Joint wiring structure, robot joint structure and robot

Abstract

The utility model provides a joint wiring structure, a robot joint structure and a robot. The joint wiring structure comprises a winding shell and a wiring harness, a winding cavity is formed in the winding shell, the winding shell is provided with at least two fixing parts, the at least two fixing parts comprise a first fixing part and a second fixing part which are oppositely arranged, the wiring harness comprises a winding part, a fixing part and a connecting part which are sequentially connected, the winding part is arranged in the winding cavity, and the fixing part is arranged in the winding cavity. The end, away from the fixing part, of the winding part penetrates out of the winding shell and is connected with the outside, the end, away from the fixing part, of the connecting part penetrates out of the winding shell and is connected with the outside, and the fixing part is wound around the first fixing piece and the second fixing piece so that the fixing part can be fixed through the tension of the fixing part. According to the joint wiring structure, fixing of the fixing part can be achieved through the tension of the fixing part, a complex wiring harness fixing structure does not need to be additionally arranged, simplification of the joint wiring structure is facilitated, and then simplification of a robot joint structure with the joint wiring structure is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a joint wiring structure, a robot joint structure and a robot. BACKGROUND

[0002] With the rapid development of robot technology, multi-degree-of-freedom joints are widely used in industrial manipulators, service robots and bionic robots due to their flexible movement capabilities.

[0003] In related technologies, the wire harness fixing structure of a robot joint is usually complex, which is not conducive to the simplification of the joint structure of the robot. CONTENT OF THE UTILITY MODEL

[0004] Embodiments of the present application provide a joint wiring structure, a robot joint structure and a robot.

[0005] In a first aspect, embodiments of the present application provide a joint wiring structure, comprising:

[0006] A winding shell is formed with a winding cavity, and the winding shell has at least two fixing members, including oppositely arranged first and second fixing members;

[0007] A wire harness includes a winding portion, a fixing portion and a connecting portion connected in sequence, the winding portion is arranged in the winding cavity, one end of the winding portion away from the fixing portion penetrates the winding shell and is connected with the outside, one end of the connecting portion away from the fixing portion penetrates the winding shell and is connected with the outside, and the fixing portion is wound around the first and second fixing members to be fixed by the tension of the fixing portion itself.

[0008] In an embodiment, the fixing portion includes oppositely arranged first and second ends, the first end of the fixing portion is wound around the first fixing member and extends to the connecting portion in a first direction, the second end of the fixing portion is wound around the second fixing member and extends to the winding portion in a second direction, and the first and second directions are different.

[0009] In an embodiment, the fixing portion is in the shape of an "8" and is wound around the first and second fixing members.

[0010] In an embodiment, the winding shell is formed with a groove, and at least part of the fixing portion is located in the groove; and / or,

[0011] The winding shell is formed with a groove, and the at least two fixing members are located in the groove; and / or,

[0012] The winding shell forms a limiting member, and the limiting member surrounds the winding cavity.

[0013] In an embodiment, the winding part can be switched between a tightening state and a release state, wherein,

[0014] In the release state, the winding part has a winding number N, and N≥2; and / or

[0015] In the release state, the winding part has a winding number N, and in the tightening state, the winding part has a winding number M, and M-N≥1.

[0016] In an embodiment, the winding shell forms a limiting shell, the limiting shell is located outside the limiting member, a limiting space is formed between the limiting shell and the fixing member, and at least part of the fixing part is located in the limiting space; and / or

[0017] The winding shell forms a limiting shell, the limiting shell is located outside the limiting member, a limiting groove is formed between the first fixing member and / or the second fixing member and the limiting shell, and at least part of the fixing part is located in the limiting groove to limit the fixing part.

[0018] In an embodiment, the joint wiring structure further comprises a limiting plate, the limiting plate is connected to the winding shell, a limiting cavity is formed between the limiting plate and the bottom wall of the winding shell, and at least part of the fixing part is located in the limiting cavity.

[0019] In an embodiment, the winding shell has a connecting column, the connecting column is connected to the bottom wall of the winding shell, and the limiting plate is connected to one end of the connecting column away from the bottom wall; and / or,

[0020] The first fixing member is connected to the bottom wall of the winding shell, and the limiting plate is connected to one end of the first fixing member away from the bottom wall; and / or,

[0021] The second fixing member is connected to the bottom wall of the winding shell, and the limiting plate is connected to one end of the second fixing member away from the bottom wall.

[0022] In an embodiment, the radius of the first fixing member is not less than the minimum bending radius of the wire harness; and / or

[0023] The radius of the second fixing member is not less than the minimum bending radius of the wire harness; and / or,

[0024] An outer surface of the winding part is provided with a lubricating layer.

[0025] In an embodiment, the joint wiring structure further comprises a joint connecting shell rotatably connected to the winding shell, and a winding column is formed on a side of the joint connecting shell facing the winding shell, and the winding part is wound around the winding column.

