Power assembly and legged robot

Abstract

The utility model discloses a kind of power assembly and foot formula robot, power assembly includes installation body, connecting piece, first joint and second joint. First joint and the second joint all include fixed part and the rotating part that can be rotated relative to fixed part, the fixed part of first joint is installed on installation body;Driving part is used to drive the rotating part of first joint and / or the rotating part of second joint rotates;Connecting piece is bent and set, the first end of connecting piece is connected on the rotating part of first joint, and the second end is connected on the fixed part or rotating part of second joint. The utility model forms integrated modular structure, not only convenient power assembly as a whole is disassembled and maintained, simultaneously, by optimizing the space between first joint and second joint, avoid structural interference, for power device, control device and sensing device in installation body and joint connection area provide more layout space selection.

Description

Technical Field

[0001] This utility model belongs to the field of legged robot technology, specifically relating to a power component and a legged robot. Background Technology

[0002] Multi-joint serial robots, such as legged robots and wheeled robots, are typically composed of multiple joints connected together by different connectors. In existing technologies, the joint layout of such robots is often relatively fixed, which has significant drawbacks. The joints and their drive units are arranged tightly in space, resulting in very small and irregularly shaped internal spaces in the joint connection areas. This not only easily leads to motion interference but also severely restricts the rational layout of core functional modules such as power supplies, control boards, and sensors, forcing them to be externally mounted or installed high up, thus compromising the robot's structural compactness and dynamic performance. At the same time, the entire drive system is an integrated structure, and when any unit fails, it often requires the disassembly of a large number of related components, resulting in high maintenance costs and low efficiency.

[0003] Therefore, in order to address the aforementioned technical problems, it is necessary to provide a power component and a legged robot. Utility Model Content

[0004] The purpose of this invention is to provide a power component and a legged robot that are compact in structure, have an optimized layout, and are modular for easy maintenance.

[0005] To achieve the above objectives, the technical solution provided by a specific embodiment of this utility model is as follows:

[0006] A power assembly, the power assembly comprising:

[0007] Install the main unit;

[0008] A first joint and a second joint, both the first joint and the second joint include a fixing part and a rotating part that can rotate relative to the fixing part, the fixing part of the first joint being mounted on the mounting body;

[0009] A driving component for driving the rotating part of the first joint and / or the rotating part of the second joint to rotate;

[0010] The connector is bent, with its first end connected to the rotating part of the first joint and its second end connected to either the fixed part or the rotating part of the second joint. Both ends are respectively connected to the rotating part of the first joint and the second joint. This integrated design facilitates overall assembly, disassembly, and maintenance, optimizes the spatial layout between joints, and avoids motion interference.

[0011] In one or more embodiments of this invention, the rotation axis of the first joint and the rotation axis of the second joint are spatially misaligned. This design enables complex spatial composite movements, expands the workspace and flexibility, and effectively avoids the risk of collisions between components.

[0012] In one or more embodiments of this utility model, both the first joint and the second joint are fixedly mounted on the convex side of the connector. This design utilizes the space on the convex side of the connector, facilitating an increase in the range of motion of the actuator, while providing protective space for internal wiring.

[0013] In one or more embodiments of this utility model, the power assembly further includes a fastener. The connector has mounting holes, and both the first and second joints have assembly holes that mate with the mounting holes. The fastener passes through the mounting holes from the concave side of the connector and is locked into the corresponding assembly holes. This design facilitates a tight and secure installation of the first and second joints onto the connector.

[0014] In one or more embodiments of this utility model, the connector is L-shaped, V-shaped, U-shaped, or T-shaped. The specific bending shape naturally achieves axis misalignment, resulting in a simple, reliable structure that facilitates compact layout.

[0015] In one or more embodiments of this invention, the rotation axis of the first joint is perpendicular to the rotation axis of the second joint. This design simplifies kinematic calculations, reduces control complexity, makes trajectory planning more intuitive and accurate, and improves motion control efficiency.

[0016] In one or more embodiments of this utility model, in order to facilitate the connection of the connector and the second joint, the second end of the connector is connected to the rotating part of the second joint.

[0017] In one or more embodiments of this utility model, the power assembly further includes a cooperating limiting part and a blocked part;

[0018] The limiting part and the blocked part are respectively disposed on the connector and the first joint and / or the second joint. The contact between the limiting part and the blocked part limits the rotation range of the first joint and / or the second joint. This design can prevent excessive joint rotation and improve system reliability.

