Wire arrangement mechanism, robot limb wire arrangement mechanism, mechanical leg and robot

Abstract

This invention discloses a cable routing mechanism, a robot limb cable routing mechanism, a mechanical leg, and a robot. The cable routing mechanism includes a first winding structure and a second winding structure for accommodating cables. The first and second winding structures are configured such that the cable on the first winding structure can route in the opposite direction to the cable on the second winding structure. Therefore, during the movement of the cable routing mechanism, the first and second winding structures provide more storage space for the cables, significantly reducing the probability of exposed, knotted, or scattered cables. This also reduces the occurrence of excessive tension, jamming, or damage to the cables during movement, ensuring the stability and reliability of the cable routing mechanism while extending its service life.

Description

Technical Field

[0001] This invention relates to the field of wiring layout technology, specifically to a wiring mechanism, a robot limb wiring mechanism, a mechanical leg, and a robot. Background Technology

[0002] With the development of the humanoid robot industry and the increase in robot degrees of freedom, the problem of robot joint routing has become increasingly important.

[0003] However, in existing humanoid robots, the wiring is either exposed on the outside of the robot, making it prone to aging, wear, and breakage; or although space is provided inside the humanoid robot to accommodate the wiring, the wiring in the space is scattered and prone to tangling and knotting as the robot moves.

[0004] To address the aforementioned issues, Chinese utility model patent CN216269607U discloses a robot leg wiring fixing structure and a robot, while Chinese utility model patent CN217292308U also discloses a robot leg wiring structure and a robot. These patents both disclose the use of through slots and wiring channels on the connecting rods to allow cables to pass through, thereby preventing tangled wiring and ensuring stable wiring connections.

[0005] However, because the cables are designed with sufficient length to ensure proper robot operation, even with cable routing channels on the linkages, excess cables may still become exposed, tangled, or knotted during robot movement. This can increase safety hazards and cause wear and tear on the components due to repeated friction between the cables and the housing or other parts, thus affecting the robot's lifespan. Summary of the Invention

[0006] To solve at least one of the above-mentioned technical problems, according to one aspect of the present invention, a wiring mechanism is provided.

[0007] The cable routing mechanism is provided with a first winding structure and a second winding structure for accommodating cables; the first winding structure and the second winding structure are configured such that the cable located on the first winding structure can be routed in the opposite direction to the cable located on the second winding structure.

[0008] This invention relates to a wiring scheme for a rotating mechanism consisting of two relatively rotating objects connected by a movable connection. The scheme describes a method for a cable to enter radially from one rotating object and exit from the other without affecting the rotation of the mechanism. The wiring mechanism described is a type of rotating mechanism. During its rotation, the first and second winding structures provide more storage space for the cable, significantly reducing the probability of cable exposure, tangling, and haphazard distribution. It also reduces the risk of excessive tension, jamming, or damage to the cable during operation, ensuring the stability and reliability of the wiring mechanism while extending its service life. This wiring mechanism can be used in any moving mechanism requiring wiring, including robotics and common production and daily life machinery.

[0009] In some embodiments, the first winding structure and the second winding structure are configured to rotate relative to each other about a first center line.

[0010] Therefore, when the first winding structure and the second winding structure rotate around the first center line, the cable can be stored on the first winding structure or the second winding structure. Thus, when the first winding structure and the second winding structure rotate relative to each other, it can be ensured that the cable is stored on the winding structure (first winding structure or second winding structure), thereby reducing the probability of cable exposure, knotting, or scattered distribution.

[0011] In some embodiments, the first winding structure is disposed on the outer periphery of the first center line; and / or the second winding structure is disposed on the outer periphery of the first center line. Therefore, when the first and second winding structures rotate relative to each other, it is possible to prevent the cables in one winding structure from having opposite routing directions, thereby ensuring that the cables on the winding structure maintain a relatively neat routing.

[0012] In some embodiments, the wiring mechanism includes a first winding component, a first winding structure disposed on the first winding component, the first winding component being rotatable relative to the second winding structure about a first center line, the first center line being coaxially disposed with the center line of the first winding component; and / or the wiring mechanism includes a second winding component, the second winding structure being disposed on the second winding component.

[0013] The present invention provides a first winding structure on a first winding component and a second winding structure on a second winding component. The second winding structure rotates relative to the first winding structure around a first central axis to ensure that the cable can be routed neatly on the winding structure (the first winding structure and / or the second winding structure).

[0014] In some embodiments, the first winding structure is disposed on the side of the first winding member facing the second winding member.

[0015] The present invention provides a first winding structure on the side of the first winding component facing the second winding component, which facilitates the easy movement of the cable located on the first winding structure to the second winding structure on the second winding component.

