Joint structure and robot

Abstract

The utility model provides a joint structure and a robot, the joint structure is used for the robot, and the joint structure comprises a base; the wire harness assembly is arranged on the base; the protection part is arranged on the base and comprises at least two protection parts, the at least two protection parts are detachably connected, a protection channel is defined by the at least two protection parts based on connection of the at least two protection parts, and the wire harness assembly penetrates through the protection channel, so that when the protection part is installed and used, the wire harness assembly does not need to penetrate through the protection channel firstly, and the wire harness assembly is prevented from being damaged. And other parts on the wire harness are installed, that is, the installation sequence of the other parts does not influence the assembly of the protection piece, the installation and use are convenient, and the installation efficiency can be improved. Moreover, when the protection piece is aged and needs to be replaced, other parts of the wire harness assembly do not need to be disassembled firstly, and the at least two protection parts are directly disconnected, so that the separation of the protection piece and the wire harness assembly can be realized, the maintenance convenience is improved, and the cost and working hours can be reduced.

Description

Technical Field

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

[0002] At present, when industrial robots have hollow wire routing, the wire harness protective layer is generally made of non-metallic rubber. When the robot rotates, the wire harness is prone to wear and failure due to contact with the metal base.

[0003] In related technologies, a plastic protective sleeve is generally sleeved outside the wire harness. However, when the plastic protective sleeve is installed and used, the entire plastic protective sleeve needs to pass through one end of the wire harness, and then other parts such as connectors on the wire harness are assembled. Moreover, when the plastic protective sleeve ages and needs to be replaced, other parts on the wire harness need to be removed first, resulting in inconvenient installation and disassembly of the plastic protective sleeve and increased costs. Summary of the Utility Model

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

[0005] For this purpose, a first aspect of the embodiments of the utility model provides a joint structure.

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

[0007] In view of this, according to the first aspect of the embodiments of the utility model, a joint structure is provided. The joint structure is used for a robot and includes: a base; a wire harness assembly disposed on the base; a protective member disposed on the base. The protective member includes at least two protective parts, and the at least two protective parts are detachably connected. Based on the connection of the at least two protective parts, the at least two protective parts enclose to form a protective channel, and the wire harness assembly passes through the protective channel.

[0008] The joint structure provided by the embodiments of the utility model includes a base, a wire harness assembly, and a protective member. Specifically, the wire harness assembly is disposed on the base. Optionally, the base is provided with a wire passing hole, and the wire harness assembly passes through the wire passing hole. That is to say, the joint structure adopts hollow wire routing. Therefore, compared with the external wire routing of robots in related technologies, it is beneficial to avoid damage to the wire harness assembly caused by external interference, and it is also beneficial to reduce the space occupied by external wire routing, reduce the volume of the joint structure, reduce the weight of the entire robot, improve the motion performance of the robot, and thus is beneficial to improving the competitiveness of the product.

[0009] It can be understood that, to ensure the structural strength of the joint structure, the base is generally made of a metal material, while the protective layer outside the wire harness assembly is generally made of a non-metallic material, for example, a rubber material. During the operation of the robot, when the joint structure rotates, the wire harness assembly is prone to contact wear with the base, resulting in the failure of the wire harness assembly and reducing the reliability of the robot.

[0010] The protective member includes at least two protective parts, and when the at least two protective parts are connected, the at least two protective parts enclose to form a protective channel through which the wire harness assembly passes. That is to say, a protective member is provided between the base and the wire harness assembly for separation to protect the wire harness assembly. Thus, when the joint structure rotates, it can effectively avoid the wear caused by the contact between the wire harness assembly and the base, which is beneficial to extending the service life of the wire harness assembly and enhancing the reliability during the operation of the joint structure and the robot having the joint structure.

[0011] Since the at least two protective parts are detachably connected, when installing and using the protective member, it is not necessary to first pass the wire harness assembly through the protective channel and then install other parts on the wire harness. That is to say, the installation order of other parts does not affect the assembly of the protective member, and the installation and use are convenient, which is beneficial to improving the installation efficiency.

[0012] Moreover, when the protective member ages and needs to be replaced, it is not necessary to first remove other parts of the wire harness assembly. Directly separating the at least two protective parts can realize the separation of the protective member from the wire harness assembly, improving the convenience of maintenance, and thus being beneficial to reducing the cost and working hours.

[0013] Optionally, the protective member is detachably connected to the base.

