CN117621136A - Joint structure, joint module and robot - Google Patents

Abstract

The invention discloses a joint structure, a joint module and a robot. The joint structure comprises: a housing having a hollow cavity; the first joint is arranged in the hollow cavity and comprises a first fixing piece and a first rotating piece rotationally connected with the first fixing piece, the first fixing piece is fixedly connected with the fixing seat, and the first rotating piece is fixedly connected with the shell; the second joint is arranged in the hollow cavity and comprises a second fixing piece and a second rotating piece which is rotationally connected with the second fixing piece; and the output part is arranged on one side of the second joint far away from the first joint and is connected with the second rotating piece. The invention can solve the problem that the cable is easily damaged due to the large rotation amplitude of the joints of the robot in the prior art.

Description

Joint structure, joint module and robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a joint structure, a joint module and a robot.

Background

Each leg of the existing robot is generally provided with three joint motors, the first joint motor drives the thigh and the second joint motor to move, and the third joint motor drives the whole leg, the first joint motor and the second joint motor to rotate in the outward swinging direction. Wherein, each joint motor is connected with the power supply and the controller of the robot through a power line and a communication line. In the existing wiring mode, cables such as a power line and a communication line between a third joint motor and a first joint motor, between a first joint motor and a second joint motor, and between the third joint motor and the first joint motor, between the first joint motor and the second joint motor, and between the first joint motor and the second joint motor, can move in a larger amplitude when the joint motors rotate, and the cables are easy to damage.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is that the cable is easy to damage due to the large rotation range of the joints of the robot.

In order to solve the above technical problems, the present invention provides a joint structure, including: a housing having a hollow cavity; the first joint is arranged in the hollow cavity and comprises a first fixing piece and a first rotating piece rotationally connected with the first fixing piece, the first fixing piece is fixedly connected with the fixing seat, and the first rotating piece is fixedly connected with the shell; the second joint is arranged in the hollow cavity and comprises a second fixing piece and a second rotating piece which is rotationally connected with the second fixing piece; and the output part is arranged on one side of the second joint far away from the first joint and is connected with the second rotating piece.

Optionally, the second fixing member is fixedly connected with the housing.

Alternatively, the rotation center line of the first rotating member is collinear with the rotation center line of the second rotating member.

Optionally, the first rotating member includes: a first rotating member body; the first rotating piece support is fixedly connected with the first rotating piece body and the shell respectively.

Optionally, the first rotating member support comprises a first hollow shaft, and the first hollow shaft protrudes out of one side of the first rotating member support away from the second joint and is rotationally connected with the first fixing member.

Optionally, the second rotating member includes: a second rotating member body; the second rotating piece support is fixedly connected with the second rotating piece body.

Optionally, the second rotating member support includes a second hollow shaft protruding from a side of the second rotating member support away from the first joint and rotationally connected to the second fixing member.

Optionally, the joint structure further comprises: the first driving plate is arranged on one side of the first joint far away from the second joint; the second driving plate is arranged between the first joint and the second joint and is fixedly connected with the shell.

Optionally, the housing is spherical or a part of a sphere.

Optionally, the housing includes a first half shell and a second half shell, and the first half shell and the second half shell are fixedly connected to enclose a hollow cavity.

Optionally, the joint structure further comprises a third hollow shaft, the third hollow shaft is arranged in the hollow cavity and fixedly connected with the shell, and the second fixing piece is sleeved on the third hollow shaft.

The present invention also provides a joint structure comprising: a housing having a hollow cavity; the first joint is arranged in the hollow cavity and comprises a first fixing piece and a first rotating piece rotationally connected with the first fixing piece, the first fixing piece is fixedly connected with the fixing seat, the first rotating piece is fixedly connected with the shell and comprises a first rotating piece bracket, and the first rotating piece bracket is fixedly connected with the shell; the first encoder magnet is fixedly connected with the first rotating member bracket and is used for detecting the rotating angle of the first rotating member; the second joint is arranged in the hollow cavity and comprises a second fixing piece and a second rotating piece rotationally connected with the second fixing piece.

