Robotic arm and robot

Abstract

The application belongs to the technical field of robots, and particularly relates to a mechanical arm and a robot. The mechanical arm comprises a mechanical arm body, at least one connecting arm and a joint connected with the connecting arm; an actuator arranged on the mechanical arm body and used for driving the at least one connecting arm to move around the joint; a wire harness mounting structure arranged on the mechanical arm body and comprising a wire slot, a guide rail and a sliding block, the inside of the wire slot is separated into multiple accommodation spaces for accommodating various wire harnesses, the guide rail is arranged in at least one of the accommodation spaces of the wire slot in parallel, and the sliding block is arranged on the guide rail in sliding mode and connected with the wire harness for leading the wire harness out of the wire slot; and a joint wire arrangement structure arranged on the mechanical arm body and used for arranging the wire harness led out of the wire slot in line with the central axis of the connecting arm. The wire harness mounting structure can isolate different types of wire harnesses, avoid the mutual entanglement and confusion of the wire harnesses, realize the orderly arrangement of the wire harnesses, and avoid the electromagnetic interference between the wire harnesses. The joint wire arrangement structure is conducive to the wire harness wiring conforming to the joint movement and avoiding the wire harnesses from being pulled off due to tension.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a robotic arm and a robot. Background Technology

[0002] In the robotic arm industry, the robotic arm is a key core component with a wide range of applications, covering multiple fields such as industrial manufacturing, logistics warehousing, and medical services. During the design and manufacturing process of robotic arms, the layout and installation of wiring harnesses is a crucial and indispensable step, involving considerations such as the flexible operation of the robotic arm joints, signal shielding between wiring harnesses, secure fixing of the wiring harnesses, and the rational planning of wiring routes.

[0003] Currently, robotic arm wiring methods mainly include external wiring and internal wiring. External wiring is simple and direct, easy to operate and maintain, but it makes the robotic arm look cluttered, affecting its overall aesthetics. Furthermore, exposed wiring harnesses are susceptible to external environmental factors, reducing the robotic arm's reliability and stability. Internal wiring hides the wiring harnesses inside the robotic arm, making its appearance cleaner. However, mixing wiring harnesses with different functions (such as power lines for transmitting electricity, signal lines for transmitting signals, and communication lines for data communication) in a limited internal space can easily generate electromagnetic interference. This can not only cause signal transmission deviations but also potentially damage other precision components inside the robotic arm, affecting the normal operation of the equipment. In addition, due to the different thicknesses of various wiring harnesses, improper fixing during wiring can easily lead to tension during robotic arm movement, causing damage to the wiring or jamming by the robotic arm's moving parts, thus increasing the probability of equipment failure and the difficulty of maintenance. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a robotic arm and robot to solve the technical problems of electromagnetic interference caused by the mixed routing of various wire harnesses on the robotic arm and the difficulty in fixing and routing the wire harnesses in the prior art.

[0005] To achieve the above and other related objectives, the technical solution of the present invention is as follows:

[0006] A robotic arm, comprising:

[0007] The robotic arm body includes at least one connecting arm and a joint connected to the connecting arm;

[0008] An actuator, mounted on the robotic arm body, is used to drive at least one connecting arm to move around the joint;

[0009] A wire harness mounting structure is provided on the robotic arm body, including a wire harness groove, a guide rail, and a slider. The interior of the wire harness groove is divided into multiple accommodating spaces for accommodating various wire harnesses. The guide rail is arranged parallel to at least one accommodating space of the wire harness groove. The slider is slidably disposed on the guide rail and connected to the wire harness for leading the wire harness out from the wire harness groove.

[0010] The articulated guideway structure is disposed on the robotic arm body to ensure that the wire harness leading out from the guideway groove is collinear with the central axis of the connecting arm.

[0011] Optionally, the running groove is disposed on the outer wall of the robotic arm body, or on the inner wall of the robotic arm body, or is disposed with a distance from the inner wall of the robotic arm body.

[0012] Optionally, the interior of the line groove is divided into multiple sub-grooves, which form the accommodating space. Each of the sub-grooves is connected in sequence and arranged circumferentially along the robotic arm body, or each of the sub-grooves is connected in sequence and surrounds another circle.

