Wire harness protection device and robot with same

Abstract

The invention provides a wire harness protection device which is used for being arranged in a rotating joint and comprises a stand column structure, a rotating structure and a limiting structure, and the stand column structure extends along the axis of the rotating joint; the rotating structure comprises a first connecting part and a second connecting part, the first connecting part is arranged on the stand column structure, the second connecting part is rotatably arranged on the first connecting part, a first connecting position is arranged on the second connecting part, and a wire harness is arranged on the first connecting position; the limiting structure is arranged on the stand column structure, the limiting structure is arranged on the peripheral side of the stand column structure so as to form a first stopping position and a second stopping position which are arranged on the two sides of the first connecting position respectively, and when the wire harness rotates, the first connecting position and the first stopping position are driven, or the first stopping position is used for limiting stopping. According to the wire harness protection device, by arranging the stand column structure and the limiting structure, combination of a self-adaptive rotary coupling structure and a rotary reset structure is achieved, and the technical problem that a wire harness in a rotary joint is prone to damage is solved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a wire harness protection device and a robot having the same. Background Technology

[0002] Currently, rotary joints are widely used as a key motion component in the fields of robotics, automation equipment, and precision machinery, enabling flexible movement and manipulation of equipment in three-dimensional space. The design of rotary joints typically integrates functions such as power transmission, sensor signal transmission, and communication lines, achieving electrical connections between internal and external components through built-in wiring harnesses. This design offers significant advantages: firstly, it greatly improves the robot's flexibility and range of motion, allowing it to perform high-precision tasks in complex environments; secondly, the built-in wiring harness reduces external interference, enhancing system stability and safety; and finally, the compact structural design helps reduce the overall size and weight of the equipment, improving portability and deployment efficiency. Therefore, rotary joints have become an indispensable core component in modern industrial robots, service robots, and various automated devices.

[0003] However, despite the numerous functional breakthroughs achieved by rotary joints, the durability of their internal wiring harnesses has long been a problem plaguing the industry. Because the joints need to rotate frequently to adapt to different working conditions, the wiring harness is subjected to continuous mechanical stress during this process. Over time, this dynamic load leads to accelerated wear and even breakage of the wiring harness. Damage to the wiring harness not only interrupts power and data transmission but can also cause equipment failure or safety accidents, requiring downtime for repairs in severe cases. This undoubtedly increases maintenance costs and reduces production efficiency. Furthermore, the materials and construction of traditional wiring harnesses often struggle to balance flexibility and strength; once damaged, replacement is complex, affecting the rapid recovery and operation of the equipment. Summary of the Invention

[0004] The main objective of this application is to provide a wire harness protection device and a robot having the same, in order to solve the technical problem that the wire harness inside the rotary joint is easily damaged in the prior art.

[0005] To achieve the above objectives, according to one aspect of this application, a wire harness protection device is provided for protecting the wire harness inside a rotary joint, comprising:

[0006] The column structure extends at least partially along the axis of the rotating joint;

[0007] A rotating structure includes a first connecting part and a second connecting part. The first connecting part is disposed on the column structure, and the second connecting part is rotatably disposed on the first connecting part along the circumference of the column structure. A first connecting position is provided on the periphery of the second connecting part, and at least a portion of the wire harness is provided on the first connecting position.

[0008] The limiting structure is set on the column structure, at least partially set on the periphery of the column structure, to form a first stop and a second stop respectively set on both sides of the first connection position. When the wire harness rotates, it drives the first connection position to stop or the first stop to limit the stop.

[0009] Furthermore, the angle between the projections of the line segment formed by the shortest distance between the first connecting position and the column structure and the line segment formed by the shortest distance between the second connecting position and the column structure onto a plane perpendicular to the axis of the column structure is c, where 90°≤c≤150°.

[0010] Furthermore, the limiting structure includes a limiting shell, which encloses a receiving space for installing the rotating structure. A limiting opening extending circumferentially along the column structure is provided on one side of the limiting shell. A first stop and a second stop are formed at both ends of the limiting opening, and at least a portion of the second connecting part extends out of the limiting opening to form a first connecting position.

[0011] Furthermore, the wire harness protection device also includes a first elastic element and a second elastic element. The limiting housing is provided with a first mounting groove and a second mounting groove. Both the first mounting groove and the second mounting groove extend circumferentially along the column structure. The first elastic element is disposed in the first mounting groove, and the second elastic element is disposed in the second mounting groove. Both the first elastic element and the second elastic element are telescopically disposed circumferentially along the column structure so as to provide a resetting elastic force for the second connection part when the second connection part rotates circumferentially along the column structure.

[0012] Furthermore, the limiting housing includes a first housing and a second housing. The first housing is connected to the column structure, and the second housing is detachably disposed from the first housing to enclose and form an accommodating space. Both the first housing and the second housing are provided with annular grooves extending circumferentially along the column structure. The two annular grooves are correspondingly disposed to enclose and form a first mounting groove and a second mounting groove. The side of the annular groove on the first housing and / or the second housing away from the first connection position is provided with a protrusion that protrudes at least partially from the groove wall of the annular groove. The ends of the first elastic member and the second elastic member away from the first connection position are both connected to the protrusion, and the ends of the first elastic member and the second elastic member close to the first connection position are both connected to the first connection position.