Optionally, the joint structure further includes a second encoder magnet, and the second rotating member includes a second rotating member support, and the second encoder magnet is fixedly connected with the second rotating member support, and is used for detecting a rotation angle of the second rotating member.

The present invention also provides a joint module comprising: a third joint including a third rotating member; and at least one part of the joint structure is connected with the third rotating piece.

Optionally, the third rotational member is coupled to the first joint of the joint structure.

Optionally, the third rotating member includes a rotating portion and a connecting portion, where the connecting portion is disposed on a side of the first joint away from the second joint and is fixedly connected with the first fixing member of the first joint.

Optionally, the connecting portion includes a fourth hollow shaft, the fourth hollow shaft protrudes from one side of the connecting portion, which is close to the first joint, the fourth hollow shaft is used as a fixing seat of the joint structure, and the first fixing piece is sleeved on the fourth hollow shaft.

Optionally, a mounting groove is formed in one side, far away from the first joint, of the connecting portion, and the first driving plate of the joint structure is accommodated in the mounting groove.

Optionally, the rotation part is provided with a through hole at the rotation center line of the third rotation part, and the external electric wire passes through the through hole and is electrically connected with the second driving plate and the first driving plate of the joint structure respectively.

Optionally, the joint module further comprises: leg body structure, leg body structure and joint structure's shell are connected, and joint structure's first rotation piece drives leg body structure and rotates for the third joint: the driven wheel is arranged at the joint of the thigh and the shank of the leg body structure; the output part of the joint structure is in transmission connection with the driven wheel through the transmission part and is used for driving the lower leg to rotate relative to the thigh.

Optionally, at least a portion of the third rotational member and the overall shape of the joint structure are spherical or are part of a sphere, and the center line of rotation of the third rotational member passes through the center of the sphere.

The invention also provides a robot, which comprises the joint module; and at least one part of the third joint of the joint module is arranged on the body and used for driving the joint module to move along the outward swinging direction.

The technical scheme provided by the invention has the following advantages:

according to the joint structure provided by the invention, the first joint and the second joint are both arranged in the hollow cavity of the shell, the first fixing piece of the first joint is fixedly connected with the fixing seat, and the first rotating piece is fixedly connected with the shell, so that the first joint can drive the second joint and the shell to rotate, the second rotating piece of the second joint is connected with the output part, so that power is output outwards, and the parts connected with the output part are driven to rotate, so that relative movement between the first joint and the second joint can not occur, the condition of cable following movement between the first joint and the second joint can not exist, and cable damage caused by large rotation amplitude of the joints is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an angle configuration of a joint module according to one embodiment of the present invention;

FIG. 2 is a schematic view of another angle of a joint module according to one embodiment of the present invention;

FIG. 3 is a cross-sectional view at A-A in FIG. 2;

FIG. 4 is an exploded view of a first joint and a third joint of a joint module according to one embodiment of the present invention;

FIG. 5 is an exploded view of a second joint of the joint module in one embodiment of the present invention;

FIG. 6 is a schematic view of a first rotor support according to an embodiment of the present invention;

FIG. 7 is a schematic view of a second rotor support according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a robot according to an embodiment of the present invention.

Reference numerals illustrate:

10-a housing; 11-a first half shell; 12-a second half-shell; 121-a third hollow shaft; 20-first joint; 21-a first fixing member; 22-a first rotating member; 221-a first rotor body; 222-a first rotor support; 2221—a first hollow shaft; 30-a second joint; 31-a second fixing member; 32-a second rotating member; 321-a second rotor body; 322-a second rotor support; 3221-a second hollow shaft; 40-a first bearing; 50-a second bearing; 60-a third bearing; 70-a second drive plate; 80-a first drive plate; 90-third joint; 91-a third rotating member; 911-rotating part; 9111-a through hole; 912—a connection; 9121-fourth hollow shaft; 9122-a mounting groove; 100-a first encoder magnet; 110-a second encoder magnet; 120-a first mount; 130-a second mount; 140-leg structure.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The invention will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In the present invention, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present invention.

