Hollow shaft assembly, joint module and robot

Abstract

The present invention relates to a hollow shaft assembly, a joint module and a robot. The hollow shaft assembly includes a hollow shaft, a fixing member and a limiting member. The hollow shaft has a wiring harness channel that runs through the hollow shaft in an axial direction; the fixing member is rotatably arranged in the wiring harness channel, the fixing member is sleeved on the wiring harness that passes through the wiring harness channel, and can rotate synchronously with the wiring harness; the limiting member is arranged in the wiring harness channel, and the limiting member can abut against both ends of the fixing member in the axial direction to limit the movement of the fixing member along the axial direction of the wiring harness channel. In the above-mentioned hollow shaft assembly, the fixing member is arranged in the wiring harness channel, and the fixing member and the hollow shaft are rotatably matched, the wiring harness passes through the wiring harness channel and the fixing member, and the fixing member rotates synchronously with the wiring harness, thereby reducing the friction between the wiring harness and the hole wall of the wiring harness channel, and reducing the wear of the wiring harness. In addition, a limiting member is arranged in the wiring harness channel, and the limiting member can abut against the fixing member, thereby limiting the movement of the fixing member along the axial direction of the wiring harness channel.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a hollow shaft assembly, a joint module and a robot. Background Art

[0002] In a robot joint module, in order to facilitate the wiring harness layout, a speed reducer assembly and a motor assembly with a hollow structure are often used, that is, the wiring harness passes through the speed reducer assembly and the motor assembly. In order to protect the wiring harness, a hollow shaft is provided to pass through the speed reducer assembly and the motor assembly, and the wiring harness is arranged inside the hollow shaft. However, when the joint module works, the wiring harness contacts and rubs against the inner wall of the through hole of the hollow shaft. As the use time increases, the insulating layer of the wiring harness skin wears and cracks, and the exposed wire cores are prone to leakage. Summary of the Invention

[0003] Based on this, in view of the problem of wear of the wiring harness inside the hollow shaft, it is necessary to provide a hollow shaft assembly.

[0004] A hollow shaft assembly includes:

[0005] A hollow shaft having a wiring harness channel penetrating the hollow shaft along the axial direction;

[0006] A fixing member rotatably arranged in the wiring harness channel, the fixing member sleeved on the wiring harness passing through the wiring harness channel, and capable of rotating synchronously with the wiring harness;

[0007] A limiting member arranged in the wiring harness channel, and the limiting member can abut against both ends of the fixing member along the axial direction to limit the axial movement of the fixing member.

[0008] In one embodiment, the limiting member includes a first limiting portion for limiting one side of the fixing member along the axial direction;

[0009] The wiring harness channel includes a first through hole and a second through hole communicating with each other in sequence along the axial direction;

[0010] The radial dimension of the second through hole is larger than that of the first through hole, the fixing member is arranged in the second through hole, and the inner end wall of the second through hole forms the first limiting portion.

[0011] In one embodiment, the fixing member abuts against the first limiting portion.

[0012] In one embodiment, the limiting member further includes an elastic member, a boss is arranged on the outer peripheral surface of the fixing member, the elastic member is arranged in the second through hole, and both ends of the elastic member respectively abut against the boss and the first limiting portion.

[0013] In one embodiment, the limiting member includes a second limiting portion which abuts against the fixing member to limit the other side of the fixing member in the axial direction.

[0014] In one embodiment, the second limiting portion includes a limiting sleeve fixedly relative to the hollow shaft. A boss is provided on the outer peripheral surface of the fixing member. The limiting sleeve is sleeved on the fixing member and the wire harness and abuts against the boss.

[0015] In one embodiment, the second limiting portion includes a limiting ring. A ring groove is provided on the hole wall of the second through hole. The limiting ring is partially disposed in the ring groove, and the end surface of the limiting ring along the axial direction of the hollow shaft abuts against the fixing member.

[0016] In one embodiment, the limiting member is disposed at the end of the wire harness channel.

[0017] The present invention also provides a joint module, including a speed reducer assembly and the above-mentioned hollow shaft assembly, and the hollow shaft passes through the speed reducer assembly.

[0018] The present invention also provides a robot, including a body and the above-mentioned joint module, and the joint module is installed on the body.

