Movement mechanism and robot

Abstract

The invention discloses a movement mechanism and a robot, the movement mechanism comprises a first motor, a first wiring part, a movement body and a cable holder, the first motor is provided with a power output end, the first wiring part is located on one side, back to the power output end, of the first motor, and the movement body is located on one side, back to the first wiring part, of the first motor; and the cable holder is fixedly connected with an output shaft of the first motor, and is fixedly connected with the moving body. The moving body is provided with a second wiring part, the cable holding piece spans the outer surface of the first motor from the moving body and extends to the side, opposite to the power output end, of the first motor, and the cable holding piece is used for laying a first cable connecting the first wiring part and the second wiring part.

Description

Technical Field

[0001] This application relates to the technical field of electronic devices, and particularly to a motion mechanism and a robot. Background Art

[0002] In electromechanical devices such as robots, there is often a problem that the moving wear of the motion mechanism abrades the cables arranged here, thereby affecting the service life of the cables. The traditional solution is to make the motor of the motion mechanism into a hollow structure and let the cables pass through the inside of the motor to complete the wiring. However, this method will increase the diameter of the motor, greatly increase the space size required for arranging the motor, and cause many inconveniences to the arrangement of the motion mechanism in the overall structure of the electromechanical device. Moreover, since this method uses a motor with an unconventional structure, it will result in a high cost of the motion mechanism and increase the cost burden of the enterprise. Summary of the Invention

[0003] This application provides the following technical solutions:

[0004] A motion mechanism, comprising:

[0005] A first motor having a power output end;

[0006] A first wiring part located on a side of the first motor facing away from the power output end;

[0007] A moving body located on a side of the first motor facing away from the first wiring part and fixedly connected to the output shaft of the first motor, wherein the moving body is provided with a second wiring part;

[0008] A cable holder fixedly connected to the moving body, the cable holder extending from the moving body across the outer surface of the first motor to a side of the first motor facing away from the power output end, and the cable holder is used for laying and connecting a first cable between the first wiring part and the second wiring part.

[0009] Optionally, in the above motion mechanism, the cable holder is provided with an inlay structure for inlaying a part of the first cable.

[0010] Optionally, in the above motion mechanism, the inlay structure is provided as a wiring groove continuously extending between opposite ends of the cable holder; or,

[0011] The inlay structure includes at least two wire clamping grooves distributed along the extending direction of the cable holder.

[0012] Optionally, in the above motion mechanism, one end of the cable holder away from the moving body is provided with an elbow bent towards the axis line of the first motor.

[0013] Optionally, in the above-mentioned motion mechanism, a cable fixing member is included, which is fixedly connected to the side of the first motor facing away from the power output end, and is used to fixedly arrange the target section of the first cable relative to the first motor. One end of the target section is connected to the first wiring part, and the other end is located at the axis line of the first motor.

[0014] Optionally, in the above-mentioned motion mechanism, the cable fixing member is arranged as a housing covering the target section of the first cable; or,

[0015] the cable fixing member includes at least one buckle for positioning a part of the first cable.

[0016] Optionally, in the above-mentioned motion mechanism, it includes:

[0017] a carrier, which has a first connection part fixedly connected to the side of the first motor facing away from the first wiring part and a second connection part located on the radially outer side of the first motor;

[0018] a second motor, the output shaft of which is fixedly connected to the second connection part.

[0019] Optionally, in the above-mentioned motion mechanism, a third wiring part is arranged on the side of the second motor facing the first motor, and the third wiring part is connected to the first wiring part through a second cable.

[0020] Optionally, in the above-mentioned motion mechanism, the moving body is arranged as a third motor coaxially arranged with the first motor.

