CN218858576U

CN218858576U - Power joint assembly and foot type robot

Info

Publication number: CN218858576U
Application number: CN202223406510.8U
Authority: CN
Inventors: 谭宏洋; 梁高瑞; 王宏飞; 姜明武
Original assignee: Suzhou Guangge Technology Co Ltd
Current assignee: Suzhou Guangge Technology Co Ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-04-14
Anticipated expiration: 2032-12-16

Abstract

The utility model relates to a power joint assembly and sufficient robot. The foot robot comprises a power joint assembly, wherein the power joint assembly comprises a first arm body, a second arm body, a first power unit and a second power unit. The second arm body is rotatably connected to the first arm body, the first power unit is fixedly connected to the second arm body and is rotatably and directly connected to the second power unit, and therefore the first power unit and the second power unit are connected with each other without redundant connecting pieces or fixing pieces. Meanwhile, the first power unit is in transmission connection with the first arm body through a transmission assembly, the transmission assembly is provided with a transmission ratio alpha for amplifying the output torque of the first power unit so as to match the torque required by the first arm body, the transmission assembly can make up for the deficiency of the output torque of the first power unit, and the first power unit does not need to be matched with a speed reducer with a larger transmission ratio, so that the weight and the occupied volume of the power joint assembly and the foot type robot are saved.

Description

Power joint assembly and foot type robot

Technical Field

The utility model relates to the technical field of robots, especially, relate to a power joint assembly and sufficient robot.

Background

With the continuous development of industrial automation, industrial robots are increasingly applied to the fields of automobile manufacturing, electrical and electronic, sheet metal forming, metal welding and the like, and after the industrial robots and the cooperative robots are matured and popularized at present, great manpower and material resources are input into research of foot robots by research institutions and enterprises, so that the foot robots are gradually commercialized.

However, due to the structural, weight, power and strength constraints, the weight of a common legged robot is more than 20 kg to 100 kg, so that the size and weight of the legged robot are large, the manufacturing cost is high, and the commercialization speed of the product is seriously influenced. The reasons for the large volume and weight are mainly shown in the following two aspects:

firstly, a common legged robot needs to use one or more power units to provide torque for joints, which causes that the power units of legged robots in the current industry need complex workpieces to connect with each power unit, which may cause insufficient machining precision and excessive fit clearances, and the fit clearances of the connecting pieces, the accumulated tolerance may be gradually enlarged along with the increase of the number of the power units or the increase of the complexity of the connecting pieces, the reduction of the machining precision and other reasons, thereby reducing the strength of the joints of the legs of the robot, increasing the weight of parts, and spending high costs for some specific workpieces;

secondly, the torque required by each joint of the legged robot is different, and taking the three joints of the quadruped robot as an example, the torque applied to the crus joint is larger than that applied to the hip joint and the thigh joint. When the power unit is selected, the highest value of the three-joint torque is mostly selected as the torque value of the three-joint power unit, or the power units with different specifications are selected according to different torques. Therefore, the power unit with large torque value is matched with a structure with a larger speed reduction ratio of the speed reducer or a larger stator and rotor, and people can make the appearance size of the power unit the same for the appearance consistency of the structure, so that the power unit occupies larger space, the volume and the weight are increased, the waste of space is caused, and the power unit with small torque does not need to be matched with a structure with a larger speed reduction ratio of the speed reducer or a larger stator and rotor.

Therefore, how to make the foot robot lighter and smaller becomes a key for further breaking through the commercialization of the foot robot.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a power joint assembly and a foot robot including the same, aiming at solving the problems of complicated structure, high processing cost and large volume and weight of the existing foot robot, and aiming at simplifying the structure of the foot robot, reducing the volume and weight of the foot robot, and reducing the installation difficulty and processing cost of the foot robot.

According to one aspect of the present application, there is provided a powered joint assembly comprising:

a first arm body;

a second arm body, one end of which is rotatably connected with the first arm body;

the first power unit is fixedly connected to the second arm body and is in transmission connection with the first arm body through a transmission assembly, the first power unit is used for driving the first arm body to rotate around a first axis relative to the second arm body, the transmission assembly has a transmission ratio alpha, and the transmission ratio alpha is configured to amplify the output torque of the first power unit;

the second power unit is electrically connected with the first power unit through a first cable, is rotatably connected with the first power unit, and is used for driving the first power unit, the transmission assembly, the second arm body and the first arm body to rotate together around a second axis parallel to the first axis relative to the second power unit.

