Joint components and robots

Abstract

This application provides a joint assembly and a robot, wherein the joint assembly includes: a driver having an output end; and an adapter for rotating about a drive axis under the action of the driver; wherein the adapter includes: a first mounting portion having a first mounting structure for mounting a driven component; and a second mounting portion having a second mounting structure connected to the output end of the driver; wherein, on a projection plane perpendicular to the drive axis, the projection of the second mounting structure is offset from the projection of the first mounting portion; and / or, on a projection plane perpendicular to the mounting axis of the second mounting portion, the projection of the first mounting structure is offset from the projection of the second mounting portion, and the drive axis intersects the mounting axis. In the embodiments of this application, by providing an adapter, it is expected that by limiting the first and second mounting structures, the difficulty of disassembly and assembly will be reduced, allowing the driven component to be detached from the adapter independently, thereby improving maintenance efficiency.

Description

Technical Field

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

[0002] In related technologies, robots are typically composed of different functional modules, which are connected by motion joints to achieve the combination of functional modules and meet various work requirements.

[0003] However, the connection structure of the motion joints of current robots is complex and difficult to disassemble and assemble, resulting in low maintenance efficiency. Utility Model Content

[0004] Embodiments of this application provide a joint assembly and a robot to at least partially solve the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a joint assembly, including:

[0006] A driver with an output terminal;

[0007] An adapter for rotating about a drive axis under the action of the driver;

[0008] The adapter includes:

[0009] The first mounting section has a first mounting structure for mounting the driven component;

[0010] The second mounting part has a second mounting structure that connects to the output terminal of the driver;

[0011] In particular, on the projection plane perpendicular to the drive axis, the projection of the second mounting structure is offset from the projection of the first mounting part;

[0012] And / or, on a projection plane perpendicular to the mounting axis of the second mounting portion, the projection of the first mounting structure is offset from the projection of the second mounting portion, and the drive axis intersects the mounting axis.

[0013] Optionally, in some embodiments of this application, the second mounting portion is disposed on the periphery of the first mounting portion, and the first mounting portion is disposed perpendicular to the second mounting portion.

[0014] Optionally, in some embodiments of this application, the first mounting structure includes:

[0015] At least two first connection holes are used to adapt and connect the first mounting part and the driven component to a first type of fastener;

[0016] Wherein, at least two of the first connecting holes are spaced apart around the drive axis, and the first connecting holes penetrate the first mounting portion in a direction parallel to the drive axis;

[0017] And / or, the second mounting structure includes:

[0018] At least two second connection holes are provided for accommodating a second type of fastener that connects the second mounting part and the driver.

[0019] At least two second connecting holes are spaced apart around the mounting axis, and the second connecting holes penetrate the second mounting portion in a direction parallel to the mounting axis.

[0020] Optionally, in some embodiments of this application, the first mounting portion has:

[0021] A first positioning hole is provided for accommodating at least a portion of the driven component;

[0022] The first positioning hole penetrates the first mounting part, and the center line of the first positioning hole coincides with the mounting axis.

[0023] And / or, the second mounting portion has:

[0024] The second positioning hole is used to install a positioning element that can position the first mounting part and the driver;

[0025] The second positioning hole penetrates the second mounting portion, and the center line of the second positioning hole coincides with the drive axis.

[0026] Optionally, in some embodiments of this application, the adapter further includes:

[0027] The connecting parts are respectively connected to the first mounting part and the second mounting part;

[0028] The connecting portion is disposed along at least a portion of the edge of the first mounting portion.

[0029] Optionally, in some embodiments of this application, at least a portion of the projection of the connecting portion is located between the projection of the first mounting portion and the projection of the second mounting portion on a projection plane perpendicular to the mounting axis.

[0030] Optionally, in some embodiments of this application, the connecting portion includes:

[0031] The main body has a weight-reduction groove;

[0032] Reinforcing ribs are provided within the weight-reducing groove;

[0033] The reinforcing rib is fixedly connected to the main body, and the reinforcing rib extends in a direction parallel to the mounting axis.

[0034] Optionally, in some embodiments of this application, the joint assembly further includes:

[0035] The limiting member is fixedly connected to the driver;

[0036] The adapter also includes:

[0037] The contact portion is fixedly connected to the second mounting portion;

[0038] Wherein, at least a portion of the limiting member is located on the movement path of the contact portion, so that the contact portion is stopped when it moves to contact the limiting member.

[0039] Optionally, in some embodiments of this application, the limiting member includes:

[0040] At least two limiting parts are provided at different positions in the circumferential direction of the drive axis;

[0041] A limiting space is formed between two adjacent limiting parts, and at least a portion of the contact part is located within the limiting space.

