Joint assembly and robot

Abstract

The utility model provides a joint assembly and a robot, the joint assembly is used for installation of a pipeline, the joint assembly comprises a joint body, the joint body is provided with an installation cavity and an installation groove, and the installation cavity is communicated with the installation groove; and the connecting piece is arranged in the mounting cavity and used for being connected with a pipeline, a part of the connecting piece is arranged in the mounting groove, and the connecting piece can move in the mounting groove in the axial direction of the connector body.

Description

Technical Field

[0001] The utility model relates to the technical field of pipe joints, in particular to a joint component and a robot. Background Art

[0002] At present, in the related technology, the cooperation between the bellows and the joint mainly relies on a buckle. One end of the buckle is connected to the bellows, and the other end of the buckle is installed between the nut and the main body of the joint. When the nut is tightened to the main body, the buckle is pressed.

[0003] However, when the robot moves, the entire bellows bends as the structure rotates, that is, the bellows is subjected to a bending force, which will reduce the service life of the bellows after long-term use. Utility Model Content

[0004] The embodiments of the utility model are intended to solve at least one of the technical problems existing in the prior art.

[0005] To this end, a first aspect of an embodiment of the utility model provides a joint assembly.

[0006] A second aspect of the embodiments of the present utility model provides a robot.

[0007] In view of this, according to the first aspect of an embodiment of the utility model, a joint assembly is provided for installing a pipeline, the joint assembly comprising: a joint body, the joint body is provided with an installation cavity and an installation groove, the installation cavity is connected to the installation groove; a connecting piece, arranged in the installation cavity, for connecting the pipeline, a part of the connecting piece is arranged in the installation groove, and can move axially along the joint body in the installation groove.

[0008] The connector assembly provided by the embodiment of the utility model includes a connector body and a connector. Specifically, the connector body is provided with an installation cavity and an installation groove, wherein the installation groove is communicated with the installation cavity.

[0009] The connecting piece is used to connect the pipeline. Optionally, the joint body is also provided with an opening, which is communicated with the installation cavity. One end of the pipeline is inserted into the installation cavity through the opening and connected to the connecting piece.

[0010] The connector is arranged in the installation cavity, and part of the connector is inserted into the installation groove. The part of the connector inserted into the installation groove can move in the installation groove along the axial direction of the joint body. In other words, the part of the connector inserted into the installation groove can move in the installation groove along the direction in which the pipeline is inserted into the installation cavity.

[0011] It is understandable that the pipeline is prone to bending when subjected to stress, that is, the pipeline will be subjected to bending force. If the pipeline cannot be provided with the ability to release or alleviate the bending force, long-term use will reduce the service life of the pipeline.

[0012] For example, the robot includes a mechanical arm, which includes a first arm body, a second arm body and a third arm body. The second arm body is rotatably connected to the first arm body and the third arm body respectively, and both ends of the bellows are connected to the first arm body and the third arm body respectively through joints.

[0013] When the second arm rotates relative to the first arm, or the third arm rotates relative to the second arm, or the first arm rotates relative to the second arm, the joints at both ends of the bellows approach, the relative distance decreases, and since the length of the bellows remains unchanged, the bellows itself bends.

[0014] Since part of the connecting parts inserted into the installation groove can move axially along the joint body in the installation groove, when the pipeline is subjected to bending force, the pipeline drives the connecting parts to move, so that part of the connecting parts located in the installation groove moves axially in the installation groove, so that the connecting parts can be tilted at a certain angle relative to the joint body, thereby allowing the pipeline to release a certain bending force during the movement, effectively extending the service life of the pipeline.

[0015] In addition, compared with the related art that uses the material properties of the bellows itself to withstand or resist bending force, there is no need to change the material of the bellows, so that when the pipeline is subjected to bending force, it can be released to a certain extent, thereby extending the service life of the pipeline and reducing the production cost of the robot with the joint assembly.

[0016] Moreover, the connecting piece and the joint body are two components, that is, the connecting piece and the joint body are split structures, so that after long-term use, the connecting piece will be replaced, which reduces the difficulty of repairing the joint assembly and further reduces the use cost of the robot.

[0017] Optionally, the conduit comprises a bellows.

[0018] In addition, the connector assembly provided by the above technical solution of the utility model also has the following additional technical features:

[0019] In some technical schemes, optionally, the connecting member is provided with a limiting portion, which is arranged in the installation groove and can move axially along the joint body in the installation groove; wherein, along the axial direction of the joint body, the joint body includes a first limiting wall and a second limiting wall located in the installation groove and arranged opposite to each other, and the limiting portion can be offset against the first limiting wall and / or the second limiting wall.

[0020] In this technical solution, it is defined that the connector is provided with a limiting portion. Specifically, the limiting portion is located in the mounting groove and can move axially along the joint body in the mounting groove. That is, the limiting portion has movement space in the mounting groove.

[0021] When the pipeline is subjected to bending force, the pipeline drives the connecting piece to move, so that the limiting part moves axially along the joint body in the installation groove, so that the connecting piece can be tilted at a certain angle relative to the joint body, and then the pipeline can release a certain bending force during the movement, effectively extending the service life of the pipeline.

[0022] Along the axial direction of the joint body, the joint body includes a first limiting wall and a second limiting wall, both of which are located in the installation groove and are arranged opposite to each other. In other words, the first limiting wall and the second limiting wall are two opposite groove walls in the installation groove.

[0023] The limiting portion can be counteracted with the first limiting wall and / or the second limiting wall. That is to say, when the pipeline is subjected to force and drives the limiting portion to move in the installation groove, since the first limiting wall and the second limiting wall are respectively located on both sides of the limiting portion in the axial direction, the limiting portion can be limited in the axial direction of the joint body to prevent the connecting piece from escaping from the installation groove during the movement relative to the installation cavity, thereby causing one end of the pipeline to be disconnected from the joint body, thereby ensuring the installation stability and reliability of the pipeline.

[0024] In some technical solutions, optionally, the outer wall of the connecting piece is provided with a first guide surface, the first guide surface is connected to the limiting portion, and the edge of the joint body located in the installation groove contacts the first guide surface.