In one embodiment, the transmission assembly comprises:

a first drive wheel connected to the first power unit;

the second driving wheel is fixedly connected with the first arm body and is in driving connection with the first driving wheel;

the first driving wheel can wind the second axis rotation under the driving of the first power unit to drive the second driving wheel to wind the first axis rotation, the ratio of the rotating speed of the second driving wheel to the rotating speed of the first driving wheel is equal to the transmission ratio alpha, and the transmission ratio alpha is less than 1.

In one embodiment, one of the first power unit and the second power unit is provided with a circular arc-shaped limiting slide way, and the limiting slide way is arranged around the second axis;

the other one of the first power unit and the second power unit is provided with a limiting block, and the limiting block can be movably limited in the limiting slide way and can slide in the limiting slide way.

In one embodiment, the second power unit is provided with a thread passing channel extending along the second axis, the first power unit is provided with a first thread passing hole penetrating through the outer wall of the first power unit, and the first thread passing hole is communicated with the thread passing channel;

the first cable penetrates through the wire passing channel, and one end of the first cable extends out of the wire passing channel and extends into the first power unit through the first threading hole.

In one embodiment, the first power unit comprises:

the first shell is rotatably connected to the second power unit, and the first threading hole is formed in the first shell;

the output end of the first speed reducing assembly is connected to the first arm body through the transmission assembly in a transmission manner;

the first circuit board is electrically connected to the first speed reduction assembly, and one end of the first cable extends into the first shell through the first threading hole and is electrically connected to the first circuit board.

In one embodiment, the first housing includes a first upper cover and a first lower cover that are detachably connected, the first lower cover has openings on two opposite sides in the extending direction of the second axis, the first decelerating component is disposed in the first lower cover, and the output end of the first decelerating component closes the opening on one side of the first lower cover;

the first power unit further comprises a first mounting end cover, the first mounting end cover is arranged in the first lower cover and is sealed, the other side opening of the first lower cover is covered by the first upper cover, the first lower cover is arranged on one side of the first mounting end cover, the first mounting end cover and the first upper cover form a cavity, the first circuit board is arranged on the first mounting end cover and is located in the cavity, and the first threading hole is formed in the first upper cover.

In one embodiment, the second power unit comprises:

the second shell is provided with a second threading hole penetrating through the second shell, and the second threading hole is configured to allow a second cable and a third cable to penetrate into the second shell;

the second speed reducing assembly is arranged in the second shell, the output end of the second speed reducing assembly is in transmission connection with the first power unit, the second speed reducing assembly is provided with a through hole extending along the second axis, and the wire passing channel is formed in the through hole;

the second circuit board is electrically connected with the second speed reducing assembly, electrically connected with the first power unit through the first cable, and provided with a first interface for the second cable to be electrically connected and a second interface for the third cable to be electrically connected, and the second cable can be electrically connected with the first cable through the first interface.

In one embodiment, the second power unit further comprises:

and the wire passing pipe penetrates through the through hole, and the wire passing channel penetrates through two opposite ends of the wire passing pipe along the second axis.

In one embodiment, the second power unit further includes at least one sliding bearing, and the at least one sliding bearing is inserted into the through hole and sleeved on the outer circumferential surface of the wire passing pipe.

According to another aspect of the present application, there is provided a legged robot including a powered joint assembly as described above.

Above-mentioned power joint assembly, through directly rotationally connecting first power pack in second power pack, and with second arm body fixed connection in first power pack, and make first power pack transmission connect in first arm body through the transmission assembly who sets up on the second arm body, make power joint assembly design as an organic whole integrated structure, do not need unnecessary connecting piece or mounting interconnect promptly between first power pack and the second power pack, guaranteed that power joint assembly has comparatively simple structure, therefore the installation of being convenient for, and reduced power joint assembly and sufficient robot's weight and occupation volume. Meanwhile, a transmission ratio alpha is configured on the transmission assembly and used for amplifying the output torque of the first power unit, so that the transmission assembly can make up the deficiency of the output torque of the first power unit, the first power unit and the second power unit of the power joint assembly can adopt the same specification, namely, the output torques of the first power unit and the second power unit can be selected to be smaller to meet the torque required by the first arm body and the second arm body, and therefore the first power unit does not need to be matched with a speed reducer with a larger transmission ratio, and space and weight are saved for the power joint assembly and the foot robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and for those skilled in the art, drawings of other embodiments can be obtained according to these drawings without creative efforts.

