US 11,938,621 B2
Robot dual-joint unit, and legged robot and cooperative manipulator using the same
Xingxing Wang, Zhejiang (CN); and Zhiyu Yang, Zhejiang (CN)
Assigned to HANGZHOU YUSHU TECHNOLOGY CO., LTD., Zhejiang (CN)
Appl. No. 17/286,239
Filed by HangZhou YuShu TECHNOLOGY CO., LTD., Zhejiang (CN)
PCT Filed Sep. 17, 2019, PCT No. PCT/CN2019/106110
§ 371(c)(1), (2) Date Apr. 16, 2021,
PCT Pub. No. WO2020/078158, PCT Pub. Date Apr. 23, 2020.
Claims priority of application No. 201811222243.4 (CN), filed on Oct. 19, 2018.
Prior Publication US 2021/0339406 A1, Nov. 4, 2021
Int. Cl. B25J 17/02 (2006.01); B25J 9/10 (2006.01); B25J 19/00 (2006.01)
CPC B25J 17/025 (2013.01) [B25J 9/102 (2013.01); B25J 19/0054 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A highly integrated robot dual-joint unit, comprising
a first joint consisting of a first motor and reducer assembly; and
a second joint consisting of a second motor assembly and a second reducer,
wherein a fixed end of the second motor assembly is fixedly connected with a fixed end of the first motor and reducer assembly, and an output end of the second motor assembly passes through the first motor and reducer assembly and is configured to drive the second reducer,
wherein the first motor and reducer assembly comprises a first motor base, a first motor stator, a first motor rotor, a first reducer and a first motor front end cover,
wherein the second motor assembly comprises a second motor base, a second motor rear end cover, a second motor stator, a second motor rotor and a transmission rod,
wherein the first motor stator is fixedly connected with the first motor base, the first motor rotor is rotationally connected with the first motor base, and the first reducer is disposed in a cavity,
wherein the second motor stator is fixedly connected with the second motor base, the second motor rotor is rotationally connected with the second motor base, and the second motor rear end cover is fixedly connected with the second motor base,
wherein the transmission rod is connected with the second motor rotor as an output shaft of the second motor assembly, and the transmission rod is connected with an input gear of the second reducer,
wherein the second motor base is fixedly connected with the first motor and reducer assembly,
wherein a first output connecting rod is fixedly provided on an output shaft of the first motor and reducer assembly, the first output connecting rod comprises a first housing and a second housing, and the output shaft of the first motor and reducer assembly is fixedly connected with one side of the first housing,
wherein the first housing and the second housing are fixedly connected to form an accommodating cavity, and the second reducer is provided in the accommodating cavity,
wherein the transmission rod passes through a rotation center of the first motor and reducer assembly and extends into the accommodating cavity to become an input shaft of the second reducer.