[0025] In this technical solution, it is defined that the outer wall of the connecting piece is provided with a first guide surface. Specifically, the first guide surface is connected to the limiting portion, and the edge of the joint body located at the mounting groove is in contact with the first guide surface. That is to say, when the pipeline is subjected to force to drive the connecting piece to move, the first guide surface is in contact with the edge of the mounting groove wall and moves relative to the edge of the mounting groove wall, so that the connecting piece can be tilted at a certain angle relative to the connecting piece body, and then the pipeline can release a certain bending force during the movement, thereby effectively extending the service life of the pipeline.

[0026] In some technical solutions, optionally, a second guide surface is provided at an edge of the joint body located at the installation groove, and the second guide surface is in contact with the first guide surface.

[0027] In this technical solution, it is defined that a second guide surface is provided at the edge of the joint body located at the mounting groove, that is, a second guide surface is provided at the edge of the mounting groove wall, and the second guide surface is in contact with the first guide surface. That is to say, when the pipeline is subjected to force to drive the connecting piece to move, the first guide surface is in contact with the second guide surface and moves relative to the second guide surface, so that the connecting piece can be tilted at a certain angle relative to the joint body, and then the pipeline can release a certain bending force during the movement, thereby effectively extending the service life of the pipeline.

[0028] Moreover, since the outer wall of the connecting piece is in surface contact with the edge of the installing groove wall during the process of the connecting piece tilting relative to the installing cavity, the wear caused by friction between the connecting piece and the connector body can be effectively reduced, thereby extending the service life of the connector assembly.

[0029] Optionally, the upper edge of the installation groove wall is provided with a second guide surface, and the second guide surface is connected to the first limiting wall. Alternatively, the lower edge of the installation groove wall is provided with a second guide surface, and the second guide surface is connected to the second limiting wall. Alternatively, the upper and lower edges of the installation groove wall are both provided with second guide surfaces, one of which is connected to the first limiting wall, and the other second guide surface is connected to the second limiting wall. The specific settings can be made according to actual needs.

[0030] In some technical solutions, optionally, at least one of the first guide surface and the second guide surface is configured as a curved surface.

[0031] In this technical solution, specifically, the first guide surface is configured as a curved surface. Alternatively, the second guide surface is configured as a curved surface. Alternatively, both the first guide surface and the second guide surface are curved surfaces.

[0032] Specifically, when the pipeline is subjected to force and drives the connecting piece to move, the first guide surface contacts the second guide surface and moves relative to the second guide surface, so that the connecting piece can be tilted at a certain angle relative to the joint body, thereby allowing the pipeline to release a certain bending force during movement, effectively extending the service life of the pipeline.

[0033] In addition, since at least one of the first guide surface and the second guide surface is a curved surface, the connecting piece can be tilted by ±4° relative to the installation cavity, which plays a role in driving the overall bending of the pipeline.

[0034] Moreover, since the outer wall of the connecting piece is in surface contact with the edge of the installing groove wall during the process of the connecting piece tilting relative to the installing cavity, the wear caused by friction between the connecting piece and the connector body can be effectively reduced, thereby extending the service life of the connector assembly.

[0035] In some technical solutions, optionally, the number of the first guide surfaces is two, and along the axial direction of the joint body, the two first guide surfaces are respectively located on both sides of the limiting portion.

[0036] In this technical solution, the number of the first guide surfaces is limited to two. Specifically, along the axial direction of the joint body, the two first guide surfaces are respectively located on both sides of the limit portion, that is, the two first guide surfaces are respectively in contact with the upper and lower edges of the wall of the installation groove. This can prevent the connector from falling out of the installation groove during movement relative to the installation cavity to improve the installation stability of the pipeline, and at the same time, when the pipeline is subjected to force, the connector can drive the pipeline to tilt at a certain angle relative to the installation cavity to release the bending force on the pipeline, effectively increasing the service life of the pipeline.

[0037] Moreover, since the two outer wall surfaces (first guide surfaces) of the connecting part along the axial direction of the joint body are in contact with the edges of the mounting groove walls, it is also beneficial to prevent the pipeline from moving axially in the mounting cavity and generating noise, thereby improving the user experience of the robot with the joint assembly.

[0038] In some technical solutions, optionally, the connector further includes a body and a connecting portion, wherein the limiting portion is arranged on the body, the connecting portion is arranged on a side of the body away from the limiting portion, and the connecting portion is used to connect the pipeline.

[0039] In this technical solution, it is defined that the connecting piece also includes a body and a connecting portion. Specifically, the limiting portion is arranged on the body, and the connecting portion is arranged on a side of the body away from the limiting portion. That is, the limiting portion and the connecting portion are respectively located on two opposite sides of the body.

[0040] The connecting part on one side of the main body is connected to the pipeline inserted into the installation cavity, and the limiting part on the other side of the main body is inserted into the installation groove. When the pipeline is subjected to bending force, it moves axially in the installation groove to release or resist the bending force exerted on the pipeline and limit the inclination angle of the connecting part, thereby effectively extending the service life of the pipeline.

[0041] Optionally, along the length direction of the pipeline, that is, along the extension direction of the pipeline, the pipeline includes a plurality of connected corrugated parts, and there is a slot between two adjacent corrugated parts, that is, the pipeline is a corrugated tube. Specifically, the connecting part is inserted into the slot to achieve the connection between the connecting part and the pipeline, prevent the corrugated tube from falling out, and limit the movement of the corrugated tube.

[0042] Optionally, at least a portion of the slot extends along the circumference of the pipeline. Optionally, the slot is an annular groove. That is, when the pipeline is subjected to a torsional force, the pipeline can rotate a certain angle relative to the connecting portion, thereby releasing or resisting the torsional force on the pipeline, further extending the service life of the pipeline.

[0043] In some technical solutions, optionally, the connecting member includes a wear-resistant member; and / or the connecting member is an integral structure.

[0044] In this technical solution, it is defined that the connector includes a wear-resistant part, that is, the connector is made of a wear-resistant material. Since the connector is inclined at a certain angle relative to the installation cavity when the pipeline is subjected to force, the connector will have more friction with the joint body.