[0013] Optionally, the cable tray has an outlet end with a mounting position for installing a plug-in, and the outlet end of the cable tray includes the beginning end, the end end of the cable tray, and a slotted lead-out end provided on the side wall of the cable tray.

[0014] Optionally, the slider is provided with a connecting part for connecting wire harnesses, and the connecting part of the slider has a wire hole, through which the wire harnesses are connected to the wire hole by cable ties; the slider is also provided with an auxiliary part for assisting sliding.

[0015] Optionally, a first limiting part is provided on the side wall of the guide rail, and a second limiting part is provided on the slider. The second limiting part cooperates with the first limiting part to lock or unlock the slider from the guide rail.

[0016] Optionally, it also includes a movable plug-in structure and / or a fixed plug-in structure for wire harness connection.

[0017] The movable plug-in structure includes a first pair of plugs and a second pair of plugs for connecting to the end of the wire harness, wherein the first pair of plugs and the second pair of plugs are connected in cooperation.

[0018] The fixed plug-in structure includes a fixed plug-in disposed at the outlet end of the cable tray and a movable plug-in for connecting to the end of the cable harness, wherein the fixed plug-in and the movable plug-in are connected in cooperation.

[0019] Optionally, the joint line structure includes a wire sliding groove disposed at the connection between the joint and the connecting arm, the wire sliding groove being disposed around the central axis of the connecting arm, and at least a portion of the wire harness being constrained within the wire sliding groove.

[0020] Optionally, the joint line structure further includes a support member configured to constrain the wire harness extending from the line groove so that the wire harness extending from the line groove is collinear with the central axis of the connecting arm.

[0021] Based on the same concept, the present invention also provides a robot, including the robotic arm described above.

[0022] As described above, the robotic arm and robot of the present invention have the following beneficial effects:

[0023] By setting up a wire harness installation structure, different types of wire harnesses can be isolated, avoiding tangling and confusion, and achieving an orderly arrangement of wire harnesses; furthermore, it avoids electromagnetic interference between wire harnesses; it can guide the wire harnesses, which is beneficial for controlling the position of the wire harnesses and reduces the risk of wire harness wear.

[0024] By setting up an articulated wiring structure, the wiring harness can be routed in accordance with the joint movement, preventing the harness from being torn by tension and from being accidentally clamped by the moving parts of the robotic arm, thus greatly improving reliability. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the robotic arm according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the robotic arm wiring harness mounting structure according to an embodiment of the present invention. Figure 1 ;

[0027] Figure 3 This is a schematic diagram of the robotic arm wiring harness mounting structure according to an embodiment of the present invention. Figure 2 ;

[0028] Figure 4 This is a schematic diagram of the assembly structure of the guide rail and slider according to an embodiment of the present invention (excluding the running groove);

[0029] Figure 5 This is a schematic diagram of the assembly position of the line groove and the robotic arm body according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the assembly position of the line groove and the robotic arm body according to another embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the assembly structure of the guide rail and slider according to another embodiment of the present invention (excluding the running groove);

[0032] Figure 8 This is a schematic diagram of the structure of a plug-in according to an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the internal structure of the robotic arm in one embodiment of the present invention. Figure 1 ;

[0034] Figure 10 This is a schematic diagram of the internal structure of the robotic arm in one embodiment of the present invention. Figure 2 ;

[0035] Figure 11 This is a schematic diagram of the robotic arm structure according to an embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures

[0037] 100 - Robotic arm body; 101 - First component; 102 - Second component; 101a - First axis; 110 - Connecting arm; 120 - Joint; 130 - Actuator;

[0038] 10-Line slot; 11-Section slot section; 12-Outlet terminal;

[0039] 20 - Guide rail; 21 - First limiting part;

[0040] 30-Slider; 31-Connecting part; 311-Threading hole; 32-Auxiliary part;

[0041] 40 - The first pair of plugins;

[0042] 200 - Wire harness; 210 - First connection part; 220 - Second connection part; 230 - Redundancy part;

[0043] 310 - Support member; 320 - Wire sliding groove; 330 - First protrusion; 340 - Second protrusion. Detailed Implementation

[0044] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0045] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show components relevant to the present invention and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the shape, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives of the present invention, should still fall within the scope of the technical content disclosed in the present invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention.

