Cable mounting structure, joint assembly and robot

Abstract

The utility model provides a cable mounting structure, a joint assembly and a robot, and relates to the technical field of robot joints, the cable mounting structure is used for mounting a cable, and the cable mounting structure comprises a first plate body, a second plate body and a third plate body, the second plate body is connected with the first plate body, a part of the second plate body is arranged on one side of the first plate body in the axial direction of the first mounting hole, and the second plate body can move in the axial direction of the first mounting hole; the elastic piece is arranged in the axial direction of the first mounting hole and located between the first plate body and the second plate body, and the elastic piece can deform in the axial direction of the first mounting hole when the second plate body moves; wherein one end of the cable can penetrate through the first mounting hole and is connected with the second plate body. According to the utility model, the influence of axial tension generated when the cable rotates on the cable is avoided, the risks of cable sheath wear and cable core fracture are reduced, and the application scenarios of the cable installation structure are expanded at the same time.

Description

Technical Field

[0001] The utility model relates to the technical field of robot joints, and particularly to a cable installation structure, a joint assembly and a robot. Background Art

[0002] In the related art, a cable is generally fixed between two relatively moving components. During the rotation of the components, the cable will be subjected to pulling force and torsional force, which easily leads to problems such as wear of the cable outer skin and breakage of the cable core. Hollow cable routing can effectively reduce the wiring space and the wiring difficulty. However, the current hollow cable routing method can only be used in scenarios with small torsional angles, long wiring distances, and small cable outer diameters. Because, as the torsional angle increases, the wiring distance shortens, and the cable outer diameter increases, the stress on the cable will increase, increasing the risk of cable outer skin wear and cable core breakage, and affecting the service life of the cable.

[0003] Therefore, how to propose a cable installation structure that is not restricted by scenarios and can ensure the service life of the cable has become an urgent problem to be solved at present. Summary of the Utility Model

[0004] The utility model provides a cable installation structure, a joint assembly and a robot, which solve the problems of cable outer skin wear and cable core breakage caused by large torsional angles of components, long wiring distances, and large cable outer diameters in the related art.

[0005] To this end, the first object of the utility model is to provide a cable installation structure.

[0006] The second object of the utility model is to provide a joint assembly.

[0007] The third object of the utility model is to provide a robot.

[0008] In view of this, an embodiment of the first aspect of the utility model provides a cable installation structure for installing a cable. The cable installation structure includes: a first plate body, on which a first installation hole is provided; a second plate body, connected to the first plate body, along the axial direction of the first installation hole, a part of the second plate body is arranged on one side of the first plate body, and the second plate body can move along the axial direction of the first installation hole; an elastic member, arranged along the axial direction of the first installation hole and located between the first plate body and the second plate body, and the elastic member can deform along the axial direction of the first installation hole when the second plate body moves; wherein, one end of the cable can pass through the first installation hole and be connected to the second plate body.

[0009] According to the cable installation structure provided by the present utility model, it includes a first plate body, a second plate body, an elastic member, and a cable. Among them, a first installation hole is provided on the first plate body. The second plate body is connected to the first plate body. Along the axial direction of the first installation hole, a part of the second plate body is arranged on one side of the first plate body, and the second plate body can move along the axial direction of the first installation hole. That is to say, along the axial direction of the first installation hole, the second plate body is arranged on one side of the first plate body and is connected to the first plate body. At the same time, the elastic member is arranged between the first plate body and the second plate body and is arranged along the axial direction of the first installation hole. When installing the cable, the cable can pass through the first installation hole and be connected to the second plate body. That is, one end of the cable is connected to the second plate body, the second plate body is connected to the first plate body, and when the first plate body rotates, both the cable and the second plate body will rotate following the first plate body. Since one end of the cable rotates and the other end is fixed, the circumferential force of the cable will cause the shape of the cable to change. The cable changes from a straight line to a spiral shape. Therefore, the length of the cable under the circumferential force will become shorter, and the cable will generate a pulling force on the second plate body. At the same time, an elastic member is also arranged between the first plate body and the second plate body, and the elastic member can elongate or shorten along the axial direction of the first installation hole, thereby compensating for the length change of the cable and avoiding axial and radial pulling forces on the cable itself due to the shape change of the cable. It can be seen that the cable of the present application passes through the first installation hole and is connected to the second plate body to achieve hollow wiring, thereby reducing the occupied space of the cable and also reducing the wiring difficulty. At the same time, the cable is connected to the second plate body, and an elastic member is arranged between the first plate body and the second plate body. The elastic member can compensate for the length change of the cable through its own deformation. Even in the case of a large torsion angle of the cable, a short wiring distance, and a large outer diameter of the cable, it can also compensate for the length change of the cable due to self-rotation, thereby avoiding the influence of the axial pulling force generated when the cable rotates on the cable, reducing the risk of cable outer skin wear and wire core breakage, improving the service life of the cable, and at the same time expanding the usage scenarios of the cable installation structure.

[0010] It can be understood that the two ends of the cable are respectively fixed on the second plate body and other components. The first plate body drives the second plate body and the cable to rotate. The cable fixed on other components always remains fixed, or when rotating in the opposite direction, the cable will change its shape due to the torsional force, causing the cable to elongate or shorten along its axial direction. The second plate body can compress or stretch the elastic member to compensate for the length change of the cable.

[0011] The cable includes any one of a single-core cable, a multi-core cable, and a composite cable. Generally speaking, when the torsion angle is the same, the length change of the multi-core cable and the composite cable is higher than that of the single-core cable. Therefore, the present application has a better compensation effect on the multi-core cable and the composite cable, and can greatly improve the service life of the multi-core cable and the composite cable.

