Humanoid robot joint wire harness connecting structure

Abstract

The invention discloses a humanoid robot joint wire harness connecting structure, belongs to the technical field of humanoid robots, and provides the following scheme that the humanoid robot joint wire harness connecting structure comprises a robot joint structure, and the robot joint structure is arranged in a cavity defined by two rubber air bag structures; the rubber sleeve is tightened on the elastic connecting hoop through the tightening iron wire, so that the rubber air bag structures can be fixed, the connecting position of the two rubber air bag structures can be tightened through the two fixed sealing hoops and the bolts, and after the two rubber air bag structures are closed, the rubber air bag structures can be fixed. The robot joint structure can be protected and prevented from dust, the use performance of the robot joint structure is improved, the maintenance period is shortened, when the rubber air bag structure is collided, the rubber air bag structure is extruded to discharge air into the sealing cylinder, the sealing cylinder can drive the switch to make contact with the fixing block, and therefore the alarm can be controlled to send out an early warning signal. Therefore, the warning and reminding effects can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of humanoid robots, and in particular to a joint harness connection structure of a humanoid robot. Background Art

[0002] Humanoid robots integrate multiple disciplines such as mechanics, electricity, materials, computers, sensors, and control technology. They are an important symbol of a country's high-tech strength and development level. In order to enable the joints of humanoid robots to move normally, wiring harnesses are generally set to connect the joint devices of the humanoid robots. At present, the joint connection wiring harnesses of humanoid robots commonly seen in the prior art are exposed to the outside, which are easily loosened by external forces, and are easy to accumulate dust, affecting the heat dissipation of the wiring harnesses. In addition, when impacted by external forces, the joints of the humanoid robots cannot be protected and warned, making the joints of the humanoid robots vulnerable to damage by external forces.

[0003] In view of the above problems, the present invention document proposes a humanoid robot joint harness connection structure. Summary of the invention

[0004] The purpose of the present invention is to solve the problems that the joint connection harnesses of common humanoid robots in the prior art are exposed to the outside, easily loosened by external pulling, and easily dusty, affecting the heat dissipation of the harnesses, and when collided by external force, the joints of the humanoid robot cannot be protected and warned, making the joints of the humanoid robot easily damaged by external forces. A humanoid robot joint harness connection structure is proposed to solve the problems.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A humanoid robot joint harness connection structure, comprising a robot joint connection mechanism, the robot joint connection mechanism comprising a robot joint structure, the robot joint structure being arranged in a cavity enclosed by two rubber airbag structures, one end of the rubber airbag structure being connected to a robot joint shaft through a positioning component, the robot joint shaft being passed through the rubber airbag structure and connected to the robot joint structure, a collision alarm component being arranged on the rubber airbag structure, a limiting component being arranged at a butt joint portion of the two rubber airbag structures, a middle support component being arranged at a connection of the inner cavities of the two rubber airbag structures, a heat dissipation component being arranged below the middle support component, a connecting cable being passed through the heat dissipation component, and the connecting cable being connected to the robot joint structure; The positions of the two rubber airbag structures are locked by the limit assembly and the positioning assembly, so that the rubber airbag structures protect the robot joint structures. At the same time, when the rubber airbag structures are hit, the alarm signal of the impact alarm assembly is triggered by the change in air pressure to sound an alarm.

[0006] Preferably, the positioning assembly comprises an elastic connecting clamp, which is sleeved on the joint shaft of the robot, a limiting notch is arranged outside the elastic connecting clamp, and a cutting clamp opening is arranged above the elastic connecting clamp.

[0007] Preferably, the outer sleeve of the elastic connecting clamp is provided with a rubber sleeve, the rubber sleeve is fixedly connected to the rubber airbag structure, and the rubber sleeve is tightened in two limiting notches by two tightening wires.

[0008] Preferably, the rubber airbag structure comprises a trumpet-shaped expansion port, and an air inlet is arranged above the trumpet-shaped expansion port, and an annular connecting strip is fixedly connected to one end of the trumpet-shaped expansion port away from the rubber airbag structure; A plurality of second heat dissipation fins are also installed below the rubber airbag structure.

[0009] Preferably, the middle support assembly comprises a middle support ring, which is arranged at two trumpet-shaped expansions, and the middle support ring is provided with two annular conical surfaces, which are engaged with the trumpet-shaped expansions.