[0046] To provide a detailed description of the invention, the robotic arm of the invention will now be described in detail:

[0047] Please combine Figures 1 to 4 As shown, the present invention provides a robotic arm, comprising: a robotic arm body 100, an actuator 130, a wiring harness mounting structure, and a joint mounting structure. The robotic arm body 100 includes at least one connecting arm 110 and a joint 120 connected to the connecting arm 110. The actuator 130 is disposed on the robotic arm body 100 and is used to drive at least one connecting arm 110 to move around the joint 120. The wiring harness mounting structure is disposed on the robotic arm body 100 and includes a wiring groove 10, a guide rail 20, and a... The slider 30 is provided. The interior of the line groove 10 is divided into multiple accommodating spaces for accommodating various wire harnesses 200. The guide rail 20 is arranged parallel to at least one accommodating space of the line groove 10. The slider 30 is slidably disposed on the guide rail 20 and connected to the wire harness 200 to allow the wire harness 200 to be led out from the line groove 10. The articulated line structure is disposed on the robotic arm body 100 to ensure that the wire harness 200 led out from the line groove 10 is collinear with the central axis of the connecting arm 110.

[0048] Specifically, the robotic arm body 100 is used to perform corresponding tasks, and the actuator 130 is used to drive the movement of each joint 120 of the robotic arm body 100. The wiring harness mounting structure is used to install each wiring harness 200 of the robotic arm. The interior of the wiring groove 10 is divided into multiple accommodating spaces mainly for wiring. Each accommodating space is used to accommodate different wiring harnesses 200, thereby isolating different types of wiring harnesses 200 (such as power lines, communication lines, and signal lines), avoiding tangling and confusion between wiring harnesses 200, and achieving an orderly arrangement of wiring harnesses 200; at the same time, it also avoids electromagnetic interference between wiring harnesses 200.

[0049] The guide rail 20 is built into at least one accommodating space of the cable tray 10, and the guide rail 20 is set parallel to the extension direction of the cable tray 10, providing a stable guiding path for the cable harness 200, ensuring that the cable harness 200 always maintains a stable position during the movement of the robotic arm body 100, and avoiding signal interference and line damage that may be caused by the cable harness 200 swinging randomly.

[0050] The slider 30 is slidably mounted on the slide rail, which facilitates the movement of the wire harness 200 connected to the slider 30 (the slider 30 is provided with a connecting part 31 for connecting the wire harness 200) along the slide rail, thereby guiding the wire harness 200. As needed, the wire harness 200 can extend from the outlet end 12 of the wire groove 10 to connect to each driver.

[0051] Because the wire harness 200 is arranged orderly in the cable tray 10 and flexibly adjusted by the slider 30, maintenance or replacement of the wire harness 200 can be performed more conveniently, reducing maintenance costs. The cable tray 10 prevents external objects from colliding with or scratching the wire harness 200, while the cooperation between the guide rail 20 and the slider 30 avoids friction between the wire harness 200 and other components during movement. This not only reduces the risk of wear on the wire harness 200 but also extends its replacement cycle, improving the overall reliability and stability of the robotic arm.

[0052] The wiring structure of joint 120 facilitates the routing of the wire harness 200 from the wiring groove 10 along the central axis of the corresponding connecting arm 110. This ensures that when the connecting arm 110 performs its actions, the wire harness 200 can travel along the movement direction of the connecting arm 110, i.e., along the movement path of each joint 120, thus preventing the wire harness 200 from being damaged by tensile force and from being jammed by the moving parts of the connecting arm 110. The actions of the robotic arm body 100 include left-right movement along the X direction, forward-backward movement along the Y direction, and rotational movement along the Z direction. Regardless of the direction in which the joint 120 of the robotic arm body 100 moves, the wiring path is always along the central axis of the connecting arm 110. This allows the wire harness 200 to bend and twist along the axial direction when the joint 120 moves, thus preventing the wire harness 200 from being torn by tensile force, ensuring the stability of signal transmission, and greatly improving the reliability of the robotic arm body 100's movement. "Wire routing" refers to the planning of the wiring method from the starting point to the ending point of the wire harness 200.

