Knee joint wiring assembly and humanoid robot

Abstract

The application provides a knee joint wiring assembly and a humanoid robot, and relates to the technical field of robots.The knee joint wiring assembly provided by the application comprises a first limb, a second limb and a knee joint, the first limb is hinged to the second limb through the knee joint, comprises a ring conductor and a plurality of conductive wheels, the ring conductor is sleeved on the knee joint, the plurality of conductive wheels comprise a first conductive wheel and a second conductive wheel, the rolling shaft of the first conductive wheel is fixed to the first limb, the first conductive wheel is in rolling contact with the ring conductor, the rolling shaft of the second conductive wheel is fixed to the second limb, and the second conductive wheel is in rolling contact with the ring conductor, further comprising a first wire and a second wire, the first end of the first wire is electrically connected to the first limb, the second end of the first wire is electrically connected to the rolling shaft of the first conductive wheel, the first end of the second wire is electrically connected to the rolling shaft of the second conductive wheel, and the second end of the second wire is electrically connected to the second limb.The knee joint wiring assembly provided by the application reduces the wear and breakage of the wire.

Description

Technical Field

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

[0002] Currently, the wiring methods for robotic knee joints are mainly divided into external wiring and internal wiring. External wiring is exposed on the outside of the robotic knee joint, which easily leads to wire breakage. Therefore, robotic knee joints use internal wiring. Internal wiring places the wires within the wiring channel at the robotic knee joint. However, friction occurs when the wires come into contact with the inner wall of the wiring channel or other parts at the knee joint, causing the wires to wear or even break. Utility Model Content

[0003] In view of the above problems, this application provides a knee joint wiring assembly and a humanoid robot to solve the problem of wire wear.

[0004] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0005] In a first aspect, embodiments of this application provide a knee joint wiring assembly, including:

[0006] The first limb, the second limb, and the knee joint; the first limb is hinged to the second limb via the knee joint.

[0007] It includes a ring conductor and multiple conductive wheels, with the ring conductor fitted onto the knee joint;

[0008] The plurality of conductive wheels include a first conductive wheel and a second conductive wheel. The roller of the first conductive wheel is fixed to a first limb and the first conductive wheel makes rolling contact with the annular conductor. The roller of the second conductive wheel is fixed to a second limb and the second conductive wheel makes rolling contact with the annular conductor.

[0009] It also includes a first wire and a second wire. The first end of the first wire is electrically connected to the first limb, the second end of the first wire is electrically connected to the roller of the first conductive wheel, the first end of the second wire is electrically connected to the roller of the second conductive wheel, and the second end of the second wire is electrically connected to the second limb.

[0010] The first and second limbs rotate relative to each other. The first limb drives the roller of the first conductive wheel to move, and the first conductive wheel makes rolling contact with the annular conductor on the knee joint. The second limb drives the roller of the second conductive wheel to move, and the second conductive wheel makes rolling contact with the annular conductor on the knee joint. Through the rolling contact and electrical connection between the first and second conductive wheels and the annular conductor, the first wire rotates with the first conductive wheel, and the second wire rotates with the second conductive wheel. This avoids friction between the first and second wires and other parts or the inner wall of the wiring at the knee joint, thereby reducing the wear and breakage of the wires.

[0011] In some embodiments of this application, the knee joint wiring assembly includes a conductive wheel frame, which includes a first conductive wheel frame and a second conductive wheel frame;

[0012] The first conductive wheel frame is fixedly connected to the first limb, and the first conductive wheel frame is fixedly connected to the roller of the first conductive wheel;

[0013] The second conductive wheel frame is fixedly connected to the second limb, and the second conductive wheel frame is fixedly connected to the roller of the second conductive wheel.

[0014] Fixing the rollers of the first conductive wheel to the first conductive wheel frame enhances the rigidity of the first conductive wheel support structure, improves the first conductive wheel's resistance to vibration, ensures the stability of the contact pressure between the first conductive wheel and the annular conductor, and prevents poor contact that could generate electric sparks or noise. Similarly, fixing the rollers of the second conductive wheel to the second conductive wheel frame enhances the rigidity of the second conductive wheel support structure, improves the second conductive wheel's resistance to vibration, ensures the stability of the contact pressure between the second conductive wheel and the annular conductor, and prevents poor contact that could generate electric sparks or noise.

[0015] In some embodiments of this application, the conductive wheel frame includes a plurality of support rods, the first ends of the plurality of support rods being connected to each other, and the second ends of the plurality of support rods being spaced apart from each other;

[0016] The second end of the support rod is connected to the roller of the conductive wheel.