The invention solves the problem that the cable is easily damaged due to the large rotation amplitude of the joints of the robot in the prior art.

As shown in fig. 1, 3 to 5, 8, the joint structure includes a housing 10, a first joint 20, and a second joint 30. The housing 10 has a hollow cavity. The first joint 20 is disposed in the hollow cavity, the first joint 20 includes a first fixing member 21 and a first rotating member 22 rotationally connected to the first fixing member 21, the first fixing member 21 is fixedly connected to the fixing base, and the first rotating member 22 is fixedly connected to the housing 10. The second joint 30 is disposed in the hollow cavity, and the second joint 30 includes a second fixing member 31 and a second rotating member 32 rotatably connected to the second fixing member 31.

In this embodiment, the joint structure further includes an output portion. The output is provided on the side of the second joint 30 remote from the first joint 20, and the output is connected to the second rotating member 32.

Through all setting up first joint 20 and second joint 30 in the cavity of shell 10, the first mounting 21 and the fixing base fixed connection of first joint 20, first rotating member 22 and shell 10 fixed connection, make first joint 20 can drive second joint 30 and shell 10 rotation, the second rotating member 32 of second joint 30 is connected with the output, thereby outwards output, drive the part rotation of being connected with the output, can not take place relative motion between first joint 20 and the second joint 30 like this, therefore can not have the condition of cable follow motion between the two, the cable damage that has avoided the joint rotation range to lead to greatly.

In this embodiment, the joint structure is a joint structure of a robot. Accordingly, the first joint 20 and the second joint 30 are both joint motors. That is, the rotating parts of the two joints are rotors, and the fixing parts are stators. Of course, the joint structure in the present embodiment is not limited to the joint structure of the robot, and may be applied to other aspects, and the joint is not necessarily a motor, as long as it has a corresponding rotational relationship.

The joint structure in the embodiment replaces the existing driving unit structure of a motor and a planetary reducer, simplifies the structure, reduces the cost and improves the response speed.

It should be noted that, the fixed connection means that the two components do not move relative to each other after being connected, and includes a detachable connection and an undetachable connection. Specifically, between the first fixing member 21 and the fixing base, any one of threaded connection, key connection, pin connection, riveting, welding or integral molding may be used between the first rotating member 22 and the housing 10. Of course, a detachable or non-detachable connection mode other than the above connection mode may be used, as long as the corresponding fixing function is achieved.

In particular, the housing 10 is spherical or a portion of a sphere. In this embodiment, the housing 10 is a part of a sphere since the joint structure needs to be connected to other structures through both sides of the housing 10. Specifically, the housing 10 has a spherical shape with cutting surfaces on both sides. Through designing the joint structure into spherical profile for first joint 20 is driving second joint 30 and shell 10 rotation, and when second joint 30 drives the part rotation of being connected with the output, joint structure's rotation space can not change, thereby can not take place to press from both sides the condition that the finger etc. caused the injury to the user's health. In addition, the spherical outline also enables the joint structure to have good appearance aesthetic property. Of course, the housing 10 may have other shapes such as a cylindrical shape, so long as the rotation space is not changed when the joint structure rotates, and the shape may be selected according to practical requirements.

