Wire harness fixing assembly and robot

Abstract

The utility model relates to the technical field of robots, in particular to a wire harness fixing assembly and a robot. The wire harness fixing assembly is applied to the robot, the robot comprises a robot body, and the wire harness fixing assembly comprises a fixing piece and a fixing support. The fixing piece is provided with a wire fixing hole, the wire fixing hole penetrates through the two ends of the fixing piece along the designated axis, a limiting part is arranged on the periphery of the fixing piece, and the fixing piece has the circumferential direction surrounding the designated axis. The fixing support comprises a fixing part and a connecting part, the fixing part is used for being connected with a machine body, the connecting part is used for being detachably connected to the fixing part through the lacing part, the connecting part is provided with a positioning hole for the lacing part to penetrate through, the positioning hole and the limiting part are located in the same circumferential direction of the fixing part, and the positioning hole is used for being matched with the limiting part to limit the lacing part. The wire harness fixing assembly prolongs the service life of the wire harness.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a wire harness fixing assembly and a robot. Background Technology

[0002] With the development of 3C technologies (communication, computer, and control technologies), the demand for robots used in the 3C industry is increasingly focused on miniaturization and lightweighting. This places increasingly stringent demands on the space requirements of the robot body, posing a significant challenge to the lifespan of the robot's wiring harness. Regarding the internal wiring of small robots, the wiring harness needs to pass through two connected joints and be fixed at both ends of these joints. Current wiring methods place extremely high demands on the dynamic performance and wire diameter of the cable itself; otherwise, a short moving section of wiring harness combined with a large wire diameter can easily lead to wire harness breakage. Utility Model Content

[0003] This application provides a wire harness fixing assembly, and also provides a robot having the above-described wire harness fixing assembly.

[0004] In a first aspect, this application provides a wire harness fixing assembly applied to a robot. The robot includes a body, and the wire harness fixing assembly includes a fixing member and a fixing bracket. The fixing member has a wire-fixing hole that passes through both ends of the fixing member along a designated axis. A limiting portion is provided on the outer periphery of the fixing member, and the fixing member has a circumferential direction surrounding the designated axis. The fixing bracket includes a fixing portion and a connecting portion. The fixing portion is used to connect to the body, and the connecting portion is used to be detachably connected to the fixing member by a fastening member. The connecting portion has a positioning hole for the fastening member to pass through. The positioning hole and the limiting portion are located in the same circumferential direction of the fixing member, and the positioning hole is used to cooperate with the limiting portion to limit the fastening member.

[0005] In some optional examples, the number of limiting parts is set to multiple, and the multiple limiting parts are arranged at intervals along a specified axis. A limiting groove is formed between two adjacent limiting parts, and the limiting groove is used for the fastening member to pass through.

[0006] In some alternative examples, the limiting part is a limiting protrusion, which is located on the side of the fixing member away from the fixing bracket; or the limiting part is a limiting flange, which surrounds the outer periphery of the fixing member, and the limiting groove formed between two adjacent limiting flanges is an annular groove.

[0007] In some alternative examples, the fastener includes a fixing sleeve and a locking part, with a wire fixing hole opened in the fixing sleeve, and the locking part disposed on the outer peripheral wall of the fixing sleeve and protruding relative to the outer peripheral wall; the connecting part is provided with a locking groove, and the locking part is embedded in the locking groove.

[0008] In some alternative examples, the fastener also includes a support base having a support surface, the support base being disposed on the outer peripheral wall of the fastener and surrounding the engaging portion, the engaging portion protruding relative to the support surface, and the support surface abutting against one side surface of the connecting portion when the engaging portion is engaged in the engaging groove.

[0009] In some alternative examples, the fixing bracket also includes a guide portion connected between the connecting portion and the fixing portion, the guide portion extending in a direction intersecting the direction of a predetermined axis.

