WO2023045653A1 - Structure de fixation de câblage de jambe de robot et robot - Google Patents

Structure de fixation de câblage de jambe de robot et 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
Authority
WO
WIPO (PCT)
Prior art keywords
robot
base
fixing structure
outer end
end seat
Prior art date
Application number
PCT/CN2022/113729
Other languages
English (en)
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
Publication date
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/fr

Links

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

Structure de fixation de câblage de jambe de robot, comprenant un ensemble d'entraînement (1), l'ensemble d'entraînement (1) comprenant une base (11) et un siège d'extrémité externe (12) relié rotatif à la base (11), le siège d'extrémité externe (12) étant pourvu d'une pince de maintien de câblage (13), et la base (11) étant pourvue d'un fil de liaison (14) ; et une tige de liaison (2), la tige de liaison (2) étant pourvue d'une partie de liaison (21), la partie de liaison (21) étant montée sur la base (11), la partie de liaison (21) étant pourvue d'une rainure traversante (22) correspondant à la base (11), la tige de liaison (2) étant pourvue d'une rainure de câblage (23) correspondant à la rainure traversante (22), et le fil de liaison (14) passant à travers la rainure traversante (22) et s'étendant jusqu'à la pince de maintien de câblage (13). L'invention concerne en outre un robot. La structure de fixation de câblage de jambe de robot et le robot ont une structure fiable et sont stables.
PCT/CN2022/113729 2021-09-27 2022-08-19 Structure de fixation de câblage de jambe de robot et robot WO2023045653A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202122354400.0U CN216269607U (zh) 2021-09-27 2021-09-27 一种机器人腿部走线固定结构及机器人
CN202122354400.0 2021-09-27

Publications (1)

Publication Number Publication Date
WO2023045653A1 true WO2023045653A1 (fr) 2023-03-30

Family

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Application Number Title Priority Date Filing Date
PCT/CN2022/113729 WO2023045653A1 (fr) 2021-09-27 2022-08-19 Structure de fixation de câblage de jambe de robot et robot

Country Status (2)

Country Link
CN (1) CN216269607U (fr)
WO (1) WO2023045653A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN216269607U (zh) * 2021-09-27 2022-04-12 东莞市本末科技有限公司 一种机器人腿部走线固定结构及机器人

Citations (12)

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CA2451361A1 (fr) * 2002-11-27 2004-05-27 Universite De Sherbrooke Plate-forme robotique modulaire
WO2005095192A1 (fr) * 2004-04-01 2005-10-13 Uniteam Italia Srl Automobile modulaire
GB201303633D0 (en) * 2013-03-01 2013-04-17 Dyson Technology Ltd Drive arrangement for an autonomous surface treating applicance
WO2017087986A1 (fr) * 2015-11-20 2017-05-26 The Regents On The University Of California Système robotique bipède non anthropomorphe
CN106945055A (zh) * 2017-04-25 2017-07-14 深圳市优必选科技有限公司 机器人走线结构及机器人
WO2017184889A1 (fr) * 2016-04-20 2017-10-26 Skysledpro Llc. Robot à câble commandé à distance (« rccr »), support de systèmes électroniques et système de transmission de données à cet effet
WO2018005346A1 (fr) * 2016-06-27 2018-01-04 Massachusetts Institute Of Technology Explorateur à locomotion de treillis isotrope bipède : plate-forme robotisée pour la locomotion et la manipulation de structures en treillis discrètes et de structures spatiales légères
CN209553352U (zh) * 2018-12-29 2019-10-29 深圳市优必选科技有限公司 一种机器人腿部结构及机器人装置
CN111098951A (zh) * 2019-12-30 2020-05-05 深圳市优必选科技股份有限公司 类人形机器人及其腿部结构
CN210983251U (zh) * 2020-03-13 2020-07-10 玉林市第一职业中等专业学校 一种计算机用理线器
CN112278109A (zh) * 2020-10-30 2021-01-29 山东大学 一种仿生水下足式机器人腿部结构及仿生水下足式机器人
CN216269607U (zh) * 2021-09-27 2022-04-12 东莞市本末科技有限公司 一种机器人腿部走线固定结构及机器人

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2451361A1 (fr) * 2002-11-27 2004-05-27 Universite De Sherbrooke Plate-forme robotique modulaire
WO2005095192A1 (fr) * 2004-04-01 2005-10-13 Uniteam Italia Srl Automobile modulaire
GB201303633D0 (en) * 2013-03-01 2013-04-17 Dyson Technology Ltd Drive arrangement for an autonomous surface treating applicance
WO2017087986A1 (fr) * 2015-11-20 2017-05-26 The Regents On The University Of California Système robotique bipède non anthropomorphe
WO2017184889A1 (fr) * 2016-04-20 2017-10-26 Skysledpro Llc. Robot à câble commandé à distance (« rccr »), support de systèmes électroniques et système de transmission de données à cet effet
WO2018005346A1 (fr) * 2016-06-27 2018-01-04 Massachusetts Institute Of Technology Explorateur à locomotion de treillis isotrope bipède : plate-forme robotisée pour la locomotion et la manipulation de structures en treillis discrètes et de structures spatiales légères
CN106945055A (zh) * 2017-04-25 2017-07-14 深圳市优必选科技有限公司 机器人走线结构及机器人
CN209553352U (zh) * 2018-12-29 2019-10-29 深圳市优必选科技有限公司 一种机器人腿部结构及机器人装置
CN111098951A (zh) * 2019-12-30 2020-05-05 深圳市优必选科技股份有限公司 类人形机器人及其腿部结构
CN210983251U (zh) * 2020-03-13 2020-07-10 玉林市第一职业中等专业学校 一种计算机用理线器
CN112278109A (zh) * 2020-10-30 2021-01-29 山东大学 一种仿生水下足式机器人腿部结构及仿生水下足式机器人
CN216269607U (zh) * 2021-09-27 2022-04-12 东莞市本末科技有限公司 一种机器人腿部走线固定结构及机器人

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