A joint module, a torso module, and a robot

Abstract

This application provides a joint module, a torso module, and a robot, relating to the field of robotics. The joint module includes at least N levels of joint components. Each joint component has a joint driver. The joint driver of the Nth level joint component is connected to the (N+1)th level joint component to drive the (N+1)th level joint component to rotate about the joint rotation axis, satisfying that: N is a positive integer, N≥1; the joint component also has a through-path wiring channel extending along the joint rotation axis, used for threading wires. This application can reduce the number of parts while optimizing the internal wiring path and improving the lifespan of the wires and the reliability, compactness, and aesthetics of the robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a joint module, a torso module, and a robot. Background Technology

[0002] In humanoid robot design, the joint motion system is the core component for achieving flexible movements. Robot joints are typically driven by motors, and power and control signals are transmitted through wiring harnesses to support the free movement of each joint. However, because robot joints need to perform high-frequency, high-precision rotational movements, it is clear that using wires at the joints would subject the robot to tensile, frictional, and torsional forces, affecting its lifespan and product stability. Utility Model Content

[0003] In view of this, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a joint module, torso module and robot that can reduce the number of parts, optimize the internal wiring path, and improve the service life of the wires and the reliability, compactness and aesthetics of the robot.

[0004] This utility model provides the following technical solution: In a first aspect, embodiments of this application provide a joint module, the joint module comprising: At least N levels of joint assembly, each joint assembly having a joint drive, the joint drive of the Nth level joint assembly being connected to the (N+1)th level joint assembly to drive the (N+1)th level joint assembly to rotate about the joint rotation axis, and satisfying that: N is a positive integer and N≥1; the joint assembly also has a through-type wiring channel extending along the joint rotation axis, the wiring channel being used to pass through a wire.

[0005] In some embodiments of the first aspect, the wiring channel and the joint rotation axis are coaxially arranged.

[0006] In some embodiments of the first aspect, the joint drive is configured as a drive motor having a main shaft whose axis is collinear with the joint rotation axis, and the wiring channel is disposed through the main shaft.

[0007] In some embodiments of the first aspect, the drive motor has a housing, and the spindle of the Nth stage joint assembly and the housing of the N+1th stage joint assembly are connected; Furthermore, the wiring channel on the spindle of the Nth-level joint assembly is connected to the housing of the N+1th-level joint assembly.

[0008] In some embodiments of the first aspect, in the Nth-level joint assembly and the N+1th-level joint assembly, a connecting end is formed on the side wall of the housing of the N+1th-level joint assembly, and the main shaft of the Nth-level joint assembly is embedded in the connecting end of the housing of the N+1th-level joint assembly.

[0009] In some embodiments of the first aspect, when N is 2, the joint rotation axis of the first-stage joint assembly and the joint rotation axis of the second-stage joint assembly are arranged perpendicularly.

[0010] Secondly, embodiments of this application also provide a torso module, the torso module including a shoulder module, an upper arm module and a joint module as described in any of the above embodiments; wherein, the housing of the first-stage joint assembly is connected to the shoulder module, and the spindle of the drive motor of the last-stage joint assembly is connected to the upper arm module.

[0011] In some embodiments of the second aspect, the upper arm module has an upper arm, the shoulder joint end of the upper arm has two connecting portions, the two connecting portions are spaced apart, the drive motor of the final stage joint assembly is located between the two connecting portions, the spindle of the drive motor of the final stage joint assembly is connected to one of the connecting portions, and the housing of the drive motor of the final stage joint assembly is rotatably connected to the other connecting portion.

[0012] In some embodiments of the second aspect, the connecting portion has a through-hole for exposing the corresponding end of the wiring channel, and the connecting portion is detachably fitted with a sealing cover for closing the inspection hole.

[0013] In some embodiments of the second aspect, the upper arm is formed with a threading channel that extends along the extension direction of the upper arm, and the threading channel is connected to the area between the two connecting portions.

[0014] Thirdly, embodiments of this application also provide a robot, the robot including a torso module as described in any of the above embodiments.

