of the snap ring (3) is B; A>=B.

9. A joint unit with fastening structure, characterized in that, The joint unit shell with fastening structure according to any one of claims 1-8 is applied, which comprises a front shell (1) and a rear shell (2); The front shell (1) is provided with a speed reducer, and the rear shell (2) is provided with a motor.

10. A connecting mechanism with fastening structure, characterized in that, It comprises a first connecting body, a second connecting body and a snap ring (3); The first connecting body is provided with at least one first protrusion (41) and a first inner recess (42); The second connecting body is provided with at least one second protrusion (51) and a second inner recess (52); The outer surface of the first protrusion (41) and the second protrusion (51) is respectively provided with a clamping groove (6); When the first connecting body and the second connecting body are assembled, the first protrusion (41) and the second inner recess (52) are embedded; the first inner recess (42) and the second protrusion (51) are embedded, and a plurality of clamping grooves (6) are spliced together to form an annular clamping groove for installing the snap ring (3).

11. The connecting mechanism with fastening structure according to claim 10, characterized in that, The first connecting body is a joint motor body or a joint motor shell or a robot body or a robot shell or a connecting rod or a joint unit or a joint unit shell; Or / and, the second connecting body is a robot body or a robot shell or a joint motor body or a joint motor shell or a connecting rod or a joint unit or a joint shell unit; Or / and, the first connector and the second connector are assembled together by the snap ring (3) to form a robot body or a robot shell or a joint motor body or a joint motor shell or a linkage structure or a joint unit or a joint shell unit or an assembly structure for joint motor and linkage without screw fastening; Or / and, the snap ring (3) is provided with a bending part (31) on the ring body or the notch end; the first connector and the second connector alternatively or all are provided with an embedded slot (8) for accommodating the bending part (31); Or / and, the snap ring (3) is provided with a penetrating part (32) on the ring body or the notch end; the first connector and the second connector alternatively or all are provided with a jack (9) or a slot for accommodating the penetrating part (32).

12. A robot, characterized in that The joint unit shell with the fastening structure as claimed in any one of claims 1-8 or the joint unit with the fastening structure as claimed in claim 9 or the connecting mechanism with the fastening structure as claimed in any one of claims 10-11; The robot is a quadruped robot or a biped robot or a mechanical arm or a humanoid robot or a wheeled robot.

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