Six-axis robot

Abstract

The utility model provides a six-axis robot, which belongs to the technical field of robots and comprises a shell and a wiring harness structure arranged in the shell. The shell at least comprises a base shell and a shoulder shell, and the shoulder shell is rotationally connected with the base shell along the vertical axis of the base shell. The base shell comprises a first connecting part, and the shoulder shell comprises a second connecting part. The maximum angle that the second connecting part can rotate anticlockwise from the initial position is the same as the maximum angle that the second connecting part can rotate clockwise from the initial position, and the orthographic projection of at least part of the second connecting part in the vertical axis direction of the base shell coincides with the first connecting part. The wire harness structure at least comprises a first fixing position and a second fixing position which are arranged in a spaced mode, the first fixing position is fixedly connected with the first connecting part, and the second fixing position is fixedly connected with the second connecting part. The wiring harness structure of the six-axis robot is reasonable in arrangement, and wiring difficulty of the six-axis robot is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a six-axis robot. Background Technology

[0002] With the development of robotics technology, robots are required to perform more and more complex tasks. Currently, six-axis robots can be widely used in various industrial fields. They have the advantages of high processing precision and good quality consistency, and can replace humans in dangerous operations.

[0003] A typical six-axis robot consists of a base, shoulder, upper arm, elbow, forearm, and wrist, arranged sequentially from bottom to top. During use, an end effector, such as a robotic arm, can be connected to the wrist. By controlling the movements of the shoulder, upper arm, elbow, forearm, and wrist, the robotic arm can be controlled to perform different actions.

[0004] However, the shoulder, upper arm, elbow, forearm, wrist, and end effector all require independent power and communication lines. In addition, the end effector may also have pneumatic, hydraulic, or cooling components, which all require independent pipelines for control. The high wiring density poses a significant challenge to the wiring of a six-axis robot. Utility Model Content

[0005] This invention provides a six-axis robot with a reasonable wiring harness structure, which reduces the difficulty of wiring the six-axis robot.

[0006] This utility model embodiment provides a six-axis robot, including a housing and a wire harness structure disposed inside the housing; wherein,

[0007] The housing includes at least a base housing and a shoulder housing, and the shoulder housing is rotatably connected to the base housing along the vertical axis of the base housing;

[0008] The base housing includes a first connecting portion, and the shoulder housing includes a second connecting portion;

[0009] The maximum angle that the second connecting part can rotate counterclockwise from its initial position is the same as the maximum angle that the second connecting part can rotate clockwise from its initial position, and at least a portion of the orthographic projection of the second connecting part in the vertical axis direction of the base housing coincides with the first connecting part;

[0010] The wire harness structure includes at least a first fixing position and a second fixing position arranged at intervals, wherein the first fixing position is fixedly connected to the first connecting part, and the second fixing position is fixedly connected to the second connecting part;

[0011] A drive motor for driving the shoulder housing to rotate is installed inside the base housing;

[0012] The wiring harness structure located between the first fixed position and the second fixed position includes two sub-wiring harnesses, which are respectively located on both sides of the drive motor, and the end of each sub-wiring harness is configured as the first fixed position.

[0013] The six-axis robot provided in this application provides a first connecting part on the base housing and a second connecting part on the shoulder housing to fix the wire harness structure inside the base housing. The second fixing position of the wire harness structure can move together with the second connecting part, thereby preventing the wire harness structure from shaking randomly inside the housing. This also prevents the wire harness structure from breaking or being damaged after repeated bending and wear of the base housing, thus improving the service life of the wire harness structure.

[0014] By setting the maximum counterclockwise rotation angle of the second connecting part from its initial position to be the same as the maximum clockwise rotation angle of the second connecting part from its initial position, and ensuring that at least a portion of the second connecting part's orthographic projection along the vertical axis of the base housing coincides with the first connecting part, the second connecting part can rotate at the same angle to the left and right. By connecting the second fixing position to the second connecting part, the maximum stretching distance of the wiring harness structure is the same when the shoulder housing rotates in different directions. This reduces the length of the wiring harness structure between the first and second connecting parts, making it less likely to interfere with surrounding equipment, reducing the frequency and amplitude of the wiring harness's movement, and improving its lifespan. Furthermore, it reduces the space occupied by the wiring harness structure and simplifies its installation.