[0012] Optionally, in some embodiments, the first plate body includes: a bottom plate, a first mounting hole is set through the bottom plate; a side wall is set on a side of the bottom plate close to the second plate body, the side wall is set around the first mounting hole, the side wall and the bottom plate surround a groove, and the elastic member is set in the groove.

[0013] In this embodiment, the first plate body includes a bottom plate and a side wall, the first mounting hole is set through the bottom plate, the cable can be passed through the first mounting hole, the side wall is set on the bottom plate and is set on the side close to the second plate body, the side wall and the bottom plate are surrounded by a groove, and the elastic member is set in the groove. That is, the elastic member is set in the groove, and the second plate body is connected to the side wall of the first plate body. On the one hand, the bottom plate supports the side wall, the elastic member and the second plate body, and on the other hand, the elastic member is set in the groove, which can improve the installation reliability of the elastic member. In addition, the second plate body can also be set in the groove to improve the installation reliability of the second plate body.

[0014] Optionally, in some embodiments, the cable installation structure further includes: at least one limiting member fixedly connected to the side wall, and the second plate body is arranged between the limiting member and the elastic member; wherein the limiting member can limit the position of the second plate body and the elastic member.

[0015] In this embodiment, the cable installation structure further includes at least one stopper, which is fixedly connected to the side wall, and the second plate is arranged between the stopper and the elastic member, and the stopper can limit the position of the second plate and the elastic member. That is, the stopper is connected to the side wall and arranged on a side away from the first plate, and the stopper is in contact with the second plate, and can fix the position of the second plate, thereby preventing the elastic member from falling off from the groove. Therefore, the stopper improves the connection stability between the second plate and the elastic member.

[0016] Optionally, in some embodiments, the side wall of the second plate body is integrally connected to the first plate body, and the connection between the first plate body and the second plate body can be achieved without providing a limiting member.

[0017] Optionally, in some embodiments, the second plate and the elastic member are movably connected to prevent the second plate from driving the elastic member to rotate, prevent the torsional force from generating circumferential force on the elastic member, and increase the service life of the elastic member.

[0018] Optionally, in some embodiments, the second plate body includes: a stop portion, a limit member is arranged on the stop portion; a guide portion, connected to part of the stop portion, at least a portion of the guide portion is located in the first mounting hole, and the elastic member is sleeved outside the guide portion and is located between the stop portion and the first plate body; a connecting portion, arranged on the side of the stop portion away from the guide portion; a second mounting hole, arranged along the axial direction of the first mounting hole and penetrating the guide portion and the stop portion; wherein one end of the cable is connected to the connecting portion, and the other end of the cable passes through the second mounting hole and the first mounting hole.

[0019] In this embodiment, the second plate body includes a stopper, a guide, a connecting portion and a second mounting hole. The second plate body is connected to the stopper through the stopper, the guide is connected to part of the stopper, and the guide is arranged on a side away from the stopper, at least a part of the guide is located in the first mounting hole, that is, along the axial direction of the first mounting hole, the projected area of the guide is smaller than the projected area of the stopper, so that when the stopper is connected to the side wall, there is space between the guide and the side wall to install the elastic member. The elastic member is sleeved outside the guide and is located between the stopper and the bottom plate. The connecting portion is arranged on the side of the stopper away from the guide, that is, the guide is arranged on one side of the stopper, and the connecting portion is arranged on the other side, and the connecting portion is used to connect the cable and the second plate body, so that the second plate body can drive the cable to rotate together. In addition, the second mounting hole is arranged along the axial direction of the first mounting hole through the guide and the stopper, and the positions of the second mounting hole and the first mounting hole correspond to each other, one end of the cable is connected to the connecting portion, and the other end can pass through the second mounting hole and the first mounting hole in sequence. It can be seen that the elastic member is arranged around the guide portion, and the stop portion is in contact connection with the elastic member, which can improve the installation reliability of the elastic member.

[0020] Optionally, in some embodiments, the elastic member is an integrated structure and is arranged around the guide portion, which can improve the performance of the elastic member and reduce the difficulty of installing the elastic member.

[0021] Optionally, in some embodiments, the cable installation structure further includes: a connector for fixedly connecting the cable and the connecting portion; wherein the connector includes a wire clamp.

[0022] In this embodiment, the cable installation structure further includes a connector, which is used to fix the cable and the connecting part, and the connector includes a wire hoop or a cable tie. The cable and the connecting part can be bundled together by the wire hoop or by the cable tie, so as to fix the cable and enable the cable to rotate with the second plate body, thereby avoiding that the stress generated when the second plate body rotates is all concentrated on the end of the cable, preventing damage to the joint of the cable, and improving the service life of the cable.

[0023] Optionally, in some embodiments, the first plate body further includes: a slider, which is arranged on the first mounting hole; the second plate body further includes: a slot, which is arranged on the side walls of the stop part and the guide part, and the slot is arranged through the stop part and the guide part; wherein the slider can move in the slot.

[0024] In this embodiment, the first plate body further includes a slider, which is disposed on the first mounting hole, that is, the slider is disposed on the hole wall of the first mounting hole. The second plate body further includes a card slot, which is disposed on the side walls of the abutting portion and the guiding portion, and the card slot is disposed along the axial direction of the first mounting hole. That is, the card slot is disposed at the edge of the side walls of the abutting portion and the guiding portion. The slider can move along the axial direction of the first mounting hole within the card slot. It can be seen that the cooperation of the slider and the card slot can not only make the second plate body move closer to or away from the first plate body, but also make the second plate body rotate when the first plate body rotates.