[0026] In an embodiment, a wire outlet cavity is formed on a side of the joint connecting shell facing away from the winding shell, and a wall surface of the wire outlet cavity is formed with a first wire outlet hole, and an end of the winding part facing away from the fixed part is inserted into the first wire outlet hole and located in the wire outlet cavity.

[0027] In an embodiment, the winding shell is formed with a limiting part located on a rotation path of the joint connecting shell.

[0028] In a second aspect, an embodiment of the present application provides a robot joint structure comprising the joint wiring structure described above.

[0029] In an embodiment, the robot joint structure further comprises a joint motor, the connecting part is electrically connected to the joint motor, and the winding shell is connected to the joint motor; or,

[0030] The robot joint structure further comprises a joint motor, the connecting part is electrically connected to the joint motor, and the joint motor is formed with the winding shell.

[0031] In a third aspect, an embodiment of the present application provides a robot comprising the joint wiring structure described above.

[0032] The beneficial effects of the embodiments of the present application are as follows:

[0033] In the embodiments of the present application, the fixed part is wound around the oppositely arranged first fixing member and second fixing member, and since the end of the connecting part facing away from the fixed part is connected to the outside, that is, the end of the connecting part facing away from the fixed part is fixed, and then the connecting part and the fixed part generate tension, so that the tension of the fixed part itself cooperates with the first fixing member and the second fixing member to realize the fixation of the fixed part, so that the fixed part can be fixed at the first fixing member and the second fixing member. That is, the present application can realize the fixation of the fixed part by using the tension of the fixed part itself, without the need to additionally set a complex wire harness fixation structure, which is conducive to the simplification of the joint wiring structure, and further conducive to the simplification of the robot joint structure with the joint wiring structure. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 is one of structural schematic diagrams of a robot joint structure provided by an embodiment of the present application;

[0036] Figure 2 is one of partial structural schematic diagrams of a robot joint structure provided by an embodiment of the present application;

[0037] Figure 3 is another one of partial structural schematic diagrams of a robot joint structure provided by an embodiment of the present application;

[0038] Figure 4 is a structural enlarged schematic diagram of A in Figure 3

[0039] Figure 5 is a structural schematic diagram of a joint connecting shell provided by an embodiment of the present application;

[0040] Figure 6 is a structural exploded schematic diagram of a robot joint structure provided by an embodiment of the present application;

[0041] Figure 7 is a second structural schematic diagram of a robot joint structure provided by an embodiment of the present application;

[0042] Figure 8 is a B-B sectional view in Figure 7

[0043] Figure 9 is a third structural schematic diagram of a robot joint structure provided by an embodiment of the present application;

[0044] Figure 10 is a B-B sectional view in Figure 9

[0045] Legend of reference signs:

[0046] 1, winding shell; 2, wire harness; 3, limiting plate; 4, joint connecting shell; 5, joint motor; 11, winding cavity; 12, first fixing member; 13, second fixing member; 14, groove; 15, limiting member; 16, limiting shell; 17, connecting column; 18, limiting part; 21, winding part; 22, fixing part; 23, connecting part; 31, limiting cavity; 41, winding column; 42, wire outlet cavity; 43, first wire outlet hole; 44, limiting block; 45, connecting cavity; 46, cover plate; 51, third wire outlet hole; 161, limiting space; 162, limiting groove. DETAILED DESCRIPTION

[0047] ​​​The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application. In addition, it should be understood that the specific implementation described herein is only used to illustrate and explain the present application, and is not used to limit the present application. In the present application, the orientation words such as "upper" and "lower" generally refer to the upper and lower directions of the device in the actual use or working state, and the specific direction is the direction of the drawing surface in the drawings; and "inner" and "outer" refer to the contour of the device.

[0048] The joint motor of the leg robot needs to receive the current from the battery, and the current needs to pass through the driving board for rectification and AC-to-DC conversion before being supplied to the motor. Usually, the leg robot is a multi-joint robot, and the joints are connected in series. Therefore, when passing from the upper joint to the lower joint, a wire needs to pass through. Usually, in order to meet the power supply requirements of the motor, the wire is usually thick. When multiple joints are connected, the wiring appears disordered and chaotic.

[0049] In order to avoid the influence of disordered wiring on the movement of the robot, the wire harness is usually fixed. In the related art, the wire harness is mainly fixed by an additional locking structure (such as a wire tie), that is, a wire harness fixing structure with complex structure needs to be added to the joint structure of the robot, which is not conducive to the simplification of the joint structure of the robot.

[0050] Embodiments of the present application realize the fixation of the wire harness by utilizing the tension of the wire harness itself, without the need for additional complex wire harness fixing structures, which is conducive to the simplification of the joint wiring structure, and further conducive to the simplification of the joint structure of the robot with the joint wiring structure.