[0017] A ring conductor can transmit current or signals to a first conductor along the path of multiple support rods, and a ring conductor can transmit current or signals to a second conductor along the path of multiple support rods, avoiding single-path transmission of current or signals and improving the reliability of current or signal transmission.

[0018] In addition, the conductive wheel frame is designed with multiple support rods connected together. While ensuring rigidity and strength, the weight of the conductive wheel frame can be reduced, making it lightweight and reducing the amount of material used, thereby reducing the cost of the conductive wheel frame.

[0019] In some embodiments of this application, the plurality of support rods include a first support rod and a second support rod, which are disposed on opposite sides;

[0020] The angle between the first support rod and the second support rod is greater than or equal to 45 degrees and less than or equal to 60 degrees.

[0021] This ensures the stability of the conductive wheel frame and reduces space usage.

[0022] In some embodiments of this application, a first connector is provided at the first end of the first conductive wheel frame, and a second connector is provided at the second end of the first wire, wherein the first connector and the second connector are detachably connected;

[0023] When the first connector is connected to the second connector, the first wire is connected to the first conductive wheel frame;

[0024] And / or, the first end of the second conductive wheel frame is provided with a third connector, the first end of the second wire is provided with a fourth connector, and the third connector and the fourth connector are detachably connected;

[0025] When the third connector is connected to the fourth connector, the second wire is connected to the second conductive wheel frame.

[0026] This design facilitates the assembly and replacement of the various parts of the knee joint wiring assembly.

[0027] In some embodiments of this application, an annular groove is formed on the outer surface of the annular conductor;

[0028] Part of the conductive wheel is located inside the annular groove, and the conductive wheel is in rolling connection with the bottom of the annular groove.

[0029] This configuration ensures that the first conductive wheel is electrically connected to the annular groove, and also ensures that the second conductive wheel is electrically connected to the annular groove.

[0030] In some embodiments of this application, the knee joint wiring assembly includes an insulating ring, which is coaxially disposed with the knee joint and embedded in the knee joint;

[0031] The insulating ring is provided with at least one receiving groove, which contains a ring conductor.

[0032] This allows for insulation between the ring conductor and the knee joint. Furthermore, by confining the ring conductor within the receiving groove and preventing its movement, the compactness and reliability of the knee joint wiring assembly can be improved.

[0033] In some embodiments of this application, the insulating ring is provided with multiple receiving grooves, which are arranged sequentially at intervals.

[0034] Multiple receiving slots can provide multiple independent spaces, enabling the transmission of multiple current or signals, thereby improving the applicability of the knee joint wiring assembly.

[0035] In some embodiments of this application, the knee joint is provided with a mounting groove;

[0036] The insulating ring includes a body and at least one partition, the body being disposed within a mounting groove, the body separating the knee joint from the annular conductor;

[0037] The partition and the main body together form multiple receiving grooves; the partition separates adjacent annular conductors.

[0038] The separator can prevent two adjacent ring conductors from contacting each other, reducing signal interference and short circuits from multiple first or second conductors.

[0039] Secondly, embodiments of this application provide a humanoid robot, including a knee joint wiring assembly and an actuator motor;

[0040] An actuator motor is located at the actuator end of the first limb of the knee joint wiring assembly, and the actuator motor is electrically connected to the first end of the first wire.

[0041] Humanoid robots can improve their reliability by using a knee joint wiring assembly to avoid wire wear and breakage.

[0042] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions as described above, other technical problems that this application can solve, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the structure of the knee joint wiring assembly provided in the embodiments of this application;

[0045] Figure 2 A schematic diagram of the knee joint structure of the knee joint wiring assembly provided in this application embodiment;

[0046] Figure 3 for Figure 2 Schematic diagram of the cross section at point AA;

[0047] Figure 4 for Figure 3 A magnified view of a section at point B.

