Joint structure of robot and method for routing of connecting wire harness

Abstract

The application provides a joint structure of a robot and a wiring harness arrangement method of the joint structure, and belongs to the technical field of robot equipment. The joint structure comprises a first joint assembly and a second joint assembly. The first joint assembly is arranged to rotate relative to the second joint assembly about a first axis. A wiring harness is connected between the first joint assembly and the second joint assembly. The wiring harness comprises a first part, a second part and a first connecting part. The first connecting part is arranged in line with the first axis. The first part is connected to the first joint assembly. The second part is connected to the second joint assembly. When the first joint assembly rotates relative to the second joint assembly, the first connecting part is twisted or restored about the first axis. In the application, the first connecting part can be twisted or restored about the first axis during the relative rotation between the first joint assembly and the second joint assembly. This is conducive to avoiding the breakage and shedding of the wiring harness due to pulling, increasing the service life of the wiring harness and improving the reliability of the product.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a joint structure of a robot and a method for arranging its connecting wire harness. Background Technology

[0002] Currently, in related technologies, robots typically have joint structures, which are connected by wiring harnesses to achieve functions such as power supply and communication. Because most robots do not properly manage the wiring harnesses within the joint structures, these harnesses can be stretched during turning, leading to breakage or detachment. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a joint structure for a robot and a method for arranging its connecting wire harness, so as to solve the problem that the wire harness joint structure in the prior art is prone to breakage and detachment due to pulling during the turning process.

[0004] To achieve the above and other related objectives, the present invention provides a joint structure for a robot, the joint structure including a first joint assembly and a second joint assembly, wherein the first joint assembly is rotatably disposed relative to the second joint assembly about a first axis;

[0005] A connecting harness is connected between the first joint assembly and the second joint assembly. The connecting harness includes a first part, a second part, and a first connecting part. The first connecting part is arranged collinearly with the first axis. The first part is connected to the first joint assembly, and the second part is connected to the second joint assembly. When the first joint assembly rotates relative to the second joint assembly, the first connecting part twists or returns to its original position around the first axis.

[0006] Optionally, the first joint assembly and / or the second joint assembly have a hollow structure, in which a guide mechanism extending along the first axis is disposed, a sliding mechanism is slidably disposed on the guide mechanism, and a locking unit for locking the position of the sliding mechanism is disposed on the sliding mechanism, the first part being connected to the sliding mechanism.

[0007] Optionally, the guiding mechanism is a guide rail or a slide.

[0008] Optionally, a support structure is provided on the first joint assembly and / or the second joint assembly, and the first connecting portion is disposed on the support structure. The support structure is configured to constrain the first connecting portion so that the first connecting portion is collinear with the first axis.

[0009] Optionally, the support structure is a support tube, which includes a central portion coaxially disposed with the first axis, and the first connecting portion of the connecting wire harness passes through the central portion.

[0010] Optionally, it also includes a third joint assembly, the second joint assembly rotating about a second axis relative to the third joint assembly.

[0011] Optionally, the connecting harness connects to the third joint assembly, and the connecting harness further includes a second connecting portion disposed colinearly with the second axis. When the second joint assembly rotates relative to the third joint assembly, the second connecting portion twists or returns to its original position around the second axis.

[0012] Optionally, the first joint assembly is connected to the second joint assembly, and a groove is provided on the end of the first joint assembly that is connected to the second joint assembly, and a protrusion is provided on the end of the second joint assembly that is connected to the first joint assembly.

[0013] The groove is disposed around the first axis, and the length direction of the groove extends along the circumference of the second joint assembly. The protrusion extends into the groove at least partially along the extension direction of the first axis. The protrusion cooperates with the groove to constrain the maximum angle of relative rotation between the second joint assembly and the first joint assembly.

[0014] The present invention also provides a method for arranging connecting wire harnesses in a robot joint structure, wherein the joint structure includes a first joint assembly and a second joint assembly, the first joint assembly being rotatably disposed relative to the second joint assembly about a first axis.

[0015] The first joint assembly and the second joint assembly are connected by a connecting harness, which includes a first part, a second part and a first connecting part. The first connecting part is arranged collinearly with the first axis. When the first joint assembly rotates relative to the second joint assembly, the first connecting part twists or returns to its original position around the first axis.

[0016] Optionally, the joint structure further includes a third joint assembly, the second joint assembly rotating relative to the third joint assembly about a second axis, the third joint assembly being connected to the second joint assembly via the connecting harness, the connecting harness further including a second connecting portion, the second connecting portion being collinear with the second axis, and the second connecting portion twisting or returning to its original position about the second axis when the second joint assembly rotates relative to the third joint assembly.