[0021] A robot includes a first component and a second component connected by a motion mechanism, and the motion mechanism includes:

[0022] a first motor, fixed to the first component, and the first motor has a power output end;

[0023] a first wiring part, located on the side of the first motor facing away from the power output end;

[0024] a moving body, located on the side of the first motor facing away from the first wiring part, and is fixedly connected to the output shaft of the first motor and the second component. The moving body is provided with a second wiring part;

[0025] a cable holding member, fixedly connected to the moving body, and the cable holding member extends from the moving body across the outer surface of the first motor to the side of the first motor facing away from the power output end. The cable holding member is used to lay and connect a first cable between the first wiring part and the second wiring part. Description of the Drawings

[0026] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0027] Figure 1 is a schematic diagram of a motion mechanism according to an embodiment of the present application;

[0028] Figure 2 is Figure 1 a three-dimensional schematic diagram of the shown motion mechanism;

[0029] Figure 3 is Figure 1 a three-dimensional schematic diagram of the shown motion mechanism from another perspective;

[0030] Figure 4 is a schematic diagram of a first cable on the side of the first motor facing away from the power output end;

[0031] Figure 5 is a schematic diagram of a robot according to an embodiment of the present application.

[0032] The labels in the figure are:

[0033] 100, the first motor; 110, the first wiring part; 200, the moving body; 201, the second wiring part; 300, the carrier; 400, the second motor; 500, the support plate; 510, the baffle; 610, the first cable; 620, the second cable; 700, the cable fixing part; 800, the cable holding part; 801, the elbow; 901, the body; 902, the first leg; 903, the second leg; 910, the first joint part; 920, the second joint part. Detailed implementation manners

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0035] In the description of the present application, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0036] In the description of this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0037] See Figures 1 to 4 As shown in, an embodiment of the present application provides a motion mechanism, which includes a first motor 100, a first wiring part 110, a moving body 200, and a cable holder 800. Among them, the first motor 100 has a power output end, which is the side where the output shaft of the first motor 100 extends outward. The driving force generated by the first motor 100 is transmitted to the power output end, so as to be provided to other components to enable the other components to move. The first wiring part 110 is located on the side of the first motor 100 facing away from the power output end, and the moving body 200 is located on the side of the first motor 100 facing away from the first wiring part 110, that is, the moving body 200 and the first wiring part 110 are located on opposite sides of the first motor 100. The moving body 200 is fixedly connected to the output shaft of the first motor 100, and the cable holder 800 is fixedly connected to the moving body 200. Under the action of the driving force of the first motor 100, that is, when the output shaft of the first motor 100 rotates, the cable holder 800 rotates around the axis of the first motor 100 together with the moving body 200. The moving body 200 is provided with a second wiring part 201. The cable holder 800 extends from the moving body 200 across the outer surface of the first motor 100 to the side of the first motor 100 facing away from the power output end. The cable holder 800 is used to lay and connect the first cable 610 between the first wiring part 110 and the second wiring part 201.

[0038] One end of the first cable 610 is connected to the second wiring part 201 provided on the moving body 200, and the other end needs to be connected to the first wiring part 110 on the side of the first motor 100 facing away from the power output end. The cable holder 800 is used to route the first cable 610. Since the cable holder 800 extends from the moving body 200 across the outer surface of the first motor 100 to the side of the first motor 100 facing away from the power output end, the first cable 610 can form a certain overhead structure with the help of the cable holder 800 during wiring, that is, the first cable 610 is routed along the cable holder 800 to reach the other side of the first motor 100 from one side of the first motor 100. In this way, the first cable 610 can cross the outer surface of the first motor 100 and avoid contacting the outer surface of the first motor 100. During the relative rotation of the moving body 200 with respect to the first motor 100, the part of the first cable 610 disposed on the cable holder 800 moves together with the cable holder 800 and is not affected by the interference of the outer surface of the first motor 100, thereby avoiding or reducing the risk of the moving mechanism wearing the first cable 610 during movement, which is beneficial to improving the service life of the first cable 610.

