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; an adapter connected to the output end of the driver for rotation about a drive axis under the action of the driver; and a limiting member having a limiting surface located on the movement path of the adapter, so that the adapter is stopped by the limiting member when it moves to contact the limiting surface; wherein, on a projection plane perpendicular to the drive axis, the angle between the line connecting the projection point of the drive axis and the projection of the limiting surface and the projection of the limiting surface is defined as a first pressure angle, the value of which is greater than or equal to 20°. In the embodiments of this application, by limiting the first pressure angle of the limiting surface to greater than or equal to 20°, it helps to improve the bending resistance and contact strength of the limiting surface, thereby improving the overall strength and impact resistance of the limiting surface, making the limiting member less prone to breakage and failure, and thus improving the stability and reliability of the joint assembly.

Description

[0001] The applicant filed an invention patent application for the same invention on the same day as applying for this utility model patent. Technical Field

[0002] This application relates to the field of robotics, specifically to a joint assembly and a robot. Background Technology

[0003] The motion joints of a robot are the core components for performing actions and completing tasks. These motion joints enable the robot's multi-degree-of-freedom movement through rotation or sliding. In related technologies, to ensure that the motion joints operate within a safe range, joint limiting structures are usually set to stop and limit the motion joints, preventing mechanical damage or loss of control caused by exceeding the range of motion.

[0004] However, current joint restraint structures often fail to provide sufficient protection when faced with large impact loads, making them prone to breakage or failure, which affects the stability and reliability of the joint. Utility Model Content

[0005] Embodiments of this application provide a joint assembly and a robot to at least partially solve the above-mentioned technical problems.

[0006] In a first aspect, embodiments of this application provide a joint assembly, including:

[0007] A driver with an output terminal;

[0008] An adapter is connected to the output of the driver to rotate about a drive axis under the action of the driver;

[0009] The limiting member has a limiting surface located on the movement path of the adapter, so that the adapter is stopped by the limiting member when it moves to contact the limiting surface;

[0010] Specifically, on the projection plane perpendicular to the drive axis, the angle between the line connecting the projection point of the drive axis and the projection of the limiting surface and the projection of the limiting surface is defined as the first pressure angle, and the value range of the first pressure angle is greater than or equal to 20°.

[0011] Optionally, in some embodiments of this application, the first pressure angle is greater than or equal to 20° and less than or equal to 45°.

[0012] Optionally, in some embodiments of this application, the limiting member includes:

[0013] At least two limiting parts are provided at different positions in the circumferential direction of the drive axis;

[0014] An active space is formed between two adjacent limiting parts, and at least a portion of the adapter is located within the active space;

[0015] The limiting surface is disposed on the side of the limiting part facing the adapter, and the movable space is located between the two limiting surfaces.

[0016] Optionally, in some embodiments of this application, the limiting member further includes:

[0017] The connecting portion is located between two adjacent limiting portions;

[0018] Wherein, the limiting surface is located on the side of the limiting portion closer to the connecting portion; or, the limiting surface is located on the side of the limiting portion away from the connecting portion.

[0019] Optionally, in some embodiments of this application, the adapter further comprises:

[0020] A contact surface is disposed circumferentially on at least one side of the adapter along the drive axis;

[0021] The maximum distance between the contact surface and the drive axis is greater than the minimum distance between the limiting surface and the drive axis.

[0022] Optionally, in some embodiments of this application, on a projection plane perpendicular to the drive axis, the angle between the line connecting the projection point of the drive axis and the projection of the contact surface and the projection of the contact surface is defined as a second pressure angle, and the value of the second pressure angle is greater than or equal to 20°.

[0023] Optionally, in some embodiments of this application, the value of the second pressure angle is greater than or equal to 20° and less than or equal to 45°.

[0024] Optionally, in some embodiments of this application, on a projection plane perpendicular to the drive axis, the second pressure angle at the intersection of a virtual circle centered on the projection point of the drive axis and the projection of at least one of the contact surfaces is equal to the first pressure angle at the intersection of the same virtual circle and the projection of at least one of the limiting surfaces.

[0025] Optionally, in some embodiments of this application, the limiting member has:

[0026] The first alignment structure is disposed on the side of the limiting member away from the driver;

[0027] The adapter has:

[0028] The second alignment structure is located on the side of the adapter away from the driver;

[0029] In the circumferential direction of the drive axis, the first alignment structure is located between two adjacent limiting surfaces;

[0030] When the adapter moves to align the second alignment structure with the first alignment structure, the second alignment structure is located between the first alignment structure and the drive axis.

[0031] Optionally, in some embodiments of this application, the first alignment structure includes:

[0032] The first alignment groove extends radially along the drive axis;

[0033] The second alignment structure includes:

[0034] The second alignment groove extends radially along the drive axis;

[0035] When the adapter moves to align the second alignment slot with the first alignment slot, the first alignment slot and the second alignment slot form a connected alignment channel for the insertion of the alignment element.

[0036] Optionally, in some embodiments of this application, the limiting member is fixedly connected to the housing of the driver.

