Multi-degree-of-freedom joint structure of robot and robot

Abstract

This application provides a multi-degree-of-freedom joint structure for a robot and the robot itself. The multi-degree-of-freedom joint structure includes a base; a first motor and a first output component with a first wiring perforation are arranged along a first axis and mounted on the base; a second motor and a second output component with a second wiring perforation are spaced apart from the base and mounted on the first output component; two strands of a wiring harness assembly pass through the first wiring perforation, one strand passes through the second wiring perforation and extends towards the second motor, and the other strand extends along the second output component towards a second location; a limiting unit is disposed on the base, the first output component, or the second output component to limit the wiring harness. This application eliminates the need for a hollow motor, reducing cost and size. By constraining the movement trajectory of the wiring harness through the limiting unit, friction between the wiring harness and other components is reduced, thereby improving the operational reliability of the robot's multi-degree-of-freedom joint structure.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a multi-degree-of-freedom joint structure for a robot and the robot itself. Background Technology

[0002] In the existing technology, the arrangement of wiring harnesses in the narrow space of humanoid robots, such as the neck, faces a dilemma: if hollow motors are used for wiring, the wiring harness can be built-in, but the motors are expensive and the outer diameter is increased, which is not conducive to the overall lightweighting and cost control; if external wiring is used, there is a risk of damage from external collisions. Summary of the Invention

[0003] This application addresses the shortcomings of existing methods by proposing a multi-degree-of-freedom joint structure and robot to solve the technical problems of low reliability and high cost of robot wiring in related technologies.

[0004] In a first aspect, embodiments of this application provide a multi-degree-of-freedom joint structure for a robot, comprising: Base; A first motor and a first output component are arranged along a first axis. The first fixed part of the first motor is mounted on a base. The first output component has a first wiring cutout and is connected to the first rotating part of the first motor to rotate around the first axis. The second motor and the second output component are spaced apart from the base along the first axis; the second fixed part of the second motor is mounted on the first output component; the second output component has a second wiring cutout and is connected to the second rotating part of the second motor to rotate around the second axis. The wiring harness assembly includes a part wiring harness and a motor wiring harness. The motor wiring harness extends from the first motor, and the part wiring harness extends from the first part. The wiring harness assembly converges into a single moving segment near the base. The moving segment passes through the first wiring cutout and separates into the part wiring harness and the motor wiring harness. The motor wiring harness passes through the second wiring cutout and extends towards the vicinity of the second motor. The part wiring harness extends along the second output component towards the second part. The limiting unit has at least one and is disposed at at least at one of the following locations: on the base, at a first output near the top of the second motor, and on the second output; the limiting unit is configured to limit the passing wire harness assembly or wire harness.

[0005] In some possible embodiments, the base includes a base plate and a protrusion extending along a first axis; a first through groove in the base plate communicates with a second through groove in the protrusion; The first fixing part is located below the protrusion, and part of the outer peripheral surface of the first fixing part is in contact with the inner wall of the first through groove; At least a portion of the first output component is located in the second through slot, and a bearing is installed between the inner wall of the second through slot and the first output component in the radial plane of the first axis.

[0006] In some possible embodiments, along the first axis, the first motor, the first wiring cutout, the second motor, and the second wiring cutout are arranged in sequence.

[0007] In some possible embodiments, the first output component includes a first connecting portion, a first wire passing portion, and a first mounting portion distributed sequentially along a first direction; the first direction is the direction in which the first axis is away from the first motor; The first connecting part is connected to the first rotating part, the first wire routing cutout is located in the first wire passing part, and the second fixing part of the second motor is fixedly connected to the first mounting base part.

[0008] In some possible embodiments, both the first wire guide portion and the main body portion of the first mounting base are parallel to the axial plane of the first axis. Along the second axis, the second motor and the second output component are located on both sides of the main body of the first mounting base.

[0009] In some possible embodiments, the second output component includes a second connecting portion, a second wire guide portion, a second mounting base portion, and a third mounting base portion distributed sequentially along the first direction; the second connecting portion is connected to the second rotating portion, the second wire routing cutout is located in the second wire guide portion, and the second portion is fixedly connected to the third mounting base portion; a limiting unit is disposed in the second mounting base portion, and the main body portions of the second connecting portion, the second wire guide portion, and the third mounting base portion are all parallel to the axial plane of the first axis.

[0010] In some possible embodiments, the limiting unit includes a first fixing component, a second fixing component, and a third fixing component; the first fixing component is disposed on the base; the second fixing component is connected to the first output component and is located on the side of the second motor away from the base; the third fixing component is disposed on the second output component; The moving section of the wiring harness passes through and is confined to the first fixing component; the motor wiring harness passes through the second wiring cutout, extends to and is confined to the second fixing component; the part wiring harness extends along the second output component, passes through and is confined to the third fixing component, and extends towards the second part.

[0011] In some possible embodiments, the robot's multi-degree-of-freedom joint structure further includes a support member disposed between the base and the first fixing component; the support member has a ramp structure extending along a second direction, and the inclined surface of the ramp structure gradually moves away from the base; the second direction is a direction that is perpendicular to both the direction parallel to the first axis and the direction parallel to the second axis, and is away from the first fixing component.

[0012] In some possible embodiments, the first motor and / or the second motor are non-hollow motors.