[0016] In some embodiments, the second winding structure is disposed on the side of the second winding member opposite to the first winding member. This prevents interference between cables located on the first winding structure and cables located on the second winding structure; when this wiring mechanism is used on a robot, it also reduces external wiring and improves the robot's aesthetic appearance.

[0017] In some embodiments, the first winding structure is an arc-shaped groove disposed on the first winding component and arranged around the first center line; and / or the second winding structure is an arc-shaped groove disposed on the second winding component and arranged around the first center line. This reduces contact between the cable on the winding structure and other structures when the first and second winding structures rotate relative to each other, lowering the probability of cable damage due to contact wear. Furthermore, the arc-shaped groove arranged around the first center line not only facilitates cable routing and prevents cable scattering, but also provides clearance for other components, ensuring structural compactness. Simultaneously, the arc-shaped groove's arrangement around the first center line also facilitates the cable on the first winding structure to have a routing direction opposite to that of the cable on the second winding structure.

[0018] In some embodiments, at least one of the first winding component and the second winding component is provided with a wire passage groove that connects the arc-shaped recesses provided on both components, so that the cable wound in the arc-shaped recess of the first winding component can pass through the wire passage groove into the arc-shaped recess of the second winding component; and / or at least one of the first winding component and the second winding component is provided with a wire passage opening that connects the arc-shaped recess to the outside, and a first guide mechanism that guides the cable to extend out of the wire passage opening, thereby ensuring that the cable enters the arc-shaped recess neatly.

[0019] In some embodiments, the first guiding mechanism is a wire clamp or cable clamp plate disposed on the inner wall of the arc-shaped groove of at least one of the first winding component and the second winding component. This prevents significant swaying of the cable entering and exiting the arc-shaped groove through the cable threading opening during movement, and reduces frictional wear between the cable and the winding components (first winding component and / or second winding component) during cable movement.

[0020] In some embodiments, the wire guide groove is an arc-shaped through groove. Therefore, during the rotation of the first winding component relative to the second winding component, the interference of the sidewalls of the wire guide groove on the first or second winding component with the cable can be reduced, and the frictional wear between the cable and the winding components (first and / or second winding components) during cable movement can be reduced.

[0021] In some embodiments, the cable guide groove is arranged around the outer periphery of the first center line. Therefore, during the rotation of the first winding member relative to the second winding member, interference from the sidewalls of the cable guide groove on either the first or second winding member can be reduced.

[0022] In some embodiments, the cable routing mechanism further includes a third winding component; the third winding component is provided with a second guide structure that guides the cable into the first winding structure. Thus, the second guide structure ensures that the cable enters the first winding structure neatly and smoothly, preventing the cable from becoming haphazardly distributed.

[0023] In some embodiments, the wiring mechanism further includes a third winding component; the third winding component is configured to drive the first winding component relative to the second center line, thereby increasing the versatility of the wiring mechanism's movement.

[0024] In some implementations, the second guide structure is a cable management channel. This allows for the inclusion of a cable management channel within the existing cable routing mechanism, preventing cables from becoming haphazardly distributed without increasing the number of components in the cable routing mechanism, and also avoiding a large size and weight for the cable routing mechanism.

[0025] In some implementations, the second centerline is not parallel to the first centerline, thereby increasing the versatility of the routing mechanism's movement.

[0026] In some embodiments, the arc-shaped through groove is a "C"-shaped recessed groove, and its opening is aligned with the opening of the arc-shaped recessed groove disposed on the same winding component. This reduces interference to the cable from the sidewalls of the through grooves on either the first or second winding component during rotation of the first winding component relative to the second winding component.

[0027] According to another aspect of the present invention, a robot limb wiring mechanism is provided, which includes the aforementioned wiring mechanism. This wiring mechanism can reduce the probability of tangled cable arrangement in the robot limb wiring mechanism, and reduce the occurrence of problems such as excessive tension, jamming, or damage to the cables during robot limb wiring mechanism movement.

[0028] In some embodiments, the robot limb wiring mechanism further includes at least one of a first joint module, a second joint module, and a third joint module; the first joint module is mounted on a first winding component, and the first joint module is configured such that, under the driving action of the first joint module, a first rotating component can drive a second winding structure to rotate relative to the first winding structure around a first center line; the second joint module is mounted on a second winding component; the third joint module is mounted on a third winding component, and the third joint module is configured such that it can drive the first winding component to rotate relative to the third winding component around a second center line.

[0029] In some implementations, the first joint module is a thigh pitch joint.

[0030] In some implementations, the second joint module is the knee joint of the lower leg.

[0031] In some implementations, the third joint module is the thigh yaw joint.

