Robot

Abstract

The utility model provides a robot which comprises a robot body, the robot body is provided with a base and at least one movable arm, the at least one movable arm is rotatably arranged on the base, the base is provided with a first connector, and the at least one movable arm is provided with a second connector; the wiring part is arranged in the machine body, the first end of the wiring part is electrically connected with the first interface, and the second end of the wiring part is electrically connected with the second interface; and at least one fixing piece is arranged on the base and is connected with the wiring part, and at least one fixing piece is arranged on the at least one movable arm and is connected with the wiring part. That is to say, the robot adopts internal wiring, so that the cable of the wiring part can be prevented from being interfered and damaged by the outside, and the reliability and durability of the wiring part can be improved. And meanwhile, the space occupied by external wiring can be reduced, the boundary dimension of the robot can be reduced, the application scene of the robot can be widened, the weight of the whole machine can be reduced, the movement performance of the robot can be improved, and the product competitiveness can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot equipment, and more specifically, to a robot. Background Art

[0002] SCARA (Selective Compliance Assembly Robot Arm, or Selective Compliance Articulated Robot Arm) is an industrial robot commonly used for assembly, material handling, packaging, etc. Its design enables it to have high precision and repeatability in the horizontal plane.

[0003] In the related art, the wiring method of SCARA is complex, resulting in a relatively large external dimension and heavy weight of SCARA, which limits the application scenarios of SCARA and reduces its operating performance. Summary of the Utility Model

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

[0005] To this end, a first aspect of the embodiments of the present utility model provides a robot.

[0006] In view of this, according to a first aspect of the embodiments of the present utility model, a robot is provided, which includes: a body having a base and at least one movable arm rotatably provided on the base, the base having a first interface, and the at least one movable arm having a second interface; a wiring portion provided inside the body, a first end of the wiring portion being electrically connected to the first interface, and a second end of the wiring portion being electrically connected to the second interface; and a plurality of fixing members, at least one fixing member being provided on the base and connected to the wiring portion, and at least one fixing member being provided on the at least one movable arm and connected to the wiring portion.

[0007] The robot provided by the embodiments of the present utility model includes a body, a wiring portion, and a plurality of fixing members. Specifically, at least one movable arm is rotatably provided on the base. Optionally, the robot further includes a connecting shaft provided on the movable arm at the end for connecting a workpiece.

[0008] The wiring part is arranged inside the body. That is to say, the robot adopts internal wiring. Thus, compared with the external wiring used by SCARA in the related art, it can avoid the cables of the wiring part from being interfered with and damaged by the outside world, which is beneficial to improving the reliability and durability of the wiring part, and further improving the reliability during the operation of the robot. At the same time, it can also reduce the space occupied by external wiring, which is beneficial to reducing the external dimensions of the robot, expanding the application scenarios of the robot, reducing the overall weight of the robot, improving the motion performance of the robot, and enhancing the product competitiveness.

[0009] The base is provided with a first interface, and at least one movable arm is provided with a second interface. One end of the wiring part is electrically connected to the first interface, and the other end is electrically connected to the second interface to realize the power supply and signal connection between the electrical components of the robot.

[0010] At least one fixing member is arranged on the base, and at least one fixing member is connected to the wiring part. At least one fixing member is arranged on at least one movable arm, and at least one fixing member is connected to the wiring part. Since one end of the wiring part is connected to the first interface on the base and the other end is connected to the second interface on the movable arm, that is, the wiring part is fixed on the base and at least one movable arm respectively. Thus, during the operation of the robot, it can effectively avoid the disconnection of the first end of the wiring part from the first interface or the disconnection of the second end of the wiring part from the second interface due to the rotation of the wiring part, which is beneficial to improving the stability and reliability of the robot operation. At the same time, it can also reduce the maintenance cost.

[0011] In addition, by arranging a plurality of fixing members to fix the wiring part inside the body, during the operation of the robot, it can also avoid the problem that the wiring part collides with the base and / or the movable arm due to the shaking of the wiring part inside the body, which may lead to the damage of the wiring part, and is beneficial to extending the service life of the wiring part and further improving the reliability of the robot.

[0012] In addition, the robot provided according to the above technical solution of the present invention further has the following additional technical features:

[0013] In some technical solutions, optionally, the robot further includes a driving device, and the driving device is arranged between the base and at least one movable arm, and / or the driving device is arranged between any two adjacent movable arms for driving at least one movable arm to rotate; wherein, at least two fixing members are respectively located on both sides of the driving device in the axial direction.

[0014] In this technical solution, it is defined that the robot further includes a driving device. Specifically, the driving device is arranged between the base and at least one movable arm. Alternatively, when the number of movable arms is multiple, the driving device is arranged between any two adjacent movable arms. Alternatively, when the number of movable arms is multiple, the number of driving devices is two, one driving device is arranged between the base and one of the movable arms, and the other driving device is arranged between two adjacent movable arms. It can be specifically set according to actual needs.

