Internal wiring joint structure for non-hollow motor and mechanical arm

Abstract

The application belongs to the technical field of mechanical arms, and discloses an internal-wiring joint structure for a non-hollow motor and a mechanical arm, the internal-wiring joint structure for the non-hollow motor comprising two wire pressing blocks, a winding column and a joint shell, the two wire pressing blocks being arranged correspondingly with a data interface and a power interface, two accommodating grooves being formed on each wire pressing block, a data cable being arranged in one of the accommodating grooves on the wire pressing block opposite to the data interface, a power cable being arranged in the accommodating groove on the wire pressing block opposite to the power interface and staggered with the data cable, the winding column being telescopically connected to a driving flange, the data cable and the power cable being wound on the winding column, the joint shell being connected with the winding column and being provided with an installation inner cavity for accommodating the data cable and the power cable. The data cable and the power cable are arranged in order and reliably protected, cable winding and knotting and plug loosening are effectively avoided, cable abrasion is reduced, and the working stability and the service life are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to an internal wiring joint structure and robotic arm for a non-hollow motor. Background Technology

[0002] A robotic arm is a mechatronic device with human-like operational capabilities, capable of performing precise tasks such as grasping and handling according to instructions. It is widely used in industrial manufacturing, service robotic arms, and other fields. The servo motor, as the core driving component, converts voltage signals into torque and speed, which are then connected to the joints via a reducer to drive the robotic arm's movements. Stability directly determines the operational accuracy.

[0003] When the robotic arm is running, the various motors need to transmit signals and power through data cables and power cables. Currently, there are two main types of cable routing: internal routing and external routing. Internal routing integrates both types of cables inside the arm body or joints, without exposing them, providing good protection; external routing lays the cables directly on the outside of the arm body, requiring no special design and simplifying the layout.

[0004] Internal wiring in robotic arms typically requires the use of hollow motors. The key difference between hollow and non-hollow motors is that hollow motors have a through hole in the center of the output shaft / rotor, allowing both types of cables to pass through and be internally routed, avoiding exposure issues. Non-hollow motors lack this through hole and cannot accommodate internal wiring, thus requiring external wiring. However, when a non-hollow motor is operating, the external cables rotate with the drive mechanism and are exposed, making them prone to friction with other components, leading to insulation wear and poor protection. Furthermore, data cables and power cables not only become tangled and knotted individually but also intertwine, hindering movement, accelerating wear, reducing lifespan, and even causing connectors to loosen due to rotation and pulling, resulting in insufficient operational stability. Summary of the Invention

[0005] The purpose of this invention is to provide an internal wiring joint structure and robotic arm for non-hollow motors, which has excellent protection, low wear, long service life, and high operational stability.

[0006] To achieve this objective, the present invention adopts the following technical solution: On one hand, an internal wiring joint structure for a non-hollow motor is provided. The non-hollow motor is provided with a drive flange, a data interface connected to a data cable, and a power interface connected to a power cable. The internal wiring joint structure for the non-hollow motor includes: Two wire clamping blocks are symmetrically connected to the side of the non-hollow motor where the drive flange is located, and are respectively arranged corresponding to the data interface and the power interface. Each wire clamping block has two receiving grooves. The data cable passes through one of the receiving grooves on the wire clamping block opposite to the data interface, and the power cable passes through the receiving groove on the wire clamping block opposite to the power interface that intersects with the data cable. A winding post is retractably connected to the drive flange, and both the data cable and the power cable are wound around the winding post. A joint housing is connected to the winding post and rotates with the winding post. The joint housing has an inner mounting cavity, into which the data cable and power cable wound on the winding post extend.

[0007] Optionally, the winding post includes a docking post, a fixing post, and a locking element. The fixing post is connected to the drive flange and has a sliding channel and a locking outer hole that penetrates the side wall of the fixing post and communicates with the sliding channel. The docking post is slidably inserted into the sliding channel and connected to the joint cover. The side wall of the docking post has a plurality of locking inner holes spaced apart along the axial direction. The locking element is inserted into the locking outer hole and the locking inner hole.

[0008] Optionally, the fixed column has at least one limiting ring edge on its outer side wall.