[0010] Preferably, the middle support ring is made of elastic material, one end of the middle support ring is fixedly connected to a docking block, the other end of the support block is provided with a docking port, and the docking block connects the two ends of the middle support ring by bolts to form a closed loop.

[0011] Preferably, the heat dissipation assembly includes a plurality of first heat dissipation fins, a wire harness limiting rubber strip is fixedly connected between two adjacent heat dissipation fins, and a wire harness heat conducting sheet is provided between the two heat dissipation fins, and the two wire harness limiting rubber strips fix the connecting cable between the two first heat dissipation fins.

[0012] Preferably, the limiting assembly includes two fixed sealing clamps, the two fixed sealing clamps are covered on two trumpet-shaped flared edges, and limiting openings are opened in the two fixed sealing clamps, the limiting openings are arranged on two annular connecting strips, both ends of the two fixed sealing clamps are fixedly connected with mounting blocks, and two adjacent mounting blocks are fixed by bolts.

[0013] Preferably, the impact alarm component includes a fixing seat, which is fixedly connected to the trumpet-shaped expansion port, a sealing cylinder is fixedly connected to the top of the fixing seat, an air outlet is provided at one end of the sealing cylinder, and a connecting pipe is connected to the other end of the sealing cylinder, and a rubber airbag structure is passed through the connecting pipe.

[0014] Preferably, a piston is provided inside the sealing cylinder, switches are installed on both sides of the piston, springs are fixedly connected on both sides of the piston, one end of the spring away from the piston is fixedly connected to a fixed block, the fixed block is fixedly connected in the sealing cylinder, and an alarm is fixedly installed above the sealing cylinder.

[0015] Compared with the prior art, the present invention provides a humanoid robot joint harness connection structure, which has the following beneficial effects: 1. The humanoid robot joint harness connection structure can fix the rubber airbag structure by tightening the rubber sleeve on the elastic connection clamp through the tightening wire, and the connection between the two rubber airbag structures can be tightened by two fixed sealing clamps and combined with matching bolts. After the two rubber airbag structures are closed, the robot joint structure can be protected and dustproof, the use performance of the robot joint structure can be improved, and the maintenance cycle can be reduced. When the rubber airbag structure is collided, the rubber airbag structure is squeezed to discharge the gas into the sealing tube, so that the sealing tube can drive the switch to contact the fixed block, thereby controlling the alarm to send out a warning signal, thereby playing a warning and reminder role.

[0016] 2. The humanoid robot joint wiring harness connection structure can limit the connection cables through the wiring harness limiting rubber strip to prevent the connection cables from falling out, thereby organizing the connection cables, and can also separate and organize the connection cables to avoid entanglement and breakage between the connection cables. Each wiring harness heat conductor corresponds to each connection cable, so that when the connection cables generate heat, they can be individually exported to avoid the problem of poor heat dissipation due to the integration of the connection cables. At the same time, it avoids the problem of contact between the connection cables causing heat to be difficult to dissipate. The wiring harness heat conductor can conduct heat to the first heat dissipation fin, so that the first heat dissipation fin is conducted outward to the second heat dissipation fin, thereby smoothly exporting the heat of the connection cables, which is beneficial to the heat dissipation operation of the connection cables.

[0017] 3. The humanoid robot joint harness connection structure can drive the rubber airbag structure to move through the movement of the robot joint structure, so that the rubber airbag structure can vibrate following the movement of the robot joint structure, thereby shaking off dust and impurities on the rubber airbag structure, thereby preventing dust from adhering to the rubber airbag structure and the second heat dissipation fins. This method not only has a cleaning effect, but also enables the harness heat conductor and the first heat dissipation fins to smoothly guide heat to the second heat dissipation fins, thereby improving the heat dissipation effect of the second heat dissipation fins and preventing dust from adhering to the heat dissipation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional view of a joint harness connection structure of a humanoid robot proposed by the present invention; Figure 2 A cross-sectional stereoscopic view of a joint harness connection structure of a humanoid robot proposed by the present invention; Figure 3 A three-dimensional view of a rubber airbag structure section of a humanoid robot joint harness connection structure proposed by the present invention; Figure 4 A three-dimensional view of a robot joint structure of a humanoid robot joint harness connection structure proposed by the present invention; Figure 5 A three-dimensional view of a robot joint axis of a humanoid robot joint harness connection structure proposed by the present invention; Figure 6 A three-dimensional view of a cross section of a middle support component of a humanoid robot joint harness connection structure proposed by the present invention; Figure 7 For the present invention Figure 6 A magnified view of point A; Figure 8 This is a disassembled view of a rubber airbag structure, a middle support component and a limit component of a humanoid robot joint harness connection structure proposed by the present invention; Fig. 9 A three-dimensional view of a rubber airbag structure of a humanoid robot joint harness connection structure proposed by the present invention; Fig.10 This is a three-dimensional view of the cross section of a sealing cylinder of a humanoid robot joint harness connection structure proposed by the present invention.

