A hollow wiring layout structure for a humanoid robot joint

Abstract

This invention relates to the field of humanoid robot technology, and more particularly to a hollow wiring layout structure for a humanoid robot joint, comprising a hollow bevel gear set, a wiring bracket, and cables. The hollow bevel gear set includes a first bevel gear and a second bevel gear that mesh with each other, both having an inner hole extending along their axis. The first bevel gear includes a fixed inner bore cylinder and a gear ring sleeved around its outer circumference via a bearing assembly. The wiring bracket is disposed within the inner hole of the first bevel gear and includes a transverse rod, a diagonal rod, and a linkage mechanism. The transverse rod is provided with a transverse slip ring, a sliding sleeve, and a first electrostatic discharge ring. An initial included angle is formed between the diagonal rod and the transverse rod, and the diagonal rod is provided with a diagonal slip ring and a second electrostatic discharge ring. This invention achieves complete non-contact between the cable and the inner hole wall of the hollow bevel gear and the gear meshing area, and also has anti-wall adhesion, anti-entanglement, and anti-static functions.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a hollow wiring layout structure for a humanoid robot joint. Background Technology

[0002] Humanoid robots are intelligent robotic systems that mimic human movement, referencing the human form. To achieve humanoid locomotion, humanoid robots typically have multiple drive units at multi-degree-of-freedom joints such as the shoulder, hip, and wrist joints, and power, control signals, and sensor signals need to be transmitted to the end effectors of each joint via cables. As humanoid robots develop towards higher integration and greater flexibility, the cable layout at the joints is increasingly becoming one of the key factors restricting the overall performance of the robot.

[0003] The inner hole of a hollow bevel gear has a spatial bend between different diameter ends. When the cable is pulled in the inner hole, it is easy for it to come into contact with the hole wall in the bend area. If the cable is not effectively restrained in the inner hole, there is a risk that it will be caught in the meshing area of ​​the gear during the rotation of the bevel gear, causing damage to the cable or even jamming of the joint mechanism. Summary of the Invention

[0004] Therefore, it is necessary for the present invention to provide a hollow wiring layout structure for a humanoid robot joint to solve at least one of the above-mentioned technical problems.

[0005] To achieve the above objectives, a hollow wiring layout structure for a humanoid robot joint includes: A hollow bevel gear set includes a first bevel gear and a second bevel gear that mesh with each other, and both the first bevel gear and the second bevel gear have an inner hole that runs through their axis. A cable routing bracket is installed inside the inner hole of a first bevel gear and includes a transverse rod and an oblique rod. The transverse rod is fixedly installed on the wall of the inner hole of the first bevel gear and extends radially along the inner hole. A transverse slip ring and a sliding sleeve are provided on the transverse rod. The inner ends of the transverse slip ring and the sliding sleeve abut against each other. The sliding sleeve is slidably sleeved on the outside of the transverse rod. A first electrostatic discharge ring is provided at the end of the sliding sleeve that is away from the hole wall. The oblique rod is rotatably connected to the hole wall, and the connection point is higher than the fixed point of the transverse rod and the hole wall. An initial included angle is formed between the oblique rod and the transverse rod. An oblique slip ring is slidably sleeved on the oblique rod. A second electrostatic discharge ring is provided at the end of the oblique rod that is away from the hole wall. The cable is used to electrically connect the driver. The cable is sequentially passed through the inner hole of the first bevel gear, the first electrostatic discharge ring, the second electrostatic discharge ring, and the inner hole of the second bevel gear. A gap is maintained between the outer wall of the cable and the inner wall of the first bevel gear, the inner wall of the second bevel gear, and the gear meshing area.

[0006] Preferably, the cable tray further includes a linkage mechanism, which includes a connecting rod, a telescopic rod, and a support rod. The connecting rod and the telescopic rod form an obtuse angle, and the two are fixedly connected by a connecting shaft and together constitute a rigid connecting member. The end of the connecting rod away from the telescopic rod is hinged to an oblique slip ring, and the end of the telescopic rod away from the connecting rod is hinged to a transverse slip ring. The connecting shaft is rotatably connected to the top of the support rod.

[0007] Preferably, the cable routing bracket further includes a first transmission rod and a second transmission rod; the upper end of the first transmission rod is rotatably connected to the front end of the inclined rod, and the lower end of the second transmission rod is rotatably connected to the front end of the sliding sleeve rod, with the lower end of the first transmission rod hinged to the upper end of the second transmission rod; the inclined rod, the first transmission rod, the second transmission rod, and the transverse rod together constitute a quadrilateral linkage mechanism, wherein the quadrilateral linkage mechanism has a left vertex, an upper vertex, a right vertex, and a lower vertex; the left vertex is the intersection of the axes of the inclined rod and the transverse rod, serving as the fixed reference for the quadrilateral linkage mechanism; the upper vertex is the hinge point where the first transmission rod is hinged to the inclined rod; the right vertex is the hinge point between the first transmission rod and the second transmission rod; and the lower vertex is the hinge point between the second transmission rod and the sliding sleeve rod.

[0008] Preferably, the second transmission rod has a gravity reset component at the end away from the sliding sleeve rod. The gravity reset component is a semi-circular fork structure, including a C-shaped capture fork and a center of gravity. The C-shaped capture fork is fixed to the front end of the second transmission rod and faces outward along the axis of the second transmission rod towards the quadrilateral linkage mechanism to form a C-shaped capture area. The center of gravity is located at the center of the C-shaped capture fork and above the right vertex. The C-shaped capture area of ​​the gravity reset component opens outward to capture and store the support cable. The portion of the cable between the first electrostatic release ring and the second electrostatic release ring passes through the C-shaped capture area.

[0009] Preferably, a rocker arm platform is provided at the top of the support rod, and the connecting shaft of the rigid connector is rotatably mounted on the rocker arm platform. The angle formed between the connecting rod and the telescopic rod is an obtuse angle, so that the connecting rod and the telescopic rod form a bending structure towards the side of the transverse rod at the fixed angle. The bottom end of the support rod is fixedly connected to the horizontal rod, and a support angle is formed between the support rod and the horizontal rod. The rotation connection points at both ends of the support rod respectively define the relative positional relationship between the top end of the support rod and the horizontal rod, so that the connecting shaft is constrained by the rocker arm.

[0010] Preferably, the first electrostatic discharge ring is fixedly disposed at the end of the sliding sleeve rod away from the hole wall of the first bevel gear, and the axis of the first electrostatic discharge ring is perpendicular to the axis of the transverse rod; the second electrostatic discharge ring is fixedly disposed at the end of the inclined rod away from the hole wall of the first bevel gear, and the axis of the second electrostatic discharge ring is collinear with the extension direction of the end of the inclined rod; the inner diameter of the first electrostatic discharge ring and the second electrostatic discharge ring is larger than the outer diameter of the cable, and the cross-section of the first electrostatic discharge ring and the second electrostatic discharge ring is circular.

[0011] Preferably, during the cable pulling process, the angle between the diagonal bar and the horizontal bar changes from the initial angle to the limiting angle; At the initial angle, the transverse rod, diagonal rod, connecting rod, telescopic rod, transverse slip ring and diagonal slip ring are in the initial geometric position, the inner end of the sliding sleeve rod abuts against the transverse slip ring, and the relative position of the outer end of the sliding sleeve rod and the end of the transverse rod corresponds to the retracted state of the sliding sleeve rod. At the limit angle, the transverse rod, diagonal rod, connecting rod, telescopic rod, transverse slip ring and diagonal slip ring are at the maximum stroke geometric position, and the distance that the outer end of the sliding sleeve rod exceeds the end of the transverse rod corresponds to the maximum extension stroke of the sliding sleeve rod; The maximum extension stroke of the sliding sleeve along the transverse axis is determined by the ratio of the lengths of the connecting rod and the support rod, as well as the geometric relationship between the transverse slip ring and the oblique slip ring.