[0045] By setting the connector to be a wear-resistant material, the service life of the connector can be effectively extended, thereby extending the service life of the joint assembly. And because the connector is used to connect the pipeline, it can also improve the installation stability and reliability of the pipeline, ensuring the reliable operation of the robot with the joint assembly.

[0046] Optionally, the connecting piece includes a POM (polyoxymethylene) plastic piece. It is understandable that POM plastic has self-lubricating properties, which can effectively reduce the relative friction coefficient between the connecting piece and the connector body, reduce the risk of deformation of the connecting piece and the connector body due to wear, and further extend the service life of the connector assembly.

[0047] The connector is an integrated structure. It is understood that the integrated structure has good mechanical properties, which can improve the structural strength of the connector itself, extend the service life of the connector, and improve the installation stability and reliability of the pipeline. In addition, the integrated structure is also convenient for the processing and production of the connector, thus reducing the difficulty of manufacturing the connector and further reducing the production cost of the joint assembly.

[0048] In some technical solutions, optionally, the mounting groove is constructed as an annular groove; and the cross-sectional shape of the limiting portion is annular.

[0049] In this technical solution, the cross-sectional shape of the limiting portion is defined as a ring, that is, the limiting portion extends along the circumference of the connecting member to a circle.

[0050] The mounting groove is an annular groove. Since the limiting portion is embedded in the mounting groove, the connection strength between the connector and the connector body can be improved, further improving the installation stability and reliability of the pipeline, thereby ensuring the reliable operation of the robot.

[0051] In some technical solutions, optionally, the connector body includes a main body and a locking portion, wherein the first end of the main body is used for fixed connection, the locking portion is connected to the second end of the main body, and forms an installation cavity and an installation groove with the main body.

[0052] In this technical solution, it is defined that the joint body includes a main body and a locking part. Specifically, the first end of the main body is used for fixed connection. Specifically, the first end of the main body is used to connect sheet metal or other structures (the first arm or the third arm of the robot).

[0053] The second end of the main body is connected to the locking portion, and together with the locking portion, forms a mounting cavity and a mounting groove. It is understandable that when the second end of the main body is connected to the locking portion, the edge of the locking portion located in the mounting groove is pressed against the first guide surface on one side of the connector. At the same time, the edge of the second end of the main body located in the mounting groove contacts the first guide surface on the other side of the connector.

[0054] Optionally, the locking portion comprises a nut, wherein the nut is of conventional design.

[0055] Optionally, the locking portion comprises a PA (nylon) 66 plastic part.

[0056] Optionally, the locking portion is threadedly connected to the second end of the main body.

[0057] Optionally, the first end of the main body is threadedly connected to a sheet metal or other structure (the first arm or the third arm) to prevent the movement of the pipeline from causing the joint assembly to loosen, thereby improving the installation stability of the pipeline. Specifically, the first end of the main body is a nested metal thread.

[0058] According to a second aspect of the utility model, a robot is provided, comprising a joint assembly as provided by any of the above technical solutions, thereby having all the beneficial technical effects of the joint assembly, which will not be repeated here.

[0059] Furthermore, the robot also includes a robotic arm and a pipeline, wherein the robotic arm includes a first arm body, a second arm body and a third arm body, the first arm body is rotatably connected to the second arm body, the second arm body is rotatably connected to the third arm body, the first end of the pipeline is connected to the first arm body through a joint assembly, and the second end of the pipeline is connected to the third arm body through another joint assembly.

[0060] The robot provided by the embodiment of the utility model includes a joint assembly, a mechanical arm and a pipeline. Specifically, the mechanical arm includes a first arm body, a second arm body and a third arm body. Specifically, the first arm body is rotatably connected to the second arm body, and the second arm body is rotatably connected to the third arm body, that is, the second arm body is rotatably connected to the first arm body and the third arm body respectively.

[0061] The two ends of the pipeline are connected to the first arm body and the third arm body through the joint assembly, that is, the pipeline is a pipeline routing connecting the internal components of the first arm body and the third arm body.

[0062] It is understandable that when the second arm rotates relative to the first arm, the joint assemblies at both ends of the pipeline approach each other and the relative distance decreases, while the length of the pipeline remains unchanged, so that the pipeline rotates relative to the joint assembly and bends itself.

[0063] Since part of the connecting parts inserted into the installation groove can move axially along the joint body in the installation groove, when the pipeline is subjected to bending force, the pipeline drives the connecting parts to move, so that part of the connecting parts located in the installation groove moves axially in the installation groove, so that the connecting parts can be tilted at a certain angle relative to the joint body, thereby allowing the pipeline to release a certain bending force during the movement, effectively extending the service life of the pipeline.

[0064] In addition, compared with the related art that uses the material properties of the bellows itself to withstand or resist bending force, there is no need to change the material of the bellows, so that when the pipeline is subjected to bending force, it can be released to a certain extent, thereby extending the service life of the pipeline and reducing the production cost of the robot with the joint assembly.

[0065] Moreover, the connecting piece and the joint body are two components, that is, the connecting piece and the joint body are split structures, so that after long-term use, the connecting piece will be replaced, which reduces the difficulty of repairing the joint assembly and further reduces the use cost of the robot.

[0066] Optionally, the first arm body is rotationally connected to the second arm body via a rotation joint, and the second arm body is rotationally connected to the third arm body via a rotation joint.

[0067] Optionally, innovative designs can be made on the mating parts of the joint and the structure, such as installing the joint on a structure that is not completely static, for example, adding a spring structure to the structure so that when the bellows bends, the entire joint is driven to tilt appropriately on the spring structure to release part of the bending force.

[0068] In addition, the robot provided by the above technical solution of the utility model also has the following additional technical features:

[0069] In some technical solutions, optionally, a slot is provided on the outer wall of the pipeline, the slot extends along the circumference of the pipeline, the connecting portion of the connector is inserted into the slot, and can move in the slot along the circumference of the pipeline.

[0070] In this technical solution, the outer wall of the pipeline is defined to be provided with a slot, and specifically, at least a portion of the slot extends along the circumference of the pipeline. That is, when the pipeline is subjected to a torsional force, the pipeline can rotate a certain angle relative to the connecting portion.

