Quadruped robot joint winding mechanism

Abstract

The utility model discloses a quadruped robot joint winding mechanism which is located between a first joint unit and a second joint unit and at least comprises a wire spool body and switching bodies located on the two sides of the wire spool body, a first wire passing space is formed in the wire spool body, and the switching bodies extend outwards in the radial direction from the outer ring of the wire spool body. A second wire passing space is formed between the outer wall of the wire spool body and the switching body, and a notch part used for communicating the first wire passing space with the second wire passing space is formed in the side wall of the wire spool body. According to the four-foot robot, the first wire passing space and the second wire passing space which are communicated with each other are utilized to create sufficient wiring space, wires between the first joint unit and the second joint unit are fully shielded, the wires are prevented from influencing the sight of the four-foot robot, the wires are also prevented from being exposed to the outside to cause abrasion, and the service life of the four-foot robot is prolonged. And the operation stability of the quadruped robot is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of quadruped robots, in particular to a joint winding mechanism of a quadruped robot. Background Art

[0002] The leg structure of a quadruped robot mainly includes multiple joint units, which move in coordination with each other, and the motors and other driving components of each joint unit have communication cables. In order to achieve accurate positioning of the quadruped robot's movements, laser radars will be installed on the head and tail of the quadruped robot. In order to avoid the communication cables between the joints blocking the laser radar's line of sight, the communication cables cannot be exposed to the outside world, and they need to be reasonably laid out and installed. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a joint winding mechanism for a quadruped robot, which forms a first wire passing space and a second wire passing space, so that the wires between the first joint unit and the second joint unit can be shielded and will not block the line of sight of the quadruped robot.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a joint winding mechanism of a quadruped robot, located between a first joint unit and a second joint unit, and at least comprising a winding drum body, and an adapter body located on both sides of the winding drum body, wherein a first wire passing space is formed inside the winding drum body, and the adapter body extends radially outward from the outer circle of the winding drum body to form a second wire passing space between the outer wall of the winding drum body and the adapter body, and a notch portion is formed on the side wall of the winding drum body for connecting the first wire passing space and the second wire passing space.

[0005] Furthermore, the notch portion has a through slot penetrating the side wall of the winding drum body, and a limiting slot communicating with the through slot, and the limiting slot is detachably connected to a first pressing piece.

[0006] Furthermore, the first pressing member and the bottom wall of the limiting groove cooperate to form a gap for the wire to pass through, so that the wire extends in a tangential direction along the outer wall of the winding drum body.

[0007] Furthermore, it also includes a cover body located outside the adapter body, a part of the cover body protrudes to form a receiving cavity, a second pressing block is provided in the receiving cavity, and the second pressing block cooperates with the inner wall of the cover body to limit and clamp the wire.

[0008] Furthermore, a blocking portion is connected to a side wall of the adapter body that is away from the winding reel body, and the second joint unit has a rotation-stopping protrusion that can abut against the blocking portion.

[0009] Furthermore, the outer wall of the second joint unit has a shielding cover, which extends along the axial direction of the second joint unit and is connected with the second line passing space, and the shielding cover is arranged corresponding to the accommodating cavity.

[0010] Furthermore, the first joint unit, the winding drum body, and the second joint unit are concentrically and coaxially arranged.

[0011] Furthermore, the winding drum body and the adapter bodies on both sides are integrally arranged.

[0012] Furthermore, the first joint unit is a knee joint unit, the second joint unit is a hip joint unit, and the adapters on both sides are respectively connected to the housing of the first joint unit and the planetary frame of the second joint unit.