[0015] The embodiments of this utility model have the following advantages: The joint module provided by this invention adopts a multi-stage series design, with each stage integrating a drive component and a coaxial wiring channel. The Nth-stage joint drive component (such as a drive motor) directly drives the N+1th-stage joint component to rotate around the axis, forming a cascaded transmission structure to achieve multi-degree-of-freedom motion. The wiring channels of each joint component are coaxially arranged along the rotation axis, with the wires passing through the inside of the channels to avoid external exposure. When the joint rotates, the wires remain within the channels and do not twist with the axis, significantly reducing external bending or friction, eliminating the need for external wire fixing components, and reducing the length of the wires used, thus saving costs. Obviously, through the axis alignment design, the wires mainly bear uniform torsional loads during joint movement, rather than repeated bending or stretching, adapting to high-frequency rotation conditions.

[0016] Therefore, the wires are built into the coaxial channel, avoiding external mechanical damage (such as pulling and friction), extending service life, and reducing the failure rate. The coaxial layout of the wiring and drive components reduces the space occupied by additional cables and shrinks the joint size. The unified design of multi-level joints reduces the number of parts, facilitating assembly and maintenance. The wires are free from external interference, ensuring stable signal transmission and supporting high-precision control. Concealed wiring eliminates exposed clutter, improving the overall design neatness. The simplified wire harness protection structure reduces material and maintenance costs.

[0017] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This diagram shows a structural schematic of a joint module according to an embodiment of the present invention from one perspective. Figure 2 This diagram shows a structural schematic of a joint module provided in one embodiment of the present invention from another perspective; Figure 3 It shows Figure 2 Schematic diagram of the AA section; Figure 4 This diagram shows a structural schematic of a housing according to an embodiment of the present invention from one perspective; Figure 5 This diagram shows a structural schematic of a boom provided in one embodiment of the present invention from one perspective; Figure 6 This diagram shows a structural schematic of a joint module according to another embodiment of the present invention from one perspective. Figure 7 This diagram illustrates a structural schematic of a joint module according to another embodiment of the present invention from another perspective.

[0020] Explanation of key component symbols: 100 - Drive motor; 100a - First-stage drive motor; 100b - Second-stage drive motor; 110 - Spindle; 120 - Housing; 121 - Connecting end; 130 - Wiring channel; 130a - First-stage wiring channel; 130b - Second-stage wiring channel; 140 - Control board; 200 - Main boom; 210 - Connecting part; 220 - Enclosed cover plate; 230 - Inspection hole; 240 - Cable routing hole; A1 - Rotation axis of the first joint; A2 - Rotation axis of the second joint. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] 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 or an electrical connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0024] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] In related technologies, the joint motion system is the core component for achieving flexible movements in the design of humanoid robots. Robot joints are typically driven by motors, and power and control signals are transmitted through wiring harnesses to support the free movement of each joint. However, because robot joints need to perform high-frequency, high-precision rotational movements, the use of wires at the joints will obviously subject the robot to tensile, frictional, and torsional forces, affecting its lifespan and product stability.

[0027] As shown in Figure 1, Figure 2 and Figure 3 As shown, in order to solve the above-mentioned technical problems, this application provides a joint module, which includes: at least N levels of joint components, each joint component having a joint drive, the joint drive of the Nth level joint component being connected to the N+1th level joint component to drive the N+1th level joint component to rotate around the joint rotation axis, and satisfying: N is a positive integer, N≥1; the joint component also has a through wiring channel 130, which extends along the joint rotation axis and is used to pass wires through.

[0028] In these embodiments, each joint assembly includes a joint driver, and each joint driver is connected to the next level joint assembly, thereby achieving step-by-step actuation. For example, in a three-level joint module, the first-level driver drives the second-level assembly to rotate around a certain axis, the second-level driver then drives the third-level assembly to rotate around another axis, and so on, ultimately achieving multi-degree-of-freedom motion. It should be noted that in this embodiment, the joint module includes at least two levels of joint assemblies.

[0029] Each joint assembly also has a through-type wiring channel 130 inside, which extends along the joint rotation axis and is used to run wires so that power and control signals can be stably transmitted to the end effector or moving parts.

[0030] For example, the joint drive can be a servo motor, brushless motor, stepper motor, or harmonic geared motor, or other power unit suitable for robot applications. Preferably, the joint drive is integrated into the joint housing, forming a modular structure that facilitates installation, replacement, and maintenance.

[0031] The wiring channel 130 runs through the entire joint assembly, extending along its axis of rotation. This design ensures that the wires remain on the center line of rotation, preventing bending, tensile, or torsional stresses caused by rotation.

