Joint assembly and robot
By increasing the thickness of the mounting space at the rear cover of the joint assembly and combining it with the design of the torque output component and encoder, the problem of insufficient strength of the joint assembly was solved, thereby improving the stability and reliability of the joint assembly under dynamic loads.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-21
- Publication Date
- 2026-03-20
AI Technical Summary
The existing joint components have insufficient structural strength, making it difficult to effectively withstand dynamic loads and affecting the stability and reliability of robot movement.
By adding a protruding structure to the rear cover of the joint assembly to increase the thickness of the installation space, and by using a torque output component in the power assembly to rotately connect with the rear cover, combined with the design of the encoder and reducer, the load-bearing capacity of the rear cover is improved, and the overall strength of the joint assembly is increased.
The structural strength of the joint components was improved, the rear cover's ability to withstand dynamic loads was enhanced, and the stability and reliability of the robot joints were improved.
Smart Images
Figure CN224012372U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, in particular to a joint assembly and a robot. BACKGROUND
[0002] With the continuous development of robot technology, humanoid robots are paid more and more attention by manufacturers. The humanoid robot is designed in a joint combination manner, including hip joints, knee joints, ankle joints, etc., to simulate the structure of a human being. SUMMARY
[0003] The present application provides a joint assembly and a robot, which can improve the structural strength of the joint assembly.
[0004] A joint assembly comprises:
[0005] a housing, an accommodation cavity is formed in the housing, the housing comprises a rear cover arranged on one side, the rear cover comprises an inner surface facing the accommodation cavity and an outer surface facing away from the accommodation cavity, the inner surface is provided with a mounting space in communication with the accommodation cavity, and the outer surface is protruded at a portion corresponding to the mounting space; and
[0006] a power assembly accommodated in the accommodation cavity, the power assembly comprises a torque output member, and the torque output member is rotatably connected with the rear cover in the mounting space.
[0007] Optionally, the outer surface is provided as a convex arc surface, and the size of the convex arc surface is the largest at the portion corresponding to the mounting space.
[0008] Optionally, the rear cover comprises a disc-shaped portion arranged at the center, an annular portion arranged around the disc-shaped portion, and a plurality of connecting ribs connecting the disc-shaped portion and the annular portion, the plurality of connecting ribs are arranged at intervals, and the disc-shaped portion is formed with the mounting space on one side facing the accommodation cavity.
[0009] Optionally, the disc-shaped portion is further provided with a mounting hole penetrating along the thickness direction of the disc-shaped portion, and the plurality of connecting ribs extend to the edge of the mounting hole.
[0010] Optionally, the end portions of the plurality of connecting ribs located at the edge of the mounting hole are connected with each other.
[0011] Optionally, the disc-shaped portion comprises a disc body and a disc rim extending from the peripheral edge of the disc body, the disc rim extends towards the accommodation cavity along the thickness direction of the disc body, the torque output member is rotatably mounted on the inner side of the disc rim, the mounting hole penetrates the disc body, and the plurality of connecting ribs are connected with the disc body and the disc rim.
[0012] Optionally, the torque output member comprises a plate-shaped base and a shaft portion protruding from the plate-shaped base towards the rear cover, the shaft portion is rotatably connected with the rear cover in the mounting space, an end surface of the shaft portion facing the rear cover is provided with a recessed cavity, the joint assembly further comprises an encoder for detecting angular displacement of the torque output member, the encoder is arranged in the recessed cavity and fixedly connected with the rear cover.
[0013] Optionally, the power assembly comprises a motor and a speed reducer, the motor comprises a stator and a rotor arranged outside the stator, the rotor forms the torque output member, an inner side of the stator is formed with a cavity, the speed reducer is arranged in the cavity, the speed reducer comprises an input end and an output end, the input end is in transmission connection with the torque output member, and the output end forms a power output end of the joint assembly.
[0014] A robot comprises the joint assembly according to any one of the above.
