WO2023045653A1 - Robot leg wiring fixing structure and robot - Google Patents

Robot leg wiring fixing structure and robot Download PDF

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Publication number
WO2023045653A1
WO2023045653A1 PCT/CN2022/113729 CN2022113729W WO2023045653A1 WO 2023045653 A1 WO2023045653 A1 WO 2023045653A1 CN 2022113729 W CN2022113729 W CN 2022113729W WO 2023045653 A1 WO2023045653 A1 WO 2023045653A1
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WO
WIPO (PCT)
Prior art keywords
robot
base
fixing structure
outer end
end seat
Prior art date
Application number
PCT/CN2022/113729
Other languages
French (fr)
Chinese (zh)
Inventor
郁亚南
张益通
何增丰
廖铉泓
Original Assignee
东莞市本末科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 东莞市本末科技有限公司 filed Critical 东莞市本末科技有限公司
Publication of WO2023045653A1 publication Critical patent/WO2023045653A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
    • H02G3/02—Details
    • H02G3/04—Protective tubing or conduits, e.g. cable ladders or cable troughs
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
    • H02G3/30—Installations of cables or lines on walls, floors or ceilings
    • H02G3/32—Installations of cables or lines on walls, floors or ceilings using mounting clamps

Definitions

  • the invention relates to the technical field of robots, in particular to a robot leg routing fixing structure and a robot.
  • a robot is an intelligent machine that can work semi-autonomously or fully autonomously.
  • Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complicated tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.
  • Existing robots generally include racks and moving wheels, and some robots include The leg structure cooperates with the moving wheel set to realize various actions, and the auxiliary wheels are needed to cooperate with the movement of the robot body during the action process, so the robot body has auxiliary wheels, generally the auxiliary wheels are universal transmission wheels.
  • the frame of the robot is a necessary structure of the structure.
  • the structure of the existing robot is single and the stability is relatively poor, especially the connection lines of the driving structure are scattered, which affects the various actions of the robot.
  • the present invention provides a smart drive that requires connecting wires to be connected.
  • the wire management clip is used to fix the connecting wires to prevent the connecting wires from being scattered.
  • the connecting wires are stable and the overall structure is reliable.
  • a robot leg routing fixing structure including a drive assembly, the drive assembly includes a base, and an outer end seat rotatably connected to the base, the outer end seat is equipped with a wire management clip, and the base is provided with Connecting line; connecting rod, the connecting rod is provided with a connecting part, the connecting part is installed on the base, the connecting part is provided with a through groove corresponding to the base, and the connecting rod is provided with a wiring groove corresponding to the through groove , the connecting wire passes through the slot and extends to the cable management clip.
  • the present invention uses the drive assembly to drive the link to move, and the drive assembly itself is a motor. In use, it needs a connecting wire to connect to realize intelligent driving.
  • the cable management clip is used to connect the connecting wire Fixed to prevent the connecting wires from being scattered, the connecting wires are stable when the robot makes various actions, and the overall structure is reliable.
  • a drive assembly includes a base, and an outer end seat rotatably connected to the base, the outer end seat is equipped with a wire clip, and the base is provided with a connecting line; the connecting rod , the connecting rod is provided with a connecting part, the connecting part is installed on the base, the connecting part is provided with a through groove corresponding to the base, and the connecting rod is provided with a wiring groove corresponding to the through groove, and the connecting wire passes through Pass through the slot and extend to the cable management clips.
  • the connecting rod is used as the leg joint of the robot, and multiple joints can be set to match the direction of the connecting line.
  • the structural line is stable, and it can cooperate with the robot to make multiple actions.
  • Fig. 1 is a three-dimensional structural schematic diagram of the robot leg routing fixing structure of the present invention.
  • Fig. 2 is a schematic diagram of the exploded structure of the fixed structure of the leg routing of the robot in Fig. 1.
  • Fig. 3 is a schematic diagram of the front view of the fixed structure of the leg of the robot in Fig. 1 .