[0032] For example, the wiring channel 130 can be a circular through-hole, a rectangular groove, or a polygonal channel, the size of which should be adapted to the diameter of the wires or cable bundles being run through it. Optionally, a wear-resistant layer or a lubricating coating can be provided on the inner wall of the channel to reduce the friction between the wires and the channel and extend its service life.

[0033] Of course, dust covers, sealing rings or elastic guide sleeves should be installed at the entrance or exit of the wiring channel 130 to prevent dust from entering or wires from shifting.

[0034] It should be noted that the wiring method is as follows: the wires pass through the wiring channel of the N-level joint assembly, realizing the routing from the N-level joint assembly to the N+1-level joint assembly, and are electrically connected to the control board of the N+1-level joint assembly to realize signal transmission and power supply. Since the wires are always at the rotation axis position, they are not affected by external mechanical stress, which significantly improves the reliability and lifespan of the wires. For example, the control board is a PCBA board.

[0035] In some embodiments, multiple conductors, flexible flat cables (FPCs), optical fibers or other signal transmission media can share the same cabling channel 130 to achieve multifunctional integrated cabling.

[0036] In this embodiment, taking N=2 as an example, the joint module of this utility model consists of two-stage joint components: The first-level joint assembly is mounted on the robot's torso, and its drive unit drives the second-level assembly to rotate around the Z-axis. The second-level assembly can then drive the end effector to rotate around the X-axis or Y-axis, enabling flexible movements in two-dimensional or three-dimensional space. Each first-level assembly has a wiring channel 130 extending along its respective rotation axis, forming a wire path.

[0037] Clearly, the joint module adopts a multi-stage cascade design, with each joint component integrating a drive unit and a coaxial wiring channel 130. The Nth-stage joint drive unit (such as a drive motor 100) directly drives the N+1th-stage joint component to rotate around the axis, forming a cascaded transmission structure to achieve multi-degree-of-freedom motion. The wiring channels 130 of each joint component are coaxially arranged along the rotation axis, with the wires passing through the inside of the channels to avoid external exposure. When the joint rotates, the wires only remain within the channels and do not twist with the axis, significantly reducing external bending or friction, eliminating the need for external wire fixing components, and reducing the length of the wires used, thus saving costs. Obviously, through the axis alignment design, the wires mainly bear uniform torsional loads during joint movement, rather than repeated bending or stretching, adapting to high-frequency rotation conditions.

[0038] Therefore, the wires are built into the coaxial channel, avoiding external mechanical damage (such as pulling and friction), extending service life, and reducing the failure rate. The coaxial layout of the wiring and drive components reduces the space occupied by additional cables and shrinks the joint size. The unified design of multi-level joints reduces the number of parts, facilitating assembly and maintenance. The wires are free from external interference, ensuring stable signal transmission and supporting high-precision control. Concealed wiring eliminates exposed clutter, improving the overall design neatness. The simplified wire harness protection structure reduces material and maintenance costs.

[0039] like Figure 3 As shown, in some embodiments, the wiring channel 130 and the joint rotation axis are coaxially arranged.

[0040] In these embodiments, the wiring channel 130 is coaxially arranged with the joint rotation axis, that is, the central axis of the wiring channel 130 is completely coincident with the rotation axis of the joint assembly.

[0041] Each joint assembly includes a housing, a drive unit, a transmission mechanism, and a wiring channel 130 running through its center. The wiring channel 130 is formed by a through hole machined in the center of the joint housing, and its axis is aligned with the joint rotation axis, forming a coaxial structure.

[0042] The conductors remain aligned with the axis of rotation, preventing bending, twisting, or stretching due to rotational motion. This reduces stress concentration during operation, significantly extending their lifespan. It also simplifies wiring paths, facilitating continuous installation and maintenance of conductors in multi-stage joint modules.

[0043] like Figure 3 As shown, in some embodiments, the joint drive is configured as a drive motor 100, the drive motor 100 has a main shaft 110, the axis of the main shaft 110 is collinear with the axis of joint rotation, and the wiring channel 130 is disposed through the main shaft 110.

[0044] In these embodiments, the joint drive is specifically implemented as a drive motor 100, which has a spindle 110 whose axis is collinear with the joint rotation axis. Furthermore, a wiring channel 130 is provided through the spindle 110 to ensure that the wires can pass through at the very center, thereby minimizing the stress on the wires caused by joint rotation.