[0015] The present application provides a joint assembly and a robot, wherein the torque output member is rotatably connected in the mounting space of the rear cover, the rear cover bears dynamic load at this position, therefore, increasing the thickness of the rear cover at the mounting space can increase the strength of the rear cover at this position, improve the load bearing capacity of the rear cover, and further improve the strength of the joint assembly. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 is a schematic view of a joint assembly according to an example embodiment of the present application;
[0017] Figure 2 is a sectional view of the joint assembly shown in Figure 1
[0018] Figure 3 is a schematic view of the inner side of the rear cover;
[0019] Figure 4 is a schematic view of the outer side of the rear cover. DETAILED DESCRIPTION
[0020] The example embodiments will be described in detail herein with reference to the drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following example embodiments are not meant to represent all implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application.
[0021] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to limit the application. Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are only used to distinguish different components. Similarly, the terms "a" or "one" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if only "a" is referred to. "A plurality" or "several" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and / or "upper," "top," "bottom," and similar terms are for ease of description only and are not limited to a location or spatial orientation. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. The word “connection” or “link” is not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect.
[0022] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of a joint assembly 100 shown in an exemplary embodiment of this application. Figure 2 for Figure 1 The cross-sectional view of the joint assembly 100 shown in the figure. Figure 3 This is a schematic diagram of the inside of the back cover 12.
[0023] This application provides a joint assembly 100 for a robot, which includes a housing 10 and a power assembly 20 installed inside the housing 10. The joint assembly 100 can be used as a hip joint assembly, and the robot can be a humanoid robot. Taking the hip joint assembly of a humanoid robot as an example, the power assembly 20, as the core component of the hip joint assembly 100, can transmit power to the torso assembly of the humanoid robot, causing the torso assembly to rotate.
[0024] The housing 10 is internally formed with a receiving cavity 11, the housing 10 includes a rear cover 12 arranged at one side, the rear cover 12 includes an inner surface 123 facing the receiving cavity 11 and an outer surface 124 facing away from the receiving cavity 11, the inner surface 123 is provided with a mounting space 120 in communication with the receiving cavity 11, and the outer surface 124 is protruded at a position corresponding to the mounting space 120. A power assembly 20 is received in the receiving cavity 11, the power assembly 20 includes a torque output 21, the torque output 21 is rotationally connected with the rear cover 12 in the mounting space 120. For example, a bearing 30 can be arranged in the mounting space 120, an outer ring of the bearing 30 is in interference fit with the rear cover 12 in the mounting space 120, and a shaft portion 210 of the torque output 21 is in interference fit with an inner ring of the bearing 30. Of course, the manner of rotationally connecting the torque output 21 with the rear cover 12 is not limited to this.
[0025] According to the above description, the torque output 21 is rotationally connected in the mounting space 120 of the rear cover 12, the rear cover 12 bears dynamic load at this position, therefore, the outer surface 124 is arranged to be protruded at the mounting space 120, which can increase the strength of the rear cover 12 at this position, improve the load bearing capacity of the rear cover 12, and further improve the strength of the joint assembly 100. In an embodiment, the power assembly 20 includes a motor, a rotor of the motor can serve as the torque output 21.
[0026] In an embodiment, please combine Figure 1 and Figure 2 , the torque output 21 includes a plate-shaped base body 211 and a shaft portion 210 protruding from the plate-shaped base body 211 and facing the rear cover 12, the shaft portion 210 is rotationally connected with the rear cover 12 in the mounting space 120. An end surface of the shaft portion 210 facing the rear cover 12 is provided with a recessed cavity 2100, the joint assembly 100 further includes an encoder 40 for detecting angular displacement of the torque output 21, the encoder 40 is arranged in the recessed cavity 2100 and fixedly connected with the rear cover 12. In this way, the encoder 40 can be arranged in the recessed cavity 2100, effectively utilizing the space inside the shaft portion 210, so that the joint assembly 100 is more compact in structure.
[0027] Please continue to combine Figure 1 and Figure 2In one embodiment, the power assembly 20 includes a motor 201 and a reducer 202. The motor 201 includes a stator 22 and a rotor serving as a torque output element 21. The rotor is located outside the stator 22, and a cavity is formed inside the stator 22. The reducer 202 is disposed within the cavity inside the stator 22. This arrangement allows the reducer 202 to occupy the cavity inside the stator 22, enabling the reducer 202 and the stator 22 to overlap axially with each other, which helps reduce the axial dimension of the joint assembly 100. The reducer 202 includes an input end and an output end. The input end is drively connected to the torque output element 21, and the output end forms the power output end of the joint assembly 100.