[0051] According to a first aspect of the present application, referring to Figures 1 to 10 The present application provides a joint wiring structure, comprising a winding shell 1 and a wire harness 2. The winding shell 1 forms a winding cavity 11. The winding shell 1 has at least two fixing members, including a first fixing member 12 and a second fixing member 13 arranged oppositely. The wire harness 2 includes a winding part 21, a fixing part 22 and a connecting part 23 connected in sequence. The winding part 21 is arranged in the winding cavity 11. One end of the winding part 21, which is away from the fixing part 22, penetrates the winding shell 1 and is connected with the outside. One end of the connecting part 23, which is away from the fixing part 22, penetrates the winding shell 1 and is connected with the outside. The fixing part 22 is arranged around the first fixing member 12 and the second fixing member 13, so that the fixing part 22 is fixed by the tension of the fixing part 22 itself.

[0052] It can be understood that, since the end of the connecting portion 23 away from the fixing portion 22 is connected to the outside, i.e., the end of the connecting portion 23 away from the fixing portion 22 is fixed, and further the connecting portion 23 and the fixing portion 22 generate tension, the tension of the fixing portion 22 itself cooperates with the first fixing member 12 and the second fixing member 13 to achieve the fixation of the fixing portion 22, so that the fixing portion 22 can be fixed at the first fixing member 12 and the second fixing member 13. That is, the present application can utilize the tension of the fixing portion 22 itself to achieve the fixation of the fixing portion 22, without the need of additionally setting a complex wire harness fixation structure, which is beneficial to the simplification of the joint wiring structure, and further beneficial to the simplification of the robot joint structure with the joint wiring structure.

[0053] In some examples, the outside refers to, for example, an external motor or a driving pump or any other suitable driving structure, and the end of the connecting portion 23 away from the fixing portion 22 can be used to electrically connect with the external driving structure.

[0054] In some examples, the outside can also refer to a positioning structure such as a fixing shell, and the end of the connecting portion 23 away from the fixing portion 22 can be used to connect with the positioning structure.

[0055] In some examples, the fixing member is, for example, a fixing column or a fixing plate or any other suitable fixing structure. That is, the first fixing member 12 is, for example, a first fixing column or a first fixing plate or any other suitable fixing structure, and the second fixing member 13 is, for example, a second fixing column or a second fixing plate or any other suitable fixing structure.

[0056] In some embodiments, referring to Figure 3 and Figure 4 , the fixing portion 22 includes oppositely arranged first and second ends, the first end of the fixing portion 22 is arranged around the first fixing member 12 and extends to the connecting portion 23 in a first direction, the second end of the fixing portion 22 is arranged around the second fixing member 13 and extends to the wire winding portion 21 in a second direction, and the first direction is different from the second direction.

[0057] It can be understood that, the first end of the fixing portion 22 is arranged around the first fixing member 12, and the first fixing member 12 can limit the first end of the fixing portion 22, and the second end of the fixing portion 22 is arranged around the second fixing member 13, and the second fixing member 13 can limit the second end of the fixing portion 22.

[0058] Since the first end of the fixed portion 22 extends around the first fixing member 12 in a direction, and the second end of the fixed portion 22 extends around the second fixing member 13 in a different direction, the first fixing member 12 and the second fixing member 13 can limit the fixed portion 22 in different directions, so that the fixed portion 22 can be fixed at the first fixing member 12 and the second fixing member 13. Further, the fixed portion 22 of the wire harness 2 and the fixing member can be cooperated to realize the fixation of the wire harness 2, without complex fixation structure, which is beneficial to simplify the joint wiring structure.

[0059] For example, when the fixed portion 22 is pulled in the first direction, the first end of the fixed portion 22 is limited by the first fixing member 12 and cannot move, so that the fixed portion 22 remains stable and does not move; when the fixed portion 22 is pulled in the second direction, the second end of the fixed portion 22 is limited by the second fixing member 13 and cannot move, so that the fixed portion 22 remains stable and does not move.

[0060] In some embodiments, referring to Figure 3 and Figure 4 , the fixed portion 22 is arranged in an "8" shape around the first fixing member 12 and the second fixing member 13.

[0061] It can be understood that by arranging the fixed portion 22 around the first fixing member 12 and the second fixing member 13 in an "8" shape, the first fixing member 12 and the second fixing member 13 can limit the fixed portion 22, and since the connecting portion 23 connected to the fixed portion 22 is fixed with the driving module, the fixed portion 22 can be fixed by its own tension without complex fixation structure.

[0062] Specifically, the fixed portion 22 includes oppositely arranged first and second ends, and the "8" shape winding means that the first end of the fixed portion 22 is arranged around the first fixing member 12 in one of the clockwise and counterclockwise directions, and the second end of the fixed portion 22 is arranged around the second fixing member 13 in the other of the clockwise and counterclockwise directions.