[0013] In some possible embodiments, the limiting unit includes at least one of cable ties, buckles, or wire clips.

[0014] In some possible embodiments, the first part is the robot's torso, and the second part is the robot's head.

[0015] Secondly, embodiments of this application provide a robot, including a multi-degree-of-freedom joint structure of the robot as described in any of the first aspects above.

[0016] In some possible embodiments, the robot's multi-degree-of-freedom joint structure is at least one of the neck structure, arm structure, or lower limb structure of a humanoid robot.

[0017] The beneficial technical effects of the technical solution provided in this application include: by setting a first wiring cutout and a second wiring cutout on the first output component and the second output component respectively, the wiring harness assembly does not need to pass through the center of the motor body, thereby allowing the use of a non-hollow motor and reducing the cost of the motor.

[0018] When the limiting unit is set on the base, the wire harness is limited to a stationary position relative to the first fixed part of the first motor at the limiting unit. Whether the other end of the wire harness is connected to the interface of the first motor or to the first part, both ends of the wire harness are stationary, thereby reducing the risk of the wire harness shaking during robot operation and reducing the risk of friction between the wire harness and other components.

[0019] When the limiting unit is located near the first output component above the second motor, the wire harness is limited at the limiting unit and relatively stationary relative to the second fixed part of the second motor. The wire harness is then connected to the interface of the second motor, and both ends of the wire harness are also relatively stationary, thereby reducing the risk of the wire harness shaking during robot operation and reducing the risk of friction between the wire harness and other components.

[0020] When the limiting unit is set on the second output component, the wire harness is limited at the limiting unit to be relatively stationary relative to the second output component. The second part also moves with the second output component, so the two ends of the wire harness are also relatively stationary, which further reduces the risk of the wire harness shaking when the robot is running and reduces the risk of the wire harness rubbing against other components.

[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of a multi-degree-of-freedom joint structure and a robot head provided in an embodiment of this application.

[0023] Figure 2 for Figure 1 A schematic diagram of the multi-degree-of-freedom joint structure of the robot.

[0024] Figure 3 for Figure 1 A right-side view of a portion of the multi-degree-of-freedom joint structure of the robot.

[0025] Figure 4 for Figure 3 Sectional view at AA.

[0026] Figure 5 for Figure 4 A magnified view of a portion at point b.

[0027] Figure 6 for Figure 1 A schematic diagram of the multi-degree-of-freedom joint structure of a robot from another perspective.

[0028] Figure 7 for Figure 2 A front view schematic diagram of the multi-degree-of-freedom joint structure of the robot.

[0029] Figure 8 for Figure 2 The diagram is shown from the right side of the multi-degree-of-freedom joint structure of the robot.

[0030] Figure 9 for Figure 2 A left-side view of the multi-degree-of-freedom joint structure of the robot.

[0031] Figure label: 100-Multi-degree-of-freedom joint structure of robots; 1-Base, 11-Bottom plate, 12-Protrusion; 101-First through groove, 102-Second through groove; 2-First motor, 21-First fixed part, 22-First rotating part; 3-First output component, 31-First connecting part, 32-First wire guide part, 33-First mounting base part; 321 - First wiring cutout; 4-Bearings; 5-Second motor, 51-Second fixed part, 52-Second rotating part; 6-Second output component, 61-Second connecting part, 62-Second wire guide part, 63-Second mounting base part; 64-Third mounting base part, 621-Second wire routing cutout; 7-Wire harness assembly; 71-Partial wire harness; 72-Motor wire harness; 73-Wire harness moving segment; 731-First wire harness moving sub-segment; 732-Second wire harness moving sub-segment; 8-Supporting component; 9-Limiting unit, 91-First fixing component, 92-Second fixing component, 93-Third fixing component; F1 - First direction, F2 - Second direction; A - First axis, B - Second axis; 200 - Second part. Detailed Implementation

[0032] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0033] Those skilled in the art will understand that, unless specifically stated otherwise, the terms "described" and "the" as used herein may also include plural forms. It should be further understood that the term "comprising" as used in the specification of this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude other features, information, data, steps, operations, elements, components, and / or combinations thereof supported by the art. The term "and / or" as used herein refers to at least one of the items defined by the term; for example, "A and / or B" can be implemented as "A," or as "B," or as "A and B."

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0035] The research and development ideas of this application include: In related technologies, the arrangement of wire harnesses in the narrow space of humanoid robots such as the neck faces a dilemma: if hollow motors are used for wiring, although the wire harnesses can be built-in, the motors are expensive and the outer diameter is increased, which is not conducive to the overall lightweighting and cost control; if external wiring is used, there is a risk of damage from external collisions.

[0036] The multi-degree-of-freedom joint structure and robot provided in this application are intended to solve the above-mentioned technical problems in related technologies.

[0037] The technical solution of this application and how it solves the above-mentioned technical problems are described in detail below with specific embodiments. It should be noted that the following embodiments can be referenced, borrowed, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0038] The term "multi-degree-of-freedom" as used in this application refers to a system that includes at least two degrees of freedom, where at least two degrees of freedom include two degrees of freedom.