[0042] Optionally, in some embodiments of this application, the contact portion protrudes radially from the second mounting portion along the drive axis, and the contact portion is located on the side of the second mounting portion away from the first mounting portion.

[0043] Secondly, embodiments of this application provide a robot, including a torso assembly, a walking assembly, and a joint assembly as described above;

[0044] At least one joint component is provided between the walking component and the torso component.

[0045] Optionally, in some embodiments of this application, the joint assembly includes:

[0046] A first type of joint assembly is used to drive the walking assembly to move relative to the torso assembly about a first drive axis;

[0047] The second type of joint assembly is used to drive the walking assembly to move relative to the torso assembly about a second drive axis;

[0048] The first drive axis intersects with the second drive axis.

[0049] Optionally, in some embodiments of this application, the first type of joint assembly includes the adapter and the driver; the adapter of the first type of joint assembly is defined as a first adapter, and the driver of the first type of joint assembly is defined as a first driver.

[0050] The second type of joint assembly includes the adapter and the actuator; the adapter of the second type of joint assembly is defined as a second adapter, and the actuator of the second type of joint assembly is defined as a second actuator;

[0051] The first mounting portion of the first adapter is connected to the walking assembly, and the first mounting portion of the second adapter is connected to the first driver; the second driver is mounted on the torso assembly.

[0052] Optionally, in some embodiments of this application, the robot further includes a robotic arm assembly;

[0053] The joint assembly also includes:

[0054] A third type of joint assembly is used to drive the walking assembly to move relative to the robotic arm assembly about a third drive axis.

[0055] Optionally, in some embodiments of this application, the third type of joint assembly includes the adapter and the driver; the adapter of the third type of joint assembly is defined as a third adapter, and the driver of the third type of joint assembly is defined as a third driver.

[0056] The first mounting portion of the third adapter is connected to the robotic arm assembly, and the third driver is mounted on the torso assembly.

[0057] The beneficial effects of the embodiments of this application are as follows:

[0058] In the embodiments of this application, the spatial positions of the first driver and the driven component can be better adapted by the setting of the adapter, and the structure is simple and easy to assemble.

[0059] By limiting the projection of the second mounting structure and the first mounting part, the first mounting part can be prevented from obstructing the second mounting structure, providing operable space and reducing the difficulty of disassembling and assembling the second mounting structure and the output end of the driver. This allows the adapter and the driven component to be removed from the output end of the driver as a whole, thereby improving maintenance efficiency.

[0060] By limiting the projection of the first mounting structure and the second mounting part, the second mounting part can be prevented from obstructing the first mounting structure, providing operable space, reducing the difficulty of disassembling and assembling the first mounting structure and the driven component, and allowing the driven component to be removed from the adapter separately, thereby improving maintenance efficiency. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a perspective view of the joint assembly provided in an embodiment of this application;

[0063] Figure 2 This is an exploded view of the joint assembly provided in an embodiment of this application;

[0064] Figure 3 This is a schematic diagram of another type of adapter and driven component in a joint assembly provided in an embodiment of this application.

[0065] Figure 4 This is a structural schematic diagram from another perspective showing the cooperation between another adapter and the driven component in the joint assembly provided in the embodiments of this application;

[0066] Figure 5 This is a three-dimensional schematic diagram of the robot provided in an embodiment of this application;

[0067] Figure 6 This is an exploded view of the robot provided in an embodiment of this application;

[0068] Figure 7 yes Figure 6 Enlarged view of section A;

[0069] Figure 8 This is another exploded view of the robot provided in an embodiment of this application;

[0070] Figure 9 This is an exploded view of a portion of a first type of joint assembly and a second type of joint assembly in a robot provided in an embodiment of this application;

[0071] Figure 10 This is an exploded view of another part of the first type of joint assembly and the second type of joint assembly in the robot provided in the embodiments of this application;

[0072] Figure 11 This is a perspective view of the robotic arm assembly and the third adapter in the robot provided in the embodiments of this application;

[0073] Figure 12 This is a three-dimensional schematic diagram of the robotic arm assembly and the third adapter in the robot provided in the embodiments of this application from another perspective.