As shown in fig. 1 to 5 and 8, the housing 10 includes a first half-shell 11 and a second half-shell 12. The first half shell 11 and the second half shell 12 are fixedly connected to enclose a hollow cavity. It will be appreciated that the first half-shell 11 and the second half-shell 12 are each hemispherical with a cutting face. In the present embodiment, the first half shell 11 and the second half shell 12 are fixed by screws. Specifically, the second half shell 12 has a mounting step along a circumferential direction, the first half shell 11 is sleeved and embedded at the mounting step of the second half shell 12, the first half shell 11 is provided with a plurality of mounting holes along the circumferential direction, correspondingly, the mounting step of the second half shell 12 is provided with a plurality of threaded holes corresponding to the mounting holes, and the screws penetrate through the mounting holes and extend into the threaded holes, so that the first half shell 11 and the second half shell 12 are fixed.

In the present embodiment, the rotation center line of the first rotary member 22 and the rotation center line of the second rotary member 32 are collinear. That is, the first joint 20 and the second joint 30 are disposed in parallel within the hollow cavity. The cutting face of the housing 10 is parallel to the plane of rotation of the first and second rotary members 22, 32.

As shown in fig. 3 to 4 and 6, the first rotary member 22 includes a first rotary member body 221 and a first rotary member bracket 222. The first rotor bracket 222 is fixedly connected to the first rotor body 221 and the housing 10, respectively. The first rotating member support 222 is located on the side of the first fixing member 21 adjacent to the second joint 30, that is, at the middle position of the hollow cavity. The first rotor support 222 includes a first hollow shaft 2221. The first hollow shaft 2221 protrudes from the side of the first rotating member support 222 remote from the second joint 30 and is rotatably connected to the first fixing member 21.

Specifically, as shown in fig. 3 to 4, the joint structure further includes a first bearing 40. The number of the first bearings 40 is two, and the two first bearings 40 are sleeved on the first hollow shaft 2221 at intervals and are connected with the first fixing piece 21, so that the first hollow shaft 2221 can rotate relative to the first fixing piece 21.

As shown in fig. 3-4, the joint structure further includes a first encoder magnet 100. The first encoder magnet 100 is fixedly coupled to the first rotary member support 222 for detecting a rotation angle of the first rotary member 22. The articulating structure further includes a first mount 120. The first mounting frame 120 has a mounting step, and an end portion of the first hollow shaft 2221, which is far away from the second joint 30, is sleeved at the mounting step of the first mounting frame 120, and the end opening of the first hollow shaft 2221, which is far away from the second joint 30, is blocked by the first mounting frame 120. The first mounting bracket 120 has a central recess in which the first encoder magnet 100 is received, that is, the first encoder magnet 100 is fixedly coupled to the first rotor bracket 222 by the first mounting bracket 120. In the present embodiment, the first encoder magnet 100 is a circular monopole pair magnet, and the rotation center line of the first rotary member 22 passes through the center of the first encoder magnet 100.

As shown in fig. 2 to 4, the joint structure further includes a first driving plate 80. The first driving plate 80 is disposed at a side of the first joint 20 remote from the second joint 30. The first driving plate 80 is provided with a first encoder chip corresponding to the first encoder magnet 100, and the first encoder chip and the first encoder magnet 100 detect the rotation angle of the first rotary member 22 together.

As shown in fig. 3, 5 and 7, the second rotary member 32 includes a second rotary member body 321 and a second rotary member bracket 322. The second rotating member support 322 is fixedly coupled to the second rotating member body 321. The second rotor support 322 includes a second hollow shaft 3221. The second hollow shaft 3221 protrudes from a side of the second rotating member bracket 322 away from the first joint 20 and is rotatably connected with the second fixing member 31.

As shown in fig. 3 and 5, the joint structure further includes a second bearing 50 and a third bearing 60. The second bearing 50 and the third bearing 60 are spaced around the second hollow shaft 3221 and are connected to the second fixing member 31, so that the second hollow shaft 3221 can rotate relative to the second fixing member 31.