[0013] Furthermore, both the first housing and the second housing are provided with arc-shaped baffles on the side near the second connecting portion, and the two arc-shaped baffles are correspondingly arranged so that the two ends of the arc-shaped baffles respectively form a first stop position and a second stop position; and / or, the first housing and / or the second housing are provided with a first stop member and a second stop member, the first stop member and the second stop member are respectively arranged at the two ends of the first connecting portion, the first stop member cooperates with the first connecting portion stop to form a first stop position, and the second stop member cooperates with the first connecting member to form a second stop position.

[0014] Furthermore, the wire harness protection device also includes a first guide rod, the rotating structure being a bearing, the inner ring of the bearing being fitted onto the column structure to form a first connecting part, the outer ring of the bearing forming a second connecting part, one end of the first guide rod being disposed on the outer ring of the bearing, and the other end of the first guide rod extending radially along the column structure to form a first connecting position, and at least a portion of the wire harness being disposed on the guide rod.

[0015] Furthermore, the column structure includes a first column, a second column, and a base. One end of the first column is disposed on the base, and the other end of the first column is detachably connected to the second column. Both the first column and the second column extend along the axial direction of the rotating joint. A first snap-fit ​​position is provided on the first column, and a second snap-fit ​​position is provided on the first connecting part. The first snap-fit ​​position and the second snap-fit ​​position are correspondingly provided so that the rotating structure and the column structure can be detachably connected.

[0016] Furthermore, the wire harness protection device also includes an elastic frame for being fitted onto the wire harness, at least a portion of which is telescopically oriented along the axial direction of the wire harness; and / or, the wire harness protection device also includes at least one fixing device, one of which is disposed at the first connection position, at least a portion of which is fitted onto the wire harness so that the wire harness at the first connection position can be movably positioned along the axial direction of the wire harness; and / or, the angle between the axial direction of the wire harness at the first connection position and a plane perpendicular to the axial direction of the column structure is α, where 20°≤α≤60°.

[0017] According to another aspect of this application, a robot is provided, including a wire harness protection device. The robot includes a rotary joint, and the wire harness protection device is disposed inside the rotary joint.

[0018] Applying the technical solution of this application, the column structure serves as the support for the entire protection device, extending at least partially along the axis of the rotary joint, providing a stable foundation for the rotating and limiting structures. This ensures the wire harness protection device remains stable even with frequent rotation of the rotary joint, preventing uneven stress on the wire harness due to instability of the device itself, thereby reducing wear and fatigue of the wire harness. The rotating structure includes a first connecting part and a second connecting part, wherein the second connecting part can rotate freely relative to the first connecting part circumferentially along the column structure. The key to this design is that when the rotary joint moves, the wire harness automatically stretches or shortens through the adaptive rotation of the second connecting part, avoiding bending and twisting of the wire harness due to a fixed length during joint rotation. Through the connection between the first connecting part and the wire harness, the wire harness can swing naturally with the joint movement without external constraints, reducing the mechanical stress on the internal wires. When the first connecting part exceeds a certain angle during rotation, it contacts the first or second stop, preventing further rotation. In summary, the wire harness protection device of this application solves the technical problem of easy damage to the internal wire harness of the rotary joint through the combination of an adaptive rotation coupling structure and a rotation reset structure. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0020] Figure 1 A cross-sectional view of one embodiment of a rotary joint according to this application is shown;

[0021] Figure 2 A three-dimensional structural exploded view of one embodiment of the wire harness protection device according to this application is shown;

[0022] Figure 3 A perspective structural schematic diagram of the second housing of one embodiment of the wire harness protection device according to this application is shown;

[0023] Figure 4 A three-dimensional structural schematic diagram of the first housing of one embodiment of the wire harness protection device according to this application is shown;

[0024] Figure 5 A three-dimensional structural schematic diagram of a portion of the structure of a wire harness protection device according to an embodiment of the present application is shown;

[0025] Figure 6 A front view of one embodiment of the wire harness protection device according to this application is shown.

[0026] The above figures include the following reference numerals:

[0027] 100. Column structure; 110. First column; 120. Second column; 130. Base; 200. Rotating structure; 210. First connecting part; 220. Second connecting part; 221. First connecting position; 300. Limiting structure; 301. First stop position; 302. Second stop position; 303. Limiting opening; 310. Limiting housing; 311. First mounting groove; 312. Second mounting groove; 313. First housing; 314. Second housing; 315. Protrusion; 316. Arc-shaped baffle; 410. First elastic element; 420. Second elastic element; 500. First guide rod; 600. Elastic frame; 700. Fixing device; 800. Wiring harness; 900. Rotary joint. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] Please refer to Figures 1-6 This application provides a wire harness protection device for installation inside a rotary joint 900, comprising: a column structure 100, at least a portion of which extends along the axis of the rotary joint 900; and a rotating structure 200, comprising a first connecting portion 210 and a second connecting portion 220. The first connecting portion 210 is disposed on the column structure 100, and the second connecting portion 220 is rotatably disposed on the first connecting portion 210 along the circumference of the column structure 100. A first connection position 221 is provided on the periphery of 0, and at least a portion of the wire harness 800 is provided on the first connection position 221; a limiting structure 300 is provided on the column structure 100, and at least a portion of the limiting structure 300 is provided on the periphery of the column structure 100 to form a first stop position 301 and a second stop position 302 respectively provided on both sides of the first connection position 221. When the wire harness 800 rotates, it drives the first connection position 221 to stop with the first stop position 301, or the first stop position 301 to stop.