[0019] In the figure: 100, robot joint connection mechanism; 101, positioning assembly; 1011, rubber sleeve; 1012, tightening wire; 1013, elastic connection clamp; 1014, limiting notch; 1015, cutting hoop; 102, rubber airbag structure; 103, robot joint shaft; 104, robot joint structure; 105, middle support assembly; 1051, middle support ring; 1052, annular conical surface; 1053, docking block; 1054, docking port; 106, heat dissipation assembly; 1061, first heat dissipation fin; 1062, wire harness limit 106, rubber strip; 1063, wiring harness heat conducting sheet; 107, connecting cable; 108, impact alarm assembly; 1081, fixing seat; 1082, piston; 1083, spring; 1084, fixing block; 1085, alarm; 1086, switch; 1087, connecting pipe; 1088, air outlet; 1089, sealing cylinder; 109, limiting assembly; 1091, mounting block; 1092, limiting opening; 1093, fixing sealing clamp; 110, second heat dissipating fin; 111, air inlet; 112, annular connecting strip; 113, trumpet-shaped flare. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0022] Example 1: Reference Figure 1-6 and Figure 8-10 A humanoid robot joint harness connection structure includes a robot joint connection mechanism 100, the robot joint connection mechanism 100 includes a robot joint structure 104, the robot joint structure 104 is arranged in a cavity surrounded by two rubber airbag structures 102, the rubber airbag structure 102 includes a trumpet-shaped expansion 113, and an air inlet 111 is arranged above the trumpet-shaped expansion 113, the air inlet 111 can be connected to an inflatable device, so that the inflatable device is filled with gas to fill the cavity surrounded by the two rubber airbag structures 102, so that the rubber airbag structure 102 When impacted, the gas can be smoothly pressed into the sealing cylinder 1089, so that the piston 1082 can be controlled by air pressure to achieve rolling. The end of the trumpet-shaped expansion 113 away from the rubber airbag structure 102 is fixedly connected with a ring-shaped connecting strip 112. A plurality of second heat dissipation fins 110 are also installed below the rubber airbag structure 102. One end of the rubber airbag structure 102 is connected to the robot joint shaft 103 through the positioning component 101. The positioning component 101 includes an elastic connection clamp 1013, which is sleeved on the robot joint shaft 103. 3, a limiting notch 1014 is provided on the outside of the elastic connection clamp 1013. By applying force to the elastic connection clamp 1013, the elastic connection clamp 1013 is elastic and the elastic connection clamp 1013 is cut off through the limiting notch 1014, so that the elastic connection clamp 1013 can be smoothly unfolded, so that the elastic connection clamp 1013 can be smoothly placed outside the robot joint shaft 103, and the elastic connection clamp 1013 can be smoothly covered on the robot joint shaft 103 after contraction, and a cutting notch 1014 is provided above the elastic connection clamp 1013. The hoop mouth 1015 and the outer cover of the elastic connecting clamp 1013 are provided with a rubber sleeve 1011, and the rubber sleeve 1011 is fixedly connected to the rubber airbag structure 102. The rubber sleeve 1011 is tightened in two limiting notches 1014 through two tightening wires 1012. By tightening the rubber sleeve 1011, the rubber sleeve 1011 is smoothly pressed into the limiting notch 1014, so that one end of the rubber airbag structure 102 can be fixed, and the limiting notch 1014 increases the gripping force with the rubber sleeve 1011 to prevent the rubber sleeve 1011 from moving and displacing; The robot joint shaft 103 is penetrated by a rubber airbag structure 102 and connected to the robot joint structure 104. After the rubber airbag structure 102 is closed, it can protect the robot joint structure 104, thereby reducing the maintenance cycle of the robot joint structure 104. A collision alarm component 108 is arranged on the rubber airbag structure 102. The collision alarm component 108 includes a fixed seat 1081. The fixed seat 1081 is fixedly connected to the trumpet-shaped expansion 113. A sealing cylinder 1089 is fixedly connected above the fixed seat 1081. An air outlet 1088 is arranged at one end of the sealing cylinder 1089. Through the air outlet 1088, the piston 1082 can be exhausted smoothly through the air outlet 1088 when moving, so that the outside air and the sealing cylinder 1089 are separated. The internal gas flows so that the piston 1082 moves smoothly. The other end of the sealing cylinder 1089 is connected