Powered joint and powered robot

Abstract

The application relates to the technical field of power robots, and relates to a power joint and a power robot. The power joint comprises a joint assembly, a power assembly and a quick-release assembly; the joint assembly comprises a first joint and a second joint, and the second joint is movably connected to the first joint; the power assembly comprises a power base, a connecting piece and a driving piece, the connecting piece is movably connected to the power base, the connecting piece is detachably connected to the second joint, the driving piece is connected to the connecting piece and is used for being connected with an external power device, and the driving piece is used for driving the connecting piece to move relative to the power base; and the quick-release assembly is connected to the power base and is detachably connected to the first joint. The power joint in the embodiment of the application can realize quick disassembly and assembly connection between the power assembly and the joint assembly through the quick-release assembly.

Description

Technical Field

[0001] This application relates to the field of powered robot technology, and more particularly to a powered joint and a powered robot. Background Technology

[0002] Powered joints, as key components in robotics and exoskeleton systems, are responsible for connecting and transmitting power. In existing technologies, most powered joints employ an integrated design, tightly combining power components such as motors and reducers with the joint structure to form a rigid whole. While this design ensures transmission stability and structural compactness, it also introduces inconvenience in disassembly and maintenance, limiting the flexible application of powered joints in various working environments, especially in scenarios requiring rapid switching between powered and non-powered modes.

[0003] Furthermore, existing power joints often use mechanical fastening methods such as bolts and pins to connect the power components to the joints, or rely on complex mechanical alignment processes, such as precise calibration of pulley systems. This not only makes the disassembly and assembly of the power components cumbersome, consuming a lot of time and manpower, but also increases maintenance costs and operational difficulty, making it difficult to meet the requirements for rapid disassembly and assembly in practical applications. This problem is particularly prominent in rope-driven systems, affecting the overall system's response speed and adaptability. Utility Model Content

[0004] In view of this, this application provides a powered joint and a powered robot to solve the problem that the powered joints of traditional powered robots are usually integrated structures, which cannot quickly switch the power form and have limited application scenarios.

[0005] The first aspect of this application provides a powered joint, comprising:

[0006] A joint assembly includes a first joint and a second joint, wherein the second joint is movably connected to the first joint;

[0007] A power assembly includes a power base, a connector, and a drive member. The connector is movably connected to the power base and detachably connected to a second joint. The drive member is connected to the connector and used for connection to an external power device. The drive member is used to drive the connector to move relative to the power base.

[0008] A quick-release assembly is connected to the power seat, and the quick-release assembly is detachably connected to the first joint.

[0009] In one possible implementation, the quick-release assembly includes a movable member, a reset member, and a locking member, wherein the movable member is movably connected to the power base, the reset member is connected to both the movable member and the power base, and the locking member is movably connected to the movable member.

[0010] The movable component has a locking slot and a releasing slot. In the locked position, the movable component drives the locking component to move into the locking slot, and the locking component engages with the first joint. In the released position, the movable component drives the locking component to move into the releasing slot, and the locking component separates from the first joint. The reset component is used to drive the movable component to move into the locking slot.

[0011] In one possible implementation, the first joint has a mounting hole, and the inner wall of the mounting hole has a locking groove, and the power seat is inserted into the mounting hole; the power seat has a movable hole and a locking hole, the quick-release component passes through the movable hole, and in the locked position, the locking member passes through the locking hole and engages with the locking groove; in the released position, the locking member separates from the locking groove.

[0012] In one possible implementation, the power seat has a limiting flange, and the limiting flange is located on the inner wall of the movable hole; the reset member includes an elastic member and a pressure ring, the elastic member is sleeved on the movable member, and the opposite ends of the elastic member abut against the pressure ring and the limiting flange, respectively;

[0013] And / or, the outer wall of the moving part is provided with an anti-rotation groove, the power seat is provided with an anti-rotation part, and the anti-rotation groove and the anti-rotation part are inserted into each other;

[0014] And / or, at least one guide groove is provided on the inner wall of the mounting hole, the guide groove is connected to the mounting hole, and the power seat is provided with at least one guide part, the guide part is inserted into the guide groove;

[0015] And / or, the inner wall of the mounting hole is further provided with a positioning groove, and the power seat is further provided with a positioning part, wherein the positioning groove and the positioning part are inserted into each other.

[0016] In one possible implementation, the first joint is rotatably connected to the second joint, the second joint is provided with an anchoring portion, and the connector is provided with an anchoring pin, the anchoring pin being detachably connected to the anchoring portion.

[0017] In one possible implementation, the connector is provided with an anchor seat, the anchor pin is provided on the anchor seat, the power seat has a movable groove, the anchor seat is movably accommodated in the movable groove, and the movable groove is fan-shaped; the first joint is provided with a limiting protrusion, the limiting protrusion is arranged along the circumference of the second joint, and the limiting protrusion is used to abut against the anchor seat when the anchor seat moves to the end of the path.

[0018] In one possible implementation, the drive element includes a connecting cable, the connector having a groove at least partially surrounding the circumference of the connector, the connecting cable being at least partially housed within the groove and connected to the connector; the power base has a movable cavity, the connector being rotatably connected to the power base and movably housed within the movable cavity, the power base also having a guide hole communicating with the movable cavity, and the connecting cable passing through the guide hole for connection to an external power device.

[0019] In one possible implementation, the connecting cable includes a cable fixing part and a cable body, the cable fixing part being connected to the end of the cable body, the cable groove including a snap-fit ​​groove and a connecting groove connected to each other, the connecting groove being arranged circumferentially around the connector, and the cable fixing part being snapped into the snap-fit ​​groove.

[0020] And / or, the drive unit further includes a guide screw, which is detachably connected to the power base, and the connecting cable passes through the guide screw.

