The invention discloses a joint unit, a joint module of a robot and a foot robot with the same. The joint unit comprises a shell, a motor assembly, a transmission mechanism and a speed reduction mechanism, wherein a stator of the motor assembly is fixedly connected with the shell, a rotor and the stator are coaxially arranged, and the rotor is rotatably connected with the shell; the transmission mechanism comprises a driving part and a driven part, and the driving part is connected with the rotor; and the reduction mechanism is a planetary gear train, and an output shaft is formed on a planetcarrier, and the rotation center of the output shaft and the rotation center of the rotor are parallel to and separated from each other. Thus, the joint unit adopts a non-concentric design of the motor assembly and the speed reduction mechanism, the thickness of a joint is reduced, and the structure is more compact; and a speed regulation procedure is increased, and the transmission ratio is increased. The joint module adopts the plurality of joint units arranged in parallel, and has a plurality of degrees of freedom, power wire harnesses and signal wire harnesses between the plurality of joint units can be arranged in the shell, and the safety and reliability problems introduced by bare cables are avoided.
本发明公开了一种机器人的关节单元、关节模组以及具有其的足式机器人,关节单元包括:壳体、电机组件、传动机构、减速机构,电机组件的定子与壳体固定连接,转子与定子同轴设置且转子可转动地连接于壳体;传动机构包括主动件和从动件,主动件与转子连接;减速机构为行星轮系,行星架上形成有输出轴;其中,输出轴的旋转中心与转子的旋转中心彼此平行且间隔开。由此,关节单元采用电机组件与减速机构非同心的设计,降低了关节的厚度,结构更为紧凑;增加一道调速工序,增大传动比。关节模组采用多个并列设置的关节单元,具有多个自由度,多个关节单元之间的动力线束和信号线束可以在布置在壳体内,避免线缆裸露所引入的安全性和可靠性问题。
Joint unit, joint module of robot and foot robot with the same
机器人的关节单元、关节模组以及具有其的足式机器人
2020-08-11
Patent
Electronic Resource
Chinese
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