  • Fig. 4 is a sectional view of A-A in Fig. 3 .
  • drive assembly 1 base 11, rotation placement cavity 111, shaft assembly 112, stator assembly 113, rotor assembly 114, outer end seat 12, package end cap 121, connection hole 122, cable management clip 13, connection Wire 14, connecting rod 2, connecting portion 21, fastening ring 211, through groove 22, wiring groove 23, through groove 231.
  • a robot leg routing fixing structure includes a drive assembly 1, the drive assembly 1 includes a base 11, and an outer end seat 12 rotatably connected to the base 11, the The outer end seat 12 is equipped with a wire clip 13, and the base 11 is provided with a connecting wire 14; the connecting rod 2, the connecting rod 2 is provided with a connecting portion 21, and the connecting portion 21 is installed on the base 11, so that The connection portion 21 is provided with a through slot 22 corresponding to the base 11 , and the connecting rod is provided with a wiring slot 23 corresponding to the through slot 22 , and the connecting wire 14 passes through the through slot 22 and extends to the cable management clip 13 .
  • the base 11 is provided with a rotating housing cavity 111, and a rotating shaft assembly 112 is installed in the rotating housing chamber 111, and the rotating shaft assembly 112 is connected to the outer end seat 12. Good stability and reliable structure.
  • a stator assembly 113 is installed on the outer edge of the base 11, and a rotor assembly 114 is installed on the inner diameter of the outer end seat 12.
  • the rotor assembly 114 corresponds to the stator assembly 113, and the stator assembly 113 cooperates with the rotor assembly 114 to realize electronic transmission. Structure drives stability.
  • the outer end base 12 is provided with a package end cover 121, the outer diameter of the package end cover 121 is connected to the outer end base 12, and the inner diameter is connected to the base 11. Further improvement is that the outer edge of the package end cover 121 is provided with a connection hole 122 , the wire management clip 13 is installed in the connection hole 122 through the screw, and the installation of the wire management clip 13 is coordinated through the connection hole 122, and the structure is convenient for installation.
  • the base 11 is provided with a mounting table, and the connecting portion 21 is mounted on the mounting table by screws. It is further improved that the connecting portion 21 is provided with a fastening ring 211, and the fastening ring 211 fixes the connecting portion 21 on the mounting table.
  • the mounting table is fixedly installed with the fastening ring 211, the structural connection is stable, the driving effect is enhanced, and the structural strength is high.
  • the fastening ring 211 is provided with a perforation corresponding to the through groove 22 , and the connecting wire 14 passes through the through groove 22 and the through hole, and through the cooperation of the through hole and the through hole, the direction of the connecting wire 14 is facilitated.
  • the wiring groove 23 is provided with a through groove 231, and the said through groove 231 passes through the connecting rod 2, and the said wiring groove 23 is connected to the through groove 22, and the setting of the through groove 231 can cooperate with multiple groups of connecting rods to carry out multi-line direction, The line is going stable.
  • a robot adopts the robot leg structure of the above structure, the overall structure is stable, the direction of the connecting wire 14 is stable and the fixing effect is good.
  • the present invention drives the link member 2 to move through the drive assembly 1, and the drive assembly 1 itself is a motor.
  • a connection wire 14 is needed to connect to realize intelligent driving.
  • a wire management clip 13 is provided to fix the connection wire 14 to prevent The connecting wires 14 are scattered, and the connecting wires 14 are stable when the robot makes various actions, and the overall structure is reliable.
  • a drive assembly 1 is provided, the drive assembly 1 includes a base 11, and an outer end seat 12 rotatably connected to the base 11, the outer end seat 12 is equipped with a cable management clip 13, and the base 11
  • a connecting line 14 is provided;
  • a connecting rod 2 is provided with a connecting portion 21, and the connecting portion 21 is installed on the base 11, and the connecting portion 21 is provided with a through groove 22 corresponding to the base 11, so that The connecting rod is provided with a wire routing groove 23 corresponding to the through groove 22 , and the connecting wire 14 passes through the through groove 22 and extends to the cable management clip 13 .