[0012] Preferably, the first bevel gear includes an inner bore cylinder and a gear ring; the inner bore cylinder is a hollow cylindrical structure, the inner bore is cylindrical and extends through the inner bore cylinder along its axis, and the gear ring is located on the upper outer side of the inner bore cylinder; A bearing assembly is provided between the outer circumferential surface of the inner bore cylinder and the inner circumferential surface of the gear ring. The bearing assembly includes an upper bearing housing, a thrust roller bearing, and a lower bearing housing. The upper and lower bearing housings are respectively located on both sides of the axial direction of the thrust roller bearing. The thrust roller bearing, the upper bearing housing, and the lower bearing housing are all located between the outer circumferential surface of the inner bore cylinder and the inner circumferential surface of the gear ring. The gear ring is sleeved on the outer circumference of the inner bore cylinder through the bearing assembly, and a relative rotational fit is formed between the gear ring and the inner bore cylinder around their common axis. The inner bore cylinder is fixed and does not rotate.

[0013] Preferably, the second bevel gear has an inner bore cylinder and a gear ring corresponding to the first bevel gear. The gear ring of the first bevel gear meshes with the gear ring of the second bevel gear. The meshing area is located at the intersection of the axis of the inner bore cylinder of the first bevel gear and the axis of the inner bore cylinder of the second bevel gear. An axial angle is formed between the axis of the inner bore cylinder of the first bevel gear and the axis of the inner bore cylinder of the second bevel gear. The axial angle corresponds to the limiting angle of the diagonal rod and the transverse rod in the cable routing bracket.

[0014] Preferably, the cable includes an arc-shaped extension section and a spiral contraction section; the arc-shaped extension section is located after passing through the first electrostatic discharge ring, and the spiral contraction section is located on the lower inner side of the inner hole of the first bevel gear. The spiral axis of the spiral contraction section is collinear with the axis of the first bevel gear. The axial elastic restoring force of the spiral contraction section acts on the sliding sleeve rod through the first electrostatic discharge ring and the gravitational torque generated by the center of gravity in the gravity reset component, so that the cable support returns to the geometric configuration corresponding to the initial included angle after the cable traction force is removed.

[0015] The first bevel gear of the present invention adopts a separate design of inner bore cylinder and gear ring. The gear ring is sleeved on the outer circumference of the inner bore cylinder via a bearing assembly and rotates relative to the inner bore cylinder. The inner bore cylinder remains fixed, and the cable support is fixed on the inner bore wall of the inner bore cylinder, so that the cable does not rotate with the gear ring during the rotation of the bevel gear, fundamentally eliminating the torsional fatigue problem caused by the cable rotating with the gear.

[0016] The horizontal and diagonal rods of the cable tray are equipped with a first electrostatic discharge ring and a second electrostatic discharge ring at the end away from the hole wall, respectively, to apply radial constraint to the cable. This ensures that the cable maintains a gap with the inner hole wall throughout its entire path through the inner hole of the first bevel gear, preventing the cable from rubbing against the hole wall during the rotation of the bevel gear and effectively extending the cable's service life.

[0017] The transverse rods, diagonal rods, connecting rods, telescopic rods, support rods, transverse slip rings, diagonal slip rings, sliding sleeve rods, first electrostatic discharge rings, and second electrostatic discharge rings of the cable tray are all made of antistatic materials. Each component is electrically connected to the others at the hinge points, sliding mating surfaces, and fixed connections, forming a continuous electrostatic discharge network covering all components of the cable tray. The static electricity is discharged to the joint housing through the fixed connection structure between the transverse rod and the inner wall of the first bevel gear, effectively preventing the accumulation of static electricity generated by the friction of the cable movement from interfering with the transmission of precision signals. Attached Figure Description

[0018] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A schematic diagram of the overall assembly of a hollow wiring layout structure for a humanoid robot joint; Figure 2 This is an exploded view of a hollow bevel gear assembly according to one embodiment; Figure 3 An exploded view of a bearing assembly according to one embodiment; Figure 4 This is a schematic diagram of the overall assembly of a cable tray according to one embodiment; Figure 5 An exploded view of a cable tray according to one embodiment; Figure 6 This is a schematic diagram of a rigid connector according to one embodiment; Figure 7 This is a cross-sectional schematic diagram of a rigid connector according to one embodiment; Figure 8 This is a schematic diagram of the second transmission rod and the gravity reset component according to one embodiment; Figure 9 This is a schematic diagram of the assembly of a cable and cable tray according to one embodiment; In the diagram: 10. Hollow bevel gear set; 11. First bevel gear; 111. Gear ring; 112. Inner bore cylinder; 113. Bearing assembly; 1131. Upper bearing seat ring; 1132. Thrust roller bearing; 1133. Lower bearing seat ring; 1134. Thrust roller bearing cage; 114. Hole wall; 115. Inner bore; 12. Second bevel gear; 121. Gear ring; 122. Inner bore cylinder; 123. Inner bore; 124. Hole wall; 20. Cable routing bracket; 21. Transverse rod; 211. Transverse slip ring; 212. Sliding sleeve rod; 213. First electrostatic discharge ring; 22. Diagonal rod; 221. 223. Slanted slip ring; 23. Second electrostatic discharge ring; 23. Linkage mechanism; 230. Rigid connector; 2301. Connecting shaft; 231. Connecting rod; 232. Telescopic rod; 233. Support rod; 2330. Rocker arm; 24. First transmission rod; 240. Quadrilateral linkage mechanism; 241. Left vertex; 242. Upper vertex; 243. Right vertex; 244. Lower vertex; 25. Second transmission rod; 251. Gravity reset component; 2511. C-shaped capture area; 2512. C-shaped capture fork; 2513. Center of gravity; 30. Cable; 31. Arc extension section; 32. Spiral retraction section.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. 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.

[0021] It should be understood that although the terms "first," "second," etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are used merely to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] To achieve the above objectives, please refer to Figures 1 to 9 This invention provides a hollow wiring layout structure for a humanoid robot joint, comprising: The hollow bevel gear set 10 includes a first bevel gear 11 and a second bevel gear 12 that mesh with each other. Both the first bevel gear 11 and the second bevel gear 12 have inner holes 115 and 123 that pass through their axes. The cable tray 20 is disposed within the inner hole 115 of the first bevel gear 11 and includes a transverse rod 21 and an oblique rod 22. The transverse rod 21 is fixedly disposed on the hole wall 114 of the inner hole 115 of the first bevel gear 11 and extends radially along the inner hole 115. The transverse rod 21 is provided with a transverse slip ring 211 and a sliding sleeve rod 212. The ends of the transverse slip ring 211 and the sliding sleeve rod 212 abut against each other. The sliding sleeve rod 212 is slidably sleeved on the outside of the transverse rod 21. The sliding sleeve rod 212 is provided with a first electrostatic discharge ring 213 at the end away from the hole wall 114. The oblique rod 22 is rotatably connected to the hole wall 114, and the connection point is higher than the fixed point of the transverse rod 21 and the hole wall 114. An initial included angle is formed between the oblique rod 22 and the transverse rod 21. An oblique slip ring 221 is slidably sleeved on the oblique rod 22. The oblique rod 22 is provided with a second electrostatic discharge ring 223 at the end away from the hole wall 114. Cable 30 is used for electrical connection to the driver. Cable 30 is sequentially passed through the inner hole 115 of the first bevel gear 11, the first electrostatic discharge ring 213, the second electrostatic discharge ring 223 and the inner hole 123 of the second bevel gear 12. The outer wall of cable 30 maintains a gap with the hole wall 114 of the inner hole 115 of the first bevel gear 11, the hole wall 124 of the inner hole 123 of the second bevel gear 12 and the gear meshing area.