[0074] Explanation of reference numerals in the attached figures:

[0075] 10. Robot;

[0076] 100. Joint components;

[0077] 110. Driver; 111. Output terminal; 111a. Adapter hole; 112. Housing;

[0078] 120. Adapter parts;

[0079] 121, First mounting part; M1, First mounting structure; 121a, First connecting hole; 121b, First positioning hole;

[0080] 122, Second mounting part; M2, Second mounting structure; 122a, Second connecting hole; 122b, Second positioning hole;

[0081] 123. Connecting part; 123a. Main body; 123b. Weight reduction groove; 123c. Reinforcing rib;

[0082] 124. Contact department;

[0083] 130. Class I fasteners; 140. Class II fasteners;

[0084] 150. Limiting component; 151. Limiting part; 152. Connecting part;

[0085] 10a. Driven component;

[0086] 200, a first type of joint assembly; 210, a first actuator; 220, a first adapter; 221, a first connecting part;

[0087] 300, second type of joint assembly; 310, second actuator; 320, second adapter; 322, second connecting part;

[0088] 400. Type III joint assembly; 410. Type III adapter;

[0089] 510. Torso assembly; 520. Walking assembly; 530. Robotic arm assembly;

[0090] S, drive axis; P, mounting axis;

[0091] S1, First drive axis; S2, Second drive axis; S3, Third drive axis;

[0092] P1, First mounting axis; P2, Second mounting axis; P3, Third mounting axis. Detailed Implementation

[0093] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Furthermore, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application.

[0094] In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in its actual use or operating state, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device. Furthermore, in the description of this application, the term "comprising" means "including but not limited to". The terms first, second, third, etc., are used merely as illustrative purposes and do not impose numerical requirements or establish a numerical order.

[0095] In this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural.

[0096] Firstly, referring to Figure 1 and Figure 2 This application provides a joint assembly 100, including a driver 110 and an adapter 120. The driver 110 has an output end 111 for outputting driving force; the adapter 120 is used to rotate about a driving axis S under the action of the driving force output by the driver 110.

[0097] For example, the actuator 110 can be one of motor drive, hydraulic drive or pneumatic drive, and can be selected according to the design requirements of the joint assembly 100. The actuator 110 adopts existing technology, and the specific structure will not be described in detail.

[0098] Specifically, the adapter 120 includes a first mounting portion 121 and a second mounting portion 122. The first mounting portion 121 has a first mounting structure M1 for mounting the driven component 10a; the second mounting portion 122 has a second mounting structure M2 for connecting the output terminal 111 of the driver 110.

[0099] It can be understood that the adapter 120, through the cooperation of the first mounting structure M1 with the driven component 10a and the cooperation of the second mounting structure M2 with the output end 111 of the driver 110, enables the adapter 120 to transmit power between the driven component 10a and the driver 110, so that the driver 110 can drive the driven component 10a to rotate around the drive axis S through the adapter 120; the adapter 120 can better adapt to the spatial position of the driver 110 and the driven component 10a, and the structure is simple and easy to assemble.

[0100] In some embodiments of this application, reference is made to Figure 1 and Figure 2 On the projection plane perpendicular to the drive axis S, the projection of the second mounting structure M2 is offset from the projection of the first mounting part 121.

[0101] By adopting the above solution, the projection of the second mounting structure M2 and the first mounting part 121 is limited, which can prevent the first mounting part 121 from obstructing the second mounting structure M2, provide operable space, reduce the difficulty of disassembling and assembling the second mounting structure M2 and the output terminal 111 of the driver 110, and make the adapter 120 and the driven component 10a as a whole detachable from the output terminal 111 of the driver 110 without having to disconnect the first mounting structure M1 and the driven component 10a in advance, thereby improving maintenance efficiency.

[0102] In some embodiments of this application, reference is made to Figure 1 and Figure 2 On the projection plane perpendicular to the mounting axis P of the second mounting part 122, the projection of the first mounting structure M1 is offset from the projection of the second mounting part 122, and the drive axis S intersects the mounting axis P.

[0103] Specifically, the mounting axis P can be understood as the center of the second mounting part 122. For example, the second mounting part 122 can be set around the mounting axis P.

[0104] By adopting the above solution, the projection of the first mounting structure M1 and the second mounting part 122 is limited, which can prevent the second mounting part 122 from obstructing the first mounting structure M1, provide operable space, reduce the difficulty of disassembling and assembling the first mounting structure M1 and the driven component 10a, and allow the driven component 10a to be removed from the adapter 120 alone without disconnecting the second mounting structure M2 from the driver 110, thereby improving maintenance efficiency.

[0105] In one example of this application, the adapter 120 may only satisfy the projection relationship between the second mounting structure M2 and the first mounting part 121, making it easier to detach and install the second mounting structure M2 from the output terminal 111 of the driver 110.

[0106] In another example of this application, the adapter 120 may only satisfy the projection relationship between the first mounting structure M1 and the second mounting part 122, making it easier for the first mounting structure M1 to be disassembled and assembled with the driven part 10a.

