Robot

Abstract

The utility model discloses a robot. The robot comprises a first joint, a second joint, a connecting arm, a first wire harness and a second wire harness. The connecting arm is connected with the first joint and the second joint, and one of the first joint and the second joint can drive the other to rotate by driving the connecting arm; one end of the first wire harness is electrically connected with the first joint, and the other end is provided with a first joint; one end of the second wire harness is electrically connected with the second joint, and the other end is provided with a second joint which is detachably connected with the first joint; wherein one or more of the first joint, the second joint and the connecting arm are provided with mounting parts, and the first connector and / or the second connector are / is matched with the mounting parts in an inserted mode. The robot is convenient to disassemble and assemble, and the risk that the first wire harness and the second wire harness are broken in the disassembling and assembling process can be reduced. After the first connector and the second connector are in butt joint, the first connector and / or the second connector are / is contained in the installation part, so that the risk that the first connector and the second connector are / is disengaged is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and in particular to a robot. Background Art

[0002] In order to achieve multi-degree-of-freedom rotation, a robot generally includes a plurality of joints connected in sequence, and the joints are generally electrically connected through a wiring harness. In the related art, the two ends of the wiring harness are respectively welded to the pads at two adjacent joints. During the installation of the robot, if the two adjacent joints are first connected through a connecting arm and then the wiring harness is welded to the pad, the connecting arm will block the pad, causing a certain obstruction to the process of welding the wiring harness to the pad. If the two ends of the wiring harness are first welded to the pads of the two joints and then the two joints are connected through a connecting arm, the wiring harness is easily torn off during the installation process of the joints and the connecting arm. Accordingly, if the two joints need to be disassembled for maintenance, the wiring harness is also difficult to detach from the pad, affecting the disassembly of the joints. Therefore, the robot in the related art is not convenient for disassembly and assembly. Utility Model Content

[0003] The present application aims to solve at least one of the technical problems in the prior art. To this end, the present application proposes a robot that can be easily assembled and disassembled.

[0004] According to an embodiment of the present application, the robot includes: a first joint, a second joint, a connecting arm, a first wiring harness, and a second wiring harness. The connecting arm connects the first joint and the second joint, and one of the first joint and the second joint can drive the other to rotate by driving the connecting arm; one end of the first wiring harness is electrically connected to the first joint, and the other end is provided with a first connector; one end of the second wiring harness is electrically connected to the second joint, and the other end is provided with a second connector, and the second connector is detachably connected to the first connector; wherein, one or more of the first joint, the second joint, and the connecting arm are provided with a mounting portion, and the first connector and / or the second connector are accommodated in the mounting portion.

[0005] According to the robot of the embodiment of the present application, there are at least the following beneficial effects: the first wiring harness is pre-assembled with the first joint and the second wiring harness is pre-assembled with the second joint to form two modules. During the process of connecting the first joint and the second joint, there is no risk of the first wiring harness and the second wiring harness being broken. After the connecting arm is connected to the first joint and the second joint, the first connector and the second connector are connected to make the first wiring harness and the second wiring harness conductive, so that the first joint and the second joint are electrically connected. Accordingly, during the disassembly of the first joint and the second joint, the first connector and the second connector can be detached first and then the first joint and the second joint, reducing the risk of the first wiring harness and the second wiring harness being broken. Moreover, after the connecting arm is detached to separate the first joint and the second joint, the first wiring harness and the first joint can be separated and the second wiring harness and the second joint can be separated. Thus, the robot of the present application is easy to disassemble and can reduce the risk of the first wiring harness and the second wiring harness being broken during the disassembly and assembly process. Moreover, after the first connector and the second connector are docked, the first connector and / or the second connector are placed in the mounting portion so that the positions of both ends of the first wiring harness and the second wiring harness are relatively stable, reducing the swing amplitude of the first wiring harness and the second wiring harness, and reducing the risk of the first connector and the second connector being detached.

[0006] According to some embodiments of the present application, the first connector and the second connector are both accommodated in the mounting portion.

[0007] According to some embodiments of the present application, the connecting arm is provided with the mounting portion.