[0014] In addition, according to the joint structure provided by the above technical solution of the present invention, the following additional technical features are further provided:

[0015] In some technical solutions, optionally, the at least two protective parts include a first protective part and a second protective part; the first protective part is provided with a first fitting part, and the second protective part is provided with a second fitting part, and the second fitting part can be fitted and connected or separated from the first fitting part.

[0016] In this technical solution, it is defined that the at least two protective parts include a first protective part and a second protective part. Specifically, the first protective part is provided with a first fitting part, and the second protective part is provided with a second fitting part. The first fitting part and the second fitting part can be fitted and connected or separated. That is to say, the first protective part and the second protective part are detachably connected through the first fitting part and the second fitting part. Thus, when installing and using the protective member, it is not necessary to first pass the wire harness assembly through the protective channel and then install other parts on the wire harness. That is to say, the installation order of other parts does not affect the assembly of the protective member, and the installation and use are convenient, which is beneficial to improving the installation efficiency.

[0017] Moreover, when the protective component ages and needs to be replaced, there is no need to first remove other parts of the wire harness assembly. By directly separating the first protective part and the second protective part, the separation of the protective component from the wire harness assembly can be achieved, improving the convenience of maintenance and thus helping to reduce the cost of labor.

[0018] In some technical solutions, optionally, one of the first mating part and the second mating part includes a protrusion, and the other includes a slot, and the protrusion can be inserted into or removed from the slot.

[0019] In this technical solution, specifically, the first mating part includes a protrusion and the second mating part includes a slot. Or, the first mating part includes a slot and the second mating part includes a protrusion. It can be specifically set according to actual needs. Optionally, the first mating part includes a protrusion and a slot, the second mating part includes a protrusion and a slot, the protrusion on the first protective part is inserted into the slot on the second protective part, and the protrusion on the second protective part is inserted into the slot on the first protective part.

[0020] Since the first protective part and the second protective part are detachably connected through the first mating part and the second mating part, when installing and using the protective component, there is no need to first pass the wire harness assembly through the protection channel and then install other parts on the wire harness. That is to say, the installation order of other parts does not affect the assembly of the protective component, and the installation and use are convenient, which is conducive to improving the installation efficiency.

[0021] Moreover, when the protective component ages and needs to be replaced, there is no need to first remove other parts of the wire harness assembly. By directly disconnecting the first protective part and the second protective part, the separation of the protective component from the wire harness assembly can be achieved, improving the convenience of maintenance and thus helping to reduce the cost of labor.

[0022] Optionally, the shape of the protrusion includes a cuboid, a cube, a cylinder or a cone, and the shape of the slot is adapted to the protrusion.

[0023] In some technical solutions, optionally, the base is provided with a first connecting part, and the protective component further includes a second connecting part, and the second connecting part is arranged on the side of at least one protective part facing away from the protection channel, and the second connecting part can be cooperatively connected to or separated from the first connecting part.

[0024] In this technical solution, it is defined that the protective component further includes a second connecting part. Specifically, the base is provided with a first connecting part, and the second connecting part is arranged on the side of at least one protective part facing away from the protection channel. That is to say, the second connecting part is arranged on the outside of at least one protective part. The first connecting part and the second connecting part can be cooperatively connected to or separated from each other, so that the protective component can be detachably connected to the base.

[0025] Optionally, a second connecting part is arranged on the outside of each protective part, and the first connecting parts on the base correspond to the second connecting parts one by one.

[0026] Since the first connecting portion is connected to the second connecting portion, the protective member can be fixed to the base, thereby preventing the protective member from falling off the base, achieving reliable protection for the wire harness assembly, and enhancing the structural stability of the protective member. When the protective member ages and needs to be replaced, by separating the first connecting portion and the second connecting portion, reliable disassembly of the protective member can be achieved. Moreover, since at least two protective portions are detachable, without first removing other parts of the wire harness assembly, directly separating at least two protective portions from the connection can achieve the separation of the protective member from the wire harness assembly, enhancing the convenience of maintenance, and thus contributing to reducing the cost and working hours.

[0027] In some technical solutions, optionally, one of the first connecting portion and the second connecting portion is a buckle, and the other is a slot, and the buckle can be inserted into or removed from the slot.

[0028] In this technical solution, specifically, the first connecting portion is a buckle and the second connecting portion is a slot. Or, the first connecting portion is a slot and the second connecting portion is a buckle. It can be specifically set according to actual needs.