to a connecting pipe 1087. The gas transmission distance can be extended through the connecting pipe 1087, so that the gas can be smoothly input into the sealing cylinder 1089. The connecting pipe 1087 passes through the rubber airbag structure 102. The sealing cylinder 1089 is provided with a piston 1082 inside. Switches 1086 are installed on both sides of the piston 1082. The alarm 1085 can be controlled by the switch 1086 to alarm, thereby playing a role of early warning. Springs 1083 are fixedly connected on both sides of the piston 1082. The end of the spring 1083 away from the piston 1082 is fixedly connected to the fixed block 1084. The fixed block 1084 is fixedly connected in the sealing cylinder 1089. An alarm 1085 is fixedly installed above 9, and a limiting assembly 109 is arranged at the butt joint portion of the two rubber airbag structures 102. The limiting assembly 109 includes two fixed sealing clamps 1093. The fixed sealing clamps 1093 can be covered on the trumpet-shaped expansion opening 113, and the two mounting blocks 1091 can be locked by bolts, so that the fixed sealing clamps 1093 can keep the rubber airbag structure 102 fixed and keep the sealing of the two rubber airbag structures 102 at the same time, and the two fixed sealing clamps 1093 are covered on the edges of the two trumpet-shaped expansion openings 113, and the two fixed sealing clamps 1093 are provided with limiting openings 1092, and the limiting openings 1092 are engaged with the annular connecting strip 112, so as to keep the limiting openings 1092 and The annular connecting strips 112 are in close contact to maintain good sealing performance. The limiting openings 1092 are arranged on the two annular connecting strips 112. The two ends of the two fixed sealing clamps 1093 are fixedly connected with mounting blocks 1091. The two adjacent mounting blocks 1091 are fixed by bolts. A middle support assembly 105 is arranged at the inner cavity connection of the two rubber airbag structures 102. The middle support assembly 105 includes a middle support ring 1051. The middle support ring 1051 is located between the two trumpet-shaped expansion openings 113, so that the middle support ring 1051 can support the trumpet-shaped expansion openings 113 to prevent the trumpet-shaped expansion openings 113 from collapsing, improve the overall stability, and maintain the shape at the same time. The middle support ring 1051 is arranged at the two trumpet-shaped expansion openings 113.The middle support ring 1051 is provided with two annular conical surfaces 1052, which are fitted with the trumpet-shaped flared opening 113. The annular conical surfaces 1052 are adapted to the shapes of the trumpet-shaped flared opening 113, so that the annular conical surfaces 1052 and the trumpet-shaped flared opening 113 are tightly fitted, thereby maintaining the tightness of the connection and improving the sealing of the rubber airbag structure 102. The middle support ring 1051 is made of elastic material. The middle support ring 1051 is made of elastic material. By breaking the two ends of the middle support ring 1051 apart, the middle support ring 1051 can be smoothly passed through the robot joint structure 104, so that the middle support ring 1051 can be smoothly assembled into the trumpet-shaped flared opening 113, and the middle support ring 1051 has The middle support ring 1051 is elastic and can automatically return to complete the closing operation. One end of the middle support ring 1051 is fixedly connected with a docking block 1053, and the other end of the support block is provided with a docking port 1054. The docking block 1053 connects the two ends of the middle support ring 1051 by bolts to form a closed loop. The docking block 1053 is placed in the docking port 1054 to connect the two ends of the middle support ring 1051, and the docking block 1053 is locked by bolts to avoid deformation of the middle support ring 1051. A heat dissipation component 106 is arranged below the middle support component 105, and a connecting cable 107 is passed through the heat dissipation component 106, and the connecting cable 107 is connected to the robot joint structure 104; The positions of the two rubber airbag structures 102 are locked by the limit assembly 109 and the positioning assembly 101, so that the rubber airbag structure 102 protects the robot joint structure 104. At the same time, after the rubber airbag structure 102 is hit, the alarm signal of the impact alarm assembly 108 is triggered by the change of air pressure to give an alarm.