[0019] Advantages of the present invention:

[0020] In the above-mentioned hollow shaft assembly, a wire harness channel for the wire harness to pass through is provided in the hollow shaft. The fixing member is at least partially disposed in the wire harness channel, and the fixing member is rotationally matched with the hollow shaft. The wire harness passes through the wire harness channel and the fixing member, and the fixing member rotates synchronously with the wire harness, thereby reducing the friction between the wire harness and the hole wall of the wire harness channel and reducing the wear of the wire harness. Moreover, a limiting member is provided in the wire harness channel, and the limiting member can abut against the fixing member to limit the movement of the fixing member along the axis direction of the wire harness channel. The hollow shaft assembly provided by the present invention reduces the friction area between the wire harness and the hole wall of the wire harness channel of the hollow shaft by providing a fixing member between the hole wall of the wire harness channel of the hollow shaft and the outer wall of the wire harness. The fixing member rotates synchronously with the wire harness, reduces the wear of the wire harness, and reduces the occurrence of wear and rupture of the insulating layer of the wire harness skin.

[0021] The present invention also provides a joint module, including a speed reducer assembly and the above-mentioned hollow shaft assembly. The hollow shaft passes through the speed reducer assembly. The wire harness passes through the wire harness channel of the hollow shaft, which is convenient for wire harness layout. Moreover, a fixing member and a limiting member are provided in the wire harness channel. The fixing member is sleeved on the outside of the wire harness. The fixing member reduces the friction between the wire harness and the wire harness channel and reduces the wear of the wire harness. The limiting member limits the movement of the fixing member along the axial direction of the wire harness channel and prevents the fixing member from moving out of the wire harness channel.

[0022] The present invention also provides a robot, including a body and the above-mentioned joint module, and the joint module is installed on the body. Installing the above-mentioned joint module on the body of the robot reduces the friction area between the wire harness and the wire harness channel, protecting the wire harness. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of a hollow shaft assembly provided by Embodiment 1 of the present invention;

[0024] Figure 2 It is a cross-sectional view of the hollow shaft assembly provided by Embodiment 1 of the present invention;

[0025] Figure 3 It is a schematic structural diagram of a fixing member provided by Embodiment 1 of the present invention;

[0026] Figure 4 It is a schematic structural diagram of a hollow shaft assembly provided by Embodiment 2 of the present invention;

[0027] Figure 5 It is a cross-sectional view of the hollow shaft assembly provided by Embodiment 2 of the present invention;

[0028] Figure 6 It is a schematic structural diagram of a fixing member provided by Embodiment 2 of the present invention;

[0029] Figure 7 It is a schematic structural diagram of a hollow shaft assembly provided by Embodiment 1 of the present invention;

[0030] Figure 8 It is a cross-sectional view of the hollow shaft assembly provided by Embodiment 3 of the present invention;

[0031] Figure 9 It is a cross-sectional view of the joint module provided by the embodiment of the present invention.

[0032] In the figure:

[0033] 100, hollow shaft; 110, wire harness channel; 111, first through hole; 112, second through hole; 120, main body part; 130, connecting part;

[0034] 200, fixing member; 210, fixing block; 220, boss; 230, installation groove;

[0035] 300, limiting member; 310, first limiting part; 320, elastic member; 330, second limiting part;

[0036] 400, wire harness;

[0037] 500, reducer assembly;

[0038] 600, motor assembly;

[0039] 700. Brake

[0040] 800. Encoder assembly Detailed implementation manners

[0041] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0043] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0046] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0047] In a robot joint module, in order to facilitate the wiring harness layout, a speed reducer assembly and a motor assembly with a hollow structure are often adopted, that is, the wiring harness passes through the speed reducer assembly and the motor assembly. In order to protect the wiring harness, a hollow shaft is provided to pass through the speed reducer assembly and the motor assembly, and the wiring harness is disposed inside the hollow shaft. However, when the joint module works, the wiring harness contacts and rubs against the inner wall of the through hole of the hollow shaft. As the use time increases, the insulating layer of the wiring harness skin wears and cracks, and the exposed wire core is prone to cause electric leakage.

[0048] The present invention provides a hollow shaft assembly, as Figure 1 and Figure 2 shown, the hollow shaft assembly includes a hollow shaft 100, a fixing member 200 and a limiting member 300. The hollow shaft 100 has a wiring harness channel 110 extending axially through the hollow shaft 100; the fixing member 200 is rotatably disposed in the wiring harness channel 110, the fixing member 200 is sleeved on a wiring harness 400 passing through the wiring harness channel 110, and can rotate synchronously with the wiring harness 400; the limiting member 300 is disposed in the wiring harness channel 110, and the limiting member 300 can abut against both ends of the fixing member 200 in the axial direction to limit the movement of the fixing member 200 in the axial direction.

