Robot leg wiring structure

Abstract

The robot leg wiring structure comprises a hip joint, and the hip joint comprises a containing part and a rotating part which are rotationally connected; the partition piece is arranged between the containing piece and the rotating piece, and an annular cavity is defined by the partition piece and the periphery of the containing piece and / or the periphery of the rotating piece; wherein the blocking piece is provided with a wire passing opening, and the containing piece is provided with a through hole; a rocker is arranged between the knee joint and the hip joint; the supporting piece is arranged at the knee joint; and the at least one limiting piece is arranged at the rocker. According to the invention, the wiring harness wiring design is carried out from the hip joint and the knee joint, so that the wiring harness of the legs of the robot can be effectively protected, and the service life of the wiring harness is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a wiring structure for robot legs. Background Art

[0002] In the field of robotics, especially in the leg structure design of bipedal or multi-legged robots, the flexibility and range of motion of the knee and hip joints are key factors in achieving the robot's stable walking and ability to adapt to complex terrain. Related technology In the leg structure design of robots, the main body wiring and the end-carrying tool wiring are generally divided into two categories. The main body wiring involves the power lines of the six motors, the encoder lines, and the reserved air pipes and IO lines. The end-carrying tool wiring includes the air supply line, bus power supply, bus signal line, IO line, etc. The wiring design of these harnesses needs to consider electrical performance, quality performance and assembly performance, including electrical performance requirements such as rated current, duration, rated voltage, withstand voltage, shielding, conductor resistance, insulation resistance, as well as quality performance requirements such as material, UL rating, flame retardancy, and oil resistance. In addition, assembly performance requirements such as bending radius, winding method, wire diameter, wire length, and connectors need to be considered.

[0003] In actual applications, the wiring harness protection and wiring design of the robot's legs also face multiple challenges, especially for the wiring of active parts such as the robot's knee and hip joints. The rotation and swinging of these parts can easily cause the wiring harness to be subjected to pulling and bending stress, which can easily cause the connected wiring harness to be pulled (affecting the normal operation of the robot) or damaged. Utility Model Content

[0004] Based on this, it is necessary to provide a robot leg routing structure to address the problem that the wiring harness is easily damaged by the swing of these parts at the knee and hip joints.

[0005] a hip joint comprising a receiving member and a rotating member connected in rotation;

[0006] a barrier member disposed between the receiving member and the rotating member, the barrier member and the outer periphery of the receiving member and / or the rotating member forming an annular cavity; wherein the barrier member is configured with a wire passing opening, and the receiving member is configured with a through hole;

[0007] A rocker is provided between the knee joint and the hip joint;

[0008] a support member, arranged at the knee joint;

[0009] At least one limiting member is provided at the rocker;

[0010] One end of the wiring harness is located at the body of the robot, and the other end passes through the through hole into the annular cavity. After being wound around the barrier member in the annular cavity, it passes through the wire passing port and enters the thigh of the robot. After being limited by the limiting member along the extension direction of the rocker, it is wound around the support member and enters the calf of the robot.

[0011] In one embodiment, along the axis of the hip joint, the orthographic projection view of the wire bundle located in the annular cavity is a vortex line shape.

[0012] In one embodiment, a redundant wiring harness is provided between the wiring harness extending beyond the hip joint and the wiring harness confined at the rocker;

[0013] The redundant wiring harness is located within the thigh housing of the robot;

[0014] The length of the redundant harness is greater than or equal to a moving distance of the rocker relative to the hip joint.

[0015] In one embodiment, the accommodating member includes an accommodating shell having an opening, a driving member is mounted outside the accommodating shell, and a driving end of the driving member is exposed on the bottom surface of the accommodating shell, and the outer side wall of the accommodating shell is configured with the through hole;

[0016] The rotating member includes a rotating shell, and the rotating shell is partially embedded in the accommodating shell;

[0017] Wherein, the barrier member is provided on the end surface of the rotating shell facing the accommodating shell, and the barrier member is configured to be tightly connected to the driving end.

[0018] In one embodiment, the barrier member is a hollow protrusion provided on the end surface of the rotating shell, and the inner cavity of the hollow protrusion is communicated with the inner cavity of the rotating shell;

[0019] The outer peripheral surface of the protrusion is configured with the wire-passing opening, and the wire-passing opening is used to connect the annular cavity and the inner cavity of the rotating shell;

[0020] The end surface of the hollow protrusion facing the accommodating shell is configured with a plurality of mounting holes so as to be fastened to the driving member through fasteners.

[0021] In one embodiment, the hollow protrusion is a cylindrical structure, and the wire-passing opening has a predetermined length along the circumference of the hollow protrusion;

[0022] And / or, the hollow protrusion is provided with a guide surface at the edge of the wire passing opening.

