Joint internal wiring structure, joint mechanism and foot type robot

An intra-joint and joint technology, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of wear of related components, affecting the service life of joints, increasing hidden dangers, etc. Effect

Pending Publication Date: 2022-01-07
HZ UNITREE TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Furthermore, whether it is internal or external wiring, in order to ensure the normal movement of the joints, the length of the cabl

Method used

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  • Joint internal wiring structure, joint mechanism and foot type robot
  • Joint internal wiring structure, joint mechanism and foot type robot
  • Joint internal wiring structure, joint mechanism and foot type robot

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Experimental program
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specific Embodiment

[0083] The cable 4 is a bendable cable, the cable is moderately soft and hard, and can be bent repeatedly at will. One end of the cable is fixed on the winding part 7, and the other end is wound on the winding part 7. After being bent outwards in the opposite direction, it is fixed on the first winding body 3; when the first winding body 3 and the second winding body 5 rotate relatively, the cable 4 can contact with the first winding body 3 and the winding portion 7 respectively.

[0084] Therefore, the winding arrangement of the cable can make the first winding body 3 and the second winding body 5 always stick to the winding part 7 or the inner wall of the first winding body 3 during the reciprocating rotation, so that This can further ensure that the cable 4 is always kept neat and not stuck during the reciprocating rotation process.

[0085] Furthermore, the shape of the flat cable is flat, and the bending radius is small under the premise of ensuring the bending life of t...

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Abstract

The invention relates to the technical field of robot equipment, and discloses a joint internal wiring structure, a joint mechanism and a foot type robot. Through continuous exploration and tests, a first wire winding body and a second wire winding body which can rotate relatively are arranged at a joint, a cable is wound through a wire winding part of the second wire winding body, the length of the cable is adjusted, then the length of the wound cable can be changed along with the expansion amplitude of the joint, irregular stacking of the cable can be effectively reduced, and the cable is kept tidy and not clamped all the time in the reciprocating rotation process; and then the cable is effectively prevented from interfering with other joint components, and the scheme is simple, practical and feasible. Meanwhile, a containing cavity is formed in the first wire winding body, the cable is protected, meanwhile, the moving range of the cable can be effectively limited, and the situation that the cable interferes with joint movement, potential safety hazards are generated, and other components of the joint are abraded is further avoided.

Description

technical field [0001] The invention relates to the technical field of robot equipment, in particular to a structure for routing wires in a joint, a joint mechanism and a legged robot. Background technique [0002] At present, the cables at the joints of legged robots are mostly exposed outside, which are easily damaged and affect the appearance; and in order to meet the rotation angle requirements of the joints, most of the exposed cables have a large margin, which will lead to The damage of the cable also affects the overall appearance of the legged robot. [0003] Further, Chinese patents: a routing structure of wires required by a seven-degree-of-freedom industrial robot (publication number CN107097214A), a robot joint motor and joint (publication number CN112706156A), and a wiring structure in a joint of a multi-axis robot (publication number: CN203697031U), the internal routing shaft joint structure of the robot (publication number: CN204772585U) discloses a scheme fo...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J11/00B25J19/00
CPCB25J17/00B25J11/00B25J19/00
Inventor 王兴兴钱兢
Owner HZ UNITREE TECHNOLOGY CO LTD
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