CN113894835A - Line structure and joint mechanism and sufficient robot walk in joint - Google Patents
Line structure and joint mechanism and sufficient robot walk in joint Download PDFInfo
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- CN113894835A CN113894835A CN202111273981.3A CN202111273981A CN113894835A CN 113894835 A CN113894835 A CN 113894835A CN 202111273981 A CN202111273981 A CN 202111273981A CN 113894835 A CN113894835 A CN 113894835A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 238000004804 winding Methods 0.000 claims abstract description 205
- 230000005611 electricity Effects 0.000 claims description 3
- 239000004519 grease Substances 0.000 claims description 3
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 10
- 230000001788 irregular Effects 0.000 abstract description 8
- 238000005299 abrasion Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005452 bending Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to the technical field of robot equipment, and discloses an intra-joint wiring structure, a joint mechanism and a foot type robot. According to the invention, through continuous exploration and test, the first winding body and the second winding body which can rotate relatively are arranged at the joint, and the cable is wound through the winding part of the second winding body, so that the length of the cable is adjusted, the length of the wound cable can be changed along with the expansion amplitude of the joint, the irregular stacking of the cable can be effectively reduced, and the cable can be effectively kept orderly and not clamped all the time in the reciprocating rotation process; and then effectively avoid cable and other joint parts to interfere with, the scheme is simple and practical, and is feasible. Meanwhile, the accommodating cavity is formed in the first winding body, so that the moving range of the cable can be effectively limited while the cable is protected, and potential safety hazards and abrasion of other parts of the joint caused by interference of the cable on joint motion are further avoided.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to an intra-joint wiring structure, a joint mechanism and a foot type robot.
Background
At present, most cables at joints of a foot type robot are exposed outside, are easily damaged and influence the appearance; in addition, in order to meet the requirement of the rotation angle of the joint, a large margin is mostly left for cables exposed outside, which further causes damage to the cables and also affects the overall beauty of the legged robot.
Further, Chinese patent: a wiring structure (publication number CN107097214A) of a wire required by a seven-degree-of-freedom industrial robot, a robot joint motor and a joint (publication number CN112706156A), a wiring structure (publication number CN203697031U) in a multi-axis robot joint, and a wiring shaft joint structure (publication number CN204772585U) in the robot disclose a scheme of wiring in a hollow way.
Although the internal wiring can effectively protect the circuit and save the use space, the wiring effect is better than that of the external wiring. However, the hollow wiring scheme needs to be provided with a hollow motor and a hollow speed reducer, and the hollow motor and the hollow speed reducer need to be provided with ducts for cables to pass through, so that the size of the motor and the size of the speed reducer are increased, and the appearance is overstaffed; on the other hand, results in extremely high manufacturing costs.
If the structural forms of a non-hollow offset motor, a hollow speed reducer and the like are adopted, an intermediate transmission chain is added, the transmission precision is reduced, and the problems of increased structural size and bulkiness in appearance exist.
Furthermore, whether the cables are internally routed or externally routed, in order to ensure the normal action of the joint, enough margin is left in the length of the cables, and when the joint moves, the redundant cables increase potential safety hazards on one hand, and on the other hand, the cables can rub against a shell or other parts repeatedly, so that related parts are abraded, and the service life of the joint is influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the objectives of the present invention is to provide a joint internal routing structure, in which a first winding body and a second winding body capable of rotating relatively are disposed at a joint, and a cable is wound through a winding portion of the second winding body, so as to adjust the length of the cable, further enable the length of the wound cable to change along with the expansion range of the joint, effectively reduce the irregular stacking of the cable, and effectively ensure that the cable is always kept orderly and is not jammed during the reciprocating rotation process.
The invention also aims to provide a joint mechanism which is provided with a winding piece capable of winding a cable, can directly utilize a joint motor to provide power, can drive the cable to wind out of a winding part or wind and connect the cable on the winding part while the joint motor drives the joint to unfold or fold, realizes synchronous adjustment of the winding-out length of the cable and the unfolding amplitude of the joint, further can effectively reduce irregular stacking of the cable, and effectively ensures that the cable is always kept orderly and not clamped in the reciprocating rotation process.