[0107] In another example of this application, the adapter 120 can simultaneously satisfy the projection relationship between the second mounting structure M2 and the first mounting part 121, as well as the projection relationship between the first mounting structure M1 and the second mounting part 122. In this way, the disassembly and assembly positions can be flexibly selected according to maintenance needs.

[0108] In some specific implementations, the drive axis S and the mounting axis P are inclined to intersect or are perpendicular to each other, which can be selected according to the design requirements of the joint assembly 100.

[0109] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The second mounting part 122 is disposed on the periphery of the first mounting part 121, and the first mounting part 121 and the second mounting part 122 are disposed perpendicularly.

[0110] By adopting the above solution, the second mounting part 122 can fully avoid the first mounting part 121, thus avoiding interference between the first mounting part 121 and the driver 110, as well as interference between the second mounting part 122 and the driven component 10a. Therefore, the joint assembly 100 of this application embodiment can better adapt to the relative spatial layout of the driven component 10a and the first driver 210, while also improving the compactness of the spatial arrangement of the joint assembly 100.

[0111] In some specific embodiments, the first mounting part 121 and the second mounting part 122 can be integrally formed, or fixedly connected into a whole by welding, screwing or other methods.

[0112] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The first mounting structure M1 includes: a first connecting hole 121a.

[0113] At least two first connection holes 121a are provided. The first connection holes 121a are used to adapt and connect the first type of fastener 130 to the first mounting part 121 and the driven part 10a. At least two first connection holes 121a are arranged at intervals around the drive axis S, and the first connection holes 121a penetrate the first mounting part 121 in a direction parallel to the drive axis S.

[0114] It is understood that the first type of fastener 130 not only achieves the anti-rotation connection between the first mounting part 121 and the driven part 10a, but also securely mounts the driven part 10a to the first mounting part 121, thereby preventing the adapter 120 from disengaging from the driven part 10a.

[0115] By adopting the above scheme, the installation and removal of the first type of fastener 130 can be facilitated through the setting of the first connection hole 121a.

[0116] For example, the first type of fastener 130 may be a bolt or screw, etc.

[0117] In other embodiments of this application, the first mounting structure M1 may also be a combination of key connection and snap ring, or a threaded connection, etc., to cooperate with the output terminal 111 of the driver 110.

[0118] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The second mounting structure M2 includes: a second connecting hole 122a.

[0119] At least two second connection holes 122a are provided. The second connection holes 122a are used to adapt and connect the second type of fastener 140 of the second mounting part 122 and the driver 110. At least two second connection holes 122a are arranged at intervals around the mounting axis P, and the second connection holes 122a penetrate the second mounting part 122 in a direction parallel to the mounting axis P.

[0120] It is understood that the second fastener not only achieves the anti-rotation connection between the second mounting part 122 and the output end 111 of the driver 110, but also securely mounts the adapter 120 to the output end 111 of the driver 110, thereby preventing the adapter 120 from disengaging from the driver 110.

[0121] By adopting the above scheme, the installation and removal of the first type of fastener 130 can be facilitated through the setting of the first connection hole 121a.

[0122] For example, the second type of fastener 140 may be a bolt or screw, etc.

[0123] In other embodiments of this application, the second mounting structure M2 may also be a combination of key connection and snap ring, or a threaded connection, etc., to cooperate with the output terminal 111 of the driver 110.

[0124] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The first mounting portion 121 has a first positioning hole 121b. The first positioning hole 121b is used to receive at least a portion of the driven component 10a; the first positioning hole 121b extends through the first mounting portion 121, and the center line of the first positioning hole 121b coincides with the mounting axis P.

[0125] By adopting the above solution, at least a portion of the driven component 10a is accommodated by the first positioning hole 121b, so that the driven component 10a and the first mounting part 121 can be positioned during the process of the driven component 10a being inserted into the first positioning hole 121b, thereby improving the assembly efficiency of the first mounting part 121 and the driven component 10a.

[0126] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The second mounting portion 122 has a second positioning hole 122b. The second positioning hole 122b is used to mount a positioning element that can position the first mounting portion 121 and the driver 110; the second positioning hole 122b passes through the second mounting portion 122, and the center line of the second positioning hole 122b coincides with the drive axis S.

[0127] It is understandable that, due to the size limitation of the second mounting part 122, the second mounting part 122 cannot be fitted onto the output end 111 of the driver 110. The second positioning hole 122b is located in the middle area surrounded by a plurality of second connecting holes 122a. Correspondingly, the output end 111 of the driver 110 has an adapter hole 111a corresponding to the second positioning hole 122b. By simultaneously inserting the positioning element into the second positioning hole 122b and the adapter hole 111a, the alignment of the second mounting part 122 with the output end 111 of the driver 110 can be achieved.