[0071] It can be understood that when the second arm body rotates relative to the first arm body, or the third arm body rotates relative to the second arm body, the joint assemblies at both ends of the pipeline approach each other and the relative distance decreases, while the length of the pipeline remains unchanged, so that in addition to bending itself, the pipeline will also rotate relative to the joint assembly, that is, the pipeline will be subjected to torsional force.

[0072] When the pipeline is subjected to a torsional force, the pipeline can rotate at a certain angle relative to the connecting portion, thereby releasing or resisting the torsional force applied to the pipeline accordingly, thereby further extending the service life of the pipeline.

[0073] Optionally, the slot is a ring groove.

[0074] In some technical schemes, optionally, along the length direction of the pipeline, the pipeline includes a plurality of connected corrugated portions, and a slot is formed between any two adjacent corrugated portions; the first end of the pipeline is inserted into the installation cavity of the joint assembly, and / or the second end of the pipeline is inserted into the installation cavity of another joint assembly; wherein, in the portion of the pipeline inserted into the installation cavity, the number n of corrugated portions satisfies 3≤n≤4.

[0075] In this technical solution, it is defined that along the length direction of the pipeline, that is, along the extension direction of the pipeline, the pipeline includes a plurality of connected corrugated parts, and a slot is provided between two adjacent corrugated parts, that is, the pipeline is a corrugated tube.

[0076] Specifically, the connecting part is inserted into the slot to achieve the connection between the connecting part and the pipeline, prevent the bellows from coming out, and limit the movement of the bellows.

[0077] The first end of the pipeline is inserted into the installation cavity of the joint assembly, that is, the first end of the pipeline is inserted into the installation cavity and connected to the connector of the joint assembly. And / or, the second end of the pipeline is inserted into the installation cavity of another joint assembly, that is, the second end of the pipeline is inserted into the installation cavity and connected to the connector of another joint assembly.

[0078] In the part of the pipeline inserted into the installation cavity, the number of corrugated parts is between 3 and 4, which limits the length of the pipeline inserted into the installation cavity. In other words, the installation cavity can accommodate 3 to 4 sections of corrugated pipes to further improve the installation stability of the pipeline, prevent the pipeline inserted into the installation cavity from being too short and falling out, and improve the installation reliability of the pipeline.

[0079] Additional aspects and advantages of the present invention will be given in the following description, and some will become apparent from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0081] Figure 1 One of the structural schematic diagrams of a joint assembly according to an embodiment of the utility model is shown;

[0082] Figure 2 A schematic structural diagram of a connecting piece according to an embodiment of the utility model is shown;

[0083] Figure 3 An exploded view of a joint assembly according to an embodiment of the present utility model is shown;

[0084] Figure 4 A second structural schematic diagram of a connector assembly according to an embodiment of the utility model is shown;

[0085] Figure 5 A partial structural schematic diagram of a robot according to an embodiment of the utility model is shown.

[0086] in, Figures 1 to 5 The corresponding relationship between the reference numerals and the component names is as follows:

[0087] 100 connector assembly, 110 connector body, 111 mounting cavity, 112 mounting groove, 113 first limiting wall, 114 second limiting wall, 115 second guide surface, 116 main body, 117 locking portion, 120 connecting piece, 121 limiting portion, 122 first guide surface, 123 main body, 124 connecting portion, 200 robot, 210 robotic arm, 211 first arm body, 212 second arm body, 213 third arm body, 220 pipeline, 221 slot, 222 corrugated portion. DETAILED DESCRIPTION

[0088] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0089] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0090] Refer to the following Figures 1 to 5 The joint assembly 100 and the robot 200 provided according to some embodiments of the present invention are described.

[0091] In one embodiment according to the present application, Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, a joint assembly 100 is proposed for installing a pipeline 220, and the joint assembly 100 includes: a joint body 110, the joint body 110 is provided with an installation cavity 111 and an installation groove 112, and the installation cavity 111 is connected to the installation groove 112; a connecting piece 120, which is arranged in the installation cavity 111 and is used to connect the pipeline 220, and a part of the connecting piece 120 is arranged in the installation groove 112 and can move axially along the joint body 110 in the installation groove 112.

[0092] The connector assembly 100 provided in the embodiment of the utility model includes a connector body 110 and a connector 120 . Specifically, the connector body 110 is provided with a mounting cavity 111 and a mounting groove 112 , wherein the mounting groove 112 is communicated with the mounting cavity 111 .

[0093] The connector 120 is used to connect the pipeline 220 . Optionally, the joint body 110 is further provided with an opening, which is communicated with the installation cavity 111 . One end of the pipeline 220 is inserted into the installation cavity 111 through the opening and connected to the connector 120 .

[0094] The connecting piece 120 is disposed in the installation cavity 111, and a portion of the connecting piece 120 is inserted into the installation groove 112. The portion of the connecting piece 120 inserted into the installation groove 112 can move in the installation groove 112 along the axial direction of the joint body 110. In other words, the portion of the connecting piece 120 inserted into the installation groove 112 can move in the installation groove 112 along the direction in which the pipeline 220 is inserted into the installation cavity 111.

[0095] It is understandable that the pipeline 220 is prone to bending when subjected to force, that is, the pipeline 220 will be subjected to bending force. If the pipeline 220 cannot be provided with the ability to release or alleviate the bending force, long-term use will reduce the service life of the pipeline 220.

[0096] For example, the robot 200 includes a robotic arm 210, which includes a first arm body 211, a second arm body 212 and a third arm body 213. The second arm body 212 is rotatably connected to the first arm body 211 and the third arm body 213 respectively, and the two ends of the bellows are connected to the first arm body 211 and the third arm body 213 respectively through joints.

[0097] When the second arm 212 rotates relative to the first arm 211, or the third arm 213 rotates relative to the second arm 212, or the first arm 211 rotates relative to the second arm 212, the joints at both ends of the bellows approach and the relative distance decreases. Since the length of the bellows remains unchanged, the bellows itself bends.

[0098] Since part of the connecting piece 120 inserted into the installation groove 112 can move axially along the joint body 110 in the installation groove 112, when the pipeline 220 receives a bending force, the pipeline 220 drives the connecting piece 120 to move, so that part of the connecting piece 120 located in the installation groove 112 moves axially in the installation groove 112, so that the connecting piece 120 can be tilted at a certain angle relative to the joint body 110, and then the pipeline 220 can release a certain bending force during the movement, thereby effectively extending the service life of the pipeline 220.

