CN116985178A

CN116985178A - Integrated joint and robot

Info

Publication number: CN116985178A
Application number: CN202311230290.4A
Authority: CN
Inventors: 赵鹏宇; 谢安桓; 穆玉康; 陈思远; 孔令雨
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2023-09-22
Filing date: 2023-09-22
Publication date: 2023-11-03

Abstract

The application relates to an integrated joint and a robot. Wherein, integrated form joint includes: a driving joint part and a driven joint part. One end of the driving joint part is hinged with one end of the driven joint part. The drive joint portion includes a drive joint housing and a drive assembly located within the drive joint housing. The driving assembly is fixed with the driving joint shell, and the length direction of the driving assembly is the same as the length direction of the driving joint shell. The drive assembly is connected to a linkage that is connected to the drive joint housing and the driven joint portion. The drive assembly is operable to drive the driven joint through the linkage. According to the embodiment of the application, the space of the integrated joint occupied by the driving assembly can be reduced, and the space is reserved for arranging other structures at the hinge joint of the driving joint part and the driven joint part.

Description

Integrated joint and robot

Technical Field

The application relates to the field of robots, in particular to an integrated joint and a robot.

Background

In the related art, as robotics are continuously developed, they are increasingly introduced into the market as home entertainment, educational consumer products, and other consumer products. Meanwhile, with a large number of robots entering the market, the requirements of people on the robots are also increasing. The flexible movement mode of the robot also puts higher demands on the volume and weight of limbs and joints.

And the transmission system is fused with the limb structure and the joint structure, so that the integration level of the limbs and the joints of the robot is improved, and the method becomes an effective way for reducing the volume and the weight of the robot. However, the existing integrated robot joint has the problems of larger size, weaker reverse driving capability and easy damage under impact load.

Disclosure of Invention

According to a first aspect of an embodiment of the present application, there is provided an integrated joint comprising: a driving joint part and a driven joint part;

one end of the driving joint part is hinged with one end of the driven joint part;

the driving joint part comprises a driving joint shell and a driving assembly positioned in the driving joint shell; the driving assembly is fixed with the driving joint shell, and the length direction of the driving assembly is the same as the length direction of the driving joint shell; the driving assembly is connected to a linkage connected to the driving joint housing and the driven joint portion; the drive assembly is operable to drive the driven joint through the linkage.

According to the above embodiment, by integrating the driving component in the driving joint portion and causing the driving component to drive the driven joint portion by means of the link group, it is possible to realize an increase in structural strength of the driving joint housing by the structure of the driving component fixed in the driving joint housing while avoiding integration of the driving-related structure at the joint portion, that is, the hinge portion of the driving joint portion and the driven joint portion, and further, it is possible to realize an increase in structural strength of the driving joint portion by integrating the driving component in the driving joint portion while reducing the space of the integrated joint occupied by the driving component, particularly, the space occupied at the hinge portion of the driving joint portion and the driven joint portion. For providing other structures on the integrated joint, in particular at the articulation of the driving joint section and the driven joint section, a space is reserved for providing other structures.

The length direction of the driving component is the same as the length direction of the driving joint shell, namely, the surface with smaller projection area of the driving component is the length direction of the driving joint shell. Thus, the drive assembly may be better integrated within the drive joint portion to further reduce the space of the integrated joint occupied by the drive assembly.

In some embodiments, the drive assembly includes a stator, a rotor, a rolling column, and a screw; the stator is fixed in the driving joint shell, and the stator and the driving joint shell are coaxially arranged; the rotor is positioned in the stator and is coaxially arranged with the stator; the rotor is used for generating rotation relative to the stator when the driving assembly is in operation; the screw is positioned in the rotor and is coaxially arranged with the rotor; the rolling column is rotatably arranged between the screw and the rotor in a mode of surrounding the screw; the surface of the rolling column is provided with threads for being meshed with the threads of the screw rod; the surface of the rotor facing the screw rod is provided with threads for engaging with the threads of the surface of the rolling column.

In some embodiments, the drive assembly further comprises at least two roller trays; the rolling column comprises tooth grooves; the screw includes a gear;

the roller tray and the screw are coaxially arranged and sleeved on the screw; at least two roller trays are correspondingly sleeved at least at two ends of the rolling column; the tooth slot intermeshes with the gear.

In some embodiments, the drive assembly includes at least two of the rolling posts; and the intervals of the rolling columns are the same in the length direction of the screw rod.