[0128] By adopting the above scheme, the second mounting part 122 and the output end 111 of the driver 110 are positioned with the assistance of the positioning element through the setting of the second positioning hole 122b, thereby improving the assembly efficiency of the second mounting part 122 and the driver 110.

[0129] In some specific embodiments, the positioning element can be designed as a columnar body. After the second type of fastener is connected to the output end 111 of the driver 110, the positioning element can be removed; or the end of the positioning element that mates with the driver 110 can be provided with a thread. The positioning element can be threaded and fixed to the output end 111 of the driver 110 after passing through the second positioning hole 122b. In this case, the positioning element does not need to be removed. Thus, the positioning element can provide support for the second mounting part 122 to improve the movement stability of the adapter 120.

[0130] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The adapter 120 further includes a connecting portion 123. The connecting portion 123 is connected to the first mounting portion 121 and the second mounting portion 122 respectively; the connecting portion 123 is disposed along at least a portion of the edge of the first mounting portion 121.

[0131] By adopting this solution, the connecting part 123 serves to connect or support the first mounting part 121 and the second mounting part 122, thereby reducing the possibility of deformation at the connection between the first mounting part 121 and the second mounting part 122 under stress.

[0132] In one example of this application, reference is made to Figure 1 and Figure 2 In the circumferential direction of the mounting axis P, connecting portions 123 are respectively provided on both sides of the second mounting portion 122. In this embodiment, the connecting portion 123 serves as a reinforcing structure of the adapter 120 to improve the reliability of the adapter 120 structure.

[0133] It should be noted that, referring to Figure 1 and Figure 2 In the axial direction of the mounting axis P, the driven component 10a can be installed on the side of the first mounting part 121 away from the second mounting part 122. At this time, the driven component 10a will not obstruct the second mounting structure M2, and the position of the second mounting part 122 can be as close as possible to the mounting axis P.

[0134] Or, refer to Figure 3 and Figure 4 In the axial direction of the mounting axis P, the driven component 10a can also be mounted on the side of the first mounting part 121 near the second mounting part 122. In this way, the space occupied by the adapter 120 and the driven component 10a can be reduced by utilizing the included angle area Q1 between the first mounting part 121 and the second mounting part 122.

[0135] In some embodiments of this application, reference is made to Figure 3 and Figure 4 On a projection plane perpendicular to the mounting axis P, at least a portion of the projection of the connecting portion 123 is located between the projection of the first mounting portion 121 and the projection of the second mounting portion 122.

[0136] It is understood that the connecting part 123 mainly serves as a structural connection between the first mounting part 121 and the second mounting part 122.

[0137] By adopting the above limitations, the distance between the second mounting part 122 and the first mounting part 121 can be adjusted by the connecting part 123. When the driven component 10a is installed on the side of the first mounting part 121 close to the second mounting part 122, a suitable operable space is reserved between the second mounting structure M2 and the driven component 10a, which facilitates the assembly and disassembly of the second mounting part 122 and the driver 110.

[0138] In some embodiments of this application, reference is made to Figure 3 and Figure 4 The connecting part 123 includes: a main body 123a and a reinforcing rib 123c.

[0139] Specifically, the main body 123a has a weight-reducing groove 123b, which can prevent the connection part 123 from excessively increasing the weight of the adapter 120. Furthermore, considering that the weight-reducing groove 123b may reduce the structural strength of the connection part 123, a reinforcing rib 123c is further provided in the weight-reducing groove 123b. The reinforcing rib 123c is fixedly connected to the main body 123a and extends in a direction parallel to the mounting axis P, thereby improving the structural strength of the connection part 123.

[0140] By adopting the above scheme, while ensuring the connecting function of the connecting part 123, the weight and structural strength of the connecting part 123 can be balanced by setting the weight reduction groove 123b and the reinforcing rib 123c.

[0141] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The joint assembly 100 also includes a limiting member 150. The limiting member 150 is fixedly connected to the driver 110.

[0142] The adapter 120 also includes a contact portion 124. The contact portion 124 is fixedly connected to the second mounting portion 122; at least a portion of the limiting member 150 is located in the movement path of the contact portion 124 so that the contact portion 124 is stopped when it moves to contact the limiting member 150.

[0143] By adopting the above solution, the contact part 124 is stopped by the limiting member 150 when the contact part 124 moves to the contact limiting part 151, thereby constraining the adapter 120 within the preset rotation range.

