WO2023071150A1

WO2023071150A1 - Joint internal wiring structure, joint mechanism and foot-type robot

Info

Publication number: WO2023071150A1
Application number: PCT/CN2022/093201
Authority: WO
Inventors: 王兴兴; 钱兢
Original assignee: 杭州宇树科技有限公司
Priority date: 2021-10-29
Filing date: 2022-05-17
Publication date: 2023-05-04
Also published as: CN113894835A

Abstract

A joint internal wiring structure. A first coiling body (3) and a second coiling body (5) which are rotatable relative to one another are provided at a joint, and a cable (4) is wound by means of a winding part (7) of the second coiling body (5) to achieve the adjustment of the length of the cable (4), so that the length of the wound cable (4) may be changed along with the expansion amplitude of the joint, which can effectively reduce the irregular stacking of the cable (4), and effectively ensure that the cable (4) is always kept neat and not clamped in the reciprocating rotation process. Therefore, interference between the cable (4) and other joint components is effectively avoided, and the solution is simple, practical and feasible. Meanwhile, an accommodating cavity (8) is provided on 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 the cable (4) interfering with joint movement causing potential safety hazards and causing wear of other components of the joint is further avoided. Further provided are a joint mechanism and a foot-type robot.

Description

A wiring structure in a joint, a joint mechanism and a legged robot

technical field

The invention relates to the technical field of robot equipment, in particular to a structure for routing wires in a joint, a joint mechanism and a legged robot.

Background technique

At present, the cables at the joints of legged robots are mostly exposed outside, which are easily damaged and affect the appearance; and in order to meet the rotation angle requirements of the joints, most of the exposed cables have a large margin, which will lead to The damage of the cable also affects the overall appearance of the legged robot.

Further, Chinese patents: a wire routing structure for a seven-degree-of-freedom industrial robot (public number CN107097214A), a robot joint motor and joint (public number CN112706156A), and a multi-axis robot joint wiring structure (public number: CN203697031U), the joint structure of the cable shaft inside the robot (publication number: CN204772585U) discloses a scheme for internal hollow wiring.

technical problem

Although the use of internal wiring can effectively protect the line and save space, it is better than external wiring. However, the hollow cable routing scheme requires the installation of a hollow motor and a hollow reducer. The hollow motor and hollow reducer need to be provided with holes for the cables to pass through. On the one hand, the size of the motor and reducer increases and the appearance is bloated; on the other hand, it leads to manufacturing costs. extremely high.

If a non-hollow bias motor and a hollow reducer are used instead, the intermediate transmission chain is added, which reduces the transmission accuracy, and also has the problems of increased structural size and bloated appearance.

Furthermore, whether it is internal or external wiring, in order to ensure the normal movement of the joints, the length of the cables has enough margin. The repeated friction of the shell or other parts will cause the related parts to wear and affect the service life of the joint.

technical solution

In order to overcome the deficiencies of the prior art, the first object of the present invention is to provide a first reel body and a second reel body that are relatively rotatable at the joint, and through the winding part of the second reel body, the wire The cable is wound to realize the adjustment of the length of the cable, and then the length of the wound cable can be changed with the expansion of the joint, which can effectively reduce the irregular stacking of the cable and effectively ensure that the cable is always maintained during the reciprocating rotation. Neat and non-stuck wire routing structure in the joint.

The second object of the present invention is to provide a winding part that can be wound with a cable, and can directly use the joint motor to provide power. When the joint motor drives the joint to unfold or fold, the drive cable is wound out or rolled out from the winding part. It is wound on the winding part to realize the synchronous adjustment of the winding length of the cable and the unfolding range of the joint, which can effectively reduce the irregular stacking of the cables and effectively ensure that the cables are always neat and not stuck during the reciprocating rotation process. joint mechanism.

The third object of the present invention is to provide a quadruped robot, the joints of which are equipped with an internal cable routing structure, and the cables at the joints are built in, so that the cables will not get stuck when rotating.