[0029] Since the buckle can be inserted into or removed from the slot, the detachable connection between the protective member and the base can be achieved. Specifically, when the buckle is inserted into the slot, the protective member can be fixed to the base, thereby preventing the protective member from falling off the base, achieving reliable protection for the wire harness assembly, and enhancing the structural stability of the protective member. When the protective member ages and needs to be replaced, by removing the buckle from the slot, reliable disassembly of the protective member can be achieved. Moreover, since at least two protective portions are detachable, without first removing other parts of the wire harness assembly, directly separating at least two protective portions from the connection can achieve the separation of the protective member from the wire harness assembly, enhancing the convenience of maintenance, and thus contributing to reducing the cost and working hours.

[0030] In addition, by using the cooperation of the buckle and the slot to achieve the detachable connection between the protective member and the base, compared with the related technology of fixing the plastic protective cover to the metal base with screws, it is beneficial to reduce the number of parts and simplify the installation, thereby contributing to reducing the production cost of the joint structure. Moreover, it can also avoid the problems such as deformation and loosening of the plastic protective cover caused by machining threads on the plastic protective cover when using screws for fixing, and enhance the structural stability of the protective member.

[0031] Optionally, the buckle includes an undercut.

[0032] In some technical solutions, optionally, at least one protective portion includes a protective wall, and the protective wall is located in the protective channel; wherein, at least part of the protective wall is configured as an arc wall.

[0033] In this technical solution, it is defined that at least one protective part includes a protective wall. Specifically, the protective wall is located in the protective channel, and at least part of the protective wall is an arc-shaped wall. That is to say, a rounded corner structure is provided on the inner wall of at least one protective part, so as to further provide protection for the wiring harness assembly, avoid the wiring harness assembly from wear and failure, and help to further extend the service life of the wiring harness assembly and ensure the stability and reliability of the robot.

[0034] Optionally, the protective wall of each protective portion is configured as an arc-shaped wall, which can be configured according to actual needs.

[0035] In some technical solutions, optionally, the protective member further includes a limiting portion, which is provided on a side of at least one protective portion away from the protective channel, and along the axial direction of the protective channel, the limiting portion abuts against the base.

[0036] This technical solution provides that the protective element further includes a limiting portion. Specifically, the limiting portion is provided on a side of at least one protective portion facing away from the protective passage, that is, the limiting portion is located outside the protective portion. Optionally, each protective portion is provided with a limiting portion. The specific configuration can be determined based on actual needs.

[0037] Along the axial direction of the protective channel, the limiting portion abuts against the base, thereby limiting the protective element in the axial direction of the protective channel, improving the stability of the protective element after installation, and preventing the protective element from falling off the base and affecting the protection of the wiring harness assembly by the protective element.

[0038] In some technical solutions, optionally, a portion of at least one protective portion is bent toward a side away from the protective channel to form a limiting portion.

[0039] In this technical solution, a portion of at least one protective portion is bent away from the protective channel to form a stop. In other words, the stop and protective portion are integrally formed, i.e., the stop is a flange formed by bending at least one protective portion. This not only limits the position of the protective element in the axial direction of the protective channel, but also enhances its stability after installation and prevents it from falling off the base. Furthermore, this facilitates the processing and production of the protective element, reduces its manufacturing difficulty, and further reduces its production cost.

[0040] In some technical solutions, optionally, the base is further provided with a wire-passing hole, which is connected to the protective channel, and the wiring harness assembly passes through the protective channel and the wire-passing hole respectively.

[0041] In this technical solution, it is defined that the base is further provided with a wire passing hole. Specifically, the wire passing hole is communicated with the protection channel, and the wire harness assembly passes through the protection channel and the wire passing hole respectively. That is to say, the joint structure adopts hollow wire routing. Therefore, compared with the external wire routing of robots in the related art, it is beneficial to avoid damage to the wire harness assembly caused by external interference, and it is also beneficial to reduce the space occupied by external wire routing, reduce the volume of the joint structure, reduce the weight of the whole robot, improve the motion performance of the robot, and thus is beneficial to improving the competitiveness of the product.

[0042] Moreover, since protective parts are arranged between the base and the wire harness assembly for separation to protect the wire harness assembly, it can effectively avoid the abrasion caused by the contact between the wire harness assembly and the base when the joint structure rotates, which is beneficial to extending the service life of the wire harness assembly and improving the reliability during the operation of the joint structure and the robot with this joint structure.

