Bus cable, humanoid robot bus system thereof and humanoid robot

Abstract

The utility model belongs to the technical field of humanoid robots, and relates to a bus cable, a humanoid robot bus system thereof and a humanoid robot, the bus cable comprises a power supply cable, a plurality of communication cables, a filler and a cable sleeve; a barrel hole is formed in the cable sleeve, and the power supply cable and the communication cables are all located in the barrel hole; and the filler is filled in the cylinder holes, and the communication cables and the power cables are fixed in the cylinder holes. According to the bus cable, the humanoid robot bus system and the humanoid robot, the problems that a power line and a communication line are separated, so that wire harnesses are complex, connection is not stable, and assembly and maintenance difficulty is increased are solved.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a bus cable and its humanoid robot bus system, and a humanoid robot. Background Technology

[0002] Humanoid robots are increasingly being used in various fields, such as service robots and industrial robots, due to their flexibility and multi-degree-of-freedom structure. For these robot systems with multi-degree-of-freedom structures, stable and rapid data exchange and control signal transmission are required between their various joints, actuators, and sensors.

[0003] With the rapid development of robotics technology, simplifying the wiring structure of robots and improving assembly efficiency, reliability, and system communication capabilities are key issues in current humanoid robot design. Traditional wiring methods typically use separate power and communication lines, resulting in complex wiring harnesses and unstable connections, increasing the difficulty of assembly and maintenance. Utility Model Content

[0004] In view of this, the present invention provides a bus cable and its humanoid robot bus system and humanoid robot to solve the problems of the separation of power lines and communication lines in the prior art, which leads to complex wiring harnesses, unstable connections and increased difficulty in assembly and maintenance.

[0005] To achieve one or more of the above objectives or other objectives, this utility model proposes a bus cable, a power cable, several communication cables, a filler, and a cable sleeve; the cable sleeve has a cylindrical hole, and the power cable and each of the communication cables are located in the cylindrical hole; the filler fills the cylindrical hole and fixes each of the communication cables and the power cable in the cylindrical hole.

[0006] Specifically, the filler is filled between the power cable and the inner wall of the cable sleeve, between the power cable and any one of the communication cables, and between any two of the communication cables.

[0007] Furthermore, the power cable includes positive and negative terminals and a grounding wire, which are spaced apart within the cylindrical hole by the filler material.

[0008] Furthermore, the positive and negative terminals include a positive and negative terminal body and a first insulating sleeve that wraps around the positive and negative terminal body, and the grounding wire includes a grounding wire body and a second insulating sleeve that wraps around the grounding wire body.

[0009] Furthermore, the communication cable includes at least two communication wires and a shielding sleeve, the communication wires being embedded in the shielding sleeve, and the outer wall of the shielding sleeve abutting against the filler.

[0010] Furthermore, the communication cable also includes a first winding tape; the first winding tape is wound and connected to each of the communication wires, and fixes each of the communication wires together.

[0011] Furthermore, the communication wire includes a communication wire body and a third insulating sleeve that wraps around the communication wire body.

[0012] Furthermore, each of the third insulating sleeves has a single-color marking coating, and the marking coatings of each of the third insulating sleeves are different.

[0013] Furthermore, the cable sleeve includes a second winding tape and a protective sleeve;

[0014] The second wrapping tape is wrapped around and connected to the power cable, each of the communication cables, and the filler to fix the power cable, each of the communication cables, and the filler together, and the protective sleeve is fitted over the second wrapping tape.

[0015] Furthermore, the shielding sleeve includes several tin-plated soft copper wires, and the shielding sleeve is formed by weaving the several tin-plated soft copper wires together.

[0016] The second objective of this invention is to provide a humanoid robot bus system, including the aforementioned bus cable.

[0017] The third objective of this invention is to provide a humanoid robot, including the aforementioned humanoid robot bus system.

[0018] Implementing the embodiments of this utility model will have the following beneficial effects:

[0019] The present invention proposes a bus cable and a humanoid robot bus system, and a humanoid robot thereof. The bus cable integrates and installs a power cable and several communication cables through a cylindrical hole inside the cable sleeve, thereby solving the problem of complex wiring harnesses caused by separate installation of the power cable and several communication cables. Furthermore, filler material is used to securely embed the power cable and several communication cables into the cylindrical hole, preventing accidental contact between the power cable and communication cables, or between two communication cables, and avoiding unstable connections between the communication cables or power cables. The integrated installation also addresses the problem of messy cable distribution that makes it inconvenient for users to find cables, thus avoiding difficulties in assembling and maintaining the bus cable with external electrical components. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] in:

[0022] Figure 1 This is a schematic diagram of the structure of the bus cable in one embodiment of the present invention.

