Torque transferring assembly, head mechanism, and robot

Abstract

A torque transferring assembly (100), a head mechanism, and a robot. The torque transferring assembly (100) comprises a rotary output shaft (1), a transmission shaft (2), a rotating member (3), and an axial limiting structure (4). The rotary output shaft (1) can output rotary motion; a first circumferential limiting structure (61) used for enabling the transmission shaft (2) to rotate along with the rotary output shaft (1) is provided at the joint of the rotary output shaft (1) and the transmission shaft (2); a second circumferential limiting structure (62) enabling the rotating member (3) to rotate along with the transmission shaft (2) is provided at the joint of one end of the rotating member (3) and the transmission shaft (2); and the axial limiting structure (4) is used for enabling axial positions of the rotary output shaft (1), the transmission shaft (2), and the rotating member (3) to be relatively fixed. By means of separate arrangement of the axial limiting structure (4) and the circumferential limiting structures, the space occupied by the limiting structures can be reduced, the size of the torque transferring assembly (100) in the axial direction of the transmission shaft (2) is not increased as much as possible, and torque can be transferred in a narrow space, so that the torque transferring assembly is applied to the head mechanism of the robot.

Description

Torque transmission components, head mechanisms, and robots

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 29, 2023, with application number 202311626923.3 and invention name “Torque transmission assembly, head mechanism and robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of intelligent mechanical technology, and more specifically, relates to a torque transmission component, a head mechanism and a robot. Background Art

[0003] Some robots, such as bipedal robots, can assist or replace humans in completing various tasks due to their human-like appearance and have broad application prospects. Domestic and foreign scholars have conducted relevant research on bipedal robots and launched a series of bipedal robots. However, bipedal robots have extremely strict requirements on the weight of the entire machine and the space for stacking components. Among them, the design of the head space structure and the design and assembly of the neck structure are particularly important. At present, some bipedal robots use a non-driven fixed head. The robot's visual navigation will form a large blind spot, and the robot's navigation and walking will be restricted, affecting the robot's own movement performance. Another part of the bipedal robots uses a flange screw connection between the motor drive and the shaft to transmit torque. It occupies a large space and volume. If used in the head of a small robot, it will appear very bloated. Technical issues

[0004] The purpose of the embodiments of the present application is to provide a torque transmission assembly, a head mechanism and a robot to solve the technical problem in the prior art of transmitting torque through a flange and screw connection method resulting in a large space occupation. Technical Solutions

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a torque transmission assembly, including a rotary output shaft, a transmission shaft, a rotating member and an axial limiting structure, wherein the rotary output shaft can output rotational motion, and a first circumferential limiting structure for causing the transmission shaft to rotate along with the rotary output shaft is provided at the junction of the rotary output shaft and the transmission shaft, and a second circumferential limiting structure for causing the rotating member to rotate along with the transmission shaft is provided at the junction of one end of the rotating member and the transmission shaft, and the axial limiting structure is used to relatively fix the axial positions of the rotary output shaft, the transmission shaft and the rotating member.

[0006] In the above scheme, the torque transmission assembly includes a rotary output shaft, a transmission shaft, a rotating member, and an axial limiting structure. A first circumferential limiting structure synchronizes the rotation of the rotary output shaft and the transmission shaft, while a second circumferential limiting structure drives the rotation of the rotating member. The axial limiting structure also provides axial limiting for the rotary output shaft, transmission shaft, and rotating member. Separating the axial limiting structure from the circumferential limiting structure reduces the space occupied by the limiting structures, minimizing the increase in the axial dimension of the torque transmission assembly along the transmission shaft. This allows torque to be transmitted within a confined space, making it suitable for use in robotic head mechanisms.

[0007] Optionally, the transmission shaft includes a shaft body and a transition shaft that are relatively fixed in the circumferential direction, one end of the rotating member is connected to the shaft body, the shaft body and the rotary output shaft are connected through the transition shaft, and the first circumferential limiting structure is provided at the junction of the transition shaft and the rotary output shaft.

[0008] In the above solution, a first circumferential limit structure is provided at the junction of the transition shaft and the rotary output shaft. Since the transmission shaft requires a portion of the first circumferential limit structure and a portion of the second circumferential limit structure, it may also include a shaft shoulder or other limit structure. Therefore, the transmission shaft structure is relatively complex. By configuring the transmission shaft as a shaft body and a transition shaft, the transmission shaft can be manufactured more simply, reducing the production cost of the transmission shaft.

[0009] Optionally, the first circumferential limiting structure includes a first limiting portion and a second limiting portion that are circumferentially fixedly connected, the first limiting portion is arranged on the rotary output shaft, and the second limiting portion is arranged on the transition shaft, and one of the first limiting portion and the second limiting portion is an external spline and the other is an internal spline.

