Built-in wiring structure of wheel-foot robot

Abstract

The utility model discloses a built-in wiring structure of a wheel-foot robot, the wheel-foot robot comprises a foot end hub motor, a knee joint, a shank and a thigh, the thigh is hinged with the shank through the knee joint, and the foot end hub motor is arranged at the bottom end of the shank. The wiring structure comprises wiring channels, cables, a first electrode I, a first electrode II and a second electrode which are arranged in the radial direction of the foot end hub motor, the axial direction of the shank and the axial direction of the thigh respectively. The first electrode I is fixed in a thigh, the first electrode II is fixed in a shank, the second electrode is circumferentially fixed on a knee joint, an insulating layer is arranged on the periphery of the second electrode, and the first electrode I and the first electrode II are respectively positioned on two sides of the second electrode; a cable in the foot end hub motor wiring channel penetrates through the shank wiring channel to be electrically connected with the first electrode II, a cable in the thigh wiring channel is electrically connected with the first electrode I, and the first electrode I, the first electrode II and the second electrode are kept in contact when rotating relatively. According to the utility model, cable winding and abrasion can be prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to an internal wire routing structure of a wheel-legged robot. Background Art

[0002] The motor power supply cable plays an indispensable role in the smooth movement of the wheel-legged robot. Especially for the wiring design of complex joints such as the knee joint, the bending postures of each joint are used to complete complex retracting and extending actions.

[0003] Most of the existing products on the market adopt an external wire routing method. The exposed external wire routing needs to reserve enough length to cooperate with the movement of the wheel and leg. On the one hand, it increases the risk of breakage caused by winding and is easily damaged. On the other hand, it increases the material cost of the wire.

[0004] Some research results have been achieved in the scheme of internal wire routing in robot joints. For example: the patent with the publication number CN216127287U and the name of an internal wire routing structure in a joint, a joint mechanism and a legged robot, and the patent application with the publication number CN107932556A and the name of a cable layout structure of an industrial robot disclose the scheme of an internal wire routing structure, which can well solve the problem of wire breakage caused by winding. However, the wire can still rub against the inner wall of the rotating mechanical joint, and there is still a risk of wire breakage. Furthermore, whether it is internal wire routing or external wire routing, in order to ensure the normal movement of the joint, enough margin needs to be left for the length of the cable. When the joint moves, the excess cable increases potential safety hazards on the one hand, and on the other hand, it will repeatedly rub against the shell or other components, which will also cause wear of the relevant components and affect the service life of the joint. Content of the Utility Model

[0005] In view of this, the utility model provides an internal wire routing structure of a wheel-legged robot, which can prevent wire winding and wear.

[0006] The technical scheme adopted by the utility model is as follows:

[0007] An internal wire routing structure of a wheel-legged robot, the wheel-legged robot includes a foot-end hub motor, a knee joint, a calf, and a thigh. The thigh is hinged to the calf through the knee joint. The foot-end hub motor is arranged at the bottom end of the calf. The wire routing structure includes wire routing channels, cables, a first electrode I, a first electrode II, and a second electrode arranged along the radial direction of the foot-end hub motor, the axial direction of the calf, and the axial direction of the thigh respectively;

[0008] The first electrode Ⅰ is fixed inside the thigh, the first electrode Ⅱ is fixed inside the calf, the second electrode is circumferentially fixed on the knee joint, an insulating layer is provided on the periphery of the second electrode, and the first electrode Ⅰ and the first electrode Ⅱ are respectively located on both sides of the second electrode; the cable in the cable routing channel of the foot-end hub motor passes through the calf routing channel and is electrically connected to the first electrode Ⅱ, the cable in the thigh routing channel is electrically connected to the first electrode Ⅰ, and the first electrode Ⅰ and the first electrode Ⅱ remain in contact when rotating relative to the second electrode.

[0009] Further, both the first electrode Ⅰ and the first electrode Ⅱ are brush electrodes.

[0010] Further, the first electrode Ⅰ and the first electrode Ⅱ form a group, and the number of groups is more than one group. Each group is arranged at intervals along the axial direction of the knee joint; the number of the second electrodes is the same as the number of groups.

[0011] Further, the first electrode Ⅰ and the first electrode Ⅱ are tangent to the second electrode, and the contact part is pressed on the surface of the second electrode.

[0012] Further, the length of the second electrode along the axial direction is longer than that of the first electrode Ⅰ / the first electrode Ⅱ.

[0013] Further, a cable pipe is provided in the routing channel for placing the cable.

[0014] Beneficial effects:

[0015] 1. The present utility model is provided with a routing channel, and the cable does not need to be exposed outside, avoiding contact with other devices and products. Moreover, the routing channels are respectively arranged along the radial direction of the foot-end hub motor, the axial direction of the calf, and the axial direction of the thigh, which is the shortest route of the routing channel. When the robot moves, the stretching distance of the cable is short, and the cable material is saved.

[0016] Secondly, a first electrode Ⅰ, a first electrode Ⅱ and a second electrode that can rotate relative to each other are arranged at the knee joint. By rotating the first electrode Ⅰ and the first electrode Ⅱ around the knee joint, contact connection is realized, and there is no need to adjust the cable length. Furthermore, the connection at the knee joint can not change with the expansion amplitude of the joint, which can effectively reduce the irregular stacking of the cable, effectively ensure that the cable always remains connected, does not break, and does not interfere during the reciprocating rotation process, and reduces the cable wear speed.

