A wire hiding structure for a robot

Abstract

The application relates to the technical field of robots, in particular to a wire hiding structure for a robot, which comprises a plurality of motion joints, the motion joints comprise main joints and auxiliary joints, the auxiliary joints are partially inserted into the main joints, the auxiliary joints are provided with wire passing grooves corresponding to the positions of the main joints, the main joints are provided with wire coiling grooves corresponding to the positions of the auxiliary joints, a middle joint motor is arranged in the main joint and is drivingly connected to the auxiliary joint, the middle joint motor is provided with a first wire connection port and a second wire connection port, the main joint is provided with a first through hole corresponding to the position of the first wire connection port, the main joint is provided with a second through hole corresponding to the position of the second wire connection port, the inner wall of the main joint is provided with a wire arranging channel, the wire arranging channel is communicated with the second through hole and the wire coiling groove, and the adjacent two motion joints are connected through a wire connection pipe. The application reduces the production cost of the robot and retains the aesthetic appearance of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a wire-concealing structure for robots. Background Technology

[0002] In the process of robot product design, protecting the cables between moving joints is one of the key requirements. The most effective way to protect the cables is to hide them completely inside the robot body, preventing them from getting tangled, hooked, or pulled by external objects.

[0003] Current robots use hollow joint motors (with a through hole along the central axis) to hide cables. Specifically, the cables pass through the central axis of the motor and then through the middle of the tubular structure. However, hollow joint motors are often expensive, keeping the overall cost of the robot high. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a cable-concealing structure for robots, which solves the high cost problem caused by the use of hollow joint motors to hide cables in existing technologies, reduces the production cost of robots, and preserves the aesthetic appearance of the robots.

[0005] This invention provides a wire-hiding structure for robots, comprising: A plurality of movable joints, each movable joint including a main joint and a secondary joint, the secondary joint being partially inserted into the main joint, the secondary joint having a wire-passing groove corresponding to the position of the main joint, the main joint having a coiled wire groove corresponding to the position of the secondary joint, a solid joint motor being disposed in the main joint and driven and connected to the secondary joint, the solid joint motor having a first wiring port and a second wiring port, the main joint having a first through hole corresponding to the position of the first wiring port, the main joint having a second through hole corresponding to the position of the second wiring port, and a wiring channel being formed on the inner wall of the main joint, the wiring channel connecting the second through hole and the coiled wire groove; The two adjacent joints are connected by a conduit; The first connector is inserted into the first through hole, and the second connector is connected to the sub-joint. The end of the cable in the first connector passes through the first through hole and is connected to the first connector. One end of the cable in the second connector passes into the cable tray and is wound around the cable tray, and then passes through the cable routing channel and is connected to the second connector.

[0006] A further improvement of the present invention for the wire-hiding structure of a robot is that the main joint is tubular, one end of the main joint has a first opening and the other end has a second opening, the diameter of the first opening matches the size of the central solid joint motor, an auxiliary ring plate is provided at the second opening, the sub-joint is inserted into the main joint from the second opening and its sidewall abuts against the auxiliary ring plate, and the wire-coiling groove is opened at the position of the main joint near the second opening.

[0007] A further improvement of the present invention for the wire-hiding structure of a robot is that a partition plate is provided on the inner wall of the main joint, the central solid joint motor is connected to the partition plate, and the sub-joint abuts against the partition plate and is driven by the central solid joint motor.

[0008] A further improvement of the present invention for the wire-concealing structure of a robot is that it further includes a first cover plate, which is detachably connected to the first opening.

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

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

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

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

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

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

[0015] The above-described one or more technical solutions in the embodiments of this invention can hide the internal cables of the robot. In industrial production environments or occasions where appearance is a high priority, a clean appearance provides a better visual experience. The cable concealment structure of this invention protects the cables. During robot movement, cables are easily subjected to wear and tear, and this concealment structure protects the cables, reducing friction between the cables and external objects. For example, when the robot frequently performs extension, retraction, and rotation movements, the cables hidden inside the structure will not be caught or broken by the robot's joint components or surrounding equipment, thereby reducing the probability of cable failure, improving the overall reliability of the robot, and reducing downtime for maintenance due to cable damage. The cable concealment structure of this invention can use solid joint motors, significantly reducing the cost of the robot.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

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

[0019] Figure 2 This is a schematic diagram of the motion joints and wiring conduits in the wire-concealing structure for robots provided in an embodiment of the present invention.

[0020] Figure 3 yes Figure 2 Sectional view at point AA.

[0021] Figure 4 This is an exploded view of the motion joints in the wire-hidden structure for a robot provided in an embodiment of the present invention.

