Power unit assembly, joint module and legged robot

Abstract

The application provides a power unit assembly, a joint module and a foot-type robot. The power unit assembly comprises a main shell, a front end cover and a rear end cover, the main shell is open at both ends, and the front end cover and the rear end cover are respectively in sealing connection with the main shell; the power unit assembly further comprises a motor, a speed reduction mechanism and an output flange; the output flange is in transmission connection with the motor through the speed reduction mechanism; the front end cover is in annular structure, the output flange is nested in the front end cover and is in rotary connection with the front end cover; wherein, the output flange is partially exposed outside the front end cover, and the output flange and the front end cover are sealed. In the above technical scheme, the space for accommodating the motor and the speed reduction mechanism is formed by adopting the split main shell, the front end cover and the rear end cover, thereby improving the safety of the motor and the speed reduction mechanism. In addition, the main shell, the front end cover and the rear end cover are sealed, and the output flange and the front end cover are sealed, thereby improving the sealing property of the power unit assembly, and further improving the protection of the motor and the speed reduction mechanism.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a power unit assembly, a joint module, and a legged robot. Background Technology

[0002] Joint modules have become one of the core components of robots in recent years. For example, bipedal and quadrupedal robots each carry more than ten joint modules. Multiple joint modules are connected in a certain way to form the robot's limbs, which is the basis for achieving flexible and varied limb movements.

[0003] Due to technological advancements in recent years, various application scenarios have placed higher demands on the sealing of robots. As one of the core components, the joint module also needs to be designed with proper sealing. However, most current products do not consider sealing design. Utility Model Content

[0004] In view of this, this application provides a power unit assembly, a joint module, and a legged robot to improve the protection effect of the power unit assembly on its internal motor and reduction mechanism.

[0005] In a first aspect, a power unit assembly is provided for use in a legged robot. The power unit assembly includes a main housing, a front end cover, and a rear end cover. The main housing has openings at both ends, and the front end cover and the rear end cover are respectively sealed to the two ports of the main housing. The power unit assembly also includes a motor, a reduction gear mechanism, and an output flange; wherein the output flange is connected to the motor via the reduction gear mechanism. The front cover has an annular structure, and the output flange is nested inside the front cover and rotatably connected to the front cover; wherein, the output flange portion is exposed outside the front cover, and the output flange and the front cover are sealed.

[0006] In the above technical solution, the safety of the motor and reduction mechanism is improved by using a separate main housing, front cover, and rear cover to enclose the space for the motor and reduction mechanism. Furthermore, the sealing between the main housing, front cover, and rear cover, as well as between the output flange and the front cover, improves the sealing performance of the power unit assembly, thereby enhancing the protection of the motor and reduction mechanism.

[0007] In one specific implementation, the main housing has a first cavity and a second cavity that communicate with each other; the diameter of the first cavity is larger than that of the second cavity; the first cavity is located near a first end of the main housing; the second cavity is used to accommodate the motor and the reduction mechanism. The front end cap is at least partially located within the first cavity; The end face of the front cover inserted into the first cavity abuts against the main housing axially; The end of the front cover that is inserted into the first cavity is provided with a beveled surface; The beveled surface forms an annular gap with the side wall of the first cavity; a first sealing element is disposed within the gap. The gap between the beveled surface and the side wall of the first cavity accommodates the first sealing element, allowing for sealing of the front cover in both radial and axial directions, thus improving the sealing effect.

[0008] In one specific implementation scheme, the cross-section of the gap formed by the sidewall of the first cavity and the oblique surface is a triangular cross-section; The first seal has a circular cross-section when not compressed. Axial and radial sealing are achieved through the deformation of the circular seal within the triangular gap, thus improving the sealing effect.

[0009] In one specific feasible implementation, the triangular cross-section is an isosceles triangle; Let the area of ​​the triangular cross-section be S1, and the area of ​​the circular cross-section be S2; then: 1≤S1:S2≤1.2. This ensures that the first seal has sufficient deformation for sealing while also reducing the risk of aging failure due to excessive deformation of the first seal.

[0010] In one specific implementation, the first end of the main housing is provided with a plurality of first protrusions spaced apart, and a recessed area is formed between the plurality of first protrusions; wherein, the extending direction of the first protrusions is along the axial direction of the main housing; The outer peripheral surface of the front cover is provided with a second protrusion that engages with the recessed area. The power unit assembly also includes a threaded connector that passes radially through the first protrusion and is threadedly connected to the front end cover. The first and second protrusions improve the stability of the front end cover, and the radial insertion of the threaded connector reduces the axial dimension of the power unit assembly, thus reducing interference with components connected to the output flange.

[0011] In one specific implementation, a groove is provided on the end face of the second end of the main housing and / or on the end face of the rear end cover facing the main housing; A second sealing element is embedded in the groove. The groove facilitates the fixing of the second sealing element and improves the sealing effect between the rear end cover and the main housing.