[0048] Figure label:

[0049] 010-Knee joint wiring assembly;

[0050] 100 - First limb; 110 - First through hole;

[0051] 200 - Second limb; 210 - Second through hole;

[0052] 300 - Knee joint; 310 - Mounting slot;

[0053] 400 - Ring conductor; 410 - Ring groove;

[0054] 500 - Conductive wheel; 501 - First conductive wheel; 502 - Second conductive wheel;

[0055] 600 - First conductor;

[0056] 700 - Second conductor;

[0057] 800-Conductive wheel frame; 801-First conductive wheel frame; 802-Second conductive wheel frame; 810-First support rod; 820-Second support rod;

[0058] 900 - Insulating ring; 910 - Main body; 920 - Separator; 930 - Receiving groove;

[0059] 020 - Actuator motor;

[0060] X - Axial axis of the knee joint. Detailed Implementation

[0061] In related technologies, the wiring methods for robotic knee joints are mainly divided into external wiring and internal wiring. External wiring is exposed on the outside of the robotic knee joint, which easily leads to wire breakage. Therefore, robotic knee joints use internal wiring. Internal wiring places the wires within the wiring channel of the robotic knee joint, and sufficient slack is provided for the wires to allow the robotic knee joint to rotate. However, friction occurs when the wires come into contact with the inner wall of the wiring channel or other parts at the knee joint, causing the wires to wear or even break.

[0062] To address the aforementioned problems, this application provides a knee joint wiring assembly in which a first limb and a second limb rotate relative to each other. The first limb drives the roller of a first conductive wheel to move, and the first conductive wheel makes rolling contact with an annular conductor on the knee joint. The second limb drives the roller of a second conductive wheel to move, and the second conductive wheel makes rolling contact with an annular conductor on the knee joint. By having the first and second conductive wheels make rolling contact with and electrically connect to the annular conductor, and by having the first and second wires rotate with the first and second conductive wheels respectively, excess length in the first and second wires is avoided. This prevents the first and second wires from contacting other parts or the inner wall of the wiring at the knee joint, thus reducing wear and breakage of the wires.

[0063] To make the above-mentioned objectives, features, and advantages of the embodiments of this application more apparent and understandable, 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 scope of protection of this application.

[0064] This application provides a humanoid robot, including a knee joint wiring assembly and an actuator motor. The actuator motor can be configured as a hub motor. That is, the motor is integrated into the foot to become a hub motor. The humanoid robot provided in this application embodiment can be a wheel-footed robot.

[0065] Reference Figure 1 As shown, the actuator 020 is located at the actuator end of the first limb 100 of the knee joint wiring assembly 010. Alternatively, the actuator 020 is located at the actuator end of the second limb 200 of the knee joint wiring assembly 010. The humanoid robot has high flexibility and can achieve multiple degrees of freedom of rotation through the knee joint 300. The knee joint wiring assembly 010 can improve the reliability of current and signal transmission via wires.

[0066] The knee joint wiring assembly 010 provides a wiring structure for humanoid robots to ensure reliable and stable power transmission and signal transmission. The knee joint wiring assembly 010 can also be applied to robotic mechanical systems such as industrial robots, service robots, and medical robots.

[0067] The knee joint wiring assembly 010 includes a first limb 100. The first limb 100 is part of a humanoid robot and can rotate in response to the robot's commands. For example, the end effector of the first limb 100 can be configured as an actuator. The end effector of the first limb 100 is equipped with a motor or sensor to implement the humanoid robot's motion commands.

[0068] The first limb 100 can be made of carbon fiber composite material, which can reduce the weight of the knee joint wiring assembly 010.

[0069] The knee joint wiring assembly 010 includes a knee joint 300 and a second limb 200, the second limb 200 being hinged to the first limb 100 via the knee joint 300. Furthermore, at least a portion of the knee joint 300 may be made of high-strength steel to improve the wear resistance of the knee joint 300.

[0070] The first end of the second limb 200 is used to support the first limb 100, and the second end of the second limb 200 is used to rotate in accordance with the robot's instructions, thereby driving the first limb 100 connected to the first end of the second limb 200 to move.

[0071] For example, the first limb 100 can be a lower leg, and the second limb 200 can be a thigh. A hydraulic cylinder can be installed between the lower leg and the thigh, and the lower leg is driven by the hydraulic cylinder to rotate relative to the thigh around the knee joint 300.

[0072] Reference Figure 2As shown, the knee joint wiring assembly 010 includes a ring conductor 400, which can serve as a transmission channel for current or signals.

[0073] For example, the ring conductor 400 can be made of copper alloy, which gives it high conductivity. Furthermore, the surface of the ring conductor 400 can be gold-plated or subjected to special treatments (such as polishing or carburizing) to further reduce contact resistance and improve wear resistance.

[0074] For example, the toroidal conductor 400 can be made of silver alloy material, which can give the toroidal conductor 400 good conductivity and wear resistance.

[0075] For example, the toroidal conductor 400 can be made of carbon alloy material, which can give the toroidal conductor 400 better wear resistance and lower cost.

[0076] Combination Figure 2 and Figure 3 As shown, the knee joint wiring assembly 010 includes multiple conductive rollers 500, which can transmit current or signals.