[0017] As described above, the robot joint structure and its connecting harness arrangement method provided by the present invention have the following beneficial effects: Since the connecting harness includes a first connecting part, which is arranged collinearly with the first axis, the first connecting part can twist or recover around the first axis during the relative rotation between the first joint assembly and the second joint assembly. This helps to prevent the connecting harness from breaking or falling off due to pulling, increases the service life of the connecting harness, and improves the reliability of the product. Attached Figure Description

[0018] Figure 1 The diagram shown is a cross-sectional view of the joint structure in one embodiment of the present invention.

[0019] Figure 2 The second cross-sectional view of the joint structure in an embodiment of the present invention is shown.

[0020] Figure 3 The third schematic diagram shows a cross-sectional view of the joint structure in an embodiment of the present invention.

[0021] Figure 4 The diagram shown is a structural schematic of the guide mechanism in an embodiment of the present invention.

[0022] Figure 5 The diagram shown is a structural schematic of the robotic arm in an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached drawings: First joint assembly 10, protrusion 11, second joint assembly 20, groove 22, third joint assembly 30, first part 41, second part 42, support tube 43, first connecting part 44, guide mechanism 51, sliding mechanism 52, limiting recess 511, fixing hole 521, operating hole 522, first axis A. Detailed Implementation

[0024] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0025] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0026] To provide a detailed description of this embodiment, the following section will specifically explain its application environment: The joint structure in this embodiment can be used on a robot. The robot in this embodiment can be one or more of the following: a humanoid robot, a quadruped robot, a wheeled robot, or a robotic arm-type industrial robot.

[0027] Taking a humanoid robot as an example, this robot can be used in complex scenarios for tasks such as rescue, housework, patient care, and catering services. The humanoid robot includes a torso and a robotic arm attached to the torso, such as... Figure 5 As shown, the robotic arm includes an arm unit, which comprises an arm unit and a joint structure as described in this embodiment. The fixed end of the arm unit is connected to the torso, and the joint structure enables rotation at the joints of the arm unit. The joint structure of this embodiment will be described in detail below.

[0028] Please see Figures 1-5 This embodiment provides a joint structure for a robot, including a first component 10, a connecting harness 30, and a second component 20. The first component 10 and the second component 20 are rotatably connected. The two ends of the connecting harness 30 are respectively connected to the first component 10 and the second component 20, and there is a redundant portion 33 between the two ends of the connecting harness 30. In this embodiment, one end of the connecting harness 30 is a first portion 31, and the other end of the connecting harness 30 is a second portion 32. The first portion 31 is connected to the first component 10, and the second portion 32 is connected to the first component 10.

[0029] The first component 10 and the second component 20 are connected. A groove 12 is provided on the end of the first component 10 that is connected to the second component 20, and a protrusion 21 is provided on the end of the second component 20 that is connected to the first component 10. The groove 12 is arranged around the rotation axis of the second component 20 and extends circumferentially along the first component 10. The protrusion 21 of the second component 20 extends into the groove 12 at least partially along the extension direction of the rotation axis of the second component 20. The protrusion 21 of the second component 20 and the groove 12 of the first component 10 cooperate to constrain the maximum angle of relative rotation between the second component 20 and the first component 10.

[0030] In this embodiment, the protrusion 21 of the second component 20 extends into the groove 12 at least partially along the extension direction of the rotation axis of the second component 20. Therefore, the cooperation between the protrusion 21 of the second component 20 and the groove 12 of the first component 10 can constrain the maximum angle of relative rotation between the second component 20 and the first component 10. This helps to prevent the stretching distance of the connecting wire harness 30 from exceeding the length of the redundant portion 33 between the connecting wire harnesses after relative rotation between the first component 10 and the second component 20, thereby improving the reliability and stability of the product.

[0031] In practice, the length of the redundant part 33 should be greater than or equal to the stretching distance of the connecting wire harness 30 during the rotation of the first component 10 and the second component 20, so as to avoid the connecting wire harness 30 being easily pulled and broken due to the redundancy part 33 being too small.

[0032] like Figure 3 As shown, in this embodiment, a groove 22 is also provided on the end of the second component 20 that is connected to the first component 10, and a protrusion 11 is also provided on the end of the first component 10 that is connected to the second component 20.

[0033] The groove 22 on the second component 20 is provided around the rotation axis of the second component 20 and extends along the circumference of the second component 20. The protrusion 11 on the first component 10 extends at least partially into the groove 22 on the second component 20 along the extension direction of the rotation axis of the second component 20. The groove 22 on the second component 20 and the protrusion 11 on the first component 10 cooperate to constrain the maximum angle of relative rotation between the second component 20 and the first component 10.