[0009] Optionally, the docking column has two symmetrically arranged positioning bosses on the side opposite to the fixed column, the bottom of the joint cover has an insertion groove, and a positioning groove corresponding to the positioning bosses is formed in the insertion groove. The docking column is inserted into the insertion groove, and the positioning bosses are inserted into the positioning grooves.

[0010] Optionally, the shape of the sliding channel and the shape of the insertion groove are consistent with the cross-sectional shape of the docking column, and the cross-sections of the fixed column and the docking column are both regular polygons.

[0011] Optionally, the winding post further includes a connecting flange, the fixed post is connected to the connecting flange, and the connecting flange is bolted to the drive flange.

[0012] Optionally, the bottom of the joint cover is provided with a plug-in through hole communicating with the mounting cavity. The internal wiring joint structure for non-hollow motors also includes a wiring block. The wiring block is inserted into the plug-in through hole and has a wiring channel and a wiring groove communicating with the mounting cavity. The side wall of the joint cover closes the wiring groove. The data cable passes through either the wiring channel or the wiring groove, and the power cable passes through the other of the wiring channel or the wiring groove.

[0013] Optionally, the bottom of the joint cover is provided with a mating groove, the insertion through hole is provided in the mating groove, the branch block includes a mating base and an insertion boss, the insertion boss is inserted into the insertion through hole, and the mating base is inserted into the mating groove.

[0014] Optionally, the wiring channel includes a horizontal channel and a vertical channel. The horizontal channel is formed on the docking base, and the vertical channel is formed on the insertion boss, and connects the horizontal channel and the mounting cavity. The wiring groove includes a horizontal channel and a vertical channel. The horizontal channel is formed on the docking base and is spaced apart from the horizontal channel. The vertical channel is formed on the insertion boss and is spaced apart from the vertical channel. The vertical channel connects the horizontal channel and the mounting cavity.

[0015] On the other hand, a robotic arm is provided, the robotic arm including an internal wiring joint structure for a non-hollow motor as described in any of the preceding claims.

[0016] The beneficial effects of this invention are: This invention provides an internal wiring joint structure for non-hollow motors. It utilizes two symmetrically arranged wire clamping blocks, corresponding to the data and power interfaces of the non-hollow motor respectively. Two accommodating grooves on the clamping blocks allow the data and power cables to be interleaved and threaded through the staggered accommodating grooves, achieving a staggered layout for the two types of cables. Simultaneously, both the data and power cables are wound around a retractable winding post. This ensures orderly winding of the two types of cables on the winding post, effectively preventing tangling and knotting, reducing cable wear, and extending their service life. Furthermore, the retractable winding post can be adjusted to match the cable lengths of the power and data cables, preventing the cables from being wound too loosely or too tightly, reducing the tensile force on the cables during robotic arm rotation, preventing connector loosening, and ensuring the stability of data transmission and power supply. In addition, extending the data and power cables into the mounting cavity of the joint cover prevents cable exposure, significantly improving the protection performance for both types of cables.

[0017] The present invention also provides a robotic arm that, by applying the aforementioned internal wiring joint structure for non-hollow motors, enables the orderly arrangement and reliable protection of data cables and power cables, effectively preventing cable tangling and plug loosening, reducing cable wear, improving its own working stability and service life, while retaining the cost and installation advantages of non-hollow motors, and adapting to the application needs of low-end and cost-sensitive scenarios. Attached Figure Description

[0018] Figure 1 This is an assembly drawing of the internal wiring joint structure for a non-hollow motor provided by the present invention; Figure 2 This is a schematic diagram of the connection relationship between the non-hollow motor and the pressure block from the data interface side view of the internal wiring joint structure for non-hollow motors provided by the present invention. Figure 3 This is a schematic diagram of the connection relationship between the non-hollow motor and the pressure block from the power interface side view of the internal wiring joint structure for non-hollow motors provided by the present invention. Figure 4 This is a schematic diagram of the pressure block in the internal wiring joint structure for non-hollow motors provided by the present invention; Figure 5 This is a structural assembly diagram of the winding post in the internal wiring joint structure for non-hollow motors provided by the present invention; Figure 6 This is a schematic diagram of the docking column in the internal wiring joint structure for non-hollow motors provided by the present invention; Figure 7 This is a schematic diagram of the connection relationship between the fixed column and the connecting flange in the internal wiring joint structure for non-hollow motors provided by the present invention. Figure 8 This is a schematic diagram of the joint cover from the bottom view in the internal wiring joint structure for non-hollow motors provided by the present invention. Figure 9 This is a schematic diagram of the wiring block in the internal wiring joint structure for non-hollow motors provided by the present invention.

