A joint mechanism for a humanoid robot
By using a three-dimensional spatial wiring design, the problems of large outer diameter wire entanglement and excessive volume in the joint mechanism of humanoid robots are solved, achieving effective wire protection in complex environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU YUNSHENCHU TECH CO LTD
- Filing Date
- 2025-08-15
- Publication Date
- 2026-06-30
AI Technical Summary
Existing humanoid robot joint mechanisms are prone to tangling and are too bulky when routing large-diameter wires, making them unable to effectively protect the wires in complex environments.
The design employs a three-dimensional spatial wiring system, which uses the combination of vertical cavity and wire hole to form multiple independent three-dimensional wiring paths, increasing wiring space and bundling wires to avoid tangling.
Without increasing volume, it enables smooth routing of large-diameter yarns, ensuring that the yarns do not tangle, and providing greater freedom and room for maneuver.
Smart Images
Figure CN224425614U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of humanoid robot technology, and in particular relates to a joint mechanism for a humanoid robot. Background Technology
[0002] Currently, most humanoid robots use hollow joints to avoid excessive wiring design; however, the through holes of hollow joints are relatively small, generally suitable for wire diameters below ø4mm; in complex outdoor environments or special environments, multiple protections are often required for the wires, which will increase the outer diameter of the wires, up to about ø7mm. In this case, the wires cannot be routed through hollow joints, and other wiring methods need to be designed.
[0003] The hip joint of a humanoid robot has a large number of lines and complex wiring. The existing wiring method involves multiple lines running in the same plane, which can easily cause the lines to be too concentrated and the gaps between adjacent lines to be small, making them prone to tangling. Increasing the wiring space would make the humanoid robot too large. Utility Model Content
[0004] To overcome the shortcomings of the existing technology, this utility model provides a joint mechanism and installation method for a humanoid robot. It enables the smooth routing of large-diameter wires in three-dimensional space without changing the volume, and allows multiple wire bundles to run simultaneously in three-dimensional space, effectively ensuring that the wires do not tangle.
[0005] The technical solution adopted by this utility model to solve its technical problem is: a joint mechanism for a humanoid robot, comprising:
[0006] The first driving component is used to drive the part of the robot to rotate about the first axis;
[0007] The second driving component is used to drive the part of the robot to rotate about the second axis;
[0008] The first housing, which mates with the first drive member, has at least two wire holes extending in a planar direction;
[0009] The second housing, which cooperates with the second driving member, has an opening for the wire to pass through, and at least two vertical cavities located on both sides of the outer wall of the second driving member. The vertical cavities extend in the vertical direction, and their tops are connected through the openings, while their bottoms are connected to the wire holes.
[0010] The second housing and the first housing are rotatably connected, and both have an installation position and an initial position. In the initial position, the vertical cavity and the wire hole are misaligned, and the opening, the vertical cavity, and the wire hole form a first three-dimensional wiring path. In the installation position, the vertical cavity and the wire hole are aligned, and the opening, the vertical cavity, and the wire hole form a second three-dimensional wiring path. The length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path.
[0011] Furthermore, the initial position is the normal position of the humanoid robot's joint mechanism.
[0012] Furthermore, the first driving member is used to drive the torso yaw movement, and its first driving part extends along the yaw axis direction; the second driving member is used to drive the torso roll movement, and its second driving part extends along the roll axis direction; in the initial position, the torso faces forward, and in the installation position, the torso is offset from the front of the lower limbs.
[0013] Furthermore, the wire hole includes a first wire hole and a second wire hole, which extend along a plane direction perpendicular to the yaw axis; the angle at which the first wire hole and the second wire hole extend circumferentially is greater than 90°.
[0014] Furthermore, the wire holes are isolated from each other and are radially symmetrically arranged on both sides of the first driving member.
[0015] Furthermore, the opening extends along the direction of the second drive unit to the side wall of the second housing.
[0016] Furthermore, the first driving member drives the torso yaw at an angle of -220° to 110°; the second driving member drives the torso roll at an angle of -55° to 55°.