[0023] See Figure 1 In one embodiment, the hollow bevel gear set 10 is applied to joints of a humanoid robot, such as the wrist or ankle joints, where the transmission direction needs to be changed. The included angle between the axes of the first bevel gear 11 and the second bevel gear 12 can be designed as 90° or other angles according to the joint transmission requirements to achieve transmission switching in different directions. The diameters of the inner holes 115 and 123 of the first bevel gear 11 and the second bevel gear 12 are determined comprehensively based on the bundle diameter of the cable 30 and the outer dimensions of the cable routing bracket 20 to ensure that the cable 30 has sufficient movement margin in the inner holes 115 and 123.

[0024] The cable routing bracket 20 is disposed within the inner hole 115 of the first bevel gear 11. The transverse rod 21 is fixed to the hole wall 114 of the inner hole 115, and its extension direction is consistent with the radial direction of the inner hole 115. The cross-sectional shape of the transverse rod 21 can be designed as circular or rectangular. The selection of the cross-sectional shape affects the sliding fit accuracy and anti-rotation effect of the transverse slip ring 211 and the sliding sleeve rod 212 on the transverse rod 21. When the cross-section of the transverse rod 21 is rectangular, the sliding sleeve rod 212 will not rotate around the axis of the transverse rod 21 during sliding, which helps to maintain the overall posture stability of the cable routing bracket 20.

[0025] A transverse slip ring 211 is fitted onto a transverse rod 21, and the clearance between the slip ring 211 and the transverse rod 21 determines the smoothness of the slip ring 211's sliding along the axis of the transverse rod 21. A sliding sleeve 212 is fitted onto the outside of the transverse rod 21, with its inner end abutting against the transverse slip ring 211. When the transverse slip ring 211 is subjected to the axial thrust of the linkage mechanism 23, the transverse slip ring 211 pushes the sliding sleeve 212 to extend along the axis of the transverse rod 21. The length of the sliding sleeve 212 can be designed according to the maximum traction displacement of the cable 30 to ensure sufficient guiding fit length with the transverse rod 21 even at maximum extension stroke.

[0026] The first electrostatic discharge ring 213 is fixed to the end of the sliding sleeve 212 away from the hole wall 114. The inner diameter of the first electrostatic discharge ring 213 is larger than the outer diameter of the cable 30, allowing the cable 30 to pass freely through the first electrostatic discharge ring 213 without obstruction. The material of the first electrostatic discharge ring 213 can be a conductive antistatic composite material, so that when the cable 30 passes through the first electrostatic discharge ring 213, the contact or proximity effect between the outer wall of the cable 30 and the inner wall of the first electrostatic discharge ring 213 can conduct the static charge accumulated on the cable 30 through the first electrostatic discharge ring 213, thereby avoiding interference from static accumulation on the precision signals carried by the cable 30. The cross-section of the first electrostatic discharge ring 213 is circular, and the open end is chamfered to prevent stress concentration contact between the cable 30 and the edge of the open end during the cable passing through.

[0027] The inclined rod 22 is rotatably connected to the hole wall 114, and its rotational connection point is higher than the fixed point of the transverse rod 21 and the hole wall 114, allowing the inclined rod 22 to rotate around the hole 115 with the rotational connection point as the fulcrum. The initial included angle between the inclined rod 22 and the transverse rod 21 can be designed to be 45°. At this angle, the overall radial space occupied by the cable tray 20 is small, which is convenient for arrangement within the limited space of the inner hole 115. The inclined slip ring 221 is slidably sleeved on the inclined rod 22. The hinge relationship between the inclined slip ring 221 and the connecting rod 231 of the linkage mechanism 23 allows the inclined slip ring 221 to slide freely on the inclined rod 22, thereby converting the rotational displacement of the inclined rod 22 into the transmission input of the linkage mechanism 23.

[0028] The second electrostatic discharge ring 223 is fixed to the end of the inclined rod 22 away from the hole wall 114, and its structure and material are the same as those of the first electrostatic discharge ring 213. The axis of the second electrostatic discharge ring 223 is collinear with the extension direction of the end of the inclined rod 22, so that the cable 30 passes through the second electrostatic discharge ring 223 and is led out along the extension direction of the inclined rod 22. Radial constraint is applied to the cable 30 in the area between the end of the inclined rod 22 and the small-diameter end hole wall of the inner hole 115 to prevent the cable 30 from shifting towards the gear meshing area in this area.

[0029] For example, the first and second bevel gears can be mounted on a large fixed base of an industrial humanoid robot. The cable 30 can be a combination of one or more power lines or signal lines, with its diameter determined according to the electrical specifications of the joint actuator. The cable 30 is sequentially threaded through the inner hole 115 of the first bevel gear 11, the first electrostatic discharge ring 213, the second electrostatic discharge ring 223, and the inner hole 123 of the second bevel gear 12, forming a continuous routing path through the hollow bevel gear set 10. The gap between the outer wall of the cable 30 and the hole walls 114, 124, and the gear meshing area is determined based on the radial displacement of the cable 30 under maximum traction, ensuring that the outer wall of the cable 30 does not contact any of the aforementioned walls throughout its entire stroke.

[0030] Furthermore, the cable tray 20 also includes a linkage mechanism 23, which includes a connecting rod 231, a telescopic rod 232, and a support rod 233. The connecting rod 231 and the telescopic rod 232 form an obtuse angle, and the two are fixedly connected by a connecting shaft 2301 and together form a rigid connecting member 230. The end of the connecting rod 231 away from the telescopic rod 232 is hinged to an inclined slip ring 221, and the end of the telescopic rod 232 away from the connecting rod 231 is hinged to a transverse slip ring 211. The connecting shaft 2301 is rotatably connected to the top end of the support rod 233.

[0031] See Figure 6 and Figure 7 In one embodiment, the linkage mechanism 23 serves as the core transmission unit of the cable tray 20, responsible for converting the rotational input of the inclined rod 22 into the axial output of the sliding sleeve rod 212.

[0032] The obtuse angle between the connecting rod 231 and the telescopic rod 232 can be designed comprehensively based on the initial angle of the inclined rod 22 and the maximum extension stroke of the sliding sleeve rod 212. The specific value of the obtuse angle affects the lever arm ratio of the rigid connecting member 230 during transmission, thus determining the extension stroke of the sliding sleeve rod 212 under the same rotation angle of the inclined rod 22. The connecting shaft 2301 serves as a fixed connection node between the connecting rod 231 and the telescopic rod 232. After its position is fixed, the connecting rod 231 and the telescopic rod 232 form an integral rigid connecting member 230, and there is no relative rotation between them, ensuring that the displacement of the inclined slip ring 221 can be transmitted to the transverse slip ring 211 without loss.

[0033] The top end of the support rod 233 is rotatably connected to the connecting shaft 2301. The support rod 233 constrains the transmission direction of the rigid connecting member 230. The length of the support rod 233 and the support angle between it and the transverse rod 21 jointly determine the range of motion of the connecting shaft 2301. The length of the support rod 233 can be similar to the length of the connecting rod 231 to obtain more symmetrical transmission characteristics. The selection of the support angle affects the transmission efficiency of the rigid connecting member 230 at different stroke positions. When the support angle makes the support rod 233 nearly perpendicular to the transverse rod 21 in the initial state, the rigid connecting member 230 has a higher transmission efficiency in the initial stroke segment.

