Pipe fixing structure and industrial robot

Abstract

The application discloses a pipeline fixing structure and an industrial robot, and is applied to the industrial robot, and the industrial robot comprises a body, and the pipeline fixing structure comprises a fixing piece used for being connected with the body, a pressing piece connected with the fixing piece, and an elastic piece filled in a cavity formed by the fixing piece and the pressing piece and used for pressing the pipeline in the cavity. The technical scheme of the application solves the technical problem of unreliable cable fixing.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a pipeline fixing structure and an industrial robot. Background Technology

[0002] Industrial robots are an important type of automated equipment in modern manufacturing, widely used in applications such as CNC (Computerized Numerical Control) material handling, mobile phone casing polishing, and metal polishing. The demand for manufacturing equipment centered around industrial robots is increasing daily. Most industrial robots have multiple joints, each electrically driven, and typically employ positive pressure explosion-proof technology to achieve explosion-proof functionality at the joints. Power and control cables are distributed throughout the robot's joints, requiring carefully designed fixtures to secure the gas hoses and cables used for delivering protective gas. This prevents the hoses from swinging, displacing, twisting, and rubbing against each other during robot joint movement, thus protecting the hoses and cables. However, the existing cable fixtures are limited by their structure, making reliable securing of the cable bundles impossible. Summary of the Invention

[0003] The main objective of this invention is to provide a pipeline fixing structure and an industrial robot, aiming to solve the technical problem of unreliable cable fixing.

[0004] To achieve the above objectives, this invention provides a pipeline fixing structure for use in industrial robots. The industrial robot includes a body, and the pipeline fixing structure includes:

[0005] Fasteners are used to connect to the main body;

[0006] A clamping element, connected to the fixing element, wherein the fixing element and the clamping element cooperate to form a cavity for the pipeline to pass through; and

[0007] An elastic element is filled in the cavity to compress the tubing within the cavity.

[0008] Optionally, in one embodiment of the present invention, the edges of the fastener and / or the clamping member are provided with chamfered or bent structures.

[0009] Optionally, in one embodiment of the present invention, the fastener is provided with a fixing hole for a strap to pass through, the fixing hole cooperating with the strap to fix the pipeline on the fastener.

[0010] Optionally, in one embodiment of the present invention, the clamping member and the fixing member are detachably connected, and the elastic member deforms and clamps the pipeline during the process of the clamping member being assembled to the fixing member.

[0011] Optionally, in one embodiment of the present invention, a plurality of fixing holes are provided, and at least two of the plurality of fixing holes form a hole group; a plurality of pipelines are provided, and each group of pipelines is fixed to the fixing member through a corresponding hole group.

[0012] Optionally, in one embodiment of the present invention, the fastener includes:

[0013] A wire harness binding plate for securing the wire harness, wherein the clamping member cooperates with the wire harness binding plate to form the cavity; and

[0014] An assembly plate is disposed on the side of the wire harness binding plate opposite to the clamping member, and the wire harness binding plate is detachably connected to the assembly plate.

[0015] Optionally, in one embodiment of the present invention, the assembly plate is provided with a clearance position for avoiding the straps.

[0016] Optionally, in one embodiment of the present invention, the assembly plate includes a first sub-plate and a second sub-plate connected by bending, the first sub-plate being used to connect the body, the second sub-plate being used to connect the wire harness binding plate, and the clearance position being provided on the second sub-plate.

[0017] Optionally, in one embodiment of the present invention, the assembly plate further includes a third sub-plate, wherein the first sub-plate and the second sub-plate are connected by bending through the third sub-plate.

[0018] Optionally, in one embodiment of the present invention, the free end of the second sub-plate is inclined toward the first sub-plate, and the first sub-plate and the second sub-plate are located on the same side of the third sub-plate, and the angle between the second sub-plate and the third sub-plate is in the range of 30 degrees to 60 degrees.

[0019] Optionally, in one embodiment of the present invention, the free end of the second sub-plate is inclined toward the first sub-plate, and the first sub-plate and the second sub-plate are located on opposite sides of the third sub-plate.

[0020] Optionally, in one embodiment of the present invention, the fixing member includes a mounting plate, the mounting plate is connected to the body, and the clamping member is detachably disposed on the side of the mounting plate opposite to the body.

[0021] Optionally, in one embodiment of the present invention, the mounting plate includes a first segment, a second segment, and a third segment connected by bending in sequence, the first segment being connected to the body, and the third segment being connected to the clamping member.

