Joint module and robot

Abstract

The invention discloses a joint module and a robot. The joint module comprises a body; the cover plate is arranged on the body, a containing cavity is formed between the cover plate and the body, the cover plate is provided with a first through hole, and the first through hole is communicated with the containing cavity; the protection assembly is at least partially arranged in the first through hole; and the wire harness penetrates out of the accommodating cavity along the protection assembly. According to the technical scheme provided by the invention, the protection assembly can play a role in protecting the wire harness, so that the abrasion of the wire harness is reduced, and the service life of the wire harness is prolonged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a joint module and a robot. BACKGROUND

[0002] In a robot, a joint module is a power source of a joint of the robot.

[0003] For a joint module of a non-hollow structure, in the working process of the joint module, a wire harness of the joint module will rotate, thereby causing serious wear of the wire harness. SUMMARY

[0004] An object of an embodiment of the present application is to provide a joint module and a robot.

[0005] According to a first aspect of an embodiment of the present application, a joint module is provided, comprising:

[0006] a body;

[0007] a cover plate arranged on the body, a containing cavity being formed between the cover plate and the body, the cover plate being provided with a first through hole, the first through hole being in communication with the containing cavity;

[0008] a protection assembly arranged at least partially in the first through hole;

[0009] a wire harness, the wire harness passing out of the containing cavity along the protection assembly.

[0010] Optionally, the protection assembly comprises a guide portion and a connecting portion, the connecting portion being connected with the guide portion, the connecting portion being connected with the cover plate, the guide portion being arranged in the first through hole, the guide portion being provided with a guide channel, the guide channel being in communication with the containing cavity, the wire harness passing out of the containing cavity through the guide channel.

[0011] Optionally, the protection assembly further comprises a sleeve, the sleeve being sleeved on the wire harness, the sleeve being located in the guide channel.

[0012] Optionally, the guide portion comprises a connecting tube and a rubber plug, the connecting tube being arranged in the first through hole, the rubber plug being arranged at least partially in the interior of the connecting tube, the guide channel being arranged in the rubber plug.

[0013] Optionally, the protection assembly further comprises a fixing portion, the fixing portion being arranged at one end of the guide channel away from the containing cavity, the fixing portion being provided with a second through hole, the wire harness being arranged in the second through hole.

[0014] Optionally, a radial section of the guide channel is circular, and the fixing portion is spherical.

[0015] Optionally, the joint module further comprises a connecting piece, the connecting piece comprising a first mounting piece, a bearing and a second mounting piece, the first mounting piece being connected with the cover plate, the first mounting piece being matched with an outer ring of the bearing, the second mounting piece being matched with an inner ring of the bearing.

[0016] Optionally, the joint module further comprises a circuit board, the circuit board being arranged in the accommodating cavity, the circuit board being provided with a third through hole, an axis of the third through hole and an axis of the joint module forming an included angle, one end of the wire harness being connected with the circuit board through the third through hole, the other end of the wire harness penetrating out of the accommodating cavity.

[0017] Optionally, the wire harness comprises a plurality of sub-wire harnesses, the circuit board being provided with a plurality of third through holes, the sub-wire harnesses being connected with the circuit board through corresponding third through holes.

[0018] Optionally, the wire harness is welded with the circuit board, the wire harness and the circuit board being welded to form a welding point, the welding point being provided with a glue layer.

[0019] According to a second aspect of the embodiments of the present application, a robot is provided, comprising:

[0020] The joint module described above.

[0021] One technical effect of the embodiments of the present application is that when the joint module is installed at the joint of the robot, the protection assembly can protect the wire harness when the joint module moves relatively, so as to reduce the wear of the wire harness and improve the service life of the wire harness.

[0022] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0024] Figure 1 is a structural schematic view of the joint module in the embodiments of the present application;

[0025] Figure 2 is a structural schematic view of the joint module in the embodiments of the present application;

[0026] Figure 3 is Figure 2 is a sectional view of A-A in FIG. 4;

[0027] Figure 4 is Figure 3 is a partial enlarged view of B in FIG. 4;

[0028] Figure 5 This is a cross-sectional view of the fixing part in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the third through hole of the circuit board in an embodiment of this application;

[0030] Figure 7 This is a schematic diagram of the joint module and connecting arm in the embodiments of this application.