[0034] Furthermore, the cable routing bracket 20 also includes a first transmission rod 24 and a second transmission rod 25; the upper end of the first transmission rod 24 is rotatably connected to the front end of the inclined rod 22, and the lower end of the second transmission rod 25 is rotatably connected to the front end of the sliding sleeve rod 212. The lower end of the first transmission rod 24 is hinged to the upper end of the second transmission rod 25. The inclined rod 22, the first transmission rod 24, the second transmission rod 25, and the transverse rod 21 together constitute a quadrilateral linkage mechanism 240, wherein the quadrilateral linkage mechanism 240 has a left vertex 241, an upper vertex 242, a right vertex 243, and a lower vertex 244; the left vertex 241 is the intersection of the axes of the inclined rod 22 and the transverse rod 21, the upper vertex 242 is the hinge point where the first transmission rod 24 is hinged to the inclined rod 22, the right vertex 243 is the hinge point between the first transmission rod 24 and the second transmission rod 25, and the lower vertex 244 is the hinge point between the second transmission rod 25 and the sliding sleeve rod 212.

[0035] See Figure 4 and Figure 5 In one embodiment, the first transmission rod 24 and the second transmission rod 25 constitute two movable sides of the quadrilateral linkage mechanism 240, and their rod length ratio determines the motion trajectory shape of the right vertex 243. The upper end of the first transmission rod 24 is hinged to a fixed position at the front end of the inclined rod 22, which is the upper vertex 242. The closer the upper vertex 242 is to the end of the inclined rod 22, the greater the radial support range of the quadrilateral linkage mechanism 240 provides to the cable 30. The lower end of the second transmission rod 25 is hinged to the front end of the sliding sleeve rod 212, which is the lower vertex 244. The lower vertex 244 moves synchronously with the extension of the sliding sleeve rod 212, so that the overall geometric configuration of the quadrilateral linkage mechanism 240 adaptively adjusts with the change in the stroke of the cable support 20.

[0036] The right vertex 243 is the hinge point between the first transmission rod 24 and the second transmission rod 25, and is the node with the largest amplitude of motion in the quadrilateral linkage mechanism 240. In the geometric configuration corresponding to the initial included angle, the right vertex 243 is located on the outer side, offset from the axis of the transverse rod 21, forming outward radial support for the cable 30, keeping the cable 30 in a safe position away from the hole wall 114 of the inner hole 115 along its path between the first electrostatic release ring 213 and the second electrostatic release ring 223. The left vertex 241 is the intersection of the axes of the diagonal rod 22 and the transverse rod 21, and is the only fixed reference point of the quadrilateral linkage mechanism 240. Its position remains unchanged throughout the operation of the cable routing bracket 20, providing a stable motion reference for the quadrilateral linkage mechanism 240.

[0037] Furthermore, the second transmission rod 25 is provided with a gravity reset member 251 at the end away from the sliding sleeve rod 212. The gravity reset member 251 is a semi-circular fork structure, including a C-shaped capture fork 2512 and a center of gravity 2513. The C-shaped capture fork 2512 is fixed to the front end of the second transmission rod 25 and faces the outside of the quadrilateral linkage mechanism 240 along the axis of the second transmission rod 25, so as to form a C-shaped capture area 2511. The center of gravity 2513 is located at the center of the C-shaped capture fork 2512 and above the right vertex 243. The C-shaped capture area 2511 of the gravity reset member 251 opens outward and is used to capture and store the support cable 30. The portion of the cable 30 between the first electrostatic release ring 213 and the second electrostatic release ring 223 passes through the C-shaped capture area 2511.

[0038] See Figure 8 In one embodiment, the gravity reset member 251 is fixed to the end of the second transmission rod 25 away from the sliding sleeve rod 212, and uses its own gravity to provide a passive reset force for the cable tray 20. It can drive the cable tray 20 to return to its initial geometric configuration after the cable 30 traction force is removed without the need for additional springs or drive components.

[0039] The gravity reset component 251 adopts a semi-circular fork structure, and its material can be a high-density anti-static composite material to obtain a large gravitational torque within a limited volume. The center of gravity 2513 is located above the right apex 243, so that the gravity of the gravity reset component 251 generates a continuous downward torque component relative to the right apex 243. The direction of this torque component is consistent with the reset direction of the cable tray 20, thereby driving the quadrilateral linkage mechanism 240 to deform in the reset direction after the cable 30 traction force is removed. The greater the offset distance of the center of gravity 2513 relative to the right apex 243, the greater the reset torque generated by the gravity reset component 251, and the faster the reset response speed. During the design, the offset distance of the center of gravity 2513 can be adjusted by adjusting the arc length and material density of the C-shaped capture fork 2512 to match the reset requirements under different cable 30 traction force scenarios.

[0040] The opening of the C-shaped capture fork 2512 faces outward, and the C-shaped capture area 2511 forms a semi-enclosed constraint on the cable 30, preventing it from slipping out of its path when subjected to lateral disturbance. Simultaneously, the C-shaped opening structure avoids a rigid constraint between the cable 30 and the gravity reset member 251, allowing the cable 30 to slide freely within the C-shaped capture area 2511 without radial clamping force. A gap is maintained between the inner wall of the C-shaped capture fork 2512 and the outer wall of the cable 30, the size of which is determined based on the offset of the cable 30 under maximum lateral displacement.

[0041] Furthermore, a rocker arm platform 2330 is provided at the top of the support rod 233, and the connecting shaft 2301 of the rigid connecting member 230 is rotatably mounted on the rocker arm platform 2330. The included angle formed between the connecting rod 231 and the telescopic rod 232 is an obtuse angle, so that the connecting rod 231 and the telescopic rod 232 form a bending structure facing the side of the transverse rod 21 at the fixed included angle. The bottom end of the support rod 233 is fixedly connected to the transverse rod 21. A support angle is formed between the support rod 233 and the transverse rod 21. The rotation connection points at both ends of the support rod 233 respectively limit the relative positional relationship between the top end of the support rod 233 and the transverse rod 21, so that the connecting shaft 2301 is constrained by the rocker arm 2330.

[0042] In one embodiment, the rocker arm 2330 is disposed at the top of the support rod 233, providing a fixed rotational support for the connecting shaft 2301. The rocker arm 2330 can be designed as a U-shaped groove structure, with the connecting shaft 2301 embedded in the U-shaped groove and rotatably connected to the rocker arm 2330 via a pin. This allows the connecting shaft 2301 to retain only rotational freedom around its own axis under the constraint of the rocker arm 2330, eliminating displacement freedom in other directions and ensuring stable and controllable transmission direction of the rigid connecting member 230. The installation height of the rocker arm 2330 affects the spatial position of the connecting shaft 2301 relative to the transverse rod 21, and thus affects the transmission efficiency of the rigid connecting member 230 at different stroke positions. The height of the rocker arm 2330 can be comprehensively designed based on the length of the connecting rod 231 and the telescopic rod 232, as well as the obtuse angle between them.

[0043] The bottom end of the support rod 233 is fixedly connected to the transverse rod 21. The specific value of the support angle can be determined according to the motion trajectory requirements of the connecting shaft 2301 throughout the entire stroke of the cable tray 20. When the support angle is small, the support rod 233 is nearly parallel to the transverse rod 21, and the motion trajectory of the connecting shaft 2301 is nearly perpendicular to the arc of the transverse rod 21, which is beneficial for efficiently converting the rotational displacement of the inclined rod 22 into the axial displacement of the sliding sleeve rod 212. When the support angle is large, the angle between the support rod 233 and the transverse rod 21 increases, the arc of the motion trajectory of the connecting shaft 2301 increases, and the nonlinearity of the transmission stroke increases accordingly. In actual design, the extension stroke of the sliding sleeve rod 212 and the rotation angle of the inclined rod 22 can be approximately linearly related by adjusting the support angle and the length ratio of the connecting rod 231 and the telescopic rod 232 to obtain stable transmission characteristics.