[0015] By including two sub-wire harnesses in the wire harness structure located between the first and second fixed positions, and with the two sub-wire harnesses located on both sides of the drive motor, a single thick wire harness structure can be transformed into two thinner wire harness structures. This reduces the volume of the wire harness structure on one side of the base housing. In other words, the wire harness structures can be arranged from both sides of the base housing in the gap between the base housing and the drive motor. Compared to setting a single thick wire harness structure, this reduces the volume of the base housing, facilitates the arrangement of other components within the base housing, and is beneficial for the miniaturization of six-axis robots.

[0016] Optionally, the first connecting portion is located at one end of the base housing away from the shoulder housing, and the second connecting portion is located at one end of the shoulder housing close to the base housing;

[0017] The length of the wire harness structure located between the first fixed position and the second fixed position is greater than the travel distance of the second connecting part when it rotates counterclockwise or clockwise from the initial position to the maximum angle, so as to avoid the wire harness structure interfering with the rotation of the shoulder housing.

[0018] This design prevents the wiring harness structure between the first and second fixing positions from being stretched to the limit during the rotation of the shoulder housing, thus preventing the wiring harness structure from breaking and extending its service life.

[0019] Optionally, the housing further includes a boom housing, which is located at the end of the shoulder housing opposite to the base housing; wherein,

[0020] The upper arm housing is rotatably connected to the shoulder housing along a horizontal axis;

[0021] The boom housing includes a third connecting part, the maximum angle by which the third connecting part can rotate counterclockwise from the initial position is the same as the maximum angle by which the third connecting part can rotate clockwise from the initial position;

[0022] The wire harness structure includes a third fixing position, which is spaced apart from the second fixing position, and is fixedly connected to the third connecting part;

[0023] The wire harness structure located between the second fixing position and the third fixing position is located on one side of the shoulder housing.

[0024] This design reduces the degree of twisting of the wiring harness structure within the shoulder housing under the extreme movement angles of the boom housing, decreases the length of the wiring harness structure between the second and third fixing positions, makes the wiring harness structure less likely to interfere with surrounding equipment, reduces the frequency and amplitude of the wiring harness movement, and improves the service life of the wiring harness. Additionally, it reduces the space occupied by the wiring harness structure and simplifies its installation.

[0025] Optionally, the third connecting portion is located at one end of the upper arm housing near the shoulder housing; wherein,

[0026] The length of the wire harness structure located between the second fixed position and the third fixed position is greater than the travel of the third connecting part when it rotates counterclockwise or clockwise to the maximum angle from the initial position, so as to avoid the wire harness structure interfering with the rotation of the boom housing.

[0027] This design prevents the wiring harness structure between the second and third fixing positions from being stretched to the limit during the rotation of the boom housing, thus preventing the wiring harness structure from breaking and extending its service life.

[0028] Optionally, the housing further includes an elbow housing located at the end of the upper arm housing opposite to the shoulder housing; wherein,

[0029] The elbow housing is rotatably connected to the upper arm housing along a horizontal axis;

[0030] The elbow housing includes a fourth connecting portion;

[0031] The maximum angle that the fourth connecting part can rotate counterclockwise from its initial position is the same as the maximum angle that the fourth connecting part can rotate clockwise from its initial position.

[0032] The wire harness structure includes a fourth fixing position, which is spaced apart from the third fixing position, and is fixedly connected to the fourth connecting part;

[0033] The wiring harness structure located between the third and fourth fixing positions is situated on one side of the boom housing.

[0034] This design reduces the degree of twisting of the wiring harness structure within the boom housing at the elbow housing's extreme movement angles, decreases the length of the wiring harness structure between the third and fourth fixed positions, makes the wiring harness structure less prone to interference with surrounding equipment, reduces the frequency and amplitude of the wiring harness's movement, and improves the wiring harness's lifespan. Furthermore, it reduces the space occupied by the wiring harness structure and simplifies its installation.

[0035] Optionally, the wire harness structure located between the second fixing position and the third fixing position, and the wire harness structure located between the third fixing position and the fourth fixing position, are both located on the same side of the housing.

[0036] This setup can reduce the length of the wire harness structure between the second and fourth fixed positions, reduce the layout space, lower the layout difficulty, and save costs.

[0037] Optionally, the fourth connecting portion is located at one end of the elbow housing near the upper arm housing; wherein,

[0038] The length of the wire harness structure located between the third fixed position and the fourth fixed position is greater than the travel of the fourth connecting part when it rotates counterclockwise or clockwise to the maximum angle from the initial position, so as to avoid the wire harness structure interfering with the rotation of the elbow housing.