[0019] In one or more embodiments of this utility model, the limiting part is a columnar structure integrally formed or fixedly mounted from the component on which it is disposed, and the blocked part rotates with the rotating part of the corresponding joint within the range of motion defined by the limiting part. This design can precisely limit the rotation range of the first joint and / or the second joint.

[0020] In one or more embodiments of this invention, the power assembly further includes a wiring harness electrically connecting the first joint and the second joint, the wiring harness being disposed on the concave side of the connector. This design utilizes the protected space on the concave side for wiring routing, preventing the wiring harness from tangling and pulling with moving parts, thereby improving circuit lifespan and reliability.

[0021] In one or more embodiments of this utility model, the connector is provided with a wire-fixing part for securing the wire harness. The wire-fixing part keeps the wire harness neat and orderly, preventing loosening and interference.

[0022] In one or more embodiments of this utility model, a wiring groove is provided on the mounting body, and the wire harness portion is disposed between the first joint and the mounting body and housed in the wiring groove. This design facilitates the organization and protection of the wire harness, preventing interference with joint movement.

[0023] In one or more embodiments of this invention, the mounting body is a robot body or base. This design facilitates the integration of the power components into the robot system.

[0024] In one or more embodiments of this utility model, at least one of a power supply device, a control device, and a sensing device is provided on the mounting body. By optimizing space to centrally arrange functional modules on the mounting body, the system integration is improved.

[0025] In one or more embodiments of this invention, the fixing portion of the first joint is detachably connected to the mounting body. This detachable connection facilitates quick replacement and maintenance of the joint module.

[0026] Both the first and second joints include a drive component, a reducer connected to the output end of the drive component, and a drive plate for controlling the drive component. This design facilitates modular integration of power, transmission, and control within the joint, simplifying assembly and maintenance.

[0027] The technical solution provided by another specific embodiment of this utility model is as follows:

[0028] A legged robot is characterized by comprising at least one power component as described above. The modular power component improves the robot's structural compactness, simplifies leg design, and enhances movement flexibility.

[0029] Compared with the prior art, the power component and legged robot of this utility model directly connect the first joint and the second joint through a bent connector, and install the fixing part of the first joint on the mounting body, forming an integrated modular structure. This structure not only facilitates the disassembly and maintenance of the power component as a whole, but also avoids structural interference by optimizing the space between the first joint and the second joint, and provides more layout space options for the power supply device, control device and sensing device in the mounting body and joint connection area. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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 recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a three-dimensional structural diagram of the power component in Embodiment 1 of this utility model;

[0032] Figure 2 This is an exploded structural diagram of the power component in Embodiment 1 of this utility model;

[0033] Figure 3 This is a three-dimensional structural diagram of the connector in Embodiment 1 of this utility model;

[0034] Figure 4 This is an exploded structural diagram of the first or second joint in Embodiment 1 of this utility model;

[0035] Figure 5 This is a three-dimensional structural diagram of the power assembly with wiring harness in Embodiment 1 of this utility model;

[0036] Figure 6 This is an exploded structural diagram of the power assembly with wiring harness in Embodiment 1 of this utility model;

[0037] Figure 7 This is a schematic diagram of the legged robot in Embodiment 2 of this utility model.

[0038] Explanation of key figure labels:

[0039] 1. Install the main unit

[0040] 11 Main Body

[0041] 12. Coordination Department

[0042] 13 Locking Structure

[0043] 14 Cable Tray

[0044] 2 Connectors

[0045] 21 First connecting arm

[0046] 211 First mounting hole

[0047] 212 First limiting post

[0048] 22 Second connecting arm

[0049] 221 Second mounting hole

[0050] 23. Fixed wire section

[0051] 3 First joint

[0052] 31 First fixing part

[0053] 32 First Rotating Part

[0054] 321 First Assembly Hole

[0055] 33 Blocked part

[0056] 4 Second joint

[0057] 41 Second fixing part

[0058] 42 Second Rotating Part

[0059] 421 Second assembly hole

[0060] 51 Driver

[0061] 52 Reducer

[0062] 53 Driver Board

[0063] 6. Power components. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0065] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0066] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0067] The technical solution of this utility model will now be described with reference to the accompanying drawings.