[0010] In the above embodiment, one of the first and second stoppers is an external spline, and the other is an internal spline. The external spline extends into the interior of the internal spline, forming a circumferential stop. The external spline is circumferentially arranged on the outer circumferential wall, while the internal spline is arranged on the inner circumferential wall of the hole. The first circumferential stop structure includes the external spline and the internal spline. When the external and internal splines cooperate, the connection is reliable, can withstand high torque, and is easy to assemble and disassemble.

[0011] Optionally, a third circumferential limiting structure is provided between the shaft body and the transition shaft, and the third circumferential limiting structure includes a third limiting portion and a fourth limiting portion, the third limiting portion is provided on the transition shaft, and the fourth limiting portion is provided on the shaft body, one of the third limiting portion and the fourth limiting portion is a transmission hole, and the other is a transmission column, and the transmission column extends into the transmission hole, so that the third limiting portion can push the fourth limiting portion to rotate.

[0012] In the above scheme, the circumferentially restrained cooperation of the third and fourth restraining portions enables the shaft body and the transition shaft to be circumferentially fixedly connected. One of the third and fourth restraining portions is a transmission hole, and the other is a transmission post. Both the transmission hole and the transmission post have at least one non-circular surface, so that the inner circumferential wall of the transmission hole can propel the transmission post for rotation, or the outer circumferential wall of the transmission post can propel the transmission hole for rotation. The transmission hole and the transmission post have a relatively simple transmission structure, simple processing steps, and low production costs, which can reduce the production cost of the drive shaft.

[0013] Optionally, the transmission hole is a polygonal hole, and the transmission column is a polygonal column. For example, the transmission hole is a quadrilateral hole, and the transmission column is a quadrilateral column. Alternatively, the transmission hole is a pentagonal hole, and the transmission column is a pentagonal column. Alternatively, the transmission hole is a hexagonal hole, and the transmission column is a hexagonal column.

[0014] Optionally, the second circumferential limiting structure includes a fifth limiting portion and a sixth limiting portion, the fifth limiting portion is arranged on the transmission shaft, and the sixth limiting portion is arranged on the rotating member, the fifth limiting portion is a transmission column, and the sixth limiting portion is a transmission hole, and the inner circumferential wall of the transmission hole can push the transmission column to rotate.

[0015] In the above solution, the circumferential limiting cooperation of the fifth limiting portion and the sixth limiting portion can make the transmission shaft and the rotating member circumferentially fixedly connected. In the embodiment where the transmission shaft includes a shaft body and a transition shaft, the fifth limiting portion is provided on the transmission shaft, that is, the transmission shaft includes a transmission column.

[0016] Optionally, the axial limiting structure includes a fixing nail, which passes through the transmission shaft along the axial direction of the transmission shaft and is connected to the end of the rotary output shaft, and the head of the fixing nail is used to axially press and fix the rotating member.

[0017] In the above scheme, the transmission shaft, rotating output shaft and rotating part are axially fixed by fixing pins, and only the head of the fixing pins is exposed, occupying a smaller axial space and not occupying space in the radial direction. Therefore, the axial limiting structure occupies a smaller space and is suitable for narrower torque transmission spaces.

[0018] Optionally, the torque transmission assembly includes a support structure, which includes a support seat and a support bearing. The support seat is provided with an axial hole for the transmission shaft to pass through. The support bearing is arranged between the inner wall of the axial hole and the outer wall of the transmission shaft. A limiting step is provided on the transmission shaft. The inner ring of the support bearing and the rotating member are clamped between the head of the fixing pin and the limiting step.

[0019] In the above solution, the outer ring of the support bearing is fixedly connected to the inner wall of the shaft hole, and the inner ring of the support bearing is fixedly connected to the outer wall of the transmission shaft. This allows the transmission shaft to rotate stably under the support of the support bearing and support seat, reducing radial runout. By providing a limiting step, the inner ring of the support bearing and the rotating member can be simultaneously clamped and fixed between the head of the fixing pin and the limiting step, thereby achieving axial limit fixation of the transmission shaft and the rotating member.

[0020] The present application also provides a head mechanism, comprising the above-mentioned torque transmission assembly, and also comprising a first servo, wherein the output shaft of the first servo is the rotation output shaft, and the rotating member is a neck cantilever member.

[0021] Optionally, the head mechanism further includes a second servo and a head structural component, wherein the second servo is fixed to an end of the rotating component away from the transmission shaft, and the second servo is used to drive the head structural component to rotate.

