CN117656126A - 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 which is rotationally connected with the first fixing piece, 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 rotationally connected with the second fixing piece. The joint structure, the joint module and the robot disclosed by the invention can solve the problem that the joint structure of the robot is complex 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 four-foot robot is generally provided with three joints, wherein the first joint drives the thigh and the second joint to move, and the third joint drives the whole leg and the first joint and the second joint to rotate in the outward swinging direction. 1. The swing of the leg caused by the rotation of the third joint can cause the conditions of finger clamping and the like, cause injury to a user and lack the attractiveness. Meanwhile, cables such as a power line, a communication line and the like which are connected between the joint motor number three and the joint motor number one and are connected with the joint motor number two generate larger-amplitude movement when the motor rotates, and the cables are easy to damage.

On the other hand, the driving unit of the conventional four-legged robot is generally composed of a motor and a planetary reducer, and has a complex structure and is difficult to reduce the cost.

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 joint structure of the robot is complex.

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 which is rotationally connected with the first fixing piece, 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 rotationally connected with the second fixing piece.

Optionally, the joint structure further comprises a first fixing seat, and the first fixing piece is fixedly connected with the first fixing seat; the second fixing piece is fixedly connected with the shell.

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

Optionally, the rotor support includes a first hollow shaft protruding from a side of the rotor support away from the first joint.

Optionally, the first fixing seat is provided with a second hollow shaft, the second hollow shaft protrudes out of one side of the first fixing seat, which is close to the second joint, and the second hollow shaft is fixedly connected with the first fixing piece.

Optionally, the joint structure further includes a second fixing base, and the second fixing piece is fixedly connected with the housing through the second fixing base.

Optionally, the second fixing seat is provided with a third hollow shaft, the third hollow shaft protrudes out of one side of the second fixing seat, which is close to the first joint, and the third hollow shaft is fixedly connected with the second fixing piece.

Optionally, the joint structure further comprises: the first driving plate is fixedly connected with the first fixing seat; 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.

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 which is rotationally connected with the first fixing piece, 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; the rotating shaft is arranged on the first joint and the second joint in a penetrating way and is fixedly connected with the shell; the first encoder assembly comprises a first encoder magnet and a first encoder reading head, wherein the first encoder magnet is fixedly connected with one end of the rotating shaft, which is far away from the second joint, and the first encoder reading head is correspondingly arranged with the central axis of the rotating shaft and is used for detecting the rotating angle of the first rotating part.

Optionally, the joint structure further comprises a second encoder assembly comprising: the second encoder magnet is fixedly connected with the second rotating piece; the encoder plate is arranged at intervals with one end of the rotating shaft far away from the first joint and is fixedly connected with the shell; the first encoder reading head is arranged on the encoder plate and corresponds to the central axis of the rotating shaft, and is used for detecting the rotating angle of the second rotating part.

Optionally, the second encoder magnet is a magnetic ring, and the second encoder magnet is sleeved on the rotating shaft.

Optionally, a connecting disc is arranged at one end of the rotating shaft far away from the first joint, and the rotating shaft is fixedly connected with the shell through the connecting disc.

Optionally, a plurality of hollow areas are formed on the connecting disc, and the hollow areas are arranged at intervals along the circumferential direction of the connecting disc.

The present invention also provides a joint module comprising: a third joint including a third rotating member; the joint structure, at least one part of the joint structure is fixedly connected with the third rotating piece; the joint structure also comprises an output part which is fixedly connected with the second joint and is positioned at the center of the joint structure.

Optionally, the rotation center line of the third rotation member passes through the center of the joint structure.

Optionally, the output portion is provided with a central through hole of the rotating shaft avoiding the joint structure.

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 piece is arranged at the joint of the thigh and the shank of the leg body structure; the transmission part is in transmission connection with the driven part through the transmission part, and is used for driving the lower leg to rotate relative to the thigh, and the shell of the joint structure is provided with a second notch part avoiding the transmission part.

Optionally, the output part is a belt wheel, and the transmission part is a synchronous belt; or the output part is a cam, and the transmission part is a transmission connecting rod.

