Joint structure and robot

Abstract

The application relates to a joint structure and a robot, the joint structure comprising a winding shell, a cable, a rotating part and a reset part, the winding shell having a winding cavity, the cable being wound in the winding cavity in only one winding direction, the cable being wound on the rotating part, the winding direction of the cable being the same as one of the rotating directions of the rotating part, the rotating part being rotatable relative to the winding shell to switch the cable between a retracted state and an expanded state, and the reset part being connected with the cable and used for providing an acting force for switching the cable from the retracted state to the expanded state. The joint structure of the application ensures that the cable can be completely switched from the retracted state to the expanded state, and the situation that the cable is not completely reset is avoided.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a joint structure and a robot. Background Technology

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

[0003] To transmit current and control signals, cables are typically installed inside the joint structure. These cables have two states: retracted and extended, to coordinate with the movement of the joint structure.

[0004] In the joint structure of related technologies, there may be situations where the cable does not fully return from the retracted state to the extended state. Utility Model Content

[0005] This application provides a joint structure and robot designed to ensure that the cable can be fully switched from a retracted state to an extended state, avoiding the situation where the cable is not fully reset.

[0006] To achieve the above objectives, according to a first aspect of this application, a joint structure is provided for use in a legged robot, the joint structure comprising:

[0007] A winding housing having a winding cavity;

[0008] The cable is wound within the winding cavity in only one winding direction;

[0009] A rotating component, wherein the cable is wound around the rotating component, the winding direction of the cable is the same as one of the rotation directions of the rotating component, and the rotating component can rotate relative to the winding housing to switch the cable between a coiled state and an unfolded state;

[0010] A reset element, connected to the cable, is used to provide a force that switches the cable from the retracted state to the extended state.

[0011] Optionally, the reset member includes an elastic element connected between the cable and the winding housing, wherein when the cable is in the retracted state, the elastic element undergoes elastic deformation and applies an elastic force to the cable, and when the cable is in the extended state, the elastic element has a tendency to recover its deformation.

[0012] Optionally, when the rotating member rotates along the first rotation direction, the cable switches from the unfolded state to the retracted state, and the elastic member is in elastic deformation. When the rotating member rotates along the second rotation direction, the cable switches from the retracted state to the unfolded state. The first rotation direction and the second rotation direction are opposite.

[0013] When the cable is in a retracted state, the direction of the elastic force applied by the elastic element to the cable is the second rotation direction.

[0014] Optionally, the elastic element is connected between the wall of the winding cavity and the cable.

[0015] Optionally, the wall of the winding cavity includes a sidewall, the cable includes a first connecting surface, at least a portion of the first connecting surface faces the sidewall of the winding cavity, and the elastic element is connected between the sidewall of the winding cavity and the first connecting surface; and / or,

[0016] The wall of the winding cavity includes a bottom wall, the cable includes a second connecting surface, the second connecting surface at least partially facing the bottom wall of the winding cavity, and the elastic element is connected between the bottom wall of the winding cavity and the second connecting surface.

[0017] Optionally, the elastic element is located between the cable and the wall of the winding cavity, and the elastic element is a ring structure or an arc-shaped structure.

[0018] Optionally, the number of elastic elements is at least two, and the at least two elastic elements are spaced apart along the length direction of the cable.

[0019] Optionally, a winding post is formed on the side of the rotating member facing the winding housing, and the winding cavity is formed between the winding post and the winding housing. The cable is wound around the winding post, and the winding post is used to drive the cable to rotate.

[0020] Optionally, the winding housing has an outlet, the winding post has an inlet, the first end of the cable is fixed at the outlet, and the second end of the cable is fixed at the inlet.

[0021] According to a second aspect of this application, a robot is provided, including the aforementioned joint structure.

[0022] In the joint structure of this application embodiment, when the cable needs to switch from a retracted state to an extended state, the rotation direction of the rotating member is switched so that the rotating member no longer drives the cable to retract but instead causes the cable to gradually switch to the extended state. When the cable switches to the extended state, the reset member can drive the cable to move, thereby driving the cable to switch from the retracted state to the extended state, ensuring that the cable can completely switch from the retracted state to the extended state and avoiding the situation where the cable is not completely reset.

[0023] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0026] Figure 1 This is a schematic diagram of the fuselage structure provided in an exemplary embodiment of this disclosure;

[0027] Figure 2 This is one of the schematic diagrams of a portion of the fuselage provided in an exemplary embodiment of this disclosure;

[0028] Figure 3 This is a second schematic diagram of a portion of the fuselage provided in an exemplary embodiment of this disclosure;

[0029] Figure 4 This is a schematic diagram of the joint structure provided in an exemplary embodiment of this disclosure;

[0030] Figure 5 This is a cross-sectional view of the joint structure provided in an exemplary embodiment of this disclosure;

[0031] Figure 6 This is an exploded view of the joint structure provided in an exemplary embodiment of this disclosure;

[0032] Figure 7 This is one of the partial structural diagrams of the joint structure provided in the exemplary embodiments of this disclosure;

[0033] Figure 8 This is a second partial structural schematic diagram of the joint structure provided in the exemplary embodiments of this disclosure;

[0034] Figure 9 This is one of the structural schematic diagrams of the rotating component provided in the exemplary embodiments of this disclosure;

[0035] Figure 10 This is a second schematic diagram of the structure of the rotating component provided in the exemplary embodiments of this disclosure;

[0036] Figure 11 This is a schematic diagram of the structure of the robot provided in an exemplary embodiment of this disclosure;

[0037] Figure 12 This is one of the partial structural schematic diagrams of the robot provided in the exemplary embodiments of this disclosure;

[0038] Figure 13 This is a second schematic diagram of a partial structure of the robot provided in an exemplary embodiment of this disclosure;

[0039] Figure 14 yes Figure 12 Enlarged structural diagram;

[0040] Figure 15 yes Figure 13 Enlarged structural diagram;

[0041] Figure 16 This is a schematic diagram of the structure of the first leg or the second leg provided in an exemplary embodiment of this disclosure.