[0031] Figure labeling: Joint module 100;

[0032] Ontology 1;

[0033] Cover plate 2; First through hole 21;

[0034] Protective component 3; guide part 31; guide channel 311; connecting pipe 312; rubber plug 313; connecting part 32; sleeve 33; fixing part 34; second through hole 341;

[0035] Harness 4; Sub-harness 41;

[0036] Circuit board 5; Third through hole 51;

[0037] Accommodating cavity 6;

[0038] Connector 7; First mounting part 71; First mounting hole 711; Second mounting part 72; Second mounting hole 721; Bearing 73;

[0039] Connecting arm 200. Detailed Implementation

[0040] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0041] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0042] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0043] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0044] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0045] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] like Figures 1-6 As shown, according to a first aspect of the embodiments of this application, a joint module 100 is provided, including a body 1, a cover plate 2, a protective component 3, and a wiring harness 4; the cover plate 2 is disposed on the body 1, and a receiving cavity 6 is formed between the cover plate 2 and the body 1; the cover plate 2 has a first through hole 21, and the first through hole 21 communicates with the receiving cavity 6; the protective component 3 is at least partially disposed in the first through hole 21; the wiring harness 4 passes through the receiving cavity 6 along the protective component 3.

[0049] like Figures 1-4As shown, the joint module 100 includes a body 1, a cover plate 2, a protective component 3, and a wiring harness 4; wherein the body 1 is the driving component of the joint module 100 or a combination of a driving component and a deceleration component, and the body 1 includes an output end; the cover plate 2 is disposed on the body 1, and the cover plate 2 is located on the side of the body 1 away from the output end, and a receiving cavity 6 is formed between the cover plate 2 and the body 1, one end of the wiring harness 4 is located in the receiving cavity 6, and the other end of the wiring harness 4 passes through the inside of the receiving cavity 6 to the outside of the receiving cavity 6.

[0050] To further explain, the cover plate 2 has a first through hole 21, which communicates with the receiving cavity 6. The protective component 3 is at least partially located in the first through hole 21. When the wire harness 4 passes through the receiving cavity 6 through the first through hole 21, the wire harness 4 passes through the receiving cavity 6 along the protective component 3. The protective component 3 can protect the wire harness 4.

[0051] In this embodiment, when the joint module 100 is installed at the joint of the robot, the protective component 3 can protect the wire harness 4 during relative movement, thereby reducing the wear of the wire harness 4 and increasing its lifespan.

[0052] like Figure 3 and Figure 4 As shown, in an optional embodiment, the protective component 3 includes a guide portion 31 and a connecting portion 32. The connecting portion 32 is connected to the guide portion 31 and the cover plate 2. The guide portion 31 passes through the first through hole 21 and has a guide channel 311. The guide channel 311 communicates with the receiving cavity 6, and the wire harness 4 exits the receiving cavity 6 through the guide channel 311. Specifically, the guide portion 31 and the connecting portion 32 are connected. The connecting portion 32 is located inside the receiving cavity 6 and connected to the side of the cover plate 2 facing the body 1. The guide portion 31 passes through the first through hole 21, with a portion of the guide portion 31 protruding from the first through hole 21. The guide portion 31 has a guide channel 311, which is connected to the receiving cavity 6. The wire harness 4 exits the receiving cavity 6 through the guide channel 311. In this embodiment, the wire harness 4 can be prevented from rubbing or tangling with other components during the movement of the joint module 100, thereby improving the lifespan of the wire harness 4.

[0053] like Figure 4As shown, in an optional embodiment, the protective component 3 further includes a sleeve 33, which is fitted onto the wire harness 4 and located in the guide channel 311. The sleeve 33 is made of a rigid material. Specifically, the sleeve 33 is fitted onto the outer periphery of the wire harness 4, which can be understood as a portion of the wire harness 4 being located inside the sleeve 33, while the sleeve 33 is located in the guide channel 311, and the sleeve 33 is made of a rigid material. In this embodiment, on the one hand, the sleeve 33 can prevent the wire harness 4 from bending, and on the other hand, the sleeve 33 can protect the wire harness 4 to prevent wear between the wire harness 4 and the guide channel 311, thereby further improving the durability of the wire harness 4.

[0054] like Figure 4 As shown, in an optional embodiment, the guide portion 31 includes a connecting tube 312 and a rubber plug 313. The connecting tube 312 is disposed in the first through hole 21, and the rubber plug 313 is at least partially disposed inside the connecting tube 312. The guide channel 311 is opened in the rubber plug 313. Specifically, the rubber plug 313 is at least partially disposed inside the connecting tube 312, which can be understood as the rubber plug 313 being entirely located inside the connecting tube 312, or a portion of the rubber plug 313 being located inside the connecting tube 312 and a portion of the rubber plug 313 protruding from the connecting tube 312. The rubber plug 313 is made of a soft material, thereby reducing the wear of the sleeve 33 or the wire harness 4 in the guide channel 311.