[0068] Example 1:

[0069] Reference Figures 1-6 As shown, this embodiment discloses a power assembly, which mainly includes a mounting body 1, a connector 2, a first joint 3, and a second joint 4.

[0070] In this embodiment, the mounting body 1 is a rigid base used to fix the entire power assembly to the body of the legged robot. The connector 2 is a rigid structure with a bent design.

[0071] The first joint 3 includes a first fixed part 31 and a first rotating part 32 rotatably mounted in the first fixed part 31. The second joint 4 includes a second fixed part 41 and a second rotating part 42 rotatably mounted in the second fixed part 41. The first fixed part 31 of the first joint 3 is mounted to the mounting body 1 by bolts or other structures. The first rotating part 32 can rotate 360° continuously relative to the first fixed part 31 about a first rotation axis A1 via a driving member 51. The first rotation axis A1 is approximately perpendicular to the mounting surface of the mounting body 1. The second fixed part 41 of the second joint 4 is not directly connected to the connecting member 2 and the mounting body 1. The second rotating part 42 can rotate 360° continuously relative to the second fixed part 41 about a second rotation axis A2 via a driving member 51. The second rotation axis A2 is spatially intersecting with the first axis A1.

[0072] The connector 2 includes a first end and a second end. The first end is fixedly connected to the first rotating part 32 of the first joint 3 via bolts, screws, or other structures. The second end of the connector 2 is fixedly connected to the second rotating part 42 of the second joint 4 via bolts, screws, or other structures. Through this connection method, the rotation of the first joint 3 will cause the entire second joint 4 and the connector 2 to swing together around the first axis A1 (generating the first degree of freedom). The rotation of the second joint 4 itself will cause its end-effector (such as the thigh or upper arm of a legged robot) to swing around the second axis A2 (generating the second degree of freedom). Of course, this application is not limited to this; the mounting body 1 can also be directly the robot body, that is, the first fixing part 31 of the first joint 3 can be directly mounted on the robot body. Of course, this application is not limited to this; in other embodiments, the second end of the connector 2 can also be fixedly connected to the second fixing part 42 of the second joint 4 via bolts, screws, or other structures.

[0073] This utility model directly connects the first rotating part 32 of the first joint 3 and the second rotating part 42 of the second joint 4 through a bent connector 2, and installs the first fixing part 31 of the first joint 3 on the mounting body 1, forming an integrated modular structure. This not only facilitates the disassembly and maintenance of the power component as a whole, but also avoids structural interference by optimizing the space between the first joint 3 and the second joint 4, providing more layout space options for the power supply device, control device and sensing device in the mounting body 1 and the joint connection area.

[0074] Specifically, refer to Figures 1-3 As shown, in this embodiment, the connector 2 includes an integrally formed or fixedly installed first connecting arm 21 and second connecting arm 22. The first end of the connector 2 is located on the first connecting arm 21, and the second end of the connector 2 is located on the second connecting arm 22. Due to the curved design of the connector 2, the first connecting arm 21 and the second connecting arm 22 are not collinear, and the included angle between them is approximately 90°. The rotation axes of the first joint and the second joint, which are mounted on the first connecting arm 21 and the second connecting arm 22, are also staggered. This bent and staggered configuration enables complex spatial composite motion, expands the working space and motion flexibility of the actuator, optimizes the overall structural layout, and effectively avoids spatial interference between components during motion.

[0075] Of course, this application is not limited to this. In another embodiment, the included angle between the first connecting arm 21 and the second connecting arm 22 is a specific angle, which can be 30°, 60°, 75°, 120°, or 150°, etc., so that the connector 2 is V-shaped, and the rotation axes L1 and L2 of the two joints are not parallel to each other. Alternatively, the connector 2 in other embodiments is a T-shaped connector 2; or, the connector 2 in other embodiments is an integrally formed U-shaped curved section with no obvious boundary connecting arm. In this case, the first joint 3 and the second joint 4 are respectively installed at both ends of the U-shaped structure, and the rotation axes L1 and L2 of the two joints are neither intersecting nor parallel, thus achieving a spatially staggered arrangement.