[0017] Furthermore, the vertical cavity includes a first vertical cavity and a second vertical cavity, wherein the circumferential length of the first wire hole is greater than the length of the first vertical cavity; and the circumferential length of the second wire hole is greater than the length of the second vertical cavity.
[0018] Furthermore, the angle difference between the mounting position and the initial position is 90°.
[0019] Furthermore, the joint mechanism is a hip joint mechanism.
[0020] The beneficial effects of this utility model are: 1) By combining the vertical cavity and the wire hole, wiring space is set in both the vertical and horizontal directions, changing the traditional approach of only laying wiring space in one plane, greatly increasing the wiring space and extending the wiring path; 2) The length of the first three-dimensional wiring path is greater than the length of the second three-dimensional wiring path, so that the wire is laid at an angle in the initial position, reserving some length for the relative rotation of the humanoid robot's torso and lower limbs. When the torso rotates in one direction relative to the lower limbs, due to this reserved length, the space for the wire to move freely is relatively larger, and the reserved wire will not curl or tangle inside. When the torso rotates relative to the lower limbs in another direction, the lines in the two three-dimensional wiring paths will not interfere with each other; 3) The first and second wire holes are isolated from each other and extend almost the entire circumference along the plane. When the lines are laid vertically, the lines can swing freely in the first or second wire hole, thus providing a large space for the lines to move freely. This wiring method provides greater freedom for the relative rotation of the torso and lower limbs; 4) After entering from the opening, the lines enter the first and second vertical straight cavity respectively, which means that the lines are bundled and the probability of the lines getting tangled is reduced; 5) In the installation position, the vertical straight cavity and the wire hole are directly opposite each other, which facilitates the vertical installation of the lines. Attached Figure Description
[0021] Figure 1 The three-dimensional joint mechanism provided by this utility model Figure 1 .
[0022] Figure 2 Partial three-dimensional view of the joint mechanism provided by this utility model Figure 1 .
[0023] Figure 3 Partial three-dimensional view of the joint mechanism provided by this utility model Figure 2 .
[0024] Figure 4 Partial three-dimensional view of the joint mechanism provided by this utility model Figure 3 .
[0025] Figure 5 Cross-sectional view of the joint mechanism provided by this utility model Figure 1 .
[0026] Figure 6 Cross-sectional view of the joint mechanism provided by this utility model Figure 2 .
[0027] Figure 7 Partial three-dimensional view of the joint mechanism provided by this utility model Figure 4 At this point, it is in the initial position.
[0028] Figure 8Partial three-dimensional view of the joint mechanism provided by this utility model Figure 5 It is currently in the installation position.
[0029] Figure 9 Cross-sectional view of the joint mechanism provided by this utility model Figure 3 It is currently in the installation position.
[0030] Figure 10 Partial three-dimensional representation of the humanoid robot provided by this utility model Figure 1 .
[0031] Figure 11 Partial three-dimensional representation of the humanoid robot provided by this utility model Figure 2 .
[0032] Figure 12 Partial three-dimensional representation of the humanoid robot provided by this utility model Figure 3 .
[0033] Figure 13 Partial three-dimensional representation of the humanoid robot provided by this utility model Figure 4 .
[0034] Figure 14 Partial three-dimensional representation of the humanoid robot provided by this utility model Figure 5 .
[0035] Wherein, 1-first driving component, 11-first driving part, 2-second driving component, 21-second driving part, 3-first housing, 31-wire hole, 311-first wire hole, 312-second wire hole, 4-second housing, 41-opening, 42-vertical cavity, 421-first vertical cavity, 422-second vertical cavity, 51-first three-dimensional wiring path, 52-second three-dimensional wiring path, 61-torso, 62-lower limb. Detailed Implementation
[0036] 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. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.
[0037] like Figures 1-4 As shown, a joint mechanism for a humanoid robot includes a first drive member 1, a first housing 3 disposed outside the first drive member 1, a second drive member 2, and a second housing 4 disposed outside the second drive member 2, wherein the first housing 3 and the second housing 4 are rotatably connected.