[0025] Optionally, in some embodiments, the limiting member includes: a positioning plate, which is connected to the first plate body, is located on the side of the second plate body away from the first plate body, and abuts against the second plate body; and a locking structure, which is used to mount the positioning plate on the first plate body.

[0026] In this embodiment, the limiting member includes a positioning plate and a locking structure. The positioning plate is connected to the first plate body, and the positioning plate is located on the side of the second plate body away from the first plate body. At the same time, the positioning plate is in contact connection with the second plate body. The locking structure is used to mount the positioning plate on the first plate body. Through the cooperation of the positioning plate and the locking structure, the position of the second plate body can be fixed, ensuring that the elastic member is compressed and rebounds within a certain range. Also, the locking structure can be used to install and disassemble the positioning plate, improving the flexibility of the limiting member. At the same time, the structures of the positioning plate and the locking structure are simple, and the manufacturing cost is low.

[0027] Optionally, in some embodiments, the cable installation structure further includes: a hollow tube, which is disposed on the first plate body, extends in a direction away from the second plate body, and the hollow tube sleeves the cable.

[0028] In this embodiment, the cable installation structure further includes a hollow tube. The hollow tube is disposed on the first plate body, and the hollow tube extends in a direction away from the second plate body. The hollow tube sleeves the cable to provide physical protection for the cable and prevent external forces from damaging the cable.

[0029] Optionally, in some embodiments, the axis of the hollow tube coincides with the axis of the first mounting hole.

[0030] In this embodiment, the axis of the hollow tube coincides with the axis of the first mounting hole, that is, the cross-section axis of the hollow tube coincides with the cross-section axis of the cable, which can avoid the cable squeezing the hollow tube when rotating and also avoid the hollow tube generating stress on the cable, improving the service life of the cable and also improving the quality of the product.

[0031] Optionally, in some embodiments, the elastic member includes any one of a helical spring, a disc spring, and a wave spring.

[0032] In this embodiment, any one of the helical spring, the disc spring, and the wave spring can compensate for the length change generated by the cable in the axial direction.

[0033] An embodiment of the second aspect of the present utility model provides a joint assembly, including at least one joint for installing a cable, and at least one cable installation structure proposed in the first aspect embodiment is installed on at least one joint, wherein the cable is connected to at least one joint.

[0034] The joint assembly proposed according to the present application includes at least one joint for installing a cable, and at least one cable installation structure proposed in the first aspect embodiment is installed on at least one joint, wherein the cable is connected to at least one joint. Therefore, it has all the beneficial effects of the cable installation structure proposed in the first aspect.

[0035] Optionally, in some embodiments, the number of joints is two, the two joints are arranged at intervals relative to each other, cable installation structures are provided on both joints, and the cables of the cable installation structures on the two joints are connected to each other.

[0036] In this embodiment, the two joints are arranged at intervals relative to each other, cable installation structures are provided on both joints, and the second plate bodies on the two joints are connected by a cable. That is, when the cable length changes, the elastic members on the two joints can both compensate for the cable length change by elongation or shortening. At the same time, compared with only providing a cable installation structure on one joint, the compensation distance can be increased. The cable installation structures on the two joints can jointly compensate for the axial displacement of the cable, improving the service life of the cable installation structure.

[0037] Optionally, in some embodiments, the first mounting holes of the two cable installation structures are coaxially arranged, and one joint can rotate relative to the other joint.

[0038] In this embodiment, the first mounting holes of the two cable installation structures are coaxially arranged, that is, the axes of the first mounting holes of the two joints are arranged in the vertical direction or the horizontal direction, so that the cable is installed in the vertical direction or the horizontal direction. Compared with the cable being installed obliquely, the cable is less likely to be squeezed against the hollow tube when rotating, reducing the influence of the hollow tube on the cable, and further improving the service life of the cable. At the same time, the displacement generated by the cable rotating in the vertical or horizontal direction is relatively smaller. Therefore, the performance requirements for the elastic member are lower, and the distance requirements between the first plate body and the second plate body are also lower.

[0039] Of course, if the first mounting holes of the two cable installation structures are not coaxially arranged, the risk of cable breakage can also be reduced compared with the traditional wiring method. In addition, compared with the two coaxially arranged cable installation structures, only by increasing the distance between the first plate body and the second plate body and increasing the diameter of the hollow tube, the same technical effect as the coaxial arrangement can also be achieved.

[0040] An embodiment of the third aspect of the present utility model provides a robot, including at least one cable installation structure proposed in the embodiment of the first aspect, and / or at least one joint assembly proposed in the embodiment of the second aspect.

[0041] The robot proposed according to the present application includes at least one cable installation structure proposed in the embodiment of the first aspect, and / or at least one joint assembly proposed in the embodiment of the second aspect. Therefore, it has all the beneficial effects of the cable installation structure proposed in the first aspect and / or the joint assembly proposed in the embodiment of the second aspect.