[0076] Preferably, refer to Figures 1-3As shown, when the connector 2 is L-shaped, its first connecting arm 21 and second connecting arm 22 are perpendicular to each other, thus naturally making the rotation axis A1 of the first joint 3 and the rotation axis A2 of the second joint 4 perpendicular to each other. The rotation of the first joint 3 (around axis A1) can drive the end effector to swing in the horizontal plane, while the rotation of the second joint 4 (30) (around axis A2) mainly drives the end effector to pitch in the vertical plane. By setting the power components with mutually perpendicular rotation axes, the forward and inverse kinematics calculations of the legged robot can be simplified, reducing the complexity and computational burden of the control system, and the motion trajectory planning of the legged robot can be more intuitive and accurate. Of course, when the angle between the first connecting arm 21 and the second connecting arm 22 is a specific angle, the angle between the rotation axis A1 of the first joint 3 and the rotation axis A2 of the second joint 4 is also that specific angle, which is understandable and acceptable to those skilled in the art.

[0077] In this invention, to clearly describe the positional relationship between the components, the "convex side" and "concave side" of the connector 2 are defined as follows: the bending structure of the connector 2 naturally forms an L-shaped area of ​​approximately 90°. The side of the internal space enclosed by this area is the "concave side," while the raised outer side of its back is the "convex side." In a preferred embodiment, both the first joint 3 and the second joint 4 are fixedly installed on the convex side of the connector 2.

[0078] The convex-side mounting is equivalent to arranging the two joints on the outside of the connector 2. This layout maximizes the use of the space on the outside of the connector 2, allowing the second joint 4 to move away from the robot body as the first joint 3 rotates. This provides the actuator connected to the second joint 4 with greater range of motion while minimizing the risk of collision between the second joint 4 and the robot body. Simultaneously, the convex-side mounting naturally creates a protected space on the concave side of the connector 2, allowing the wiring harness to run from the robot body, closely following the inner wall of the concave side of the connector 2 and securing it to the connector 2. Based on this design, when the first joint 3 and the second joint 4 swing, the wiring harness is always partially constrained to the connector 2, avoiding contact with the first joint 3 and the second joint 4, effectively preventing the wiring harness from becoming entangled or pulled on the first joint 3 or the second joint 4, thus improving the reliability and lifespan of the power components.

[0079] To achieve a compact and robust connection, refer to Figures 1-3As shown, one or more first mounting holes 211 are provided on the first connecting arm 21, and one or more second mounting holes 221 are provided on the second connecting arm 22. Corresponding to the first mounting hole 211, a first assembly hole 321 is provided on the first rotating part 32 of the first joint 3; corresponding to the second mounting hole 221, a second assembly hole 421 is provided on the second rotating part 42 of the second joint 4. The assembly hole is preferably a threaded hole. The fastener (such as an internal hexagon socket head cap screw) is installed from the concave side of the connector 2. It passes through the first mounting hole 211 and the first assembly hole 321 in sequence, and after tightening, the first rotating part 32 can be tightly pressed against the first connecting arm 21. Similarly, another set of fasteners passes through the second mounting hole 221 from the concave side in the same way and is locked in the second assembly hole 421, thereby fixing the second rotating part 42 of the second joint 4 to the second connecting arm 22.

[0080] Preferably, refer to Figure 1 , Figure 2 As shown, the power assembly in this embodiment also includes a cooperating limiting part and a blocked part to limit the rotation range of the first joint 3 and the second joint 4. The limiting part is a stop or column structure integrally formed or fixedly mounted on the connector 2. The blocked part is a stop or column structure integrally formed or fixedly mounted on the first joint 3 and / or the fourth joint 4. However, it should be understood that the location of the limiting part is not limited to the connector; the limiting part can also be located on the first joint 3 and / or the fourth joint 4, and the blocked part can be located on the connector and corresponding to the limiting part, as long as the two can form contact interference through relative movement.

[0081] Specifically, the explanation will take the example of a limiting part being located in connector 2. (Refer to...) Figure 3 As shown, a first limiting post 212 is provided on the first connecting arm 21. The first limiting post 212 is located on the movement path of the first joint 3. When the first rotating part 32 of the first joint 3 rotates to its limit position in one direction, a blocked part 33 on the first joint 3 (for example, a boss provided on the first fixed part 31 or the first rotating part 32) will come into contact with the first limiting post 212, thereby preventing it from continuing to rotate and realizing unidirectional or bidirectional rotation angle limitation.