[0042] Explanation of reference numerals in the attached figures:

[0043] 100. Body; 110. Main body; 111. Mounting slot; 112. Cable outlet hole; 120. Cover plate; 121. Notch; 130. Mounting space; 140. Wiring platform; 141. Second side; 150. First connecting group; 151. First connecting part; 160. Second connecting group; 161. Second connecting part; 170. First receiving space; 180. Second receiving space; 190. Protrusion; 1121. First cable outlet hole; 1122. Second cable outlet hole; 1511. First mechanical interface; 1512. First connecting hole; 1611. Second mechanical interface; 1612. Third connecting hole;

[0044] 200, Joint structure; 210, Winding housing; 211, Winding cavity; 212, Outlet; 220, Cable; 221, First connecting surface; 230, Rotating component; 231, Winding post; 240, Reset component; 241, Elastic component; 2311, Inlet;

[0045] 300. First leg assembly; 310. First leg section; 320. Motor module; 321. First motor; 322. Second motor; 330. Leg body; 331. Thigh; 332. Lower leg;

[0046] 400. Second leg group; 410. Second leg;

[0047] 500, First positioning protrusion; 510, Second connecting hole; 600, First positioning groove; 700, Second positioning protrusion; 710, Fourth connecting hole; 800, Second positioning groove. Detailed Implementation

[0048] The technical solutions of the embodiments of this application 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 this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0049] According to a first aspect of this application, a joint structure 200 is provided, which is applied to a legged robot. (See reference...) Figure 4 , Figure 5 and Figure 6 The joint structure 200 includes a winding housing 210, a cable 220, a rotating member 230, and a resetting member 240. The winding housing 210 has a winding cavity 211. The cable 220 is wound in the winding cavity 211 in only one winding direction. The cable 220 is wound on the rotating member 230. The winding direction of the cable 220 is the same as one of the rotation directions of the rotating member 230. The rotating member 230 can rotate relative to the winding housing 210 to switch the cable 220 between a coiled state and an unfolded state. The resetting member 240 is connected to the cable 220 and is used to provide a force to switch the cable 220 from the coiled state to the unfolded state.

[0050] It is understandable that the rotating component 230 can rotate in two opposite directions, and the winding direction of the cable 220 is the same as one of the rotation directions of the rotating component 230, which ensures that the rotating component 230 can drive the cable 220 to rotate so that the cable is in a retracted state, thereby allowing the cable 220 to switch between a retracted state and an extended state.

[0051] When cable 220 needs to switch from the retracted state to the extended state, the rotation direction of the rotating component 230 is switched so that the rotating component 230 no longer drives the cable 220 to retract, but instead causes the cable 220 to gradually switch to the extended state. When the cable 220 switches to the extended state, the reset component 240 can drive the cable 220 to move, thereby driving the cable 220 to switch from the retracted state to the extended state, ensuring that the cable 220 can completely switch from the retracted state to the extended state, and avoiding the situation where the cable 220 is not completely reset.

[0052] In addition, placing the cable 220 inside the winding cavity 211 can protect the cable 220, prevent it from being damaged, and make it less susceptible to external influences.

[0053] For example, the rotating member 230 includes two rotation directions, namely a first rotation direction and a second rotation direction, which are opposite. That is, the rotating member 230 can rotate in the first rotation direction or in the second rotation direction. The winding direction of the cable 220 can be the same as one of the first rotation direction and the second rotation direction.

[0054] Understandably, in the related technology, the joint structure 200 has one end of the cable harness fixedly connected to the rotating component 230. Rotating the rotating component 230 in the first rotation direction causes the cable 220 to gradually switch to a retracted state. When the cable 220 needs to switch to an extended state, the rotating component 230 rotates in the second rotation direction, which is opposite to the first. At this time, the rotating component 230 no longer retracts the cable 220, and the cable 220 can gradually return to its extended state. However, the cable 220's return to the extended state relies mainly on its own elastic restoring force, which can easily lead to the cable 220 not fully returning to its extended state. If the cable 220 does not fully return to its extended state, it can easily affect the movement of the joint structure 200 and cause the cable 220 to be pulled and damaged.

[0055] This application adds a reset component 240, which can apply force to the cable 220 to drive the cable 220 from the retracted state to the extended state, ensuring that the cable 220 can be fully reset to the extended state.

[0056] In some examples, the reset member 240 may be connected to the inner wall of the winding housing 210, the outer wall of the winding housing 210, or a location outside the winding housing 210.

[0057] In some embodiments, refer to Figure 6 and Figure 7 The reset member 240 includes an elastic member 241, which is connected between the cable 220 and the winding housing 210. When the cable 220 is in a retracted state, the elastic member 241 is in an elastic deformation and applies an elastic force to the cable 220. When the cable 220 is in an extended state, the elastic member 241 has a tendency to recover its deformation.

[0058] Understandably, when the rotating component 230 drives the cable 220 to switch to the retracted state, the cable 220 will rotate accordingly. Since the elastic component 241 is connected to the cable 220, the elastic component 241 will undergo elastic deformation. Therefore, when the cable 220 is in the retracted state, the elastic component 241 is in a deformed state and will apply an elastic restoring force to the cable 220. When it is necessary for the cable 220 to switch to the extended state, the rotating component 230 no longer retracts the cable 220, and the cable 220 no longer applies tension to the elastic component 241. At this time, the elastic component 241 can restore its deformation. When the elastic component 241 restores its deformation, it will drive the cable 220 to rotate, so that the cable 220 switches from the retracted state to the extended state, thus ensuring that the cable 220 can be completely switched back to the extended state.