[0039] It is easy to understand that the dimension of the cable holder 800 in the axial direction of the first motor 100 needs to meet the requirement of crossing from one side of the first motor 100 to the other side, and the dimension of the cable holder 800 in the radial direction of the first motor 100 can be made very small, as long as the structural strength of the cable holder 800 can provide sufficient supporting force for the first cable 610 to make the first cable 610 in a crossing state relative to the first motor 100. Compared with the traditional method of increasing the overall diameter of the motor to reduce the risk of cable wear and routing the cable through the hollow part of the motor, the present application realizes reducing the risk of cable wear without changing the size of the motor itself by setting the cable holder 800. In this way, the problem of inconvenient arrangement of the moving mechanism in the overall structure of the electromechanical device caused by the increase in the size of the motor itself is avoided. Moreover, the setting of the cable holder 800 enables the first motor 100 not to be made into a hollow structure. Therefore, the moving mechanism of the present application is applicable to common motor types on the market (i.e., motors without a hollow structure), which is beneficial to reducing the manufacturing cost of the moving mechanism. That is, the present application solves the problem of the cable being worn by the movement of the moving mechanism in a more economical way compared with the traditional method.

[0040] It should be noted that the first cable 610 can be various types such as a power supply line, a signal line, a data line, etc., and the present application does not limit this. As long as the first cable 610 needs to be arranged in the moving mechanism and connected to the first wiring part 110 and the second wiring part 201 in the foregoing situation. In addition, the first motor 100 can be an axial magnetic field motor or a radial magnetic field motor, and the present application does not limit this.

[0041] The first wiring part 110 is located on one side of the first motor 100 facing away from the power output end. In some embodiments, the first wiring part 110 can be arranged on the first motor 100. For example, the first wiring part 110 can be the controller of the first motor 100 and is fixed on the outer shell of the first motor 100. Of course, in other embodiments, the first wiring part 110 can also be not arranged on the first motor 100. For example, the first wiring part 110 can be a data collector for collecting the motion parameters of the moving body 200 and is fixed on other components (such as the baffle 510 described later) on one side of the first motor 100 facing away from the power output end. In addition, in some embodiments, the first wiring part 110 can be configured as a component of the first motor 100. That is to say, the present application does not limit the connection relationship and inclusion relationship between the first wiring part 110 and the first motor 100.

[0042] The moving body 200 is provided with a second wiring part 201, and there can be various choices for the position of the second wiring part 201 on the moving body 200. As Figure 1 shown, in some embodiments, the second wiring part 201 can be located on one side of the moving body 200 close to the first motor 100. Of course, in other embodiments, the second wiring part 201 can be located at other positions of the moving body 200. For example, it can be located on one side of the moving body 200 far from the first motor 100, or it can be located on one side of the moving body 200 in a direction perpendicular to the axis of the first motor 100. In Figure 1 the exemplary embodiment shown, the second wiring part 201 is located on one side of the moving body 200 close to the first motor 100, which can make the cable holding member 800 occupy a smaller size in the axial direction of the first motor 100, thus being beneficial to the compactness of the overall structure of the motion mechanism. It should be noted that the second wiring part 201 is fixed to the moving body 200 and can move together with the moving body 200. However, the present application does not limit the inclusion relationship between the second wiring part 201 and the moving body 200, that is, the second wiring part 201 can be a component of the moving body 200 or other components independent of the moving body 200. For example, in some embodiments, the second wiring part 201 can be configured as a sensor for collecting motion parameters installed on the moving body 200, or the second wiring part 201 can be configured as the power connection port (or power connection terminal) of the moving body 200.