The invention also provides a quadruped robot, wherein the joints of the quadruped robot are provided with an intra-joint wiring structure, cables at the joints are built in, and the cables cannot be clamped when rotating.
In order to achieve one of the above purposes, one technical solution of the present invention is:
a wiring structure in a joint comprises a cable, a first winding body and a second winding body which can rotate relatively.
A winding part is formed at the axis of the second winding body in a protruding mode, and an accommodating cavity for accommodating the winding part is formed in the first winding body;
the cable is wound on the winding part, one end of the cable is fixed on the winding part, and the other end of the cable extends outwards in the direction opposite to the winding direction of the cable wound on the winding part and then is fixed on the first winding body; when the first winding body and the second winding body relatively rotate, the cable is always in contact with the first winding body and the winding part respectively.
According to the invention, through continuous exploration and test, the first winding body and the second winding body which can rotate relatively are arranged at the joint, and the cable is wound through the winding part of the second winding body, so that the length of the cable is adjusted, the length of the wound cable can be changed along with the expansion amplitude of the joint, the irregular stacking of the cable can be effectively reduced, and the cable can be effectively kept orderly and not clamped all the time in the reciprocating rotation process; and then effectively avoid cable and other joint parts to interfere with, the scheme is simple and practical, and is feasible.
Meanwhile, the accommodating cavity is formed in the first winding body, so that the moving range of the cable can be effectively limited while the cable is protected, and potential safety hazards and abrasion of other parts of the joint caused by interference of the cable on joint motion are further avoided.
Compared with the traditional mode that the cable is exposed outside at the joint, the invention can protect the cable and has beautiful structure.
Further, by applying the joint mechanism and the robot, the motor and the speed reducer can be arranged without hollowing, and compared with the existing hollow wiring structure, the joint mechanism and the robot applying the speed reducer are small in structure size, low in manufacturing cost and more compact in structure.
Furthermore, the joint mechanism and the robot provided by the invention have the advantages that the motors can not be biased, the intermediate transmission structure is reduced, and compared with the existing motor bias wiring structure, the joint mechanism and the robot provided by the invention have the advantages of high transmission precision, small structural size, low manufacturing cost and more compact structure.
As a preferable technical measure:
the cable is an elastic wire or a bendable flat cable or a wire or a data wire, one end of the cable is fixed on the winding part, and the other end of the cable is fixed on the first winding body after being bent outwards in a direction opposite to the winding direction of the cable wound on the winding part;
when the first winding body and the second winding body rotate relatively, the cable can be respectively abutted with the first winding body and the winding part.
Preferentially, the cable is the winding displacement that can buckle, and the winding displacement softness is moderate, can be crooked at will repeatedly, and its winding arrangement mode enables first winding body and second winding body in reciprocating rotation in-process, laminates all the time on wire winding portion or first winding body inner wall, so can further guarantee that the cable keeps neat, not card line all the time at reciprocating rotation in-process.
As a preferable technical measure:
the joint internal wiring structure comprises a motor unit, the motor unit comprises a shell and a power output end, the first winding body is fixedly connected with the shell, and the second winding body is fixedly connected with the power output end;
when the output shaft of the motor unit drives the joint to reciprocate, the cable is driven to wind on the winding part or wind out from the winding part, so that the length of the wound cable can change along with the expansion amplitude of the joint.
The motor in the joint can be directly utilized, when the motor unit drives the joint to unfold, the winding part is driven to rotate in the positive direction, so that the cable is wound out, and the length of the cable is matched with the unfolding width of the joint;
when motor element drive joint is folding, drive winding portion reverse rotation for the cable is around connecting on winding portion, in order to avoid the cable to pile up in disorder, adapts to the requirement of joint to cable length, and the scheme is simple, and the spare part that needs is few, low in manufacturing cost.