[0023] In one embodiment, a first limit block is provided on the end of the accommodating shell protruding toward the rotating shell, and a second limit block is provided on the outer side wall of the rotating shell. The first limit block is used to block the second limit block to limit the rotation range of the hip joint.

[0024] In one embodiment, the support member includes a cable winding disc, and the cable winding disc is fixed to the rotation axis of the knee joint;

[0025] And / or, the limiting member includes a buckle, one end of the buckle is fixed to the rocker, and the other end is configured to clamp the wiring harness.

[0026] In one embodiment, at least one coil of wire is wound around the winding drum;

[0027] The radius of the winding drum is greater than or equal to the minimum bending radius of the wire harness.

[0028] In one embodiment, the joystick is located in the thigh housing of the robot;

[0029] The cable winding drum is located in the housing of the knee joint, or the cable winding drum is located in the thigh housing of the robot.

[0030] The robot leg wiring structure provided by the above embodiment provides a barrier between the receiving member and the rotating member in the hip joint to form an annular cavity for winding the wiring harness between the receiving member and the rotating member, so that when the hip joint rotates or swings to a large extent, the wiring harness located at the wire opening and the through hole will not be pulled; and a support is provided at the knee joint, and the wiring harness is wound on the support, and a rocker that drives the knee joint to bend is used to carry part of the wiring harness, and a limiter is provided on the rocker to limit the wiring harness, so that when the knee joint is bent, the wiring harness located at the rocker can move synchronously with the rocker. This wiring method can effectively protect the wiring harness from being excessively pulled when the knee joint is bent. The above design of the present application can effectively protect the wiring harness of the robot leg and improve the service life of the wiring harness. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of a robot leg provided according to some embodiments of the present application.

[0032] Figure 2 This is a schematic diagram of the wiring harness routing of a robot leg provided according to some embodiments of the present application.

[0033] Figure 3 This is a schematic diagram of the wiring harness setting at the hip joint of a robot provided according to some embodiments of the present application.

[0034] Figure 4This is a schematic diagram of the structure between the receiving member, the rotating member and the barrier member provided according to some embodiments of the present application.

[0035] Figure 5 This is a schematic structural diagram of a rotating member and a blocking member provided according to some embodiments of the present application.

[0036] Figure 6 This is a schematic diagram of the routing of a wiring harness within a ring cavity according to some embodiments of the present application.

[0037] Figure 7 This is a schematic structural diagram of the side of the rotating member facing away from the receiving member according to some embodiments of the present application.

[0038] Figure 8 This is a schematic diagram of the setting positions of the first limit block and the second limit block provided according to some embodiments of the present application.

[0039] Figure 9 This is a schematic diagram of the structure of the wiring harness routing at the robot knee joint and joystick provided according to some embodiments of the present application.

[0040] Figure 10 This is a schematic structural diagram of a knee joint support component provided according to some embodiments of the present application.

[0041] Figure 11 This is a structural schematic diagram of the wiring harness routing at the robot knee joint and joystick from another perspective according to some embodiments of the present application.

[0042] Figure Number:

[0043] 100, hip joint; 110, receiving member; 112, through hole; 114, annular gasket; 116, driving member; 118, first stopper; 120, rotating member; 122, second stopper; 130, annular cavity;

[0044] 200, wiring harness; 210, redundant wiring harness;

[0045] 300, barrier; 310, wire opening; 320, mounting hole;

[0046] 400, knee joint;

[0047] 500, thigh;

[0048] 600, joystick;

[0049] 700, support member;

[0050] 800, limiter;

[0051] 900. Calf. DETAILED DESCRIPTION

[0052] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0053] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0054] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0055] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0056] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0057] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0058] In related technologies, the wiring harnesses in robot legs are easily affected by the rotation and swinging of the knee joint, causing the harnesses to be subjected to pulling and bending stresses. This can easily lead to the harnesses being pulled, affecting robot operation, and even causing damage. Furthermore, in traditional robot leg wiring, the harnesses are often exposed and lack effective protection, making them susceptible to corrosion and damage from the external environment. Furthermore, the layout and fixing method of the harnesses also affect the robot's appearance and ease of maintenance.

[0059] In view of the above problems, the present invention first provides a robot leg wiring structure. Figure 1-Figure 3 and Figure 9 As shown, Figure 1 This is a schematic diagram of the overall structure of a robot leg provided according to some embodiments of the present application. Figure 2 This is a schematic diagram of the wiring harness routing of a robot leg provided according to some embodiments of the present application. Figure 3 This is a schematic diagram of the wiring harness setting at the hip joint of a robot provided according to some embodiments of the present application. Figure 9 Schematic diagram of wiring harness routing at the robot knee joint and joystick according to some embodiments of the present application. The robot leg wiring structure provided in one embodiment of the present application may include a hip joint 100, a barrier 300, a knee joint 400, a support member 700, and at least one stopper 800.