[0038] Specifically, the joint mechanism here is a hip joint mechanism. Of course, in other embodiments, it can also be other joint mechanisms of the humanoid robot, and there is no specific limitation.
[0039] The first drive member 1 is used to drive the part of the robot to rotate around the first axis. Specifically, in this embodiment, the first drive member 1 has a first drive part 11 extending along the Yaw axis direction, so that under the action of the first drive part 11, the first drive member 1 drives the robot's torso 61 to perform Yaw motion. Here, Yaw motion refers to the rotational motion of the torso 61 around the vertical Y axis, which is manifested as a change in heading and yaw angle.
[0040] The second drive member 2 is used to drive the part of the robot to rotate around the second axis. Specifically, in this embodiment, the second drive member 2 has a second drive part 21 extending along the Roll axis direction, so that under the action of the second drive part 21, the second drive member 2 drives the robot's torso 61 to perform Roll motion. Here, Roll motion refers to the rotational motion of the torso 61 around the horizontal longitudinal axis Z axis, which is manifested as a change in roll and tumble angle.
[0041] Specifically, the first driving member 1 drives the torso 61 to yaw at an angle of -220° to 110°, preferably -210° to 100°; the second driving member 2 drives the torso 61 to roll at an angle of -55° to 55°, preferably -45° to 45°, that is... Figure 12 , Figure 13 The swing angle is -45° to 45°.
[0042] like Figure 2 , Figure 3 As shown, the first housing 3 has at least two wire holes 31 extending along a planar direction, specifically extending along the planar direction defined by the Pitch axis and the Roll axis. Here, the Pitch axis refers to the rotational movement of the torso 61 around the horizontal X-axis, manifested as a change in the pitch angle. In this embodiment, there are two wire holes 31, including a first wire hole 311 and a second wire hole 312, which extend along a planar direction perpendicular to the Yaw axis, and the circumferential angles of the first wire hole 311 and the second wire hole 312 are both greater than 90°. More specifically, the first wire hole 311 and the second wire hole 312 are isolated from each other, that is, they are not connected, and are radially symmetrically arranged on both sides of the first drive member 1. Of course, in other embodiments, the number of wire holes 31 can also be four, and there is no specific limitation.
[0043] like Figure 4As shown, the top of the second housing 4 has an opening 41 for the wire to pass through. The opening 41 extends along the length of the second drive unit 21 and extends the entire sidewall of the second housing 4. The second housing 4 also has at least two vertical cavities 42 located on both sides of the outer wall of the second drive unit 2. The vertical cavities 42 extend in the vertical direction, that is, along the yaw axis. The top of the vertical cavities 42 are connected through the opening 41, and the bottom of the vertical cavities 42 can be connected to the wire hole 31.
[0044] The cable here includes at least one power and signal cable for the waist joint assembly, one power and signal cable for each of the left and right leg joint assemblies, one power and signal cable for each of the front and rear cameras on the buttocks, and one power and signal cable for the gyroscope.
[0045] In this embodiment, there are two vertical linear cavities 42, including a first vertical linear cavity 421 and a second vertical linear cavity 422. The circumferential length of the first wire hole 311 is greater than the bottom circumferential length of the first vertical linear cavity 421, and the circumferential length of the second wire hole 312 is greater than the bottom circumferential length of the second vertical linear cavity 422. In other words, when the first vertical linear cavity 421 and the first wire hole 311 are vertically aligned, the projection of the first vertical linear cavity 421 on the horizontal plane will be completely covered by the first wire hole 311; when the second vertical linear cavity 422 and the second wire hole 312 are vertically aligned, the projection of the second vertical linear cavity 422 on the horizontal plane will be completely covered by the second wire hole 312.