[0013] The beneficial effects of the utility model are: 1) by utilizing the first wire-passing space and the second wire-passing space which are interconnected, sufficient wiring space is created to fully shield the wires between the first joint unit and the second joint unit, thereby preventing them from affecting the line of sight of the quadruped robot and also preventing the wires from being exposed to the outside and causing wear, thereby ensuring the stability of the operation of the quadruped robot; 2) the first pressing piece and the second pressing piece cooperate to relatively fix the two ends of the wire, so that the length of the wire in the second wire-passing space is sufficient to provide a relatively large relative rotation between the first joint unit and the second joint unit, thereby avoiding restrictions on the activities of the quadruped robot and at the same time not affecting the wire connection of the first joint unit. The first joint unit and the second joint unit generate pulling force at the wire connection, thereby ensuring the stability of the wire connection; 3) the first pressure piece and the limit groove cooperate to make the wire extend as far as possible along the tangent direction of the outer wall of the winding drum body, so that the wire can be wound around the outer wall of the winding drum body, and the storage space required is smaller; 4) the cover body covers the wire inside, and the curling of the wire occurs on the inside of the cover body. The loose curling of the wire will not cause obstruction to the laser radar, etc., thereby ensuring the wide field of view of the quadruped robot and further preventing the wire from being damaged during the activity of the quadruped robot; 5) the blocking part and the anti-rotation protrusion cooperate to limit the rotation of the first joint unit and the second joint unit, thereby preventing the two from rotating excessively. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the front view of the utility model.

[0015] Figure 2 It is a cross-sectional view of the utility model.

[0016] Figure 3 The three-dimensional Figure 1 .

[0017] Figure 4 The three-dimensional Figure 2 .

[0018] Figure 5 The decomposition structure of the utility model is shown in FIG. Figure 1 .

[0019] Figure 6 The decomposition structure of the utility model is shown in FIG. Figure 2 .

[0020] Figure 7 The local three-dimensional Figure 1 .

[0021] Figure 8 The local three-dimensional Figure 2 .

[0022] Fig. 9 The local three-dimensional Figure 3 .

[0023] Fig.10 The three-dimensional part of the cover body of the utility model Figure 1 .

[0024] Fig.11 The three-dimensional part of the cover body of the utility model Figure 2 .

[0025] Among them, 1-first joint unit, 11-housing, 2-second joint unit, 21-anti-rotation protrusion, 22-shielding cover, 23-planetary frame, 31-winding disk body, 311-threading port, 32-adapter, 33-notch, 331-through slot, 332-limiting slot, 333-first pressure piece, 334-gap, 335-bolt mounting hole, 34-cover body, 341-accommodating chamber, 342-second pressure block, 343-recessed slot, 35-blocking block, 41-first wire passing space, 42-second wire passing space. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the utility model, the following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0027] like Figure 1-Figure 6As shown, a joint winding mechanism of a quadruped robot is located between a first joint unit 1 and a second joint unit 2. The joint winding mechanism of the quadruped robot includes at least a winding drum body 31 and adapter bodies 32 located on both sides of the winding drum body 31. A first wire passing space 41 is formed inside the winding drum body 31. The adapter body 32 is formed by extending radially outward from the outer circle of the winding drum body 31, so that a second wire passing space 42 is formed between the outer wall of the winding drum body 31 and the adapter body 32. A notch portion 33 is formed on the side wall of the winding drum body 31 for connecting the first wire passing space 41 and the second wire passing space 42.

[0028] In the present invention, the cross-section of the winding drum body 31 and the adapter bodies 32 on both sides is I-shaped, and the vertical part has a hollow structure, that is, the interior of the winding drum body 31 is at least partially hollow, so as to allow the communication wires of the first joint unit 1 to pass through. Specifically, Fig. 9 As shown, there is a wire threading opening 311 on the bottom wall of the winding drum body 31 facing the first joint unit 1. The communication wire of the first joint unit 1 enters the internal hollow of the winding drum body 31 through the wire threading opening 311, and then enters the second wire passing space 42 through the notch 33. The wire can be wound along the outer circumference of the winding drum body 31. The specific winding length is not limited, and it can be less than one circle or more than one circle.

