Joint module and robot

Abstract

The application provides a joint module and a robot, and relates to the technical field of robots.The joint module comprises a joint assembly and a wire harness assembly.The joint assembly comprises a first joint unit and a second joint unit, has a joint axis, and is hinged to the first joint unit and the second joint unit.The first joint unit and the second joint unit can rotate around the joint axis.The wire harness assembly comprises a first connecting unit, a second connecting unit and a conducting unit.The first connecting unit is arranged on the first joint unit, the second connecting unit is arranged on the second joint unit, the conducting unit is arranged in a spiral around the joint axis, one end of the conducting unit is electrically connected to the first connecting unit, the other end of the conducting unit is electrically connected to the second connecting unit, and the conducting unit is arranged in a flexible structure or an elastic structure.The joint module provided by the application can realize high-durability and low-loss power and signal transmission in a limited space, so as to adapt to the long-term high-frequency motion requirement of a humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a joint module and a robot. Background Technology

[0002] In humanoid robot design, the joint motion system is the core component for achieving flexible movements. Robot joints are typically driven by motors, and power and control signals are transmitted through wiring harnesses to support the free movement of each joint. However, because robot joints need to perform high-frequency, high-precision rotational movements, robots often use bend-resistant copper core wires at the joints. This leads to the following problems:

[0003] At joints, sufficient wire length is often required to facilitate robot joint movement. Exposed wires are often messy and susceptible to being pulled by other objects. Severe pulling can cause wires to break, leading to short circuits and, in severe cases, robot burnout. If a casing is used to conceal the wires, the bending radius at the joints may be insufficient, and interference and friction between the wires and the casing will increase wire wear and reduce their lifespan. Utility Model Content

[0004] In view of this, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a joint module and robot that can achieve high durability and low loss of power and signal transmission in a limited space, so as to meet the needs of humanoid robots for long-term high-frequency movement.

[0005] This utility model provides the following technical solution:

[0006] In a first aspect, embodiments of this application provide a joint module, the joint module comprising:

[0007] A joint assembly, comprising a first joint unit and a second joint unit, having a joint axis, wherein the first joint unit and the second joint unit are hinged together, such that the first joint unit and the second joint unit are capable of rotating about the joint axis.

[0008] A wire harness assembly includes a first connecting unit, a second connecting unit, and a conducting unit. The first connecting unit is disposed on a first joint unit, the second connecting unit is disposed on a second joint unit, and the conducting unit is spirally wound around the joint axis. One end of the conducting unit is electrically connected to the first connecting unit, and the other end of the conducting unit is electrically connected to the second connecting unit. The conducting unit is configured as a flexible or elastic structure.

[0009] In some embodiments of the first aspect, the conductive unit is a flexible flat cable, the first connecting unit includes a first connector and a first PCB board, the second connecting unit includes a second connector and a second PCB board, one end of the flexible flat cable is electrically connected to the first connector through the first PCB board, and the other end of the flexible flat cable is electrically connected to the second connector through the second PCB board.

[0010] In some embodiments of the first aspect, the conductor of the flexible flat cable is a metal strip having an extended surface that is parallel to the joint axis.

[0011] In some embodiments of the first aspect, the wire harness assembly further includes:

[0012] A housing is disposed on the first joint unit, and a first connecting unit is disposed on the housing; wherein the housing has an inner cavity and a wiring hole, the wiring hole is connected to the inner cavity, the wiring hole extends along the joint axis, the conductive unit is located in the inner cavity of the housing, and one end of the second connecting unit passes through the wiring hole of the housing to be electrically connected to the conductive unit.

[0013] In some embodiments of the first aspect, the housing includes:

[0014] A rotating body is connected to a second joint unit, and the second connecting unit is at least partially connected to the rotating body. The wiring hole is provided on the rotating body. The conducting unit is partially wound around the outer periphery of the rotating body in a spiral winding manner, so that the rotation of the rotating body can wind or unwind the conducting unit.