[0046] The first housing 3 and the second housing 4 have mounting positions and initial positions, such as Figure 5 , Figure 10 As shown, in the initial position, the torso 61 faces forward, which is the normal position of the humanoid robot's joint mechanism. The vertical cavity 42 is misaligned with the wire hole 31, meaning that the bottom of the vertical cavity 42 is not directly above the wire hole 31. Specifically, the projection of the bottom of the first vertical cavity 421 onto the horizontal plane does not fall on the area where the first wire hole 311 is located, or the projection of the bottom of the first vertical cavity 421 onto the horizontal plane only partially falls on the area where the first wire hole 311 is located; the projection of the bottom of the second vertical cavity 422 onto the horizontal plane does not fall on the area where the second wire hole 312 is located, or the projection of the bottom of the second vertical cavity 422 onto the horizontal plane only partially falls on the area where the second wire hole 312 is located.
[0047] At this time, the opening 41, the vertical cavity 42, and the wire hole 31 form the first three-dimensional wiring path 51. Specifically, the opening 41, the first vertical cavity 421, and the first wire hole 311 form the first three-dimensional wiring path 51, which can be specifically referred to as the first three-dimensional wiring path 51A. The opening 41, the second vertical cavity 422, and the second wire hole 312 are also defined as the first three-dimensional wiring path 51B, which can be specifically referred to as the first three-dimensional wiring path 51B.
[0048] like Figure 6 , Figure 11 As shown, in the installation position, the torso 61 rotates relative to the lower limb 62 by a certain angle. In this embodiment, the rotation angle is 90°. Of course, in other embodiments, the rotation angle can be 60°~90°, and there is no specific limitation. At this time, the torso 61 is offset from the front of the lower limb 62, and the vertical cavity 42 is radially aligned with the wire hole 31. That is to say, the bottom of the vertical cavity 42 is located directly above the wire hole 31. Specifically, the projection of the bottom of the first vertical cavity 421 on the horizontal plane falls completely on the area where the first wire hole 311 is located, and the projection of the bottom of the second vertical cavity 422 on the horizontal plane falls completely on the area where the second wire hole 312 is located.
[0049] At this time, the opening 41, the vertical cavity 42, and the wire hole 31 form a second three-dimensional wiring path 52. Specifically, the opening 41, the first vertical cavity 421, and the first wire hole 311 form a second three-dimensional wiring path 52, which can be specifically referred to as the second three-dimensional wiring path 52A. The opening 41, the second vertical cavity 422, and the second wire hole 312 are also defined as the second three-dimensional wiring path 52, which can be specifically referred to as the second three-dimensional wiring path 52B.
[0050] The length of the first three-dimensional wiring path 51 is greater than the length of the second three-dimensional wiring path 52. Therefore, after the cable is installed at the mounting position and the torso 61 is rotated back to its front position, the cable length within the first three-dimensional wiring path 51 is greater. This means that even before the torso 61 and lower limbs 62 have rotated relative to each other, a portion of the cable length is reserved within the first three-dimensional wiring path 51. The first three-dimensional wiring paths 51A and 51B form two independent wiring spaces that do not interfere with each other, allowing cables with different functions (such as high-current power lines and sensor signal lines) to be separated without mutual interference. Figure 7 As shown, when the torso 61 rotates relative to the lower limbs 62, whether it rotates to the left or to the right, that is... Figure 11 , Figure 12 The rotation direction shown allows for a relatively larger space for the line to move freely due to the previously reserved length, and the reserved line will not curl or tangle inside.
[0051] In addition, the design of the first three-dimensional wiring path 51 and the second three-dimensional wiring path 52, compared with the planar wiring space design, greatly extends the wiring path of the wire within the same space. At the same time, the wire is divided into two bundles and enters the first vertical cavity 421 and the second vertical cavity 422 from both sides of the opening 41, which greatly reduces the chance of the wire getting tangled.
[0052] A method for installing the joint mechanism of a humanoid robot includes the following steps:
[0053] The first drive unit 1 and the first housing 3 are installed. At least two wire holes 31 are formed in the first housing 3. In this embodiment, the wire holes 31 include a first wire hole 311 and a second wire hole 312, which are isolated from each other and extend in the horizontal direction.
[0054] The second drive component 2 and the second housing 4 are installed. At least two vertical straight cavities 42 are formed between the outer wall of the second drive component 2 and the inner wall of the second housing 4. The bottom of the vertical straight cavity 42 can be connected to the wire hole 31. An opening 41 connecting all the vertical straight cavities 42 is formed at the top of the second housing 4.