In order to achieve one of the above objects, the first technical solution of the present invention is:

A wire routing structure in a joint, comprising a cable, a first winding body and a second winding body capable of relative rotation.

The center of the second winding body protrudes to form a winding portion, and the first winding body is provided with an accommodating cavity for accommodating the winding portion;

The cable is wound on the winding portion, one end of which is fixed on the winding portion, and the other end is fixed to the second end after extending outward in a direction opposite to the direction in which it is wound on the winding portion. on a winding body; when the first winding body and the second winding body rotate relative to each other, the cable is always in contact with the first winding body and the winding part respectively.

After continuous exploration and testing, the present invention sets a first winding body and a second winding body that can rotate relatively at the joints, and the cable is wound through the winding part of the second winding body to realize the length of the cable. The adjustment can make the length of the coiled cable change with the expansion of the joint, which can effectively reduce the irregular stacking of cables, and effectively ensure that the cables are always neat and not stuck during the reciprocating rotation; thus effectively avoiding The cable interferes with other joint components, and the solution is simple, practical and feasible.

At the same time, the first winding body of the present invention is provided with an accommodation cavity, which can effectively limit the moving range of the cable while protecting the cable, and further prevent the cable from interfering with the joint movement, causing potential safety hazards and causing wear of other components of the joint.

Compared with the traditional method in which the cables at the joints are exposed, the present invention can protect the cables and has a beautiful structure.

Further, the joint mechanism and the robot of the present invention can have motors and reducers that are not hollow. Compared with the existing hollow wire routing structure, the joint mechanism and the robot of the present invention have small structure size, low manufacturing cost and more compact structure.

Furthermore, applying the joint mechanism and robot of the present invention, the motor can not be biased, reducing the intermediate transmission structure. Compared with the existing motor bias wiring structure, the application of the joint mechanism and robot of the present invention has high transmission precision, small structural size, and easy manufacturing. The cost is low and the structure is more compact.

As a preferred technical measure:

The cable is an elastic cable or a bendable cable or an electric wire or a data cable, one end of which is fixed on the winding part, and the other end goes outward in the direction opposite to the direction in which it is wound on the winding part. fixed on the first winding body after bending;

When the first winding body and the second winding body rotate relatively, the cable can abut against the first winding body and the winding part respectively.

Preferably, the cable is a bendable cable, the cable is moderately soft and hard, and can be bent repeatedly at will. Closed on the winding part or on the inner wall of the first coil, this can further ensure that the cable is always kept neat and free from jamming during the reciprocating rotation.

As a preferred technical measure:

The wiring structure in the joint includes a motor unit, the motor unit includes a casing and a power output end, the first winding body is fixedly connected to the casing, and the second winding body is connected to the power output terminal fixed connection;

The output shaft of the motor unit drives the joint to reciprocate and at the same time drives the cable to be wound on or out from the winding part, so that the winding length of the cable can change with the expansion range of the joint.

The present invention can directly use the motor in the joint, and when the motor unit drives the joint to unfold, it drives the winding part to rotate forward, so that the cable is wound out, so that the length of the cable matches the unfolded width of the joint;

When the motor unit drives the joint to fold, it drives the winding part to rotate in the opposite direction, so that the cable is wound on the winding part, so as to avoid disorderly stacking of cables and meet the requirements of the joint for the length of the cable. The scheme is simple and needs Few parts and low manufacturing cost.

As a preferred technical measure:

The inside of the accommodating cavity and the surface of the cable are covered with lubricating grease; this reduces wear on the cable when the joint rotates, and greatly increases the service life.

The cables are one group of wires or multiple groups of wires; the multiple groups of wires are distributed at intervals in the accommodating cavity, and the routing space in the accommodating cavity can be utilized as much as possible to facilitate the arrangement of large current routing, and multiple groups of wires signal line.