In the present embodiment, the second hollow shaft 3221 has a stepped shape with a diameter gradually decreasing in the protruding direction. While the second bearing 50 and the third bearing 60 are respectively sleeved on different stepped surfaces of the second hollow shaft 3221, so that the diameter of the second bearing 50 is larger than that of the third bearing 60. The end of the second hollow shaft 3221 is fixedly connected to the output, so that the second joint 30 outputs power to the output. Of course, the second hollow shaft 3221 itself may also be used as the output, and the components that require actuation of the second joint 30 are directly connected to the second hollow shaft 3221.

As shown in fig. 3 and 5, the joint structure further includes a second encoder magnet 110. The second encoder magnet 110 is fixedly coupled to the second rotating member bracket 322 for detecting the rotation angle of the second rotating member 32. The articulating structure further includes a second mount 130. The second mounting frame 130 has a mounting step, and an end of the second hollow shaft 3221 adjacent to the first joint 20 is sleeved and embedded at the mounting step of the second mounting frame 130, and the second mounting frame 130 seals an end opening of the second hollow shaft 3221 adjacent to the first joint 20. The second mounting 130 has a central recess in which the second encoder magnet 110 is received, that is, the second encoder magnet 110 is fixedly coupled to the second rotor bracket 322 by the second mounting 130. In the present embodiment, the second encoder magnet 110 is a circular monopole pair magnet, and the rotation center line of the second rotating member 32 passes through the center of the second encoder magnet 110.

As shown in fig. 3 to 4, the joint structure further includes a second driving plate 70. The second driving plate 70 is disposed between the first joint 20 and the second joint 30 and fixedly coupled with the housing 10. The second driving plate 70 is provided with a second encoder chip corresponding to the second encoder magnet 110, and the second encoder chip and the second encoder magnet 110 detect the rotation angle of the second rotating member 32 together. In this embodiment, the second drive plate 70 is fixedly connected to the second half-shell 12. Specifically, the second driving plate 70 is circular, a plurality of open slots are formed in the peripheral side of the second driving plate 70 at intervals, a plurality of threaded holes are correspondingly formed in the end face of the mounting step of the second half shell 12, and screws penetrate through the open slots of the second driving plate 70 and extend into the threaded holes of the second half shell 12, so that the second driving plate 70 and the second half shell 12 are fixed. It will be appreciated that the second drive plate 70 divides the hollow cavity into two regions corresponding to the first half-shell 11 and the second half-shell 12, respectively, and the first joint 20 and the second joint 30 are accommodated in the two regions, respectively.

In the present embodiment, the second fixing member 31 is fixedly connected with the housing 10. As shown in fig. 3 and 5, the joint structure further comprises a third hollow shaft 121. The third hollow shaft 121 is disposed in the hollow cavity and fixedly connected with the housing 10, and the second fixing member 31 is sleeved on the third hollow shaft 121. That is, the second fixing member 31 is fixedly connected to the housing 10 through the third hollow shaft 121. The hollow axis of the third hollow shaft 121 is collinear with the rotational center line of the second rotary member 32. Specifically, the second hollow shaft 3221 extends into the third hollow shaft 121, and the second bearing 50 and the third bearing 60 are also located in the third hollow shaft 121, and the second bearing 50 and the third bearing 60 are fixedly connected with the inner wall of the third hollow shaft 121.

In the present exemplary embodiment, the third hollow shaft 121 is fixedly connected to the second half-shell 12. Further, the third hollow shaft 121 is integrally formed with the second half shell 12. The connection of the second half-shell 12 to the third hollow shaft 121 has openings to allow the connection of the output to the second hollow shaft 3221 or to allow the second hollow shaft 3221 to extend into the housing 10 to be connected to the components to be driven.

As shown in fig. 1 to 4 and 8, the present application further provides a joint module, including the third joint 90 and the above-mentioned joint structure. The third joint 90 includes a third rotating member 91 and a third fixed member, and the third rotating member 91 is rotatably connected to the third fixed member. At least a portion of the joint structure is connected to the third rotation member 91. That is, the joint module in the present embodiment includes three joints.