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

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

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

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

[0026] Figure label: 1. Moving joints; 2. Wiring conduits; 3. Circuit boards; 11. Main joint; 12. Secondary joint; 13. Middle solid joint motor; 111. Auxiliary ring plate; 112. First cover plate; 113. Second cover plate; 114. Spacing plate; 115. Cable routing channel; 116. Cable tray groove; 121. Cable pressing plate; 122. End cover; 123. Cable guide groove. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but should not be used to limit the scope of this invention.

[0028] The following is combined with Figure 1 and Figure 2 The present invention describes a wire-hiding structure for a robot, comprising: Several moving joints 1, each moving joint 1 includes a main joint 11 and a secondary joint 12. The secondary joint 12 is partially inserted into the main joint 11. The secondary joint 12 has a wire groove 123 at the position corresponding to the main joint 11. The main joint 11 has a coiled wire groove 116 at the position corresponding to the secondary joint 12. A solid joint motor 13 is disposed in the main joint 11 and driven by the secondary joint 12. The solid joint motor 13 has a first wiring port and a second wiring port. The main joint 11 has a first through hole at the position corresponding to the first wiring port and a second through hole at the position corresponding to the second wiring port. The inner wall of the main joint 11 has a wiring channel 115, which connects the second through hole and the coiled wire groove 116. Two adjacent moving joints 1 are connected by a connecting pipe 2; The first connector 2 is inserted and connected to the first through hole, and the second connector 2 is connected to the sub-joint 12. The end of the cable in the first connector 2 passes through the first through hole and is connected to the first connector port. One end of the cable in the second connector 2 passes through the wire groove 123 and is wound in the coiled wire groove 116, and then passes through the cable routing channel 115 and is connected to the second connector port.

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

[0030] In a specific implementation case, the end of the cable forms a terminal block, which is connected to the first or second terminal block. The main joint 11 of a moving joint 1 at the end is connected to the circuit board 3.

[0031] In a preferred embodiment of the present invention used in a wire-hiding structure for 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 at one end and a second opening at the other end. The diameter of the first opening matches the size of the solid joint motor 13, facilitating the installation of the solid joint motor 13 inside the main joint 11. An auxiliary ring plate 111 is provided at the second opening. The secondary joint 12 is inserted into the main joint 11 through the second opening, with its sidewall abutting against the auxiliary ring plate 111. A wire groove 116 is opened in the main joint 11 near the second opening.

[0032] Preferably, the accessory joint 12 is tubular, and the diameter of the accessory joint 12 is smaller than the diameter of the main joint 11, so that the accessory joint 12 can be connected to the main joint 11, and there is a gap at the connection between the accessory joint 12 and the main joint 11, which forms the coil groove 116.

[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 auxiliary joint 12 abuts against the partition plate 114 and is driven by 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, such as 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 solid joint motor 13 is installed in 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 exterior of the main joint 11 is flat, which can protect the solid joint motor 13 and improve the aesthetics of the robot.

[0035] Specifically, such as 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, improving the robot's aesthetics.

[0036] Specifically, such as Figure 4As shown, it also includes a second cover plate 113, which is detachably connected to the second through hole. When the cable is connected to the second terminal 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 cable and improving the aesthetics of the robot.

[0037] Furthermore, such as Figure 4 and Figure 8 As shown, the sub-joint 12 has a third through hole and a fourth through hole. The wiring pipe 2 passes through the third through hole and the fourth through hole. One end of the wiring pipe 2 is flush with the outer wall of the third through hole of the sub-joint 12. When the sub-joint motor 13 rotates, it drives the sub-joint 12 to rotate, thereby driving the wiring pipe 2 to rotate.

[0038] Specifically, such as 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 pipe 2. A wire through hole is formed between the wiring pipe 2 and the wire pressing plate 121. The wire through hole corresponds to the wire through groove 123, which corresponds to the wire coil groove 116, making it convenient for the cable to pass through the wire through hole and enter the wire through groove 123. At the same time, the wire pressing plate 121 also avoids the cable from being exposed, improving the aesthetics of the robot.

[0039] Specifically, an end cap 122 is provided at the end of the sub-joint 12 away from the main joint 11. The end cap 122 covers the wiring pipe 2 that passes through the third and fourth through holes of the sub-joint 12, thereby improving the aesthetics of the robot.

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

[0041] Preferably, in another specific implementation, the solid joint motor 13 has a slot corresponding to the drive shaft, and the sub-joint 12 has a block corresponding to the slot. The block is inserted into the slot to drive and connect the sub-joint 12 and the solid joint motor 13. The block is made of a combination of circles and rectangles to prevent slippage between the insertion hole and the slot, thereby improving the smoothness and stability of the solid joint motor 13 driving the sub-joint 12.