[0022] Optionally, in one embodiment of the present invention, the fixing member further includes a mounting ear, the mounting ear being connected to the mounting plate, and a wire groove being provided between the mounting ear and the mounting plate.

[0023] To achieve the above objectives, embodiments of the present invention propose an industrial robot, which includes the pipeline fixing structure described above.

[0024] Compared to existing technologies, the technical solution proposed in this invention utilizes a cavity formed between a fixing member and a clamping member. The pipeline can pass through this cavity, and the fixing and clamping members protect the surface of the pipeline, preventing wear and ensuring its normal operation. Furthermore, the cavity is filled with an elastic member. The force generated by the deformation of this elastic member presses the pipeline firmly within the cavity, improving the reliability of the pipeline's fixation. This prevents the pipeline from continuously shifting and twisting as it moves with the robot, especially when the joint movement speed is high and the output torque is large. This avoids friction between pipelines or between the pipeline and the joint, thus protecting the pipeline. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of an embodiment of the industrial robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the industrial robot according to an embodiment of the present invention after the main body has been removed;

[0028] Figure 3 This is a cross-sectional view of an embodiment of the pipeline fixing structure of the present invention;

[0029] Figure 4 This is a three-dimensional structural diagram of an embodiment of the pipeline fixing structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the fixing member in an embodiment of the pipeline fixing structure of the present invention. Figure 1 ;

[0031] Figure 6 This is a schematic diagram of the structure of the fixing member in an embodiment of the pipeline fixing structure of the present invention. Figure 2 ;

[0032] Figure 7 This is a schematic diagram of the structure of the fixing member in an embodiment of the pipeline fixing structure of the present invention. Figure 3 ;

[0033] Figure 8This is a schematic diagram of the structure of the fixing member in an embodiment of the pipeline fixing structure of the present invention. Figure 4 ;

[0034] Figure 9 This is a schematic diagram of another embodiment of the pipeline fixing structure of the present invention;

[0035] Figure 10 This is a schematic diagram of another embodiment of the pipeline fixing structure of the present invention;

[0036] Figure 11 This is a schematic diagram of the clamping component in an embodiment of the pipeline fixing structure of the present invention.

[0037] Explanation of icon numbers:

[0038] label name label name 000 Pipeline fixing structure 100 Fasteners 110 Fixing hole 120 Wire Harness Bundle 130 Assembly plate 131 Give way 132 First Subboard 133 Second sub-board 134 Third Subboard 140 Mounting plate 141 First paragraph 142 Second paragraph 143 Third paragraph 150 Ear installation 160 cable tray 200 Clamping parts 210 Bending structure 300 elastic element 400 Ontology 410 Rotary 500 pipeline

[0039] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the embodiments of the present invention.

[0041] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0042] Furthermore, in the embodiments of this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of the embodiments of this invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0044] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope required by the embodiments of the present invention.

[0045] Most industrial robots have multiple joints, each electrically driven. To improve safety, positive pressure explosion-proof technology is commonly used. This involves installing a protective casing with a certain level of protection at each joint motor, and filling the casing with a pressurized protective gas through gas pipes. This isolates the motor from external explosive gases or air mixtures, preventing high temperatures on the motor surface or potential sparks at the terminals from igniting the explosive gas. On explosion-proof robots using positive pressure technology, it is essential to design and secure the gas pipes and motor cables to prevent them from swinging, shifting, twisting, or rubbing against each other during robot joint movement, thus protecting the gas pipes and cables.

[0046] Existing robot cable securing structures typically use circular cable loops. A bundle of cables is bundled together with cable ties and placed within the loop, which is then secured by screws. This method is sufficient for applications with slow robot joint movement speeds, low joint torque, and a small number of cables. However, when joint movement speeds are high, output torque is high, and there are many cables with large diameters, reliable securing of the cable bundle cannot be guaranteed. This can lead to displacement and twisting of the cables as the robot moves. Furthermore, the design of the sheet metal cable support structure does not consider the natural transition of cable routing at joints. The edges of the cable loops are also quite sharp, potentially causing wear or scratches on the cable sheath. In severe cases, the tracheal sheath may rupture, leading to air leakage and rendering the positive pressure protection system ineffective.

[0047] In view of this, embodiments of the present invention provide a pipeline fixing structure and an industrial robot. An elastic element is filled in the cavity formed by the cooperation of the fixing element and the clamping element. The force generated by the deformation of the elastic element can press the wire harness into the cavity, improve the reliability of the wire harness fixing, and prevent the pipeline from continuously displacing and twisting when the joint movement speed is fast and the output torque is large, thereby avoiding friction between the wire harnesses or between the wire harness and the joint, so as to protect the wire harness or pipeline.

