Robot leg wiring structure and robot

Abstract

The utility model relates to a robot leg wiring structure and a robot, the robot leg wiring structure comprises a hip joint, the hip joint comprises a containing part and a rotating part which are rotationally connected, and the containing part is provided with a driving part used for driving the rotating part to rotate; the blocking piece is arranged between the containing piece and the rotating piece and corresponds to the driving piece, and an annular cavity is defined by the blocking 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; and the wire harness is coiled in the annular cavity around the baffle piece. According to the hip joint, the partition piece is arranged between the containing piece and the rotating piece in the hip joint, the annular cavity is formed in the containing piece or the rotating piece, and the wire harness between the wire passing opening and the through hole is wound in the annular cavity, so that even if the hip joint rotates or swings by a large margin, the wire harness does not fall off. And the wire harness at the wire passing port and the through hole cannot be pulled, so that the wire harness is effectively protected, and the service life of the wire harness is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot leg wiring structure and a robot. 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 and a robot to address the problem that the wiring harness is easily pulled and damaged at the hip joint due to the swing of the hip joint.

[0005] According to a first aspect of an embodiment of the present application, a robot leg routing structure is provided, comprising:

[0006] A hip joint comprising a rotatably connected receiving member and a rotating member, wherein the receiving member is provided with a driving member for driving the rotating member to rotate;

[0007] a barrier member disposed between the receiving member and the rotating member and corresponding to the driving member, wherein the barrier member and the outer periphery of the receiving member and / or the rotating member together form an annular cavity;

[0008] The barrier is configured with a wire passing opening, and the accommodating member is configured with a through hole; the wiring harness is coiled around the barrier in the annular cavity, and one end of the wiring harness extends through the wire passing opening to the thigh side of the robot, and the other end of the wiring harness extends through the through hole to the body side of the robot.

[0009] 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.

[0010] In one embodiment, the accommodating member includes an accommodating shell having an opening, the driving member is installed outside the accommodating shell, and the 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;

[0011] The rotating member includes a rotating shell, and the rotating shell is partially embedded in the accommodating shell;

[0012] 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.

[0013] 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.

[0014] In one embodiment, 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;

[0015] 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.

[0016] 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;

[0017] And / or, the hollow protrusion is provided with a guide surface at the edge of the wire passing opening.

[0018] In one embodiment, the bottom surface of the accommodating shell is provided with an annular gasket;

[0019] Along the axis of the hip joint, the ratio of the height of the annular cavity to the diameter of the wire bundle is between 1 and 1.6.

[0020] 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.

[0021] In one embodiment, an avoidance channel is configured on the inner side wall of the rotating housing to avoid the wiring harness passing through the rotating housing.

[0022] According to a second aspect of the embodiments of the present application, a robot is provided, comprising the robot leg routing structure described in the above embodiments.

[0023] The robot leg wiring structure and robot provided in the above embodiment are configured by providing a barrier between the receiving part and the rotating part in the hip joint, and positioning the barrier at the axial position of the hip joint, so that the wire passage opening provided at the barrier and the through hole provided on the receiving part have a certain radial distance, and the wiring harness between the wire passage opening and the through hole is coiled in an annular cavity. This wiring method does not cause pulling on the wiring harness located at the wire passage opening and the through hole when the hip joint rotates or swings to a large extent, thereby effectively protecting the wiring harness and increasing the service life of the wiring harness. Moreover, the wiring harnesses arranged at the hip joint in this example are all located inside the hip joint, preventing the wiring harness from being exposed and corroded or damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic structural diagram of a robot leg provided according to some embodiments of the present application.

[0025] Figure 2 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.

[0026] Figure 3 This 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.

[0027] Figure 4 This is a schematic structural diagram of a rotating member and a blocking member provided according to some embodiments of the present application.

[0028] Figure 5 This is a schematic diagram of the routing of a wiring harness within a ring cavity according to some embodiments of the present application.

[0029] Figure 6 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.

[0030] Figure 7 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.

[0031] Figure Number:

[0032] 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;

[0033] 200, wiring harness;

[0034] 300, barrier; 310, wire opening; 320, mounting hole;

[0035] 400, knee joint;

[0036] 500, thigh;

[0037] 900. Calf. DETAILED DESCRIPTION

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] In related technologies, the wiring harnesses of robot legs are easily affected by the rotation and swinging of the hip joints, 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.