[0032] In this invention, pitch refers to the pitch angle in Euler angles of rotation around three axes; that is, the thigh pitch joint assembly is used to realize the pitch direction movement of the robot leg. In this invention, yaw describes the rotation angle of an object relative to a reference direction, such as the yaw angle in Euler angles of rotation around three axes; that is, the leg yaw joint assembly is used to realize the yaw direction movement of the robot limb.

[0033] Since the thigh pitch joint, lower leg knee joint, and thigh yaw joint are conventional structures for robot limbs, this invention utilizes the extra internal space of the first winding component for mounting the thigh pitch joint and the second winding component for mounting the lower leg knee joint for wiring. This eliminates the need for hollow joint structures for wiring, thereby reducing the design difficulty of the joint module. At the same time, it avoids the joint module having a large volume and weight, achieving the goals of reducing production costs and improving robot performance.

[0034] In some embodiments, at least one of the first winding structure and the second winding structure is an arc-shaped groove arranged around the first rotating member.

[0035] In the robot limb wiring mechanism of this invention, as part of the robot limb, the inventors faced a challenge in designing the arrangement of each joint module: how to achieve wiring and concealment between joints within a given joint layout without affecting joint rotation. For example, when the first joint module and the second joint module are coaxial, and the axis of the third joint module is not parallel to or perpendicular to the axes of the first and second joint modules, how can the cables passing through the third joint module and other cables be routed between the first rotating component and the second winding component while the first joint module drives the second winding component of the second joint module to rotate? A common approach is to leave the cables exposed, not threaded through the space between the first rotating component and the second winding component. However, exposed cables not only affect the machine's aesthetics but also pose a risk of damage over time due to the machine's movement and potential damage from external objects, affecting the machine's normal operation. Therefore, it is necessary to conceal the cable. However, when concealing the cable, if the cable enters from the side of the second winding component and exits from it, during the rotation of the second winding component where the first joint module drives the second joint module, there will be high-frequency pulling between the cable and the cable entry point of the second winding component, which can easily lead to cable damage. To solve this problem, if the third winding component and the third joint module fixed on it are fixed together on the side (i.e., the top) of the second winding component, the second winding component will rotate along with the third joint during rotation. This will increase the load on the second winding component, and the movement of the third joint module will also cause high-frequency pulling between its connection with other external components, which can easily damage the cable.

[0036] When the first winding structure is positioned on the side of the first winding component facing the second winding component, the influence of cables on components in the first joint module can be avoided. When the second winding structure is positioned on the side of the second winding component away from the first winding component, mutual interference between cables on the first winding structure and cables on the second winding structure can be avoided, and external wiring of the limb can be reduced, improving the aesthetics of the limb's appearance. The wiring mechanism of this invention is particularly suitable for solving the joint wiring problem of robot limbs, especially for humanoid robots. This is because the joint wiring problem is particularly prominent in humanoid robots, and it mainly involves the need to rationally arrange the wiring paths of cables, sensors, actuators, and other components during the design and wiring of robot joints to ensure that the robot is not subjected to problems such as excessive cable tension, jamming, or damage during movement, thereby ensuring the stability and reliability of the humanoid robot's movement.

[0037] According to another aspect of the present invention, a mechanical leg is provided, which includes the aforementioned wiring mechanism; or includes the aforementioned robotic limb wiring mechanism. Therefore, during the movement of the mechanical leg, the problems of excessive tension, jamming, or damage to the cables during movement can be reduced, ensuring the stability and reliability of the mechanical leg's movement while improving its service life.

[0038] According to another aspect of the present invention, a robot is provided, comprising the aforementioned cable-laying mechanism; or comprising the aforementioned robot limb cable-laying mechanism; or comprising the aforementioned mechanical legs. Thus, during robot movement, the occurrence of problems such as excessive tension, jamming, or damage to the cables of the mechanical legs during movement can be reduced, ensuring the reliability of the mechanical leg movement, thereby ensuring the stability of robot movement and improving the robot's service life. Attached Figure Description

[0039] Figure 1 This is a structural schematic diagram of the disassembled state of the wiring mechanism according to an embodiment of the present invention;

[0040] Figure 2 for Figure 1 The diagram shows the structure of the wiring mechanism.

[0041] Figure 3 This is a schematic diagram of the disassembled state structure of the robot limb wiring mechanism according to an embodiment of the present invention.

[0042] Figure 4 This is a schematic diagram of the disassembled state structure of the robot limb wiring mechanism according to an embodiment of the present invention.

[0043] Figure 5 for Figure 4 The diagram shows the structural schematic of the robot's limb wiring mechanism.

