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 application provides a knee joint wiring assembly, which comprises a first limb, a second limb and a knee joint, the first limb is hinged to the second limb through the knee joint; a first annular conductor is arranged on the knee joint, the first annular conductor can rotate relative to the knee joint; the knee joint wiring assembly further comprises a first wire and a second wire, a first end of the first wire is electrically connected to the first limb, a second end of the first wire is electrically connected to the first annular conductor, a first end of the second wire is electrically connected to the first annular conductor at a position away from the first wire, and a second end of the second wire is electrically connected to the second limb. The knee joint wiring assembly provided by the application can reduce the wear and tear and breakage of the first wire and the second 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] 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 is prone to wire breakage. Therefore, robotic knee joints use internal wiring. Internal wiring places the wires inside the wiring channel at the robotic knee joint. However, friction between the wires and the inner wall of the wiring channel or other parts at the knee joint can cause 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 first ring conductor, which is fitted onto the knee joint and can rotate relative to the knee joint.

[0008] 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 first ring conductor, the first end of the second wire is electrically connected to the first ring conductor at a position away from the first wire, and the second end of the second wire is electrically connected to the second limb.

[0009] The knee joint wiring assembly of this application has a first annular conductor sleeved on the knee joint. A first wire and a second wire are electrically connected through the first annular conductor, enabling power or signal transmission. When the knee joint rotates, the first annular conductor rotates relative to the knee joint, and the second end of the first wire rotates with the first annular conductor, while the first end of the second wire also rotates with the first annular conductor. This avoids excess length in the first and second wires, preventing friction between the first and second wires and other parts or the inner wall of the wiring at the knee joint, thereby reducing wear and breakage of the first and second wires.

[0010] In some embodiments of this application, the knee joint wiring assembly includes a second annular conductor, which is sleeved on the outer peripheral surface of the knee joint;

[0011] The first annular conductor is fitted onto the outer circumference of the second annular conductor, and the first annular conductor rotates relative to the second annular conductor.

[0012] The outer surface of the second annular conductor has a lower roughness, which can reduce the friction between the inner surface of the first annular conductor and the outer surface of the second annular conductor, thereby extending the service life of the first annular conductor. Furthermore, the first and second annular conductors can be configured as electrodes in the form of brushes, allowing them to slide in contact, which can improve the wear resistance of the first annular conductor and extend its service life.

[0013] In some embodiments of this application, the outer surface of the second annular conductor is provided with an annular groove, and a portion of the first annular conductor is located within the annular groove.

[0014] This allows for electrical connection between the first and second annular conductors. Furthermore, the annular groove restricts movement and rotation of the first annular conductor in certain directions.

[0015] In some embodiments of this application, the length of the second annular conductor is greater than the length of the first annular conductor along the axial direction of the knee joint.

[0016] This arrangement ensures that the first annular conductor contacts the second annular conductor, preventing the first annular conductor from contacting the knee joint and thus reducing wear on the first annular conductor. Furthermore, the second annular conductor is longer than the first annular conductor, allowing for the machining of annular grooves on the second annular conductor.

[0017] In some embodiments of this application, a first through hole is provided in the first limb, and the first through hole extends along the length direction of the first limb;

[0018] The first conductor is inserted into the first through hole;

[0019] The second limb is provided with a second through hole, which extends along the length of the second limb;

[0020] The second conductor is inserted into the second through hole.

[0021] This design prevents damage to the first and second conductors from external forces. Furthermore, this configuration reduces the routing length of the first and second conductors, lowering the cost of the knee joint wiring assembly.

[0022] In some embodiments of this application, the knee joint wiring assembly includes an insulating ring, which is coaxially disposed with the knee joint and is mounted on the knee joint;

[0023] The insulating ring is provided with at least one receiving groove, which at least accommodates the first annular conductor.

[0024] The receiving tank contains a first annular conductor or a second annular conductor, which can achieve insulation treatment of the first annular conductor or the second annular conductor.

[0025] In some embodiments of this application, multiple receiving grooves are provided, and the multiple receiving grooves are spaced apart along the axial direction of the insulating ring.

[0026] 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.