[0053] In some embodiments, the routing groove 10 is disposed on the outer wall of the robotic arm body 100 (see...). Figure 5 ), or disposed on the inner wall of the robotic arm body 100 (see Figure 3 Alternatively, it can be configured to have a distance from the inner wall of the robotic arm body 100 (see [reference]). Figure 6 Specifically, the wiring harness 10 is connected to the robotic arm body 100. The wiring harness 10 is externally connected to the outer wall of the robotic arm body 100, and the extension direction of the wiring harness 10 is parallel to the extension direction of the robotic arm body 100. This makes the installation process of the wiring harness 200 more intuitive and convenient, facilitates observation and maintenance, and also helps with heat dissipation. Alternatively, the wiring harness 10 is internally connected to the inner wall of the robotic arm body 100, and the extension direction of the wiring harness 10 is parallel to the extension direction of the robotic arm body 100. This optimizes the overall spatial layout, improves the aesthetics of the robotic arm, and saves external space. Alternatively, the wiring harness 10 is configured to have a gap with the inner wall of the robotic arm body 100. That is, within the internal space of the robotic arm body 100, the wiring harness 10 is connected to the internal space, and there is a gap between the outer wall of the wiring harness 10 and the inner wall of the robotic arm body 100, which allows for flexible layout according to the internal space of the robotic arm.

[0054] In the above embodiment, the interior of the line groove 10 is divided into multiple sub-grooves 11, which form the accommodating space. Each sub-grooves 11 is sequentially connected and arranged circumferentially along the robotic arm body 100 (see [reference]). Figure 3 and Figure 5 Alternatively, each of the aforementioned slotted sections 11 is connected in sequence and surrounds another section to form a circle (see [reference]). Figure 6Specifically, adjacent slots 11 are connected to each other, and each slot 11 is arranged side by side along the circumference of the robotic arm body 100, which facilitates the subsequent expansion of the wiring harness 200 and system upgrades. The wiring trough 10 with this arrangement is suitable for installation on the inner or outer wall of the robotic arm body 100; or, each slot 11 is connected in sequence and surrounds the robotic arm body 10, and is evenly distributed along the center circumference of the wiring trough 10. The circumferentially arranged slots 11 can better adapt to the movement of the robotic arm at different angles and directions, improving the flexibility and reliability of the robotic arm movement. The wiring trough 10 with this arrangement is suitable for installation at a distance from the inner wall of the robotic arm body 100.

[0055] For example, the cross-sectional shape of the line groove 10 perpendicular to the extending direction is rectangular or arc-shaped. When the cross-sectional shape of the line groove 10 is rectangular (see... Figure 3 and Figure 5 Each of the sub-slots 11 has a rectangular cross-section; when the cross-sectional shape of the running groove 10 is arc-shaped (see...). Figure 6 Each of the sub-grooves 11 has a circular arc cross-section. In other embodiments, the cross-sectional shape of the running groove 10 is not limited.

[0056] It should be noted that the cable outlet 12 of the cable tray 10 is provided with a mounting position for installing plug-in components (not shown in the figure). The cable outlet 12 of the cable tray 10 includes the beginning end, the end end, and a slotted lead-out end provided on the side wall of the cable tray 10. The cable outlet 12 of the cable tray 10 includes the beginning end, the end end, and the slotted lead-out end, allowing for a wider range of wiring options. The two ends of the cable tray 10 are the beginning and the end, respectively, and the slotted lead-out end is an opening structure formed on the side wall of the cable tray 10. The cable exiting from the beginning end can directly provide power or signal transmission to the equipment at the starting part of the robotic arm, while the cable exiting from the end end can meet the wiring requirements of the robotic arm's end effector. The slotted lead-out end on the side wall allows for flexible routing of the wire harness 200 from the middle part of the robotic arm, adapting to wiring at different positions and meeting the diverse wiring requirements of the robotic arm structure, resulting in a more rational layout of the wire harness 200. The cable outlet 12 of the cable tray 10 can be configured as a conventional structure or as an installation position for installing plug-in components. The installation position can be configured as, for example, a recessed structure to facilitate the installation and positioning of plug-in components.