As a preferable technical measure:
lubricating grease is arranged in the accommodating cavity and on the surface of the cable; reduce the wearing and tearing to the cable when the joint rotates, strengthen life greatly.
The cable is a group or a plurality of groups of wires; the multiple groups of wires are distributed in the accommodating cavity at intervals, so that the wiring space in the accommodating cavity can be utilized as much as possible, and large-current wiring and multiple groups of signal wires are conveniently arranged.
As a preferable technical measure:
the shell is provided with the flat cable guide part, and the flat cable guide part is arranged, so that the flat cable can be protected and prevented from being damaged.
The first cable winding body is provided with an opening for the cable to pass through, and the flat cable guide piece is arranged at the opening.
As a preferable technical measure:
the opening is provided with a plurality of inserting through holes for assembling a plurality of cables;
the cable is flat, so that the bending radius is smaller on the premise of ensuring the bending service life of the cable, and the purpose of the invention can be realized only by using a smaller accommodating cavity space.
As a preferable technical measure:
the first winding body and the second winding body are respectively in a cover-shaped structure, are sleeved together and are coaxially arranged with the motor unit;
the second winding body is fixedly connected with the shell of the other joint motor, so that the structure of the joint motor is compact and the size is small.
In order to achieve the second purpose, the invention adopts a technical scheme that:
a joint mechanism with a wire-routing structure is provided,
comprises a motor unit capable of driving the joint to move, a cable capable of conducting electricity or/and transmitting signals, and a wire coiling piece capable of winding the cable;
an output shaft of the motor unit is fixedly connected with the wire coiling piece;
the winding piece is provided with a convex winding part;
one end of the cable is fixed with the winding part;
when the output shaft of the motor unit drives the joint to reciprocate, the cable is driven to wind on the winding part or wind out from the winding part, so that the length of the wound cable can change along with the expansion amplitude of the joint.
Through continuous exploration and tests, the joint motor is directly used for providing power, the joint motor drives the joint to unfold or fold, the cable is driven to wind out of the winding part or wind and connect the winding part, synchronous adjustment of the winding length of the cable and the unfolding amplitude of the joint is achieved, irregular stacking of the cable can be effectively reduced, and the cable is effectively kept orderly and is not clamped all the time in the reciprocating rotation process.
Compared with the traditional mode that the cable is exposed outside at the joint, the invention can protect the cable and has beautiful structure.
Furthermore, the motor and the speed reducer can be arranged without hollowing, and compared with the existing hollow wiring structure, the motor and the speed reducer are small in structural size, low in manufacturing cost and compact in structure.
Furthermore, the motor of the invention can be unbiased, so that a middle transmission structure is reduced, and compared with the existing motor biased wiring structure, the motor of the invention has the advantages of high transmission precision, small structural size, low manufacturing cost and more compact structure.
As a preferable technical measure:
the winding piece comprises a first winding body and a second winding body which can rotate relatively;
the second coiling body protrudes from the axis of the second coiling body to form a winding part which is fixedly connected with an output shaft of the motor unit; ,
the first winding body is provided with an accommodating cavity for accommodating the winding part, and the accommodating cavity is fixedly connected with a shell of the motor unit;
the cable is wound on the winding part, one end of the cable is fixed on the winding part, and the other end of the cable extends out of the first winding body;
the circumference of the winding part is matched with the unfolding amplitude of the joint, so that the length of the wound cable can be matched with the unfolding width of the joint;
when the motor unit drives the joint to unfold, the winding part is driven to rotate, so that the cable is wound out, and the length of the cable is matched with the unfolding width of the joint;
when the motor unit drives the joint to be folded, the winding part is driven to rotate, so that the cable is wound on the winding part, the cable is prevented from being stacked in a disordered mode, and the requirement of the joint on the length of the cable is met.