[0049] In the above-mentioned hollow shaft assembly, a wire harness channel 110 for the wire harness 400 to pass through is provided in the hollow shaft 100. The fixing member 200 is arranged in the wire harness channel 110, and the fixing member 200 is rotationally matched with the hollow shaft 100. The wire harness 400 passes through the wire harness channel 110 and the fixing member 200, and the fixing member 200 rotates synchronously with the wire harness 400, thereby reducing the friction between the wire harness 400 and the hole wall of the wire harness channel 110 and reducing the wear of the wire harness 400. Moreover, a limiting member 300 is arranged in the wire harness channel 110, and the limiting member 300 can abut against both ends of the fixing member 200 in the axial direction, thereby restricting the movement of the fixing member 200 along the axis direction of the wire harness channel 110. In the hollow shaft assembly provided in this embodiment, by arranging the fixing member 200 between the hole wall of the wire harness channel 110 of the hollow shaft 100 and the outer wall of the wire harness 400, and the fixing member 200 rotates synchronously with the wire harness 400, the friction area between the wire harness 400 and the hole wall of the wire harness channel 110 is reduced, the wear of the wire harness 400 is reduced, and the situation of wear and rupture of the skin insulation layer of the wire harness 400 is reduced. By arranging the limiting member 300, the movement of the fixing member 200 in the axial direction is restricted. The fixing member 200 is sleeved on the wire harness 400, which can also prevent the wire harness 400 from being twisted at too large an angle and improve the electrical connection stability of the wire harness 400.

[0050] Preferably, as Figure 1 and Figure 2 shown, the limiting member 300 includes a first limiting portion 310, and the first limiting portion 310 is used for limiting one side of the fixing member 200 in the axial direction; the wire harness channel 110 includes a first through hole 111 and a second through hole 112 that are sequentially connected in the axial direction; the radial dimension of the second through hole 112 is larger than the radial dimension of the first through hole 111, the fixing member 200 is arranged in the second through hole 112, and the inner end wall of the second through hole 112 forms the first limiting portion 310. A wire harness channel 110 is provided in the hollow shaft 100, and along the axial direction of the hollow shaft 100, the wire harness channel 110 includes a first through hole 111 and a second through hole 112 that are sequentially connected, and the radial dimension of the second through hole 112 is larger than the radial dimension of the first through hole 111, which is convenient for accommodating the fixing member 200. The wire harness 400 sequentially passes through the first through hole 111 and the fixing member 200 located in the second through hole 112. The first limiting portion 310 of the limiting member 300, that is, the inner end wall of the second through hole 112 abuts against the fixing member 200, thereby restricting the movement of the fixing member 200 along the axial direction towards the direction close to the first through hole 111.

[0051] Specifically, as Figure 1 and Figure 2As shown, the first through-hole 111 is stepped. The first through-hole 111 includes a first penetrating portion and a second penetrating portion that are sequentially connected in the axial direction. The radial aperture of the second penetrating portion is larger than the radial dimension of the first penetrating portion. That is, the first penetrating portion, the second penetrating portion, and the second through-hole 112 are arranged axially in sequence, and the radial aperture of the second penetrating portion is larger than the radial dimension of the first penetrating portion, and the radial aperture of the second through-hole 112 is larger than the radial dimension of the second penetrating portion.

[0052] Specifically, as Figure 1 and Figure 2 shown, the hollow shaft 100 includes a main body portion 120 and a connecting portion 130. A wire harness channel 110 is provided on the main body portion 120. The connecting portion 130 extends outward from the end wall of the main body portion 120, and a connecting hole is provided on the connecting portion 130. The main body portion 120 has a cylindrical structure, and the connecting portion 130 has a disc-shaped structure. A wire harness channel 110 is provided on the main body portion 120 of the hollow shaft 100 for the wire harness 400 to pass through; the connecting portion 130 is provided at one end of the main body portion 120 and extends outward from the end wall of the main body portion 120. A connecting hole is provided on the connecting portion 130 to facilitate the installation and fixation of the hollow shaft 100.

[0053] Specifically, the limiting member 300 is provided at the end of the wire harness channel 110. Since the aperture of the second through-hole 112 is larger than the aperture of the first through-hole 111, the second through-hole 112 is opened at the end of the main body portion 120, which is convenient for processing. The limiting member 300 is provided at the end of the wire harness channel 110, which is convenient for installing the limiting member 300.

