Robot

Abstract

The utility model discloses a robot, and belongs to the technical field of robot cable arrangement. The disclosed robot comprises a base and a first joint, wherein the first joint is rotatably arranged on the base around a first axis; one end of the first arm body is rotatably arranged at the first joint around a second axis, and the second joint is rotatably arranged at the other end of the first arm body around a third axis; the second arm body is rotatably arranged on the second joint around a fourth axis, every two of the fourth axis, the first axis and the second axis intersect, and the second axis is parallel to the third axis; the cable is arranged on the outer wall of the first arm body, the first end of the cable penetrates through the inner cavity of the first joint and extends into the inner cavity of the base, and the second end of the cable penetrates through the inner cavity of the second joint and extends into the inner cavity of the second arm body. The cable of the robot is low in disassembly and assembly difficulty, so that the robot is convenient to use.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robot cable arrangement, and particularly relates to a robot. BACKGROUND

[0002] The joint positions of the robot inevitably use driving members, such as motors. In order to supply power to the driving members and transmit control signals to the driving members, the robot is usually equipped with a cable, and each driving member is electrically connected to the cable to control the actions of each joint of the robot.

[0003] However, in the related art, in order to be aesthetically pleasing, the cable is usually entirely arranged inside the robot. Although this design makes the appearance of the robot relatively neat, it increases the disassembly difficulty of the cable, thereby causing poor use convenience of the robot. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the application is to provide a robot, which can solve the problem of poor use convenience of the robot in the related art.

[0005] The embodiment of the application provides a robot, which comprises a base and a first joint, wherein the first joint is rotatably arranged on the base around a first axis;

[0006] a first arm body and a second joint, wherein one end of the first arm body is rotatably arranged on the first joint around a second axis, and the second joint is rotatably arranged on the other end of the first arm body around a third axis;

[0007] a second arm body, wherein the second arm body is rotatably arranged on the second joint around a fourth axis, the fourth axis, the first axis and the second axis intersect with each other in pairs, and the second axis is parallel to the third axis;

[0008] a cable, wherein the cable is arranged on the outer wall of the first arm body, a first end of the cable passes through the inner cavity of the first joint and extends into the inner cavity of the base, a second end of the cable passes through the inner cavity of the second joint and extends into the inner cavity of the second arm body, and the first end of the cable and the second end of the cable are two ends in the length direction of the cable.

[0009] In the embodiment of the present application, the cable is arranged on the outer wall of the first arm body, the first end of the cable passes through the inner cavity of the first joint and extends into the inner cavity of the base, and the second end of the cable passes through the inner cavity of the second joint and extends into the inner cavity of the second arm body. That is, the part of the cable corresponding to the first arm body is located outside the robot, so that the length of the cable arranged inside the robot is shortened, thereby reducing the disassembly difficulty of the cable, and further making the use of the robot more convenient. Moreover, the space in the first arm body is small, and if the part of the cable corresponding to the first arm body is arranged in the first arm body, the probability of friction between the cable and the first arm body is high, and in the embodiment of the present application, the part of the cable corresponding to the first arm body is located outside the robot, so that the probability of friction between the cable and the first arm body is lower, thereby prolonging the service life of the cable.

[0010] Optionally, the cable is arranged on at least one of the inner wall of the base, the outer wall of the first joint, the outer wall of the second joint and the inner wall of the second arm body. In this way, more positions of the cable are fixed, so that the stability of the cable is better. In addition, in this way, the cable shakes less during the operation of the robot, so that the probability of friction between the cable and other parts of the robot is lower, thereby prolonging the service life of the cable itself and other parts of the robot.

[0011] Optionally, at least one of the inner wall of the base, the outer wall of the first joint, the outer wall of the first arm body, the outer wall of the second joint and the inner wall of the second arm body is provided with a first mounting member, and the cable is arranged through the first mounting member, so that there is a first gap between at least one of the inner wall of the base, the outer wall of the first joint, the outer wall of the first arm body, the outer wall of the second joint and the inner wall of the second arm body and the cable. In this way, due to the existence of the first gap, the friction between the cable and the base, the first joint, the first arm body, the second joint and the second arm body is reduced, thereby prolonging the service life of the cable, the base, the first joint, the first arm body, the second joint and the second arm body.