[0043] The cable holder 800 is used to route the first cable 610, that is, the routing of the first cable 610 passes through the cable holder 800. To achieve connection with the first cable 610, there can be various structural forms of the cable holder 800. In some embodiments, the cable holder 800 can be provided with a wire-embedding structure for embedding a part of the first cable 610. The wire-embedding structure refers to a structure with a lateral opening. In this way, when routing the first cable 610, the first cable 610 can be directly pressed into the wire-embedding structure from the lateral opening, and the operation is very convenient. It should be understood that after the first cable 610 is embedded into the wire-embedding structure of the cable holder 800, a certain external force is required to separate the first cable 610 from the wire-embedding structure of the cable holder 800. Therefore, the first cable 610 will not spontaneously come out of the lateral opening of the wire-embedding structure.

[0044] Based on the cable holder 800 being provided with a wire-embedding structure, the wire-embedding structure can be set as a wiring groove continuously extending between opposite ends of the cable holder 800. In this structure, the wire-embedding structure completely spans the outer surface of the first motor 100 along the axial direction of the first motor 100, which is beneficial to improving the stability of the first cable 610 on the cable holder 800. Of course, in other embodiments, the wire-embedding structure can be configured to include at least two wire clamping grooves distributed along the extending direction of the cable holder 800. In this structure, the number of wire clamping grooves is not less than two and is arranged along the extending direction of the cable holder 800. It is easy to understand that as long as the distance between the two outermost wire clamping grooves can enable the first cable 610 to cross the outer surface of the first motor 100 from one side of the first motor 100 to the other side, this is beneficial to simplifying the structure of the cable holder 800. In some embodiments, the cable holder 800 can include at least two snap rings, and the above-mentioned wire clamping grooves are formed by the inner walls of the snap rings.

[0045] Of course, in other embodiments, the cable holder 800 can be provided with a wire-passing structure for passing the first cable 610 through. For example, the cable holder 800 can be set as a pipe fitting, and the first cable 610 passes through the pipe of the pipe fitting to complete the routing. Or, the cable holder 800 can include a rod body and at least two wire-passing rings distributed along the length direction of the rod body, and the first cable 610 passes through the wire-passing rings to complete the routing.

[0046] See Figure 2 and Figure 3, in some embodiments, an end of the cable holder 800 away from the moving body 200 may be provided with an elbow 801 bent toward the axis of the first motor 100. When laying the first cable 610, the first cable 610 runs along the elbow 801 at the end of the cable holder 800 away from the moving body 200, so that this part of the first cable 610 is fixed to the elbow 801. In this way, during the process that the cable holder 800 moves around the axis of the first motor 100 together with the moving body 200, the risk of the first cable 610 being worn by the end of the cable holder 800 is smaller. On this basis, the elbow 801 may be set to an arc shape, that is, the elbow 801 extends along an arc (such as a circular arc), so as to avoid excessive bending of a local part of the first cable 610.

[0047] See Figure 1 , Figure 3 and Figure 4 , in some embodiments, the motion mechanism may include a cable fixing member 700. The cable fixing member 700 is fixedly connected to a side of the first motor 100 opposite to the power output end, and is used to relatively fixedly arrange a target section of the first cable 610 with the first motor 100. One end of the target section is connected to the first wiring part 110, and the other end is located at the axis of the first motor 100. The cable fixing member 700 is fixedly connected to the first motor 100 and relatively fixedly arranges the target section of the first cable 610 with the first motor 100, that is, due to the setting of the cable fixing member 700, during the process that the cable holder 800 moves around the axis of the first motor 100 together with the moving body 200, the above target section of the first cable 610 does not move relative to the first motor 100, or it can be understood that the above target section of the first cable 610 is not driven by the moving cable holder 800. In this way, on the one hand, the shaking of the first cable 610 can be reduced, and the risk of collision with other surrounding components can be lowered. On the other hand, the first cable 610 can be bent only at the axis position of the first motor 100 (as shown by the dashed box B in Figure 4 ) along with the movement of the cable holder 800. Therefore, the reliable life of the first cable 610 only needs to be designed with reference to the bending life of the cable itself, and a longer life can be achieved.