[0042] The additional aspects and advantages of the present utility model will become apparent in the following description section, or be learned through the practice of the present utility model. Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0044] Figure 1 is one of the schematic structural diagrams of the cable installation structure of an embodiment provided by the present utility model;

[0045] Figure 2 is the second of the schematic structural diagrams of the cable installation structure of an embodiment provided by the present utility model;

[0046] Figure 3 is the schematic structural diagram of the first plate body of an embodiment provided by the present utility model;

[0047] Figure 4 is the first of the schematic structural diagrams of the second plate body of an embodiment provided by the present utility model;

[0048] Figure 5 is the second of the schematic structural diagrams of the second plate body of an embodiment provided by the present utility model;

[0049] Figure 6 is the third of the schematic structural diagrams of the second plate body of an embodiment provided by the present utility model;

[0050] Figure 7 is the first of the schematic structural diagrams of the elastic member of an embodiment provided by the present utility model;

[0051] Figure 8It is the second schematic structural diagram of an elastic member according to an embodiment provided by the present utility model;

[0052] Figure 9 It is the third schematic structural diagram of an elastic member according to an embodiment provided by the present utility model;

[0053] Figure 10 It is the first schematic structural diagram of a connecting member according to an embodiment provided by the present utility model;

[0054] Figure 11 It is the second schematic structural diagram of a connecting member according to an embodiment provided by the present utility model;

[0055] Figure 12 It is the schematic structural diagram of a hollow tube according to an embodiment provided by the present utility model;

[0056] Figure 13 It is the schematic structural diagram of a joint assembly according to an embodiment provided by the present utility model.

[0057] Among them, Figures 1 to 13 The corresponding relationship between the reference numerals and the component names in

[0058] 1 Cable installation structure, 11 First plate body, 111 First installation hole, 112 Base plate, 113 Side wall, 114 Groove, 115 Slide block, 12 Second plate body, 121 Abuttment portion, 122 Guide portion, 123 Connection portion, 124 Second installation hole, 125 Card slot, 13 Elastic member, 14 Limiting member, 141 Positioning plate, 142 Locking structure, 15 Connecting member, 151 Wire hoop, 16 Hollow tube, 2 Cable, 3 Joint. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0060] An embodiment of the first aspect of the present utility model provides a cable installation structure 1, as shown in Figure 1 and Figure 2As shown in the figure, the cable installation structure 1 is used for installing the cable 2. The cable installation structure 1 includes: a first plate body 11, on which a first installation hole 111 is provided; a second plate body 12, connected to the first plate body 11. Along the axial direction of the first installation hole 111, a part of the second plate body 12 is arranged on one side of the first plate body 11, and the second plate body 12 can move along the axial direction of the first installation hole 111; an elastic member 13, arranged along the axial direction of the first installation hole 111 and located between the first plate body 11 and the second plate body 12. The elastic member 13 can deform along the axial direction of the first installation hole 111 when the second plate body 12 moves; wherein, one end of the cable 2 can pass through the first installation hole 111 and is connected to the second plate body 12.

[0061] According to the cable installation structure 1 provided by the present utility model, it includes a first plate body 11, a second plate body 12, an elastic member 13 and a cable 2. Among them, a first installation hole 111 is provided on the first plate body 11. The second plate body 12 is connected to the first plate body 11. Along the axial direction of the first installation hole 111, a part of the second plate body 12 is arranged on one side of the first plate body 11, and the second plate body 12 can move along the axial direction of the first installation hole 111. That is to say, along the axial direction of the first installation hole 111, the second plate body 12 is arranged on one side of the first plate body 11, and the second plate body 12 is connected to the first plate body 11. At the same time, the elastic member 13 is arranged between the first plate body 11 and the second plate body 12, and the elastic member 13 is arranged along the axial direction of the first installation hole 111. When installing the cable 2, the cable 2 can pass through the first installation hole 111 and be connected to the second plate body 12. That is, one end of the cable 2 is connected to the second plate body 12, the second plate body 12 is connected to the first plate body 11, and when the first plate body 11 rotates, both the cable 2 and the second plate body 12 will rotate following the first plate body 11. Since one end of the cable 2 rotates and the other end is fixed, the circumferential force of the cable 2 will cause the shape of the cable 2 to change. The cable 2 changes from a straight line to a spiral shape. Therefore, the length of the cable 2 itself will become shorter under the circumferential force. The cable 2 generates a pulling force on the second plate body 12. At the same time, an elastic member 13 is also arranged between the first plate body 11 and the second plate body 12. The elastic member 13 can elongate or shorten along the axial direction of the first installation hole 111, so as to compensate for the length change of the cable 2 and avoid the axial tension and radial tension generated by the shape change of the cable 2 from pulling the cable 2 itself. It can be seen that the cable 2 of the present application passes through the first installation hole 111 and is connected to the second plate body 12 to realize hollow wiring, thereby reducing the occupied space of the cable 2 and also reducing the wiring difficulty. At the same time, the cable 2 is connected to the second plate body 12, and an elastic member 13 is arranged between the first plate body 11 and the second plate body 12. The elastic member 13 can compensate for the length change of the cable 2 through its own deformation. Even when the torsion angle of the cable 2 is large, the wiring distance is short, and the outer diameter of the cable 2 is large, it can also compensate for the length change of the cable 2 due to self-rotation, thereby avoiding the influence of the axial tension generated when the cable 2 rotates on the cable 2, reducing the risk of wear of the outer skin of the cable 2 and fracture of the wire core, improving the service life of the cable 2, and at the same time expanding the usage scenarios of the cable installation structure 1.

[0062] It can be understood that both ends of the cable 2 are respectively fixed on the second plate body 12 and other components. The first plate body 11 drives the second plate body 12 and the cable 2 to rotate. The cable 2 fixed on other components always remains fixed. Or when rotating in the opposite direction, the cable 2 will change its shape due to the torsional force, causing the cable 2 to elongate or shorten along its axial direction. The second plate body 12 can compress or stretch the elastic member 13 to compensate for the length change of the cable 2.