[0022] In the above solution, the support base is fixed to the mounting base, and the housing of the first steering gear is fixed to the mounting base. The setting of the mounting base is convenient for installing the first steering gear and the transmission shaft and other structures, and is convenient for connecting the head mechanism with the chest mechanism.

[0023] The present application also provides a robot comprising the above-mentioned head mechanism.

[0024] The head mechanism and robot provided in this application both include a torque transmission component. By separating the axial limiting structure and the circumferential limiting structure, the space occupied by the limiting structure can be reduced, and the size of the torque transmission component in the axial direction of the transmission shaft is not increased as much as possible. It can transmit torque in a small space and is suitable for the head mechanism of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a perspective structural diagram of a torque transmission assembly provided in an embodiment of the present application;

[0027] FIG2 is an exploded structural diagram of a torque transmission assembly provided in an embodiment of the present application;

[0028] FIG3 is a cross-sectional view of a torque transmission assembly provided in an embodiment of the present application;

[0029] FIG4 is an exploded structural diagram of a transmission shaft provided in an embodiment of the present application;

[0030] FIG5 is a three-dimensional structural diagram of the head structure provided in an embodiment of the present application.

[0031] Among them, the reference numerals in the figures are:

[0032] 100-torque transmission assembly; 1-rotating output shaft; 11-first limiting part; 2-transmission shaft; 21-transition shaft; 211-first transition section; 212-second transition section; 213-third limiting part; 214-second limiting part; 22-shaft body; 221-first shaft section; 222-fifth limiting part; 223-second shaft section; 224-fourth limiting part; 23-limiting step; 3-rotating member; 31-sixth limiting part; 4-axial limiting structure; 41-fixing nail; 5-support structure; 51-support seat; 511-support part; 512-shaft hole; 52-support bearing; 53-washer; 61-first circumferential limiting structure; 62-second circumferential limiting structure; 63-third circumferential limiting structure.

[0033] 200-first servo; 300-second servo; 400-mounting base. Modes for Carrying Out the Invention

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0035] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] A robot is an intelligent machine capable of semi- or fully autonomous operation. It can be programmed and automatically controlled to perform tasks such as work or movement. There are many different types of robots, including industrial robots, outdoor robots, service robots, and humanoid robots. Industrial robots are primarily used in production lines. Their multi-jointed structures enable multi-axis motion, enabling the movement and processing of objects. Outdoor robots, such as quadruped robots, can perform outdoor exploration and rescue operations and possess strong mobility. Service robots, such as quadruped robots, can be used in restaurants and hotels to deliver food and other items. Humanoid robots, also known as bipedal robots, are designed to mimic human appearance and behavior. They have a neck, head, thorax, and legs. Due to their humanlike appearance, they place extremely strict demands on the overall weight and component stacking space. The design and assembly of the head space structure and neck structure are particularly important. Currently, some bipedal robots use a fixed head structure without actuation. This creates a significant blind spot for the robot's visual navigation, limiting navigation and movement, and affecting the robot's own motion performance. In other bipedal robots, the motor drive and the shaft are often connected by flange-type screws to transmit torque. This takes up a lot of space and would be very bulky if used in the head of a small robot. To overcome the above technical problems, this application proposes a new torque transmission assembly, head mechanism, and robot.

[0039] The torque transmission assembly provided in the embodiment of the present application is now described.

[0040] Referring to Figures 1 to 3 , torque transmission assembly 100 includes a rotary output shaft 1, a transmission shaft 2, a rotating member 3, and an axial limiting structure 4. Torque transmission assembly 100 is used to transmit rotational torque from rotary output shaft 1 to rotating member 3, enabling rotating member 3 to rotate under the drive of rotary output shaft 1.

[0041] The rotary output shaft 1 is a power output structure capable of outputting rotational motion, that is, the rotary output shaft 1 can rotate. The specific structure of the rotary output shaft 1 can be a gear, a shaft, a square column, etc., as long as it can rotate around its central axis, it can be understood as the rotary output shaft 1 in this application.

[0042] The transmission shaft 2 is used to transmit and connect the rotary output shaft 1 and the rotating member 3, thereby realizing torque transmission from the rotary output shaft 1 to the rotating member 3. A first circumferential limiting structure 61 is provided at the junction of the transmission shaft 2 and the rotary output shaft 1, so that the transmission shaft 2 and the rotary output shaft 1 rotate synchronously, that is, when the rotary output shaft 1 rotates a certain angle, the transmission shaft 2 also rotates the same angle, so that the rotation of the transmission shaft 2 and the rotary output shaft 1 is synchronized. Among them, the first circumferential limiting structure 61 only fixes the transmission shaft 2 and the rotary output shaft 1 circumferentially to each other, without axial fixation. Therefore, the first circumferential limiting structure 61 can be provided at the junction of the rotary output shaft 1 and the transmission shaft 2 without providing other connecting structural parts. The first circumferential limiting structure 61 can be designed by directly utilizing the space at the junction of the transmission shaft 2 and the rotary output shaft 1, without additionally increasing the structural dimensions of the torque transmission assembly 100, so that it can be applied to a relatively narrow space.