[0144] In one example of this application, the limiting member 150 is fixedly connected to the housing 112 of the driver 110. With this approach, the limiting member 150 can be integrated into the driver 110 using the housing 112 of the driver 110, thereby improving the structural compactness of the joint assembly 100.

[0145] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The limiting member 150 includes a limiting part 151. At least two limiting parts 151 are disposed at different positions in the circumferential direction of the drive shaft S; a limiting space is formed between two adjacent limiting parts 151, and at least a portion of the contact part 124 is located within the limiting space.

[0146] By adopting the above scheme, the extreme positions of the adapter 120 in two opposite directions of movement can be limited by setting at least two limiting parts 151.

[0147] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The limiting member 150 also includes a connecting portion 152. The connecting portion 152 is located between two adjacent limiting portions 151.

[0148] By adopting the above solution, the two limiting parts 151 are connected into a whole through the setting of the connecting part 152, thereby improving the overall structural strength of the limiting member 150. Furthermore, the connecting part 152 can provide more fastener installation positions, thus preventing the limiting member 150 from loosening and shifting under large impact loads.

[0149] In some specific embodiments, the connecting portion 152 can be integrally formed with the two limiting portions 151, which facilitates the processing and manufacturing of the limiting member 150. Alternatively, the connecting portion 152 and the limiting portions 151 can be formed independently, and then connected by welding, bolts or other means to form the whole of the limiting member 150.

[0150] In some embodiments of this application, reference is made to Figure 1 and Figure 2 The contact portion 124 protrudes radially from the second mounting portion 122 along the drive axis S, and the contact portion 124 is located on the side of the second mounting portion 122 away from the first mounting portion 121.

[0151] This design allows the limiting member 150, which mates with the contact portion 124, to be positioned as far away from the first mounting portion 121 as possible, thus avoiding interference with the first mounting portion 121 during the movement of the rotating member.

[0152] Secondly, referring to Figure 1 , Figure 2 and Figure 5 This application provides a robot 10, including a torso assembly 510, a walking assembly 520, and a joint assembly 100 as described above; at least one joint assembly 100 is disposed between the walking assembly 520 and the torso assembly 510. It is understood that each joint assembly 100 adopts the joint assembly 100 of the first aspect described above.

[0153] The robot 10 has all the beneficial effects of the aforementioned joint assembly 100, which will not be repeated here.

[0154] In some embodiments of this application, reference is made to Figures 5 to 7 The joint assembly 100 includes: a first type of joint assembly 200 and a second type of joint assembly 300.

[0155] The first type of joint assembly 200 is used to drive the walking assembly 520 to move relative to the torso assembly 510 around the first drive axis S1; the second type of joint assembly 300 is used to drive the walking assembly 520 to move relative to the torso assembly 510 around the second drive axis S2; the first drive axis S1 and the second drive axis S2 intersect.

[0156] It is understandable that the first drive axis S1 and the second drive axis S2 are set at an angle or perpendicularly.

[0157] By adopting the above scheme, the combination of the first type of component and the second type of component can realize the combination of the two types of motion degrees of freedom of the walking component 520 relative to the torso component 510, improve the flexibility of the robot 10's movement, and meet the needs of complex motion scenarios.

[0158] In one example of this application, reference is made to Figures 5 to 7 The first drive axis S1 and the second drive axis S2 are set perpendicularly. The first drive axis S1 is set horizontally, and the first type of joint assembly 200 is used to drive the walking assembly 520 to swing sideways relative to the torso assembly 510 around the first drive axis S1, which can realize the leg swinging action of the walking assembly 520. The second drive axis S2 is set vertically, and the second type of joint assembly 300 is used to drive the walking assembly 520 to rotate relative to the torso assembly 510 around the second drive axis S2, which can realize the leg rotation action of the walking assembly 520.

[0159] In some embodiments of this application, reference is made to Figures 7 to 10 The first type of joint assembly 200 includes a connector 120 and a driver 110 of the joint assembly 100 in the first aspect; for distinction, the connector 120 of the first type of joint assembly 200 is defined as a first connector 220, and the driver 110 of the first type of joint assembly 200 is defined as a first driver 210.

[0160] The second type of joint assembly 300 includes the adapter 120 and the driver 110 of the joint assembly 100 in the first aspect; for distinction, the adapter 120 of the second type of joint assembly 300 is defined as the second adapter 320, and the driver 110 of the second type of joint assembly 300 is defined as the second driver 310.

[0161] It should be noted that the first type of joint assembly 200 and the second type of joint assembly 300 can be designed with the same structure to facilitate the manufacturing and assembly of the robot 10. Alternatively, the first type of joint assembly 200 and the second type of joint assembly 300 can also be adapted to the joint assembly 100 described in the first aspect above.