[0055] Specifically, there are two vertical cavities 42, namely a first vertical cavity 421 and a second vertical cavity 422, and the first vertical cavity 421 and the second vertical cavity 422 are located on both sides of the opening 41 and are symmetrically arranged.
[0056] The first housing 3 and the second housing 4 are rotated relative to each other, and both enter the installation position from the initial position. At this time, the vertical cavity 42 and the wire hole 31 are radially aligned. The opening 41, the vertical cavity 42, and the wire hole 31 form the second three-dimensional wiring path 52. After the wire is bundled, it is installed along the second three-dimensional wiring path 52A and the second three-dimensional wiring path 52B.
[0057] like Figure 8 , Figure 9 As shown, in the mounting position, the horizontal projection of the first vertical cavity 421 falls completely into the first wire hole 311, and the horizontal projection of the second vertical cavity 422 falls completely into the second wire hole 312. Thus, the opening 41, the first vertical cavity 421, and the first wire hole 311 form a second three-dimensional wiring path 52A, and a portion of the wire is installed along this second three-dimensional wiring path 52A. The opening 41, the second vertical cavity 422, and the second wire hole 312 also form a second three-dimensional wiring path 52B, and a portion of the wire is installed along this second three-dimensional wiring path 52B.
[0058] The first housing 3 and the second housing 4 are rotated in opposite directions, so that both move from the mounting position to the initial position, as shown. Figure 7As shown, at this time, the torso 61 faces forward, the vertical cavity 42 and the wire hole 31 are radially misaligned, and the opening 41, the first vertical cavity 421, and the first wire hole 311 form the first three-dimensional wiring path 51A; the opening 41, the second vertical cavity 422, and the second wire hole 312 also form the first three-dimensional wiring path 51B; due to the misalignment of the vertical cavity 42 and the wire hole 31, the length of the first three-dimensional wiring path 51 is greater than the length of the second three-dimensional wiring path 52, that is, the wire is on a first three-dimensional wiring path 51 that is longer than the second three-dimensional wiring path 52, the wire has more room to move, and the length of the wire in a flat state within the first three-dimensional wiring path 51 is also greater;
[0059] In this embodiment, the angle difference between the mounting position and the initial position is 90°, that is, the angle of the first housing 3 and the second housing 4 rotating in opposite directions is 90°, and both move from the mounting position to the initial position.
[0060] In the initial position, the cable is tilted within the first three-dimensional cable routing path 51. If the initial position is rotated 90° to the left to reach the installation position, when the torso 61 needs to rotate 210° to the left relative to the lower limb 62, it first rotates to 90° to reach the second three-dimensional cable routing path 52. At this point, the required cable length is shorter, and part of the cable length will hang down into the cavity of the first housing 3. At this point, the lower end of the cable is located in the middle of the cable hole 31. Continuing to rotate 90° to the left, it reaches a position symmetrical to the first three-dimensional cable routing path 51. At this point, the cable length is the same as that of the first three-dimensional cable routing path 51. Continuing to rotate 30° to the left, it reaches the 210° position. This 30° requires additional cable length to be reserved.
[0061] In other words, the total wire length that needs to be reserved is the 90° angle difference between the initial first three-dimensional wiring path 51 and the installation second three-dimensional wiring path 52, plus the wire length for the final 30° rotation. Since the opening angle of the wire hole 31 itself is greater than 90°, the wire length remains unchanged during the 45° rotation angle of the 90° angle difference between the initial first three-dimensional wiring path 51 and the installation second three-dimensional wiring path 52. That is, during this 45° rotation, the wire slides from the middle to one end in the wire hole 31, and the change in the relative position in the wire hole 31 absorbs the change in wire length. Therefore, when rotating to the left, the total wire length required is the wire length required for a 75° rotation. Compared with the non-tilted installation state, the reserved wire length is greatly shortened, avoiding the wire from being too long inside and causing tangling.