In the present embodiment, the third rotating member 91 is connected to the first joint 20 of the joint structure. Specifically, the cutting surface of the first half shell 11 is provided with an opening, so that the third rotating member 91 can extend into the hollow cavity to be connected with the first joint 20.

As shown in fig. 1 to 4 and 8, the third rotating member 91 includes a rotating portion 911 and a connecting portion 912. The connection portion 912 is disposed at a side of the first joint 20 remote from the second joint 30 and fixedly connected to the first fixing member 21 of the first joint 20. That is, the cutting surfaces on both sides of the joint structure are used to connect the third joint 90 and the output, respectively. In the present embodiment, the rotation portion 911 and the connection portion 912 are vertically disposed.

As shown in fig. 3-4, the connection 912 includes a fourth hollow shaft 9121. The fourth hollow shaft 9121 protrudes from a side of the connection 912 near the first joint 20. In the present embodiment, the fourth hollow shaft 9121 serves as a fixing base for the joint structure. The first fixing member 21 is sleeved on the fourth hollow shaft 9121. Specifically, the first hollow shaft 2221 extends into the fourth hollow shaft 9121, and two first bearings 40 are also located in the fourth hollow shaft 9121, and both first bearings 40 are fixedly connected with the inner wall of the fourth hollow shaft 9121.

As shown in fig. 3, a mounting groove 9122 is formed on a side of the connection portion 912 away from the first joint 20. The first drive plate 80 of the articulation arrangement is received within the mounting slot 9122. The connecting portion 912 is provided with a hollowed-out area to ensure that a sufficient magnetic field strength exists between the first encoder magnet 100 and the first encoder chip. Through the above arrangement, the first half shell 11 has enough space to accommodate the first joint 20 and other components, and the first driving plate 80 is prevented from possibly interfering with the connection between the third rotating member 91 and the first joint 20, so that the structural layout of the whole joint module is more reasonable.

As shown in fig. 1, 3 to 4, the rotation portion 911 is provided with a through hole 9111 at the rotation center line of the third rotation member 91. The external electric wires pass through the through holes 9111 and are electrically connected to the second driving plate 70 and the first driving plate 80 of the joint structure, respectively.

In the present embodiment, at least a part of the third rotation member 91 and the joint structure have a spherical shape or a part of a spherical shape as a whole. The housing 10 of the joint structure included in the joint module of the present embodiment is a part of a sphere. Specifically, the portion of the third rotary member 91 located at the cutting face of the first half shell 11 is a part of a sphere so as to be integrated with the spherical contour of the joint structure.

In the present embodiment, the rotation center line of the third rotary member 91 passes through the center of the above-described spherical shape. With the above arrangement, the arm of force of the third joint 90 can be reduced, thereby reducing the load of the third joint 90.

In this embodiment, the joint module is a joint module of a robot. Correspondingly, the third joint 90 is also a joint motor. That is, the third rotating member 91 of the third joint 90 is a rotor, and the third fixing member is a stator. Of course, the joint module in the present embodiment is not limited to the joint module of the robot, and may be applied to other aspects, and the third joint 90 is not necessarily a motor, as long as it has a corresponding rotational relationship.

As shown in fig. 8, the joint module further includes a leg structure 140, a driven wheel, and a transmission. The leg structure 140 is connected to the joint structure housing 10, and the first rotation member 22 of the joint structure rotates the leg structure 140 relative to the third joint 90. The driven wheel is disposed at the junction of the thigh and calf of the leg body structure 140. The output part of the joint structure is in transmission connection with the driven wheel through a transmission piece and is used for driving the lower leg to rotate relative to the thigh. That is, in the present embodiment, the first joint 20 drives the second joint 30 and the entire leg structure 140 to rotate relative to the third joint 90, the second joint 30 drives the lower leg of the leg structure 140 to rotate relative to the thigh, and the third joint 90 drives the entire joint structure and the leg structure 140 to rotate together.