[0060] The hip joint 100 includes a rotatably connected receiving member 110 and a rotating member 120; a barrier member 300 is arranged between the receiving member 110 and the rotating member 120, and the barrier member 300 and the outer periphery of the receiving member 110 and / or the rotating member 120 form an annular cavity 130; wherein, the barrier member 300 is constructed with a wire opening 310, and the receiving member 110 is constructed with a through hole 112; a rocker 600 is arranged between the knee joint 400 and the hip joint 100; a support member 700 is arranged at the knee joint 400; and at least one limiting member 800 is arranged at the rocker 600.

[0061] One end of the wiring harness 200 is located at the body of the robot, and the other end passes through the through hole 112 into the annular cavity 130. After being wound around the barrier 300 in the annular cavity 130, it passes through the wire opening 310 and enters the thigh 500 of the robot. After being limited by the limiter 800 along the extension direction of the rocker 600, it is wound around the support member 700 and enters the calf 900 of the robot.

[0062] It is understood that the housing 110 can be located on the robot's body, or alternatively, on the leg rotation joint or leg swing joint, depending on the actual design requirements and not limited herein. Furthermore, the housing 110 can also be used to mount a drive motor, which can drive the rotation member 120 (connected to the robot thigh 500) to rotate, thereby achieving the swinging motion of the thigh 500.

[0063] In this example, the accommodating member 110 and the rotating member 120 can be nested to form a cavity therebetween, and a barrier member 300 is provided in the cavity to form an annular cavity 130 between the accommodating member 110 and the rotating member 120 through the barrier member 300 to facilitate the winding of the wiring harness 200.

[0064] The barrier member 300 can be positioned at the axis of the hip joint 100 and has a wire opening 310 formed therein. This opening 310 connects the side of the rotating member 120 facing toward the receiving member 110 with the side facing away from the receiving member 110. The through hole 112 in the receiving member 110 is typically positioned away from the axis of the hip joint 100, for example, on the circumference of the receiving member 110, to avoid the location of the drive motor. If the receiving member 110 and the rotating member 120 are considered to be cylindrical structures nested within each other, the wire opening 310 is located near the center of the circle, while the through hole 112 is located near the edge of the circle.

[0065] Combined with the arrangement of the wire harness 200 in the annular cavity 130, that is, the wire harness 200 is coiled around the barrier 300, and by setting a reasonable number of coiling turns, one end of the wire harness 200 extends through the wire opening 310 to the side of the rotating member 120 away from the receiving member 110 to enter the thigh 500 side of the robot; the other end of the wire harness 200 extends through the through hole 112 to the body side of the robot. In this routing method, when the rotating member 120 rotates significantly relative to the receiving member 110, the wire harness 200 located in the annular cavity 130 will be tightened or loosened to a certain extent, but will not cause pulling on the wire harness 200 located at the wire opening 310 and the through hole 112. The routing method provided in this example does not require the wire harness 200 at the wire opening 310 and the through hole 112 to be fixed, which not only improves the routing efficiency but also facilitates the subsequent replacement of the wire harness 200.

[0066] It should be noted that in this example, there is no need to fix the routing method of the wiring harness 200 at the wire opening 310 and the through hole 112. It is also beneficial to automatically correct the diameter deviation of the wiring harness 200, avoiding or alleviating the pulling of the wiring harness 200 by the hip joint 100 during movement or swinging.

[0067] In addition, in this example, at the knee joint 400, it can be understood that a support member 700 is set at the rotating axis of the knee joint 400, and the wiring harness 200 is wound around the support member 700. In other words, the axis of the support member 700 can be colinear with the axis of the rotating axis of the knee joint 400, and the wiring harness 200 is spirally wound around the axis of the support member 700.

[0068] One end of the knee joint 400 is the robot's calf 900, and the other end is the robot's thigh 500. The end of the thigh 500 is connected to the hip joint 100. In order to control the bending of the knee joint 400, a corresponding motor is provided at the hip joint 100. The output end of the motor is connected to a crank, and the crank is connected to a rocker 600. The rocker 600 in this example is provided inside the robot's thigh 500, that is, the rocker 600 passes through the inside of the thigh 500 and is connected to the knee joint 400. More specifically, the rotation of the motor controls the rotation of the crank, and the crank drives the rocker 600 to swing, that is, the rocker 600 swings back and forth along the extension direction of the thigh 500, thereby achieving the purpose of controlling the bending of the knee joint 400. The specific operating principle of the knee joint 400 can be understood with reference to the relevant technology and will not be described here.