[0043] The rotating member 3 is used to output swing or rotation. When the torque transmission assembly 100 is applied to the head mechanism, the rotating member 3 can be a neck cantilever member, that is, equivalent to the neck part of the head mechanism, and the swing of the rotating member 3 is equivalent to the nodding movement. A second circumferential limiting structure 62 is provided at the junction of one end of the rotating member 3 and the transmission shaft 2. The second circumferential limiting structure 62 enables the end of the rotating member 3 to rotate synchronously with the transmission shaft 2, so that the rotating member 3 can rotate around the central axis of the transmission shaft 2. Among them, the second circumferential limiting structure 62 only fixes the transmission shaft 2 and one end of the rotating member 3 to each other circumferentially, and there is no axial fixation. Therefore, the second circumferential limiting structure 62 can be provided at the junction of the transmission shaft 2 and the rotating member 3 without providing other connecting structural members. The second circumferential limiting structure 62 is directly designed using the space at the junction of the transmission shaft 2 and the rotating member 3, without additionally increasing the structural dimensions of the torque transmission assembly 100, so that it can be applied to a relatively narrow space.

[0044] The axial limiting structure 4 is used to relatively fix the axial positions of the rotary output shaft 1, the transmission shaft 2, and the rotating member 3. That is, the axial limiting structure 4 is used to axially position the rotary output shaft 1, the transmission shaft 2, and the rotating member 3 to prevent the rotary output shaft 1, the transmission shaft 2, and the rotating member 3 from axial movement.

[0045] In the connection structure of the rotating output shaft 1, the transmission shaft 2 and the rotating member 3, the first circumferential limiting structure 61 and the second circumferential limiting structure 62 for circumferential limiting and the axial limiting structure 4 for axial limiting are separately arranged, which not only can better perform circumferential positioning and axial positioning and prevent circumferential movement and axial movement, but also can set the circumferential limiting structure at the junction of adjacent structural parts without occupying additional space, thereby reducing the space occupied by the torque transmission assembly 100 as much as possible.

[0046] The torque transmission assembly 100 in the above embodiment includes a rotary output shaft 1, a transmission shaft 2, a rotating member 3, and an axial limiting structure 4. The rotary output shaft 1 and the transmission shaft 2 rotate synchronously via a first circumferential limiting structure 61, the transmission shaft 2 drives the rotating member 3 to rotate via a second circumferential limiting structure 62, and the rotary output shaft 1, transmission shaft 2, and rotating member 3 are axially limited by the axial limiting structure 4. Separating the axial limiting structure 4 from the circumferential limiting structure reduces the space occupied by the limiting structures, minimizing the increase in the axial dimension of the torque transmission assembly 100 along the transmission shaft 2. This allows torque to be transmitted within a confined space, making it suitable for use in a robot head mechanism.

[0047] In some embodiments of the present application, please refer to Figures 2 to 4. The transmission shaft 2 includes a shaft body 22 and a transition shaft 21. One end of the rotating member 3 is connected to the shaft body 22, and the shaft body 22 and the rotary output shaft 1 are connected through the transition shaft 21. The shaft body 22 and the transition shaft 21 are relatively fixed in the circumferential direction and can be considered as two parts split from a complete transmission shaft 2. The shaft body 22 and the transition shaft 21 always rotate synchronously. It can be understood that the rotary output shaft 1, the transition shaft 21 and the shaft body 22 are connected in sequence. Specifically, the rotary output shaft 1, the transition shaft 21 and the shaft body 22 are connected in sequence along the axial direction. Among them, the axial direction is the direction of the central axis of the rotary output shaft 1, which is also the direction of the central axis of the transmission shaft 2.

[0048] A first circumferential limiting structure 61 is provided at the junction of the transition shaft 21 and the rotary output shaft 1. Since the transmission shaft 2 requires a portion of the first circumferential limiting structure 61 and a portion of the second circumferential limiting structure 62, and may also include limiting structures such as shaft shoulders, the structure of the transmission shaft 2 is relatively complex. By configuring the transmission shaft 2 as consisting of the shaft body 22 and the transition shaft 21, the processing of the transmission shaft 2 can be simplified, reducing the production cost of the transmission shaft 2.