[0023] Figure label:

[0024] 100. Power cable; 110. Positive and negative terminals; 111. First insulating sleeve; 112. Positive and negative terminals body; 120. Grounding wire; 121. Second insulating sleeve; 122. Grounding wire body; 200. Communication cable; 210. Communication wire; 211. Third insulating sleeve; 212. Communication wire body; 220. Shielding sleeve; 230. First winding tape; 300. Filler; 400. Cable sleeve; 410. Cylindrical hole; 420. Second winding tape; 430. Protective sleeve. Detailed Implementation

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order; the cold water mentioned in the specification and claims of this invention includes room temperature water.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0028] Reference Figure 1 The first embodiment of this application proposes a bus cable, which includes: a power cable 100, a plurality of communication cables 200, a filler 300, and a cable sleeve 400; the cable sleeve 400 has a cylindrical hole 410, and the power cable 100 and each of the communication cables 200 are located in the cylindrical hole 410; the filler 300 fills the cylindrical hole 410 and fixes each of the communication cables 200 and the power cable 100 in the cylindrical hole 410.

[0029] Specifically, the filler 300 is located between the inner wall of the power cable 100 and the cable sleeve 400, and / or between the power cable 100 and any one of the communication cables 200, and / or between any two of the communication cables 200.

[0030] In this embodiment, the bus cable integrates and installs the power cable 100 and several communication cables 200 through the cylindrical hole 410 inside the cable sleeve 400, thereby solving the problem of complex wiring harnesses caused by separate installation of the power cable 100 and several communication cables 200. Furthermore, the filler 300 securely embeds the power cable 100 and several communication cables 200 within the cylindrical hole 410, preventing accidental contact between the power cable 100 and the communication cables 200, or between two communication cables 200, and avoiding unstable connections between the communication cables 200 or the power cable 100. This integrated installation also eliminates the problem of messy cable distribution that makes it difficult for users to find the corresponding cables, thus avoiding difficulties in assembling and maintaining the bus cable with external electrical components.

[0031] Specifically, the power cable 100 is used as a cable to provide power. The communication cable 200 is used for data transmission or communication. The filler 300 is used to fill and fix the power cable 100 and several communication cables 200, ensuring the stability and positional accuracy of the power cable 100 and each of the communication cables 200 within the cylindrical hole 410 of the cable sleeve 400. This facilitates the stable installation of various cables in a designated area and makes it easier to locate the corresponding cable based on the designated area, thus facilitating subsequent maintenance by the user. The cable sleeve 400 is an outer wrapping layer, and the cylindrical hole 410 inside is used to integrate and install the power cable 100 and each of the communication cables 200 together.

[0032] The filler 300 is used to fill the space between the power cable 100 and the inner wall of the cable sleeve 400 to ensure the stable position of the power cable 100 within the cylindrical hole 410. The filler 300 is also used between the power cable 100 and any one of the communication cables 200 to prevent direct contact and mutual interference between them. Furthermore, the filler 300 is used between any two communication cables 200 to prevent direct contact, mutual interference, and to provide a secure connection.

[0033] Furthermore, the filler 300 is made of polyester fiber, or cotton yarn, PP rope, cotton paper, polyester tape, foamed PP tape, etc.

[0034] Reference Figure 1 The power cable 100 includes a positive and negative terminal connection 110 and a grounding wire 120. The positive and negative terminal connection 110 and the grounding wire 120 are spaced apart in the cylindrical hole 410 by the filler 300.

[0035] In this embodiment, the positive and negative terminals 110 are used to transmit power. The grounding wire 120 is used for safe grounding to prevent electrical accidents. The positive and negative terminals 110 and the grounding wire 120 are spaced apart by the filler 300 to ensure electrical isolation and safety between them, preventing short circuits or electrical faults caused by direct contact between the positive and negative terminals 110 and the grounding wire 120.

[0036] Specifically, the positive and negative terminals 110 are divided into positive power supply terminals and negative power supply terminals. The positive and negative terminals 110 and the grounding wire 120 are made of high-strength copper alloy wire.

[0037] In some embodiments, the power cable 100 includes multiple cables, and the number of power cables 100 corresponds one-to-one with the number of power supplies required by the external device.

[0038] Reference Figure 1 The positive and negative terminals 110 include a positive and negative terminal body 112 and a first insulating sleeve 111 that wraps around the positive and negative terminal body 112. The grounding wire 120 includes a grounding wire body 122 and a second insulating sleeve 121 that wraps around the grounding wire body 122.