[0082] It should be explained that the number of the first limiting post 212 can be one or more. When one is set, the range of the first connecting arm 21 covered by the first limiting post 212 can be set, thereby limiting the rotation range of the first joint 3 by the collision between the blocked part 33 and the two sides of the first limiting post 212. When two or three or more are set, a limiting interval is formed between a pair of first limiting posts 212. When the blocked part 33 is set between two first limiting posts 212, the maximum allowable rotation angle of the first joint 3 can be precisely set by adjusting the included angle between the two first limiting posts 212. Of course, this application is not limited to this. Second limiting posts can also be provided on the second connecting arm 22 in other embodiments. Similarly, the number of the second limiting posts can also be set to one or more, which will not be elaborated here. This modular limiting design provides great convenience for angle customization in different application scenarios.

[0083] In order to install the fixing part of the first joint 3 onto the mounting body 1, refer to Figure 2 As shown, in this embodiment, the first fixing part 31 of the first joint 3 is detachably connected to the mounting body 1. Specifically, the mounting body 1 includes a main body 11 and a detachable mating part 12. After the main body 11 and the mating part 12 are engaged, they together form a mounting cavity that surrounds the outer wall of the fixing part of the first joint 3. By fastening with screws, bolts, or other locking structures 13 passing through the main body 11 and the mating part 12, the clamping force of the mounting body 1 can be used to fix the first fixing part 31 of the first joint 3 in the mounting cavity of the mounting body 1, which is reliable and easy to install and remove. Of course, this application is not limited to this. In other embodiments, the mounting body 1 can also adopt a structure similar to a clamp; or a locking hole can be directly provided on the first fixing part 31 of the first joint 3, which can be directly fastened by screws, bolts, or other structures; or the first fixing part 31 of the first joint 3 can be fixedly installed on the mounting body 1 by welding or other methods.

[0084] Reference Figure 4As shown, in this embodiment, both the first joint 3 and the second joint 4 adopt an integrated modular design. Both the first joint 3 and the second joint 4 integrate a drive component 51 as a power source, a reducer 52 connected to the output end of the drive component 51, and a drive plate 53 for controlling the drive component 51. The drive component 51 can be a brushless DC motor or similar structure. The output shaft of the drive component 51 transmits power to the input end of the reducer 52 via a coupling or direct drive. The output flange of the reducer 52 constitutes the joint's rotating part for external output. The drive plate 53 is typically fixedly installed in the non-rotating area inside the joint housing. Thus, the drive component 51, the reducer 52, and the drive plate 53 together constitute a compact and fully functional modular execution unit. By integrating the three major functions of power, transmission, and control into one joint, each joint becomes an independent functional module, thereby simplifying the overall design and assembly process of the power assembly.

[0085] Reference Figure 5 , Figure 6 As shown, the power assembly also includes a wiring harness for power transmission and signal communication between the first joint 3 and the second joint 4. Specifically, one end of the wiring harness is connected to the drive plate 53 of the first joint 3, then partially disposed on the concave side of the connector 2, and extends to the second joint 4 and is connected to the drive plate 53 of the second joint 4.

[0086] Preferably, the concave side of the connector 2 is provided with a wire fixing part 23 for fixing the wire harness, such as a buckle or other structure, so as to neatly constrain the wire harness in the concave side space and prevent it from loosening or interfering with the actuator.

[0087] Preferably, the mounting body 1 is provided with a wiring groove 14 for constraining the wire harness connected to the first joint 3. Specifically, the wiring groove 14 can be a U-shaped groove formed on the surface of the mounting body 1. After the wire harness is connected to the drive plate 53 of the first joint 3, a portion of the wire harness near the mounting body 1 is housed in the wiring groove 14.

[0088] Because the space between the first joint 3 and the second joint 4 is optimized, the mounting body 1 and its surrounding area are no longer occupied by actuators and wiring harnesses, thus freeing up ample physical space to accommodate at least one of a power supply device, a control device, and a sensing device on the mounting body 1. The power supply device, control device, and sensing device are no longer located on the outside or top of the robot body, but can be comprehensively optimized in their layout.

