Joint module for humanoid robot, robot and humanoid robot

Abstract

The application relates to the technical field of robots, and discloses a joint module for a humanoid robot, a robot and a humanoid robot, wherein the joint module for the humanoid robot mainly comprises a motor assembly and a rotor adapter, the two are fastened and connected through a first connecting part and a second connecting part, and a first clamping part and a second clamping part are clamped. The clamping mode improves the connection strength, can limit the rotation of the main body part relative to the rotor output shaft, and fastens and connects the motor assembly and the rotor adapter into an integrated whole through the fastening connection of the first connecting part and the second connecting part. The second connecting part is arranged on the radial outer side of the main body part, the structural strength is increased through structural expansion, the axial size is reduced, the clamping area space is utilized, and the axial space occupation of the joint module is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a joint module for a humanoid robot, a robot, and a humanoid robot. Background Technology

[0002] In the field of humanoid robot technology, joint modules are power output structures and play a crucial role in robot actuation.

[0003] In joint modules, the motor assembly and reducer assembly are typically connected via the motor output shaft and the reducer input end, or via a rotor adapter. Currently, the assembly method is direct axial docking, secured together with fasteners. While this direct connection method is convenient because the rotor adapter needs to transmit torque, the lack of constraint between the fasteners results in poor connection strength, making it prone to damage and failure during motor startup, and requiring frequent maintenance. Utility Model Content

[0004] This application provides a joint module, robot, and humanoid robot for humanoid robots, aiming to solve the problem in the prior art where the connection between the motor output shaft and the rotor adapter relies solely on fasteners, resulting in poor connection strength.

[0005] In one technical solution, a joint module for a humanoid robot is provided, which mainly includes: a motor assembly and a rotor adapter. The motor assembly includes a motor output shaft, which has a generally hollow cylindrical receiving cavity. A plurality of first connecting parts are connected to the radially outer side of the receiving cavity. The side of the first connecting part away from the receiving cavity is a first arc-shaped surface, and a first snap-fit ​​portion is formed between adjacent first connecting parts. The rotor adapter includes a main body part with a generally hollow annular structure. A plurality of second connecting parts are arranged in an array around the radially outer side of the main body part. The side of the second connecting part away from the main body part is a second arc-shaped surface, and a second snap-fit ​​portion is formed between adjacent second connecting parts. The first connecting parts are fastened to the second connecting parts, and the first snap-fit ​​portion is snapped into the second snap-fit ​​portion. After the motor output shaft and the rotor adapter are assembled, the first arc-shaped surface and the second arc-shaped surface are tightly joined.

[0006] In one technical solution, the first connecting part includes a first mounting hole, and the second connecting part includes a second mounting hole, so that fasteners pass through the first mounting hole and the second mounting hole in sequence to fasten the motor output shaft to the rotor adapter.

[0007] In one technical solution, the side of the first connecting part away from the receiving cavity is a first arc-shaped surface, and the side of the second connecting part away from the main body is a second arc-shaped surface. After the motor output shaft is assembled with the rotor adapter, the first arc-shaped surface and the second arc-shaped surface are tightly joined.

[0008] In one technical solution, both the first arc-shaped surface and the second arc-shaped surface are circular arc surfaces, and the first arc-shaped surface coincides with the axis of the first assembly hole, and the second arc-shaped surface coincides with the axis of the second assembly hole.

[0009] In one technical solution, the first arc-shaped surface and the sidewall forming the receiving cavity adopt a circular arc transition, and the second arc-shaped surface and the main body adopt a circular arc transition.

[0010] In one technical solution, in the projection of the rotor adapter along the axial direction, the second mounting hole at least partially coincides with the main body portion.

[0011] In one technical solution, the bottom surface of the receiving cavity is further provided with an axially extending third snap-fit ​​portion, and a fourth snap-fit ​​portion is further provided corresponding to the axial end face of the main body portion, wherein the third snap-fit ​​portion and the fourth snap-fit ​​portion are nested and snap-fitted together.

[0012] In one technical solution, the third locking part is a hollow annular locking platform, and the fourth locking part is a hollow cylindrical locking cavity. After the motor output shaft is assembled with the rotor adapter, the locking platform and the locking cavity at least partially overlap radially, and the radially outer side of the locking platform abuts against the radially inner side of the locking cavity.