[0039] In this embodiment, the first insulating sleeve 111 further provides electrical isolation and protection for the positive and negative terminals 110. The second insulating sleeve 121 further provides electrical isolation and protection for the grounding wire 120. This enhances the prevention of accidental contact between any two cables.

[0040] Furthermore, both the first insulating sleeve 111 and the second insulating sleeve 121 have a single-color marking coating, and the marking coatings of the first insulating sleeve 111 and the second insulating sleeve 121 are different, which makes it easier for users to distinguish the positive and negative terminals 110 and the grounding wire 120, and facilitates subsequent cable maintenance.

[0041] Reference Figure 1 The communication cable 200 includes at least two communication wires 210 and a shielding sleeve 220. The communication wires 210 are embedded in the shielding sleeve 220, and the outer wall of the shielding sleeve 220 abuts against the filler 300.

[0042] Specifically, the communication wire 210 is an EtherCAT bus, including TX+, TX-, RX+, and RX- differential signal lines, and the material of the communication wire 210 is twisted-pair shielded wire.

[0043] In this embodiment, the shielding sleeve 220 is used to prevent external electromagnetic interference from interfering with the signals inside the communication wire 210, and at the same time, it can also prevent the signals inside the wire from interfering with the signals inside the wire.

[0044] Specifically, the shielding sleeve 220 is typically made of metal, such as thin foil or woven mesh made of copper or aluminum.

[0045] Furthermore, the shielding sleeve 220 includes a plurality of tin-plated soft copper wires, which are woven together to form the shielding sleeve 220.

[0046] In this embodiment, the tin-plated soft copper wire has good conductivity and flexibility. The tin plating layer of the tin-plated soft copper wire can provide additional corrosion resistance and oxidation resistance, thereby extending the service life of the cable.

[0047] Reference Figure 1 The communication cable 200 further includes a first winding tape 230; the first winding tape 230 is wound and connected to each of the communication wires 210 and fixes each of the communication wires 210 together; the shielding sleeve 220 is sleeved on the outside of the first winding tape 230.

[0048] In this embodiment, at least two communication wires 210 are provided to support the parallel transmission of multiple signals. The first winding tape 230 is used to tightly wind all the communication wires 210 within the same communication cable 200 together to form a single structure. This not only improves the compactness and structural stability of the cable but also reduces the relative movement between the wires, thereby reducing signal interference and loss. Then, the shielding sleeve 220 wraps the wound communication wires 210 together, preventing the first winding tape 230 from loosening from the communication wires 210 and further enhancing the cable's anti-interference capability.

[0049] Reference Figure 1 The communication wire 210 includes a communication wire body 212 and a third insulating sleeve 211 that wraps around the communication wire body 212.

[0050] In this embodiment, the third insulating sleeve 211 mainly improves electrical isolation, ensuring that no short circuit or electrical interference occurs between any two of the communication wires 210 and between the communication wire body 212 and metal or other conductive objects in the external environment, thereby further improving the safety and reliability of the cable.

[0051] Reference Figure 1 Each of the third insulating sleeves 211 has a single-color marking coating, and the marking coatings of each of the third insulating sleeves 211 are different.

[0052] In this embodiment, the marking coating on the third insulating sleeve 211 of each communication wire 210 is different, making it easier for users to identify and distinguish each communication wire 210. This allows staff to quickly and accurately identify each wire during installation, maintenance, or troubleshooting, greatly improving work efficiency and reducing incorrect connections or damage caused by misoperation. In complex electrical environments, different colored insulating sleeves help staff avoid confusing wires of different voltage levels or functions, thereby reducing the risk of electrical accidents. Furthermore, color-coded third insulating sleeves 211 ensure consistency and standardization, facilitating clear communication channels within the team and ensuring everyone has an accurate understanding of cable layout and configuration. From a visual perspective, the rich colors of the third insulating sleeves 211 make the communication cable 200 look more aesthetically pleasing and neat, thus enhancing the overall aesthetics of the work environment.

[0053] Specifically, the first insulating sleeve 111, the second insulating sleeve 121, and each of the third insulating sleeves 211 have a single-color marking coating, and the marking coatings of the first insulating sleeve 111, the second insulating sleeve 121, and each of the third insulating sleeves 211 are different from each other. For example: the marking coating of the first insulating sleeve 111 is blue, the marking coating of the second insulating sleeve 121 is brown, the marking coating of the third insulating sleeve 211 on the first communication wire 210 is yellow, the marking coating of the third insulating sleeve 211 on the second communication wire 210 is green, the marking coating of the third insulating sleeve 211 on the third communication wire 210 is white, and the marking coating of the third insulating sleeve 211 on the first communication wire 210 is purple.

