Robot joint wiring structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot joint wiring structure and a robot. The robot joint wiring structure comprises a rotating platform, a rotating cantilever and an electrical cable, wherein the rotating platform comprises a platform shell, a rotating assembly, a switching mounting plate and a partition plate; the rotating assembly is arranged in the platform shell, a fixed part of the rotating assembly is connected to the platform shell, and a rotating part of the rotating assembly is connected to the adapter mounting plate; a wire passing hole is formed in the adapter mounting plate, and the partition plate is arranged on the edge of the side, close to the rotating assembly, of the wire passing hole; one end of the rotating cantilever is connected to the adapter mounting plate; and the electrical cable passes through the wire passing hole and is connected between the rotating assembly and the rotating cantilever. According to the robot joint wiring structure, the electrical cable can be protected by the shell, pulling and twisting of the electrical cable generated in the joint rotating process can be reduced, and therefore the electrical cable is protected to the maximum extent.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially is related to a robot joint wiring structure and robot. BACKGROUND

[0002] The power and signal transmission of robot joint need to rely on electrical cable, and the general robot joint will produce relative movement with the part of fixed electrical cable when working, so that the friction or pulling phenomenon between the electrical cable and the robot joint occurs, which seriously affects the service life of the cable and the signal transmission.

[0003] At present, there are two ways for robot joint wiring: one is that the robot joint is hollow, and the electrical cable passes through the hollow hole, which can avoid the contact between the internal parts of the robot joint and the cable to a certain extent when the robot joint works, but the cable will inevitably twist itself during the rotation of the joint; the second is to completely expose the cable outside the robot joint and leave enough cable slack, which can maximize the avoidance of the pulling of the cable when the robot joint works, and the cable itself will not produce serious twisting, but it will cause a messy impact on the appearance of the equipment, and without the protection of the shell, it is difficult to ensure that the cable is not damaged by external pulling force.

[0004] Therefore, it is a technical problem that needs to be solved by those skilled in the art to design a robot joint wiring structure that can not only protect the cable with the shell, but also reduce the pulling and twisting of the cable during the rotation of the joint. UTILITY MODEL CONTENTS

[0005] The first object of the utility model is to provide a robot joint wiring structure, so that the electrical cable can be protected by the shell and the pulling and twisting of the electrical cable during the rotation of the joint can be reduced.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme:

[0007] A robot joint wiring structure, comprising a rotating platform, a rotating cantilever and an electrical cable, wherein:

[0008] The rotating platform comprises a platform shell, a rotating assembly, an adapter mounting plate and a partition plate; the rotating assembly is arranged in the platform shell, the fixed part of the rotating assembly is connected to the platform shell, and the rotating part of the rotating assembly is connected to the adapter mounting plate; the adapter mounting plate is provided with a wire passing hole, and the partition plate is arranged at the side edge of the wire passing hole close to the rotating assembly;

[0009] One end of the rotating cantilever is connected to the adapter mounting plate;

[0010] The electrical cable passes through the wire hole and is connected between the rotating assembly and the rotating cantilever.

[0011] Further, the partition plate is inclined from the rotating cantilever to the rotating platform in a direction away from the rotating assembly.

[0012] Further, the partition plate is arc-shaped and extends around the rotating assembly.

[0013] Further, the edge of the partition plate in contact with the electrical cable is provided with a smooth transition fillet.

[0014] Further, the partition plate is integrally formed with the adapter mounting plate.

[0015] Further, the partition plate is arc-shaped and extends around the rotating assembly, and the maximum outer diameter of the partition plate is greater than or equal to the maximum outer diameter of the circumferential surface of the rotating assembly.

[0016] Further, the rotating platform further comprises one or more elastic members connected between the fixed part of the rotating assembly and the middle part of the electrical cable, and the elastic members are configured to drive one segment of the electrical cable to closely contact the partition plate.

[0017] Further, the elastic member is a tension spring or a rubber band.

[0018] Further, the number of elastic members is multiple, and the multiple elastic members are divided into at least one elastic member group, each elastic member group includes two elastic members distributed in an eight-shaped manner, and one end of the two elastic members in each elastic member group is connected to the same position of the electrical cable.

[0019] Further, a segment of the electrical cable between the elastic member and the rotating assembly is reserved for elongation.