  • the connecting rod 2 is used as the leg joint of the robot, and multiple joints can be provided to match the direction of the connecting line 14, and the structure is stable, and can cooperate with the robot to perform multiple actions.

Abstract

A robot leg wiring fixing structure, comprising a driving assembly (1), wherein the driving assembly (1) comprises a base (11) and an outer end seat (12) rotatably connected to the base (11), the outer end seat (12) is provided with a wiring management clamp (13), and the base (11) is provided with a connecting wire (14); and a connecting rod (2), wherein the connecting rod (2) is provided with a connecting portion (21), the connecting portion (21) is mounted on the base (11), the connecting portion (21) is provided with a through groove (22) corresponding to the base (11), the connecting rod (2) is provided with a wiring groove (23) corresponding to the through groove (22), and the connecting wire (14) passes through the through groove (22) and extends to the wiring management clamp (13). Further comprised is a robot. The robot leg wiring fixing structure and the robot have a reliable structure and are stable.

Description

一种机器人腿部走线固定结构及机器人A robot leg routing fixing structure and robot
相关申请的交叉引用。Cross-references to related applications.
本申请要求于2021年09月27日提交中国专利局，申请号为202122354400.0，发明名称为“机器人腿部走线固定结构及机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application submitted to the China Patent Office on September 27, 2021, with the application number 202122354400.0, and the title of the invention is "robot leg routing fixing structure and robot", the entire content of which is incorporated herein by reference Applying.
技术领域technical field
本发明涉及机器人技术领域，特别是涉及一种机器人腿部走线固定结构及机器人。The invention relates to the technical field of robots, in particular to a robot leg routing fixing structure and a robot.
背景技术Background technique
机器人是一种能够半自主或全自主工作的智能机器，机器人具有感知、决策、执行等基本特征，可以辅助甚至替代人类完成危险、繁重、复杂的工作，提高工作效率与质量,服务人类生活，扩大或延伸人的活动及能力范围。A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complicated tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.
随着科技的进步，机器人的应用越来越普遍化，比如清洁机器人、货运机器人、巡检机器人等等，可实现智能控制，现有的机器人一般包括机架和移动轮组，一些机器人包含有腿部结构与移动轮组配合实现各种动作，而在动作过程中需要辅助轮配合机器人的机身移动，故机器人的机身上具有辅助轮，一般辅助轮为万向传动轮组。With the advancement of science and technology, the application of robots is becoming more and more common, such as cleaning robots, cargo robots, inspection robots, etc., which can realize intelligent control. Existing robots generally include racks and moving wheels, and some robots include The leg structure cooperates with the moving wheel set to realize various actions, and the auxiliary wheels are needed to cooperate with the movement of the robot body during the action process, so the robot body has auxiliary wheels, generally the auxiliary wheels are universal transmission wheels.
技术问题technical problem
机器人的机架是结构的必备结构，现有的机器人的结构单一，稳定性较差，尤其是驱动结构的连接线路散乱，影响机器人做出各种动作。The frame of the robot is a necessary structure of the structure. The structure of the existing robot is single and the stability is relatively poor, especially the connection lines of the driving structure are scattered, which affects the various actions of the robot.
技术解决方案technical solution
为解决上述问题，本发明提供一种需要连接线来连接实现智能驱动，设置理线夹用于将连接线固定，预防连接线散乱，在机器人做出各种动作时连接线稳定，整体结构可靠的机器人腿部走线固定结构及机器人。In order to solve the above problems, the present invention provides a smart drive that requires connecting wires to be connected. The wire management clip is used to fix the connecting wires to prevent the connecting wires from being scattered. When the robot makes various actions, the connecting wires are stable and the overall structure is reliable. The fixed structure of the robot leg routing and the robot.