[0010] In some alternative examples, the extending direction of the fixing part intersects the extending direction of the guide part, and the extending direction of the fixing part intersects the direction of the predetermined axis.

[0011] In some alternative examples, the retaining sleeve is a plastic sleeve, the wire fixing hole is an elliptical hole, and the limiting part and the engaging part are located at both ends of the long axis of the wire fixing hole.

[0012] Secondly, this application also provides a robot, including a body, the aforementioned wire harness fixing component, and a wire harness, wherein the wire harness fixing component is disposed within the body and the wire harness passes through the wire harness fixing component.

[0013] In some alternative examples, the body includes a first joint, a second joint, and a third joint, with the second joint movably connected between the first joint and the third joint, and a wire harness fixing assembly disposed within the second joint, with both ends of the wire harness fixed to the first joint and the third joint, respectively.

[0014] Compared to existing technologies, the wire harness fixing assembly provided in this application is applied to a robot, whose body may include multiple motion joints. The wire harness fixing assembly is disposed in one of the joints between these multiple motion joints. The robot's wire harness passes through the wire harness fixing assembly, which protects the wire harness and reduces wear. During robot joint movement, the wire harness fixing assembly ensures that only one section of the wire harness exists between the multiple motion joints, extending the length of the wire harness and thus extending its service life. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a partial structural schematic diagram of a robot provided in one embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of a wire harness fixing assembly provided in an embodiment of this application.

[0018] Figure 3 yes Figure 2 The diagram shows the structure of the fastener of the wire harness fixing assembly.

[0019] Figure 4 yes Figure 2 The diagram shows an exploded view of the wire harness fixing assembly.

[0020] Reference numerals: 100, wire harness fixing assembly; 10, fixing element; 12, fixing sleeve; 121, wire fixing hole; 14, limiting part; 141, limiting protrusion; 143, limiting groove; 16, engaging part; 18, support base; 181, supporting surface; 30, fixing bracket; 32, fixing part; 321, mounting hole; 34, connecting part; 341, positioning hole; 36, guide part; 363, engaging groove; 50, fastening element; 200, robot; 201, body; 2012, first joint; 2014, second joint; 2016, third joint; 203, wire harness; 2032, moving cable harness part; 2034, stationary cable harness part. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0022] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. The specification and claims do not distinguish components based on differences in name, but rather on differences in function. For example, the term "comprising" used throughout the specification and claims is an open-ended term and should be interpreted as "including but not limited to"; "generally" means that those skilled in the art can solve the technical problem and basically achieve the technical effect within a certain margin of error.

[0023] Please see Figure 1 This application provides a wire harness fixing assembly 100, which is applied in a robot 200. The wire harness fixing assembly 100 is used for the wire harness between the joints of the robot 200 to reduce wire harness friction, protect the wire harness and improve the wire harness life.

[0024] This specification does not limit the specific type of robot 200. For example, robot 200 can be an industrial robot or a collaborative robot. In this embodiment, robot 200 is a collaborative robot. Robot 200 includes a body 201, a wiring harness 203, and a wiring harness fixing assembly 100. The wiring harness 203 passes through the wiring harness fixing assembly 100, which is connected to the body 201. The wiring harness fixing assembly 100 can reduce the friction between the wiring harness 203 and the body 201, thereby protecting the wiring harness 203.

[0025] In some embodiments, the body 201 may include multiple joints. For example, the body 201 may include a first joint 2012, a second joint 2014, and a third joint 2016, with the second joint 2014 movably connected between the first joint 2012 and the third joint 2016. As an example, the first joint 2012 may be rotatably connected to the second joint 2014, and the second joint 2014 may also be rotatably connected to the third joint 2016, wherein the axis of rotation of the first joint 2012 relative to the second joint 2014 intersects the axis of rotation of the third joint 2016 relative to the second joint 2014. The body 201 has two degrees of freedom of movement. The wire harness 203 passes through the first joint 2012, the second joint 2014, and the third joint 2016 in sequence. In this embodiment, the wire harness fixing component 100 is disposed in the second joint 2014, and the wire harness 203 passes through the wire harness fixing component 100. One end of the wire harness 203 can be fixed in the first joint 2012 by a sheet metal part, and the other end of the wire harness 203 can also be fixed in the third joint 2016 by a sheet metal part.