[0029] like Figure 7 , Figure 8 As shown, the notch portion 33 has a through slot 331 penetrating the side wall of the winding drum body 31, and a limiting slot 332 communicating with the through slot 331, and the limiting slot 332 is detachably connected to a first pressing piece 333. Specifically, the limiting slot 332 is formed by a depression in the outer wall of the winding drum body 31, and its bottom surface is provided with a bolt mounting hole 335. The first pressing piece 333 also has a bolt mounting hole, which is connected to the two bolt mounting holes by bolts, so as to achieve the purpose of being detachably connected in the limiting slot 332. The first pressing piece 333 and the bottom wall of the limiting slot 332 cooperate to form a gap 334 for the wire to pass through. The gap 334 is formed between the first pressing piece 333 and the opening of the limiting slot 332, so that the wire extending from the through slot 331 passes through the gap 334 and extends in a tangential direction along the outer wall of the winding drum body 31, so that the wire can be wound in close contact with the outer wall of the winding drum body 31, and the space required for storage is smaller. Of course, the first pressing piece 333 also has a positioning function for the wire, so that a specific position of the wire just falls on the notch portion 33 without a large deviation.

[0030] In this embodiment, the adapter bodies 32 are integrally arranged on both sides of the winding drum body 31. In order to prevent the winding drum body 31 and the adapter body 32 from rotating at too large an angle and to ensure that the wire is not excessively pulled, a blocking portion 35 is connected to the side wall of the adapter body 32 away from the winding drum body 31, and the second joint unit 2 has a stopper protrusion 21 that can abut against the blocking portion 35. Once the blocking portion 35 abuts against the stopper protrusion 21, the winding drum body 31 and the second joint unit 2 will not continue to rotate relative to each other.

[0031] In this embodiment, the first joint unit 1, the winding drum body 31, and the second joint unit 2 are arranged coaxially and concentrically. Fig.10 , Fig.11 As shown, a cover body 34 is also provided on the outside of the adapter body 32, which is concentric and coaxial with the first joint unit 1, the winding disk body 31, and the second joint unit 2. Part of the cover body 34 protrudes to form a accommodating cavity 341, and the accommodating cavity 341 has a second pressure block 342. The second pressure block 342 cooperates with the inner wall of the cover body 34 to limit and clamp the wire.

[0032] Similarly, the accommodating cavity 341 and the second pressing block 342 also have bolt mounting holes, and a recessed groove 343 is formed on the side of the second pressing block 342 facing the inner wall of the cover body 34. The wire passes through the recessed groove 343 and the inner wall of the cover body 34, and then enters the shielding cover 22 on the outer wall of the second joint unit 2. Of course, the second pressing block 342 and the cover body 34 cooperate to fix the wire, so that the specific position of the wire just falls into the recessed groove 343. Of course, the cover body 34 will also shield the wire wound around the outer periphery of the winding drum body 31, so that when the first joint unit 1 and the second joint unit 2 move relative to each other, the curling of the wire occurs on the inner side of the cover body 34, and the laser radar will not be blocked due to the loose curling of the wire, thereby ensuring a wide field of view for the quadruped robot and preventing the wire from being damaged during the activity of the quadruped robot.

[0033] like Figure 2 , Figure 7 , Figure 8 As shown, the outer wall of the second joint unit 2 has a shielding cover 22, which extends along the axial direction of the second joint unit 2 and is connected to the second wire passing space 42, and the shielding cover 22 is arranged corresponding to the accommodating cavity 341, that is, the wire passing through the first wire passing space 41 enters the second wire passing space 42, and then communicates with the second joint unit 2. No wires will be exposed to the outside of the first joint unit 1 and the second joint unit 2, and no visual interference will be generated to the laser radar on the quadruped robot.

[0034] In this embodiment, the first joint unit 1 is a knee joint unit, the second joint unit 2 is a hip joint unit, and the adapters 32 on both sides of the winding drum body 31 are respectively connected to the housing of the first joint unit 1 and the planetary frame 23 of the second joint unit 2. Specifically, in this embodiment, a through hole is provided on the planetary frame 23, so that the wire passes through the through hole and enters the shielding cover 22, and the wire connection port of the second joint unit 2 is located in the area covered by the shielding cover 22.