[0069] Since the bending of the knee joint 400 is closely related to the rocker 600, to solve the problem of the wire harness 200 being pulled at the knee joint 400, in this example, one end of the wire harness 200 wrapped around the support member 700 is disposed on the rocker 600. The arrangement method can be to restrict the wire harness 200 to the rocker 600 using a limiter 800. The specific restriction method can be understood as forming a limiting channel through one or more limiters 800, so that the extension direction of the wire harness 200 after being restricted is consistent with the extension direction of the rocker 600. However, the wire harness 200 is not fixed. Since the wire harness 200 wrapped around the support member 700 will contract or relax to resist the bending of the knee joint 400, the wire harness 200 restricted to the rocker 600 is almost not pulled or moved.

[0070] Of course, the wire harness 200 can also be directly fixed to the rocker 600 via the stopper 800. When the knee joint 400 is bent to a greater degree, the wire harness 200 disposed around the support member 700 is preferentially mobilized to retract, thereby reducing the situation where the wire harness 200 located at the rocker 600 is excessively pulled toward the support member 700. For example, the wire harness 200 can be fixed to the rocker 600 via one or more straps.

[0071] The above-mentioned routing method of limiting the wiring harness 200 at the rocker 600 by the limiter 800 can make the wiring harness 200 move synchronously with the rocker 600, and combined with the tightening or loosening of the wiring harness 200 reasonably wound at the support member 700, to ensure that the wiring harness 200 will not be excessively pulled during the bending process of the knee joint 400.

[0072] In addition, the other end of the wiring harness 200 can be set in the same manner as setting the wiring harness 200 on the side of the rocker 600. For example, the wiring harness 200 can be directly fixed to the calf 900 of the robot by means of straps, buckles, etc., or the wiring harness 200 can be fixed to the corresponding position of the calf 900 by means of a wiring head.

[0073] At this point, the wiring harness 200 extending from the rotating part 120 to the thigh 500 side is docked with the wiring harness 200 limited at the rocker 600. In order to avoid pulling the wiring harness 200 extending from the rotating part 120 when the rocker 600 swings relative to the hip joint 100, which affects the routing stability of the wiring harness 200 located on the rotating part 120 side, a longer wiring harness 200 can also be reserved between the rocker 600 and the hip joint 100, thereby providing a supplementary wiring harness 200 when the rocker 600 swings with the crank.

[0074] In the present application, a barrier member 300 is provided between the receiving member 110 and the rotating member 120 in the hip joint 100 to form an annular cavity 130 for winding the wiring harness 200 between the receiving member 110 and the rotating member 120, so that when the hip joint 100 rotates or swings to a large extent, the wiring harness 200 located at the wire opening 310 and the through hole 112 will not be pulled; and a support member 700 is provided at the knee joint 400, and the wiring harness 200 is wound on the support member 700, and a rocker 600 that drives the knee joint 400 to bend is used to carry part of the wiring harness 200, and a limit member 800 is provided on the rocker 600 to limit the wiring harness 200, so that when the knee joint 400 bends, the wiring harness 200 located at the rocker 600 can move synchronously with the rocker 600. This routing method can effectively protect the wiring harness 200 from being excessively pulled when the knee joint 400 bends. Through the above-mentioned design, the present application can effectively protect the wiring harness 200 of the robot leg and improve the service life of the wiring harness 200.

[0075] Below, we will combine the Figure 1 -Attached Figure 11 The specific structure of the robot leg routing structure provided in the embodiment of the present application is introduced.

[0076] Combine Figure 5 and Figure 6 As shown, Figure 5 This is a schematic structural diagram of a rotating member and a blocking member provided according to some embodiments of the present application. Figure 6 Schematic diagram of the wiring harness within the annular cavity according to some embodiments of the present application. In some embodiments, along the axis of the hip joint 100, the orthographic projection of the wiring harness 200 within the annular cavity 130 is a vortex line.

[0077] Specifically, when the container 110 is actually in use, a driving member 116 is installed on the side facing away from the rotating member 120. In order to avoid the driving member 116, the through hole 112 is usually opened on the outer periphery of the container 110. In combination with the winding of the wire harness 200 in the annular cavity 130, it can be wound for one circle, one and a half circles, or two circles, which is not limited here. Due to the particularity of the positions of the two ends of the wire harness 200 in the annular cavity 130, the wire harness 200 is wound in a spiral line in the annular cavity 130. This winding method will drive the wire harness 200 in the annular cavity 130 to tighten or loosen when the rotating member 120 rotates to a large extent relative to the container 110, but will not cause pulling on the wire harness 200 located at the wire port 310 and the through hole 112, thereby avoiding or slowing down the pulling of the wire harness 200.