[0030] Applying the technical solution of this embodiment, the wire harness 800 protection device includes a column structure 100, a rotating structure 200, and a limiting structure 300, which can effectively solve the problems of wear, poor structural adaptability, and high after-sales maintenance costs of the wire harness 800 inside the rotary joint 900 of the industrial robot J1 base during large-angle rotational motion. The column structure 100 extends at least partially along the axis of the rotary joint 900, providing a fixing and guiding foundation for the wire harness 800. The rotating structure 200 is implemented through a first connecting portion 210 and a second connecting portion 220, wherein the second connecting portion 220 is rotatably arranged circumferentially along the column structure 100, and at least a portion of the wire harness 800 is fixed at a first connecting position 221 on its periphery, ensuring that the wire harness 800 maintains its natural state when moving with the rotary joint 900, avoiding bending and breakage of the internal wires due to torsion. A limiting structure 300 is disposed on the column structure 100, at least partially located on the periphery of the column structure 100, forming a first stop 301 and a second stop 302 respectively located on both sides of the first connecting position 221. When the wire harness 800 rotates with the rotary joint 900, the first connecting position 221 can stop and limit the wire harness 800 with the first stop 301 or the second stop 302, thereby preventing stress damage caused by excessive stretching of the wire harness 800 during rotation. Through the organic combination of the above technical features, the device of this application ensures the reliability of the wire harness 800 inside the rotary joint 900 and extends its service life, reduces after-sales maintenance costs caused by problems with the wire harness 800, and improves the operating efficiency and stability of the industrial robot.

[0031] Specifically, the angle between the projections of the line segment formed by the shortest distance between the first connecting position 221 and the column structure 100 and the line segment formed by the shortest distance between the second connecting position and the column structure 100 onto a plane perpendicular to the axis of the column structure 100 is c, where 90°≤c≤150°.

[0032] In this embodiment, the angle c between the projections of the line segment formed by the shortest distance between the first connecting position 221 and the column structure 100 and the line segment formed by the shortest distance between the second connecting position and the column structure 100 onto a plane perpendicular to the axis of the column structure 100 is set within the range of 90° to 150°. This specific angle design ensures that when the first-stage adaptive rotary coupling bracket rotates with the wiring harness, the springs on both sides can effectively generate tension and elasticity, keeping the rotary coupling bracket in relative balance with the central mounting column, thereby realizing the automatic reset function of the rotary bracket. This design avoids excessive stretching of the wiring harness during large-angle rotation, significantly reducing the risk of stress damage and enhancing the overall reliability and service life of the wiring harness. At the same time, this adaptive structure allows the wiring harness to move freely and smoothly within the rotary joint, reducing friction and bending, further ensuring the integrity and stability of the wiring harness required for the normal operation of the rotary joint of the industrial robot J1 base, and reducing maintenance costs and workload during long-term operation.

[0033] Specifically, the limiting structure 300 includes a limiting housing 310, which encloses a receiving space for installing the rotating structure 200. A limiting opening 303 extending circumferentially along the column structure 100 is provided on one side of the limiting housing 310. A first stop 301 and a second stop 302 are formed at both ends of the limiting opening 303, respectively. At least a portion of the second connecting part 220 extends out of the limiting opening 303 to form a first connecting part 221.

[0034] In this embodiment, the limiting structure 300 includes a limiting housing 310, which encloses a receiving space for mounting the rotating structure 200. The limiting opening 303 extends circumferentially along the column structure 100, with a first stop 301 and a second stop 302 formed at its two ends. This design ensures the limiting and guiding of the rotating structure 200 during rotation. A portion of the second connecting part 220 extends out of the limiting opening 303 to form a first connecting position 221, allowing the rotating structure 200 to rotate smoothly and accurately reset, avoiding structural damage or wire harness stress concentration caused by excessive rotation angle. Through the cooperation of the limiting opening 303 and the first stop 301 and second stop 302 at both ends of the limiting opening 303, the rotation range of the rotating structure 200 is effectively limited, ensuring that the rotational movement is within a predetermined range, thus improving the stability and reliability of the device. Meanwhile, the combination of the limiting housing 310 and the rotating structure 200 provides a more comprehensive spatial layout and mechanical protection for the wire harness, further enhancing the safety and service life of the wire harness within the rotating joint of the industrial robot J1 base. In other embodiments not shown, the design of the limiting structure 300 can also be adjusted according to actual needs to adapt to the wire harness protection requirements of different industrial robots, achieving a more optimized adaptive rotation protection effect.

[0035] Specifically, the wire harness protection device also includes a first elastic element 410 and a second elastic element 420. The limiting housing 310 is provided with a first mounting groove 311 and a second mounting groove 312. Both the first mounting groove 311 and the second mounting groove 312 extend circumferentially along the column structure 100. The first elastic element 410 is disposed in the first mounting groove 311, and the second elastic element 420 is disposed in the second mounting groove 312. Both the first elastic element 410 and the second elastic element 420 are telescopically disposed circumferentially along the column structure 100 so as to provide a restoring elastic force for the second connecting part 220 when the second connecting part 220 rotates circumferentially along the column structure 100.