[0015] At least two fixing members are respectively located on both sides in the axial direction of the driving device. That is to say, the wiring part is fixed by the fixing members at the input end and the output end of the rotation center respectively. On the one hand, it can effectively avoid the disconnection of the first end of the wiring part from the first interface or the disconnection of the second end of the wiring part from the second interface due to the rotation of the wiring part, which is beneficial to improving the stability and reliability of the robot operation; on the other hand, it can also avoid the collision of the wiring part with the base and / or the movable arm due to the shaking of the wiring part inside the body, thereby causing the problem of damage to the wiring part, which is beneficial to extending the service life of the wiring part.

[0016] In some technical solutions, optionally, the driving device includes a speed reducer. The speed reducer is arranged between the base and at least one movable arm, and / or the speed reducer is arranged between any two adjacent movable arms. At least two fixing members are respectively located on both sides in the axial direction of the speed reducer; wherein, the speed reducer is provided with a hollow cavity, and the wiring part passes through the hollow cavity.

[0017] In this technical solution, it is defined that the driving device includes a speed reducer. Specifically, the speed reducer is arranged between the base and at least one movable arm, and / or the speed reducer is arranged between any two adjacent movable arms. That is to say, the position where the speed reducer is located is the joint position of the robot.

[0018] The speed reducer is provided with a hollow cavity, and the wiring part passes through the hollow cavity, that is, the speed reducer is a hollow speed reducer. That is to say, the robot has hollow wiring at the joints. Thus, compared with the SCARA in the related technology that uses offset wiring at the joints, it is beneficial to simplify the structure. The design of the robot joint position is simple, the structure is simple, it can reduce the space size of the robot joint position, further reduce the volume of the robot, and reduce the overall weight of the machine, which is beneficial to broadening the application scenarios of the robot and improving the motion performance of the robot.

[0019] Optionally, the driving device further includes a motor, and the motor is connected to the speed reducer.

[0020] In some technical solutions, optionally, at least one movable arm includes a connecting part and an arm body. Among them, the connecting part is connected to the output end of the driving device, the arm body is connected to the connecting part, and at least one fixing member is arranged on the connecting part, and / or at least one fixing member is arranged on the arm body.

[0021] In this technical solution, it is defined that at least one movable arm includes a connecting portion and an arm body. Specifically, the connecting portion is connected to the output end of the driving device. Optionally, the connecting portion is connected to the output end of the speed reducer. The arm body is connected to the connecting portion. That is to say, the driving device is connected to the arm body through the connecting portion, so that at least one movable arm can rotate relative to the base under the drive of the driving device.

[0022] At least one fixing member is provided on the connecting portion. And / or, at least one fixing member is provided on the arm body. It can be specifically set according to actual needs.

[0023] Optionally, the connecting portion is provided with a through hole, the arm body is provided with a cavity, the through hole is communicated with the hollow cavity and the cavity, and the wiring portion sequentially passes through the hollow cavity, the through hole and the cavity to realize internal wiring.

[0024] Optionally, the connecting portion and the arm body are of an integral structure.

[0025] Optionally, at least one fixing member provided on the movable arm fixes the wiring portion along the axial direction of the speed reducer, or at least one fixing member fixes the wiring portion in the horizontal direction. It can be specifically set according to actual needs.

[0026] In some technical solutions, optionally, each fixing member includes a fixing bracket and a binding portion. Among them, the fixing bracket is provided on the base, and / or the fixing bracket is provided on at least one movable arm, and the wiring portion is connected to the fixing bracket through the binding portion.

[0027] In this technical solution, it is defined that each fixing member includes a fixing bracket and a binding portion. Specifically, based on the fixing member being provided on the base, the fixing bracket is provided on the base, and based on the fixing member being provided on at least one movable arm, the fixing bracket is provided on at least one movable arm.

[0028] The wiring portion is connected to the fixing bracket through the binding portion. That is to say, the wiring portion is bound and fixed through the binding portion. On the one hand, effective fixation of the wiring portion can be achieved, thereby effectively avoiding the disconnection of the first end of the wiring portion from the first interface or the disconnection of the second end of the wiring portion from the second interface due to the rotation of the wiring portion, which is beneficial to improving the stability and reliability of the robot operation. It can also avoid the problem that the wiring portion collides with the base and / or the movable arm due to the shaking of the wiring portion inside the body, thereby causing damage to the wiring portion, which is beneficial to extending the service life of the wiring portion; on the other hand, reliable fixation of the wiring portion through the binding portion is beneficial to improving the installation efficiency of the robot and reducing the production cost.

[0029] In some technical solutions, optionally, the binding portion includes at least one of a cable tie, a cable clamp and a tape.

[0030] In this technical solution, specifically, the binding part is a cable tie. Or, the binding part is a wire harness clamp. Or, the binding part is a tape. Or, the binding part includes a cable tie and a tape. Or, the binding part includes a wire harness clamp and a tape. These are not listed one by one here. Specifically, it can be set according to actual needs.

[0031] In some technical solutions, optionally, the fixing bracket is disposed on the base, and the fixing bracket and at least a part of the base are of an integral structure.