[0039] Please refer to Figures 1 to 5 This application provides a multi-degree-of-freedom joint structure 100 for a robot, including: a base 1, a first motor 2, a first output component 3, a second motor 5, a second output component 6, a wiring harness assembly 7, and a limiting unit 9.

[0040] The first motor 2 and the first output component 3 are arranged along the first axis A. The first fixed part 21 of the first motor 2 is mounted on the base 1. The first output component 3 has a first wiring cutout 321 and is connected to the first rotating part 22 of the first motor 2 to rotate around the first axis A.

[0041] The second motor 5 and the second output component 6 are spaced apart from the base 1 along the first axis A; the second fixing part 51 of the second motor 5 is mounted on the first output component 3; the second output component 6 has a second wiring cutout 621, which is connected to the second rotating part 52 of the second motor 5 to rotate around the second axis B.

[0042] The wiring harness assembly 7 includes two wire harnesses, each extending from the first part and the first motor 2, and both passing through the first wiring cutout 321. One wire harness passes through the second wiring cutout 621 and extends towards the vicinity of the second motor 5, while the other wire harness extends along the second output member 6 towards the second part 200.

[0043] The limiting unit 9 has at least one and is disposed at at least at the following locations: on the base 1, at the first output member 3 near the second motor 5, and on the second output member 6; the limiting unit 9 is configured to limit the passing wire harness assembly 7 or wire harness.

[0044] In this embodiment, "above" refers to the direction along the first axis A from the first motor 2 toward the second motor 5, and "below" refers to the direction along the first axis A from the second motor 5 toward the first motor 2.

[0045] In this embodiment of the application, by setting a first wiring cutout 321 on the first output component 3 and a second wiring cutout 621 on the second output component 6, the wiring harness assembly 7 does not need to pass through the center of the motor body for wiring, thereby allowing the use of a non-hollow motor and reducing motor costs.

[0046] When the limiting unit 9 is provided on the base 1, the wire harness is limited at the limiting unit 9 to be stationary relative to the first fixing part 21 of the first motor 2. Regardless of whether the other end of the wire harness is connected to the interface of the first motor 2 or to the first part, the wire harness is stationary relative to the base 1 at the limiting unit 9 on the base 1. This can reduce the risk of the wire harness shaking during robot operation and reduce the risk of friction between the wire harness and other components.

[0047] When the limiting unit 9 is located at the first output member 3 near the second motor 5, the wire harness is limited at the limiting unit 9 to be stationary relative to the second fixing part 51 of the second motor 5. The other end of the wire harness is connected to the interface of the second motor 5. The wire harness is stationary relative to the first output member 3 at the limiting unit 9 on the first output member 3, thereby reducing the risk of the wire harness shaking during robot operation and reducing the risk of friction between the wire harness and other components.

[0048] With the limiting unit 9 positioned on the second output member 6, the wiring harness is limited at the limiting unit 9 to remain stationary relative to the second output member 6. The other end of the wiring harness is connected to the second part 200, which moves with the second output member 6. The wiring harness remains stationary relative to the second output member 6 at all limiting units 9 on the second output member 6, thereby reducing the risk of the wiring harness swaying during robot operation and reducing the risk of friction between the wiring harness and other components. The wiring harness is hidden inside the robot's multi-degree-of-freedom joint structure 100, not exposed externally, and does not affect the overall appearance of the robot. The wiring is neat and aesthetically pleasing, facilitating maintenance personnel to locate and troubleshoot wiring harness faults. This overcomes the shortcomings of existing external wiring schemes that affect the overall appearance of the robot and make the wiring harness susceptible to collision damage.

[0049] Specifically, the first fixed part 21 of the first motor 2 is fixedly mounted on the base 1. The first motor 2 and the first output component 3 are arranged along the first axis A. The first output component 3 is fixedly connected to the first rotating part 22 of the first motor 2, and rotates relative to the first fixed part 21 around the first axis A via the first rotating part 22. The second fixed part 51 of the second motor 5 is mounted on the first output component 3. The second motor 5 and the second output component 6 are arranged along the first axis A, and there is a gap between them and the base 1 along the first axis A. The second output component 6 is fixedly connected to the second rotating part 52 of the second motor 5, and rotates relative to the second fixed part 51 around the second axis B via the second rotating part 52. Thus, when the first motor 2 drives the first output component 3 to rotate around the first axis A, the second motor 5 and the second output component 6 mounted on the first output component 3 rotate together around the first axis A; when the second motor 5 drives the second output component 6 to rotate around the second axis B, the second part 200 connected to the second output component 6 rotates together around the second axis B, thereby realizing a composite motion output with two degrees of freedom.

[0050] Continue to refer to Figures 1 to 6 and in conjunction with reference Figure 7The wiring harness assembly 7 includes a part wiring harness 71 and a motor wiring harness 72. The motor wiring harness 72 extends from the first motor 2, and the part wiring harness 71 extends from the first part. The wiring harness assembly 7 converges into a single wire harness moving segment 73 near the base 1. The wire harness moving segment 73 passes through the first wiring cutout 321 and separates into the part wiring harness 71 and the motor wiring harness 72. The motor wiring harness 72 passes through the second wiring cutout 621 and extends towards the vicinity of the second motor 5. The part wiring harness 71 extends along the second output member 6 towards the second part 200.