[0063] In some embodiments, referring to Figure 3 and Figure 4 , the winding shell 1 is formed with a groove 14, and at least part of the fixed portion 22 is located in the groove 14.

[0064] It can be understood that by arranging at least part of the fixed portion 22 in the groove 14, the space of the winding shell 1 is effectively utilized, which is beneficial to reduce the overall volume of the joint wiring structure and make the structure more compact.

[0065] It can be understood that the groove 14 can also limit the fixed portion 22.

[0066] In some embodiments, the winding housing 1 is formed with a groove 14, and the at least two fixing members are located in the groove 14.

[0067] It can be understood that, by arranging the fixing members at the groove 14 of the winding housing 1, at least part of the structure of the fixing members is located in the groove 14, which is beneficial to reduce the overall volume of the joint wiring structure and make the structure more compact.

[0068] In some embodiments, referring to Figure 2 and Figure 4 , the winding housing 1 is formed with a limiting member 15, and the limiting member 15 surrounds the winding cavity 11.

[0069] It can be understood that, by surrounding the winding cavity 11 with the limiting member 15 and arranging the winding part 21 in the winding cavity 11, the winding part 21 will be limited by the limiting member 15. That is, the winding part 21 can be limited in the winding cavity 11 by the limiting member 15, which can avoid the winding part 21 moving out of the winding cavity 11 and prevent the situation of wiring disorder.

[0070] It can be understood that, the winding part 21 can switch between the tightening state and the release state in the winding cavity 11. During the release process, the winding part 21 moves away from the center of the winding cavity 11, and the limiting member 15 is located on the moving path of the winding part 21, thereby limiting the winding part 21 and making the winding part 21 in the winding cavity 11 in both the tightening state and the release state.

[0071] In some examples, the limiting member 15 is, for example, a side wall formed on the winding housing 1, the side wall protrudes from the bottom wall of the winding housing 1, and the side wall surrounds the outside of the winding part 21 to limit the winding part 21.

[0072] In some embodiments, the winding part 21 can switch between the tightening state and the release state.

[0073] Specifically, in the release state, the number of winding turns of the winding part 21 is N, and N≥2 is satisfied.

[0074] It can be understood that, if the number of winding turns of the winding part 21 is not greater than 2 in the release state, the number of rotatable turns of the winding part 21 is small, which is difficult to meet the requirements of the robot joint structure, and when the winding part 21 is in the tightening state, the winding part 21 may be excessively tight, which affects the service life of the winding part 21. Therefore, the number of winding turns of the winding part 21 in the release state is designed to be at least two turns in the present application.

[0075] Specifically, in the release state, the number of winding turns of the winding part 21 is N, and in the tightening state, the number of winding turns of the winding part 21 is M, and M-N≥1.

[0076] It can be understood that the number of turns of the winding part 21 in the released state and the number of turns in the tightened state are designed to differ by at least one turn, so that the winding part 21 can rotate at least 360° when switching between the two states, that is, the winding part 21 will not pull the fixed part 22 and the connecting part 23 even if it rotates 360°, and the winding part 21 will not be excessively tightened. The maximum rotation angle between the robot joints does not exceed 360°, that is, by designing the number of turns of the winding part 21 in the released state and the number of turns in the tightened state to differ by at least one turn, the application provides sufficient redundancy for the movement of the robot joints, which can effectively prevent the wire harness 2 from being excessively pulled during the movement of the robot joints, and ensure the stability and service life of the wire harness 2.

[0077] In some embodiments, referring to Figure 2 and Figure 4 , the winding shell 1 forms a limiting shell 16, the limiting shell 16 is located outside the limiting piece 15, and a limiting space 161 is formed between the limiting shell 16 and the fixing piece. At least part of the fixed part 22 is located in the limiting space 161.

[0078] It can be understood that by arranging at least part of the fixed part 22 in the limiting space 161 between the limiting shell 16 and the fixing piece, the limiting shell 16 and the fixing piece can limit the fixed part 22, which is beneficial to improve the installation stability of the fixed part 22.

[0079] In some embodiments, referring to Figure 2 and Figure 4 , the winding shell 1 forms a limiting shell 16, the limiting shell 16 is located outside the limiting piece 15, and a limiting groove 162 is formed between the first fixing piece 12 and / or the second fixing piece 13 and the limiting shell 16. At least part of the fixed part 22 is located in the limiting groove 162 to limit the fixed part 22.

[0080] It can be understood that by arranging at least part of the fixed part 22 in the limiting groove 162 between the first fixing piece 12 and the limiting shell 16, the limiting shell 16 and the first fixing piece 12 can cooperate to limit the fixed part 22, which is beneficial to improve the installation stability of the fixed part 22.

[0081] It can be understood that by arranging at least part of the fixed part 22 in the limiting groove 162 between the second fixing piece 13 and the limiting shell 16, the limiting shell 16 and the second fixing piece 13 can cooperate to limit the fixed part 22, which is beneficial to improve the installation stability of the fixed part 22.