[0162] Specifically, the first mounting portion 121 of the first adapter 220 is connected to the walking assembly 520, and the first mounting portion 121 of the second adapter 320 is connected to the first driver 210; the second driver 310 is mounted on the torso assembly 510.

[0163] It should be noted that, for the first type of joint assembly 200, the driven component 10a connected to its first adapter 220 is the walking assembly 520; when the walking assembly 520 is maintained separately, the walking component can be removed from the first adapter 220, or the first adapter 220 can be removed from the first driver 210.

[0164] For the second type of joint assembly 300, the driven component 10a connected to its second adapter 320 is the first actuator 210. When maintaining the first joint assembly 100 separately, the first actuator 210 can be detached from the second adapter 320, and the first adapter 220 can be separated from the walking assembly 520. Alternatively, the first joint assembly 100, together with the second adapter 320, can be detached from the second actuator 310.

[0165] By adopting the above solution, the combination of the first type of joint component 200 and the second type of joint component 300 can improve the overall structural compactness and disassembly flexibility of the first type of joint component 200 and the second type of joint component 300.

[0166] In some embodiments of this application, reference is made to Figures 9 to 12 The first mounting axis P1 of the first adapter 220 serves as the motion center of the walking assembly 520 relative to the first adapter 220; the first drive axis S1 of the first adapter 220 coincides with the second mounting axis P2 of the second adapter 320; the third mounting axis P3 of the third adapter 410 serves as the motion center of the robotic arm assembly 530 relative to the third adapter 410.

[0167] It should be noted that the definitions of the first mounting axis P1, the second mounting axis P2, and the third mounting axis P3 in this embodiment are the same as the definition of the mounting axis P in the first aspect described above.

[0168] In one example of this application, reference is made to Figure 9 and Figure 10 The walking component 520 is mounted on the outside of the first adapter 220 (i.e., outside the included angle region Q2 of the first adapter 220) to prevent the movement of the walking component 520 from interfering with the first driver 210 or the second adapter 320. In this embodiment, the first connecting portion 221 of the first adapter 220 serves as a structural reinforcement.

[0169] In one example of this application, reference is made to Figure 9 and Figure 10 The first driver 210 is mounted inside the second adapter 320. The included angle region Q3 formed by the second adapter 320 reduces the overall space occupied by the second adapter 320 and the first driver 210, further improving the compactness of the overall structure of the first type of joint assembly 200 and the second type of joint assembly 300. In this embodiment, the second connecting portion 322 of the second adapter 320 serves as a connection, allowing a suitable operating space to be reserved between the second mounting structure M2 of the second adapter 320 and the first driver 210.

[0170] In some embodiments of this application, reference is made to Figure 5 , Figure 6 , Figure 11 and Figure 12 The robot 10 also includes a robotic arm assembly 530; the robotic arm assembly 530 can perform functions such as grasping objects and assisting in taking pictures. The joint assembly 100 also includes a third type of joint assembly 400. The third type of joint assembly 400 is used to drive the robotic arm assembly 530 to move relative to the torso assembly 510 around a third drive axis S3.

[0171] In some embodiments of this application, reference is made to Figure 5 , Figure 6 , Figure 11 and Figure 12 The third type of joint assembly 400 includes the adapter 120 and the actuator 110 described in the first aspect above. For distinction, the adapter 120 of the third type of joint assembly 400 is defined as the third adapter 410, and the actuator 110 of the third type of joint assembly 400 is defined as the third actuator 110 (not shown). The first mounting portion 121 of the third adapter 410 is connected to the robotic arm assembly 530, and the third actuator 110 is mounted on the torso assembly 510.

[0172] In one example of this application, reference is made to Figure 11 and Figure 12 The robotic arm assembly 530 is installed inside the third adapter 410. By utilizing the included angle area Q4 formed by the third adapter 410, the overall space occupied by the third adapter 410 and the robotic arm assembly 530 can be reduced. This further improves the overall compactness of the robotic arm assembly 530 and the third type of joint assembly 400, while also bringing the center of gravity of the robotic arm assembly closer to the third drive shaft, thus enhancing the motion stability of the robotic arm assembly 530.

[0173] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A joint assembly, characterized in that, include: A driver with an output terminal; An adapter for rotating about a drive axis under the action of the driver; The adapter includes: The first mounting section has a first mounting structure for mounting the driven component; The second mounting part has a second mounting structure that connects to the output terminal of the driver; In particular, on the projection plane perpendicular to the drive axis, the projection of the second mounting structure is offset from the projection of the first mounting part; And / or, on a projection plane perpendicular to the mounting axis of the second mounting portion, the projection of the first mounting structure is offset from the projection of the second mounting portion, and the drive axis intersects the mounting axis.