[0062] When the torso 61 needs to rotate 100° to the right relative to the lower limb 62, the lower end of the thread in the first three-dimensional wiring path 51A is at the leftmost end of the first thread hole 311, and the upper end of the thread is 10° to the right of the middle of the second thread hole 312. Similarly, the lower end of the thread in the first three-dimensional wiring path 51B is at the rightmost end of the second thread hole 312, and the upper end of the thread is 10° to the left of the middle of the first thread hole 311. There is a 35° gap between the lower end of the thread initially located in the first three-dimensional wiring path 51A and the upper end of the thread initially located in the second three-dimensional wiring path 52B. Considering the volume of the thread, there is actually a gap of about 20° between them, and the threads on both sides will not interfere. It should be noted that the required thread length at this time is the difference between the first three-dimensional wiring path 51 and the second three-dimensional wiring path 52 plus the 100° rotation thread length, which is approximately 145° of rotation thread length.
[0063] The above specific embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.
Claims
1. A joint mechanism of a humanoid robot, characterized by, include: The first driving component (1) is used to drive the part of the robot to rotate around the first axis; The second drive component (2) is used to drive the part of the robot to rotate around the second axis; The first housing (3) cooperates with the first drive member (1) and has at least two wire holes (31) extending in the planar direction. The second housing (4) cooperates with the second driving member (2) and has an opening (41) for the wire to pass through, and at least two vertical cavities (42) on both sides of the outer wall of the second driving member (2). The vertical cavities (42) extend in the vertical direction, and their tops are connected through the openings (41), and their bottoms are connected to the wire holes (31). The second housing (4) and the first housing (3) are rotatably connected, and both have an installation position and an initial position. In the initial position, the vertical cavity (42) and the wire hole (31) are misaligned, and the opening (41), the vertical cavity (42), and the wire hole (31) form a first three-dimensional wiring path (51). In the installation position, the vertical cavity (42) and the wire hole (31) are directly opposite each other, and the opening (41), the vertical cavity (42), and the wire hole (31) form a second three-dimensional wiring path (52). The length of the first three-dimensional wiring path (51) is greater than the length of the second three-dimensional wiring path (52).
2. The joint mechanism of the humanoid robot according to claim 1, characterized by: The initial position is the normal position of the humanoid robot's joint mechanism.
3. The joint mechanism of the humanoid robot according to claim 1, characterized by: The first drive member (1) is used to drive the torso (61) to move in a yaw motion, and its first drive part (11) extends along the yaw axis direction; the second drive member (2) is used to drive the torso (61) to move in a roll motion, and its second drive part (21) extends along the roll axis direction; in the initial position, the torso (61) faces forward, and in the installation position, the torso (61) is offset from the front of the lower limb (62).
4. The joint mechanism of the humanoid robot according to claim 3, characterized by: The wire hole (31) includes a first wire hole (311) and a second wire hole (312), which extend along a plane direction perpendicular to the Yaw axis; the first wire hole (311) and the second wire hole (312) extend at an angle greater than 90° in the circumferential direction.
5. The joint mechanism of the humanoid robot according to claim 1, characterized by: The wire holes are isolated from each other and are radially symmetrically arranged on both sides of the first driving member (1).
6. The joint mechanism of the humanoid robot according to claim 1, characterized by: The opening (41) extends along the direction of the second drive unit (21) to the side wall of the second housing (4).
7. The joint mechanism of the humanoid robot according to claim 3, characterized by: The first driving member (1) drives the torso (61) yaw at an angle of -220° to 110°; the second driving member (2) drives the torso (61) roll at an angle of -55° to 55°.
8. The joint mechanism of the humanoid robot according to claim 4, characterized by: The vertical cavity (42) includes a first vertical cavity (421) and a second vertical cavity (422). The circumferential length of the first wire hole (311) is greater than the length of the first vertical cavity (421); the circumferential length of the second wire hole (312) is greater than the length of the second vertical cavity (422).
9. The joint mechanism of the humanoid robot according to claim 1, characterized by: The angle difference between the installation position and the initial position is 90°.
10. The joint mechanism of the humanoid robot according to claim 1, characterized by: The joint mechanism is a hip joint mechanism.