Wire hiding structure for robot

Abstract

The invention relates to the technical field of robots, in particular to a line hiding structure for a robot, which comprises a plurality of moving joints, the moving joints comprise main joints and auxiliary joints, the auxiliary joints are partially inserted into the main joints, line passing grooves are formed in the positions, corresponding to the main joints, of the auxiliary joints, line coiling grooves are formed in the positions, corresponding to the auxiliary joints, of the main joints, and the main joints are connected with the main joints; the solid joint motor is arranged in the main joint and is in driving connection with the auxiliary joint, the solid joint motor is provided with a first wiring port and a second wiring port, a first through hole is formed in the position, corresponding to the first wiring port, of the main joint, a second through hole is formed in the position, corresponding to the second wiring port, of the main joint, and a wire arrangement channel is formed in the inner wall of the main joint; the wire arranging channel is communicated with the second through hole and the wire coiling groove; every two adjacent movement joints are connected through a wiring pipe. The production cost of the robot is reduced, and the attractiveness of the appearance of the robot is reserved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wire hiding structure for robots. Background Art

[0002] In the process of product design of robots, the protection of cables between moving joints is one of the key requirements. The most effective way to protect cables is to hide them all inside the robot body so that they cannot be entangled, hooked or pulled by external objects.

[0003] Existing robots use hollow joint motors (with through holes at the center axis) to hide cables, which are made by passing the cables through the center axis of the motor and then through the middle of the tubular structure. However, hollow joint motors are often expensive, which makes the overall cost of the robot high. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. To this end, the present invention provides a cable hiding structure for a robot, which solves the technical problem of high cost caused by the existing use of hollow joint motors to hide cables, reduces the production cost of the robot, and retains the aesthetic appearance of the robot.

[0005] The present invention provides a wire hiding structure for a robot, comprising: A plurality of motion joints, wherein the motion joints include a main joint and a sub-joint, wherein the sub-joint is partially inserted into the main joint, wherein a wire passing groove is provided at a position of the sub-joint corresponding to the main joint, wherein a wire winding groove is provided at a position of the main joint corresponding to the sub-joint, wherein a central solid joint motor is provided in the main joint and is drive-connected to the sub-joint, wherein the central solid joint motor has a first wiring port and a second wiring port, wherein a first through hole is provided at a position of the main joint corresponding to the first wiring port, wherein a second through hole is provided at a position of the main joint corresponding to the second wiring port, wherein a wire arranging channel is provided on an inner wall of the main joint, wherein the wire arranging channel communicates with the second through hole and the wire winding groove; Two adjacent motion joints are connected via a wiring tube; The first wiring tube is connected to the first through hole, the second wiring tube is connected to the secondary joint, the end of the cable in the first wiring tube passes through the first through hole and is connected to the first wiring port, one end of the cable in the second wiring tube passes through the wire groove and is wound in the wire winding groove, and then passes through the wire arrangement channel to be connected to the second wiring port.

[0006] A further improvement of the wire hiding structure for a robot of the present invention is that the main joint is tubular, a first opening is formed at one end of the main joint and a second opening is formed at the other end, the caliber of the first opening matches the size of the central solid joint motor, an auxiliary ring plate is provided at the second opening, the secondary joint is inserted into the main joint from the second opening and the side wall abuts against the auxiliary ring plate, and the wire winding groove is opened at a position of the main joint close to the second opening.

[0007] A further improvement of the wire hiding structure for a robot of the present invention is that a spacer is provided on the inner wall of the main joint, the middle solid joint motor is connected to the spacer, and the secondary joint abuts against the spacer and is driven and connected to the middle solid joint motor.

[0008] A further improvement of the wire hiding structure for a robot of the present invention is that it further comprises a first cover plate, and the first cover plate is detachably connected to the first opening.

[0009] A further improvement of the wire hiding structure for robots of the present invention is that the first through hole matches the size of the wiring tube.

[0010] A further improvement of the wire hiding structure for a robot of the present invention is that it further comprises a second cover plate, and the second cover plate is detachably connected to the second through hole.

[0011] A further improvement of the wire hiding structure for a robot of the present invention is that the secondary joint is provided with a third through hole and a fourth through hole, a wiring tube is passed through the third through hole and the fourth through hole, and one end of the wiring tube is flush with the outer side wall of the third through hole corresponding to the secondary joint.

[0012] A further improvement of the wire hiding structure for a robot of the present invention is that it also includes a wire pressing plate, which is detachably connected to the third through hole and the corresponding wiring tube, and a wire threading hole is formed between the wiring tube and the wire pressing plate, and the wire threading hole corresponds to the wire passing groove.