[0043] In some technical solutions, optionally, a part of the protective part extends into the wire passing hole.

[0044] In this technical solution, it is defined that a part of the protective part extends into the wire passing hole, that is, the length of the protection channel is extended. On the one hand, it can effectively avoid the abrasion caused by the contact between the wire harness assembly and the base when the joint structure rotates. On the other hand, it can also avoid the abrasion caused by the contact between the wire harness assembly and the hole wall of the wire passing hole, which is beneficial to further extending the service life of the wire harness assembly and improving the reliability during the operation of the joint structure and the robot with this joint structure.

[0045] In some technical solutions, optionally, the protective part includes a plastic part; and / or the base includes a metal base.

[0046] In this technical solution, the protective part is a plastic part, so that it can protect the wire harness assembly, and can effectively avoid the abrasion caused by the contact between the wire harness assembly and the base when the joint structure rotates, while reducing the production cost of the protective part, and thus is beneficial to reducing the production cost of the joint structure and the robot with this joint structure.

[0047] The base is a metal base, that is to say, the base is made of metal material, so as to ensure the structural strength of the joint structure, which is beneficial to improving the stability and reliability of the robot operation.

[0048] Since when at least two protective parts are connected, at least two protective parts enclose to form a protection channel, and the wire harness assembly passes through the protection channel. That is to say, protective parts are arranged between the base and the wire harness assembly for separation to protect the wire harness assembly, so that it can effectively avoid the abrasion caused by the contact between the wire harness assembly and the base when the joint structure rotates, which is beneficial to extending the service life of the wire harness assembly and improving the reliability during the operation of the joint structure and the robot with this joint structure.

[0049] According to a second aspect of the present utility model, there is provided a robot, including the joint structure provided in any of the above technical solutions, and thus having all the beneficial technical effects of the joint structure, which will not be elaborated herein again.

[0050] The 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 understood through the practice of the present utility model. BRIEF 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, wherein:

[0052] Figure 1 The structural schematic diagram of the joint structure according to an embodiment of the present utility model is shown;

[0053] Figure 2 Shown is Figure 1 The enlarged view of the joint structure of the shown embodiment at A;

[0054] Figure 3 The partial structural schematic diagram of the joint structure according to an embodiment of the present utility model is shown;

[0055] Figure 4 The exploded view of the protective member according to an embodiment of the present utility model is shown;

[0056] Figure 5 The structural schematic diagram of the protective member according to an embodiment of the present utility model is shown.

[0057] Wherein, Figures 1 to 5 The corresponding relationship between the reference numerals in the drawings and the component names is as follows:

[0058] 100 joint structure, 110 base, 111 first connecting portion, 112 wire passing hole, 120 wire harness assembly, 130 protective member, 131 protective portion, 132 protective channel, 133 first protective portion, 134 second protective portion, 135 first mating portion, 136 second mating portion, 137 second connecting portion, 138 protective wall, 139 limiting portion. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] In order to more clearly understand the above objects, features and advantages of the present utility model, the present utility model will be further described in detail below in conjunction with the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0060] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. However, the present utility model may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present utility model is not limited by the specific embodiments disclosed below.

[0061] Reference will now be made to Figures 1 to 5 describe a joint structure 100 and a robot provided according to some embodiments of the present utility model.

[0062] In an embodiment according to the present application, as Figure 1 , Figure 4 and Figure 5 shown, a joint structure 100 is proposed. The joint structure 100 is for a robot and includes: a base 110; a wire harness assembly 120 disposed on the base 110; a protective member 130 disposed on the base 110. The protective member 130 includes at least two protective parts 131. The at least two protective parts 131 are detachably connected. Based on the connection of the at least two protective parts 131, the at least two protective parts 131 enclose to form a protective channel 132, and the wire harness assembly 120 passes through the protective channel 132.

[0063] The joint structure 100 provided by the embodiments of the present utility model includes a base 110, a wire harness assembly 120, and a protective member 130. Specifically, the wire harness assembly 120 is disposed on the base 110. Optionally, the base 110 is provided with a wire passing hole 112, and the wire harness assembly 120 passes through the wire passing hole 112. That is to say, the joint structure 100 adopts a hollow wire routing. Thus, compared with the external wire routing of robots in the related art, it is beneficial to avoid the wire harness assembly 120 from being damaged by external interference, and it is also beneficial to reduce the space occupied by external wire routing, reduce the volume of the joint structure 100, reduce the weight of the whole robot, improve the motion performance of the robot, and thus is beneficial to improving the competitiveness of the product.