[0032] In this technical solution, at least a part of the base and the fixing bracket are of an integral structure. Optionally, the base includes a panel, and the fixing bracket and the panel are of an integral structure, that is, the fixing bracket and the panel are one part. It can be understood that the integral structure has good mechanical properties. Therefore, it can improve the connection strength between the fixing bracket and the base and realize the reliable fixation of the wiring part in the base.

[0033] In addition, the integral structure is also beneficial to mass production, which can reduce the manufacturing difficulty, and further is beneficial to reducing the production cost of the robot.

[0034] In some technical solutions, optionally, the number of the movable arms is multiple. The multiple movable arms include a first movable arm and a second movable arm. The first movable arm is rotatably disposed on the base, and the second movable arm is rotatably disposed on the first movable arm. The second movable arm is provided with a second interface. Among them, at least two fixing members are located inside the first movable arm and are respectively connected to the wiring part.

[0035] In this technical solution, the number of the movable arms is limited to be multiple. Specifically, the multiple movable arms include a first movable arm and a second movable arm. The first movable arm is rotatably arranged on the base. Optionally, the first movable arm is connected to the base through a driving device. The second movable arm is rotatably arranged on the first movable arm. Optionally, the second movable arm is connected to the first movable arm through a driving device. Thus, driven by the driving device, the first movable arm can drive the second movable arm to rotate relative to the base, or the second movable arm can rotate relative to the first movable arm.

[0036] At least two fixing members are located inside the first movable arm, and at least two fixing members are respectively connected to the wiring part. That is to say, arranging at least two fixing members inside the first movable arm to fix the wiring part is beneficial to improving the fixing effect on the wiring part, avoiding the problem that the wiring part collides with the first movable arm due to shaking inside the first movable arm, and further avoiding the damage of the wiring part, which is beneficial to extending the service life of the wiring part and further improving the reliability of the robot.

[0037] In some technical solutions, optionally, at least one fixing member is disposed on the second movable arm.

[0038] In this technical solution, it is defined that at least one fixing member is provided on the second movable arm. Since the second movable arm is provided with a second interface, that is to say, at least one fixing member is arranged close to the second interface, that is, the wiring part is fixed at a position close to the second interface. Thus, during the operation of the robot, it can effectively avoid the disconnection between the second end of the wiring part and the second interface caused by the rotation of the wiring part, which is beneficial to improving the stability and reliability of the robot operation. At the same time, it can also reduce the maintenance cost.

[0039] In addition, it can also avoid the problem that the wiring part collides with the second movable arm due to the shaking of the wiring part inside the second movable arm, and then causes damage to the wiring part, which is beneficial to extending the service life of the wiring part and further improving the reliability of the robot.

[0040] In some technical solutions, optionally, the robot further includes at least one protective sleeve, and at least one protective sleeve is arranged on at least one movable arm and sleeved on the outside of the wiring part.

[0041] In this technical solution, it is defined that the robot further includes at least one protective sleeve. Specifically, at least one protective sleeve is arranged on at least one movable arm, and at least one protective sleeve is sleeved on the outside of the wiring part, so as to protect the wiring part. During the operation of the robot, it is beneficial to reduce the abrasion caused by contact collision between the wiring part and the base, and / or between the wiring part and the movable arm, which is beneficial to extending the service life of the wiring part and improving the reliability of the robot.

[0042] Optionally, a part of the protective sleeve extends into the base.

[0043] Optionally, the number of movable arms is multiple, and the multiple movable arms include a first movable arm and a second movable arm. The first movable arm is rotatably arranged on the base, and the second movable arm is rotatably arranged on the first movable arm. The protective sleeve is arranged on the second movable arm and partially extends into the first movable arm.

[0044] In some technical solutions, optionally, the base includes a base body and a panel. Among them, at least one movable arm is rotatably arranged on the base body, the panel is arranged on the base body, at least one fixing member is connected to the panel, and the panel is provided with a first interface.

[0045] In this technical solution, it is defined that the base includes a base body and a panel. Specifically, at least one movable arm is rotatably arranged on the base body. The panel is arranged on the base body, and at least one fixing member is connected to the panel. Optionally, the fixing bracket and the panel are of an integral structure. The panel is provided with a first interface.

[0046] Optionally, the base body includes a mounting bracket, and the panel is arranged on the mounting bracket, that is, a mounting bracket is separately provided to fix the panel.

[0047] In some technical solutions, optionally, the seat body includes a support plate and a housing. Among them, at least one movable arm is rotatably arranged on the support plate. The housing is arranged on the support plate and encloses a receiving cavity with the support plate. The first end of the wiring part and at least one fixing member are located in the receiving cavity, and the panel is arranged on the housing.

[0048] In this technical solution, it is defined that the seat body includes a support plate and a housing. Specifically, at least one movable arm is rotatably arranged on the support plate, and the support plate is used for supporting the overall structure of the robot. Optionally, a speed reducer is arranged between the support plate and the movable arm.