[0037] Secondly, embodiments of this application provide a robot including the joint components described above.

[0038] Optionally, in some embodiments of this application, the robot further includes: a torso assembly and a walking assembly;

[0039] At least one joint component is provided between the walking component and the torso component.

[0040] Optionally, in some embodiments of this application, the joint assembly includes:

[0041] 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;

[0042] 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;

[0043] The first drive axis intersects with the second drive axis.

[0044] Optionally, in some embodiments of this application, the first type of joint assembly includes the driver, the adapter, and the limiting member; the driver of the first type of joint assembly is defined as a first driver, the adapter of the first type of joint assembly is defined as a first adapter, and the limiting member of the first type of joint assembly is defined as a first limiting member.

[0045] The second type of joint assembly includes the driver, the adapter, and the limiting member; the driver of the second type of joint assembly is defined as a second driver, the adapter of the second type of joint assembly is defined as a second adapter, and the limiting member of the second type of joint assembly is defined as a second limiting member.

[0046] The first adapter is connected to the walking assembly, the first driver is mounted on the second adapter, and at least one of the second driver and the second limiting member is mounted on the torso assembly.

[0047] Optionally, in some embodiments of this application, the second actuators of at least two second type joint assemblies are respectively connected to the same second limiting member.

[0048] Optionally, in some embodiments of this application, the robot further includes a robotic arm assembly;

[0049] The joint assembly also includes:

[0050] A 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;

[0051] The third type of joint assembly includes the adapter, the driver, and the limiting member; the driver of the third type of joint assembly is defined as a third driver, the adapter of the third type of joint assembly is defined as a third adapter, and the limiting member of the third type of joint assembly is defined as a third limiting member.

[0052] The third adapter connects to the robotic arm assembly, and the third actuator is mounted on the torso assembly.

[0053] The beneficial effects of the embodiments of this application are as follows:

[0054] In the embodiments of this application, by setting a limiting member, the limiting member has a limiting surface located on the movement path of the adapter, so that the adapter is stopped by the limiting member when it moves to contact the limiting surface; and by limiting the first pressure angle of the limiting surface to be greater than or equal to 20°, during the contact process between the adapter and the limiting member, the direction of the force exerted by the adapter on the limiting surface is closer to the perpendicularity of the limiting surface, which helps to improve the bending resistance and contact strength of the limiting surface, thereby improving the overall strength and impact resistance of the limiting surface, making the limiting member less prone to breakage and failure, thereby improving the stability and reliability of the joint assembly. Attached Figure Description

[0055] 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.

[0056] Figure 1 This is a perspective view of the joint assembly provided in an embodiment of this application;

[0057] Figure 2 This is an exploded view of the joint assembly provided in an embodiment of this application;

[0058] Figure 3 This is a schematic diagram showing the adapter in the zero position of the joint assembly provided in an embodiment of this application;

[0059] Figure 4 This is a schematic diagram of the adapter in the first extreme position in the joint assembly provided in an embodiment of this application;

[0060] Figure 5 This is a schematic diagram of the adapter in the second extreme position in the joint assembly provided in an embodiment of this application;

[0061] Figure 6 This is a schematic diagram of another type of adapter and limiting member cooperating in a joint assembly provided in an embodiment of this application;

[0062] Figure 7 This is a structural schematic diagram of the robot in the first state provided in an embodiment of this application;

[0063] Figure 8 This is a structural schematic diagram of the robot in the second state provided in an embodiment of this application;

[0064] Figure 9 This is an exploded view of the robot provided in an embodiment of this application;

[0065] Figure 10 yes Figure 9Enlarged view of section A;

[0066] Figure 11 This is a schematic diagram of the structure of the first type of joint assembly and walking assembly in the robot provided in the embodiments of this application when the first adapter is in the zero position;

[0067] Figure 12 This is a schematic diagram of the structure of the first type of joint assembly and walking assembly in the robot provided in the embodiments of this application when the first adapter is in the first extreme leg swing position;

[0068] Figure 13 This is a schematic diagram of the structure of the first type of joint assembly and walking assembly in the robot provided in the embodiments of this application when the first adapter is in the second extreme leg swing position;

[0069] Figure 14 This is a schematic diagram of the structure of the second type of joint assembly in the robot provided in the embodiments of this application when the second adapter is in the zero position;

[0070] Figure 15 This is a schematic diagram of the structure of a second type of joint assembly in a robot provided in an embodiment of this application when the second adapter is in the first extreme leg rotation position;

[0071] Figure 16 This is a schematic diagram of the structure of a second type of joint assembly in a robot provided in an embodiment of this application when the second adapter is in the second extreme leg rotation position;

[0072] Figure 17 This is a schematic diagram of the structure of the second type of joint assembly and the robotic arm assembly in the robot provided in the embodiments of this application when the third adapter is in the zero position;

[0073] Figure 18 This is a schematic diagram of the overall structure of the robot provided in the embodiments of this application when the third adapter is in the first extreme rotation position;

[0074] Figure 19 This is a schematic diagram of the structure of the second type of joint assembly and the robotic arm assembly in the robot provided by the embodiments of this application when the third adapter is in the first extreme rotation position;

[0075] Figure 20 This is a schematic diagram of the overall structure of the robot provided in the embodiments of this application when the third adapter is in the second extreme rotation position;

[0076] Figure 21 This is a schematic diagram of the structure of the second type of joint assembly and the robotic arm assembly in the robot provided by the embodiments of this application when the third adapter is in the second extreme rotation position.

