Modular joint module and humanoid robot

Abstract

The utility model provides a kind of combined joint module and humanoid robot, combined joint module includes shell structure, first steering wheel, second steering wheel and cable assembly, shell structure has into line hole and out line hole, first steering wheel has first rotary output end, first steering wheel is set in shell structure, first steering wheel has first electric interface, second steering wheel has second rotary output end, second steering wheel is set in shell structure, second steering wheel has second electric interface, and first steering wheel and second steering wheel electrically connected, input cable is connected with first electric interface by into line hole, input cable is connected with second electric interface by out line hole.The utility model provides combined joint module and humanoid robot, first steering wheel and second steering wheel are integrated in same shell structure simultaneously, form an independent complete module, reduce the number of parts, satisfy the lightweight demand and the demand of reducing cost of joint of humanoid robot, ensure the disassembly and maintenance of whole arm simultaneously.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and more specifically, relates to a combined joint module and a humanoid robot. Background Technology

[0002] With the emergence of the concept of new quality productivity, humanoid robots are ushering in significant development opportunities. The demand for the practical application of humanoid robots is becoming increasingly urgent, requiring them to perform various flexible movements and maintain stable gait. This presents a greater challenge to the lightweight design and low cost of humanoid robots. Currently, humanoid robots have many parts, resulting in high production and assembly costs. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a combined joint module and humanoid robot to solve the technical problems of numerous parts and high production and assembly costs in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a combined joint module, comprising:

[0005] The housing structure has an inlet hole and an outlet hole.

[0006] A first servo motor has a first rotary output end, the first servo motor is disposed within the housing structure, and the first servo motor has a first electrical interface;

[0007] A second servo motor, having a second rotary output end, is disposed within the housing structure. The second servo motor has a second electrical interface. The rotation axes of the first and second rotary output ends are arranged at an angle, and the first and second servo motors are electrically connected.

[0008] The cable assembly includes an input cable and an output cable, wherein the input cable passes through the inlet hole and is connected to the first electrical interface, and the input cable passes through the outlet hole and is connected to the second electrical interface.

[0009] Optionally, the first servo has a third electrical interface, and the second servo has a fourth electrical interface, the third electrical interface and the fourth electrical interface being electrically connected via a connecting cable; or,

[0010] The combined joint module includes a control board, and the first servo motor and the second servo motor are both electrically connected to the control board. The first electrical interface and the second electrical interface are both fixed and electrically connected to the control board.

[0011] Optionally, the housing structure includes a first cover, a second cover, and a servo bracket. The servo bracket includes a first annular portion and a second annular portion connected to each other. The central axis of the first annular portion coincides with the rotation axis of the first rotary output end, and the central axis of the second annular portion coincides with the rotation axis of the second rotary output end. The first cover is fixed to the first annular portion to form a first mounting structure, the first servo is fixed to the first mounting structure, the second cover is fixed to the second annular portion to form a second mounting structure, and the second servo is fixed to the second mounting structure.

[0012] Optionally, the first servo motor includes a first control board fixed to the first annular portion, the first electrical interface is fixed and electrically connected to the first control board, and the first electrical interface is located in the space formed by the first cover and the first annular portion, and the first cover has the inlet hole.

[0013] Optionally, the first servo motor further includes a first motor, a first reducer, and a first output servo disc. The first output servo disc includes a flange and a hollow output shaft connected to each other. The hollow output shaft passes through the first reducer, the first motor, and the first control board in sequence. The first motor is fixed to the first annular portion, and the motion output end of the first motor is fixedly connected to the motion input end of the first reducer. The motion output end of the first reducer is fixedly connected to the flange. A first wire hole is provided on the first cover near the hollow output shaft. The input cable passes through the wire hole and the first wire hole and is connected to the first electrical interface.

[0014] Optionally, the first cover has a first annular protrusion located at the end of the hollow output shaft away from the first output rudder. The inlet hole is opened on the axial end wall of the first annular protrusion, and the first through hole is opened on the circumferential side wall of the first annular protrusion. The input cable passes through the inlet hole and the first through hole and is connected to the first electrical interface.

[0015] Optionally, the outer peripheral wall of the first motor is fixed to the inner peripheral wall of the first annular portion by adhesive bonding, and the mating part between the first annular portion and the outer peripheral wall of the first motor has an adhesive storage groove.