[0015] The outer shell is disposed on the first joint unit. The rotating body and the outer shell are rotatably connected and form a rotation axis. The rotation axis and the joint axis are collinear. The inner cavity is formed between the outer shell and the rotating body.

[0016] In some embodiments of the first aspect, the rotating body further has a first mounting cavity, the first mounting cavity being in communication with the inner cavity, the other end of the conducting unit passing through the first mounting cavity, and the portion of the conducting unit located in the first mounting cavity being electrically connected to the first connecting unit;

[0017] The outer casing also has a second mounting cavity, which is connected to the inner cavity. The other end of the conductive unit passes through the second mounting cavity, and the portion of the conductive unit located in the second mounting cavity is electrically connected to the first connecting unit.

[0018] In some embodiments of the first aspect, the end of the housing opposite to the joint assembly has an observation port, which communicates with the first mounting cavity.

[0019] In some embodiments of the first aspect, one end of the rotating body is rotationally sealed to the inner wall of the observation port, and the other end of the rotating body is rotationally sealed to the outer casing.

[0020] In some embodiments of the first aspect, the two ends of the conductive unit are respectively spirally wound, and the spiral winding directions of the two ends of the conductive unit are opposite.

[0021] In a second aspect, there is a robot comprising a joint module as described in any of the above embodiments.

[0022] The embodiments of this utility model have the following advantages:

[0023] The joint module provided by this invention comprises a first joint unit and a second joint unit hinged together, which rotate relative to each other around the joint axis. A wiring harness assembly connects the two joint units via a helically wound conductive unit (such as a flexible / elastic wire). Its configuration, rotating around the joint axis, allows the conductive unit to adapt to torsion through helical deformation (extension or contraction) during joint movement, avoiding rigid bending or stretching of the wire. The helical structure of the conductive unit adjusts the length and curvature of the wiring harness through elastic or flexible deformation during joint rotation, ensuring that the bending radius always meets minimum requirements (e.g., avoiding metal fatigue caused by excessively small radii). Simultaneously, the selection of flexible / elastic materials (such as silicone-coated wires or shape memory alloys) further reduces internal stress concentration and frictional loss. The helically wound conductive unit, combined with the internal spatial layout of the joint, avoids direct contact and friction with the outer shell. If outer shell protection is required, the helical structure can freely expand and contract within the shell, reducing interference.

[0024] Therefore, the helical winding transmission unit significantly reduces single-point stress through uniform deformation distribution, delaying wire fatigue fracture, extending service life, and adapting to high-frequency rotation (such as the tens of thousands of movements per day of a humanoid robot). The wiring harness dynamically follows joint movements, avoiding the risk of pulling caused by exposure and preventing burn-out accidents caused by short circuits or breakage. Furthermore, the helical structure naturally buffers external impacts, reducing damage to the wiring harness from sudden loads. Moreover, the compact helical layout saves internal space in the joint while ensuring sufficient bending radius, reducing resistance changes and signal transmission losses. In the presence of an outer shell, flexible / elastic materials reduce friction with the shell, avoiding leakage or signal interference caused by insulation wear.

[0025] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of a joint module provided by an embodiment of the present invention is shown from one perspective.

[0028] Figure 2 This diagram illustrates a structural schematic of a joint module provided by an embodiment of the present invention from another perspective.

[0029] Figure 3 This diagram illustrates a structural schematic of a joint module provided by an embodiment of the present invention from another perspective.

[0030] Figure 4 This diagram illustrates a structural schematic of a joint module provided by an embodiment of the present invention from another perspective.

[0031] Figure 5 The diagram shows a structural schematic of a housing provided by an embodiment of the present invention from one perspective.