[0054] In some embodiments, as Figure 2 and Figure 3 shown, the limiting member 300 further includes an elastic member 320. A convex platform 220 is provided on the outer peripheral surface of the fixing member 200. The elastic member 320 is provided in the second through-hole 112, and both ends of the elastic member 320 are respectively abutted against the convex platform 220 and the first limiting portion 310. The elastic member 320 is arranged in the second through-hole 112 and is located between the convex platform 220 and the inner end wall of the second through-hole 112. Both ends of the elastic member 320 are respectively abutted against the inner end wall of the second through-hole 112 and the convex platform 220. When the wire harness 400 drives the fixing block 210 to move axially along the wire harness channel 110 in the direction close to the first through-hole 111, the elastic member 320 is compressed, and the elastic member 320 restricts the fixing block 210 from continuing to move axially along the wire harness channel 110 in the direction close to the first through-hole 111. Moreover, the elastic member 320 has an automatic reset function, and the elastic member 320 can automatically reset to drive the fixing block 210 to move axially along the hollow shaft 100 in the direction away from the first through-hole 111. Specifically, the elastic member 320 is a spring.

[0055] Specifically, in some embodiments, as Figure 3As shown, the fixing member 200 includes two relatively arranged and connected fixing blocks 210. A wire harness hole for the wire harness 400 to pass through is formed between the two fixing blocks 210. There are two fixing blocks 210, and each fixing block 210 has a semi-circular structure. The two fixing blocks 210 are relatively arranged, and a wire harness hole for the wire harness 400 to pass through is formed between them. Then, the two fixing blocks 210 are connected by a connecting member. More specifically, the connecting member is a fastener such as a screw, or a sleeve such as a heat shrinkable tube sleeved outside the two fixing blocks 210. Alternatively, the connecting member is a connecting glue.

[0056] In some other embodiments, there is one fixing member 200, which is cylindrical. A boss 220 is provided on the outer peripheral surface of the fixing member 200. The boss 220 has an annular structure. The fixing member 200 and the boss 220 are integrally formed. A wire harness hole passing through the fixing block 210 is provided on the fixing member 200, and the wire harness hole is used for the wire harness 400 to pass through.

[0057] In some embodiments, as Figure 5 shown, the fixing member 200 abuts against the first limiting portion 310, that is, the fixing member 200 abuts against the inner end wall of the second through hole 112. By directly abutting the fixing member 200 against the first limiting portion 310, the movement of the fixing member 200 in the axial direction towards the direction close to the first through hole 111 is restricted.

[0058] Preferably, the limiting member includes a second limiting portion 330. The second limiting portion 330 abuts against the fixing member 200 to limit the other side of the fixing member 200 in the axial direction. By providing the second limiting portion 330 to abut against the fixing member 200, the movement of the fixing member 200 in the axial direction away from the first through hole 111 is restricted.

[0059] In some embodiments, the second limiting portion 330 includes a limiting sleeve fixedly connected to the hollow shaft. A boss 220 is provided on the outer peripheral surface of the fixing member 200. The limiting sleeve is sleeved on the fixing member 200 and the wire harness 400 and abuts against the boss 220. The fixing member 200 extends into the second through hole 112 and directly or indirectly abuts against the first limiting portion 310. The first limiting portion 310 restricts the movement of the fixing member 200 in the axial direction towards the direction close to the first through hole 111. A limiting sleeve is provided on the side of the boss 220 facing away from the first limiting portion 310. The limiting sleeve is sleeved on the fixing member 200 and the wire harness 100, and the limiting sleeve abuts against the boss 220. The limiting sleeve restricts the movement of the fixing member 200 in the axial direction away from the first through hole 111.

[0060] It can be understood that the fixing member 200 partially extends into the second through hole 112 and directly or indirectly abuts against the first limiting portion 310. There are two cases. One case is that the fixing member 200 directly abuts against the first limiting portion 310, and the other case is that the fixing member 200 indirectly abuts against the first limiting portion 310 through the elastic member 320.

[0061] Specifically, the limiting sleeve is indirectly connected to the connecting portion 130 of the hollow shaft 100 to fix the relative positions of the limiting sleeve and the hollow shaft 100 and ensure the limiting effect of the limiting sleeve.