[0027] In some embodiments of this application, the knee joint is provided with a mounting groove;

[0028] The insulating ring includes a body and at least one partition, the body being disposed within a mounting groove, and the body at least separating the knee joint from the first annular conductor;

[0029] The partition and the main body together form a receiving groove; the partition separates the adjacent first annular conductor or second annular conductor.

[0030] This configuration reduces signal interference and short circuits from multiple first or second conductors.

[0031] In some embodiments of this application, a first connector and a third connector are provided on the outer peripheral surface of the first annular conductor, and the first connector and the third connector are arranged back to back;

[0032] The second end of the first wire is provided with a second connector, and the first connector and the second connector are detachably connected.

[0033] And / or, the first end of the second wire is provided with a fourth connector, and the third connector is detachably connected to the fourth connector.

[0034] This design facilitates the assembly and replacement of the various parts of the knee joint wiring assembly.

[0035] Secondly, embodiments of this application provide a humanoid robot, which in some embodiments includes a knee joint wiring assembly and an actuator motor;

[0036] 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.

[0037] Humanoid robots can improve their reliability by using a knee joint wiring assembly to avoid wire wear and breakage.

[0038] 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

[0039] 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.

[0040] Figure 1 This is a schematic diagram of the structure of the knee joint wiring assembly provided in the embodiments of this application;

[0041] Figure 2 A schematic diagram of the knee joint structure of the knee joint wiring assembly provided in this application embodiment;

[0042] Figure 3 A schematic cross-sectional view of the knee joint of the knee joint wiring assembly provided in this application embodiment;

[0043] Figure 4 for Figure 2 A magnified view of a portion of point A in the middle.

[0044] Figure label:

[0045] 010-Knee joint wiring assembly;

[0046] 100 - First limb; 110 - First through hole;

[0047] 200 - Second limb; 210 - Second through hole;

[0048] 300 - Knee joint; 310 - Mounting slot;

[0049] 400 - First ring conductor; 401 - First contact surface;

[0050] 500 - Second annular conductor; 501 - Second contact surface; 510 - Annular groove;

[0051] 600 - First conductor;

[0052] 700 - Second conductor;

[0053] 800 - Insulating ring; 810 - Main body; 820 - Separator; 830 - Receiving groove;

[0054] 020 - Actuator motor;

[0055] X - Axial axis of the knee joint. Detailed Implementation

[0056] 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.

[0057] To address the aforementioned issues, the knee joint wiring assembly of this application includes a first annular conductor fitted onto the knee joint. The first and second wires are electrically connected via the first annular conductor, enabling power or signal transmission. During knee joint rotation, the first annular conductor rotates relative to the knee joint, with the second end of the first wire rotating with it, and the first end of the second wire also rotating with it. This avoids excess length in the first and second wires, preventing friction between them and other parts or the inner wall of the wiring at the knee joint, thereby reducing wear and breakage of the first and second wires.

[0058] 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.

[0059] 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.

[0060] 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 through the knee joint 300. The knee joint wiring assembly 010 can improve the reliability of current and signal transmission via wires.

[0061] 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.

[0062] 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.

[0063] The first limb 100 can be made of carbon fiber composite material, which can reduce the weight of the knee joint wiring assembly 010.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] Combination Figure 1 and Figure 2 As shown, the knee joint wiring assembly 010 includes a first annular conductor 400, which can serve as a transmission channel for current or signals. The circumferential cross-section of the first annular conductor 400 can be rectangular or circular.

[0068] For example, the first ring conductor 400 can be made of copper alloy, which can give it high conductivity. In addition, the surface of the first ring conductor 400 can be gold-plated or subjected to special treatments (such as polishing, carburizing, etc.) to further reduce contact resistance and improve wear resistance.

[0069] For example, the first ring conductor 400 can be made of silver alloy material, which can give the first ring conductor 400 good conductivity and wear resistance.

[0070] For example, the first ring conductor 400 can be made of carbon alloy material, which can give the first ring conductor 400 better wear resistance and lower cost.

[0071] The first annular conductor 400 can be configured as a brush-type electrode. Brush-type electrodes have superior conductivity, reducing the resistance of the first annular conductor 400, decreasing the likelihood of electrical sparks, and enabling the transmission of larger currents. Furthermore, this configuration improves the wear resistance of the first annular conductor 400 and extends its service life.