[0077] Explanation of reference numerals in the attached figures:

[0078] 10. Robot;

[0079] 100. Joint components;

[0080] 110. Driver; 111. Output terminal; 112. Housing;

[0081] 120. Adapter; 121. First mounting part; 122. Second mounting part; 123. Contact part; 120a. Contact surface; 120b. Second alignment structure;

[0082] 130. Limiting component; 130a. Limiting surface; 130b. Mobility space; 132. Connecting part; 130c. First alignment structure; 131. Limiting part;

[0083] 200, a first type of joint assembly; 210, a first actuator; 220, a first adapter; 230, a first limiting member;

[0084] 300, second type of joint assembly; 310, second actuator; 320, second adapter; 330, second limiting member;

[0085] 400. Third type of joint assembly; 410. Third actuator; 420. Third adapter; 430. Third limiter;

[0086] 510. Torso assembly; 520. Walking assembly; 530. Robotic arm assembly;

[0087] S, drive axis; S1, first drive axis; S2, second drive axis; S3, third drive axis; α, first pressure angle; β, second pressure angle. Detailed Implementation

[0088] 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.

[0089] 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.

[0090] 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.

[0091] Firstly, referring to Figure 1 This application provides a joint assembly 100, including: a driver 110, an adapter 120, and a limiting member 130.

[0092] refer to Figure 2 In this embodiment, the driver 110 has an output end 111 to output driving force; the adapter 120 is connected to the output end 111 of the driver 110 to rotate around a driving axis S under the action of the driver 110; the limiting member 130 has a limiting surface 130a located on the movement path of the adapter 120, so that when the adapter 120 moves to contact the limiting surface 130a, it is stopped by the limiting member 130, thereby constraining the adapter 120 within a preset rotation range.

[0093] refer to Figure 3 On the projection plane perpendicular to the drive axis S, the angle between the line connecting the projection point of the drive axis S and the projection of the limiting surface 130a and the projection of the limiting surface 130a is defined as the first pressure angle α, and the value of the first pressure angle α is greater than or equal to 20°.

[0094] It is understood that the limiting member 130 has one or at least two limiting surfaces 130a. Accordingly, the adapter 120 can be constrained in its rotation range by at least two limiting members 130 or by one limiting member 130.

[0095] The first pressure angle α can be understood as the angle between the direction of the force applied to the limiting surface 130a and the instantaneous velocity of the adapter 120 when the adapter 120 moves to the limit position where it contacts the limiting surface 130a; where the larger the first pressure angle α is, the closer the direction of the force is to the perpendicular limiting surface 130a.

[0096] It should be noted that the first pressure angle α corresponding to the line connecting the projection point O of the drive axis S and different positions on the projection of the limiting surface 130a is different, and the closer the position on the projection of the limiting surface 130a is to the projection point O of the drive axis S, the larger the first pressure angle α is. For example, referring to... Figure 3 The first pressure angle α corresponding to point N2 is greater than the first pressure angle α corresponding to point N1. That is, the closer to the drive axis S, the larger the first pressure angle α of the limiting surface 130a. Therefore, in this embodiment, it is necessary to ensure that the minimum value of the first pressure angle α of the limiting surface 130a is greater than or equal to 20°.

[0097] By adopting the above scheme, a limiting member 130 is provided, which has a limiting surface 130a located on the movement path of the adapter 120, so that the adapter 120 is stopped by the limiting member 130 when it moves to contact the limiting surface 130a. Furthermore, by limiting the first pressure angle α of the limiting surface 130a to be greater than or equal to 20°, during the contact process between the adapter 120 and the limiting member 130, the direction of the force exerted by the adapter 120 on the limiting surface 130a is closer to being perpendicular to the limiting surface 130a. This helps to improve the bending resistance and contact strength of the limiting surface 130a, thereby improving the overall strength and impact resistance of the limiting surface 130a. This makes the limiting member 130 less prone to breakage and failure, thereby improving the stability and reliability of the joint assembly 100.

[0098] 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.

[0099] In some embodiments of this application, reference is made to Figures 1 to 3 The first pressure angle α has a range of values ​​greater than or equal to 20° and less than or equal to 45°.

[0100] It can be understood that the value of the first pressure angle α can be at least one of 20° to 25°, 25° to 30°, 30° to 35°, 35° to 40°, and 40° to 45°.