[0032] Explanation of key component symbols:

[0033] 100 - Joint assembly; 110 - First joint unit; 120 - Second joint unit;

[0034] 200 - Wire harness assembly; 210 - First connection unit; 211 - First PCB board; 220 - Second connection unit; 221 - Second PCB board; 222 - Second connector; 230 - Housing; 231 - Outer shell; 2311 - Observation port; 2312 - Second mounting cavity; 232 - Rotating body; 2321 - First mounting cavity; 240 - Conducting unit. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0036] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0037] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] 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 application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0040] In related technologies, the joint motion system is the core component for achieving flexible movements in the design of humanoid robots. Robot joints are typically driven by motors, and power and control signals are transmitted through wiring harnesses to support the free movement of each joint. However, because robot joints need to perform high-frequency, high-precision rotational movements, the use of bend-resistant copper core wires at the joints often presents the following problems:

[0041] At joints, sufficient wire length is often required to facilitate robot joint movement. Exposed wires are susceptible to being pulled by other objects, and severe pulling can lead to wire breakage, causing short circuits and potentially burning out the robot. Concealing the wires with an outer casing results in insufficient bending radius at the joints, and interference friction between the wires and the casing increases wire wear and reduces their lifespan.

[0042] like Figure 1 , Figure 2 and Figure 4 As shown, in order to solve the above-mentioned technical problems, this application provides a joint module, which includes a joint assembly 100 and a wiring harness assembly 200. The joint assembly 100 includes a first joint unit 110 and a second joint unit 120. The joint assembly 100 has a joint axis. The first joint unit 110 and the second joint unit 120 are hinged, so that the first joint unit 110 and the second joint unit 120 can rotate around the joint axis. The wiring harness assembly 200 includes a first connecting unit 210, a second connecting unit 220 and a conducting unit 240. The first connecting unit 210 is disposed on the first joint unit 110, the second connecting unit 220 is disposed on the second joint unit 120, and the conducting unit 240 is spirally wound around the joint axis. One end of the conducting unit 240 is electrically connected to the first connecting unit 210, and the other end of the conducting unit 240 is electrically connected to the second connecting unit 220. The conducting unit 240 is configured as a flexible structure or an elastic structure.

[0043] In these embodiments, the joint assembly 100 includes a first joint unit 110 and a second joint unit 120, which are connected by a hinge and can rotate about a common joint axis. In this embodiment, the first joint unit 110 is the fixed part and the second joint unit 120 is the movable part. That is, in practical applications, the second joint unit 120 can rotate about the joint axis to swing relative to the first joint unit 110 and perform joint movements. For example, the joint assembly 100 is an arm assembly, with the first joint unit 110 being the arm unit and the second joint unit 120 being the upper arm unit. Of course, the joint assembly 100 can also be a thigh assembly, with the first joint unit 110 being the thigh unit and the second joint unit 120 being the lower leg unit, etc. Further examples will not be provided here.

[0044] In the wire harness assembly 200, the first connecting unit 210 and the second connecting unit 220 are respectively disposed on the first joint unit 110 and the second joint unit 120, for electrically connecting the conducting unit 240 and the corresponding joint unit.

[0045] The transmission unit 240 is arranged spirally around the joint axis, with one end electrically connected to the first connecting unit 210 and the other end electrically connected to the second connecting unit 220. The transmission unit 240 is configured as a flexible or elastic structure, allowing it to stretch and contract freely during joint movement, reducing wear and preventing the risk of breakage. In other words, the extension path of the transmission unit 240 is involute.

[0046] For example, in this embodiment, the conductive unit 240 may be a flexible flat cable. Of course, in other embodiments, the conductive unit 240 may also be an elastic conductive cable or a braided flexible cable, etc.

[0047] It should be noted that if the distance between adjacent portions of the conductive unit 240 is sufficient to prevent short circuits, then the conductive unit 240 may not require an insulating layer. However, for safety, the outer layer of the conductive unit 240 is an insulating layer. Since the conductive unit 240 is similar to a wire structure, its structure will not be described in detail further.