[0072] The knee joint wiring assembly 010 also includes a first conductor 600. The first conductor 600 is used to transmit power or signals.

[0073] The knee joint wiring assembly 010 also includes a second conductor 700. The second conductor 700 is used to transmit power or signals.

[0074] The first end of the first wire 600 is electrically connected to the first limb 100, and the second end of the first wire 600 is electrically connected to the first annular conductor 400. The first end of the second wire 700 is electrically connected to a position on the first annular conductor 400 opposite to the first wire 600, and the second end of the second wire 700 is connected to the second limb 200. By electrically connecting the first wire 600 and the second wire 700 to positions opposite to the first annular conductor 400, the second wire 700 can transmit power or signals through the first annular conductor 400 to the first wire 600, thereby causing the parts connected to the first limb 100 (such as the foot or wheel hub) to move. Conversely, by electrically connecting the first wire 600 and the second wire 700 to positions opposite to the first annular conductor 400, the first wire 600 can transmit power or signals through the first annular conductor 400 to the second wire 700, thereby causing the parts connected to the second limb 200 (such as sensors) to move.

[0075] It is easy to understand that the first annular conductor 400 of the knee joint wiring assembly 010 is sleeved on the knee joint 300. The first wire 600 and the second wire 700 can be connected through the first annular conductor 400 to realize the transmission of electricity or signals. When the knee joint 300 rotates, the first annular conductor 400 rotates relative to the knee joint 300. The second end of the first wire 600 rotates with the first annular conductor 400, and the first end of the second wire 700 rotates with the first annular conductor 400. This avoids the first wire 600 and the second wire 700 having excess length, and prevents the first wire 600 and the second wire 700 from rubbing against other parts or the inner wall of the wiring at the knee joint 300, thereby reducing the wear and breakage of the first wire 600 and the second wire 700.

[0076] Reference Figure 1As shown, the first limb 100 is provided with a first through hole 110, which extends along the length of the first limb 100. A first conductor 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 conductor 600 within the first through hole 110, preventing damage to the first conductor 600 from external forces. In addition, the first conductor 600 is arranged in the first through hole 110 inside the first limb 100, which can reduce the routing length of the first conductor 600 and reduce the cost of the knee joint wiring assembly 010.

[0077] 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 and to prevent the first wire 600 from rubbing against the first through hole 110, thereby preventing damage to the first wire 600.

[0078] 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.

[0079] Similarly, the second limb 200 is provided with a second through hole 210, which extends along the length of the second limb 200. A second conductor 700 passes through the second through hole 210. The second through hole 210 is located inside the second limb 200 and serves to accommodate and protect the second conductor 700 within it, preventing damage to the second conductor 700 from external forces. Furthermore, the arrangement of the second conductor 700 within the second through hole 210 inside the second limb 200 reduces the routing length of the second conductor 700, thereby lowering the cost of the knee joint wiring assembly 010.

[0080] 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 and to prevent the second wire 700 from rubbing against the second through hole 210, thereby preventing damage to the second wire 700.

[0081] 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.

[0082] 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.

[0083] The knee joint wiring assembly 010 includes a second annular conductor 500, which has a lower roughness and is used to reduce the frictional force when the first annular conductor 400 rotates.

[0084] For example, the second ring conductor 500 can be made of an alloy material. The outer surface of the second ring conductor 500 can be gold-plated or subjected to special treatments (such as polishing, carburizing, etc.) to further improve the smoothness of the outer surface of the second ring conductor 500.

[0085] For example, the second ring conductor 500 can be made of silver alloy material, which can give the second ring conductor 500 better wear resistance.

[0086] For example, the second ring conductor 500 can be made of carbon alloy material, which can give the second ring conductor 500 better smoothness and lower cost.

[0087] If the first annular conductor 400 directly contacts the knee joint 300, it would have to withstand significant friction. Therefore, the second annular conductor 500 is fixed to the outer circumferential surface of the knee joint 300, and the first annular conductor 400 is fitted onto the outer circumferential surface of the second annular conductor 500, allowing the first annular conductor 400 to rotate relative to the second annular conductor 500. The outer surface of the second annular conductor 500 has a lower roughness, which reduces the friction between the inner surface of the first annular conductor 400 and its outer surface, thereby reducing friction on the inner surface of the first annular conductor 400 and extending its service life.