[0078] Combine Figure 7 and Figure 9 As shown, Figure 7This is a schematic structural diagram of the side of the rotating member facing away from the receiving member according to some embodiments of the present application. Figure 9 This diagram illustrates the wiring harness routing at the robot's knee joint and joystick, according to some embodiments of the present application. In some embodiments, a redundant wiring harness 210 is provided between the wiring harness 200 extending beyond the hip joint 100 and the wiring harness 200 confined to the joystick 600. The redundant wiring harness 210 is located within the housing of the robot's thigh 500. The length of the redundant wiring harness 210 is greater than or equal to the travel distance of the joystick 600 relative to the hip joint 100.

[0079] It is understood that the redundant wiring harness 210 reserved between the rocker 600 and the hip joint 100 can provide a supplementary wiring harness 200 when the rocker 600 swings with the crank, that is, it prevents the rocker 600 from pulling on the rocker 600 or the wiring harness 200 located at the hip joint 100 when the rocker 600 moves relative to the hip joint 100. Of course, the length of the redundant wiring harness 210 can be set based on the distance the rocker 600 moves relative to the hip joint 100. That is, with a certain point where the wiring harness 200 extends out of the hip joint 100 as a reference point, and the wiring harness 200 located on the rocker 600 (near the hip joint 100) as the moving point, as the rocker 600 swings to its maximum amplitude, the moving point has a maximum distance and a minimum distance from the reference point, and the difference between the maximum distance and the minimum distance is the minimum length of the redundant wiring harness 210.

[0080] Furthermore, the redundant wiring harness 210 can be located inside the outer shell of the robot's thigh 500 , effectively protecting the wiring harness 200 from being corroded by the external environment, thereby increasing the service life of the wiring harness 200 .

[0081] Combine Figure 4 As shown, Figure 4 The following is a schematic diagram of the structure of the container, rotating member, and barrier member provided according to some embodiments of the present application. In some embodiments, the container 110 includes a container housing with an opening, with a driver 116 mounted outside the container housing, and the driving end of the driver 116 is exposed on the bottom surface of the container housing. The outer wall of the container housing is configured with a through hole 112. The rotating member 120 includes a rotating housing, which is partially embedded in the container housing. The barrier member 300 is provided on the end surface of the rotating housing facing the container housing, and the barrier member 300 is configured to be tightly connected to the driving end.

[0082] It can be understood that both the accommodating member 110 and the driving member 116 can be set to be a cylindrical shell with one end open, with the opening of the accommodating shell facing the driving shell, while the opening of the driving shell is away from the accommodating shell, so as to facilitate the installation of the thigh 500 shell and components such as the motor that drives the knee joint 400 to rotate.

[0083] The driving member 116, that is, the driving motor, is usually arranged on the outside of the bottom of the containing shell, and the driving end of the driving motor is exposed on the bottom surface of the containing shell. Of course, the driving end can be flush with the bottom surface of the containing shell, or it can extend into the interior of the containing shell. It can be set according to the specific connection method between the driving shell and the rotating shell, and no specific restrictions are made here.

[0084] Since the driving member 116 is arranged at the bottom of the accommodating shell, the through hole 112 can be adapted to be opened on the outer wall of the accommodating shell. The specific position of the opening can be set according to the corresponding position of the accommodating shell and the body, and no specific limitation is made here.

[0085] The bottom of the rotating shell faces the accommodating shell. In order to improve the convenience of assembly and improve the stability of the relative rotation between the rotating shell and the accommodating shell, part of the rotating shell is embedded in the accommodating shell, and the outer diameter of the rotating shell is designed to be slightly smaller than the inner diameter of the accommodating shell, so as to improve the rotation flexibility and rotation stability of the rotating shell.

[0086] The barrier member 300 is arranged on the outer end surface of the rotating shell facing the containing shell. The setting method can be to open an opening on the outer end surface of the rotating shell and fix the barrier member 300 to the rotating shell by bolts, welding, etc.; of course, the barrier member 300 can also be formed integrally with the rotating shell to increase the firmness of its connection.

[0087] In this example, the outer end surface of the barrier member 300 is fastened to the driving end of the driving member 116, thereby realizing relative rotation between the rotating shell and the accommodating shell. The structure is simple and easy to assemble.

[0088] like Figure 6 and Figure 7 As shown, Figure 7 This figure illustrates the structure of the rotating member facing away from the housing according to some embodiments of the present application. In some embodiments, the barrier member 300 is a hollow protrusion disposed on the end face of the rotating housing, with the inner cavity of the hollow protrusion communicating with the inner cavity of the rotating housing. A wire-passing opening 310 is configured on the outer circumference of the protrusion, connecting the annular cavity 130 with the inner cavity of the rotating housing. The end face of the hollow protrusion facing the housing has multiple mounting holes 320 for fastening to the driver 116 via fasteners.