[0082] In some embodiments, referring to Figure 2 , Figure 3 and Figure 6The joint wiring structure further comprises a limiting plate 3 connected to the winding shell 1, and a limiting cavity 31 is formed between the limiting plate 3 and the bottom wall of the winding shell 1, and the at least partial fixing portion 22 is located in the limiting cavity 31.

[0083] It can be understood that the limiting plate 3 and the bottom wall of the winding shell 1 can clamp the at least partial fixing portion 22, thereby limiting the fixing portion 22 and improving the installation stability of the fixing portion 22.

[0084] In some embodiments, referring to Figure 3 and Figure 4 The winding shell 1 has a connecting column 17 connected to the bottom wall of the winding shell 1, and the limiting plate 3 is connected to one end of the connecting column 17 away from the bottom wall.

[0085] It can be understood that the limiting plate 3 is connected to the connecting column 17 to fix the installation of the limiting plate 3, so that the limiting plate 3 can cooperate with the bottom wall of the winding shell 1 to limit the fixing portion 22.

[0086] In some embodiments, the first fixing member 12 is connected to the bottom wall of the winding shell 1, and the limiting plate 3 is connected to one end of the first fixing member 12 away from the bottom wall.

[0087] It can be understood that the limiting plate 3 is connected to the first fixing member 12 to fix the installation of the limiting plate 3, so that the limiting plate 3 can cooperate with the bottom wall of the winding shell 1 to limit the fixing portion 22, and the first fixing member 12 is reused, which is beneficial to simplify the joint wiring structure.

[0088] In some embodiments, the second fixing member 13 is connected to the bottom wall of the winding shell 1, and the limiting plate 3 is connected to one end of the second fixing member 13 away from the bottom wall.

[0089] It can be understood that the limiting plate 3 is connected to the second fixing member 13 to fix the installation of the limiting plate 3, so that the limiting plate 3 can cooperate with the bottom wall of the winding shell 1 to limit the fixing portion 22, and the second fixing member 13 is reused, which is beneficial to simplify the joint wiring structure.

[0090] In some embodiments, the radius of the first fixing member 12 is not less than the minimum bending radius of the wire harness 2.

[0091] It can be understood that the fixing portion 22 of the wire harness 2 is arranged around the first fixing member 12, that is, the fixing portion 22 is bent at the first fixing member 12, and the radius of the first fixing member 12 is not less than the minimum bending radius of the wire harness 2, which ensures that the fixing portion 22 of the wire harness 2 will not be bent more than the minimum bending radius at the first fixing member 12, avoids damage to the wire harness 2, and ensures the service life of the wire harness 2.

[0092] Exemplarily, the first fixing member 12 is in a cylindrical structure.

[0093] In some embodiments, the radius of the second fixing member 13 is not less than the minimum bending radius of the wire harness 2.

[0094] It can be understood that the fixing portion 22 of the wire harness 2 is arranged around the second fixing member 13, that is, the fixing portion 22 is bent at the second fixing member 13, and the radius of the second fixing member 13 is not less than the minimum bending radius of the wire harness 2, so that the fixing portion 22 of the wire harness 2 is ensured not to be bent beyond the minimum bending radius at the second fixing member 13, damage to the wire harness 2 is avoided, and the service life of the wire harness 2 is ensured.

[0095] Exemplarily, the second fixing member 13 is in a cylindrical structure.

[0096] It should be noted that the “minimum bending radius of the wire harness 2” refers to the limit bending radius at which the wire harness 2 does not produce mechanical damage or electrical performance degradation during bending. The value depends on the material properties (such as conductor flexibility, insulation layer stretch resistance, sheath fatigue resistance) and structural design (such as twisting method, shielding layer layout) of the wire harness 2.

[0097] In some embodiments, the outer surface of the winding portion 21 is provided with a lubricating layer.

[0098] It can be understood that the winding portion 21 is arranged to form at least two turns, and the lubricating layer can reduce the friction between the winding portions 21 of different turns. At the same time, the lubricating layer can also be beneficial to the heat dissipation of the winding portion 21, and can serve the purpose of cooling when the winding portion 21 passes a large current, so as to avoid excessive temperature of the winding portion 21.

[0099] Exemplarily, the lubricating layer is, for example, a lubricating grease or a heat-conducting paste or any other suitable lubricating member with lubricating and heat-dissipating functions.

[0100] In some embodiments, referring to Figure 1 and Figure 5 , the joint wiring structure further comprises a joint connecting shell 4, the joint connecting shell 4 is rotatably connected to the winding shell 1, and a winding column 41 is formed on the side of the joint connecting shell 4 facing the winding shell 1. When the winding portion 21 is in the tightened state, the winding portion 21 is arranged around the winding column 41.

