Joint unit housing, joint unit, connecting mechanism and robot

Abstract

The present utility model relates to the technical field of legged robots, and in particular to a joint unit housing, a joint unit, a connecting mechanism and a robot. The joint unit housing having a fastening structure in the present utility model comprises a front housing, a rear housing and a snap ring. By means of the provision of a plurality of mutually engaging protrusions and recesses at the junction of the front housing and the rear housing, the front housing and the rear housing are circumferentially connected and fixed to each other; and by means of the provision of an annular snap groove on the protrusions, after the snap ring is snapped into the snap groove, the front housing and the rear housing are axially connected and fixed to each other, thereby forming a screw-free fixing structure capable of fixing the front housing and the rear housing. Compared with traditional connection methods such as bolt connection, the assembly and disassembly are more convenient and quicker, and the disassembly and assembly efficiency is effectively improved. In addition, since there is no need to reserve mounting positions for bolts, the outer diameter of a joint unit can be made smaller, and the overall structure is thus more compact, thereby effectively improving the visual appeal and facilitating popularization and use.

Description

A joint unit housing, a joint unit, a connecting mechanism, and a robot. Technical Field

[0001] This utility model relates to the field of legged robot technology, and in particular to a joint unit shell, a joint unit, a connecting mechanism, and a robot. Background Technology

[0002] Legged robots contain numerous joint units; for example, humanoid robots typically have dozens of joint units, which are the core units of legged robots. Existing joint unit assembly and connection mostly uses bolt fastening, which requires a large number of bolts and makes assembly, maintenance, and disassembly inconvenient. Furthermore, bolt installation positions need to be reserved around the joint unit, which increases the diameter of the joint unit. Due to the large number of joint units, the overall size and weight of the legged robot also increase.

[0003] Furthermore, Chinese Patent (Announcement No. CN219755150U) discloses a robot transmission mechanism and a quadruped robot using the same, including a second joint unit and a first joint unit, wherein a disassembly and assembly connection assembly is provided between the second joint unit and the first joint unit; the disassembly and assembly connection assembly includes a radial extension and a clamping member clamped to the outer ring of the radial extension.

[0004] The above solution uses clamps and radial extensions to fix the upper and lower power units at the robot joint. Although this reduces the number of screws used, bolts or screws are still required during the assembly of the joint shell, making assembly, maintenance, and disassembly inconvenient and affecting efficiency. Furthermore, bolt mounting positions still need to be reserved around the joint unit shell, resulting in a large joint unit size, an inability to achieve a compact structure, and an impact on visual appeal, which hinders its widespread use.

[0005] The information disclosed in this background section is only for understanding the background of the present invention, and therefore may include information that does not constitute prior art.

[0006] Utility Model Content

[0007] To address the aforementioned problems or one of the aforementioned problems, the purpose of this utility model is to provide a joint unit housing, a joint unit, a connecting mechanism, and a robot, which uses snap ring connections instead of traditional bolt connections, making assembly and disassembly convenient and the structure compact.

[0008] To address the aforementioned problems, or one of them, the second objective of this utility model is to provide a joint unit housing, a joint unit, and a robot. By providing mutually fitting protrusions and recesses at the junction of the front and rear housings, a circumferential connection and fixation is achieved between the two. Furthermore, by providing an annular groove on the protrusion, a retaining ring is inserted to achieve an axial connection and fixation between the front and rear housings, forming a screwless fixing structure capable of securing the front and rear housings. Compared to traditional bolt connections, this method offers greater convenience and speed in assembly and disassembly, effectively improving efficiency. Moreover, since no pre-reserved bolt mounting positions are required, the outer diameter of the joint unit can be made smaller, resulting in a more compact overall structure. This enhances the visual appeal and facilitates widespread adoption.

[0009] The third objective of this utility model is to provide a connecting mechanism that achieves circumferential connection and fixation between the first and second connecting bodies by setting mutually adaptable and fitting protrusions and concave portions at the junction of the first and second connecting bodies; and achieves axial connection and fixation between the first and second connecting bodies by setting an annular groove on the protrusion and inserting a retaining ring, thus forming a screwless fixing structure that can fix the first and second connecting bodies. Compared with traditional bolt connections and other connection methods, assembly and disassembly are more convenient and faster, effectively improving assembly and disassembly efficiency. Furthermore, since there is no need to reserve installation positions for bolts, the outer diameter of the connecting mechanism can be made smaller, resulting in a more compact overall structure, which can effectively improve the visual appeal and facilitate widespread use.