[0016] Optionally, the first servo motor further includes a bearing cover, a first support bearing, and a second support bearing. The hollow output shaft passes through the bearing cover, which is fixed to the first annular portion. The first support bearing is supported between the bearing cover and the motion input end of the first reducer. The second support bearing is located at the end of the hollow output shaft away from the flange and is supported by the first cover and one end of the hollow output shaft.

[0017] Optionally, the first cover has a zeroing hole for the first servo motor to be zeroed, and the zeroing hole exposes the first control board.

[0018] This utility model also provides a humanoid robot, including the above-described combined joint module.

[0019] The advantages of the combined joint module provided by this utility model are as follows: Compared with the prior art, the combined joint module of this utility model includes a shell structure, a first servo motor, a second servo motor, and a cable assembly. Both the first and second servo motors are housed inside the shell structure. The cable assembly includes an input cable and an output cable. The input cable enters the shell structure through an inlet hole and electrically connects to the first servo motor. The output cable extends to the outside of the shell structure through an outlet hole. In this way, the first and second servo motors are integrated into the same shell structure, forming an independent and complete module with only one input cable and one output cable. This reduces the number of parts, meets the lightweight and cost-reduction requirements of humanoid robots for joints, and ensures the ease of disassembly and maintenance of the entire arm. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 The three-dimensional structure of the combined joint module provided in the embodiment of this utility model Figure 1 ;

[0022] Figure 2 The three-dimensional structure of the combined joint module provided in the embodiment of this utility model Figure 2 ;

[0023] Figure 3 This is a partially exploded structural diagram of the combined joint module provided in an embodiment of the present utility model;

[0024] Figure 4 A cross-sectional view of the combined joint module at the first servo motor provided in an embodiment of this utility model;

[0025] Figure 5 Exploded structural diagram of the first servo motor and housing structure provided in this embodiment of the utility model;

[0026] Figure 6 A perspective view of the first cover body provided in an embodiment of this utility model;

[0027] Figure 7 A perspective view of the second cover provided in an embodiment of this utility model;

[0028] Figure 8 Three-dimensional structure of servo bracket provided in the embodiment of this utility model Figure 1 ;

[0029] Figure 9 Three-dimensional structure of servo bracket provided in the embodiment of this utility model Figure 2 ;

[0030] Figure 10 A three-dimensional structural diagram of the robot arm provided in an embodiment of this utility model.

[0031] The following are the labeling elements in the figure:

[0032] 100 - Combined joint module; 10 - Housing structure; 11 - First cover; 111 - Cable inlet; 112 - First cable through hole; 113 - First annular protrusion; 114 - Limiting structure; 115 - Heat dissipation boss; 116 - Zero mark hole; 12 - Second cover; 121 - Cable outlet; 13 - Servo bracket; 131 - First annular portion; 1311 - Glue reservoir; 132 - Second annular portion; 133 - Support column; 20 - Cable assembly; 21 - Input cable; 22 - Output cable Outgoing cable; 30-First servo motor; 31-First motor; 32-First reducer; 33-First output servo disc; 331-Hollow output shaft; 332-Flange; 34-First control board; 341-First electrical interface; 342-Third electrical interface; 351-First support bearing; 352-Second support bearing; 353-Bearing cover; 40-Second servo motor; 44-Second control board; 441-Fourth electrical interface; 442-Second electrical interface; 45-Second output servo disc.

[0033] 200 - Forearm assembly; 300 - Actuator. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0035] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0036] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] With the emergence of the concept of new quality productivity, humanoid robots are ushering in significant development opportunities. The demand for the practical application of humanoid robots is becoming increasingly urgent, requiring them to perform various flexible movements and maintain stable gait. This presents a greater challenge to the lightweight design and low cost of humanoid robots. Currently, humanoid robots have many parts, resulting in high production and assembly costs.

[0039] To alleviate or solve the above-mentioned technical problems, this utility model proposes a combined joint module 100 and a humanoid robot. The combined joint module 100 includes a shell structure 10, a first servo motor 30, a second servo motor 40, and a cable assembly 20. The first servo motor 30 and the second servo motor 40 are both installed inside the shell structure 10, integrating the two originally independent servo motors together, which can effectively save the number of parts, make the structure simpler, reduce assembly time, and lower costs. Moreover, the first servo motor 30 and the second servo motor 40 are electrically connected inside the shell structure 10, so that the combined joint module 100 only has one input cable 21 and one output cable 22, which makes it easier to make electrical connections with the upstream and downstream joint modules of the combined joint module 100.