[0049] The housing is arranged on the support plate, and the housing and the support plate enclose a receiving cavity. The first end of the wiring part and at least one fixing member are located in the receiving cavity, thereby protecting the cables of the wiring part, which is beneficial to further extend the service life of the wiring part and improve the reliability of the robot.

[0050] Additional aspects and advantages of the present utility model will be given in the following description section. Some will become obvious from the following description, or will be learned through the practice of the present utility model. Description of the Drawings

[0051] The above and / or additional aspects and advantages of the present utility model will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0052] Figure 1 Figure 1 shows one of the schematic structural diagrams of a robot according to an embodiment of the present utility model;

[0053] Figure 2 Figure 2 shows another schematic structural diagram of a robot according to an embodiment of the present utility model;

[0054] Figure 3 Figure 3 shows yet another schematic structural diagram of a robot according to an embodiment of the present utility model.

[0055] Among them, Figures 1 to 3 the corresponding relationship between the reference numerals in the drawings and the component names is as follows:

[0056] 100 robot, 110 body, 111 base, 112 movable arm, 113 first interface, 114 second interface, 115 connecting part, 116 arm body, 120 wiring part, 130 fixing member, 131 fixing bracket, 132 binding part, 140 driving device, 141 speed reducer, 142 hollow cavity, 150 first movable arm, 160 second movable arm, 170 protective sleeve, 180 seat body, 181 support plate, 182 housing, 183 receiving cavity, 190 panel. Detailed Embodiments

[0057] In order to more clearly understand the above-mentioned objects, features and advantages of the present utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0058] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present utility model is not limited by the specific embodiments disclosed below.

[0059] The following refers to Figures 1 to 3 to describe a robot 100 provided according to some embodiments of the present utility model.

[0060] In an embodiment according to the present application, as Figure 1 , Figure 2 and Figure 3 shown, a robot 100 is proposed. The robot 100 includes: a body 110, the body 110 is provided with a base 111 and at least one movable arm 112, at least one movable arm 112 is rotatably arranged on the base 111, the base 111 is provided with a first interface 113, and at least one movable arm 112 is provided with a second interface 114; a wiring part 120, arranged inside the body 110, the first end of the wiring part 120 is electrically connected to the first interface 113, and the second end of the wiring part 120 is electrically connected to the second interface 114; a plurality of fixing parts 130, at least one fixing part 130 is arranged on the base 111 and is connected to the wiring part 120, and at least one fixing part 130 is arranged on at least one movable arm 112 and is connected to the wiring part 120.

[0061] The robot 100 provided by the embodiment of the present utility model includes a body 110, a wiring part 120 and a plurality of fixing parts 130. Specifically, at least one movable arm 112 is rotatably arranged on the base 111. Optionally, the robot 100 further includes a connecting shaft, and the connecting shaft is arranged on the movable arm 112 at the end for connecting a working part.

[0062] The wiring part 120 is arranged inside the body 110. That is to say, the robot 100 adopts internal wiring. Thus, compared with the external wiring of SCARA in the related art, the cables of the wiring part 120 can be avoided from being interfered and damaged by the outside, which is beneficial to improving the reliability and durability of the wiring part 120, and further improving the reliability when the robot 100 operates. At the same time, it can also reduce the space occupied by external wiring, which is beneficial to reducing the external dimension of the robot 100, broadening the application scenarios of the robot 100, reducing the overall weight of the machine, improving the motion performance of the robot 100, and enhancing the product competitiveness.

[0063] The base 111 is provided with a first interface 113, at least one movable arm 112 is provided with a second interface 114, one end of the wiring part 120 is electrically connected to the first interface 113, and the other end is electrically connected to the second interface 114, so as to realize the power supply and signal connection between the electrical components of the robot 100.

[0064] At least one fixing member 130 is arranged on the base 111, and at least one fixing member 130 is connected to the wiring part 120. At least one fixing member 130 is arranged on at least one movable arm 112, and at least one fixing member 130 is connected to the wiring part 120. Since one end of the wiring part 120 is connected to the first interface 113 on the base 111 and the other end is connected to the second interface 114 on the movable arm 112, that is, the wiring part 120 is fixed on the base 111 and at least one movable arm 112 respectively. Thus, during the operation of the robot 100, it can effectively avoid the disconnection of the first end of the wiring part 120 from the first interface 113 or the disconnection of the second end of the wiring part 120 from the second interface 114 caused by the rotation of the wiring part 120, which is beneficial to improving the stability and reliability of the operation of the robot 100. At the same time, it can also reduce the maintenance cost.

[0065] In addition, by arranging a plurality of fixing members 130 to fix the wiring part 120 inside the body 110, during the operation of the robot 100, it can also avoid the problem that the wiring part 120 collides with the base 111 and / or the movable arm 112 due to the shaking of the wiring part 120 inside the body 110, thereby causing damage to the wiring part 120, which is beneficial to extending the service life of the wiring part 120 and further improving the reliability of the robot 100.

[0066] Optionally, a plurality of fixing members 130 are arranged inside the body 110.