[0059] It should be noted that the reset component 240, besides the elastic component 241, can be any other suitable structural component that can drive the cable 220 to reset to the unfolded state, and is not limited to the elastic component 241. For example, the reset component 240 can be a rotating component, which is installed on the outer wall of the winding housing 210. The side wall of the winding housing 210 has an elongated hole, and the rotating component is connected to a connector. The connector passes through the elongated hole and is connected to the cable 220. That is, the rotating component is connected to the cable 220 through the connector. The rotating component can drive the connector to rotate along a first rotation direction or a second rotation direction. Thus, when the cable 220 needs to be switched to the unfolded state, the rotating component can drive the connector to rotate, and the connector can drive the cable 220 to rotate, ensuring that the cable 220 can be fully reset to the unfolded state.

[0060] In some embodiments, refer to Figure 6 , Figure 7 and Figure 8 When the rotating member 230 rotates along the first rotation direction, the cable 220 switches from the unfolded state to the retracted state, and the elastic member 241 is in elastic deformation. When the rotating member 230 rotates along the second rotation direction, the cable 220 switches from the retracted state to the unfolded state. The first rotation direction and the second rotation direction are opposite.

[0061] When the cable 220 is in a retracted state, the direction of the elastic force applied by the elastic element 241 to the cable 220 is the second rotation direction.

[0062] It is understandable that when the cable 220 is in the extended state, the elastic element 241 is in the initial state, that is, the elastic element 241 has not deformed at this time.

[0063] When the cable 220 needs to be in a retracted state, the rotating component 230 is controlled to rotate in the first rotation direction. The rotating component 230 will cause the cable 220 to rotate along with it, thereby gradually switching the cable 220 from the extended state to the retracted state. At the same time, since the elastic component 241 is connected to the cable 220, the cable 220 will apply a tension force to the elastic component 241 when rotating, causing the elastic component 241 to be in an elastic deformation state.

[0064] When cable 220 needs to switch from the retracted state to the extended state, the control rotating component 230 rotates along the second rotation direction. Since the second rotation direction is opposite to the first rotation direction, cable 220 can gradually switch from the retracted state to the extended state. At the same time, cable 220 no longer applies tension to elastic component 241, and elastic component 241 will restore its deformation. When elastic component 241 restores its deformation, it will apply an elastic force to cable 220 to drive cable 220 to rotate, so that cable 220 can be fully reset to the extended state.

[0065] In some embodiments, the elastic element 241 is connected between the wall of the winding cavity 211 and the cable 220.

[0066] Thus, one part of the elastic element 241 is fixedly connected to the winding cavity 211, and the other part of the elastic element 241 is fixedly connected to the cable 220. When the cable 220 is in the retracted state, the elastic element 241 will deform under the action of the cable 220, and the elastic element 241 will also apply an elastic force to the cable 220. Consequently, when the cable 220 returns to the unfolded state from the retracted state, the elastic force of the elastic element 241 can drive the cable 220 to return to its original state, ensuring that the cable 220 can be fully returned to the unfolded state.

[0067] In some embodiments, refer to Figure 6 and Figure 7 The wall of the winding cavity 211 includes a side wall, and the cable 220 includes a first connecting surface 221. At least a portion of the first connecting surface 221 faces the side wall of the winding cavity 211. An elastic member 241 is connected between the side wall of the winding cavity 211 and the first connecting surface 221.

[0068] Thus, the elastic element 241 is connected between the cable 220 and the winding housing 210. When the cable 220 switches from the extended state to the retracted state, the cable 220 will cause the elastic element 241 to deform. When the cable 220 switches from the retracted state to the extended state, the elastic element 241 can apply an elastic force to the cable 220, causing the cable 220 to return to the extended state, thus ensuring that the cable 220 can be fully returned to the extended state.

[0069] Furthermore, the elastic element 241 is connected between the oppositely arranged side wall surface and the first connecting surface 221, which helps to shorten the length of the elastic element 241.

[0070] In some embodiments, the wall of the winding cavity 211 includes a bottom wall, the cable 220 includes a second connecting surface, the second connecting surface is at least partially facing the bottom wall of the winding cavity 211, and the elastic member 241 is connected between the bottom wall and the second connecting surface of the winding cavity 211.

[0071] Thus, the elastic element 241 is connected between the cable 220 and the winding housing 210. When the cable 220 switches from the extended state to the retracted state, the cable 220 will cause the elastic element 241 to deform. When the cable 220 switches from the retracted state to the extended state, the elastic element 241 can apply an elastic force to the cable 220, causing the cable 220 to return to the extended state, thus ensuring that the cable 220 can be fully returned to the extended state.

[0072] Furthermore, the elastic element 241 is connected between the opposing bottom wall surface and the second connecting surface, which helps to shorten the length of the elastic element 241.

[0073] In some embodiments, refer to Figure 6 The elastic element 241 is located between the cable 220 and the wall of the winding cavity 211. The elastic element 241 is a ring structure or an arc structure.

[0074] Thus, the elastic element 241 can extend along the surface of the cable 220. That is, the elastic element 241 with a ring structure or arc structure can increase the contact length between the elastic element 241 and the cable 220, so that the elastic element 241 can effectively drive the cable 220 to return to the unfolded state.

[0075] In some embodiments, refer to Figure 7 The number of elastic elements 241 is at least two, and at least two elastic elements 241 are spaced apart along the length direction of the cable 220.