[0010] To achieve one of the above objectives, the first technical solution of this utility model is as follows:

[0011] A joint unit housing with a fastening structure includes a front housing, a rear housing, and a retaining ring;

[0012] The junction of the front and rear housings is provided with protrusions and recesses that can fit together.

[0013] The outer surface of the protrusion is provided with a groove along the circumference. When the protrusion and the concave part are fitted together, the groove forms an annular groove for installing the retaining ring.

[0014] As a preferred technical measure:

[0015] The protrusion is formed by the front housing or the rear housing extending in the axial direction;

[0016] Or / and, the protrusions are evenly distributed on the edge of the front housing or the edge of the rear housing.

[0017] Or / and, the protrusion and the concave portion are provided with stop steps that can fit into each other in the radial direction; the stop steps are protrusions or concave surfaces.

[0018] Or / and, the retaining ring is a ring-shaped structure with a notch, at least one end of which is provided with a bent portion extending to the outer surface of the front housing or the rear housing; the protrusion, the concave portion, the front housing and the rear housing are selected to form an embedding groove for accommodating the bent portion; the bent portion of the retaining ring is placed into the embedding groove to form an embedded limiting structure, which can effectively fix the retaining ring, thereby enhancing the reliability of the housing assembly and preventing the two housings and the retaining ring from slipping off.

[0019] Or / and, the retaining ring is a ring-shaped structure with a notch, and an insertion portion extending into the inner cavity of the front housing and the rear housing is provided at the end of the notch; the protrusion, the concave portion, the front housing and the rear housing are provided with one or two or all of them to accommodate the insertion portion.

[0020] Inserting the insert portion of the retaining ring into the socket or slot forms a secure insertion structure, which effectively secures the retaining ring, thereby enhancing the reliability of the housing assembly and preventing the two housings and the retaining ring from slipping off.

[0021] As a preferred technical measure:

[0022] The length of the embedding slot is E mm, and its width is F mm. It communicates with the annular slot.

[0023] 1.5 <E<8,0.7<F<5;

[0024] Or / and, the jack or slot is provided on the annular slot.

[0025] To achieve one of the above objectives, the second technical solution of this utility model is as follows:

[0026] A joint unit housing with a fastening structure includes a front housing, a rear housing, and a retaining ring having receiving cavities;

[0027] The front housing is provided with at least one protrusion and one recess;

[0028] The rear housing is provided with at least one protrusion and one recess;

[0029] Slots are respectively formed on the outer surfaces of protrusion one and protrusion two;

[0030] When the front housing and the rear housing are assembled, the protrusion one and the concave two are engaged; the concave one and the protrusion two are engaged, and multiple slots are spliced ​​together to form an annular slot for installing the retaining ring.

[0031] The annular groove is assembled with the retaining ring to achieve screwless fastening of the front and rear housings.

[0032] Through continuous exploration and experimentation, the utility model realizes the circumferential connection and fixation of the front shell and the rear shell by arranging a plurality of convex parts and concave parts that are mutually adapted and fitted at the junction of the front shell and the rear shell; by arranging an annular card slot on the convex part, after the snap ring is snapped in, the axial connection and fixation of the front shell and the rear shell are realized, forming a screwless fixing structure that can fix the front shell and the rear shell. Compared with traditional connection methods such as bolt connection, the assembly and disassembly are more convenient and fast, effectively improving the disassembly and assembly efficiency; and since there is no need to reserve the installation position of bolts, the outer diameter of the joint unit can be made smaller, so the overall structure is more compact, and thus the visual appearance can be effectively improved, which is conducive to popularization and use.

[0033] Further, the plurality is two or more.

[0034] As a preferred technical measure:

[0035] The cross-sectional shapes, numbers and positions of the first convex part and the second concave part match;

[0036] Or / and, the cross-sectional shapes, numbers and positions of the first concave part and the second convex part match.