[0026] Both the first joint 2012 and the third joint 2016 are connected to the second joint 2014 via a joint rotation connection device. The internal wiring harness 203 of the robot 200 includes a motion cable harness portion 2032 and a stationary cable harness portion 2034. The motion cable harness portion 2032 is located between the sheet metal parts of the first joint 2012 and the sheet metal parts of the third joint 2016. The fixation and overall routing of the motion cable harness portion 2032 are determined by the specific installation of the wiring harness fixing assembly 100.

[0027] In this application, unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or merely surface contact. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] Please also refer to Figure 1 and Figure 2 The wire harness fixing assembly 100 includes a fixing member 10 and a fixing bracket 30. The fixing member 10 has a wire-fixing hole 121, which extends through both ends of the fixing member 10 along a designated axis A, and is used for the wire harness 203 to pass through. A limiting portion 14 is provided on the outer periphery of the fixing member 10, and the fixing member 10 has a circumferential direction surrounding the designated axis A. The fixing bracket 30 is used to connect the fixing member 10 to the body 201. The fixing bracket 30 may include a fixing portion 32 and a connecting portion 34. The fixing portion 32 is used to connect to the body 201, and the connecting portion 34 is used to detachably connect to the fixing member 10 via a tightening member 50. The connecting portion 34 has a positioning hole 341 for the tightening member 50 to pass through. The positioning hole 341 and the limiting portion 14 are located in the same circumferential direction of the fixing member 10, and the positioning hole 341 cooperates with the limiting portion 14 to limit the tightening member 50. In this context, "the same circumferential direction" can be understood as the positioning hole 341 and the limiting part 14 being set correspondingly in the circumferential direction of the fastener 10. That is, the fastening member 50 can pass through the positioning hole 341 and the limiting part 14 at the same time around the fastener 10. It is not strictly required that the positioning hole 341 and the limiting part 14 are on the same arc line in the circumferential direction of the fastener 10.

[0029] The fastening element 50 is used to fix the fastener 10 and the fixing bracket 30. This specification does not limit the specific type of the fastening element 50; it can be a cable tie, clamp, or tape, etc. In this embodiment, the fastening element 50 is a cable tie. The fastener 10 and the fixing bracket 30 are detachably connected via the fastening element 50, allowing the installation of the fastener 10 to be adjusted according to specific application scenarios, thus improving the applicability of the fastener 10. In other embodiments, the fastener 10 and the fixing bracket 30 can also be integrally formed and connected, or the fastener 10 and the fixing bracket 30 can be fixedly connected.

[0030] The wire harness fixing assembly 100 is connected to the body 201 via the connecting part 34, and the wire harness 203 passes through the wire fixing hole 121. The wire harness fixing assembly 100 ensures that each joint of the body 201 has only one segment of moving wire harness (moving cable harness portion 2032) when in motion. For example, when the first joint 2012 and the third joint 2016 move relative to the second joint 2014, the wire harness fixing assembly 100 provided at the second joint 2014 ensures that there is only one segment of moving wire harness between the first joint 2012 and the third joint 2016, extending the length of the moving wire harness and thus extending the service life of the wire harness 203.