[0044] Figure 6 This is a schematic diagram of the disassembled state structure of a mechanical leg according to an embodiment of the present invention;

[0045] Figure 7 for Figure 6 The diagram shows the structure of the mechanical leg.

[0046] Reference numerals: 1. Third joint module; 11. Third winding component; 12. Cable management groove; 2. First joint module; 21. First rotating component; 22. First winding component; 23. First winding structure; 24. First cable threading opening; 25. Cable clamping plate; 3. Second joint module; 31. Second winding component; 32. Second winding structure; 33. Cable clamp; 34. Cable passage groove; 35. Second cable threading opening; 4. Cable. Detailed Implementation

[0047] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0048] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising" or "including" include not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The terminology used herein is generally that commonly used by those skilled in the art; in case of any discrepancy with commonly used terminology, the terminology used herein shall prevail.

[0049] Furthermore, for ease of description, spatial relative terms such as “below,” “under,” “lower,” “above,” and “upper” may be used herein to describe the relationship between one element or component and another (or other) element or component as shown in the figure. In addition to the orientation shown in the figure, spatial relative terms are intended to include different orientations of the device during use or operation. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptors used herein can be interpreted accordingly.

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Figure 1 and Figure 2 The wiring mechanism according to one embodiment of the present invention is shown schematically.

[0052] As shown in Figure 1, the cable routing mechanism includes a first winding component 22 and a second winding component 31. The first winding component 22 has an integrally formed or machined groove to allow the cable 4 to be distributed within the groove. The groove on the first winding component 22 constitutes a first winding structure 23 according to an embodiment of the present invention. The second winding component 31 has an integrally formed or machined groove to allow the cable 4 to be distributed within the groove, and the cable 4 located on the first winding structure 23 can be routed in the opposite direction to the cable 4 located on the second winding structure 32. The groove on the second winding component 31 constitutes a second winding structure 32 according to an embodiment of the present invention.

[0053] Therefore, during the movement of the cable routing mechanism, when the first winding structure 23 rotates relative to the second winding structure 32, the cable 4 can still pass through the rotating mechanism and be stored on the first winding structure 23, or the cable 4 can be stored on the second winding structure 32. This achieves cable routing of the rotating mechanism without affecting the relative rotation of the first winding structure 23 and the second winding structure 32, and reduces the probability of cable 4 being exposed, knotted, or scattered. It also reduces the occurrence of problems such as excessive tension, jamming, or damage to the cable 4 during the movement of the cable routing mechanism. While ensuring the stability and reliability of the movement of the cable routing mechanism, it also improves the service life of the cable routing mechanism.

[0054] In some preferred embodiments, the first winding structure 23 and the second winding structure 32 are configured to rotate relative to each other around a first center line. When the first winding structure 23 rotates relative to the second winding structure 32 around the first center line, the cable 4 can be stored on the first winding structure 23 (e.g., when the first winding structure 23 rotates clockwise relative to the second winding structure 32), or the cable 4 can be stored on the second winding structure 32 (e.g., when the first winding structure 23 rotates counterclockwise relative to the second winding structure 32). This ensures that the cable 4 is stored on the winding structures when the first winding structure 23 and the second winding structure 32 rotate relative to each other, thereby reducing the probability of the cable 4 being exposed, knotted, or scattered.

[0055] In some preferred embodiments, such as Figure 1 As shown, the groove provided on the first winding component 22 is an arc-shaped groove, that is, the first winding structure 23 is an arc-shaped groove.

[0056] In some preferred embodiments, such as Figure 1 As shown, the groove provided on the second winding component 31 is an arc-shaped groove, that is, the second winding structure 32 is an arc-shaped groove.

[0057] In some preferred embodiments, the arc-shaped groove provided on the first winding component 22 is an annular groove, that is, the first winding structure 23 is an annular groove, and the annular groove is arranged around the first center line, so that the cable 4 can be wound on the annular groove, avoiding the cable 4 from being scattered, and also providing clearance space for the first center line to ensure the compactness of the wiring mechanism structure.

[0058] In some preferred embodiments, the arc-shaped groove on the second winding component 31 is a "C"-shaped groove, that is, the second winding structure 32 is a "C"-shaped groove, to ensure that the winding direction of the cable 4 wound on the first winding structure 23 is opposite to that of the cable 4 wound on the second winding structure 32; it can also provide clearance space for the connection structure of the first winding component 22 and the second winding component 31, as well as other structures, to ensure the compactness of the wiring mechanism. Preferably, the opening of the "C"-shaped arc-shaped groove faces the first center line.