Fig. 1 is an isometric view of a power joint assembly according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a power joint assembly according to an embodiment of the present invention;

fig. 3 is an isometric view of a first power unit provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a partial explosion of a first power unit provided in an embodiment of the present invention;

fig. 5 is an exploded schematic view of a first power unit provided in an embodiment of the present invention;

fig. 6 is an axial side view of an internal structure of a first power unit according to an embodiment of the present invention;

fig. 7 is an isometric view of a second power unit provided by an embodiment of the present invention;

fig. 8 is a cross-sectional view of a second power unit provided by an embodiment of the present invention;

fig. 9 is an exploded schematic view of a second power unit according to an embodiment of the present invention.

Description of reference numerals:

10. a power joint assembly; 100. a first arm body; 200. a second arm body; 300. a transmission assembly; 310. a first drive pulley; 320. a second transmission wheel; 330. a drive chain; 400. a first power unit; 401. a cavity; 410. a first housing; 411. a first upper cover; 4111. a first threading hole; 4112. a limiting slideway; 4113. connecting holes; 412. a first lower cover; 420. a first output flange; 430. a first speed reduction assembly; 431. an inner gear ring; 432. a planet wheel; 433. a first sun gear; 440. a first circuit board; 450. a first mounting end cap; 500. a second power unit; 510. a second housing; 511. a second upper cover; 5111. connecting the sliding chute; 5112. a second threading hole; 512. a second lower cover; 5121. a limiting block; 520. a second output flange; 530. a second reduction assembly; 531. a second sun gear; 540. a second mounting end cap; 550. a second circuit board; 551. a first interface; 552. a second interface; 560. a wire passing pipe; 561. a wire passage; 570. a sliding bearing; 60. a first axis; 70. a second axis.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "level", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Further, the first feature "on," "over" and "above" the second feature may be directly on or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "beneath" a second feature may be directly or obliquely under the first feature or may simply mean that the first feature is at a lesser level than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "up," "down," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

The utility model provides a power joint assembly and sufficient formula robot, this sufficient formula robot include the power joint assembly, and the power joint assembly is used for playing the effect of walking and support in sufficient formula robot to thereby make sufficient formula robot be used for replacing artifical walking or climbing to accomplish the work complicated and that the degree of difficulty is great.

The structure of the power joint assembly in the present application will be described below by taking the power joint assembly as an example of a leg joint assembly of a legged robot. The present embodiment is described as an example, and the technical scope of the present application is not limited thereto. It is understood that in other embodiments, the powered joint assembly of the present application is not limited to only the leg joint of a legged robot, but also can be used as a joint of other types of robots or automated mechanical devices, and is not limited in particular.

The following describes a preferred embodiment of the structure of the power joint assembly provided by the present application with reference to fig. 1 to 9.

As shown in fig. 1 and fig. 2, a power joint assembly 10 (i.e. a leg joint assembly of a legged robot in the present embodiment) of a legged robot (not shown in the drawings) includes a first arm 100, a second arm 200, a transmission assembly 300, a first power unit 400, and a second power unit 500. Wherein one end of the second arm 200 is rotatably connected to the first arm 100. In one embodiment, the first arm 100 is a lower leg joint of a legged robot, the second arm 200 is an upper leg joint of the legged robot, the first power unit 400 is fixedly connected to one end of the second arm 200 away from the first arm 100, and the first power unit 400 is drivingly connected to the first arm 100 through a driving assembly 300 disposed on the second arm 200, and the first power unit 400 is used for driving the first arm 100 to rotate around the first axis 60 relative to the first arm 100. The second power unit 500 is electrically connected to the first power unit 400 through a first cable (not shown), and the second power unit 500 is rotatably connected to the first power unit 400, the second power unit 500 is configured to drive the first power unit 400, the transmission assembly 300, the second arm 200 and the first arm 100 to rotate together around a second axis 70 parallel to the first axis 60 relative to the second power unit 500.