[0028] In this embodiment, the reducer 202 is a planetary gear reducer, specifically including an internal gear ring, a central gear, and multiple planetary gears. The internal gear ring is fixedly connected to the housing 10, and the central gear is rotatably disposed at the center of the internal gear ring, coaxial with it. The multiple planetary gears mesh with the internal gear ring and the central gear for transmission. In this design, the central gear serves as the input end of the reducer 202 and can be fixedly connected to the torque output component 21. The multiple planetary gears serve as the output end of the reducer 202. Alternatively, the central gear can be integrally formed into the torque output component 21. For example, a gear shaft 212 can be formed on the side of the plate-shaped base 211 facing away from the shaft portion 210, and this gear shaft 212 can serve as the central gear.
[0029] It should be noted that the joint assembly 100 may also include an output flange (not shown in the figure) connected to multiple planetary gears, using the output flange as the power output end of the joint assembly 100. Figure 2 In the illustrated embodiment, the rear cover 12 is detachable from the housing 10, and the rear cover 12 is provided with a plurality of connection holes 121 (see reference). Figure 3 The rear cover 12 can be connected to the housing 10 by bolts 50, but is not limited to this.
[0030] In one embodiment, such as Figure 2 As shown, the inner surface 123 has a stepped surface 1230 protruding towards the receiving cavity 11, and the mounting space 120 is disposed on the stepped surface 1230. With this configuration, the thickness of the stepped surface 1230 is further increased, thereby improving the strength of this part.
[0031] In one embodiment, the outer surface 124 can be configured as a convex arcuate surface, with the largest protrusion at the mounting space 120. Thus, the outer surface 124 is a smooth curved surface without abrupt changes, making the back cover 12 more compact and simple in shape.
[0032] Please combine Figure 3 and Figure 4 , Figure 4A schematic view of the outer side of the rear cover 12.
[0033] In one embodiment, the rear cover 12 comprises a disc-shaped portion 125 arranged at the center, an annular portion 126 surrounding the disc-shaped portion 125, and a plurality of connecting ribs 127 connecting the disc-shaped portion 125 and the annular portion 126, the plurality of connecting ribs 127 being arranged at intervals, and the side of the disc-shaped portion 125 facing the accommodating cavity 11 is formed with the mounting space 120. In this way, the rear cover 12 is hollow between two adjacent connecting ribs 127, which is conducive to the ventilation and heat dissipation of the power assembly 20, and avoids excessive temperature rise. The annular portion 126 is provided with a plurality of connecting holes 121, which can be uniformly distributed.
[0034] In Figure 4 In the embodiment shown, the connecting ribs 127 are provided in 12, and two adjacent connecting ribs 127 are arranged at an interval of 30°, which greatly increases the number of connecting points of the annular portion 126 and the disc-shaped portion 125, thereby increasing the connecting strength of the annular portion 126 and the disc-shaped portion 125.
[0035] In one embodiment, as Figure 4 shown, the disc-shaped portion 125 is further provided with a mounting hole 1250 penetrating in the thickness direction thereof, which is used as a mounting hole, for example, a bearing can be mounted. The plurality of connecting ribs 127 extend to the edge of the mounting hole 1250. In this way, the strength of the rear cover 12 at the mounting hole 1250 can be increased, and deformation or collapse of the rear cover 12 at the mounting hole 1250 can be avoided.
[0036] In an alternative embodiment, as Figure 4 shown, the ends of the plurality of connecting ribs 127 at the mounting hole 1250 are connected to each other. That is, the plurality of connecting ribs 127 are integrated at the edge of the mounting hole 1250, which makes the plurality of connecting ribs 127 restrict each other, which is conducive to the decomposition and transmission of force, and has higher carrying capacity.