[0017] 2. The first electrode Ⅰ and the first electrode Ⅱ of the present utility model are brush electrodes, which is convenient for the first electrode Ⅰ and the first electrode Ⅱ to always remain in contact with the second electrode, and the solution is simple and practical.

[0018] 3. More than one group of the first electrode Ⅰ and the first electrode Ⅱ are arranged at the knee joint of the present utility model, effectively ensuring the joint movement range. Description of the Drawings

[0019] Figure 1This is a schematic diagram of the overall structure of the present utility model.

[0020] Figure 2 This is an enlarged schematic diagram of the knee joint.

[0021] Figure 3 It is Figure 2 A cross-sectional schematic diagram at A-A in

[0022] Among them, 1-wheel hub motor; 2-lower leg; 3-knee joint; 4-upper leg; 2-1-first electrode I; 2-2-second electrode; 2-3-insulating layer; 2-4-first electrode II. Specific embodiments

[0023] The following combines the drawings and gives embodiments to describe the present utility model in detail.

[0024] The wheel-legged robot includes a wheel hub motor 1 at the foot end, a knee joint 3, a lower leg 2, and an upper leg 4. The upper leg 4 and the lower leg 2 are hinged through the knee joint 3. The wheel hub motor 1 at the foot end is arranged at the bottom end of the lower leg 2. As Figure 1 shown, the present utility model provides an internal wiring structure for a wheel-legged robot. The wiring structure includes wiring channels, cables, a first electrode I 2-1, a first electrode II 2-4, and a second electrode 2-2 that are respectively arranged along the radial direction of the wheel hub motor 1 at the foot end, the axial direction of the lower leg 2, and the axial direction of the upper leg 4.

[0025] The first electrode I 2-1 is fixed inside the upper leg 4, and the first electrode II 2-4 is fixed inside the lower leg 2. As Figure 2 shown, the second electrode 2-2 is an annular electrode, which is circumferentially fixed on the knee joint 3. The first electrode I 2-1 and the first electrode II 2-4 are respectively located on both sides of the second electrode 2-2; an insulating layer 3 is provided outside the second electrode 2-2, that is, the second electrode 2-2 and other parts of the knee joint 3 are separated by the insulating layer 3 to ensure the separation of the second electrode 2-2 from other parts of the knee joint 3 and further avoid potential safety hazards. The cable in the wiring channel of the wheel hub motor 1 at the foot end passes through the wiring channel of the lower leg 2 and is electrically connected to the first electrode II 2-4. The cable in the wiring channel of the upper leg 4 is electrically connected to the first electrode I 2-1. The first electrode I 2-1 and the first electrode II 2-4 remain in contact when rotating relative to the second electrode 2-2.

[0026] Preferably, both the first electrode I 2-1 and the first electrode II 2-4 are brush electrodes. The first electrode I 2-1 and the first electrode II 2-4 are tangent to the second electrode 2-2, and the contact parts are pressed on the surface of the second electrode 2-2. The length of the second electrode 2-2 in the axial direction is longer than that of the first electrode I 2-1 / the first electrode II 2-4.

[0027] As an improvement, the first electrode I 2-1 and the first electrode II 2-4 form a group, and the number of groups is more than one. Each group is arranged at intervals along the axial direction of the knee joint 3; the number of the second electrodes 2-2 is the same as the number of groups. As Figure 3 shown, in this embodiment, the number of groups is three. Correspondingly, the number of the second electrodes 2-2 is three.

[0028] In another embodiment, a wire threading pipe can also be arranged in the wire routing channel for placing wires.

[0029] In summary, the above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An internal wire routing structure of a wheel-legged robot, the wheel-legged robot comprising a foot-end hub motor, a knee joint, a calf, and a thigh. The thigh and the calf are hinged by the knee joint, and the foot-end hub motor is disposed at the bottom end of the calf. It is characterized in that The wiring structure includes wiring channels, cables, a first electrode I, a first electrode II, and a second electrode that are respectively arranged along the radial direction of the wheel hub motor at the foot end, the axial direction of the calf, and the axial direction of the thigh. The first electrode I is fixed inside the thigh, the first electrode II is fixed inside the calf, the second electrode is circumferentially fixed on the knee joint, an insulating layer is provided on the periphery of the second electrode, and the first electrode I and the first electrode II are respectively located on both sides of the second electrode; the cable in the wiring channel of the wheel hub motor at the foot end passes through the wiring channel of the calf and is electrically connected to the first electrode II, the cable in the wiring channel of the thigh is electrically connected to the first electrode I, and the first electrode I and the first electrode II remain in contact when rotating relative to the second electrode.

2. The built-in wire routing structure of the wheel-legged robot according to claim 1, characterized in that Both the first electrode I and the first electrode II are brush electrodes.

3. The built-in wire routing structure of the wheel-legged robot according to claim 2, characterized in that, The first electrode I and the first electrode II are in a group, and the number of groups is more than one, and each group is arranged at intervals along the axial direction of the knee joint; the number of the second electrodes is the same as the number of groups.

4. The built-in wire routing structure of the wheel-legged robot according to any one of claims 1-3, characterized in that, The first electrode I and the first electrode II are tangent to the second electrode, and the contact part is pressed on the surface of the second electrode.

5. The built-in wire routing structure of the wheel-legged robot according to claim 4, characterized in that, The length of the second electrode in the axial direction is longer than that of the first electrode I / first electrode II.

6. The built-in wire routing structure of the wheel-legged robot according to claim 4, characterized in that A cable conduit is provided in the wiring channel for placing the cable.

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