[0008] According to some embodiments of the present application, a wiring channel is formed inside the connecting arm, the wiring channel is communicated with the mounting portion, and at least a portion of the first wiring harness and at least a portion of the second wiring harness are located in the wiring channel.

[0009] According to some embodiments of the present application, the connecting arm includes a shell and a structural rod, the structural rod or the shell opens the mounting portion, the structural rod connects the first joint and the second joint, the shell is arranged on the outside of the structural rod, and the wiring channel is formed between the shell and the structural rod or the wiring channel is formed inside the structural rod.

[0010] According to some embodiments of the present application, the interior of the structural rod is hollowed to form the mounting portion, and the wiring channel is formed between the outer wall of the structural rod and the inner wall of the outer shell.

[0011] According to some embodiments of the present application, the structural rod includes a rod body, a first connecting part and a second connecting part. The interior of the rod body is hollowed to form the mounting part. The first connecting part and the second connecting part are respectively connected to the two ends of the rod body. The first connecting part is connected to the first joint. The first connecting part is provided with a first wire threading hole. The first wire threading hole corresponds to the wiring part of the first joint. One end of the first wiring harness is passed through the first wire threading hole to be connected to the wiring part of the first joint; the second connecting part is connected to the second joint. The second connecting part is provided with a second wire threading hole. The second wire threading hole corresponds to the wiring part of the second joint. One end of the second wiring harness is passed through the second wire threading hole to be connected to the wiring part of the second joint.

[0012] According to some embodiments of the present application, the first connecting portion is formed with a first wire groove, the first wire groove is connected to the first wire threading hole, and the first wire harness is passed through the first wire groove; the first connecting portion is formed with a second wire groove, the second wire groove is connected to the second wire threading hole, and the second wire harness is passed through the first wire groove.

[0013] According to some embodiments of the present application, the first connecting portion is provided with a detachably connected first wire cover corresponding to the first wire trough, and the first wire harness passes between the first wire cover and the trough wall of the first wire trough; the second connecting portion is provided with a detachably connected second wire cover corresponding to the second wire trough, and the second wire harness passes between the second wire cover and the trough wall of the second wire trough.

[0014] According to some embodiments of the present application, the first wiring harness and the first joint are detachably connected, and the second wiring harness and the second joint are detachably connected.

[0015] According to some embodiments of the present application, the mounting portion is a mounting chamber or a mounting slot. If the mounting portion is a mounting chamber, the mounting portion accommodates the first connector and the second connector; if the mounting portion is a mounting slot, the mounting slot is plugged into and fits with the first connector and the second connector.

[0016] According to some embodiments of the present application, at least a portion of the first wiring harness and at least a portion of the second wiring harness are housed in the mounting portion.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present application is further described below with reference to the accompanying drawings and embodiments, wherein:

[0019] Figure 1This is a schematic structural diagram of a robot according to an embodiment of the present application;

[0020] Figure 2 for Figure 1 Schematic diagram of the robot's structure after the shell is hidden;

[0021] Figure 3 for Figure 1 a cross-sectional view of the middle connecting arm;

[0022] Figure 4 This is an exploded view of the robot according to an embodiment of the present application.

[0023] Reference numerals:

[0024] First joint 100;

[0025] Second joint 200;

[0026] Connecting arm 300, mounting portion 310, wiring channel 320, housing 330; structural rod 340, rod body 341, first connecting portion 342, first threading hole 3421, first wire groove 3422, first wire cover 3423; second connecting portion 343, second threading hole 3431, second wire groove 3432, second wire cover 3433;

[0027] A first wiring harness 400 and a first connector 410;

[0028] Second wiring harness 500 and second connector 510 . DETAILED DESCRIPTION

[0029] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0030] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0031] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0032] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0033] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. 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 any appropriate manner in any one or more embodiments or examples.