[0048] In other words, the joint assembly 100 is hinged to a first joint unit 110 and a second joint unit 120, which rotate relative to each other around the joint axis. The wiring harness assembly 200 connects the two joint units via a helically wound transmission unit 240 (such as a flexible / elastic wire). Its configuration, rotating around the joint axis, allows the transmission unit 240 to adapt to torsion through helical deformation (extension or contraction) during joint movement, avoiding rigid bending or stretching of the wire. The helical structure of the transmission unit 240 adjusts the length and curvature of the wiring harness through elastic or flexible deformation during joint rotation, ensuring that the bending radius always meets minimum requirements (e.g., avoiding metal fatigue caused by excessively small radii). Simultaneously, the selection of flexible / elastic materials (such as silicone-coated wires or shape memory alloys) further reduces internal stress concentration and frictional losses. The helically wound transmission unit 240, combined with the internal spatial layout of the joint, avoids direct contact and friction with the outer shell 231. If protection from the outer shell 231 is required, the helical structure can freely expand and contract within the outer shell 231, reducing interference.

[0049] Therefore, the spirally wound conductive unit 240 significantly reduces single-point stress through uniform deformation distribution, delaying wire fatigue fracture, extending service life, and adapting to high-frequency rotation (such as tens of thousands of movements per day for humanoid robots). The wire harness dynamically follows joint movements, avoiding the risk of pulling caused by exposure and preventing burn-out accidents caused by short circuits or breakage. Furthermore, the spiral structure naturally buffers external impacts, reducing damage to the wire harness from sudden loads. Moreover, the compact spiral layout saves internal space in the joint while ensuring sufficient bending radius, reducing resistance changes and signal transmission losses. In the presence of the outer shell 231, the flexible / elastic material reduces friction with the outer shell 231, avoiding leakage or signal interference caused by insulation wear.

[0050] like Figure 4 and Figure 5 As shown, in some embodiments, the conductive unit 240 is a flexible flat cable, the first connecting unit 210 includes a first connector and a first PCB board 211, and the second connecting unit 220 includes a second connector 222 and a second PCB board 221. One end of the flexible flat cable is electrically connected to the first connector through the first PCB board 211, and the other end of the flexible flat cable is electrically connected to the second connector 222 through the second PCB board 221.

[0051] In these embodiments, the conductive unit 240 employs a flexible flat cable (FFC or Flexible Printed Circuit, FPC), which can effectively accommodate the bending and rotational requirements of the joint assembly 100 while providing stable power and signal transmission. Specifically:

[0052] The transmission unit 240 uses a flexible flat cable, which has good flexibility and thinness, and can withstand multiple bends without damage, making it very suitable for robot joint parts that require frequent movement.

[0053] The first connection unit 210 includes a first connector and a first PCB board 211. One end of the flexible flat cable is fixed to the first PCB board 211 by soldering or other electrical connection methods, and the first PCB board 211 is responsible for electrically connecting the flexible flat cable to the first connector. The function of the first connector is to ensure that the flexible flat cable can be stably connected to the electronic components or circuits on the first joint unit 110.

[0054] For example, the first connector may be a flexible circuit board connector, a zero insertion force connector, a spring pin connector, a waterproof connector, or a board-to-board connector, etc.

[0055] The second connection unit 220 is similar to the first connection unit 210, and includes a second connector 222 and a second PCB board 221. The other end of the flexible flat cable is also electrically connected to the second PCB board 221, which in turn is electrically connected to the second connector 222. In this way, the flexible flat cable can transmit power and signals from the first joint unit 110 to the second joint unit 120.

[0056] For example, the second connector 222 may be a flexible circuit board connector, a zero insertion force connector, a spring pin connector, a waterproof connector, or a board-to-board connector, etc.

[0057] Clearly, flexible flat cables possess high flexibility, making them suitable for applications requiring repeated bending. The combination of the PCB board and connectors enhances the reliability of electrical connections and reduces contact problems caused by mechanical movement.

[0058] like Figure 5 As shown, in some embodiments, the conductor of the flexible flat cable is a metal strip with an extended surface, and the extended surface is arranged parallel to the joint axis.

[0059] In these embodiments, the conductors of the flexible flat cable are made of metal strips, which are particularly suitable for electrical connections that require high flexibility and durability in the joint assembly 100.

[0060] Unlike traditional round wires, flexible flat cables use flat metal strips as the conductor material. The metal strip has a larger surface area, which helps improve current carrying capacity and heat dissipation efficiency. For example, the metal strip can be made of copper, aluminum, etc.