[0088] In some possible implementations, the first annular conductor 400 and the second annular conductor 500 can be configured as electrodes in the form of brushes, allowing the first annular conductor 400 and the second annular conductor 500 to slide in contact. This can improve the wear resistance of the first annular conductor 400 and extend its service life. Furthermore, the brush-type electrodes have superior conductivity, which can reduce the resistance of the first annular conductor 400, reduce the generation of electrical sparks, and enable the transmission of larger currents.

[0089] In addition, the second ring conductor 500 transmits some signals or current, thereby improving the transmission capability of the knee joint wiring assembly.

[0090] Reference Figure 2 and Figure 3 As shown, the first annular conductor 400 is sleeved on the outer periphery of the second annular conductor 500, which can reduce the space occupied by the first annular conductor 400 and the second annular conductor 500 along the axial direction X of the knee joint, thereby reducing the length of the knee joint 300, which is beneficial to the integrated design of the humanoid robot.

[0091] The inner surface of the first annular conductor 400 is the first contact surface 401, and the outer surface of the second annular conductor 500 is the second contact surface 501. The first contact surface 401 and the second contact surface 501 are in contact.

[0092] For example, the first annular conductor 400 and the second annular conductor 500 can be fitted with a gap to prevent the first annular conductor 400 from getting stuck.

[0093] Along the circumference of the second annular conductor 500, an annular groove 510 is provided on the outer circumferential surface of the second annular conductor 500. The annular groove 510 can restrict the directional movement of the component parts inside the annular groove 510.

[0094] Part of the first annular conductor 400 is located within the annular groove 510. The annular groove 510 can restrict the movement of the first annular conductor 400 and its rotation in some directions, thereby ensuring the stability of the position of the first annular conductor 400 and preventing the first annular conductor 400 from shifting, and preventing the first wire 600 and the second wire 700 from being subjected to tension.

[0095] For example, the annular groove 510 is configured as a U-shaped groove, the cross-section of the first annular conductor 400 is configured as a rectangle, and the first annular conductor 400 rotates within the U-shaped groove.

[0096] In some possible implementations, the first annular conductor 400 is located within the annular groove 510, and the first contact surface 401 contacts the bottom of the annular groove 510. In this case, the first annular conductor 400 can move a small distance along the axial direction of the knee joint within the annular groove 510. This facilitates relative rotation between the first annular conductor 400 and the second annular conductor 500, preventing the first annular conductor 400 from becoming stuck.

[0097] In some possible implementations, the first annular conductor 400 is located within the annular groove 510. The first contact surface 401 of the first annular conductor 400 contacts the bottom of the annular groove 510, and the side surface of the first annular conductor 400 contacts the wall of the annular groove 510, so that the first annular conductor 400 is electrically connected to the second annular conductor 500. This further prevents the first annular conductor 400 from shifting.

[0098] In some possible implementations, along the axial direction X of the knee joint, the length of the second annular conductor 500 is greater than the length of the first annular conductor 400, so that the first annular conductor 400 contacts the second annular conductor 500, avoiding contact between the first annular conductor 400 and the knee joint 300, thereby reducing wear on the first annular conductor 400.

[0099] Furthermore, the length of the second annular conductor 500 is greater than the length of the first annular conductor 400, allowing annular grooves 510 to be machined on the second annular conductor 500.

[0100] In some possible implementations, the length of the second annular conductor 500 along the axial direction X of the knee joint is equal to the length of the first annular conductor 400. The first annular conductor 400 has a circumferentially perforated area to facilitate the connection of the second wire 700 to the second annular conductor 500.

[0101] Reference Figure 4 As shown, in order to electrically isolate the first ring conductor 400 and the second ring conductor 500 from the knee joint 300 or other parts on the knee joint 300, the knee joint wiring assembly 010 includes an insulating ring 800.

[0102] The insulating ring 800 can be made of polyetheretherketone (PEEK) engineering plastic, which gives it high strength, temperature resistance and good insulation.

[0103] The insulating ring 800 can be made of ceramic material, which can give the insulating ring 800 high hardness, wear resistance and good insulation performance.

[0104] Furthermore, multiple insulating rings 800 can be provided to meet the wiring requirements of the humanoid robot. For example, two insulating rings 800 can be provided, symmetrically arranged on both sides of the joint.

