A six-axis industrial robot wrist joint wire harness structure

Abstract

The present application belongs to the technical field of industrial robots, and particularly relates to a six-axis industrial robot wrist joint wire harness structure. The six-axis industrial robot wrist joint wire harness structure comprises an arm, a wrist joint, a wrist joint support sleeve, a six-axis motor and a spiral wire harness. The wrist joint support sleeve is fixed at the front end of the arm side plate, the wrist joint is rotationally connected with the wrist joint support sleeve, the six-axis motor is arranged on the wrist joint, the spiral wire harness is accommodated in the wrist joint support sleeve, the inner end of the spiral wire harness is fixed on the wrist joint and connected with the six-axis motor direct wire, the outer end of the spiral wire harness is fixed on the arm side plate and connected with the wrist joint cable led from the arm inner cavity, and the wrist joint rotates to drive the inner end of the spiral wire harness to rotate in the forward or reverse direction. The wire harness layout is simple, the cable reliability and transmission accuracy are improved, the sealing performance is better, and the efficiency is higher.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, and specifically relates to a wrist joint harness structure for a six-axis industrial robot. Background Technology

[0002] The wrist joint of a six-axis industrial robot is located at the end of a series mechanism and serves as the link between the forearm and the end flange. The wrist joint requires two rotational degrees of freedom with perpendicular axes, and its structure must include at least two reducers and their corresponding transmission mechanisms. Therefore, the layout is compact and space is limited. Furthermore, the wrist joint is close to the robot's end-effector load, so to improve robot performance, it is often necessary to minimize the weight at this point. Additionally, some applications have specific requirements for the sealing of the wrist joint.

[0003] Based on the above issues, the wrist joint of a six-axis industrial robot commonly uses the following solutions:

[0004] 1. The four, five, and six-axis motors of a six-axis industrial robot are located at the three axes of the robot, namely above the upper arm and at the base of the forearm. The five-axis and six-axis reducers, located at the wrist joint, require power transmission from the motors via mechanisms such as spur gears, splined shafts, and bevel gears. The cables for the four, five, and six-axis motors run directly through the upper arm to the base. Although this method places the motors at the rear, reducing the weight impact of the motors on the wrist joint and eliminating the need for wiring at the wrist joint, it has significant drawbacks: a long transmission chain with many parts, large accumulated transmission accuracy errors, significant accumulated transmission efficiency losses, long assembly time, and high maintenance difficulty. Furthermore, due to the complexity of the transmission, it does not effectively reduce the weight of the wrist joint.

[0005] 2. In recent years, with the improvement of motor performance and the upgrading of reducer technology, lighter and smaller motors have been applied to industrial robots, and hollow reducers with routing capabilities have emerged. Consequently, another improved structural form and wiring method has appeared. The five- and six-axis motors are moved forward from the robot's three axes and placed inside the forearm. The five-axis motor transmits power to the five-axis reducer via a synchronous belt, and the six-axis motor transmits power to the six-axis reducer via a synchronous belt, bevel gears, and spur gears. The cables for the five- and six-axis motors are fixed inside the forearm, routed through a four-axis hollow reducer, and then through the upper arm to the base. This method moves the five- and six-axis motors forward, shortening the transmission chain and improving transmission accuracy and reducing transmission losses to some extent. However, it still has disadvantages: accommodating two motors and transmission structures inside the forearm increases the forearm's size; and the six-axis still requires a relatively long transmission chain to transmit power.

[0006] 3. Building upon the previous solution, the six-axis motor is moved further forward and installed at the wrist joint. The motor is directly connected to the reducer or connected via a single-stage spur gear transmission. This solution offers three different cable routing options for the six-axis motor.

[0007] The first type connects directly from the outside of the wrist joint along the six-axis line into the forearm. The forearm is not sealed, nor is the wrist joint. The cable is external, and the wrist joint is only connected to the five-axis reducer on one side, forming a cantilever structure.