[0048] It should be understood that the relative fixed setting of the target segment of the first cable 610 with respect to the first motor 100 means that the movement of the cable holder 800 relative to the first motor 100 does not drive the target segment of the first cable 610 to move relative to the first motor 100. That is, in the portion of the first cable 610 between the first connection portion 110 and the cable holder 800, only the portion other than the target segment is affected by the movement of the cable holder 800 and can move relative to the first motor 100. In some embodiments, the cable fixing member 700 may be configured to connect only one end of the target segment located on the axis of the first motor 100, and not to connect to the remaining portion of the target segment. Refer to Figure 4 , when the cable holder 800 moves relative to the first motor 100 in the direction of arrow A in the figure, the portion of the first cable close to the cable holder 800 is driven. Due to the setting of the cable fixing member 700, the driven portion of the first cable stops at the axis position of the first motor 100, and the portion of the first cable farther from the cable holder 800, that is, the aforementioned target segment, is not driven by the cable holder 800.

[0049] In some embodiments, the cable fixing member 700 may be configured to connect at least two positions of the target segment. It is easy to understand that one of the positions is one end of the target segment located on the axis of the first motor 100. It should be noted that the present application does not limit the layout shape of the above-mentioned target segment of the first cable 610. The target segment may be arranged in a straight line or in a curved line.

[0050] As Figure 4 shown, in some embodiments, the cable fixing member 700 may be set as a housing covering the target segment of the first cable 610. The housing can well protect the target segment of the first cable 610 and prevent the target segment of the first cable 610 from rubbing against other components. Of course, in other embodiments, the cable fixing member 700 may be set in other forms. For example, the cable fixing member 700 may be configured to include at least one buckle for positioning a part of the first cable 610. It is easy to understand that when the number of buckles is one, the buckle is connected to one end of the target segment located on the axis of the first motor 100. When the number of buckles is more than one, one of the buckles is connected to one end of the target segment located on the axis of the first motor 100, and the remaining buckles may be connected to other positions of the target segment.

[0051] It should be noted that there are various options for the connection method between the cable fixing member 700 and the first motor 100, as long as the cable fixing member 700 can be fixedly connected to the first motor 100. For example, the cable fixing member 700 and the first motor 100 can be set to be connected by fasteners (such as screws, bolts, etc.). Another example is that the cable fixing member 700 and the first motor 100 can be set to be assembled and connected by a clamping structure (such as the clamping fit of a conventional hem and a slot, the clamping fit of a claw and a slot, etc.). In this structure, since the use of fasteners is omitted, the cable fixing member 700 can be installed without tools, making the disassembly and assembly of the cable fixing member 700 more convenient.

[0052] See Figure 1 and Figure 2 In some embodiments, the motion mechanism may include a carrier 300 and a second motor 400. Among them, the carrier 300 has a first connection portion fixedly connected to a side of the first motor 100 facing away from the first wiring portion 110 and a second connection portion located radially outside the first motor 100. The output shaft of the second motor 400 is fixedly connected to the second connection portion. Under the driving force of the second motor 400, the first motor 100 and the moving body 200 as a whole rotate around the axis of the second motor 400 together with the carrier 300. Under the driving force of the first motor 100, the moving body 200 rotates around the axis of the first motor 100. With such a setting, the motion mechanism can provide more movement modes. The first connection portion of the carrier 300 is arranged on a side of the first motor 100 facing away from the first wiring portion 110, which can make the first motor 100 and the moving body 200 as a whole be arranged on the carrier 300 with a relatively more balanced mass distribution, which is beneficial to the more coordinated mass distribution of the motion mechanism.