[0040] The combined joint module 100 provided in the embodiments of this utility model will now be described.

[0041] Please refer to the following: Figures 1 to 3 The combined joint module 100 includes:

[0042] The housing structure 10 has an inlet hole 111 and an outlet hole 121.

[0043] The first servo motor 30 has a first rotary output end, the first servo motor 30 is disposed inside the housing structure 10, and the first servo motor 30 has a first electrical interface 341;

[0044] The second servo motor 40 has a second rotary output end, is disposed within the housing structure 10, and has a second electrical interface 442. The first rotary output end and the second rotary output end are arranged at an angle, and the first servo motor 30 and the second servo motor 40 are electrically connected; and

[0045] The cable assembly 20 includes an input cable 21 and an output cable 22. The input cable 21 passes through the inlet hole 111 and is connected to the first electrical interface 341. The input cable 21 passes through the outlet hole 121 and is connected to the second electrical interface 442.

[0046] The housing structure 10 is the main support and mounting structure of the combined joint module 100. The housing structure 10 is at least partially the outer shell of the combined joint module 100, and the housing structure 10 may also be partially located inside the outer shell for mounting components of the first servo motor 30 and the second servo motor 40. The housing structure 10 has a cable inlet hole 111 and a cable outlet hole 121, both of which penetrate the housing structure 10 for cables to pass through.

[0047] The first servo motor 30 is a power component. The difference between the first servo motor 30 and a regular servo motor is that the first servo motor 30 does not have an external casing; its multiple functional components are directly mounted on the housing structure 10. The first servo motor 30 outputs rotational motion and has a first rotational output end. Simultaneously, the first servo motor 30 has a first electrical interface 341, which is the input interface of the first servo motor 30. The first electrical interface 341 can be a communication interface, a power interface, or a combination of communication and power interfaces, etc. The type of the first electrical interface 341 is not limited here.

[0048] The second servo motor 40 is also a power component. The difference between the second servo motor 40 and a regular servo motor is that the second servo motor 40 does not have an external casing; its multiple functional components are directly mounted on the housing structure 10. The second servo motor 40 outputs rotational motion and has a second rotational output end. The rotation axes of the first and second rotational output ends are set at an angle, which can be understood as the axes of the two rotational output ends being set at an acute, obtuse, or right angle, thus allowing for the output of rotational motion in different directions. Simultaneously, the second servo motor 40 has a second electrical interface 442, which is the output interface of the second servo motor 40. The second electrical interface 442 can be a communication interface, a power interface, or a combination of communication and power interfaces, etc. The type of the second electrical interface 442 is not limited here.

[0049] The cable assembly 20 includes an input cable 21 and an output cable 22. The input cable 21 and output cable 22 can be conductive structures such as electrical wires or communication structures such as optical fibers. The input cable 21 can be a single wire or a collection of multiple wires; each wire can be a power supply wire or a communication cable. Similarly, the output cable 22 can be a single wire or a collection of multiple wires; each wire can be a power supply wire or a communication cable. The input cable 21 passes through the inlet hole 111 and connects to the first electrical interface 341, thus connecting the first servo 30 of the combined joint module 100 to the previous joint. The input cable 21 passes through the outlet hole 121 and connects to the second electrical interface 442, thus connecting the combined joint module 100 to the next joint via the output cable 22. The first servo 30 and the second servo 40 are electrically connected to the output cable 22, realizing the electrical connection between the combined joint module 100 and the upstream and downstream joints.

[0050] The combined joint module 100 in the above embodiments includes a housing structure 10, a first servo motor 30, a second servo motor 40, and a cable assembly 20. Both the first servo motor 30 and the second servo motor 40 are housed inside the housing structure 10. The cable assembly 20 includes an input cable 21 and an output cable 22. The input cable 21 enters the housing structure 10 through an inlet hole 111 and is electrically connected to the first servo motor 30. The output cable 22 extends to the outside of the housing structure 10 through an outlet hole 121. In this way, the first servo motor 30 and the second servo motor 40 are integrated into the same housing structure 10, forming an independent and complete module with only one input cable 21 and one output cable 22. This reduces the number of parts, meets the lightweight and cost-reduction requirements of humanoid robots for joints, and ensures the ease of disassembly and maintenance of the entire arm.