In some embodiments, the drive assembly further comprises: a guide sleeve, a piston rod and a sleeve rod;

the guide sleeve and the screw rod are coaxially arranged, and a guide hole is formed in the center of the guide sleeve in the length direction of the screw rod; one end of the piston rod is fixedly connected with the screw rod, and the other end of the piston rod passes through the guide hole and is fixedly connected with the loop bar; the loop bar is hinged with the connecting rod group.

In some embodiments, the drive assembly further comprises: the limiting disc and the limiting column;

the limiting disc is positioned between the stator and the guide sleeve and is simultaneously abutted against the stator and the guide sleeve; the limiting column is positioned at one side of the rotor away from the driven joint part and is fixed on the driving joint shell;

a limit groove and a limit hole are formed in one side, facing the stator, of the limit disc; the limiting hole is positioned in the center of the limiting groove in the length direction of the screw rod; the piston rod passes through the limit hole; one end of the rotor, facing the limiting disc, is positioned in the limiting groove;

the rotor and the limit column are coaxially arranged; one end of the rotor, which is far away from the limiting disc, is rotatably connected with the limiting column.

In some embodiments, the stator is affixed to an inner wall of the drive knuckle housing.

In some embodiments, the rotor comprises a rotor portion and a rotor threaded portion; the rotor thread part is positioned at one side of the rotor facing the screw rod;

the rotor part is used for generating rotation relative to the stator when the driving assembly is in operation; and a thread for meshing with the thread of the screw rod is arranged on one side of the rotor thread part, which is far away from the rotor.

In some embodiments, further comprising: an angle sensor; the angle sensor comprises a measuring rotor and a measuring stator, wherein the measuring rotor is positioned in the measuring stator and is coaxially arranged with the measuring stator;

the measuring rotor is fixedly connected with the rotor, and the measuring stator is fixedly connected with the driving joint shell; the angle sensor is used for measuring the angle between the driving joint part and the driven joint part according to the deflection of the measuring rotor relative to the measuring stator.

According to a second aspect of the present application, there is provided a robot comprising any one of the integrated joints described above; the robot further comprises a trunk body; one end of the driving joint part, which is far away from the driven joint part, is connected with the trunk body; the drive assembly is located at an end of the drive joint portion remote from the driven joint portion.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic view showing a structure of an integrated joint according to an embodiment of the present application.

Fig. 2 is a side view of an integrated joint according to an embodiment of the present application.

Fig. 3 is a cross-sectional view along section line AA of fig. 2, shown in accordance with an embodiment of the present application.

Fig. 4 is an enlarged view of a portion of the drive assembly of fig. 3, shown in accordance with an embodiment of the present application.

Fig. 5 is a schematic view of a structure of a rolling column according to an embodiment of the present application.

Fig. 6 is a schematic view of the structure of a screw according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

In existing robot limbs, the limb that supports the torso of the robot often includes at least one joint. In the prior art, the motor and the speed reducer are directly integrated at the joint to control the bending or straightening of the joint, or the output shaft of the motor is connected to a multiple speed reducing structure, the moment output by the motor is amplified through the multiple speed reducing structure, and then the connecting rod structure is used for controlling the bending or straightening of the joint.

However, if the motor and the decelerator are directly integrated at the joint of the limb, the size of the joint is large, and thus the whole limb of the robot is large, and it is difficult to install other devices more required to be installed at the joint. If the output shaft of the motor is connected to the multiple speed reducing structure and the joint is controlled by the connecting rod structure, when the limb of the robot is impacted, the impact force directly impacts the limb structure of the robot due to the multiple speed reducing structure, so that the impact resistance is weaker. For example, when the robot falls down at a certain height, the limb can bear an impact load when the robot falls down, and the impact load cannot be transmitted to the motor due to the torque amplifying capability of the multiple speed reducers, and is completely borne by the limb structure.

The present application provides an integrated joint 10, i.e. a joint with an integrated drive system. Fig. 1 shows a schematic structural illustration of the integrated joint 10, fig. 2 shows a side view of the integrated joint 10, and fig. 3 shows a sectional view along the sectional line AA of fig. 2. As shown in fig. 1, 2 and 3, the integrated joint 10 includes: a driving joint 11 and a driven joint 12.

One end of the driving joint part 11 and one end of the driven joint part 12 are hinged to each other.