[0048] To better understand the above technical solution, the following detailed explanation is provided in conjunction with the accompanying drawings.

[0049] like Figures 1-4 As shown, this embodiment of the invention proposes a pipeline fixing structure 000, applied to an industrial robot. The industrial robot includes a body 400, and the pipeline fixing structure 000 includes:

[0050] Fastener 100 is used to connect to the body 400;

[0051] The clamping member 200 is connected to the fixing member 100, and the fixing member 100 and the clamping member 200 cooperate to form a cavity through which the pipeline 500 passes; and

[0052] The elastic element 300 is filled in the cavity to compress the tubing 500 in the cavity.

[0053] In this embodiment, the cavity formed between the fixing member 100 and the clamping member 200 allows the pipeline 500 to pass through. The fixing member 100 and the clamping member 200 protect the surface of the pipeline 500, preventing wear and ensuring its normal operation. Furthermore, the cavity is filled with an elastic member 300. The force generated by the deformation of the elastic member 300 presses the pipeline 500 firmly into the cavity, improving the reliability of the pipeline's fixation. This prevents the pipeline 500 from continuously shifting and twisting as it moves with the robot when the joint movement speed is high and the output torque is large, thus avoiding friction between pipelines 500 or between the pipeline 500 and the joint, thereby protecting the pipeline 500 or the conduit.

[0054] Specifically, the pipeline fixing structure 000 in this embodiment is mainly used in industrial robots. It can be used to fix the pipeline 500 or other pipelines, and is not limited here. For ease of description, the embodiment of this invention is illustrated by fixing the pipeline 500 to the body 400 of the industrial robot.

[0055] The pipeline fixing structure 000 includes a fixing member 100, a clamping member 200, and an elastic member 300. The fixing member 100 is used to connect to the body 400 to fix the pipeline fixing structure 000 integrally onto the body 400. The fixing member 100 can be made of a metal material, such as iron or stainless steel, to improve the strength of the pipeline fixing structure 000. In one embodiment, the fixing member 100 can be welded to the body 400; it can also be detachably connected to the body 400 via clips, bolts, etc., thus improving the convenience of assembly and disassembly; of course, the fixing member 100 can also be integrally formed with the body 400, which is not limited here.

[0056] The clamping member 200 is used to cooperate with the fixing member 100 to form a cavity between them. The pipeline 500 passes through the cavity, which supports and clamps the pipeline 500. The clamping member 200 is fixedly connected to the fixing member 100 to fix the pipeline 500 to the body 400, that is, to fix the pipeline 500 to the body 400 and prevent the pipeline 500 from moving. In one embodiment, the clamping member 200 is screwed to the fixing member 100, which facilitates the passage of the pipeline 500 and the filling of the elastic member 300.

[0057] The elastic element 300 is used to compress the pipeline 500. Because the elastic element 300 is easily deformed under pressure, it can better conform to the surface of the pipeline 500, thus protecting the surface of the pipeline 500. Furthermore, the elastic element 300 has elasticity after deformation, which can apply a compressive force to the pipeline 500, improving the reliability of the pipeline 500's fixation. It should be noted that in practical applications, the fixing element 100 can be assembled onto the body 400 first, then the pipeline 500 can be passed through it, and the elastic element 300 can be placed on the surface of the pipeline 500. Finally, the clamping element 200 can be assembled onto the fixing element 100, thereby achieving the compression and fixation of the pipeline 500. Of course, in other embodiments, the pipeline 500 can also be passed between the fixing element 100 and the clamping element 200, and the elastic element 300 can be filled in. Then, the fixing element 100 and the clamping element 200 can be locked and fixed, and finally the fixing element 100 can be assembled onto the body 400. In one embodiment, the elastic element 300 can be high-density sponge, rubber, silicone, etc., and is not limited thereto.

[0058] For example, refer to Figure 3 and Figure 11 In one embodiment of the present invention, the edges of the fixing member 100 and / or the clamping member 200 are provided with chamfered or bent structures 210.

[0059] When the pipeline 500 of the industrial robot passes through the cavity, it may be scratched by burrs, sharp corners, etc. on the surface of the pipeline fixing structure 000. Therefore, in this embodiment, the edges of the fixing member 100 and / or the clamping member 200 are provided with chamfered and bent structures 210. The chamfering or bending structure 210 makes the edges of the fixing member 100 and / or the clamping member 200 smoother, preventing scratches to the pipeline 500. That is, the chamfering or bending structure 210 can be provided on the edge of the fixing member 100, or on the edge of the clamping member 200, or simultaneously on both the fixing member 100 and the clamping member 200; no limitation is made here.