[0057] In some embodiments, the guide rail 20 is at least one track structure, and the cross-sectional shape of the guide rail 20 perpendicular to the extending direction is convex or concave. Specifically, the guide rail 20 may be a single-track structure (see [reference]). Figure 4The single-rail structure of the guide rail 20 makes installation and maintenance more convenient, reduces complex installation steps and maintenance workload, and lowers the overall cost of the equipment. It is suitable for robotic arm applications with high space requirements and relatively light loads. The guide rail 20 can also be a double-rail structure (see...). Figure 7 The dual-rail structure of the guide rail 20 provides better load-bearing capacity and guiding stability, making it suitable for robotic arm applications requiring high precision and stability. Alternatively, in other embodiments, the guide rail 20 may also be a multi-rail structure; this is not a limitation.

[0058] See Figure 4 In the above embodiment, the slider 30 is provided with a connecting part 31 for connecting the wire harness 200. The connecting part 31 of the slider 30 has a wire-passing hole 311, and the wire harness 200 is connected to the wire-passing hole 311 by a cable tie. Specifically, in this example, the slider 30 can be cuboid; in other examples, the slider 30 can be other shapes, and there is no specific limitation. The slider 30 can be locked onto the guide rail 20 by friction or a locking structure. The connecting part 31 on the slider 30 for connecting the wire harness 200 not only facilitates the fixing and connection of the wire harness 200, but also ensures the stability and accuracy of the wire harness 200 during extension or retraction. By sliding the slider 30 to a designated position, the position of the wire harness 200 can be controlled. The connecting part 31 is provided on the side wall of the slider 30, and the wire-passing hole 311 is used to pass through the cable tie for binding the wire harness 200, thereby connecting the wire harness 200 to the slider 30. The threaded hole 311 provides a precise positioning point for the wire harness 200, ensuring it remains in a fixed position during connection and preventing displacement or detachment due to shaking or pulling during robotic arm movement. The cable ties securing the wire harness 200 to the threaded hole 311 effectively resist various forces generated during robotic arm operation, ensuring a stable connection. When maintenance or replacement of the wire harness 200 is required, the removable cable ties allow technicians to easily untie them and remove the wire harness 200 from the threaded hole 311, facilitating subsequent maintenance operations.

[0059] Continue reading Figure 4 Understandably, the slider 30 is also provided with an auxiliary part 32 for assisting sliding. Specifically, the auxiliary part 32 is used to assist the slider 30 in sliding along the guide rail 20 by means of a tool, so that the corresponding wire harness 200 extends out at a suitable position. The auxiliary part 32 can be a groove or a through hole, and can be in the shape of a line, a cross, or a dot, etc., and the specific shape is not limited here. By clamping the tool on the auxiliary part 32, it is convenient for the operator to operate the slider 30 to move on the guide rail.

[0060] In some embodiments, a first limiting part 21 is provided on the side wall of the guide rail 20 (see reference). Figure 4The slider 30 is provided with a second limiting part (not shown in the figure), which cooperates with the first limiting part 21 to lock or unlock the slider 30 to the guide rail 20. Specifically, the slider 30 can be mechanically locked at any position on the guide rail (e.g., the front end, the end, or other positions of the guide rail 20); or, the second limiting part and the first limiting part 21 cooperate to form a locking structure, thereby locking or unlocking the slider 30 to the guide rail.

[0061] In the above embodiments, the wire harness mounting structure further includes a movable plug-in structure and / or a fixed plug-in structure for connecting the wire harness 200, wherein the movable plug-in structure (see...) Figure 8 The system includes a first pair of plug-in connectors 40 and a second pair of plug-in connectors (not shown) for connecting to the ends of the wire harness 200. The first pair of plug-in connectors 40 and the second pair of plug-in connectors are connected in conjunction. The fixed plug-in structure includes a fixed pair of plug-in connectors disposed at the outlet end 12 of the cable tray 10 and a movable pair of plug-in connectors for connecting to the ends of the wire harness 200. The fixed pair of plug-in connectors and the movable pair of plug-in connectors are connected in conjunction. Specifically, the movable plug-in structure and / or the fixed plug-in structure are used to connect two sections of the wire harness 200. The plug-in connectors are positioned at the outlet end 12 of the cable tray 10, which includes the beginning end, the end end, and the slotted lead-out end of the cable tray 10. If a movable plug-in structure is used, the connection of the two sections of the wire harness 200 can be achieved by respectively setting a first pair of plug-in connectors 40 and a second pair of plug-in connectors at the ends of the two mating sections of the wire harness 200. Specifically, these can be male and female plug-in connectors. Figure 8 The diagram illustrates that a section of wire harness 200 has a first pair of plugs 40 (e.g., male plugs) at both ends, which can be connected to the drivers at two joints 120 respectively. The drivers are connected to a second pair of plugs (e.g., female plugs). If a fixed plug-in structure is used, a fixed pair of plugs (e.g., female plugs) can be inserted through the outgoing end 12 of the cable tray 10 where a section of wire harness 200 is located, and a movable pair of plugs can be connected to the end of another section of wire harness 200 (e.g., male plugs). The two sections of wire harness 200 are connected by plugging and connecting the two.