上述目的可采用下列技术方案来实现。Above-mentioned purpose can adopt following technical scheme to realize.
一种机器人腿部走线固定结构，包括驱动组件，所述驱动组件包括基座、及可旋转连接于基座的外端座，所述外端座安装有理线夹，所述基座设有连接线；连杆件，所述连杆件设有连接部，所述连接部安装于基座，所述连接部对应基座开设有通槽，所述连杆对应通槽开设有走线槽，所述连接线穿过通槽并延伸至理线夹。A robot leg routing fixing structure, including a drive assembly, the drive assembly includes a base, and an outer end seat rotatably connected to the base, the outer end seat is equipped with a wire management clip, and the base is provided with Connecting line; connecting rod, the connecting rod is provided with a connecting part, the connecting part is installed on the base, the connecting part is provided with a through groove corresponding to the base, and the connecting rod is provided with a wiring groove corresponding to the through groove , the connecting wire passes through the slot and extends to the cable management clip.
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the invention will be apparent from the description, drawings and claims.
有益效果Beneficial effect
相比传统的机器人走线固定，本发明通过驱动组件来驱动连杆件活动，而驱动组件本身是电机，在使用中，需要连接线来连接实现智能驱动，设置理线夹用于将连接线固定，预防连接线散乱，在机器人做出各种动作时连接线稳定，整体结构可靠。具体是，设置了驱动组件，所述驱动组件包括基座、及可旋转连接于基座的外端座，所述外端座安装有理线夹，所述基座设有连接线；连杆件，所述连杆件设有连接部，所述连接部安装于基座，所述连接部对应基座开设有通槽，所述连杆对应通槽开设有走线槽，所述连接线穿过通槽并延伸至理线夹。连杆件作为机器人腿部关节，可设置多个关节来配合连接线的走向，结构走线稳定，配合机器人做出多个动作。Compared with the traditional fixed robot routing, the present invention uses the drive assembly to drive the link to move, and the drive assembly itself is a motor. In use, it needs a connecting wire to connect to realize intelligent driving. The cable management clip is used to connect the connecting wire Fixed to prevent the connecting wires from being scattered, the connecting wires are stable when the robot makes various actions, and the overall structure is reliable. Specifically, a drive assembly is provided, the drive assembly includes a base, and an outer end seat rotatably connected to the base, the outer end seat is equipped with a wire clip, and the base is provided with a connecting line; the connecting rod , the connecting rod is provided with a connecting part, the connecting part is installed on the base, the connecting part is provided with a through groove corresponding to the base, and the connecting rod is provided with a wiring groove corresponding to the through groove, and the connecting wire passes through Pass through the slot and extend to the cable management clips. The connecting rod is used as the leg joint of the robot, and multiple joints can be set to match the direction of the connecting line. The structural line is stable, and it can cooperate with the robot to make multiple actions.
附图说明Description of drawings
为了更好地描述和说明这里公开的那些发明的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。In order to better describe and illustrate embodiments and/or examples of the inventions disclosed herein, reference may be made to one or more of the accompanying drawings. Additional details or examples used to describe the drawings should not be considered limitations on the scope of any of the disclosed inventions, the presently described embodiments and/or examples, and the best mode of these inventions currently understood.
在附图中。In the attached picture.
图1 为本发明机器人腿部走线固定结构的立体结构示意图。Fig. 1 is a three-dimensional structural schematic diagram of the robot leg routing fixing structure of the present invention.
图2 为图1中机器人腿部走线固定结构的爆炸结构示意图。Fig. 2 is a schematic diagram of the exploded structure of the fixed structure of the leg routing of the robot in Fig. 1.
图3 为图1中机器人腿部走线固定结构的主视结构示意图。Fig. 3 is a schematic diagram of the front view of the fixed structure of the leg of the robot in Fig. 1 .