[0054] Reference Figure 1 The cable sleeve 400 includes a second wrapping tape 420 and a protective sleeve 430; the second wrapping tape 420 is wrapped and connected to the power cable 100, each of the communication cables 200 and the filler 300 to fix the power cable 100, each of the communication cables 200 and the filler 300 together, and the protective sleeve 430 is sleeved on the outside of the second wrapping tape 420.

[0055] In this embodiment, the second wrapping tape 420 is used to tightly wrap the power cable 100, the plurality of communication cables 200, and the filler 300 together to form a single integrated structure. This not only improves the compactness and structural stability of the bus cable implementation but also reduces the relative movement between the power cable 100 and the plurality of communication cables 200, thereby reducing the risk of signal interference and physical damage. The second wrapping tape 420 is typically made of a flexible and abrasion-resistant material to ensure that it can fit tightly onto the power cable 100 or the communication cables 200 and provide durable protection.

[0056] The primary function of the protective sleeve 430 is to provide additional physical and environmental protection to prevent cables from being damaged by the external environment. For example, the protective sleeve 430 can resist adverse factors such as abrasion, tearing, ultraviolet radiation, and moisture penetration, thereby extending the cable's lifespan. The protective sleeve 430 is typically made of tough, durable materials such as rubber, plastic, or composite materials, which possess good physical properties and chemical stability, enabling them to withstand various complex environmental conditions.

[0057] Specifically, both the first insulating sleeve 111 and the second insulating sleeve 121 are made of ETFE material; both the first winding tape 230 and the second winding tape 420 are made of aluminum-clad tape or PET material; the protective sleeve 430 is made of heat-resistant, oil-resistant, and low-friction PVC material. The thickness of the protective sleeve 430 is 0.7 mm. The filler 300 is generally composed of nylon-like material to enhance the tensile strength of the bus cable. In summary, the various components in the bus cable use different but coordinated materials to ensure the overall performance and reliability of the cable.

[0058] In this embodiment, the flame retardant rating of the bus cable is VW-1. The outer diameter D1 of the bus cable is 6.8mm ± 0.2mm.

[0059] The second objective of this invention is to provide a humanoid robot bus system, including the aforementioned bus cable.

[0060] In this embodiment, the bus cable enables the humanoid robot bus system to achieve high-efficiency data transmission, high reliability, easy maintenance, and strong adaptability.

[0061] The third objective of this invention is to provide a humanoid robot, including the aforementioned humanoid robot bus system.

[0062] In this embodiment, the humanoid robot bus system equipped with the bus cable enables the humanoid robot to achieve efficient data transmission, high reliability, easy maintenance and upgrade, and high flexibility and adaptability.

[0063] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A bus cable, characterized by The cable sleeve is internally provided with a barrel hole, the power cable and the communication cables are located in the barrel hole, the filler fills the barrel hole and fixes the communication cables and the power cable in the barrel hole. The communication cable comprises at least two communication wires and a shielding sleeve, the communication wires are embedded in the shielding sleeve, and the outer wall of the shielding sleeve abuts against the filler. The communication cable further comprises a first winding belt, the first winding belt is woundly connected with the communication wires and fixes the communication wires together. The communication wire comprises a communication wire body and a third insulation sleeve wrapping the communication wire body. The power cable comprises positive and negative wires and a grounding wire, the positive and negative wires and the grounding wire are spaced apart in the barrel hole by the filler.

2. The bus cable of claim 1, wherein, The positive and negative wires comprise a positive and negative wire body and a first insulation sleeve wrapping the positive and negative wire body, and the grounding wire comprises a grounding wire body and a second insulation sleeve wrapping the grounding wire body.

3. The bus cable of claim 2, wherein, Each third insulation sleeve has a single-color identification coating, and the identification coatings of the third insulation sleeves are different.

4. The bus cable of claim 1, wherein, The cable sleeve comprises a second winding belt and a protective sleeve.

5. The bus cable of claim 1, wherein, The second winding belt is woundly connected with the power cable, the communication cables and the filler to fix the power cable, the communication cables and the filler together, and the protective sleeve is sleeved on the outer wall of the second winding belt. The bus cable comprises the bus cable of any one of claims 1-5.

6. A humanoid robot bus system, characterized by The humanoid robot bus system comprises the bus system of claim 6.

7. A humanoid robot, characterized by ​

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