In some embodiments, as shown in fig. 3 to 5, the first power unit 400 includes a first housing 410, a first output flange 420, a first speed reduction assembly 430, and a first circuit board 440, the first housing 410 is rotatably connected to the second power unit 500, the first speed reduction assembly 430 and the first circuit board 440 are disposed in the first housing 410, an output end of the first speed reduction assembly 430 is drivingly connected to the first arm 100 through a transmission assembly 300, the first circuit board 440 is electrically connected to the first speed reduction assembly 430, and the first circuit board 440 is configured to control the first speed reduction assembly 430 to drive the first arm 100 to rotate. Preferably, the first power unit 400 further includes a first mounting end cap 450, the first mounting end cap 450 also being disposed in the first casing 410 and separating the first reduction assembly 430 and the first circuit board 440 from each other, a cavity 401 being formed between the first mounting end cap 450 and the casing, and the first circuit board 440 being received in the cavity 401 and mounted on the first mounting end cap 450.

In one embodiment, the first housing 410 includes a first upper cover 411 and a first lower cover 412, two opposite sides of the first lower cover 412 in the extending direction of the second axis 70 are respectively opened, the first decelerating component 430 is disposed in the first lower cover 412, and an output end of the first decelerating component 430 closes a side opening of the first lower cover 412 far away from the first upper cover 411, the first mounting end cover 450 is disposed in the first lower cover 412 and closes a side opening of the first lower cover 412 near the first upper cover 411, the first upper cover 411 is detachably covered on a side of the first lower cover 412 where the first mounting end cover 450 is disposed, so that an inner side wall of the first upper cover 411 and the first mounting end cover 450 form the cavity 401 together.

In one embodiment, as shown in fig. 6, the first speed reducing assembly 430 includes an inner ring gear 431, planet gears 432, and a first sun gear 433, wherein the first output flange 420 is located at an output end of the first speed reducing assembly 430, the inner ring gear 431 is coaxially disposed with the first sun gear 433, an inner diameter of the inner ring gear 431 is larger than an outer diameter of the first sun gear 433, an inner circumferential surface of the inner ring gear 431 has engaging teeth, outer circumferential surfaces of the first sun gear 433 and the planet gears 432 have engaging teeth, the planet gears 432 have a plurality, the plurality of planet gears 432 are located between the inner circumferential surface of the inner ring gear 431 and the outer circumferential surface of the first sun gear 433 and surround the first sun gear 433, each planet gear 432 is engaged with both the engaging teeth of the inner circumferential surface of the inner ring gear 431 and the engaging teeth of the outer circumferential surface of the first sun gear 433, and the inner ring gear 431 and the first output flange 420 are coaxially connected to each other by a fastener, while the first output flange 420 is also connected to the transmission assembly 300 by a fastener. When the first sun gear 433 rotates around its own axis (i.e., the second axis 70), it drives the planetary gear to rotate around its own axis and also revolve around the central axis of the first sun gear 433, and at the same time, it drives the ring gear 431 and the first output flange 420 to rotate around its own axis together, so as to achieve the purpose of speed reduction.

Similarly, as shown in fig. 7 to 9, the second power unit 500 has a structure similar to that of the first power unit 400, and includes a second housing 510, a second output flange 520, a second speed reduction assembly 530, a second mounting end cover 540, and a second circuit board 550, wherein the second speed reduction assembly 530, the second mounting end cover 540, and the second circuit board 550 are disposed in the second housing 510, the second circuit board 550 is mounted on the second mounting end cover 540, the second housing 510 includes a second upper cover 511 and a second lower cover 512 that are detachably connected, a connecting chute 5111 connected to a third power unit (not shown in the figure) of the legged robot is disposed on the second upper cover 511, and the third power unit is used for driving the power joint assembly 10 to move integrally. The internal structure of the first speed reducing assembly 430 is identical to that of the second speed reducing assembly 530, and thus, the description thereof is omitted. The second circuit board 550 is used for controlling the second speed reducing assembly 530 to drive the first power unit 400, the second arm 200, the transmission assembly 300 and the first arm 100 to move together, one end of the first cable is electrically connected to the first circuit board 440, and the other end is electrically connected to the second circuit board 550, so that the second power unit 500 is electrically connected to the first power unit 400.

It should be noted that the output end of the second speed reducing assembly 530 has a second output flange 520 coaxially disposed with the second axis 70, the first upper cover 411 of the first power unit 400 is provided with a connecting hole 4113, the second output flange 520 is connected to the first housing 410 through a fastening member, so that the second output flange 520 is connected to the first power unit 400, and when the second output flange 520 rotates around its own axis, the first power unit 400 can be driven to rotate around the second axis 70.