[0019] In the picture: 100. Non-hollow motor; 101. Drive flange; 102. Data interface; 103. Power interface; 1. Pressure block; 11. Receiving groove; 2. Winding post; 21. Connecting post; 211. Locking inner hole; 212. Positioning boss; 22. Fixing post; 221. Sliding channel; 222. Locking outer hole; 223. Limiting ring edge; 23. Locking element; 24. Connecting flange; 3. Joint cover; 31. Insertion groove; 32. Positioning groove; 33. Insertion through hole; 34. Butt joint groove; 4. Cable divider; 41. Cable routing channel; 411. Horizontal channel; 412. Vertical channel; 42. Cable routing groove; 421. Horizontal channel; 422. Vertical channel; 43. Connecting base; 44. Insertion boss. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0024] Because non-hollow motors use external cabling, the external cables rotate synchronously with the drive mechanism and are exposed, making them prone to friction with other structural components, leading to insulation wear and poor protection. Furthermore, data and power cables are not only easily tangled and knotted, but they also interfere with each other, hindering the movement of the robotic arm joints, accelerating cable wear, shortening the lifespan of both the cables and the robotic arm, and even causing connectors to loosen due to the pulling force generated during rotation, resulting in insufficient operational stability. Therefore, to improve the protection performance of non-hollow motor cables, reduce cable wear, extend service life, and improve operational stability, this embodiment provides an internal cabling joint structure for non-hollow motors. The non-hollow motor is equipped with a drive flange, and data and power interfaces respectively connected to the data and power cables.

[0025] like Figures 1 to 9 As shown, the internal wiring joint structure for a non-hollow motor includes two pressure blocks 1, a winding post 2, and a joint cover 3. The two pressure blocks 1 are symmetrically connected to one side of the non-hollow motor 100 where the drive flange 101 is located, and are respectively arranged corresponding to the data interface 102 and the power interface 103. Each pressure block 1 has two receiving grooves 11. The data cable passes through one of the receiving grooves 11 on the pressure block 1 opposite to the data interface 102, and the power cable passes through the receiving groove 11 on the pressure block 1 opposite to the power interface 103, which intersects with the data cable. The winding post 2 is telescopically connected to the drive flange 101. Both the data cable and the power cable are wound around the winding post 2. The joint cover 3 is connected to the winding post 2 and rotates with the winding post 2. The joint cover 3 has an installation cavity inside, and the data cable and the power cable wound around the winding post 2 extend into the installation cavity.

[0026] Two symmetrically arranged wire clamping blocks 1, corresponding to the data interface 102 and power interface 103 of the non-hollow motor 100 respectively, utilize two accommodating grooves 11 on the wire clamping blocks 1 to allow the data cable and power cable to be interlaced and passed through the staggered accommodating grooves 11 of the corresponding wire clamping blocks 1, achieving a staggered layout of the two types of cables. At the same time, both the data cable and the power cable are wound around the retractable winding post 2. On the one hand, this allows the two types of cables to be wound in an orderly manner on the winding post 2, effectively avoiding the problems of the cables themselves and each other tangling and knotting, reducing cable wear, and extending their service life. On the other hand, the retractable winding post 2 can be adapted and adjusted according to the cable length to match the length of the power cable and the data cable, avoiding the cables being wound too loosely or too tightly on the winding post 2, reducing the tensile force on the cables during the rotation of the robotic arm, preventing the connectors from loosening, and ensuring the stability of data transmission and power supply. In addition, extending the data cable and the power cable into the mounting cavity of the joint cover 3 can prevent the cables from being exposed, significantly improving the protection performance of the two types of cables.

[0027] In this embodiment, the non-hollow motor 100 is used to drive the joint housing 3 to rotate, and the two together constitute a movable joint of the robotic arm. For multi-joint robotic arms, another non-hollow motor 100 can be installed in the mounting cavity inside the joint housing 3 to drive the rotation of the next joint housing 3. The two non-hollow motors 100 of adjacent joints realize data and power transmission through data cables and power cables. The internal wiring joint structure for the non-hollow motor also includes a protective housing (not shown in the figure). The protective housing is installed on the outside of the non-hollow motor 100 and docks with the joint housing 3, further protecting the data cables and power cables.