[0053] In some embodiments, the first connection portion of the carrier 300 can be set to be circular. The central circular hole of the first connection portion avoids the output shaft of the first motor 100. The first connection portion can be fixedly connected to the output shaft of the first motor 100 by a plurality of bolts evenly distributed around the axis of the first motor 100. With such a setting, a relatively high connection strength can be achieved between the first motor 100 and the carrier 300. Similarly, the second connection portion of the carrier 300 can be set to be disc-shaped or circular. The second connection portion is coaxially arranged with the output shaft of the second motor 400. The second connection portion can be fixedly connected to the output shaft of the second motor 400 by a plurality of bolts evenly distributed around the axis of the second motor 400. Of course, in other embodiments, the first connection portion and the second connection portion of the carrier 300 can be set to other shapes. It should be noted that the axis of the second motor 400 and the axis of the first motor 100 can be intersecting or staggered, and the present application does not limit this.

[0054] In an embodiment where the motion mechanism includes the second motor 400, a third wiring portion may be provided on a side of the second motor 400 facing the first motor 100, and the third wiring portion may be connected to the first wiring portion 110 through a second cable 620. The second cable 620 may be of various types such as a power supply line, a signal line, a data line, etc., and the present application does not limit this. It should be noted that when the first wiring portion 110 rotates around the axis of the second motor 400 together with the first motor 100, the length of the second cable 620 should meet the motion requirements of the first wiring portion 110, that is, the motion of the first wiring portion 110 is not restricted by the second cable 620.

[0055] See Figure 1 and Figure 2 , in some embodiments, the motion mechanism may include a support plate 500. The support plate 500 is located between the first motor 100 and the second motor 400, and the second motor 400 is fixed on the support plate 500. The support plate 500 may be provided with a through hole for avoiding the output shaft of the second motor 400, so that the output shaft of the second motor 400 can be connected to the carrier 300. The support plate 500 may serve as a structural member of the motion mechanism, providing a connection portion for the motion mechanism to be connected to other components, that is, the motion mechanism can be installed on other components by means of the support plate 500. For example, the support plate 500 may be provided with mounting holes for connecting to other components outside the motion mechanism, so as to enable the motion mechanism to be installed on the other components.

[0056] On the basis that the motion mechanism includes the support plate 500, the motion mechanism may include a baffle 510. The baffle 510 is located on a side of the support plate 500 facing the first motor 100 and on a side of the first motor 100 away from the moving body 200. The baffle 510 is fixedly connected to the support plate 500, and the first motor 100 and the moving body 200 move as a whole on one side of the baffle 510. Therefore, the baffle 510 can play a certain protective role for the first motor 100 and the moving body 200 as a whole. It should be noted that during the rotation of the output shaft of the second motor 400, other components driven by the second motor 400 do not collide with the baffle 510, that is, the position of the baffle 510 does not affect the motion of the moving components of the motion mechanism. For example, when the baffle 510 is relatively close to the first motor 100, the first motor 100 and the moving body 200 as a whole may be configured to rotate around the axis of the second motor 400 only within an angle range not greater than 180°, so that the moving components do not collide with the baffle 510.

[0057] See Figure 2 and Figure 3, in some embodiments, the moving body 200 can be arranged as a third motor coaxially with the first motor 100. In this structure, the moving body 200 is both an executing component capable of rotating under the drive of the first motor 100 and a power component capable of driving other components to move. Such an arrangement can enable the motion mechanism to provide more movement modes.

[0058] See Figures 1 to 5 , this application also provides a robot, including a first component and a second component connected by a motion mechanism. The motion mechanism includes a first motor 100, a first wiring part 110, a moving body 200, and a cable holder 800. Among them, the first motor 100 is fixed to the first component (which can be the aforementioned carrier 300, for example), the first motor 100 has a power output end, the first wiring part 110 is located on the side of the first motor 100 facing away from the power output end, the moving body 200 is located on the side of the first motor 100 facing away from the first wiring part 110, and the moving body 200 is fixedly connected to the output shaft of the first motor 100 and the second component (which can be components such as the arm or leg of the robot, for example). The moving body 200 is provided with a second wiring part 201, the cable holder 800 is fixedly connected to the moving body 200, and the cable holder 800 extends from the moving body 200 across the outer surface of the first motor 100 to the side of the first motor 100 facing away from the power output end. The cable holder 800 is used for laying the first cable 610 connecting the first wiring part 110 and the second wiring part 201.