[0051] In some embodiments of this invention, the first rotational output end of the first servo motor 30 is a first output servo disk 33, and the second rotational output end of the second servo motor 40 is a second output servo disk 45. Both the first output servo disk 33 and the second output servo disk 45 can be directly connected to other joints. That is, after integrating the first servo motor 30 and the second servo motor 40 into the same module, the combined joint module can still be directly connected to two adjacent joints without affecting the direct connection of the module to other joints.

[0052] In some embodiments of this utility model, there are two first electrical interfaces 341, which are the communication input and power input of the first servo motor 30, respectively, and both first electrical interfaces 341 are connected to the input cable 21. There are two second electrical interfaces 442, which are the communication output and power output of the second servo motor 40, respectively, and both second electrical interfaces 442 are connected to the output cable 22.

[0053] Please refer to some embodiments of this utility model. Figure 3 The first servo motor 30 has a third electrical interface 342, and the second servo motor 40 has a fourth electrical interface 441. The third electrical interface 342 and the fourth electrical interface 441 are electrically connected via a connecting cable. The third electrical interface 342 is the output interface of the first servo motor 30, and the fourth electrical interface 441 is the input interface of the second servo motor 40. The output interface of the first servo motor 30 and the input interface of the second servo motor 40 are interconnected via a connecting cable, thereby realizing the electrical connection between the first servo motor 30 and the second servo motor 40.

[0054] By setting a third electrical interface 342 on the first servo 30 and a fourth electrical structure on the second servo 40, and connecting the third electrical interface 342 and the fourth electrical interface 441 with a connecting cable, the electrical connection between the first servo 30 and the second servo 40 is realized.

[0055] In some embodiments, the first electrical interface 341 and the third electrical interface 342 are disposed on the same control board, which is the control board for the first servo 30. And / or, the second electrical interface 442 and the fourth electrical interface 441 are disposed on the same control board, which is the control board for the second servo 40.

[0056] In some embodiments of this utility model, the combined joint module 100 includes a control board. Both the first servo motor 30 and the second servo motor 40 are electrically connected to the control board. The first electrical interface 341 and the second electrical interface 442 are both fixed and electrically connected to the control board. The first servo motor 30 and the second servo motor 40 share a single control board. The control board has circuit traces, and the first electrical interface 341 of the first servo motor 30 and the second electrical interface 442 of the second servo motor 40 are both connected to the circuit traces on the control board. In this embodiment, the first servo motor 30 and the second servo motor 40 are electrically connected through the circuit traces on the control board, eliminating the need for a cable connection.

[0057] In some embodiments, there are two third electrical interfaces 342, which serve as the communication outlet and power outlet of the first servo motor 30, respectively. There are two fourth electrical interfaces 441, which serve as the communication inlet and power inlet of the second servo motor 40, respectively. The two third electrical interfaces 342 and the two fourth electrical interfaces 441 are connected in a one-to-one correspondence.

[0058] In some embodiments, the first electrical interface 341, the second electrical interface 442, the third electrical interface 342, and the fourth electrical interface 441 are connectors.

[0059] Please refer to some embodiments of this utility model. Figures 3 to 5The housing structure 10 includes a first cover 11, a second cover 12, and a servo bracket 13. The servo bracket 13 includes a first annular portion 131 and a second annular portion 132 connected to each other. The central axis of the first annular portion 131 coincides with the rotation axis of the first rotary output end, and the central axis of the second annular portion 132 coincides with the rotation axis of the second rotary output end. The first cover 11 is fixed to the first annular portion 131 to form a first mounting structure, and the first servo 30 is fixed to the first mounting structure. The second cover 12 is fixed to the second annular portion 132 to form a second mounting structure, and the second servo 40 is fixed to the second mounting structure. Both the first cover 11 and the second cover 12 are at least partially exposed structures, that is, they constitute at least part of the outer shell of the combined joint module 100. The servo bracket 13 can be entirely located inside the combined joint module 100, or it can be partially located inside the combined joint module 100 and partially serve as the outer shell of the combined joint module 100. When the first servo motor 30 is fixed to the first mounting structure, the first servo motor 30 can be fixed at any position of the first cover 11 and the first annular portion 131. When the second servo motor 40 is fixed to the second mounting structure, the second servo motor 40 can be fixed at any position of the second cover 12 and the second annular portion 132.