[0067] Such as Figure 1 and Figure 2 As shown, in some embodiments, optionally, the robot 100 further includes a driving device 140. The driving device 140 is arranged between the base 111 and at least one movable arm 112, and / or the driving device 140 is arranged between any two adjacent movable arms 112, and is used to drive at least one movable arm 112 to rotate; wherein, at least two fixing members 130 are respectively located on both sides of the driving device 140 in the axial direction.

[0068] In this embodiment, it is defined that the robot 100 further includes a driving device 140. Specifically, the driving device 140 is disposed between the base 111 and at least one movable arm 112. Alternatively, when the number of movable arms 112 is multiple, the driving device 140 is disposed between any two adjacent movable arms 112. Alternatively, when the number of movable arms 112 is multiple, the number of driving devices 140 is two, one driving device 140 is disposed between the base 111 and one of the movable arms 112, and the other driving device 140 is disposed between two adjacent movable arms 112. Specifically, it can be set according to actual needs.

[0069] At least two fixing members 130 are respectively located on both sides of the driving device 140 in the axial direction, that is to say, the wiring portion 120 is fixed by the fixing members 130 at the input end and the output end of the rotation center. On the one hand, it can effectively prevent the first end of the wiring portion 120 from detaching from the first interface 113 or the second end of the wiring portion 120 from detaching from the second interface 114 due to the rotation of the wiring portion 120, which is beneficial to improving the running stability and reliability of the robot 100; on the other hand, it can also prevent the wiring portion 120 from colliding with the base 111 and / or the movable arm 112 due to the shaking of the wiring portion 120 inside the body 110, thereby causing damage to the wiring portion 120, which is beneficial to extending the service life of the wiring portion 120.

[0070] As Figure 1 and Figure 2 shown, in some embodiments, optionally, the driving device 140 includes a speed reducer 141. The speed reducer 141 is disposed between the base 111 and at least one movable arm 112, and / or the speed reducer 141 is disposed between any two adjacent movable arms 112. At least two fixing members 130 are respectively located on both sides of the speed reducer 141 in the axial direction; wherein, the speed reducer 141 is provided with a hollow cavity 142, and the wiring portion 120 passes through the hollow cavity 142.

[0071] In this embodiment, it is defined that the driving device 140 includes a speed reducer 141. Specifically, the speed reducer 141 is disposed between the base 111 and at least one movable arm 112, and / or the speed reducer 141 is disposed between any two adjacent movable arms 112, that is to say, the position where the speed reducer 141 is located is the joint position of the robot 100.

[0072] The speed reducer 141 is provided with a hollow cavity 142, and the wiring part 120 passes through the hollow cavity 142. That is, the speed reducer 141 is a hollow speed reducer 141. In other words, the robot 100 has hollow wire routing at the joints. Thus, compared with the SCARA in the related art that uses offset wire routing at the joints, it is beneficial to simplify the structure. The joint positions of the robot 100 are designed simply, with a simple structure, which can reduce the space size at the joint positions of the robot 100, further reduce the volume of the robot 100, and reduce the overall weight, which is beneficial to broaden the application scenarios of the robot 100 and improve the motion performance of the robot 100.

[0073] Optionally, along the axial direction of the speed reducer 141, at least one fixing member 130 is located below the speed reducer 141, and the distance is not limited.

[0074] Optionally, the driving device 140 further includes a motor, and the motor is connected to the speed reducer 141.

[0075] As Figure 1 shown, in some embodiments, optionally, at least one movable arm 112 includes a connecting portion 115 and an arm body 116. Among them, the connecting portion 115 is connected to the output end of the driving device 140, the arm body 116 is connected to the connecting portion 115, at least one fixing member 130 is provided on the connecting portion 115, and / or at least one fixing member 130 is provided on the arm body 116.

[0076] In this embodiment, it is defined that at least one movable arm 112 includes a connecting portion 115 and an arm body 116. Specifically, the connecting portion 115 is connected to the output end of the driving device 140. Optionally, the connecting portion 115 is connected to the output end of the speed reducer 141. The arm body 116 is connected to the connecting portion 115. That is to say, the driving device 140 is connected to the arm body 116 through the connecting portion 115. Thus, under the drive of the driving device 140, at least one movable arm 112 can rotate relative to the base 111.

[0077] At least one fixing member 130 is provided on the connecting portion 115. And / or at least one fixing member 130 is provided on the arm body 116. Specifically, it can be set according to actual needs.

[0078] Optionally, the connecting portion 115 is provided with a through hole, and the arm body 116 is provided with a chamber. The through hole is communicated with the hollow cavity 142 and the chamber. The wiring portion 120 sequentially passes through the hollow cavity 142, the through hole and the chamber to realize internal wiring. Therefore, compared with the external wiring adopted by SCARA in the related art, the cables of the wiring portion 120 can be prevented from being interfered and damaged by the outside, which is beneficial to improving the reliability and durability of the wiring portion 120, and further improving the reliability during the operation of the robot 100. At the same time, the space occupied by the external wiring can also be reduced, which is beneficial to reducing the external dimension of the robot 100, expanding the application scenarios of the robot 100, reducing the overall weight, improving the motion performance of the robot 100, and enhancing the product competitiveness.