[0059] In some preferred embodiments, such as Figure 1 As shown, the arc-shaped groove on the first winding component 22 is positioned towards the side where the second winding component 31 is located, so that the cable 4 wound on the first winding structure 23 can be easily wound onto the second winding structure 32 on the second winding component 31; moreover, it can achieve the concealment of the cable 4 while avoiding the problem of high-frequency pulling when the cable 4 is routed.

[0060] In some preferred embodiments, reference continues to be made to Figure 1 As shown, the arc-shaped groove on the second winding component 31 is located away from the side where the first winding component 22 is located, so as to avoid the cable 4 wound on the first winding structure 23 and the cable 4 wound on the second winding structure 32 from interfering with each other. Moreover, when the first winding structure 23 is located on the side of the first winding component 22 facing the second winding component 31, and the second cable 4 structure is located on the side of the second winding component 31 away from the first winding component 22, the external wiring can be reduced and the aesthetics of the appearance can be improved.

[0061] In some preferred embodiments, such as Figure 1 As shown, at least one of the first winding component 22 and the second winding component 31 is provided with a wire guide groove 34 that connects the arc-shaped grooves provided on both. In some specific embodiments, reference continues to this section. Figure 1As shown, the through groove 34 is a through groove penetrating the second winding component 31, so that the cable 4 wound in the arc-shaped recess of the first winding component 22 can pass through the through groove 34 into the arc-shaped recess on the second winding component 31. The through groove 34 can be an arc-shaped, rectangular, circular, or elliptical channel. Preferably, the through groove 34 is an arc-shaped through groove to reduce the interference of the sidewall of the through groove 34 on the first winding component 22 or the second winding component 31 on the cable 4 during the rotation of the first winding component 22 relative to the second winding component 31, thereby reducing the friction and wear between the cable 4 and the winding components (first winding component 22 and / or second winding component 31) during the movement. Preferably, the through groove 34 is arranged around the outer periphery of the first center line. More preferably, the arc-shaped through groove on the first winding component 22 is arranged around the outer periphery of the first center line, so as to reduce the interference of the sidewall of the wire-passing groove 34 on the first winding component 22 or the second winding component 31 on the cable 4 during the rotation of the first winding component 22 relative to the second winding component 31. More preferably, the arc-shaped through groove is a "C"-shaped through groove, and its opening is arranged in the same direction as the opening of the arc-shaped recess on the winding component (including the first winding component 22 and / or the second winding component 31, for example, specifically implemented as a winding plate), so as to reduce the interference of the sidewall of the wire-passing groove 34 on the first winding component 22 or the second winding component 31 on the cable 4 during the rotation of the first winding component 22 relative to the second winding component 31.

[0062] In some preferred embodiments, such as Figure 1 As shown, at least one of the first winding component 22 and the second winding component 31 has a first guiding mechanism on the inner wall of the sink. For example, a cable clamping plate 25 is provided on the first winding component 22, and a wire clamp 33 is provided on the second winding component 31. The first winding component 22 and the second winding component 31, which have the wire clamp 33, have integrally formed or machined wire-passing openings that connect the sink to the outside. For example, the first winding component 22 has a first wire-passing opening 24 connecting the sink to the outside, and the second winding component 31 has a second wire-passing opening 35 connecting the sink to the outside. The wire clamp 33 or the cable clamping plate 25 can guide the cable 4 as it enters and exits through the wire-passing openings. This ensures that the cable 4 enters and exits the sink neatly; it also prevents the cable 4 from swaying excessively during movement, reducing friction and wear between the cable 4 and the winding plate (first winding component 22 and / or second winding component 31) during movement.

[0063] As one embodiment of the cable clamping plate 25, the cable clamping plate 25 is fixedly connected to the first winding component 22, and a receiving space for accommodating the cable 4 is formed between the two. The receiving space can be realized by the groove on the first winding component 22 or the cable clamping plate 25, or it can be formed by the groove on the first winding component 22 and the cable clamping plate 25 together.

[0064] In this invention, the wire clamp 33 adopts the wire clamp commonly used in the prior art, or it can be implemented in the form of a cable clamping plate 25.

[0065] In some embodiments, the wire clamp 33 or the cable clamping plate 25 constitutes a first guiding mechanism in one embodiment of the present invention for guiding the cable 4 through the wire threading opening.