[0077] For example, the conductive wheel 500 can be a carbon brush wheel for use in high-abrasion environments. A coating can also be added to the surface of the conductive wheel 500 to reduce surface roughness and prevent scratches during use.

[0078] For example, the conductive wheel 500 can be made of copper alloy, which can give the conductive wheel 500 a high conductivity coefficient.

[0079] The conductive wheel 500 has rollers to facilitate the fixing and installation of the conductive wheel 500.

[0080] The conductive wheel 500 can be an electrode in the form of a roller. The roller-type electrode reduces the friction between the conductive wheel 500 and the parts it contacts, thereby reducing wear on the surface of the conductive wheel 500. Furthermore, the roller-type electrode has higher conductivity.

[0081] The plurality of conductive wheels 500 includes a first conductive wheel 501, the roller of which is fixed to a first limb 100. The first conductive wheel 501 makes rolling contact with the annular conductor 400. It is understood that movement of the first limb 100 will cause the roller of the first conductive wheel 501 to move. During the movement of the roller of the first conductive wheel 501, the rolling contact between the first conductive wheel 501 and the annular conductor 400 reduces the coefficient of friction between them, thereby reducing wear on the first conductive wheel 501.

[0082] Similarly, the plurality of conductive wheels 500 includes a second conductive wheel 502, the roller of which is fixed to the second limb 200, and the second conductive wheel 502 makes rolling contact with the annular conductor 400. It can be understood that movement of the second limb 200 will cause the roller of the second conductive wheel 502 to move. When the roller of the second conductive wheel 502 moves, the second conductive wheel 502 makes rolling contact with the annular conductor 400, which can reduce the coefficient of friction between the second conductive wheel 502 and the annular conductor 400, thereby reducing the wear of the second conductive wheel 502.

[0083] The knee joint wiring assembly 010 also includes a first conductor 600. The first conductor 600 can be used to transmit power or signals.

[0084] The knee joint wiring assembly 010 also includes a second conductor 700. The second conductor 700 can be used to transmit power or signals.

[0085] The first end of the first conductor 600 is electrically connected to the first limb 100, and the second end of the first conductor 600 is electrically connected to the roller of the first conductive wheel 501. The first end of the second conductor 700 is electrically connected to the roller of the second conductive wheel 502, and the second end of the second conductor 700 is electrically connected to the second limb 200. That is, the first conductor 600 is electrically connected to the roller of the first conductive wheel 501, and the first conductive wheel 501 makes rolling contact with the annular conductor 400. Then, the second conductive wheel 502 makes rolling contact with the annular conductor 400, and the roller of the second conductive wheel 502 is electrically connected to the second conductor 700. The second conductor 700 can transmit power or a signal to the first conductor 600 to actuate the first limb 100. Alternatively, the first conductor 600 can transmit power or a signal to the second conductor 700 to actuate the second limb 200.

[0086] It is easy to understand that the first limb 100 and the second limb 200 rotate relative to each other. The first limb 100 drives the roller of the first conductive wheel 501 to move, and the first conductive wheel 501 makes rolling contact with the annular conductor 400 on the knee joint 300. The second limb 200 drives the roller of the second conductive wheel 502 to move, and the second conductive wheel 502 makes rolling contact with the annular conductor 400 on the knee joint 300. Through the rolling contact and electrical connection between the first conductive wheel 501 and the second conductive wheel 502 and the annular conductor 400, the first wire 600 rotates with the first conductive wheel 501 and the second wire 700 rotates with the second conductive wheel 502. This avoids the first wire 600 and the second wire 700 from contacting other parts or the inner wall of the wiring at the knee joint 300 and causing friction, thereby reducing the wear and breakage of the wires.

[0087] In addition, the first conductive wheel 501 and the second conductive wheel 502 make rolling contact with the annular conductor 400, which can reduce the coefficient of friction at the contact point, reduce the wear and breakage of the first conductive wheel 501 and the second conductive wheel 502, and improve the reliability and life of the robot.

[0088] In some possible implementations, multiple annular conductors 400 are provided, spaced apart along the axial direction (X) of the knee joint. First conductive wheels 501 and second conductive wheels 502 are configured to cooperate with the annular conductors 400. If one annular conductor 400 fails due to external force or wear, the first conductor 600 and the second conductor 700 will lose conductivity or connection. Multiple annular conductors 400 and the first conductive wheels 501 and second conductive wheels 502 can prevent the first conductor 600 and the second conductor 700 from losing conductivity or connection, thereby improving the reliability of the knee joint wiring assembly 010.