[0101] It can be understood that the joint connecting shell 4 can rotate relative to the winding shell 1, so that the joint connecting shell 4 can be driven to rotate by a motor or the like, and the winding column 41 rotates when the joint connecting shell 4 rotates. The winding column 41 can drive the winding portion 21 to switch between the tightened state and the released state, so as to control the state of the winding portion 21.

[0102] In some examples, when the winding portion 21 is in the tightening state, the winding portion 21 is wound around the winding column 41, which can prevent the winding portion 21 from being excessively tightened.

[0103] In some examples, the surface roughness Ra of the winding shell 1 and the joint connecting shell 4 is between 2.8 and 3.4, preferably 3.2.

[0104] In some embodiments, referring to Figure 1 and Figure 5 , the joint connecting shell 4 is formed with a wire outlet cavity 42 on the side away from the winding shell 1, and the wall surface of the wire outlet cavity 42 is formed with a first wire outlet hole 43, and the end of the winding portion 21 away from the fixing portion 22 is inserted into the first wire outlet hole 43 and located in the wire outlet cavity 42.

[0105] It can be understood that one end of the winding portion 21 is connected with the fixing portion 22 and located in the winding cavity 11, and the end of the winding portion 21 away from the fixing portion 22 is inserted into the second wire outlet hole and located in the wire outlet cavity 42, so that the wire harness 2 is located in the internal space of the joint wiring structure, which can effectively avoid the problem of wiring disorder and prevent interference with the movement of the robot joint. At the same time, the end of the winding portion 21 away from the fixing portion 22 is inserted into the wire outlet cavity 42, which is convenient for connecting the winding portion 21 with other components.

[0106] In some embodiments, the side of the joint connecting shell 4 away from the winding shell 1 can be used to connect with the next level of robot joint structure. The robot generally has a multi-level joint structure, and the joint connecting shell 4 can be connected with the next level of robot joint structure to realize the connection of the two-level joint structure.

[0107] Specifically, referring to Figure 7 and Figure 8 , the joint connecting shell 4 is formed with a connecting cavity 45 on the side away from the winding shell 1, and the connecting cavity 45 is used to install the next level of robot joint structure, and at least part of the structure of the next level of robot joint structure can be located in the connecting cavity 45 to realize the connection of the two-level joint structure.

[0108] Specifically, the connecting cavity 45 is in communication with the wire outlet cavity 42, and the second end of the winding portion 21 is located in the wire outlet cavity 42, thereby facilitating the connection of the winding portion 21 with the next level of robot joint structure.

[0109] In some embodiments, referring to Figure 7 and Figure 8 , the joint connecting shell 4 is arranged on the winding cavity 11 to limit the wire harness 2. That is, the joint connecting shell 4 and the winding shell 1 cooperate to limit the wire harness 2 in the winding cavity 11, so as to prevent the wire harness 2 from being separated from the winding cavity 11.

[0110] Specifically, referring to Figure 7 andFigure 8 The joint shell 4 is formed with a cover plate 46, which covers the wire cavity, so that the wire harness 2 is positioned in the space formed by the cover plate 46 and the wire winding shell.

[0111] In some embodiments, referring to Figure 3 , Figure 9 and Figure 10 , the wire winding shell 1 is formed with a limiting portion 18, which is located on the rotation path of the joint shell 4.

[0112] It can be understood that the joint shell 4 can rotate relative to the wire winding shell 1, so that the joint shell 4 can drive the wire winding portion 21 to rotate. By providing the limiting portion 18 on the rotation path of the joint shell 4, the limiting portion 18 can limit the rotation of the joint shell 4, so as to prevent the wire winding portion 21 from being excessively tightened due to the excessive rotation angle of the joint shell 4, and prevent the wire winding portion 21 from being tightened or reversely wound.

[0113] For example, the maximum rotatable angle of the joint shell 4 is limited to 320° to 340° by the limiting portion 18, and preferably 330°. It can be understood that the maximum rotation angle between the joints will not exceed 360°, and the rotation angle of 330° is close to a full circle, which can support most of the robot's actions, such as falling and getting up, running and jumping.

[0114] Specifically, referring to Figure 5 , Figure 9 and Figure 10 , the joint shell 4 is formed with a limiting block 44, and the limiting portion 18 is located on the rotation path of the limiting block 44.

[0115] Specifically, the limiting portion 18 is formed in the internal space of the wire winding shell 1, that is, the limiting portion 18 cannot be seen from the outside, and there is no protrusion on the appearance, which is more beautiful.

[0116] In some embodiments, the wire winding portion 21 is spirally wound in the wire cavity 11. It can be understood that the wire winding portion 21 will switch between the tightened state and the released state, and the wire winding portion 21 spirally wound has a larger winding turn radius, so as to meet the higher number of life requirements.