[0023] In this embodiment: the rubber sleeve 1011 is tightened on the elastic connecting clamp 1013 by tightening the iron wire 1012, so that the rubber airbag structure 102 can be fixed, and the connection between the two rubber airbag structures 102 can be tightened by two fixed sealing clamps 1093 and combined with matching bolts, so that after the two rubber airbag structures 102 are closed, the robot joint structure 104 can be protected and dust-proof, the performance of the robot joint structure 104 is improved, and the maintenance cycle is reduced. When the rubber airbag structure 102 is collided, the rubber airbag structure 102 is squeezed to discharge the gas into the sealing tube 1089, so that the sealing tube 1089 can drive the switch 1086 to contact the fixed block 1084, so that the alarm 1085 can be controlled to send out a warning signal, thereby playing a warning and reminder role.

[0024] Example 2: Reference Figure 6-8A humanoid robot joint harness connection structure includes a heat dissipation component 106, the heat dissipation component 106 includes a plurality of first heat dissipation fins 1061, and a harness limiting rubber strip 1062 is fixedly connected between two adjacent heat dissipation fins. After the connection cable 107 passes through the harness limiting rubber strip 1062, the connection cable 107 contacts the harness heat conducting sheet 1063, and the harness limiting rubber strip 1062 can be contracted to limit the connection cable 107 to prevent the connection cable 107 from falling out, so that the connection cable 107 can be separated and stored smoothly, and a harness heat conducting sheet 1063 is arranged between the two heat dissipation fins, and the heat of the connection cable 107 can be conducted out through the harness heat conducting sheet 1063, and at the same time The first heat dissipation fins 1061 and the second heat dissipation fins 110 can smoothly guide the heat to be discharged, which is convenient for the heat dissipation of the connecting cable 107. The two wiring harness limiting rubber strips 1062 fix the connecting cable 107 between the two first heat dissipation fins 1061. The rubber airbag structure 102 includes a trumpet-shaped expansion port 113, and an air inlet 111 is arranged above the trumpet-shaped expansion port 113. An end of the trumpet-shaped expansion port 113 away from the rubber airbag structure 102 is fixedly connected with an annular connecting strip 112. A plurality of second heat dissipation fins 110 are also installed below the rubber airbag structure 102. Heat is conducted by the second heat dissipation fins 110, so that the connecting cable 107 can be smoothly guided out of the rubber airbag structure 102.

[0025] In this embodiment: the wire harness limiting rubber strip 1062 can limit the connecting cable 107 to prevent the connecting cable 107 from falling out, thereby organizing the connecting cables 107, and can also separate and organize the connecting cables 107 to avoid the problems of entanglement and breakage between the connecting cables 107, and each wire harness heat conductive sheet 1063 corresponds to each connecting cable 107, so that when the connecting cables 107 generate heat, they can be individually exported, avoiding the problem of poor heat dissipation effect caused by the integration of the connecting cables 107, and at the same time avoiding the problem of contact between the connecting cables 107 causing heat to be difficult to dissipate, and the wire harness heat conductive sheet 1063 can conduct heat to the first heat dissipation fin 1061, so that the first heat dissipation fin 1061 is conducted outward to the second heat dissipation fin 110, thereby smoothly exporting the heat of the connecting cable 107, which is beneficial to the heat dissipation operation of the connecting cable 107.

[0026] Example 3: Reference Figure 3 and 5 -8, a humanoid robot joint harness connection structure, including a heat dissipation component 106, the heat dissipation component 106 includes a plurality of first heat dissipation fins 1061, a harness limiting rubber strip 1062 is fixedly connected between two adjacent heat dissipation fins, and a harness heat conducting sheet 1063 is provided between the two heat dissipation fins, and the two harness limiting rubber strips 1062 fix the connection cable 107 between the two first heat dissipation fins 1061; The positioning assembly 101 includes an elastic connection clamp 1013, which is sleeved on the robot joint shaft 103. The elastic connection clamp 1013 is provided with a limit notch 1014, and a cut-off hoop 1015 is provided above the elastic connection clamp 1013. The outer cover of the elastic connection clamp 1013 is provided with a rubber sleeve 1011, which is fixedly connected to the rubber airbag structure 102. The rubber sleeve 1011 is tightened in the two limit notches 1014 through two tightening wires 1012. The limiting assembly 109 includes two fixed sealing clamps 1093, which are covered on the edges of two trumpet-shaped flares 113, and a limiting opening 1092 is opened in the two fixed sealing clamps 1093, and the limiting opening 1092 is arranged on two annular connecting strips 112, and both ends of the two fixed sealing clamps 1093 are fixedly connected with mounting blocks 1091, and two adjacent mounting blocks 1091 are fixed by bolts, and the rubber airbag structure 102 includes a trumpet-shaped flare 113, and an air inlet 111 is arranged above the trumpet-shaped flare 113, and one end of the trumpet-shaped flare 113 away from the rubber airbag structure 102 is fixedly connected with the annular connecting strip 112, and a plurality of second heat dissipation fins 110 are also installed below the rubber airbag structure 102.