[0101] Using the above values, the larger the first pressure angle α, the greater the inclination of the projection of the limiting surface 130a relative to the line connecting the projection point of the driving axis S and the projection of the limiting surface 130a, resulting in a larger space occupied by the limiting surface 130a. This embodiment of the application, by limiting the range of the first pressure angle α, can balance the impact resistance and space occupied by the limiting surface 130a.

[0102] In one example of this application, reference is made to Figure 3As shown, the limiting surface 130a is constructed as an inclined surface, and the contact range between the limiting surface 130a and the adapter 120 is between points N1 and N3. The first pressure angle α corresponding to point N1 is greater than or equal to 20°, while the first pressure angle α corresponding to point N3 is less than or equal to 45°.

[0103] In some embodiments of this application, reference is made to Figures 1 to 3 The limiting component 130 includes: a limiting part 131.

[0104] At least two limiting parts 131 are provided at different positions in the circumferential direction of the drive shaft S; an active space 130b is formed between two adjacent limiting parts 131, and at least a portion of the adapter 120 is located in the active space 130b; a limiting surface 130a is provided on the side of the limiting part facing the adapter 120, and the active space 130b is located between the two limiting surfaces 130a.

[0105] It is understandable that the limiting surfaces 130a on the two adjacent limiting parts 131 both adopt the first pressure angle α mentioned above.

[0106] 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 131.

[0107] In some specific implementation methods, refer to Figures 1 to 3 The adapter 120 includes a contact portion 123, at least a portion of which is located in the active space 130b. The adapter 120 limits the range of motion of the adapter 120 by cooperating with the limiting portion 131 through the contact portion 123.

[0108] In some specific implementation methods, refer to Figures 1 to 3 The adapter 120 further includes a first mounting portion 121 and a second mounting portion 122. The first mounting portion 121 is used to mount the driven component, and the second mounting portion 122 is connected to the output terminal 111 of the driver 110. The contact portion 123 is fixedly connected to the second mounting portion 122.

[0109] In one example of this application, reference is made to Figures 1 to 3 The same adapter 120 may have only one contact portion 123, which cooperates with two limiting portions 131 to limit the range of motion of the adapter 120. More specifically, in this example, the contact portion 123 is located on the side of the second mounting portion 122 away from the first mounting portion 121. In this way, the limiting portion 130 that cooperates with the contact portion 123 can be located as far away from the first mounting portion 121 as possible, avoiding interference with the first mounting portion 121.

[0110] In another example of this application, the same adapter 120 may be provided with only at least two contact portions 123. The two contact portions 123 are located at different circumferential positions of the second mounting portion 122, and each contact portion 123 corresponds to two limiting portions 131. That is, different contact portions 123 are located in different activity spaces 130b. In this embodiment, the adapter 120 can distribute the impact force to more limiting portions 131 by cooperating with at least two contact portions 123 and different limiting portions 131, thereby further reducing the risk of the limiting portions 131 breaking.

[0111] In another example of the application, refer to Figure 14 The same limiting member 130 can limit the two adapters 120. At the same time, the same limiting member 130 can be connected to the housing 112 of the two drivers 110 simultaneously. That is, in this example, the two joint assemblies 100 share the same limiting member 130, which improves the compactness of the structure.

[0112] In some embodiments of this application, reference is made to Figures 1 to 3 The limiting member 130 also includes a connecting portion 132. The connecting portion 132 is located between two adjacent limiting portions 131.

[0113] By adopting the above solution, the two limiting parts 131 are connected into a whole through the setting of the connecting part 132, thereby improving the overall structural strength of the limiting member 130. In addition, the connecting part 132 can provide more installation positions for fasteners (such as bolts, screws, etc.), thereby preventing the limiting member 130 from loosening and shifting under large impact loads.

[0114] In one example of this application, reference is made to Figures 1 to 3 The limiting surface 130a is located on the side of the limiting part 131 near the connecting part 132, and the active space 130b is enclosed by the connecting part 132 and the two limiting surfaces 130a.

[0115] In another example of this application, refer to Figure 6 The limiting surface 130a is located on the side of the limiting part 131 away from the connecting part 132. While avoiding increasing the size of the limiting part 130, the adapter 120 can meet the needs of a larger range of motion.

[0116] In some specific embodiments, the connecting portion 132 can be integrally formed with the two limiting portions 131, which facilitates the processing and manufacturing of the limiting member 130. Alternatively, the connecting portion 132 and the limiting portions 131 can be formed independently and then connected by welding, bolts, or other means to form the whole of the limiting member 130.

[0117] In some embodiments of this application, reference is made to Figures 1 to 3The adapter 120 further includes a contact surface 120a. The contact surface 120a is disposed on at least one side of the adapter 120 along the circumferential direction of the drive axis S; the maximum distance between the contact surface 120a and the drive axis S is greater than the minimum distance between the limiting surface 130a and the drive axis S.