[0012] In one specific implementation, the power unit assembly further includes a circuit board located on the side of the motor away from the reduction gear and electrically connected to the motor; A window is set on the rear cover; The circuit board has a port on the side opposite to the motor, and the port is exposed inside the window and sealed to the side wall of the window. It also includes a connector that is electrically connected to the port. The sealing between the port and the rear cover is improved by sealing the port and the window.

[0013] In one specific implementation, the port includes a first port and a second port arranged side by side; the connector includes a first connector and a second connector; the first connector is pluggably connected to the first port, and the second connector is pluggably connected to the second port; wherein... The first connector has a first connection terminal and a first connection cable electrically connected to the first connection terminal; the extension direction of the first connection cable intersects the length direction of the first connection terminal; The second connector has a second connecting terminal and a second connecting cable electrically connected to the second connecting terminal; the extension direction of the second connecting cable intersects the length direction of the second connecting terminal. The intersection of the length directions of the two connecting terminals of the two connectors with the length directions of the two connecting cables allows the two connecting cables to fit snugly against the rear cover, facilitating wiring and reducing interference between the connecting cables and other components.

[0014] In one specific implementation, the inner annular surface of the front cover is provided with an annular groove, and a third sealing element is disposed within the annular groove. The front cover and the output flange are sealed together by the third sealing element. The third sealing element, positioned within the annular groove, seals the output flange and the front cover, thereby improving the sealing effect.

[0015] In one specific feasible implementation, the front end cover and the main housing are an integral structure, or... The rear end cover and the main housing are integrally formed. This reduces the number of components, thereby minimizing gaps at the joints and improving the sealing effect.

[0016] Secondly, a joint module is provided, comprising a first joint component, a second joint component, and the power unit assembly described in any one of the preceding embodiments; wherein... The first joint component and the second joint component are rotatably connected through the power unit assembly, and the main housing is fixedly connected to the first joint component; the output flange is fixedly connected to the second joint component.

[0017] In the above technical solution, the safety of the motor and reduction mechanism is improved by using a separate main housing, front cover, and rear cover to enclose the space for the motor and reduction mechanism. Furthermore, the sealing between the main housing, front cover, and rear cover, as well as between the output flange and the front cover, improves the sealing performance of the power unit assembly, thereby enhancing the protection of the motor and reduction mechanism.

[0018] Thirdly, a legged robot is provided, comprising a body, an articulated arm, and a power unit assembly as described in any of the above embodiments; wherein... The main body and the articulated arm are rotatably connected via the power unit assembly; The main housing is fixedly connected to the body; the output flange is fixedly connected to the articulated arm.

[0019] In the above technical solution, the safety of the motor and reduction mechanism is improved by using a separate main housing, front cover, and rear cover to enclose the space for the motor and reduction mechanism. Furthermore, the sealing between the main housing, front cover, and rear cover, as well as between the output flange and the front cover, improves the sealing performance of the power unit assembly, thereby enhancing the protection of the motor and reduction mechanism.

[0020] In one specific implementation, the legged robot is a bipedal robot or a quadrupedal robot. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this application and, together with the specification, serve to explain the technical solutions of this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This illustration shows an application scenario of the power unit assembly provided in this application for a quadruped robot.

[0023] Figure 2 This illustration shows an application scenario of the power unit assembly provided in this embodiment of the application in a bipedal robot.

[0024] Figure 3 A schematic diagram of the overall structure of the power unit assembly provided in the embodiment of this application is shown.

[0025] Figure 4An exploded view of the power unit assembly provided in an embodiment of this application is shown.

[0026] Figure 5 A top view of the power unit assembly provided in an embodiment of this application is shown.

[0027] Figure 6 It shows Figure 5 Sectional view at point AA.

[0028] Figure 7 It shows Figure 6 A magnified view of point A in the diagram.

[0029] Figure 8 It shows Figure 6 A magnified view of point B in the diagram.

[0030] Figure 9 It shows Figure 6 A magnified view of point C in the diagram.

[0031] Figure 10 A cross-sectional view of the front cover provided in an embodiment of this application is shown.

[0032] Figure 11 A schematic diagram of another power unit assembly provided in an embodiment of this application is shown.

[0033] Figure 12 A cross-sectional view of the housing of another power unit assembly provided in an embodiment of this application is shown.

[0034] Figure 13 A schematic diagram of the fit between the back cover and the port provided in an embodiment of this application is shown.

[0035] Figure 14 A schematic diagram of the insertion and removal of the connector and port provided in the embodiment of this application is shown.

[0036] Figure 15 A schematic diagram of the connection head and port provided in an embodiment of this application is shown.