[0089] Reference Figure 1 As shown, the first limb 100 is provided with a first through hole 110. The first wire 600 passes through the first through hole 110. The first through hole 110 is located inside the first limb 100 and is used to accommodate and protect the first wire 600 inside the first through hole 110 to prevent the first wire 600 from being damaged by external force.

[0090] Furthermore, the shaft of the first through hole 110 can be set to be straight to avoid bending of the parts inside the first through hole 110, causing friction with the first through hole 110, which could damage the first wire 600.

[0091] Furthermore, the wall of the first through hole 110 may be provided with a polytetrafluoroethylene bushing or coated with a polytetrafluoroethylene coating to reduce the friction between the first wire 600 and the inner wall of the first through hole 110.

[0092] Similarly, the second limb 200 is provided with a second through hole 210. The second wire 700 passes through the second through hole 210. The second through hole 210 is located inside the second limb 200 and is used to accommodate and protect the second wire 700 inside the second through hole 210 to prevent the second wire 700 from being damaged by external forces.

[0093] Furthermore, the shaft of the second through hole 210 can be set to be straight to avoid bending of the parts inside the second through hole 210, causing friction with the second through hole 210, which could damage the second wire 700.

[0094] The wall of the second through hole 210 may be provided with a polytetrafluoroethylene bushing or coated with a polytetrafluoroethylene coating to reduce the friction between the second wire 700 and the inner wall of the second through hole 210.

[0095] It is easy to understand that the knee joint wiring assembly 010 protects the wires through the first through hole 110 and the second through hole 210, which can reduce wear and breakage and improve the reliability and lifespan of the robot.

[0096] The structure of the conductive wheel frame is described in detail below.

[0097] Continue to combine Figure 2 and Figure 3 As shown, the knee joint wiring assembly 010 includes a conductive wheel frame 800. The conductive wheel frame 800 provides support and fixes the rollers of the conductive wheel 500, preventing the conductive wheel 500 from wobbling when the first limb 100 or the second limb 200 rotates, thereby ensuring the reliability of the conductive wheel 500. Furthermore, the conductive wheel frame 800 can also serve as a path for transmitting signals or current, allowing the first conductive wheel 501 to be electrically connected to the first wire 600, or the second conductive wheel 502 to be electrically connected to the second wire 700.

[0098] For example, the conductive wheel frame 800 can be made of aluminum alloy, thus giving the conductive wheel frame 800 the characteristics of being lightweight and having high rigidity.

[0099] For example, the conductive wheel frame 800 can be made of copper alloy, which can give the conductive wheel frame 800 a high conductivity coefficient.

[0100] The conductive wheel frame 800 includes a first conductive wheel frame 801. The first conductive wheel frame 801 is fixedly connected to the first limb 100, and the first conductive wheel frame 801 is fixedly connected to the roller of the first conductive wheel 501.

[0101] In some possible implementations, an insulating pad is provided between the first conductive wheel frame 801 and the first limb 100 to achieve electrical isolation of the first conductive wheel frame 801.

[0102] For example, the first conductive wheel frame 801 can be configured as a support rod, with one end of the support rod fixedly connected to the first limb 100 by fasteners such as screws. The other end of the support rod is provided with a mounting hole, through which it is fixedly connected to the roller of the first conductive wheel 501. This simplifies the structure of the first conductive wheel frame 801.

[0103] For example, the first conductive wheel frame 801 and the first limb 100 are manufactured by an integral molding process, which can reduce the possibility of damage at the connection between the first conductive wheel frame 801 and the first limb 100, thereby improving the reliability of the first conductive wheel frame 801.

[0104] Similarly, the conductive wheel frame 800 includes a second conductive wheel frame 802. The second conductive wheel frame 802 is fixedly connected to the second limb 200, and the second conductive wheel frame 802 is fixedly connected to the roller of the second conductive wheel 502.

[0105] In some possible implementations, an insulating pad is provided between the second conductive wheel frame 802 and the second limb 200 to achieve electrical isolation between the second conductive wheel frame 802 and the second limb.

[0106] For example, the second conductive wheel frame 802 can be configured as a support rod, with one end of the support rod fixedly connected to the second limb 200 by fasteners such as screws. The other end of the support rod is provided with a mounting hole, through which it is fixedly connected to the roller of the second conductive wheel 502. This simplifies the structure of the second conductive wheel frame 802.