[0037] As a preferred technical measure:

[0038] The cross-sectional shapes of the first convex part and the second concave part are respectively fan-shaped or triangular or arc-shaped or trapezoidal or square, and their numbers are respectively N; the N is 2 or 3 or 4 or 5 or 6, and preferably N is 4.

[0039] Or / and, the cross-sectional shapes of the first concave part and the second convex part are respectively fan-shaped or triangular or arc-shaped or trapezoidal or square, and their numbers are respectively M; the M is 2 or 3 or 4 or 5 or 6, and preferably M is 4.

[0040] As a preferred technical measure:

[0041] The front shell and the rear shell are respectively columnar structures or variable-diameter structures, and their cross-sections are circular or concentric circles or have a mixed shape of square and circular;

[0042] Or / and, the first convex part, the first concave part and the front shell are integrally formed;

[0043] The second convex part, the second concave part and the rear shell are integrally formed, with simple and practical structure, which is convenient for production and manufacturing.

[0044] Or / and, the first concave part is formed by the end walls of two adjacent first convex parts; the second concave part is formed by the end walls of two adjacent second convex parts;

[0045] Or / and, the number of snap rings is one or more. The snap ring is a circular structure with a notch, which is bent from a wire, a metal strip or a metal sheet to form an elastic clamping structure. The structure is simple and practical, and is convenient for production and manufacturing. Preferably, the snap ring is made of spring round wire steel.

[0046] As a preferred technical measure:

[0047] The number of the card slots is one or more, and the cross-sectional shape of the card slot matches the cross-sectional shape of the snap ring;

[0048] Or / and, the depth of the card slot is A, and the diameter of the snap ring is B; A >= B.

[0049] To achieve one of the above purposes, the third technical solution of the present utility model is:

[0050] A joint unit with a fastening structure, which applies the outer shell of a joint unit with a fastening structure as described above, and includes a front shell and a rear shell; a speed reducer is provided in the front shell, and a motor is provided in the rear shell.

[0051] To achieve one of the above purposes, the fourth technical solution of the present utility model is:

[0052] A connecting mechanism with a fastening structure, including a first connecting body, a second connecting body and a snap ring;

[0053] The first connecting body is provided with at least one first protrusion and a first concave portion;

[0054] The second connecting body is provided with at least one second protrusion and a second concave portion;

[0055] Card slots are respectively opened on the outer surfaces of the first protrusion and the second protrusion;

[0056] When the first connecting body and the second connecting body are assembled, the first protrusion and the second concave portion are fitted together; the first concave portion and the second protrusion are fitted together, and a plurality of card slots are spliced together to form an annular card slot for installing the snap ring;

[0057] The annular card slot is assembled with the snap ring to achieve screw-free fastening of the first connecting body and the second connecting body.

[0058] Through continuous exploration and experimentation, this utility model achieves circumferential connection and fixation of the first and second connecting bodies by setting mutually adaptable and fitting protrusions and concave portions at the junction of the first and second connecting bodies; by setting an annular groove on the protrusion, the first and second connecting bodies are axially connected and fixed after the retaining ring is inserted, forming a screwless fixing structure that can fix the first and second connecting bodies. Compared with traditional bolt connections and other connection methods, assembly and disassembly are more convenient and faster, effectively improving assembly and disassembly efficiency; and since there is no need to reserve installation positions for bolts, the outer diameter of the connecting mechanism can be made smaller, thus making the overall structure more compact, which can effectively improve the visual appeal and facilitate widespread use.

[0059] As a preferred technical measure:

[0060] The first connecting body is the articulated motor body or the articulated motor housing or the robot body or the robot housing or the link or the joint unit or the joint unit housing.

[0061] Or / and, the second connecting body is the robot body or robot shell or joint motor body or joint motor shell or link or joint unit or joint shell unit;

[0062] Or / and, the first connector and the second connector are assembled together by snap rings to form a screwless robot body or robot shell or articulated motor body or articulated motor shell or linkage structure or joint unit or joint shell unit or assembly structure for articulated motor and linkage.