[0051] Specifically, the motor harness 72 extends from the first motor 2, and the part harness 71 extends from the first part. The two harnesses converge into a single moving section 73 near the base 1. After passing through the first wiring cutout 321, the moving section 73 separates into the part harness 71 and the motor harness 72. The motor harness 72 passes through the second wiring cutout 621 and extends towards the vicinity of the second motor 5 to supply power to the second motor 5. The part harness 71 extends along the second output component 6 towards the second part 200 to transmit signals and power to the second part 200.

[0052] It is understandable that, since the part harness 71 and the motor harness 72 converge into a single harness movement segment 73 near the base 1 and pass through the first wiring perforation 321 together, the two harnesses share the same motion trajectory at this stage, rather than moving independently. This reduces the risk of collisions, friction, and entanglement caused by multiple harnesses moving along different trajectories. After passing through the first wiring perforation 321, the two harnesses separate and extend. The motor harness 72 extends along the first output component 3 to the second wiring perforation 621, while the part harness 71 extends along the second output component 6 towards the second part 200, without interfering with each other. Since the section integrated into a single harness movement segment 73 is precisely the section where the harness has the greatest momentum and is most prone to interference during joint movement, this integration method reduces the risk of collisions and friction between the harnesses during joint movement, improving the reliability of the harnesses under multi-degree-of-freedom composite motion.

[0053] Optionally, the protrusion 12 of the base 1 is located in the middle of the base plate 11.

[0054] Optionally, the shape of the first wiring cutout 321 and the shape of the second wiring cutout 621 can be designed to match the movement trajectory of the wire harness, and are designed to be roughly arc-shaped, which allows the wire harness to swing within the first wiring cutout 321 and the second wiring cutout 621 without colliding with the inner wall surfaces of the first wiring cutout 321 and the second wiring cutout 621.

[0055] In some possible embodiments, reference continues to be made to Figures 1 to 5The base 1 includes a base plate 11 and a protrusion 12 protruding along the first axis A; a first through groove 101 in the base plate 11 communicates with a second through groove 102 in the protrusion 12; a first fixing part 21 is disposed below the protrusion 12, and a portion of the outer peripheral surface of the first fixing part 21 is in contact with the inner wall of the first through groove 101; at least a portion of the first output member 3 is located in the second through groove 102, and a bearing 4 is installed between the inner side wall of the second through groove 102 and the first output member 3 in the radial plane of the first axis A.

[0056] Through the structure connecting the first through slot 101 in the base plate 11 with the second through slot 102 in the protrusion 12, the first fixing part 21 of the first motor 2 is disposed below the protrusion 12 and part of its outer peripheral surface is in contact with the inner wall of the first through slot 101, thereby achieving precise positioning and installation of the first motor 2 on the base 1. At least part of the first output component 3 is located in the second through slot 102, and a bearing 4 is installed between the inner sidewall of the second through slot 102 and the first output component 3. The bearing 4 provides support for the rotation of the first output component 3 around the first axis A, improving the accuracy and stability of the rotation of the first output component 3 around the first axis A. The installation and positioning of the first motor 2 and the rotational support of the first output component 3 are integrated on the same base 1, making the multi-degree-of-freedom joint structure 100 of the robot more compact.

[0057] Specifically, the base plate 11 serves as the connection foundation between the base 1 and the external mounting surface. The base plate 11 can be constructed as a rectangular plate structure, facilitating its fixed connection to the robot body or mounting bracket via a bolt array. Alternatively, it can be constructed as a circular flange, connecting to the corresponding mounting surface via the circumferential bolt holes of the flange, to adapt to different installation scenarios and shape requirements. The protrusion 12 can be constructed as a cylinder, with its circular cross-section matching the circular outer contour of the first motor 2, facilitating the fit between the outer circumferential surface of the first fixing part 21 and the inner wall of the first through groove 101.

[0058] In some possible embodiments, reference continues to be made to Figures 1 to 5 and in conjunction with reference Figure 6 Along the first axis A, the first motor 2, the first wiring cutout 321, the second motor 5, and the second wiring cutout 621 are arranged in sequence.

[0059] Along the first axis A, two wire bundles extend from the first part and the first motor 2, respectively. Near the base 1, they converge into a single wire bundle movement segment 73, then pass through the first wiring perforation 321 along the first axis A. After passing through the first wiring perforation 321, the two wire bundles separate: one continues along the first axis A through the second wiring perforation 621, extending towards the vicinity of the second motor 5; the other extends from the first wiring perforation 321 along the second connecting part 61 and the second wire passing part 62 of the second output component 6, passing through the second mounting base part 63 and the third mounting base part 64, extending towards the second part 200. (See attached diagram below.) Figure 2 The wire harness movement segment 73 includes a first wire harness movement sub-segment 731 and a second wire harness movement sub-segment 732. The first wire harness movement sub-segment 731 is the wire harness segment from the first fixing component 91 to the first wiring cutout 321, and the second wire harness movement sub-segment 732 is the wire harness segment from the first wiring cutout 321 to the vicinity of the second wiring cutout 621.