Optionally, the first joint and the second joint of the joint structure are symmetrically arranged along a center line of the transmission member.

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.

The invention also provides a robot comprising the joint module.

Optionally, the robot further comprises a body, 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 arranged in the hollow cavity of the shell, 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, and the second joint can be connected with the next-stage connecting piece to output power outwards, so that the first joint and the second joint are integrated in one space on the premise of ensuring the normal driving function of the first joint and the second joint, and an integrated joint structure is formed, thereby saving the space, simplifying the integral structure of the joint structure, and simultaneously greatly reducing the cost and improving the response speed due to the omission of a speed reducer.

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 of a joint structure according to an embodiment of the present invention;

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

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

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

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

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

FIG. 7 is a schematic structural view of a first fixing base according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a second fixing base according to an embodiment of the present invention;

FIG. 9 is a schematic view of an angle configuration of a joint module according to an embodiment of the present invention;

FIG. 10 is a schematic view of another angle of the joint module in one embodiment of the present invention.

Reference numerals illustrate:

10-a housing; 11-a first half shell; 12-a second half-shell; 13-a second notch portion; 20-first joint; 21-a first fixing member; 22-a first rotating member; 30-a second joint; 31-a second fixing member; 32-a second rotating member; 321-a rotor body; 322-rotor support; 3221-a first hollow shaft; 40-an output section; 41-a central through hole; 50-rotating shaft; 60-connecting discs; 61-a hollowed-out area; 70-a first encoder assembly; 71-a first encoder magnet; 72-a first encoder readhead; 80-a first fixing seat; 81-a second hollow shaft; 90-a first drive plate; 100-a first bearing; 110-a second bearing; 120-a second fixing seat; 121-a third hollow shaft; 130-a third bearing; 140-a second drive plate; 141-a first notch portion; 150-third joint; 151-a third rotating member; 160-leg structure; 170-a transmission member; 180-a second encoder assembly; 181-a second encoder magnet; 182-a second encoder readhead; 183-encoder panel.

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 of complex joint structure of the robot in the prior art.

As shown in fig. 1 to 5 and 9 to 10, 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, and the first joint 20 includes a first fixing member 21 and a first rotating member 22 rotatably connected to the first fixing member 21, where 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.

Through setting up first joint 20 and second joint 30 in the cavity of shell 10, first rotor 22 and shell 10 fixed connection for first joint 20 can drive second joint 30 and shell 10 rotation, and second joint 30 can be with the outside output power of next level connecting piece hookup, like this under the prerequisite of guaranteeing the normal driving function of first joint 20 and second joint 30, integrate first joint 20 and second joint 30 in a space, form integral type joint structure, thereby practice thrift the space, simplify joint structure's overall structure, simultaneously owing to saved the reduction gear, also greatly reduced cost has improved response speed. In addition, 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 rotation amplitude of the joints is avoided.

As shown in fig. 3 to 4, the joint structure further includes an output portion 40. The output 40 is fixedly connected to the second joint 30 and is located at the center of the joint structure. That is, the output 40 is located between the first joint 20 and the second joint 30. Specifically, an end of the output portion 40 remote from the first joint 20 is fixedly connected to the second rotating member 32.

As shown in fig. 3 and 5, the joint structure further includes a rotation shaft 50, and the rotation shaft 50 is disposed on the first joint 20 and the second joint 30 in a penetrating manner and fixedly connected with the housing 10. In the present embodiment, the center axis of the rotation shaft 50 is collinear with the rotation center line of the first rotor 22 and the rotation center line of the second rotor 32. That is, the first joint 20 and the second joint 30 are disposed in parallel in the hollow cavity, and the first rotating member 22 and the second rotating member 32 both rotate around the rotation shaft 50.

As shown in fig. 3, the output portion 40 is provided with a center through hole 41 that bypasses the rotation shaft 50. That is, the rotation shaft 50 is also provided to pass through the output unit 40.

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.