[0063] Or / and, the retaining ring has a bent portion on its ring body or notch end; one or both of the first connecting body and the second connecting body are provided with an embedding groove for accommodating the bent portion; the bent portion of the retaining ring is placed into the embedding groove to form an embedded limiting structure, which can effectively fix the retaining ring, thereby enhancing the reliability of the assembly of the two connecting bodies and preventing the two connecting bodies and the retaining ring from slipping off.

[0064] Alternatively and / or, the retaining ring has an insert portion on its ring body or notch end; one or both of the first connector and the second connector have insertion holes or slots for accommodating the insert portion. Inserting the insert portion of the retaining ring into the insertion hole or slot forms a secure insertion structure, thereby effectively fixing the retaining ring, enhancing the reliability of the connector assembly, and preventing the two connectors and the retaining ring from slipping off.

[0065] To achieve one of the above objectives, the fifth technical solution of this utility model is as follows:

[0066] A robot includes the aforementioned joint unit housing with a fastening structure, or the aforementioned joint unit with a fastening structure, or the aforementioned connection mechanism with a fastening structure.

[0067] The robot can be a quadruped robot, a bipedal robot, a robotic arm, a humanoid robot, or a wheeled robot.

[0068] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0069] Through continuous exploration and experimentation, this utility model achieves circumferential connection and fixation between the front and rear housings by setting mutually adaptable protrusions and concave portions at the junction of the front and rear housings; and by setting an annular groove on the protrusion, the axial connection and fixation between the front and rear housings is achieved after the retaining ring is inserted, forming a screwless fixing structure that can fix the front and rear housings. Compared with traditional bolt connections, assembly and disassembly are more convenient and faster, effectively improving assembly and disassembly efficiency. Furthermore, since there is no need to reserve installation positions for bolts, the outer diameter of the joint unit can be made smaller, resulting in a more compact overall structure, which can effectively improve the visual appeal and facilitate widespread use.

[0070] Furthermore, through continuous exploration and experimentation, this utility model achieves circumferential connection and fixation of the first and second connecting bodies by setting mutually adaptable and fitting protrusions and concave portions at the junction of the first and second connecting bodies; by setting an annular groove on the protrusion, the first and second connecting bodies are axially connected and fixed after the retaining ring is inserted, forming a screwless fixing structure that can fix the first and second connecting bodies. Compared with traditional bolt connections and other connection methods, assembly and disassembly are more convenient and faster, effectively improving assembly and disassembly efficiency; and since there is no need to reserve installation positions for bolts, the outer diameter of the connecting mechanism can be made smaller, thus making the overall structure more compact, which can effectively improve the visual appeal and facilitate widespread use.

[0071] Furthermore, this utility model provides a joint unit housing, a joint unit, and a robot. By providing mutually fitting protrusions and recesses at the junction of the front and rear housings, a circumferential connection and fixation is achieved between them. An annular groove along the circumferential direction is provided on the protrusion, and a retaining ring is inserted to achieve an axial connection and fixation between the front and rear housings. This fixing structure of the front and rear housings achieves connection and fixation solely through retaining rings, making assembly and disassembly more convenient and faster compared to traditional bolt connections. Moreover, since no bolt mounting positions are required, the outer diameter of the joint unit can be made smaller, resulting in a more compact overall structure and thus reducing the overall size of the legged robot.

[0072] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0073] Figure 1 is a structural schematic diagram of a joint unit shell with a fastening structure according to this utility model;

[0074] Figure 2 is an exploded view of the joint unit housing with a fastening structure of this utility model;

[0075] Figure 3 is a partial schematic diagram of part A of the joint unit housing with a fastening structure of this utility model;

[0076] Figure 4 is a partial schematic diagram of part B of the joint unit housing with a fastening structure of this utility model.

[0077] Figure 5 is a schematic diagram of another structure of the joint unit shell of this utility model (without the retaining ring).

[0078] Figure 6 is a schematic diagram of the first structure of the retaining ring of this utility model;

[0079] Figure 7 is a structural schematic diagram of the joint unit shell of this utility model (assembling the first type of retaining ring);

[0080] Figure 8 is a schematic diagram of the second structure of the retaining ring of this utility model;

[0081] Figure 9 is a structural schematic diagram of the joint unit shell of this utility model (equipped with a second type of retaining ring).