[0034] Reference Figure 1 、 Figure 2 and Figure 4 According to an embodiment of the present application, the robot includes: a first joint 100, a second joint 200, a connecting arm 300, a first wiring harness 400, and a second wiring harness 500. The connecting arm 300 connects the first joint 100 and the second joint 200, and one of the first joint 100 and the second joint 200 can drive the other to rotate by driving the connecting arm 300; one end of the first wiring harness 400 is electrically connected to the first joint 100, and the other end is provided with a first connector 410; one end of the second wiring harness 500 is electrically connected to the second joint 200, and the other end is provided with a second connector 510, and the second connector 510 is detachably connected to the first connector 410; wherein, one or more of the first joint 100, the second joint 200, and the connecting arm 300 are provided with a mounting portion 310, and the first connector 410 and / or the second connector 510 are accommodated in the mounting portion 310.

[0035] It is understandable that one of the first joint 100 and the second joint 200 can drive the other to rotate via the connecting arm 300. For example, in this embodiment, the first joint 100 includes a first motor, which is connected to the second joint 200 via the connecting arm 300. The first motor drives the connecting arm 300 to swing around the axis of the first motor, thereby driving the second joint 200 to rotate around the axis of the first motor. In other embodiments, the second joint 200 can also include a second motor, which is connected to the first joint 100 via the connecting arm 300, and the second motor drives the first joint 100 to rotate around the axis of the second motor via the connecting arm 300.

[0036] It is understood that one end of the first wiring harness 400 is electrically connected to the first joint 100, and one end of the second wiring harness 500 is electrically connected to the second joint 200. For example, one end of the first wiring harness 400 is welded or plugged into the circuit board of the first joint 100, and one end of the second wiring harness 500 is welded or plugged into the circuit board of the second joint 200. After the first connector 410 and the second connector 510 are connected, the first wiring harness 400 and the second wiring harness 500 are electrically connected, thereby achieving electrical connection between the first joint 100 and the second joint 200 through the connection of the first wiring harness 400 and the second wiring harness 500.

[0037] It should be understood that during the installation process of the first joint 100 and the second joint 200, one end of the first wiring harness 400 can be connected to the first joint 100 and one end of the second wiring harness 500 can be connected to the second joint 200, so that the first wiring harness 400 and the first joint 100, the second wiring harness 500 and the second joint 200 form two separate modules. When it is necessary to connect the first joint 100 and the second joint 200, the first joint 100 and the second joint 200 are connected through the connecting arm 300. Since the first wiring harness 400 and the second wiring harness 500 are separated at this time, there is no risk of breakage during the installation process. After the connecting arm 300 is connected to the first joint 100 and the second joint 200, since one end of the first wiring harness 400 and one end of the second wiring harness 500 have been pre-installed with the first joint 100 and the second joint 200 respectively, it is only necessary to connect the first connector 410 on the other end of the first wiring harness 400 and the second connector 510 on the other end of the second wiring harness 500. Accordingly, when one or both of the first joint 100 and the second joint 200 need to be repaired or replaced and the first joint 100 and the second joint 200 need to be detached, the first connector 410 and the second connector 510 can be detached first, so that the end of the first wiring harness 400 with the first connector 410 and the end of the second wiring harness 500 with the second connector 510 are free ends, and the first wiring harness 400 and the second wiring harness 500 are not easily pulled, so that the first wiring harness 400 and the second wiring harness 500 are not easily torn apart during the detachment of the first joint 100 and the second joint 200; and after separating the first connector 410 and the second connector 510, the connecting arm 300 can be detached to separate the first joint 100 and the second joint 200. After the first joint 100 and the second joint 200 are separated, it is convenient to separate the first wiring harness 400 from the first joint 100, and it is convenient to separate the second wiring harness 500 from the second joint 200.