[0076] In this way, each elastic element 241 can apply elastic force to the cable 220 to drive the cable 220 back to the unfolded state, ensuring that the cable 220 can be fully reset to the unfolded state.

[0077] In some examples, at least two elastic elements 241 are evenly spaced, which can make the elastic force on the cable 220 uniform.

[0078] In some embodiments, refer to Figure 6 and Figure 8 A winding post 231 is formed on the side of the rotating member 230 facing the winding housing 210. A winding cavity 211 is formed between the winding post 231 and the winding housing 210. The cable 220 is wound on the winding post 231, and the winding post 231 is used to drive the cable 220 to rotate.

[0079] Thus, the cable 220 can be positioned between the winding post 231 and the winding housing 210. The winding post 231 can drive the cable 220 to rotate, thereby allowing the cable 220 to switch between a retracted state and an extended state.

[0080] In some embodiments, refer to Figure 6 , Figure 8 , Figure 9 and Figure 10 The winding housing 210 has an outlet 212, the winding post 231 has an inlet 2311, the first end of the cable 220 is fixed at the outlet 212, and the second end of the cable 220 is fixed at the inlet 2311.

[0081] Thus, the first end of the cable 220 is fixed in place, and the winding post 231 can drive the second end of the cable 220 to rotate, so that the cable 220 can switch between the retracted state and the extended state.

[0082] In some examples, a snap-fit ​​structure is formed at the inlet 2311, and the second end of the cable 220 is fixed to the inlet 2311 by the snap-fit ​​structure. It should be noted that this is only an example of the structure at the inlet 2311 and is not a specific limitation. For example, the second end of the cable 220 can be fixed to the inlet 2311 by a threaded connection.

[0083] In some examples, the winding housing 210 is formed with a snap-fit ​​block, and an outlet 212 is formed between the snap-fit ​​block and the inner wall of the winding cavity 211. The first end of the cable 220 is snapped between the snap-fit ​​block and the inner wall of the winding cavity 211 to fix the first end of the cable 220.

[0084] According to the second aspect of this disclosure, referring to Figures 1 to 3 This disclosure provides a housing 100. The housing 100 includes a body 110, a cover plate 120, and a wiring harness. The body 110 forms a mounting groove 111, and the cover plate 120 covers the opening of the mounting groove 111. The cover plate 120, the groove wall of the mounting groove 111, and the bottom of the mounting groove 111 form a mounting space 130. The cover plate 120 is detachably connected to the body 110 to expose or close the mounting space 130. The wiring harness is at least partially disposed within the mounting space 130, and at least one end of the wiring harness is exposed within the mounting groove 111. The wiring harness is used to connect electrical components.

[0085] In this way, the wire harness is placed in the installation space 130 formed by the cover plate 120, the groove wall of the mounting groove 111 and the bottom of the mounting groove 111. After the cover plate 120 is opened, at least one end of the wire harness can be exposed, so that the wire harness can be inspected, replaced and wired without opening the side panel of the body 100, which facilitates the maintenance of the body 100 and the robot with the body 100.

[0086] It should be noted that when the cover plate 120 is connected to the body 110, the cover plate 120 can close the installation space 130. When the cover plate 120 is removed from the body 110, the installation space 130 will be exposed.

[0087] Understandably, in related technologies, when it is necessary to inspect, replace, or connect wiring harnesses to external devices, maintenance personnel must simultaneously remove the robot's top cover and side panels to fully expose and access the wiring harness interfaces. This process is not only complex and time-consuming, but also increases the risk of component wear or connector loosening due to repeated disassembly and reassembly. Furthermore, because the wiring harness is deeply concealed within the narrow space inside the robot body 100, maintenance personnel must perform wiring or troubleshooting within a limited operating area, which can easily lead to misoperation due to obstructed vision or inconvenient tool operation, and may even damage the precision cables 220 or surrounding electronic components.

[0088] This application simplifies the process by placing the wiring harness between the cover plate 120 and the machine body 100. Maintenance personnel can easily inspect, replace, and connect the wiring harness after opening the cover plate 120. Furthermore, since the wiring harness is positioned between the cover plate 120 and the mounting slot 111, maintenance personnel can easily access the wiring harness after opening the cover plate 120, facilitating wiring and troubleshooting, and reducing the risk of misoperation.

[0089] In some examples, the cover 120 can be a top cover, meaning the wiring harness can be located in the top space of the body 100. It should be noted that if the cover 120 of the body 100 is located at the bottom, the wiring harness can also be located in the bottom space of the body 100. In this case, the wiring harness is still located between the cover 120 and the body 110, and maintenance personnel can perform corresponding operations on the wiring harness after opening the cover 120.

[0090] In some cases, the wiring harness includes at least one of power lines and signal lines.

[0091] In some examples, the electrical components include at least one of a controller, robot leg drive motors, and a camera. It should be noted that this is merely an illustrative example of an electrical component and is not intended to limit its use; the electrical component can be any other suitable component.

[0092] In some embodiments, refer to Figure 1The wall of the mounting groove 111 has a wire outlet hole 112, through which the wire harness can be passed to connect with the electrical components.

[0093] Thus, while the wire harness is positioned in the mounting groove 111, the outlet hole 112 is formed in the groove wall of the mounting groove 111, which facilitates the insertion of the wire harness's connecting end through the outlet hole 112, thus facilitating the connection between the wire harness and electrical components. Furthermore, the fact that both the wire harness and the outlet hole 112 are located in the mounting groove 111 helps to shorten the length of the wire harness.

[0094] In some embodiments, refer to Figure 1 The mounting groove 111 is formed on the top of the body 110.

[0095] This allows the wiring harness to be positioned on top. After opening the cover 120, the user can perform corresponding operations on the wiring harness, facilitating maintenance and other operations on the main unit 100.