[0118] By adopting this scheme, by limiting the maximum distance between the contact surface 120a and the drive axis S to be greater than the minimum distance between the limiting surface 130a and the drive axis S, when the adapter 120 moves to the limit position of contacting the limiting surface 130a, at least a portion of the contact surface 120a and at least a portion of the limiting surface 130a will coincide in the radial direction of the drive axis S, thereby ensuring that the contact surface 120a can have sufficient contact area with the limiting surface 130a.

[0119] In one example of this application, refer to Figure 3 On the projection plane perpendicular to the drive axis S, the endpoint farthest from the projection point O of the drive axis S on the projection of the contact surface 120a is M1, and the endpoint closest to the projection point O of the drive axis S on the projection of the limiting surface 130a is N3. The length of the line connecting endpoint M1 and projection point O is greater than the length of the line connecting endpoint N3 and projection point O.

[0120] In some embodiments of this application, reference is made to Figures 1 to 3 On the projection plane perpendicular to the drive axis S, the angle between the line connecting the projection point of the drive axis S and the projection of the contact surface 120a and the projection of the contact surface 120a is defined as the second pressure angle β, and the value of the second pressure angle β is greater than or equal to 20°.

[0121] It is understandable that, since forces are mutual, when the adapter 120 moves to the limit position where it contacts the limiting surface 130a, the adapter 120 is also impacted by the reaction force of the limiting surface 130a.

[0122] The second pressure angle β can be understood as the angle between the direction of the force applied to the contact surface 120a when the adapter 120 moves to the limit position of contacting the limiting surface 130a and the opposite direction of the instantaneous movement speed of the adapter 120; where the larger the second pressure angle β is, the closer the direction of the force is to the perpendicular contact surface 120a.

[0123] It should be noted that the second pressure angle β corresponding to the line connecting the projection point O of the drive shaft S and different positions on the projection of the contact surface 120a is different, and the closer the position on the projection of the contact surface 120a is to the projection point O of the drive shaft S, the larger the second pressure angle β is. For example, referring to... Figure 3The second pressure angle β corresponding to point M2 is greater than the second pressure angle β corresponding to point M1. That is, the closer to the drive axis S, the larger the second pressure angle β of the contact surface 120a. Therefore, in this embodiment, it is necessary to ensure that the minimum value of the second pressure angle β of the contact surface 120a is greater than or equal to 20°.

[0124] By adopting the above scheme, by limiting the second pressure angle β of the contact surface 120a to be greater than or equal to 20°, during the contact process between the adapter 120 and the limiting member 130, the direction of the reaction force of the limiting member 130 on the contact surface 120a is closer to that perpendicular to the contact surface 120a. This helps to improve the bending resistance and contact strength of the contact surface 120a, thereby improving the overall strength and impact resistance of the contact surface 120a. This makes the adapter 120 less prone to breakage and failure, thereby improving the stability and reliability of the joint assembly 100.

[0125] In some embodiments of this application, reference is made to Figures 1 to 3 The second pressure angle β has a range of values ​​greater than or equal to 20° and less than or equal to 45°.

[0126] It is understood that the value of the second pressure angle β can be at least one of 20° to 25°, 25° to 30°, 30° to 35°, 35° to 40°, and 40° to 45°.

[0127] With the above values, the larger the second pressure angle β, the more the projection of the contact surface 120a deviates from the line connecting the projection point of the drive axis S and the projection of the contact surface 120a, resulting in a larger space occupied by the contact surface 120a. This embodiment of the application, by limiting the range of the second pressure angle β, can balance the impact resistance of the contact surface 120a and the space occupied by the contact portion 123.

[0128] In one example of this application, reference is made to Figure 4 As shown, the contact surface 120a is constructed as a radially inclined surface relative to the drive axis. The contact range between the limiting surface 130a and the adapter 120 is between points M1 and M3, wherein the second pressure angle β corresponding to point M1 is greater than or equal to 20°, while the second pressure angle β corresponding to point M3 is less than or equal to 45°. More specifically, the contact portion 123 has contact surfaces 120a on both sides of the drive axis S in the circumferential direction.

[0129] In some embodiments of this application, reference is made to Figures 1 to 3 On the projection plane perpendicular to the drive axis S, the second pressure angle β at the intersection of the projection of the virtual circle centered on the projection point of the drive axis S and the projection of at least one contact surface 120a is equal to the first pressure angle α at the intersection of the projection of the same virtual circle and the projection of at least one limiting surface 130a.

[0130] It is understandable that multiple virtual circles with different diameters can be constructed using the projection point of the driving axis S as the center, for example, referring to... Figure 3 For any virtual circle C that intersects with both the projection of the contact surface 120a and the projection of the limiting surface 130a, the intersection point of the virtual circle C with the projection of the contact surface 120a is M2, and the intersection point of the virtual circle C with the projection of the limiting surface 130a is N2. The second pressure angle β at the intersection point M2 is equal to the first pressure angle α at the intersection point N2.

[0131] By adopting the above scheme, the first pressure angle α of the limiting surface 130a and the second pressure angle β of the contact surface 120a are made equal at the contact position, so that the limiting surface 130a and the contact surface 120a maintain continuous and stable contact and avoid local stress concentration.