[0038] In summary, the first wiring harness 400 is pre-installed with the first joint 100, and the second wiring harness 500 is pre-installed with the second joint 200 to form two modules. During the process of connecting the first joint 100 and the second joint 200 by the connecting arm 300, there is no risk of breakage between the first wiring harness 400 and the second wiring harness 500. After the connecting arm 300 connects the first joint 100 and the second joint 200, connecting the first connector 410 and the second connector 510 can make the first wiring harness 400 and the second wiring harness 500 conductive, so that the first joint 100 and the second joint 200 are electrically connected, so as to facilitate the installation of the first joint 100 and the second joint 200. Accordingly, during the disassembly of the first joint 100 and the second joint 200, the first connector 410 and the second connector 510 can be separated first, and then the first joint 100 and the second joint 200 can be separated, thereby reducing the risk of breaking the first wire harness 400 and the second wire harness 500. Moreover, after the first joint 100 and the second joint 200 are separated by detaching the connecting arm 300, the first wire harness 400 and the first joint 100 can be separated, and the second wire harness 500 and the second joint 200 can be separated. As a result, the robot of the present application is easy to disassemble and assemble, and the risk of breaking the first wire harness 400 and the second wire harness 500 during the disassembly and assembly process can be reduced.

[0039] It should be understood that by opening a mounting portion 310 on one or more of the first joint 100, the second joint 200 and the connecting arm 300, the first connector 410 and / or the second connector 510 are accommodated by the mounting portion 310, so that after the first connector 410 and the second connector 510 are docked, the first connector 410 and / or the second connector 510 are placed in the mounting portion 310, so that the positions of both ends of the first wiring harness 400 and the second wiring harness 500 are relatively stable, and the swing amplitude of the first wiring harness 400 and the second wiring harness 500 is reduced, so as to reduce the risk of the first connector 410 and the second connector 510 being detached. Specifically, regarding the specific form of the first connector 410 and / or the second connector 510 being housed in the mounting portion 310, in some embodiments, the first connector 410 and / or the second connector 510 are simply placed in the mounting portion 310, with a certain amount of movement within the mounting portion 310; in other embodiments, the first connector 410 and / or the second connector 510 are plugged into the mounting portion 310 to relatively fix the first connector 410 and / or the second connector 510. It should be understood that as long as the first connector 410 and / or the second connector 510 can be confined within a certain range, this is not a limitation herein.

[0040] Regarding the specific form of cooperation between the first joint 410 and the second joint 510 and the mounting portion 310:

[0041] In this embodiment, referring to Figure 2 and Figure 4, the first connector 410 and the second connector 510 are both accommodated in the mounting portion 310. It is understandable that after the first connector 410 and the second connector 510 are docked, they are accommodated in the mounting portion 310 together.

[0042] In some other embodiments, a protrusion may be formed on the outer side of the first connector 410 or the outer side of the second connector 510. After the first connector 410 and the second connector 510 are docked, the protrusion is accommodated in the mounting portion 310, and the first connector 410 or the second connector 510 is accommodated in the mounting portion 310 to limit the first connector 410 or the second connector 510 by the mounting portion 310.

[0043] Regarding the location of the installation portion 310:

[0044] In this embodiment, referring to Figure 2 and Figure 4 The connecting arm 300 is provided with a mounting portion 310. It is understood that providing the mounting portion 310 on the connecting arm 300 can prevent the first wiring harness 400 or the second wiring harness 500 from being too long, and can ensure that the end of the first wiring harness 400 provided with the first connector 410 passes through the first joint 100, and the end of the second wiring harness 500 provided with the second connector 510 passes through the second joint 200, so as to facilitate the connection between the first connector 410 and the second connector 510.

[0045] In some other embodiments, the mounting portion 310 may also be disposed in the first joint 100 or the second joint 200 .

[0046] In some other embodiments, a mounting portion 310 may be provided on the first joint 100, the second joint 200 and the connecting arm 300, and a suitable mounting portion 310 may be selected for placement according to the actual length of the first wiring harness 400 and the second wiring harness 500. Alternatively, in the process of connecting the connecting arm 300 to the first joint 100 and the second joint 200, the first connector 410 and the second connector 510 may be respectively placed in the mounting portion 310 of the first joint 100 and the mounting portion 310 of the second joint 200 to protect the first connector 410 and the second connector 510. After the connecting arm 300 is connected to the first joint 100 and the second joint 200, the first connector 410 and the second connector 510 are docked and the first connector 410 and the second connector 510 are inserted together into the mounting portion 310 of the connecting arm 300.