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, the first rotating member 22 and the housing 10 may be any one of threaded connection, keyed connection, pinned connection, riveted connection, welded connection, or integrally formed. 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. The housing 10 is part of a sphere since the joint structure needs to be connected to other structures through the side of the housing 10. In the present embodiment, since the output portion 40 is located at the middle position of the joint structure, only one side of the housing 10 needs to be connected to other structures, that is, the housing 10 has a spherical shape with a cutting surface on one side. The cutting face of the housing 10 is parallel to the plane of rotation of the first and second rotary members 22, 32. 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 9 to 10, 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 one of the first and second half shells 11, 12 is hemispherical and the other is 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, one of the first half shell 11 and the second half shell 12 is provided with a plurality of mounting holes perpendicular to the circular surface at the opening along the circumferential direction, correspondingly, the end surface of the other one 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.

As shown in fig. 3, 5 to 6, the second rotary member 32 includes a rotary member body 321 and a rotary member bracket 322. The rotor bracket 322 is fixedly connected with the rotor body 321. The rotating member support 322 is located on the side of the second fixing member 31 near the first joint 20, that is, at a position near the middle of the hollow chamber. The rotor support 322 includes a first hollow shaft 3221. The first hollow shaft 3221 projects from a side of the rotor support 322 remote from the first joint 20. The rotation shaft 50 passes through the first hollow shaft 3221.

As shown in fig. 3 and 5, the joint structure further includes a third bearing 130. The third bearing 130 is sleeved on the rotating shaft 50 and is fixedly connected with the inner wall of the first hollow shaft 3221. By providing the third bearing 130, the second rotating member 32 can be rotatably connected to the rotating shaft 50.

As shown in fig. 1 to 4 and 7, the joint structure further includes a first fixing base 80. The first fixing member 21 is fixedly connected with the first fixing base 80. In this embodiment, the cutting surface of the first half shell 11 is provided with an opening, so that the first fixing seat 80 can extend into the hollow cavity to be fixedly connected with the first fixing piece 21. Specifically, the first fixing seat 80 has a second hollow shaft 81, the second hollow shaft 81 protrudes from one side of the first fixing seat 80 near the second joint 30, and the second hollow shaft 81 is fixedly connected with the first fixing member 21. That is, the first fixing base 80 is fixedly connected to the first fixing member 21 through the second hollow shaft 81.

Further, as shown in fig. 3 to 4, the joint structure further includes a first bearing 100 and a second bearing 110. The first bearing 100 is sleeved on the output part 40 and fixedly connected with the inner wall of the second hollow shaft 81. The second bearing 110 is spaced apart from the first bearing 100. The second bearing 110 is sleeved on the rotating shaft 50 and fixedly connected with the inner wall of the second hollow shaft 81. By providing the first bearing 100 and the second bearing 110, the first holder 80 can be rotatably connected to the output part 40 and the rotation shaft 50.

In the present embodiment, the second fixing member 31 is fixedly connected with the housing 10. Specifically, as shown in fig. 3, 5 and 8, the joint structure further includes a second fixing base 120, and the second fixing member 31 is fixedly connected to the housing 10 through the second fixing base 120. In this case, the second fixing base 120 is fixedly connected to the second half shell 12.

As shown in fig. 3, 5 and 8, the second holder 120 has a third hollow shaft 121. The third hollow shaft 121 protrudes from one side of the second fixing base 120, which is close to the first joint 20, and the third hollow shaft 121 is fixedly connected with the second fixing piece 31.

As shown in fig. 1 to 4, the joint structure further includes a first driving plate 90. The first driving plate 90 is fixedly connected with the first fixing base 80. Specifically, the first driving plate 90 is located at a side of the first fixing base 80 away from the first joint 20 and is fixed to the first fixing base 80 by a screw. In this embodiment, the first driving plate 90 is circular, a plurality of open slots are disposed at intervals on the peripheral side of the first driving plate 90, a plurality of threaded holes are correspondingly formed in the first fixing base 80, and screws penetrate through the open slots of the first driving plate 90 and extend into the threaded holes of the first fixing base 80, so that the first driving plate 90 is fixed with the first fixing base 80. The first drive plate 90 is electrically connected to the first joint 20 to control the movement of the first joint 20.