[0079] Optionally, the connecting portion 115 and the arm body 116 are of an integral structure.

[0080] Optionally, at least one fixing member 130 provided on the movable arm 112 fixes the wiring portion 120 in the axial direction of the speed reducer 141, or at least one fixing member 130 fixes the wiring portion 120 in the horizontal direction. Specifically, it can be set according to actual needs.

[0081] As Figure 1 shown, in some embodiments, optionally, each fixing member 130 includes a fixing bracket 131 and a binding portion 132. Among them, the fixing bracket 131 is provided on the base 111, and / or the fixing bracket 131 is provided on at least one movable arm 112. The wiring portion 120 is connected to the fixing bracket 131 through the binding portion 132.

[0082] In this embodiment, it is defined that each fixing member 130 includes a fixing bracket 131 and a binding portion 132. Specifically, based on the fixing member 130 being provided on the base 111, the fixing bracket 131 is provided on the base 111, and based on the fixing member 130 being provided on at least one movable arm 112, the fixing bracket 131 is provided on at least one movable arm 112.

[0083] The wiring part 120 is connected to the fixing bracket 131 through the binding part 132. That is to say, the wiring part 120 is bound and fixed through the binding part 132. On the one hand, the effective fixation of the wiring part 120 can be achieved, thus effectively avoiding the disconnection of the first end of the wiring part 120 from the first interface 113 or the disconnection of the second end of the wiring part 120 from the second interface 114 due to the rotation of the wiring part 120, which is beneficial to improving the running stability and reliability of the robot 100. It can also avoid the problem that the wiring part 120 collides with the base 111 and / or the moving arm 112 due to the shaking of the wiring part 120 inside the body 110, and then cause damage to the wiring part 120, which is beneficial to extending the service life of the wiring part 120. On the other hand, the reliable fixation of the wiring part 120 through the binding part 132 is beneficial to improving the installation efficiency of the robot 100 and reducing the production cost.

[0084] Moreover, since the wiring part 120 is arranged inside the body 110, that is to say, the robot 100 adopts internal wiring. Thus, compared with the external wiring adopted by SCARA in the related technology, the cables of the wiring part 120 can be avoided from being interfered and damaged by the outside, which is beneficial to improving the reliability and durability of the wiring part 120, and then improving the reliability when the robot 100 runs. At the same time, it can also reduce the space occupied by the external wiring, which is beneficial to reducing the external dimension of the robot 100, broadening the application scenarios of the robot 100, reducing the overall weight of the machine, improving the motion performance of the robot 100, and enhancing the product competitiveness.

[0085] In some embodiments, optionally, the binding part 132 includes at least one of a cable tie, a wire harness clamp, and a tape.

[0086] In this embodiment, specifically, the binding part 132 is a cable tie. Or, the binding part 132 is a wire harness clamp. Or, the binding part 132 is a tape. Or, the binding part 132 includes a cable tie and a tape. Or, the binding part 132 includes a wire harness clamp and a tape. They are not listed one by one here. It can be specifically set according to actual needs.

[0087] In some embodiments, optionally, based on the fixing bracket 131 being arranged on the base 111, the fixing bracket 131 and at least part of the base 111 are of an integral structure.

[0088] In this embodiment, at least a part of the base 111 and the fixing bracket 131 are of an integral structure. Optionally, the base 111 includes a panel 190, and the fixing bracket 131 and the panel 190 are of an integral structure, that is, the fixing bracket 131 and the panel 190 are one part. It can be understood that the integral structure has good mechanical properties. Therefore, the connection strength between the fixing bracket 131 and the base 111 can be improved, and the reliable fixation of the wiring part 120 inside the base 111 can be realized.

[0089] In addition, the integrated structure is also beneficial to mass production, which can reduce the manufacturing difficulty, and further help reduce the production cost of the robot 100.

[0090] As Figure 1 shown, in some embodiments, optionally, the number of the movable arms 112 is multiple. The multiple movable arms 112 include a first movable arm 150 and a second movable arm 160. The first movable arm 150 is rotatably arranged on the base 111, and the second movable arm 160 is rotatably arranged on the first movable arm 150. The second movable arm 160 is provided with a second interface 114. At least two fixing members 130 are located inside the first movable arm 150 and are respectively connected to the wiring portion 120.

[0091] In this embodiment, the number of the movable arms 112 is limited to be multiple. Specifically, the multiple movable arms 112 include a first movable arm 150 and a second movable arm 160. The first movable arm 150 is rotatably arranged on the base 111. Optionally, the first movable arm 150 is connected to the base 111 through a driving device 140. The second movable arm 160 is rotatably arranged on the first movable arm 150. Optionally, the second movable arm 160 is connected to the first movable arm 150 through a driving device 140. Thus, under the drive of the driving device 140, the first movable arm 150 can drive the second movable arm 160 to rotate relative to the base 111, or the second movable arm 160 can rotate relative to the first movable arm 150.