[0020] Further, the rotating cantilever comprises a cantilever body, a power assembly, and a cantilever shell, wherein:

[0021] The power assembly is fixedly connected to the adapter mounting plate and connected to one end of the cantilever body.

[0022] The cantilever shell is fixedly connected to the power assembly and located outside the power assembly.

[0023] The cantilever shell and the platform shell are both provided with a avoiding opening on the opposite side, and the wire hole is located inside the avoiding opening.

[0024] Further, the wire passing hole has a first hole wall and a second hole wall oppositely arranged along a first direction, and a third hole wall and a fourth hole wall connected between two ends of the first hole wall and the second hole wall;

[0025] The wire passing hole is configured to not contact the electrical cable with the first hole wall and the second hole wall when the rotation angle of the rotating cantilever is within a set angle range;

[0026] The fourth hole wall is located at a side of the wire passing hole close to the rotating assembly, and the partition plate extends along the fourth hole wall;

[0027] The first direction is a rotation direction of the rotating cantilever.

[0028] Further, the wire passing hole is long strip-shaped or arc-shaped.

[0029] Further, the robot further comprises a platform mounting seat arranged outside the rotating platform and used for connecting a main body part of the robot.

[0030] The second object of the utility model is to provide a robot, the robot comprises the robot joint wiring structure of any one of the above.

[0031] The utility model discloses beneficial effects:

[0032] The utility model provides a kind of robot joint wiring structure and robot, the robot joint wiring structure includes rotating platform, rotating cantilever and electrical cable, in which: rotating platform includes platform shell, rotating assembly, adapter mounting plate and partition plate;Rotating assembly is arranged in platform shell, and the fixed part of rotating assembly is connected to platform shell, and the rotating part of rotating assembly is connected to adapter mounting plate;Adapter mounting plate is provided with wire passing hole, and the partition plate is arranged at the side edge of wire passing hole close to rotating assembly;One end of rotating cantilever is connected to adapter mounting plate;Electrical cable passes through wire passing hole and is connected between rotating assembly and rotating cantilever.This application provides robot joint wiring structure can not only make electrical cable be protected by shell, but also can reduce the pull and torsion generated in joint rotation process of electrical cable, to protect electrical cable to the greatest extent. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiment of the utility model or the technical scheme in the prior art, the following will be briefly introduced the drawings needed to be used in the specific embodiment or the prior art description, obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0034] Figure 1The overall schematic view of the robot joint wiring structure is provided for the embodiments of the present utility model;

[0035] Figure 2 The internal schematic view of the robot joint wiring structure from one angle is provided for the embodiments of the present utility model;

[0036] Figure 3 The internal schematic view of the robot joint wiring structure from another angle is provided for the embodiments of the present utility model;

[0037] Figure 4 The cross-sectional schematic view of the robot joint wiring structure is provided for the embodiments of the present utility model;

[0038] Figure 5 The structural schematic view of the adapter mounting plate and the partition plate is provided for the embodiments of the present utility model;

[0039] Figure 6 The cross-sectional schematic view of the adapter mounting plate and the partition plate is provided for the embodiments of the present utility model.

[0040] Icon:

[0041] 1-rotating platform; 11-platform shell; 12-rotating assembly; 13-adapter mounting plate; 131-threading hole; 14-partition plate; 15-elastic member;

[0042] 2-rotating cantilever; 21-cantilever body; 22-power assembly; 23-cantilever shell; 24-avoidance opening;

[0043] 3-electrical cable;

[0044] 4-platform mounting seat. DETAILED DESCRIPTION

[0045] The technical solutions of the present utility model will be described clearly and completely in combination with embodiments. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all the other embodiments obtained by the ordinary skilled in the art without creative labor fall within the protection scope of the present utility model.