[0060] It is understandable that, since the first motor 2, the first wiring cutout 321, the second motor 5, and the second wiring cutout 621 are arranged sequentially along the first axis A, and the wire harness assembly 7 passes through the first wiring cutout 321 and the second wiring cutout 621 sequentially along the first axis A, the wiring path unfolds along the axis direction, making the wiring path of the wire harness inside the joint as simple as possible, effectively reducing the detour length of the wire harness inside the joint, and reducing the risk of the wire harness interfering with the structural components during the joint movement.

[0061] In some possible embodiments, reference continues to be made to Figures 1 to 6 The first output component 3 includes a first connecting part 31, a first wire guide part 32, and a first mounting base part 33, which are sequentially distributed along a first direction F1; the first direction F1 is the direction of the first axis A away from the first motor 2. The first connecting part 31 is connected to the first rotating part 22, the first wire guide cutout 321 is located in the first wire guide part 32, and the second fixing part 51 of the second motor 5 is fixedly connected to the first mounting base part 33.

[0062] The first connecting part 31 is connected to the first rotating part 22 and is responsible for transmitting the rotational output of the first motor 2, so that the first output component 3 can rotate around the first axis A with the first rotating part 22. The first wire passing part 32 is provided with a first wire routing hole 321, which is located between the first connecting part 31 and the first mounting part 33, so that the wire harness is in the middle position of the first output component 3 when passing through the first wire routing hole 321, and the wire routing path is smooth. The first mounting part 33 is fixedly connected to the second fixing part 51 of the second motor 5, providing a stable mounting reference for the second motor 5, so that the second motor 5 rotates around the first axis A together with the first output component 3, thereby realizing the motion transmission of the first degree of freedom.

[0063] It is understandable that the arrangement of the first connecting part 31, the first wire passing part 32, and the first mounting part 33 along the first direction F1 results in the first wiring cutout 321 being positioned between the first motor 2 and the second motor 5. After the wire harness converges from the base 1 side to form the wire harness movement segment 73, it extends in the first direction F1, passes through the first wiring cutout 321, and continues to extend along the first direction F1 towards the second motor 5 and the second part 200 respectively. The entire wiring path is roughly along the first axis A, and the wiring path of the wire harness inside the joint occupies less space.

[0064] In some possible embodiments, reference continues to be made to Figures 1 to 6The first wire guide portion 32 and the main body of the first mounting base are both parallel to the axial plane of the first axis A. Along the second axis B, the second motor 5 and the second output component 6 are located on both sides of the main body of the first mounting base.

[0065] The first wire guide portion 32 and the main body of the first mounting base are both parallel to the axial plane of the first axis A. The first wire guide portion 32 and the main body of the first mounting base are both extended along the first axis A, thus occupying less space.

[0066] After the wire harness passes through the first wiring perforation 321 from the base 1 side, it extends along the first axis A, exits the first wiring perforation 321, and reaches the side of the first mounting base 33 opposite to the first motor 2. The wire harness then extends along the second output member 6, passes through the second wiring perforation 621 on the second output member 6, and reaches the vicinity of the second motor 5. Since the first wire guide 32, the first mounting base 33, and the second output member 6 are sequentially connected along the first axis A, the entire wiring path unfolds along the first axis A, the path is short and without detours or bends, further reducing the space occupied by the wire harness inside the joint.

[0067] In some possible embodiments, reference continues to be made to Figures 1 to 6 The second output component 6 includes a second connecting part 61, a second wire guide part 62, a second mounting base part 63, and a third mounting base part 64, which are sequentially distributed along the first direction F1. The second connecting part 61 is connected to the second rotating part 52, the second wire routing cutout 621 is located in the second wire guide part 62, and the second part 200 is fixedly connected to the third mounting base part 64. The limiting unit 9 is disposed in the second mounting base part 63. The main body of the second connecting part 61, the second wire guide part 62, and the third mounting base part are all parallel to the axial plane of the first axis A.

[0068] After the wire harness converges into the wire harness movement segment 73 from the base 1 side, it extends in the first direction F1, passes through the first wiring cutout 321, and continues to extend along the first direction F1 through the second wiring cutout 621 of the second wire passage 62 toward the second motor 5. The wiring has few bends and the wiring path is short; or it continues to extend along the second mounting base 63 and the third mounting base 64 toward the second part 200. The entire wiring path is roughly along the first axis A direction, and the wiring path of the wire harness inside the joint occupies less space.

[0069] Specifically, the second connecting part 61 is connected to the second rotating part 52 and is responsible for transmitting the rotational output of the second motor 5; the second wire passing part 62 is provided with a second wire routing cutout 621, located between the second connecting part 61 and the second mounting part 63; the second mounting part 63 is used to install the third fixing component 93, and the third mounting part 64 is fixedly connected to the second part 200, so that the second part 200 rotates around the second axis B together with the second output component 6, realizing the motion output of the second degree of freedom.

[0070] In some possible embodiments, reference continues to be made to Figures 1 to 7 and in conjunction with reference Figure 8 The limiting unit 9 includes a first fixing component 91, a second fixing component 92, and a third fixing component 93; the first fixing component 91 is disposed on the base 1; the second fixing component 92 is connected to the first output component 3 and is located on the side of the second motor 5 away from the base 1; the third fixing component 93 is disposed on the second output component 6. The wire harness moving segment 73 passes through and is limited by the first fixing component 91; the motor wire harness 72 passes through the second wiring cutout 621, extends to and is limited by the second fixing component 92; the part wire harness 71 extends along the second output component 6, passes through and is limited by the third fixing component 93, and extends towards the second part 200.