[0013] In one technical solution, the bottom surface of the receiving cavity is further provided with at least one axially extending third assembly hole, and the axial end face of the main body is correspondingly provided with an axially extending fourth assembly hole, and a positioning pin is provided between the third assembly hole and the fourth assembly hole.

[0014] In one technical solution, the first mounting hole is a countersunk hole, the second mounting hole is a threaded hole, the fastener is a threaded fastener, the threaded head portion of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole.

[0015] In one technical solution, a joint module is provided, which mainly includes: a motor assembly including a motor output shaft, the motor output shaft being provided with a generally hollow annular connecting platform, a plurality of third connecting parts being arranged radially outward and surrounding the connecting platform, and a fifth snap-fit ​​part being formed between adjacent third connecting parts; a rotor adapter including a generally hollow cylindrical assembly cavity, a plurality of fourth connecting parts being connected radially outward of the assembly cavity, and a sixth snap-fit ​​part being formed between adjacent fourth connecting parts, wherein the third connecting parts are fastened to the fourth connecting parts, and the fifth snap-fit ​​part is snapped into the sixth snap-fit ​​part.

[0016] In one technical solution, the third connecting part includes a fourth mounting hole and a fifth mounting hole, with fasteners passing through the fourth mounting hole and the fifth mounting hole in sequence to securely connect the motor output shaft to the rotor adapter. In the projection of the rotor adapter along the axial direction, the fourth mounting hole at least partially coincides with the connecting platform.

[0017] In one technical solution, the bottom surface of the assembly cavity is further provided with an axially extending seventh snap-fit ​​portion, and the axial end face of the connecting platform is further provided with an axially extending eighth snap-fit ​​portion. The seventh snap-fit ​​portion is a hollow annular snap-fit ​​platform, and the eighth snap-fit ​​portion is a hollow cylindrical snap-fit ​​cavity. After the motor output shaft and the rotor adapter are assembled, the snap-fit ​​platform and the snap-fit ​​cavity at least partially overlap radially, and the radially outer side surface of the snap-fit ​​platform abuts against the radially inner side surface of the snap-fit ​​cavity.

[0018] In one technical solution, the fourth mounting hole is a countersunk hole, the fifth mounting hole is a threaded hole, the fastener is a threaded fastener, the threaded head portion of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole.

[0019] In one technical solution, a robot is provided, which mainly includes the joint module for humanoid robots as described above.

[0020] In one technical solution, a humanoid robot is provided, which mainly includes the joint module for the humanoid robot as described above.

[0021] This application provides a joint module for a humanoid robot, a robot, and a humanoid robot. The joint module mainly includes a motor assembly and a rotor adapter, which are fastened together by a first connecting part and a second connecting part, and a first snap-fit ​​part and a second snap-fit ​​part are engaged. The snap-fit ​​method improves the connection strength and restricts the rotation of the main body relative to the rotor output shaft. Combined with the fastening connection of the first connecting part and the second connecting part, the motor assembly and the rotor adapter are fixed together.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a cross-sectional schematic diagram of a joint module according to an embodiment of this application.

[0025] Figure 2 yes Figure 1 Enlarged diagram of point A in the middle.

[0026] Figure 3 This is a three-dimensional structural diagram of the motor output shaft of the joint module in one embodiment of this application.

[0027] Figure 4 This is a three-dimensional structural schematic diagram of the rotor adapter of the joint module in one embodiment of this application.

[0028] Figure 5 This is an exploded view of a joint module in one embodiment of this application.

[0029] Figure 6 This is a three-dimensional structural schematic diagram of a humanoid robot according to one embodiment of this application.

[0030] Labels for each item in the figure:

[0031] 1. Motor assembly; 11. Stator; 12. Rotor;

[0032] 2. Motor output shaft; 21. Receiving cavity; 22. First connecting part; 221. First mounting hole; 222. First arc-shaped surface; 23. First snap-fit ​​part; 24. Third snap-fit ​​part; 241. Locking platform; 25. Third mounting hole;