As shown in fig. 3-4, the joint structure further includes a first encoder assembly 70. The first encoder assembly 70 includes a first encoder magnet 71 and a first encoder readhead 72. The first encoder magnet 71 is fixedly connected to an end of the rotation shaft 50 remote from the second joint 30, and the first encoder readhead 72 is disposed corresponding to a central axis of the rotation shaft 50 for detecting a rotation angle of the first rotary member 22. In this embodiment, the first encoder magnet 71 is cylindrical, the joint structure further includes a connection sleeve, and the end of the rotation shaft 50 away from the second joint 30 and the first encoder magnet 71 extend into the connection sleeve, so that the first encoder magnet 71 is fixed to the rotation shaft 50. In this embodiment, the first encoder readhead 72 is disposed at a central location of the first drive plate 90, and the first drive plate 90 powers the first encoder readhead 72.

As shown in fig. 3 to 4, the joint structure further includes a second driving plate 140. The second driving plate 140 is disposed between the first joint 20 and the second joint 30 and fixedly coupled with the housing 10. In this embodiment, the second drive plate 140 is fixedly connected to the second half-shell 12. The connection manner between the second driving plate 140 and the second half shell 12 is the same as the connection manner between the first driving plate 90 and the first fixing base 80, and will not be described herein. It will be appreciated that the second drive plate 140 divides the hollow cavity into two areas corresponding to the first half-shell 11 and the second half-shell 12, respectively, in which the first joint 20 and the second joint 30 are housed, respectively.

As shown in fig. 4, the second drive plate 140 has a first notch 141 of the avoidance output 40.

As shown in fig. 3 and 5, the joint structure further includes a second encoder assembly 180. The second encoder assembly 180 includes a second encoder magnet 181, an encoder plate 183, and a second encoder readhead 182. The second encoder magnet 181 is fixedly coupled to the second rotating member 32. The encoder plate 183 is spaced apart from one end of the rotation shaft 50 remote from the first joint 20 and fixedly coupled to the housing 10. The first encoder readhead 72 is disposed on the encoder plate 183 and is disposed corresponding to the central axis of the rotary shaft 50 for detecting the rotation angle of the second rotary member 32. In the present embodiment, the encoder board 183 is fixedly connected to the second fixing base 120, that is, the encoder board 183 is fixedly connected to the housing 10 through the second fixing base 120.

In this embodiment, the second encoder magnet 181 is a magnetic ring, and the second encoder magnet 181 is sleeved on the rotating shaft 50. Specifically, the first hollow shaft 3221 extends into the third hollow shaft 121, and the second encoder magnet 181 is also located in the third hollow shaft 121 and is fixedly connected to an end of the first hollow shaft 3221 remote from the first joint 20.

As shown in fig. 3 and 5, the end of the rotation shaft 50 remote from the first joint 20 has a connection pad 60. The rotation shaft 50 is fixedly connected with the housing 10 through a connection disc 60. In the present embodiment, the connection pad 60 is fixedly connected with the second fixing base 120, that is, the connection pad 60 is fixedly connected with the housing 10 through the second fixing base 120.

As shown in fig. 5, the connecting disc 60 is provided with a hollowed-out area 61. The hollow areas 61 are a plurality of, and the hollow areas 61 are arranged at intervals along the circumferential direction of the connecting disc 60. By arranging the hollowed-out area 61, the second encoder magnet 181 and the second encoder reading head 182 can have enough magnetic field intensity, and the normal use of the second encoder assembly 180 can be ensured.

As shown in fig. 9 to 10, the present application further provides a joint module including the third joint 150 and the above-mentioned joint structure. The third joint 150 includes a third rotating member 151 and a third fixed member, and the third rotating member 151 is rotatably connected with the third fixed member. At least a portion of the joint structure is fixedly coupled to the third rotation member 151. That is, the joint module in the present embodiment includes three joints.

In this embodiment, the third rotating member 151 is fixedly connected to the first fixing base 80 of the joint structure.

In this embodiment, the third rotating member 151 includes an L-shaped connecting portion and a rotating portion, the connecting portion is fixedly connected with the first fixing base 80, and the rotating portion is parallel to the rotating shaft 50. The rotation center line of the third rotation member 151 passes through the center of the joint structure.