[0117] It can be understood that the wire winding portion 21 is wound to form multiple turns, and the wire winding portion 21 spirally wound can also be understood as that the curvatures of the wire winding portions 21 of different turns are different.

[0118] In some embodiments, the wire winding logic of the wire winding portion 21 follows the principle of Archimedes spiral, and its length can also be calculated by the polar equation R=a+bsinθ of Archimedes spiral.

[0119] According to the embodiment of the second aspect of the present application, the robot joint structure comprises the joint wiring structure described above.

[0120] According to the robot joint structure of the embodiment of the present application, by winding the fixing part 22 around the oppositely arranged first fixing part 12 and second fixing part 13, since the end of the connecting part 23 away from the fixing part 22 is connected to the outside, that is, the end of the connecting part 23 away from the fixing part 22 is fixed, and then the connecting part 23 and the fixing part 22 generate tension, so that the tension of the fixing part 22 itself cooperates with the first fixing part 12 and the second fixing part 13 to realize the fixation of the fixing part 22, so that the fixing part 22 can be fixed at the first fixing part 12 and the second fixing part 13. That is, the present application can realize the fixation of the fixing part 22 by using the tension of the fixing part 22 itself, without the need to additionally arrange a complex wire harness fixation structure, which is beneficial to the simplification of the joint wiring structure, and then is beneficial to the simplification of the robot joint structure with the joint wiring structure.

[0121] In some embodiments, referring to Figure 1 and Figure 3 , the robot joint structure further comprises a joint motor 5, the connecting part 23 is electrically connected with the joint motor 5, and the wire winding shell 1 is connected to the joint motor 5.

[0122] It can be understood that the end of the connecting part 23 away from the fixing part 22 is connected with the joint motor 5, so that the end of the connecting part 23 away from the fixing part 22 can be kept fixed. And connecting the wire winding shell 1 to the joint motor 5 is beneficial to shortening the length of the connecting part 23.

[0123] In some examples, the central shaft of the joint connecting shell 4 is locked on the output shaft of the joint motor 5, and has the same angular velocity of rotation as the output shaft of the joint motor 5.

[0124] Specifically, referring to Figure 1 and Figure 4 , the joint motor 5 is formed with a second wire outlet hole, the first end of the connecting part 23 is connected with the fixing part 22, and the second end of the connecting part 23 is arranged in the second wire outlet hole and is electrically connected with the joint motor 5.

[0125] It can be understood that by forming the second wire outlet hole in the joint motor 5, the connecting part 23 can be arranged in the second wire outlet hole and electrically connected with the joint motor 5, so that the connecting part 23 does not need to be wired from the outside of the robot joint structure, which can effectively avoid the problem of wiring disorder and prevent interference with the movement of the robot joint.

[0126] Specifically, referring to Figure 1 and Figure 4 , the wire winding shell 1 is formed with a third wire outlet hole 51, the first end of the connecting part 23 is connected with the fixing part 22, and the second end of the connecting part 23 is arranged in the third wire outlet hole 51 and is electrically connected with the joint motor 5.

[0127] It can be understood that the third wire outlet hole 51 is formed at the wire winding shell 1, so that the connecting part 23 can be arranged in the third wire outlet hole 51 and electrically connected with the joint motor 5, and the connecting part 23 does not need to be wired outside the robot joint structure, which can effectively avoid the problem of wiring disorder and prevent interference with the movement of the robot joint.

[0128] It should be noted that the wire outlet hole can be formed at the joint motor 5 and the wire winding shell 1, and the connecting part 23 can be arranged in the wire outlet holes of the wire winding shell 1 and the joint motor 5 in sequence to be electrically connected with the joint motor 5.

[0129] In some embodiments, the robot joint structure further comprises a joint motor 5, the connecting part 23 is electrically connected with the joint motor 5, and the joint motor 5 forms the wire winding shell 1.

[0130] It can be understood that the joint motor 5 forms the wire winding shell 1, which realizes the reuse of the structure of the joint motor 5. That is, the wire winding cavity 11 is formed in the joint motor 5, and the wire harness 2 can be directly wound around the joint motor 5, which is beneficial to the simplification of the robot joint structure.

[0131] For example, the shell of the joint motor 5 is the wire winding shell 1.

[0132] According to the third aspect of the present application, the robot comprises the robot joint structure described above.

[0133] According to the robot of the present application, the fixed part 22 is wound around the first fixing member 12 and the second fixing member 13 arranged oppositely, and the end of the connecting part 23 away from the fixed part 22 is connected with the outside, that is, the end of the connecting part 23 away from the fixed part 22 is fixed. Then, the connecting part 23 and the fixed part 22 generate tension, so that the tension of the fixed part 22 cooperates with the first fixing member 12 and the second fixing member 13 to realize the fixation of the fixed part 22, so that the fixed part 22 can be fixed at the first fixing member 12 and the second fixing member 13. That is, the present application can realize the fixation of the fixed part 22 by using the tension of the fixed part 22 itself, without the need to additionally set a complex wire harness fixation structure, which is beneficial to the simplification of the joint wiring structure, and further beneficial to the simplification of the robot joint structure with the joint wiring structure.