[0013] A further improvement of the wire-hiding structure for a robot of the present invention is that the solid joint motor has a drive shaft, and the auxiliary joint and the drive shaft are connected by bolts.

[0014] A further improvement of the wire hiding structure for robots of the present invention is that the wiring tube and the motion joint are connected by bolts.

[0015] The above one or more technical solutions in the embodiments of the present invention can hide the cables inside the robot. In industrial production environments or some occasions with high requirements on appearance, the neat appearance can provide a better visual experience. The cable hiding structure of the present invention can protect the safety of cables. During the movement of the robot, the cables are easily subject to wear, pulling, etc. The cable hiding structure can protect the cables and reduce the friction between the cables and external objects. For example, when the robot frequently performs actions such as extension and rotation, the cables hidden inside the structure will not be hooked or disconnected by the joint components of the robot or the surrounding equipment, thereby reducing the probability of wire failure, improving the overall reliability of the robot, and reducing downtime and maintenance time caused by cable damage. The cable hiding structure of the present invention can use a solid joint motor, which greatly reduces the cost of the robot.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of a wire hiding structure for a robot provided in an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of motion joints and wiring tubes in a wire hiding structure for a robot provided in an embodiment of the present invention.

[0020] Figure 3 yes Figure 2 Cross-sectional view at AA in the middle.

[0021] Figure 4 It is an exploded schematic diagram of a moving joint in a wire-hiding structure for a robot provided in an embodiment of the present invention.

[0022] Figure 5 Schematic diagram of the main joint in the wire-hiding structure for a robot provided by an embodiment of the present invention Figure 1 .

[0023] Figure 6 Schematic diagram of the main joint in the wire-hiding structure for a robot provided by an embodiment of the present invention Figure 2 .

[0024] Figure 7It is a schematic diagram of a solid joint motor used in a wire-hiding structure of a robot provided in an embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of a secondary joint in a wire-hiding structure for a robot provided in an embodiment of the present invention.

[0026] Reference numerals: 1. Motion joint; 2. Wiring tube; 3. Circuit board; 11. Main joint; 12. Sub-joint; 13. Middle joint motor; 111. Auxiliary ring plate; 112. First cover plate; 113. Second cover plate; 114. Spacer plate; 115. Wire arrangement channel; 116. Wire winding groove; 121. Wire pressing plate; 122. End cover; 123. Wire trough. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention clearer, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0028] Combine the following Figure 1 and Figure 2 A wire hiding structure for a robot according to the present invention is described, comprising: A plurality of motion joints 1, wherein the motion joints 1 include a main joint 11 and a sub-joint 12, wherein the sub-joint 12 is partially inserted into the main joint 11, wherein a wire passing groove 123 is provided at a position of the sub-joint 12 corresponding to the main joint 11, and a wire winding groove 116 is provided at a position of the main joint 11 corresponding to the sub-joint 12, wherein a middle solid joint motor 13 is arranged in the main joint 11 and is drivingly connected to the sub-joint 12, wherein the middle solid joint motor 13 has a first wiring port and a second wiring port, wherein a first through hole is provided at a position of the main joint 11 corresponding to the first wiring port, and a second through hole is provided at a position of the main joint 11 corresponding to the second wiring port, and a wire arrangement channel 115 is provided on an inner wall of the main joint 11, wherein the wire arrangement channel 115 communicates with the second through hole and the wire winding groove 116; Two adjacent motion joints 1 are connected via a wiring tube 2; The first wiring tube 2 is connected to the first through hole, the second wiring tube 2 is connected to the secondary joint 12, the end of the cable in the first wiring tube 2 passes through the first through hole and is connected to the first wiring port, one end of the cable in the second wiring tube 2 passes through the wire groove 123 and is wound in the wire groove 116, and then passes through the wire arrangement channel 115 to be connected to the second wiring port.

[0029] In a specific implementation example, both ends of the wiring tube 2 can be connected to the adjacent main joint 11 and the secondary joint 12 , or both ends of the wiring tube 2 can be connected to two adjacent secondary joints 12 .

[0030] In a specific implementation case, the end of the cable forms a wiring terminal, which is connected to the first wiring port or the second wiring port through the wiring terminal, and the main joint 11 of a motion joint 1 located at the end is connected to the circuit board 3.