[0034] Specifically, in this embodiment, since both the first component 10 and the second component 20 have protrusions, the protrusion 11 on the first component 10 and the protrusion 21 on the second component 20 cooperate to constrain the maximum angle of relative rotation between the second component 20 and the first component 10.

[0035] In this embodiment, the first component 10 has two grooves 12, which form two protrusions 11 on the first component 10. The two protrusions 11 are located between the two grooves 12, and the space between the two protrusions 11 is the groove 12. The second component 20 has two grooves 22, which form protrusions 21 on the second component 20. The protrusions 21 are located in the circumferential direction of the second component 20 between the two ends of the groove on the second component 20 and outside the groove 22 on the second component 20.

[0036] In this embodiment, the groove on the first component 10 and the groove 22 on the second component 20 cooperate to form a wiring groove, such as Figure 4 , Figure 5 As shown, a sliding unit 40 is slidably disposed within the wiring groove, and the sliding unit 40 is connected between the two ends of the redundant part 33. When the second component 20 rotates relative to the first component 10, the sliding unit 40 constrains the redundant part 33, preventing the redundant part 33 from interfering with or rubbing against other structures within the joint structure, which is beneficial to improving the service life of the connecting wire harness 30.

[0037] In this embodiment, there are two or more sliding units 40, and each sliding unit 40 is connected to the redundant part 33 in sequence. The spacing between adjacent sliding units 40 is set. The more sliding units 40 there are, the better the constraint effect of the sliding units 40 on the redundant part 33. The fewer sliding units 40 there are, the easier it is to simplify the structure of the joint assembly and increase the space for relative rotation between the first component 10 and the second component 20.

[0038] In some embodiments, the first component 10 or the second component 20 has a hollow structure. In this embodiment, both the first component 10 and the second component 20 have hollow structures. Figure 3 and Figure 4 As shown, a guide mechanism 51 extending along the rotation axis of the second component 20 is provided within the hollow structure. The guide mechanism 51 can be a guide rail or a slide groove. A sliding mechanism 52 is slidably mounted on the guide mechanism 51, and a locking unit for locking the position of the sliding mechanism 52 is provided on the sliding mechanism 52. The end of the connecting wire harness 30 is connected to the sliding mechanism 52. The sliding mechanism 52 can slide and lock on the guide mechanism 51, thereby adjusting the position of the mounting point of the connecting wire harness 30 on the first component 10 or the second component 20, which is beneficial for the installation and disassembly of the wire harness. For example, during the installation or disassembly of the wire harness, the sliding mechanism can be moved to the end opening of the first component 10 or the second component 20 to facilitate the operation during the installation or disassembly process. At the same time, since the end of the connecting wire harness 30 is connected to the sliding mechanism 52, after the wire harness is installed, the sliding mechanism 52 can also be moved deep inside the first component 10 or the second component 20, which helps to straighten the wire harness and avoid excess wire harness curling and tangling.

[0039] In this embodiment, the sliding mechanism 52 is a slider, and the guiding mechanism 51 is a guide rail. The slider has an operating hole 522, which allows an operator's finger or a rod-shaped workpiece to be inserted to unlock or lock the slider. The slider also has a fixing hole 521 for securing the connecting wire harness 30, which can be fixed to the slider using cable ties or similar methods. A limiting recess 511 is provided on the guide rail at a preset fixed position corresponding to the slider. When the sliding mechanism 52 moves to the preset fixed position, the limiting recess 511 can cooperate with the locking unit on the sliding mechanism 52 to limit the sliding mechanism 52.

[0040] Specifically, in this embodiment, both the first component 10 and the second component 20 are cylindrical structures. The central axis of the first component 10 and the central axis of the second component 20 are collinear with the rotation axis of the second component 20. A protrusion and a groove are respectively provided on the opposite ends of the first component 10 and the second component 20. The groove penetrates the wall of the cylindrical structure to form the protrusion. The protrusion and the groove cooperate to limit the relative rotation angle between the first component 10 and the second component 20. Since the groove is formed by the first component 10 and the protrusion is formed by the second component 20, no additional limiting structure is required, resulting in advantages such as simple structure, small space occupation, and ease of processing.

[0041] In this embodiment, a mating connector is provided at the end of the connecting wire harness 30. In some embodiments, the connecting wire harness 30 is connected to the first component 10 or the second component 20 through the mating connector. In this embodiment, the connecting wire harness 30 is connected to both the first component 10 and the second component 20 through the mating connector. The mating connector has the advantages of convenient insertion and removal and high reliability.

[0042] like Figure 5 As shown, this embodiment also provides a robotic arm, including at least two arm units and a joint structure as described above. The two arm units are respectively connected to the first component 10 and the second component 20 of the joint structure, and relative rotation is achieved through the joint structure.