[0082] In the figure: 1. Front housing; 2. Rear housing; 3. Snap ring; 4. Protrusion; 5. Recess; 6. Snap groove; 7. Stop step; 8. Embedded groove; 9. Insertion hole; 31. Bending part; 32. Through part; 41. Protrusion one; 42. Recess one; 51. Protrusion two; 52. Recess two. Embodiments of the present invention

[0083] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0084] It should be noted that when two elements are "fixedly connected," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "axial," "circumferential," "upper," "lower," and similar expressions used in this document are for illustrative purposes only.

[0085] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0086] As shown in Figures 1, 2, 3, and 4, this utility model presents a first specific embodiment of a joint unit housing with a fastening structure:

[0087] A joint unit housing with a fastening structure includes a front housing 1 and a rear housing 2. At the junction of the two, there are a protrusion 4 and a concave portion 5 that fit together. The outer surface of the protrusion 4 is provided with a groove 6 along the circumferential direction. When the protrusion 4 and the concave portion 5 fit together, the groove 6 is spliced ​​into an annular groove for installing a retaining ring 3.

[0088] This utility model provides a joint unit housing with a fastening structure. By providing a mutually fitting protrusion 4 and a recess 5 at the junction of the front housing 1 and the rear housing 2, the circumferential connection and fixation of the two are achieved. Furthermore, by providing an annular groove along the circumferential direction on the protrusion 4, a retaining ring 3 is inserted, achieving an axial connection and fixation between the front housing 1 and the rear housing 2. This fixing structure of the front housing 1 and the rear housing 2 achieves connection and fixation solely through the retaining ring 3, making assembly and disassembly more convenient and faster compared to traditional bolt connections. Moreover, since no bolt installation position is required, the outer diameter of the joint unit can be made smaller, resulting in a more compact overall structure.

[0089] In this embodiment, the protrusion 4 is formed by the front housing 1 or the rear housing 2 extending in the axial direction, and the protrusion 4 is evenly distributed on the edge of the front housing 1 or the edge of the rear housing 2.

[0090] In this embodiment, the protrusion 4 and the recess 5 are provided with mutually engaging stop steps 7 in the radial direction. The stop steps 7 are provided so that the front housing 1 and the rear housing 2 are fixedly connected in the radial direction.

[0091] In this embodiment, the front housing 1 is provided with a planetary reduction gear assembly, and the rear housing 2 is provided with a motor assembly.

[0092] A second specific embodiment of the joint unit housing with a fastening structure of this utility model:

[0093] A joint unit housing with a fastening structure includes a front housing 1, a rear housing 2, and a retaining ring 3;

[0094] The junction of the front housing 1 and the rear housing 2 is provided with a protrusion 4 and a recess 5 that can fit together.

[0095] The outer surface of the protrusion 4 is provided with a groove 6 along the circumference. When the protrusion 4 and the concave part 5 are fitted together, the groove 6 forms an annular groove for installing the retaining ring 3.

[0096] In this embodiment, the protrusion 4 is formed by the front housing 1 or the rear housing 2 extending in the axial direction;

[0097] The protrusions 4 are evenly distributed on the edge of the front housing 1 or the edge of the rear housing 2.

[0098] The protrusion 4 and the concave portion 5 are provided with stop steps 7 that can fit into each other in the radial direction.

[0099] As shown in Figure 5, this utility model has a third specific embodiment of a joint unit housing with a fastening structure:

[0100] A joint unit housing with a fastening structure includes a front housing 1, a rear housing 2 and a retaining ring 3, each having a receiving cavity; the front housing 1 is provided with at least one protrusion 41 and a recess 42; the rear housing 2 is provided with at least one protrusion 51 and a recess 52; and the outer surfaces of the protrusion 41 and the protrusion 51 are respectively provided with retaining grooves 6.

[0101] When the front housing 1 and the rear housing 2 are assembled, the first protrusion 41 and the second concave portion 52 are engaged; the first concave portion 42 and the second protrusion 51 are engaged, and multiple slots 6 are spliced ​​together to form an annular slot for installing the retaining ring 3; the annular slot is assembled with the retaining ring 3 to achieve screwless fastening of the front housing 1 and the rear housing 2.