[0031] The present invention is used in a preferred embodiment of a wire-hiding structure of a robot, such as Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the main joint 11 is tubular, with a first opening formed at one end of the main joint 11 and a second opening formed at the other end. The caliber of the first opening matches the size of the solid joint motor 13, which facilitates the installation of the solid joint motor 13 in the main joint 11. An auxiliary ring plate 111 is provided at the second opening, and the secondary joint 12 is inserted into the main joint 11 from the second opening and the side wall abuts against the auxiliary ring plate 111. The wire winding groove 116 is opened at a position of the main joint 11 close to the second opening.

[0032] Preferably, the secondary joint 12 is tubular, and the diameter of the secondary joint 12 is smaller than the diameter of the main joint 11, so as to facilitate the connection of the secondary joint 12 to the main joint 11 and to provide a gap at the connection between the secondary joint 12 and the main joint 11, forming a cable winding groove 116 at the gap.

[0033] Furthermore, a partition plate 114 is provided on the inner wall of the main joint 11 , the solid joint motor 13 is connected to the partition plate 114 , the secondary joint 12 abuts against the partition plate 114 and is driven and connected to the solid joint motor 13 , the partition plate 114 is C-shaped, and the opening of the partition plate 114 corresponds to the wiring channel 115 .

[0034] Specifically, Figure 4 As shown, it also includes a first cover plate 112, which is detachably connected to the first opening. The first cover plate 112 and the main joint 11 are connected by bolts. After the middle joint motor 13 is installed on the main joint 11, the first cover plate 112 is connected to the first opening of the main joint 11 by bolts to ensure that the outside of the main joint 11 is smooth, which can not only protect the middle joint motor 13, but also improve the aesthetics of the robot.

[0035] Specifically, Figure 4 As shown, the first through hole matches the size of the wiring tube 2, so that the wiring tube 2 and the main joint 11 can be tightly connected, thereby improving the aesthetics of the robot.

[0036] Specifically, Figure 4As shown, it also includes a second cover plate 113, which is detachably connected to the second through hole. After the cable is connected to the second wiring port from the second through hole, the second cover plate 113 can be connected to the second through hole by bolts, thereby facilitating the protection of the internal cables and improving the aesthetics of the robot.

[0037] Furthermore, if Figure 4 and Figure 8 As shown, the secondary joint 12 is provided with a third through hole and a fourth through hole, and the wiring tube 2 is passed through the third through hole and the fourth through hole. One end of the wiring tube 2 is flush with the outer wall of the secondary joint 12 corresponding to the third through hole. When the middle joint motor 13 rotates, it drives the secondary joint 12 to rotate, thereby driving the wiring tube 2 to rotate.

[0038] Specifically, Figure 1 and Figure 4 As shown, it also includes a wire pressing plate 121, which is detachably connected to the third through hole and the corresponding wiring tube 2. A wire threading hole is formed between the wiring tube 2 and the wire pressing plate 121. The wire threading hole corresponds to the wire groove 123, and the wire groove 123 corresponds to the wire winding groove 116, so that the cable can pass through the wire threading hole and enter the wire groove 123. At the same time, the wire pressing plate 121 also avoids the exposure of the cable, thereby improving the aesthetics of the robot.

[0039] Specifically, an end cover 122 is provided at the end of the secondary joint 12 away from the main joint 11. The end cover 122 covers the wiring tubes 2 passing through the third through hole and the fourth through hole of the secondary joint 12, thereby improving the aesthetics of the robot.

[0040] Furthermore, if Figure 1 and Figure 7 As shown, the solid joint motor 13 has a drive shaft, and the auxiliary joint 12 and the drive shaft are connected by bolts.

[0041] Preferably, in another specific implementation case, a plug-in slot is formed at the position of the driving shaft of the central joint motor 13, and a plug-in block is provided at the position of the plug-in slot corresponding to the secondary joint 12. The plug-in block is inserted into the plug-in slot to drive the connection between the secondary joint 12 and the central joint motor 13. The plug-in block is composed of a circle and a rectangle to avoid slipping of the plug-in hole and the plug-in slot, thereby improving the smoothness and stability of the central joint motor 13 driving the secondary joint 12.