图4 为图3中A-A的剖视图。Fig. 4 is a sectional view of A-A in Fig. 3 .
附图标记说明：驱动组件1、基座11、旋转安置腔111、转轴组件112、定子组件113、转子组件114、外端座12、封装端盖121、连接孔122、理线夹13、连接线14、连杆件2、连接部21、紧固圈211、通槽22、走线槽23、穿槽231。Explanation of reference numerals: drive assembly 1, base 11, rotation placement cavity 111, shaft assembly 112, stator assembly 113, rotor assembly 114, outer end seat 12, package end cap 121, connection hole 122, cable management clip 13, connection Wire 14, connecting rod 2, connecting portion 21, fastening ring 211, through groove 22, wiring groove 23, through groove 231.
本发明的实施方式Embodiments of the present invention
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.
如图1~图4所示，一种机器人腿部走线固定结构，包括驱动组件1，所述驱动组件1包括基座11、及可旋转连接于基座11的外端座12，所述外端座12安装有理线夹13，所述基座11设有连接线14；连杆件2，所述连杆件2设有连接部21，所述连接部21安装于基座11，所述连接部21对应基座11开设有通槽22，所述连杆对应通槽22开设有走线槽23，所述连接线14穿过通槽22并延伸至理线夹13。As shown in Figures 1 to 4, a robot leg routing fixing structure includes a drive assembly 1, the drive assembly 1 includes a base 11, and an outer end seat 12 rotatably connected to the base 11, the The outer end seat 12 is equipped with a wire clip 13, and the base 11 is provided with a connecting wire 14; the connecting rod 2, the connecting rod 2 is provided with a connecting portion 21, and the connecting portion 21 is installed on the base 11, so that The connection portion 21 is provided with a through slot 22 corresponding to the base 11 , and the connecting rod is provided with a wiring slot 23 corresponding to the through slot 22 , and the connecting wire 14 passes through the through slot 22 and extends to the cable management clip 13 .
基座11内设有旋转安置腔111，所述旋转安置腔111内安装有转轴组件112，所述转轴组件112连接于外端座12，通过转轴组件112配合外端座12的连接，在旋转时稳定性好，结构可靠。The base 11 is provided with a rotating housing cavity 111, and a rotating shaft assembly 112 is installed in the rotating housing chamber 111, and the rotating shaft assembly 112 is connected to the outer end seat 12. Good stability and reliable structure.
基座11的外沿安装有定子组件113，所述外端座12的内径安装有转子组件114，所述转子组件114对应于定子组件113，定子组件113配合转子组件114实现电子的传动工作，结构驱动稳定。A stator assembly 113 is installed on the outer edge of the base 11, and a rotor assembly 114 is installed on the inner diameter of the outer end seat 12. The rotor assembly 114 corresponds to the stator assembly 113, and the stator assembly 113 cooperates with the rotor assembly 114 to realize electronic transmission. Structure drives stability.
外端座12设有封装端盖121，所述封装端盖121的外径与外端座12连接、内径与基座11连接，进一步改进为，封装端盖121的外沿开设有连接孔122，所述理线夹13通过螺钉安装于连接孔122，通过连接孔122来配合理线夹13的安装，结构安装方便。The outer end base 12 is provided with a package end cover 121, the outer diameter of the package end cover 121 is connected to the outer end base 12, and the inner diameter is connected to the base 11. Further improvement is that the outer edge of the package end cover 121 is provided with a connection hole 122 , the wire management clip 13 is installed in the connection hole 122 through the screw, and the installation of the wire management clip 13 is coordinated through the connection hole 122, and the structure is convenient for installation.
基座11设有安装台面，所述连接部21通过螺钉安装于安装台面，进一步改进为，连接部21设有紧固圈211，所述紧固圈211将连接部21固定安装在安装台面，通过安装台面配合紧固圈211进行固定安装，结构连接稳定，增强驱动效果，结构强度高。The base 11 is provided with a mounting table, and the connecting portion 21 is mounted on the mounting table by screws. It is further improved that the connecting portion 21 is provided with a fastening ring 211, and the fastening ring 211 fixes the connecting portion 21 on the mounting table. The mounting table is fixedly installed with the fastening ring 211, the structural connection is stable, the driving effect is enhanced, and the structural strength is high.