In the present embodiment, at least a portion of the third rotating member 151 and the joint structure have a spherical shape or a portion of a spherical shape as a whole. Specifically, the portion of the third rotating member 151 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. Accordingly, the rotation center line of the third rotation member 151 passes through the center of the sphere of the joint structure.

In the present embodiment, the first joint 20 and the second joint 30 of the joint structure are symmetrically disposed along the center line of the transmission member 170. It will be appreciated that the center line of the transmission member 170 is located on the same plane as the rotation center line of the third rotation member 151, which is the symmetry plane of the first joint 20 and the second joint 30. Through the above arrangement, the rotation center line of the third rotating member 151 passes through the spherical center of the joint structure, and the output arm of the third joint 150 is zero, so that the load of the third joint 150 is reduced to the greatest extent.

In this embodiment, the joint module is a joint module of a robot. Correspondingly, the third joint 150 is also a joint motor. That is, the third rotating member 151 of the third joint 150 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 150 is not necessarily a motor, as long as it has a corresponding rotational relationship.

As shown in fig. 1-3 and 10, the joint module further includes a leg structure 160, a follower and a driver 170. The leg structure 160 is connected to the joint structure housing 10, and the first rotation member 22 of the joint structure drives the leg structure 160 to rotate relative to the third joint 150. The follower is disposed at the junction of the thigh and calf of the leg body structure 160. The output 40 is in driving connection with the driven member via a driving member 170 for driving the rotation of the lower leg relative to the upper leg. That is, in the present embodiment, the first joint 20 drives the second joint 30 and the entire leg structure 160 to rotate relative to the third joint 150, the second joint 30 drives the lower leg of the leg structure 160 to rotate relative to the thigh, and the third joint 150 drives the entire joint structure and the leg structure 160 to rotate together.

As shown in fig. 1 and 3, the housing 10 has a second cutout portion 13 for receiving the transmission member 170.

In the present embodiment, the output portion 40 is a pulley, and the transmission 170 is a timing belt. Correspondingly, the driven piece is a driven belt wheel. The both ends of the synchronous belt are respectively sleeved on the output part 40 and the driven member, so that power is transmitted from the output part 40 to the driven member.

In an alternative embodiment, the output 40 is a cam and the drive 170 is a drive link. Of course, the output portion 40 and the transmission member 170 may have other types of structures, and may 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 150 of the joint module is disposed on the body for driving the joint module to move along the swinging direction. Specifically, the third mount is disposed on the body of the quadruped robot. The third rotating member 151 drives the entire joint structure and the leg structure 160 to rotate with respect to the third fixing member, thereby moving in the swinging 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 are integrated in a space to form an integrated joint structure, so that the space is saved, the integral structure of the joint structure is simplified, meanwhile, the cost is greatly reduced and the response speed is improved due to the fact that a speed reducer is omitted.

2. 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.

3. The rotation center line of the third rotating member 151 passes through the spherical center of the joint structure, and the output arm of the third joint 150 is zero, so that the load of the third joint 150 is reduced to the greatest extent.

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 (24)

1. A joint structure, comprising:

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

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), and the first rotating piece (22) is fixedly connected with the shell (10);

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.

2. The joint structure according to claim 1, characterized in that it further comprises a first fixed seat (80), said first fixing element (21) being fixedly connected to said first fixed seat (80); the second fixing piece (31) is fixedly connected with the shell (10).

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

a rotor body (321);

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

4. A joint arrangement according to claim 3, characterized in that the rotor support (322) comprises a first hollow shaft (3221), which first hollow shaft (3221) protrudes from the side of the rotor support (322) remote from the first joint (20).

5. The joint structure according to claim 2, wherein the first fixing seat (80) has a second hollow shaft (81), the second hollow shaft (81) protrudes from one side of the first fixing seat (80) close to the second joint (30), and the second hollow shaft (81) is fixedly connected with the first fixing member (21).

6. The joint structure according to claim 2, further comprising a second fixing base (120), wherein the second fixing member (31) is fixedly connected with the housing (10) through the second fixing base (120).