[0046] It should be noted that in the description of the utility model, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] It should be noted that in the description of the utility model, the terms "connection" and "installation" should be broadly understood, for example, it can be fixed connection, or detachable connection, or integral connection, it can be directly connected, or connected through an intermediate medium, it can be mechanical connection, or electrical connection. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0048] The utility model provides a kind of robot joint wiring structure in the first aspect, refer to Figures 1 to 3 The robot joint wiring structure includes rotating platform 1, rotating cantilever 2 and electrical cable 3, wherein:

[0049] Rotating platform 1 includes platform shell 11, rotating assembly 12, adapter mounting plate 13 and partition 14;Rotating assembly 12 is arranged in platform shell 11, and the fixed part of rotating assembly 12 is connected to platform shell 11, and the rotating part of rotating assembly 12 is connected to adapter mounting plate 13;Adapter mounting plate 13 is provided with wire hole 131, and partition 14 is arranged on the side edge of wire hole 131 close to rotating assembly 12;

[0050] One end of rotating cantilever 2 is connected to adapter mounting plate 13;

[0051] Electrical cable 3 passes through wire hole 131 and is connected between rotating assembly 12 and rotating cantilever 2.

[0052] In the structure, the rotating assembly 12 comprises a fixed part and a rotating part, the rotating part is capable of rotating relative to the fixed part around the rotating center line of the rotating assembly 12, and drives the adapter mounting plate 13 and the rotating cantilever 2 on the rotating part to rotate around the rotating center line of the rotating assembly 12. The adapter mounting plate 13 is provided with a wire passing hole 131, so that the electrical cable 3 can be connected to the rotating assembly 12 in the platform housing 11 from the rotating cantilever 2 through the wire passing hole 131, so that the electrical cable 3 is protected inside the housing. Further, since the wire passing hole 131 is provided with a partition plate 14 close to the side edge of the rotating assembly 12, the partition plate 14 can separate the electrical cable 3 and the rotating assembly 12, so that the electrical cable 3 only needs to contact the partition plate 14 when wiring from the rotating cantilever 2 to the rotating platform 1, reducing the contact between the electrical cable 3 and the surrounding parts inside the robot joint, thereby reducing the friction and pulling of the electrical cable 3.

[0053] As described above, in the robot joint wiring structure provided by the application, the electrical cable 3 is arranged inside the robot joint, which not only protects the electrical cable 3 by the housing, but also ensures the integrity of the appearance of the robot joint. In addition, the electrical cable 3 only needs to contact the partition plate 14 when wiring from the rotating cantilever 2 to the rotating platform 1, which can reduce the pulling and twisting of the electrical cable 3 during the rotation of the joint. Through the above arrangement, the electrical cable 3 can be protected to the greatest extent, thereby improving the transmission quality of the signal to a certain extent and prolonging the service life of the electrical cable 3.

[0054] As an optional embodiment, the electrical cable 3 comprises one or more of motor power lines, motor signal lines and sensor cables. The electrical cable 3 starts from the rotating cantilever 2, passes through the wire passing hole 131 to the rotating platform 1, and the end thereof is fixed to the rotating assembly 12 in the platform housing 11.

[0055] Continuing to refer to Figure 2 and Figure 3 , the rotating platform 1 further comprises one or more elastic members 15, the elastic members 15 are connected between the fixed part of the rotating assembly 12 and the middle part of the electrical cable 3, and the elastic members 15 are configured to drive one segment of the electrical cable 3 to tightly contact the partition plate 14.

[0056] Specifically, referring to Figure 3 , one end of the elastic member 15 is fixedly installed on the fixed part of the rotating assembly 12, and the other end is fixedly installed on the middle part of the electrical cable 3; under the pre-tightening force of the elastic member 15, the electrical cable 3 tightly contacts the partition plate 14 from the rotating cantilever 2 to the first half of the rotating assembly 12 (i.e. the segment between the elastic member 15 and the wire passing hole 131), so as to ensure that the electrical cable 3 only contacts the partition plate 14 when wiring from the rotating cantilever 2 to the rotating platform 1, avoiding the friction between the electrical cable 3 and the inner surface of the platform housing 11.

[0057] Further, the electrical cable 3 is provided with a proper elongation in the rear half of the rotating platform 1 (i.e. the section between the elastic member 15 and the rotating assembly 12) to provide sufficient movement for the electrical cable 3 during the rotation of the rotating cantilever 2.

[0058] As an optional embodiment, the elastic member 15 is a tension spring or an elastic band. Figure 3 In the shown embodiment, the elastic member 15 is a tension spring, one end of which is hooked to the middle of the electrical cable 3, and the other end of which is hooked to the fixed part of the rotating assembly 12.