[0096] Furthermore, in legged robots such as quadruped and hexapod robots, the body 100 is generally arranged horizontally, meaning the top of the body 100 faces upwards and the bottom faces downwards. By forming the mounting slot 111 on the top of the body 110, the cover plate 120 serves as the top cover of the body 100. When maintenance or other operations are required on the body 100, the user does not need to crawl underneath it, improving user convenience.

[0097] In some embodiments, refer to Figure 2 and Figure 3 The body 100 also includes a wiring platform 140. Multiple connecting wires are provided in the internal space of the body 110. All the connecting wires are connected to the wiring platform 140. The wiring platform 140 is used to connect wire harnesses and connecting wires.

[0098] In this way, the wiring platform 140 can bring together multiple connecting wires inside the main body 110, and the wire harness can be connected to the connecting wires through the wiring platform 140, which improves the convenience of connecting the wire harness to the connecting wires.

[0099] Understandably, the internal space of the main body 110 contains multiple connecting wires such as power lines and signal lines, and the wire harness needs to connect the connecting wires and electrical equipment together. If the wire harness and connecting wires are directly connected, the operation is cumbersome due to the large number of connecting wires, and it is easy to cause a messy wiring situation. This application first uses the wiring platform 140 to gather multiple connecting wires together, that is, first connect multiple connecting wires to the wiring platform 140, and then connect the wire harness to the wiring platform 140, thereby realizing the electrical connection between the wire harness and the connecting wires. The wiring platform 140 can play a role in gathering multiple connecting wires and wire harnesses, avoiding the messy wiring situation, and improving the convenience of wiring.

[0100] Specifically, refer to Figure 2 and Figure 3 The wiring platform 140 includes a first side and a second side 141 disposed opposite to each other. The first side is used to connect to the connecting wire, and the second side 141 is used to connect to the wire harness. At least the second side 141 is located within the installation space 130 to facilitate the connection between the wire harness and the wiring platform 140.

[0101] In some embodiments, the wiring platform 140 is located between the installation space 130 and the internal space of the body 110, and the wiring platform 140 is used to separate the installation space 130 and the internal space of the body 110.

[0102] In this way, the wiring platform 140 can separate the installation space 130 for placing wire harnesses from the internal space for placing connecting wires, avoiding the mixing of multiple different wires in a single space and preventing the occurrence of messy wiring.

[0103] In addition, by separating the wiring harness and connecting wires through the wiring platform 140, when maintenance personnel need to perform maintenance or other operations on the wiring harness, they will not see the connecting wires after opening the cover 120. This can prevent the connecting wires from affecting the maintenance personnel and prevent misjudgment.

[0104] In some embodiments, the wiring platform 140 is embedded in the bottom of the mounting groove 111.

[0105] Thus, both the wiring platform 140 and the wire harness are located in the mounting slot 111, which facilitates the connection between the wire harness and the wiring platform 140.

[0106] In some embodiments, the wiring platform 140 is at least part of the bottom of the mounting slot 111.

[0107] In this way, the wiring platform 140 can not only serve as a hub for connecting wires, but also as the bottom of the mounting slot 111, thus enabling the wiring platform 140 to be reused and simplifying the structure of the body 100.

[0108] In some embodiments, refer to Figure 2 and Figure 3 The electrical components include a controller, which is located inside the main body 110. The installation space 130 is spaced apart from the internal space of the main body 110. The cable outlet 112 is connected to the internal space of the main body 110. The cable harness passes through the cable outlet 112 and is connected to the controller.

[0109] Thus, the wiring harness can be passed through the outlet hole 112 into the internal space of the main body 110, that is, the wiring harness can be passed through the outlet hole 112 from the installation space 130 into the internal space of the main body 110 to realize the connection between the wiring harness and the controller.

[0110] Specifically, the controller is positioned relative to the outlet hole 112.

[0111] This can shorten the length of the wire harness.

[0112] In addition, the controller is positioned opposite the cable outlet 112 so that the user can see the controller through the cable outlet 112, making it convenient for the user to connect the wiring harness and the controller together.

[0113] In some examples, the cable outlet includes, for example, a first cable outlet 1121 and a second cable outlet 1122. The cable harness passes through the first cable outlet 1121 and is connected to the controller.

[0114] In some examples, refer to Figure 2 and Figure 3 The cable outlet includes at least four second cable outlets 1122, each corresponding to one of the robot's at least four legs. The connection end of the cable harness can be inserted through the second cable outlet 1122 to connect with the robot's legs.

[0115] In some embodiments, the cover plate 120 is sealed to the body 110.

[0116] This improves the sealing performance at the connection between the cover plate 120 and the body 110, preventing external moisture or dust from entering the installation space 130 and reducing the impact of the external environment on the body 100.

[0117] Specifically, the body 100 also includes a seal, which is located at the connection between the cover plate 120 and the body 110 to make the cover plate 120 and the body 110 sealed together.

[0118] In some embodiments, refer to Figure 1 The cover plate 120 has a notch 121, and the body 100 also includes a protrusion 190 formed in the mounting groove 111. The shape of the notch 121 matches the shape of the protrusion 190. When the cover plate 120 is placed over the opening of the mounting groove 111, the protrusion 190 is located at the notch 121. In this way, the protrusion 190 can be avoided from affecting the covering of the cover plate 120, ensuring that the cover plate 120 can be smoothly placed over the opening of the mounting groove 111.

[0119] In some examples, the protrusion 190 is, for example, a guide rail.

[0120] According to a third aspect of this disclosure, a robot is provided that includes the aforementioned joint structure.