[0028] Optionally, such as Figures 5 to 7 As shown, the winding post 2 includes a docking post 21, a fixed post 22, and a locking element 23. The fixed post 22 is connected to the drive flange 101 and has a sliding channel 221 and a locking outer hole 222 that penetrates the side wall of the fixed post 22 and communicates with the sliding channel 221. The docking post 21 is slidably inserted into the sliding channel 221 and connected to the joint cover 3. The side wall of the docking post 21 has multiple locking inner holes 211 that are spaced apart along the axial direction. The locking element 23 is inserted into the locking outer hole 222 and the locking inner hole 211.

[0029] By opening a sliding groove 221 on the fixed column 22 and slidably inserting the docking column 21 into the sliding groove 221, the length of the winding column 2 can be adjusted by sliding the docking column 21. By opening a locking outer hole 222 on the side wall of the fixed column 22 and opening multiple locking inner holes 211 distributed axially on the side wall of the docking column 21, the locking outer hole 222 and the locking inner holes 211 at different positions can be fixed by the locking member 23, thereby realizing the adjustment of the length of the winding column 2.

[0030] In this embodiment, the locking inner hole 211 is a threaded through hole opened on the side of the docking column 21 and passing through the docking column 21. Two symmetrically distributed locking outer holes 222 are opened on the side wall of the fixing column 22. The locking member 23 is a bolt and corresponds one-to-one with the locking outer hole 222. The locking member 23 passes through the locking outer hole 222 and is threadedly connected to the locking inner hole 211. The locking outer hole 222 is set as a stepped hole to ensure that the locking member 23 does not exceed the side wall of the fixing column 22 and avoids interference with the data cable and power cable wrapped on the fixing column 22.

[0031] Optionally, such as Figure 7As shown, the fixed column 22 has at least one limiting ring edge 223 on its outer side wall. By providing the limiting ring edge 223 on the outer side wall of the fixed column 22, the data cable and power cable wound around the outside of the fixed column 22 are axially limited. In this embodiment, the number of limiting ring edges 223 can be flexibly set according to actual needs, and the number of limiting ring edges 223 is inversely proportional to the number of cable winding turns: when the number of cable winding turns is large, the number of limiting ring edges 223 can be reduced; when the number of cable winding turns is small, to avoid excessive gaps between each cable winding turn causing cable slippage, the number of limiting ring edges 223 can be increased, and the gap between each cable winding turn can be reduced to prevent cable slippage. In addition to providing the limiting ring edge 223 on the fixed column 22, in other embodiments, the limiting ring edge 223 can also be provided on the outer side wall of the docking column 21.

[0032] Optionally, such as Figure 6 and Figure 8 As shown, the docking column 21 has two symmetrically arranged positioning bosses 212 on the side opposite to the fixed column 22. The bottom of the joint cover 3 has an insertion groove 31, and a positioning groove 32 corresponding to the positioning bosses 212 is formed in the insertion groove 31. The docking column 21 is inserted into the insertion groove 31, and the positioning bosses 212 are inserted into the positioning grooves 32. By providing the insertion groove 31 and positioning groove 32 at the bottom of the joint cover 3, and setting the positioning bosses 212 on the docking column 21, the docking column 21 and the joint cover 3 are precisely connected by the insertion and cooperation of the insertion groove 31 and the positioning bosses 212 and the positioning grooves 32, ensuring the accuracy of the connection position.

[0033] Optionally, such as Figures 6 to 8 As shown, the shapes of the sliding channel 221 and the insertion groove 31 are consistent with the cross-sectional shape of the docking column 21, and the cross-sections of the fixed column 22 and the docking column 21 are both regular polygons. By setting the cross-sections of the fixed column 22 and the docking column 21 as regular polygons, on the one hand, torque transmission between the docking column 21 and the joint cover 3 can be achieved through the insertion and engagement of the regular polygonal docking column 21 with the insertion groove 31; on the other hand, relative rotation between the docking column 21 and the fixed column 22 can be avoided through the insertion and engagement of the regular polygonal docking column 21 with the sliding channel 221. In this embodiment, the cross-sections of the fixed column 22 and the docking column 21 are both set as regular hexagons.