[0037] Explanation of reference numerals in the attached figures: 100-Power Unit Assembly 110-Motor 111-Stator 112-Rotor 120 - Reduction Mechanism; 121 - High-Speed ​​Planetary Reducer; 1211 - First Planetary Cage; 1212 - First Planetary Gear; 1213 - First Ring Gear; 122 - Low-Speed ​​Planetary Reducer; 1221 - Second Planetary Cage; 222 - Second Planetary Gear; 1223 - Second Ring Gear; 1224 - Second Sun Gear 130-Output Flange 140 - Housing 141 - Main Housing 1411 - First Protrusion 142 - Front End Cover 1421 - Beveled Surface 1422 - Annular Groove 1423 - Insertion End Face 1424 - Second Protrusion 1425 - Connecting Hole 143 - Rear End Cover 150 - First Seal 160 - Second seal 170 - Third Seal 180 - Circuit Board; 181 - Port; 1811 - First Port; 1812 - Second Port 190 - Connector; 191 - First Connector; 1911 - First Connecting Terminal; 1912 - First Connecting Cable; 192 - Second Connector 200-First joint component 300 - Second Joint Component Detailed Implementation To more clearly illustrate the technical solutions in the embodiments of this application, the specific implementation methods of this application will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this application are all within the protection scope of this application.

[0038] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, some figures only schematically show parts of components with the same structure or function, and there may actually be more or fewer components with the same structure or function.

[0039] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “first,” “second,” and similar terms used in the patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0040] Unless otherwise specified, all embodiments mentioned herein can be combined to form new technical solutions. Furthermore, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0041] In this application, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: only "A" exists, only "B" exists, and both "A" and "B" exist simultaneously, where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: only "A" exists, only "B" exists, only "C" exists, both "A" and "B" exist simultaneously, both "A" and "C" exist simultaneously, both "B" and "C" exist simultaneously, and both "A", "B", and "C" exist simultaneously, where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this application indicates an "or" relationship between the related objects before and after the symbol. In this application, the term "at least one A or B" has the same meaning as the aforementioned "A or B". The term "at least one A, B, or C" has the same meaning as "A, B, or C" above. "One or more" of multiple objects refers to any one or any combination of multiple objects, such as "one or more of A, B, and C" including: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B, and C".

[0042] To facilitate understanding of the power unit assembly provided in the embodiments of this application, the application scenario of the power unit assembly provided in the embodiments of this application will first be described. The power unit assembly provided in the embodiments of this application is applied to legged robots. However, current power unit assemblies are large in size and occupy a lot of space, which is not conducive to miniaturization. Therefore, the embodiments of this application provide a power unit assembly to improve the compactness of the power unit assembly and facilitate its miniaturization. The following is a detailed description with reference to specific drawings and embodiments.

[0043] The power unit assembly provided in this application embodiment is applied in a legged robot to provide the power required for the rotation of the joint modules in the legged robot. For example, the legged robot includes a first joint component and a second joint component, wherein the first joint component and the second joint component are rotatable relative to each other. The power unit assembly connects the first joint component and the second joint component, and drives the second joint component to move relative to the first joint component.

[0044] Please refer to the above. Figure 1 and Figure 2 , Figure 1 and Figure 2A schematic diagram illustrating an application scenario of the power unit assembly provided in an embodiment of this application is shown. Figure 1 A schematic diagram of the power unit assembly applied to a quadruped robot is shown. Figure 2 A schematic diagram illustrating the application of a power unit assembly in a bipedal robot is shown. Figure 1 and Figure 2 The example illustrates the application of the power unit assembly 100 in a hip joint module. The first joint component 200 is the body of the legged robot, and the second joint component 300 is a joint arm, specifically the leg component of the legged robot. The power unit assembly 100 rotatably connects the body and the leg component and can drive the leg component to rotate relative to the body. In actual operation, the power unit assembly 100 is fixedly connected to the body, while its output end is fixedly connected to the leg component. When the power unit assembly 100 outputs power, the output end can drive the leg component to rotate relative to the body, thereby enabling the legged robot to walk.

[0045] Please refer to the above. Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, Figure 3 This paper shows a schematic diagram of the power unit assembly provided in an embodiment of the present application. Figure 4 An exploded view of the powertrain assembly provided in an embodiment of this application is shown. Figure 5 A top view of the power unit assembly provided in an embodiment of this application is shown. Figure 6 It shows Figure 5 Sectional view at point AA.

[0046] The power unit assembly provided in this embodiment includes a housing 140, a motor 110 and a reduction mechanism 120 located within the housing 140, and an output flange 130, which is at least partially located outside the housing 140 and rotatably connected to it. During transmission, the output flange 130 is connected to the motor 110 via the reduction mechanism 120. When the power unit assembly 100 is applied to a legged robot, the housing 140 is fixedly connected to the first joint component 200, while the output flange 130 is fixedly connected to the second joint component 300. When the output flange 130 rotates, it can drive the second joint component 300 to rotate, thereby driving the legged robot to move.

[0047] Continue to refer to Figure 3As shown, in this embodiment, the housing 140 adopts a split structure. Exemplarily, the housing 140 includes a main housing 141, a front cover 142, and a rear cover 143. The main housing 141 has openings at both ends and a hollow cavity for housing the aforementioned motor 110 and reduction mechanism 120. The front cover 142 and the rear cover 143 are respectively sealed to the two ports of the main housing 141, forming a space to accommodate the motor 110 and the reduction mechanism 120. Specifically, the front cover 142 blocks one opening of the main housing 141, and the rear cover 140 blocks the other opening of the main housing 141, forming a closed space.