[0121] The robotic arm has all the beneficial effects of the aforementioned joint structure, which will not be elaborated further in this disclosure.

[0122] In some embodiments, the robot includes at least four legs, each of which is connected to the body 110. The wall of the mounting groove 111 is formed with at least four second cable outlet holes 1122, each of which corresponds to one of the at least four legs. The wiring harness includes at least four branch wires, each of which corresponds to one of the at least four second cable outlet holes 1122. The ends of the branch wires pass through the second cable outlet holes 1122 and are connected to the legs.

[0123] Thus, by simultaneously placing the second cable outlet 1122 and the cable harness in the mounting slot 111, it is easier for the cable harness to connect to the robot's leg through the second cable outlet 1122, which helps to shorten the length of the cable harness.

[0124] In some embodiments, refer to Figure 11 , Figure 12 and Figure 13 The robot consists of a body 100, a first leg assembly 300, and a second leg assembly 400.

[0125] The fuselage 100 has a first connection group 150 and a second connection group 160 arranged opposite to each other. The first connection group 150 includes at least two identical first connection portions 151, and the second connection group 160 includes at least two identical second connection portions 161.

[0126] The first leg assembly 300 includes at least two identical first legs 310, each of which corresponds to at least two first connecting portions 151, and any one of the first legs 310 can be connected to any one of the first connecting portions 151.

[0127] The second leg group 400 is disposed opposite to the first leg group 300. The second leg group 400 includes at least two identical second leg parts 410, and the at least two second leg parts 410 correspond one-to-one with at least two second connecting parts 161. Any second leg part 410 can be connected to any second connecting part 161.

[0128] It is understandable that each first leg 310 has the same structure, and each second leg 410 has the same structure. That is, the legs located on the same side of the body 100 have the same structure and can be interchanged, realizing the modular design of the first leg 310 and the modular design of the second leg 410. This improves the structural versatility of the robot. Different first legs 310 can be used interchangeably, and different second legs 410 can be used interchangeably. This reduces the difficulty for maintenance personnel to distinguish between them, effectively reduces the number of backup parts, and thus effectively improves the convenience of robot maintenance.

[0129] Furthermore, since each first connecting part 151 is identical and each second connecting part 161 is identical, each first leg 310 can be connected to any first connecting part 151, and each second leg 410 can be connected to any second connecting part 161. Consequently, different first legs 310 and different second legs 410 can be interchanged, improving the robot's structural versatility. When maintenance personnel replace the first leg 310 or the second leg 410, they do not need to distinguish between the first leg 310 and the second leg 410, which helps reduce the difficulty of robot maintenance.

[0130] It is understood that the first leg 310 has an interface, and the interface of the first leg 310 is connected to the first connecting part 151 so that the first leg 310 is connected to the body 100. The interfaces of different first legs 310 are the same, thereby ensuring that different first legs 310 can be interchanged and used interchangeably.

[0131] The second leg 410 has an interface, which is connected to the second connecting part 161 so that the second leg 410 is connected to the body 100. The interfaces of different second legs 410 are the same, thereby ensuring that different second legs 410 can be interchanged and used interchangeably.

[0132] Taking hexapod robots as an example, the six legs of a hexapod robot in related technologies are all different. When maintaining or replacing the legs of the robot, the maintenance personnel need to identify the six different legs to avoid installation errors. In addition, when preparing spare parts, spare parts corresponding to the six different legs need to be prepared, which makes the maintenance of the robot more difficult.

[0133] This application designs the leg structure on the same side to be identical, and the connection structure on the same side of the body 100 is also designed to be identical, so that the legs on the same side can be interchanged and used interchangeably. That is, the front legs, middle legs and rear legs on the same side can be interchanged and used interchangeably. Maintenance personnel only need to distinguish the legs on different sides, which effectively reduces the difficulty of differentiation, can effectively reduce the number of backup parts, and can effectively improve the convenience of robot maintenance.

[0134] It should be noted that the robot structure of this application has the first leg group 300 and the second leg group 400 arranged opposite each other, that is, the first leg 310 and the second leg 410 are respectively arranged on both sides of the body 100. Due to the characteristics of the leg structure of legged robots, it is difficult to make the legs on different sides interchangeable, which is too difficult to implement. Therefore, this application mainly designs the structure of the legs on the same side of the body 100 to be the same, which improves the convenience of maintenance while ensuring the feasibility of the technology.

[0135] In some embodiments, refer to Figure 12 and Figure 14 The first connecting part 151 includes a first mechanical interface 1511 and a first electrical interface. The first leg 310 is fixedly connected to the body 100 through the first mechanical interface 1511, and the first leg 310 is electrically connected to the body 100 through the first electrical interface.

[0136] Thus, the mechanical connection between the first leg 310 and the body 100 can be realized through the first mechanical interface 1511, ensuring that the first leg 310 and the body 100 can move synchronously. The electrical connection between the first leg 310 and the body 100 can be realized through the first electrical interface, so that the body 100 can supply power to the first leg 310, and the body 100 and the first leg 310 can exchange signals.

[0137] It should be noted that the first mechanical interface 1511 at different positions is the same, ensuring that the first leg 310 can be connected to any of the first mechanical interfaces 1511.

[0138] The first electrical interface is the same in different positions, which ensures that the first leg 310 can be electrically connected to any of the first electrical interfaces.

[0139] In some embodiments, refer to Figure 13 and Figure 15 The second connecting part 161 includes a second mechanical interface 1611 and a second electrical interface. The second leg 410 is fixedly connected to the body 100 through the second mechanical interface 1611, and the second leg 410 is electrically connected to the body 100 through the second electrical interface.