[0008] This method offers the simplest structure and easiest wiring, but it has significant drawbacks. The cantilever structure requires high rigidity from the five-axis reducer, which reduces the robot's end effector's load capacity and overall performance. The forearm and wrist joints are not sealed, failing to prevent environmental influences on the forearm's internal components and the five- and six-axis motors. Externally mounted cables twist and turn with the five-axis rotation, reducing cable lifespan. Furthermore, the large range of cable movement makes them prone to rubbing against the end effector's cable management system, posing a significant safety hazard.

[0009] The second type connects to a five-axis reducer on one side of the wrist joint, and to the forearm on the other side via a hollow support structure coaxial with the five-axis reducer. Both the wrist joint and forearm are sealed. The six-axis motor cable runs through the hollow support structure and is fixed inside the forearm.

[0010] This design considers the sealing of the wrist joint and forearm, providing a hollow space for the six-axis motor cable, and with connections to the forearm on both sides of the wrist joint, resulting in better overall rigidity. However, it does not take into account the cable's inherent torsional properties. When the five-axis rotates, the cable twists back and forth within the hollow structure. Since the six-axis motor cable includes both power and encoder cables, the combined diameter of these two types of cables is relatively thick. The width of the routing space is far from meeting the distance requirements for the torsion fixing points of this cable specification, thus significantly impacting the cable's lifespan and making it prone to breakage.

[0011] The third approach, based on the second approach, improves the cable configuration inside the hollow support structure by using a planar coiled spring cable. The overall radius of the cable coiled spring changes with the positive and negative rotation of the five axes.

[0012] While this method improves the impact of five-axis motion on the cable, it still has shortcomings: the cable coil spring is planar, and the overall radius varies greatly, increasing the radial space occupied; it requires the design of cable protection plates, contoured clamping blocks, and pressure caps to fix the cable, making the auxiliary structure more complex and costly; the cable still has torsion at the center of the coil spring, and the cable diameter of the combined power line and encoder line is still relatively thick, and the reciprocating torsion reduces the cable life and cannot effectively shield the encoder line signal; during assembly, the cable needs to be coiled according to the design length, and even a slight error will cause wear on the cable during movement. Summary of the Invention

[0013] To address the aforementioned problems, the present invention aims to provide a wrist joint wiring harness structure for a six-axis industrial robot, thereby resolving the issues of complexity, reliability, transmission accuracy, and sealing in existing robot structures. This structure simplifies the wrist joint structure, improves cable reliability and transmission accuracy, and offers better sealing.

[0014] To achieve the above objectives, the present invention adopts the following technical solution:

[0015] This invention provides a six-axis industrial robot wrist joint wiring harness structure, including a forearm, a wrist joint, a wrist joint support sleeve, a six-axis motor, and a spiral wiring harness. The wrist joint support sleeve is fixed to the front end of the forearm side plate of the forearm, and the wrist joint is rotatably connected to the wrist joint support sleeve. The six-axis motor is mounted on the wrist joint, and the spiral wiring harness is housed within the wrist joint support sleeve. The inner end of the spiral wiring harness is fixed to the wrist joint and connected to the straight output cable of the six-axis motor. The outer end of the spiral wiring harness is fixed to the forearm side plate and connected to the wrist joint cable led out from the inner cavity of the forearm. When the wrist joint rotates, it drives the inner end of the spiral wiring harness to rotate in the forward or reverse direction of the spiral.

[0016] The spiral harness consists of inner and outer nested encoder cable spirals and power cable spirals, with a gap between the encoder cable spirals and the power cable spirals.

[0017] The spiral wire harness has a spiral portion and straight portions I and II located at both ends of the spiral portion. The spiral portion is housed within the wrist joint support sleeve. Straight portions I and II are located on the outer sides of both ends of the wrist joint support sleeve. Straight portion I is connected to the wrist joint via an inner spiral wire bracket, and straight portion II is connected to the forearm side plate via an outer spiral wire bracket.