[0033] 3. Rotor adapter; 31. Main body; 32. Second connecting part; 321. Second mounting hole; 322. Second arc-shaped surface; 33. Second snap-fit ​​part; 34. Fourth snap-fit ​​part; 341. Snap-fit ​​cavity; 35. Fourth mounting hole; 41. Reducer assembly; 42. Housing; 43. Encoder assembly; 51. Head; 52. Torso; 53. Arm; 54. Lumbar omnidirectional joint; 55. Lumbar yaw joint; 56. Hip pitch joint; 57. Leg roll joint; 58. Thigh structure; 59. Knee joint; 60. Lower leg structure; 61. Ankle joint. Detailed Implementation

[0034] The specific embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Similarly, the following embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0040] In this invention, the concept of "generally presents" describes the main features of an overall structure or shape. When describing the shape of an object, this means that the object mainly presents a certain shape, but may differ in non-functional details. These differences in detail do not affect the overall features and can therefore be categorized as "generally presents" a certain shape. For example, when describing a circular object, stating "generally circular" means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, stating "generally cubic" means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0041] In the embodiments of this application, the joint module, the robot, and the humanoid robot are described in detail.

[0042] In one embodiment, please refer to Figure 1 and Figure 2A joint module for a humanoid robot is provided, which mainly includes a motor assembly 1 and a rotor adapter 3. The motor assembly 1 includes a motor output shaft 2, which is provided with a generally hollow cylindrical receiving cavity 21. A plurality of first connecting parts 22 are connected to the radial outer side of the receiving cavity 21, and a first snap-fit ​​part 23 is formed between adjacent first connecting parts 22. The rotor adapter 3 includes a main body part 31 with a generally hollow annular structure. A plurality of second connecting parts 32 are arranged in an array around the radial outer side of the main body part 31, and a second snap-fit ​​part 33 is formed between adjacent second connecting parts 32. The first connecting parts 22 are fastened to the second connecting parts 32, and the first snap-fit ​​part 23 is snapped to the second snap-fit ​​part 33.

[0043] In the above embodiments, the motor assembly 1 and the rotor adapter 3 are fastened together by the first connecting part 22 and the second connecting part 32, and the first snap-fit ​​part 23 is snapped into the second snap-fit ​​part 33. In terms of connection performance, the motor assembly 1 and the rotor adapter 3 adopt a dual connection method of "fastening the first connecting part 22 to the second connecting part 32" and "snap-fitting the first snap-fit ​​part 23 to the second snap-fit ​​part 33", forming a composite structure of mechanical interlocking and rigid fixation. This not only improves the connection strength and effectively prevents loosening and falling off, but also effectively restricts the rotation of the main body 31 of the rotor adapter 3 relative to the motor output shaft 2, ensuring accurate and error-free power transmission.

[0044] The second connecting portion 32 of the rotor adapter 3 is located radially outward of the main body 31. By expanding the structure, the material distribution area is increased, thereby enhancing the structural rigidity without increasing the amount of material used, and enabling it to withstand greater torque and impact. At the same time, by utilizing the spatial layout of the snap-fit ​​area, the connecting structure is extended radially, which reduces the axial dimension and decreases the axial space occupied by the joint module.

[0045] In addition, the above-mentioned features effectively integrate lightweight and compact design. The combination of snap-fit ​​and fastening connection methods simplifies the assembly process, facilitates later maintenance and component replacement, and reduces maintenance costs.

[0046] In one embodiment, please refer to Figures 1 to 4 The first connecting part 22 includes a first mounting hole 221, and the second connecting part 32 includes a second mounting hole 321, so that fasteners pass through the first mounting hole 221 and the second mounting hole 321 in sequence to fasten the motor output shaft 2 and the rotor adapter 3.

[0047] By having fasteners pass sequentially through the first mounting hole 221 and the second mounting hole 321, the motor output shaft 2 and the rotor adapter 3 can be effectively and tightly fixed axially, preventing axial movement between the two during operation and ensuring stable power transmission. For example, under high-frequency reciprocating motion conditions, this axial locking can avoid the decrease in accuracy and mechanical wear caused by component displacement, ensuring the reliability and stability of the joint module operation.

[0048] The use of fasteners is based on mature technology, is inexpensive, provides reliable connections, and is easy to disassemble, which facilitates the maintenance and upgrading of the joint module.

[0049] In some embodiments, please refer to Figure 2 The first mounting hole 221 is a countersunk hole, the second mounting hole 321 is a threaded hole, the fastener is a threaded fastener, the threaded part of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole.