[0045] like Figure 1 and Figure 2 As shown, in some embodiments, the drive motor 100 has a housing 120, and the spindle 110 of the Nth-level joint assembly is connected to the housing 120 of the N+1th-level joint assembly.

[0046] In these embodiments, a two-stage joint assembly is taken as an example. Of course, the number of stages in the joint assembly can also be three, four, five, etc. The drive motor 100 has a housing 120. The spindle 110 of the first-stage joint assembly is fixedly connected to the housing 120 of the second-stage joint assembly to realize power transmission. Meanwhile, in this application, the wiring channel 130 on the first-stage spindle 110 is the first-stage wiring channel 130a, and the wiring channel 130 on the second-stage spindle 110 is the second-stage wiring channel 130b. The first-stage wiring channel 130a and the second-stage wiring channel 130b are connected to form multiple wiring paths, which are connected in series.

[0047] The spindle 110 of the drive motor 100 in the first-stage joint assembly serves as the output end, connected to the end of the housing 120 of the second-stage joint assembly facing the drive motor 100 via a coupling; alternatively, the connection between the spindle 110 of the drive motor 100 in the first-stage joint assembly and the end of the housing 120 of the second-stage joint assembly facing the drive motor 100 can be a threaded connection, a keyway thread fit, or a flange connection, ensuring that the spindle 110 can reliably transmit rotational motion to the next-stage joint assembly. During assembly, the coaxiality between the spindle 110 and the next-stage housing 120 must be ensured to avoid vibration or wear caused by eccentricity.

[0048] The first-stage spindle 110 has a centrally penetrating first-stage wiring channel 130a, the outlet of which connects to the second-stage wiring channel 130b within the second-stage joint assembly housing 120. Both ends of the wiring channel 130b are tapered guide sections to ensure smooth wire passage. Corresponding wiring holes or wire grooves can also be integrated within the second-stage joint assembly housing 120, allowing the wires to continue extending along the joint's rotation axis and ultimately reach the end effector or other moving parts.

[0049] Taking the secondary joint assembly as an example, after the wire is introduced, it passes through the first-level wiring channel 130a and the second-level wiring channel 130b of the second-level joint assembly in sequence, and is electrically connected to the control board of the drive component of the second-level joint assembly.

[0050] like Figure 1 , Figure 2 , Figure 4 and Figure 7 As shown, in some embodiments, in the Nth-level joint assembly and the N+1th-level joint assembly, the side wall of the housing 120 of the N+1th-level joint assembly is provided with a connecting end 121, and the outer edge of the main shaft 110 of the Nth-level joint assembly is embedded in the connecting end 121 of the housing 120 of the N+1th-level joint assembly.

[0051] In these embodiments, between the Nth-level joint assembly and the N+1th-level joint assembly, the housing 120 of the N+1th-level joint assembly has a connecting end 121 protruding outward on its side wall. The connecting end 121 is used to cooperate with the main shaft 110 of the drive motor 100 of the previous-level joint assembly. The main shaft 110 of the Nth-level joint assembly is embedded in the connecting end 121 and is fixedly connected or transmitted to it, thereby realizing power transmission and a stable structural connection.

[0052] The connecting end 121 is formed by locally thickening or extending the side wall of the housing 120 of the (N+1)th stage joint assembly. Its shape can be cylindrical, polygonal, flange-shaped, or other structures adapted for insertion into the spindle 110. The connecting end 121 may have a positioning groove, keyway, threaded hole, or other structures for circumferential fixation or axial limiting with the Nth stage spindle 110. In this embodiment, as... Figure 7 As shown, the connecting end adopts a circular positioning groove structure, which is adapted to the shape of the corresponding end of the spindle. The connecting end is inserted into the positioning groove of the connecting end, and the two are fitted with a clearance. Multiple fastening screws are set on the periphery to realize the connection between the two.

[0053] The drive motor 100 spindle 110 of the Nth-level joint assembly extends from one side and directly embeds into the connecting end 121 on the housing 120 of the N+1th-level joint assembly. The embedding method can be various, including interference fit, key connection, pin connection, threaded connection, snap-fit ​​connection, or flange connection. A sealing ring or dustproof structure can also be provided between the spindle 110 and the connecting end 121 to prevent dust from entering the joint and affecting transmission performance.

[0054] It should be noted that the housing 120 and the robot's outer shell are integrated, and the structure that connects to the Nth level joint assembly is smoothly extended. This eliminates the need for a separate outer shell for the joint, reducing the number of structural components and making the overall structure more compact.