[0059] In some embodiments, the elastic member 15 is provided in multiple numbers, and the multiple elastic members 15 are divided into at least one elastic member group, each elastic member group including two elastic members 15 arranged in a spread-eagle shape, and the two elastic members 15 in each elastic member group being connected to the same position of the electrical cable 3.

[0060] Figure 3 In the shown embodiment, the elastic member 15 is provided in two numbers and forms one elastic member group, the two elastic members 15 are arranged in a spread-eagle shape, and the two elastic members 15 are connected to the same position of the electrical cable 3; when the rotating cantilever 2 is in the central state, the two elastic members 15 are arranged in a substantially symmetrical manner with the electrical cable 3 as the center, so that the electrical cable 3 can be subjected to a downwardly inclined tension on both sides.

[0061] In a specific embodiment, the rotating angle of the rotating cantilever 2 relative to the rotating platform 1 is 0-180°; in this embodiment, the electrical cable 3 only needs to be fixed and provided with elongation by using one elastic member group. In other embodiments, the rotating angle of the rotating cantilever 2 relative to the rotating platform 1 can be further increased to 200°, 270°, 300°, 360°, etc., and the number of elastic member groups can be adaptively increased or decreased to fix the electrical cable 3 at multiple points and increase the elongation of the electrical cable 3.

[0062] It should be noted that all the movements that can be simply extended from the above structure and greater than the movement range of the above structure, and the ways of using multiple elastic members 15 to provide elongation, should be within the protection scope of the present application.

[0063] When the robot joint works, the rotating cantilever 2 and the adapter mounting plate 13 rotate synchronously relative to the fixed part of the rotating assembly 12; when the rotating angle of the rotating cantilever 2 is within the set angle range, the inner walls of the two ends of the wire passing hole 131 are not in contact with the electrical cable 3, at this time, the electrical cable 3 is not affected by the joint movement, and the electrical cable 3 is relatively static relative to the fixed part of the rotating assembly 12; after the rotating angle of the rotating cantilever 2 exceeds the set angle range, the inner walls of the wire passing hole 131 contact the electrical cable 3, and then the inner walls of the wire passing hole 131 push the electrical cable 3 to stretch, and in the stretching process, the stretching force borne by the electrical cable 3 is partially absorbed by the elastic member 15, and at this time, the reserved elongation of the rear half of the electrical cable 3 is stretched along the trajectory of the elastic member 15. In the process of rotation of the rotating cantilever 2, since the electrical cable 3 only contacts the partition plate 14, the friction between the electrical cable 3 and the parts is very small, greatly reducing the pulling and twisting of the electrical cable 3.

[0064] With reference to the foregoing Figure 3 , the rotating cantilever 2 comprises a cantilever body 21, a power assembly 22 and a cantilever shell 23, wherein:

[0065] The power assembly 22 is fixedly connected to the adapter mounting plate 13 and connected to one end of the cantilever body 21, the electrical cable 3 passes through the wire passing hole 131 and is connected between the rotating assembly 12 and the power assembly 22;

[0066] The cantilever shell 23 is fixedly connected to the power assembly 22 and located outside the power assembly 22;

[0067] The opposite sides of the cantilever shell 23 and the platform shell 11 are both provided with an avoiding opening 24, and the wire passing hole 131 is located inside the avoiding opening 24.

[0068] It should be noted that the power assembly 22 can be configured to drive the cantilever body 21 to rotate along the axis of the cantilever body 21, or can be configured to drive a certain component on the cantilever body 21 to move linearly along the axis direction of the cantilever body 21. The specific function of the power assembly 22 can be adjusted according to actual needs, which is not limited here.

[0069] In the above structure, the power assembly 22 is connected between the adapter mounting plate 13 and the cantilever body 21, and the electrical cable 3 is connected to the rotating assembly 12 through the wire passing hole 131 starting from the power assembly 22. The cantilever shell 23 is fixedly connected to the outside of the power assembly 22 to protect the power assembly 22 from damage. The opposite sides of the cantilever shell 23 and the platform shell 11 are both provided with an avoiding opening 24, and the wire passing hole 131 is located inside the avoiding opening 24, which can avoid the edge of the avoiding opening 24 from contacting the electrical cable 3 to generate friction.