[0048] In the specific configuration, the front cover 142 has an annular structure, and the output flange 130 is nested inside the front cover 142 and rotatably connected to it. When the output flange 130 is nested inside the front cover 142, a portion of the output flange 130 is exposed outside the front cover 142, allowing for easy fixed connection between the output flange 130 and the second joint component 300. Furthermore, when the output flange 130 is nested inside the front cover 142, a seal is formed between the output flange 130 and the front cover 142.

[0049] As can be seen from the above description, the power unit assembly 100 provided in this application embodiment houses the motor 110 and the reduction mechanism 120 through the housing 140. On the one hand, the housing 140 supports the motor 110 and the reduction mechanism 120; on the other hand, the housing 140 also protects the motor 110 and the reduction mechanism 120, improving their safety. Furthermore, the housing 140 adopts a split structure, with the main housing 141, the front cover 142, and the rear cover 143 forming a space to accommodate the motor 110 and the reduction mechanism 120. This facilitates the installation of the motor 110 and the reduction mechanism 120, and also facilitates subsequent maintenance and replacement. Furthermore, although the housing 140 adopts a split structure, it is sealed between the main housing 141, the front cover 142 and the rear cover 143, and between the output flange 130 and the front cover 142, thereby achieving static sealing of the fixed parts and dynamic sealing of the moving parts, improving the sealing performance of the power unit assembly 100, and thus improving the protection of the motor 110 and the reduction mechanism 120.

[0050] In an optional embodiment, the power unit assembly 100 provided in this application further includes a first sealing element 150, which seals the front cover 142 and the main housing 141. Specifically, the first sealing element 150 seals the front cover 142 and the main housing 141 in both the axial and radial directions. This seals the front cover 142 and the main housing 141 in both the axial and radial directions, improving the sealing effect at the connection between the main housing 141 and the front cover 142. It should be understood that the aforementioned axial and radial directions refer to the axial and radial directions of the housing 140. In this embodiment, the axial direction of the housing 140 is also the axial direction of the main housing 141.

[0051] In a specific example, the hollow cavity of the main housing 141 includes a first cavity (not shown in the figure) and a second cavity (not shown in the figure) that are connected. The first cavity is used to accommodate the front cover 142, while the second cavity is used to accommodate the motor 110 and the reduction mechanism 120. The positions of the first and second cavities can be referenced to the positions of their corresponding assembled components. In the specific arrangement of the first and second cavities, the diameter of the first cavity is larger than the diameter of the second cavity, thereby forming a stepped cavity within the main housing 141 and an annular surface between the two cavities.

[0052] In addition, to facilitate the description of the connection between the main housing 141 and the front cover 142 and the rear cover 143, two ends of the main housing 141 are defined as a first end and a second end. The first end is used for fixed connection with the front cover 142, and the second end is used for fixed connection with the rear cover 143. When arranging the first cavity, the first cavity is close to the first end of the main housing 141 to facilitate its mating with the front cover 142.

[0053] Please refer to the above. Figure 6 , Figure 7 and Figure 10 As shown, Figure 7 It shows Figure 6 A magnified view of a portion of point A in the diagram. Figure 10 A cross-sectional view of the front cover is shown. When the front cover 142 mates with the first end, the front cover 142 is at least partially located within the first cavity, and the end face of the front cover 142 inserted into the first cavity abuts axially against the main housing 141. Exemplarily, the end face of the front cover 142 inserted into the first cavity is defined as the insertion end face 1423, which abuts against the annular surface when the front cover 142 is inserted into the first cavity.

[0054] Additionally, a chamfered surface 1421 is provided at the end of the front cover 142 that is inserted into the first cavity. The chamfered surface 1421 is inclined relative to the axial direction of the housing 140. The chamfered surface 1421 is an annular surface, and an annular gap (not shown in the figure) is formed between the chamfered surface 1421 and the side wall of the first cavity. The first seal 150 is located within this gap, and the position of the gap can be referenced to the assembly position of the first seal 150.

[0055] During assembly, the first sealing element 150 is first embedded in the first cavity, and then the front cover 142 is assembled into the first cavity and fixedly connected to the main housing 141. When the front cover 142 is assembled, the beveled surface 1421 presses the first sealing element 150, and the pressing direction is inclined relative to the axial direction of the housing 140. This allows the first sealing element 150 to be deformed by pressing along the axial and radial directions of the housing 140, thereby achieving a seal between the front cover 142 and the main housing 141 in the axial and radial directions, thus improving the sealing effect between the front cover 142 and the main housing 141.

[0056] In one alternative embodiment, the cross-section of the slit formed by the sidewall of the first cavity and the oblique section 1421 is a triangular cross-section. For example... Figure 7 As shown, the oblique cut surface 1421 and the L-shaped sidewalls forming the corners of the first cavity enclose an annular gap with a triangular cross-section. The cross-section of the first seal 150 when not compressed is circular. During compression, the first seal 150 undergoes elastic deformation, and its cross-section is compressed and deformed from a circle into a triangle.