[0092] At least two fixing members 130 are located inside the first movable arm 150, and at least two fixing members 130 are respectively connected to the wiring portion 120. That is to say, arranging at least two fixing members 130 inside the first movable arm 150 to fix the wiring portion 120 is beneficial to improving the fixing effect on the wiring portion 120, avoiding the problem that the wiring portion 120 collides with the first movable arm 150 due to the shaking of the wiring portion 120 inside the first movable arm 150, and further avoiding the damage of the wiring portion 120. This is beneficial to extending the service life of the wiring portion 120 and further improving the reliability of the robot 100.

[0093] It can be understood that the wiring portion 120 sequentially passes through the first movable arm 150 and the second movable arm 160 and is electrically connected to the second interface 114 on the second movable arm 160. That is to say, the robot 100 adopts internal wiring. Thus, compared with the external wiring of the SCARA in the related art, the cables of the wiring portion 120 can be avoided from being interfered and damaged by the outside, which is beneficial to improving the reliability and durability of the wiring portion 120, and further improving the reliability of the robot 100 during operation. At the same time, it can also reduce the space occupied by the external wiring, which is beneficial to reducing the external dimension of the robot 100, broadening the application scenarios of the robot 100, reducing the overall weight, improving the motion performance of the robot 100, and enhancing the product competitiveness.

[0094] Optionally, at least one fixing member 130 is disposed within the first movable arm 150 and above the reducer 141 axially, at an unlimited distance, and at least one fixing member 130 is disposed within the second movable arm 160 and below the reducer 141 axially, at an unlimited distance.

[0095] As Figure 1 shown, in some embodiments, optionally, at least one fixing member 130 is disposed on the second movable arm 160.

[0096] In this embodiment, it is defined that at least one fixing member 130 is disposed on the second movable arm 160. Since the second movable arm 160 is provided with a second interface 114, that is to say, at least one fixing member 130 is disposed close to the second interface 114, that is, the wiring portion 120 is fixed at a position close to the second interface 114. Thus, during the operation of the robot 100, it is possible to effectively avoid the disconnection of the second end of the wiring portion 120 from the second interface 114 due to the rotation of the wiring portion 120, which is beneficial to improving the stability and reliability of the operation of the robot 100. At the same time, it is also possible to reduce the maintenance cost.

[0097] In addition, it is also possible to avoid the problem that the wiring portion 120 collides with the second movable arm 160 due to the shaking of the wiring portion 120 inside the second movable arm 160, thereby causing damage to the wiring portion 120, which is beneficial to extending the service life of the wiring portion 120 and further improving the reliability of the robot 100.

[0098] As Figure 1 shown, in some embodiments, optionally, the robot 100 further includes at least one protective sleeve 170. The at least one protective sleeve 170 is disposed on at least one movable arm 112 and sleeved outside the wiring portion 120.

[0099] In this embodiment, it is defined that the robot 100 further includes at least one protective sleeve 170. Specifically, the at least one protective sleeve 170 is disposed on at least one movable arm 112, and the at least one protective sleeve 170 is sleeved outside the wiring portion 120, thereby protecting the wiring portion 120. During the operation of the robot 100, it is beneficial to reduce the wear caused by contact collision between the wiring portion 120 and the base 111, and / or between the wiring portion 120 and the movable arm 112, which is beneficial to extending the service life of the wiring portion 120 and improving the reliability of the robot 100.

[0100] Optionally, a part of the protective sleeve 170 extends into the base 111.

[0101] Optionally, the number of the movable arms 112 is plural. The plural movable arms 112 include a first movable arm 150 and a second movable arm 160. The first movable arm 150 is rotatably arranged on the base 111. The second movable arm 160 is rotatably arranged on the first movable arm 150. The protective sleeve 170 is arranged on the second movable arm 160 and partially extends into the first movable arm 150.

[0102] As Figure 1 shown, in some embodiments, optionally, the base 111 includes a seat body 180 and a panel 190. Among them, at least one movable arm 112 is rotatably arranged on the seat body 180. The panel 190 is arranged on the seat body 180. At least one fixing member 130 is connected to the panel 190. The panel 190 is provided with a first interface 113.

[0103] In this embodiment, it is defined that the base 111 includes a seat body 180 and a panel 190. Specifically, at least one movable arm 112 is rotatably arranged on the seat body 180. The panel 190 is arranged on the seat body 180, and at least one fixing member 130 is connected to the panel 190. Optionally, the fixing bracket 131 and the panel 190 are of an integral structure. The panel 190 is provided with a first interface 113.

[0104] Optionally, the seat body 180 includes a mounting bracket, and the panel 190 is arranged on the mounting bracket, that is, a mounting bracket is separately provided to fix the panel 190.