[0042] In one specific implementation, a solid joint motor 13 is installed inside the main joint 11, and the solid joint motor 13 and the spacer plate 114 are fixedly connected by bolts. A secondary 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, and the solid joint motor 13 of this motion joint 1 is also connected to the circuit board 3. A first wiring conduit 2 is inserted and connected to the first through hole, and a second wiring conduit 2 is inserted through the fourth through hole of the secondary joint 12 and abuts against the third through hole. The cable inside the first wiring conduit 2 is connected to the first terminal of the solid joint motor 13. The cable in the second conduit 2 is passed through the wire hole into the wire groove 123 and wound around the coil groove 116. It is then connected to the second terminal through the cable routing channel 115. After checking that the cables in both conduits 2 are connected to the first and second terminals respectively, the end cap 122 is bolted to the sub-joint 12, the wire clamping plate 121 is bolted to the third through hole, the second cover plate 113 is bolted to the second through hole, the first cover plate 112 is bolted to the first opening, and the auxiliary ring plate 111 is bolted to the second opening, thus assembling a motion joint 1 and two conduits 2.

[0043] The above-described one or more technical solutions in the embodiments of the present invention can hide the internal cables of the robot. In industrial production environments or occasions where appearance is important, a clean appearance provides a better visual experience. The cable hiding structure of the present invention can protect the cable safety. During robot movement, cables are easily subjected to wear and tear, pulling, etc. This cable hiding structure can protect the cable and reduce friction between the cable and external objects. For example, when the robot frequently performs actions such as extension, retraction, and rotation, the cable hidden inside the structure will not be caught or broken by the robot's joint components or surrounding equipment, thereby reducing the probability of cable failure, improving the overall reliability of the robot, and reducing downtime for maintenance due to cable damage. The cable hiding structure of the present invention can use the Zhongshi joint motor 13, which significantly 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire-hiding structure for a robot, characterized in that, include: A plurality of movable joints, each movable joint including a main joint and a secondary joint, the secondary joint being partially inserted into the main joint, the secondary joint having a wire-passing groove corresponding to the position of the main joint, the main joint having a coiled wire groove corresponding to the position of the secondary joint, a solid joint motor being disposed in the main joint and driven and connected to the secondary joint, the solid joint motor having a first wiring port and a second wiring port, the main joint having a first through hole corresponding to the position of the first wiring port, the main joint having a second through hole corresponding to the position of the second wiring port, the inner wall of the main joint having a wiring channel connecting the second through hole and the coiled wire groove, and the secondary joint having a third through hole and a fourth through hole; The inner wall of the main joint is provided with a partition plate, the middle solid joint motor is connected to the partition plate, and the sub-joint abuts against the partition plate and is driven by the middle solid joint motor. The two adjacent joints are connected by a connector, which passes through the third and fourth through holes. One end of the connector is flush with the outer wall of the third through hole corresponding to the sub-joint. A wire pressure plate is detachably connected to the third through hole and the corresponding wiring pipe. A wire through hole is formed between the wiring pipe and the wire pressure plate, and the wire through hole corresponds to the wire groove. The first connector is inserted into the first through hole, and the second connector is connected to the sub-joint. The end of the cable in the first connector passes through the first through hole and is connected to the first connector. One end of the cable in the second connector passes into the cable groove and is wound around the cable tray, and then passes through the cable routing channel and is connected to the second connector. The main joint is tubular, with a first opening at one end and a second opening at the other end. The diameter of the first opening matches the size of the central joint motor. An auxiliary ring plate is provided at the second opening. The sub-joint is inserted into the main joint through the second opening and its sidewall abuts against the auxiliary ring plate. The coil groove is opened in the main joint near the second opening.

2. The wire-concealing structure for a robot according to claim 1, characterized in that, It also includes a first cover plate, which is detachably connected to the first opening.

3. The wire-concealing structure for a robot according to claim 1, characterized in that, The first through hole and the second through hole are matched with the size of the conduit.

4. The wire-concealing 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 and the corresponding wiring pipe.

5. The wire-concealing structure for a robot according to claim 1, characterized in that, The solid joint motor has a drive shaft, and a plug slot is formed in the solid joint motor corresponding to the position of the drive shaft. A plug block is provided in the sub-joint corresponding to the position of the plug slot. The plug block is inserted into the plug slot to drive and connect the sub-joint and the solid joint motor.

6. The wire-concealing structure for a robot according to claim 1, characterized in that, The wiring conduit and the moving joint are connected by bolts.

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