[0047] In order to protect the first and second wire harnesses 400 and 500, refer to Figure 2 A wiring channel 320 is formed inside the connecting arm 300 , and an inner wall of the wiring channel 320 forms a mounting portion 310 . At least a portion of the first wiring harness 400 and at least a portion of the second wiring harness 500 are located in the wiring channel 320 .

[0048] It can be understood that the first wiring harness 400 can be inserted into the wiring channel 320 of the connecting arm 300 after passing through the first joint 100, and the second wiring harness 500 can be inserted into the wiring channel 320 of the connecting arm 300 after passing through the second joint 200, and the first connector 410 and the second connector 510 are connected in the wiring channel 320, so that the first wiring harness 400 and the second wiring harness 500 are routed internally to reduce the exposure of the first wiring harness 400 and the second wiring harness 500, so as to reduce interference with the movement of the robot.

[0049] Regarding the configuration of the wiring channel 320, refer to Figure 1 、 Figure 2 and Figure 4 The connecting arm 300 includes a shell 330 and a structural rod 340. The structural rod 340 or the shell 330 opens a mounting portion 310. The structural rod 340 connects the first joint 100 and the second joint 200. The shell 330 is arranged on the outside of the structural rod 340. A wiring channel 320 is formed between the shell 330 and the structural rod 340, or a wiring channel 320 is formed inside the structural rod 340.

[0050] It can be understood that the wiring channel 320 can be formed between the shell 330 and the structural rod 340 to facilitate the installation of the first wiring harness 400 and the second wiring harness 500, or it can be set inside the structural rod 340 to reduce the weight of the structural rod 340 while passing the first wiring harness 400 and the second wiring harness 500.

[0051] It is understandable that, in this embodiment, referring to Figure 2 and Figure 4 The mounting portion 310 is provided on the structural rod 340. During the installation of the connecting arm 300, the structural rod 340 is first connected to the first joint 100 and the second joint 200 to facilitate the docking of the first joint 410 and the second joint 510, and to facilitate the placement of the first joint 410 and the second joint 510 on the mounting portion 310. After the docking of the first joint 410 and the second joint 510 is completed, the housing 330 is installed. In other embodiments, the mounting portion 310 may also be provided on the inner wall of the housing 330.

[0052] Specifically, in this embodiment, referring to Figure 2 and Figure 3 The interior of the structural rod 340 is hollow to form a mounting portion 310 , and a wiring channel 320 is formed between the outer wall of the structural rod 340 and the inner wall of the shell 330 .

[0053] It will be appreciated that the interior of the structural rod 340 is hollow, forming a mounting portion 310 within the structural rod 340. Specifically, the mounting portion 310 is a chamber within the structural rod 340, thereby reducing the weight of the connecting arm 300. Furthermore, a wiring channel 320 is formed between the housing 330 and the structural rod 340 to further reduce the weight of the connecting arm 300. Furthermore, the first and second wiring harnesses 400 and 500 pass between the inner wall of the housing 330 and the structural rod 340, preventing them from leaking out of the housing 330. This reduces interference with the robot's movement and the risk of them breaking due to exposure. Furthermore, the wiring channel 320 limits the swing range of the first and second wiring harnesses 400 and 500, reducing the risk of the first and second connectors 410 and 510 becoming detached.

[0054] In some other embodiments, a wiring channel 320 may be formed inside the structural rod 340 , and the first wiring harness 400 and the second wiring harness 500 pass through the wiring channel 320 inside the structural rod 340 .

[0055] In some other embodiments, the structural rod 340 may be solid to improve the structural strength of the connecting arm 300 , and a wiring channel 320 may be formed between the structural rod 340 and the housing 330 .

[0056] In order to reduce the influence of the relative rotation between the first joint 100 and the second joint 200 on the first harness 400 and the second harness 500, Figure 2 and Figure 4 The structural rod 340 includes a rod body 341, a first connecting part 342 and a second connecting part 343. The interior of the rod body 341 is hollow to form a mounting part 310. The first connecting part 342 and the second connecting part 343 are respectively connected to the two ends of the rod body 341. The first connecting part 342 is connected to the first joint 100. The first connecting part 342 is provided with a first threading hole 3421. The first threading hole 3421 corresponds to the wiring part of the first joint 100. One end of the first wiring harness 400 is passed through the first threading hole 3421 to be connected to the wiring part of the first joint 100; the second connecting part 343 is connected to the second joint 200. The second connecting part 343 is provided with a second threading hole 3431. The second threading hole 3431 corresponds to the wiring part of the second joint 200. One end of the second wiring harness 500 is passed through the second threading hole 3431 to be connected to the wiring part of the second joint 200.