[0099] In addition, compared to the related art that uses the material properties of the bellows itself to withstand or resist bending force, there is no need to change the material of the bellows, so that when the pipeline 220 is subjected to bending force, it can be released to a certain extent, thereby extending the service life of the pipeline 220 while reducing the production cost of the robot 200 with the joint assembly 100.

[0100] Moreover, the connecting member 120 and the joint body 110 are two components, that is, the connecting member 120 and the joint body 110 are a split structure, so that after long-term use, the connecting member 120 will be replaced, reducing the maintenance difficulty of the joint assembly 100 and further reducing the use cost of the robot 200.

[0101] Optionally, the conduit 220 comprises a bellows.

[0102] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, optionally, the connecting member 120 is provided with a limiting portion 121, which is disposed in the mounting groove 112 and can move axially along the joint body 110 in the mounting groove 112; wherein, along the axial direction of the joint body 110, the joint body 110 includes a first limiting wall 113 and a second limiting wall 114 which are located in the mounting groove 112 and are arranged opposite to each other, and the limiting portion 121 can be against the first limiting wall 113 and / or the second limiting wall 114.

[0103] In this embodiment, it is defined that the connecting member 120 is provided with a limiting portion 121. Specifically, the limiting portion 121 is located in the mounting groove 112, and the limiting portion 121 can move axially along the joint body 110 in the mounting groove 112. That is, the limiting portion 121 has movement space in the mounting groove 112.

[0104] When the pipeline 220 is subjected to a bending force, the pipeline 220 drives the connecting piece 120 to move, so that the limiting portion 121 moves axially along the joint body 110 in the installation groove 112, so that the connecting piece 120 can be tilted at a certain angle relative to the joint body 110, thereby allowing the pipeline 220 to release a certain bending force during the movement, effectively extending the service life of the pipeline 220.

[0105] Along the axial direction of the joint body 110, the joint body 110 includes a first limiting wall 113 and a second limiting wall 114, both of which are located in the mounting groove 112, and the first limiting wall 113 and the second limiting wall 114 are arranged opposite to each other. In other words, the first limiting wall 113 and the second limiting wall 114 are two opposite groove walls in the mounting groove 112.

[0106] The limiting portion 121 can be abutted against the first limiting wall 113 and / or the second limiting wall 114. That is, when the pipeline 220 is subjected to force and drives the limiting portion 121 to move in the installation groove 112, since the first limiting wall 113 and the second limiting wall 114 are respectively located on both sides of the limiting portion 121 in the axial direction, the limiting portion 121 can be limited in the axial direction of the connector body 110 to prevent the connecting piece 120 from escaping from the installation groove 112 during the movement relative to the installation cavity 111, thereby causing one end of the pipeline 220 to be disconnected from the connector body 110, thereby ensuring the installation stability and reliability of the pipeline 220.

[0107] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, optionally, the outer wall of the connecting member 120 is provided with a first guide surface 122 , the first guide surface 122 is connected to the limiting portion 121 , and the edge of the joint body 110 located in the installation groove 112 contacts the first guide surface 122 .

[0108] In this embodiment, it is defined that the outer wall of the connector 120 is provided with a first guide surface 122. Specifically, the first guide surface 122 is connected to the limiting portion 121, and the edge of the connector body 110 located at the mounting groove 112 is in contact with the first guide surface 122. That is to say, when the pipeline 220 is driven by force to move the connector 120, the first guide surface 122 is in contact with the edge of the groove wall of the mounting groove 112 and moves relative to the edge of the groove wall of the mounting groove 112, so that the connector 120 can be tilted at a certain angle relative to the connector body 110, thereby allowing the pipeline 220 to release a certain bending force during the movement, thereby effectively extending the service life of the pipeline 220.

[0109] like Figure 1 As shown, in some embodiments, optionally, a second guide surface 115 is provided at an edge of the joint body 110 located at the installation groove 112 , and the second guide surface 115 contacts the first guide surface 122 .

[0110] In this embodiment, it is defined that a second guide surface 115 is provided at the edge of the connector body 110 located at the mounting groove 112, that is, a second guide surface 115 is provided at the edge of the groove wall of the mounting groove 112, and the second guide surface 115 is in contact with the first guide surface 122. That is to say, when the pipeline 220 is subjected to force to drive the connecting piece 120 to move, the first guide surface 122 is in contact with the second guide surface 115 and moves relative to the second guide surface 115, so that the connecting piece 120 can be tilted at a certain angle relative to the connector body 110, thereby allowing the pipeline 220 to release a certain bending force during the movement, thereby effectively extending the service life of the pipeline 220.

[0111] Moreover, since the outer wall of the connecting member 120 and the edge of the groove wall of the mounting groove 112 are in surface contact during the process of the connecting member 120 tilting relative to the mounting cavity 111, the wear caused by friction between the connecting member 120 and the connector body 110 can be effectively reduced, thereby extending the service life of the connector assembly 100.

[0112] Optionally, the upper edge of the groove wall of the installation groove 112 is provided with a second guide surface 115, and the second guide surface 115 is connected to the first limiting wall 113. Alternatively, the lower edge of the groove wall of the installation groove 112 is provided with a second guide surface 115, and the second guide surface 115 is connected to the second limiting wall 114. Alternatively, the upper and lower edges of the groove wall of the installation groove 112 are both provided with second guide surfaces 115, one of the second guide surfaces 115 is connected to the first limiting wall 113, and the other second guide surface 115 is connected to the second limiting wall 114. The specific settings can be made according to actual needs.

[0113] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, optionally, at least one of the first guide surface 122 and the second guide surface 115 is configured as a curved surface.

[0114] In this embodiment, specifically, the first guide surface 122 is configured as a curved surface. Alternatively, the second guide surface 115 is configured as a curved surface. Alternatively, both the first guide surface 122 and the second guide surface 115 are curved surfaces.