[0044] Furthermore, the transverse rod 21, diagonal rod 22, connecting rod 231, telescopic rod 232, support rod 233, sliding sleeve rod 212, diagonal slip ring 221, transverse slip ring 211, first transmission rod 24, second transmission rod 25, gravity reset component 251, rocker arm platform 2330, first static discharge ring 213, and second static discharge ring 223 of the cable tray 20 are all made of antistatic material; antistatic contact surfaces are formed at each hinge point, sliding mating surface, and fixed connection point; each component is electrically connected to each other at each connection point and mating surface through the antistatic contact surface, forming a continuous static discharge network covering each component of the cable tray 20; The continuous electrostatic discharge network is connected to the first bevel gear 11 via the fixed connection structure between the transverse rod 21 and the inner wall 114 of the first bevel gear, so that a complete electrostatic discharge circuit is formed between the components of the cable tray 20 and the first bevel gear 11.

[0045] In one embodiment, all components of the cable tray 20 are made of an antistatic material. The antistatic material may have a surface resistivity of 10⁻⁶. 6 Up to 10 9 Ω-sized antistatic engineering plastics, such as carbon fiber filled polyetheretherketone, carbon fiber filled polyamide, or conductive polyoxymethylene, etc., possess antistatic properties while also having sufficient mechanical strength and wear resistance, which can meet the structural reliability requirements of the 20 components of the cable tray under long-term reciprocating motion conditions.

[0046] Anti-static contact surfaces are provided at each hinge point, sliding mating surface, and fixed connection to ensure that the components of the cable tray 20 form an electrical conduction path while maintaining mechanical connection. Anti-static contact surfaces can be achieved by applying a conductive surface treatment to the contact surfaces of each connection point, or by embedding conductive gaskets at each connection point, ensuring that the contact resistance between components is sufficiently low, allowing static charge to transfer freely between components without accumulation.

[0047] The continuous electrostatic discharge network covers all components of the cable tray 20, enabling the static charge generated by the cable 30 during installation due to contact or proximity with the first electrostatic discharge ring 213, the second electrostatic discharge ring 223, and other components of the cable tray 20 to be collected by the continuous electrostatic discharge network. The static charge is then uniformly discharged to the first bevel gear 11 through the fixed connection structure between the transverse rod 21 and the inner hole wall 114 of the first bevel gear 11, and then discharged to the joint housing through the structural connection between the first bevel gear 11 and the joint housing, forming a complete electrostatic discharge circuit. This effectively prevents the accumulation of static electricity from interfering with the precision control signals and sensor signals carried by the cable 30.

[0048] Furthermore, the first electrostatic discharge ring 213 is fixedly disposed at the end of the sliding sleeve rod 212 away from the hole wall 114 of the first bevel gear 11, and the axis of the first electrostatic discharge ring 213 is perpendicular to the axis of the transverse rod 21; the second electrostatic discharge ring 223 is fixedly disposed at the end of the inclined rod 22 away from the hole wall 114 of the first bevel gear 11, and the axis of the second electrostatic discharge ring 223 is perpendicular to the extension direction of the end of the inclined rod 22; the inner diameters of the first electrostatic discharge ring 213 and the second electrostatic discharge ring 223 are both larger than the outer diameter of the cable 30, and the cross-sections of the first electrostatic discharge ring 213 and the second electrostatic discharge ring 223 are circular.

[0049] In one embodiment, the axis of the first electrostatic discharge ring 213 is perpendicular to the axis of the transverse rod 21, so that the cable 30, after passing through the first electrostatic discharge ring 213, exits in a direction perpendicular to the axis of the transverse rod 21, thus forming a directional constraint on the exit direction of the cable 30 at the end of the sliding sleeve rod 212. The inner diameter of the first electrostatic discharge ring 213 is larger than the outer diameter of the cable 30. The size of the gap between the two can be determined according to the lateral swing amplitude of the cable 30 during the insertion process. If the gap is too small, it will cause continuous friction between the cable 30 and the inner wall of the first electrostatic discharge ring 213; if the gap is too large, the constraint effect will be weakened. Preferably, the gap is controlled between 5% and 15% of the outer diameter of the cable 30. The cross-section of the first electrostatic discharge ring 213 is circular. The circular cross-section makes the contact between the cable 30 and the inner wall of the first electrostatic discharge ring 213 a line contact rather than a surface contact, effectively reducing the contact friction. At the same time, the circular cross-section does not have stress concentration corners, so there is no risk of cutting the outer wall of the cable 30.

[0050] The axis of the second electrostatic discharge ring 223 is collinear with the extension direction of the end of the inclined rod 22, allowing the cable 30 to pass through the second electrostatic discharge ring 223 and then exit along the extension direction of the end of the inclined rod 22. Together with the first electrostatic discharge ring 213, it constrains the cable 30 within the axial region of the inner hole 115 of the first bevel gear 11. The inner diameter design principle of the second electrostatic discharge ring 223 is the same as that of the first electrostatic discharge ring 213. The material of both electrostatic discharge rings can be selected with a surface resistivity of 10. 6 Up to 10 9The Ω-sized antistatic engineering plastic allows the static charge accumulated in the cable 30 when it passes through the electrostatic discharge ring to be slowly discharged rather than quickly conducted, thus avoiding damage to the precision signal cable caused by instantaneous discharge.

[0051] For example, in one embodiment, the telescopic rod 232 may consist of a sleeve, an inner rod inserted into the sleeve, and a thrust spring sleeved on the upper end of the inner rod. The two ends of the thrust spring respectively abut against and connect to the upper end of the connecting shaft 2301 and the sleeve. The lower end of the sleeve is hinged to the spring, and the spring is mounted on the transverse slip ring 211.

[0052] Furthermore, as the cable 30 is pulled upward, the angle between the diagonal rod 22 and the horizontal rod 21 changes from the initial angle to the limiting angle; At the initial angle, the transverse rod 21, diagonal rod 22, connecting rod 231, telescopic rod 232, transverse slip ring 211, and diagonal slip ring 221 are in their initial geometric positions. The inner end of the sliding sleeve rod 212 abuts against the transverse slip ring 211, and the relative position of the outer end of the sliding sleeve rod 212 and the end of the transverse rod 21 corresponds to the retracted state of the sliding sleeve rod 212. At this time, the telescopic rod 232 is in its shortest state, and the rigid connecting member 230, together with the support rod 233, provides support force to the diagonal rod 22 to maintain the initial angle.

[0053] Then, the cable 30 moves upward and pulls the second electrostatic discharge ring 223 through friction, forcing the diagonal rod 22 to gradually rotate upward, which in turn causes the connecting rod 231 to rotate to the left around the connecting shaft 2301, thereby causing the telescopic rod 232 to rotate to the right. Specifically, in one embodiment, the inner rod drives the sleeve to rotate to the upper right, the spring at the lower end of the sleeve is stretched, and the sleeve slides relative to the inner rod under the push of the thrust spring, thereby causing the transverse slip ring 211 to move to the right, driving the sliding sleeve rod 212 to move to the right. At this time, the quadrilateral linkage mechanism 240 is deformed by the diagonal rod 22, causing the gravity reset member 251 to retract toward the rigid connector 230 to adapt to the tension of the cable 30 or to detach from the cable 30.

[0054] When the limit angle is reached, the transverse rod 21, diagonal rod 22, connecting rod 231, telescopic rod 232, transverse slip ring 211, and diagonal slip ring 221 are at their maximum stroke geometric positions. The sliding sleeve rod 212 slides outward along the end of the transverse rod 21 to its maximum extension stroke. That is, the second electrostatic release ring 223 moves to the left, the first electrostatic release ring 213 moves to the right to its maximum stroke, and the gravity reset member 251 retracts. This ensures that the portion of the cable 30 supported between the second electrostatic release ring 223 and the first electrostatic release ring 213 is taut and tilts to the left, greatly promoting the upward movement of the cable 30 in accordance with the pulling action of the driver. When the limit angle is reached, the diagonal rod 22 abuts against the wall 114 of the inner hole 115, thereby achieving the limit.