[0062] In some embodiments, such as Figure 4 and Figure 5 As shown, the limiting member 300 includes a limiting ring. A ring groove is provided on the side wall of the second through hole 112. The limiting ring is partially disposed in the ring groove, and the end face of the limiting ring along the axial direction of the hollow shaft abuts against the fixing member 200. The limiting member 300 includes a limiting ring. A ring groove is circumferentially provided on the side wall of the second through hole 112, and the limiting ring is partially disposed in the ring groove to install the limiting ring. The fixing member 200 is disposed between the limiting ring and the inner end wall of the second through hole 112. When the wire harness 400 drives the fixing member 200 to move along the axial direction of the wire harness channel 110, the fixing member 200 can abut against the limiting ring or the first limiting portion 310, thereby restricting further movement of the fixing member 200. Specifically, the limiting ring is a snap ring.

[0063] In some embodiments, such as Figure 5 and Figure 6 As shown, the fixing member 200 includes two interconnected fixing blocks 210. A wire harness hole for the wire harness 400 to pass through is formed between the two fixing blocks 210. The fixing block 210 has a semi-circular structure. Two fixing blocks 210 are provided, and the two fixing blocks 210 are oppositely arranged and connected. A wire harness hole for the wire harness 400 to pass through is formed between the two fixing blocks 210. When the wire harness 400 rotates, it can drive the fixing blocks 210 to rotate in the second through hole 112.

[0064] In some embodiments, such as Figure 5 and Figure 6As shown, the fixing member 200 further includes a connecting member. An installation groove 230 is provided on the outer peripheral surface of the fixing block 210. The connecting member is disposed in the installation groove 230 and sleeved outside the two fixing blocks 210, so that the side walls of the two fixing blocks 210 are in contact with each other. By sleeving the connecting member outside the two fixing blocks 210, the two fixing blocks 210 are connected, and the two fixing blocks 210 are circumferentially fixed, so that the fixing block 210 is fixed on the wire harness 400. And the connecting member is disposed in the installation groove 230. When the connecting member moves along the axial direction of the wire harness channel 110, it can abut against the groove wall of the installation groove 230, thereby restricting the further movement of the connecting member and preventing the connection failure of the connecting member. Specifically, the connecting member is a thermoplastic tube, and the thermoplastic tube is sleeved outside the two fixing blocks 210.

[0065] In some other embodiments, there is one fixing member 200. The fixing member 200 has a cylindrical structure and is integrally formed. A wire harness hole penetrating through the fixing member 200 is provided on the fixing member 200, and the wire harness hole is used for the wire harness 400 to pass through. It can be understood that only when the wire harness 400 and the wire harness hole of the fixing member 200 are in interference fit can the wire harness 400 drive the fixing member 200 to rotate when the wire harness 400 rotates.

[0066] In some embodiments, as Figure 7 and Figure 8 shown, there are multiple fixing members 200. The multiple fixing members 200 are spaced apart along the axial direction; by arranging multiple fixing members 200 in the wire harness channel 110, the contact area between the wire harness 400 and the inner wall of the wire harness channel 110 is reduced, and the wear of the wire harness 400 is reduced. At the same time, the multiple fixing members 200 are sleeved outside the wire harness 400 to prevent the wire harness 400 from being twisted at too large an angle.

[0067] In some embodiments, as Figure 7 and Figure 8 shown, there are multiple fixing members 200 and multiple limiting members 300. The multiple limiting members 300 and the multiple fixing members 200 correspond to each other one by one. Each fixing member 200 is correspondingly provided with a limiting member 300, so as to limit the axial movement of the fixing member 200 along the wire harness channel 110.

[0068] It can be understood that, as Figure 7 and Figure 8As shown, the wire harness channel 110 includes a plurality of first through holes 111 and a plurality of second through holes 112 that are connected. A fixing member 200 and a limiting member 300 are respectively arranged in the plurality of second through holes 112. Specifically, the wire harness channel 110 includes two second through holes 112 and one first through hole 111, and the two second through holes 112 are connected through the first through hole 111. The two second through holes 112 are located at both ends of the main body portion 120 of the hollow shaft 100. A fixing member 200 and a limiting member 300 are arranged in each of the two second through holes 112. The wire harness 400 sequentially passes through a limiting member 300, a fixing member 200, the first through hole 111, a fixing member 200, and a limiting member 300.