[0062] See Figure 9As shown, in the above embodiment, the joint-shaped wiring structure enables the wire harness 200 extending from the wiring groove 10 to be collinear with the central axis of the connecting arm 110. Specifically, in this example, the first component 101 (connecting arm 110 in this example) rotates relative to the second component 102 (joint 120 in this example) around the first axis 101a (the "first axis 101a" is the central axis of the connecting arm 110 corresponding to the first component 101). A wire harness 200 connects the first component 101 and the second component 102. The wire harness 200 extending from the wiring groove 10 includes at least a first connecting portion 210. The first connecting portion 210 is collinear with the first axis 101a. When the first component 101 rotates relative to the second component 102, the first connecting portion 210 twists or returns to its original position around the first axis 101a. Thus, the wire harness 200 is guided to the center position of the first member 101, and when the first member 101 rotates relative to the second member 102, the wire harness 200 can maintain a slightly twisted state without being pulled. The wire harness 200 leading out from the cable tray 10 also includes a second connecting portion 220, which is located on the second member 102, and its two ends are respectively connected to the first connecting portion 210 and the driver.

[0063] Continue reading Figure 9 In the above embodiment, the joint line structure includes a support member 310, which is configured to constrain the wire harness 200 extending from the line groove 10, such that the wire harness 200 extending from the line groove 10 is collinear with the central axis of the connecting arm 110. Specifically, the support member 310 may be disposed on the first member 101 and / or the second member 102, and the first connecting portion 210 of the wire harness 200 is disposed on the support member 310. The support member 310 is configured to constrain the first connecting portion 210, such that the first connecting portion 210 is collinear with the first axis 101a (i.e., the central axis of the connecting arm 110 corresponding to the first member 101). In this example, the support member 310 is a support tube, and the support tube has a central portion coaxial with the first axis 101a. The wire harness 200 extending from the line groove 10 passes through the support tube, and the first connecting portion 210 of the wire harness 200 is located within the central portion.

[0064] See Figure 10In other embodiments, the joint-shaped wiring structure further includes a wire sliding groove 320 disposed at the connection between the joint 120 and the connecting arm 110. The wire sliding groove 320 is disposed around the central axis of the connecting arm 110, and at least a portion of the wire harness 200 is constrained within the wire sliding groove 320. Specifically, in this example, the first component 101 (connecting arm 110 in this example) and the second component 102 (joint 120 in this example) are mated, and the first component 101 rotates relative to the second component 102 about a first axis 101a. The end of the first component 101 that is mated with the second component 102 has a first groove, and the end of the second component 102 that is mated with the first component 101 has a second groove. The first groove on the first component 101 and the second groove on the second component 102 cooperate to form the wire sliding groove 320. The wire sliding groove 320 is disposed around the central axis of the connecting arm 110, that is, around the first axis 101a. The wire harness 200 has a redundant section 230, which is used to prevent the wire harness 200 from being broken when it reaches its limit position. When the first member 101 rotates relative to the second member 102, the redundant section 230 of the wire harness 200 is constrained within the wire sliding groove 320. Thus, if the wire harness 200 is not in a fixed state when the first member 101 is exiting, the wire harness 200 will also rotate when the first member 101 or the second member 102 rotates. The wire sliding groove 320 can limit the movement path and range of the wire harness 200, thereby preventing the wire harness 200 from being broken.