[0031] In this embodiment, the fixing member 10 is connected to the body 201 via the fixing bracket 30 (e.g., Figure 1As shown, it is used to constrain the wire harness 203. The fixing member 10 may include a fixing sleeve 12 and the aforementioned limiting part 14. The fixing sleeve 12 is generally a circular sleeve with both ends extending through it. It has a predetermined axis A and a circumferential part around the predetermined axis A. The wire fixing hole 121 is formed in the fixing sleeve 12 and passes through the opposite ends of the fixing sleeve 12 along the predetermined axis A. This specification does not limit the specific material of the fixing sleeve 12. For example, the fixing sleeve 12 may be made of elastic materials such as rubber or resin, or it may be made of plastic. As an example, the fixing sleeve 12 is a plastic sleeve. Due to its good shrinkage and soft texture, the fixing sleeve 12 can hold the wire harness 203 well without damaging it, thus improving the service life of the wire harness 203. This specification also does not limit the specific shape of the wire fixing hole 121. For example, the wire fixing hole 121 may be a circular hole or an elliptical hole. In this embodiment, the wire fixing hole 121 is an elliptical hole. The increased width through which the wire harness 203 can pass improves the degree of freedom of the wire harness 203 during the movement of the body 201 and reduces the possibility of the wire harness 203 breaking.

[0032] The limiting part 14 is disposed on the outer peripheral wall of the fixing sleeve 12 and is used to limit the fastening member 50. This specification does not limit the specific shape of the limiting part 14; the limiting part 14 can be a protrusion of various shapes such as cylindrical, conical, and prismatic. As an example, the limiting part 14 is generally rectangular in shape. The limiting part 14 can be glued to the peripheral wall of the fixing sleeve 12, or the limiting part 14 can be integrally formed into the fixing member 10.

[0033] In this embodiment, the limiting part 14 can be a limiting protrusion 141, which is connected to the peripheral wall of the fixing sleeve 12 and protrudes relative to the outer peripheral wall of the fixing sleeve 12. To improve the limiting effect on the fastening member 50, the limiting protrusion 141 is provided on the side of the fixing sleeve 12 away from the fixing bracket 30. Multiple limiting parts 14 can be provided, and the dimensions of the multiple limiting parts 14 can be the same, or the dimensions of the multiple limiting parts 14 can be different. The multiple limiting parts 14 are arranged at intervals along a designated axis A, and a limiting groove 143 is formed between two adjacent limiting parts 14, through which the fastening member 50 passes. The limiting protrusion 141 achieves the limiting function without compromising the structural strength of the fixing member 10, and does not excessively increase the overall thickness of the fixing member 10, thus reducing costs.

[0034] Please also refer to Figure 2 and Figure 3As an example, the number of limiting parts 14 can be four, arranged at intervals along a predetermined axis A. The four limiting parts 14 are divided into two groups along the predetermined axis A, each group including two adjacent limiting parts 14, with a limiting groove 143 formed between the two limiting parts 14 in each group. Correspondingly, the number of fastening members 50 can also be two, each fastening member 50 passing through one of the two limiting grooves 143. The limiting grooves 143 restrict the displacement of the fastening members 50 in the direction of the predetermined axis A, preventing loss of locking to the fixing sleeve 12 and improving the stability of the fastening members 50 in fixing the fixing member 10 and the fixing bracket 30.

[0035] In other embodiments, the limiting portion 14 is a limiting flange that surrounds the outer periphery of the fixing sleeve 12 and protrudes relative to the outer peripheral wall of the fixing sleeve 12 to form an annular platform. The limiting groove 143 formed between two adjacent limiting flanges is an annular groove, which further improves the limiting effect on the fastening member 50.

[0036] Please also refer to Figure 1 , Figure 2 and Figure 4 In this embodiment, the fixing bracket 30 is connected between the fixing member 10 and the second joint 2014. The fixing member 10 is connected to the fixing member 10 via a connecting portion 34, which is generally rectangular in shape. A positioning hole 341 is formed in the connecting portion 34 and extends through the connecting portion 34 along its thickness direction. At least two positioning holes 341 are provided, arranged radially along the fixing hole 121. When installing the fixing member 10 and the fixing bracket 30, the connecting portion 34 and the fixing sleeve 12 are pressed tightly together. One end of the fastening member 50 passes through one positioning hole 341 and through the limiting groove 143 between the two limiting portions 14. Then, it circles around the fixing sleeve 12 and reaches the connecting portion 34 again, and exits through the other positioning hole 341. Finally, the two ends of the fastening member 50 are fixed on the side of the connecting portion 34 away from the fixing sleeve 12, thus completing the connection between the fixing member 10 and the fixing bracket 30.