[0059] The first component and the second component of the robot are connected by a motion mechanism, which can form a joint structure of the robot. The first component and the second component can move relative to each other based on the motion mechanism. The structural form and working principle of the motion mechanism can refer to the previous introduction of the motion mechanism, which will not be elaborated here one by one. Since the motion mechanism disclosed in the above embodiments has the above technical effects, the robot with this motion mechanism also has the above technical effects, which will not be elaborated here. There can be various choices for the type of the robot, such as a quadruped robot, a humanoid robot, an industrial robot, etc. This application does not limit this. Taking Figure 5 the shown hexapod robot as an example, in some embodiments, the first component of the robot can be the body 901 of the robot, and the second component can be the first leg 902 of the robot. The body 901 and the first leg 902 are connected by a motion mechanism to form a movable first joint part 910. In some embodiments, the first component of the robot can be the first leg 902 of the robot, and the second component can be the second leg 903 of the robot. The first leg 902 and the second leg 903 are connected by a motion mechanism to form a movable second joint part 920.

[0060] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0061] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motion mechanism, comprising: A first motor having a power output end; A first wiring portion, located on a side of the first motor facing away from the power output end; A moving body, located at a side of the first motor facing away from the first connecting portion, fixedly connected to the output shaft of the first motor, and provided with a second connecting portion; A cable holder is fixedly connected to the moving body, and the cable holder extends from the moving body across the outer surface of the first motor to the side of the first motor facing away from the power output end. The cable holder is used to lay a first cable connecting the first wiring part and the second wiring part. 2 . The motion mechanism according to claim 1 , wherein the cable holder is provided with a wire embedding structure for embedding a portion of the first cable.

3. The motion mechanism according to claim 2, wherein the wire embedding structure is configured as a wiring groove extending continuously between opposite ends of the cable retaining member; or The wire embedding structure includes at least two wire clamping grooves distributed along the extending direction of the cable retaining member. 4 . The motion mechanism according to claim 1 , wherein an end of the cable holder away from the motion body is provided with an elbow bent toward the axis of the first motor.

5. The motion mechanism according to claim 4 comprises a cable fixing part, which is fixedly connected to the side of the first motor facing away from the power output end, and is used to fix the target segment of the first cable relative to the first motor, one end of the target segment is connected to the first wiring portion, and the other end is located at the axis of the first motor.

6. The motion mechanism according to claim 5, wherein the cable fixing member is configured as a cover covering the target segment of the first cable; or The cable fixing member includes at least one buckle for positioning a portion of the first cable.

7. The motion mechanism according to any one of claims 1 to 6, comprising: A carrier, the carrier having a first connection portion fixedly connected to a side of the first motor facing away from the first wiring portion and a second connection portion located radially outward of the first motor; A second motor, wherein an output shaft of the second motor is fixedly connected to the second connecting portion. 8 . The motion mechanism according to claim 7 , wherein a third wiring portion is provided on a side of the second motor facing the first motor, and the third wiring portion is connected to the first wiring portion via a second cable. 9 . The motion mechanism according to claim 7 , wherein the motion body is configured as a third motor coaxially arranged with the first motor.

10. A robot comprising a first component and a second component connected by a motion mechanism, wherein the motion mechanism comprises: A first motor is fixed to the first component, and the first motor has a power output end; A first wiring portion, located on a side of the first motor facing away from the power output end; A moving body, located at a side of the first motor facing away from the first connecting portion, fixedly connected to the output shaft of the first motor and the second component, and provided with a second connecting portion; A cable holder is fixedly connected to the moving body, and the cable holder extends from the moving body across the outer surface of the first motor to the side of the first motor facing away from the power output end. The cable holder is used to lay a first cable connecting the first wiring part and the second wiring part.

Images