[0050] In some embodiments, the fastener technology involves a snap-fit ​​method in which the first snap-fit ​​portion 23 and the second snap-fit ​​portion 33 snap-fit ​​together. This snap-fit ​​position forms a stop limit when the rotor adapter 3 is subjected to torque, preventing the torque from being transmitted to the fastener and thus providing the fastener with shear resistance.

[0051] When the rotor adapter 3 is subjected to torque, the abutment and limiting structure formed by the first snap-fit ​​part 23 and the second snap-fit ​​part 33 can directly transmit and disperse the torque through the snap-fit ​​surface, avoiding the torque from acting directly on the fastener. This design effectively reduces the shear force on the fastener, preventing the fastener from loosening, deforming, or even breaking due to long-term shear load, and effectively extending the service life of the fastener.

[0052] Meanwhile, this torque transmission mechanism ensures the structural integrity of the joint module under complex stress conditions. Even in high-load, frequent start-stop application scenarios, it can maintain stable operation, reduce the risk of equipment failure caused by the failure of connecting components, and further enhance the reliability and durability of the joint module in actual use.

[0053] In some embodiments, please refer to Figures 1 to 4 The side of the first connecting part 22 away from the receiving cavity 21 is the first arc-shaped surface 222, and the side of the second connecting part 32 away from the main body part 31 is the second arc-shaped surface 322. After the motor output shaft 2 and the rotor adapter 3 are assembled, the first arc-shaped surface 222 and the second arc-shaped surface 322 are tightly combined.

[0054] In terms of positioning and force transmission, the above-mentioned configuration allows for precise positioning and reduces assembly errors when the motor output shaft 2 and rotor adapter 3 are assembled, thanks to the close fit between the arc-shaped surfaces. At the same time, compared to flat or sharp-edged structures, the arc-shaped surfaces can form a larger contact area with forces acting in different directions, making the force more evenly distributed during transmission and avoiding local stress concentration, thereby effectively improving the overall load-bearing capacity and fatigue resistance of the module.

[0055] In terms of structural durability, the curved surface design avoids sharp angles during processing, eliminating the risk of contact damage caused by stress concentration. Even under long-term high-load operation or frequent vibration conditions, it can effectively prevent cracks and wear on the surface of the components, extend the service life of the joint module, and reduce maintenance costs.

[0056] In some embodiments, please refer to Figure 3 and Figure 4 Both the first arc-shaped surface 222 and the second arc-shaped surface 322 are circular arc surfaces, and the first arc-shaped surface 222 coincides with the axis of the first mounting hole 221, while the second arc-shaped surface 322 coincides with the axis of the second mounting hole 321. Since the axial reference of the arc-shaped surfaces and the mounting holes is consistent, a unified positioning reference can be used during the machining process, eliminating the need for frequent adjustments to tooling fixtures or conversion of machining coordinate systems, thus greatly simplifying the production process of the motor output shaft 2 and the rotor adapter 3.

[0057] In some embodiments, please refer to Figure 3 and Figure 4 The first arc-shaped surface 222 and the sidewall forming the receiving cavity 21 are connected by a rounded transition, and the second arc-shaped surface 322 and the main body 31 are connected by a rounded transition. The rounded transition eliminates stress concentration caused by sharp corners and removes grooves and dead angles in right-angled structures, reducing the accumulation of dust, oil, and other impurities. The rounded transition creates a natural structural support area at the diameter change point, effectively increasing the number of support points for the second connecting part 32. Furthermore, from a machining perspective, it reduces the requirements for tool size, enabling rapid material cutting.

[0058] In some embodiments, please refer to Figure 3 and Figure 4 In the projection along the axis of the rotor adapter 3, the second mounting hole 321 at least partially coincides with the main body 31.

[0059] When the mounting hole is close to the main body 31, the stress point of the fastener (such as the threaded fastener) is closer to the center of gravity of the rotor adapter 3, which can significantly shorten the lever arm length, reduce the bending moment caused by eccentric load, and prevent the material around the mounting hole from developing fatigue cracks due to long-term bending stress, thereby fundamentally improving the structural strength.