[0089] Specifically, to reduce the weight of the hip joint 100 and improve the passage of the wiring harness 200, the barrier 300 can be configured as a hollow protrusion. Specifically, an opening adapted to the hollow protrusion can be provided on the outer end surface of the rotating housing. The hollow protrusion has an opening facing toward the side of the rotating housing. The two can be assembled by fixed connection via bolts, welding, or the like, or they can be integrally formed, without limitation.

[0090] A wire passing opening 310 is constructed on the outer peripheral surface of the hollow protrusion, so that the wiring harness 200 between the wire passing opening 310 and the through hole 112 is located in the same plane, and the height of the annular cavity 130 can be reduced, thereby reducing the size of the hip joint 100, which is beneficial for reducing the distance between the two legs of a bipedal robot, for example, and facilitating the miniaturization of the robot.

[0091] In this example, the driving end of the driver 116 is flush with the bottom surface of the housing, and the outer end surface of the hollow protrusion is configured with multiple mounting holes 320, through which fasteners such as fastening bolts can be passed through the mounting holes 320 to achieve a fastened connection between the two. This arrangement can minimize the height of the annular cavity 130. In this example, the height of the annular cavity 130 is the height of the hollow protrusion, while the height of the central protrusion can be kept consistent with the diameter of the wiring harness 200 as much as possible, or slightly larger than the diameter of the wiring harness 200. This arrangement is conducive to reducing the size of the hip joint 100, and thus, for example, reducing the distance between the two legs of a bipedal robot, thereby facilitating the miniaturization of the robot.

[0092] like Figure 5 As shown, in some embodiments, the hollow protrusion is a cylindrical structure, and the wire opening 310 has a predetermined length along the circumference of the hollow protrusion.

[0093] Specifically, the length of the wire passage 310 can be set to a multiple of the diameter of the wire harness 200. This setting is beneficial to improving the passability of the wire harness 200 to the inner cavity of the rotating shell, and is beneficial to the wire harness 200 changing direction in the rotating shell, thereby avoiding the problem of the wire harness 200 being damaged by excessive bending at the wire passage 310.

[0094] like Figure 5 As shown, in one example, the hollow protrusion is provided with a guide surface at the edge of the wire passage 310. Specifically, the provision of the guide surface, on the one hand, facilitates the passage of the wire harness 200 during installation, and on the other hand, improves the smoothness of the wire harness 200 passing through the wire passage 310, so that the bending radius of the wire harness 200 remains above the minimum bending radius.

[0095] like Figure 3 As shown, in some embodiments, an annular gasket 114 is provided on the bottom surface of the containment housing. Specifically, the annular gasket 114 can have a low friction coefficient to reduce friction between the wiring harness 200 within the annular cavity 130 and the side of the containment housing due to contraction or relaxation. In this example, the annular gasket 114 can be a polytetrafluoroethylene (PTFE) gasket or a special polymer composite gasket, without limitation.

[0096] In some examples, along the axis of the hip joint 100 , a ratio of the height of the annular cavity 130 to the diameter of the harness 200 is between 1 and 1.6.

[0097] Specifically, the height of the annular cavity 130 determines the size of the hip joint 100. More specifically, if the height of the annular cavity 130 is smaller, it is beneficial to reduce the distance between the two legs of the bipedal robot. Therefore, in this example, the height of the annular cavity 130 is reduced as much as possible. For example, it can be the diameter of the wiring harness 200, or slightly larger than the diameter of the wiring harness 200. This setting is conducive to the miniaturization of the robot.

[0098] Combine Figure 8 As shown, Figure 8 A schematic diagram illustrating the placement of first and second limit blocks according to some embodiments of the present application. In some embodiments, a first limit block 118 is provided protruding from the end of the housing toward the rotating housing, and a second limit block 122 is provided on the outer sidewall of the rotating housing. The first limit block 118 is used to block the second limit block 122 to limit the rotation range of the hip joint 100.

[0099] Specifically, the arrangement of the first limit block 118 and the second limit block 122 can determine the rotation amplitude of the rotating shell relative to the containing shell. For example, if a first limit block 118 is arranged on the containing shell and a second limit block 122 is also arranged on the rotating shell, the rotation amplitude of the rotating shell relative to the containing shell can reach nearly 180°; if two opposite second limit blocks 122 are arranged on the rotating shell, the rotation amplitude of the rotating shell relative to the containing shell can reach nearly 90°. The number and position of the limit blocks can be designed according to actual conditions and are not limited here. The arrangement of the first limit block 118 and the second limit block 122 can provide a basis for laying out the wiring harness 200 in the annular cavity 130, and can prevent the rotating shell from rotating infinitely relative to the containing shell, causing the wiring harness 200 to be pulled and damaged.