[0063] The cable 2 includes any one of a single-core cable, a multi-core cable, and a composite cable. Generally speaking, when the torsion angle is the same, the length change of the multi-core cable and the composite cable is higher than that of the single-core cable. Therefore, the present application has a better compensation effect on the multi-core cable and the composite cable, and can greatly improve the service life of the multi-core cable and the composite cable.

[0064] Optionally, in some embodiments, as Figure 3 shown, the first plate body 11 includes: a bottom plate 112, and a first mounting hole 111 is provided through the bottom plate 112; a side wall 113, which is provided on the side of the bottom plate 112 close to the second plate body 12, the side wall 113 surrounds the first mounting hole 111, and the side wall 113 and the bottom plate 112 enclose a groove 114, and the elastic member 13 is arranged in the groove 114.

[0065] In this embodiment, the first plate body 11 includes a bottom plate 112 and a side wall 113, the first mounting hole 111 is provided through the bottom plate 112, the cable 2 can pass through the first mounting hole 111, the side wall 113 is provided on the bottom plate 112 and on the side close to the second plate body 12, the side wall 113 and the bottom plate 112 enclose a groove 114, and the elastic member 13 is arranged in the groove 114. That is to say, the elastic member 13 is arranged in the groove 114, and the second plate body 12 is connected to the side wall 113 of the first plate body 11. On the one hand, the bottom plate 112 supports the side wall 113, the elastic member 13 and the second plate body 12. On the other hand, the elastic member 13 is arranged in the groove 114, which can improve the installation reliability of the elastic member 13. In addition, the second plate body 12 can also be arranged in the groove 114 to improve the installation reliability of the second plate body 12.

[0066] Optionally, in some embodiments, as Figure 1 and Figure 2 shown, the cable mounting structure 1 further includes: at least one limiting member 14, which is fixedly connected to the side wall 113, and the second plate body 12 is arranged between the limiting member 14 and the elastic member 13; wherein, the limiting member 14 can limit the positions of the second plate body 12 and the elastic member 13.

[0067] In this embodiment, the cable mounting structure 1 further includes at least one limiting member 14, the limiting member 14 is fixedly connected to the side wall 113, the second plate body 12 is arranged between the limiting member 14 and the elastic member 13, and the limiting member 14 can limit the positions of the second plate body 12 and the elastic member 13. That is to say, the limiting member 14 is connected to the side wall 113 and is arranged on the side far from the first plate body 11, the limiting member 14 is in contact connection with the second plate body 12, and can fix the position of the second plate body 12, so as to prevent the elastic member 13 from falling off from the groove 114. Therefore, the limiting member 14 improves the connection stability between the second plate body 12 and the elastic member 13.

[0068] Optionally, in some embodiments, the side wall 113 of the second plate body 12 is integrally connected to the first plate body 11 , and the connection between the first plate body 11 and the second plate body 12 can be achieved without providing the limiting member 14 .

[0069] Optionally, in some embodiments, the second plate 12 and the elastic member 13 are movably connected to prevent the second plate 12 from driving the elastic member 13 to rotate, prevent the torsional force from generating circumferential force on the elastic member 13 , and improve the service life of the elastic member 13 .

[0070] Optionally, in some embodiments, Figure 4 , Figure 5 and Figure 6 As shown, the second plate body 12 includes: a stop portion 121, a limit member 14 is arranged on the stop portion 121; a guide portion 122, connected to part of the stop portion 121, at least a part of the guide portion 122 is located in the first mounting hole 111, and the elastic member 13 is sleeved outside the guide portion 122 and is located between the stop portion 121 and the first plate body 11; a connecting portion 123, arranged on the side of the stop portion 121 away from the guide portion 122; a second mounting hole 124, arranged along the axial direction of the first mounting hole 111 and penetrating the guide portion 122 and the stop portion 121; wherein one end of the cable 2 is connected to the connecting portion 123, and the other end of the cable 2 passes through the second mounting hole 124 and the first mounting hole 111.

[0071] In this embodiment, the second plate body 12 includes a stopping portion 121, a guiding portion 122, a connecting portion 123, and a second mounting hole 124. Among them, the second plate body 12 is connected to the limiting member 14 through the stopping portion 121. The guiding portion 122 is connected to a part of the stopping portion 121, and the guiding portion 122 is arranged on the side away from the limiting member 14. At least a part of the guiding portion 122 is located within the first mounting hole 111. That is, along the axial direction of the first mounting hole 111, the projected area of the guiding portion 122 is smaller than the projected area of the stopping portion 121. Thus, when the stopping portion 121 is connected to the side wall 113, there is a space between the guiding portion 122 and the side wall 113 for installing the elastic member 13. The elastic member 13 is sleeved outside the guiding portion 122 and is located between the stopping portion 121 and the bottom plate 112. The connecting portion 123 is arranged on the side of the stopping portion 121 facing away from the guiding portion 122. That is, the guiding portion 122 is arranged on one side of the stopping portion 121, and the connecting portion 123 is arranged on the other side. The connecting portion 123 is used to connect the cable 2 and the second plate body 12, so that the second plate body 12 can drive the cable 2 to rotate together. In addition, the second mounting hole 124 penetrates through the guiding portion 122 and the stopping portion 121 along the axial direction of the first mounting hole 111. The positions of the second mounting hole 124 and the first mounting hole 111 correspond. One end of the cable 2 is connected to the connecting portion 123, and the other end can sequentially pass through the second mounting hole 124 and the first mounting hole 111. It can be seen that the elastic member 13 is arranged around the guiding portion 122, and the stopping portion 121 is in contact connection with the elastic member 13, which can improve the installation reliability of the elastic member 13.