[0060] By configuring the housing structure 10 as a first cover 11, a second cover 12, and a servo bracket 13, with the servo bracket 13 including a first annular portion 131 and a second annular portion 132, the first servo 30 is installed in the first mounting space formed by the first cover 11 and the first annular portion 131, and the second servo 40 is installed in the second mounting space formed by the second cover 12 and the second annular portion 132. This separates the first servo 30 and the second servo 40 for easier identification of parts and materials, reducing installation difficulty. Furthermore, the servo bracket 13 allows the first servo 30 and the second servo 40 to form a single unit after installation.

[0061] The central axis of the first annular portion 131 coincides with the rotation axis of the first rotary output end, so that the structure of the first servo motor 30 matches that of the first annular portion 131, resulting in a smaller and more compact structure after installation. The central axis of the second annular portion 132 coincides with the rotation axis of the second rotary output end, so that the structure of the second servo motor 40 matches that of the second annular portion 132, resulting in a smaller and more compact structure after installation.

[0062] When installing the combined joint module 100, the first servo motor 30 and the second servo motor 40 can be installed onto the servo motor bracket 13 first, and then the first cover 11 can be placed on the first annular portion 131 and the second cover 12 can be placed on the second annular portion 132 to cover the first servo motor 30 and the second servo motor 40.

[0063] In some embodiments, the servo bracket 13 is a one-piece molded structure, which can increase the structural strength of the combined joint module 100 and make the connection between the various components more stable. For example, the servo bracket 13 is a metal part, formed by die casting; or, the servo bracket 13 is a plastic part, formed by injection molding.

[0064] Please refer to some embodiments of this utility model. Figures 3 to 6 The first servo motor 30 includes a first control board 34 fixed to the first annular portion 131. A first electrical interface 341 is fixed and electrically connected to the first control board 34, and the first electrical interface 341 is located within the space formed by the first cover 11 and the first annular portion 131. The first cover 11 has a wiring inlet hole 111. The first control board 34 is generally a circuit board. The first control board 34 is electrically connected to the power components of the first servo motor 30 and can control the power components of the first servo motor 30. The first control board 34 generally has multiple electronic devices, and the first electrical interface 341 is also located on the first control board 34. The first cover 11 and the first annular portion 131 enclose a space, the first control board 34 is located within this space, and the first electrical interface 341 is located on the side of the first control board 34 facing the first cover 11.

[0065] By placing the first control board 34 within the space formed by the first cover 11 and the first annular portion 131, and placing the first electrical interface 341 on the side of the first control board 34 facing the first cover 11, and providing a wire inlet hole 111 on the first cover 11, the first electrical interface 341 communicates with the outside world through the wire inlet hole 111, allowing the input cable 21 to pass through the wire inlet hole 111 and be directly connected to the first electrical interface 341.

[0066] In some embodiments, the first electrical interface 341 is positioned directly opposite the inlet hole 111, the input cable 21 has a smaller bend at the inlet hole 111, and the length of the input cable 21 is correspondingly shorter.

[0067] In some embodiments, the first electrical interface 341 and the inlet hole 111 are offset from each other, and the input cable 21 enters the inlet hole 111 and is bent to connect with the first electrical interface 341.

[0068] In some embodiments, please refer to Figure 5 and Figure 9 A plurality of support columns 133 are provided on one side of the first annular portion 131, and the first control plate 34 is fixed on the support columns 133. The support columns 133 not only provide installation space for the first control plate 34, but also allow the surfaces of the first control plate 34 and the first annular portion 131 to be spaced apart, which facilitates heat dissipation of the first control plate 34 and provides sufficient installation space for other components of the first servo motor 30.

[0069] In some embodiments, a thermally conductive pad is provided on the first control board 34, and a heat dissipation boss 115 is provided on the first cover 11 protruding toward the first control board 34. The heat dissipation boss 115 and the thermally conductive pad are in contact with each other, so that the heat of the first control board 34 can be quickly dissipated to the outside through the thermally conductive pad and the heat dissipation boss 115.

[0070] Please refer to some embodiments of this utility model. Figure 6 The first cover 11 has a zeroing hole 116 for zeroing the first servo motor 30, exposing the first control board 34. Zeroing the first servo motor 30 means adjusting its position to a specific angle or position and marking or setting it so that subsequent control operations can start from this reference point. Generally, when zeroing the first servo motor 30, the interface on the first control board 34 needs to be connected to an external zeroing setting via a cable.