[0065] See Figure 11 It is understandable that a limit structure is provided between the first component 101 and the second component 102 to constrain the extreme positions of relative rotation between the first component 101 and the second component 102. In this example, the first component 101 and the second component 102 are mated. One end of the first component 101 that is mated with the second component 102 is provided with a first protrusion 330, and one end of the second component 102 that is mated with the first component 101 is provided with a second protrusion 340. The first protrusion 330 and the second protrusion 340 cooperate to constrain the maximum angle of relative rotation between the first component 101 and the second component 102. The first protrusion 330 and the second protrusion 340 at least partially extend into the wire sliding groove 320.

[0066] Based on the same concept, the present invention also provides a robot, including the robotic arm described above.

[0067] In summary, the robotic arm and robot provided by this invention, by setting up a wire harness mounting structure, can isolate different types of wire harnesses 200, avoiding tangling and confusion among the wire harnesses 200, and achieving an orderly arrangement of the wire harnesses 200; furthermore, it avoids electromagnetic interference between the wire harnesses 200; it can guide the wire harnesses 200, facilitating the control of the position of the wire harnesses 200 and reducing the risk of wear on the wire harnesses 200; by setting up a joint routing structure, it facilitates the wiring of the wire harnesses 200 to follow the movement of the joint 120, preventing the wire harnesses 200 from being torn by tension and from being accidentally clamped by the moving parts of the robotic arm, greatly improving reliability.

[0068] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A robotic arm, characterized in that, include: The robotic arm body includes at least one connecting arm and a joint connected to the connecting arm; An actuator, mounted on the robotic arm body, is used to drive at least one connecting arm to move around the joint; A wire harness mounting structure is provided on the robotic arm body, including a wire harness groove, a guide rail, and a slider. The interior of the wire harness groove is divided into multiple accommodating spaces for accommodating various wire harnesses. The guide rail is arranged parallel to at least one accommodating space of the wire harness groove. The slider is slidably disposed on the guide rail and connected to the wire harness for leading the wire harness out from the wire harness groove. The articulated guideway structure is disposed on the robotic arm body to ensure that the wire harness leading out from the guideway groove is collinear with the central axis of the connecting arm.

2. The robotic arm according to claim 1, characterized in that, The running groove is disposed on the outer wall of the robotic arm body, or on the inner wall of the robotic arm body, or is disposed at a distance from the inner wall of the robotic arm body.

3. The robotic arm according to claim 1 or 2, characterized in that, The interior of the line groove is divided into multiple sub-grooves, which form the accommodating space. Each of the sub-grooves is connected in sequence and arranged circumferentially along the body of the robotic arm, or the sub-grooves are connected in sequence and arranged in a circle.

4. The robotic arm according to claim 1, characterized in that, The cable tray has an outlet end with a mounting position for installing plug-in components. The outlet end of the cable tray includes the beginning end, the end end of the cable tray, and a slotted lead-out end provided on the side wall of the cable tray.

5. The robotic arm according to claim 1, characterized in that, The slider is provided with a connecting part for connecting wire harnesses, and the connecting part of the slider has a wire hole. The wire harness is connected to the wire hole by a cable tie. The slider is also provided with an auxiliary part for assisting sliding.

6. The robotic arm according to claim 1 or 5, characterized in that, A first limiting part is provided on the side wall of the guide rail, and a second limiting part is provided on the slider. The second limiting part cooperates with the first limiting part to lock or unlock the slider from the guide rail.

7. The robotic arm according to claim 1, characterized in that, It also includes movable and / or fixed plug-in structures for wire harness connections. The movable plug-in structure includes a first pair of plugs and a second pair of plugs for connecting to the end of the wire harness, wherein the first pair of plugs and the second pair of plugs are connected in cooperation. The fixed plug-in structure includes a fixed plug-in disposed at the outlet end of the cable tray and a movable plug-in for connecting to the end of the cable harness, wherein the fixed plug-in and the movable plug-in are connected in cooperation.

8. The robotic arm according to claim 1, characterized in that, The joint-shaped wiring structure includes a wire sliding groove disposed at the connection between the joint and the connecting arm. The wire sliding groove is disposed around the central axis of the connecting arm, and at least a portion of the wire harness is constrained within the wire sliding groove.

9. The robotic arm according to claim 1, characterized in that, The joint line structure also includes a support member configured to constrain the wire harness extending from the line groove so that the wire harness extending from the line groove is collinear with the central axis of the connecting arm.

10. A robot, characterized in that, Includes the robotic arm as described in any one of claims 1-9.

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