[0105] The insulating ring 800 is coaxially arranged with the knee joint 300. The insulating ring 800 is installed on the knee joint 300 to fix the insulating ring 800 and prevent the insulating ring 800 from rotating with the first limb 100.

[0106] For example, the insulating ring 800 and the knee joint 300 can be manufactured using an insert process. Alternatively, the insulating ring 800 and the knee joint 300 can be integrally molded. The insulating ring 800 can also be configured as two parts, connected to the knee joint 300 by screws or clips.

[0107] The insulating ring 800 is provided with one or more receiving grooves 830, which are arranged circumferentially along the insulating ring 800. The receiving grooves 830 accommodate the first annular conductor 400, thereby achieving insulation treatment of the first annular conductor 400.

[0108] Alternatively, the receiving groove 830 can accommodate the first annular conductor 400 and the second annular conductor 500, thereby achieving insulation treatment for the first annular conductor 400 and the second annular conductor 500. Furthermore, by considering the first annular conductor 400 and the second annular conductor 500 as a rotating pair, and by confining the first annular conductor 400 and the second annular conductor 500 within the receiving groove 830, arbitrarily moving the first annular conductor 400 and the second annular conductor 500 during rotation, the compactness and reliability of the knee joint wiring assembly 010 can be improved.

[0109] It should be noted that the receiving groove 830 can be matched and set according to the relative position and structure of the first annular conductor 400 and the second annular conductor 500.

[0110] Multiple receiving slots 830 are provided, and the multiple receiving slots 830 are spaced apart along the axial direction X of the insulating ring 800. The multiple receiving slots 830 can provide multiple independent spaces, which can realize the transmission of multiple currents or signals, thereby improving the applicability of the knee joint wiring assembly 010.

[0111] For example, the insulating ring 800 is provided with three receiving slots 830. Two receiving slots 830 are used for transmitting current between the first annular conductor 400 and the second annular conductor 500. The other receiving slot 830 is used for transmitting electrical signals (such as encoder signals, sensor signals, communication buses, etc.) between the first annular conductor 400 and the second annular conductor 500.

[0112] 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 800 and restrict the movement of the insulating ring 800.

[0113] The insulating ring 800 includes a body 810 and at least one partition 820. The body 810 is disposed in the mounting groove 310 and separates the knee joint 300 from the first annular conductor 400 or the second annular conductor 500 to achieve electrical isolation.

[0114] It is understood that the first annular conductor 400 is sleeved on the outer periphery of the second annular conductor 500, and the main body 810 separates the knee joint 300 from the first annular conductor 400. The first annular conductor 400 and the second annular conductor 500 are arranged side by side, and the main body 810 separates the knee joint 300 from the first annular conductor 400 and the knee joint 300 from the second annular conductor 500.

[0115] The separator 820 and the main body 810 together form a plurality of receiving slots 830. The separator 820 separates adjacent first annular conductors 400 or second annular conductors 500. The separator 820 can prevent two adjacent first annular conductors 400 from contacting each other. Furthermore, the separator 820 can also prevent adjacent first annular conductors 400 from contacting second annular conductors 500. This arrangement reduces signal interference and short circuits among the plurality of first wires 600 or second wires 700.

[0116] Reference Figure 2 As shown, a first connector (not shown in the figure) and a third connector are disposed on the outer peripheral surface of the first annular conductor 400. The first connector and the third connector are disposed opposite to each other.

[0117] The second end of the first conductor 600 is provided with a second connector (not shown in the figure). 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.

[0118] 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 annular conductor 400 by connecting the socket and the plug. 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 annular conductor 400 by connecting the socket and the plug.

[0119] When the first connector is connected to the second connector, the first wire 600 is connected to the first annular conductor 400 to achieve electrical connection between the first wire 600 and the first annular conductor 400.

[0120] Similarly, the first end of the second conductor 700 is provided with a fourth connector, and 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.

[0121] When the third connector is connected to the fourth connector, the second wire 700 is connected to the first annular conductor 400 to achieve electrical connection between the second wire 700 and the first annular conductor 400.