[0049] In some embodiments of the present application, referring to Figures 2 and 4, a first circumferential limiting structure 61 is provided at the junction of the transition shaft 21 and the rotary output shaft 1. The first circumferential limiting structure 61 includes a first limiting portion 11 and a second limiting portion 214. The first limiting portion 11 and the second limiting portion 214 are circumferentially limited and connected. That is, after the first limiting portion 11 and the second limiting portion 214 are connected, the first limiting portion 11 and the second limiting portion 214 cannot rotate relative to each other circumferentially, thereby circumferentially fixing the transition shaft 21 and the rotary output shaft 1. The first limiting portion 11 is provided on the rotary output shaft 1, and the second limiting portion 214 is provided on the transition shaft 21. One of the first limiting portion 11 and the second limiting portion 214 is an external spline, and the other is an internal spline. The external spline extends into the interior of the internal spline, forming a circumferential limit fit. The external spline is circumferentially provided on the outer peripheral wall, and the internal spline is provided on the inner peripheral wall of the hole. The first circumferential limiting structure 61 includes an external spline and an internal spline. When the external spline and the internal spline cooperate with each other, the connection is reliable, can withstand large torques, and is easy to assemble and disassemble. In other embodiments, one of the first limiting portion 11 and the second limiting portion 214 can be a polygonal hole, and the other can be a polygonal column.

[0050] When the first limiting portion 11 is an external spline and the second limiting portion 214 is an internal spline, one end of the rotary output shaft 1 is provided with an external spline, and the hole of the transition shaft 21 is provided with an internal spline. The end of the rotary output shaft 1 with the external spline extends into the hole of the transition shaft 21 and is connected to the internal spline.

[0051] When the first limiting portion 11 is an internal spline and the second limiting portion 214 is an external spline, a hole is opened at one end of the rotary output shaft 1, an internal spline is arranged in the hole, and an external spline is arranged at one end of the transition shaft 21. The end of the transition shaft 21 with the external spline extends into the hole of the rotary output shaft 1 and is connected to the internal spline.

[0052] In other embodiments of the present application, the transmission shaft 2 is an integrated structure, the first limiting portion 11 is provided on the rotary output shaft 1, and the second limiting portion 214 is provided on the transmission shaft 2. One of the first limiting portion 11 and the second limiting portion 214 is an external spline, and the other is an internal spline, and the external spline extends into the interior of the internal spline to form a circumferential limiting fit.

[0053] In some embodiments of the present application, referring to Figures 2 to 4 , the transmission shaft 2 includes a shaft body 22 and a transition shaft 21. One axial end of the shaft body 22 is circumferentially fixedly connected to one axial end of the transition shaft 21, so that the shaft body 22 and the transition shaft 21 are circumferentially fixed and rotate synchronously. A third circumferential limiting structure 63 is disposed between the shaft body 22 and the transition shaft 21. The third circumferential limiting structure 63 includes a third limiting portion 213 and a fourth limiting portion 224. The third limiting portion 213 is disposed on the transition shaft 21, and the fourth limiting portion 224 is disposed on the shaft body 22. One of the third limiting portion 213 and the fourth limiting portion 224 is a transmission hole, and the other is a transmission post. The transmission post extends into the transmission hole, enabling the third limiting portion 213 to push the fourth limiting portion 224 to rotate. Therefore, the circumferential limiting cooperation between the third limiting portion 213 and the fourth limiting portion 224 enables the shaft body 22 and the transition shaft 21 to be circumferentially fixedly connected.

[0054] The transmission hole and the transmission column each have at least one non-circular surface, so that the inner peripheral wall of the transmission hole can drive the transmission column to rotate, or the outer peripheral wall of the transmission column can drive the transmission hole to rotate. The non-circular surface can be a plane.

[0055] In some embodiments, the third limiting portion 213 is a transmission hole, the fourth limiting portion 224 is a transmission column, a transmission hole is opened at one axial end of the transition shaft 21, and one end of the shaft body 22 is a transmission column. The transmission column is inserted into the transmission hole to realize a circumferential fixed connection between the transition shaft 21 and the shaft body 22.

[0056] In some embodiments, the third limiting portion 213 is a transmission column, the third limiting portion 213 is a transmission hole, one end of the transition shaft 21 is the transmission column, one end of the shaft body 22 is the transmission hole, and the transmission column is inserted into the transmission hole to achieve a circumferential fixed connection between the transition shaft 21 and the shaft body 22.

[0057] In some embodiments, the transmission hole is a polygonal hole, and the transmission post is a polygonal post. For example, the transmission hole is a quadrilateral hole, and the transmission post is a quadrilateral post. Alternatively, the transmission hole is a pentagonal hole, and the transmission post is a pentagonal post. Alternatively, the transmission hole is a hexagonal hole, and the transmission post is a hexagonal post.