[0021] In one possible implementation, the number of driving elements is two, and the two driving elements are used to drive the connector to move in two directions.

[0022] A second aspect of this application provides a powered robot, including a powered joint as described in any of the foregoing claims.

[0023] Implementing the embodiments of this application has the following beneficial effects:

[0024] In this embodiment, the power joint utilizes a quick-release assembly to enable rapid assembly and disassembly between the power component and the joint assembly. Compared to the bolt or pin fixing methods used in traditional power robots, the quick-release assembly structure in this embodiment simplifies the disassembly process, avoids traditional mechanical alignment and complex calibration steps, improves the assembly and disassembly efficiency of the power component, and reduces maintenance difficulty and time costs.

[0025] Furthermore, the application of quick-release components allows the powered joints to flexibly switch between powered and non-powered modes, meeting the adaptability requirements of powered robots in various working environments. Connecting the first joint and the power base via quick-release components ensures connection stability while enabling convenient separation or coupling of the power components, improving the overall system response speed and ease of operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A perspective view of the power joint in an embodiment of the present invention is shown;

[0028] Figure 2 A schematic diagram of the power joint in an embodiment of this utility model is shown;

[0029] Figure 3 An exploded view of the joint assembly in an embodiment of the present invention is shown;

[0030] Figure 4 A front view of the joint assembly in an embodiment of the present invention is shown;

[0031] Figure 5 It shows Figure 4 A sectional view along line AA.

[0032] Figure 6 An exploded view of the joint assembly in an embodiment of the present invention is shown;

[0033] Figure 7 A perspective view of the power base in an embodiment of this utility model is shown;

[0034] Figure 8 A partial structural schematic diagram of the power component in an embodiment of this utility model is shown.

[0035] Figure label:

[0036] 10. Dynamic joints;

[0037] 100. Joint assembly; 110. First joint; 111. Joint seat; 1111. Mounting hole; 11111. Locking groove; 11112. Guide groove; 11113. Positioning groove; 1112. Limiting protrusion; 1113. Shaft; 112. Joint connector; 120. Second joint; 121. Anchoring part; 1211. Anchoring hole; 130. Joint bearing;

[0038] 200. Power assembly; 210. Power base; 211. Movable hole; 2111. Limiting flange; 2112. Anti-rotation part; 212. Locking hole; 213. Movable groove; 214. Guide part; 215. Positioning part; 216. Movable cavity; 2161. Guide hole; 220. Connector; 221. Anchor seat; 2211. Anchor pin; 222. Cable groove; 2221. Snap-fit ​​groove; 2222. Connecting groove; 230. Drive component; 231. Connecting cable; 2311. Cable fixing part; 2312. Cable body; 232. Guide screw; 240. Power bearing;

[0039] 300. Quick-release assembly; 310. Moving part; 311. Locking slot; 312. Release slot; 313. Anti-rotation slot; 320. Reset part; 321. Elastic part; 322. Pressure ring; 330. Locking part. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Powered joints, as key components in robotics and exoskeleton systems, are responsible for connecting and transmitting power. In existing technologies, most powered joints employ an integrated design, tightly combining power components such as motors and reducers with the joint structure to form a rigid whole. While this design ensures transmission stability and structural compactness, it also introduces inconvenience in disassembly and maintenance, limiting the flexible application of powered joints in various working environments, especially in scenarios requiring rapid switching between powered and non-powered modes.

[0042] Furthermore, existing power joints often use mechanical fastening methods such as bolts and pins to connect the power components to the joints, or rely on complex mechanical alignment processes, such as precise calibration of pulley systems. This not only makes the disassembly and assembly of the power components cumbersome, consuming a lot of time and manpower, but also increases maintenance costs and operational difficulty, making it difficult to meet the requirements for rapid disassembly and assembly in practical applications. This problem is particularly prominent in rope-driven systems, affecting the overall system's response speed and adaptability.

[0043] Based on this, see Figures 1 to 8As shown, this utility model embodiment provides a powered joint 10, which includes a joint assembly 100, a power assembly 200, and a quick-release assembly 300. The joint assembly 100 includes a first joint 110 and a second joint 120, with the second joint 120 movably connected to the first joint 110. The power assembly 200 includes a power seat 210, a connector 220, and a drive member 230. The connector 220 is movably connected to the power seat 210 and detachably connected to the second joint 120. The drive member 230 is connected to the connector 220 and used to connect to an external power device, and is used to drive the connector 220 to move relative to the power seat 210. The quick-release assembly 300 is connected to the power seat 210 and is detachably connected to the first joint 110.

[0044] In this embodiment, the power joint 10 utilizes a quick-release assembly 300 to enable rapid assembly and disassembly between the power assembly 200 and the joint assembly 100. Compared to the bolt or pin fixing methods used in traditional power robots, the quick-release assembly 300 in this embodiment simplifies the disassembly process, avoids traditional mechanical alignment and complex calibration steps, improves the assembly and disassembly efficiency of the power assembly 200, and reduces maintenance difficulty and time costs.

[0045] Furthermore, the application of the quick-release component 300 enables the powered joint 10 to flexibly switch between powered and non-powered modes, meeting the adaptability requirements of the powered robot in various working environments. Connecting the first joint 110 and the power base 210 via the quick-release component 300 ensures connection stability and allows for convenient separation or coupling of the power component 200, improving the overall system response speed and ease of operation.

[0046] Specifically, the quick-release assembly 300 includes a moving part 310, a resetting part 320, and a locking part 330. These components cooperate with each other to achieve a quick-release connection between the power assembly 200 and the joint assembly 100. Specifically, the moving part 310 is movably connected to the power seat 210 and can move relative to the power seat 210 in a predetermined direction; the resetting part 320 is connected to both the moving part 310 and the power seat 210, and plays a role in elastic reset, used to drive the moving part 310 back to the initial locked position; the locking part 330 is movably connected to the moving part 310 and is responsible for mechanically locking and releasing with the first joint 110.