[0055] The maximum extension stroke of the sliding sleeve 212 along the axis of the transverse rod 21 is determined by the ratio of the lengths of the connecting rod 231 and the support rod 233, as well as the geometric relationship between the transverse slip ring 211 and the inclined slip ring 221.

[0056] In one embodiment, when the humanoid robot joint rotates, the relative displacement between the connecting rods on both sides of the joint generates a pulling force on the cable 30 passing through the inner hole of the hollow bevel gear set 10. Under the action of the pulling force, the cable 30 is tensioned along the passing path. The tension force is transmitted sequentially through the second electrostatic release ring 223 to the end of the inclined rod 22, driving the inclined rod 22 to rotate around its rotational connection point with the hole wall 114. The angle between the inclined rod 22 and the transverse rod 21 gradually increases from the initial angle.

[0057] For example, during the rotation of the inclined rod 22, the inclined slip ring 221 is radially constrained by the inclined rod 22 and generates spatial displacement as the inclined rod 22 rotates. The inclined slip ring 221 transmits its own displacement to the rigid connector 230 through the hinge point with the connecting rod 231. After receiving the displacement input from the inclined slip ring 221, the connecting rod 231 transmits the displacement to the telescopic rod 232 through the obtuse angle bending structure at the connecting shaft 2301. The rotational constraint of the rocker arm 2330 on the connecting shaft 2301 keeps the transmission direction of the rigid connector 230 stable, ensuring that the thrust applied by the telescopic rod 232 to the transverse slip ring 211 is along the axial direction of the transverse rod 21. After being pushed axially by the telescopic rod 232, the transverse slip ring 211 moves along the axis of the transverse rod 21. The transverse slip ring 211 abuts against the inner end of the sliding sleeve rod 212, pushing the sliding sleeve rod 212 to extend along the axis of the transverse rod 21. The first electrostatic discharge ring 213 moves outward synchronously with the sliding sleeve rod 212, so that the cable 30's outgoing direction at the first electrostatic discharge ring 213 remains along the axis of the transverse rod 21. The bending stress on the cable 30 in the corner area of ​​the inner hole 115 is converted into an axial tensile force along the axis of the transverse rod 21.

[0058] Simultaneously, the diagonal rod 22 rotates, causing the upper vertex 242 to move in an arc. The first transmission rod 24 transmits the displacement of the upper vertex 242 to the right vertex 243, and the second transmission rod 25 transmits the displacement of the right vertex 243 to the lower vertex 244. The quadrilateral linkage mechanism 240 deforms from an unfolded geometric configuration to a contracted geometric configuration. The right vertex 243 retracts inward toward the axis of the transverse rod 21. The gravity reset component 251 moves synchronously with the right vertex 243. The C-shaped capture fork 2512 continuously retreats along the path through which the cable 30 passes between the first electrostatic release ring 213 and the second electrostatic release ring 223, simultaneously applying a semi-enclosed constraint, which can prevent the cable 30 from excessively shifting toward the gear meshing area during the pulling process. When the diagonal rod 22 rotates to the limit angle, the sliding sleeve rod 212 reaches its maximum extension stroke, and the cable routing bracket 20 is in the maximum stroke geometric position.

[0059] In one embodiment, when the joint returns to its initial position or the tensile force on the cable 30 decreases, the cable routing bracket 20 returns to its initial geometric configuration under the combined restoring force of the gravity reset member 251 and the spiral contraction section 32.

[0060] The center of gravity 2513 of the gravity reset component 251 is located above the right vertex 243. The gravity reset component 251 itself generates a downward gravitational torque relative to the right vertex 243. This gravitational torque is transmitted to the lower vertex 244 via the second transmission rod 25, pushing the sliding sleeve rod 212 to retract along the axis of the transverse rod 21. At the same time, the first transmission rod 24 drives the inclined rod 22 to rotate downward to the right, thereby driving the connecting rod 231 to rotate. During the retraction process, the sliding sleeve rod 212 also pulls the cable 30 downward through friction. The transverse slip ring 211 is pulled by the telescopic rod 232 and pushed by the inner end of the sliding sleeve rod 212, thus displacing in the opposite direction along the axis of the transverse rod 21. The transverse slip ring 211 transmits the displacement to the connecting shaft 2301 via the telescopic rod 232. The connecting shaft 2301 rotates in the opposite direction under the constraint of the rocker arm 2330, and pushes the oblique slip ring 221 to displace in the opposite direction along the oblique rod 22 via the connecting rod 231. The oblique rod 22 rotates in the opposite direction around the rotating connection point under the displacement of the oblique slip ring 221, and the included angle gradually decreases from the limit angle. During this process, the quadrilateral linkage mechanism 240 returns to its original state, drives the gravity reset component 251 to extend to the right, and uses the C-shaped capture area 2511 to capture and spread the cable 30 again, preventing too many cables 30 from concentrating in this area and thus deviating and colliding with the hole wall 114.

[0061] At the same time, the spiral contraction section 32 releases elastic potential energy after the tension of the cable 30 decreases, generating an axial elastic restoring force along the axis of the transverse rod 21. This force acts on the end of the sliding sleeve rod 212 through the first electrostatic release ring 213, and together with the gravitational torque of the gravity reset component 251, drives the sliding sleeve rod 212 to retract, forming a double reset force superposition effect. This improves the reset response speed and ensures that the cable routing bracket 20 reliably returns to the geometric configuration corresponding to the initial included angle after the tension of the cable 30 is completely eliminated.

[0062] Furthermore, the first bevel gear 11 includes an inner bore cylinder 112 and a gear ring 111; the inner bore cylinder 112 is a hollow cylindrical structure, the inner bore 115 is cylindrical and passes through the inner bore cylinder 112 along the axis of the inner bore cylinder 112, and the gear ring 111 is disposed on the upper outer side of the inner bore cylinder 112. A bearing assembly 113 is provided between the outer circumferential surface of the inner bore cylinder 112 and the inner circumferential surface of the gear ring 111. The bearing assembly 113 includes an upper bearing seat 1131, a thrust roller bearing 1132, and a lower bearing seat 1133. The upper bearing seat 1131 and the lower bearing seat 1133 are respectively located on both sides of the axial direction of the thrust roller bearing 1132. The thrust roller bearing 1132, the upper bearing seat 1131, and the lower bearing seat 1133 are all located between the outer circumferential surface of the inner bore cylinder 112 and the inner circumferential surface of the gear ring 111. The gear ring is sleeved on the outer circumference of the inner bore cylinder 112 through the bearing assembly 113. The gear ring 111 and the inner bore cylinder 112 form a relative rotational fit around their common axis. The inner bore cylinder 112 is fixed and does not rotate.

[0063] See Figure 2 as well as Figure 3 In one embodiment, the first bevel gear 11 adopts a separate design of inner bore cylinder 112 and gear ring 111, which are connected by a bearing assembly 113 to achieve relative rotational engagement. During joint transmission, the gear ring 111 rotates with the meshing drive, while the inner bore cylinder 112 remains fixed and does not rotate. The cable support 20 is fixed on the inner bore 115 wall 114 of the inner bore cylinder 112, and the cable 30 passes through the inner bore 115, which fundamentally eliminates the problem of torsional fatigue of the cable 30 caused by the rotation of the gear ring 111.

[0064] The inner hole 115 is cylindrical, and the wall of the inner hole 115 is parallel to the axis of the inner hole shaft 112. The diameter of the inner hole remains constant along the axial direction. The diameter of the inner hole 115 is determined by combining the outer dimensions of the cable tray 20 and the diameter of the cable bundle 30. The diameter of the inner hole 115 should be minimized as much as possible while ensuring the installation space of the cable tray 20, so as to control the overall outer dimensions of the first bevel gear 11.