As a preferred technical measure:

The housing is provided with a cable guide, which can protect the cables and prevent damage.

The first winding body is provided with an opening for the cable to pass through, and the cable guiding member is provided at the opening.

As a preferred technical measure:

The opening is provided with several insertion holes for assembling several cables;

The shape of the cable is flat, and under the premise of ensuring the bending life of the cable, the bending radius is small, so that the object of the present invention can be achieved only by using a small space in the accommodating cavity.

As a preferred technical measure:

The first winding body and the second winding body are respectively cover-shaped structures, the two are socketed together, and are arranged coaxially with the motor unit;

The second winding body is fixedly connected to the housing of another joint motor, so that the present invention has a compact structure and a small size.

In order to achieve one of the above objects, the second technical solution of the present invention is:

A joint mechanism with a wiring structure,

It includes a motor unit capable of driving joint movement, a cable capable of conducting electricity or/and transmitting signals, and a winding member capable of winding the cable;

The output shaft of the motor unit is fixedly connected to the winding member;

A protruding winding portion is provided on the winding member;

One end of the cable is fixed to the winding part;

After continuous exploration and testing, the present invention sets up a winding part that can wind the cable, and directly uses the joint motor to provide power. When the joint motor drives the joint to unfold or fold, the driving cable is wound out or wound from the winding part. On the winding part, the synchronous adjustment of the winding length of the cable and the unfolding range of the joint can be realized, which can effectively reduce the irregular stacking of the cables and effectively ensure that the cables are always neat and not stuck during the reciprocating rotation.

Furthermore, the motor and the reducer of the present invention may not be hollow. Compared with the existing hollow wire routing structure, the present invention has smaller structure size, lower manufacturing cost and more compact structure.

Furthermore, the motor of the present invention does not need to be biased, reducing the intermediate transmission structure. Compared with the existing motor bias wiring structure, the present invention has high transmission precision, small structural size, low manufacturing cost and more compact structure.

As a preferred technical measure:

The winding member includes a first winding body and a second winding body capable of relative rotation;

The center of the second winding body protrudes to form a winding portion, which is fixedly connected to the output shaft of the motor unit;

The first winding body is provided with an accommodating cavity for accommodating the winding part, which is fixedly connected with the casing of the motor unit;

The cable is wound on the winding part, one end of which is fixed on the winding part, and the other end protrudes from the first winding body;

The circumference of the winding part matches the expansion range of the joint, so that the length of the wound cable can match the expansion width of the joint;

When the motor unit drives the joint to unfold, it drives the winding part to rotate, so that the cable is wound out, so that the length of the cable matches the width of the joint;

When the motor unit drives the joint to fold, it drives the winding part to rotate, so that the cable is wound on the winding part, so as to avoid disorderly stacking of cables and meet the requirements of the joint for the length of the cable.

In order to achieve one of the above objects, the third technical solution of the present invention is:

a legged robot,

The joints of the legged robot are provided with the above-mentioned intra-joint routing structure, or the above-mentioned joint mechanism with a wire routing protection structure.

Beneficial effect

After continuous exploration and testing, the present invention sets up a winding piece or winding body capable of winding the cable, so that the cable can be wound out from the winding part or wound on the winding part, so that the winding length of the cable Matching the expansion range of the joints, it can effectively reduce the random stacking of cables, and effectively ensure that the cables are always neat and not stuck during the reciprocating rotation.

Description of drawings

Fig. 1 is a kind of overall exploded diagram of wiring structure in the joint of the present invention;

Fig. 2 is a kind of front view of the wiring structure in the joint of the present invention;

Fig. 3 is a certain angle diagram showing the transformation of the structure shown in Fig. 1;

Fig. 4 is a structural diagram of the joint mechanism of the present invention.

In the figure: 1. Housing; 2. Cable guide; 3. First winding body; 4. Cable; 5. Second winding body; 6. Motor unit; 7. Winding part; 8. Accommodating Cavity; 9, opening.