[0027] In this embodiment: through the movement of the robot joint structure 104, the robot joint structure 104 can drive the rubber airbag structure 102 to move, so that the rubber airbag structure 102 can vibrate following the movement of the robot joint structure 104, thereby shaking off dust and impurities on the rubber airbag structure 102, thereby preventing dust from adhering to the rubber airbag structure 102 and the second heat dissipation fins 110. This method not only has a cleaning effect, but also enables the wire harness heat conductive sheet 1063 and the first heat dissipation fins 1061 to smoothly guide heat to the second heat dissipation fins 110, thereby improving the heat dissipation effect of the second heat dissipation fins 110 and preventing dust from adhering to the heat dissipation.

[0028] Working principle: The elastic connection clamp 1013 is unfolded by cutting the clamp mouth 1015, and the elastic connection clamp 1013 is covered on the robot joint shaft 103, and then the rubber sleeve 1011 is sleeved on the periphery of the elastic connection clamp 1013, and the rubber sleeve 1011 is tightened in the limit notch 1014 of the elastic connection clamp 1013 by tightening the iron wire 1012. At this time, the two ends of the middle support ring 1051 are unfolded, so that the middle support ring 1051 is sleeved outside the robot joint structure 104, and the middle support ring 1051 is fitted in the inner cavity of the trumpet-shaped expansion 113, and then the connecting cable 107 is placed between the two Between the first heat dissipation fins 1061, the harness limiting rubber strip 1062 limits the connection cable 107, and then the other rubber airbag structure 102 is installed to make the two rubber airbag structures 102 docked. At this time, the fixed sealing clamp 1093 is covered on the trumpet-shaped expansion 113 and the two mounting blocks 1091 are tightened by bolts, so that the two fixed sealing clamps 1093 tighten the trumpet-shaped expansion 113, thereby achieving a stable connection between the two rubber airbag structures 102. After the two connection covers are sealed, they are connected to the air inlet 111 through the inflation device to allow gas to fill into the two rubber airbag structures 102; When the connecting cable 107 is dissipating heat, the heat generated by the connecting cable 107 is conducted through the wiring harness heat conductive sheet 1063, so that the wiring harness heat conductive sheet 1063 conducts the heat to the first heat dissipating fin 1061, so that the second heat dissipating fin 110 can smoothly guide the heat to be discharged outward, and the connecting cable 107 can smoothly discharge the heat. When the rubber airbag structure 102 is hit, the rubber airbag structure 102 contracts to press air into the connecting tube 1087, and the connecting tube 1087 inputs the gas into the sealing tube 1089, so that the air pressure controls the movement of the piston 1082, and the piston 1082 drives the switch 1086 to move, so that the switch 1086 contacts the fixed block 1084, and at this time, the switch 1086 controls the alarm 1085 to perform a warning operation.

[0029] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A humanoid robot joint harness connection structure, comprising a robot joint connection mechanism (100), characterized in that: The robot joint connection mechanism (100) comprises a robot joint structure (104), the robot joint structure (104) being arranged in a cavity enclosed by two rubber airbag structures (102), one end of the rubber airbag structure (102) being connected to a robot joint shaft (103) via a positioning assembly (101), the robot joint shaft (103) passing through the rubber airbag structure (102) and being connected to the robot joint structure (104), a collision alarm assembly (108) being arranged on the rubber airbag structure (102), a limit assembly (109) being arranged at the butting portion of the two rubber airbag structures (102), and a middle support assembly (105) being arranged at the inner cavity connection of the two rubber airbag structures (102), a heat dissipation assembly (106) being arranged below the middle support assembly (105), a connecting cable (107) passing through the heat dissipation assembly (106), and the connecting cable (107) being connected to the robot joint structure (104); The positions of the two rubber airbag structures (102) are locked by means of a limit assembly (109) and a positioning assembly (101), so that the rubber airbag structures (102) protect the robot joint structure (104); and when the rubber airbag structures (102) are impacted, an alarm signal of the impact alarm assembly (108) is triggered by a change in air pressure to generate an alarm.