[0071] Please refer to some embodiments of this utility model. Figure 6 The outer surface of the first cover 11 is provided with a limiting structure 114. When the combined joint module 100 is installed between the upstream joint and the downstream joint, when the first servo motor 30 of the combined joint module 100 rotates to a predetermined angle, the limiting structure 114 abuts against the housing of the upstream joint, thereby limiting the rotation angle of the first servo motor 30 through the limiting structure 114.

[0072] Please refer to some embodiments of this utility model. Figure 3 and Figure 7 The second servo motor 40 includes a second control board 44 fixed to the second annular portion 132, a second electrical interface 442 fixed and electrically connected to the second control board 44, and the second electrical interface 442 is located in the space formed by the second cover 12 and the second annular portion 132. The second cover 12 has a wire inlet hole 111.

[0073] In some embodiments, please refer to Figure 5 and Figure 8 The second annular portion 132 has a protrusion on one side with multiple support columns 133, and the second control plate 44 is fixed on the support columns 133.

[0074] In some embodiments, the second cover 12 is provided with a zeroing hole 116 for the second servo motor 40 to be zeroed, and the zeroing hole 116 exposes the second control board 44.

[0075] In some embodiments of this invention, the first servo motor 30 and the second servo motor 40 have the same structure. In other embodiments, the first servo motor 30 and the second servo motor 40 may have different structures.

[0076] The specific structure of the first servo motor 30 is described below. When the first servo motor 30 and the second servo motor 40 have the same structure, the specific structure of the second servo motor 40 can be referred to the first servo motor 30.

[0077] Please refer to some embodiments of this utility model. Figures 4 to 6 The first servo motor 30 also includes a first motor 31, a first reducer 32, and a first output servo disc 33. The first output servo disc 33 includes a flange 332 and a hollow output shaft 331 connected to each other. The hollow output shaft 331 passes through the first reducer 32, the first motor 31, and the first control board 34 in sequence. The first motor 31 is fixed to the first annular part 131, and the motion output end of the first motor 31 is fixedly connected to the motion input end of the first reducer 32. The motion output end of the first reducer 32 is fixedly connected to the flange 332. The first cover 11 has a first wire hole 112 near the hollow output shaft 331. The input cable 21 passes through the wire hole 111 and the first wire hole 112 and is connected to the first electrical interface 341.

[0078] The first motor 31 is an electrically driven power component capable of outputting rotational motion. The power output end of the first motor 31 is connected to the power input end of the first reducer 32, and the power output end of the first reducer 32 is connected to the first output servo disc 33. The first reducer 32 reduces the output speed of the first motor 31, and the first output servo disc 33 is the power output end of the first servo motor 30. The flange 332 and the hollow output shaft 331 are coaxially arranged, with the flange 332 connected to one axial end of the hollow output shaft 331. The flange 332 can be connected to the previous joint, allowing the first servo motor 30 to drive the entire combined joint module 100 to rotate relative to the previous joint during operation. The hollow output shaft 331 has a hollow structure, allowing cables and other structures to pass through it, thus preventing cable entanglement during the rotation of the first output servo disc 33. One axial end of the hollow output shaft 331 is connected to the flange 332, and the first cover 11 is located near the other end of the hollow output shaft 331. The first cover 11 has an inlet hole 111 and a first through hole 112. The input cable 21 passes through the inlet hole 111 and the first through hole 112 in sequence and is connected to the first electrical interface 341.

[0079] By placing the first reducer 32, the first motor 31, and the first control board 34 on the outer periphery of the hollow output shaft 331, the axial space of the first servo motor 30 can be fully utilized, making the structure of the combined joint module 100 more compact. By providing a first cable hole 112 on the first cover 11, the input cable 21 can extend to the first electrical interface 341 in a predetermined direction, providing a cable routing guide for the input cable 21.

[0080] Please refer to some embodiments of this utility model. Figure 3 , Figure 4 and Figure 6 The first cover 11 has a first annular protrusion 113, which is located at the end of the hollow output shaft 331 away from the first output servo disc 33. An inlet hole 111 is formed on the axial end wall of the first annular protrusion 113, and a first through hole 112 is formed on the circumferential side wall of the first annular protrusion 113. The input cable 21 passes through the inlet hole 111 and the first through hole 112 and is connected to the first electrical interface 341. The first annular protrusion 113 has an annular structure and is located near the end of the hollow output shaft 331. The axial end wall of the first annular protrusion 113 is the end wall at one end along its axial direction, which can be considered as the top wall of the first annular protrusion 113. The circumferential side wall of the first annular protrusion 113 is a side wall extending along its circumferential direction. Understandably, the input cable 21 extends from the axial end wall (inlet hole 111) of the first annular protrusion 113 into the interior of the combined joint module 100, and then passes through the circumferential side wall (first through hole 112) of the first annular protrusion 113 to the first electrical interface 341.

