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    Robot integrated joint unit and legged robot applying same
    1.
    发明授权
    Robot integrated joint unit and legged robot applying same 有权

    公开(公告)号：US12240103B2

    公开(公告)日：2025-03-04

    申请号：US17433966

    申请日：2020-02-24

    Applicant: HangZhou YuShu TECHNOLOGY CO., LTD.

    Inventor： Xingxing Wang ,  Zhiyu Yang

    IPC: B25J17/02 ,  B25J9/10 ,  B25J13/08 ,  B25J19/00 ,  B62D57/032

    Abstract: A robot integrated joint unit and a legged robot applying same are related to the technical field of robot joints. The robot integrated joint unit comprises a first electric motor and reducer assembly, a second electric motor assembly, a second reducer assembly, and a first output connecting rod. Two motors of two joints are disposed on a same side of the joints, thus preventing the need for electric motor power cables to run through the joints, effectively alleviating fatigue damage of the electric motor power cables, and extending the service life of the electric motor cables. The electric motor components and the joint connecting rod obviate the need to reserve dedicated cable through holes and a cable placement mechanism, thus allowing enhanced structural reliability; further increasing the degree of integration of a dual joint unit, reducing the axial size of the joint unit, and enhancing structural visual appeal.

    Robot dual-joint unit, and legged robot and cooperative manipulator using the same
    2.
    发明授权
    Robot dual-joint unit, and legged robot and cooperative manipulator using the same 有权

    公开(公告)号：US11938621B2

    公开(公告)日：2024-03-26

    申请号：US17286239

    申请日：2019-09-17

    Applicant: HangZhou YuShu TECHNOLOGY CO., LTD.

    Inventor： Xingxing Wang ,  Zhiyu Yang

    IPC: B25J17/02 ,  B25J9/10 ,  B25J19/00

    CPC classification number: B25J17/025 ,  B25J9/102 ,  B25J19/0054

    Abstract: The present application relates to the technical field of robot joints, and discloses a robot dual-joint unit, and a legged robot and a cooperative manipulator using the same. The robot dual-joint unit includes a first joint consisting of a first motor and reducer assembly, a second joint consisting of a second motor assembly and a second reducer; a first output connecting rod is fixedly provided on an output shaft of the first motor and reducer assembly, the second reducer is provided in the first output connecting rod, and the second motor assembly drives the second reducer through a transmission rod. In the present application, a fixed end of the second motor assembly is fixed with a fixed end of the first motor and reducer assembly, rather than a fixed end of a second motor of a conventional robot joint series structure is fixed on an output end of a first motor and reducer assembly, such that the output inertia of two output shafts of the robot dual-joint is smaller, and a power cable leading to the second motor assembly of the second joint is omitted.

    Highly integrated high-performance robot joint unit
    4.
    发明授权
    Highly integrated high-performance robot joint unit 有权

    公开(公告)号：US11969895B2

    公开(公告)日：2024-04-30

    申请号：US17286186

    申请日：2019-09-17

    Applicant: HangZhou YuShu TECHNOLOGY CO., LTD.

    Inventor： Xingxing Wang ,  Zhiyu Yang

    IPC: B25J9/16 ,  B25J9/10 ,  B25J13/08 ,  B25J19/06 ,  F16D7/02 ,  H02K1/2791

    CPC classification number: B25J9/1633 ,  B25J9/102 ,  B25J13/088 ,  B25J19/06 ,  F16D7/025 ,  H02K1/2791

    Abstract: The present application discloses a highly integrated high-performance robot joint unit, belonging to the technical field of robot apparatuses. When a reducer of an existing robot joint is in overload working state, it causes joint parts such as a reducer gear to be damaged, and a meshing tooth surface of each tooth of the reducer is unevenly worn. In the present application, when a torque transmitted to a gear ring by an output end of a motor rotor or a reducer assembly is greater than a friction torque between the gear ring and a motor base, the gear ring of the reducer assembly is driven by the output end of the motor rotor or the reducer assembly to overcome the friction torque generated under the action of a friction force generator, such that the gear ring and the motor base rotate relatively, thus realizing the frictional sliding between the reducer assembly and the motor base, limiting the torque borne by the reducer assembly, and preventing the reducer from being damaged due to the large torque from the motor end or the output end of the joint unit.

    Overload impact-resistant planetary reducer, robot joint, and quadruped robot
    5.
    发明授权
    Overload impact-resistant planetary reducer, robot joint, and quadruped robot 有权

    公开(公告)号：US12228201B2

    公开(公告)日：2025-02-18

    申请号：US18269430

    申请日：2021-11-30

    Applicant: HangZhou YuShu TECHNOLOGY CO.,LTD.

    Inventor： Xingxing Wang ,  Zhiyu Yang

    IPC: F16H55/14 ,  B25J9/10 ,  F16H55/17 ,  F16H57/08

    Abstract: The present application discloses an overload impact-resistant planetary reducer, including a tooth face portion made of a rigid material and a buffer portion capable of being elastically deformed. The buffer portion is made of a material having certain rigidity and capable of being elastically deformed under an impact force, and is coaxially nested with the tooth face portion to form a reducer component capable of preventing overload impact. The planetary reducer is capable of being elastically deformed under the impact force, effectively absorbing energy during overload impact, thus protecting transmission parts such as gears. The structure is simple and practical. The present application further discloses an overload impact-resistant planetary reducer, a robot joint and a quadruped robot.

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