7. The joint structure according to claim 6, wherein the second fixing seat (120) has a third hollow shaft (121), the third hollow shaft (121) protrudes from a side of the second fixing seat (120) close to the first joint (20), and the third hollow shaft (121) is fixedly connected with the second fixing member (31).

8. The joint structure according to claim 2, characterized in that the joint structure further comprises:

the first driving plate (90), the first driving plate (90) is fixedly connected with the first fixing seat (80);

the second driving plate (140) 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 any one of claims 1 to 9, characterized in that the housing (10) comprises a first half-shell (11) and a second half-shell (12), the first half-shell (11) and the second half-shell (12) being fixedly connected to enclose the hollow cavity.

11. A joint structure, comprising:

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

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), 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;

the rotating shaft (50) is penetrated on the first joint (20) and the second joint (30) and is fixedly connected with the shell (10);

the first encoder assembly (70), first encoder assembly (70) include first encoder magnet (71) and first encoder reading head (72), first encoder magnet (71) with one end fixed connection of second joint (30) is kept away from to axis of rotation (50), first encoder reading head (72) with the central axis of rotation (50) corresponds the setting, is used for detecting the rotation angle of first rotating member (22).

12. The joint structure according to claim 11, further comprising a second encoder assembly (180), the second encoder assembly (180) comprising:

a second encoder magnet (181), the second encoder magnet (181) being fixedly connected to the second rotating member (32);

the encoder plate (183) is arranged at intervals with one end of the rotating shaft (50) far away from the first joint (20) and is fixedly connected with the shell (10);

and a second encoder readhead (182), wherein the first encoder readhead (72) is arranged on the encoder plate (183) and is arranged corresponding to the central axis of the rotating shaft (50) for detecting the rotation angle of the second rotating member (32).

13. The joint structure according to claim 12, wherein the second encoder magnet (181) is a magnetic ring, and the second encoder magnet (181) is sleeved on the rotating shaft (50).

14. The joint structure according to claim 11, characterized in that an end of the rotation shaft (50) remote from the first joint (20) has a connection disc (60), and the rotation shaft (50) is fixedly connected with the housing (10) through the connection disc (60).

15. The joint structure according to claim 14, wherein the connecting disc (60) is provided with a plurality of hollow areas (61), and the hollow areas (61) are arranged at intervals along the circumferential direction of the connecting disc (60).

16. A joint module, comprising:

a third joint (150), the third joint (150) comprising a third rotational member (151);

the joint structure of any one of claims 1 to 10 or 11 to 15, at least a part of which is fixedly connected to the third rotation element (151); the joint structure further comprises an output part (40), wherein the output part (40) is fixedly connected with the second joint (30) and is positioned at the center of the joint structure.

17. The joint structure according to claim 16, wherein a rotation center line of the third rotation member (151) passes through a center of the joint structure.

18. The joint structure according to claim 16, characterized in that the output portion (40) is provided with a central through hole (41) which bypasses the rotation shaft (50) of the joint structure.

19. The joint module of claim 16, further comprising:

leg body structure (160), leg body structure (160) with joint structure's shell (10) is connected, joint structure's first rotation piece (22) drive leg body structure (160) for third joint (150) rotation:

a follower disposed at a junction of a thigh and a shank of the leg body structure (160);

the transmission part (170), the output part (40) of the joint structure is in transmission connection with the driven part through the transmission part (170) and is used for driving the lower leg to rotate relative to the thigh, and the shell (10) of the joint structure is provided with a second notch part (13) avoiding the transmission part (170).

20. The joint module according to claim 19, wherein,

the output part (40) is a belt wheel, and the transmission piece (170) is a synchronous belt; or alternatively

The output part (40) is a cam, and the transmission member (170) is a transmission link.

21. The joint module according to claim 19, characterized in that the first joint (20) and the second joint (30) of the joint structure are symmetrically arranged along a centre line of the transmission member (170).

22. The joint module according to claim 16, characterized in that at least a part of the third rotation element (151) and the joint structure have a spherical or a part of a spherical overall shape.

23. A robot comprising the joint module of any one of claims 16 to 22.

24. The robot of claim 23, further comprising a body, at least a portion of a third joint (150) of the joint module being disposed on the body for moving the joint module in a yaw direction.