[0071] The first fixing component 91 is disposed on the base 1. The wire harness is limited at the limiting unit 9 to be stationary relative to the first fixing part 21 of the first motor 2 and the base 1. Whether the other end of the wire harness is connected to the interface of the first motor 2 or to the first part, both ends of the wire harness are stationary, thereby reducing the risk of the wire harness shaking when the robot is running and reducing the risk of friction between the wire harness and other components.

[0072] The second fixing component 92 is disposed near the first output component 3 above the second motor 5, so that the wire harness is limited at the limiting unit 9 and relatively stationary relative to the second fixing part 51 of the second motor 5. The wire harness is then connected to the interface of the second motor 5, and both ends of the wire harness are also relatively stationary, thereby reducing the risk of the wire harness shaking during robot operation and reducing the risk of friction between the wire harness and other components.

[0073] The third fixing component 93 is disposed on the second mounting base 63 of the second output component 6. The wire harness is limited at the limiting unit 9 to be relatively stationary relative to the second output component 6. The second part 200 also moves with the second output component 6, so the two ends of the wire harness are also relatively stationary, further reducing the risk of the wire harness shaking when the robot is running and reducing the risk of friction between the wire harness and other components.

[0074] Specifically, the first fixing component 91 is fixed to the base 1, constraining the movement of the wiring harness on the side of the base 1, thereby reducing the risk of the wiring harness swaying during robot operation and reducing the risk of friction between the wiring harness and other components. The second fixing component 92 is located adjacent to the interface of the second motor 5, reducing the risk of the motor wiring harness 72 swaying after passing through the second wiring cutout 621, thereby reducing the risk of insulation damage or poor contact caused by long-term vibration and friction. The third fixing component 93 allows the wiring harness 71 to conform to the surface movement of the second output component 6 when the robot's multi-degree-of-freedom joint structure 100 moves, limiting its unintended swinging or suspension under centrifugal force or gravity, and improving the neatness and safety of the wiring.

[0075] In some possible embodiments, reference continues to be made to Figures 1 to 8 The robot's multi-degree-of-freedom joint structure 100 also includes a support member 8, which is disposed between the base 1 and the first fixing component 91. The support member 8 has a ramp structure that extends along the second direction F2, and the inclined surface of the ramp structure gradually moves away from the base 1. The second direction F2 is perpendicular to both the direction parallel to the first axis A and the direction parallel to the second axis B, and is away from the first fixing component 91.

[0076] The support member 8 is disposed between the base 1 and the first fixing component 91. The ramp structure of the support member 8 extends along the second direction F2, and the inclined surface gradually moves away from the base 1, so that the wire harness moving section 73 can be supported along the inclined surface of the ramp structure. The ramp structure plays a supporting role for the wire harness moving section 73, and shares the droop load generated by the wire harness moving section 73 due to its own weight, so that the wire harness moving section 73 maintains a smooth wiring posture between the base 1 and the first fixing component 91, and reduces excessive drooping due to its own weight.

[0077] It is understandable that, as the inclined surface of the ramp structure gradually moves away from the base 1, the wire harness moving segment 73 smoothly transitions from the base 1 side to the first fixing component 91 along the inclined surface of the ramp structure, without the need for bending between the base 1 and the first fixing component 91, thus eliminating the bending stress concentration of the wire harness at the corner; the ramp structure continuously supports the wire harness moving segment 73, so that the wire harness is always supported by the ramp structure during the rotation with the first output component 3, reducing the risk of the wire harness moving segment 73 repeatedly bending during the movement due to its own weight, thereby reducing the risk of fatigue damage to the wire harness under repeated bending movements and extending the service life of the wire harness.

[0078] In some possible embodiments, reference continues to be made to Figures 1 to 8 The first motor 2 and / or the second motor 5 are non-hollow motors.

[0079] Compared to hollow motors of the same specifications, non-hollow motors have a smaller outer diameter, simpler manufacturing process, and lower cost. By setting a first wiring cutout 321 on the first output component 3 and a second wiring cutout 621 on the second output component 6, the wiring harness assembly 7 can achieve wiring inside the joint without passing through the motor cavity, achieving an equivalent wiring effect to wiring inside the cavity of a hollow motor. This allows the robot's multi-degree-of-freedom joint structure 100 to use a non-hollow motor, effectively reducing motor manufacturing costs and decreasing the motor's outer diameter, which is beneficial for the lightweight design of the robot's multi-degree-of-freedom joint structure 100.

[0080] In some possible embodiments, reference continues to be made to Figures 1 to 8 and in conjunction with reference Figure 9 The limiting unit 9 includes at least one of cable ties, buckles, or wire clips.

[0081] Cable ties, buckles, and wire clamps have simple structures and are easy to install. They can be flexibly selected according to the diameter of the wire harness and the space conditions of the fixing position to meet the needs of different installation scenarios and realize the clamping and fixing connection of the wire harness assembly 7 or the wire harness.

[0082] In some possible embodiments, reference continues to be made to Figures 1 to 9 The first part is the robot's torso, and the second part 200 is the robot's head.