[0057] In an alternative embodiment, the first seal 150 may be a seal made of common elastic materials such as rubber or resin.

[0058] In one optional scheme, the triangular cross-section is an isosceles triangle, where the area of ​​the triangular cross-section is S1 and the area of ​​the circular cross-section is S2; then: 1 ≤ S1 : S2 ≤ 1.2. For example, the ratio of S2 to S1 can be different values ​​such as 1, 1.1, and 1.2. Using these ratios ensures that the first sealing element has sufficient deformation for sealing while reducing the possibility of aging failure due to excessive deformation, thus improving the reliability of the seal.

[0059] Continue to refer to Figure 3As shown, in an optional embodiment, the first end of the main housing 141 provided in this application embodiment is provided with spaced-apart first protrusions 1411. Multiple first protrusions 1411 are arranged around the axis of the housing 140, and the extension direction of the first protrusions 1411 is along the axial direction of the main housing 141. Furthermore, recessed areas (not shown in the figure) are formed between the multiple first protrusions 1411, thereby forming a crenellated structure at the first end of the main housing 141. Correspondingly, the outer peripheral surface of the front cover 142 is provided with second protrusions 1424 that engage with the recessed areas. The second protrusions 1424 and the recessed areas are engaged one-to-one, and the position of the recessed areas can be referenced to the area where the second protrusions 1424 are inserted.

[0060] During assembly, the second protrusion 1424 engages with the recessed area, resulting in an alternating engagement between the first protrusion 1411 and the second protrusion 1424. This engagement of the first protrusion 1411 and the second protrusion 1424 improves the circumferential stability of the front cover 142 and the main housing 141 during their fixed connection, reducing the risk of relative rotation between them. This is particularly important when the output flange 130 rotates relative to the front cover 142, ensuring the stability of the front cover 142 and guaranteeing a proper seal between it and the output flange 130. Furthermore, the embedding of the front cover 142 into the main housing 141 also reduces the axial size of the power unit assembly.

[0061] In an optional embodiment, the front cover 142 provided in this application is fixedly connected to the main housing 141 by a threaded connector. Exemplarily, the threaded connector can be a common threaded connector such as a bolt or screw. In a specific example, the insertion direction of the threaded connector is along the radial direction of the main housing 141, thereby securing the front cover 142 in the radial direction of the main housing 141. For example, the threaded connector passes radially through the first protrusion 1411 and is fixedly connected to the front cover 142. When arranged radially, the threaded connector is exposed on the outer circumference of the main housing 141, reducing the axial dimension of the power unit assembly and minimizing interference with components connected to the output flange. This arrangement does not affect the connection between the output flange 130 and the second joint component 300, facilitating a reduction in the mating clearance between the second joint component 300 and the front cover 142 in the axial direction.

[0062] In an optional embodiment, the front cover 142 provided in this application embodiment is also provided with a connection hole 1425 on the side opposite to the main housing 141, so as to facilitate the fixed connection of the power unit assembly 100 with other components.

[0063] Please refer to the above. Figure 6 and Figure 8 As shown, Figure 8 It shows Figure 6A partially enlarged schematic diagram at point B. In an optional embodiment, the rear end cover 143 and the second end of the main housing 141 provided in this application are sealed together by a second sealing member 160. In the arrangement, a groove (not shown in the figure) is provided on the second end of the main housing 141 and / or the end face of the rear end cover 143 facing the main housing 141. This groove is used to accommodate the second sealing member 160, and the position of the groove can be referenced to the placement position of the second sealing member 160. For example, a groove may be provided only on the end face of the main housing 141, and this groove is an annular groove nested outside the second cavity, with the second sealing member 160 embedded in the groove; or, a groove may be provided only on the end face of the rear end cover 143 facing the main housing 141, with the second sealing member 160 embedded in the groove; or, grooves may be provided simultaneously on the second end of the main housing 141 and the end face of the rear end cover 143 facing the main housing 141, respectively. When the rear end cover 143 is fixedly connected to the main housing 141, the two grooves merge to form a space to accommodate the second sealing member 160. Of course, regardless of which method is used to arrange the second seal 160, the second seal 160 can be easily fixed through the groove, so that when the rear end cover 143 is fixedly connected to the main housing 141, the second seal 160 can deform in the set direction, thereby improving the sealing effect between the rear end cover 143 and the main housing 141.

[0064] In an alternative embodiment, the rear end cover 143 is fixedly connected to the main housing 141 by a threaded connector, which can be a bolt or screw. During assembly, the threaded connector is inserted into the rear end cover 143 and the main housing 141 along the axial direction of the housing 140 to secure the two together.

[0065] In an alternative embodiment, the second seal 160 provided in this application is also an annular seal, which can be made of common elastic materials such as resin or rubber.