[0060] For example, refer to Figure 4 In one embodiment of the present invention, the fixing member 100 is provided with fixing holes 110 for the passage of a strap. The fixing holes 110 cooperate with the strap to fix the pipeline 500 to the fixing member 100. Specifically, the fixing member 100 is provided with fixing holes 110 for fixing the pipeline 500 within the cavity. It is understood that at least two fixing holes 110 are provided on the fixing member 100. The pipeline 500 passes between two fixing holes 110, and both ends of the strap pass through the fixing holes 110 and are tightened, thereby binding the pipeline 500 to the fixing member 100. To improve the firmness of the binding of the pipeline 500, the fixing holes 110 can be arranged in multiple rows, with each row including two fixing holes 110 arranged opposite each other. After the pipeline 500 is laid out, it generally has a movable end and a fixed end. The fixing holes 110 are located away from the movable end, which can prevent the pipeline 500 from being scratched by the strap during twisting, further protecting the pipeline 500.

[0061] For example, in one embodiment of the present invention, a plurality of fixing holes 110 are provided, and at least two of the plurality of fixing holes 110 form a hole group; multiple groups of pipelines 500 are provided, and each group of pipelines 500 is fixed to the fixing member 100 through a corresponding hole group. Specifically, the pipelines 500 are divided into multiple groups, and each group of pipelines 500 is fixed through a corresponding hole group, which can realize the independent fixing of different groups of pipelines and effectively improve the reliability of fixing.

[0062] For example, in one embodiment of the present invention, the clamping member 200 is detachably connected to the fixing member 100, and the elastic member 300 deforms during the assembly of the clamping member 200 to the fixing member 100 to clamp the pipeline 500. Specifically, the detachable connection between the clamping member 200 and the fixing member 100 facilitates the routing of the pipeline 500 and the filling of the elastic member 300, improving assembly convenience. In one embodiment, the clamping member 200 is detachably connected to the fixing member 100 by bolts, a bolt connection method that is simple in structure and easy to operate. In addition, when the clamping member 200 is assembled with the fixing member 100, it exerts pressure on the elastic member 300, causing the elastic member 300 to deform, thereby better conforming to the surface of the pipeline 500 and improving the protective effect of the elastic member 300 on the pipeline 500.

[0063] For example, refer to Figure 4 In one embodiment of the present invention, the fastener 100 includes:

[0064] A wire harness binding plate 120 is used to fix the conduit 500, and a clamping member 200 cooperates with the wire harness binding plate 120 to form a cavity; and

[0065] Assembly plate 130 is located on the side of wire harness binding plate 120 away from clamping member 200, and wire harness binding plate 120 and assembly plate 130 are detachably connected.

[0066] Specifically, the fastener 100 includes a wire harness binding plate 120 and an assembly plate 130. The wire harness binding plate 120 is used to bind and secure the conduit 500, and the assembly plate 130 is used to assemble the entire conduit fixing structure 000 onto the body 400. It is understood that the wire harness binding plate 120 is positioned between the clamping member 200 and the assembly plate 130, and the wire harness binding plate 120 and the clamping member 200 cooperate to form a cavity. The wire harness binding plate 120 and the clamping member 200 can be integrally formed or can be independent components assembled and fixed together by bolts, etc., without limitation. In this embodiment, the wire harness binding plate 120 and the assembly plate 130 are detachably connected, that is, the wire harness binding plate 120 and the assembly plate 130 are set separately. In this way, the assembly plate 130 can be pre-fixed on the body 400, and after the pipeline 500 is bound and fixed in the cavity from the outside, it is then connected to the assembly plate 130, thereby installing the entire pipeline fixing structure 000 onto the body 400, improving the convenience of assembling the pipeline 500.

[0067] For example, refer to Figures 5-8In one embodiment of the present invention, the assembly plate 130 is provided with a clearance position 131 for avoiding the binding strap. After the binding strap secures the pipeline 500 to the wire harness binding plate 120, the binding strap forms a protruding structure on the side of the wire harness binding plate 120 facing the assembly plate 130, which is not conducive to the connection between the assembly plate 130 and the wire harness binding plate 120. Therefore, the clearance position 131 is provided on the assembly plate 130. The clearance position 131 can avoid the binding strap protruding from the surface of the wire harness binding plate 120, so that the wire harness binding plate 120 and the assembly plate 130 can fit tightly together, thereby facilitating the fixation of the wire harness binding plate 120 and the assembly plate 130. In one embodiment, the clearance position 131 can be a clearance groove, clearance hole, etc., which is not limited here.