[0070] With reference to the foregoing Figure 3The robot joint cabling structure further comprises a platform mounting seat 4, which is arranged on the outer side of the rotating platform 1 and is used to connect the main body of the robot. Specifically, one platform mounting seat 4 is arranged on each side of the rotating platform 1, and the platform mounting seat 4 is fixedly connected with the rotating assembly 12 and / or the platform shell 11. The robot joint cabling structure can be fixedly installed on the main body of the robot as a whole through the platform mounting seat 4.

[0071] As an optional embodiment, the partition plate 14 is inclined from the rotating cantilever 2 to the rotating platform 1 in a direction away from the rotating assembly 12.

[0072] Further, the partition plate 14 is arc-shaped and extends around the rotating assembly 12.

[0073] Further, the edge of the partition plate 14 in contact with the electrical cable 3 is provided with a smooth transition fillet.

[0074] Further, the partition plate 14 is integrally formed with the adapter mounting plate 13.

[0075] In some embodiments, referring to Figure 4 the partition plate 14 is inclined from the rotating cantilever 2 to the rotating platform 1 in a direction away from the rotating assembly 12, so that the section of the electrical cable 3 in contact with the partition plate 14 extends obliquely from the rotating cantilever 2 to the rotating platform 1 in a direction away from the rotating assembly 12. This arrangement can make the electrical cable 3 closely adhere to the partition plate 14, further avoiding the contact between the electrical cable 3 and the rotating assembly 12.

[0076] In other embodiments, the partition plate 14 can also extend along the center line of the rotating assembly 12 from the rotating cantilever 2 to the rotating platform 1.

[0077] In some embodiments, referring to Figure 4 and Figure 5 the partition plate 14 is arc-shaped and extends around the rotating assembly 12. The arc-shaped partition plate 14 can maximize the reduction of wear and pull on the electrical cable 3. Further, the maximum outer diameter of the partition plate 14 is greater than or equal to the maximum outer diameter of the circumferential surface of the rotating assembly 12. Figure 4 In the illustrated embodiment, the radius of the circular arc at the end of the partition plate 14 (i.e., the end away from the rotating cantilever 2) is close to the maximum radius of the circumferential surface of the rotating assembly 12, so that the electrical cable 3 is not easy to contact the rotating assembly 12.

[0078] In some embodiments, referring to Figure 5 the partition plate 14 is integrally formed with the adapter mounting plate 13.

[0079] In other embodiments, the partition plate 14 can also be fixedly installed on the adapter mounting plate 13 or the rotating part of the rotating assembly 12 or the fixed part of the rotating assembly 12 by fasteners such as screws, and the above arrangement can also achieve the purpose of separating the electrical cable 3 from the rotating assembly 12.

[0080] In some embodiments, continuing to refer to Figure 5 , the wire passing hole 131 has a first hole wall and a second hole wall oppositely arranged along a first direction, and a third hole wall and a fourth hole wall connected between the two ends of the first hole wall and the second hole wall;

[0081] The wire passing hole 131 is configured such that when the rotation angle of the rotating arm 2 is within a set angle range, the first hole wall and the second hole wall do not contact the electrical cable 3;

[0082] The fourth hole wall is located on the side of the wire passing hole 131 close to the rotating assembly 12, and the partition plate 14 extends along the fourth hole wall;

[0083] Wherein, the first direction is the rotation direction of the rotating arm 2.

[0084] Further, the wire passing hole 131 is arc-shaped or strip-shaped. Figure 5 In the illustrated embodiment, the wire passing hole 131 is arc-shaped and extends around the rotation center line of the rotating arm 2, and the two end walls of the wire passing hole 131 along the extension direction are the first hole wall and the second hole wall, respectively. Since the wire passing hole 131 leaves a certain amount of activity for the electrical cable 3, when the rotation angle of the rotating arm 2 is within a set angle range, the electrical cable 3 remains stationary, thereby reducing the movement range of the electrical cable 3 affected by the rotation of the robot joint.

[0085] In some embodiments, referring to Figure 6 Figure 6 , the edge of the partition plate 14 in contact with the electrical cable 3 is provided with a smooth transition fillet. Specifically, at least the upper and lower ends of the partition plate 14 are provided with a smooth transition fillet to reduce the damage of the sharp corners of the parts to the electrical cable 3. In addition, the partition plate 14 can also use a fillet transition on the entire edge.