[0036] In this embodiment, the wire harness protection device further includes a first elastic element 410 and a second elastic element 420. These two elastic elements are respectively placed in the first mounting groove 311 and the second mounting groove 312 on the limiting housing 310, and both have telescopic characteristics along the circumference of the column structure 100. This configuration allows the first elastic element 410 and the second elastic element 420 to provide the elastic force required for the second connecting part 220 to reset when it rotates along the circumference of the column structure 100, ensuring the stability of the wire harness during movement and reducing stress damage. Specifically, as the second connecting part 220 rotates, one side of the first elastic element 410 and the second elastic element 420 is compressed, while the other side is stretched. This dynamic balance effectively assists the second connecting part 220 in completing the automatic return action, reducing potential wear and failure caused by wire harness torsion. The implementation of this technical solution significantly enhances the adaptability and durability of the wire harness protection device in the rotational joint movement of the industrial robot J1 base, reduces the frequency of wire harness maintenance and replacement, thereby saving maintenance costs and improving equipment efficiency.

[0037] Specifically, such as Figure 3 , Figure 4 As shown, the limiting housing 310 includes a first housing 313 and a second housing 314. The first housing 313 is connected to the column structure 100. The second housing 314 is detachably disposed from the first housing 313 to enclose and form an accommodating space. Both the first housing 313 and the second housing 314 are provided with annular grooves extending circumferentially along the column structure 100. The two annular grooves are correspondingly disposed to enclose and form a first mounting groove 311 and a second mounting groove 312. On the side of the annular groove on the first housing 313 and / or the second housing 314 away from the first connecting position 221, there is a protrusion 315 that protrudes at least partially from the groove wall of the annular groove. The ends of the first elastic member 410 and the second elastic member 420 away from the first connecting position 221 are both connected to the protrusion 315. The ends of the first elastic member 410 and the second elastic member 420 near the first connecting position 221 are both connected to the first connecting position 221.

[0038] In this embodiment, the limiting housing 310 is composed of a first housing 313 and a second housing 314, which are detachably connected to form a complete receiving space. The first housing 313 is connected to the column structure 100, while the second housing 314 is connected to the first housing 313. Together, they provide annular grooves extending circumferentially on the column structure 100. These annular grooves are arranged opposite each other to form a first mounting groove 311 and a second mounting groove 312. It is worth noting that on the side of the annular groove on the first housing 313 and / or the second housing 314 away from the first connecting position 221, there is a protrusion 315 protruding from the groove wall. The two ends of the first elastic member 410 and the second elastic member 420 are respectively connected to the protrusion 315 and the first connecting position 221. This structural design allows the elastic members to effectively absorb and release the tension generated by rotation when the industrial robot J1 base rotates, ensuring the automatic reset of the wiring harness during large-angle rotation, avoiding damage to the wiring harness due to stress tension, thereby extending the service life of the wiring harness and improving the overall operational stability and reliability of the industrial robot. Through the elastic connection between the protrusion 315 and the first connection position 221, the adaptive wire harness protection device can automatically adjust the tension state of the wire harness within the range of motion of the rotary joint, realizing automatic stretching and stress-free torsion of the wire harness. The implementation of this technical solution effectively solves the problems of wear, bending and high maintenance costs encountered in the protection of wire harnesses of traditional industrial robots.

[0039] Specifically, both the first housing 313 and the second housing 314 are provided with arc-shaped baffles 316 on the side near the second connecting portion 220. The two arc-shaped baffles 316 are correspondingly arranged so that the two ends of the arc-shaped baffles 316 respectively form a first stop position 301 and a second stop position 302; and / or, the first housing 313 and / or the second housing 314 are provided with a first stop member and a second stop member. The first stop member and the second stop member are respectively arranged at the two ends of the first connecting portion 221. The first stop member is arranged to cooperate with the first connecting portion 221 to form the first stop position 301, and the second stop member is arranged to cooperate with the first connecting member to form the second stop position 302.

[0040] In this embodiment, both the first housing 313 and the second housing 314 are provided with arc-shaped baffles 316 near the second connecting portion 220. The two ends of these baffles respectively form a first stop position 301 and a second stop position 302. This design ensures that the wiring harness can rotate smoothly along a preset path when moving within the rotary joint cavity of the industrial robot J1 base, avoiding excessive pulling or kinking of the wiring harness during large-angle rotations and reducing the risk of damage. Simultaneously, the first and second stop members provided on the first housing 313 and / or the second housing 314, in conjunction with the stops at both ends of the first connecting portion 221, effectively limit the range of motion of the wiring harness, preventing it from exceeding the safe rotation angle and further ensuring its safety and stability. This combination of adaptive rotational coupling structure and rotational reset mechanism not only improves the reliability of the wiring harness but also reduces maintenance costs, extends its service life, and ensures the continuous and efficient operation of the industrial robot. In other embodiments not shown, the first housing 313 and the second housing 314 can also be directly configured as curved surfaces that smoothly transition to the first connection position 221. This structural optimization allows for more precise control of the path and tension distribution of the wire harness during rotation, making the movement of the wire harness smoother, reducing friction and stress concentration during movement, and thus improving the performance and adaptability of the entire protection device. In other embodiments not shown, the above objectives can also be achieved by adjusting the positions of the first and second stops, or by changing the shape and material of the baffle.

[0041] Specifically, the wire harness protection device also includes a first guide rod 500, a rotating structure 200 which is a bearing, an inner ring of the bearing which is fitted onto the column structure 100 to form a first connecting part 210, an outer ring of the bearing which forms a second connecting part 220, one end of the first guide rod 500 which is disposed on the outer ring of the bearing, and the other end of the first guide rod 500 which extends radially along the column structure 100 to form a first connecting position 221, and at least a portion of the wire harness 800 is disposed on the guide rod.