[0012] Optionally, the inner wall of the second arm body is provided with a second mounting member, and the second end of the cable is arranged through the second mounting member, so that there is a second gap between the inner wall of the second arm body and the second end of the cable. In this way, due to the existence of the second gap, the friction between the second end of the cable and the second arm body is reduced, thereby prolonging the service life of the cable and the second arm body.

[0013] Optionally, when the first mounting member and the second mounting member are arranged on the inner wall of the second arm body, the first mounting member and the second mounting member are arranged at intervals along the length direction of the second arm body. In this way, the part of the cable in the inner cavity of the second arm body is fixed at at least two positions, so that the stability of the cable is better, and the friction between the cable and the inner wall of the second arm body is less.

[0014] Optionally, the first arm body is provided with at least two first mounting members, and each first mounting member arranged on the first arm body is arranged at intervals along the length direction of the first arm body. In this way, the first arm body routes the cable through at least two first mounting members, so that the stability of the cable is better.

[0015] Optionally, the outer wall of the second joint is provided with at least two first mounting members, and each first mounting member arranged on the outer wall of the second joint is arranged at intervals along the length direction of the cable. In this way, the outer wall of the second joint routes the cable through at least two first mounting members, so that the stability of the cable is better.

[0016] Optionally, each first mounting member is detachably connected with a fixing member, and the fixing member and the first mounting member jointly clamp the cable to route the cable on at least one of the inner wall of the base, the outer wall of the first joint, the outer wall of the first arm body, the outer wall of the second joint, and the inner wall of the second arm body. In this way, the fixing member can be conveniently detached from the first mounting member, so that the cable is conveniently detached.

[0017] Optionally, the robot further comprises a flexible band connected with the second mounting member, and the flexible band and the second mounting member jointly clamp the second end of the cable to route the second end of the cable on the inner wall of the second arm body. The flexible band has good deformation ability, so that the second end of the cable can be conveniently routed on the inner wall of the second arm body.

[0018] Optionally, the cable comprises a first sub-section and a second sub-section connected in sequence along the length direction of the cable, the first sub-section and the second joint are respectively located on the two opposite sides of the first arm body, the first sub-section is arranged on the outer wall of the first arm body, and the second sub-section is arranged on the outer wall of the second joint by passing around the second joint from below the second joint and extending into the inner cavity of the second joint away from one end of the second sub-section. The upper part of the second joint is easy to arrange other structures, so that the one end of the second sub-section away from the first sub-section passes around the second joint from below the second joint, which can prevent the cable from interfering with other structures. In addition, in this way, the second sub-section passes around the second joint from the outside of the robot, so that the part of the cable located outside the robot is longer, and the disassembly of the cable is more convenient.

[0019] Optionally, the cable comprises a first sub-section and a third sub-section connected in sequence along the length direction of the cable, the third sub-section is located on the same side of the first arm body as the first sub-section, the first sub-section is arranged on the outer wall of the first arm body, and the third sub-section is arranged on the outer wall of the first joint by extending into the inner cavity of the first joint away from one end of the third sub-section. In this way, the third sub-section does not need to pass around part of the robot structure and can be directly connected with the first sub-section, so that the arrangement of the cable is more convenient, and in this way, part of the third sub-section is located outside the robot, so that the part of the cable located outside the robot is also longer, and the disassembly of the cable is more convenient.

[0020] Optionally, the bent part of the third sub-section is connected with the outer wall of the first joint. In this way, the deformation of the bent part of the third sub-section can be prevented, so that the cable can be maintained in a preset posture.

[0021] Optionally, the robot further comprises a first hollow speed reducer, the first joint is rotatably arranged on the base through the first hollow speed reducer, and the first end of the cable sequentially passes through the inner cavity of the first joint and the cavity of the first hollow speed reducer and extends into the inner cavity of the base. In this way, when the input and output of the first hollow speed reducer rotate, they will not interfere with the cable, so that the friction on the cable and the first hollow speed reducer is small, and the service life of the cable and the first hollow speed reducer is long.

[0022] Optionally, the robot further comprises a second hollow speed reducer, the second arm body is rotatably arranged at the second joint through the second hollow speed reducer, and the second end of the cable passes through the inner cavity of the second joint and the cavity of the second hollow speed reducer in sequence and extends into the inner cavity of the second arm body. In this way, the input and output of the second hollow speed reducer do not interfere with the cable when rotating, so that the cable and the second hollow speed reducer are less subjected to friction, and the service life of the cable and the second hollow speed reducer is longer.