[0081] By providing a first annular protrusion 113 on the first cover 11, and opening an inlet hole 111 and a first through hole 112 on the first annular protrusion 113 respectively, the input cable 21 is brought close to the first electrical interface 341 in a predetermined extension direction.

[0082] In some embodiments, the first wire hole 112 may extend to the body structure of the first cover 11, thereby increasing the size of the first wire hole 112 and providing better flexibility for the input cable 21.

[0083] In some embodiments, please refer to Figure 4 The first servo motor 30 also includes a second support bearing 352, which is located at the end of the hollow output shaft 331 away from the flange 332. The second support bearing 352 is supported by the first cover 11 and one end of the hollow output shaft 331. One end of the first cable passage 112 extends axially to penetrate the circumferential sidewall of the first annular portion 131; this end is referred to as the first end. The other end extends toward the axial endwall of the first annular portion 131; this end is referred to as the second end. When the input cable 21 passes through the first cable passage 112, it specifically passes between the first end of the first cable passage 112 and the second support bearing 352, without needing to enter the hollow output shaft 331.

[0084] Please refer to some embodiments of this utility model. Figures 4 to 6The outer peripheral wall of the first motor 31 is fixed to the inner peripheral wall of the first annular portion 131 by adhesive bonding. The mating part between the first annular portion 131 and the outer peripheral wall of the first motor 31 has a glue storage groove 1311. The function of the glue storage groove 1311 is to store glue. When the first motor 31 is fixed to the first annular portion 131, the glue storage groove 1311 can provide more glue for the connection between the two.

[0085] The first motor 31 is fixed by adhesive, which is simpler and does not require the design of a fixing structure. In addition, an adhesive storage tank 1311 is provided at the first annular part 131, which can provide more adhesive for the connection between the first motor 31 and the first annular part 131, making the connection more stable.

[0086] In some embodiments, the glue storage tank 1311 has a ring-shaped, arc-shaped or other structure that is adapted to the internal contour of the first ring portion 131.

[0087] In other embodiments, the first motor 31 may be fixed to the first annular portion 131 by means of interference fit, screw connection or other means.

[0088] Please refer to some embodiments of this utility model. Figure 4 and Figure 5 The first servo motor 30 also includes a bearing cover 353, a first support bearing 351, and a second support bearing 352. A hollow output shaft 331 passes through the bearing cover 353, which is fixed to the first annular portion 131. The first support bearing 351 is supported between the bearing cover 353 and the motion input end of the first reducer 32. The second support bearing 352 is located at the end of the hollow output shaft 331 furthest from the flange 332, and is supported by the first cover 11 and one end of the hollow output shaft 331. The first support bearing 351 supports the first reducer 32, ensuring stable rotation of its motion input end. The second support bearing 352 supports the hollow output shaft 331, ensuring stable rotation of the first output servo disc 33.

[0089] By setting the bearing cap 353, an installation position can be provided for the first support bearing 351, and the rotation of the first reducer 32 can be supported by the first support bearing 351. The rotation of the hollow output shaft 331 can be supported by the second support bearing 352, thereby making the movement of the first servo motor 30 more stable.

[0090] In some embodiments, the motion output end of the first motor 31 and the motion input end of the first reducer 32 are fixed by adhesive bonding.

[0091] In some embodiments, the first reducer 32 is a harmonic reducer.

[0092] Please see Figure 10This utility model also provides a humanoid robot, which includes the combined joint module 100 in any of the above embodiments. The combined joint module 100 can be applied to the wrist, ankle, and other parts of the humanoid robot.

[0093] The humanoid robot provided by this utility model adopts the aforementioned combined joint module 100. The combined joint module 100 includes a shell structure 10, a first servo motor 30, a second servo motor 40, and a cable assembly 20. Both the first servo motor 30 and the second servo motor 40 are disposed inside the shell structure 10. The cable assembly 20 includes an input cable 21 and an output cable 22. The input cable 21 enters the interior of the shell structure 10 through an inlet hole 111 and is electrically connected to the first servo motor 30. The output cable 22 extends to the outside of the shell structure 10 through an outlet hole 121. In this way, the first servo motor 30 and the second servo motor 40 are integrated into the same shell structure 10 to form an independent and complete module with only one input cable 21 and one output cable 22. This reduces the number of parts, meets the humanoid robot's requirements for lightweight joints and cost reduction, and ensures the disassembly and maintenance of the entire arm.