[0066] In some preferred embodiments, such as Figure 1 and Figure 2 As shown, the cable routing mechanism also includes a third winding component 11; wherein, the third winding component 11 is provided with a cable management groove 12 to guide the cable 4 into the first winding structure 23. Therefore, this cable routing mechanism can reduce the probability of the cable 4 being scattered, and reduce the occurrence of problems such as excessive tension, jamming, or damage to the cable 4 during the operation of the cable routing mechanism. As one embodiment of the cable management groove 12, the cable management groove 12 is an integrally formed or machined groove on the third winding component 11. In some specific embodiments of the cable management groove 12, the cable management groove 12 extends to both ends in different directions to form an "L"-shaped groove structure. One end of the "L"-shaped cable management groove 12 is connected to the third winding component 11 and its extension direction is parallel to the axis of the third winding component 11; the other end of the "L"-shaped cable management groove 12 is connected to the first winding component 22 and its extension direction is parallel to the axis of the first winding component 22; the cable 4 between the third winding component 11 and the first winding component 22 can be routed according to the shape of the "L"-shaped cable management groove 12 to ensure that the third winding component 11 and the first winding component 22 are connected. The cables 4 between the first winding components 22 can be neatly routed; moreover, since one end of the "L"-shaped cable management groove 12 is connected to the third winding component 11 and its extension direction is parallel to the axis of the third winding component 11, the cables 4 are not easily twisted even when the first winding component 22 rotates relative to the third winding component 11 around the axis of the third winding component 11; moreover, when the first winding component 22 is also provided with a first guide mechanism to guide the cables 4 through the wire threading opening, it can also ensure that the cables 4 can be smoothly arranged on the first winding structure 23 of the first winding component 22.

[0067] In some embodiments, continue to refer to Figure 3 and Figure 4The cable management groove 12 constitutes a second guide structure in one embodiment of the present invention for guiding the cable 4 extending from the third joint module 1.

[0068] In other embodiments, unlike the aforementioned embodiments, the second winding member 31 does not have a wire-passing groove 34, but instead has a wire-passing groove 34 that passes through the first winding member 22; the first winding structure 23 on the first winding member 22 is positioned away from the second winding member 31; and the second winding structure 32 on the second winding member 31 is positioned towards the first winding member 22. This allows the cable 4 located in the arc-shaped recess of the first winding member 22 to pass through the wire-passing groove 34 into the arc-shaped recess on the second winding member 31.

[0069] Figures 3 to 5 A robot limb wiring mechanism according to an embodiment of the present invention is schematically shown. The robot limb may be, for example, a leg or an arm.

[0070] like Figure 3 As shown, the robot limb wiring mechanism includes the aforementioned wiring mechanism. Therefore, this wiring mechanism can reduce the probability of the cables 4 of the robot limb wiring mechanism being scattered, and reduce the occurrence of problems such as excessive tension, jamming, or damage to the cables 4 during robot limb wiring mechanism movement.

[0071] In some preferred embodiments, such as Figure 3 As shown, the robot limb wiring mechanism further includes at least one of a first joint module 2, a second joint module 3, and a third joint module 1. At least one of the first joint module 2 and the second joint module 3 is a joint module commonly used in robot limb wiring mechanisms, such as a joint module commonly used in robots. This invention does not limit the specific form of the joint module.

[0072] In some preferred embodiments, such as Figure 3As shown, the first joint module 2 is a thigh pitch joint. Since the thigh pitch joint is a conventional structure for robot legs, this invention fully and rationally utilizes the extra space inside the robot leg structure for wiring, eliminating the need for a hollow joint structure. This reduces the design difficulty of the joint module, achieving the goals of lowering production costs and improving robot performance. Preferably, the first joint module 2 is mounted on the first winding component 22. Preferably, the first joint module 2 is mounted on the side of the first winding component 22 facing away from the second winding component 31. By providing a first winding structure 23 on the first winding component 22 and positioning the first winding structure 23 on the side of the first winding component 22 facing the second winding component 31 (i.e., the side facing away from the first joint module 2), this invention fully and rationally utilizes the extra space inside the robot leg structure for wiring, eliminating the need for a hollow joint structure and avoiding a large volume and weight for the first joint module 2.