[0037] In the description of this application, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "inside", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the purpose of simplifying the description of this application and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0038] To improve the connection stability between the fastener 10 and the fixed bracket 30, two fastening members 50 are provided. Correspondingly, four positioning holes 341 are provided, divided into two groups. The two groups of positioning holes 341 are arranged along a predetermined axis A and are respectively located on both sides of the connecting portion 34. The two positioning holes 341 in each group are arranged radially spaced along the fixing hole 121. Since two limiting grooves 143 are provided, two sets of limiting portions 14 are also provided, as detailed in the description of the limiting portion 14 above. The two fastening members 50 are arranged radially spaced along the predetermined axis A, with both ends of each fastening member 50 passing through the two positioning holes 341 in the corresponding group of positioning holes 341. The two fastening members 50 further improve the connection stability between the fastener 10 and the fixed bracket 30.

[0039] In this embodiment, the connecting portion 34 may also be provided with a locking groove 363, which penetrates the connecting portion 34 along its thickness direction and is located between the two sets of positioning holes 341. The fixing member 10 may also include a locking portion 16, which is disposed on the outer peripheral wall of the fixing sleeve 12 and protrudes relative to the outer peripheral wall. The locking portion 16 is embedded in the locking groove 363, which restricts the displacement of the connecting portion 34 relative to the fixing sleeve 12 along the circumferential direction of the fixing sleeve 12, thereby improving the stability of the fixing member 10 fixed to the fixing bracket 30. Specifically, in this embodiment, the locking portion 16 may be integrally formed on the outer peripheral wall of the fixing sleeve 12 and is located on the side of the fixing sleeve 12 away from the limiting portion 14. The locking portion 16 is generally rectangular in shape, and correspondingly, the locking groove 363 is a rectangular groove.

[0040] The wire fixing hole 121 is an elliptical hole. The engaging part 16 and the limiting part 14 are located at both ends of the long axis of the wire fixing hole 121. The position of the engaging part 16 restricts the position of the fixing bracket 30. The position setting of the engaging part 16 and the limiting part 14 improves the uniformity of the limiting of the fastening member 50, thereby improving the connection stability between the fixing member 10 and the fixing bracket 30.

[0041] To further improve the connection stability between the fastener 10 and the fixing bracket 30, in this embodiment, the fastener 10 may further include a support base 18, which has a support surface 181. The support base 18 is disposed on the outer peripheral wall of the fixing sleeve 12 and surrounds the engaging portion 16, which protrudes relative to the support surface 181. When the engaging portion 16 is engaged in the engaging groove 363, the support surface 181 abuts against one side surface of the connecting portion 34. It should be understood that the phrase "one element abuts against another element" in this specification should be understood as meaning that the two elements can abut against each other directly or indirectly (e.g., when there is an intervening element between them). For example, if the other element is mounted on the intervening element, the first element can abut against the intervening element, thereby "abutting against the other element". During installation, the connecting part 34 abuts against the support surface 181. Compared with directly abutting against the arc-shaped outer peripheral wall of the fixing sleeve 12, this greatly increases the contact area between the connecting part 34 and the fixing member 10, thereby further improving the connection stability between the fixing member 10 and the fixing bracket 30.