[0055] like Figure 3 and Figure 6As shown, in some embodiments, when N is 2, the first joint rotation axis A1 of the first-stage drive motor 100a of the first-stage joint assembly and the second joint rotation axis A2 of the second-stage drive motor 100b of the second-stage joint assembly are arranged perpendicularly.

[0056] In these embodiments, when the joint module includes two-stage joint components (i.e., N=2), the drive motor of the first-stage joint component is the first-stage drive motor 100a, and the joint rotation axis corresponding to the first-stage drive motor 100a is the first joint rotation axis A1.

[0057] The drive motor for the second-stage joint assembly is the second-stage drive motor 100b, and the joint rotation axis corresponding to the second-stage drive motor 100b is the second joint rotation axis A2.

[0058] The rotation axis of the first-level joint assembly is perpendicular to the rotation axis of the second-level joint assembly. This orthogonal arrangement enables independent rotational control between the two degrees of freedom, and is suitable for humanoid robot end effectors or multi-degree-of-freedom motion mechanisms that require high flexibility. In this application, a robot shoulder module is used as an example.

[0059] The first-stage joint assembly includes a drive motor 100, whose main shaft 110 extends along a first direction, forming the first joint rotation axis A1. The first-stage joint assembly can be mounted on the robot's torso or other support structure via a base or fixed bracket, which in this embodiment is the front end of the shoulder. The main shaft 110 has a through-path wiring channel 130 through which wires pass to provide power or transmit signals.

[0060] The second-stage joint assembly is perpendicular to the first joint rotation axis A1 via its joint rotation axis A2 on its housing 120.

[0061] This vertical arrangement can be achieved as follows: The housing 120 of the second-stage joint assembly has a connecting end 121 on its side wall, the axis of which is perpendicular to the direction of the first-stage spindle 110. The second-stage joint assembly also has a wiring channel 130 extending along its rotation axis, which connects with the wiring channel 130 of the first stage to form a continuous wiring path.

[0062] like Figure 1 As shown, in some embodiments, this application also provides a torso module, which includes a shoulder module, an upper arm module, and a joint module; wherein, the housing 120 of the first-stage joint assembly is connected to the shoulder module, and the spindle 110 of the drive motor 100 of the last-stage joint assembly is connected to the upper arm module.

[0063] In these embodiments, the present invention also provides a torso module, which is particularly suitable for the design of upper limb structures for humanoid robots. This joint module, serving as an intermediate transmission component connecting the shoulder module and the upper arm module, achieves an integrated design of multi-degree-of-freedom motion control and wire path optimization.

[0064] The joint module is positioned between the shoulder module and the upper arm module, serving as a transitional structure between the two. The joint module has at least N levels of joint components (e.g., N=2), each level having a drive motor and wiring channels. In this embodiment, N=2.

[0065] The housing 120 of the first-stage (i.e., the first-stage) joint assembly is fixedly connected to the shoulder module, serving as the power input end of the entire joint module.

[0066] The drive motor 100 and spindle 110 of the final stage (i.e., the second stage) joint assembly are connected to the boom module and are used to drive the boom module to perform rotation or swinging movements.

[0067] The connection between the primary joint assembly and the shoulder module can be achieved through bolted connections, flange connections, or embedded assembly. The connection point can be equipped with locating pins or keyways to ensure assembly accuracy. Simultaneously, the primary wiring channel 130 connects to the internal wiring system of the shoulder module, enabling stable power and signal transmission.

[0068] The main shaft 110 of the final stage drive motor 100 extends out of the housing 120 and is embedded in the connection structure of the boom module. Power transmission between the main shaft 110 and the boom module can be achieved through couplings, key connections, or direct nesting. The wiring channel 130 provided inside the main shaft 110 continues to connect with the internal wiring of the boom module, so that the wires ultimately reach the end effector of the boom.

[0069] Obviously, the torso module provided in this embodiment has the following advantages: The joint module, shoulder module, and upper arm module are organically integrated to improve the overall structural compactness. Through the combination of multi-level joint modules, highly free-form humanoid movements are achieved. All wires are hidden inside the joints, reducing external wiring interference and improving aesthetics and safety. The wires are always positioned at the axis of rotation, minimizing stress and reducing the risk of damage.