[0102] In this embodiment, the cross-sectional shape, number, and position of the protrusion 41 and the concave portion 52 are matched; the cross-sectional shape, number, and position of the concave portion 42 and the protrusion 51 are matched.

[0103] In this embodiment, the cross-sectional shapes of the protrusion 41 and the concave portion 52 are fan-shaped, triangular, arc-shaped, trapezoidal, or square, respectively, and their quantities are respectively [number]. The cross-sectional shapes of the concave portion 42 and the protrusion 51 are fan-shaped, triangular, arc-shaped, trapezoidal, or square, respectively, and their quantities are respectively [number].

[0104] In this embodiment, the front shell 1 and the rear shell 2 are columnar structures; the first protrusion 41 and the first concave part 42 are integrally formed with the front shell 1; the second protrusion 51 and the second concave part 52 are integrally formed with the rear shell 2; the first concave part 42 is formed by the end walls of two adjacent protrusions 41; the second concave part 52 is formed by the end walls of two adjacent protrusions 51.

[0105] In this embodiment, there is one retaining ring 3, which is a circular structure with a notch, made of metal wire, forming an elastic clamping structure.

[0106] In this embodiment, there is one slot 6, and its cross-sectional shape matches the cross-sectional shape of the retaining ring 3; the slot depth of the slot 6 is A, and the ring diameter of the retaining ring 3 is B; where A=B.

[0107] As shown in Figures 6 and 7, this utility model presents a fourth specific embodiment of a joint unit housing with a fastening structure:

[0108] A joint unit housing with a fastening structure includes a front housing 1, a rear housing 2, and a retaining ring 3;

[0109] The junction of the front housing 1 and the rear housing 2 is provided with a protrusion 4 and a recess 5 that can fit together.

[0110] The outer surface of the protrusion 4 is provided with a groove 6 along the circumference. When the protrusion 4 and the concave part 5 are fitted together, a plurality of grooves 6 form an annular groove for installing the retaining ring 3.

[0111] The retaining ring 3 is a ring-shaped structure with a notch, and each of its two ends is provided with a bent portion 31; the protrusion 4 has two insertion grooves 8. The insertion groove 8 is 3 mm long and 1.8 mm wide, and it communicates with the annular retaining groove.

[0112] As shown in Figures 8 and 9, this utility model presents a fifth specific embodiment of a joint unit housing with a fastening structure:

[0113] A joint unit housing with a fastening structure includes a front housing 1, a rear housing 2, and a retaining ring 3;

[0114] The junction of the front housing 1 and the rear housing 2 is provided with a protrusion 4 and a recess 5 that can fit together.

[0115] The outer surface of the protrusion 4 is provided with a groove 6 along the circumference. When the protrusion 4 and the concave part 5 are fitted together, the multiple grooves 6 form an annular groove for installing the retaining ring 3.

[0116] The retaining ring 3 is a ring-shaped structure with a notch, and an insertion part 32 is provided at each of its two notch ends; two insertion holes 9 are provided on the annular retaining groove to accommodate the insertion part 32.

[0117] A specific embodiment of the joint unit with a fastening structure of this utility model:

[0118] A joint unit with a fastening structure is provided, which uses the aforementioned joint unit housing with a fastening structure, comprising a front housing 1 and a rear housing 2; the front housing 1 is provided with a planetary reducer, and the rear housing 2 is provided with a motor.

[0119] A specific embodiment of the connection mechanism with a fastening structure of this utility model:

[0120] A connection mechanism with a fastening structure includes a first connecting body, a second connecting body, and a retaining ring 3; the first connecting body is provided with at least one protrusion 41 and a concave portion 42;

[0121] The second connector is provided with at least one protrusion 51 and a concave portion 52;

[0122] The outer surfaces of protrusion 41 and protrusion 51 are respectively provided with slots 6;

[0123] When the first connector and the second connector are assembled, the protrusion 41 and the concave part 52 are engaged; the concave part 42 and the protrusion 51 are engaged, and multiple slots 6 are spliced ​​together to form an annular slot for installing the retaining ring 3.

