The invention relates to the technical field of robots, and discloses a joint module adopting an outer rotor motor, a biped robot, a point-foot robot, a quadruped robot, a four-wheel-foot robot, a mechanical arm and a robot. Wherein the joint module mainly comprises a shell, a motor, a planetary reducer, a fixing disc, a first bearing and a rotor output shaft, the inner ring and the outer ring of the first bearing abut against the connecting shaft end and the bearing fixing part correspondingly, so that the bearing fixing part is close to the connecting shaft end, and at least part of the bearing fixing part is overlapped with the projection, in the radial direction, of an annular avoiding cavity; according to the joint module, the bearing fixing part can partially extend into the annular avoiding cavity, and the axial space of the annular avoiding cavity is utilized to accommodate part of the bearing fixing part, so that the structure is more compact in the axial direction, and the axial size of the joint module can be reduced.

    本申请涉及机器人技术领域,公开了一种采用外转子电机的关节模组、双足机器人、点足机器人、四足机器人、四轮足机器人、机械臂及机器人。其中,关节模组主要包括:壳体、电机、行星减速器、固定盘、第一轴承以及转子输出轴,第一轴承的内外圈分别与连轴端以及轴承固定部抵接,使得轴承固定部靠近连轴端,且轴承固定部的至少部分与环形避让腔在径向上的投影重叠,轴承固定部可以部分伸入环形避让腔内,利用了环形避让腔的轴向空间,容纳部分轴承固定部,这样在轴向上结构更加紧凑,可减少关节模组的轴向尺寸。


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    Title :

    Joint module, biped robot, point-foot robot, quadruped robot, four-wheel-foot robot, mechanical arm and robot


    Additional title:

    关节模组、双足机器人、点足机器人、四足机器人、四轮足机器人、机械臂及机器人


    Contributors:
    LI YOUPENG (author)

    Publication date :

    2025-01-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge






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