The drive joint section 11 includes a drive joint housing 111 and a drive assembly 112 located within the drive joint housing 111. The driving assembly 112 is fixed to the driving joint housing 111, and the length direction of the driving assembly 112 is the same as the length direction of the driving joint housing 111. The driving assembly 112 is connected to the link set 13, and the link set 13 is connected to the driving joint housing 111 and the driven joint section 12.

Specifically, the length direction of the driving assembly 112 is the same as the length direction of the driving joint housing 111, that is, the length directions of the driving assembly 112 and the driving joint housing 111 are both the first direction X shown in fig. 3.

By integrating the driving module 112 into the driving joint portion 11 and driving the driven joint portion 12 by the driving module 112 through the link group 13, the structure of the driving module 112 fixed into the driving joint housing 111 can be used to increase the structural strength of the driving joint housing 111 while avoiding the integration of the driving-related structure into the joint portion, that is, the hinge portion between the driving joint portion 11 and the driven joint portion 12, and further, the driving module 112 can be integrated into the driving joint portion 11 to increase the structural strength of the driving joint portion 11 and reduce the space of the integrated joint 10 occupied by the driving module 112, particularly the space occupied at the hinge portion between the driving joint portion 11 and the driven joint portion 12. For providing other structures on the integrated joint 10, in particular at the articulation of the driving joint part 11 and the driven joint part 12, space is reserved for providing other structures.

Since the length direction of the driving assembly 112 is the same as the length direction of the driving joint housing 111, that is, the surface of the driving assembly 112 with a smaller projection area in the length direction of the driving joint housing 111. Thus, the drive assembly 112 may be better integrated within the drive joint 11 to further reduce the space of the integrated joint 10 occupied by the drive assembly 112.

In some embodiments, FIG. 4 illustrates a partial enlarged view at the drive assembly 112 of FIG. 3. As shown in fig. 4, the driving assembly 112 includes: stator 1121, rotor 1122, rolling column 1123, and screw 1124. The stator 1121 is fixed in the drive joint housing 111, and the stator 1121 is provided coaxially with the drive joint housing 111. By fixing the stator 1121 in the driving joint housing 111, the structural strength of the driving joint housing 111 can be enhanced by the structure of the stator 1121.

The rotor 1122 is located inside the stator 1121 and is disposed coaxially with the stator 1121. The rotor 1122 is configured to rotate relative to the stator 1121 during operation of the drive assembly 112. Screw 1124 is located within rotor 1122 and is disposed coaxially with rotor 1122. Rolling column 1123 is rotatably provided around screw 1124 between screw 1124 and rotor 1122. The surface of the rolling post 1123 is provided with threads for engaging the threads of the screw 1124. The surface of rotor 1122 facing screw 1124 is provided with threads for engaging the threads of the surface of rolling post 1123.

Specifically, during operation of the drive assembly 112, the rotor 1122 rotates relative to the stator 1121, such that the rolling column 1123 is driven to rotate by the threads on the rotor 1122, and the rotor 1122 can transmit power to the screw 1124 in threaded engagement with the rolling column 1123 through the rolling column 1123, so as to convert the rotational movement of the rotor 1122 into a movement of the screw 1124 in the length direction thereof, i.e., into a movement of the screw 1124 in the first direction X in fig. 4.

The link group 13 is connected to the screw 1124, the driving joint housing 111, and the driven joint 12 at the same time. Accordingly, the link group 13 can control the bending states of the driving joint portion and the driven joint portion in response to the power from the screw 1124. That is, when the screw 1124 in the driving unit 112 moves in the first direction X, the link group 13 drives the driven joint part 12 to a state of being straight with the driving joint part 11, that is, the driving integrated joint 10 straightens, correspondingly after receiving the power. When the screw 1124 moves in the reverse direction of the first direction X, the link group 13 drives the driven joint part 12 to a state of being non-straight with the driving joint part 11, that is, bends the drive integrated joint 10, correspondingly after receiving the power.

Meanwhile, in the process that the rotor 1122 transmits power to the screw 1124 through the rolling column 1123, the rolling column 1123 rotates around the screw 1124, so that friction between the rotor 1122 and the rolling column 1123 and friction between the rolling column 1123 and the screw 1124 are converted from sliding friction to rolling friction compared with the process that the rolling column 1123 is not arranged, and therefore sliding friction between a traditional gear and the screw can be converted into rolling friction through the rolling column 1123, friction loss can be reduced, and efficiency of the rotor 1122 for transmitting power to the screw 1124 is improved.