[0115] Specifically, when the pipeline 220 is subjected to force to drive the connecting piece 120 to move, the first guide surface 122 contacts the second guide surface 115 and moves relative to the second guide surface 115, so that the connecting piece 120 can be tilted at a certain angle relative to the joint body 110, thereby allowing the pipeline 220 to release a certain bending force during the movement, effectively extending the service life of the pipeline 220.

[0116] In addition, since at least one of the first guide surface 122 and the second guide surface 115 is a curved surface, the connector 120 can be tilted by ±4° relative to the installation cavity 111 , which drives the pipeline 220 to bend as a whole.

[0117] Moreover, since the outer wall of the connecting member 120 and the edge of the groove wall of the mounting groove 112 are in surface contact during the process of the connecting member 120 tilting relative to the mounting cavity 111, the wear caused by friction between the connecting member 120 and the connector body 110 can be effectively reduced, thereby extending the service life of the connector assembly 100.

[0118] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, optionally, there are two first guide surfaces 122 , and along the axial direction of the joint body 110 , the two first guide surfaces 122 are respectively located on both sides of the limiting portion 121 .

[0119] In this embodiment, the number of the first guide surfaces 122 is limited to two. Specifically, along the axial direction of the joint body 110, the two first guide surfaces 122 are respectively located on both sides of the limiting portion 121, that is, the two first guide surfaces 122 are respectively in contact with the upper and lower edges of the groove wall of the installation groove 112. This can prevent the connector 120 from falling out of the installation groove 112 during the movement relative to the installation cavity 111, thereby improving the installation stability of the pipeline 220, and at the same time, when the pipeline 220 is subjected to force, the connector 120 can drive the pipeline 220 to tilt at a certain angle relative to the installation cavity 111 to release the bending force on the pipeline 220, effectively increasing the service life of the pipeline 220.

[0120] Moreover, since the two outer wall surfaces (first guide surface 122) of the connecting piece 120 along the axial direction of the joint body 110 are in contact with the edge of the groove wall of the installation groove 112, it is also beneficial to prevent the pipeline 220 from moving axially in the installation cavity 111 and generating noise, thereby improving the user experience of the robot 200 having the joint assembly 100.

[0121] like Figure 1 and Figure 2 As shown, in some embodiments, optionally, the connector 120 also includes a main body 123 and a connecting portion 124, wherein the limiting portion 121 is disposed on the main body 123, and the connecting portion 124 is disposed on a side of the main body 123 away from the limiting portion 121, and the connecting portion 124 is used to connect the pipeline 220.

[0122] In this embodiment, it is defined that the connecting member 120 also includes a main body 123 and a connecting portion 124. Specifically, the limiting portion 121 is arranged on the main body 123, and the connecting portion 124 is arranged on the side of the main body 123 away from the limiting portion 121. That is, the limiting portion 121 and the connecting portion 124 are respectively located on two opposite sides of the main body 123.

[0123] The connecting portion 124 on one side of the main body 123 is connected to the pipeline 220 inserted into the installation cavity 111, and the limiting portion 121 on the other side of the main body 123 is inserted into the installation groove 112, and moves axially in the installation groove 112 when the pipeline 220 is subjected to bending force, so as to release or resist the bending force exerted on the pipeline 220 and limit the inclination angle of the connecting piece 120, thereby effectively extending the service life of the pipeline 220.

[0124] Optionally, along the length direction of the pipeline 220, that is, along the extension direction of the pipeline 220, the pipeline 220 includes a plurality of connected corrugated portions 222, and a slot 221 is provided between two adjacent corrugated portions 222, that is, the pipeline 220 is a corrugated tube. Specifically, the connecting portion 124 is inserted into the slot 221 to achieve the connection between the connecting portion 124 and the pipeline 220, to prevent the corrugated tube from coming out, and to limit the movement of the corrugated tube.

[0125] Optionally, at least a portion of the slot 221 extends along the circumference of the pipeline 220. Optionally, the slot 221 is an annular groove. That is, when the pipeline 220 is subjected to a torsional force, the pipeline 220 can rotate a certain angle relative to the connecting portion 124, thereby releasing or resisting the torsional force on the pipeline 220, further extending the service life of the pipeline 220.

[0126] In some embodiments, optionally, the connector 120 includes a wear-resistant part; and / or the connector 120 is an integral structure.

[0127] In this embodiment, the connector 120 is defined as a wear-resistant member, that is, the connector 120 is made of a wear-resistant material. When the pipeline 220 is subjected to force, the connector 120 is inclined at a certain angle relative to the installation cavity 111 , so the connector 120 will have more friction with the joint body 110 .

[0128] By setting the connector 120 to be a wear-resistant material, the service life of the connector 120 can be effectively extended, thereby extending the service life of the joint assembly 100. In addition, since the connector 120 is used to connect the pipeline 220, the installation stability and reliability of the pipeline 220 can also be improved, ensuring the reliable operation of the robot 200 having the joint assembly 100.

[0129] Optionally, the connector 120 includes a POM (polyoxymethylene) plastic part. It is understandable that the POM plastic has self-lubricating properties, which can effectively reduce the relative friction coefficient between the connector 120 and the connector body 110, reduce the risk of deformation of the connector 120 and the connector body 110 due to wear, and further extend the service life of the connector assembly 100.

[0130] The connector 120 is an integrated structure. It is understood that the integrated structure has good mechanical properties, and thus can improve the structural strength of the connector 120 itself, extend the service life of the connector 120, and improve the installation stability and reliability of the pipeline 220. In addition, the integrated structure also facilitates the processing and production of the connector 120, and thus can reduce the manufacturing difficulty of the connector 120, thereby reducing the production cost of the joint assembly 100.

[0131] In some embodiments, optionally, the mounting groove 112 is configured as an annular groove; and the cross-sectional shape of the limiting portion 121 is annular.

[0132] In this embodiment, the cross-sectional shape of the limiting portion 121 is defined as a ring, that is, the limiting portion 121 extends along the circumference of the connecting member 120 to form a circle.

[0133] The mounting groove 112 is an annular groove. Since the limiting portion 121 is embedded in the mounting groove 112 , the connection strength between the connector 120 and the connector body 110 can be improved, and the installation stability and reliability of the pipeline 220 can be further improved, thereby ensuring the reliable operation of the robot 200.