[0140] Understandably, the second mechanical interface 1611 enables the mechanical connection between the second leg 410 and the body 100, ensuring that the second leg 410 and the body 100 can move synchronously. The second electrical interface enables the electrical connection between the second leg 410 and the body 100, allowing the body 100 to supply power to the second leg 410 and enabling signal transmission between the body 100 and the second leg 410.

[0141] It should be noted that the second mechanical interface 1611 at different positions is the same, ensuring that the second leg 410 can be connected to any of the second mechanical interfaces 1611.

[0142] The second electrical interfaces at different locations are identical, ensuring that the second leg 410 can be electrically connected to any of the second electrical interfaces.

[0143] In some embodiments, the first mechanical interface 1511 is the same as the second mechanical interface 1611.

[0144] Thus, the mechanical interfaces on different sides of the fuselage 100 are all the same, meaning that the fuselage 100 has only one type of mechanical interface, which helps to reduce the structural complexity of the fuselage 100.

[0145] In some embodiments, the first electrical interface is the same as the second electrical interface.

[0146] Thus, the electrical interfaces on different sides of the fuselage 100 are all the same, meaning that the fuselage 100 has only one type of electrical interface, which helps to reduce the structural complexity of the fuselage 100.

[0147] In some embodiments, the first leg 310 is connected to the first connecting portion 151 by at least one of snap-fit, threaded connection, welding, magnetic attraction and interference fit.

[0148] In this way, the first leg 310 and the first connecting part 151 can be connected together, realizing the mechanical connection between the first leg 310 and the fuselage 100.

[0149] In some examples, the first leg 310 can be connected to the first connecting part 151 by a threaded connection, in which case the first connecting part 151 can be a threaded hole.

[0150] In some examples, the first leg 310 can be connected to the first connecting part 151 by snap-fit, where the first connecting part 151 can be a snap-fit ​​groove and a corresponding snap-fit ​​block is formed at the first leg 310.

[0151] In some embodiments, the second leg 410 is connected to the second connecting portion 161 by at least one of snap-fit, threaded connection, welding, magnetic attraction and interference fit.

[0152] In this way, the second leg 410 and the second connecting part 161 can be connected together, realizing the mechanical connection between the second leg 410 and the fuselage 100.

[0153] In some examples, the second leg 410 can be connected to the second connecting part 161 by a threaded connection, in which case the second connecting part 161 can be a threaded hole.

[0154] In some examples, the second leg 410 can be connected to the second connecting part 161 by snap-fit, where the second connecting part 161 can be a snap-fit ​​groove and a corresponding snap-fit ​​block is formed at the second leg 410.

[0155] In some embodiments, refer to Figure 12 and Figure 14 One of the first leg 310 and the fuselage 100 has a first positioning protrusion 500, and the other of the first leg 310 and the fuselage 100 has a first positioning groove 600. The first positioning protrusion 500 can be inserted into the first positioning groove 600.

[0156] Thus, when connecting the first leg 310 and the body 100, the first positioning protrusion 500 can be inserted into the first positioning groove 600 first, and the first leg 310 can be positioned by the cooperation of the first positioning protrusion 500 and the first positioning groove 600, so as to facilitate the connection between the first leg 310 and the first connecting part 151.

[0157] In some examples, the fuselage 100 has a first positioning groove 600 and the first leg 310 has a first positioning protrusion 500.

[0158] In some embodiments, refer to Figure 13 and Figure 15 One of the second leg 410 and the fuselage 100 has a second positioning protrusion 700, and the other of the second leg 410 and the fuselage 100 has a second positioning groove 800. The second positioning protrusion 700 can be inserted into the second positioning groove 800.

[0159] Thus, when connecting the second leg 410 and the body 100, the second positioning protrusion 700 can be inserted into the second positioning groove 800 first, and the second leg 410 can be positioned by the cooperation of the second positioning protrusion 700 and the second positioning groove 800, so as to facilitate the connection between the second leg 410 and the second connecting part 161.

[0160] In some examples, the fuselage 100 has a second positioning groove 800 and the first leg 310 has a second positioning protrusion 700.

[0161] In some embodiments, refer to Figure 12 and Figure 14 The body 100 has a first positioning groove 600, the first leg 310 has a first positioning protrusion 500, the first mechanical interface 1511 includes a first connecting hole 1512 formed in the first positioning groove 600, and the first positioning protrusion 500 has a second connecting hole 510. The first connecting hole 1512 and the second connecting hole 510 cooperate to connect the first leg 310 to the body 100.

[0162] Thus, when the first positioning protrusion 500 is inserted into the first positioning groove 600, the first connecting hole 1512 and the second connecting hole 510 are aligned with each other. With the cooperation of the first positioning protrusion 500 and the first positioning groove 600, the first connecting hole 1512 and the second connecting hole 510 will remain in a state of mutual rotation, which makes it easier to insert fasteners into the second connecting hole 510 and the first connecting hole 1512 to connect the first leg 310 and the body 100 together.

[0163] In some embodiments, refer to Figure 13 and Figure 15The body 100 has a second positioning groove 800, the second leg 410 has a second positioning protrusion 700, the second mechanical interface 1611 includes a third connecting hole 1612 formed in the second positioning groove 800, and the second positioning protrusion 700 has a fourth connecting hole 710. The third connecting hole 1612 and the fourth connecting hole 710 cooperate to connect the second leg 410 to the body 100.

[0164] Thus, when the second positioning protrusion 700 is inserted into the second positioning groove 800, the third connecting hole 1612 and the fourth connecting hole 710 are aligned with each other. With the cooperation of the second positioning protrusion 700 and the second positioning groove 800, the third connecting hole 1612 and the fourth connecting hole 710 will remain in a state of mutual rotation, which makes it easier to insert fasteners through the fourth connecting hole 710 and the third connecting hole 1612 to connect the second leg 410 and the body 100 together.