Therefore, the first shell 410 serves as a shell of the first power unit 400 and also serves as a connecting piece for the first power unit 400 and the second power unit 500, the first power unit 400 and the second power unit 500 are directly connected with each other, and the first power unit 400 and the second power unit 500 are connected with each other without redundant connecting pieces or fixing pieces, so that connecting pieces and a plurality of fixing pieces in conventional connection are saved, the structure of the power joint assembly 10 is more compact, the power joint assembly 10 is ensured to have a simpler structure, the installation is convenient, the weight and the occupied volume of the power joint assembly 10 and a foot-type robot are reduced, and the processing and assembling cost is saved.

In a preferred embodiment, as shown in fig. 8 and 9, the first casing 410 of the first power unit 400 is provided with a first threading hole 4111 penetrating through the first casing 410, the second speed reducing assembly 530 is provided with a through hole penetrating through opposite sides of the second speed reducing assembly 530 in the direction extending along the second axis 70, specifically, the second speed reducing assembly 530 is internally provided with a second sun gear 531, the through hole is provided on the second sun gear 531 and penetrates through the second sun gear 531, a threading channel 561 extending along the second axis 70 is formed in the through hole, the first cable passes through the threading channel 561 and extends into the first casing 410 of the first power unit 400 through the first threading hole 4111 to connect the first circuit board 440, so that the interiors of the first power unit 400 and the second power unit 500 are realized, the second output flange 520 of the second speed reducing assembly 530 is accommodated in the threading channel 561 when the first sun gear rotates around the axis thereof along with the first sun gear 433, and does not rotate along with the second sun gear 531, thereby reducing the total swing risk of the floating joint 10 is reduced.

Preferably, in order to further prevent the second sun gear 531 of the second speed reducing assembly 530 from contacting the inner wall of the through hole of the second sun gear 531 during rotation, so that the first cable may rub against the inner wall of the through hole, thereby causing damage to the first cable, the second power unit 500 further includes a wire passing pipe 560, the wire passing pipe 560 is of a tubular structure, the inner wall of the wire passing pipe 560 forms a wire passing channel 561, the wire passing channel 561 penetrates through the wire pipe 560 along the direction in which the second axis 70 extends, the wire passing pipe 560 is inserted into the through hole and is in clearance fit with the through hole, so that the wire passing pipe 560 cannot rotate together with the second sun gear 531, and therefore the first cable cannot rub against the inner wall of the wire passing pipe 560 in the wire passing pipe 560, thereby preventing the first cable from being damaged.

More preferably, the second power unit 500 further includes a sliding bearing 570, the sliding bearing 570 is inserted into the through hole, the wire passing pipe 560 is inserted into the sliding bearing 570, an outer ring of the sliding bearing 570 is in interference fit with an inner wall of the through hole, an outer circumferential surface of the wire passing pipe 560 is also in interference fit with an inner ring of the sliding bearing 570, and the number of the sliding bearings 570 is not limited, and may be one or multiple. So, can guarantee more that second sun gear 531 when rotating around self axis direction, wire passing pipe 560 can not rotate along with second sun gear 531, and then first cable can not rotate along with second sun gear 531 more, further can guarantee to reduce the friction damage to first cable.

In addition, in one embodiment, as shown in fig. 9, the second upper cover 511 is opened with a second threading hole 5112 penetrating through the second upper cover 511, the second circuit board 550 has a first interface 551 and a second interface 552, and the second threading hole 5112 is configured to allow a second cable (not shown) and a third cable (not shown) of the legged robot to pass through and extend into the second housing 510. Preferably, in order to prevent the second cable and the third cable from being worn and scratched, plastic products such as a grommet and the like may be sleeved on the second cable and the third cable. The first interface 551 of the second circuit board 550 is used for plugging a second cable, so that the second cable can be electrically connected to the first cable through the first interface 551, and further electrically connected to the first power unit 400 through the first cable, and the second interface 552 is used for plugging a third cable, so that the third cable is electrically connected to the second power unit 500.