[0060] From the perspective of connection strength, the overlapping layout of the mounting hole and the main body 31 increases the contact area between them, allowing the preload of the fasteners to be distributed more evenly on the main structure. For example, when the threaded fasteners are tightened, the axial pressure can be directly applied to the main body through the material in the overlapping area, forming a more robust rigid connection. Compared to a design where the mounting hole is far from the main body, this reduces the risk of connection loosening due to localized compression deformation. In addition, this layout can also create a synergistic effect with the snap-fit ​​structure: the snap-fit ​​part bears the radial torque, while the mounting hole connection close to the main body strengthens the axial locking. The combination of the two ensures that the motor assembly 1 and the rotor adapter 3 are reliably constrained in all three dimensions.

[0061] The bottom surface of the receiving cavity 21 is also provided with an axially extending third snap-fit ​​portion 24, and the corresponding axial end face of the main body portion 31 is also provided with an axially extending fourth snap-fit ​​portion 34, and the third snap-fit ​​portion 24 and the fourth snap-fit ​​portion 34 are nested and snap-fitted together.

[0062] In one embodiment, please refer to Figures 2 to 4 The third locking part 24 is a hollow annular locking platform 241, and the fourth locking part 34 is a hollow cylindrical locking cavity 341. After the motor output shaft 2 and the rotor adapter 3 are assembled, the locking platform 241 and the locking cavity 341 at least partially overlap radially, and the radially outer side of the locking platform 241 abuts against the radially inner side of the locking cavity 341. The locking platform 241 and the locking cavity 341 at least partially overlap radially, and their sides are tightly abutting each other, forming a radial support structure, which has an axial guiding function and a radial positioning function during assembly.

[0063] In one embodiment, the bottom surface of the receiving cavity 21 is further provided with at least one axially extending third mounting hole 25, and the axial end face of the main body 31 is correspondingly provided with an axially extending fourth mounting hole 35, and a positioning pin is provided between the third mounting hole 25 and the fourth mounting hole 35.

[0064] The locating pin enables precise axial positioning of the motor assembly 1 and the rotor adapter 3. Through the interference fit or clearance fit between the pin and the hole, axial offset caused by human operation during assembly is eliminated, ensuring that the two shafts are strictly aligned. Especially in high-speed or precision transmission scenarios, it can avoid vibration, noise and transmission efficiency loss caused by shaft deviation.

[0065] Meanwhile, the locating pins effectively limit the circumferential rotation and axial movement between components. When the joint module is subjected to torque or axial load, the rigid support of the locating pins can directly transmit the force to the main structure, avoiding the uneven force distribution that may occur if relying solely on fasteners or snap-fit ​​structures.

[0066] In some embodiments, please refer to Figure 5In the joint module of this application embodiment, the motor assembly 1 includes a stator 11 and a rotor 12, and the motor output shaft 2 is partially fixedly connected to the rotor 12. Along the axial direction of the joint module, the encoder group 43, the motor assembly 1 and the reducer assembly 41 are arranged in sequence and placed in the housing 42 after assembly. The reducer assembly 41 can be a planetary reducer, and its output sun gear is connected to the rotor adapter 3.

[0067] In some embodiments, a joint module for a humanoid robot is provided, which mainly includes a motor assembly and a rotor adapter. The motor assembly includes a motor output shaft, and the motor output shaft is provided with a generally hollow annular connecting platform. A plurality of third connecting parts are arranged radially outward and circumferentially around the connecting platform, and a fifth snap-fit ​​part is formed between adjacent third connecting parts. The rotor adapter includes a generally hollow cylindrical assembly cavity, and a plurality of fourth connecting parts are connected radially outward to the assembly cavity. A sixth snap-fit ​​part is formed between adjacent fourth connecting parts. The third connecting parts are fastened to the fourth connecting parts, and the fifth snap-fit ​​part is snapped to the sixth snap-fit ​​part.

[0068] The difference between this embodiment and the above embodiments is that the snap-fit ​​direction is reversed. While keeping the third connecting part and the fourth connecting part firmly connected, the fifth snap-fit ​​part and the sixth snap-fit ​​part are snapped together, and the snap-fit ​​direction is opposite to that of the first snap-fit ​​part and the second snap-fit ​​part.

[0069] In some embodiments, the third connecting part includes a fourth mounting hole and the fourth connecting part includes a fifth mounting hole, through which fasteners pass in sequence to fasten the motor output shaft to the rotor adapter. In the projection of the rotor adapter along the axial direction, the fourth mounting hole at least partially coincides with the connecting platform.