[0086] The second aspect of the utility model provides a kind of robot, and the robot includes the robot joint wiring structure described in any of the above embodiments. Therefore, the robot at least has all the technical effects of the above robot joint wiring structure, which will not be repeated here.

[0087] Finally, it should be noted that: the above embodiments are used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot joint wiring structure, characterized in that, Includes a rotating platform (1), a rotating cantilever (2), and electrical cables (3), wherein: The rotating platform (1) includes a platform shell (11), a rotating assembly (12), a connecting mounting plate (13), and a partition (14); the rotating assembly (12) is disposed inside the platform shell (11), the fixed part of the rotating assembly (12) is connected to the platform shell (11), and the rotating part of the rotating assembly (12) is connected to the connecting mounting plate (13); the connecting mounting plate (13) has a wire hole (131), and the partition (14) is disposed on the edge of the wire hole (131) near the rotating assembly (12); One end of the rotating cantilever (2) is connected to the adapter mounting plate (13); The electrical cable (3) passes through the cable hole (131) and is connected between the rotating assembly (12) and the rotating cantilever (2).

2. The robot joint wiring structure according to claim 1, characterized in that, The partition (14) is inclined from the rotating cantilever (2) to the rotating platform (1) in a direction away from the rotating assembly (12); And / or, the partition (14) is arc-shaped and extends around the rotating assembly (12); And / or, the edge of the partition (14) that contacts the electrical cable (3) has a smooth-transition rounded corner; And / or, the partition (14) is integrally formed with the adapter mounting plate (13).

3. The robot joint wiring structure according to claim 1, characterized in that, The partition (14) is arc-shaped and extends around the rotating assembly (12); the maximum outer diameter of the partition (14) is greater than or equal to the maximum outer diameter of the circumferential surface of the rotating assembly (12).

4. The robot joint wiring structure according to claim 1, characterized in that, The rotating platform (1) further includes one or more elastic elements (15) connected between the fixed portion of the rotating assembly (12) and the middle portion of the electrical cable (3), and the elastic elements (15) are configured to allow one segment of the electrical cable (3) to be in close contact with the partition (14).

5. The robot joint wiring structure according to claim 4, characterized in that, The elastic element (15) is a tension spring or a rubber band; And / or, the number of elastic elements (15) is multiple, and the multiple elastic elements (15) are divided into at least one group of elastic elements. Each group of elastic elements includes two elastic elements (15) arranged in a figure-eight shape, and one end of the two elastic elements (15) in each group of elastic elements is connected to the same position of the electrical cable (3). And / or, a section of the electrical cable (3) located between the elastic element (15) and the rotating assembly (12) is provided with an elongation.

6. The robot joint wiring structure according to claim 1, characterized in that, The rotating cantilever (2) includes a cantilever body (21), a power assembly (22), and a cantilever housing (23), wherein: The power assembly (22) is fixed to the adapter mounting plate (13) and connected to one end of the cantilever body (21). The electrical cable (3) passes through the cable hole (131) and is connected between the rotating assembly (12) and the power assembly (22). The cantilever housing (23) is fixed to the power assembly (22) and located on the outside of the power assembly (22); Both the cantilever housing (23) and the platform housing (11) have clearance openings (24) on their opposite sides, and the wire hole (131) is located inside the clearance opening (24).

7. The robot joint wiring structure according to claim 1, characterized in that, The wire hole (131) has a first hole wall and a second hole wall disposed opposite to each other along a first direction, and a third hole wall and a fourth hole wall connected between the two ends of the first hole wall and the second hole wall; The wire hole (131) is configured such that when the rotation angle of the rotating cantilever (2) is within a set angle range, the first hole wall and the second hole wall do not contact the electrical cable (3); The fourth hole wall is located on the side of the wire hole (131) near the rotating assembly (12), and the partition (14) extends along the fourth hole wall; Wherein, the first direction is the rotation direction of the rotating cantilever (2).

8. The robot joint wiring structure according to claim 7, characterized in that, The wire hole (131) is arc-shaped or elongated.

9. The robot joint wiring structure according to any one of claims 1 to 8, characterized in that, It also includes a platform mounting base (4), which is installed on the outside of the rotating platform (1) and is used to connect the main body of the robot.

10. A robot, characterized in that, Including the robot joint wiring structure as described in any one of claims 1 to 9.

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