[0072] Optionally, in some embodiments, as Figure 7 、 Figure 8 and Figure 9 shown, the elastic member 13 is of an integral structure and is arranged around the guiding portion 122, which can improve the performance of the elastic member 13 and reduce the installation difficulty of the elastic member 13.

[0073] Optionally, in some embodiments, as Figure 10 and Figure 11 shown, the cable installation structure 1 further includes: a connecting member 15 for fixedly connecting the cable 2 and the connecting portion 123; among them, the connecting member 15 includes a wire hoop 151.

[0074] In this embodiment, the cable installation structure 1 further includes a connecting member 15. The connecting member 15 is used to fixedly connect the cable 2 and the connecting portion 123. The connecting member 15 includes a wire hoop 151 or a cable tie. The cable 2 and the connecting member 15 can be bundled together through the wire hoop 151 or through the cable tie, so as to realize the fixation of the cable 2, enable the cable 2 to rotate with the second plate body 12, thus avoiding all the stress generated when the second plate body 12 rotates from concentrating at the end of the cable 2, preventing damage to the joint of the cable 2, and improving the service life of the cable 2.

[0075] Optionally, in some embodiments, as Figure 3 and Figure 4 shown, the first plate body 11 further includes: a slider 115 disposed on the first mounting hole 111; the second plate body 12 further includes: a card slot 125 disposed on the side wall 113 of the abutting portion 121 and the guiding portion 122, and the card slot 125 runs through the abutting portion 121 and the guiding portion 122; wherein, the slider 115 can move within the card slot 125.

[0076] In this embodiment, the first plate body 11 further includes a slider 115, and the slider 115 is disposed on the first mounting hole 111, that is, the slider 115 is disposed on the hole wall of the first mounting hole 111. The second plate body 12 further includes a card slot 125, and the card slot 125 is disposed on the side wall 113 of the abutting portion 121 and the guiding portion 122, and the card slot 125 is arranged along the axial direction of the first mounting hole 111. That is, the card slot 125 is disposed at the edge of the side wall 113 of the abutting portion 121 and the guiding portion 122. The slider 115 can move within the card slot 125 along the axial direction of the first mounting hole 111. It can be seen that the cooperation of the slider 115 and the card slot 125 can not only make the second plate body 12 move closer to or away from the first plate body 11, but also make the second plate body 12 rotate when the first plate body 11 rotates.

[0077] Optionally, in some embodiments, as Figure 1 shown, the limiting member 14 includes: a positioning plate 141 connected to the first plate body 11, located on the side of the second plate body 12 away from the first plate body 11, and abutted against the second plate body 12; a locking structure 142 for mounting the positioning plate 141 on the first plate body 11.

[0078] In this embodiment, the limiting member 14 includes a positioning plate 141 and a locking structure 142. The positioning plate 141 is connected to the first plate body 11, and the positioning plate 141 is located on the side of the second plate body 12 away from the first plate body 11. At the same time, the positioning plate 141 is in contact connection with the second plate body 12. The locking structure 142 is used to mount the positioning plate 141 on the first plate body 11. Through the cooperation of the positioning plate 141 and the locking structure 142, the position of the second plate body 12 can be fixed, ensuring that the elastic member 13 is compressed and rebounds within a certain range. The locking structure 142 can also be used to install and disassemble the positioning plate 141, improving the flexibility of the limiting member 14. At the same time, the structures of the positioning plate 141 and the locking structure 142 are simple, and the manufacturing cost is low.

[0079] Optionally, in some embodiments, as Figure 12 shown, the cable installation structure 1 further includes: a hollow tube 16 disposed on the first plate body 11, extending in a direction away from the second plate body 12, and one end of the cable can enter the first mounting hole 111 through the hollow tube 16 and extend out of the first mounting hole 111 to be connected to the second plate body 12.

[0080] In this embodiment, the cable installation structure 1 further includes a hollow tube 16. The hollow tube 16 is disposed on the first plate body 11 and extends in a direction away from the second plate body 12. The hollow tube 16 is sleeved outside the cable 2 to physically protect the cable 2 and prevent external forces from damaging the cable 2. Figure 12 The dashed line in [the figure] represents the axis of the hollow tube.

[0081] Optionally, in some embodiments, the axis of the hollow tube 16 coincides with the axis of the first mounting hole 111.

[0082] In this embodiment, the axis of the hollow tube 16 coincides with the axis of the first mounting hole 111, that is, the cross-section axis of the hollow tube 16 coincides with the cross-section axis of the cable 2. This can avoid the cable 2 squeezing the hollow tube 16 when rotating, and at the same time avoid the hollow tube 16 generating stress on the cable 2, improving the service life of the cable 2 and also improving the quality of the product.

[0083] Optionally, in some embodiments, the elastic member 13 includes any one of a helical spring, a disc spring, and a wave spring.

[0084] In this embodiment, any one of the helical spring, the disc spring, and the wave spring can compensate for the length change generated by the cable 2 in the axial direction.

[0085] An embodiment of the second aspect of the present utility model provides a joint assembly, as Figure 13 shown. The joint assembly includes at least one joint 3 for installing the cable 2. At least one cable installation structure 1 proposed in the first aspect embodiment is installed on at least one joint 3, wherein the cable 2 is connected to at least one joint 3.