[0066] The first seal 150 and the second seal 160 described above serve as static sealing components to seal the gap between the front cover 142, the rear cover 143, and the main housing 141. Of course, in addition to the first seal 150 and the second seal 160 made of the exemplary elastic material described above, sealant or other sealing materials can also be used. The first seal 150 and the second seal 160 can also be used in combination to seal the front cover 142, the rear cover 143, and the main housing 141. For example, the first seal 150 may include a sealing ring and sealant. During sealing, the elastic deformation of the sealing ring forms one seal, and the adhesiveness of the sealant seals the front cover 142 and the main housing 141, thereby forming two seals. Besides the sealing methods exemplified above, other methods can also be used to statically seal the gap between the front cover 142, the rear cover 143, and the main housing 142, which will not be described in detail in this embodiment.

[0067] Please refer to the above. Figure 6 and Figure 9 , Figure 9 It shows Figure 6 A partially enlarged schematic diagram at point C. In an optional embodiment, the front cover 142 and the output flange 130 are sealed by a third sealing element 170. Since the output flange 130 and the front cover 142 rotate relative to each other, the third sealing element 170 is a dynamic sealing component. Specifically, an annular groove 1422 is provided on the inner ring surface of the front cover 142, and the third sealing element 170 is disposed within this annular groove 1422 to fix the third sealing element 170. The front cover 142 and the output flange 130 are sealed together by the third sealing element 170 to improve the sealing effect. For example, the third sealing element 170 can be a sealing ring made of common elastic materials such as rubber or resin. Of course, in addition to the aforementioned sealing ring made of elastic materials, the third sealing element 170 can also use different sealing methods such as oil seals, Step seals, Glyd rings, and plug seals to seal the front cover 142 and the output flange 130.

[0068] In an optional embodiment, the output flange 130 and the front cover 142 provided in this application are rotatably connected by a bearing so as to bear the external force transmitted through the output flange 130.

[0069] It should be understood that the housing 140 provided in this application embodiment adopts a split structure, which is not limited to the split structure of the front cover 142, rear cover 143 and main housing 141 in the above example, but may also adopt other modified split structures. For example, Figure 11 and Figure 12 As shown, Figure 11 A schematic diagram showing the front cover and main housing as an integral structure is shown. Figure 12 A cross-sectional view is shown, showing the front cover 142 and the main housing as a single unit. In this configuration, the front cover 142 and the main housing 141 can be a single unit, in which case the main housing 141 and the rear cover 143 are sealed together by a sealing element, and the output flange 130 is sealed together with the front cover 142; alternatively, the rear cover 143 and the main housing 141 can be a single unit, in which case the main housing 141 and the front cover 142 are sealed together, and the output flange 130 is sealed together with the front cover 142. Using the above structures reduces the number of components in the housing 140, thereby reducing gaps in the connections and improving the sealing effect.

[0070] Continue to refer to Figure 4 As shown, in an optional embodiment, the power unit assembly 100 provided in this application also includes a circuit board 180, which is used to drive the motor 110. In a specific configuration, the circuit board 180 may be equipped with electronic devices such as a MOS (Metal-Oxide-Semiconductor) transistor and a MCU (Microcontroller Unit) chip for controlling the motor 110. In the arrangement, the circuit board 180 is located on the side of the motor 110 away from the reduction gear 120 and is electrically connected to the motor 110.

[0071] Please refer to the above. Figure 4 , Figure 13 , Figure 14 and Figure 15 As shown, Figure 13 This is a schematic diagram illustrating the interaction between the rear cover and the port according to an embodiment of this application. Figure 14 This is a schematic diagram illustrating the insertion and removal of the connector and port provided in an embodiment of this application. Figure 15 This is a schematic diagram illustrating the connection between the connector and the port provided in an embodiment of this application. A port 181 is provided on the side of the circuit board 180 opposite to the motor 110. This port 181 serves as a connection port, allowing the power unit assembly 100 to connect to external wiring via the port 181. Additionally, a window (not shown in the figure, but its location can be referenced to the arrangement of port 181) is provided on the rear cover 143. Port 181 is exposed within the window and is sealed to the side wall of the window. The seal between port 181 and the rear cover 143 improves the sealing performance of the power unit assembly 100, further enhancing its sealing effect. In one example, the window and port 181 can be sealed together using a sealing element; the sealing principle is the same as the static sealing method described above, and will not be repeated here.

[0072] Additionally, the power unit assembly 100 includes a connector 190, which is pluggable and electrically connected to port 181 to facilitate connection between the power unit assembly 100 and external cables. In one feasible embodiment, when connector 190 and port 181 are plugged in, a sealed connection is also employed to improve the airtightness of the power unit assembly 100. Connector 190 and port 181 are also connected via a seal, which is a static seal, and will not be described further here.

[0073] In one example, port 181 includes a first port 1811 and a second port 1812 arranged side by side, and the corresponding connector 190 includes a first connector 191 and a second connector 192; wherein, the first connector 191 is plugged into the first port 1811, and the second connector 192 is plugged into the second port 1812. Exemplarily, the first connector 191 can be used to transmit power, and the second connector 192 can be used to transmit data. Of course, the first connector 191 and the second connector 192 can also transmit other signals, which are not specifically limited here.