By providing a rolling column 1123 rotatable around the screw 1124, power is transmitted between the rotor 1122 and the rolling column 1123, and between the rolling column 1123 and the screw 1124 by screw engagement. In the thread engagement mode, the area of engagement is in face contact. While in the ball screw drive mode, the area of engagement is point contact. Therefore, by providing the rolling post 1123 and adopting the screw engagement manner, the area of engagement can be changed from point-to-point contact to surface contact, and thus, the contact area of engagement can be increased, and further, the force receiving area can be increased and the transmission capability can be enhanced with respect to the ball screw transmission mode.

Since the drive unit 112 thus provided is not provided with a multi-stage reduction gear structure, the driven joint 12 can transmit an impact load to the screw 1124 via the link group 13 when receiving the impact load. Since the speed reducer structure is not disposed between the screw rod 1124 and the rotor 1122, the screw rod 1124 can reversely convert the impact load born by the screw rod 1124 into the rotation of the rotor 1122, at this time, the driving assembly 112 can be equivalently a generator, the rotor 1122 can receive an electromagnetic force opposite to the rotation direction of the rotor 1122 during rotation, and further, the impact load born by the integrated joint 10 can be shared and resolved by the electromagnetic force, that is, the reverse driving capability of the integrated joint 10 is improved, so as to reduce the damage probability of the integrated joint 10 due to the impact load.

Furthermore, the rolling column 1123 may be provided to further enhance the reverse driving capability of the integrated joint 10 on the basis of enhancing the reverse driving capability of the integrated joint 10.

Therefore, the driving assembly 112 can simultaneously achieve better forward driving capability and reverse driving capability on the integrated joint 10, and simultaneously reduce the space occupied by the driving assembly 112 on the integrated joint 10. Wherein the forward driving capability, i.e. the capability of the integrated joint 10 to output power to drive the robot.

In some embodiments, as shown in fig. 3 and 4, the drive assembly 112 further includes at least two roller trays 1127. Referring to the schematic structure of the rolling column 1123 shown in fig. 5, the rolling column 1123 includes tooth slots 11232. Referring to the schematic structural view of screw 1124 shown in fig. 6, screw 1124 includes gear 11241.

Roller tray 1127 is disposed coaxially with screw 1124 and is sleeved on screw 1124. At least two roller trays 1127 are also correspondingly sleeved at least at the two ends of the rolling post 1123. Tooth slots 11232 intermesh with gear 11241.

Specifically, in the present embodiment, the driving assembly 112 includes two roller trays 1127, and the two roller trays are correspondingly sleeved at two ends of the rolling post 1123, but the present application is not limited thereto in other embodiments. Two roller trays 1127 are coaxially disposed and fit over the screw 1124, i.e., the screw 1124 passes through the center of the roller trays 1127.

The roller tray 1127 is fitted over both ends of the rolling post 1123, and the roller tray 1127 may be provided with a roller engagement hole 11271 surrounding the screw 1124. Correspondingly, roller engaging portions 11231 are provided at both ends of the rolling post 1123. The roller engagement portion 11231 remains coaxial with the other portion of the rolling post 1123 and has a diameter smaller than the diameter of the other portion of the rolling post 1123. The roller engagement portions 11231 are engaged with the roller engagement holes 11271, whereby the roller trays 1127 are fitted over both ends of the rolling post 1123. It should be noted that the manner in which the roller trays 1127 are sleeved at both ends of the rolling column 1123 is only one possible embodiment, but is not limited thereto in other embodiments.

The range of movement of the rolling post 1123 in the first direction X can be limited by providing the roller tray 1127 such that the power transmitted to the rolling post 1123 by the rotor 1122 through the threaded engagement is mainly converted into rotation of the rolling post 1123 itself and transmitted to the screw 1124. And, by providing intermeshed tooth slots 11232 and gears 11241, relative sliding between rolling post 1123 and screw 1124 is avoided. Accordingly, the efficiency of the rolling column 1123 transmitting the power of the rotor 1122 to the screw 1124 can be improved, and further, the efficiency of the driving assembly 112 can be improved to further enhance the forward driving capability and the reverse driving capability of the integrated joint 10.

Upon placement of the rolling posts 1123, in some embodiments, the drive assembly 112 includes at least two rolling posts 1123. And the pitch of the rolling posts 1123 is the same in the length direction of the screw 1124.