[0034] Optionally, such as Figure 2 and Figure 5As shown, the winding post 2 also includes a connecting flange 24, and the fixing post 22 is connected to the connecting flange 24. The connecting flange 24 is bolted to the drive flange 101. By connecting the fixing post 22 to the connecting flange 24 and bolting the connecting flange 24 to the drive flange 101, the connection area between the winding post 2 and the non-hollow motor 100 can be increased, making the connection between the two more stable. In this embodiment, to ensure the strength of the structure and the stability of the connection, the fixing post 22 and the connecting flange 24 are integrally formed.

[0035] Optionally, such as Figure 7 and Figure 8 As shown, the bottom of the joint housing 3 has a plug-in through hole 33 communicating with the mounting cavity. The internal wiring joint structure for non-hollow motors also includes a wiring block 4. The wiring block 4 is inserted into the plug-in through hole 33 and has a wiring channel 41 and a wiring groove 42 communicating with the mounting cavity. The side wall of the joint housing 3 closes the wiring groove 42. The data cable passes through either the wiring channel 41 or the wiring groove 42, and the power cable passes through the other of the wiring channel 41 or the wiring groove 42. By providing a wiring block 4 with a wiring channel 41 and a wiring groove 42 at the bottom of the joint housing 3, the data cable and the power cable can enter the mounting cavity through different channels, avoiding the two types of cables from getting tangled and knotted.

[0036] Optionally, such as Figure 7 and Figure 8 As shown, the bottom of the joint housing 3 has a mating groove 34, and a through hole 33 is formed in the mating groove 34. The branch block 4 includes a mating base 43 and a through hole 44. The through hole 44 is inserted into the through hole 33, and the mating base 43 is inserted into the mating groove 34. By providing a mating groove 34 at the bottom of the joint housing 3 and forming a through hole 33 in the mating groove 34, and using the branch block 4 composed of the mating base 43 and the through hole 44, the connection area between the branch block 4 and the joint housing 3 can be increased, thereby improving the connection strength between the two.

[0037] Optionally, such as Figure 8 As shown, the cable routing channel 41 includes a horizontal channel 411 and a vertical channel 412. The horizontal channel 411 is located on the docking base 43, and the vertical channel 412 is located on the insertion boss 44, connecting the horizontal channel 411 and the mounting cavity. By designing the cable routing channel 41, which consists of the horizontal channel 411 and the vertical channel 412, and placing the horizontal channel 411 on the docking base 43 and the vertical channel 412 on the insertion boss 44, power cables or data cables can enter from the side of the cable distribution block 4, effectively preventing interference between the two types of cables when they are assembled and docked with the winding post 2 and the joint cover 3.

[0038] Optionally, such as Figure 8As shown, the cable routing groove 42 includes a horizontal channel 421 and a vertical channel 422. The horizontal channel 421 is formed on the docking base 43 and is spaced apart from the horizontal channel 411. The vertical channel 422 is formed on the insertion boss 44 and is spaced apart from the vertical channel 412. The vertical channel 422 connects the horizontal channel 421 and the mounting cavity. By designing the cable routing groove 42, which is composed of the horizontal channel 421 and the vertical channel 422, and by forming the horizontal channel 421 on the docking base 43 and the vertical channel 422 on the insertion boss 44, power cables or data cables can enter from the side of the cable distribution block 4, effectively avoiding interference between the two types of cables when they are assembled and docked with the winding post 2 and the joint cover 3.

[0039] In this embodiment, a robotic arm is also provided, which includes the aforementioned internal wiring joint structure for non-hollow motors. By applying this internal wiring joint structure for non-hollow motors, the robotic arm can achieve orderly arrangement and reliable protection of data cables and power cables, effectively preventing cable tangling and plug loosening, reducing cable wear, improving its operational stability and service life, while retaining the cost and installation advantages of non-hollow motors 100, thus adapting to the application needs of low-to-mid-range and cost-sensitive scenarios.