Embodiments of the present invention

Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. . 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 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 wiring structure in the joint of the present invention:

A cable routing structure in a joint includes a cable 4 , a first winding body 3 and a second winding body 5 that can rotate relative to each other.

The axis of the second winding body 5 protrudes to form a winding portion 7, and the first winding body 3 is provided with an accommodating cavity 8 for accommodating the winding portion 7;

The cable 4 is wound on the winding part 7, one end of which is fixed on the winding part 7, and the other end is fixed after extending outward in the direction opposite to the direction in which it is wound on the winding part 7. on the first reel body; when the first reel body and the second reel body rotate relatively, the cable 4 is always connected to the first reel body and the winding wire respectively Part 7 is in contact.

After continuous exploration and testing, the present invention sets a first winding body 3 and a second winding body 5 that can rotate relatively at the joints, and winds the cable 4 through the winding portion 7 of the second winding body 5 , to realize the adjustment of the length of the cable 4, and then the length of the wound cable 4 can be changed with the expansion range of the joint, which can effectively reduce the random stacking of the cable 4 and effectively ensure that the cable 4 is always maintained during the reciprocating rotation. Tidy, no wire jamming; thus effectively avoiding interference between the cable 4 and other joint components, the solution is simple, practical and feasible.

At the same time, the first winding body 3 of the present invention is provided with an accommodation cavity 8, which can effectively limit the range of movement of the cable 4 while protecting the cable 4, and further prevent the cable 4 from interfering with the joint movement, causing safety hazards and joint damage. wear of other components.

Compared with the traditional way of exposing the cables 4 at the joints, the present invention can protect the cables 4 and has a beautiful structure.

The cable 4 is a group of wires or multiple groups of wires; the multiple groups of wires are distributed at intervals in the accommodation chamber 8, and the wiring space in the accommodation chamber 8 can be utilized as much as possible to facilitate the arrangement of large current wiring. and multiple sets of signal lines.

The concrete embodiment of cable 4 structure of the present invention:

The cable 4 is a bendable cable, the cable is moderately soft and hard, and can be bent repeatedly at will. One end of the cable is fixed on the winding part 7, and the other end is wound on the winding part 7. After being bent outwards in the opposite direction, it is 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 contact with the first winding body 3 and the winding portion 7 respectively.

Therefore, the winding arrangement of the cable can make the first winding body 3 and the second winding body 5 always stick to the winding part 7 or the inner wall of the first winding body 3 during the reciprocating rotation, so that This can further ensure that the cable 4 is always kept neat and not stuck during the reciprocating rotation process.

Furthermore, the shape of the flat cable is flat, and the bending radius is small under the premise of ensuring the bending life of the flat cable, so that the purpose of the present invention can be achieved as long as the space of the accommodating cavity 8 is small.

A specific embodiment of the present invention setting driving source:

The wiring structure in the joint includes a motor unit 6, the motor unit 6 includes a casing 1 and a power output end, the first winding body 3 is fixedly connected to the casing 1, and the second winding body 5 is fixedly connected with the power output end;

While the output shaft of the motor unit 6 drives the joint to reciprocate, it drives the cable 4 to be wound on or out from the winding portion 7, so that the winding length of the cable 4 can vary with the expansion range of the joint.

The present invention can directly use the motor in the joint. When the motor unit 6 drives the joint to unfold, it drives the winding part 7 to rotate forward, so that the cable 4 is wound out, so that the length of the cable 4 matches the width of the joint;

When the motor unit 6 drives the joint to fold, it drives the winding part 7 to rotate in reverse, so that the cable 4 is wound on the winding part 7, so as to avoid disorderly stacking of the cables 4 and meet the requirements of the joint for the length of the cable 4 , the scheme is simple, the required parts are few, and the manufacturing cost is low.