紧固圈211对应通槽22开设有穿孔，所述连接线14穿过通槽22和通孔，通过穿孔和通孔的配合，方便连接线14的走向。The fastening ring 211 is provided with a perforation corresponding to the through groove 22 , and the connecting wire 14 passes through the through groove 22 and the through hole, and through the cooperation of the through hole and the through hole, the direction of the connecting wire 14 is facilitated.
走线槽23开设有穿槽231，所述穿槽231穿过连杆件2，所述走线槽23连通至通槽22，设置穿槽231可配合多组的连杆进行多线路走向，线路走向稳定。The wiring groove 23 is provided with a through groove 231, and the said through groove 231 passes through the connecting rod 2, and the said wiring groove 23 is connected to the through groove 22, and the setting of the through groove 231 can cooperate with multiple groups of connecting rods to carry out multi-line direction, The line is going stable.
一种机器人，采用以上结构的机器人腿部结构，整体结构稳定，连接线14走向稳定和固定效果好。A robot adopts the robot leg structure of the above structure, the overall structure is stable, the direction of the connecting wire 14 is stable and the fixing effect is good.
本发明通过驱动组件1来驱动连杆件2活动，而驱动组件1本身是电机，在使用中，需要连接线14来连接实现智能驱动，设置理线夹13用于将连接线14固定，预防连接线14散乱，在机器人做出各种动作时连接线14稳定，整体结构可靠。具体是，设置了驱动组件1，所述驱动组件1包括基座11、及可旋转连接于基座11的外端座12，所述外端座12安装有理线夹13，所述基座11设有连接线14；连杆件2，所述连杆件2设有连接部21，所述连接部21安装于基座11，所述连接部21对应基座11开设有通槽22，所述连杆对应通槽22开设有走线槽23，所述连接线14穿过通槽22并延伸至理线夹13。连杆件2作为机器人腿部关节，可设置多个关节来配合连接线14的走向，结构走线稳定，配合机器人做出多个动作。The present invention drives the link member 2 to move through the drive assembly 1, and the drive assembly 1 itself is a motor. In use, a connection wire 14 is needed to connect to realize intelligent driving. A wire management clip 13 is provided to fix the connection wire 14 to prevent The connecting wires 14 are scattered, and the connecting wires 14 are stable when the robot makes various actions, and the overall structure is reliable. Specifically, a drive assembly 1 is provided, the drive assembly 1 includes a base 11, and an outer end seat 12 rotatably connected to the base 11, the outer end seat 12 is equipped with a cable management clip 13, and the base 11 A connecting line 14 is provided; a connecting rod 2 is provided with a connecting portion 21, and the connecting portion 21 is installed on the base 11, and the connecting portion 21 is provided with a through groove 22 corresponding to the base 11, so that The connecting rod is provided with a wire routing groove 23 corresponding to the through groove 22 , and the connecting wire 14 passes through the through groove 22 and extends to the cable management clip 13 . The connecting rod 2 is used as the leg joint of the robot, and multiple joints can be provided to match the direction of the connecting line 14, and the structure is stable, and can cooperate with the robot to perform multiple actions.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

  1. 机器人腿部走线固定结构，其特征在于：包括The fixed structure of the leg of the robot is characterized in that it includes:
    驱动组件，所述驱动组件包括基座、及可旋转连接于基座的外端座，所述外端座安装有理线夹，所述基座设有连接线；A drive assembly, the drive assembly includes a base, and an outer end seat rotatably connected to the base, the outer end seat is equipped with a wire management clip, and the base is provided with a connecting line;
    连杆件，所述连杆件设有连接部，所述连接部安装于基座，所述连接部对应基座开设有通槽，所述连杆对应通槽开设有走线槽，所述连接线穿过通槽并延伸至理线夹。A connecting rod, the connecting rod is provided with a connecting part, the connecting part is installed on the base, the connecting part is provided with a through groove corresponding to the base, and the connecting rod is provided with a wiring groove corresponding to the through groove. The cable runs through the slot and out to the cable management clip.