[0023] Optionally, the robot further comprises a first waterproof joint, the first waterproof joint is arranged at the first joint and communicates with the inner cavity of the first joint, and the first end of the cable extends into the inner cavity of the first joint through the first waterproof joint. The first waterproof joint is designed to make the sealing between the position where the first joint is provided for the cable to pass in and the cable better, so that the probability of water vapor and external impurities entering the inner cavity of the first joint is lower.

[0024] Optionally, the robot further comprises a second waterproof joint, the second waterproof joint is arranged at the second joint and communicates with the inner cavity of the second joint, and the second end of the cable extends into the inner cavity of the second joint through the second waterproof joint. The second waterproof joint is designed to make the sealing between the position where the second joint is provided for the cable to pass in and the cable better, so that the probability of water vapor and external impurities entering the inner cavity of the second joint is lower. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 a structure schematic view of the robot disclosed in the embodiment of the present application in a first perspective;

[0026] Figure 2 a structure schematic view of the robot disclosed in the embodiment of the present application in a second perspective.

[0027] REFERENCE SIGNS:

[0028] 100 - base, 110 - heavy load connector;

[0029] 200 - first joint;

[0030] 300 - first arm body;

[0031] 400 - second joint;

[0032] 500 - second arm body;

[0033] 600 - cable, 610 - first sub-section, 620 - second sub-section, 630 - third sub-section;

[0034] 710 - first mounting, 720 - fixing, 730 - second mounting;

[0035] 810 - first hollow speed reducer, 820 - second hollow speed reducer, 830 - first rotary drive, 840 - second rotary drive, 850 - fourth rotary drive;

[0036] 910 - first waterproof joint, 920 - second waterproof joint. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0038] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually a class, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0039] The robot provided by the embodiments of the present application will be described in detail below with reference to the drawings, specific embodiments and application scenarios.

[0040] Please refer to Figures 1 to 2 As shown in the drawings, a robot is provided in the embodiments of the present application, which comprises a base 100, a first joint 200, a first arm body 300, a second joint 400, a second arm body 500 and a cable 600. Optionally, the robot is, for example, an industrial robot.

[0041] Specifically, the first joint 200 is rotatably arranged on the base 100 about a first axis. One end of the first arm body 300 is rotatably arranged on the first joint 200 about a second axis, and the second joint 400 is rotatably arranged on the other end of the first arm body 300 about a third axis. The second arm body 500 is rotatably arranged on the second joint 400 about a fourth axis. The fourth axis, the first axis and the second axis intersect with each other in pairs, and the second axis is parallel to the third axis. In this way, the robot has the freedom in three different directions of the direction of the first axis, the direction of the second axis and the direction of the fourth axis, so that the flexibility of the robot is better, and thus the robot can be applied to more occasions. Optionally, the fourth axis, the first axis and the second axis are perpendicular to each other in pairs.

[0042] The cable 600 is arranged on the outer wall of the first arm body 300, the first end of the cable 600 passes through the inner cavity of the first joint 200 and extends into the inner cavity of the base 100. Optionally, the base 100 is provided with a heavy load connector 110, and the first end of the cable 600 is electrically connected to the heavy load connector 110. The second end of the cable 600 passes through the inner cavity of the second joint 400 and extends into the inner cavity of the second arm body 500. The first end of the cable 600 and the second end of the cable 600 are two ends in the length direction of the cable 600 itself.

[0043] In the embodiment of the present application, the cable 600 is arranged on the outer wall of the first arm body, the first end of the cable 600 passes through the inner cavity of the first joint 200 and extends into the inner cavity of the base 100, and the second end of the cable 600 passes through the inner cavity of the second joint 400 and extends into the inner cavity of the second arm body 500. That is, a part of the cable 600 is located outside the robot, so that the length of the cable 600 arranged inside the robot is shortened, thereby reducing the disassembly difficulty of the cable 600, and thus making the use of the robot more convenient. Moreover, the space in the first arm body 300 is small, and if the cable 600 corresponding to the first arm body 300 is arranged in the first arm body 300, the probability of friction between the cable 600 and the first arm body 300 is higher, and in the embodiment of the present application, the part of the cable 600 corresponding to the first arm body 300 is located outside the robot, so that the probability of friction between the cable 600 and the first arm body 300 is lower, thereby prolonging the service life of the cable 600.