[0061] The extension surface of the metal band (i.e., the width direction of the metal band) is designed to be parallel to the joint axis. Arranging the metal band along the joint rotation direction allows for better adaptation to bending and torsion, reducing fatigue damage caused by frequent movement. By aligning the direction of the metal band with the joint movement direction, the required space can be minimized without sacrificing performance, resulting in a more compact joint structure.

[0062] Compared to traditional wiring methods that are perpendicular to the direction of movement, this method reduces stress concentration caused by repeated bending, thereby reducing the risk of wire breakage.

[0063] like Figure 2 and Figure 3 As shown, in some embodiments, the wiring harness assembly 200 further includes a housing 230, which is disposed on the first joint unit 110, and a first connecting unit 210 is disposed on the housing 230. The housing 230 has an inner cavity and a wiring hole, which communicates with the inner cavity. The wiring hole extends along the joint axis. The conducting unit 240 is located in the inner cavity of the housing 230, and one end of the second connecting unit 220 passes through the wiring hole of the housing 230 to be electrically connected to the conducting unit 240.

[0064] In these embodiments, to further protect the wiring harness assembly 200 and ensure its stability and durability in complex motion environments, the wiring harness assembly 200 also includes a housing 230.

[0065] The housing 230 is disposed on the first joint unit 110, providing physical protection for the wiring harness assembly 200. The housing 230 not only prevents external objects from directly contacting and potentially damaging the internal wires, but also effectively reduces the impact of environmental factors such as dust and moisture.

[0066] The first connection unit 210 is disposed on the housing 230, specifically fixed at a certain position on the housing 230, so as to make electrical connection with the circuit or other electronic components on the first joint unit 110. This arrangement helps to simplify the installation process and improve the overall reliability of the system.

[0067] The housing 230 has an inner cavity for accommodating the conductive unit 240 and other necessary electrical connection components. The presence of the inner cavity allows the wires to operate in a relatively protected environment, reducing the possibility of damage from external factors.

[0068] The housing 230 is also provided with one or more wiring holes that extend along the joint axis to ensure good electrical connection even during joint rotation. The wiring holes communicate with the inner cavity, and the conductive unit 240 passes through the wiring holes from the inner cavity to achieve electrical connection with other components (such as the second connecting unit 220). Alternatively, the second connecting unit 220, which passes through the wiring holes into the inner cavity, is electrically connected to the corresponding end of the conductive unit 240.

[0069] The conductive unit 240 is located within the cavity of the housing 230, thus avoiding the risk of wear or breakage caused by joint movement. Simultaneously, the conductive unit 240 can freely bend and extend during joint rotation without affecting electrical connection performance.

[0070] One end of the second connecting unit 220 passes through the wiring hole of the housing 230 and is electrically connected to the conducting unit 240. This method ensures the stability of the electrical connection while allowing the joint assembly 100 to move freely within a certain range, without affecting the quality of the electrical connection due to mechanical movement.

[0071] like Figure 2 and Figure 3 As shown, in some embodiments, the housing 230 includes a rotating body 232 and an outer shell 231. The rotating body 232 is connected to the second joint unit 120, and the second connecting unit 220 is at least partially connected to the rotating body 232. A wiring hole is provided in the rotating body 232. The conducting unit 240 is partially wound around the outer periphery of the rotating body 232 in a spiral winding manner, so that the rotation of the rotating body 232 can wind or unwind the conducting unit 240.

[0072] The outer shell 231 is disposed on the first joint unit 110. The rotating body 232 and the outer shell 231 are rotatably connected and form a rotation axis. The rotation axis and the joint axis are collinear. The inner cavity is formed between the outer shell 231 and the rotating body 232.

[0073] In these embodiments, the housing 230 is further optimized to accommodate the dynamic characteristics of the joint assembly 100, specifically comprising two main parts: the rotating body 232 and the outer shell 231.