[0086] According to the joint assembly proposed in this application, which includes at least one joint 3 for installing the cable 2, and at least one cable installation structure 1 proposed in the first aspect embodiment is installed on at least one joint 3, wherein the cable 2 is connected to at least one joint 3. Therefore, it has all the beneficial effects of the cable installation structure 1 proposed in the first aspect.

[0087] Optionally, in some embodiments, the number of joints 3 is two. The two joints 3 are arranged at intervals relative to each other. Cable installation structures 1 are provided on both of the two joints 3, and the cables 2 on the cable installation structures 1 on the two joints 3 are connected to each other.

[0088] In this embodiment, the two joints 3 are arranged at a relative interval, and a cable installation structure 1 is provided on each of the two joints 3, and the second plate bodies 12 on the two joints 3 are connected by a cable 2. That is, when the length of the cable 2 changes, the elastic members 13 on the two joints 3 can compensate for the length change of the cable 2 by elongation or shortening. At the same time, compared with only arranging the cable installation structure 1 on one joint 3, the compensation distance can be increased, and the cable installation structures 1 on the two joints 3 can jointly compensate for the axial displacement of the cable 2, improving the service life of the cable installation structure 1.

[0089] Optionally, in some embodiments, the first mounting holes 111 of the two cable installation structures 1 are coaxially arranged, and one joint 3 can rotate relative to the other joint 3.

[0090] In this embodiment, the first mounting holes 111 of the two cable installation structures 1 are coaxially arranged, that is, the two joints 3 are arranged with the axis of the first mounting hole 111 in the vertical direction or the horizontal direction, so that the cable 2 is installed in the vertical direction or the horizontal direction. Compared with the inclined installation of the cable 2, the cable 2 is less likely to be squeezed against the hollow tube 16 during self-rotation, reducing the influence of the hollow tube 16 on the cable 2 and further improving the service life of the cable 2. At the same time, the displacement generated by the cable 2 arranged vertically or horizontally during self-rotation is relatively smaller. Therefore, the performance requirements for the elastic member are lower, and the distance requirement between the first plate body 11 and the second plate body 12 is also lower.

[0091] Of course, if the first mounting holes 111 of the two cable installation structures 1 are not coaxially arranged, the risk of cable 2 breakage can also be reduced compared with the traditional wiring method. In addition, compared with the two coaxially arranged cable installation structures 1, only by increasing the distance between the first plate body 11 and the second plate body 12 and increasing the diameter of the hollow tube 16, the same technical effect as that of the coaxial arrangement can also be achieved.

[0092] An embodiment of the third aspect of the present utility model provides a robot, including at least one cable installation structure 1 proposed in the embodiment of the first aspect and / or at least one joint assembly proposed in the embodiment of the second aspect.

[0093] According to the robot proposed in the present application, including at least one cable installation structure 1 proposed in the embodiment of the first aspect and / or at least one joint assembly proposed in the embodiment of the second aspect, therefore, it has all the beneficial effects of the cable installation structure 1 proposed in the first aspect and / or the joint assembly proposed in the embodiment of the second aspect.

[0094] In a specific application, a hollow wire routing structure includes components such as a joint hollow input end structure body, a joint hollow output end structure body, a cable 2, and a hollow tube 16. The joint hollow input end structure body includes a fixing plate (first plate body 11), a fixing block (second plate body 12), a spring (elastic member 13), a cable tie (connecting member 15), a screw, and a gasket; similarly, the joint hollow output end structure body includes a fixing plate, a fixing block, a spring, a cable tie, a screw, and a gasket (limiting member 14).

[0095] One end of the cable 2 is fixed to the joint hollow input end structure body with a cable tie, and the other end of the cable 2 is fixed to the joint hollow output end structure body with a cable tie. The rotation centers of the joint hollow input end structure body and the joint hollow output end structure body are on the same axis, and the two structure bodies can rotate relative to each other. The fixing plate is located at the joint hollow input end and supports other components on the joint hollow input end. The fixing block is used to fix one end of the cable 2 with a cable tie. At the same time, the fixing block is located in the fixing groove (groove 114) in the middle of the fixing plate, and the fixing block is fixedly connected to the fixing plate. The spring is located in the fixing groove in the middle of the fixing plate, and at the same time, the spring is located between the fixing block and the fixing plate. When the cable 2 twists, the cable 2 will drive the fixing block to move in the direction of the other structure body. At this time, the fixing block will squeeze the spring, and the spring absorbs the displacement generated by the cable 2 due to twisting; conversely, when the cable 2 rotates back to the zero position, the spring will return to the standard length and straighten the cable 2.

[0096] The cable tie is used to fix the cable 2 to the fixing block. The fixing plate is located at the joint hollow output end and supports other components on the joint hollow output end. The fixing block is used to fix one end of the cable 2 with a cable tie. At the same time, the fixing block is located in the fixing groove in the middle of the fixing plate, and the fixing block is fixedly connected to the fixing plate. The spring is located in the fixing groove in the middle of the fixing plate, and at the same time, the spring is located between the fixing block and the fixing plate. When the cable 2 twists, the cable 2 will drive the fixing block to move in the direction of the other structure body. At this time, the fixing block will squeeze the spring, and the spring absorbs the displacement generated by the cable 2 due to twisting; conversely, when the cable 2 rotates back to the zero position, the spring will return to the standard length and straighten the cable 2.