[0018] The outer side of the forearm side plate is provided with a wrist joint cable routing cavity, and an outer cable support is provided inside the wrist joint cable routing cavity. A wrist joint cable connector is provided on the outer cable support. One end of the wrist joint cable connector is connected to the spiral wire harness through a cable connection section, and the other end is connected to the wrist joint cable.

[0019] The inner cavity of the forearm is provided with an inner cable support, and the portion of the wrist joint cable located in the inner cavity of the forearm is supported by the inner cable support.

[0020] The wrist joint is connected to the wrist joint support sleeve via a deep groove ball bearing. The deep groove ball bearing is axially limited by an elastic retaining ring through a hole. The wrist joint and the wrist joint support sleeve are sealed by a rotating oil seal of the wrist joint support sleeve. The rear end of the wrist joint is provided with a wrist joint cover.

[0021] The wrist joint is provided with a five-axis reducer positioning sleeve. The wrist joint support sleeve and the five-axis reducer positioning sleeve are located on both sides of the wrist joint and their axes are collinear. The five-axis reducer positioning sleeve is used to connect with the output shaft of the five-axis reducer installed on the forearm.

[0022] The output shaft of the six-axis motor is connected in sequence to the six-axis reducer and the end flange.

[0023] The advantages and beneficial effects of the present invention are: The six-axis industrial robot wrist joint wiring harness structure provided by the present invention has a simple wiring harness layout, improves cable reliability and transmission accuracy, and has better sealing and higher efficiency. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a wrist joint wiring harness structure for a six-axis industrial robot according to the present invention;

[0025] Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle;

[0026] Figure 3 This is a schematic diagram of the spiral wire harness in this invention;

[0027] Figure 4 This is an isometric view of the wrist joint of the six-axis industrial robot in this invention;

[0028] Figure 5 This is a front view of the wrist joint of the six-axis industrial robot in this invention;

[0029] Figure 6 This is a schematic diagram of the initial state of a six-axis industrial robot wrist joint harness structure according to the present invention;

[0030] Figure 7 This is a schematic diagram of a five-axis rotation -125° posture of a six-axis industrial robot wrist joint harness structure according to the present invention;

[0031] Figure 8 This is a schematic diagram of the five-axis rotation +125° posture of the wrist joint harness structure of a six-axis industrial robot according to the present invention.

[0032] In the diagram: 1-Forearm, 2-Forearm side plate, 3-Wrist joint, 4-Wrist joint support sleeve, 5-Wrist joint support sleeve O-ring seal, 6-Power cable spiral, 7-Encoder cable spiral, 8-Six-axis motor straight output cable, 9-Cable connection section, 10-Wrist joint cable, 11-Wrist joint support sleeve rotary oil seal, 12-Elastane retaining ring for hole, 13-Wrist joint support sleeve deep groove ball bearing, 14-Wrist joint cover, 15-Wrist joint cable connector, 16-Outer cable bracket, 17-Right end cap of forearm, 18-Right end cap sealing gasket of forearm, 19 20-Left end cap sealing gasket for forearm; 21-Inner cable bracket; 22-Wrist joint cover sealing gasket; 23-O-ring seal for five-axis reducer; 24-Five-axis reducer; 25-Positioning sleeve for five-axis reducer; 26-Input gear sealing gasket for six-axis reducer; 27-Input gear for six-axis reducer; 28-Rotary oil seal for input gear of six-axis reducer; 29-Six-axis motor; 30-Inner spiral wire bracket; 31-Outer spiral wire bracket; 32-Spiral wire harness; 321-Spiral section; 322-Straight section I; 323-Straight section II. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figures 1 to 5 As shown, this invention provides a wrist joint wiring harness structure for a six-axis industrial robot, including a forearm 1, a wrist joint 3, a wrist joint support sleeve 4, a six-axis motor 29, and a spiral wiring harness 32. The wrist joint support sleeve 4 is fixed to the front end of the forearm side plate 2 of the forearm 1 and sealed by an O-ring 5. The wrist joint 3 is rotatably connected to the wrist joint support sleeve 4. The six-axis motor 29 is mounted on the wrist joint 3. The spiral wiring harness 32 is housed within the wrist joint support sleeve 4. The inner end of the spiral wiring harness 32 is fixed to the wrist joint 3 and connected to the straight output cable 8 of the six-axis motor 29. The outer end of the spiral wiring harness 32 is fixed to the forearm side plate 2 and connected to the wrist joint cable 10 led out from the inner cavity of the forearm 1. When the wrist joint 3 rotates, it drives the inner end of the spiral wiring harness 32 to rotate in the forward or reverse direction of the spiral.