[0043] This embodiment also provides a robot, including the joint structure described above. Specifically, the robot includes a torso and a robotic arm, with the fixed end of the robotic arm connected to the torso, and the robotic arm having the joint structure described above.

[0044] As described above, the joint structure, robotic arm, and robot provided in this embodiment have the following advantages: the first component 10 and the second component 20 are connected. The first component 10 has a groove at the end where it connects to the second component 20, and the second component 20 has a protrusion at the end where it connects to the first component 10. The protrusion extends at least partially into the groove along the rotation axis of the second component 20. The cooperation between the protrusion and the groove constrains the maximum relative rotation angle between the second component 20 and the first component 10. This helps prevent the connecting wire harness 30 from stretching beyond the length of the redundant portion 33 between the connecting wire harnesses after relative rotation, thus improving product reliability and stability. The protrusion and groove are respectively located at the connecting ends of the first component 10 and the second component 20. The cooperation between the protrusion and the groove limits the relative rotation angle between the first component 10 and the second component 20. Since the groove is formed by the first component 10 and the protrusion is formed by the second component 20, no additional limiting structure is required. This design offers advantages such as simple structure, small space occupation, and ease of processing.

[0045] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A joint structure for a robot, characterized in that: The joint structure includes a first joint assembly and a second joint assembly, wherein the first joint assembly is rotatably disposed relative to the second joint assembly about a first axis. A connecting harness is connected between the first joint assembly and the second joint assembly. The connecting harness includes a first part, a second part, and a first connecting part. The first connecting part is arranged collinearly with the first axis. The first part is connected to the first joint assembly, and the second part is connected to the second joint assembly. When the first joint assembly rotates relative to the second joint assembly, the first connecting part twists or returns to its original position around the first axis.

2. The joint structure of the robot according to claim 1, characterized in that: The first joint assembly and / or the second joint assembly have a hollow structure, and a guide mechanism extending along the first axis is provided inside the hollow structure. A sliding mechanism is slidably provided on the guide mechanism, and a locking unit for locking the position of the sliding mechanism is provided on the sliding mechanism. The first part is connected to the sliding mechanism.

3. The joint structure of the robot according to claim 2, characterized in that: The guiding mechanism is a guide rail or a slide.

4. The joint structure of the robot guiding mechanism according to claim 1, characterized in that: A support structure is provided on the first joint assembly and / or the second joint assembly, and the first connecting portion is disposed on the support structure. The support structure is configured to constrain the first connecting portion so that the first connecting portion is collinear with the first axis.

5. The joint structure of the robot according to claim 4, characterized in that: The support structure is a support tube, which includes a central portion coaxially disposed with the first axis, and the first connecting portion of the connecting wire harness passes through the central portion.

6. The joint structure of the robot according to claim 1, characterized in that: It also includes a third joint assembly, the second joint assembly rotating about a second axis relative to the third joint assembly.

7. The joint structure of the robot according to claim 6, characterized in that: The connecting harness connects to the third joint assembly. The connecting harness also includes a second connecting portion that is colinearly arranged with the second axis. When the second joint assembly rotates relative to the third joint assembly, the second connecting portion twists or returns to its original position around the second axis.

8. The joint structure of the robot according to claim 1, characterized in that: The first joint assembly is connected to the second joint assembly. A groove is provided on the end of the first joint assembly that is connected to the second joint assembly, and a protrusion is provided on the end of the second joint assembly that is connected to the first joint assembly. The groove is disposed around the first axis, and the length direction of the groove extends along the circumference of the second joint assembly. The protrusion extends into the groove at least partially along the extension direction of the first axis. The protrusion cooperates with the groove to constrain the maximum angle of relative rotation between the second joint assembly and the first joint assembly.

9. A method for arranging connecting wire harnesses in a robot joint structure, characterized in that: The joint structure includes a first joint assembly and a second joint assembly, wherein the first joint assembly is rotatably disposed relative to the second joint assembly about a first axis. The first joint assembly and the second joint assembly are connected by a connecting harness, which includes a first part, a second part and a first connecting part. The first connecting part is arranged collinearly with the first axis so that when the first joint assembly rotates relative to the second joint assembly, the first connecting part twists or returns to its original position around the first axis.

10. The method for arranging connecting wire harnesses in the robot joint structure according to claim 9, characterized in that: The joint structure further includes a third joint assembly, and the second joint assembly rotates about a second axis relative to the third joint assembly. The third joint assembly is connected to the second joint assembly through the connecting harness. The connecting harness further includes a second connecting portion, which is collinear with the second axis. When the second joint assembly rotates relative to the third joint assembly, the second connecting portion twists or returns to its original position about the second axis.

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