[0083] The robot's multi-degree-of-freedom joint structure 100 serves as the robot's neck joint, connecting the torso and head. Partial wiring harness 71 extends from the torso, passes through the first wiring perforation 321 via the wiring harness movement segment 73, and then extends along the second output component 6 towards the head, serving the function of transmitting signals and power from the torso to the head. Motor wiring harness 72 extends from the first motor 2, passes through the first wiring perforation 321 via the wiring harness movement segment 73, and then extends through the second wiring perforation 621 towards the vicinity of the second motor 5, supplying power to the second motor 5 that drives neck movement. The two wiring harnesses achieve reliable wiring within the limited space of the neck through the aforementioned wiring paths. The wiring harnesses are hidden inside the robot's multi-degree-of-freedom joint structure 100, not exposed externally, maintaining a neat and aesthetically pleasing overall appearance.

[0084] Based on the same inventive concept, this application also provides a robot, including a multi-degree-of-freedom joint structure 100 of the robot as described in any of the above embodiments. The implementation principle is similar and will not be repeated here.

[0085] In some possible embodiments, the robot's multi-degree-of-freedom joint structure 100 is at least one of the neck structure, arm structure, or lower limb structure of a humanoid robot.

[0086] The multi-degree-of-freedom joint structure 100 of the above-mentioned robot is suitable for various multi-degree-of-freedom serial joint application scenarios. Whether applied to the neck, arm or lower limb, it can realize reliable wiring and effective constraint of the wiring harness assembly 7 within the limited space of the corresponding joint, thereby improving the reliability of the wiring harness during joint movement.

[0087] When the robot's multi-degree-of-freedom joint structure 100 is the neck structure of a humanoid robot, the first part is the robot's torso, and the second part 200 is the robot's head.

[0088] To more intuitively demonstrate the dynamic performance of the robot's multi-degree-of-freedom joint structure 100 under actual working conditions, the following explanation uses a real-world application scenario as an example. The first part is the robot's torso, and the second part 200 is the robot's head. The first axis A corresponds to the yaw rotation axis of the neck, and the second axis B corresponds to the pitch rotation axis of the neck. When the robot's head performs complex compound rotational movements, such as turning its head to the left to perform a head-down movement, the wiring harness assembly 7 inside the joint needs to move along with it. Specifically, the wiring harness movement segment 73 is located within the first wiring cutout 321 and rotates synchronously with the first output component 3 around the first axis A. Since the wiring harness 71 and the motor wiring harness 72 are combined into a single moving segment 73, and one end of the moving segment 73 is constrained and fixed to the base 1 at the first fixing component 91, the risk of the moving segment 73 sliding or moving relative to the inner wall of the first wiring cutout 321 is reduced. The torsional deformation of the moving segment 73 is strictly limited within the elastic range allowed by the material, reducing repeated friction and wear between the outer sheath of the wiring harness and the inner wall of the first wiring cutout 321, and also reducing the risk of jamming caused by disordered winding of multiple wiring harnesses.

[0089] After being split, the partial wiring harness 71 extends towards the head along the outer edge of the second output component 6. When the second output component 6 pitches and rotates around the second axis B, due to the constraint of the third fixing component 93, the partial wiring harness 71 always fits tightly against the surface of the second output component 6, reducing the possibility of it being suspended or squeezed into the motion interference zone. As for the motor wiring harness 72, since it is immediately locked by the second fixing component 92 after passing through the second wiring cutout 621, and the second motor 5 itself is mounted on the first output component 3 and moves with it, the section of the motor wiring harness 72 from the outlet of the second wiring cutout 621 to the interface of the second motor 5 is relatively stationary. This reduces the pulling or shearing force on the plug terminals of the motor wiring harness 72, reduces contact problems caused by vibration or movement, and ensures stable transmission of motor control signals.

[0090] By applying the embodiments of this application, at least the following beneficial effects can be achieved: 1. By setting a first wiring cutout 321 and a second wiring cutout 621 on the first output component 3 and the second output component 6 respectively, the wiring harness assembly 7 can achieve hidden wiring inside the joint without using a hollow motor, which effectively reduces the motor manufacturing cost and reduces the outer diameter of the motor. This is beneficial to the lightweight design of the robot's multi-degree-of-freedom joint structure 100 and overcomes the defects of high cost and large outer diameter of the hollow motor wiring scheme.

[0091] 2. The wire harness assembly 7 converges into a single wire harness moving segment 73 near the base 1 and then passes through the first wiring cutout 321. After passing through, it separates into motor wire harness 72 and part wire harness 71, which extend separately. This reduces the number of wire harness moving segments 73, reduces the risk of multiple wire harnesses getting tangled and rubbing against each other during joint movement, and improves wiring reliability.

[0092] 3. The limiting unit 9 provides segmented constraints to the wire harness assembly 7, reducing wire harness sway and the risk of repeated friction between the wire harness and the various components of the robot's multi-degree-of-freedom joint structure 100, thereby improving the reliability of the wire harness and the overall lifespan of the robot under multi-degree-of-freedom compound motion.

[0093] 4. The wiring harness is hidden inside the robot's multi-degree-of-freedom joint structure 100, and is not exposed to the outside. It does not affect the overall appearance of the robot. The wiring is neat and beautiful, and it is easy for maintenance personnel to find and deal with wiring harness faults. It overcomes the shortcomings of existing external wiring schemes that affect the overall appearance of the robot and that the wiring harness is easily damaged by collisions.