[0047] The movable member 310 has a locking slot 311 and a releasing slot 312. In the locked position, the movable member 310 drives the locking member 330 to move into the locking slot 311, and the locking member 330 is engaged with the first joint 110. In the released position, the movable member 310 drives the locking member 330 to move into the releasing slot 312, and the locking member 330 is separated from the first joint 110. The reset member 320 is used to drive the movable member 310 to move into the locking slot 311.

[0048] When removing the power assembly 200, the operator uses external force to move the movable part 310 relative to the power base 210, aligning the release slot 312 with the locking part 330. The locking part 330 then moves and separates from the first joint 110, allowing the power assembly 200 to be easily disassembled without the need for additional tools or complex mechanical alignment steps. The disassembly process is simple and quick, suitable for rapid on-site maintenance and replacement of the power module.

[0049] During the assembly of the power assembly 200, the elastic action of the reset member 320 drives the moving member 310 back to the locked position, causing the locking member 330 to enter the locking slot 311. The locking member 330 engages with the first joint 110, completing the fixed connection between the power assembly 200 and the joint assembly 100. This locking process requires no complex adjustments, ensuring the stability and repeatability of the connection, and improving the overall response speed and ease of operation of the system.

[0050] In view of the problem that existing quick-release technologies generally require two-hand operation or the use of auxiliary tools, the quick-release component 300 used in this utility model achieves the function of locking and releasing by pressing one side through the reasonable design of the structure of the moving part 310.

[0051] Specifically, the movable component 310 is designed so that the operator can press or push the movable component 310 ring with one hand, driving the locking component 330 to move from the locking slot 311 to the release slot 312, thereby releasing the locked state and completing the separation of the power component 200 from the joint component 100. This design simplifies the disassembly and assembly actions, avoiding the cumbersome operation of traditional quick-release devices that require pressing both sides of the buckle simultaneously or using tools such as wrenches.

[0052] Furthermore, the elasticity of the reset component 320 ensures that the moving component 310 automatically resets after the external force is released, and the locking component 330 re-enters the locking slot 311 to achieve automatic locking, further improving the convenience and safety of operation. Single-sided operation not only reduces the complexity of user operation but also reduces the difficulties caused by posture limitations during on-site assembly and disassembly, making it particularly suitable for the rapid maintenance and adjustment of wearable devices such as exoskeletons.

[0053] With its quick-release structure that allows for unilateral pressing, the assembly and disassembly of the power joint 10 is more flexible and efficient, significantly reducing maintenance time and labor intensity, which is beneficial for improving the on-site application experience and usage efficiency of robots and exoskeleton systems.

[0054] In one embodiment, the first joint 110 has a mounting hole 1111, and a locking groove 11111 is formed on the inner wall of the mounting hole 1111. The power seat 210 is inserted into the mounting hole 1111. The power seat 210 has a movable hole 211 and a locking hole 212. The quick-release component 300 passes through the movable hole 211. In the locked position, the locking member 330 passes through the locking hole 212 and engages with the locking groove 11111. In the released position, the locking member 330 separates from the locking groove 11111.

[0055] In specific implementation, when assembling the power assembly 200 and the joint assembly 100, the power seat 210 is first inserted into the mounting hole 1111 of the first joint 110. Then, the reset member 320 drives the moving member 310 to push the locking member 330 towards the locking slot 311, so that the locking member 330 extends from the locking hole 212 and engages with the locking slot 11111 on the inner wall of the mounting hole 1111, thereby achieving a reliable connection between the power assembly 200 and the first joint 110, ensuring the stable transmission of transmission force and the mechanical strength of the connection.

[0056] When the power assembly 200 needs to be removed, the operator drives the moving part 310 to move, causing the locking part 330 to move from the locking slot 311 to the release slot 312. The locking part 330 then separates from the locking slot 11111, releasing the locked state. At this time, the power seat 210 can be easily pulled out from the mounting hole 1111, realizing the quick separation of the power assembly 200 and the joint assembly 100. The disassembly process is simple and does not require complicated tools.

[0057] This design achieves a stable and convenient connection between the power assembly 200 and the joint assembly 100 through the insertion and engagement of the mounting hole 1111 with the power base 210, combined with the snap-fit ​​action of the locking member 330 and the locking groove 11111 in the quick-release assembly 300. This structure not only improves the assembly efficiency of the power joint 10 and shortens maintenance time, but also ensures the reliability and safety of the connection, making it suitable for robot and exoskeleton systems that require frequent disassembly and assembly or power mode switching.

[0058] Specifically, the locking element 330 can adopt a spherical structure, such as a steel ball. Using a sphere as the locking element has the following advantages: the spherical structure has a simple shape, facilitating flexible rolling and positioning within the locking slot 311 and release slot 312 of the moving element 310, enabling smooth locking and releasing actions, reducing jamming, and improving the operational reliability of the quick-release assembly 300. The steel ball material has high hardness and good wear resistance, capable of withstanding repeated mechanical loads and friction generated during use by the power joint 10, ensuring the long-term durability and connection stability of the locking element 330. The contact surface of the sphere is a point contact, enabling precise engagement with the locking slot 11111 of the first joint 110 or the mating part of the power seat 210, providing reliable positioning and locking effects while reducing wear on the contact surface. The ball-type locking mechanism, in conjunction with the locking slot 311 and release slot 312 of the moving part 310, and the elastic force of the elastic element 321, enables automatic reset and locking, ensuring that the power assembly 200 can be quickly and securely connected or separated from the joint assembly 100 during assembly and disassembly. Furthermore, the steel ball structure is simple, with low manufacturing and replacement costs, facilitating maintenance and mass production, making it suitable for industrial applications requiring the quick-release assembly 300 of the power joint 10.