[0073] In some preferred embodiments, such as Figure 4 As shown, the first joint module 2 also includes a first rotating member 21. The outer shell of the first joint module 2 is fixedly mounted on the first winding component 22. The first rotating member 21 is fixedly connected to the second winding component 31. The first joint module 2 is configured such that, under the drive of the first joint module 2, the first rotating member 21 can drive the second winding structure 32 (disposed on the second winding component 31) to rotate relative to the first winding structure 23 (disposed on the first winding component 22) around a first center line. The first center line is coaxial with the center line of the first rotating member 21. The first rotating member 21 can be, for example, the output shaft of the first joint module 2, or a flange mounted on the output shaft of the first joint module. In some preferred embodiments, the first winding structure 23 is an annular groove and is disposed around the first rotating member 21 to provide clearance space for the first rotating member 21, thereby ensuring the compactness of the wiring mechanism structure. In some preferred embodiments, the first rotating member 21 does not contact the first winding component 22 to avoid the first winding structure 22 affecting the rotation effect of the first rotating member 21. In some preferred embodiments, such as... Figure 5 As shown, the second winding structure 32 is a "C"-shaped recess, and the opening of the "C"-shaped arc recess faces the first rotating member 21. This provides clearance for the connection structure of the first winding component 22 and the second winding component 31, as well as other structures, ensuring the compactness of the wiring mechanism. In some preferred embodiments, such as... Figure 5As shown, the wire groove 34 is arranged around the outer periphery of the first rotating member 21. In particular, when the wire groove 34 is an arc-shaped through groove, especially a "C"-shaped through groove, it is arranged around the outer periphery of the first rotating member 21, and its opening is arranged in the same direction as the opening of the arc-shaped recess on the winding member (including the first winding member 22 and / or the second winding member 31, for example, specifically implemented as a winding plate). This is to reduce the interference of the sidewall of the wire groove 34 on the first winding member 22 or the second winding member 31 on the cable 4 during the rotation of the first winding member 22 relative to the second winding member 31.

[0074] In some preferred embodiments, reference continues to be made to Figure 3 As shown, the first joint module 2 is configured such that, driven by the first joint module 2, the first rotating member 21 can drive the second winding structure 32 to rotate relative to the first winding structure 23 around the first center line.

[0075] In some preferred embodiments, such as Figure 3 As shown, the second joint module 3 is a lower leg knee joint. The second joint module 3 is mounted on the second winding component 31. Specifically, the outer shell of the second joint module 3 is fixedly mounted on the second winding component 31. The output shaft of the second joint module 3 does not contact the second winding component 31, ensuring that the output shaft of the second joint module 3 can drive other components to move relative to the second winding component 31 under the driving action of the second joint module 3, such as driving the lower leg assembly to move relative to the second winding component 31. Preferably, the second winding component 31 is a thigh assembly. Since the thigh assembly is a conventional structure for robot legs, this invention fully and rationally utilizes the extra space inside the robot leg structure for wiring, eliminating the need for a hollow joint structure for wiring. This reduces the design difficulty of the joint module, avoids a large volume and weight for the joint module, and achieves the goal of reducing production costs and improving robot performance.

[0076] In some preferred embodiments, reference continues to be made to Figure 3 As shown, the third joint module 1 is a thigh yaw joint. The third joint module 1 is mounted on the third winding component 11. Specifically, the outer shell of the third joint module 1 is fixedly mounted on the third winding component 11. The output shaft of the third joint module 1 does not contact the third winding component 11, so that under the driving action of the third joint module 1, the output shaft of the third joint module 1 can drive the first winding component 22 to rotate relative to the third winding component 11 around the second center line, and the second center line is not parallel to the first center line. Preferably, the second center line is perpendicular to the first center line.

[0077] Figure 6 and Figure 7 A mechanical leg according to an embodiment of the present invention is shown as an example.

[0078] like Figure 6 and Figure 7 As shown, the mechanical leg includes the aforementioned cable routing mechanism; or it includes the aforementioned robot limb cable routing mechanism. Therefore, when this mechanical leg is used in a robot, during robot movement, it can reduce the occurrence of problems such as excessive tension, jamming, or damage to the cable 4, ensuring the stability and reliability of the robot's movement while improving the robot's service life.

[0079] In some preferred embodiments, the mechanical leg also includes a cable 4; the mechanical leg is also provided with a lubricating medium to lubricate the cable 4, such as lubricating oil to provide lubrication for the cable 4. The lubricating oil can be placed in an arc-shaped groove or coated on the outer periphery of the cable 4. The lubricating oil can be the kind commonly used for robot joints. The present invention does not limit the specific type of lubricating oil. Alternatively, a wear-resistant structure can be provided on the cable 4. The wear-resistant structure can be wrapped or integrally formed on the surface of the cable 4. The wear-resistant structure can be made of commonly used wear-resistant materials, such as wear-resistant plastics (e.g., nylon, polycarbonate, polyetheretherketone, polyoxymethylene, polytetrafluoroethylene, etc.), ABS, etc.

[0080] In some preferred embodiments, cable 4 is a highly flexible cable, which is a commonly used highly flexible cable or highly flexible drag chain cable in the prior art. The present invention does not limit the specific properties of the highly flexible cable. The highly flexible cable has high flexibility, bending resistance, torsion resistance and tensile resistance, and is usually composed of a conductor with multiple strands of fine copper wires twisted together, special insulation materials and a sheath; it can work stably for a long time in environments with frequent movement, bending and torsion.