[0089] Example 2:

[0090] Reference Figure 7As shown, this embodiment discloses a legged robot, which includes at least one power component as described in Embodiment 1. By modularizing the power component, it is not only convenient to disassemble and maintain the power component as a whole, but also avoids structural interference by optimizing the space between the first and second joints of the power component. This provides more layout space options for the power supply device, control device and sensing device in the mounting body and joint connection area.

[0091] It should be noted that the brushless DC motor and other structures and their working principles not described in detail in this application can all adopt existing solutions in the prior art, which can be understood and accepted by those skilled in the art, and therefore will not be elaborated further.

[0092] In the description of the embodiments of this utility model, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or component 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.

[0093] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0094] In the description of the embodiments of this utility model, it should also be noted that the terms "first" and "second" used herein do not specifically refer to any order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0095] It should be noted that, for the purpose of more clearly describing the structure, the term "distal end" is defined herein as the end furthest from the operator during operation, and "proximal end" as the end closest to the operator during operation. Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0096] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0097] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A power component, characterized in that, The power assembly includes: Install the main body (1); The first joint (3) and the second joint (4) each include a fixing part (31, 41) and a rotating part (32, 42) that can rotate relative to the fixing part (31, 41). The fixing part (31) of the first joint (3) is mounted on the mounting body (1). A drive member (51) is used to drive the rotation part (32) of the first joint (3) and / or the rotation part (42) of the second joint (4) to rotate; The connector (2) is bent and connected to the first end of the first joint (3) and the second end of the connector (2) is connected to the fixed part (41) of the second joint (4) or the rotating part (42) of the second joint (4).

2. The power assembly according to claim 1, characterized in that, The rotation axis of the first joint (3) and the rotation axis of the second joint (4) are spatially misaligned.

3. The power assembly according to claim 2, characterized in that, The first joint (3) and the second joint (4) are both fixedly installed on the convex side of the connector (2).

4. The power assembly according to claim 3, characterized in that, The power assembly (6) also includes fasteners. The connector (2) is provided with mounting holes (211, 221). The first joint (3) and the second joint (4) are each provided with assembly holes (321, 421) that cooperate with the mounting holes (211, 221). The fastener passes through the mounting holes (211, 221) from the concave side of the connector (2) and is locked in the corresponding assembly holes (321, 421).

5. The power assembly according to claim 2, characterized in that, The connector (2) is L-shaped, V-shaped, U-shaped, or T-shaped; and / or, The rotation axis of the first joint (3) is perpendicular to the rotation axis of the second joint (4); and / or, The second end of the connector (2) is connected to the rotating part (42) of the second joint (4).

6. The power assembly according to claim 1, characterized in that, The power assembly (6) also includes a limiting part (212) and a blocking part (33) that cooperate with each other. The limiting part (212) and the blocked part (33) are respectively disposed on the connector (2) and the first joint (3) and / or the second joint (4). The rotation range of the first joint (3) and / or the second joint (4) is limited by the contact between the limiting part (212) and the blocked part (33).

7. The power assembly according to claim 6, characterized in that, The limiting part (212) is a column structure integrally formed or fixedly installed from the component on which it is provided, and the blocked part (33) rotates with the rotating part (32, 42) of the corresponding joint within the range of motion defined by the limiting part (212).

8. The power assembly according to claim 1, characterized in that, The power assembly (6) also includes a wire harness that electrically connects the first joint (3) and the second joint (4), the wire harness being disposed on the concave side of the connector (2).

9. The power assembly according to claim 1, characterized in that, The connector (2) is provided with a wire fixing part (23) for fixing the wire harness; and / or, The mounting body (1) is provided with a wiring groove (14), and the wire harness is located between the first joint (3) and the mounting body (1) and is housed in the wiring groove (14).

10. The power assembly according to claim 1, characterized in that, The mounting body (1) is a robot body or base; and / or, The mounting body (1) is provided with at least one of a power supply device, a control device, and a sensing device; and / or, The fixing part (31) of the first joint (3) is detachably connected to the mounting body (1); and / or, Both the first joint (3) and the second joint (4) include a drive member (51), a reducer (52) connected to the output end of the drive member (51), and a drive plate (53) for controlling the drive member (51).

11. A legged robot, characterized in that, It includes at least one power component (6) as claimed in any one of claims 1 to 10.

Images