[0039] This design prevents the wiring harness structure between the third and fourth fixing positions from being stretched to its limit when the elbow housing rotates, thus preventing the wiring harness structure from breaking and extending its service life.

[0040] Optionally, a first limiting member may also be included; wherein,

[0041] The first limiting member is located between the third fixed position and the fourth fixed position;

[0042] The first limiting member is fixedly connected to the boom housing;

[0043] The first limiting member includes a stop arm and a guide arm. The stop arm is arranged along a horizontal axis, and the guide arm is arranged along the extension direction of the main arm housing, and the guide arm is arranged at an angle to the horizontal axis.

[0044] The wiring harness structure is located between the stop arm and the guide arm, and the first limiting member is used to limit the swaying of the wiring harness structure within the boom housing.

[0045] By setting the first limiting component, the portion of the wire harness structure located between the third and fourth fixed positions can be limited, preventing it from swaying freely within the boom housing. This makes it less likely for the wire harness structure to interfere with surrounding equipment, reduces the frequency and amplitude of its movement, and improves its service life.

[0046] Optionally, the housing further includes a forearm housing, which is located at the end of the elbow housing opposite to the upper arm housing; wherein,

[0047] The forearm housing is rotatably connected to the elbow housing along the vertical axis;

[0048] The forearm housing includes a fifth connecting part;

[0049] The maximum angle that the fifth connecting part can rotate counterclockwise from its initial position is the same as the maximum angle that the fifth connecting part can rotate clockwise from its initial position.

[0050] The wire harness structure includes a fifth fixing position, which is spaced apart from the fourth fixing position, and the fifth fixing position is fixedly connected to the fifth connecting part;

[0051] The wiring harness structure located between the fourth and fifth fixing positions is situated in the middle of the elbow housing and the forearm housing.

[0052] This design reduces the degree of twisting of the wiring harness structure within the elbow housing at the extreme angles of the forearm housing, decreases the length of the wiring harness structure between the fourth and fifth fixing positions, makes the wiring harness structure less likely to interfere with surrounding equipment, reduces the frequency and amplitude of the wiring harness movement, and improves the service life of the wiring harness. Additionally, it reduces the space occupied by the wiring harness structure and simplifies its installation.

[0053] Optionally, the fifth connecting portion is located at one end of the forearm housing near the elbow housing; wherein,

[0054] The length of the wire harness structure located between the fourth fixed position and the fifth fixed position is greater than the travel distance of the fifth connecting part when it rotates counterclockwise or clockwise from the initial position to the maximum angle, so as to avoid the wire harness structure interfering with the rotation of the forearm housing.

[0055] This design prevents the wiring harness structure between the fourth and fifth fixing positions from being stretched to its limit during the rotation of the forearm housing, thus preventing breakage and extending the service life of the wiring harness structure.

[0056] Optionally, the housing further includes a wrist housing located at the end of the forearm housing opposite to the elbow housing; wherein,

[0057] The wrist housing is rotatably connected to the forearm housing along the horizontal axis;

[0058] The wrist housing includes a sixth connecting portion;

[0059] The maximum angle that the sixth connecting part can rotate counterclockwise from its initial position is the same as the maximum angle that the sixth connecting part can rotate clockwise from its initial position.

[0060] The wire harness structure includes a sixth fixing position, which is spaced apart from the fifth fixing position, and the sixth fixing position is fixedly connected to the sixth connecting part;

[0061] The portion of the wire harness structure located between the fifth and sixth fixing positions is situated on one side of the forearm housing;

[0062] The length of the wire harness structure located between the fifth fixed position and the sixth fixed position is greater than the travel distance of the sixth connecting part when it rotates counterclockwise or clockwise to the maximum angle from the initial position, so as to avoid the wire harness structure interfering with the rotation of the wrist housing.

[0063] This design reduces the degree of twisting of the wiring harness structure within the arm housing under the extreme movement angles of the wrist housing. It also reduces the length of the wiring harness structure between the fifth and sixth fixed positions, making it less prone to interference with surrounding equipment, reducing the frequency and amplitude of the wiring harness movement, and extending its lifespan. Furthermore, it reduces the space occupied by the wiring harness structure, simplifying its installation. Finally, it prevents the wiring harness structure between the fifth and sixth fixed positions from being subjected to extreme stretching during wrist housing rotation, preventing breakage and extending its lifespan.