[0074] The rotating body 232 is connected to the second joint unit 120, ensuring that the rotating body 232 rotates synchronously when the second joint unit 120 moves. The second connecting unit 220 is at least partially connected to the rotating body 232, thus ensuring a stable electrical connection even during joint movement. A wiring hole is provided on the rotating body 232, extending along the joint axis, allowing the conducting unit 240 to pass through and make an electrical connection with the second connecting unit 220.

[0075] The transmission unit 240 is partially wound around the outer periphery of the rotating body 232 in a helical manner. This arrangement allows the transmission unit 240 to automatically wind up or unwind as needed when the rotating body 232 rotates with the joint, thereby avoiding damage caused by excessive bending or stretching. Furthermore, in this way, the transmission unit 240 can maintain good electrical connection performance during a wide range of joint movements and reduce fatigue damage caused by mechanical stress.

[0076] The outer casing 231 is fixedly mounted on the first joint unit 110. The rotating body 232 is rotatably connected to the outer casing 231, and the two share a common axis of rotation, which is collinear with the joint axis. This ensures that the rotating body 232 can rotate freely within the outer casing 231 while maintaining precise alignment.

[0077] The space between the outer casing 231 and the rotating body 232 forms an inner cavity, which is used to house the conduction unit 240 and other necessary electrical connection components. The existence of the inner cavity not only protects the internal components from the influence of the external environment, but also provides them with sufficient space to move to accommodate different motion states.

[0078] Furthermore, this compact design effectively utilizes limited space, making the joint assembly 100 more compact and efficient, and suitable for use in space-constrained robot designs.

[0079] like Figure 4 and Figure 5 As shown, in some embodiments, the rotating body 232 further has a first mounting cavity 2321, which is connected to the inner cavity. The other end of the conducting unit 240 passes through the first mounting cavity 2321, and the portion of the conducting unit 240 located in the first mounting cavity 2321 is electrically connected to the first connecting unit 210.

[0080] The outer casing 231 also has a second mounting cavity 2312, which is connected to the inner cavity. The other end of the conductive unit 240 passes through the second mounting cavity 2312, and the portion of the conductive unit 240 located in the second mounting cavity 2312 is electrically connected to the first connecting unit 210.

[0081] In these embodiments, the first mounting cavity 2321 is disposed inside or on the surface of the rotating body 232 and communicates with the inner cavity of the housing 230. One end of the conductive unit 240 passes through the first mounting cavity 2321 and is electrically connected therein to the first connecting unit 210 (such as a PCB board or connector). This arrangement ensures that the connection between the conductive unit 240 and the first connecting unit 210 is accommodated within the rotating body 232, providing protection and ensuring connection stability without affecting the movement of the rotating body 232.

[0082] The second mounting cavity 2312 is located inside or on the surface of the outer casing 231 and is also in communication with the inner cavity of the casing 230. The other end of the conductive unit 240 passes through the second mounting cavity 2312 and is electrically connected to the second connecting unit 220. This ensures that both ends of the conductive unit 240 are stably connected to the two connecting units respectively, and these critical electrical connection points are enclosed in the corresponding mounting cavities to avoid exposure to the outside and mechanical damage or environmental interference.

[0083] When the joint rotates: the rotating body 232 drives one end of the transmission unit 240 to rotate. The transmission unit 240 automatically extends or retracts from the outer periphery of the rotating body 232 according to the direction of rotation; both ends are fixed to the connecting units in the first mounting cavity 2321 and the second mounting cavity 2312 respectively, ensuring that the electrical connection is always stable; the whole process does not require a large amount of redundant wire length, avoiding the problem of traditional wire harnesses being easily pulled and broken.

[0084] like Figure 2 As shown, in some embodiments, the end of the housing 231 facing away from the joint assembly 100 has an observation port 2311, which is connected to the first mounting cavity 2321.

[0085] In these embodiments, for ease of inspection and maintenance, an observation port 2311 is provided at the end of the housing 231 opposite to the first joint unit 110, and the observation port 2311 communicates with the first mounting cavity 2321. The observation port 2311 is located at the end of the housing 231 opposite to the first joint unit 110, which means that it is located at the relative end of the housing 231, away from the core area of ​​joint movement.