In order to achieve the third purpose, the invention adopts a technical scheme that:
a foot-type robot is composed of a robot body,
the joint of the foot type robot is provided with the intra-joint wiring structure or the joint mechanism with the wiring protection structure.
Compared with the prior art, the invention has the beneficial effects that:
through continuous exploration and tests, the invention is provided with the wire winding piece or the wire winding body capable of winding the cable, so that the cable can be wound out of the wire winding part or wound on the wire winding part, and further the wound length of the cable is matched with the joint unfolding amplitude, thereby effectively reducing the irregular stacking of the cable, and effectively ensuring that the cable is always kept orderly and is not clamped in the reciprocating rotation process.
Compared with the traditional mode that the cable is exposed outside at the joint, the invention can protect the cable and has beautiful structure.
Further, by applying the joint mechanism and the robot, the motor and the speed reducer can be arranged without hollowing, and compared with the existing hollow wiring structure, the joint mechanism and the robot applying the speed reducer are small in structure size, low in manufacturing cost and more compact in structure.
Furthermore, the joint mechanism and the robot provided by the invention have the advantages that the motors can not be biased, the intermediate transmission structure is reduced, and compared with the existing motor bias wiring structure, the joint mechanism and the robot provided by the invention have the advantages of high transmission precision, small structural size, low manufacturing cost and more compact structure.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
FIG. 1 is an exploded view of the entire intra-articular trace structure of the present invention;
FIG. 2 is a front view of the intra-articular routing structure of the present invention;
FIG. 3 is a view of the structure of FIG. 1 shown in a converted angle;
fig. 4 is a structural view of the joint mechanism of the present invention.
In the figure: 1. a housing; 2. a flat cable guide; 3. a first winding body; 4. a cable; 5. a second reel body; 6. a motor unit; 7. a winding part; 8. an accommodating chamber; 9. and (4) opening.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1, fig. 2 and fig. 3, a preferred embodiment of the intra-articular routing structure of the present invention comprises:
a wiring structure in a joint comprises a cable 4, a first winding body 3 and a second winding body 5 which can rotate relatively.
A winding part 7 is formed at the axis of the second winding body 5 in a protruding mode, and an accommodating cavity 8 for accommodating the winding part 7 is formed in the first winding body 3;
the cable 4 is wound on the winding part 7, one end of the cable is fixed on the winding part 7, and the other end of the cable extends outwards in the direction opposite to the winding direction of the cable wound on the winding part 7 and then is fixed on the first winding body; when the first winding body and the second winding body rotate relatively, the cable 4 is always in contact with the first winding body and the winding part 7 respectively.
According to the invention, through continuous exploration and test, the first winding body 3 and the second winding body 5 which can rotate relatively are arranged at the joint, the cable 4 is wound through the winding part 7 of the second winding body 5, so that the length of the cable 4 is adjusted, the length of the wound cable 4 can be changed along with the expansion amplitude of the joint, the irregular stacking of the cable 4 can be effectively reduced, and the cable 4 is effectively ensured to be always kept orderly and not to be clamped in the reciprocating rotation process; and then effectively avoid cable 4 and other joint parts to interfere, the scheme is simple and practical, and is feasible.
Meanwhile, the accommodating cavity 8 is formed in the first coiling body 3, so that the movement range of the cable 4 can be effectively limited while the cable 4 is protected, and further potential safety hazards and abrasion of other parts of the joint caused by interference of the cable 4 with joint movement are avoided.
Compared with the traditional mode that the cable 4 is exposed outside at the joint, the invention can protect the cable 4 and has beautiful structure.
The cable 4 is a group or a plurality of groups of wires; the multiple groups of wires are distributed in the accommodating cavity 8 at intervals, so that the wiring space in the accommodating cavity 8 can be utilized as much as possible, and large-current wiring and multiple groups of signal wires are conveniently arranged.