In this embodiment, the output part is a pulley, and the transmission member is a timing belt. The two ends of the synchronous belt are respectively sleeved on the output part and the driven wheel, so that power is transmitted from the output part to the driven wheel.

In an alternative embodiment, the output is a cam and the transmission is a transmission link. Of course, the output part and the transmission part can be of other types of structures, and the output part and the transmission part can be selected according to actual requirements.

The application also provides a robot comprising the joint module.

Further, the robot in this embodiment is a four-legged robot. Of course, the joint module in this embodiment may be applied to other types of robots, and may be selected according to actual requirements.

In this embodiment, the robot further includes a body, and at least a portion of the third joint 90 of the joint module is disposed on the body for driving the joint module to move in the swinging direction. Specifically, the third mount is disposed on the body of the quadruped robot. The third rotating member 91 drives the entire joint structure and leg structure 140 to rotate with respect to the third fixing member, thereby moving in the swinging-out direction.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

1. the first joint 20 and the second joint 30 do not move relatively, so that the condition that a cable between the first joint 20 and the second joint moves along is avoided, and cable damage caused by large joint rotation amplitude is avoided.

2. The joint structure replaces the existing driving unit structure of a motor and a planetary reducer, so that the structure is simplified, the cost is reduced, and the response speed is improved.

3. The rotation center line of the third rotation member 91 passes through the center of the sphere, which can reduce the moment arm of the third joint 90, thereby reducing the load of the third joint 90.

It will be apparent that the embodiments described above are merely some, but not all, embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art may make other different changes or modifications without making any creative effort, which shall fall within the protection scope of the present invention.

Claims (22)

1. A joint structure, comprising:

-a housing (10), the housing (10) having a hollow cavity;

the first joint (20), the first joint (20) is arranged in the hollow cavity, the first joint (20) comprises a first fixing piece (21) and a first rotating piece (22) rotationally connected with the first fixing piece (21), the first fixing piece (21) is fixedly connected with a fixing seat, and the first rotating piece (22) is fixedly connected with the shell (10);

the second joint (30), the said second joint (30) is set up in the said hollow cavity, the said second joint (30) includes the second fixed part (31) and rotates the second rotary part (32) connected with said second fixed part (31) rotatably;

and an output part which is arranged on one side of the second joint (30) away from the first joint (20), and is connected with the second rotating member (32).

2. Joint construction according to claim 1, characterized in that the second fixing element (31) is fixedly connected to the housing (10).

3. The joint structure according to claim 1, wherein the rotation center line of the first rotating member (22) and the rotation center line of the second rotating member (32) are collinear.

4. The joint structure according to claim 1, characterized in that the first rotation element (22) comprises:

a first rotor body (221);

the first rotating member support (222), the first rotating member support (222) is fixedly connected with the first rotating member body (221) and the shell (10) respectively.

5. The joint structure according to claim 4, wherein the first rotating member support (222) comprises a first hollow shaft (2221), and the first hollow shaft (2221) protrudes from a side of the first rotating member support (222) away from the second joint (30) and is rotatably connected to the first fixing member (21).

6. The joint structure according to claim 1, characterized in that the second rotation element (32) comprises:

a second rotor body (321);

and the second rotating piece bracket (322) is fixedly connected with the second rotating piece body (321).

7. The joint structure according to claim 6, characterized in that the second rotating member support (322) comprises a second hollow shaft (3221), and the second hollow shaft (3221) protrudes from a side of the second rotating member support (322) away from the first joint (20) and is rotatably connected with the second fixing member (31).

8. The joint structure according to claim 1, characterized in that the joint structure further comprises:

a first drive plate (80), the first drive plate (80) being arranged on a side of the first joint (20) remote from the second joint (30);

the second driving plate (70) is arranged between the first joint (20) and the second joint (30) and is fixedly connected with the shell (10).