A specific embodiment of the present invention to reduce wear:

The inside of the accommodation chamber 8 and the surface of the cable 4 are covered with lubricating grease; this reduces wear on the cable 4 when the joint rotates, and greatly increases the service life.

A specific embodiment of the present invention adding a guide structure:

The housing 1 is provided with a cable guide 2, which can protect the cable 4 and prevent damage.

The cable guide 2 is an L-shaped cavity, which is convenient for changing the extension direction of the cable 4. On the one hand, it communicates with the opening 9, and on the other hand, it guides the cable 4 to the components to be connected.

The first winding body 3 is provided with an opening 9 for the cable 4 to pass through, and the cable guiding member 2 is provided at the opening 9 .

The opening 9 is provided with several insertion holes for connecting several cables 4 to be applicable to various scenarios.

A specific embodiment of the winding body structure of the present invention:

The first winding body 3 and the second winding body 5 are respectively cover-shaped structures, which are nested together and arranged coaxially with the motor unit 6 to reduce the occupied space and make the structure more compact.

The second winding body 5 is fixedly connected to the casing 1 of another joint motor, so that the present invention has a compact structure and a small size.

As shown in Figure 4, a specific embodiment of the joint mechanism of the present invention:

A joint mechanism with a wiring structure,

It includes a motor unit 6 capable of driving joint movement, a cable 4 capable of conducting electricity or/and transmitting signals, and a winding member capable of winding the cable 4 .

The output shaft of the motor unit 6 is affixed to the winding member;

The winding part is provided with a protruding winding part 7;

One end of the cable 4 is fixed to the winding part 7;

After continuous exploration and testing, the present invention sets up a coiling part capable of winding the cable 4, and directly uses the joint motor to provide power, and drives the cable 4 to wind out from the winding part 7 while the joint motor drives the joint to unfold or fold. Or winding, to realize the synchronous adjustment of the winding length of the cable 4 and the expansion range of the joint, which can effectively reduce the irregular stacking of the cables 4 and effectively ensure that the cables 4 are always neat and not stuck during the reciprocating rotation.

A specific embodiment of the winding structure of the present invention:

The winding member includes a first winding body 3 and a second winding body 5 which can rotate relatively;

The center of the second winding body 5 protrudes to form a winding portion 7, which is fixedly connected to the output shaft of the motor unit 6;

The first winding body 3 is provided with an accommodating cavity 8 for accommodating the winding portion 7 , which is fixedly connected to the casing 1 of the motor unit 6 .

The cable 4 is wound on the winding part 7 , one end of which is fixed on the winding part 7 , and the other end protrudes from the first winding body 3 .

The circumference of the winding portion 7 matches the unfolding range of the joint, so that the length of the wound cable 4 can match the unfolding width of the joint.

The specific size of the winding part 7 can be set according to the rotation angle of the motor and the unfolding relationship of the joint, as well as the required length of the cable 4 .

When the motor unit 6 drives the joint to expand, it drives the winding part 7 to rotate, so that the cable 4 is wound out, so that the length of the cable 4 matches the width of the joint;

When the motor unit 6 drives the joint to fold, it drives the winding part 7 to rotate, so that the cable 4 is wound on the winding part 7, so as to avoid disorderly stacking of the cables 4 and meet the requirements of the joint for the length of the cable 4.

Application examples of the present invention:

a legged robot,

The above-mentioned embodiment is only a preferred embodiment of the present invention, and cannot be used to limit the protection scope of the present invention. Any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention belong to the scope of the present invention. Scope of protection claimed.