[0132] In one example of this application, the first pressure angle α and the second pressure angle β of the limiting surface 130a and the contact surface 120a that are in contact at the extreme position of the adapter 120 are equal.

[0133] In another example of this application, based on the fact that the first pressure angle α and the second pressure angle β of the limiting surface 130a and the contact surface 120a that are in contact at the extreme positions of the adapter 120 are equal, the first pressure angle α of the intersection of the projections of all the limiting surfaces 130a on the same limiting member 130 and the same virtual circle is equal, and the second pressure angle β of the intersection of the projections of all the contact surfaces 120a on the same adapter 120 and the same virtual circle is equal. This arrangement facilitates the machining of each limiting surface 130a on the same limiting member 130 and each contact surface 120a on the same contact portion 123.

[0134] In some specific implementation methods... Figure 3 The diagram shows the state of the adapter 120 when it is in the zero position. Figure 4 The diagram shows the state of the adapter 120 when it is in the first extreme position. Figure 5 The state of the adapter 120 when it is in the second extreme position is shown.

[0135] Specifically, the zero position is located between the first extreme position and the second extreme position. When the adapter 120 is in the first extreme position, it contacts one of the limiting parts 131 of the limiting member 130. When the adapter 120 is in the second extreme position, it contacts the other limiting part 131 of the limiting member 130.

[0136] In some embodiments of this application, reference is made to Figures 1 to 3 The limiting member 130 has a first alignment structure 130c. The first alignment structure 130c is disposed on the side of the limiting member 130 away from the driver 110, so as to prevent the driver 110 from blocking the first alignment structure 130c.

[0137] The adapter 120 has a second alignment structure 120b. The second alignment structure 120b is disposed on the side of the adapter 120 away from the driver 110 to prevent the driver 110 from obstructing the second alignment structure 120b.

[0138] Specifically, in the circumferential direction of the drive axis S, the first alignment structure 130c is located between two adjacent limiting surfaces 130a. That is, the adapter 120 has a range of motion on both sides of the first alignment structure 130c.

[0139] When the adapter 120 moves to align the second alignment structure 120b with the first alignment structure 130c, the second alignment structure 120b is located between the first alignment structure 130c and the drive axis S. At this time, by using an alignment tool to simultaneously adapt to the first alignment structure 130c and the second alignment structure 120b, the zero-position alignment calibration of the adapter 120 can be achieved.

[0140] In one example of this application, reference is made to Figure 2 and Figure 3 The first alignment structure 130c includes a first alignment groove, and the second alignment structure 120b includes a second alignment groove. The first and second alignment grooves extend radially along the drive axis S, respectively. When the adapter 120 moves to align the second alignment groove Q2 with the first alignment groove Q1, the first alignment groove Q1 and the second alignment groove Q2 form a connected alignment channel Q0 for the insertion of the alignment element. This alignment method allows for rapid zero-position calibration of the adapter 120.

[0141] In another example of this application, the first alignment structure 130c and the second alignment structure 120b can each be provided with a protruding structure. In this case, the alignment element can be designed with an adapter groove corresponding to the protruding structure.

[0142] In some embodiments of this application, reference is made to Figures 1 to 3 The limiting member 130 is fixedly connected to the housing 112 of the driver 110. With this approach, the limiting member 130 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.

[0143] In other embodiments of this application, the limiting member 130 may also be fixed in other ways, such as by providing an auxiliary fixing bracket.

[0144] Secondly, referring to Figures 7 to 9 This application provides a robot 10, including the joint assembly 100 as described above.

[0145] The robot 10 has all the beneficial effects of the aforementioned joint assembly 100, which will not be repeated here.

[0146] In some embodiments of this application, reference is made to Figures 7 to 9 The robot 10 also includes a torso assembly 510 and a walking assembly 520. At least one joint assembly 100 is disposed between the walking assembly 520 and the torso assembly 510.

[0147] It is understood that each joint component 100 adopts the joint component 100 described in the first aspect above.

[0148] By employing the above solution, and by providing at least one joint component 100 between the walking component 520 and the torso component 510, the walking component 520 can have at least one degree of freedom of movement relative to the torso component 510. Furthermore, by combining the joint component 100 solution in the first aspect, the stability and reliability of the movement of the walking component 520 relative to the torso component 510 can be improved.

[0149] In some embodiments of this application, reference is made to Figure 8 and Figure 9 The joint assembly 100 includes: a first type of joint assembly 200 and a second type of joint assembly 300.

[0150] 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.

[0151] It is understandable that the first drive axis S1 and the second drive axis S2 are set at an angle or perpendicularly.

[0152] By adopting the above scheme, the combination of the first type of joint component 200 and the second type of joint component 300 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.

[0153] In one example of this application, reference is made to Figures 8 to 10 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.