The specific embodiment of the cable 4 structure of the present invention:
the cable 4 is a bendable flat cable, the flat cable is moderate in hardness and can be bent repeatedly at will, one end of the flat cable is fixed on the winding part 7, and the other end of the flat cable is fixed on the first winding body 3 after being bent outwards in the direction opposite to the winding direction of the flat cable wound on the winding part 7; when the first winding body 3 and the second winding body 5 rotate relatively, the cable 4 can be abutted against the first winding body 3 and the winding part 7, respectively.
Therefore, the winding arrangement mode of winding displacement enables first winding body 3 and second winding body 5 to be attached to winding portion 7 or the inner wall of first winding body 3 all the time in the reciprocating rotation process, so that the cable 4 can be further ensured to be kept neat and not clamped all the time in the reciprocating rotation process.
Further, the flat cable is flat, so that the bending radius is small on the premise of ensuring the bending life of the flat cable, and the purpose of the flat cable can be achieved as long as a small space of the accommodating cavity 8 is used.
One specific embodiment of the present invention provides a drive source:
the intra-joint wiring structure comprises a motor unit 6, the motor unit 6 comprises a shell 1 and a power output end, the first wire winding body 3 is fixedly connected with the shell 1, and the second wire winding body 5 is fixedly connected with the power output end;
when the output shaft of the motor unit 6 drives the joint to reciprocate, the cable 4 is driven to wind on the winding part 7 or wind out from the winding part 7, so that the length of the wound cable 4 can be changed along with the expansion amplitude of the joint.
The motor in the joint can be directly utilized, when the motor unit 6 drives the joint to unfold, the winding part 7 is driven to rotate in the positive direction, so that the cable 4 is wound out, and the length of the cable 4 is matched with the unfolding width of the joint;
when motor unit 6 drive joint is folding, drive winding portion 7 counter rotation for cable 4 wraparound connects on winding portion 7, in order to avoid cable 4 unordered piling up, adapts to the requirement of joint to 4 lengths of cable, and the scheme is simple, and the spare part that needs is few, low in manufacturing cost.
One specific embodiment of the invention to reduce wear:
lubricating grease is coated in the accommodating cavity 8 and on the surface of the cable 4; the abrasion to the cable 4 when the joint rotates is reduced, and the service life is greatly prolonged.
The invention adds a concrete embodiment of a guide structure:
the shell 1 is provided with the flat cable guide part 2, and the flat cable guide part 2 is arranged, so that the flat cable 4 can be protected and prevented from being damaged.
The flat cable guide 2 is an L-shaped cavity, which facilitates changing the extending direction of the cable 4, on one hand, communicating with the opening 9, and on the other hand, guiding the cable 4 to the component to be connected.
An opening 9 for the cable 4 to pass through is formed in the first winding body 3, and the flat cable guide 2 is arranged at the opening 9.
The opening 9 is provided with a plurality of inserting through holes for connecting a plurality of cables 4 in a penetrating manner so as to be suitable for various scenes.
The invention discloses a specific embodiment of a coiling body structure, which comprises the following steps:
first book line body 3 and second book line body 5 are the lid column structure respectively, and both cup joint together to with the coaxial setting of motor element 6, reduce occupation space, make the structure compacter.
The second winding body 5 is fixedly connected with the shell 1 of the other joint motor, so that the structure of the joint motor is compact and the size is small.
As shown in fig. 4, one embodiment of the joint mechanism of the present invention:
a joint mechanism with a wire-routing structure is provided,
comprises a motor unit 6 capable of driving the joint to move, a cable 4 capable of conducting electricity or/and transmitting signals, and a wire winding member capable of winding the cable 4.
An output shaft of the motor unit 6 is fixedly connected with the wire coiling piece;
the coiling piece is provided with a convex winding part 7;
one end of the cable 4 is fixed with the winding part 7;
when the output shaft of the motor unit 6 drives the joint to reciprocate, the cable 4 is driven to wind on the winding part 7 or wind out from the winding part 7, so that the length of the wound cable 4 can be changed along with the expansion amplitude of the joint.