[0086] The observation port 2311 is directly connected to the first mounting cavity 2321, allowing direct external viewing of the interior of the first mounting cavity 2321. This design enables technicians to visually inspect critical electrical connections without disassembling the entire assembly.

[0087] In other words, through the observation port 2311, it is convenient to check whether the electrical connection between the conduction unit 240 and the first connection unit 210 is firm, whether there is physical damage or corrosion, etc., which greatly simplifies the daily inspection process.

[0088] Without compromising sealing or other protective measures, potential problems can be quickly located, facilitating timely corrective action and reducing the failure rate. This also reduces the need for frequent disassembly and reassembly of equipment for inspection, lowering the risk of equipment damage due to misoperation.

[0089] For example, a transparent cover (such as high-strength plastic or glass) can be installed at the observation port 2311 to maintain the sealing of the internal cavity without obstructing the view. To make the inspection more convenient, the transparent cover of the observation port 2311 can be designed with a quick-release structure, such as a snap-on or screw-fixed structure, for easy opening and closing.

[0090] In some embodiments, one end of the rotating body 232 is rotatably sealed to the inner wall of the observation port 2311, and the other end of the rotating body 232 is rotatably sealed to the outer shell 231.

[0091] In these embodiments, in order to ensure that the rotating body 232 can rotate freely without affecting the electrical connection, while maintaining the sealing of the internal components, a rotational seal design is adopted between one end of the rotating body 232 and the inner wall of the observation port 2311, and between the other end of the rotating body 232 and the outer casing 231.

[0092] One end of the rotating body 232 contacts the inner wall of the observation port 2311 and achieves a rotational seal. The rotating body 232 is allowed to rotate 360 ​​degrees relative to the observation port 2311 without causing external dust, moisture or other contaminants to enter the first mounting cavity 2321 or the inner cavity.

[0093] The other end of the rotating body 232 contacts the housing 231, where a rotational seal is also achieved. This ensures that the rotating body 232 can still rotate freely even when the housing 231 is fixed, while maintaining a clean and stable internal environment for the entire joint assembly 100.

[0094] For example, high-quality dynamic seals (such as rubber O-rings, polytetrafluoroethylene (PTFE) sealing rings, etc.) can be used. These materials have good elasticity and wear resistance, and can provide an effective sealing effect while rotating. The installation structure and principle of the dynamic seals are conventional and will not be described in detail here.

[0095] Optionally, adding a suitable lubricant between the sealing surfaces can reduce friction, extend the service life of the seal, and improve sealing performance.

[0096] In some embodiments, the two ends of the conduction unit 240 are respectively spirally wound, and the spiral winding directions of the two ends of the conduction unit 240 are opposite.

[0097] In these embodiments, the transmission unit 240 is spirally wound at both ends, a design that allows the transmission unit 240 to automatically adjust its length according to the rotation of the joint.

[0098] One end of the conduction unit 240 (near the first connecting unit 210) is spirally wound in one direction (e.g., clockwise), while the other end (near the second connecting unit 220) is spirally wound in the opposite direction (counterclockwise). This reverse winding design helps to balance the stress distribution of the entire conduction unit 240 during joint rotation.

[0099] In other words, by spiraling in opposite directions at both ends, when the joint rotates, one end of the transmission unit 240 is performing a winding action while the other end is performing an unwinding action, thereby distributing mechanical stress more evenly and reducing the risk of excessive stretching or compression on one side.

[0100] This design reduces fatigue damage to the conduction unit 240 caused by repeated bending, extending its service life. Because stress is better managed, the conduction unit 240 is less prone to breakage or other forms of physical damage.

[0101] The spiral winding structure itself has good elasticity, allowing the transmission unit 240 to freely expand and contract within a certain range, which is very suitable for applications such as humanoid robot joints that require frequent rotation.