[0055] like Figure 4 and Figure 5 As shown, in an optional embodiment, the protective component 3 further includes a fixing part 34, which is located at one end of the guide channel 311 away from the receiving cavity 6. The fixing part 34 has a second through hole 341 through which the wire harness 4 passes. Specifically, the fixing part 34 is located at one end of the guide channel 311 away from the receiving cavity 6, and the wire harness 4 passes through the second through hole 341 of the fixing part 34. In this embodiment, when the joint module 100 is applied to the joint of the robot, when the joint module 100 rotates, the fixing part 34 can transfer the rotation point of the wire harness 4 to the outside of the receiving cavity 6. Sufficient length of wire harness 4 is reserved outside the joint module 100, and the external space is large, thereby preventing the wire harness 4 from rotating inside the joint module 100, thus preventing wear of the wire harness 4.

[0056] In one alternative embodiment, the radial cross-section of the guide channel 311 is circular, and the fixing part 34 is spherical; specifically, the fixing part 34 is spherical, the outer surface of the fixing part 34 is sufficiently smooth, and the shape of the fixing part 34 is adapted to the guide channel 311, which facilitates installation and reduces wear.

[0057] likeFigure 2 , Figure 3 and Figure 4 As shown, in an optional embodiment, the joint module 100 further includes a connector 7, which includes a first mounting member 71, a bearing 73, and a second mounting member 72. The first mounting member 71 is connected to the cover plate 2, and the first mounting member 71 mates with the outer ring of the bearing 73. The second mounting member 72 mates with the inner ring of the bearing 73. Specifically, the connector 7 includes a first mounting member 71, a bearing 73, and a second mounting member 72. The first mounting member 71 is disposed on the side of the cover plate 2 away from the body 1, and the first mounting member 71 has a first mounting hole 711. The outer ring of the bearing 73 mates with the inner wall of the first mounting hole 711. The outer ring of the second mounting member 72 mates with the inner ring of the bearing 73. 2. A second mounting hole 721 is provided, which is fitted onto the guide portion 31. A gap is left between the guide portion 31 and the inner wall of the second mounting hole 721. The second mounting member 72 is used to connect with the connecting arm 200 of the joint. In this embodiment, when the output end of the joint module 100 drives the connecting portion 32 of the joint to rotate, the connecting arm 200 is located on the opposite side of the output end of the joint module 100. The connecting arm 200 will also rotate, and the second mounting member 72 will also rotate. However, the first mounting member 71 will not rotate, the cover plate 2 will not rotate, and the protective component 3 will not rotate. Therefore, the wire harness 4 located in the protective component 3 will not rotate, thereby preventing the wire harness 4 from rotating and avoiding wear when the wire harness 4 rotates.

[0058] like Figure 4 and Figure 6As shown, in an optional embodiment, the joint module 100 further includes a circuit board 5, which is disposed in the receiving cavity 6. The circuit board 5 has a third through hole 51, the axis of which forms an angle with the axis of the joint module 100. One end of the wiring harness 4 passes through the third through hole 51 and connects to the circuit board 5, while the other end of the wiring harness 4 exits the receiving cavity 6. Specifically, the circuit board 5 is disposed within the receiving cavity 6, and the circuit board 5 has a third through hole 51 that penetrates both sides of the circuit board 5. One end of the wiring harness 4 passes through the third through hole 51 and connects to the circuit board 5 near the body. One end of 1 is connected; the axis of the third through hole 51 forms an angle with the axis of the joint module 100, which can be understood as the third through hole 51 being an oblique hole; in this embodiment, on the one hand, since the space of the cavity 6 is small, setting the third through hole 51 as an oblique hole can avoid the wire harness 4 from contacting the inner wall of the cover plate 2, thereby avoiding the problem of friction between the wire harness 4 and the inner wall of the cover plate 2. On the other hand, by setting the third through hole 51 as an oblique hole, when the wire harness 4 passes through the third through hole 51, the bending angle formed is an arc transition, thereby avoiding the 90° bend of the edge of the traditional straight hole, which can significantly reduce bending stress and improve the durability of the wire harness 4.