[0058] In some embodiments, the transmission hole is a D-shaped hole, and its cross section is D-shaped; the transmission column is a D-shaped column, and its cross section is D-shaped.

[0059] The transmission hole and the transmission column in the above embodiment have a relatively simple transmission structure, relatively simple processing steps, and low production cost, which can reduce the production cost of the transmission shaft 2.

[0060] In some embodiments of the present application, referring to Figures 2 to 4 , the second circumferential limiting structure 62 includes a fifth limiting portion 222 and a sixth limiting portion 31. The fifth limiting portion 222 is disposed on the transmission shaft 2, and the sixth limiting portion 31 is disposed on the rotating member 3. The fifth limiting portion 222 is a transmission post, and the sixth limiting portion 31 is a transmission hole. The inner circumferential wall of the transmission hole can drive the transmission post to rotate. Therefore, the circumferential limiting cooperation between the fifth limiting portion 222 and the sixth limiting portion 31 can ensure that the transmission shaft 2 and the rotating member 3 are circumferentially fixedly connected.

[0061] In the embodiment where the transmission shaft 2 includes the shaft body 22 and the transition shaft 21 , the fifth limiting portion 222 is provided on the transmission shaft 2 , that is, the transmission shaft 2 includes a transmission column.

[0062] In some embodiments, the transmission hole is a polygonal hole, and the transmission post is a polygonal post. For example, the transmission hole is a quadrilateral hole, and the transmission post is a quadrilateral post. Alternatively, the transmission hole is a pentagonal hole, and the transmission post is a pentagonal post. Alternatively, the transmission hole is a hexagonal hole, and the transmission post is a hexagonal post.

[0063] In some embodiments, the transmission hole is a D-shaped hole, and its cross section is D-shaped; the transmission column is a D-shaped column, and its cross section is D-shaped.

[0064] The transmission hole and the transmission column in the above embodiment have a relatively simple transmission structure, relatively simple processing steps, and low production cost, which can reduce the production cost of the transmission shaft 2.

[0065] In some embodiments of the present application, referring to Figures 2 and 3, the axial limiting structure 4 includes a fixing pin 41, which passes through the transmission shaft 2 along the axial direction of the transmission shaft 2 and is connected to the end of the rotating output shaft 1, so that the axial positions of the transmission shaft 2 and the rotating output shaft 1 can be relatively fixed. The head of the fixing pin 41 can play the role of axially pressing and fixing the rotating member 3, so that the axial relative positions of the rotating member 3 and the transmission shaft 2 are fixed. The transmission shaft 2, the rotating output shaft 1 and the rotating member 3 are axially fixed by the fixing pin 41. Only the head of the fixing pin 41 is exposed, occupying a small axial space, and does not occupy space in the radial direction. Therefore, the axial limiting structure 4 occupies a small space and is suitable for use in a narrower torque transmission space.

[0066] Specifically, to ensure that the head of the fixing pin 41 can axially press against the rotating member 3, a washer 53, a positioning sleeve, or other structures can be disposed between the head of the fixing pin 41 and the rotating member 3. Since the fixing pin 41 passes through the transmission shaft 2 axially, the interior of the transmission shaft 2 can be hollow, and a connecting hole can be defined at the end of the rotary output shaft 1 for the fixing pin 41 to extend into and connect with.

[0067] In some embodiments, the fixing nail 41 is a screw, and at least the part of the fixing nail 41 connected to the rotating output shaft 1 is provided with an external thread, and the end of the rotating output shaft 1 is provided with an internal threaded hole, so that the fixing nail 41 passes through the transmission shaft 2 and is threadedly connected to the rotating output shaft 1.

[0068] In some embodiments, the fixing nail 41 is a pin, and the fixing nail 41 is connected to the rotary output shaft 1 through interference fit, so that the head of the fixing nail 41 can squeeze the rotary output shaft 1 and the transmission shaft 2 and axially fix the two.

[0069] In some embodiments of the present application, referring to Figures 2 and 3 , the torque transmission assembly 100 further includes a support structure 5, which is used to support the transmission shaft 2 and provide a stable rotation state for the transmission shaft 2. In this embodiment, the support structure 5 not only provides stable support for the transmission shaft 2, but also assists in axial positioning of the rotating member 3.

[0070] The support structure 5 includes a support base 51 and a support bearing 52. The support base 51 defines an axial hole 512, through which the transmission shaft 2 is inserted. The support bearing 52 is positioned between the inner wall of the axial hole 512 and the outer wall of the transmission shaft 2. The outer ring of the support bearing 52 is fixedly connected to the inner wall of the axial hole 512, while the inner ring of the support bearing 52 is fixedly connected to the outer wall of the transmission shaft 2. This ensures stable rotation of the transmission shaft 2, supported by the support bearing 52 and the support base 51, and reduces radial runout.