[0094] In the description of this application, the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate directions or positional relationships based on the exemplary directions or positional relationships shown in the accompanying drawings. They are used to facilitate the description or simplification of the embodiments of this application and are not intended to indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0095] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0096] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0097] The above description is only a partial implementation of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A multi-degree-of-freedom joint structure for a robot, characterized in that, include: Base; A first motor and a first output component are arranged along a first axis, and a first fixing part of the first motor is mounted on the base. The first output component has a first wiring cutout and is connected to the first rotating part of the first motor to rotate around a first axis; The second motor and the second output component are spaced apart from the base along the first axis; The second fixing part of the second motor is mounted on the first output component; The second output component has a second wiring cutout and is connected to the second rotating part of the second motor to rotate around a second axis; A wiring harness assembly includes a part wiring harness and a motor wiring harness, wherein the motor wiring harness extends from the first motor and the part wiring harness extends from the first part. The wiring harness assembly converges into a single moving segment near the base; the moving segment passes through the first wiring cutout and separates into the part wiring harness and the motor wiring harness; the motor wiring harness passes through the second wiring cutout and extends toward the vicinity of the second motor; the part wiring harness extends along the second output component toward the second part. A limiting unit, having at least one, is disposed at at least one of the following locations: on the base, at the first output near the second motor, and on the second output; the limiting unit is configured to limit the passing of the wiring harness assembly or the wiring harness.

2. The multi-degree-of-freedom joint structure of the robot according to claim 1, characterized in that, The base includes a base plate and a protrusion extending along the first axis; a first through groove in the base plate communicates with a second through groove in the protrusion; The first fixing part is disposed below the protrusion, and part of the outer peripheral surface of the first fixing part is in contact with the inner wall of the first through groove; At least a portion of the first output component is located in the second through slot, and a bearing is installed between the inner wall of the second through slot and the first output component in the radial plane of the first axis.

3. The multi-degree-of-freedom joint structure of the robot according to claim 1, characterized in that, Along the first axis, the first motor, the first wiring cutout, the second motor, and the second wiring cutout are arranged in sequence.

4. The multi-degree-of-freedom joint structure of the robot according to claim 3, characterized in that, The first output component includes a first connecting portion, a first wire passing portion, and a first mounting base portion distributed sequentially along a first direction; the first direction is the direction in which the first axis is away from the first motor; The first connecting part is connected to the first rotating part, the first wire routing cutout is located at the first wire passing part, and the second fixing part of the second motor is fixedly connected to the first mounting base part.

5. The multi-degree-of-freedom joint structure of the robot according to claim 4, characterized in that, Both the first wire guide portion and the main body portion of the first mounting base are parallel to the axial plane of the first axis. Along the second axis, the second motor and the second output component are located on both sides of the main body of the first mounting base.

6. The multi-degree-of-freedom joint structure of the robot according to claim 4, characterized in that, The second output component includes a second connecting portion, a second wire guide portion, a second mounting base portion, and a third mounting base portion distributed sequentially along the first direction; the second connecting portion is connected to the second rotating portion, the second wire routing cutout is located in the second wire guide portion, and the second portion is fixedly connected to the third mounting base portion; the limiting unit is disposed in the second mounting base portion, and the main body portions of the second connecting portion, the second wire guide portion, and the third mounting base portion are all parallel to the axial plane of the first axis.

7. The multi-degree-of-freedom joint structure of the robot according to claim 1, characterized in that, The limiting unit includes a first fixing component, a second fixing component, and a third fixing component; the first fixing component is disposed on the base; the second fixing component is connected to the first output component and is located on the side of the second motor away from the base; the third fixing component is disposed on the second output component; The moving section of the wiring harness passes through and is confined within the first fixing component; the motor wiring harness passes through the second wiring cutout, extends to and is confined within the second fixing component; The wiring harness extends along the second output member, passes through and is confined by the third fixing component, and extends toward the second part.

8. The multi-degree-of-freedom joint structure of the robot according to claim 7, characterized in that, It also includes a support member disposed between the base and the first fixing component; the support member has a ramp structure that extends along a second direction and the inclined surface of the ramp structure gradually moves away from the base; the second direction is a direction that is perpendicular to both the direction parallel to the first axis and the direction parallel to the second axis, and is away from the first fixing component.

9. The multi-degree-of-freedom joint structure of the robot according to any one of claims 1 to 8, characterized in that, The first motor and / or the second motor are non-hollow motors.

10. The multi-degree-of-freedom joint structure of the robot according to any one of claims 1 to 8, characterized in that, The limiting unit includes at least one of cable ties, buckles, or wire clips.

11. The multi-degree-of-freedom joint structure of the robot according to any one of claims 1 to 8, characterized in that, The first part is the robot's torso, and the second part is the robot's head.

12. A robot, characterized in that, The robot includes a multi-degree-of-freedom joint structure as described in any one of claims 1 to 11.

13. The robot according to claim 12, characterized in that, The robot's multi-degree-of-freedom joint structure is at least one of the neck structure, arm structure, or lower limb structure of a humanoid robot.

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