[0065] The bearing assembly 113 adopts a combination structure of thrust roller bearing 1132 with upper bearing race 1131 and lower bearing race 1133, and is externally equipped with a thrust roller bearing cage 1134. The thrust roller bearing 1132 can withstand the resultant force of axial and radial forces generated by the gear ring 111 during meshing transmission. The upper bearing race 1131 and lower bearing race 1133 are respectively disposed on both sides of the thrust roller bearing 1132, forming an axial positioning constraint on the thrust roller bearing 1132 and preventing the thrust roller bearing 1132 from moving along the axial direction. The gear ring 111 is disposed on the upper outer side of the inner bore shaft 112. The fit clearance between the gear ring 111 and the inner bore shaft 112 is determined by the manufacturing precision of the bearing assembly 113. The higher the fit precision, the smaller the radial runout of the gear ring 111 during rotation, and the higher the gear meshing precision.

[0066] Furthermore, the second bevel gear 12 has an inner bore cylinder 122 and a gear ring 121 corresponding to the first bevel gear 11. The gear ring 111 of the first bevel gear 11 meshes with the gear ring 121 of the second bevel gear 12. The meshing area 13 is located in the intersection area of ​​the axis of the inner bore cylinder 112 of the first bevel gear 11 and the axis of the inner bore cylinder 122 of the second bevel gear 12. An axial angle is formed between the axis of the inner bore cylinder 112 of the first bevel gear 11 and the axis of the inner bore cylinder 122 of the second bevel gear 12. The axial angle corresponds to the limiting angle of the inclined rod 22 and the transverse rod 21 in the cable routing bracket 20.

[0067] In one embodiment, the included angle between the axis of the inner bore cylinder 112 of the first bevel gear 11 and the axis of the inner bore cylinder 122 of the second bevel gear 12 corresponds to the limiting angle of the inclined rod 22 and the transverse rod 21 in the cable routing bracket 20. This correspondence ensures that when the joint reaches its maximum rotation angle, the inclined rod 22 rotates precisely to the limiting angle, the sliding sleeve rod 212 reaches its maximum extension stroke, and the geometric configuration of the cable routing bracket 20 precisely matches the spatial layout of the hollow bevel gear set 10, so that the cable 30 always maintains the gap between itself and the inner bore 115 wall 114 and the gear meshing area throughout the entire stroke of the joint. The specific value of the included angle can be determined according to the required transmission direction turning angle of the joint, and a common design is 90°, corresponding to a limiting angle of 90° for the cable routing bracket 20.

[0068] Furthermore, the cable 30 includes an arc-shaped extension section 31 and a spiral contraction section 32. The arc-shaped extension section 31 is located after passing through the first electrostatic discharge ring 213, and the spiral contraction section 32 is located on the lower inner side of the inner hole 115 of the first bevel gear 11. The spiral axis of the spiral contraction section 32 is collinear with the axis of the first bevel gear 11. The axial elastic restoring force of the spiral contraction section 32 acts on the sliding sleeve 212 through the gravitational torque generated by the first electrostatic discharge ring 213 and the center of gravity 2513 of the gravity reset member 251, so that the cable support 20 returns to the geometric configuration corresponding to the initial included angle after the cable 30 traction force is removed.

[0069] like Figure 9 As shown, in one embodiment, the cable 30 is divided into two functional segments: an arc extension segment 31 and a spiral contraction segment 32. The two segments work together to achieve flexible adaptation and elastic reset of the cable 30 throughout the joint movement.

[0070] The spiral contraction section 32 is located on the lower inner side of the inner hole 115 of the first bevel gear 11. Its spiral axis is collinear with the axis of the inner hole cylinder 112 of the first bevel gear 11. It utilizes the space in the area of ​​the inner hole 115 axis to accommodate the spiral structure, without occupying the installation space of the cable tray 20. The number of spiral turns, pitch, and wire diameter of the spiral contraction section 32 can be determined according to the maximum elongation of the cable 30 corresponding to the maximum rotation angle of the joint. The more spiral turns, the greater the elastic potential energy that the spiral contraction section 32 can store, and the more stable the restoring force. The selection of the pitch must ensure that the turns of the spiral contraction section 32 do not come into contact with each other under the maximum tension state, so as to avoid local stress concentration of the cable 30 due to the compression between the turns. The material of the spiral contraction section 32 is the same as the rest of the cable 30, which eliminates the need for additional elastic elements and simplifies the overall structure of the cable tray 20.

[0071] The curved extension section 31 is located after the cable 30 passes through the first electrostatic discharge ring 213. The curved routing shape of the curved extension section 31 allows the cable 30 a certain amount of free extension margin in this section, which can adapt to the changes in the cable 30's exit position under different extension strokes of the sliding sleeve 212, and prevent the cable 30 from being excessively bent at the first electrostatic discharge ring 213 due to the displacement of the sliding sleeve 212. The curvature of the curved extension section 31 can be determined according to the maximum extension stroke of the sliding sleeve 212. The larger the curvature, the stronger the cable 30's adaptability to the displacement of the sliding sleeve 212, but at the same time, the radial space occupied by the inner hole 115 also increases accordingly. A balance needs to be achieved between the two during the design.

[0072] The spiral retractable section 32 and the gravity reset component 251 constitute a dual reset system for the cable tray 20. The reset forces of both are directed in the retraction direction of the sliding sleeve 212. Their combined effect during joint return ensures that the reset response of the cable tray 20 does not depend on a single reset force source. Even when the gravity torque of the gravity reset component 251 decreases due to changes in its installation posture, the elastic restoring force of the spiral retractable section 32 can still ensure the reliable reset of the cable tray 20, thus improving the reset reliability of the cable tray 20 under different spatial postures.

[0073] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the invention.

[0074] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A hollow wiring layout structure for a humanoid robot joint, characterized in that, include: The hollow bevel gear set (10) includes a first bevel gear (11) and a second bevel gear (12) that mesh with each other. Both the first bevel gear (11) and the second bevel gear (12) have an inner hole (115, 123) that runs through their axis. The cable tray (20) is disposed in the inner hole (115) of the first bevel gear (11) and includes a transverse rod (21), an inclined rod (22), and a linkage mechanism (23). The transverse rod (21) is fixedly disposed on the hole wall (114) of the inner hole (115) of the first bevel gear (11) and extends radially along the inner hole (115). The transverse rod (21) is provided with a transverse slip ring (211) and a sliding sleeve rod (212). The ends of the transverse slip ring (211) and the sliding sleeve rod (212) abut against each other, and the sliding sleeve rod (212) slides... The movable sleeve is installed outside the transverse rod (21), and the sliding sleeve rod (212) is provided with a first electrostatic release ring (213) at the end away from the hole wall (114); the inclined rod (22) is rotatably connected to the hole wall (114), and the connection point and the fixed point are spaced apart along the axis of the inner hole (115). An initial included angle is formed between the inclined rod (22) and the transverse rod (21). An inclined sliding ring (221) is slidably sleeved on the inclined rod (22), and a second electrostatic release ring (223) is provided at the end of the inclined rod (22) away from the hole wall (114). Cable (30) is used to electrically connect the driver. Cable (30) is sequentially inserted into the inner hole (115) of the first bevel gear (11), the first electrostatic discharge ring (213), the second electrostatic discharge ring (223) and the inner hole (123) of the second bevel gear (12). The outer wall of cable (30) maintains a gap with the hole wall (114) of the inner hole (115) of the first bevel gear (11), the hole wall (124) of the inner hole (123) of the second bevel gear (12) and the gear meshing area.