Claims

A wire routing structure in a joint, characterized in that,

It includes a cable (4), a relatively rotatable first winding body (3) and a second winding body (5);

The axis of the second winding body (5) protrudes to form a winding part (7), and the first winding body (3) is provided with an accommodating cavity (8) for accommodating the winding part (7) );

The cable (4) is wound on the winding part (7), one end of which is fixed on the winding part (7), and the other end is wound in the winding direction of the winding part (7). Extend outward in the opposite direction and fix on the first reel body; when the first reel body and the second reel body rotate relative to each other, the cables (4) are always connected to the The first winding body is in contact with the winding part (7).
The cable routing structure in a joint according to claim 1, characterized in that,

The cable (4) is an elastic cable or a bendable cable or a wire or a data cable, one end of which is fixed on the winding part (7), and the other end is wound on the winding part (7) The upper winding is bent outward in the opposite direction and 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 connected with the first winding body (3) and the winding body respectively. The wire part (7) abuts.
The cable routing structure in a joint according to claim 2, characterized in that,

The wiring structure in the joint includes a motor unit (6), the motor unit (6) includes a housing (1) and a power output end, the first winding body (3) and the housing (1) fixedly connected, the second winding body (5) is fixedly connected to the power output end;

While the output shaft of the motor unit (6) drives the joint to reciprocate, it drives the cable (4) to be wound on or out of the winding part (7), so that the cable (4) is wound The out length can change with the range of joint expansion.
The cable routing structure in a joint according to claim 3, characterized in that,

The inside of the accommodation cavity (8) and the surface of the cable (4) are covered with lubricating grease;

The cable (4) is a group of wires or multiple groups of wires; the multiple groups of wires are distributed at intervals in the accommodating cavity (8).
The cable routing structure in a joint according to claim 4, characterized in that,

The casing (1) is provided with a cable guide (2), and the first winding body (3) is provided with an opening (9) for the cable (4) to pass through. The wire guide (2) is arranged at the opening (9).
The cable routing structure in the joint according to claim 5, characterized in that,

The opening (9) is provided with several insertion holes for assembling several cables (4);

The shape of the cable (4) is flat.
The wire routing structure in a joint according to any one of claims 1-6, characterized in that,

The first winding body (3) and the second winding body (5) are respectively cover-shaped structures, the two are socketed together, and are arranged coaxially with the motor unit (6);

The second winding body (5) is fixedly connected to the casing (1) of another joint motor.
A joint mechanism with a wire routing structure, characterized in that,

It includes a motor unit (6) capable of driving joint movement, a cable (4) capable of conducting electricity or/and transmitting signals, and a winding member capable of winding the cable (4);

The output shaft of the motor unit (6) is fixedly connected to the winding piece;

A protruding winding portion (7) is provided on the winding member;

One end of the cable (4) is fixed to the winding part (7);

While the output shaft of the motor unit (6) drives the joint to reciprocate, it drives the cable (4) to be wound on or out of the winding part (7), so that the cable (4) is wound The out length can change with the range of joint expansion.
A joint mechanism with a wire routing structure according to claim 8, characterized in that,

The reel includes a first reel (3) and a second reel (5) that can rotate relatively;

The axis of the second winding body (5) protrudes to form a winding part (7), which is fixedly connected to the 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), which is fixedly connected with the casing (1) of the motor unit (6);

The cable (4) is wound on the winding part (7), one end of which is fixed on the winding part (7), and the other end protrudes from the first winding body (3);

The circumference of the winding part (7) matches the expansion range of the joint, so that the length of the wound cable (4) can match the expansion width of the joint;

When the motor unit (6) drives the joint to unfold, it drives the winding part (7) to rotate, so that the cable (4) is wound out, so that the length of the cable (4) matches the unfolded width of the joint;

When the motor unit (6) drives the joint to fold, it drives the winding part (7) to rotate, so that the cable (4) is wound on the winding part (7), so as to avoid disorderly stacking of the cables (4), and Adapt to the requirements of the joint for the length of the cable (4).
A legged robot, characterized in that,

The joints of the legged robot are provided with an intra-joint wire routing structure according to any one of claims 1-7, or a joint mechanism with a wire routing protection structure according to any one of claims 8-9.