[0107] For example, the second conductive wheel frame 802 and the second limb 200 are manufactured by an integral molding process, which can reduce the possibility of damage at the connection between the second conductive wheel frame 802 and the second limb 200, thereby improving the reliability of the second conductive wheel frame 802.

[0108] Fixing the rollers of the first conductive wheel 501 with the first conductive wheel bracket 801 enhances the rigidity of the support structure of the first conductive wheel 501, improves its vibration resistance, ensures the stability of the contact pressure between the first conductive wheel 501 and the annular conductor 400, and prevents poor contact from generating electric sparks or noise. Similarly, fixing the rollers of the second conductive wheel 502 with the second conductive wheel bracket 802 enhances the rigidity of the support structure of the second conductive wheel 502, improves its vibration resistance, ensures the stability of the contact pressure between the second conductive wheel 502 and the annular conductor 400, and prevents poor contact from generating electric sparks or noise.

[0109] The conductive wheel frame 800 includes multiple support rods. The second end of each support rod is connected to the roller of the conductive wheel 500. The support rods are used to fix and support the roller of the conductive wheel 500, and can withstand the radial force transmitted from the roller.

[0110] Understandably, the second ends of the multiple support rods are each equipped with multiple conductive wheels 500, and each conductive wheel 500 is electrically connected to the annular conductor 400. The annular conductor 400 can transmit current or signals to the first conductor 600 along the path of the multiple support rods, and can also transmit current or signals to the second conductor 700 along the path of the multiple support rods, avoiding single-path transmission of current or signals and improving the reliability of current or signal transmission.

[0111] The support rod can be made of hollow material to reduce its weight, thereby reducing the weight of the conductive wheel frame 800.

[0112] The first ends of multiple support rods are connected to each other, while the second ends of the multiple support rods are spaced apart. In other words, the support rods are arranged in a fan shape, which can distribute the pressure transmitted from the conductive wheel 500 and improve the stability and lifespan of the knee joint wiring assembly 010.

[0113] In addition, the conductive wheel frame 800 is designed with multiple support rods connected together. While ensuring rigidity and strength, the weight of the conductive wheel frame 800 can be reduced, making the conductive wheel frame 800 lightweight, reducing the amount of material used, and thus reducing the cost of the conductive wheel frame 800.

[0114] The multiple support rods include a first support rod 810 and a second support rod 820, which are arranged on opposite sides. That is, the first support rod 810 and the second support rod 820 are located on both sides of the conductive wheel frame 800.

[0115] If the angle between the first support rod 810 and the second support rod 820 is less than or equal to 45 degrees, the direction of force on multiple support rods will be approximately the same, forming a single-point support, which cannot ensure the stability of the conductive wheel frame 800.

[0116] If the angle between the first support rod 810 and the second support rod 820 is greater than or equal to 60 degrees, the conductive wheel frame 800 will occupy too much space and the structure will not be compact. Therefore, the angle between the first support rod 810 and the second support rod 820 is greater than or equal to 45 degrees and less than or equal to 60 degrees, which can ensure the stability of the conductive wheel frame 800 and reduce the space occupied.

[0117] The angle between the first support rod 810 and the second support rod 820 can be set to 45 degrees, 50 degrees, 55 degrees, 60 degrees, or any combination of both.

[0118] In some possible implementations, an elastic element is provided between the multiple support rods so that the conductive wheel frame 800 can adapt to the pressure of the conductive wheel and adjust the angle between the first support rod 810 and the second support rod 820, thereby preventing damage to the conductive wheel frame 800.

[0119] For example, the elastic element can be set as a spring, which connects the first support rod 810 and the second support rod 820 to allow the conductive wheel frame 800 to deform adaptively and prevent damage to the conductive wheel frame 800.

[0120] Combination Figure 2 and Figure 3 As shown, an annular groove 410 is formed on the outer peripheral surface of the annular conductor 400 along the circumferential direction. The annular groove 410 can be formed on the annular conductor 400 by machining.

[0121] The annular groove 410 can restrict the directional movement of the conductive wheel 500 inside the annular groove 410.

[0122] Part of the first conductive wheel 501 is located inside the annular groove 410, and the wheel surface of the first conductive wheel 501 is in contact with the bottom of the annular groove 410 to ensure that the first conductive wheel 501 is electrically connected to the annular groove 410.

[0123] Similarly, part of the second conductive wheel 502 is located in the annular groove 410, and the wheel surface of the second conductive wheel 502 is in contact with the bottom of the annular groove 410 to ensure that the second conductive wheel 502 is electrically connected to the annular groove 410.