[0105] As Figure 1 shown, in some embodiments, optionally, the seat body 180 includes a support plate 181 and a housing 182. Among them, at least one movable arm 112 is rotatably arranged on the support plate 181. The housing 182 is arranged on the support plate 181 and encloses with the support plate 181 to form a receiving cavity 183. The first end of the wiring part 120 and at least one fixing member 130 are located in the receiving cavity 183. The panel 190 is arranged on the housing 182.

[0106] In this embodiment, it is defined that the seat body 180 includes a support plate 181 and a housing 182. Specifically, at least one movable arm 112 is rotatably arranged on the support plate 181. The support plate 181 is used for supporting the overall structure of the robot 100. Optionally, the speed reducer 141 is arranged between the support plate 181 and the movable arm 112.

[0107] The housing 182 is arranged on the support plate 181, and the housing 182 and the support plate 181 enclose to form a receiving cavity 183. The first end of the wiring part 120 and at least one fixing member 130 are located in the receiving cavity 183, so as to protect the cables of the wiring part 120, which is beneficial to further extend the service life of the wiring part 120 and improve the reliability of the robot 100.

[0108] In addition, since the wiring part 120 is arranged inside the body 110, that is to say, the robot 100 adopts internal wiring. Therefore, compared with the external wiring adopted by SCARA in the related art, the cables of the wiring part 120 can be prevented from being interfered with and damaged by the outside world, which is beneficial to improving the reliability and durability of the wiring part 120, and further improving the reliability during the operation of the robot 100. At the same time, it can also reduce the space occupied by the external wiring, which is beneficial to reducing the external dimension of the robot 100, expanding the application scenarios of the robot 100, reducing the overall weight, improving the motion performance of the robot 100, and enhancing the product competitiveness.

[0109] Optionally, along the axial direction of the speed reducer 141, at least one fixing member 130 is located above the support plate 181, and the distance is not limited.

[0110] In the description of this specification, terms such as "connection", "installation", "fixation", etc. 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0111] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0112] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, various changes and modifications 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 robot, characterized in that, Comprising: A body provided with a base and at least one movable arm. At least one of the movable arms is rotatably provided on the base. The base is provided with a first interface, and at least one of the movable arms is provided with a second interface; A wiring part provided inside the body. The first end of the wiring part is electrically connected to the first interface, and the second end of the wiring part is electrically connected to the second interface; A plurality of fixing members. At least one of the fixing members is provided on the base and is connected to the wiring part. At least one of the fixing members is provided on at least one of the movable arms and is connected to the wiring part.

2. The robot according to claim 1, characterized in that, Further comprising: A driving device provided between the base and at least one of the movable arms, and / or the driving device is provided between any two adjacent movable arms for driving at least one of the movable arms to rotate; Wherein, at least two of the fixing members are respectively located on both sides of the driving device in the axial direction.

3. The robot according to claim 2, characterized in that, The driving device includes a speed reducer. The speed reducer is provided between the base and at least one of the movable arms, and / or the speed reducer is provided between any two adjacent movable arms. At least two of the fixing members are respectively located on both sides of the speed reducer in the axial direction; Wherein, the speed reducer is provided with a hollow cavity, and the wiring part passes through the hollow cavity.

4. The robot according to claim 2, wherein At least one of the movable arms includes: A connecting part connected to the output end of the driving device; An arm body connected to the connecting part. At least one of the fixing members is provided on the connecting part, and / or at least one of the fixing members is provided on the arm body.

5. The robot according to any one of claims 1 to 4, characterized in that, Each of the fixing members includes: A fixing bracket provided on the base, and / or the fixing bracket is provided on at least one of the movable arms; A binding part through which the wiring part is connected to the fixing bracket.

6. The robot according to claim 5, characterized in that, The binding part includes at least one of a cable tie, a wire harness clamp, and a tape.

7. The robot according to claim 5, characterized in that, Based on the fixing bracket being provided on the base, the fixing bracket and at least a part of the base are an integral structure.

8. The robot according to any one of claims 1 to 4, characterized in that, The number of the movable arms is multiple. The multiple movable arms include a first movable arm and a second movable arm. The first movable arm is rotatably provided on the base, and the second movable arm is rotatably provided on the first movable arm. The second movable arm is provided with the second interface; Wherein, at least two of the fixing members are located inside the first movable arm and are respectively connected to the wiring part.

9. The robot according to claim 8, wherein At least one of the fixing members is provided on the second movable arm.

10. The robot according to any one of claims 1 to 4, characterized in that, Further comprising: At least one protective sleeve provided on at least one of the movable arms and sleeved outside the wiring part.

11. The robot according to any one of claims 1 to 4, characterized in that, The base includes: A seat body on which at least one of the movable arms is rotatably provided; A panel provided on the seat body. At least one of the fixing members is connected to the panel, and the panel is provided with the first interface.

12. The robot according to claim 11, wherein The seat body includes: A support plate on which at least one of the movable arms is rotatably provided; A housing provided on the support plate and enclosing with the support plate to form a receiving cavity. The first end of the wiring part and at least one of the fixing members are located in the receiving cavity, and the panel is provided on the housing.

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