  2. 根据权利要求1所述的机器人腿部走线固定结构，其特征在于：所述基座内设有旋转安置腔，所述旋转安置腔内安装有转轴组件，所述转轴组件连接于外端座。The robot leg routing fixing structure according to claim 1, characterized in that: the base is provided with a rotating placement cavity, and a rotating shaft assembly is installed in the rotating placing chamber, and the rotating shaft assembly is connected to the outer end seat .
  3. 根据权利要求2所述的机器人腿部走线固定结构，其特征在于：所述基座的外沿安装有定子组件，所述外端座的内径安装有转子组件，所述转子组件对应于定子组件。The robot leg routing fixing structure according to claim 2, characterized in that: a stator assembly is installed on the outer edge of the base, and a rotor assembly is installed on the inner diameter of the outer end seat, and the rotor assembly corresponds to the stator assembly. components.
  4. 根据权利要求1所述的机器人腿部走线固定结构，其特征在于：所述外端座设有封装端盖，所述封装端盖的外径与外端座连接、内径与基座连接。The wiring fixing structure for the leg of the robot according to claim 1, wherein the outer end seat is provided with an encapsulation end cap, the outer diameter of the encapsulation end cap is connected to the outer end seat, and the inner diameter is connected to the base.
  5. 根据权利要求4所述的机器人腿部走线固定结构，其特征在于：所述封装端盖的外沿开设有连接孔，所述理线夹通过螺钉安装于连接孔。The wiring fixing structure for the legs of the robot according to claim 4, wherein a connection hole is opened on the outer edge of the package end cover, and the wire management clip is installed in the connection hole through screws.
  6. 根据权利要求1所述的机器人腿部走线固定结构，其特征在于：所述基座设有安装台面，所述连接部通过螺钉安装于安装台面。The robot leg routing fixing structure according to claim 1, characterized in that: the base is provided with a mounting table, and the connecting part is mounted on the mounting table by screws.
  7. 根据权利要求6所述的机器人腿部走线固定结构，其特征在于：所述连接部设有紧固圈，所述紧固圈将连接部固定安装在安装台面。The robot leg routing fixing structure according to claim 6, characterized in that: the connecting part is provided with a fastening ring, and the fastening ring fixes the connecting part on the installation table.
  8. 根据权利要求7所述的机器人腿部走线固定结构，其特征在于：所述紧固圈对应通槽开设有穿孔，所述连接线穿过通槽和通孔。The robot leg wiring fixing structure according to claim 7, characterized in that: the fastening ring is provided with perforations corresponding to the through grooves, and the connecting wires pass through the through grooves and the through holes.
  9. 根据权利要求1所述的机器人腿部走线固定结构，其特征在于：所述走线槽开设有穿槽，所述穿槽穿过连杆件，所述走线槽连通至通槽。The wire routing and fixing structure for the legs of the robot according to claim 1, characterized in that: the wire routing slot is provided with a through slot, the through slot passes through the connecting rod member, and the wire routing slot is connected to the through slot.
  10. 一种机器人，其特征在于：包括权利要求1~9任意一项所述的机器人腿部走线固定结构。A robot, characterized in that it includes the robot leg routing fixing structure described in any one of claims 1-9.
PCT/CN2022/113729 2021-09-27 2022-08-19 Robot leg wiring fixing structure and robot WO2023045653A1 (en)

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CN216269607U (en) * 2021-09-27 2022-04-12 东莞市本末科技有限公司 Robot leg routing fixing structure and robot

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