[0069] The present invention also provides a joint module, as Figure 9 shown, including a speed reducer assembly 500 and the above-mentioned hollow shaft assembly. The hollow shaft 100 is disposed through the speed reducer assembly 500. The hollow shaft 100 is disposed through the speed reducer assembly 500, and the wire harness 400 passes through the wire harness channel 110 of the hollow shaft 100, which facilitates the layout of the wire harness 400. Moreover, a fixing member 200 and a limiting member 300 are arranged in the wire harness channel 110. The fixing member 200 is sleeved outside the wire harness 400. The fixing member 200 reduces the friction between the wire harness 400 and the wire harness channel 110, reduces the wear of the wire harness 400, and the limiting member 300 limits the axial movement of the fixing member 200 along the wire harness channel 110.

[0070] Specifically, the joint module further includes a motor assembly 600, a brake 700, and an encoder assembly 800. The speed reducer assembly 500, the motor assembly 600, the brake 700, and the encoder assembly 800 are sequentially arranged along the axial direction of the wire harness channel 110. The hollow shaft 100 sequentially passes through the encoder assembly 800, the brake 700, the motor assembly 600, and the speed reducer assembly 500, and the connecting portion 130 of the hollow shaft 100 is connected to the speed reducer assembly 500.

[0071] More specifically, a connection hole is provided on the connecting portion 130, and a mounting hole is provided on the speed reducer assembly 500 corresponding to the connection hole. Screws sequentially pass through the connection hole and the mounting hole to connect the connecting portion 130 and the speed reducer assembly 500, thereby fixing the hollow shaft 100.

[0072] The present invention also provides a robot, including a body and the above-mentioned joint module. The joint module is installed on the body. Installing the above-mentioned joint module on the body of the robot reduces the friction area between the wire harness 400 and the wire harness channel 110 and protects the wire harness 400.

[0073] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0074] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A hollow shaft assembly, characterized in that: include: A hollow shaft (100) having a harness channel (110) arranged to penetrate the hollow shaft (100) in an axial direction; A fixing member (200) is rotatably disposed in the wire harness channel (110); the fixing member (200) is sleeved on the wire harness (400) passing through the wire harness channel (110) and is capable of rotating synchronously with the wire harness (400); A limiting member (300) is arranged in the wiring harness channel (110), and the limiting member (300) can abut against two ends of the fixing member (200) along the axial direction to limit the movement of the fixing member (200) along the axial direction; The limiting member (300) comprises a first limiting portion (310), and the first limiting portion (310) is used to limit the fixing member (200) on one side along the axial direction; The harness channel (110) comprises a first through hole (111) and a second through hole (112) which are sequentially connected along the axial direction; The radial dimension of the second through hole (112) is greater than the radial dimension of the first through hole (111), the fixing member (200) is arranged in the second through hole (112), and the inner end wall of the second through hole (112) forms the first limiting portion (310); The limiting member (300) further comprises an elastic member (320); a boss (220) is provided on the outer peripheral surface of the fixing member (200); the elastic member (320) is arranged in the second through hole (112), and two ends of the elastic member (320) are respectively in contact with the boss (220) and the first limiting portion (310).

2. The hollow shaft assembly according to claim 1, characterized in that: The limiting member comprises a second limiting portion (330), wherein the second limiting portion (330) abuts against the fixing member (200) to limit the other side of the fixing member (200) along the axial direction.

3. The hollow shaft assembly according to claim 2, characterized in that: The second limiting portion (330) comprises a limiting sleeve fixed relative to the hollow shaft, the outer peripheral surface of the fixing member (200) is provided with a boss (220), and the limiting sleeve is sleeved on the fixing member (200) and the wiring harness (400) and abuts against the boss (220).

4. The hollow shaft assembly according to claim 2, characterized in that: The second limiting portion (330) comprises a limiting ring, a ring groove is provided on the hole wall of the second through hole (112), the limiting ring is partially arranged in the ring groove, and the end face of the limiting ring along the axial direction of the hollow shaft abuts against the fixing member (200).

5. The hollow shaft assembly according to claim 1, characterized in that: The limiting member (300) is arranged at the end of the wiring harness channel (110).

6. A joint module, characterized in that: It comprises a reducer assembly (500) and the hollow shaft assembly according to any one of claims 1 to 5, wherein the hollow shaft (100) passes through the reducer assembly (500).

7. A robot, characterized in that: It comprises a machine body and the joint module as claimed in claim 6, wherein the joint module is mounted on the machine body.

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