According to the invention, through continuous exploration and tests, the wire coiling piece capable of coiling the cable 4 is arranged, the joint motor is directly utilized to provide power, the joint motor drives the joint to unfold or fold, and the cable 4 is wound out or wound on the wire winding part 7, so that the synchronous adjustment of the winding-out length of the cable 4 and the unfolding amplitude of the joint is realized, the irregular stacking of the cable 4 can be effectively reduced, and the cable 4 is effectively ensured to be kept orderly and not to be clamped all the time in the reciprocating rotation process.
The invention discloses a concrete embodiment of a winding structure, which comprises the following steps:
the winding piece comprises a first winding body 3 and a second winding body 5 which can rotate relatively;
the axis of the second coiling body 5 protrudes to form a winding part 7 which is fixedly connected with an output shaft of the motor unit 6; ,
and the first winding body 3 is provided with an accommodating cavity 8 for accommodating the winding part 7, and the accommodating cavity is fixedly connected with the shell 1 of the motor unit 6.
The cable 4 is wound around the winding portion 7, one end of the cable is fixed to the winding portion 7, and the other end of the cable extends out of the first winding body 3.
The circumference of the winding part 7 is matched with the unfolding amplitude of the joint, so that the length of the wound cable 4 can be matched with the unfolding width of the joint.
The size of the specific winding part 7 can be set according to the rotating angle of the motor and the unfolding relation of the joint and the required length of the cable 4.
When the motor unit 6 drives the joint to unfold, the winding part 7 is driven to rotate, so that the cable 4 is wound out, and the length of the cable 4 is matched with the unfolding width of the joint;
when motor element 6 drive joint is folding, drive winding portion 7 rotatory for cable 4 wraparound connects on winding portion 7, in order to avoid cable 4 unordered piling up, adapts to the requirement of joint to cable 4 length.
The application embodiment of the invention comprises the following steps:
a foot-type robot is composed of a robot body,
the joint of the foot type robot is provided with the intra-joint wiring structure or the joint mechanism with the wiring protection structure.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. An intra-articular routing structure is characterized in that,
comprises a cable (4), a first winding body (3) and a second winding body (5) which can rotate relatively;
a winding part (7) is formed at the axis of the second winding body (5) in a protruding mode, and an accommodating cavity (8) for accommodating the winding part (7) is formed in the first winding body (3);
the cable (4) is wound on the winding part (7), one end of the cable is fixed on the winding part (7), and the other end of the cable extends outwards in the direction opposite to the winding direction of the cable wound on the winding part (7) and then is fixed on the first winding body; when the first winding body and the second winding body relatively rotate, the cable (4) is always in contact with the first winding body and the winding part (7) respectively.
2. The intra-articular trace structure of claim 1,
the cable (4) is an elastic wire or a bendable flat cable or a wire or a data wire, one end of the cable is fixed on the winding part (7), and the other end of the cable is bent outwards in a direction opposite to the winding direction of the cable wound on the winding part (7) and then fixed on the first winding body (3);
when the first winding body (3) and the second winding body (5) rotate relatively, the cable (4) can be respectively abutted against the first winding body (3) and the winding part (7).
3. The intra-articular trace structure of claim 2,
the intra-joint wiring structure comprises a motor unit (6), the motor unit (6) comprises a shell (1) and a power output end, the first winding body (3) is fixedly connected with the shell (1), and the second winding body (5) is fixedly connected with the power output end;
when the output shaft of the motor unit (6) drives the joint to reciprocate, the cable (4) is driven to wind on the winding part (7) or wind out from the winding part (7), so that the winding length of the cable (4) can be changed along with the expansion amplitude of the joint.
4. The intra-articular trace structure of claim 3,
lubricating grease is coated in the accommodating cavity (8) and on the surface of the cable (4);
the cable (4) is a group or a plurality of groups of wires; the groups of wires are distributed at intervals in the accommodating cavity (8).