9. Joint construction according to claim 1, characterized in that the housing (10) is spherical or is part of a sphere.

10. Joint structure according to claim 1, characterized in that the housing (10) comprises a first half-shell (11) and a second half-shell (12), the first half-shell (10) and the second half-shell (12) being fixedly connected to enclose the hollow cavity.

11. The joint structure according to claim 1, further comprising a third hollow shaft (121), wherein the third hollow shaft (121) is disposed in the hollow cavity and fixedly connected to the housing (10), and the second fixing member (31) is sleeved on the third hollow shaft (121).

12. A joint structure, comprising:

-a housing (10), the housing (10) having a hollow cavity;

the first joint (20), the first joint (20) is arranged in the hollow cavity, the first joint (20) comprises a first fixing piece (21) and a first rotating piece (22) rotationally connected with the first fixing piece (21), the first fixing piece (21) is fixedly connected with the fixing seat, the first rotating piece (22) is fixedly connected with the shell (10), the first rotating piece (22) comprises a first rotating piece support (222), and the first rotating piece support (222) is fixedly connected with the shell (10);

a first encoder magnet (100), wherein the first encoder magnet (100) is fixedly connected with the first rotating member bracket (222) and is used for detecting the rotating angle of the first rotating member (22);

the second joint (30), the second joint (30) sets up in the cavity, second joint (30) include second mounting (31) and with second mounting (31) rotate second rotating member (32) of being connected.

13. The joint structure according to claim 12, further comprising a second encoder magnet (140), wherein the second rotating member (32) comprises a second rotating member bracket (322), wherein the second encoder magnet (140) is fixedly connected to the second rotating member bracket (322) for detecting a rotation angle of the second rotating member (32).

14. A joint module, comprising:

a third joint (90), the third joint (90) comprising a third rotational member (91);

the joint structure of any one of claims 1 to 11 or 12 to 13, at least a portion of which is connected to the third rotation element (91).

15. Joint module according to claim 14, characterized in that the third swivel (91) is connected with the first joint (20) of the joint arrangement.

16. The joint module according to claim 15, characterized in that the third rotation member (91) comprises a rotation portion (911) and a connection portion (912), the connection portion (912) being arranged at a side of the first joint (20) remote from the second joint (30) and being fixedly connected with the first fixing member (21) of the first joint (20).

17. The joint module according to claim 16, wherein the connecting portion (912) includes a fourth hollow shaft (9121), the fourth hollow shaft (9121) protrudes from a side of the connecting portion (912) near the first joint (20), the fourth hollow shaft (9121) is used as a fixing seat of the joint structure, and the first fixing member (21) is sleeved on the fourth hollow shaft (9121).

18. The joint module according to claim 16, wherein a mounting groove (9122) is formed in a side of the connection portion (912) away from the first joint (20), and the first driving plate (80) of the joint structure is accommodated in the mounting groove (9122).

19. The joint module according to claim 16, wherein the rotation portion (911) is provided with a through hole (9111) at a rotation center line of the third rotation member (91), and an external electric wire passes through the through hole (9111) and is electrically connected to the second drive plate (70) and the first drive plate (80) of the joint structure, respectively.

20. The joint module of claim 14, further comprising:

the leg body structure (140), leg body structure (140) with joint structure's shell (10) is connected, joint structure's first rotation piece (22) drive leg body structure (140) for third joint (90) rotation:

the driven wheel is arranged at the joint of the thigh and the shank of the leg body structure (140);

the output part of the joint structure is in transmission connection with the driven wheel through the transmission part and is used for driving the lower leg to rotate relative to the thigh.

21. The joint module according to claim 14, characterized in that at least a part of the third rotation member (91) and the joint structure have a spherical or a part of a spherical overall shape, and that a rotation center line of the third rotation member (91) passes through a center of the spherical shape.

22. A robot, comprising:

the joint module of any one of claims 14 to 21;

and at least one part of a third joint (90) of the joint module is arranged on the body and used for driving the joint module to move along the outward swinging direction.