[0035] In an embodiment of the present invention, the output shaft of the six-axis motor 29 is sequentially connected to the six-axis reducer and the end flange. Specifically, the output shaft of the six-axis motor 29 is connected to the input gear 27 of the six-axis reducer via hexagon socket head cap screws, and a six-axis reducer input gear sealing gasket 26 is installed between the hexagon socket head cap screws and the six-axis reducer input gear 27. The six-axis motor 29 and the wrist joint 3 are connected via hexagon socket head cap screws, and a six-axis reducer input gear rotary oil seal 28 is located between the six-axis reducer input gear 27 and the wrist joint 3. Through the above structure, the six-axis motor 29 is internally installed in the wrist joint 3, achieving the purpose of simplifying transmission and reducing the weight of the forearm.

[0036] like Figure 3 As shown in the embodiment of the present invention, the spiral cable harness 32 is composed of inner and outer nested encoder cable spirals 7 and power cable spirals 6, with a gap between the encoder cable spirals 7 and the power cable spirals 6. The spiral cable harness 32 separates the power cable and the encoder cable through two sets of three-dimensional, nested spirals, avoiding signal interference.

[0037] Specifically, such as Figure 2 , Figure 3 As shown, the spiral cable harness 32, in terms of shape, includes a spiral portion 321 and straight portions I 322 and II 323 located at both ends of the spiral portion 321. The spiral portion 321 is housed within the wrist joint support sleeve 4, while the straight portions I 322 and II 323 are located on the outer sides of both ends of the wrist joint support sleeve 4. The straight portion I 322 is connected to the wrist joint 3 via an inner spiral cable bracket 30, and the straight portion II 323 is connected to the forearm side plate 2 via an outer spiral cable bracket 31. The spiral cable harness 32 is fixed at only two points where the spiral portion 321 and the straight portion are tangent. During five-axis rotation, there is no rubbing between the inner and outer coils of cable, no rubbing between the outer coil cable and surrounding components, and the change range of the coil diameter is very small.

[0038] Furthermore, such as Figure 1 As shown, the outer side of the forearm side plate 2 is provided with a wrist joint cable routing cavity, and an outer cable support 16 is provided inside the wrist joint cable routing cavity. A wrist joint cable connector 15 is provided on the outer cable support 16. One end of the wrist joint cable connector 15 is connected to the spiral cable harness 32 through the cable connection section 9, and the other end is connected to the wrist joint cable 10. The inner cavity of the forearm 1 is provided with an inner cable support 21, and the portion of the wrist joint cable 10 located in the inner cavity of the forearm 1 is supported by the inner cable support 21.

[0039] In an embodiment of the present invention, the wrist joint 3 is connected to the wrist joint support sleeve 4 via a deep groove ball bearing 13 of the wrist joint support sleeve. The deep groove ball bearing 13 of the wrist joint support sleeve is axially limited by an elastic retaining ring 12 through a hole. The wrist joint 3 and the wrist joint support sleeve 4 are sealed by a rotating oil seal 11 of the wrist joint support sleeve. The rear end of the wrist joint 3 is provided with a wrist joint cover 14 and is sealed by a wrist joint cover sealing gasket 22.