[0068] For example, refer to Figure 5 In one embodiment of the present invention, the assembly plate 130 includes a first sub-plate 132 and a second sub-plate 133 connected by bending. The first sub-plate 132 is used to connect the body 400, and the second sub-plate 133 is used to connect the wire harness binding plate 120. A clearance 131 is provided on the second sub-plate 133. Specifically, the pipeline 500 at the J2 joint of the industrial robot can be divided into a fixed section and a movable section. The pipeline 500 inside the upper arm and behind the turntable 410 is the fixed section, which can be fixed by clamping with small wire loops; the pipeline 500 in the middle is the movable section, which needs to be grouped, bound, and clamped. In this example, the assembly plate 130 is applied at the turntable 410, including a first sub-plate 132 and a second sub-plate 133 connected by bending. The first sub-plate 132 is used to connect the body 400, and the second sub-plate 133 is used to connect the wire harness binding plate 120. The second sub-plate 133 is tilted upward, which can achieve natural docking with the pipeline 500 leading out from inside the upper arm, improving the convenience of assembly.

[0069] For example, refer to Figures 6-8 In one embodiment of the present invention, the assembly plate 130 further includes a third sub-plate 134, and the first sub-plate 132 and the second sub-plate 133 are connected by bending through the third sub-plate 134. Specifically, the bending of the third sub-plate 134 allows the pipeline 500 to be smoothly led out or transitioned.

[0070] For example, in one embodiment of the present invention, reference is made to... Figure 6The free end of the second sub-plate 133 is inclined toward the first sub-plate 132, and the first sub-plate 132 and the second sub-plate 133 are located on the same side of the third sub-plate 134. The angle between the second sub-plate 133 and the third sub-plate 134 is between 30 degrees and 60 degrees. At the J3 motor and the elbow motor, after the elbow cable 500 is led out from the positive pressure housing, it first meets the cable 500 led out from the positive pressure housing of the J3 joint below the transition arm and is then tied together, and tightened with a small wire loop. Since the cable 500 does not move relative to the body 400 during the robot's movement, it is called the fixed section cable 500 and does not need to be grouped and tied. At the J3 joint, since there will be relative movement between the transition arm and the upper arm, and between the upper arm and the rotary seat 410, the cable 500 will also twist relative to the robot's movement. This is called the moving section and the cable 500 needs to be tied and tightened. Therefore, in this embodiment, the assembly plate 130 is located at the elbow. Depending on the cable routing direction, the angle between the second sub-plate 133 and the third sub-plate 134 is between 30 degrees and 60 degrees, which facilitates the smooth lead-out or transition of the elbow pipeline 500.

[0071] For example, in one embodiment of the present invention, reference is made to... Figure 7 and Figure 8 The free end of the second sub-plate 133 is inclined toward the first sub-plate 132, and the first sub-plate 132 and the second sub-plate 133 are located on opposite sides of the third sub-plate 134. Specifically, in this embodiment, the assembly plate 130 is applied inside the upper arm near the J3 joint, and the second sub-plate 133 is designed with a downwardly inclined structure, so that the bundle of 500 pipelines led out from below the transition arm can be naturally and smoothly transitioned into the interior of the upper arm after being tied and compressed here.

[0072] For example, refer to Figure 10 In one embodiment of the present invention, the fixing member 100 includes a mounting plate 140, which is connected to the body 400. The clamping member 200 is detachably disposed on the side of the mounting plate 140 opposite to the body 400. In this embodiment, the fixing member 100 includes a mounting plate 140, that is, the fixing member 100 has a plate-like structure. The mounting plate 140 is connected to the body 400 and also to the clamping member 200, which reduces material usage and assembly steps, further improving assembly efficiency.