2. The joint assembly according to claim 1, characterized in that, The second mounting part is disposed on the periphery of the first mounting part, and the first mounting part is perpendicular to the second mounting part.

3. The joint assembly according to claim 1, characterized in that, The first mounting structure includes: At least two first connection holes are used to adapt and connect the first mounting part and the driven component to a first type of fastener; Wherein, at least two of the first connecting holes are spaced apart around the drive axis, and the first connecting holes penetrate the first mounting portion in a direction parallel to the drive axis; And / or, the second mounting structure includes: At least two second connection holes are provided for accommodating a second type of fastener that connects the second mounting part and the driver. At least two second connecting holes are spaced apart around the mounting axis, and the second connecting holes penetrate the second mounting portion in a direction parallel to the mounting axis.

4. The joint assembly according to claim 3, characterized in that, The first mounting part has: A first positioning hole is provided for accommodating at least a portion of the driven component; The first positioning hole penetrates the first mounting part, and the center line of the first positioning hole coincides with the mounting axis. And / or, the second mounting portion has: The second positioning hole is used to install a positioning element that can position the first mounting part and the driver; The second positioning hole penetrates the second mounting portion, and the center line of the second positioning hole coincides with the drive axis.

5. The joint assembly according to any one of claims 1 to 4, characterized in that, The adapter also includes: The connecting parts are respectively connected to the first mounting part and the second mounting part; The connecting portion is disposed along at least a portion of the edge of the first mounting portion.

6. The joint assembly according to claim 5, characterized in that, On a projection plane perpendicular to the mounting axis, at least a portion of the projection of the connecting portion lies between the projection of the first mounting portion and the projection of the second mounting portion.

7. The joint assembly according to claim 6, characterized in that, The connecting part includes: The main body has a weight-reduction groove; Reinforcing ribs are provided within the weight-reducing groove; The reinforcing rib is fixedly connected to the main body, and the reinforcing rib extends in a direction parallel to the mounting axis.

8. The joint assembly according to any one of claims 1 to 4, characterized in that, The joint assembly also includes: The limiting member is fixedly connected to the driver; The adapter also includes: The contact portion is fixedly connected to the second mounting portion; Wherein, at least a portion of the limiting member is located on the movement path of the contact portion, so that the contact portion is stopped when it moves to contact the limiting member.

9. The joint assembly according to claim 8, characterized in that, The limiting component includes: At least two limiting parts are provided at different positions in the circumferential direction of the drive axis; A limiting space is formed between two adjacent limiting parts, and at least a portion of the contact part is located within the limiting space.

10. The joint assembly according to claim 8, characterized in that, The contact portion protrudes radially from the second mounting portion along the drive axis, and the contact portion is located on the side of the second mounting portion away from the first mounting portion.

11. A robot, characterized in that, Includes a torso assembly, a walking assembly, and a joint assembly as described in any one of claims 1 to 10; At least one joint component is provided between the walking component and the torso component.

12. The robot according to claim 11, characterized in that, The joint assembly includes: A first type of joint assembly is used to drive the walking assembly to move relative to the torso assembly about a first drive axis; The second type of joint assembly is used to drive the walking assembly to move relative to the torso assembly about a second drive axis; The first drive axis intersects with the second drive axis.

13. The robot according to claim 12, characterized in that, The first type of joint assembly includes the adapter and the actuator; the adapter of the first type of joint assembly is defined as a first adapter, and the actuator of the first type of joint assembly is defined as a first actuator. The second type of joint assembly includes the adapter and the actuator; the adapter of the second type of joint assembly is defined as a second adapter, and the actuator of the second type of joint assembly is defined as a second actuator; The first mounting portion of the first adapter is connected to the walking assembly, and the first mounting portion of the second adapter is connected to the first driver; the second driver is mounted on the torso assembly.

14. The robot according to any one of claims 11 to 13, characterized in that, The robot also includes a robotic arm assembly; The joint assembly also includes: The third type of joint assembly is used to drive the robotic arm assembly to move relative to the torso assembly about a third drive axis.

15. The robot according to claim 14, characterized in that, The third type of joint assembly includes the adapter and the actuator; the adapter of the third type of joint assembly is defined as a third adapter, and the actuator of the third type of joint assembly is defined as a third actuator. The first mounting portion of the third adapter is connected to the robotic arm assembly, and the third driver is mounted on the torso assembly.

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