[0045] In view of the above problems, the present invention first provides a robot leg wiring structure. Figures 1 to 3 As shown, Figure 1 A schematic structural diagram of a robot leg provided according to some embodiments of the present application; Figure 2 A schematic diagram of wiring harness settings at a hip joint of a robot according to some embodiments of the present application; Figure 3 Schematic diagram of the structure between the receiving member, the rotating member and the barrier member according to some embodiments of the present application. The robot leg routing structure provided in one embodiment of the present application may include a hip joint 100 and a barrier member 300.

[0046] The hip joint 100 includes a rotatably connected receiving member 110 and a rotating member 120, and the receiving member 110 is equipped with a driving member 116 for driving the rotating member 120 to rotate; the barrier member 300 is arranged between the receiving member 110 and the rotating member 120, and is arranged corresponding to the driving member 116, and the barrier member 300 and the outer periphery of the receiving member 110 and / or the rotating member 120 are combined to form an annular cavity 130; wherein, the barrier member 300 is constructed with a wire passing opening 310, and the receiving member 110 is constructed with a through hole 112; the wiring harness 200 is coiled around the barrier member 300 and arranged in the annular cavity 130, and one end of the wiring harness 200 extends through the wire opening 310 to the thigh 500 side of the robot, and the other end of the wiring harness 200 extends through the through hole 112 to the body side of the robot.

[0047] It is understood that the housing member 110 can be located on the robot's body, or alternatively, on the leg rotation joint or leg swing joint. The placement of the housing member 110 is subject to practical design requirements and is not a limitation herein. Furthermore, the driving member 116 mounted on the housing member 110 is primarily used to drive the rotating member 120 (connected to the robot thigh 500) to rotate, thereby enabling the thigh 500 to swing.

[0048] In this example, the receiving member 110 and the rotating member 120 can be nested to form a cavity therebetween, and a barrier member 300 is disposed within the cavity. The barrier member 300 is disposed correspondingly to the driving member 116. For example, the end surface of the barrier member 300 can be disposed in contact with the end surface of the driving member 116, or the barrier member 300 can be sleeved outside the driving member 116. The provision of the barrier member 300 not only forms the annular cavity 130 between the receiving member 110 and the rotating member 120 to facilitate the winding of the wiring harness 200, but also effectively isolates the wiring harness 200 from contact with the driving member 116, preventing the wiring harness 200 from being worn or damaged by excessive winding due to contact with the driving member 116.

[0049] To effectively align with the driver 116, the barrier 300 is positioned at the axis of the hip joint 100 and defines a wire opening 310. This opening 310 connects the rotating member 120 with the side facing away from the receiving member 110. Furthermore, the through hole 112 in the receiving member 110 should be positioned away from the axis of the hip joint 100 to avoid the driver 116, for example, on the circumference of the receiving member 110. 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.

[0050] 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.

[0051] 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.

[0052] In the present application, a barrier 300 is provided between the receiving member 110 and the rotating member 120 in the hip joint 100, and the barrier 300 is located at the axial position of the hip joint 100, so that the wire opening 310 provided at the barrier 300 and the through hole 112 provided on the receiving member 110 have a certain radial distance, and the wire harness 200 between the wire opening 310 and the through hole 112 is coiled in the annular cavity 130. This routing method will not cause pulling on the wire harness 200 located at the wire opening 310 and the through hole 112 when the hip joint 100 rotates or swings to a large extent, thereby effectively protecting the wire harness 200 and improving the service life of the wire harness 200. Moreover, in this example, the wire harness 200 arranged at the hip joint 100 is all located inside the hip joint 100, which prevents the wire harness 200 from being exposed and corroded or damaged.

[0053] Below, we will combine the Figure 1 -Attached Figure 7 The detailed structure of the robot leg routing structure provided in the embodiment of the present application is introduced.

[0054] Combine Figure 4 and Figure 5 As shown, Figure 4 A schematic structural diagram of a rotating member and a blocking member provided according to some embodiments of the present application; Figure 5 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.

[0055] 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.

[0056] like Figure 3 and Figure 4 As shown, in some embodiments, the accommodating member 110 includes an accommodating shell having an opening, the driving member 116 is installed outside the accommodating shell, and the driving end of the driving member 116 is exposed on the bottom surface of the accommodating shell, and the outer wall of the accommodating shell is constructed with a through hole 112; the rotating member 120 includes a rotating shell, and the rotating shell is partially embedded in the accommodating shell; wherein, a barrier member 300 is provided on the end face of the rotating shell facing the accommodating shell, and the barrier member 300 is configured to be tightly connected to the driving end.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 efficiency.