[0124] Reference Figure 4 As shown, in order to electrically isolate the ring conductor 400 from other parts of the knee joint 300, the knee joint wiring assembly 010 includes an insulating ring 900.

[0125] The insulating ring 900 can be made of polyetheretherketone (PEEK) engineering plastic, which gives it high strength, temperature resistance and good insulation properties.

[0126] The insulating ring 900 can be made of ceramic material, which gives it high hardness, wear resistance and good insulation performance.

[0127] Furthermore, multiple insulating rings 900 can be provided to meet the wiring requirements of the humanoid robot. For example, two insulating rings 900 can be provided, symmetrically arranged on both sides of the joint.

[0128] The insulating ring 900 is coaxially arranged with the knee joint 300. The insulating ring 900 is installed on the knee joint 300 to fix the insulating ring 900 and prevent the insulating ring 900 from rotating with the first limb 100.

[0129] For example, the insulating ring 900 and the knee joint 300 can be manufactured using an insert processing technique. Alternatively, the insulating ring 900 and the knee joint 300 can be integrally molded. The insulating ring 900 can also be configured as two parts, connected by screws or clips.

[0130] The insulating ring 900 is provided with one or more receiving grooves 930, which are arranged circumferentially around the insulating ring 900. The receiving grooves 930 contain the annular conductor 400, enabling insulation between the annular conductor 400 and the knee joint 300. Furthermore, by confining the annular conductor 400 within the receiving grooves 930, movement of the annular conductor 400 is prevented, thereby improving the compactness and reliability of the knee joint wiring assembly 010.

[0131] It should be noted that the receiving groove 930 can be matched and set according to the structure of the annular conductor 400.

[0132] Multiple receiving slots 930 are provided, and the multiple receiving slots 930 are spaced apart along the axial direction X of the knee joint. The multiple receiving slots 930 can provide multiple independent spaces, which can realize the transmission of multiple current or signals, thereby improving the applicability of the knee joint wiring assembly 010.

[0133] Furthermore, the outer peripheral surface of the knee joint 300 is provided with a mounting groove 310, which is used to accommodate the insulating ring 900 and restrict the movement of the insulating ring 900.

[0134] The insulating ring 900 includes a body 910 and at least one partition 920. The body 910 is disposed in the mounting groove 310 and separates the knee joint 300 from the annular conductor 400 to achieve electrical isolation.

[0135] The separator 920 and the main body 910 together form multiple receiving slots 930. The separator 920 separates adjacent annular conductors 400. The separator 920 can prevent two adjacent annular conductors 400 from contacting each other, reducing signal interference and short circuits between multiple first wires 600 or second wires 700.

[0136] Reference Figure 2 As shown, a first connector (not shown in the figure) is provided on the outer peripheral surface of the first conductive wheel frame 801, and a second connector (not shown in the figure) is provided on the second end of the first wire 600. The first connector and the second connector are detachably connected, which facilitates the assembly and replacement of various parts of the knee joint wiring assembly 010.

[0137] For example, the first connector is configured as a socket, and the second connector is configured as a plug. The first wire 600 is electrically connected to the first conductive wheel frame 801 via the socket and plug connection. The first connector is configured as a spring pin, and the second connector is configured as a spring pin. The first wire 600 is electrically connected to the first conductive wheel frame 801 via the socket and plug connection.

[0138] When the first connector is connected to the second connector, the first wire 600 is electrically connected to the first conductive wheel frame 801 so that the first wire 600 and the first conductive wheel frame 801 are conductive.

[0139] In some possible implementations, the first conductor 600 is connected to the ring conductor 400 by a welding process to ensure the reliability of the ring conductor 400.

[0140] Similarly, a third connector is provided on the outer circumferential surface of the second conductive wheel frame 802, and a fourth connector is provided at the first end of the second wire 700. The third connector and the fourth connector are detachably connected, which facilitates the assembly and replacement of various parts of the knee joint wiring assembly 010.

[0141] In some possible implementations, the ring conductor 400 includes a first half-ring and a second half-ring, and the ring conductor 400 is configured such that the first half-ring and the second half-ring are connected, which facilitates the installation, maintenance, and replacement of the ring conductor 400. The first half-ring and the second half-ring are fixedly connected, giving the ring conductor 400 high reliability.

[0142] For example, the first half-ring has a mounting protrusion at one end along the circumference and a mounting recess at the other end. The two ends of the second half-ring are fitted to the two ends of the first half-ring along the circumference. The first and second half-rings are detachably connected by fasteners such as bolts.