[0042] In this embodiment, the wiring harness protection device optimizes the layout and fixation of the wiring harness 800 by adding a first guide rod 500, wherein the rotating structure 200 is specifically implemented as a bearing. The inner ring of the bearing is tightly engaged with the snap-fit ​​boss on the column structure 100 to form a first connecting part 210, while the outer ring of the bearing provides a second connecting part 220. One end of the first guide rod 500 is securely mounted on the second connecting part 220, and the other end extends radially outward along the column structure 100 to finally form a first connecting position 221. In this structure, the wiring harness 800 is at least partially guided and fixed on the first guide rod 500. With the movement of the J1 base rotation joint, the wiring harness 800 can achieve smooth adaptive stretching and resetting through the linkage between the first connecting position 221 and the second connecting part 220. This design ensures that the wiring harness 800 can avoid stress damage caused by excessive bending or pulling when the rotation joint rotates at a large angle, thereby improving the overall reliability of the wiring harness and extending its service life. The column structure 100 and the column base 9 are fixed by a threaded connection, ensuring the stable installation of the entire wire harness protection device. The fixing baffle 5 is connected to the upper section 8 of the column by mounting lugs, further stabilizing the entire device. Through the synergistic effect of these components, the wire harness protection device of the present invention achieves automatic adaptation and protection of the wire harness during rotational movement, significantly reducing the risk of wear and breakage of the wire harness during movement.

[0043] Specifically, the column structure 100 includes a first column 110, a second column 120, and a base 130. One end of the first column 110 is disposed on the base 130, and the other end of the first column 110 is detachably connected to the second column 120. Both the first column 110 and the second column 120 extend along the axial direction of the rotating joint 900. The first column 110 is provided with a first snap-fit ​​position, and the first connecting part 210 is provided with a second snap-fit ​​position. The first snap-fit ​​position and the second snap-fit ​​position are correspondingly arranged so that the rotating structure 200 is detachably connected to the column structure 100.

[0044] In this embodiment, the column structure 100 consists of a first column 110, a second column 120, and a base 130. One end of the first column 110 is mounted on the base 130, and the other end is detachably connected to the second column 120. Both columns extend along the axial direction of the rotary joint 900. Notably, the first column 110 has a first locking position, while the first connecting part 210 is equipped with a second locking position. These locking positions correspond to each other, enabling the rotating structure 200 to establish a stable and detachable connection with the column structure 100. This design not only ensures reliable installation of the wire harness protection device but also facilitates maintenance and replacement. During the movement of the rotary joint 900, the rotating structure 200 rotates smoothly with the wire harness. Through the coordinated work of the first and second locking positions, automatic stretching and smooth guidance of the wire harness during large-angle rotation are achieved, effectively preventing damage to the internal wires caused by wire harness twisting and excessive bending. In addition, the detachable connection design reduces maintenance costs, simplifies the repair process, and enhances the overall adaptability and ease of use of the device, thereby significantly improving the operating efficiency and stability of industrial robots.

[0045] Specifically, such as Figure 1 and Figure 6 As shown, the wire harness protection device further includes an elastic frame 600, which is used to be sleeved on the wire harness 800. At least a portion of the elastic frame 600 is telescopically arranged along the axial direction of the wire harness 800. And / or, the wire harness protection device further includes at least one fixing device 700, one of which is disposed on the first connection position 221. At least a portion of the fixing device 700 is sleeved on the wire harness 800 so that the wire harness 800 on the first connection position 221 can be movably arranged along the axial direction of the wire harness 800. And / or, the angle between the axial direction of the wire harness 800 on the first connection position 221 and the plane perpendicular to the axial direction of the column structure 100 is α, where 20°≤α≤60°.

[0046] In this embodiment, the adaptive wire harness protection device of the rotary joint of the industrial robot J1 base integrates an elastic frame 600, which is at least partially capable of extending and retracting along the axial direction of the wire harness 800. This design automatically adjusts with the rotational movement of the joint, reducing tension and wear on the wire harness caused by mechanical movement. Simultaneously, an example of a fixing device 700 is disposed on the first connection position 221 and at least partially fitted onto the wire harness 800, ensuring that the wire harness can move along its own axial direction at the first connection position 221. This allows the wire harness to smoothly adjust its position even with significant joint rotation, preventing excessive bending and damage to the internal wires. Notably, the angle α between the axial direction of the wire harness 800 at the first connection position 221 and the plane perpendicular to the axial direction of the column structure 100 is set between 20° and 60°. This angle range facilitates the natural guidance of the wire harness during rotation, avoiding unnecessary stress accumulation, and also facilitates effective arrangement and management of the wire harness, significantly improving the overall effectiveness of wire harness protection and the operational stability of the industrial robot.

[0047] Through the aforementioned comprehensive design, the adaptive wiring harness protection device for the J1 industrial robot's base rotary joint achieves adaptive adjustment of the wiring harness during joint rotation. This effectively alleviates wiring harness wear and structural stress issues associated with traditional protection measures, reduces after-sales maintenance costs, and ensures the long-term reliability and service life of the wiring harness. Furthermore, the high elasticity and abrasion resistance of the 600 elastic skeleton further enhances the wiring harness's protective capabilities, enabling it to maintain stable performance even under complex working conditions and meet the high-efficiency, high-precision operation requirements of industrial robots.