[0070] In some embodiments, the bottom surface of the assembly cavity is further provided with an axially extending seventh snap-fit ​​portion, and the axial end face of the corresponding connecting platform is further provided with an axially extending eighth snap-fit ​​portion. The seventh snap-fit ​​portion is a hollow annular snap-fit ​​platform, and the eighth snap-fit ​​portion is a hollow cylindrical snap-fit ​​cavity. After the motor output shaft and the rotor adapter are assembled, the snap-fit ​​platform and the snap-fit ​​cavity at least partially overlap radially, and the radially outer side surface of the snap-fit ​​platform abuts against the radially inner side surface of the snap-fit ​​cavity.

[0071] In some embodiments, the fourth mounting hole is a countersunk hole, the fifth mounting hole is a threaded hole, the fastener is a threaded fastener, the threaded head portion of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole thread.

[0072] In one embodiment, a robot is provided, which mainly includes the joint module of any of the above embodiments. The beneficial effects of the joint module are detailed in the above embodiments and will not be repeated here.

[0073] In one embodiment, please refer to Figure 6 A humanoid robot is provided, which mainly includes the joint module in any of the above embodiments. The beneficial effects of the joint module are detailed in the above embodiments and will not be repeated here.

[0074] In one embodiment, please refer to Figure 6 The humanoid robot's torso assembly includes a head 51, neck, torso 52, waist, and arms 53. The hip is connected to the torso assembly via a lumbar yaw joint 55. The hip pitch joint 56 connects to the legs. The legs also include a leg roll joint 57, a leg yaw joint, a thigh structure 58, a lower leg structure 60, a knee joint 59, a foot and ankle drive joint, and a foot and ankle joint 61.

[0075] The head 51, neck, and torso 52 are connected in sequence. Two arms 53 are connected to opposite sides of the torso 52. The waist includes a lumbar omnidirectional joint 54 connected to the lower part of the torso 52, which is connected to a lumbar yaw joint 55 mounting position. The lumbar yaw joint 55 is connected to the connecting seat of the lumbar omnidirectional joint 54 through a transmission assembly to realize omnidirectional movement of the waist.

[0076] The output end of the hip pitch joint 56 is connected to the leg roll joint 57 via an output connector, and the rotation axis of the hip pitch joint 56 does not intersect with the rotation axis of the leg roll joint 57. The leg roll joint 57 is connected to the leg yaw joint via a connector. The hip pitch joint 56, the leg roll joint 57, and the leg yaw joint simultaneously drive the thigh structure 58 to achieve leg movement.

[0077] The thigh structure 58 of the leg is connected to the leg yaw joint, and a knee joint 59 is set between the thigh structure 58 and the lower leg structure 60 to directly drive the movement of the lower leg structure 60. The lower leg structure 60 is equipped with a foot and ankle drive joint, which drives the rocker arm to achieve omnidirectional movement of the foot and ankle joint 61, driving the foot to rotate to adapt to different ground surface requirements. This multi-degree-of-freedom robot can realize human-like walking, standing, bending and other actions. Combined with the arm 53, it can also realize complex behaviors such as carrying and climbing.

[0078] The joint module in the above embodiments can be applied to the joints of humanoid robots.

[0079] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. Although embodiments of this utility model have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this utility model. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this utility model.

Claims

1. A joint module for a humanoid robot, characterized by, include: A motor assembly includes a motor output shaft, the motor output shaft having a generally hollow cylindrical receiving cavity, a plurality of first connecting portions communicating radially outward from the receiving cavity, the side of the first connecting portions away from the receiving cavity being a first arc-shaped surface, and a first snap-fit ​​portion forming between adjacent first connecting portions; and The rotor adapter includes a main body that is generally hollow and annular in structure. A plurality of second connecting parts are arranged radially outward and circumferentially around the main body. The side of the second connecting parts away from the main body is a second arc-shaped surface, and a second snap-fit ​​part is formed between adjacent second connecting parts. Wherein, the first connecting part is fastened to the second connecting part, and the first snap-fit ​​part is snapped to the second snap-fit ​​part; after the motor output shaft is assembled with the rotor adapter, the first arc-shaped surface and the second arc-shaped surface are tightly joined.

2. The joint module for a humanoid robot according to claim 1, characterized by, The first connecting part includes a first mounting hole, and the second connecting part includes a second mounting hole. Fasteners pass through the first mounting hole and the second mounting hole in sequence to securely connect the motor output shaft to the rotor adapter.