Thus, through the above arrangement, routing of all cables inside the first power unit 400 and the second power unit 500 is completely realized, so that the power joint assembly 10 is more attractive and durable, and the second cable for electrically connecting the first power unit 400 and the third cable for electrically connecting the second power unit 500 are separately routed inside the power joint assembly 10, and the cables are not twisted with each other, so long as the second upper cover 511 of the second power unit 500 is detached, and the second cable and the third cable are respectively pulled out from the first interface 551 and the second interface 552, so that the power joint assembly 10 can be detached from the foot robot, and the power joint assembly 10 is high in integration level and convenient to install.

Further, as shown in fig. 3 and 7, a circular arc-shaped limiting slideway 4112 is formed on a side of the first power unit 400 close to the second power unit 500 (i.e., a side of the first upper cover 411 of the first power unit 400 close to the second power unit 500), the limiting slideway 4112 surrounds the second axis 70, a side of the second power unit 500 close to the first power unit 400 (i.e., a side of the second lower cover 512 of the second power unit 500 close to the first power unit 400) has a limiting block 5121, the limiting block 5121 is movably limited in the limiting slideway 4112 and can slide in the limiting slideway 4112, the limiting slideway 4112 and the limiting block 5121 are provided to limit a rotation angle of the first power unit 400 relative to the second power unit 500, so that the cable is not twisted regardless of whether the power joint assembly 10 is in an operating state or an inoperative state, and the cable is further prevented from being twisted and rubbed and damaged when the first power unit 400 and the second power unit 500 rotate together.

It should be noted that the limiting slide 4112 is not limited to be provided only on the first power unit 400, but may be provided on one of the first power unit 400 and the second power unit 500, and correspondingly, the limiting block 5121 is provided on the other of the first power unit 400 and the second power unit 500, which is not particularly limited herein.

As described in the background art, the torque required for the movement of each joint of the legged robot is different, and in the case of a three-joint quadruped robot, the torque applied to the lower leg joint (i.e., the first arm 100 of the power joint assembly 10 in the present application) is larger than the torque applied to the hip joint and the upper leg joint (i.e., the second arm 200 of the power joint assembly 10 in the present application). People mostly select the highest value of three joint torques as the torque value of three joint power units when selecting power units, or select different specification power units according to different torques. Therefore, the power unit with large torque value is matched with a structure with a larger speed reduction ratio of the speed reducer or a larger stator and rotor, and people can make the appearance size of the power unit the same for the appearance consistency of the structure, so that the power unit occupies larger space, the volume and the weight are increased, the waste of space is caused, and the power unit with small torque does not need to be matched with a structure with a larger speed reduction ratio of the speed reducer or a larger stator and rotor.

In order to solve the problem, please continue to refer to fig. 1 and fig. 2, the applicant studied intensively, when designing the power joint assembly 10, consider that not only the first power unit 400 is drivingly connected to the first arm 100 through a transmission assembly 300, but also the transmission assembly 300 is configured with a transmission ratio α, and the output torque of the first power unit 400 can be amplified by configuring the transmission ratio α, so that when designing the first power unit 400, a power unit with a smaller output torque specification, that is, the first speed reducing assembly 430 with a smaller output torque can be selected, and therefore the occupied space and the weight of the first power unit 400 can be reduced.

Specifically, the above design idea is realized by the structure that, in the embodiment shown in fig. 2, the transmission assembly 300 is disposed in the second arm 200 and comprises a first transmission wheel 310 and a second transmission wheel 320, the first transmission wheel 310 is rotatably connected to the first power unit 400, i.e. connected to the first output flange 420 of the first power unit 400, so that the first transmission wheel 310 can rotate around the second axis 70 under the driving of the first power unit 400. The second transmission wheel 320 is fixedly connected to one end of the first arm 100, and is in transmission connection with the first transmission wheel 310 through a transmission chain 330, one end of the transmission chain 330 is wound around the first transmission wheel 310, and the other end is wound around the second transmission wheel 320, so that the second transmission wheel 320 can rotate around the first axis 60 under the driving of the first transmission wheel 310 through the transmission chain 330, and thus, one end of the first arm 100 is driven to rotate around the first axis 60 relative to the second arm 200. The wheel diameter of the first driving wheel 310 is smaller than that of the second driving wheel 320, so that when the second driving wheel 320 is driven by the driving chain 330 to be linked with the first driving wheel 310, the rotating speed (namely, angular velocity) of the second driving wheel 320 is smaller than that of the first driving wheel 310, the ratio of the rotating speed of the second driving wheel 320 to the rotating speed of the first driving wheel 310 is equal to a transmission ratio alpha, and the transmission ratio alpha is less than 1.