[0122] In some possible implementations, the first annular conductor 400 includes a first half-ring and a second half-ring, and the first annular conductor 400 is configured such that the first half-ring and the second half-ring are connected, which facilitates the installation of the first annular conductor 400. The first half-ring and the second half-ring are fixedly connected, giving the first annular conductor 400 high reliability.

[0123] 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.

[0124] In some possible implementations, the first annular conductor 400 includes a first half-ring and a second half-ring, which are detachably connected. This facilitates the maintenance and replacement of the first annular conductor 400.

[0125] 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.

[0126] Similarly, in some possible implementations, the second ring conductor 500 includes a third half-ring and a fourth half-ring, and the second ring conductor 500 is configured such that the third half-ring and the fourth half-ring are connected, which facilitates the installation of the second ring conductor 500. The fixed connection between the third half-ring and the fourth half-ring gives the second ring conductor 500 high reliability.

[0127] For example, the third and fourth half-rings are set as two copper half-rings, which are connected by a welding process.

[0128] In some possible implementations, the second ring conductor 500 includes a third half-ring and a fourth half-ring, which are detachably connected. This facilitates the maintenance and replacement of the second ring conductor 500.

[0129] For example, the third half-ring has a mounting protrusion at one end along the circumference and a mounting recess at the other end. The fourth half-ring is fitted to the two ends of the third half-ring along the circumference. The third and fourth half-rings are detachably connected by fasteners such as bolts.

[0130] In some possible implementations, the first wire 600 is connected to the first ring conductor 400 by a welding process to ensure the reliability of the first ring conductor 400.

[0131] 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.

[0132] 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.

[0133] 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, 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); Includes a first annular conductor (400), which is sleeved on the knee joint (300) and can rotate relative to the knee joint (300); 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 first annular conductor (400), the first end of the second wire (700) is electrically connected to the first annular conductor (400) at a position away from the first wire (600), and the second end of the second wire (700) is electrically connected to the second limb (200).

2. The knee track assembly of claim 1, wherein, The knee joint wiring assembly includes a second annular conductor (500), which is sleeved on the outer peripheral surface of the knee joint (300); The first annular conductor (400) is sleeved on the outer peripheral surface of the second annular conductor (500), and the first annular conductor (400) rotates relative to the second annular conductor (500).

3. The knee track assembly of claim 2, wherein, The outer surface of the second annular conductor (500) is provided with an annular groove (510), and a portion of the first annular conductor (400) is located within the annular groove (510).

4. The knee track assembly of claim 2, wherein, Along the axial direction of the knee joint (300), the length of the second annular conductor (500) is greater than the length of the first annular conductor (400).

5. The knee joint wiring assembly according to claim 1, characterized in that, The first limb (100) is provided with a first through hole (110), which extends along the length direction of the first limb (100); The first conductor (600) passes through the first through hole (110); And, the second limb (200) is provided with a second through hole (210), the second through hole (210) extends along the length direction of the second limb (200); The second conductor (700) is inserted into the second through hole (210).

6. The knee cabling assembly of any of claims 1-5, wherein, The knee joint wiring assembly (010) includes an insulating ring (800), which is coaxially arranged with the knee joint (300) and is installed on the knee joint (300); The insulating ring (800) is provided with at least one receiving groove (830), which at least accommodates the first annular conductor (400).

7. The knee joint wiring assembly according to claim 6, characterized in that, Multiple receiving grooves (830) are provided, and the multiple receiving grooves (830) are spaced apart along the axial direction of the insulating ring (800).

8. The knee joint wiring assembly according to claim 7, characterized in that, The knee joint (300) is provided with a mounting groove (310); The insulating ring (800) includes a body (810) and at least one partition (820), the body (810) being disposed within the mounting groove (310), and the body (810) at least separating the knee joint (300) from the first annular conductor (400); The partition (820) and the main body (810) together form the receiving groove (830); the partition (820) at least separates the adjacent first annular conductors (400).

9. The knee joint wiring assembly according to any one of claims 1-5, characterized in that, The outer peripheral surface of the first annular conductor (400) is provided with a first connector and a third connector, and the first connector and the third connector are arranged opposite to each other; The second end of the first conductor (600) is provided with a second connector, and the first connector and the second connector are detachably electrically connected; The first end of the second conductor (700) is provided with a fourth connector, and the third connector is detachably connected to the fourth connector.

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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