[0165] In some embodiments, refer to Figure 11 The fuselage 100 includes a first sidewall and a second sidewall disposed opposite to each other. At least two first receiving spaces 170 are formed on the first sidewall. The at least two first receiving spaces 170 correspond one-to-one with at least two first legs 310. One end of the first leg 310 connected to the fuselage 100 is located in the first receiving space 170. At least two second receiving spaces 180 are formed on the second sidewall. The at least two second receiving spaces 180 correspond one-to-one with at least two second legs 410. One end of the second leg 410 connected to the fuselage 100 is located in the second receiving space 180.

[0166] Thus, the first accommodating space 170 can accommodate part of the structure of the first leg 310, and the second accommodating space 180 can accommodate part of the structure of the second leg 410, making the robot's structure more compact.

[0167] In some embodiments, a first connecting portion 151 is disposed at a first receiving space 170, and a second connecting portion 161 is disposed at a second receiving space 180.

[0168] Thus, the first leg 310 can be connected to the first receiving space 170, so that the connecting end of the first leg 310 can be stably placed within the first receiving space 170. The second leg 410 can be connected to the second receiving space 180, so that the connecting end of the second leg 410 can be stably placed within the second receiving space 180.

[0169] In some embodiments, refer to Figure 16 The first leg 310 and / or the second leg 410 include a motor module 320 and a leg body 330 connected in sequence. The motor module 320 is used to drive the leg body 330 to move. In this way, the motor module 320 is integrated into the leg, which improves the integration of the leg.

[0170] In some embodiments, refer to Figure 16 The motor module 320 includes a first motor 321 and a second motor 322. The first motor 321, the second motor 322 and the leg body 330 are connected in sequence. The first motor 321 is used to drive the second motor 322 to move along a first direction, and the second motor 322 is used to drive the leg body 330 to move along a second direction. The first direction and the second direction are different.

[0171] Thus, the first motor 321 can drive the second motor 322 to move. Since the second motor 322 is connected to the leg body 330, it can drive the leg body 330 to move along the first direction. At the same time, the second motor 322 can drive the leg body 330 to move along the second direction, thereby controlling the movement of the leg body 330 in different directions.

[0172] In some examples, the first motor 321 is connected to the second motor 322, and the first motor 321 can drive the second motor 322 and the leg body 330 to move together.

[0173] In some examples, the first motor 321 is fixedly connected to the fuselage 100 to achieve a mechanical connection between the legs and the fuselage 100.

[0174] In some examples, the first and second directions are perpendicular to each other.

[0175] In some embodiments, the number of second motors 322 is at least two, and the leg body 330 includes a thigh 331 and a calf 332, wherein one second motor 322 is used to drive the thigh 331 to move, and the other second motor 322 is used to drive the calf 332 to move.

[0176] In this way, motion control of the thigh 331 and the calf 332 is achieved, enabling precise control of leg movements.

[0177] In the description of this application, 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0178] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0179] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0180] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A joint structure, characterized in that, The joint structure is applied to a legged robot, and the joint structure includes: A winding housing having a winding cavity; The cable is wound within the winding cavity in only one winding direction; A rotating component, wherein the cable is wound around the rotating component, the winding direction of the cable is the same as one of the rotation directions of the rotating component, and the rotating component can rotate relative to the winding housing to switch the cable between a coiled state and an unfolded state; A reset element, connected to the cable, is used to provide a force that switches the cable from the retracted state to the extended state.

2. The joint structure according to claim 1, characterized in that, The reset component includes an elastic element connected between the cable and the winding housing. When the cable is in the retracted state, the elastic element undergoes elastic deformation and applies an elastic force to the cable. When the cable is in the extended state, the elastic element has a tendency to recover its deformation.

3. The joint structure according to claim 2, characterized in that, When the rotating component rotates along the first rotation direction, the cable switches from the unfolded state to the retracted state, and the elastic component undergoes elastic deformation. When the rotating component rotates along the second rotation direction, the cable switches from the retracted state to the unfolded state. The first rotation direction and the second rotation direction are opposite. When the cable is in a retracted state, the direction of the elastic force applied by the elastic element to the cable is the second rotation direction.

4. The joint structure according to claim 2, characterized in that, The elastic element is connected between the wall of the winding cavity and the cable.

5. The joint structure according to claim 4, characterized in that, The wall of the winding cavity includes a side wall, the cable includes a first connecting surface, at least a portion of the first connecting surface faces the side wall of the winding cavity, and the elastic element is connected between the side wall of the winding cavity and the first connecting surface. And / or, The wall of the winding cavity includes a bottom wall, the cable includes a second connecting surface, the second connecting surface at least partially facing the bottom wall of the winding cavity, and the elastic element is connected between the bottom wall of the winding cavity and the second connecting surface.

6. The joint structure according to claim 2, characterized in that, The elastic element is located between the cable and the wall of the winding cavity, and the elastic element is a ring structure or an arc structure.

7. The joint structure according to claim 2, characterized in that, The number of elastic elements is at least two, and the at least two elastic elements are spaced apart along the length direction of the cable.

8. The joint structure according to any one of claims 1 to 7, characterized in that, The rotating component has a winding post on the side facing the winding housing, and a winding cavity is formed between the winding post and the winding housing. The cable is wound around the winding post, and the winding post is used to drive the cable to rotate.

9. The joint structure according to claim 8, characterized in that, The winding housing has an outlet, the winding post has an inlet, the first end of the cable is fixed at the outlet, and the second end of the cable is fixed at the inlet.

10. A robot, characterized in that, Includes the joint structure as described in any one of claims 1 to 9.

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