[0064] It can be understood that to ensure the structural strength of the joint structure 100, the base 110 is generally made of a metal material, while the protective layer outside the wire harness assembly 120 is generally made of a non-metal material, such as a rubber material. During the operation of the robot, when the joint structure 100 rotates, the wire harness assembly 120 is likely to come into contact and wear with the base 110, resulting in the failure of the wire harness assembly 120 and reducing the reliability of the robot.

[0065] The protective member 130 includes at least two protective parts 131. When the at least two protective parts 131 are connected, the at least two protective parts 131 enclose to form a protective channel 132 through which the wire harness assembly 120 passes. That is to say, the protective member 130 is provided between the base 110 and the wire harness assembly 120 for separation to protect the wire harness assembly 120. Thus, when the joint structure 100 rotates, it can effectively prevent the wire harness assembly 120 from contacting the base 110 and causing wear, which is beneficial to extending the service life of the wire harness assembly 120 and improving the reliability during the operation of the joint structure 100 and the robot having the joint structure 100.

[0066] Since the at least two protective parts 131 are detachably connected, when installing and using the protective member 130, it is not necessary to first pass the wire harness assembly 120 through the protective channel 132 and then install other parts on the wire harness. That is to say, the installation sequence of other parts does not affect the assembly of the protective member 130, and the installation and use are convenient, which is beneficial to improving the installation efficiency.

[0067] Moreover, when the protective member 130 needs to be replaced due to aging, it is not necessary to first remove other parts of the wire harness assembly 120. By directly disconnecting the at least two protective parts 131, the separation of the protective member 130 from the wire harness assembly 120 can be achieved, which improves the convenience of maintenance and thus is beneficial to reducing the cost and working hours.

[0068] Optionally, the protective member 130 is detachably connected to the base 110.

[0069] Such as Figure 4 and Figure 5 As shown, in some embodiments, optionally, the at least two protective parts 131 include a first protective part 133 and a second protective part 134; the first protective part 133 is provided with a first mating part 135, and the second protective part 134 is provided with a second mating part 136, and the second mating part 136 can be mated and connected or separated from the first mating part 135.

[0070] In this embodiment, it is defined that the at least two protective parts 131 include a first protective part 133 and a second protective part 134. Specifically, the first protective part 133 is provided with a first mating part 135, and the second protective part 134 is provided with a second mating part 136. The first mating part 135 and the second mating part 136 can be mated and connected or separated. That is to say, the first protective part 133 and the second protective part 134 are detachably connected through the first mating part 135 and the second mating part 136. Thus, when installing and using the protective member 130, it is not necessary to first pass the wire harness assembly 120 through the protective channel 132 and then install other parts on the wire harness. That is to say, the installation sequence of other parts does not affect the assembly of the protective member 130, and the installation and use are convenient, which is beneficial to improving the installation efficiency.

[0071] Moreover, when the protective part 130 ages and needs to be replaced, it is not necessary to first remove other parts of the wire harness assembly 120. By directly separating the first protective part 133 and the second protective part 134, the separation of the protective part 130 from the wire harness assembly 120 can be achieved, improving the convenience of maintenance and thus helping to reduce the cost of working hours.

[0072] In some embodiments, optionally, one of the first engaging part 135 and the second engaging part 136 includes a protrusion, and the other includes a slot, and the protrusion can be inserted into or removed from the slot.

[0073] In this embodiment, specifically, the first engaging part 135 includes a protrusion, and the second engaging part 136 includes a slot. Alternatively, the first engaging part 135 includes a slot, and the second engaging part 136 includes a protrusion. Specifically, it can be set according to actual needs. Optionally, the first engaging part 135 includes a protrusion and a slot, the second engaging part 136 includes a protrusion and a slot, the protrusion on the first protective part 133 is inserted into the slot on the second protective part 134, and the protrusion on the second protective part 134 is inserted into the slot on the first protective part 133.