[0048] This application provides a robot including the above-mentioned wire harness protection device. The robot includes a rotary joint 900, and the wire harness protection device is disposed inside the rotary joint 900.

[0049] This application also provides a robot including a rotary joint 900, in which the aforementioned wire harness protection device is provided. By using this wire harness protection device inside the rotary joint, the reliability and service life of the robot's wire harness can be significantly improved. The column structure 100 ensures that the wire harness has stable support and guidance, while the rotating structure 200, through the first connecting part 210 and the second connecting part 220, allows the wire harness 800 to freely adjust with the movement of the rotary joint 900, avoiding damage to the internal wires caused by torsion during large-angle rotation of the wire harness 800. The limiting structure 300, by forming a first stop 301 and a second stop 302, effectively controls the range of motion of the wire harness 800, preventing stress damage caused by excessive stretching, thereby fundamentally reducing robot downtime and maintenance time caused by problems with the wire harness 800, reducing maintenance costs, and enhancing the overall operating efficiency and stability of the robot.

[0050] When using the adaptive wire harness protection device of this application, the wire harness 800 is first introduced through the rear opening of the J1 joint base. After passing through the fixing buckle, the wire harness 800 is wrapped by the elastic skeleton 600 made of PA6 material, and then connected to the fixing buckle on the first-stage adaptive rotary coupling bracket. As the industrial robot J1 base rotary joint moves, the wire harness 800 drives the first-stage adaptive rotary coupling bracket to rotate around the central column. At this time, springs generate tension and elasticity on both sides of the rotary bracket, ensuring that the rotary coupling bracket can automatically reset during rotation, avoiding stress damage to the wire harness 800 due to excessive stretching or torsion. Subsequently, the wire harness 800 is smoothly guided through the fixing buckle on the second-stage fixed guide bracket, and finally leaves the J1 base rotary joint cavity through the cylindrical guide bracket. During this process, the angle c between the first connection position 221 of the wire harness 800 and the column structure 100 is maintained between 90° and 150°, effectively ensuring the natural state of the wire harness during rotation and reducing the risk of bending and breakage of the internal wires. The first elastic element 410 and the second elastic element 420 provide a restoring elastic force when the second connecting portion 220 rotates. The stop formed by the arc-shaped baffle 316 of the limiting housing 310, along with the first and second stop elements, restricts the range of motion of the wire harness, preventing it from exceeding the safe rotation angle and ensuring the safety and stability of the wire harness. Furthermore, the first guide rod 500 plays a crucial role in the positioning and guiding of the wire harness 800, and it works in conjunction with the rotating structure 200 to enable the wire harness to rotate smoothly and return to its correct position precisely.

[0051] The first column 110 and the second column 120 on the base 130 provide stable support for the entire device, and their detachable connection facilitates maintenance and adjustment. The elastic frame 600 encloses the wiring harness 800, allowing at least partial axial expansion and contraction along the harness, while the fixing device 700 ensures axial movement of the harness at the first connection point 221, preventing excessive bending of the internal wires. Ultimately, when the industrial robot J1 base rotary joint performs its tasks, the wiring harness protection device works in coordination with the above structure to ensure the harness automatically adapts to rotational motion, reducing wear and structural stress, lowering maintenance costs, and improving the reliability and lifespan of the wiring harness, thereby maintaining the efficient and stable operation of the industrial robot.

[0052] When the axial direction of the first connection position 221 of the wire harness 800 forms an angle α with the plane perpendicular to the axial direction of the column structure 100, and this angle is maintained between 20° and 60°, the wire harness can automatically adjust with the movement of the rotary joint, maintaining a natural state and avoiding excessive bending and damage to the internal wires, ensuring smoothness and safety during rotation. Throughout the entire motion cycle, the wire harness protection device effectively manages and protects the wire harness, reducing maintenance workload, extending the service life of the wire harness, and thus improving the overall operating efficiency and stability of the industrial robot. During industrial robot operation, the wire harness protection device provides comprehensive protection for the wire harness through the coordinated action of the above-mentioned structures, ensuring the freedom and safety of the wire harness's movement with the rotary joint, reducing the frequency of wire harness maintenance, reducing potential downtime and maintenance costs, thereby improving the operational stability and work efficiency of the industrial robot under complex working conditions.

[0053] When the industrial robot starts and performs rotary joint movements, the wire harness protection device begins to function. First, the elastic frame 600 wraps around the wire harness 800, providing initial protection. As the J1 base rotary joint rotates, the wire harness drives the first-stage adaptive rotary coupling bracket to rotate along the central column, and the second connection part 220 also rotates accordingly. At this time, the first elastic element 410 and the second elastic element 420 generate tension and elasticity within the spring guide groove, assisting the first-stage bracket to automatically reset and preventing wire harness twisting or overstretching. Subsequently, the wire harness is fixed and smoothly guided by the fixing device 700, maintaining its natural routing at the first connection position 221, avoiding damage to the internal wires. Throughout the process, the first housing 313 and the second housing 314 of the limiting structure 300 work together, controlling the range of motion of the wire harness through the first stop position 301 and the second stop position 302, ensuring smooth operation within a preset rotation angle and further reducing the possibility of wire harness damage. This adaptive wire harness protection device effectively improves the reliability and service life of the wire harness during the operation of the industrial robot, reduces maintenance costs, and ensures the continuous and efficient operation of the equipment.