[0040] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An internal wiring joint structure for a non-hollow motor, wherein the non-hollow motor (100) is provided with a drive flange (101), a data interface (102) connected to a data cable, and a power interface (103) connected to a power cable, characterized in that, The internal wiring joint structure for non-hollow motors includes: Two wire clamping blocks (1) are symmetrically connected to the side of the non-hollow motor (100) where the drive flange (101) is located, and are respectively arranged corresponding to the data interface (102) and the power interface (103). Each wire clamping block (1) has two receiving grooves (11). The data cable passes through one of the receiving grooves (11) on the wire clamping block (1) opposite to the data interface (102), and the power cable passes through the receiving groove (11) on the wire clamping block (1) opposite to the power interface (103) where it intersects with the data cable. The winding post (2) is telescopically connected to the drive flange (101), and the data cable and the power cable are both wound around the winding post (2). The joint cover (3) is connected to the winding post (2) and rotates with the winding post (2). The joint cover (3) has an installation cavity inside, and the data cable and power cable wound on the winding post (2) extend into the installation cavity. The winding post (2) includes a docking post (21), a fixing post (22), and a locking member (23). The fixing post (22) is connected to the driving flange (101) and has a sliding channel (221) and a locking outer hole (222) that penetrates the side wall of the fixing post (22) and communicates with the sliding channel (221). The docking post (21) is slidably inserted into the sliding channel (221) and connected to the joint cover (3). The side wall of the docking post (21) has a plurality of locking inner holes (211) that are spaced apart along the axial direction. The locking member (23) is inserted into the locking outer hole (222) and the locking inner hole (211). The fixed column (22) has at least one limiting ring edge (223) on its outer side wall; The docking column (21) has two symmetrically arranged positioning bosses (212) on the side away from the fixed column (22). The bottom of the joint cover (3) is provided with an insertion groove (31) and a positioning groove (32) corresponding to the positioning bosses (212) is provided in the insertion groove (31). The docking column (21) is inserted into the insertion groove (31) and the positioning bosses (212) are inserted into the positioning grooves (32).

2. The internal wiring joint structure for a non-hollow motor according to claim 1, characterized in that, The shape of the sliding channel (221) and the shape of the insertion groove (31) are consistent with the cross-sectional shape of the docking column (21), and the cross-sections of the fixed column (22) and the docking column (21) are both regular polygons.

3. The internal wiring joint structure for a non-hollow motor according to claim 1, characterized in that, The winding post (2) also includes a connecting flange (24), the fixed post (22) is connected to the connecting flange (24), and the connecting flange (24) is bolted to the driving flange (101).

4. The internal wiring joint structure for a non-hollow motor according to claim 1, characterized in that, The bottom of the joint cover (3) is provided with a plug-in through hole (33) communicating with the mounting cavity. The internal wiring joint structure for non-hollow motors also includes a wire splitting block (4). The wire splitting block (4) is inserted into the plug-in through hole (33) and is provided with a wiring channel (41) and a wiring groove (42) communicating with the mounting cavity. The side wall of the joint cover (3) closes the wiring groove (42). The data cable passes through either the wiring channel (41) or the wiring groove (42), and the power cable passes through the other of the wiring channel (41) or the wiring groove (42).

5. The internal wiring joint structure for a non-hollow motor according to claim 4, characterized in that, The bottom of the joint cover (3) is provided with a docking groove (34), and the insertion through hole (33) is provided in the docking groove (34). The dividing block (4) includes a docking base (43) and an insertion boss (44). The insertion boss (44) is inserted into the insertion through hole (33), and the docking base (43) is inserted into the docking groove (34).

6. The internal wiring joint structure for a non-hollow motor according to claim 5, characterized in that, The wiring channel (41) includes a horizontal channel (411) and a vertical channel (412). The horizontal channel (411) is opened on the docking base (43), and the vertical channel (412) is opened on the plug-in boss (44) and connects the horizontal channel (411) and the mounting cavity. The wiring groove (42) includes a horizontal channel (421) and a vertical channel (422). The horizontal channel (421) is formed on the docking base (43) and is spaced apart from the horizontal channel (411). The vertical channel (422) is formed on the insertion boss (44) and is spaced apart from the vertical channel (412). The vertical channel (422) connects the horizontal channel (421) and the mounting cavity.

7. A robotic arm, characterized in that, The robotic arm includes an internal wiring joint structure for a non-hollow motor as described in any one of claims 1-6.

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