[0154] In some embodiments of this application, reference is made to Figures 8 to 11 The first type of joint assembly 200 includes the actuator 110, the adapter 120, and the limiting member 130 of the joint assembly 100 in the first aspect; for distinction, the actuator 110 of the first type of joint assembly 200 is defined as the first actuator 210, the adapter 120 of the first type of joint assembly 200 is defined as the first adapter 220, and the limiting member 130 of the first type of joint assembly 200 is defined as the first limiting member 230.

[0155] The second type of joint assembly 300 includes the actuator 110, adapter 120, and limiting member 130 of the joint assembly 100 in the first aspect; for distinction, the actuator 110 of the second type of joint assembly 300 is defined as the second actuator 310, the adapter 120 of the second type of joint assembly 300 is defined as the second adapter 320, and the limiting member 130 of the second type of joint assembly 300 is defined as the second limiting member 330.

[0156] 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.

[0157] Specifically, the first adapter 220 is connected to the walking assembly 520, the first driver 210 is mounted on the second adapter 320, and at least one of the second driver 310 and the second limiting member 330 is mounted on the torso assembly 510.

[0158] Using the above scheme, the first driver 210 of the first type of joint assembly 200 is installed on the second adapter 320 of the second type of joint assembly 300. During operation, the second adapter 320, driven by the second driver 310, can drive the first type of joint assembly 200 and the walking assembly 520 to perform a leg-turning movement; while the first adapter 220, driven by the first driver 210, can drive the walking assembly 520 to perform a leg-swinging movement. This combination improves the overall compactness of the first type of joint assembly 200 and the second type of joint assembly 300.

[0159] In one example of this application, Figure 11 This shows the state of the left-side traveling assembly 520 when the first adapter 220 is in the zero position. Figure 12 This shows the state of the walking assembly 520 on the left side when the first adapter 220 is in the first extreme leg swing position. Figure 13 The state of the walking assembly 520 on the left side is shown when the first adapter 220 is in the second extreme leg swing position.

[0160] Specifically, when the first adapter 220 is in the first extreme leg swing position, the walking component 520 swings outward, and the rotation angle of the first adapter 220 from the zero position to the first extreme leg swing position ranges from 0 to 20°; when the first adapter 220 is in the second extreme leg swing position, the walking component 520 swings inward, and the rotation angle of the first adapter 220 from the zero position to the second extreme leg swing position ranges from 0 to 35°.

[0161] In one example of this application, Figure 14 The diagram shows the states of the second adapter 320 and the first driver 210 when the second adapter 320 is in the zero position. Figure 15 The diagram shows the states of the second adapter 320 and the first driver 210 when the second adapter 320 is in the first extreme rotating leg position. Figure 16 The state of the second adapter 320 and the first driver 210 is shown when the second adapter 320 is in the second limit rotating leg position.

[0162] Specifically, when the second adapter 320 is in the first extreme leg-turning position, the walking assembly 520 rotates inward, and the rotation angle of the second adapter 320 from the zero position to the first extreme leg-turning position ranges from 0 to 45°; when the second adapter 320 is in the second extreme leg-turning position, the walking assembly 520 rotates outward, and the rotation angle of the second adapter 320 from the zero position to the second extreme leg-turning position ranges from 0 to 45°.

[0163] In some embodiments of this application, reference is made to Figures 13 to 15 At least two second type joint assemblies 300 have their second actuators 310 connected to the same second limiter 330.

[0164] It is understood that the second limiting member 330 is not only used to limit the second adapter 320, but also to support the second driver 310, realize the installation of the second driver 310 in the torso assembly 510, and improve the structural compactness of the second type of joint assembly 300 by having at least two second type joint assemblies 300 share one second limiting member 330.

[0165] In some embodiments of this application, reference is made to Figures 7 to 9 The robot 10 also includes a robotic arm assembly 530, which 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.

[0166] 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 the third drive axis S3; the third type of joint assembly 400 includes a connector 120, a driver 110 and a limiting member 130; the driver 110 of the third type of joint assembly 400 is defined as the third driver 410, the connector 120 of the third type of joint assembly 400 is defined as the third connector 420, and the limiting member 130 of the third type of joint assembly 400 is defined as the third limiting member 430; the third connector 420 is connected to the robotic arm assembly 530, and the third driver 410 is mounted on the torso assembly 510.

[0167] In one example of this application, Figure 7 This shows the state of the robotic arm assembly 530 when the third adapter 420 is in the zero position. Figure 17 A bottom view of the robotic arm assembly 530, the third adapter 420, and the third limiting member 430 is shown when the second adapter 320 is in the zero position. Figure 18 The state of the robotic arm assembly 530 is shown when the third adapter 420 is in the first extreme rotation position. Figure 19 A bottom view of the robotic arm assembly 530, the third adapter 420, and the third limiting member 430 is shown when the third adapter 420 is in the first extreme rotation position; Figure 20 The state of the robotic arm assembly 530 is shown when the third adapter 420 is in the second extreme rotation position. Figure 21 A bottom view of the robotic arm assembly 530, the third adapter 420, and the third limiter 430 is shown when the third adapter 420 is in the second limit rotation position.