[0054] When the J1 base rotary joint of the industrial robot begins to move, the wiring harness 800 rotates synchronously with it. Protected by the elastic frame 600, the wiring harness 800 is introduced from the J2 joint and smoothly enters the cavity of the J1 base rotary joint. The high elasticity of the elastic frame 600 effectively reduces direct contact and friction between the wiring harness and external structures. The wiring harness 800 is connected to a fixing buckle on the first-stage adaptive rotary coupling bracket. As the joint rotates, this bracket rotates around the central column. Simultaneously, through the cooperation of the bearing structure and the first guide rod 500, it ensures that the wiring harness can smoothly follow the rotation, avoiding damage to the internal wires caused by torsion. During rotation, the arc-shaped baffle 316 on the limiting housing 310, as well as the first and second stop components, play a crucial limiting role, preventing the wiring harness from exceeding the safe rotation range and further ensuring the safety and stability of the wiring harness. Meanwhile, the first elastic element 410 and the second elastic element 420, through their connection with the protrusion 315, provide the necessary restoring force during the rotational movement of the wire harness 800, ensuring that the wire harness 800 can quickly return to its starting position after the movement ends, avoiding obstruction of subsequent movement due to the displacement of the wire harness 800. Throughout the entire movement, the angle c between the wire harness 800 and the column structure 100 is maintained within the range of 90° to 150°, ensuring the natural stretching and rotation of the wire harness and reducing the risk of bending and breakage of the internal wires.

[0055] After being guided by the primary support, the wiring harness 800 continues to connect to the heavy-duty connector of the robot body via the secondary fixed guide support. During this process, the fixing device 700 further ensures the stability of the wiring harness at the first connection point 221, allowing the harness to maintain good working condition even under high-speed rotation conditions and preventing damage to the wires due to excessive movement. Ultimately, after being fully protected by the adaptive rotation protection device, the wiring harness 800 can achieve large-angle rotation without worrying about wear and structural adaptability issues, significantly reducing maintenance costs, extending the service life of the wiring harness, and ensuring the continuous and efficient operation of the industrial robot under various working conditions.

[0056] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0057] Reduced wear on wire harness 800: The use of elastic frame 600 prevents wire harness 800 from directly contacting external mechanisms when it moves inside the rotating joint 900, effectively preventing damage to wire harness 800 caused by friction, and improving the durability of wire harness 800 and the reliability of the entire device.

[0058] Enhanced structural adaptability: The adaptive rotary coupling structure allows the wire harness 800 to automatically adjust its length according to the movement of the rotary joint 900, avoiding twisting and bending of the wire harness 800 when rotating at large angles, ensuring that the wire harness 800 maintains a good condition during movement, and has strong adaptability.

[0059] Automatic reset reduces stress: The first elastic element 410 and the second elastic element 420 ensure that the wire harness 800 can automatically reset after rotation, reducing the damage to the wire harness 800 under long-term stress and extending the service life of the wire harness 800.

[0060] Improved detachability enhances maintenance convenience: The split design of the column structure 100 and the modular design of the rotating structure 200 and the limiting structure 300 make the wire harness 800 protection device easy to install and remove, simplifying the maintenance process and reducing maintenance difficulty and cost.

[0061] Optimize the layout of wire harness 800: The design of the arc baffle 316 and the stop can not only effectively limit the range of motion of wire harness 800 and prevent excessive swinging of wire harness 800 during movement, but also ensure that the layout of wire harness 800 inside the rotary joint 900 is more reasonable and reduce unnecessary space occupation.

[0062] Improved production efficiency: By reducing wiring harness 800 failures and lowering maintenance frequency, this device directly improves the continuous working capacity and production efficiency of industrial robots, and indirectly reduces the costs and losses caused by maintenance downtime.

[0063] Enhanced reliability and safety: The design of the entire protection device reduces the risk of damage to the wiring harness 800 when it moves inside the rotary joint 900, improving the connection reliability of the wiring harness 800 and the overall operational safety of the robot.

[0064] Extended lifespan of wire harness 800: By reducing wear, torsion, and stress, the lifespan of wire harness 800 is significantly extended, reducing downtime caused by wire harness 800 replacement and improving the stability and continuity of the production line.

[0065] Design flexibility: The protection device design of this application allows for flexible adjustment of the routing and layout of the wiring harness 800 to meet the protection requirements of the wiring harness 800 of different industrial robot rotary joints 900, thereby enhancing the versatility and applicability of the device.

[0066] Wide range of applications: Due to its unique design and multiple optimizations, the wire harness 800 protection device of this application is suitable for various industrial robot equipment that requires rotary joints 900, and can provide strong support for the widespread application of robot technology.

[0067] In summary, the wire harness 800 protection device of this application optimizes the traditional wire harness 800 protection scheme in several aspects, providing a safer, more reliable, and more economical solution for the wiring of industrial robots' wire harness 800, which helps to improve the overall performance and economic benefits of industrial robots.