[0124] The annular groove and the retaining ring 3 are assembled to achieve screwless fastening of the first connector and the second connector.

[0125] In this embodiment, the first connecting body is a joint motor body or a joint motor housing or a robot body or a robot housing or a link or a joint unit or a joint unit housing.

[0126] The second connecting body is the robot body or robot shell or joint motor body or joint motor shell or link or joint unit or joint shell unit.

[0127] The first connector and the second connector are assembled together by a retaining ring 3 to form a robot body or robot shell or articulated motor body or articulated motor shell or linkage structure or joint unit or joint shell unit or assembly structure for articulated motor and linkage without screw fastening.

[0128] A specific embodiment of the robot of this utility model:

[0129] A robot includes a joint unit housing with a fastening structure as described above, or a joint unit with a fastening structure as described above; the robot is a quadruped robot, a bipedal robot, a robotic arm, a humanoid robot, or a wheeled robot.

[0130] The robot of this invention features a joint unit that achieves circumferential connection and fixation between the front housing 1 and the rear housing 2 by providing mutually fitting protrusions 4 and concave portions 5 at the junction. A circumferential annular groove is provided on the protrusion 4, into which a retaining ring 3 is inserted, thus achieving axial connection and fixation between the front housing 1 and the rear housing 2. This fixing structure, achieved solely by the retaining ring 3, makes assembly and disassembly more convenient and faster than traditional bolt connections. Furthermore, since no bolts are required, the outer diameter of the joint unit can be made smaller, resulting in a more compact overall structure and a reduced overall robot size.

[0131] A specific embodiment of the quadruped robot of this utility model:

[0132] A quadruped robot includes the aforementioned joint unit shell with a fastening structure.

[0133] A specific embodiment of the humanoid robot of this utility model:

[0134] A humanoid robot includes the aforementioned joint unit shell with a fastening structure.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A joint unit housing with a fastening structure, characterized in that, It includes a front housing (1), a rear housing (2), and a retaining ring (3); The junction of the front housing (1) and the rear housing (2) is provided with a protrusion (4) and a recess (5) that can fit together. The outer surface of the protrusion (4) is provided with a groove (6) along the circumferential direction. When the protrusion (4) and the concave part (5) are fitted together, the groove (6) forms an annular groove for installing the retaining ring (3).

2. The joint unit housing with a fastening structure as described in claim 1, characterized in that, The protrusion (4) is formed by the front housing (1) or the rear housing (2) extending in the axial direction; Or / and, the protrusions (4) are evenly distributed on the edge of the front housing (1) or the edge of the rear housing (2); Or / and, the protrusion (4) and the recess (5) are provided with stop steps (7) that can fit into each other in the radial direction. Or / and, the retaining ring (3) is a ring structure with a notch, at least one end of which is provided with a bent portion (31) extending to the outer surface of the front housing (1) or the rear housing (2); the protrusion (4), the concave portion (5), the front housing (1) and the rear housing (2) are provided with an insert groove (8) for accommodating the bent portion (31) by one or two or all of them. Or / and, the retaining ring (3) is a ring structure with a notch, and at the end of the notch is an insertion part (32) extending into the inner cavity of the front housing (1) and the rear housing (2); the protrusion (4), the concave part (5), the front housing (1) and the rear housing (2) are provided with a hole (9) or slot for accommodating the insertion part (32) by choosing one, two or all of them.

3. A joint unit housing with a fastening structure as described in claim 2, characterized in that, The length of the embedding groove (8) is E mm and its width is F mm, and it communicates with the annular slot; 1.5 <E<8,0.7<F<5; Or / and, the jack (9) or slot is provided on the annular slot.

4. A joint unit housing with a fastening structure, characterized in that, It includes a front housing (1) with a receiving cavity, a rear housing (2) and a retaining ring (3); The front housing (1) is provided with at least one protrusion (41) and one recess (42). The rear housing (2) is provided with at least one protrusion (51) and one recess (52). The outer surfaces of protrusion 1 (41) and protrusion 2 (51) are respectively provided with slots (6); When the front housing (1) and the rear housing (2) are assembled, the first protrusion (41) and the second concave part (52) are engaged; the first concave part (42) and the second protrusion (51) are engaged, and multiple slots (6) are spliced ​​together to form an annular slot for installing the retaining ring (3); The annular groove is assembled with the retaining ring (3) to achieve screwless fastening of the front housing (1) and the rear housing (2).