[0059] Furthermore, if the wiring harness 4 and the circuit board 5 require maintenance, the cover plate 2 can be removed from the main body 1 to inspect the wiring harness 4, thereby reducing maintenance time.

[0060] like Figure 3 As shown, in an optional embodiment, the wire harness 4 includes a plurality of sub-wire harnesses 41, and the circuit board 5 has a plurality of the third through holes 51. The sub-wire harnesses 41 pass through the corresponding third through holes 51 and are connected to the circuit board 5. Specifically, the wire harness is composed of a plurality of sub-wire harnesses 41. For the single-strand wire currently in use, this embodiment uses a plurality of sub-wire harnesses 41 to disperse the stress on the wire harness 4, thereby improving the service life of the wire harness 4.

[0061] In related technologies, articulation modules are applied to the joints of robots. When the robot is in a high-frequency vibration environment (such as running or jumping), it will generate lateral tension on the joint module 100, which will cause the wiring harness 4 to fall off the circuit board 5.

[0062] To address the aforementioned issues, an implementation method is provided. In this method, the wire harness 4 is soldered to the circuit board 5, forming a solder joint. An adhesive layer is applied to the solder joint. Specifically, adhesive is applied to the solder joint between the wire harness 4 and the circuit board 5, forming an adhesive layer at the solder joint. This improves the connection strength between the wire harness 4 and the circuit board 5, reducing the risk of the wire harness 4 detaching from the circuit board 5.

[0063] According to a second aspect of the embodiments of this application, a robot is provided, including the joint module 100 as described above; specifically, as Figure 7 As shown, the robot also includes a connecting arm 200, which is connected to the second mounting member 72 of the connector 7 of the joint module 100. When the output end of the joint module 100 rotates, the connecting arm 200 and the second mounting member 72 rotate relative to the first mounting member 71 through the bearing 73, and the wiring harness 4 will not rotate with it, thereby reducing the wear of the wiring harness 4.

[0064] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A joint module, characterized in that, include: ontology; A cover plate is disposed on the body, and a receiving cavity is formed between the cover plate and the body. The cover plate has a first through hole, and the first through hole communicates with the receiving cavity. A protective component, wherein the protective component is at least partially disposed in the first through hole; A wire harness that extends out of the receiving cavity along the protective assembly.

2. The joint module according to claim 1, characterized in that, The protective component includes a guide portion and a connecting portion. The connecting portion is connected to the guide portion and the connecting portion is connected to the cover plate. The guide portion passes through the first through hole and has a guide channel. The guide channel communicates with the receiving cavity, and the wire harness passes through the receiving cavity through the guide channel.

3. The joint module according to claim 2, characterized in that, The protection component also includes a sleeve, which is fitted onto the wire harness and located in the guide channel.

4. The joint module according to claim 2, characterized in that, The guide portion includes a connecting tube and a rubber plug. The connecting tube is disposed in the first through hole, and the rubber plug is at least partially disposed inside the connecting tube. The guide channel is opened in the rubber plug.

5. The joint module according to claim 2, characterized in that, The protective component also includes a fixing part, which is located at one end of the guide channel away from the receiving cavity. The fixing part has a second through hole, through which the wire harness passes.

6. The joint module according to claim 5, characterized in that, The radial cross-section of the guide channel is circular, and the fixing part is spherical.

7. The joint module according to claim 2, characterized in that, The joint module further includes a connector, which includes a first mounting component, a bearing, and a second mounting component. The first mounting component is connected to the cover plate and mates with the outer ring of the bearing. The second mounting component mates with the inner ring of the bearing.

8. The joint module according to claim 1, characterized in that, The joint module also includes a circuit board disposed in the receiving cavity. The circuit board has a third through hole, and the axis of the third through hole forms an angle with the axis of the joint module. One end of the wire harness passes through the third through hole and is connected to the circuit board, and the other end of the wire harness exits the receiving cavity.

9. The joint module according to claim 8, characterized in that, The wiring harness includes multiple sub-wiring harnesses, and the circuit board has multiple third through holes. The sub-wiring harnesses pass through the corresponding third through holes and are connected to the circuit board.

10. The joint module according to claim 8, characterized in that, The wire harness is soldered to the circuit board, and the soldering of the wire harness and the circuit board forms a solder joint, with an adhesive layer applied to the solder joint.

11. A robot, characterized in that, include: The joint module as described in any one of claims 1-10.

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