[0134] The above describes the embodiments of the present application in detail, and the specific examples are applied to describe the principles and implementation modes of the present application. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed, and the above description should not be understood as limiting the present application.

Claims

1. A joint routing structure, characterized by, The joint wiring structure comprises: a winding shell formed with a winding cavity, the winding shell having at least two fixing members, the at least two fixing members comprising oppositely arranged first and second fixing members; a wire harness comprising a winding portion, a fixing portion and a connecting portion connected in sequence, the winding portion being arranged in the winding cavity, one end of the winding portion away from the fixing portion penetrating the winding shell and being connected with the outside, one end of the connecting portion away from the fixing portion penetrating the winding shell and being connected with the outside, the fixing portion being arranged around the first and second fixing members to fix the fixing portion by the tension of the fixing portion itself.

2. The joint routing structure according to claim 1, wherein, The fixing portion comprises oppositely arranged first and second ends, the first end of the fixing portion being arranged around the first fixing member and extending to the connecting portion in a first direction, the second end of the fixing portion being arranged around the second fixing member and extending to the winding portion in a second direction, the first and second directions being different.

3. The joint routing structure according to claim 1 or 2, characterized in that, The fixing portion is arranged in an "8" shape around the first and second fixing members.

4. The joint routing structure of claim 1, wherein, The winding shell is formed with a groove, at least part of the fixing portion being arranged in the groove; and / or, The winding shell is formed with a groove, the at least two fixing members being arranged in the groove; and / or, The winding shell is formed with a limiting member, the limiting member surrounding the winding cavity.

5. The joint routing structure of claim 1, wherein, The winding portion can be switched between a tightening state and a release state, wherein, In the release state, the winding portion has a winding number N, and N≥2; and / or In the release state, the winding portion has a winding number N, and in the tightening state, the winding portion has a winding number M, and M-N≥1.

6. The joint routing structure of claim 4, wherein, The winding shell is formed with a limiting shell, the limiting shell being arranged outside the limiting member, a limiting space being formed between the limiting shell and the fixing member, at least part of the fixing portion being arranged in the limiting space; and / or The winding shell is formed with a limiting shell, the limiting shell being arranged outside the limiting member, a limiting groove being formed between the first and / or second fixing member and the limiting shell, at least part of the fixing portion being arranged in the limiting groove to limit the fixing portion.

7. The joint routing structure according to any one of claims 1 to 2 or 4 to 6, wherein, The joint wiring structure further comprises a limiting plate connected to the winding shell, a limiting cavity being formed between the limiting plate and the bottom wall of the winding shell, at least part of the fixing portion being arranged in the limiting cavity.

8. The joint routing structure of claim 7, wherein, The winding shell has a connecting column connected to the bottom wall of the winding shell, one end of the connecting column away from the bottom wall being connected with the limiting plate; and / or, The first fixing member is connected to the bottom wall of the winding shell, one end of the first fixing member away from the bottom wall being connected with the limiting plate; and / or, The second fixing member is connected to the bottom wall of the winding shell, one end of the second fixing member away from the bottom wall being connected with the limiting plate.

9. The joint routing structure according to any one of claims 1 to 2 or 4 to 6, wherein, The radius of the first fixing member is not less than the minimum bending radius of the wire harness; and / or, The radius of the second fixing member is not less than the minimum bending radius of the wire harness; and / or, An outer surface of the winding part is provided with a lubricating layer.

10. The joint routing structure according to any one of claims 4 to 6, wherein, The joint wiring structure further comprises a joint connecting shell, which is rotatably connected to the winding shell, and a winding column is formed on a side of the joint connecting shell facing the winding shell, and the winding part is wound around the winding column.

11. The joint routing structure of claim 10, wherein, A side of the joint connecting shell away from the winding shell is formed with a wire outlet cavity, a wall surface of the wire outlet cavity is formed with a first wire outlet hole, and an end of the winding part away from the fixed part is inserted into the first wire outlet hole and located in the wire outlet cavity.

12. The joint routing structure of claim 10, wherein, The winding shell is formed with a limiting part, which is located on a rotation path of the joint connecting shell.

13. A robot joint structure, characterized by The joint wiring structure comprises any one of claims 1 to 12.

14. The robotic joint structure of claim 13, wherein, The robot joint structure further comprises a joint motor, the connecting part is electrically connected to the joint motor, and the winding shell is connected to the joint motor; or, The robot joint structure further comprises a joint motor, the connecting part is electrically connected to the joint motor, and the joint motor is formed with the winding shell.

15. A robot, characterized in that The robot joint structure comprises any one of claims 13 or 14.

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