[0074] Since the first protective part 133 and the second protective part 134 are detachably connected through the first engaging part 135 and the second engaging part 136, when installing and using the protective part 130, it is not necessary to first pass the wire harness assembly 120 through the protection channel 132 and then install other parts on the wire harness. That is to say, the installation order of other parts does not affect the assembly of the protective part 130, and the installation and use are convenient, which is beneficial to improving the installation efficiency.

[0075] Moreover, when the protective part 130 ages and needs to be replaced, it is not necessary to first remove other parts of the wire harness assembly 120. By directly disconnecting the first protective part 133 and the second protective part 134, the separation of the protective part 130 from the wire harness assembly 120 can be achieved, improving the convenience of maintenance and thus helping to reduce the cost of working hours.

[0076] Optionally, the shape of the protrusion includes a cuboid, a cube, a cylinder or a cone, and the shape of the slot is adapted to the protrusion.

[0077] As Figure 2 、 Figure 3 、 Figure 4 and Figure 5 shown, in some embodiments, optionally, the base 110 is provided with a first connecting part 111, the protective part 130 further includes a second connecting part 137, the second connecting part 137 is arranged on at least one side of the protective part 131 facing away from the protection channel 132, and the second connecting part 137 can be cooperatively connected to or separated from the first connecting part 111.

[0078] In this embodiment, it is defined that the protective member 130 further includes a second connecting portion 137. Specifically, the base 110 is provided with a first connecting portion 111, and the second connecting portion 137 is disposed on a side of at least one protective portion 131 facing away from the protection channel 132, that is to say, the second connecting portion 137 is disposed outside at least one protective portion 131. The first connecting portion 111 and the second connecting portion 137 can be cooperatively connected or separated, so that the protective member 130 can be detachably connected to the base 110.

[0079] Optionally, a second connecting portion 137 is disposed on the outside of each protective portion 131, and the first connecting portions 111 on the base 110 correspond to the second connecting portions 137 one by one.

[0080] Since the first connecting portion 111 and the second connecting portion 137 are connected, the protective member 130 can be fixed on the base 110, thereby preventing the protective member 130 from falling off the base 110, realizing reliable protection of the wire harness assembly 120, and improving the structural stability of the protective member 130. When the protective member 130 needs to be replaced due to aging, by separating the first connecting portion 111 and the second connecting portion 137, reliable disassembly of the protective member 130 can be achieved. Moreover, since at least two protective portions 131 are detachable, without first removing other parts of the wire harness assembly 120, directly disconnecting at least two protective portions 131 can realize the separation of the protective member 130 from the wire harness assembly 120, improving the convenience of maintenance, and thus being beneficial to reducing the cost and working hours.

[0081] In some embodiments, optionally, one of the first connecting portion 111 and the second connecting portion 137 is a buckle, and the other is a slot, and the buckle can be inserted into or removed from the slot.

[0082] In this embodiment, specifically, the first connecting portion 111 is a buckle and the second connecting portion 137 is a slot. Or, the first connecting portion 111 is a slot and the second connecting portion 137 is a buckle. It can be specifically set according to actual needs.

[0083] Since the buckle can be inserted into or removed from the slot, the detachable connection between the protective member 130 and the base 110 can be achieved. Specifically, when the buckle is inserted into the slot, the protective member 130 can be fixed on the base 110, thereby preventing the protective member 130 from falling off the base 110, realizing reliable protection of the wire harness assembly 120, and improving the structural stability of the protective member 130. When the protective member 130 needs to be replaced due to aging, by removing the buckle from the slot, reliable disassembly of the protective member 130 can be achieved. Moreover, since at least two protective portions 131 are detachable, without first removing other parts of the wire harness assembly 120, directly disconnecting at least two protective portions 131 can realize the separation of the protective member 130 from the wire harness assembly 120, improving the convenience of maintenance, and thus being beneficial to reducing the cost and working hours.

[0084] In addition, the detachable connection between the protective member 130 and the base 110 is achieved through the cooperation of a buckle and a clamping groove. Compared with the related art where a plastic protective cover is fixed to a metal base using screws, it helps reduce the number of parts and simplifies the installation, thereby contributing to reducing the production cost of the joint structure 100. Moreover, it can also avoid the need to machine threads on the plastic protective cover when using screws for fixation, which may cause problems such as deformation and loosening of the plastic protective cover, and improve the structural stability of the protective member 130.

[0085] Optionally, the buckle includes an undercut.