[0102] Compared to traditional wiring harness layouts, this design reduces the need for additional tension adjustment devices, simplifies the overall installation process, and also reduces the complexity of later maintenance. The spiral winding method also effectively utilizes limited space, making the entire joint assembly 100 more compact and suitable for space-constrained design requirements.

[0103] In some embodiments, this application also provides a robot that includes a joint module as described in any of the above embodiments.

[0104] Since the joint module described above has the aforementioned technical effects, a robot including the joint module should have the same technical effects, which will not be elaborated further here.

[0105] For example, in this embodiment, the robot can be a humanoid robot. Of course, in other embodiments, the robot can also be a quadruped robot, an underwater robot, or a robotic arm robot, etc., but it is not limited to these types. It can also be other types of robots, as long as it has the above-mentioned joint modules.

[0106] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0107] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0108] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A joint module, characterized in that, The joint module includes: A joint assembly, comprising a first joint unit and a second joint unit, having a joint axis, wherein the first joint unit and the second joint unit are hinged together, such that the first joint unit and the second joint unit are capable of rotating about the joint axis. A wire harness assembly includes a first connecting unit, a second connecting unit, and a conducting unit. The first connecting unit is disposed on a first joint unit, the second connecting unit is disposed on a second joint unit, and the conducting unit is spirally wound around the joint axis. One end of the conducting unit is electrically connected to the first connecting unit, and the other end of the conducting unit is electrically connected to the second connecting unit. The conducting unit is configured as a flexible or elastic structure.

2. The joint module according to claim 1, characterized in that, The conductive unit is a flexible flat cable. The first connection unit includes a first connector and a first PCB board. The second connection unit includes a second connector and a second PCB board. One end of the flexible flat cable is electrically connected to the first connector through the first PCB board, and the other end of the flexible flat cable is electrically connected to the second connector through the second PCB board.

3. The joint module according to claim 2, characterized in that, The conductor of the flexible flat cable is a metal strip, which has an extended surface and is arranged parallel to the joint axis.

4. The joint module according to claim 1, characterized in that, The wire harness assembly also includes: A housing is disposed on the first joint unit, and a first connecting unit is disposed on the housing; wherein the housing has an inner cavity and a wiring hole, the wiring hole is connected to the inner cavity, the wiring hole extends along the joint axis, the conductive unit is located in the inner cavity of the housing, and one end of the second connecting unit passes through the wiring hole of the housing to be electrically connected to the conductive unit.

5. The joint module according to claim 4, characterized in that, The housing includes: A rotating body is connected to a second joint unit, and the second connecting unit is at least partially connected to the rotating body. The wiring hole is provided on the rotating body. The conducting unit is partially wound around the outer periphery of the rotating body in a spiral winding manner, so that the rotation of the rotating body can wind or unwind the conducting unit. The outer shell is disposed on the first joint unit. The rotating body and the outer shell are rotatably connected and form a rotation axis. The rotation axis and the joint axis are collinear. The inner cavity is formed between the outer shell and the rotating body.

6. The joint module according to claim 5, characterized in that, The rotating body also has a first mounting cavity, which is connected to the inner cavity. The other end of the conducting unit passes through the first mounting cavity, and the portion of the conducting unit located in the first mounting cavity is electrically connected to the first connecting unit. The outer casing also has a second mounting cavity, which is connected to the inner cavity. The other end of the conductive unit passes through the second mounting cavity, and the portion of the conductive unit located in the second mounting cavity is electrically connected to the first connecting unit.

7. The joint module according to claim 6, characterized in that, The outer casing has an observation port at the end opposite to the joint assembly, and the observation port is connected to the first mounting cavity.

8. The joint module according to claim 7, characterized in that, One end of the rotating body is rotatably sealed to the inner wall of the observation port, and the other end of the rotating body is rotatably sealed to the outer shell.

9. The joint module according to claim 5, characterized in that, The two ends of the conductive unit are respectively spirally wound, and the spiral winding directions of the two ends of the conductive unit are opposite.

10. A robot, characterized in that, The robot includes a joint module as described in any one of claims 1 to 9.

Images