[0073] The conduit 500 extending from the outer shell of the cavity merges with other conduits 500 behind the rotary seat 410, and then enters the base through the cable guide sleeve. Since there are a large number of conduits 500 here, to ensure the conduits 500 are securely bound and compressed, the conduits 500 above the cable guide sleeve, i.e., the pipes and cables, are fixed separately. Therefore, in one embodiment, referring to… Figure 9The mounting plate 140 includes a first segment 141, a second segment 142, and a third segment 143 connected in sequence by bending. The first segment 141 is connected to the body 400, and the third segment 143 is connected to the clamping member 200. In this embodiment, the mounting plate 140 is used to fix the pipeline 500. The first segment 141 is connected to the body 400, and the third segment 143 is connected to the clamping member 200. After the cable is bundled and fixed in the cavity, it is connected to the heavy-duty unit behind the base and finally connected to the control cabinet for controlling the robot's movements. In another embodiment, refer to... Figure 10 The fastener 100 also includes a mounting ear 150, which is connected to the mounting plate 140. A wire groove 160 is provided between the mounting ear 150 and the mounting plate 140. In this embodiment, the mounting plate 140 is a flat plate structure, and the pipeline extends along the mounting plate 140 and is pressed and fixed by the clamping member 200. The wire groove 160 between the mounting ear 150 and the mounting plate 140 is used for the pipeline 500 to pass through and be fixed by the mounting plate 140 in the above embodiment.

[0074] To achieve the above objectives, this invention provides an industrial robot, which includes the pipeline fixing structure described above. Specifically, the specific structure of the pipeline fixing structure refers to the above embodiments. Since this industrial robot adopts all the technical solutions of the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be elaborated further here.

[0075] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made under the inventive concept of the present invention using the description and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pipeline fixing structure, characterized in that, Applied to industrial robots, the industrial robot includes a body, and the pipeline fixing structure includes: Fasteners are used for fixed connection with the main body; A clamping element, connected to the fixing element, wherein the fixing element and the clamping element cooperate to form a cavity for the pipeline to pass through; and An elastic element is filled in the cavity to compress the tubing within the cavity; The fastener has fastening holes for the strap to pass through, the fastening holes cooperate with the strap to fix the pipeline to the fastener, there are multiple fastening holes, and at least two of the multiple fastening holes form a hole group; there are multiple groups of pipelines, and each group of pipelines is fixed to the fastener through a corresponding hole group.

2. The pipeline fixing structure as described in claim 1, characterized in that, The edges of the fastener and / or the clamping member are provided with chamfered or bent structures.

3. The pipeline fixing structure as described in claim 1, characterized in that, The clamping member is detachably connected to the fixing member, and the elastic member deforms and clamps the pipeline during the process of the clamping member being assembled to the fixing member.

4. The pipeline fixing structure as described in any one of claims 1-3, characterized in that, The fastener includes: A wire harness binding plate for securing the wire harness, wherein the clamping member cooperates with the wire harness binding plate to form the cavity; and An assembly plate is disposed on the side of the wire harness binding plate opposite to the clamping member, and the wire harness binding plate is detachably connected to the assembly plate.

5. The pipeline fixing structure as described in claim 4, characterized in that, The assembly plate is provided with a clearance for avoiding the straps.

6. The pipeline fixing structure as described in claim 5, characterized in that, The assembly plate includes a first sub-plate and a second sub-plate that are bent and connected. The first sub-plate is used to connect the body, and the second sub-plate is used to connect the wire harness binding plate. The clearance position is located on the second sub-plate.

7. The pipeline fixing structure as described in claim 6, characterized in that, The assembly plate also includes a third sub-plate, and the first sub-plate and the second sub-plate are connected by bending through the third sub-plate.

8. The pipeline fixing structure as described in claim 7, characterized in that, The free end of the second sub-plate is inclined toward the first sub-plate, and the first sub-plate and the second sub-plate are located on the same side of the third sub-plate. The angle between the second sub-plate and the third sub-plate is in the range of 30 degrees to 60 degrees.

9. The pipeline fixing structure as described in claim 7, characterized in that, The free end of the second sub-plate is inclined toward the first sub-plate, and the first sub-plate and the second sub-plate are located on opposite sides of the third sub-plate.

10. The pipeline fixing structure as described in any one of claims 1-3, characterized in that, The fastener includes a mounting plate connected to the body, and the clamping member is detachably disposed on the side of the mounting plate opposite to the body.

11. The pipeline fixing structure as described in claim 10, characterized in that, The mounting plate includes a first section, a second section, and a third section that are bent and connected in sequence. The first section is connected to the body, and the third section is connected to the clamping member.

12. The pipeline fixing structure as described in claim 10, characterized in that, The fastener also includes a mounting ear, which is connected to the mounting plate, and a groove is provided between the mounting ear and the mounting plate.

13. An industrial robot, characterized in that, The industrial robot includes the pipeline fixing structure as described in any one of claims 1-12.

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