[0071] A limiting step 23 is provided on the transmission shaft 2, and the support bearing 52 and the rotating part 3 are both sleeved on the outer periphery of the transmission shaft 2. Through the setting of the limiting step 23, the inner ring of the support bearing 52 and the rotating part 3 can be clamped and fixed between the head of the fixing pin 41 and the limiting step 23 at the same time, thereby realizing axial limiting fixation of the transmission shaft 2 and the rotating part 3.

[0072] Optionally, a washer 53 is provided between the inner ring of the support bearing 52 and the rotating part 3, and a washer 53 is provided between the head of the fixing pin 41 and the inner ring of the support bearing 52, so as to make the contact between the support bearing 52 and the rotating part 3, and the head of the fixing pin 41 and the support bearing 52 more stable.

[0073] Optionally, the support seat 51 has two protruding support portions 511, and both support portions 511 are provided with axial holes 512. The transmission shaft 2 is sequentially passed through the two axial holes 512, and one end of the rotating member 3 is arranged between the two support portions 511. By providing two support portions 511, the rotation of the transmission shaft 2 can be made more stable. In the axial direction of the transmission shaft 2, the head of the fixing nail 41, the first support portion 511, the rotating member 3, the second support portion 511 and the limiting step 23 are arranged in sequence. A washer 53 is provided between the head of the fixing nail 41 and the first support portion 511, a washer 53 is provided between the first support portion 511 and the rotating member 3, and a washer 53 is provided between the rotating member 3 and the second support portion 511.

[0074] In some embodiments of the present application, referring to FIG. 4 , the shaft body 22 includes a first shaft segment 221, a fifth limiting portion 222, a second shaft segment 223, and a fourth limiting portion 224, which are sequentially connected along the axial direction. The first shaft segment 221 and the second shaft segment 223 are respectively used to mount two support bearings 52. The fifth limiting portion 222 is configured to engage with the sixth limiting portion 31 of the rotating member 3 in a circumferentially limited manner. The fourth limiting portion 224 is configured to engage with the third limiting portion 213 of the transition shaft 21 in a circumferentially limited manner. In this embodiment, the fourth limiting portion 224 is a transmission post, and the third limiting portion 213 is a transmission hole.

[0075] In some embodiments of the present application, referring to FIG. 4 , the transition shaft 21 includes a first transition section 211 and a second transition section 212, which are sequentially connected along the axial direction. A third stopper 213 is provided on the first transition section 211, and a second stopper 214 is provided on the second transition section 212. The third stopper 213 is configured to engage with a fourth stopper 224 of the shaft body 22 in a circumferentially limited manner, while the second stopper 214 is configured to engage with the first stopper 11 of the rotary output shaft 1 in a circumferentially limited manner. In this embodiment, the third stopper 213 is a transmission hole, and the fourth stopper 224 is an internal spline.

[0076] In some embodiments, referring to FIG. 3 , the shaft body 22 and the transition shaft 21 form the aforementioned limiting step 23 , and no additional processing is required to form the limiting step 23 .

[0077] The present application also provides a head mechanism, please refer to Figure 5, the head mechanism includes the torque transmission component 100 in any of the above embodiments. When the torque transmission component 100 is applied to the head mechanism, the rotating member 3 is a neck cantilever member, which is equivalent to the neck part of the head mechanism, and the swing of the rotating member 3 is equivalent to the nodding movement. The head mechanism also includes a first servo 200, and the output shaft of the first servo 200 is the rotary output shaft 1, and the rotary motion is output through the first servo 200. When the head mechanism is used in a normal placement state, the axial direction of the rotary output shaft 1 is horizontal, thereby realizing the nodding movement.

[0078] In the above embodiments, the head mechanism adopts the torque transmission component 100 in any embodiment. In the torque transmission component 100, the axial limiting structure 4 and the circumferential limiting structure are separately arranged, which can reduce the space occupied by the limiting structure and minimize the increase in the axial size of the torque transmission component 100 in the transmission shaft 2. It can transmit torque in a narrow space and is suitable for the head mechanism of the robot.

[0079] In some embodiments of the present application, as shown in FIG5 , the head mechanism further includes a mounting base 400, to which the torque transmission assembly 100 and the first servo 200 are both fixed. Specifically, the support base 51 is fixed to the mounting base 400, and the housing of the first servo 200 is fixed to the mounting base 400. The provision of the mounting base 400 facilitates the installation of the first servo 200 and the transmission shaft 2, and also facilitates the connection between the head mechanism and the thorax mechanism.