[0086] As Figure 2 、 Figure 4 and Figure 5 shown, in some embodiments, optionally, at least one protective portion 131 includes a protective wall 138, and the protective wall 138 is located within the protective channel 132; wherein, at least a portion of the protective wall 138 is configured as an arc-shaped wall.

[0087] In this embodiment, it is defined that at least one protective portion 131 includes a protective wall 138. Specifically, the protective wall 138 is located within the protective channel 132, and at least a portion of the protective wall 138 is an arc-shaped wall. That is to say, a rounded corner structure is provided on the inner wall of at least one protective portion 131, which can further protect the wire harness assembly 120, prevent the wire harness assembly 120 from wearing and failing, contribute to further extending the service life of the wire harness assembly 120, and ensure the stability and reliability of the robot.

[0088] Optionally, the protective wall 138 of each protective portion 131 is configured as an arc-shaped wall. It can be specifically set according to actual needs.

[0089] As Figure 2 、 Figure 4 and Figure 5 shown, in some embodiments, optionally, the protective member 130 further includes a limiting portion 139, and the limiting portion 139 is provided on a side of at least one protective portion 131 facing away from the protective channel 132, and along the axial direction of the protective channel 132, the limiting portion 139 abuts against the base 110.

[0090] In this embodiment, it is defined that the protective member 130 further includes a limiting portion 139. Specifically, the limiting portion 139 is provided on a side of at least one protective portion 131 facing away from the protective channel 132. That is to say, the limiting portion 139 is located outside the protective portion 131. Optionally, each protective portion 131 is provided with a limiting portion 139. It can be specifically set according to actual needs.

[0091] Along the axial direction of the protective channel 132, the limiting portion 139 abuts against the base 110, thereby limiting the protective member 130 in the axial direction of the protective channel 132, improving the stability of the protective member 130 after installation, and preventing the protective member 130 from falling off the base 110 and affecting the protection of the wiring harness assembly 120 by the protective member 130.

[0092] In some embodiments, optionally, a portion of at least one protection portion 131 is bent toward a side away from the protection channel 132 to form a limiting portion 139 .

[0093] In this embodiment, a portion of at least one protective portion 131 is bent away from the protective channel 132 to form a stopper 139. In other words, the stopper 139 and the protective portion 131 are integrally formed, i.e., the stopper 139 is a flange formed by bending at least one protective portion 131. This not only limits the position of the protective element 130 in the axial direction of the protective channel 132, but also enhances the stability of the installed protective element 130 and prevents it from falling off the base 110. Furthermore, this facilitates the processing and production of the protective element 130, reduces the manufacturing difficulty, and further reduces the production cost of the protective element 130.

[0094] like Figure 1 As shown, in some embodiments, optionally, the base 110 is further provided with a wire hole 112 , which is communicated with the protective channel 132 , and the wiring harness assembly 120 passes through the protective channel 132 and the wire hole 112 respectively.

[0095] In this embodiment, it is defined that the base 110 is also provided with a wire hole 112. Specifically, the wire hole 112 is connected to the protective channel 132, and the wiring harness assembly 120 passes through the protective channel 132 and the wire hole 112 respectively. That is to say, the joint structure 100 adopts hollow wiring, which is beneficial to avoid the wiring harness assembly 120 from being damaged by external interference compared to the robot in the related technology that adopts external wiring. It is also beneficial to reduce the space occupied by external wiring, reduce the volume of the joint structure 100, reduce the weight of the entire robot, and improve the robot's movement performance, which is beneficial to improving the competitiveness of the product.

[0096] Moreover, since a protective member 130 is provided to separate the base 110 and the wiring harness assembly 120 to protect the wiring harness assembly 120, the wear caused by the contact between the wiring harness assembly 120 and the base 110 can be effectively avoided when the joint structure 100 rotates, which is beneficial to extending the service life of the wiring harness assembly 120 and improving the reliability of the joint structure 100 and the robot having the joint structure 100 during operation.

[0097] In some embodiments, optionally, a part of the protective member 130 extends into the wire passing hole 112.

[0098] In this embodiment, it is defined that a part of the protective member 130 extends into the wire passing hole 112, that is, the length of the protection channel 132 is extended. On the one hand, when the joint structure 100 rotates, it can effectively avoid the abrasion caused by the contact between the wire harness assembly 120 and the base 110. On the other hand, it can also avoid the abrasion caused by the contact between the wire harness assembly 120 and the hole wall of the wire passing hole 112, which is beneficial to further extend the service life of the wire harness assembly 120 and improve the reliability during the operation of the joint structure 100 and the robot having the joint structure 100.