3. The joint module for a humanoid robot according to claim 2, characterized by, Both the first arc-shaped surface and the second arc-shaped surface are circular arc surfaces, and the first arc-shaped surface coincides with the axis of the first mounting hole, and the second arc-shaped surface coincides with the axis of the second mounting hole.

4. The joint module for a humanoid robot according to claim 1, characterized in that, The first arc-shaped surface and the sidewall forming the receiving cavity are connected by a circular arc transition, and the second arc-shaped surface and the main body are connected by a circular arc transition.

5. The joint module for a humanoid robot according to claim 2, characterized in that, In the projection along the axial direction of the rotor adapter, the second mounting hole at least partially coincides with the main body portion.

6. The joint module for a humanoid robot according to claim 1, characterized in that, The bottom surface of the receiving cavity is also provided with an axially extending third snap-fit ​​portion, and a fourth snap-fit ​​portion is also provided corresponding to the axial end face of the main body portion. The third snap-fit ​​portion and the fourth snap-fit ​​portion are nested and snap-fitted together.

7. The joint module for a humanoid robot according to claim 6, characterized in that, The third locking part is a hollow annular locking platform, and the fourth locking part is a hollow cylindrical locking cavity. After the motor output shaft is assembled with the rotor adapter, the locking platform and the locking cavity at least partially overlap radially, and the radially outer side of the locking platform abuts against the radially inner side of the locking cavity.

8. The joint module for a humanoid robot according to claim 1, characterized in that, The bottom surface of the receiving cavity is also provided with at least one axially extending third assembly hole, and the axial end face of the main body is correspondingly provided with an axially extending fourth assembly hole, and a positioning pin is provided between the third assembly hole and the fourth assembly hole.

9. The joint module for a humanoid robot according to claim 2, characterized in that, The first mounting hole is a countersunk hole, the second mounting hole is a threaded hole, the fastener is a threaded fastener, the threaded head portion of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole.

10. A joint module for a humanoid robot, characterized in that, include: A motor assembly includes a motor output shaft, the motor output shaft being provided with a generally hollow annular connecting platform, a plurality of third connecting portions being arranged radially outward and surrounding the connecting platform, and a fifth snap-fit ​​portion being formed between adjacent third connecting portions; The rotor adapter includes an assembly cavity that is generally hollow and cylindrical, and a plurality of fourth connecting parts are connected to the radially outer side of the assembly cavity, with a sixth snap-fit ​​part formed between adjacent fourth connecting parts. The third connecting part is fastened to the fourth connecting part, and the fifth snap-fit ​​part is snapped into the sixth snap-fit ​​part.

11. The joint module for a humanoid robot according to claim 10, characterized in that, The third connecting part includes a fourth mounting hole and a fifth mounting hole. Fasteners pass through the fourth mounting hole and the fifth mounting hole in sequence to fasten the motor output shaft to the rotor adapter. In the projection of the rotor adapter along the axial direction, the fourth mounting hole at least partially coincides with the connecting platform.

12. The joint module for a humanoid robot according to claim 10, characterized in that, The bottom surface of the assembly cavity is also provided with a seventh axially extending snap-fit ​​portion, and an eighth axially extending snap-fit ​​portion is also provided corresponding to the axial end face of the connecting platform. The seventh snap-fit ​​portion is a hollow annular snap-fit ​​platform, and the eighth snap-fit ​​portion is a hollow cylindrical snap-fit ​​cavity. After the motor output shaft is assembled with the rotor adapter, the snap-fit ​​platform and the snap-fit ​​cavity at least partially overlap radially, and the radially outer side of the snap-fit ​​platform abuts against the radially inner side of the snap-fit ​​cavity.

13. The joint module for a humanoid robot according to claim 11, characterized in that, The fourth mounting hole is a countersunk hole, the fifth mounting hole is a threaded hole, the fastener is a threaded fastener, the threaded head portion of the threaded fastener can be accommodated in the countersunk hole, and the threaded section is self-locking with the threaded hole.

14. A robot, characterized in that, Includes the joint module for humanoid robots as described in any one of claims 1 to 13.

15. A humanoid robot, characterized in that, Includes joint modules for humanoid robots as described in any one of claims 1 to 9.

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