[0040] Furthermore, a five-axis reducer positioning sleeve 25 is provided on the wrist joint 3. The wrist joint support sleeve 4 and the five-axis reducer positioning sleeve 25 are located on both sides of the wrist joint 3, and their axes are collinear. The five-axis reducer positioning sleeve 25 is used to position the output shaft of the five-axis reducer 24 installed on the forearm 1. This side serves as the main support side of the wrist joint. The other side of the wrist joint 3 is equipped with a wrist joint support sleeve deep groove ball bearing 13, a retaining ring 12 for the bore, and a wrist joint support sleeve rotary oil seal 11. The wrist joint support sleeve 4 passes through the lip of the wrist joint support sleeve rotary oil seal 11 and is fitted to the inner ring of the wrist joint support sleeve deep groove ball bearing 13. At the same time, the wrist joint support sleeve 4 and the forearm side plate 2 are connected with hexagon socket screws, and an O-ring seal 5 is installed between them. This side serves as the auxiliary support side of the wrist joint. Forearm 1 and forearm side plate 2 are connected by hex socket screws. Wrist joint 3 is connected to both forearm 1 and forearm side plate 2, providing support on both sides. Compared to single-sided cantilever support, this effectively improves the rigidity and precision of the robot's end effector. Figure 4 , Figure 5 As shown, the wrist joint 3 has an asymmetrical structure on both sides.

[0041] This invention provides a wrist joint harness structure for a six-axis industrial robot, the motion principle of which is:

[0042] The power cable spiral 6 and the encoder cable spiral 7 are nested together, as shown below. Figure 3 As shown, both have spiral sections and straight sections, with reserved space between the power cable spiral 6 and the encoder cable spiral 7 for cable operation. The power cable and encoder cable of the six-axis motor 29 are connected to the power cable spiral 6 and encoder cable spiral 7 via the six-axis motor straight output cable 8, and are fixed at the tangent point of the straight section and the spiral using spiral bracket I 30. On the other side, the wrist joint cable connector 15 is connected to the power cable spiral 6 and encoder cable spiral 7 via the cable connection section 9, and is also fixed at the tangent point of the straight section and the spiral using spiral bracket II 31. The power cable spiral 6 and encoder cable spiral 7 pass through the wrist joint support sleeve 4, only contacting the spiral bracket I 30 and spiral bracket II 31 at the tangent points on both sides, with reserved space between them and the wrist joint support sleeve 4 for cable operation.

[0043] like Figure 6As shown, when the five-axis is in a 0° position, it is the initial installation state of the spiral harness 32. At this time, there is no springback force inside the spiral harness 32. The diameter of the power cable spiral 6 is 8.1mm, the lead is 9.5mm, the number of turns is 5.5, the total rotation angle is 1980°, the total thickness is 62mm, and the inner diameter of the turn is 42mm. The diameter of the encoder cable spiral 7 is 6.7mm, the lead is 8mm, the number of turns is 6.5, the total rotation angle is 2340°, the total thickness is 60mm, and the outer diameter of the turn is 36.7mm. At this time, the diameter of the power cable spiral 6 (8.1mm) is less than the lead (9.5mm), and there is no friction between adjacent turns. The diameter of the encoder cable spiral 7 (6.7mm) is less than the lead (8mm), and there is no friction between adjacent turns. The inner diameter of the power cable spiral 6 (42mm) is greater than the outer diameter of the encoder cable spiral 7 (36.7mm), and there is a certain space between them, so there is no friction.

[0044] like Figure 7 As shown, when the five-axis is at a -125° attitude, it is the negative limit position of the five-axis. At this time, the spiral harness 32 rotates inward and tightens. The diameter of the power cable spiral 6 remains unchanged at 8.1mm, the lead changes to 9.2mm, the number of turns is 5.85, and the total rotation angle is 2105°. Since both sides are fixed to the spiral support at the tangent point, the total thickness remains unchanged at 62mm, and the inner diameter of the turn is 39mm. The diameter of the encoder cable spiral 7 remains unchanged at 6.7mm, the lead changes to 7.8mm, the number of turns is 6.85, and the total rotation angle is 24°. At 65°, since both sides are fixed to the spiral support at the tangent point, the total thickness remains unchanged at 60mm, and the outer diameter of the coil is 35.2mm. At this time, the diameter of the power cable spiral 6 is 8.1mm, which is less than the lead of 9.2mm, and there is no scuffing between adjacent coils. The diameter of the encoder cable spiral 7 is 6.7mm, which is less than the lead of 7.8mm, and there is no scuffing between adjacent coils. The inner diameter of the power cable spiral 6 is 39mm, which is greater than the outer diameter of the encoder cable spiral 7 is 35.2mm. There is a certain space between the two, so there is no scuffing.