[0100] In some embodiments, an avoidance channel (not shown) is configured on the inner side wall of the rotating housing to avoid the wire harness 200 passing through the rotating housing.

[0101] Specifically, since the inner cavity of the rotating shell also needs components such as a motor to control the swing of the knee joint 400, in order not to affect the wiring harness 200 extending from the wire passing opening 310 at the rotating shell to the outer shell of the thigh 500, the interior of a certain part of the rotating shell can be set to convex radially outward so that the wiring harness 200 can be set in the convex avoidance channel without affecting the normal use of the inner cavity of the rotating shell.

[0102] Combine Figure 10 As shown, Figure 10 Schematic diagram of a support member for a knee joint according to some embodiments of the present application. In some embodiments, the support member 700 includes a winding drum, which is fixed to the rotation axis of the knee joint 400.

[0103] Specifically, the winding drum can be formed integrally with the rotating shaft at the knee joint 400, that is, the rotating shaft can be extended so that the wire harness 200 can be wound around the extended portion. Of course, the winding drum can also be manufactured separately and fastened to the outer end face of the rotating shaft by bolts, welding, etc. so as to rotate synchronously with the rotating shaft. The diameter of the above-mentioned winding drum can be the same as the diameter of the rotating shaft, or larger than the diameter of the rotating shaft. Specifically, it can be set according to the minimum bending radius of the wire harness 200, which is not limited here.

[0104] In some embodiments, the winding drum is configured with a guide thread (not shown in the figures), and the wire harness 200 is wound around the winding drum along the guide thread.

[0105] Specifically, the guide thread is a thread groove formed on the outer circumference of the winding drum, and the width of the thread groove is adapted to the diameter of the wire harness 200. The setting of the guide thread is convenient for constraining the direction of the wire harness 200 and preventing the wire harnesses 200 set at the winding drum from stacking and wearing each other.

[0106] like Figure 10 As shown, in some embodiments, at least one circle of wire harness 200 is wound around the winding drum; the radius of the winding drum is greater than or equal to the minimum bending radius of the wire harness 200.

[0107] It can be understood that the number of turns of the wiring harness 200 wound on the winding reel can be set according to the curvature of the knee joint 400, that is, the distance that the wiring harness 200 is contracted due to the bending of the knee joint 400. For example, one turn of the wiring harness 200, or one and a half turns of the wiring harness 200, can be set on the winding reel, so as to realize the routing design of the wiring harness 200 at the knee joint 400.

[0108] In addition, since the minimum bending radius of the wire harness 200 is related to its own radius, the minimum bending radius corresponding to the wire harness 200 with different radii is different. Therefore, the radius of the winding reel can be designed according to the wire harness 200 with different radii to avoid or reduce damage to the wire harness 200 when it shrinks at the winding reel.

[0109] Combine Figure 11 As shown, Figure 11 This diagram shows another perspective of the wiring harness routing at the robot's knee joint and joystick, according to some embodiments of the present application. In some embodiments, the joystick 600 is located within the housing of the robot's thigh 500; the cable reel is located within the housing of the knee joint 400, or alternatively, the cable reel is located within the housing of the robot's thigh 500.

[0110] Specifically, the winding reel and the wiring harness 200 wound thereon can be set in the outer shell of the knee joint 400. This setting can effectively protect the wiring harness 200 from erosion by the external environment, thereby increasing the service life of the wiring harness 200 and helping to improve the appearance of the robot.

[0111] In addition to setting the winding reel inside the knee joint 400 housing, the end of the robot's thigh 500 housing is also usually connected to the rotating shaft of the knee joint 400. In this example, without affecting the bending degree of the knee joint 400, the structure of the thigh 500 housing at the rotating shaft of the knee joint 400 is reasonably designed so that the wiring harness 200 located there is wrapped by the thigh 500 housing as much as possible, thereby reducing the risk of the wiring harness 200 being exposed to the outside. This setting is beneficial to improving the service life of the wiring harness 200.

[0112] The wiring harness 200 set on the rocker 600 is located in the outer shell of the robot's thigh 500. This setting can effectively protect the wiring harness 200 from erosion by the external environment, thereby increasing the service life of the wiring harness 200 and helping to improve the appearance of the robot.

[0113] In one example, the limiting member 800 includes a buckle, one end of which is fixed to the rocker 600 , and the other end of which is configured to clamp the wiring harness 200 .

[0114] Specifically, one or more clips are provided on the rocker 600 to facilitate the clipping of the wiring harness 200. On the one hand, it is convenient to make the extension direction of the wiring harness 200 consistent with the extension direction of the rocker 600. On the other hand, when the knee joint 400 is bent to a large extent, it is convenient to prioritize the contraction of the wiring harness 200 wound around the support member 700, thereby reducing the situation where the wiring harness 200 located at the rocker 600 is excessively pulled to the support member 700, thereby improving the stability of the wiring harness 200 during the bending process of the knee joint 400.