[0057] It is understood that the first connecting portion 342 is connected to the first joint 100, and the second connecting portion 343 is connected to the second joint 200, so that the rod 341 connects the first joint 100 and the second joint 200. The first threading hole 3421 on the first connecting portion 342 corresponds to the wiring portion of the first joint 100. After one end of the first wire harness 400 is connected to the wiring portion of the first joint 100, it can pass through the first threading hole 3421. The first threading hole 3421 serves to limit and guide the first wire harness 400, thereby reducing the swing of the first wire harness 400. Specifically, the first joint 100 and the second joint 200 can rotate relative to each other, and the second joint 200 can rotate around the axis of the first joint 100. The axis of the first threading hole 3421 is aligned with the axis of the first joint 100, so as to further reduce the impact of the relative rotation of the first joint 100 and the second joint 200 on the first wire harness 400.

[0058] Similarly, the second threading hole 3431 on the second connecting portion 343 corresponds to the connection portion of the second joint 200. After one end of the second wire harness 500 is connected to the connection portion of the second joint 200, it can pass through the second threading hole 3431. This second threading hole 3431 serves to limit and guide the second wire harness 500, thereby reducing the swing of the second wire harness 500. Specifically, the first joint 100 and the second joint 200 can swing relative to each other, and the first joint 100 can swing about the axis of the second joint 200. The axis of the second threading hole 3431 is aligned with the axis of the second joint 200, thereby further reducing the impact of the relative rotation of the first joint 100 and the second joint 200 on the second wire harness 500.

[0059] Specifically, the connection portion of the first joint 100 is the circuit board of the first joint 100 , and the connection portion of the second joint 200 is the circuit board of the second joint 200 .

[0060] In order to further limit the first harness 400 and the second harness 500, refer to Figure 2 and Figure 4 The first connecting portion 342 is formed with a first wire groove 3422, the first wire groove 3422 is communicated with the first wire threading hole 3421, and the first wire harness 400 is passed through the first wire groove 3422; the first connecting portion 342 is formed with a second wire groove 3432, the second wire groove 3432 is communicated with the second wire threading hole 3431, and the second wire harness 500 is passed through the first wire groove 3422.

[0061] It is understood that after passing through the first threading hole 3421, the first wire harness 400 can pass through the first wire groove 3422, further restraining the first wire harness 400. Similarly, after passing through the second threading hole 3431, the second wire harness 500 can pass through the second wire groove 3432, further restraining the second wire harness 500. This further enhances the restraining effect of the first wire harness 400 and the second wire harness 500, thereby improving the connection stability between the first wire harness 400 and the first joint 100, and between the second wire harness 500 and the second joint 200.

[0062] Specifically, refer to Figure 2 and Figure 4 The first wire groove 3422 is connected to the side wall of the first wire hole 3421, and the extension direction of the first wire groove 3422 intersects with the extension direction of the first wire hole 3421. This changes the routing direction of the first wire harness 400, causing the first wire harness 400 to extend toward the second joint 200. The first wire harness 400 will bend after entering the first wire hole 3421 from the first wire groove 3422. Similarly, the second wire groove 3432 is connected to the side wall of the second wire hole 3431, and the extension direction of the second wire groove 3432 intersects with the extension direction of the second wire hole 3431. This changes the routing direction of the second wire harness 500, causing the second wire harness 500 to extend toward the second joint 200. The second wire harness 500 will bend after entering the second wire hole 3431 from the second wire groove 3432.