[0059] Specifically, the power seat 210 has a limiting flange 2111, and the limiting flange 2111 is located on the inner wall of the movable hole 211; the reset member 320 includes an elastic member 321 and a pressure ring 322, the elastic member 321 is sleeved on the movable member 310, and the opposite ends of the elastic member 321 abut against the pressure ring 322 and the limiting flange 2111 respectively.

[0060] By cooperating with the limiting flange 2111 and the pressure ring 322, the relative positions of the two ends of the elastic element 321 can be limited, effectively controlling the compression and rebound deformation range of the elastic element 321. When the moving member 310 moves relative to the power seat 210 in a predetermined direction, the moving member 310 drives the pressure ring 322 to move, and the pressure ring 322 moves closer to the limiting flange 2111, thereby compressing the elastic element 321. After being compressed, the elastic element 321 generates an elastic restoring force, which pushes the moving member 310 to automatically reset after the external force is released, driving the locking member 330 to return to the locked state, ensuring the safe connection between the power assembly 200 and the joint assembly 100. Conversely, when the moving member 310 returns to the initial position, the elastic release of the elastic element 321 keeps the pressure ring 322 and the limiting flange 2111 at a suitable gap, preventing the elastic element 321 from being damaged due to excessive compression.

[0061] The combination of the limiting flange 2111 and the pressure ring 322 not only effectively limits the deformation of the elastic element 321, preventing excessive deformation and fatigue damage during use, but also ensures the elastic performance and service life of the elastic element 321 through stable end support. This design makes the reset element 320 more compact in structure, and the compression and release processes of the elastic element 321 are completed inside the movable hole 211, making full use of space, reducing exposed parts, and improving the stability and reliability of the overall mechanical structure.

[0062] Furthermore, the movable hole 211 guides the movement of the moving part 310, ensuring that the moving part 310 moves smoothly along a predetermined trajectory, preventing the locking part 330 from jamming or failing to accurately switch between locking and releasing states due to deviation. At the same time, the combination of the inner wall of the movable hole 211 and the limiting flange 2111 also limits the maximum compression and minimum clearance of the elastic part 321, effectively preventing the elastic part 321 from losing its elastic recovery ability due to excessive deformation.

[0063] Specifically, the elastic element 321 can be a helical spring structure. Helical springs have the advantages of good elastic recovery performance, simple and compact structure, and can effectively compress and release elastically when the moving element 310 moves relative to the power seat 210, thereby driving the moving element 310 to reset to the locked position.

[0064] In one embodiment, the outer wall of the movable member 310 is provided with an anti-rotation groove 313, and the power base 210 is provided with an anti-rotation part 2112, with the anti-rotation groove 313 and the anti-rotation part 2112 engaging. The main function of this structural design is to limit the relative rotation between the power base 210 and the movable member 310, ensuring that the movable member 310 moves only along a predetermined straight line, and avoiding misalignment or jamming caused by rotation.

[0065] The anti-rotation groove 313 can be elongated or open, capable of accommodating the anti-rotation part 2112 and allowing it to slide within the groove. The anti-rotation part 2112 can be a protrusion or a pin-like structure, inserted into the anti-rotation groove 313 to form a mating connection. This mating connection restricts the movement of the moving part 310 within the power base 210 to linear reciprocating motion, preventing the moving part 310 from rotating around the axis of the power base 210.

[0066] By cooperating with the anti-rotation groove 313 and the anti-rotation part 2112, not only is the linear movement of the moving part 310 precisely guided, but the mechanism stability of the quick-release assembly 300 is also improved, ensuring the accurate movement path and position of the locking part 330, thereby guaranteeing the reliable connection and quick assembly / disassembly between the power assembly 200 and the joint assembly 100.

[0067] In one embodiment, at least one guide groove 11112 is provided on the inner wall of the mounting hole 1111, the guide groove 11112 communicates with the mounting hole 1111, and the power seat 210 is also provided with at least one guide portion 214, which is inserted into the guide groove 11112. Through the cooperation of the guide portion 214 and the guide groove 11112, the installation guidance function between the power seat 210 and the first joint 110 is realized.

[0068] Specifically, the guide groove 11112 can be a longitudinal groove formed along the inner wall of the mounting hole 1111, and the guide portion 214 is a protruding structure that matches the size of the guide groove 11112. When the power seat 210 is inserted into the mounting hole 1111, the guide portion 214 is inserted into the guide groove 11112, so that the power seat 210 is accurately positioned and guided along the path defined by the guide groove 11112 during the installation process, avoiding radial offset or rotation of the power seat 210 in the mounting hole.

[0069] The establishment of this guiding structure helps to improve the accuracy and efficiency of assembling the power assembly 200 with the first joint 110. Through the cooperation of the guide groove 11112 and the guide part 214, the insertion and positioning of the power seat 210 can be completed conveniently and quickly, reducing assembly difficulties and subsequent debugging work caused by misalignment. At the same time, this structure ensures the stability of the connection position between the power assembly 200 and the joint assembly 100, which is conducive to improving the overall transmission accuracy and mechanical stability of the power joint 10.

[0070] It should be noted that the number of guide grooves 11112 can be one, two or more, depending on the size of the mounting hole 1111 and the structural form of the power seat 210. The arrangement of multiple guide grooves and guide parts can evenly distribute the guiding force, improve the stability and coaxiality of the installation, and prevent the power seat 210 from tilting or shaking during use.

[0071] In one embodiment, a positioning groove 11113 is also provided on the inner wall of the mounting hole 1111, and a positioning part 215 is also provided on the power seat 210. The positioning groove 11113 and the positioning part 215 are inserted into each other. This mating structure is mainly used to realize the foolproof function between the power seat 210 and the first joint 110, and to prevent the power assembly 200 from being installed incorrectly or in the wrong assembly direction.