[0068] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wire harness protection device for protecting the wire harness (800) inside a rotary joint (900), characterized in that, include: A column structure (100), at least a portion of which extends along the axis of the rotary joint (900); A rotating structure (200) includes a first connecting part (210) and a second connecting part (220). The first connecting part (210) is disposed on the column structure (100), and the second connecting part (220) is rotatably disposed on the first connecting part (210) along the circumference of the column structure (100). A first connecting position (221) is provided on the periphery of the second connecting part (220), and at least a portion of the wire harness (800) is provided on the first connecting position (221). A limiting structure (300) is provided on the column structure (100). At least a portion of the limiting structure (300) is provided on the periphery of the column structure (100) to form a first stop (301) and a second stop (302) respectively provided on both sides of the first connecting position (221). When the wire harness (800) rotates, it drives the first connecting position (221) to be limited and stopped by the first stop (301) or the first stop (301).

2. The wire harness protection device according to claim 1, characterized in that, The angle between the projections of the line segment formed by the shortest distance between the first connecting position (221) and the column structure (100) and the line segment formed by the shortest distance between the second connecting position and the column structure (100) onto a plane perpendicular to the axis of the column structure (100) is c, where, 90°≤c≤150°。 3. The wire harness protection device according to claim 1, characterized in that, The limiting structure (300) includes a limiting housing (310), which encloses a receiving space for installing the rotating structure (200). A limiting opening (303) extending circumferentially along the column structure (100) is provided on one side of the limiting housing (310). The two ends of the limiting opening (303) respectively form a first stop (301) and a second stop (302). At least a portion of the second connecting part (220) extends out of the limiting opening (303) to form the first connecting part (221).

4. The wire harness protection device according to claim 3, characterized in that, The wire harness protection device further includes a first elastic element (410) and a second elastic element (420). The limiting housing (310) is provided with a first mounting groove (311) and a second mounting groove (312). The first mounting groove (311) and the second mounting groove (312) both extend circumferentially along the column structure (100). The first elastic element (410) is disposed in the first mounting groove (311), and the second elastic element (420) is disposed in the second mounting groove (312). The first elastic element (410) and the second elastic element (420) are both extensibly disposed circumferentially along the column structure (100) to provide a restoring elastic force for the second connecting part (220) when the second connecting part (220) rotates circumferentially along the column structure (100).

5. The wire harness protection device according to claim 4, characterized in that, The limiting housing (310) includes a first housing (313) and a second housing (314). The first housing (313) is connected to the column structure (100). The second housing (314) is detachably disposed from the first housing (313) to enclose and form the receiving space. Both the first housing (313) and the second housing (314) are provided with annular grooves extending circumferentially along the column structure (100). The two annular grooves are correspondingly disposed to enclose and form the first mounting groove (311) and the second mounting groove (312). The annular groove on the first housing (313) and / or the second housing (314) is provided with a protrusion (315) that protrudes at least partially from the groove wall of the annular groove on the side away from the first connection position (221). The ends of the first elastic member (410) and the second elastic member (420) away from the first connection position (221) are both connected to the protrusion (315), and the ends of the first elastic member (410) and the second elastic member (420) near the first connection position (221) are both connected to the first connection position (221).

6. The wire harness protection device according to claim 5, characterized in that, Both the first housing (313) and the second housing (314) are provided with arc-shaped baffles (316) on the side near the second connecting portion (220). The two arc-shaped baffles (316) are correspondingly arranged so that the two ends of the arc-shaped baffles (316) respectively form the first stop position (301) and the second stop position (302); and / or, The first housing (313) and / or the second housing (314) are provided with a first stop and a second stop. The first stop and the second stop are respectively provided at both ends of the first connecting position (221). The first stop cooperates with the first connecting position (221) to form the first stop position (301), and the second stop cooperates with the first connecting member to form the second stop position (302).

7. The wire harness protection device according to claim 1, characterized in that, The wire harness protection device further includes a first guide rod (500), the rotating structure (200) is a bearing, the inner ring of the bearing is sleeved on the column structure (100) to form the first connecting part (210), the outer ring of the bearing forms the second connecting part (220), one end of the first guide rod (500) is disposed on the outer ring of the bearing, and the other end of the first guide rod (500) extends radially along the column structure (100) to form the first connecting position (221), and at least a portion of the wire harness (800) is disposed on the guide rod.

8. The wire harness protection device according to claim 1, characterized in that, The column structure (100) includes a first column (110), a second column (120), and a base (130). One end of the first column (110) is disposed on the base (130), and the other end of the first column (110) is detachably connected to the second column (120). Both the first column (110) and the second column (120) extend along the axial direction of the rotary joint (900). The first column (110) is provided with a first snap-fit ​​position, and the first connecting part (210) is provided with a second snap-fit ​​position. The first snap-fit ​​position and the second snap-fit ​​position are correspondingly arranged so that the rotating structure (200) is detachably connected to the column structure (100).

9. The wire harness protection device according to claim 1, characterized in that, The wire harness protection device further includes an elastic frame (600) for sleeved on the wire harness (800), at least a portion of which is telescopingly arranged along the axial direction of the wire harness (800); and / or, The wire harness protection device further includes at least one fixing device (700), one of which is disposed on the first connection position (221), at least a portion of the fixing device (700) being sleeved on the wire harness (800) so that the wire harness (800) on the first connection position (221) can be movably disposed along the axial direction of the wire harness (800); and / or, The angle between the axial direction of the wire harness (800) on the first connection position (221) and the plane perpendicular to the axial direction of the column structure (100) is α, where 20°≤α≤60°.

10. A robot comprising the wire harness protection device according to any one of claims 1 to 9, characterized in that, The robot includes a rotary joint (900), and the wiring harness protection device is disposed inside the rotary joint (900).

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