[0097] The cable tie is used to fix the cable 2 to the fixing block. The cable 2 passes through the hollow tube 16 of the joint. The screw and the gasket are used for limiting the fixing block to prevent the fixing block from disengaging from the fixing groove in the middle of the fixing plate.

[0098] Optionally, the joint hollow input end structure body can adopt a traditional cable fixing method.

[0099] Optionally, the joint hollow output end structure body can adopt a traditional cable fixing method.

[0100] Optionally, the distance between the joint hollow input end structure body and the joint hollow output end structure body can be any size.

[0101] Optionally, the outer shapes of the joint hollow input end structure and the joint hollow output end structure are not limited.

[0102] Optionally, the spring can be a helical spring, a wave spring, or a material with good elasticity.

[0103] Optionally, the fixing of the cable 2 is not limited to cable ties, and the cable ties can be replaced by rubber and wire clamps 151 or replaced by equivalent fixing schemes.

[0104] Optionally, the outer shape of the fixing block is not limited, and the wire harness fixing structure or sheet metal can replace the fixing block.

[0105] Optionally, the cable 2 can be a single-core cable, a multi-core cable, or a composite cable.

[0106] Based on the traditional joint hollow wire routing, a spring telescopic device is added at one or both ends, which is used to absorb the displacement generated by the cable 2 due to torsion in the joint hollow wire routing, can effectively reduce the axial stress generated by the displacement of the cable 2, improve the service life of the cable 2 in the joint hollow wire routing, and expand the application scenarios of the joint hollow wire routing.

[0107] In addition, in the present invention, descriptions such as "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first", "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the present invention, unless otherwise clearly defined and limited, terms such as "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions conflicts with each other or cannot be realized, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0110] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A cable installation structure, characterized in that, Used for installing cables, the cable installation structure comprises: A first plate body, wherein a first mounting hole is provided on the first plate body; A second plate body connected to the first plate body, wherein a portion of the second plate body is disposed on one side of the first plate body along the axial direction of the first mounting hole, and the second plate body is capable of moving along the axial direction of the first mounting hole; an elastic member, arranged along the axial direction of the first mounting hole and located between the first plate body and the second plate body, wherein the elastic member can be deformed along the axial direction of the first mounting hole when the second plate body moves; Wherein, one end of the cable can pass through the first mounting hole and be connected to the second plate.

2. The cable installation structure according to claim 1, characterized in that, The first plate body comprises: A bottom plate, wherein the first mounting hole is arranged through the bottom plate; The side wall is arranged on the side of the bottom plate close to the second plate body, the side wall is arranged around the first mounting hole, the side wall and the bottom plate surround a groove, and the elastic member is arranged in the groove.

3. The cable installation structure according to claim 2, wherein, Also includes: At least one limiting member is fixedly connected to the side wall, and the second plate is arranged between the limiting member and the elastic member; Wherein, the limiting member can limit the positions of the second plate body and the elastic member.

4. The cable installation structure according to claim 3, characterized in that The second plate body comprises: A stop portion, wherein the limit member is arranged on the stop portion; A guide portion connected to a portion of the stop portion, at least a portion of the guide portion is located in the first mounting hole, and the elastic member is sleeved outside the guide portion and located between the stop portion and the first plate body; A connecting portion, disposed on a side of the stop portion away from the guide portion; A second mounting hole is provided along the axial direction of the first mounting hole and penetrates the guide portion and the stop portion; One end of the cable is connected to the connecting portion, and the other end of the cable passes through the second mounting hole and the first mounting hole.

5. The cable installation structure according to claim 4, characterized in that, Also includes: A connecting piece, used for fixedly connecting the cable and the connecting part; Wherein, the connecting piece includes a wire clamp.

6. The cable installation structure according to claim 4, characterized in that The first plate body further includes a sliding block, which is arranged on the first mounting hole; The second plate body further includes a clamping groove, which is arranged on the side walls of the stop portion and the guide portion, and the clamping groove is arranged through the stop portion and the guide portion; Wherein, the sliding block can move in the slot.

7. The cable installation structure according to claim 3, characterized in that, The limiting member comprises: A positioning plate connected to the first plate body, located on a side of the second plate body away from the first plate body, and abutting against the second plate body; The locking structure is used to install the positioning plate on the first plate body.

8. The cable installation structure according to any one of claims 1 to 7, characterized in that, Also includes: The hollow tube is arranged on the first plate body and extends in a direction away from the second plate body. One end of the cable can enter the first mounting hole through the hollow tube and extend out of the first mounting hole to be connected to the second plate body.

9. The cable installation structure according to claim 8, wherein, The axis of the hollow tube coincides with the axis of the first mounting hole.

10. The cable installation structure according to any one of claims 1 to 7, characterized in that, The elastic member includes any one of a coil spring, a disc spring and a wave spring.

11. A joint component, characterized in that, including at least one joint for mounting a cable; At least one cable mounting structure according to any one of claims 1 to 10 is mounted on at least one of the joints; Wherein, the cable is connected to at least one of the joints.

12. The joint assembly according to claim 11, characterized in that, The number of the joints is two, the two joints are arranged at a relative interval, cable mounting structures are arranged on both of the two joints, and the cables of the cable mounting structures on the two joints are connected to each other.

13. The joint assembly according to claim 12, wherein, The first mounting holes of the two cable mounting structures are coaxially arranged, and one of the joints can rotate relative to the other joint.

14. A robot, characterized in that, Comprising at least one cable mounting structure according to any one of claims 1 to 10, and / or at least one joint assembly according to any one of claims 11 to 13.

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