[0080] In some embodiments of the present application, as shown in FIG5 , the head mechanism further includes a second servo 300 and a head structure. The second servo 300 is fixed to the end of the rotating member 3 away from the transmission shaft 2 and is used to drive the head structure (not shown) to rotate. Specifically, the output shaft of the second servo 300 is connected to the head structure, enabling the head structure to rotate and achieve left-right swinging of the head structure. When the rotating member 3 is arranged vertically, the rotation centerline of the second head structure is arranged vertically.

[0081] The present application also provides a robot, which includes the head mechanism of any of the above embodiments. The robot may also include a chest mechanism, a leg mechanism, etc.

[0082] The robot provided in the present application adopts the above-mentioned head mechanism, which includes a torque transmission component 100. By separating the axial limiting structure 4 and the circumferential limiting structure, the space occupied by the limiting structure can be reduced, and the size of the torque transmission component 100 in the axial direction of the transmission shaft 2 is not increased as much as possible. It can transmit torque in a narrow space and is suitable for the head mechanism of the robot.

[0083] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A torque transmission assembly, characterized in that: it includes a rotary output shaft, a transmission shaft, a rotating member and an axial limiting structure. The rotary output shaft can output rotary motion. A first circumferential limiting structure for making the transmission shaft rotate with the rotary output shaft is arranged at the joint of the rotary output shaft and the transmission shaft. A second circumferential limiting structure for making the rotating member rotate with the transmission shaft is arranged at the joint of one end of the rotating member and the transmission shaft. The axial limiting structure is used to relatively fix the axial positions of the rotary output shaft, the transmission shaft and the rotating member.

2. The torque transmission assembly according to claim 1, characterized in that: the transmission shaft includes a shaft body and a transition shaft that are circumferentially relatively fixed. One end of the rotating member is connected to the shaft body. The shaft body and the rotary output shaft are connected through the transition shaft. The first circumferential limiting structure is arranged at the joint of the transition shaft and the rotary output shaft.

3. The torque transmission assembly according to claim 2, characterized in that: the first circumferential limiting structure includes a first limiting part and a second limiting part that are circumferentially fixedly connected. The first limiting part is arranged on the rotary output shaft, and the second limiting part is arranged on the transition shaft. One of the first limiting part and the second limiting part is an external spline, and the other is an internal spline.

4. The torque transmission assembly according to claim 2, characterized in that: a third circumferential limiting structure is arranged between the shaft body and the transition shaft. The third circumferential limiting structure includes a third limiting part and a fourth limiting part. The third limiting part is arranged on the transition shaft, and the fourth limiting part is arranged on the shaft body. One of the third limiting part and the fourth limiting part is a transmission hole, and the other is a transmission post. The transmission post extends into the transmission hole so that the third limiting part can push the fourth limiting part to rotate.

5. The torque transmission assembly according to claim 4, characterized in that: the transmission hole is a polygonal hole, and the transmission post is a polygonal post.

6. The torque transmission assembly according to any one of claims 1-5, characterized in that: the second circumferential limiting structure includes a fifth limiting part and a sixth limiting part. The fifth limiting part is arranged on the transmission shaft, and the sixth limiting part is arranged on the rotating member. The fifth limiting part is a transmission post, and the sixth limiting part is a transmission hole. The inner peripheral wall of the transmission hole can push the transmission post to rotate.

7. The torque transmission assembly according to any one of claims 1-5, characterized in that: the axial limiting structure includes a fixing nail. The fixing nail axially penetrates the transmission shaft along the axial direction of the transmission shaft and is connected to the end of the rotary output shaft, and the head of the fixing nail is used for axially pressing and fixing the rotating member.

8. The torque transmission assembly according to claim 7, characterized in that: The torque transmission assembly includes a support structure, the support structure includes a support base and a support bearing, the support base is provided with a shaft hole for the transmission shaft to pass through, the support bearing is arranged between the inner wall of the shaft hole and the outer wall of the transmission shaft, a limiting step is arranged on the transmission shaft, and the inner ring of the support bearing and the rotating member are clamped between the head of the fixing nail and the limiting step.

9. A head mechanism, characterized in that: it includes the torque transmission assembly according to any one of claims 1-8, and further includes a first servo motor, the output shaft of the first servo motor is the rotary output shaft, and the rotating member is a neck cantilever member.

10. The head mechanism according to claim 9, characterized in that: the head mechanism further includes a second servo motor and a head structural member, the second servo motor is fixed to the end of the rotating member away from the transmission shaft, and the second servo motor is used to drive the head structural member to rotate.

11. A robot, characterized in that: it includes the head mechanism according to claim 9 or 10.

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