[0044] In another embodiment, the cable 600 is arranged on at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the second joint 400, and the inner wall of the second arm body 500. In this way, more positions of the cable 600 are fixed, so that the stability of the cable 600 is better. In addition, in this way, the cable 600 is less likely to shake during the operation of the robot, so that the probability of friction between the cable 600 and other components of the robot is lower, thereby prolonging the service life of the cable 600 itself and other components of the robot. It should be noted that the other components refer to the components of the robot except the cable 600, for example, at least one of the base 100, the first joint 200, the second joint 400, and the second arm body 500.

[0045] Optionally, referring to Figure 1 and Figure 2 As shown, the cable 600 is arranged on the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the second joint 400, and the inner wall of the second arm body 500, for example.

[0046] In other optional embodiments, there is no arrangement relationship between the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the second joint 400, and the inner wall of the second arm body 500 and the cable 600, for example, at this time, the cable 600 is free to move relative to the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the second joint 400, and the inner wall of the second arm body 500.

[0047] In further embodiments, at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400, and the inner wall of the second arm body 500 is provided with a first mounting member 710, and the cable 600 is arranged through the first mounting member 710, so that the at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400, and the inner wall of the second arm body 500 and the cable 600 have a first gap.

[0048] In this embodiment, due to the existence of the first gap, the friction between the cable 600 and the base 100, the first joint 200, the first arm body 300, the second joint 400, and the second arm body 500 is reduced, so that the service life of the cable 600, the base 100, the first joint 200, the first arm body 300, the second joint 400, and the second arm body 500 is longer.

[0049] Optionally, referring to Figure 1 and Figure 2As shown, the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400 and the inner wall of the second arm body 500 are each provided with a first mounting member 710, for example, a first mounting plate, and the first mounting member 710 is for example a sheet metal member.

[0050] In other alternative embodiments, the first mounting member 710 can also not be provided, and in this case, the cable 600 is for example in contact with at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400 and the inner wall of the second arm body 500, so as to be arranged on at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400 and the inner wall of the second arm body 500.

[0051] In further embodiments, reference is made to Figure 1 and Figure 2 As shown, the inner wall of the second arm body 500 is provided with a second mounting member 730, and the second end of the cable 600 is arranged through the second mounting member 730, so that the inner wall of the second arm body 500 and the second end of the cable 600 have a second gap therebetween.

[0052] In the present embodiment, due to the presence of the second gap, the friction between the second end of the cable 600 and the second arm body 500 is reduced, so that the service life of both the cable 600 and the second arm body 500 is longer.

[0053] Optionally, the second mounting member 730 is for example a second mounting plate, and the second mounting member 730 is for example a sheet metal member, and the second end of the cable 600 is for example electrically connected to a rotary driving mechanism of the robot, which is for example used to drive the wrist of the robot to rotate, and the rotary driving mechanism is for example an electric motor or a motor.

[0054] In other alternative embodiments, the second mounting member 730 can also not be provided, and in this case, the second end of the cable 600 is for example directly in contact with the inner wall of the second arm body 500, so as to be arranged on the inner wall of the second arm body 500.

[0055] In an alternative embodiment, when the first mounting member 710 and the second mounting member 730 are both provided on the inner wall of the second arm body 500, the first mounting member 710 and the second mounting member 730 are for example spaced apart along the length direction of the second arm body 500. In this way, the part of the cable 600 located in the inner cavity of the second arm body 500 is fixed at at least two positions, so that the stability of the cable 600 is better, and the friction between the cable 600 and the inner wall of the second arm body 500 is less.

[0056] In further embodiments, reference is made to Figure 1 andFigure 2 As shown, the outer wall of the first arm body 300 is provided with at least two first mounting members 710, and each first mounting member 710 provided on the outer wall of the first arm body 300 is spaced apart along the length direction of the first arm body 300. In this way, the cable 600 is arranged through the at least two first mounting members 710 of the first arm body 300, so that the stability of the cable 600 is better.

[0057] In other optional embodiments, the outer wall of the first arm body 300 can also be provided with one first mounting member 710 to arrange the cable 600.

[0058] In a further embodiment, the outer wall of the second joint 400 is provided with at least two first mounting members 710, and each first mounting member 710 provided on the outer wall of the second joint 400 is spaced apart along the length direction of the cable 600. In other words, each first mounting member 710 provided on the outer wall of the second joint 400 is spaced apart along the arrangement direction of the cable 600. In this way, the outer wall of the second joint 400 is arranged through the at least two first mounting members 710 of the second joint 400, so that the stability of the cable 600 is better.