[0115] In some embodiments, the robot leg routing structure also includes a fastener (not shown in the figure), which is arranged at the calf 900 of the robot. The fastener is configured to fix the end of the wiring harness 200, or the portion of the wiring harness 200 located at the calf 900, to the calf 900.

[0116] Specifically, the wiring harness 200 located at the calf 900 is typically connected to a motor located at the calf 900. To enhance the stability of the connection between the wiring harness 200 and the motor, a fastener, such as a strap or buckle, is provided somewhere between the motor and the knee joint 400, securing the wiring harness 200 to the calf 900. This arrangement also allows the wiring harness 200 located around the support member 700 to be preferentially retracted when the knee joint 400 is bent significantly, minimizing the risk of excessive pulling of the wiring harness 200 located at the calf 900 toward the support member 700, thereby improving the stability of the wiring harness 200 during knee joint 400 bending.

[0117] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A robot leg routing structure, characterized in that: include: a hip joint comprising a receiving member and a rotating member connected in rotation; a barrier member disposed between the receiving member and the rotating member, the barrier member and the outer periphery of the receiving member and / or the rotating member forming an annular cavity; wherein the barrier member is configured with a wire passing opening, and the receiving member is configured with a through hole; A rocker is provided between the knee joint and the hip joint; a support member, arranged at the knee joint; At least one limiting member is provided at the rocker; One end of the wiring harness is located at the body of the robot, and the other end passes through the through hole into the annular cavity. After being wound around the barrier member in the annular cavity, it passes through the wire passing port and enters the thigh of the robot. After being limited by the limiting member along the extension direction of the rocker, it is wound around the support member and enters the calf of the robot.

2. The robot leg routing structure according to claim 1, characterized in that: Along the axis of the hip joint, the orthographic projection view of the wire bundle located in the annular cavity is a vortex line shape.

3. The robot leg routing structure according to claim 1 or 2, characterized in that: A redundant wiring harness is provided between the wiring harness extending out of the hip joint and the wiring harness confined at the rocker; The redundant wiring harness is located within the thigh housing of the robot; The length of the redundant harness is greater than or equal to a moving distance of the rocker relative to the hip joint.

4. The robot leg routing structure according to claim 1 or 2, characterized in that: The accommodating member includes an accommodating shell with an opening, a driving member is installed outside the accommodating shell, and a driving end of the driving member is exposed on the bottom surface of the accommodating shell, and the outer side wall of the accommodating shell is configured with the through hole; The rotating member includes a rotating shell, and the rotating shell is partially embedded in the accommodating shell; Wherein, the barrier member is provided on the end surface of the rotating shell facing the accommodating shell, and the barrier member is configured to be tightly connected to the driving end.

5. The robot leg routing structure according to claim 4, characterized in that: The barrier member is a hollow convex block provided on the end surface of the rotating shell, and the inner cavity of the hollow convex block is communicated with the inner cavity of the rotating shell; The outer peripheral surface of the protrusion is configured with the wire-passing opening, and the wire-passing opening is used to connect the annular cavity and the inner cavity of the rotating shell; The end surface of the hollow protrusion facing the accommodating shell is configured with a plurality of mounting holes so as to be fastened to the driving member through fasteners.

6. The robot leg routing structure according to claim 5, characterized in that: The hollow protrusion is a cylindrical structure, and the wire-passing opening has a predetermined length along the circumference of the hollow protrusion; And / or, the hollow protrusion is provided with a guide surface at the edge of the wire passing opening.

7. The robot leg routing structure according to claim 4, characterized in that: A first limiting block is provided on the end of the accommodating shell protruding toward the rotating shell, and a second limiting block is provided on the outer side wall of the rotating shell. The first limiting block is used to block the second limiting block to limit the rotation range of the hip joint.

8. The robot leg routing structure according to claim 1, characterized in that: The support member includes a wire winding disk, and the wire winding disk is fixed to the rotating shaft of the knee joint; And / or, the limiting member includes a buckle, one end of the buckle is fixed to the rocker, and the other end is configured to clamp the wiring harness.

9. The robot leg routing structure according to claim 8, characterized in that: At least one coil of wire harness is wound around the winding drum; The radius of the winding drum is greater than or equal to the minimum bending radius of the wire harness.

10. The robot leg routing structure according to claim 9, characterized in that: The rocker is located in the thigh housing of the robot; The cable winding drum is located in the housing of the knee joint, or the cable winding drum is located in the thigh housing of the robot.

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