[0037] In one embodiment, as Figure 3 and Figure 4As shown, the disc-shaped part 125 includes a disc body 1251 and a disc rim 1252 extending from the four peripheral edges of the disc body 1251, the disc rim 1252 extends towards the accommodating cavity 11 along the thickness direction of the disc body 1251, the torque output 21 is rotatably installed on the disc rim 1252, the mounting hole 1250 penetrates through the disc body 1251, and the plurality of connecting ribs 127 are connected with the disc body 1251 and the disc rim 1252. In this way, the strength of the disc body 1251 and the disc rim 1252 can be enhanced by the plurality of connecting ribs 127. The rear cover 12 can be machined or pressure cast, and the rear cover 12 can be made of aluminum, but is not limited thereto.
[0038] The application also provides a robot, which comprises the joint assembly 100. Taking a humanoid robot (not shown in the figure) as an example, the humanoid robot comprises a head, a trunk assembly, a leg assembly and the joint assembly 100. The joint assembly 100 can be used as a hip joint assembly of the humanoid robot. The joint assembly 100 is connected with the trunk assembly and the leg assembly, and the joint assembly 100 can be fixedly connected with the leg assembly, and the power output end of the joint assembly 100 can be connected with the trunk assembly to transmit power to the trunk assembly and drive the trunk assembly to rotate. Each leg assembly of the humanoid robot can be provided with at least two joint assemblies 100 to meet the requirements of multiple degrees of freedom.
[0039] The above only describes the preferred embodiments of the application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.
Claims
1. A joint assembly, characterized in that, include: The housing has an internal cavity. The housing includes a rear cover on one side. The rear cover includes an inner surface facing the cavity and an outer surface facing away from the cavity. The inner surface has an installation space communicating with the cavity. The outer surface protrudes at a location corresponding to the installation space. and A power assembly is housed within the receiving cavity, the power assembly including a torque output element that is rotatably connected to the rear cover within the mounting space.
2. The joint assembly according to claim 1, characterized in that, The inner surface has a stepped surface that convexes toward the receiving cavity, and the installation space is located on the stepped surface.
3. The joint assembly according to claim 2, characterized in that, The outer surface is configured as a convex arc surface, and the protrusion at the installation space is the largest.
4. The joint assembly according to any one of claims 1 to 3, characterized in that, The rear cover includes a disc-shaped portion at the center, an annular portion surrounding the disc-shaped portion, and a plurality of connecting ribs connecting the disc-shaped portion and the annular portion. The plurality of connecting ribs are spaced apart, and the mounting space is formed on the side of the disc-shaped portion facing the receiving cavity.
5. The joint assembly according to claim 4, characterized in that, The disc-shaped portion is also provided with a mounting hole that extends through its own thickness direction, and the plurality of connecting ribs extend to the edge of the mounting hole.
6. The joint assembly according to claim 5, characterized in that, The ends of the plurality of connecting ribs located at the edge of the mounting hole are connected to each other.
7. The joint assembly according to claim 5, characterized in that, The disc-shaped portion includes a disc body and a disc rim extending from the periphery of the disc body. The disc rim extends toward the receiving cavity along the thickness direction of the disc body. The torque output member is rotatably mounted on the inner side of the disc rim. The mounting hole passes through the disc body. The plurality of connecting ribs are connected to the disc body and also to the disc rim.
8. The joint assembly according to any one of claims 1 to 3, 5 to 7, characterized in that, The torque output component includes a plate-shaped base and a shaft portion protruding from the plate-shaped base toward the rear cover. The shaft portion is rotatably connected to the rear cover within the mounting space. The end face of the shaft portion facing the rear cover has a cavity. The joint assembly also includes an encoder for detecting the angular displacement of the torque output component. The encoder is disposed in the cavity and fixedly connected to the rear cover.
9. The joint assembly according to any one of claims 1 to 3, 5 to 7, characterized in that, The power assembly includes a motor and a reducer. The motor includes a stator and a rotor located outside the stator. The rotor forms the torque output element. A cavity is formed inside the stator. The reducer is located inside the cavity. The reducer includes an input end and an output end. The input end is connected to the torque output element, and the output end forms the power output end of the joint assembly.
10. A robot, characterized in that, Includes the joint assembly as described in any one of claims 1 to 9.