[0059] In other optional embodiments, the outer wall of the second joint 400 can also be provided with one first mounting member 710 to arrange the cable 600.

[0060] In a further embodiment, with reference to Figure 1 and Figure 2 As shown, each first mounting member 710 is detachably connected with a fixing member 720, and the fixing member 720 and the first mounting member 710 jointly hold the cable 600 to arrange the cable 600 on at least one of the inner wall of the base 100, the outer wall of the first joint 200, the outer wall of the first arm body 300, the outer wall of the second joint 400, and the inner wall of the second arm body 500. In this way, the fixing member 720 can be conveniently detached from the first mounting member 710, so that the cable 600 is conveniently detached.

[0061] Optionally, the fixing member 720 is, for example, an arc-shaped structure, which has an arc-shaped clamping groove, the shape of the arc-shaped clamping groove is matched with the shape of the cable 600, a part of the cable 600 is arranged in the arc-shaped clamping groove, and the fixing member 720 is connected with the first mounting member 710 through a threaded connecting member, so as to realize the detachable connection between the first mounting member 710 and the fixing member 720.

[0062] In other optional embodiments, the fixing member 720 is connected with the first mounting member 710 in a non-detachable manner, for example, through welding or gluing. In this case, the structure of the fixing member 720 needs to be damaged to detach the cable 600.

[0063] In a further embodiment, the robot also includes a flexible strap connected to the second mounting member 730, and the flexible strap and the second mounting member 730 together clamp the second end of the cable 600 to lay the second end of the cable 600 on the inner wall of the second arm 500. The flexible strap has good deformability, which makes it relatively easy to lay the second end of the cable 600 on the inner wall of the second arm 500.

[0064] Optionally, the flexible strap may be, for example, a cable tie, and the second mounting member 730 may be provided with a connection hole. The cable tie passes around the cable 600, and the two ends of the cable tie pass through two different connection holes and are then connected together.

[0065] In other alternative embodiments, the robot may not include the flexible belt. In this case, the robot may include, for example, a clamp. In this case, the clamp is connected to the second mounting member 730, and the clamp and the second mounting member 730 together clamp the second end of the cable 600 to lay the second end of the cable 600 on the inner wall of the second arm 500.

[0066] In another embodiment, reference Figure 1 and Figure 2 As shown, the cable 600 includes a first segment 610 and a second segment 620 connected sequentially along its own length. The first segment 610 and the second joint 400 are located on opposite sides of the first arm body 300, respectively. The first segment 610 is arranged on the outer wall of the first arm body 300. The end of the second segment 620 away from the first segment 610 passes around the second joint 400 from below and extends into the inner cavity of the second joint 400. The second segment 620 is arranged on the outer wall of the second joint 400.

[0067] Other structures can be easily arranged above the second joint 400, allowing the end of the second segment 620 away from the first segment 610 to bypass the second joint 400 from below, thus preventing the cable 600 from interfering with other structures. Furthermore, in this embodiment, the second segment 620 bypasses the second joint 400 from the outside of the robot, resulting in a longer portion of the cable 600 outside the robot, making the installation and removal of the cable 600 more convenient.

[0068] In other alternative embodiments, the end of the second segment 620 away from the first segment 610 may, for example, pass over the second joint 400 from above. In this case, a protective cover may be provided above the second joint 400, the protective cover being connected to the second joint 400, and a threading space being provided between the two. The cable 600 passes through the threading space to prevent the cable 600 from interfering with other structures above the second joint 400.

[0069] In other optional embodiments, the second sub-section 620 can also pass through the interior of the first arm body 300 and the joint position between the first arm body 300 and the second joint 400 in sequence, so as to extend into the inner cavity of the second joint 400.

[0070] It should be noted that "upper" and "lower" in the embodiments of the present application refer to the directions of the robot when arranged in the manner shown. Figure 1

[0071] In another embodiment, the cable 600 comprises a first sub-section 610 and a third sub-section 630 connected in sequence along the length direction of the cable 600, the third sub-section 630 is located on the same side of the first arm body 300 as the first sub-section 610, for example, both are located on the side of the first arm body 300 away from the second arm body 500, the first sub-section 610 is arranged on the outer wall of the first arm body 300, and the end of the third sub-section 630 away from the first sub-section 610 extends into the inner cavity of the first joint 200, and the third sub-section 630 is arranged on the outer wall of the first joint 200. In this way, the third sub-section 630 does not need to bypass part of the structure of the robot, and can be directly connected with the first sub-section 610, so that the arrangement of the cable 600 is more convenient, and in this way, part of the third sub-section 630 is located outside the robot, so that the part of the cable 600 located outside the robot is longer, and the disassembly of the cable 600 is more convenient.