[0045] like Figure 8As shown, when the five-axis is at a +125° attitude, it is the positive limit position of the five-axis. At this time, the spiral harness 32 rotates outward and becomes loose. The diameter of the power cable spiral 6 remains unchanged at 8.1mm, the lead changes to 10.4mm, the number of turns is 5.15, and the total rotation angle is 1855°. Since both sides are fixed to the spiral support at the tangent point, the total thickness remains unchanged at 62mm, and the inner diameter of the turn is 45.3mm. The diameter of the encoder cable spiral 7 remains unchanged at 6.7mm, the lead changes to 8.7mm, the number of turns is 6.15, and the total rotation angle is 22°. At 15°, since both sides are fixed to the spiral support at the tangent point, the total thickness remains unchanged at 60mm, and the outer diameter of the coil is 38.3mm. At this time, the diameter of the power cable spiral 6 is 8.1mm, which is less than the lead of 10.4mm, and there is no friction between two adjacent coils. The diameter of the encoder cable spiral 7 is 6.7mm, which is less than the lead of 8.7mm, and there is no friction between two adjacent coils. The inner diameter of the power cable spiral 6 is 45.3mm, which is greater than the outer diameter of the encoder cable spiral 7 is 38.3mm, and there is a certain space between them, so there is no friction.

[0046] This invention uses a testing platform to perform reciprocating operation tests of the wire harness at ±125° intervals of 1 second, and conducts 3 million tests. After the test, the cable was removed for inspection, and no wear was found. The resistance values ​​of each core in the cable were measured and found to be normal.

[0047] Sealing performance description: The motor and wiring harness of the present invention are completely arranged in the forearm 1, the forearm side plate 2 and the wrist joint 3, which provides the prerequisite for the sealing performance of the wrist joint. The main sealing performance of this invention is ensured by the following: a six-axis reducer input gear sealing gasket 26 and a six-axis reducer input gear rotary oil seal 28 are used to seal between the wrist joint 3 and the six-axis motor 29; a five-axis reducer O-ring 23 and end face sealant are used to seal between the wrist joint 3 and the five-axis reducer 24; a wrist joint support sleeve rotary oil seal 11 is used to seal between the wrist joint 3 and the wrist joint cover 14; a wrist joint cover sealing gasket 22 is used to seal between the five-axis reducer 24 and the forearm 1; the reducer's own sealing ring is used to seal between the forearm 1 and the left end cap 20; a left end cap sealing gasket 19 is used to seal between the forearm 1 and the forearm side plate 2; end face sealant is used to seal between the forearm side plate 2 and the right end cap 17; and a wrist joint support sleeve O-ring 5 is used to seal between the forearm side plate 2 and the wrist joint support sleeve 4.

[0048] In this invention, the power cable spiral 6 and the encoder cable spiral 7 are prefabricated according to the wiring data and directly fixed to the spiral brackets I 30 and II 31 on both sides, eliminating the need for manual on-site bending and installation. The cables between the spirals, the motor, and the forearm are connected using connectors. Maintenance can be performed by removing the right end cover 17 of the forearm and the wrist joint cover 14, which is convenient and quick.

[0049] This invention provides a six-axis industrial robot wrist joint wiring harness structure, which simplifies the wrist joint structure, improves cable reliability and transmission accuracy, and offers better sealing. The six-axis motor and six-axis reducer are driven by spur gears, eliminating the intermediate bevel gear transmission. A three-dimensional, nested helix is ​​provided at the five-axis rotation center. This helix connects the six-axis motor power cable and encoder cable to the cables within the forearm, completing the body wiring. This wiring harness design has undergone 3 million reliability tests, and the resistance values ​​of each core in both the inner and outer rings of the cable are normal.