[0070] For example, it can be used in various intelligent equipment fields such as humanoid robots, industrial collaborative robotic arms, and medical rehabilitation equipment.

[0071] like Figure 5As shown, in some embodiments, the upper arm module has an upper arm 200, and the shoulder joint end of the upper arm 200 has two connecting parts 210, which are spaced apart. The drive motor 100 of the final joint assembly is located between the two connecting parts 210. The main shaft 110 of the drive motor 100 of the final joint assembly is connected to one of the connecting parts 210, and the housing 120 of the drive motor 100 of the final joint assembly is rotatably connected to the other connecting part 210.

[0072] In these embodiments, the upper arm module includes an upper arm 200, which has two spaced-apart connecting parts 210 at one end near the shoulder (i.e., the "shoulder joint end"); the drive motor 100 of the final joint assembly is located between the two connecting parts 210, and is rotatably connected to the two connecting parts 210 through its main shaft 110 and housing 120, thereby forming a stable double support structure.

[0073] For example, the shoulder joint end and the connecting portion 210 of the upper arm 200 are integrally formed. Two connecting portions 210 extend from the shoulder joint end along the length of the upper arm, and are spaced apart along the shoulder width direction. The connecting portion 210 can be an ear-shaped structure, a flange structure, or a perforated plate structure, for mounting in conjunction with the drive motor 100 of the final stage joint assembly.

[0074] The distance between the two connecting parts 210 is slightly larger than the width of the final joint assembly drive motor 100, so as to facilitate the motor's embedded assembly.

[0075] The spindle 110 of the drive motor 100 extends to one side and is inserted into a bearing seat or mounting hole on one of the connecting parts 210. The spindle 110 and the connecting part 210 can be circumferentially fixed by means of keyway fit, interference fit, or pin positioning. The end of the spindle 110 may also be provided with a locking nut or snap ring structure to prevent axial movement.

[0076] The outer wall of the housing 120 of the drive motor 100 is rotatably connected to another connecting part 210 via a rotating shaft or hinge structure. A rolling bearing or a sliding bearing can be installed between the housing 120 and the connecting part 210 to improve rotational flexibility. This connection primarily supports the entire motor, enabling it to stably drive the boom 200 in rotational motion.

[0077] The structural solution provided in this embodiment has the following advantages: The drive motor 100 is supported by a double connecting part 210, effectively distributing the load and improving the overall structural rigidity and vibration resistance. A precision-fit structure is used between the spindle 110 and the connecting part 210 to prevent slippage or eccentricity. The conductor is always located on the rotation axis, reducing the impact of bending, tension, and other stresses, thus extending its service life.

[0078] like Figure 2 and Figure 3 As shown, in some embodiments, the connecting part 210 has a through-hole 230 for exposing the corresponding end of the wiring channel, and the connecting part 210 is detachably fitted with a sealing cover 220 for sealing the inspection hole 230.

[0079] In these embodiments, at least one of the two connecting portions 210 provided at the shoulder joint end of the upper arm module has a through inspection hole 230. The position of the inspection hole 230 corresponds to the end of the wiring channel 130 in the spindle 110 of the final joint assembly drive motor 100, so that the wire can enter or exit through the hole during assembly or maintenance.

[0080] In addition, the connection part 210 is also provided with a removable sealing cover 220, which is used to seal the inspection hole 230 after the wire is installed, so as to prevent dust from entering, improve the overall structural strength, and enhance the appearance.

[0081] The inspection hole 230 is formed on the side wall or end face of the connecting part 210, and its axial direction is aligned with the wiring channel 130 of the main spindle 110 of the drive motor 100. The diameter of the inspection hole 230 is slightly larger than the outer diameter of the wire harness or flexible cable to ensure that the wires can be easily passed through. Before the motor is installed, the inspection hole 230 can be used to guide the wires out of the wiring channel 130 of the main spindle 110, or for inspection and replacement of the wires during later maintenance.

[0082] The cover plate 220 is a flat or curved plate made of metal or engineering plastic, and its dimensions match the access hole 230. For example, the cover plate is detachably connected by screws, clips, magnetic closures, or quick-release mechanisms. A sealing ring or elastic gasket is provided between the cover plate and the connecting part 210 to improve dust and water resistance.

[0083] like Figure 5 As shown, in some embodiments, the upper arm 200 is provided with a wire channel 240, which extends along the extension direction of the upper arm 200, and the area between the wire channel 240 and the two connecting portions 210 is connected.