[0168] Specifically, the third drive axis S3 is vertically set. When the third adapter 420 is in the first extreme rotation position, the robotic arm assembly 530 rotates to the left. The rotation angle of the third adapter 420 from the zero position to the first extreme rotation position ranges from 0 to 90°. When the third adapter 420 is in the second extreme rotation position, the robotic arm assembly 530 rotates to the right. The rotation angle of the third adapter 420 from the zero position to the second extreme rotation position ranges from 0 to 90°.

[0169] 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 is connected to the output of the driver to rotate about a drive axis under the action of the driver; The limiting member has a limiting surface located on the movement path of the adapter, so that the adapter is stopped by the limiting member when it moves to contact the limiting surface; Specifically, on the projection plane perpendicular to the drive axis, the angle between the line connecting the projection point of the drive axis and the projection of the limiting surface and the projection of the limiting surface is defined as the first pressure angle, and the value of the first pressure angle is greater than or equal to 20°.

2. The joint assembly according to claim 1, characterized in that, The first pressure angle has a range of greater than or equal to 20° and less than or equal to 45°.

3. The joint assembly according to claim 1, 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; An active space is formed between two adjacent limiting parts, and at least a portion of the adapter is located within the active space; The limiting surface is disposed on the side of the limiting part facing the adapter, and the movable space is located between the two limiting surfaces.

4. The joint assembly according to claim 3, characterized in that, The limiting component also includes: The connecting portion is located between two adjacent limiting portions; Wherein, the limiting surface is located on the side of the limiting portion closer to the connecting portion; or, the limiting surface is located on the side of the limiting portion away from the connecting portion.

5. The joint assembly according to claim 1, characterized in that, The adapter also has: A contact surface is disposed circumferentially on at least one side of the adapter along the drive axis; The maximum distance between the contact surface and the drive axis is greater than the minimum distance between the limiting surface and the drive axis.

6. The joint assembly according to claim 5, characterized in that, On a projection plane perpendicular to the drive axis, the angle between the line connecting the projection point of the drive axis and the projection of the contact surface and the projection of the contact surface is defined as the second pressure angle, and the value of the second pressure angle is greater than or equal to 20°.

7. The joint assembly according to claim 6, characterized in that, The second pressure angle is greater than or equal to 20° and less than or equal to 45°.

8. The joint assembly according to claim 6, characterized in that, On a projection plane perpendicular to the drive axis, the second pressure angle at the intersection of a virtual circle centered on the projection point of the drive axis and the projection of at least one of the contact surfaces is equal to the first pressure angle at the intersection of the same virtual circle and the projection of at least one of the limiting surfaces.

9. The joint assembly according to any one of claims 1 to 8, characterized in that, The limiting member has: The first alignment structure is disposed on the side of the limiting member away from the driver; The adapter has: The second alignment structure is located on the side of the adapter away from the driver; In the circumferential direction of the drive axis, the first alignment structure is located between two adjacent limiting surfaces; When the adapter moves to align the second alignment structure with the first alignment structure, the second alignment structure is located between the first alignment structure and the drive axis.

10. The joint assembly according to claim 9, characterized in that, The first alignment structure includes: The first alignment groove extends radially along the drive axis; The second alignment structure includes: The second alignment groove extends radially along the drive axis; When the adapter moves to align the second alignment slot with the first alignment slot, the first alignment slot and the second alignment slot form a connected alignment channel for the insertion of the alignment element.

11. The joint assembly according to any one of claims 1 to 8, characterized in that, The limiting member is fixedly connected to the housing of the driver.

12. A robot, characterized in that, Includes the joint assembly as described in any one of claims 1 to 11.

13. The robot according to claim 12, characterized in that, The robot also includes: a torso assembly and a walking assembly; At least one joint component is provided between the walking component and the torso component.

14. The robot according to claim 13, 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.

15. The robot according to claim 14, characterized in that, The first type of joint assembly includes the driver, the adapter, and the limiting member; the driver of the first type of joint assembly is defined as a first driver, the adapter of the first type of joint assembly is defined as a first adapter, and the limiting member of the first type of joint assembly is defined as a first limiting member. The second type of joint assembly includes the driver, the adapter, and the limiting member; the driver of the second type of joint assembly is defined as a second driver, the adapter of the second type of joint assembly is defined as a second adapter, and the limiting member of the second type of joint assembly is defined as a second limiting member. The first adapter is connected to the walking assembly, the first driver is mounted on the second adapter, and at least one of the second driver and the second limiting member is mounted on the torso assembly.

16. The robot according to claim 15, characterized in that, The second actuators of at least two second type joint assemblies are respectively connected to the same second limiting member.

17. The robot according to any one of claims 13 to 16, 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; The third type of joint assembly includes the adapter, the driver, and the limiting member; The actuator of the third type of joint assembly is defined as a third actuator, the adapter of the third type of joint assembly is defined as a third adapter, and the limiting member of the third type of joint assembly is defined as a third limiting member. The third adapter connects to the robotic arm assembly, and the third actuator is mounted on the torso assembly.

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