[0050] This invention provides a six-axis industrial robot wrist joint wiring harness structure, which realizes the integration of a six-axis motor into the wrist joint, simplifies the structure of the wrist joint, improves the rigidity of the wrist joint, enhances the reliability and transmission accuracy of the cable, ensures the sealing of the wrist joint, and simplifies the assembly process, facilitates later maintenance, and reduces product costs.

[0051] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A wrist joint wiring harness structure for a six-axis industrial robot, characterized in that, The device includes a forearm (1), a wrist joint (3), a wrist joint support sleeve (4), a six-axis motor (29), and a spiral wire harness (32). The wrist joint support sleeve (4) is fixed to the front end of the forearm side plate (2) of the forearm (1). The wrist joint (3) is rotatably connected to the wrist joint support sleeve (4). The six-axis motor (29) is mounted on the wrist joint (3). The spiral wire harness (32) is housed in the wrist joint support sleeve (4). The inner end of the spiral wire harness (32) is fixed to the wrist joint (3) and connected to the straight output line (8) of the six-axis motor (29). The outer end of the spiral wire harness (32) is fixed to the forearm side plate (2) and connected to the wrist joint cable (10) led out from the inner cavity of the forearm (1). When the wrist joint (3) rotates, it drives the inner end of the spiral wire harness (32) to rotate in the forward or reverse direction of the spiral. The spiral wire harness (32) is composed of inner and outer nested code disk cable spirals (7) and power cable spirals (6), and there is a gap between the code disk cable spirals (7) and the power cable spirals (6); The spiral wire harness (32) has a spiral part (321) and straight part I (322) and straight part II (323) located at both ends of the spiral part (321). The spiral part (321) is housed in the wrist joint support sleeve (4). The straight part I (322) and straight part II (323) are located on the outer sides of both ends of the wrist joint support sleeve (4). The straight part I (322) is connected to the wrist joint (3) through the inner spiral wire bracket (30). The straight part II (323) is connected to the forearm side plate (2) through the outer spiral wire bracket (31).

2. The six-axis industrial robot wrist joint wiring harness structure according to claim 1, characterized in that, The forearm side plate (2) has a wrist joint cable routing cavity on its outer side. The wrist joint cable routing cavity has a cable outer bracket (16) and a wrist joint cable connector (15) on the cable outer bracket (16). One end of the wrist joint cable connector (15) is connected to the spiral wire harness (32) through the cable connection section (9), and the other end is connected to the wrist joint cable (10).

3. The six-axis industrial robot wrist joint wiring harness structure according to claim 2, characterized in that, The inner cavity of the forearm (1) is provided with a cable inner support (21), and the portion of the wrist joint cable (10) located in the inner cavity of the forearm (1) is supported by the cable inner support (21).

4. The six-axis industrial robot wrist joint wiring harness structure according to claim 1, characterized in that, The wrist joint (3) is connected to the wrist joint support sleeve (4) through a deep groove ball bearing (13) of the wrist joint support sleeve. The deep groove ball bearing (13) of the wrist joint support sleeve is axially limited by a retaining ring (12) with a hole. The wrist joint (3) and the wrist joint support sleeve (4) are sealed by a rotating oil seal (11) of the wrist joint support sleeve. The rear end of the wrist joint (3) is provided with a wrist joint cover (14).

5. The six-axis industrial robot wrist joint wiring harness structure according to claim 1, characterized in that, The wrist joint (3) is provided with a five-axis reducer positioning sleeve (25). The wrist joint support sleeve (4) and the five-axis reducer positioning sleeve (25) are located on both sides of the wrist joint (3) and their axes are collinear. The five-axis reducer positioning sleeve (25) is used to connect with the output shaft of the five-axis reducer (24) installed on the forearm (1).

6. The six-axis industrial robot wrist joint wiring harness structure according to claim 1, characterized in that, The output shaft of the six-axis motor (29) is connected in sequence to the six-axis reducer and the end flange.

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