[0099] In some embodiments, optionally, the protective member 130 includes a plastic part; and / or the base 110 includes a metal base.

[0100] In this embodiment, the protective member 130 is a plastic part, so that it can protect the wire harness assembly 120. When the joint structure 100 rotates, it can effectively avoid the abrasion caused by the contact between the wire harness assembly 120 and the base 110, while reducing the production cost of the protective member 130, and thus is beneficial to reducing the production cost of the joint structure 100 and the robot having the joint structure 100.

[0101] The base 110 is a metal base, that is to say, the base 110 is made of metal material, so as to ensure the structural strength of the joint structure 100, which is beneficial to improving the stability and reliability of the robot operation.

[0102] Since when at least two protective parts 131 are connected, at least two protective parts 131 enclose to form a protection channel 132, and the wire harness assembly 120 passes through the protection channel 132. That is to say, a protective member 130 is arranged between the base 110 and the wire harness assembly 120 for separation to protect the wire harness assembly 120. When the joint structure 100 rotates, it can effectively avoid the abrasion caused by the contact between the wire harness assembly 120 and the base 110, which is beneficial to extending the service life of the wire harness assembly 120 and improving the reliability during the operation of the joint structure 100 and the robot having the joint structure 100.

[0103] According to the second aspect of the present invention, a robot is provided, including the joint structure 100 provided in any of the above embodiments, and thus has all the beneficial technical effects of the joint structure 100, which will not be elaborated herein.

[0104] In the description of this specification, terms such as "connection", "installation", "fixation", etc. shall 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 this utility model can be understood according to specific circumstances.

[0105] In the description of this specification, the description of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. means 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 this utility model. In this specification, the schematic expressions 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.

[0106] The above are only the preferred embodiments of this utility model and are not used to limit this utility model. For those skilled in the art, this utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this utility model shall be included within the protection scope of this utility model.

Claims

1. A joint structure, characterized in that, The joint structure is for a robot, and the joint structure includes: A base; A wire harness assembly disposed on the base; A protective member disposed on the base, the protective member includes at least two protective parts, at least two of the protective parts are detachably connected, and based on the connection of at least two of the protective parts, at least two of the protective parts enclose to form a protective channel, and the wire harness assembly passes through the protective channel.

2. The joint structure according to claim 1, characterized in that, At least two of the protective parts include a first protective part and a second protective part; The first protective part is provided with a first mating part, the second protective part is provided with a second mating part, and the second mating part can be mated and connected or separated from the first mating part.

3. The joint structure according to claim 2, characterized in that, One of the first mating part and the second mating part includes a protrusion, and the other includes a slot, and the protrusion can be inserted into or removed from the slot.

4. The joint structure according to any one of claims 1 to 3, characterized in that, The base is provided with a first connecting part, and the protective member further includes: A second connecting part disposed on a side of at least one of the protective parts facing away from the protective channel, and the second connecting part can be mated and connected or separated from the first connecting part.

5. The joint structure according to claim 4, characterized in that, One of the first connecting part and the second connecting part is a buckle, and the other is a card slot, and the buckle can be inserted into or removed from the card slot.

6. The joint structure according to any one of claims 1 to 3, characterized in that, At least one of the protective parts includes a protective wall, and the protective wall is located inside the protective channel; Wherein, at least a part of the protective wall is configured as an arc wall.

7. The joint structure according to any one of claims 1 to 3, characterized in that, The protective member further includes: A limiting part disposed on a side of at least one of the protective parts facing away from the protective channel, and along the axial direction of the protective channel, the limiting part abuts against the base.

8. The joint structure according to claim 7, wherein A part of at least one of the protective parts is bent towards a side facing away from the protective channel to form the limiting part.

9. The joint structure according to any one of claims 1 to 3, characterized in that, The base is further provided with a wire passing hole, the wire passing hole is communicated with the protective channel, and the wire harness assembly passes through the protective channel and the wire passing hole respectively.

10. The joint structure according to claim 9, wherein, A part of the protective member extends into the wire passing hole.

11. The joint structure according to any one of claims 1 to 3, wherein The protective member includes a plastic part; and / or The base includes a metal base.

12. A robot, characterized in that, Including the joint structure according to any one of claims 1 to 11.

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