[0081] A robot according to one embodiment of the present invention includes the aforementioned wiring mechanism; or includes the aforementioned robot limb wiring mechanism; or includes the aforementioned mechanical legs. When the wiring mechanism or the robot limb or mechanical leg having the wiring mechanism is used on the robot, the external wiring of the robot can be reduced, and the aesthetic appearance of the robot can be improved.

[0082] In this invention, the connection or installation is a fixed connection unless otherwise specified. A fixed connection can be implemented as a detachable or non-detachable connection commonly used in the prior art. A detachable connection can be implemented using existing technologies, such as threaded connections or keyed connections. A non-detachable connection can also be implemented using existing technologies, such as welding or adhesive bonding.

[0083] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A wiring mechanism, characterized in that, The cable routing mechanism is provided with a first winding structure (23) and a second winding structure (32) for accommodating the cable (4); the first winding structure (23) and the second winding structure (32) are configured such that the cable (4) located on the first winding structure (23) can be routed in the opposite direction to the cable (4) located on the second winding structure (32).

2. The wiring mechanism according to claim 1, characterized in that, The first winding structure (23) and the second winding structure (32) are configured to be able to rotate relative to each other about the first center line.

3. The wiring mechanism according to claim 2, characterized in that, The first winding structure (23) is disposed on the outer periphery of the first center line; and / or The second winding structure (32) is disposed on the outer periphery of the first center line.

4. The wiring mechanism according to claim 2, characterized in that, Including a first winding component (22), a first winding structure (23) disposed on the first winding component (22), the first winding component (22) being rotatable relative to the second winding structure (32) about a first center line, the first center line being coaxially disposed with the center line of the first winding component (22); and / or It includes a second winding component (31), and the second winding structure (32) is disposed on the second winding component (31).

5. The wiring mechanism according to claim 4, characterized in that, The first winding structure (23) is disposed on the side of the first winding member (22) facing the second winding member (31); and / or The second winding structure (32) is disposed on the side of the second winding component (31) opposite to the first winding component (22).

6. The wiring mechanism according to claim 4, characterized in that, The first winding structure (23) is an arc-shaped groove disposed on the first winding component (22) and arranged around the first center line; and / or The second winding structure (32) is an arc-shaped groove provided on the second winding component (31) and arranged around the first center line.

7. The wiring mechanism according to claim 6, characterized in that, At least one of the first winding component (22) and the second winding component (31) is provided with a wire passage groove (34) that connects the arc-shaped grooves provided on both; and / or At least one of the first winding component (22) and the second winding component (31) is provided with a threading opening that connects the arc-shaped groove to the outside, and a first guide mechanism that guides the cable (4) to extend out of the threading opening.

8. The wiring mechanism according to claim 7, characterized in that, The first guiding mechanism is a wire clamp (33) or a cable clamping plate (25) disposed on the inner wall of the arc-shaped groove of at least one of the first winding component (22) and the second winding component (31).

9. The wiring mechanism according to claim 8, characterized in that, The wire groove (34) is arranged around the outer periphery of the first center line.

10. The wiring mechanism according to any one of claims 2 to 9, characterized in that, It also includes a third winding component (11); wherein, The third winding component (11) is provided with a second guide structure that provides guidance for the cable (4) to enter the first winding structure (23); and / or The third winding component (11) is configured to drive the first winding component (22) relative to the second center line.

11. The wiring mechanism according to claim 10, characterized in that, The second guiding structure is a cable channel (12); and / or The second centerline is not parallel to the first centerline.

12. A robot limb wiring mechanism, characterized in that, Includes the wiring mechanism as described in any one of claims 1 to 11.

13. The robot limb wiring mechanism according to claim 12, characterized in that, It also includes at least one of the three joint modules (2), (3) and (1); The first joint module (2) is mounted on the first winding component (22). The first joint module (2) is configured such that, under its driving action, the first rotating component (21) can drive the second winding structure (32) to rotate relative to the first winding structure (23) around the first center line. The second joint module (3) is mounted on the second winding component (31); The third joint module (1) is mounted on the third winding component (11), and the third joint module (1) is configured to drive the first winding component (22) to rotate relative to the third winding component (11) around the second center line.

14. The robot limb wiring mechanism according to claim 13, characterized in that, At least one of the first winding structure (23) and the second winding structure (32) is an arc-shaped groove arranged around the first rotating member (21).

15. A mechanical leg, characterized in that, Includes the wiring mechanism as described in any one of claims 1 to 11; or Includes the robot limb wiring mechanism as described in any one of claims 12 to 14.

16. A robot, characterized in that, Includes the wiring mechanism as described in any one of claims 1 to 11; or Including the robot limb wiring mechanism as described in any one of claims 12 to 14; or Including the mechanical leg as described in claim 15.

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