[0072] In other optional embodiments, the third sub-section 630 and the first sub-section 610 can also be located on different sides of the first arm body 300, and the third sub-section 630 can pass through the interior of the first arm body 300 and the joint position between the first arm body 300 and the first joint 200 in sequence, so as to extend into the inner cavity of the first joint 200.

[0073] In further embodiments, the bent part of the third sub-section 630 is arranged on the outer wall of the first joint 200. In this way, the bent part of the third sub-section 630 can be prevented from deforming, so that the cable 600 can be maintained in a preset posture.

[0074] In other optional embodiments, the bent part of the third sub-section 630 and the outer wall of the first joint 200 can also not have an arrangement relationship, at this time, for example, the part of the third sub-section 630 except the bent part is arranged on the outer wall of the first joint 200, so as to arrange the third sub-section 630 on the outer wall of the first joint 200.

[0075] In another embodiment, the robot further comprises a first hollow speed reducer 810, the first joint 200 is rotatably arranged on the base 100 through the first hollow speed reducer 810, and the first end of the cable 600 passes through the inner cavity of the first joint 200 and the cavity of the first hollow speed reducer 810 in sequence, and extends into the inner cavity of the base 100.

[0076] ​It should be noted that the middle region of the hollow speed reducer is hollow to form a cavity, the axis of the cavity is the axis of the hollow speed reducer, and the input member and the output member of the hollow speed reducer rotate around the axis, and the input member is in transmission connection with the output member through the intermediate transmission member.

[0077] In the embodiment, the cable 600 passes through the cavity of the first hollow speed reducer 810 and extends into the inner cavity of the base 100, so that the input member and the output member of the first hollow speed reducer 810 do not interfere with the cable 600 when rotating, so that the cable 600 and the first hollow speed reducer 810 are less subjected to friction, and the service life of the cable 600 and the first hollow speed reducer 810 is longer.

[0078] Optionally, as shown in Figure 2 The robot further comprises a first rotary driving member 830 connected with the first hollow speed reducer 810 to transmit power to the first hollow speed reducer 810 and drive the first joint 200 to rotate around the first axis by the first intermediate speed reducer, the first axis is perpendicular to the length direction of the second arm body 500, the first rotary driving member 830 is electrically connected with the cable 600, and the second rotary driving member 840 is a motor or a motor.

[0079] Optionally, as shown in Figure 1 The robot further comprises a second rotary driving member 840 connected with the first speed reducer to transmit power to the first speed reducer and drive the first arm body 300 to rotate around the second axis by the first speed reducer, the second axis is perpendicular to the length direction of the second arm body 500, the second rotary driving member 840 is electrically connected with the cable 600, and the second rotary driving member 840 is a motor or a motor.

[0080] In other optional embodiments, the robot further comprises a first speed reducer provided with a first channel, the rotation axis of the input member of the first speed reducer is parallel to the axis of the first channel, and the first end of the cable 600 sequentially passes through the inner cavity of the first joint 200 and the first channel and extends into the inner cavity of the base 100.

[0081] In another embodiment, as shown in Figure 2 and Figure 2 The robot further comprises a second hollow speed reducer 820, the second arm body 500 is rotatably arranged on the second joint 400 through the second hollow speed reducer 820, and the second end of the cable 600 sequentially passes through the inner cavity of the second joint 400 and the cavity of the second hollow speed reducer 820 and extends into the inner cavity of the second arm body 500.

[0082] In the embodiment, the cable 600 passes through the cavity of the second hollow speed reducer 820 and extends into the inner cavity of the second arm body 500, so that the input and output of the second hollow speed reducer 820 do not interfere with the cable 600 when rotating, so that the cable 600 and the second hollow speed reducer 820 are less subject to friction, and the service life of the cable 600 and the second hollow speed reducer 820 is longer.

[0083] Optionally, the robot further comprises a third rotary driving member connected with the second hollow speed reducer 820 to transmit power to the second hollow speed reducer 820 and drive the second arm body 500 to rotate around a fourth axis, for example, the fourth axis is coincident with the length direction of the second arm body 500, the third rotary driving member is electrically connected with the cable 600, and the third rotary driving member is, for example, a motor or a motor.