[0042] In a specific implementation case, the solid joint motor 13 is installed in the main joint 11, and the solid joint motor 13 and the spacer 114 are fixedly connected by bolts, the sub-joint 12 is inserted into the main joint 11 and connected to the solid joint motor 13, the main joint 11 of a motion joint 1 is connected to the circuit board 3, the solid joint motor 13 of the motion joint 1 is connected to the circuit board 3, the first wiring tube 2 is inserted and connected to the first through hole, the second wiring tube 2 is inserted from the fourth through hole of the sub-joint 12 and abuts against the third through hole, and the cable in the first wiring tube 2 is connected to the first wiring port of the solid joint motor 13. Pass the cable in the second wiring tube 2 into the wire groove 123 through the wire threading hole, wind it around the wire winding groove 116, and connect it to the second wiring port through the wire arrangement channel 115. After checking that the cables in the two wiring tubes 2 are correspondingly connected to the first wiring port and the second wiring port, connect the end cover 122 to the secondary joint 12 by bolts, connect the wire pressing plate 121 to the third through hole by bolts, connect the second cover plate 113 to the second through hole by bolts, connect the first cover plate 112 to the first opening by bolts, and connect the auxiliary ring plate 111 to the second opening by bolts, thereby completing the assembly of a motion joint 1 and two wiring tubes 2.

[0043] The above one or more technical solutions in the embodiments of the present invention can hide the cables inside the robot. In industrial production environments or some occasions with high requirements on appearance, the neat appearance can provide a better visual experience. The cable hiding structure of the present invention can protect the safety of cables. During the movement of the robot, the cables are easily subject to wear, pulling, etc. The cable hiding structure can protect the cables and reduce the friction between the cables and external objects. For example, when the robot frequently performs actions such as extension and rotation, the cables hidden inside the structure will not be hooked or disconnected by the joint components of the robot or the surrounding equipment, thereby reducing the probability of wire failure, improving the overall reliability of the robot, and reducing the downtime and maintenance time caused by cable damage. The cable hiding structure of the present invention can use a solid joint motor 13, which greatly reduces the cost of the robot.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire hiding structure for a robot, characterized in that: include: A plurality of motion joints, wherein the motion joints include a main joint and a sub-joint, wherein the sub-joint is partially inserted into the main joint, wherein a wire passing groove is provided at a position of the sub-joint corresponding to the main joint, wherein a wire winding groove is provided at a position of the main joint corresponding to the sub-joint, wherein a central solid joint motor is provided in the main joint and is drive-connected to the sub-joint, wherein the central solid joint motor has a first wiring port and a second wiring port, wherein a first through hole is provided at a position of the main joint corresponding to the first wiring port, wherein a second through hole is provided at a position of the main joint corresponding to the second wiring port, wherein a wire arranging channel is provided on an inner wall of the main joint, wherein the wire arranging channel communicates with the second through hole and the wire winding groove; Two adjacent motion joints are connected via a wiring tube; The first wiring tube is connected to the first through hole, the second wiring tube is connected to the secondary joint, the end of the cable in the first wiring tube passes through the first through hole and is connected to the first wiring port, one end of the cable in the second wiring tube passes through the wire groove and is wound in the wire winding groove, and then passes through the wire arrangement channel to be connected to the second wiring port.

2. The wire hiding structure for a robot according to claim 1, characterized in that: The main joint is tubular, with a first opening formed at one end and a second opening formed at the other end. The caliber of the first opening matches the size of the central solid joint motor. An auxiliary ring plate is provided at the second opening. The secondary joint is inserted into the main joint from the second opening and the side wall abuts against the auxiliary ring plate. The cable winding groove is opened at a position of the main joint close to the second opening.

3. The wire hiding structure for a robot according to claim 2, characterized in that: The inner wall of the main joint is provided with a spacer plate, the middle solid joint motor is connected to the spacer plate, and the secondary joint abuts against the spacer plate and is drivingly connected to the middle solid joint motor.

4. The wire hiding structure for a robot according to claim 2, characterized in that: It also includes a first cover plate, which is detachably connected to the first opening.

5. The wire hiding structure for a robot according to claim 1, characterized in that: The first through hole matches the size of the wiring barrel.

6. The wire hiding structure for a robot according to claim 1, characterized in that: It also includes a second cover plate, which is detachably connected to the second through hole.

7. The wire hiding structure for a robot according to claim 1, characterized in that: The secondary joint is provided with a third through hole and a fourth through hole, and the wiring tube is passed through the third through hole and the fourth through hole, and one end of the wiring tube is flush with the outer side wall of the secondary joint corresponding to the third through hole.

8. The wire hiding structure for a robot according to claim 7, characterized in that: It also includes a wire pressing plate, which is detachably connected to the third through hole and the corresponding wiring tube. A wire threading hole is formed between the wiring tube and the wire pressing plate, and the wire threading hole corresponds to the wire passing groove.

9. The wire hiding structure for a robot according to claim 1, characterized in that: The solid joint motor has a driving shaft, and the auxiliary joint and the driving shaft are connected by bolts.

10. The wire hiding structure for a robot according to claim 1, characterized in that: The wiring tube and the motion joint are connected by bolts.

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