[0061] 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.

[0062] 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.

[0063] like Figure 4 and Figure 6 As shown, Figure 6 Schematic diagram of the structure of the rotating member facing away from the receiving member according to some embodiments of the present application. In some embodiments, the barrier member 300 is a hollow protrusion provided on the end surface of the rotating housing, and the inner cavity of the hollow protrusion is connected to the inner cavity of the rotating housing.

[0064] 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.

[0065] like Figure 4 As shown, in some embodiments, the outer peripheral surface of the hollow protrusion is constructed with a wire passing opening 310, which is used to connect the annular cavity 130 and the inner cavity of the rotating shell; the end surface of the hollow protrusion facing the accommodating shell is constructed with a plurality of mounting holes 320 to be fastened to the driving member 116 through fasteners, wherein the fasteners can be bolts, and the wiring harness 200 located in the annular cavity 130 passes between two of the fasteners (not shown in the drawings). At the same time, the two fasteners can also play a restraining role on the wiring harness.

[0066] It can be understood that 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 to reducing the distance between the two legs of a bipedal robot, for example, and facilitating the miniaturization of the robot.

[0067] 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.

[0068] like Figure 4 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.

[0069] 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.

[0070] like Figure 4 As shown, in some examples, 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.

[0071] like Figure 2 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.

[0072] 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.

[0073] 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.

[0074] Combine Figure 7 As shown, Figure 7 Figure 1 is a schematic diagram illustrating the placement of a first stopper 118 and a second stopper 122 according to some embodiments of the present application. In some embodiments, the first stopper 118 is provided protruding from the end of the housing toward the rotating housing, and the second stopper 122 is provided on the outer sidewall of the rotating housing. The first stopper 118 is used to block the second stopper 122 to limit the rotation range of the hip joint 100.

[0075] 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.

[0076] In some embodiments, an escape channel is configured on the inner side wall of the rotating housing to escape the wire harness 200 passing through the rotating housing.

[0077] Specifically, since the rotating housing cavity also requires components such as a motor to control the swing of the knee joint 400, in order to prevent the wiring harness 200 from extending from the wiring opening 310 of the rotating housing into the outer shell of the thigh 500, a radially outwardly convex portion of the interior of the rotating housing can be provided to position the wiring harness 200 within the convex escape channel without affecting the normal use of the rotating housing cavity. Of course, the escape channel at this location can be formed by the second stopper 122 provided on the exterior of the rotating housing.

[0078] The present application also provides a robot that can include the robot leg routing structure of any of the above embodiments. The robot provided in this example can be any robot that includes leg components such as the hip joint 100 and the knee joint 400, and can be, for example, a bipedal robot, a quadrupedal robot, a wheeled robot, a humanoid robot, etc., without limitation.

[0079] 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.

[0080] 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 rotatably connected receiving member and a rotating member, wherein the receiving member is provided with a driving member for driving the rotating member to rotate; a barrier member disposed between the receiving member and the rotating member and corresponding to the driving member, wherein the barrier member and the outer periphery of the receiving member and / or the rotating member together form an annular cavity; The barrier is configured with a wire passing opening, and the accommodating member is configured with a through hole; the wiring harness is coiled around the barrier in the annular cavity, and one end of the wiring harness extends through the wire passing opening to the thigh side of the robot, and the other end of the wiring harness extends through the through hole to the body side 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: The accommodating member includes an accommodating shell with an opening, the driving member is installed outside the accommodating shell, and the 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.

4. The robot leg routing structure according to claim 3, 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.

5. The robot leg routing structure according to claim 4, characterized in that: 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 any one of claims 4 to 6, characterized in that: The bottom surface of the accommodating shell is provided with an annular gasket; Along the axis of the hip joint, the ratio of the height of the annular cavity to the diameter of the wire bundle is between 1 and 1.

6.

8. The robot leg routing structure according to any one of claims 4 to 6, 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.

9. The robot leg routing structure according to any one of claims 4 to 6, characterized in that: An escape channel is configured on the inner side wall of the rotating housing to escape the wiring harness passing through the rotating housing.

10. A robot, characterized in that: The robot leg routing structure comprises the robot leg routing structure according to any one of claims 1 to 9.

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