[0042] Specifically, in this embodiment, the support base 18 is a boss formed on the outer peripheral wall of the fixing sleeve 12, and the engaging portion 16 protrudes relative to the support surface 181 to facilitate insertion into the engaging groove 363. The support surface 181 is generally rectangular and is in contact with one side surface of the connecting portion 34. In order to reduce the weight of the fastener 10 and reduce costs, in some embodiments, multiple recesses may be formed on the support surface 181 of the support base 18, and multiple recesses may also be formed on the side of the engaging portion 16 opposite to the fixing sleeve 12.

[0043] The fixing part 32 is connected to the body 201. The fixing part 32 is generally rectangular in shape, and its extension direction intersects the extension direction of the predetermined axis A. The plane containing the fixing part 32 is generally parallel to the plane containing the connecting part 34. This specification does not limit the specific connection method between the fixing part 32 and the body 201. The fixing part 32 can be connected to the body 201 by fasteners such as screws, pins, and bolts, or it can be fixed to the body 201 by adhesive bonding. In this embodiment, the fixing part 32 has mounting holes 321, and the number of mounting holes 321 can be multiple. The fixing part 32 is fixed to the second joint 2014 by screws, which pass through the mounting holes 321 and are fixed to the second joint 2014.

[0044] In this embodiment, the fixing bracket 30 may further include a guide portion 36, which connects the connecting portion 34 and the fixing portion 32. The extending direction of the guide portion 36 intersects the direction of the predetermined axis A. The overall routing of the wire harness 203 within the body 201 is achieved by adjusting the installation angle of the guide portion 36 and cooperating with the internal structural components of the connecting portion 34 at different positions within the robot 200. The design of the guide portion 36 allows the wire harness fixing assembly 100 to adapt to the routing adjustment of wires at different positions within the body 201, which helps release stress on the wire harness 203 during robot 200 movement, thereby improving the service life of the wire harness 203.

[0045] As an example, the guide portion 36 is bent relative to the connecting portion 34 towards the side of the connecting portion 34 away from the fixing member 10, and the extending direction of the guide portion 36 intersects with the extending direction of the fixing portion 32. When the guide portion 36 is bent relative to the connecting portion 34 and intersects the direction of the predetermined axis A, and is installed inside the body 201 via the fixing portion 32, the bending of the guide portion 36 creates a certain angle between the fixing member 10 and the body 201, facilitating the subsequent guidance of the wiring harness 203. This specification does not limit the angle between the extending direction of the guide portion 36 and the direction of the predetermined axis A; its specific size can be adaptively adjusted according to the routing of the wiring harness 203 in actual applications. In practical applications, the bending angle of the guide portion 36 can be changed to adapt to the routing requirements of different positions of the wiring harness 203.

[0046] The fixed bracket 30 can be formed by bending to ensure high structural strength and transmission stability. Therefore, although the fixing part 32, the connecting part 34 and the guide part 36 are named differently to refer to different parts of the fixed bracket 30, these names should not be regarded as a limitation on the structure of the fixed bracket 30. These names are only made for the convenience of description. For example, the connection between the fixing part 32, the connecting part 34 and the guide part 36 can be an integrally formed connection structure, and there may be no obvious dividing line between the fixing part 32, the connecting part 34 and the guide part 36. In other embodiments, the fixing part 32, the connecting part 34, and the guiding part 36 can be assembled and connected to reduce the manufacturing difficulty. For example, the fixing part 32, the connecting part 34, and the guiding part 36 can be manufactured independently and then assembled together by fasteners to form the overall structure of the fixing bracket 30. The fixing part 32, the connecting part 34, and the guiding part 36 can be formed separately, and the fixing part 32, the connecting part 34, and the guiding part 36 can be connected together by fasteners (such as screws, bolts, studs, and other threaded fasteners) and / or adhesives such as structural adhesives.