[0063] In order to further limit the first harness 400 and the second harness 500, refer to Figure 2 and Figure 4 The first connecting part 342 corresponds to the first wire groove 3422 and is provided with a detachably connected first wire cover 3423, and the first wire harness 400 passes between the first wire cover 3423 and the groove wall of the first wire groove 3422; the second connecting part 343 corresponds to the second wire groove 3432 and is provided with a detachably connected second wire cover 3433, and the second wire harness 500 passes between the second wire cover 3433 and the groove wall of the second wire groove 3432.

[0064] It is understood that the first wire cover 3423 cooperates with the groove wall of the first wire groove 3422 to confine the first wire harness 400 within the first wire groove 3422, thereby improving the position-limiting effect on the first wire harness 400. The first wire cover 3423 is detachably connected to the first connecting portion 342, thereby facilitating the assembly and disassembly of the first wire harness 400. Similarly, the second wire cover 3433 cooperates with the groove wall of the second wire groove 3432 to confine the second wire harness 500 within the second wire groove 3432, thereby improving the position-limiting effect on the second wire harness 500. The second wire cover 3433 is detachably connected to the second connecting portion 343, thereby facilitating the assembly and disassembly of the second wire harness 500.

[0065] Regarding the connection method between the first wiring harness 400 and the first joint 100:

[0066] In some embodiments, the first wiring harness 400 and the first joint 100 are detachably connected, and the second wiring harness 500 and the second joint 200 are detachably connected, to facilitate assembly and disassembly between the first wiring harness 400 and the first joint 100, and between the second wiring harness 500 and the second joint 200. For example, interfaces are provided on the first motor of the first joint 100 and the second motor of the second joint 200, and plugs are provided at the ends of the first wiring harness 400 connected to the first joint 100 and the second wiring harness 500 connected to the second joint 200, which mate with the interfaces.

[0067] In some embodiments, the first wire harness 400 is welded to the first joint 100 , and the second wire harness 500 is welded to the second joint 200 . For example, the first wire harness 400 is welded to the circuit board of the first motor, and the second wire harness 500 is welded to the circuit board of the second motor.

[0068] Regarding the specific form of the mounting portion 310: the mounting portion 310 is a mounting chamber or a mounting slot. If the mounting portion 310 is a mounting chamber, the mounting portion 310 accommodates the first connector 410 and the second connector 510; if the mounting portion 310 is a mounting slot, the mounting slot is plugged into the first connector 410 and the second connector 510.

[0069] In this embodiment, referring to Figure 2 and Figure 4 The mounting portion 310 is a mounting chamber, and the first connector 410 and the second connector 510 are both accommodated within the mounting chamber. Specifically, the interior of the structural rod 340 is hollowed to form a mounting chamber within the structural rod 340. A wiring channel 320 is formed between the structural rod 340 and the housing 330. The first and second wiring harnesses 400 and 500 pass through the wiring channel 320 and then into the mounting chamber, allowing the first and second connectors 410 and 510 to be placed within the mounting chamber.

[0070] In some other embodiments, the mounting portion 310 is a mounting slot, into which the first connector 410 and the second connector 510 are inserted. Specifically, the mounting slot is formed on a side of the structural rod 340 near the housing 330, and a wiring channel 320 is formed between the structural rod 340 and the housing 330. The first wire harness 400 and the second wire harness 500 pass through the wiring channel 320, and then the first connector 410 and the second connector 510 are inserted into the mounting slot to secure the first connector 410 and the second connector 510 within the mounting slot.

[0071] It should be understood that the mounting portion 310 can be formed by hollowing out the interior of the structural rod 340, or after the interior of the structural rod 340 is hollowed out, a protrusion is provided on the inner wall of the structural rod 340, and the protrusion forms the mounting portion 310. Similarly, if the mounting portion 310 is formed on the outer wall of the structural rod 340 or the inner wall of the housing 330, a protrusion can also be formed on the outer wall of the structural rod 340 or the inner wall of the housing 330, and the protrusion forms the mounting portion 310, so as to accommodate the first connector 410 and the second connector 510 through the protrusion.