[0072] Specifically, the positioning groove 11113 can be a rectangular groove formed along the inner wall of the mounting hole 1111, and the positioning part 215 is a rectangular protrusion structure that matches the size of the positioning groove 11113. The cross-sectional shape of this rectangle ensures that the power seat 210 can only be inserted into the mounting hole 1111 in the only correct direction, thereby avoiding problems such as mechanical interference, loose connection or malfunction caused by incorrect installation direction.

[0073] Meanwhile, to achieve coordination between different functions, the cross-sections of the guide part 214 and the guide groove 11112 can be designed as arc-shaped or other non-rectangular shapes, so that they mainly serve as installation guides; while the positioning part 215 and the positioning groove 11113 adopt rectangular cross-sections to enhance the foolproof positioning effect. This differentiated shape design ensures that the guide part 214 and the positioning part 215 perform their respective functions during installation, ensuring smooth guidance of the power seat 210 and avoiding misinstallation.

[0074] With the cooperation of the positioning part 215 and the positioning groove 11113, the power assembly 200 can quickly and accurately find the correct installation direction during assembly, reducing the assembly error rate and improving assembly efficiency and safety. It is especially suitable for power joints 10 that require frequent disassembly or quick on-site maintenance.

[0075] Specifically, the first joint 110 is rotatably connected to the second joint 120, the second joint 120 is provided with an anchoring part 121, and the connector 220 is provided with an anchoring pin 2211, which is detachably connected to the anchoring part 121.

[0076] In this embodiment, the first joint 110 and the second joint 120 are rotatably connected by a joint bearing 130, ensuring smooth relative rotation between the two joints and low frictional resistance, thereby improving the motion accuracy and transmission efficiency of the power joint 10. The joint bearing 130 can be a rolling bearing, a sliding bearing, or other suitable bearing type, and the specific selection is determined based on load requirements, motion speed, and operating environment.

[0077] The second joint 120 is provided with an anchoring part 121, on which an anchoring hole 1211 is formed. The connecting member 220 is provided with an anchoring pin 2211, which is detachably inserted into the anchoring hole 1211, realizing the detachable fixation of the connecting member 220 and the second joint 120. The cooperation between the anchoring pin 2211 and the anchoring hole 1211 ensures the reliable transmission of transmission force, and at the same time facilitates the quick disassembly and maintenance of the power component 200 and the joint component 100. Specifically, the anchoring pin 2211 can be in the form of a pin, cylindrical pin, elastic pin, etc., and different structures can be selected according to actual design requirements to ensure the firmness of the connection and facilitate disassembly.

[0078] When installing the power assembly 200, the power base 210 is quickly connected to the first joint 110 via the quick-release assembly 300, and the connector 220 is connected to the second joint 120 via an anchoring pin 2211 and an anchoring hole 1211. The drive component 230 is connected to the connector 220 and is used to receive external power and drive the connector 220, thereby causing the second joint 120 to rotate relative to the first joint 110, realizing the movement function of the power joint 10.

[0079] This structure enables the power assembly 200 to effectively drive the second joint 120 to move around the rotation axis of the first joint 110, while facilitating the disassembly and maintenance of the power assembly and the joint assembly. The detachable connection design between the anchor pin 2211 and the anchor hole 1211 ensures the stability of the power joint 10 when transmitting power, while also meeting the needs for quick disassembly, replacement, and maintenance on site.

[0080] In one embodiment, the connector 220 is provided with an anchor seat 221, and an anchor pin 2211 is provided on the anchor seat 221. The power seat 210 is provided with a movable groove 213, and the anchor seat 221 is movably accommodated in the movable groove 213, which is fan-shaped. The first joint 110 is provided with a limiting protrusion 1112, which is arranged circumferentially along the second joint 120. The limiting protrusion 1112 is used to abut against the anchor seat 221 when the anchor seat 221 moves to the end of the path, thereby realizing the mechanical limitation of the movement of the anchor seat 221.

[0081] The fan-shaped structure of the movable groove 213 restricts the range of motion of the anchor seat 221 to a certain angular range. Specifically, the included angle of the fan can be determined according to actual design requirements, for example, it can be set to a range of 90°, 180°, 270° or close to 360°. It should be noted that the selection of the included angle of the fan should be determined based on the power output range of the drive component 230 and the working limits of the rope drive system, to ensure that the rotation of the second joint 120 does not exceed the allowable range of the power transmission mechanism, and to avoid damage or failure of the rope drive component 230 due to exceeding the tension range.

[0082] When the second joint 120 drives the anchor seat 221 to move along the movable groove 213 via the drive member 230, the anchor pin 2211 moves accordingly. When the anchor seat 221 moves to the end of the path of the movable groove 213, the limiting protrusion 1112 contacts the anchor seat 221, realizing the physical limitation of the anchor seat 221, thereby limiting the rotation range of the second joint 120. This limiting structure effectively prevents the second joint 120 from rotating beyond the predetermined angle, avoiding rope breakage, power loss or mechanical damage to the power joint 10 due to over-rotation.

[0083] Anchor pin 2211 is provided on anchor seat 221, serving as a connecting element between connector 220 and anchoring part 121 of second joint 120. This ensures the stability of power transmission and facilitates disassembly and maintenance. The restricted movement of anchor seat 221 within movable groove 213 allows connector 220 to flexibly drive second joint 120 to rotate, while the physical restriction of limiting protrusion 1112 ensures safe movement.