[0074] The first connector 191 has a first connector terminal 1911 and a first connector cable 1912 electrically connected to the first connector terminal 1911. In a specific configuration, the extension direction of the first connector cable 1912 intersects the length direction of the first connector terminal 1911. For example, if the first connector 191 is a right-angle connector, that is, the length direction of the first connector terminal 1911 is perpendicular to the length direction of the first connector cable 1912, the first connector cable 1912 can fit against the rear cover 143 when the first connector terminal 1911 is plugged into or unplugged from the first port 1811.

[0075] Similarly, the second connector 192 has a second connecting terminal and a second connecting cable electrically connected to the second connecting terminal; the extension direction of the second connecting cable intersects the length direction of the second connecting terminal. The second connector 192 can also be a right-angle connector, which will not be described further here.

[0076] As can be seen from the above description, in the power unit assembly provided by this application, the length direction of the two connecting terminals of the two connectors intersects with the length direction of the two connecting cables, so that the two connecting cables can fit against the rear end cover, which facilitates wiring and reduces interference between the connecting cables and other components.

[0077] The motor 110 provided in this embodiment can be of different types. The motor 110 is an internal rotor motor, which includes a stator 111 and a rotor 112. The stator 111 is fixedly connected to the housing 140, while the rotor 112 is fixedly connected to the high-speed planetary reducer 121. Of course, in addition to the example internal rotor motor, the motor 110 provided in this embodiment can also be an external rotor motor; however, no specific limitation is made in this embodiment.

[0078] The reduction mechanism 120 provided in this application embodiment can be of different types, such as a planetary reducer, a harmonic reducer, a cycloidal reducer, etc. In a specific example, such as Figure 4 and Figure 6 As shown in the illustration, the reduction mechanism 120 provided in this embodiment employs a planetary reducer, specifically a two-stage planetary reducer. The reduction mechanism 120 includes a high-speed planetary reducer 121 and a low-speed planetary reducer 122. The high-speed planetary reducer 121 is connected to the motor 110, and the high-speed planetary reducer 121 is connected to the low-speed planetary reducer 122. The output flange 130 is connected to the low-speed planetary reducer 122.

[0079] The high-speed planetary reducer 121 and low-speed planetary reducer 122 provided in this application both include the common planetary gear reducer structure such as a ring gear, planetary cage, sun gear, and multiple planetary gears. The sun gear meshes with the planetary gears, the planetary gears mesh with the ring gear, and the planetary cage is rotatably connected to the multiple planetary gears.

[0080] For ease of description, the components in the high-speed planetary reducer 121 are named the first ring gear 1213, the first planetary cage 1211, the first sun gear (not shown in the figure), and the first planetary gear 1212, respectively; the components in the low-speed planetary reducer 122 are named the second ring gear 1223, the second planetary cage 1221, the second sun gear 1224, and the second planetary gear 1222, respectively.

[0081] In an optional embodiment, the first gear ring 1213 and the second gear ring 1223 provided in this application are fixedly connected to the housing 140. The first sun gear is fixedly connected to the output shaft of the motor 110, and the second sun gear 1224 is fixedly connected to the first planetary cage 1211. During transmission, the power output by the motor 110 is input to the high-speed end planetary reducer 121 through the first sun gear, and output to the second sun gear 1224 through the first planetary cage 1211. The power is then output to the output flange 130 through the second planetary cage 1221 of the low-speed end planetary reducer 122, and finally output to the second joint component 300.

[0082] In an alternative configuration, the output flange 130 is part of the second planetary cage 1221, thereby reducing the size of the power unit assembly 100 in the axial direction and facilitating miniaturization of the power unit assembly 100.

[0083] This application also provides a joint module, which includes a first joint component 200, a second joint component 300, and a power unit assembly 100 of any of the above. For details, please refer to... Figure 1 and Figure 2 The relevant description is as follows. Among them, the first joint component 200 and the second joint component 300 are rotatably connected through the power unit assembly 100, and the main housing 141 is fixedly connected to the first joint component 200; the output flange 130 is fixedly connected to the second joint component 300.

[0084] In the above technical solution, by using a separate main housing 141, front cover 142, and rear cover 143 to enclose the space for accommodating the motor 110 and the reduction mechanism 120, the safety of the motor 110 and the reduction mechanism 120 is improved. Furthermore, the sealing between the main housing 141, the front cover 142, and the rear cover 143, and the sealing between the output flange 130 and the front cover 142, improves the sealing performance of the power unit assembly 100, thereby enhancing the protection of the motor 110 and the reduction mechanism 120.

[0085] This application also provides a legged robot, which includes a body, an articulated arm, and a power unit assembly 100 of any of the above components; wherein the body and the articulated arm are rotatably connected via the power unit assembly 100; the main housing 141 is fixedly connected to the body; and the output flange 130 is fixedly connected to the articulated arm. See details for further information. Figure 1 and Figure 2 The relevant description in the document.