2. A humanoid robot joint harness connection structure according to claim 1, characterized in that: The positioning assembly (101) comprises an elastic connection clamp (1013), the elastic connection clamp (1013) being sleeved on the robot joint shaft (103), the elastic connection clamp (1013) being provided with a limiting notch (1014) on the outside, and a cutting clamp opening (1015) being provided above the elastic connection clamp (1013).

3. A humanoid robot joint harness connection structure according to claim 2, characterized in that: The outer shell of the elastic connection clamp (1013) is provided with a rubber sleeve (1011), the rubber sleeve (1011) is fixedly connected to the rubber airbag structure (102), and the rubber sleeve (1011) is tightened in two limiting notches (1014) via two tightening wires (1012).

4. The humanoid robot joint harness connection structure according to claim 1, characterized in that: The rubber airbag structure (102) comprises a trumpet-shaped expansion opening (113), and an air inlet (111) is arranged above the trumpet-shaped expansion opening (113); an end of the trumpet-shaped expansion opening (113) away from the rubber airbag structure (102) is fixedly connected to an annular connecting strip (112); A plurality of second heat dissipation fins (110) are also installed below the rubber airbag structure (102).

5. The humanoid robot joint harness connection structure according to claim 4, characterized in that: The middle support assembly (105) comprises a middle support ring (1051), the middle support ring (1051) being arranged at two trumpet-shaped flares (113), and the middle support ring (1051) being provided with two annular conical surfaces (1052), the annular conical surfaces (1052) being engaged with the trumpet-shaped flares (113).

6. The humanoid robot joint harness connection structure according to claim 5, characterized in that: The middle support ring (1051) is made of elastic material, one end of the middle support ring (1051) is fixedly connected to a docking block (1053), the other end of the support block is provided with a docking port (1054), and the docking block (1053) connects the two ends of the middle support ring (1051) by means of bolts to form a closed loop.

7. The humanoid robot joint harness connection structure according to claim 6, characterized in that: The heat dissipation assembly (106) comprises a plurality of first heat dissipation fins (1061), a wire harness limiting rubber strip (1062) is fixedly connected between two adjacent heat dissipation fins, and a wire harness heat conducting sheet (1063) is provided between the two heat dissipation fins, and the two wire harness limiting rubber strips (1062) fix the connection cable (107) between the two first heat dissipation fins (1061).

8. The humanoid robot joint harness connection structure according to claim 4, characterized in that: The limiting assembly (109) comprises two fixed sealing clamps (1093), the two fixed sealing clamps (1093) are wrapped around the edges of two trumpet-shaped expansion openings (113), and the two fixed sealing clamps (1093) are provided with limiting openings (1092), the limiting openings (1092) are arranged on two annular connecting strips (112), and both ends of the two fixed sealing clamps (1093) are fixedly connected to mounting blocks (1091), and two adjacent mounting blocks (1091) are fixed by bolts.

9. The humanoid robot joint harness connection structure according to claim 4, characterized in that: The collision alarm component (108) comprises a fixing seat (1081), the fixing seat (1081) being fixedly connected to the trumpet-shaped expansion port (113), a sealing tube (1089) being fixedly connected above the fixing seat (1081), an air outlet (1088) being provided at one end of the sealing tube (1089), and a connecting tube (1087) being connected at the other end of the sealing tube (1089), and a rubber airbag structure (102) being passed through the connecting tube (1087).

10. The humanoid robot joint harness connection structure according to claim 9, characterized in that: A piston (1082) is arranged inside the sealing cylinder (1089), switches (1086) are installed on both sides of the piston (1082), springs (1083) are fixedly connected to both sides of the piston (1082), one end of the spring (1083) away from the piston (1082) is fixedly connected to a fixed block (1084), the fixed block (1084) is fixedly connected in the sealing cylinder (1089), and an alarm (1085) is fixedly installed above the sealing cylinder (1089).

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