[0134] like Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, optionally, the connector body 110 includes a main body 116 and a locking portion 117, wherein the first end of the main body 116 is used for fixed connection, the locking portion 117 is connected to the second end of the main body 116, and forms an installation cavity 111 and an installation groove 112 with the main body 116.

[0135] In this embodiment, the joint body 110 is defined to include a main body 116 and a locking portion 117. Specifically, the first end of the main body 116 is used for fixed connection. Specifically, the first end of the main body 116 is used to connect sheet metal or other structures (the first arm 211 or the third arm 213 of the robot 200).

[0136] The second end of the main body 116 is connected to the locking portion 117, and together with the locking portion 117, the mounting cavity 111 and the mounting groove 112 are enclosed. It can be understood that when the second end of the main body 116 is connected to the locking portion 117, the edge of the locking portion 117 located in the mounting groove 112 is pressed against the first guide surface 122 on one side of the connecting member 120. At the same time, the edge of the second end of the main body 116 located in the mounting groove 112 contacts the first guide surface 122 on the other side of the connecting member 120.

[0137] Optionally, the locking portion 117 comprises a nut, wherein the nut is of conventional design.

[0138] Optionally, the locking portion 117 includes a PA (nylon) 66 plastic member.

[0139] Optionally, the locking portion 117 is threadedly connected to the second end of the main body 116 .

[0140] Optionally, the first end of the body 116 is threadedly connected to a sheet metal or other structure (the first arm 211 or the third arm 213) to prevent the movement of the pipe 220 from loosening the joint assembly 100 and improve the installation stability of the pipe 220. Specifically, the first end of the body 116 is a nested metal thread.

[0141] like Figure 1 As shown, the mounting groove 112 is a space in which the buckle (connector 120) can move within the connector (connector body 110), and Figure 1 The buckle is shown in a tilted state. The right side of the figure shows the state where the protrusion (connecting portion 124) of the inner ring of the buckle is adapted to the bellows (pipeline 220). Since the bellows is subjected to bending force, the bellows of this joint needs to be tilted. When the bellows drives the buckle to tilt, the left side of the figure shows the state where the outer protrusion (limiting portion 121) of the buckle is in contact with the joint body 116 (main body 116). At the same time, the right side of the figure shows the state where the outer protrusion (limiting portion 121) of the buckle is in contact with the joint nut (locking portion 117). Both of them limit the tilting of the buckle to prevent the buckle from falling out.

[0142] According to the second aspect of the utility model, a robot 200 is provided, comprising a joint assembly 100 as provided in any of the above embodiments, and thus possessing all the beneficial technical effects of the joint assembly 100, which will not be described in detail herein.

[0143] like Figure 5As shown, further, the robot 200 also includes a robotic arm 210 and a pipeline 220, wherein the robotic arm 210 includes a first arm body 211, a second arm body 212 and a third arm body 213, the first arm body 211 is rotatably connected to the second arm body 212, the second arm body 212 is rotatably connected to the third arm body 213, the first end of the pipeline 220 is connected to the first arm body 211 through a joint assembly 100, and the second end of the pipeline 220 is connected to the third arm body 213 through another joint assembly 100.

[0144] The robot 200 provided by the embodiment of the utility model includes a joint assembly 100, a mechanical arm 210 and a pipeline 220. Specifically, the mechanical arm 210 includes a first arm body 211, a second arm body 212 and a third arm body 213. Specifically, the first arm body 211 is rotatably connected to the second arm body 212, and the second arm body 212 is rotatably connected to the third arm body 213. In other words, the second arm body 212 is rotatably connected to the first arm body 211 and the third arm body 213 respectively.

[0145] The two ends of the pipeline 220 are respectively connected to the first arm body 211 and the third arm body 213 through the joint assembly 100. That is, the pipeline 220 is a pipeline 220 routing that connects the internal components of the first arm body 211 and the third arm body 213.

[0146] It is understandable that when the second arm 212 rotates relative to the first arm 211, the joint assemblies 100 at both ends of the pipeline 220 approach and the relative distance decreases, while the length of the pipeline 220 remains unchanged, so that the pipeline 220 rotates relative to the joint assembly 100 and bends itself.

[0147] Since part of the connecting piece 120 inserted into the installation groove 112 can move axially along the joint body 110 in the installation groove 112, when the pipeline 220 receives a bending force, the pipeline 220 drives the connecting piece 120 to move, so that part of the connecting piece 120 located in the installation groove 112 moves axially in the installation groove 112, so that the connecting piece 120 can be tilted at a certain angle relative to the joint body 110, and then the pipeline 220 can release a certain bending force during the movement, thereby effectively extending the service life of the pipeline 220.

[0148] In addition, compared to the related art that uses the material properties of the bellows itself to withstand or resist bending force, there is no need to change the material of the bellows, so that when the pipeline 220 is subjected to bending force, it can be released to a certain extent, thereby extending the service life of the pipeline 220 while reducing the production cost of the robot 200 with the joint assembly 100.

[0149] Moreover, the connecting member 120 and the joint body 110 are two components, that is, the connecting member 120 and the joint body 110 are a split structure, so that after long-term use, the connecting member 120 will be replaced, reducing the maintenance difficulty of the joint assembly 100 and further reducing the use cost of the robot 200.

[0150] Optionally, the first arm 211 is rotationally connected to the second arm 212 via a rotation joint, and the second arm 212 is rotationally connected to the third arm 213 via a rotation joint.

[0151] Optionally, innovative designs can be made on the mating parts of the joint and the structure, such as installing the joint on a structure that is not completely static, for example, adding a spring structure to the structure so that when the bellows bends, the entire joint is driven to tilt appropriately on the spring structure to release part of the bending force.

[0152] like Figure 1 As shown, in some embodiments, optionally, a slot 221 is provided on the outer wall of the pipeline 220 , and the slot 221 extends along the circumference of the pipeline 220 . The connecting portion 124 of the connecting piece 120 is inserted into the slot 221 and can move in the slot 221 along the circumference of the pipeline 220 .

[0153] In this embodiment, the outer wall defining the pipeline 220 is provided with a slot 221. Specifically, at least a portion of the slot 221 extends along the circumference of the pipeline 220. That is, when the pipeline 220 is subjected to a torsional force, the pipeline 220 can rotate relative to the connecting portion 124 by a certain angle.