[0084] Optionally, as shown in Figure 1 the robot further comprises a fourth rotary driving member 850, the second joint 400 is rotatably arranged on the first arm body 300 through a second speed reducer, the fourth rotary driving member 850 is connected with the second speed reducer to transmit power to the second speed reducer and drive the second joint 400 to rotate around a third axis, the fourth rotary driving member 850 is electrically connected with the cable 600, and the fourth rotary driving member 850 is, for example, a motor or a motor.

[0085] In other optional embodiments, the robot can further comprise a second speed reducer provided with a second channel, the rotation axis of the input of the second speed reducer is parallel to the axis of the second channel, and the second end of the cable 600 sequentially passes through the inner cavity of the second joint 400 and the first channel and extends into the inner cavity of the second arm body 500.

[0086] In another embodiment, as shown in Figure 2 and Figure 2 the robot further comprises a first waterproof joint 910 arranged on the first joint 200 and connected with the inner cavity of the first joint 200, the first end of the cable 600 extends into the inner cavity of the first joint 200 through the first waterproof joint 910, in other words, the first end of the cable 600 passes through the first waterproof joint 910 and extends into the inner cavity of the first joint 200. The design of the first waterproof joint 910 makes the position where the first joint 200 is provided for the cable 600 to pass in and the cable 600 have better sealing between them, so that the probability of water vapor and external impurities entering the inner cavity of the first joint 200 is lower.

[0087] In other alternative embodiments, the robot may not have the first waterproof connector 910. In this case, the first joint 200 may have a first opening, which communicates with the inner cavity of the first joint 200. The cable 600 enters the inner cavity of the first joint 200 through the first opening, and there is a third gap between the cable 600 and the inner wall of the first opening, for example.

[0088] In another embodiment, reference Figure 1 and Figure 2 Figure 1 Figure 2 As shown, the robot also includes a second waterproof connector 920, which is located in the second joint 400 and communicates with the inner cavity of the second joint 400. The second end of the cable 600 extends into the inner cavity of the second joint 400 through the second waterproof connector 920. In other words, the second end of the cable 600 passes through the second waterproof connector 920 and extends into the inner cavity of the second joint 400. The design of the second waterproof connector 920 ensures good sealing between the location where the cable 600 passes through the second joint 400 and the cable 600, thereby reducing the probability of moisture and external impurities entering the inner cavity of the second joint 400.

[0089] In other alternative embodiments, the robot may not have the second waterproof connector 920. In this case, the second joint 400 may have a second opening, which communicates with the inner cavity of the second joint 400. The cable 600 enters the inner cavity of the second joint 400 through the second opening, and there is, for example, a fourth gap between the cable 600 and the inner wall of the second opening.

[0090] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A robot, characterized in that, The utility model relates to a kind of cable routing device, including: Base (100) and first joint (200), the first joint (200) is rotatably provided around first axis in the base (100); First arm body (300) and second joint (400), one end of the first arm body (300) is rotatably provided around second axis in the first joint (200), the second joint (400) is rotatably provided around third axis in the other end of the first arm body (300); Second arm body (500), the second arm body (500) is rotatably provided around fourth axis in the second joint (400), the fourth axis, the first axis and the second axis intersect each other, and the second axis is parallel to the third axis; Cable (600), the cable (600) is arranged on the outer wall of the first arm body (300), the first end of the cable (600) passes through the inner cavity of the first joint (200), and extends into the inner cavity of the base (100), the second end of the cable (600) passes through the inner cavity of the second joint (400), and extends into the inner cavity of the second arm body (500), and the first end of the cable (600) and the second end of the cable (600) are two ends in the length direction of the cable (600) itself.

2. The robot of claim 1, wherein, The cable (600) is arranged on at least one of the inner wall of the base (100), the outer wall of the first joint (200), the outer wall of the second joint (400) and the inner wall of the second arm body (500).