[0084] Compared to straight grooves or infinitely rotating designs, the fan-shaped movable groove 213 structure effectively controls the range of motion of the second joint 120, limiting rotation to within 360°, thereby preventing the working range of the rope-driven component 230 from exceeding its design limits. Rope drive systems inherently have limitations on tension range and transmission path length. The fan-shaped limiting structure coordinates the mechanical motion range with the rope tension working range, preventing rope slack or overstretching, and improving the reliability and service life of the drive system. In one embodiment, the contact surface design between the limiting protrusion 1112 and the anchor seat 221 needs to consider wear resistance and cushioning performance. Wear-resistant materials or elastic pads can be used to avoid damage or noise caused by repeated collisions. Specifically, the drive component 230 includes a connecting cable 231, and the connector 220 has a groove 222. The groove 222 is at least partially arranged around the circumference of the connector 220, and the connecting cable 231 is at least partially housed in the groove 222 and connected to the connector 220. In this embodiment, the groove 222 not only positions the connecting cable 231, but also prevents it from slipping or loosening during movement by winding around and fixing the connecting cable 231, thereby ensuring the stability and safety of power transmission.

[0085] The power base 210 has a movable cavity 216. The connector 220 is rotatably connected to the power base 210 and is movably accommodated in the movable cavity 216. The power base 210 also has a guide hole 2161 communicating with the movable cavity 216, and the connecting cable 231 passes through the guide hole 2161 and is used to connect with an external power device.

[0086] In one embodiment, the axial direction of the guide hole 2161 is tangential to the circumference of the power base 210. This arrangement allows the connecting cable 231 to be smoothly guided as it passes through the guide hole 2161, reducing friction and cable wear, improving power transmission efficiency and system lifespan. Simultaneously, the guide hole 2161 restricts the movement path of the connecting cable 231, preventing excessive bending or deviation and ensuring stable operation of the rope drive.

[0087] In this embodiment, the power assembly 200 adopts a cable-driven form, that is, the traction force of the connecting cable 231 drives the connector 220 to rotate relative to the power base 210, thereby driving the second joint 120 to rotate relative to the first joint 110, realizing the motion function of the power joint 10. Compared with traditional gear or shaft transmission, the cable-driven method has a more compact structure, lighter weight, and can achieve a wider range of transmission angles, making it suitable for robots and exoskeleton systems with high requirements for flexible transmission.

[0088] It is worth noting that the movable cavity 216 and the movable hole 211 where the quick-release assembly 300 is located are separated. This design effectively isolates the power transmission part and the quick-release connection part, avoiding mutual interference. At the same time, it makes the overall structure of the power base 210 more compact, facilitating its layout and maintenance. The separation also facilitates the independent operation of the quick-release assembly 300, improving the convenience of disassembly and assembly.

[0089] Specifically, the connecting cable 231 adopts a pre-tensioned rope structure, which can automatically align with the pulley path at the joint end through its own tension during insertion, avoiding the tedious steps of traditional manual calibration. This automatic alignment method not only simplifies the installation process, but also ensures the accurate positioning of the connecting cable 231 within the power joint 10, reducing wear and energy loss caused by misalignment, and improving the stability and efficiency of the transmission.

[0090] Furthermore, the pre-tensioned connecting cable 231 generates a certain tension during operation. If this tension is not effectively counteracted, it may lead to loosening of the connection or slackness of the mechanism. Therefore, this invention applies an axial preload through the moving member 310 and utilizes the elasticity of the resetting member 320 to maintain a moderate pressure on the connecting cable 231, thereby effectively counteracting the working tension generated by the connecting cable 231 during power transmission. This preload not only ensures the stable fixation of the connecting cable 231 and prevents loosening during operation, but also improves the transmission response speed and safety of the entire power joint 10.

[0091] This design enables automatic alignment and stable pre-tensioning of the connecting cable 231, improving the ease of installation and operational reliability of the power joint 10, and meeting the technical requirements of robots and exoskeleton systems for efficient, stable, and easy-to-maintain power transmission systems in complex motion environments.

[0092] In this embodiment, when the locking member 330 enters the locking position and engages with the locking groove of the first joint 110, a moderate elastic driving force can be applied by the reset member 320 to make the locking member 330 slightly collide or rub against the power seat 210 and / or the surface of the first joint 110.

[0093] This contact not only produces a distinct "click" sound, serving as an audible confirmation of successful connection, but also helps operators visually determine that the power component 200 has been reliably locked onto the joint component 100, preventing misconnection due to blind spots or improper operation. Furthermore, the mechanical feedback from the contact enhances the tactile experience, improving operational safety and reliability during assembly and disassembly.

[0094] In one embodiment, the connecting cable 231 includes a cable fixing part 2311 and a cable body 2312. The cable fixing part 2311 is connected to the end of the cable body 2312. The wire groove 222 includes a snap-fit ​​groove 2221 and a connecting groove 2222 connected to each other. The connecting groove 2222 is arranged circumferentially around the connector 220. The cable fixing part 2311 is snapped into the snap-fit ​​groove 2221.

[0095] Specifically, the outer diameter of the cable fixing part 2311 is designed to be larger than the outer diameter of the cable body 2312. This structural feature ensures that when the cable body 2312 moves along its axial direction, the end of the cable fixing part 2311 can abut against the end of the locking groove part 2221, thereby achieving mechanical drive of the connector 220. Through this abutment engagement, the traction force of the cable body 2312 can be effectively transmitted to the connector 220, causing the connector 220 to rotate relative to the power seat 210, thereby driving the second joint 120 to rotate relative to the first joint 110.

[0096] The connecting groove 2222 plays a crucial role in accommodating and positioning the cable body 2312, preventing radial displacement or loosening of the cable during operation, ensuring the stability of the cable's movement path, and reducing friction and wear between the cable and the connector 220. The wraparound design of the connecting groove 2222 allows the cable body 2312 to be rationally distributed along the circumference of the connector 220, further enhancing the compactness and stability of the transmission system.