[0154] It can be understood that when the second arm 212 rotates relative to the first arm 211, or the third arm 213 rotates relative to the second arm 212, the joint assemblies 100 at both ends of the pipeline 220 approach each other and the relative distance decreases, while the length of the pipeline 220 remains unchanged, so that in addition to bending itself, the pipeline 220 also rotates relative to the joint assembly 100, that is, the pipeline 220 is subjected to torsional force.

[0155] When the pipeline 220 is subjected to a torsional force, the pipeline 220 can rotate at a certain angle relative to the connecting portion 124 , thereby releasing or resisting the torsional force exerted on the pipeline 220 , thereby further extending the service life of the pipeline 220 .

[0156] Optionally, the slot 221 is an annular groove.

[0157] like Figure 1As shown, in some embodiments, optionally, along the length direction of the pipeline 220, the pipeline 220 includes a plurality of connected corrugated portions 222, and a slot 221 is formed between any two adjacent corrugated portions 222; the first end of the pipeline 220 is inserted into the installation cavity 111 of the connector assembly 100, and / or the second end of the pipeline 220 is inserted into the installation cavity 111 of another connector assembly 100; wherein, in the portion of the pipeline 220 inserted into the installation cavity 111, the number n of the corrugated portions 222 satisfies 3≤n≤4.

[0158] In this embodiment, it is defined that along the length direction of the pipeline 220, that is, along the extension direction of the pipeline 220, the pipeline 220 includes a plurality of connected corrugated portions 222, and a slot 221 is provided between two adjacent corrugated portions 222, that is, the pipeline 220 is a corrugated tube.

[0159] Specifically, the connection portion 124 is inserted into the slot 221 to achieve the connection between the connection portion 124 and the pipeline 220, prevent the bellows from coming out, and limit the movement of the bellows.

[0160] The first end of the pipe 220 is inserted into the installation cavity 111 of the joint assembly 100, that is, the first end of the pipe 220 is inserted into the installation cavity 111 and connected to the connector 120 of the joint assembly 100. And / or, the second end of the pipe 220 is inserted into the installation cavity 111 of another joint assembly 100, that is, the second end of the pipe 220 is inserted into the installation cavity 111 and connected to the connector 120 of another joint assembly 100.

[0161] In the partial pipeline 220 inserted into the installation cavity 111, the number of corrugated parts 222 is between 3 and 4, which limits the length of the pipeline 220 inserted into the installation cavity 111. In other words, the installation cavity 111 accommodates 3 to 4 sections of corrugated pipes to further improve the installation stability of the pipeline 220, prevent the pipeline 220 inserted into the installation cavity 111 from being too short and falling out, and improve the installation reliability of the pipeline 220.

[0162] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0163] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0164] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint assembly, characterized in that: For installation of pipelines, the joint assembly comprises: A joint body, wherein the joint body is provided with a mounting cavity and a mounting groove, and the mounting cavity is communicated with the mounting groove; A connecting piece is arranged in the installation cavity and is used to connect the pipeline. A part of the connecting piece is arranged in the installation groove and can move in the installation groove along the axial direction of the joint body.

2. The joint assembly according to claim 1, characterized in that: The connecting member is provided with a limiting portion, which is arranged in the installation groove and can move in the installation groove along the axial direction of the joint body; Wherein, along the axial direction of the joint body, the joint body includes a first limiting wall and a second limiting wall which are located in the installation groove and are arranged opposite to each other, and the limiting portion can abut against the first limiting wall and / or the second limiting wall.

3. The joint assembly according to claim 2, characterized in that: The outer wall of the connecting member is provided with a first guide surface, the first guide surface is connected to the limiting portion, and the edge of the joint body located at the installation groove contacts the first guide surface.

4. The joint assembly according to claim 3, characterized in that: The joint body is provided with a second guide surface at the edge of the installation groove, and the second guide surface is in contact with the first guide surface.

5. The joint assembly according to claim 4, characterized in that: At least one of the first guide surface and the second guide surface is configured as a curved surface.

6. The joint assembly according to claim 3, characterized in that: The number of the first guide surfaces is two, and along the axial direction of the joint body, the two first guide surfaces are respectively located on both sides of the limiting portion.

7. The joint assembly according to any one of claims 2 to 6, characterized in that: The connecting piece also includes: A main body, wherein the limiting portion is arranged on the main body; The connecting portion is arranged on a side of the main body away from the limiting portion, and the connecting portion is used to connect the pipeline.

8. The joint assembly according to any one of claims 1 to 6, characterized in that: The connecting member comprises a wear-resistant member; and / or The connecting piece is an integrated structure.

9. The joint assembly according to any one of claims 2 to 6, characterized in that: The mounting groove is configured as an annular groove; The cross-section of the limiting portion is annular.

10. The joint assembly according to any one of claims 1 to 6, characterized in that: The joint body comprises: A main body, wherein a first end of the main body is used for fixed connection; The locking portion is connected to the second end of the main body and forms the installation cavity and the installation groove with the main body.

11. A robot, characterized in that: include: The joint assembly according to any one of claims 1 to 10; A mechanical arm, the mechanical arm comprising a first arm body, a second arm body and a third arm body, the first arm body is rotatably connected to the second arm body, and the second arm body is rotatably connected to the third arm body; A pipeline, a first end of the pipeline is connected to the first arm body through one of the joint components, and a second end of the pipeline is connected to the third arm body through another of the joint components.

12. The robot according to claim 11, characterized in that: The outer wall of the pipeline is provided with a slot, the slot extends along the circumference of the pipeline, the connecting portion of the connecting piece is inserted into the slot, and can move in the slot along the circumference of the pipeline.

13. The robot according to claim 12, characterized in that: Along the length direction of the pipeline, the pipeline includes a plurality of connected corrugated parts, and the slot is formed between any two adjacent corrugated parts; The first end of the pipeline is inserted into the installation cavity of the joint assembly, and / or the second end of the pipeline is inserted into the installation cavity of another joint assembly; Wherein, in the portion of the pipeline inserted into the installation cavity, the number n of the corrugated parts satisfies 3≤n≤4.

Images