[0035] The working process of the utility model is that the wire of the first joint unit 1 enters the first wire passing space 41 from the wire threading port 311 on the bottom wall of the winding drum body 31, the wire extends out from the notch 33, and is wound along the outer wall of the winding drum body 31 under the pressure of the first pressure piece 333, and the position of this section of the wire is relatively determined, and no large-scale movement will occur; the length of the wire wound on the outer wall of the winding drum body 31 is sufficient to provide a sufficiently large-scale relative rotation between the first joint unit 1 and the second joint unit 2 to avoid restriction on their relative movement; the wire after winding is completed enters between the second pressure block 342 and the cover body 34, and after being pressed by both, the position of this section of the wire is also relatively determined, that is, the length of the wire between entering the first wire passing space 41 and extending out of the first wire passing space 41 is relatively determined; after passing through the through hole on the planetary carrier 23 of the second joint unit 2, the wire enters the shielding cover 22, and is connected to the wire interface of the second joint unit 2 after being guided by the shielding cover 22.

[0036] The above specific implementation modes are used to explain the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A joint winding mechanism of a quadruped robot, located between a first joint unit (1) and a second joint unit (2), characterized in that: The invention comprises at least a winding drum body (31) and adapter bodies (32) located on both sides of the winding drum body (31); a first wire passing space (41) is formed inside the winding drum body (31); the adapter body (32) extends radially outward from the outer ring of the winding drum body (31) so that a second wire passing space (42) is formed between the outer wall of the winding drum body (31) and the adapter body (32); and a notch (33) for connecting the first wire passing space (41) and the second wire passing space (42) is formed on the side wall of the winding drum body (31).

2. The joint winding mechanism of the quadruped robot according to claim 1, characterized in that: The notch portion (33) comprises a through slot (331) penetrating the side wall of the winding drum body (31), and a limiting slot (332) connected to the through slot (331), wherein the limiting slot (332) is detachably connected to a first pressing piece (333).

3. The joint winding mechanism of the quadruped robot according to claim 2, characterized in that: The first pressing member (333) and the bottom wall of the limiting groove (332) cooperate to form a gap (334) for the wire to pass through, so that the wire extends in a tangential direction along the outer wall of the winding drum body (31).

4. The joint winding mechanism of the quadruped robot according to claim 1, characterized in that: It also includes a cover body (34) located outside the adapter body (32), a portion of the cover body (34) protruding to form a receiving cavity (341), a second pressing block (342) in the receiving cavity (341), and the second pressing block (342) cooperates with the inner wall of the cover body (34) to limit and clamp the wire.

5. The joint winding mechanism of the quadruped robot according to claim 1, characterized in that: A blocking portion (35) is connected to the side wall of the adapter body (32) facing away from the winding drum body (31), and the second joint unit (2) has a rotation-stopping protrusion (21) that can abut against the blocking portion (35).

6. The joint winding mechanism of the quadruped robot according to claim 4, characterized in that: The outer wall of the second joint unit (2) has a shielding cover (22), which extends along the axial direction of the second joint unit (2) and is connected to the second line passing space (42), and the shielding cover (22) and the accommodating cavity (341) are arranged correspondingly.

7. The joint winding mechanism of the quadruped robot according to claim 1, characterized in that: The first joint unit (1), the wire winding drum body (31), and the second joint unit (2) are coaxially arranged.

8. The quadruped robot joint winding mechanism according to claim 1, characterized in that: The winding drum body (31) and the adapter bodies (32) on both sides are integrally arranged.

9. The joint winding mechanism of the quadruped robot according to claim 1, characterized in that: The first joint unit (1) is a knee joint unit, the second joint unit (2) is a hip joint unit, and the adapter bodies (32) on both sides are respectively connected to the housing (11) of the first joint unit (1) and the planetary frame (23) of the second joint unit (2).

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