[0097] The advantage of this structure is that the cooperation between the cable fixing part 2311 and the snap-fit ​​groove part 2221 ensures reliable fixation of the cable and the connector 220, avoiding the risk of loosening that may occur when fixing the cable end by binding or gluing in traditional methods, while also facilitating disassembly and maintenance. The cable body 2312 can move freely along the connecting groove part 2222, ensuring the flexibility and response speed of power transmission.

[0098] In one embodiment, the drive component 230 further includes a guide screw 232, which is detachably connected to the power base 210, and the connecting cable 231 passes through the guide screw 232. The guide screw 232 has a hollow internal structure, through which the connecting cable 231 passes, thus providing guidance and protection for the connecting cable 231. The hollow design of the guide screw 232 not only provides a stable conveying channel for the connecting cable 231, preventing bending, wear, or deviation of the cable during operation, but also effectively reduces direct contact between the cable and the external environment, improving the service life of the cable and the stability of power transmission.

[0099] In terms of specific structure, the guide screw 232 has two threads on its exterior. One thread is used to mate with the corresponding thread on the power seat 210, so as to realize a reliable disassembly and assembly connection between the guide screw 232 and the power seat 210. This threaded connection method facilitates quick disassembly and installation on site, meets the maintenance and replacement needs of the power joint 10, avoids the traditional complicated disassembly steps, and improves assembly efficiency.

[0100] Another threaded section is located at the outer distal end of the guide screw 232 for connection to an external device, which can be a protective cover, seal, or guide structure. This threaded connection to the external device forms a closed channel, further protecting the connecting cable 231 from external factors such as dust, moisture, and mechanical damage, thus improving the system's environmental adaptability and reliability. This closed channel structure not only provides physical protection for the connecting cable 231 but also limits its vibration and sway to a certain extent, ensuring the transmission accuracy and response sensitivity of the rope drive system.

[0101] In addition, the material of the guide screw 232 should balance strength, rigidity, and wear resistance. Commonly used materials include high-strength aluminum alloy, stainless steel, or engineering plastics. The specific selection should be optimized based on the working environment, load requirements, and cost. Threaded connections can employ anti-loosening designs, such as spring washers or locking adhesive, to prevent loosening caused by vibration.

[0102] In one embodiment, the first joint 110 includes a joint seat 111 and a joint connector 112. The joint seat 111 can be detachably mounted on the joint connector 112. The joint connector 112, as a structural component connected to an external member, performs the function of transmitting the movement of the power joint 10 to the external mechanical structure, thereby driving the movement of the external member.

[0103] Specifically, there are two joint seats 111, which are symmetrically arranged on opposite sides of the joint connector 112. The two joint seats 111, through their relative arrangement, enclose a shaft portion 1113. This shaft portion 1113 serves as an important structural carrier for mounting the joint bearing 130, providing rotational support for the second joint 120. The joint bearing 130 is installed within the shaft portion 1113, enabling the second joint 120 to rotate flexibly and stably around the axis of the first joint 110.

[0104] The symmetrical arrangement of the two joint seats 111 not only helps to form a structurally complete shaft 1113, but also effectively distributes and bears the torque from the second joint 120 and external loads, improving the mechanical strength and rotational stability of the power joint 10. By rationally designing the size and shape of the joint seats 111, the installation accuracy and load-bearing capacity of the joint bearing 130 can be guaranteed, vibration and wear during operation can be reduced, and the service life of the system can be extended.

[0105] Disassembling the joint seat 111 allows for the inspection, replacement, or adjustment of the joint bearing 130 and the second joint 120, improving maintenance efficiency. The joint connector 112, as the interface for bearing and transmitting power, should be structurally designed to ensure a secure connection with external components, accurate positioning, and to meet the rigidity and stability requirements during power transmission.

[0106] Specifically, there are two drive components 230, which are used to drive the connecting component 220 to move in two opposite directions, thereby realizing the motion control of the power assembly 200 in two directions. The power seat 210 and the connecting component 220 are connected by a rotatable connection. The power bearing 240 is sleeved on the shaft portion 1113 of the first joint 110, and the joint bearing 130 is installed in the shaft portion 1113, realizing the rotatable connection and support between the second joint 120 and the first joint 110, ensuring the rotational stability and transmission accuracy of the joint.

[0107] Specifically, the two drive components 230 are respectively connected to the connector 220 and act on different drive positions of the connector 220. By applying driving torques in opposite directions to the connector 220, the connector 220 can rotate clockwise or counterclockwise around the rotation axis of the power base 210. In this way, the power assembly 200 can realize bidirectional drive control of the second joint 120, meeting the requirements of flexible joint movement in powered robots such as exoskeleton systems.

[0108] One drive component 230 drives the connector 220 to rotate clockwise relative to the power base 210, while the other drive component 230 drives the connector 220 to rotate counterclockwise relative to the power base 210. The coordinated operation of the two drive components 230 allows the connector 220 to achieve rapid and precise angle adjustments in both directions, thereby driving the second joint 120 to rotate bidirectionally relative to the first joint 110, expanding the range of motion and control precision of the power joint 10. This dual-drive structure can also achieve fine-tuning of the joint's movement speed and torque by separately controlling the actions of the two drive components 230, improving the response speed and movement flexibility of the power joint 10.

[0109] This utility model also provides a powered robot, which includes the powered joint 10 in any of the above embodiments. As a key transmission unit in the robot, the powered joint 10 enables power drive and flexible assembly / disassembly of the joint, and is suitable for connection with powered structures, such as the knee joint in an exoskeleton system.