5. A joint unit housing with a fastening structure as described in claim 4, characterized in that, The cross-sectional shape, number and position of the protrusion one (41) and the concave part two (52) are matched; Or / and, the cross-sectional shape, number and position of the concave part one (42) and the protruding part two (51) are matched.

6. A joint unit housing with a fastening structure as described in claim 4, characterized in that, The cross-sectional shapes of the protrusion 1 (41) and the concave part 2 (52) are respectively fan-shaped, triangular, arc-shaped, trapezoidal or square, and the number of them is N respectively; Or / and, the cross-sectional shapes of the concave part one (42) and the protruding part two (51) are fan-shaped, triangular, arc-shaped, trapezoidal or square, respectively, and the number of them is M.

7. A joint unit housing with a fastening structure as described in claim 4, characterized in that, The front shell (1) and the rear shell (2) are respectively columnar structures or variable diameter structures, and their cross-sections are circular or concentric circles or a mixture of square and circular shapes; Or / and, the protrusion (41), the recess (42) and the front shell (1) are integrally formed; The second protrusion (51), the second concave part (52), and the rear shell (2) are integrally formed; Or / and, the concave portion one (42) is formed by the end walls of two adjacent protrusions one (41); the concave portion two (52) is formed by the end walls of two adjacent protrusions two (51); Or / and, the number of clasps (3) is one or more, which are circular structures with notches, which are formed by bending metal wires, metal strips or metal sheets to form an elastic clamping structure.

8. A joint unit housing with a fastening structure as described in any one of claims 4, characterized in that, The number of the slots (6) is one or more, and their cross-sectional shape matches the cross-sectional shape of the retaining ring (3); Or / and, the groove depth of the slot (6) is A, and the ring diameter of the retaining ring (3) is B; where A>=B.

9. A joint unit with a fastening structure, characterized in that, The application uses a joint unit housing with a fastening structure as described in any one of claims 1-8, which includes a front housing (1) and a rear housing (2). The front housing (1) is equipped with a speed reducer, and the rear housing (2) is equipped with a motor.

10. A connection mechanism with a fastening structure, characterized in that, Includes a first connector, a second connector, and a retaining ring (3); The first connector has at least one protrusion (41) and one concave portion (42). The second connector is provided with at least one protrusion (51) and one recess (52). The outer surfaces of protrusion 1 (41) and protrusion 2 (51) are respectively provided with slots (6); When the first connector and the second connector are assembled, the first protrusion (41) and the second concave part (52) are engaged; the first concave part (42) and the second protrusion (51) are engaged, and multiple slots (6) are spliced ​​together to form an annular slot for installing the retaining ring (3).

11. A connection mechanism with a fastening structure as described in any one of claims 10, characterized in that, The first connecting body is the articulated motor body or the articulated motor housing or the robot body or the robot housing or the link or the joint unit or the joint unit housing. Or / and, the second connecting body is the robot body or robot shell or joint motor body or joint motor shell or link or joint unit or joint shell unit; Or / and, the first connector and the second connector are assembled together by a snap ring (3) to form a screwless robot body or robot shell or joint motor body or joint motor shell or linkage structure or joint unit or joint shell unit or assembly structure for joint motor and linkage. Or / and, the retaining ring (3) has a bent portion (31) on its ring body or notch end; the first connector and the second connector may be provided with an insert groove (8) for accommodating the bent portion (31). Or / and, the retaining ring (3) has an insertion part (32) on its ring body or notch end; the first connector and the second connector may be provided with a socket (9) or slot for accommodating the insertion part (32).

12. A robot, characterized in that, Includes a joint unit housing with a fastening structure as described in any one of claims 1-8, or a joint unit with a fastening structure as described in claim 9, or a connection mechanism with a fastening structure as described in any one of claims 10-11; The robot can be a quadruped robot, a bipedal robot, a robotic arm, a humanoid robot, or a wheeled robot.

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