[0086] In the above technical solution, by using a separate main housing 141, front cover 142, and rear cover 143 to enclose the space for accommodating the motor 110 and the reduction mechanism 120, the safety of the motor 110 and the reduction mechanism 120 is improved. Furthermore, the sealing between the main housing 141, the front cover 142, and the rear cover 143, and the sealing between the output flange 130 and the front cover 142, improves the sealing performance of the power unit assembly 100, thereby enhancing the protection of the motor 110 and the reduction mechanism 120.

[0087] In one specific feasible implementation, the legged robot is either a bipedal robot or a quadrupedal robot. See reference for details. Figure 1 and Figure 2 The relevant descriptions in the text will not be elaborated upon here.

[0088] The embodiments described above are some, but not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0089] Furthermore, the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The protection scope of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this application; and these modifications, changes, 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. All should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A power unit assembly for use in a legged robot, characterized in that, The power unit assembly includes a main housing, a front cover, and a rear cover. The main housing has openings at both ends, and the front cover and the rear cover are respectively sealed to the two ports of the main housing. The power unit assembly also includes a motor, a reduction gear mechanism, and an output flange; wherein the output flange is connected to the motor via the reduction gear mechanism. The front cover has an annular structure, and the output flange is nested inside the front cover and rotatably connected to the front cover; wherein, the output flange portion is exposed outside the front cover, and the output flange and the front cover are sealed.

2. The power unit assembly according to claim 1, characterized in that, The main housing has a first cavity and a second cavity that communicate with each other; the diameter of the first cavity is larger than that of the second cavity; the first cavity is located near the first end of the main housing; the second cavity is used to accommodate the motor and the reduction mechanism; The front end cap is at least partially located within the first cavity; The end face of the front cover inserted into the first cavity abuts against the main housing axially; The end of the front cover that is inserted into the first cavity is provided with a beveled surface; The beveled surface forms an annular gap with the side wall of the first cavity; a first sealing element is provided in the gap.

3. The power unit assembly according to claim 2, characterized in that, The cross-section of the slit formed by the sidewall of the first cavity and the oblique surface is a triangular cross-section; The first seal has a circular cross-section when it is not compressed.

4. The power unit assembly according to claim 3, characterized in that, The triangular cross-section is an isosceles triangle; Let the area of ​​the triangular cross-section be S1, and the area of ​​the circular cross-section be S2; then: 1≤S1:S2≤1.

2.

5. The power unit assembly according to claim 3, characterized in that, The first end of the main housing is provided with a plurality of first protrusions spaced apart, and a recessed area is formed between the plurality of first protrusions; wherein, the extension direction of the first protrusions is along the axial direction of the main housing; The outer peripheral surface of the front cover is provided with a second protrusion that engages with the recessed area. The power unit assembly also includes a threaded connector that passes radially through the first protrusion along the main housing and is threadedly connected to the front end cover.

6. The power unit assembly according to claim 2, characterized in that, A groove is provided on the end face of the second end of the main housing and / or on the end face of the rear end cover facing the main housing; A second sealing element is embedded in the groove.

7. The power unit assembly according to claim 2, characterized in that, The power unit assembly also includes a circuit board, which is located on the side of the motor away from the reduction mechanism and is electrically connected to the motor; A window is set on the rear cover; The circuit board has a port on the side opposite to the motor, and the port is exposed inside the window and sealed to the side wall of the window. It also includes a connector that is electrically connected to the port.

8. The power unit assembly according to claim 7, characterized in that, The ports include a first port and a second port arranged side by side; the connectors include a first connector and a second connector; the first connector is plugged into the first port, and the second connector is plugged into the second port; wherein... The first connector has a first connection terminal and a first connection cable electrically connected to the first connection terminal; the extension direction of the first connection cable intersects the length direction of the first connection terminal; The second connector has a second connection terminal and a second connection cable electrically connected to the second connection terminal; the extension direction of the second connection cable intersects the length direction of the second connection terminal.

9. The power unit assembly according to any one of claims 1 to 8, characterized in that, The inner ring surface of the front end cover is provided with an annular groove, and a third sealing element is provided in the annular groove. The front end cover and the output flange are sealed together by the third sealing element.

10. The power unit assembly according to claim 9, characterized in that, The front cover and the main housing are an integral structure, or, The rear end cover and the main housing are an integral structure.

11. A joint module, characterized in that, It includes a first joint component, a second joint component, and a power unit assembly as described in any one of claims 1 to 10; wherein, The first joint component and the second joint component are rotatably connected through the power unit assembly, and the main housing is fixedly connected to the first joint component; the output flange is fixedly connected to the second joint component.

12. A legged robot, characterized in that, Includes a body, an articulated arm, and a power unit assembly as described in any one of claims 1 to 10; wherein, The main body and the articulated arm are rotatably connected via the power unit assembly; The main housing is fixedly connected to the body; the output flange is fixedly connected to the articulated arm.

13. The legged robot according to claim 12, characterized in that, The legged robot is either a bipedal robot or a quadrupedal robot.

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