[0084] In these embodiments, the upper arm 200 body of the upper arm module has a wire channel 240 extending along its length. This channel guides and accommodates wires leading from the end-joint assembly and continues to deliver them along the extension direction of the upper arm 200 to downstream components (such as the forearm module, hand actuator, or sensor). Furthermore, the wire channel 240 communicates with the space between the two connecting portions 210 at the shoulder joint end to achieve seamless connection with the internal wiring channel 130 of the end-joint assembly.

[0085] The wire channel 240 is located inside the main body of the upper arm 200 and is provided along its main extension direction (e.g., from the shoulder to the elbow). The channel can be circular, elliptical, or polygonal, and its size is adapted to the diameter of the wire bundle or flexible cable through which it is inserted.

[0086] In some embodiments, the wire channel 240 may also be composed of multiple segmented channels spliced ​​together and connected by transition sections.

[0087] One end of the threading channel 240 extends to the shoulder joint end of the upper arm 200 and communicates with the space between the two connecting parts 210. This connection position is directly opposite to the outlet of the wiring channel 130 in the spindle 110 of the final stage joint assembly drive motor 100, ensuring that the wire can smoothly enter the interior of the upper arm 200 from the joint assembly; a guide slope or elastic guide sleeve can be provided at the connection to prevent the wire from bending or getting stuck; if the connecting part 210 is provided with an inspection hole 230 and a sealing cover 220, the wire can also be introduced into the threading channel 240 through this hole.

[0088] In some embodiments, this application also provides a robot, which includes a torso module.

[0089] Since the aforementioned torso module has the aforementioned technical effects, a robot including this torso module should have the same technical effects, which will not be elaborated further here. For example, the robot in this application is a humanoid robot.

[0090] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0091] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0092] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A joint module, characterized in that, The joint module includes: At least N levels of joint assembly, each joint assembly having a joint drive, the joint drive of the Nth level joint assembly being connected to the (N+1)th level joint assembly to drive the (N+1)th level joint assembly to rotate about the joint rotation axis, and satisfying that: N is a positive integer and N≥1; the joint assembly also has a through-type wiring channel extending along the joint rotation axis, the wiring channel being used to pass through a wire.

2. The joint module according to claim 1, characterized in that The joint drive component is configured as a drive motor, the drive motor has a main shaft, the axis of the main shaft is collinear with the axis of rotation of the joint, and the wiring channel is provided through the main shaft.

3. The joint module according to claim 2, characterized in that The drive motor has a housing, and the main shaft of the Nth stage joint assembly is connected to the housing of the N+1th stage joint assembly; Furthermore, the wiring channel on the spindle of the Nth-level joint assembly is connected to the housing of the N+1th-level joint assembly.

4. The joint module according to claim 3, characterized in that In the Nth-level joint assembly and the N+1th-level joint assembly, a connecting end is formed on the side wall of the housing of the N+1th-level joint assembly, and the main shaft of the Nth-level joint assembly is embedded in the connecting end of the housing of the N+1th-level joint assembly.

5. The joint module according to claim 4, characterized in that When N is 2, the joint rotation axis of the first-stage joint assembly and the joint rotation axis of the second-stage joint assembly are set perpendicularly.

6. A torso module characterized by, The torso module includes a shoulder module, an upper arm module, and a joint module as described in any one of claims 1 to 5; wherein the housing of the first-stage joint assembly is connected to the shoulder module, and the spindle of the drive motor of the last-stage joint assembly is connected to the upper arm module.

7. The torso module of claim 6, wherein, The upper arm module has an upper arm, and the shoulder joint end of the upper arm has two connecting parts, which are spaced apart. The drive motor of the final stage joint assembly is located between the two connecting parts. The main shaft of the drive motor of the final stage joint assembly is connected to one of the connecting parts, and the housing of the drive motor of the final stage joint assembly is rotatably connected to the other connecting part.

8. The torso module according to claim 7, characterized in that, The connecting part has a through inspection hole for exposing the corresponding end of the wiring channel, and the connecting part is detachably fitted with a sealing cover for closing the inspection hole.

9. The torso module according to claim 7 or 8, characterized in that, The upper arm has a threading channel that extends along the extension direction of the upper arm, and the threading channel is connected to the area between the two connecting parts.

10. A robot, characterized in that The robot includes a torso module as described in any one of claims 6 to 9.

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