[0047] In the wire harness fixing assembly 100 provided in this embodiment, the wire harness fixing assembly 100 is connected to the body 201 via the connecting part 34, and the wire harness 203 passes through the fixing hole 121. The wire harness fixing assembly 100 ensures that each joint of the body 201 has only one segment of moving wire harness (moving cable harness portion 2032) when it is in motion. For example, when the first joint 2012 and the third joint 2016 move relative to the second joint 2014, the wire harness fixing assembly 100 provided at the second joint 2014 ensures that there is only one segment of moving wire harness between the first joint 2012 and the third joint 2016, extending the length of the moving wire harness and thus extending the service life of the wire harness 203. At the same time, the overall routing of the wire harness 203 in the body 201 is achieved by the installation angle of the guide part 36 and the cooperation between the connecting part 34 and the internal structural components at different positions of the robot 200.

[0048] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A wire harness fixing assembly, characterized in that, The wire harness fixing assembly is used in a robot, the robot including a body, and the wire harness fixing assembly includes: A fastener, wherein the fastener has a wire-fixing hole that passes through both ends of the fastener along a designated axis, and a limiting portion is provided on the outer periphery of the fastener, and the fastener has a circumferential direction surrounding the designated axis; The fixed bracket includes a fixing part and a connecting part. The fixing part is used to connect to the body, and the connecting part is used to be detachably connected to the fixing part by a fastening member. The connecting part is provided with a positioning hole for the fastening member to pass through. The positioning hole and the limiting part are located in the same circumferential direction of the fixing part. The positioning hole is used to cooperate with the limiting part to limit the fastening member.

2. The wire harness fixing assembly as described in claim 1, characterized in that, The number of limiting parts is provided in multiples, and the multiple limiting parts are arranged at intervals along the direction of the designated axis. A limiting groove is formed between two adjacent limiting parts, and the limiting groove is used for the fastening member to pass through.

3. The wire harness fixing assembly as described in claim 2, characterized in that, The limiting part is a limiting protrusion, which is disposed on the side of the fixing member opposite to the fixing bracket; or The limiting part is a limiting flange, which surrounds the outer periphery of the fixing member, and the limiting groove formed between two adjacent limiting flanges is an annular groove.

4. The wire harness fixing assembly as described in claim 1, characterized in that, The fastener includes a fixing sleeve and a locking part. The fixing hole is opened in the fixing sleeve, and the locking part is disposed on the outer peripheral wall of the fixing sleeve and protrudes relative to the outer peripheral wall. The connecting part is provided with a locking groove, and the locking part is embedded in the locking groove.

5. The wire harness fixing assembly as described in claim 4, characterized in that, The fastener also includes a support base, which has a support surface. The support base is disposed on the outer peripheral wall of the fastener and surrounds the engaging portion. The engaging portion protrudes relative to the support surface. When the engaging portion is fitted into the engaging groove, the support surface abuts against one side surface of the connecting portion.

6. The wire harness fixing assembly as described in claim 1, characterized in that, The fixed bracket further includes a guide portion, which is connected between the connecting portion and the fixed portion, and the extending direction of the guide portion intersects the direction of the designated axis.

7. The wire harness fixing assembly as described in claim 6, characterized in that, The extending direction of the fixing part intersects the extending direction of the guide part, and the extending direction of the fixing part intersects the direction of the designated axis.

8. The wire harness fixing assembly as described in claim 5, characterized in that, The fixing sleeve is a plastic sleeve, the wire fixing hole is an elliptical hole, and the limiting part and the engaging part are respectively at both ends of the long axis of the wire fixing hole.

9. A robot, characterized in that, include: Organism; The wire harness fixing assembly as described in any one of claims 1 to 8, wherein the wire harness fixing assembly is disposed within the body of the machine; And a wire harness, which is inserted into the wire harness fixing assembly.

10. The robot as described in claim 9, characterized in that, The body includes a first joint, a second joint, and a third joint. The second joint is movably connected between the first joint and the third joint. The wire harness fixing assembly is disposed in the second joint, and the two ends of the wire harness are respectively fixed to the first joint and the third joint.

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