Specifically, when the number of the rolling posts 1123 is two or more, the pitches of the rolling posts 1123 in the first direction X are the same. For example, when the number of the rolling columns 1123 is two, one rolling column 1123 is provided around the screw 1124 every 180 degrees in the first direction X, or when the number of the rolling columns 1123 is three, one rolling column 1123 is provided around the screw 1124 every 120 degrees in the first direction X, or when the number of the rolling columns 1123 is four, one rolling column 1123 is provided around the screw 1124 every 90 degrees in the first direction X, but not limited thereto.

By arranging at least two rolling columns 1123 in this way, the intervals between the rolling columns 1123 are equal, so that the moment applied to the rolling columns 1123 by the rotor 1122 can be uniformly dispersed to each rolling column 1123, the load born by each rolling column 1123 can be reduced, the problems of sliding wire and the like in the threaded engagement relationship can be avoided, and the reliability of the driving assembly 112 can be improved.

In some embodiments, as shown in fig. 3 and 4, the drive assembly 112 further includes: guide sleeve 1125, piston rod 1126, and stem 1130.

The guide sleeve 1125 is provided coaxially with the screw 1124, and a guide hole 11251 is provided in the center of the guide sleeve 1125 in the longitudinal direction of the screw 1124. One end of the piston rod 1126 is fixedly connected with the screw 1124, and the other end passes through the guide hole 11251 to be fixedly connected with the loop bar 1130. The loop bar 1130 is hinged to the link set 13.

Specifically, both ends of the piston rod 1126 may be provided with mounting holes 11261, and the screw 1124 and the sleeve rod 1130 may be respectively inserted into the mounting holes 11261 at both ends of the piston rod 1126, so as to achieve a fixed connection between the screw 1124 and the sleeve rod 1130 and the piston rod 1126.

The power output direction of the screw 1124 can be defined by the guide bush 1125 and the piston rod 1126 cooperating therewith, so that it is possible to avoid deviation of the movement direction of the screw 1124 from the first direction X during the movement of the screw 1124 in the first direction X, thereby reducing the efficiency of power output to the link group 13.

In some embodiments, as shown in fig. 3 and 4, the drive assembly 112 further includes: a spacing disc 1128 and a spacing post 1129.

The limiting plate 1128 is located between the stator 1121 and the guide sleeve 1125, and abuts against the stator 1121 and the guide sleeve 1125.

A limiting groove 11281 and a limiting hole 11282 are arranged on one side of the limiting plate 1128 facing the stator 1121. In the length direction of the screw 1124, the stopper hole 11282 is located at the center of the stopper groove 11281. The piston rod 1126 passes through the spacing aperture 11282. One end of the rotor 1122 facing the limiter disk 1128 is located within the limiter slot 11281.

The rotor 1122 is disposed coaxially with the stopper 1129. The end of the rotor 1122 remote from the stop disk 1128 is rotatably connected to a stop post 1129.

By providing the stopper plate 1128 and the stopper post 1129, the movement range of the rotor 1122 can be limited, that is, the rotor 1122 is limited to rotate on the axes of the stopper plate 1128 and the stopper post 1129. The rotation of the rotor 1122 can be specifically realized, and the space of the integrated joint 10 occupied by the driving assembly 112 can be reduced while simultaneously realizing better forward driving capability and reverse driving capability on the integrated joint 10.

In some embodiments, as shown in fig. 3, the stator 1121 is affixed to the inner wall of the drive joint housing 111.

By this arrangement, the structure of the stator 1121 can be better matched with the structure of the driving joint housing 111, so that the degree of reinforcement of the structure of the driving joint housing 111 by the stator 1121 can be further provided, and further, the impact load resistance of the integrated joint 10 can be further improved.

In some embodiments, as shown in fig. 3 and 4, rotor 1122 includes a rotor portion 11221 and a rotor threaded portion 11222. Rotor flight 11222 is located on the side of rotor 1122 facing screw 1124.

The rotor portion 11221 is configured to rotate relative to the stator 1121 when the drive assembly 112 is in operation. Rotor thread 11222 is provided with threads for engaging threads of screw 1124 on a side remote from rotor 1122.

By this arrangement, the rotor portion 11221 which specifically rotates can be separated from the rotor screw portion 11222 provided with screw threads, and thus, the influence of the screw threads provided on the rotor portion 11221 which needs to rotate can be avoided, and further, the efficiency of the drive assembly 112 can be further improved.

In some embodiments, as shown in fig. 3 and 4, the integrated joint 10 further comprises: an angle sensor 14. The angle sensor 14 includes a measuring rotor 141 and a measuring stator 142, and the measuring rotor 141 is located in the measuring stator 142 and is disposed coaxially with the measuring stator 142.