Thus, by configuring the transmission ratio, the output torque of the first power unit 400 can be amplified to match the torque required by the first arm 100, and the torque required by the second arm 200 is smaller than that of the first arm 100, so that the output torque of the second power unit 500 for driving the second arm 200 to rotate does not need to be large, and in order to ensure the consistency of the product appearance, the output torque of the second power unit 500 can be preferably selected to be consistent with the output torque of the first power unit 400, so that the external dimensions of the first power unit 400 and the second power unit 500 can be ensured to be designed to be consistent, the occupied volume and weight of the power joint assembly 10 can be reduced, and the purpose of saving cost can be achieved.

For example, in a legged robot, the torque required by the first power unit 400 (i.e., the lower leg power unit) is 18N · m, the torque required by the second power unit 500 (i.e., the upper leg power unit) is 12N · m, and the torque required by the third power unit (i.e., the hip joint power unit) is 12N · m, and at this time, the output torque of the first power unit 400 is insufficient for the first arm 100 (i.e., the lower leg joint) and cannot support the first arm 100 to perform corresponding actions, because the transmission assembly 300 is provided, the output torque of the first power unit 400 can be amplified to match the torque required by the first arm 100 by the transmission assembly 300 by setting the transmission ratio α of the transmission assembly 300 to 1.5.

It should be noted that the numerical value of the transmission ratio α is not limited to 1.5, 1. The transmission form of the transmission assembly 300 is not limited to the sprocket chain transmission form, and may be a belt transmission, a gear meshing transmission, etc., that is, the first transmission wheel 310 and the second transmission wheel 320 may be sprockets, pulleys, gears, etc., as long as they can form a transmission relationship and have a transmission ratio less than 1, and there is no particular limitation.

Finally, it should be noted that various technical features of the above-mentioned embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features of the above-mentioned embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent one of the embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A powered joint assembly, comprising:

a first arm body;

the second power unit is electrically connected with the first power unit through a first cable, rotatably connected with the first power unit, and used for driving the first power unit, the transmission assembly, the second arm body and the first arm body to rotate together around a second axis parallel to the first axis relative to the second power unit.

2. The powered joint assembly of claim 1, wherein the transmission assembly comprises:

a first drive wheel connected to the first power unit;

3. The powered joint assembly of claim 1,

one of the first power unit and the second power unit is provided with a circular arc-shaped limiting slide way, and the limiting slide way is arranged around the second axis;

4. The powered joint assembly of claim 1,

the second power unit is provided with a thread passing channel extending along the second axis, the first power unit is provided with a first thread hole penetrating through the outer wall of the first power unit, and the first thread hole is communicated with the thread passing channel;

the first cable penetrates through the wire passing channel, one end of the first cable extends out of the wire passing channel and extends into the first power unit through the first wire passing hole.

5. The powered joint assembly of claim 4, wherein the first power unit includes:

6. The power joint assembly according to claim 5, wherein the first housing includes a first upper cover and a first lower cover detachably connected to each other, the first lower cover has openings at two opposite sides in the extension direction of the second axis, the first decelerating component is disposed in the first lower cover, and the output end of the first decelerating component closes one side opening of the first lower cover;

the first power unit further comprises a first mounting end cover, the first mounting end cover is arranged in the first lower cover and seals the opening on the other side of the first lower cover, the first upper cover covers the first lower cover and is provided with one side of the first mounting end cover, the first mounting end cover and the first upper cover are formed with a cavity, the first circuit board is arranged on the first mounting end cover and is located in the cavity, and the first threading hole is formed in the first upper cover.

7. The powered joint assembly of any of claims 4-6, wherein the second power unit comprises:

the second circuit board is electrically connected with the second speed reducing assembly, the second circuit board is electrically connected with the first power unit through the first cable, the second circuit board is provided with a first interface for the second cable to be electrically connected and a second interface for the third cable to be electrically connected, and the second cable can be electrically connected with the first cable through the first interface.

8. The powered joint assembly of claim 7, wherein the second power unit further comprises:

9. The power joint assembly of claim 8, wherein the second power unit further comprises at least one sliding bearing, and the at least one sliding bearing is inserted into the through hole and sleeved on the outer circumferential surface of the wire passing pipe.

10. A legged robot comprising a powered joint assembly according to any of claims 1-9.