3. The robot of claim 2, wherein, At least one of the inner wall of the base (100), the outer wall of the first joint (200), the outer wall of the first arm body (300), the outer wall of the second joint (400) and the inner wall of the second arm body (500) is provided with a first mounting member (710), and the cable (600) is arranged through the first mounting member (710), so that there is a first gap between at least one of the inner wall of the base (100), the outer wall of the first joint (200), the outer wall of the first arm body (300), the outer wall of the second joint (400) and the inner wall of the second arm body (500) and the cable (600); And / or, the inner wall of the second arm body (500) is provided with a second mounting member (730), and the second end of the cable (600) is arranged through the second mounting member (730), so that there is a second gap between the inner wall of the second arm body (500) and the second end of the cable (600); Wherein, in the case that the first mounting member (710) and the second mounting member (730) are simultaneously provided on the inner wall of the second arm body (500), the first mounting member (710) and the second mounting member (730) are spaced apart along the length direction of the second arm body (500).

4. The robot of claim 3, wherein, The first arm body (300) is provided with at least two first mounting members (710), and each first mounting member (710) provided in the first arm body (300) is spaced apart along the length direction of the first arm body (300); And / or, the outer wall of the second joint (400) is provided with at least two first mounting members (710), and each first mounting member (710) provided on the outer wall of the second joint (400) is arranged along the length direction of the cable (600).

5. The robot of claim 3, wherein, Each first mounting member (710) is detachably connected with a fixing member (720), and the fixing member (720) and the first mounting member (710) jointly clamp the cable (600) to arrange the cable (600) on at least one of the inner wall of the base (100), the outer wall of the first joint (200), the outer wall of the first arm body (300), the outer wall of the second joint (400), and the inner wall of the second arm body (500). And / or, the robot further comprises a flexible belt connected with the second mounting member (730), and the flexible belt and the second mounting member (730) jointly clamp the second end of the cable (600) to arrange the second end of the cable (600) on the inner wall of the second arm body (500).

6. The robot of claim 2, wherein, The cable (600) comprises a first subsegment (610) and a second subsegment (620) connected in sequence along the length direction of the cable (600), the first subsegment (610) and the second joint (400) are located on opposite sides of the first arm body (300) respectively, the first subsegment (610) is arranged on the outer wall of the first arm body (300), and one end of the second subsegment (620) away from the first subsegment (610) passes through the second joint (400) from below the second joint (400) and extends into the inner cavity of the second joint (400), and the second subsegment (620) is arranged on the outer wall of the second joint (400).

7. The robot of claim 2, wherein, The cable (600) comprises a first subsegment (610) and a third subsegment (630) connected in sequence along the length direction of the cable (600), the third subsegment (630) is located on the same side of the first arm body (300) as the first subsegment (610), the first subsegment (610) is arranged on the outer wall of the first arm body (300), and one end of the third subsegment (630) away from the first subsegment (610) extends into the inner cavity of the first joint (200), and the third subsegment (630) is arranged on the outer wall of the first joint (200).

8. The robot of claim 7, wherein, The bent portion of the third subsegment (630) is connected with the outer wall of the first joint (200).

9. The robot of claim 1, wherein, The robot further comprises a first hollow speed reducer (810), the first joint (200) is rotatably arranged on the base (100) through the first hollow speed reducer (810), and the first end of the cable (600) sequentially passes through the inner cavity of the first joint (200) and the cavity of the first hollow speed reducer (810) and extends into the inner cavity of the base (100); The cable (600) comprises a first subsegment (610) and a second subsegment (620) connected in sequence along the length direction of the cable (600), the first subsegment (610) and the second joint (400) are located on opposite sides of the first arm body (300) respectively, the first subsegment (610) is arranged on the outer wall of the first arm body (300), and one end of the second subsegment (620) away from the first subsegment (610) passes through the second joint (400) from below the second joint (400) and extends into the inner cavity of the second joint (400), and the second subsegment (620) is arranged on the outer wall of the second joint (400). And / or, the robot further comprises a second hollow speed reducer (820), the second arm body (500) is rotatably arranged on the second joint (400) through the second hollow speed reducer (820), and the second end of the cable (600) sequentially passes through the inner cavity of the second joint (400) and the cavity of the second hollow speed reducer (820) and extends into the inner cavity of the second arm body (500).

10. The robot of claim 1, wherein, The robot further comprises a first waterproof joint, the first waterproof joint (910) is arranged on the first joint (200) and communicates with the inner cavity of the first joint (200), and the first end of the cable (600) extends into the inner cavity of the first joint (200) through the first waterproof joint (910); And / or, the robot further comprises a second waterproof joint (920), the second waterproof joint (920) is arranged on the second joint (400) and communicates with the inner cavity of the second joint (400), and the second end of the cable (600) extends into the inner cavity of the second joint (400) through the second waterproof joint (920).

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