5. The intra-articular trace structure of claim 4,
the cable winding device is characterized in that a cable winding guide (2) is arranged on the shell (1), an opening (9) for the cable (4) to penetrate through is formed in the first cable winding body (3), and the cable winding guide (2) is arranged at the opening (9).
6. The intra-articular trace structure of claim 5,
the opening (9) is provided with a plurality of inserting through holes for assembling a plurality of cables (4);
the cable (4) is flat.
7. The intra-articular trace structure according to any one of claims 1-6,
the first winding body (3) and the second winding body (5) are respectively in a cover-shaped structure, are sleeved together and are coaxially arranged with the motor unit (6);
the second wire winding body (5) is fixedly connected with the shell (1) of the other joint motor.
8. A joint mechanism with a routing structure is characterized in that,
comprises a motor unit (6) capable of driving the joint to move, a cable (4) capable of conducting electricity or/and transmitting signals, and a wire coiling piece capable of winding the cable (4);
the output shaft of the motor unit (6) is fixedly connected with the wire coiling piece;
the coiling piece is provided with a convex winding part (7);
one end of the cable (4) is fixed with the winding part (7);
when the output shaft of the motor unit (6) drives the joint to reciprocate, the cable (4) is driven to wind on the winding part (7) or wind out from the winding part (7), so that the winding length of the cable (4) can be changed along with the expansion amplitude of the joint.
9. The joint mechanism with trace structure as claimed in claim 8,
the winding piece comprises a first winding body (3) and a second winding body (5) which can rotate relatively;
the axis of the second coiling body (5) protrudes to form a coiling part (7) which is fixedly connected with an output shaft of the motor unit (6);
the first winding body (3) is provided with an accommodating cavity (8) for accommodating the winding part (7), and the accommodating cavity is fixedly connected with the shell (1) of the motor unit (6);
the cable (4) is wound on the winding part (7), one end of the cable is fixed on the winding part (7), and the other end of the cable extends out of the first winding body (3);
the circumference of the winding part (7) is matched with the unfolding amplitude of the joint, so that the length of the wound cable (4) can be matched with the unfolding width of the joint;
when the motor unit (6) drives the joint to unfold, the winding part (7) is driven to rotate, so that the cable (4) is wound out, and the length of the cable (4) is matched with the unfolding width of the joint;
when motor element (6) drive joint is folding, drive wire winding portion (7) rotatory for cable (4) wraparound connects on wire winding portion (7), in order to avoid cable (4) unordered pile up, and the requirement of adaptation joint to cable (4) length.
10. A legged robot is characterized in that,
the joints of the legged robot are provided with the intra-joint routing structure according to any one of claims 1 to 7, or the joint mechanism with the routing protection structure according to any one of claims 8 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111273981.3A CN113894835A (en) | 2021-10-29 | 2021-10-29 | Line structure and joint mechanism and sufficient robot walk in joint |
| PCT/CN2022/093201 WO2023071150A1 (en) | 2021-10-29 | 2022-05-17 | Joint internal wiring structure, joint mechanism and foot-type robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111273981.3A CN113894835A (en) | 2021-10-29 | 2021-10-29 | Line structure and joint mechanism and sufficient robot walk in joint |
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| CN113894835A true CN113894835A (en) | 2022-01-07 |
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| CN202111273981.3A Pending CN113894835A (en) | 2021-10-29 | 2021-10-29 | Line structure and joint mechanism and sufficient robot walk in joint |
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| Country | Link |
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| CN (1) | CN113894835A (en) |
| WO (1) | WO2023071150A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888781A (en) * | 2022-05-07 | 2022-08-12 | Oppo广东移动通信有限公司 | Robot, drive unit, cable device, and cable storage unit |
| CN114932579A (en) * | 2022-05-16 | 2022-08-23 | 上海岭先机器人科技股份有限公司 | Robot joint wiring structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023071150A1 (en) | 2023-05-04 |
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Application publication date: 20220107 |