2. The hollow wiring layout structure of the humanoid robot joint according to claim 1, characterized in that, The cable tray (20) also includes a linkage mechanism (23), which includes a connecting rod (231), a telescopic rod (232), and a support rod (233). The connecting rod (231) and the telescopic rod (232) form an obtuse angle. The connecting rod (231) and the telescopic rod (232) are fixed together by a connecting shaft (2301) and together form a rigid connecting member (230). The end of the connecting rod (231) away from the telescopic rod (232) is hinged to the inclined slip ring (221), and the end of the telescopic rod (232) away from the connecting rod (231) is hinged to the transverse slip ring (211). The connecting shaft (2301) is rotatably connected to the top end of the support rod (233).

3. The hollow wiring layout structure of the humanoid robot joint according to claim 2, characterized in that, The cable routing bracket (20) also includes a first transmission rod (24) and a second transmission rod (25); the upper end of the first transmission rod (24) is rotatably connected to the end of the inclined rod (22) away from the hole wall (114), and the lower end of the second transmission rod (25) is rotatably connected to the end of the sliding sleeve rod (212) away from the hole wall (114). The lower end of the first transmission rod (24) is hinged to the upper end of the second transmission rod (25); the inclined rod (22), the first transmission rod (24), the second transmission rod (25) and the transverse rod (21) together constitute a quadrilateral linkage mechanism (240). The quadrilateral linkage mechanism (240) has a left vertex (241), an upper vertex (242), a right vertex (243), and a lower vertex (244). The rotation axis of the diagonal rod (22) intersects the axis of the transverse rod (21) at the left vertex (241). The upper vertex (242) is the hinge point where the first transmission rod (24) is hinged to the diagonal rod (22). The right vertex (243) is the hinge point between the first transmission rod (24) and the second transmission rod (25). The lower vertex (244) is the hinge point between the second transmission rod (25) and the sliding sleeve rod (212).

4. The hollow wiring layout structure of the humanoid robot joint according to claim 3, characterized in that, The second transmission rod (25) has a gravity reset member (251) at one end away from the sliding sleeve rod (212). The gravity reset member (251) is a semi-circular fork structure, including a C-shaped capture fork (2512) and a center of gravity (2513). The C-shaped capture fork (2512) is fixed to the front end of the second transmission rod (25) and faces the outside of the quadrilateral linkage mechanism (240) along the axis of the second transmission rod (25) to surround the C-shaped capture area (2511). The center of gravity (2513) is located on the right vertex (243) away from the axis of the transverse rod (21). The C-shaped capture area (2511) of the gravity reset member (251) opens outward and is used to capture and store the support cable (30). The portion of the cable (30) between the first electrostatic release ring (213) and the second electrostatic release ring (223) passes through the C-shaped capture area (2511).

5. The hollow wiring layout structure of the humanoid robot joint according to claim 4, characterized in that, A rocker arm platform (2330) is provided at the top of the support rod (233). The connecting shaft (2301) of the rigid connector (230) is rotatably mounted on the rocker arm platform (2330). The angle formed between the connecting rod (231) and the telescopic rod (232) is an obtuse angle, so that the connecting rod (231) and the telescopic rod (232) form a bending structure facing the side of the transverse rod (21) at the fixed angle. The bottom end of the support rod (233) is fixedly connected to the horizontal rod (21). A support angle is formed between the support rod (233) and the horizontal rod (21). The rotation connection point at the top end of the support rod (233) and the fixed connection point at the bottom end respectively define the relative positional relationship between the top end of the support rod (233) and the horizontal rod (21), so that the connecting shaft (2301) is constrained by the rocker arm (2330).

6. The hollow wiring layout structure of the humanoid robot joint according to claim 5, characterized in that, The first electrostatic discharge ring (213) is fixedly installed at the end of the hole wall (114) of the sliding sleeve rod (212) away from the first bevel gear (11), and the axis of the first electrostatic discharge ring (213) is perpendicular to the axis of the transverse rod (21); the second electrostatic discharge ring (223) is fixedly installed at the end of the hole wall (114) of the inclined rod (22) away from the first bevel gear (11), and the axis of the second electrostatic discharge ring (223) is collinear with the extension direction of the end of the inclined rod (22); the inner diameter of the first electrostatic discharge ring (213) and the second electrostatic discharge ring (223) is larger than the outer diameter of the cable (30), the cross-section of the ring body of the first electrostatic discharge ring (213) and the second electrostatic discharge ring (223) is circular, and the cable support (20) is made of antistatic material.

7. The hollow wiring layout structure of the humanoid robot joint according to claim 6, characterized in that, During the pulling process of the cable (30), the angle between the diagonal rod (22) and the horizontal rod (21) changes from the initial angle to the limiting angle; At the initial angle, the transverse rod (21), the diagonal rod (22), the connecting rod (231), the telescopic rod (232), the transverse slip ring (211), and the diagonal slip ring (221) are in their initial geometric positions, and the end of the sliding sleeve rod (212) abuts against the transverse slip ring (211); At the limit angle, the transverse rod (21), diagonal rod (22), connecting rod (231), telescopic rod (232), transverse slip ring (211), and diagonal slip ring (221) are at their maximum stroke geometric positions.

8. The hollow wiring layout structure of the humanoid robot joint according to claim 7, characterized in that, The first bevel gear (11) includes an inner bore cylinder (112) and a gear ring (111); the inner bore cylinder (112) is a hollow cylindrical structure, the inner bore (115) is cylindrical and passes through the inner bore cylinder (112) along the axis of the inner bore cylinder (112), and the gear ring (111) is located on the outer side of one end of the inner bore cylinder (112) along the axial direction; A bearing assembly (113) is provided between the outer circumferential surface of the inner bore cylinder (112) and the inner circumferential surface of the gear ring (111). The bearing assembly (113) includes an upper bearing seat (1131), a thrust roller bearing (1132), and a lower bearing seat (1133). The upper bearing seat (1131) and the lower bearing seat (1133) are respectively located on both sides of the axial direction of the thrust roller bearing (1132). The thrust roller bearing (1132), the upper bearing seat (1131), and the lower bearing seat (1133) are all located between the outer circumferential surface of the inner bore cylinder (112) and the inner circumferential surface of the gear ring (111). The gear ring (111) is sleeved on the outer circumference of the inner bore cylinder (112) through the bearing assembly (113). The gear ring (111) and the inner bore cylinder (112) form a relative rotational fit around their common axis. The inner bore cylinder (112) is fixed and does not rotate.

9. The hollow wiring layout structure of the humanoid robot joint according to claim 8, characterized in that, The second bevel gear (12) has an inner bore cylinder (122) and a gear ring (121) corresponding to the first bevel gear (11). The gear ring (111) of the first bevel gear (11) meshes with the gear ring (121) of the second bevel gear (12). The meshing area (13) is located in the intersection area of ​​the axis of the inner bore cylinder (112) of the first bevel gear (11) and the axis of the inner bore cylinder (122) of the second bevel gear (12). An axial angle is formed between the axis of the inner bore cylinder (112) of the first bevel gear (11) and the axis of the inner bore cylinder (122) of the second bevel gear (12). The axial angle is equal to the limiting angle of the inclined rod (22) and the transverse rod (21) in the wiring bracket (20).

10. The hollow wiring layout structure of the humanoid robot joint according to claim 9, characterized in that, The cable (30) includes an arc extension section (31) and a spiral contraction section (32); the arc extension section (31) is located after passing through the first electrostatic release ring (213), and the spiral contraction section (32) is located on the lower inner side of the inner hole (115) of the first bevel gear (11). The spiral axis of the spiral contraction section (32) is collinear with the axis of the first bevel gear (11). The axial elastic restoring force of the spiral contraction section (32) acts on the sliding sleeve (212) through the gravitational torque generated by the first electrostatic release ring (213) and the center of gravity (2513) of the gravity reset member (251), so that the cable support (20) returns to the geometric configuration corresponding to the initial included angle after the cable (30) traction force is removed.

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