[0143] For example, the first half-ring and the second half-ring are set as two copper half-rings, which are connected by a welding process.

[0144] The various embodiments or implementation methods described in this specification are presented in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0145] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A knee-walking assembly (010), characterized by, It includes a first limb (100), a second limb (200) and a knee joint (300), wherein the first limb (100) is hinged to the second limb (200) through the knee joint (300); It includes a ring conductor (400) and a plurality of conductive wheels (500), the ring conductor (400) being sleeved on the knee joint (300); The plurality of conductive wheels (500) include a first conductive wheel (501) and a second conductive wheel (502). The roller of the first conductive wheel (501) is fixed to the first limb (100) and the first conductive wheel (501) makes rolling contact with the annular conductor (400). The roller of the second conductive wheel (502) is fixed to the second limb (200) and the second conductive wheel (502) makes rolling contact with the annular conductor (400). It also includes a first wire (600) and a second wire (700). The first end of the first wire (600) is electrically connected to the first limb (100), the second end of the first wire (600) is electrically connected to the roller of the first conductive wheel (501), the first end of the second wire (700) is electrically connected to the roller of the second conductive wheel (502), and the second end of the second wire (700) is electrically connected to the second limb (200).

2. The knee track assembly (010) according to claim 1, characterized in that, The knee joint wiring assembly (010) includes a conductive wheel frame (800), which includes a first conductive wheel frame (801) and a second conductive wheel frame (802). The first conductive wheel frame (801) is fixedly connected to the first limb (100), and the first conductive wheel frame (801) is fixedly connected to the roller of the first conductive wheel (501); The second conductive wheel frame (802) is fixedly connected to the second limb (200), and the second conductive wheel frame (802) is fixedly connected to the roller of the second conductive wheel (502).

3. The knee joint wiring assembly (010) according to claim 2, characterized in that, The conductive wheel frame (800) includes a plurality of support rods, the first ends of the plurality of support rods being connected to each other, and the second ends of the plurality of support rods being spaced apart from each other; The second end of the support rod is connected to the roller of the conductive wheel (500).

4. The knee joint wiring assembly (010) according to claim 3, characterized in that, The plurality of support rods include a first support rod (810) and a second support rod (820), wherein the first support rod (810) and the second support rod (820) are disposed on opposite sides; The angle between the first support rod (810) and the second support rod (820) is greater than or equal to 45 degrees and less than or equal to 60 degrees.

5. The knee joint wiring assembly (010) according to claim 2, characterized in that, The first end of the first conductive wheel frame (801) is provided with a first connector, and the second end of the first wire (600) is provided with a second connector. The first connector and the second connector are detachably connected. When the first connector is connected to the second connector, the first wire (600) is connected to the first conductive wheel frame (801); And / or, the first end of the second conductive wheel frame (802) is provided with a third connector, and the first end of the second wire (700) is provided with a fourth connector, wherein the third connector and the fourth connector are detachably connected; When the third connector is connected to the fourth connector, the second wire (700) is connected to the second conductive wheel frame (802).

6. The knee joint wiring assembly (010) according to claim 1, characterized in that, The outer surface of the annular conductor (400) is formed with an annular groove (410); Part of the conductive wheel (500) is located in the annular groove (410), and the conductive wheel (500) is in rolling connection with the bottom of the annular groove (410).

7. The knee joint wiring assembly (010) according to any one of claims 1-6, characterized in that, The knee joint wiring assembly (010) includes an insulating ring (900), which is coaxially arranged with the knee joint (300) and is embedded in the knee joint (300); The insulating ring (900) is provided with at least one receiving groove (930), the receiving groove (930) containing the annular conductor (400).

8. The knee joint wiring assembly (010) according to claim 7, characterized in that, The insulating ring (900) is provided with a plurality of receiving grooves (930), which are arranged sequentially at intervals.

9. The knee joint wiring assembly (010) according to claim 7, characterized in that, The knee joint (300) is provided with a mounting groove (310); The insulating ring (900) includes a body (910) and at least one partition (920), the body (910) being disposed within the mounting groove (310), and the body (910) separating the knee joint (300) from the annular conductor (400); At least one of the partitions (920) together with the body (910) forms a plurality of the receiving grooves (930); the partition (920) separates adjacent annular conductors (400).

10. A humanoid robot, characterized in that, Includes the knee joint wiring assembly (010) and the actuator motor (020) as described in any one of claims 1-9; The actuator (020) is disposed at the actuator end of the first limb (100) of the knee joint wiring assembly (010), and the actuator (020) is electrically connected to the first end of the first wire (600).

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