[0110] Specifically, the powered robot in this embodiment achieves quick assembly and disassembly between the power component 200 and the joint component 100 by employing the power joint 10 in any of the above embodiments. The quick-release component 300 provided in the power joint 10, through the cooperation of the moving part 310, the resetting part 320 and the locking part 330, enables the power component 200 to be easily and quickly combined or separated from the joint component 100, simplifying the disassembly and assembly process.

[0111] Compared to the mechanical fixing methods such as bolts and pins commonly used in traditional powered robots, the quick-release component 300 in this embodiment does not rely on complex mechanical alignment and multi-step calibration processes, reducing the requirements for high-precision alignment during assembly and improving the disassembly and assembly efficiency of the power component 200. This structure not only saves maintenance time and labor costs but also reduces the operational difficulty during maintenance, adapting to the needs of rapid replacement or repair on-site.

[0112] Furthermore, the application of the quick-release component 300 enables the powered robot to flexibly switch between powered and non-powered modes, enhancing the adaptability and diverse operational capabilities of the robot system. The design of the power joint 10 ensures the stability of the connection and the reliability of power transmission, while the quick-release mechanism allows for convenient separation or coupling of the power components, improving the overall system's response speed and ease of use.

[0113] In applications such as lower limb exoskeletons, users can easily remove or install the power module using the quick-release component 300, allowing for flexible switching between powered and unpowered modes according to actual needs. This provides reliable power transmission when power assistance is required and allows for quick removal of the power module when power is not needed, reducing the burden of wearing the device, lowering energy consumption, and improving user comfort and system adaptability.

[0114] In addition, the design of the quick-release component 300 ensures connection stability and power transmission reliability during disassembly and assembly, avoids structural loosening or transmission instability caused by frequent disassembly and assembly, and ensures that the power joint 10 can maintain good mechanical performance after multiple disassembly and assembly.

[0115] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0116] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0117] In the embodiments of this application, unless otherwise expressly 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.

[0118] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. 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.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A powered joint, characterized in that, include: A joint assembly includes a first joint and a second joint, wherein the second joint is movably connected to the first joint; A power assembly includes a power base, a connector, and a drive member. The connector is movably connected to the power base and detachably connected to a second joint. The drive member is connected to the connector and used for connection to an external power device. The drive member is used to drive the connector to move relative to the power base. A quick-release assembly is connected to the power seat, and the quick-release assembly is detachably connected to the first joint.

2. The powered joint according to claim 1, characterized in that, The quick-release assembly includes a movable component, a reset component, and a locking component. The movable component is movably connected to the power base. The reset component is connected to both the movable component and the power base. The locking component is movably connected to the movable component. The movable component has a locking slot and a releasing slot. When in the locked position, the movable component drives the locking component to move into the locking slot, and the locking component is engaged with the first joint. In the release position, the moving member drives the locking member to move into the release slot, and the locking member separates from the first joint. The reset member is used to drive the moving member to move into the locking slot.

3. The powered joint according to claim 2, characterized in that, The first joint has a mounting hole, and the inner wall of the mounting hole has a locking groove. The power seat is inserted into the mounting hole. The power seat has a movable hole and a locking hole. The quick-release component passes through the movable hole. In the locked position, the locking member passes through the locking hole and engages with the locking groove. In the released position, the locking member separates from the locking groove.

4. The powered joint according to claim 3, characterized in that, The power seat has a limiting flange, and the limiting flange is located on the inner wall of the movable hole; the reset member includes an elastic member and a pressure ring, the elastic member is sleeved on the movable member, and the opposite ends of the elastic member abut against the pressure ring and the limiting flange respectively; And / or, the outer wall of the moving part is provided with an anti-rotation groove, the power seat is provided with an anti-rotation part, and the anti-rotation groove and the anti-rotation part are inserted into each other; And / or, at least one guide groove is provided on the inner wall of the mounting hole, the guide groove is connected to the mounting hole, and the power seat is provided with at least one guide part, the guide part is inserted into the guide groove; And / or, the inner wall of the mounting hole is further provided with a positioning groove, and the power seat is further provided with a positioning part, wherein the positioning groove and the positioning part are inserted into each other.

5. The powered joint according to claim 1, characterized in that, The first joint is rotatably connected to the second joint, the second joint is provided with an anchoring part, the connecting member is provided with an anchoring pin, and the anchoring pin is detachably connected to the anchoring part.

6. The powered joint according to claim 5, characterized in that, The connector is provided with an anchor seat, the anchor pin is provided on the anchor seat, the power seat is provided with a movable groove, the anchor seat is movably accommodated in the movable groove, and the movable groove is arranged in a fan shape; the first joint is provided with a limiting protrusion, the limiting protrusion is arranged along the circumference of the second joint, and the limiting protrusion is used to abut against the anchor seat when the anchor seat moves to the end of the path.

7. The powered joint according to claim 5, characterized in that, The driving component includes a connecting cable, the connecting component has a groove, the groove is at least partially arranged around the circumference of the connecting component, the connecting cable is at least partially housed in the groove and connected to the connecting component; the power base has a movable cavity, the connecting component is rotatably connected to the power base and movably housed in the movable cavity, the power base also has a guide hole communicating with the movable cavity, and the connecting cable passes through the guide hole and is used to connect with an external power device.

8. The powered joint according to claim 7, characterized in that, The connecting cable includes a cable fixing part and a cable body. The cable fixing part is connected to the end of the cable body. The cable groove includes a snap-fit ​​groove and a connecting groove connected to each other. The connecting groove is arranged circumferentially around the connector. The cable fixing part snaps into the snap-fit ​​groove. And / or, the drive unit further includes a guide screw, which is detachably connected to the power base, and the connecting cable passes through the guide screw.

9. The powered joint according to any one of claims 1-8, characterized in that, The number of driving components is two, and the two driving components are used to drive the connecting component to move in two directions.

10. A powered robot, characterized in that, Including the powered joint as described in any one of claims 1-9.

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