[0094] Please refer to some embodiments of this utility model. Figure 10 The humanoid robot includes an arm structure, which includes a forearm assembly 200 and an actuator 300. A combined joint module 100 is located between the forearm assembly 200 and the actuator 300. The forearm assembly 200 is connected to the motion output end of the first servo motor 30, and the actuator 300 is connected to the motion output end of the second servo motor 40.

[0095] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A combined joint module, characterized in that, include: The housing structure has an inlet hole and an outlet hole. A first servo motor has a first rotary output end, the first servo motor is disposed within the housing structure, and the first servo motor has a first electrical interface; The second servo has a second rotary output end, the second servo is disposed inside the housing structure, the second servo has a second electrical interface, the rotation axes of the first rotary output end and the second rotary output end are arranged at an angle, and the first servo and the second servo are electrically connected; as well as The cable assembly includes an input cable and an output cable, wherein the input cable passes through the inlet hole and is connected to the first electrical interface, and the input cable passes through the outlet hole and is connected to the second electrical interface.

2. The combined joint module as described in claim 1, characterized in that, The first servo has a third electrical interface, and the second servo has a fourth electrical interface; the third electrical interface and the fourth electrical interface are electrically connected via a connecting cable; or... The combined joint module includes a control board, and the first servo motor and the second servo motor are both electrically connected to the control board. The first electrical interface and the second electrical interface are both fixed and electrically connected to the control board.

3. The combined joint module as described in claim 1, characterized in that, The housing structure includes a first cover, a second cover, and a servo bracket. The servo bracket includes a first annular portion and a second annular portion connected to each other. The central axis of the first annular portion coincides with the rotation axis of the first rotary output end, and the central axis of the second annular portion coincides with the rotation axis of the second rotary output end. The first cover is fixed to the first annular portion to form a first mounting structure, the first servo is fixed to the first mounting structure, the second cover is fixed to the second annular portion to form a second mounting structure, and the second servo is fixed to the second mounting structure.

4. The combined joint module as described in claim 3, characterized in that, The first servo motor includes a first control board fixed to the first annular portion, the first electrical interface is fixed and electrically connected to the first control board, and the first electrical interface is located in the space formed by the first cover and the first annular portion, and the first cover has the inlet hole.

5. The combined joint module as described in claim 4, characterized in that, The first servo motor further includes a first motor, a first reducer, and a first output servo disc. The first output servo disc includes a flange and a hollow output shaft connected to each other. The hollow output shaft passes through the first reducer, the first motor, and the first control board in sequence. The first motor is fixed to the first annular portion, and the motion output end of the first motor is fixedly connected to the motion input end of the first reducer. The motion output end of the first reducer is fixedly connected to the flange. A first wire hole is provided on the first cover near the hollow output shaft. The input cable passes through the wire hole and the first wire hole and is connected to the first electrical interface.

6. The combined joint module as described in claim 5, characterized in that, The first cover has a first annular protrusion located at the end of the hollow output shaft away from the first output rudder. The inlet hole is opened on the axial end wall of the first annular protrusion, and the first through hole is opened on the circumferential side wall of the first annular protrusion. The input cable passes through the inlet hole and the first through hole and is connected to the first electrical interface.

7. The combined joint module as described in claim 5, characterized in that, The outer peripheral wall of the first motor is fixed to the inner peripheral wall of the first annular portion by adhesive bonding, and the mating part between the first annular portion and the outer peripheral wall of the first motor has an adhesive storage groove.

8. The combined joint module as described in claim 5, characterized in that, The first servo motor also includes a bearing cover, a first support bearing, and a second support bearing. The hollow output shaft passes through the bearing cover, which is fixed to the first annular portion. The first support bearing is supported between the bearing cover and the motion input end of the first reducer. The second support bearing is located at the end of the hollow output shaft away from the flange and is supported by the first cover and one end of the hollow output shaft.

9. The combined joint module as described in claim 4, characterized in that: The first cover has a zeroing hole for the first servo motor to be zeroed, and the zeroing hole exposes the first control board.

10. A humanoid robot, characterized in that: Includes the combined joint module as described in any one of claims 1-9.

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