[0072] It should be noted that, in order to facilitate the docking of the first wire harness 400 and the second wire harness 500, the first wire harness 400 and the second wire harness 500 have a certain length. After the first connector 410 and the second connector 510 are docked, the first wire harness 400 and the second wire harness 500 have a certain surplus. In order to reduce the swing of the first wire harness 400 and the second wire harness 500, in this embodiment, the first wire harness 400 and the second wire harness 500 are connected. Figure 4 , at least a portion of the first wire harness 400 and at least a portion of the second wire harness 500 are accommodated in the mounting portion 310 .

[0073] It can be understood that the mounting portion 310 can accommodate part of the first wiring harness 400 and part of the second wiring harness 500, and the surplus part of the first wiring harness 400 and the second wiring harness 500 is fixed or accommodated by the mounting portion 310 to reduce the swing amplitude of the first wiring harness 400 and the second wiring harness 500 during the swing of the connecting arm 300.

[0074] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. A robot, characterized in that include: First joint; Second joint; a connecting arm connecting the first joint and the second joint, wherein one of the first joint and the second joint can drive the other to rotate by driving the connecting arm; a first wiring harness, wherein one end of the first wiring harness is electrically connected to the first joint and the other end of the first wiring harness is provided with a first connector; a second wiring harness, one end of the second wiring harness being electrically connected to the second joint, and the other end of the second wiring harness being provided with a second connector, the second connector being detachably connected to the first connector; Wherein, one or more of the first joint, the second joint and the connecting arm is provided with a mounting portion, and the first joint and / or the second joint is accommodated in the mounting portion.

2. The robot according to claim 1, characterized in that The first connector and the second connector are both accommodated in the mounting portion.

3. The robot according to claim 1, characterized in that The connecting arm is provided with the mounting portion.

4. The robot according to claim 3, characterized in that A wiring channel is formed inside the connecting arm, the wiring channel is communicated with the mounting portion, and at least a portion of the first wiring harness and at least a portion of the second wiring harness are located in the wiring channel.

5. The robot according to claim 4, characterized in that The connecting arm includes a shell and a structural rod, the structural rod or the shell is provided with the mounting portion, the structural rod connects the first joint and the second joint, the shell is arranged on the outside of the structural rod, and the wiring channel is formed between the shell and the structural rod or inside the structural rod.

6. The robot according to claim 5, characterized in that The interior of the structural rod is hollow to form the mounting portion, and the wiring channel is formed between the outer wall of the structural rod and the inner wall of the shell.

7. The robot according to claim 5, characterized in that The structural rod includes a rod body, a first connecting part and a second connecting part, the interior of the rod body is hollow to form the mounting part, the first connecting part and the second connecting part are respectively connected to the two ends of the rod body, the first connecting part is connected to the first joint, the first connecting part is provided with a first wire threading hole, the first wire threading hole corresponds to the wiring part of the first joint, one end of the first wiring harness is passed through the first wire threading hole to be connected to the wiring part of the first joint; the second connecting part is connected to the second joint, the second connecting part is provided with a second wire threading hole, the second wire threading hole corresponds to the wiring part of the second joint, one end of the second wiring harness is passed through the second wire threading hole to be connected to the wiring part of the second joint; the first connecting part is formed with a first wire groove, the first wire groove is connected with the first wire threading hole, and the first wire harness is passed through the first wire groove; the first connecting part is formed with a second wire groove, the second wire groove is connected with the second wire threading hole, and the second wire harness is passed through the first wire groove.

8. The robot according to claim 7, characterized in that The first connecting portion is provided with a detachably connected first wire cover corresponding to the first wire trough, and the first wire harness passes between the first wire cover and the trough wall of the first wire trough; the second connecting portion is provided with a detachably connected second wire cover corresponding to the second wire trough, and the second wire harness passes between the second wire cover and the trough wall of the second wire trough.

9. The robot according to any one of claims 1 to 8, characterized in that The mounting portion is a mounting chamber or a mounting slot. If the mounting portion is a mounting chamber, the mounting portion accommodates the first connector and the second connector; if the mounting portion is a mounting slot, the mounting slot is plugged into and fits with the first connector and the second connector.

10. The robot according to any one of claims 1 to 8, characterized in that The first wire harness and the second wire harness are at least partially housed in the mounting portion.

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