The measuring rotor 141 is fixedly connected to the rotor 1122, and the measuring stator 142 is fixedly connected to the drive joint housing 111. The angle sensor 14 is used to measure the angle between the driving joint 11 and the driven joint 12 based on the deflection of the measuring rotor 141 relative to the measuring stator 142.

Specifically, the measuring rotor 141 is fixedly connected to the rotor 1122. Therefore, when the rotor 1122 rotates, the measuring rotor 141 rotates synchronously. The rotating measuring rotor 141 generates a current by the measuring stator 142, and the angle between the driving joint 11 and the driven joint 12 can be determined based on the current flow, i.e., the current flow direction.

By this arrangement, the structural strength of the driving joint housing 111 can be further enhanced by the measuring stator 142 fixed to the driving joint housing 111 while integrating the angle sensor 14 in the driving joint portion 11, and thus, the impact load resistance of the integrated joint 10 can be further improved while realizing the angle measurement between the driving joint portion 11 and the driven joint portion 12.

The present application also provides a robot comprising any of the integrated joints 10 described above. And the robot also comprises a trunk body. The end of the driving joint portion 11 remote from the driven joint portion 12 is connected to the trunk body. The drive assembly 112 is located at an end of the drive joint portion 11 remote from the driven joint portion 12.

Since the end of the driving joint part 11 remote from the driven joint part 12 is connected to the trunk of the robot. The structural strength of the connection portion between the robot trunk and the drive joint 11 is generally weak. Therefore, by locating the driving module 112 at the end of the driving joint part 11 remote from the driven joint part 12, the structural strength of the driving joint housing 111 at that part can be purposefully reinforced, and thus, the shock load resistance of the integrated joint 10 can be further improved.

The above embodiments of the present application may be complementary to each other without collision.

It is noted that in the drawings, the size of layers and regions may be exaggerated for clarity of illustration. Moreover, it will be understood that when an element or layer is referred to as being "on" another element or layer, it can be directly on the other element or intervening layers may be present. In addition, it will be understood that when an element or layer is referred to as being "under" another element or layer, it can be directly under the other element or intervening layers or elements may be present. In addition, it will be understood that when a layer or element is referred to as being "between" two layers or elements, it can be the only layer between the two layers or elements, or more than one intervening layer or element may also be present. Like reference numerals refer to like elements throughout.

The term "plurality" refers to two or more, unless explicitly defined otherwise.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. An integrated joint, comprising: a driving joint part and a driven joint part;

2. The integrated joint of claim 1, wherein the drive assembly comprises a stator, a rotor, a rolling post, and a screw; the stator is fixed in the driving joint shell, and the stator and the driving joint shell are coaxially arranged; the rotor is positioned in the stator and is coaxially arranged with the stator; the rotor is used for generating rotation relative to the stator when the driving assembly is in operation; the screw is positioned in the rotor and is coaxially arranged with the rotor; the rolling column is rotatably arranged between the screw and the rotor in a mode of surrounding the screw; the surface of the rolling column is provided with threads for being meshed with the threads of the screw rod; the surface of the rotor facing the screw rod is provided with threads for engaging with the threads of the surface of the rolling column.

3. The integrated joint of claim 2, wherein the drive assembly further comprises at least two roller trays; the rolling column comprises tooth grooves; the screw includes a gear;

4. The integrated joint of claim 3, wherein the drive assembly comprises at least two of the rolling posts; and the intervals of the rolling columns are the same in the length direction of the screw rod.

5. The integrated joint of claim 2, wherein the drive assembly further comprises: a guide sleeve, a piston rod and a sleeve rod;

6. The integrated joint of claim 5, wherein the drive assembly further comprises: the limiting disc and the limiting column;

7. The integrated joint of claim 2, wherein the stator is affixed to an inner wall of the drive joint housing.

8. The integrated joint of claim 2, wherein the rotor comprises a rotor portion and a rotor threaded portion; the rotor thread part is positioned at one side of the rotor facing the screw rod;

9. The integrated joint of claim 2, further comprising: an angle sensor; the angle sensor comprises a measuring rotor and a measuring stator, wherein the measuring rotor is positioned in the measuring stator and is coaxially arranged with the measuring stator;

10. A robot comprising an integrated joint according to any one of claims 1 to 9; the robot further comprises a trunk body; one end of the driving joint part, which is far away from the driven joint part, is connected with the trunk body; the drive assembly is located at an end of the drive joint portion remote from the driven joint portion.