[0064] Optionally, a second limiting element may also be included; wherein,

[0065] The second limiting member is located between the fifth fixed position and the sixth fixed position;

[0066] The second limiting member is fixedly connected to the forearm housing;

[0067] The second limiting member is provided along the extension direction of the forearm housing. The portion of the wire harness structure located between the fifth fixed position and the sixth fixed position abuts against the second limiting member. The second limiting member is used to restrict the swaying of the wire harness structure within the forearm housing.

[0068] By setting a second limiting component, the portion of the wire harness structure located between the fifth fixed position and the sixth fixed position can be limited, preventing the portion of the wire harness structure between the fifth fixed position and the sixth fixed position from swinging freely within the forearm housing. This makes it less likely for the wire harness structure to interfere with surrounding equipment, reduces the activity frequency and amplitude of the wire harness structure, and improves the service life of the wire harness structure.

[0069] Optionally, it also includes several fixed components; among which,

[0070] Each of the aforementioned fixing components includes a connector and at least one fixing member;

[0071] The fixing member is fixedly connected to both the wire harness structure and the connector, so that the wire harness structure is fixedly connected to the connector;

[0072] The connector is fixedly connected to both the fixing member and the housing, so that the fixing member is fixedly connected to the housing.

[0073] This design facilitates the assembly of the wire harness structure with the housing, reducing assembly difficulty and consequently lowering manufacturing costs. Furthermore, it improves the connection stability between the wire harness structure and the housing, extending the lifespan of the wire harness structure.

[0074] Optionally, the fixing component includes a first fixing component, which is used to connect the first fixing position to the first connecting portion; wherein,

[0075] The first fixing component includes the connector and two fixing members, with the two fixing members respectively disposed at the ends of the two sub-wire harnesses;

[0076] The connector of the first fixing component is fixedly connected to the first connecting part.

[0077] This configuration can improve the connection stability between the first fixing position and the first connecting part, and can constrain each sub-wire harness to prevent one of the sub-wire harnesses from shaking, reduce wear on the wire harness structure, and extend the service life of the wire harness structure.

[0078] Optionally, the fixing component includes a second fixing component, which is used to connect the second fixing position to the second connecting portion; wherein,

[0079] The second fixing component includes the connector and three fixing members;

[0080] Two of the three fixing members are respectively disposed at one end of the two sub-wire harnesses near the second fixing position;

[0081] Another of the three fasteners is located at the end of the second fixing position opposite to the first fixing position;

[0082] The connector of the second fixing component is fixedly connected to the second connecting part.

[0083] This design strengthens the connection between the second fixing point and the second connecting part, preventing problems such as shaking of the wire harness structure at the second connecting part, reducing wear on the wire harness structure, and extending the service life of the wire harness structure.

[0084] Optionally, the fastener is a metal clamp.

[0085] By using metal clamps as the fixing components, the structure of the fixing components can be reduced. In addition, metal clamps are easy to install, which can reduce the assembly difficulty of the six-axis robot and thus reduce the processing cost.

[0086] Optionally, the drive motor is provided with a first protective sleeve on its outer side; wherein,

[0087] The first sheath includes a first sidewall and a second sidewall extending along the vertical axis of the base housing. The first sidewall and the second sidewall are spaced apart in the radial direction of the base housing, and a receiving cavity is formed between the first sidewall and the second sidewall.

[0088] Both of the wire bundles located between the first fixed position and the second fixed position are located within the receiving cavity.

[0089] By installing a second sheath, wear on the wire harness structure within the base housing can be prevented, thereby extending the service life of the wire harness structure.

[0090] Optionally, a second sheath may also be included; wherein,

[0091] The shoulder housing is provided with a first opening for the wire harness structure to pass through;

[0092] The second sheath is disposed within the first opening and is located between the wire harness structure and the first opening.

[0093] By adding a second sheath, wear on the wire harness structure at the first opening can be prevented, thereby extending the service life of the wire harness structure.

[0094] Optionally, a third sheath may also be included; among which,

[0095] The wrist housing is provided with a second opening for the wire harness structure to pass through;

[0096] The third sheath is disposed within the second opening and is located between the wire harness structure and the second opening.

[0097] By adding a third sheath, wear on the wire harness structure at the second opening can be prevented, thereby extending the service life of the wire harness structure.

[0098] The structure of this utility model, as well as its other utility model objectives and beneficial effects, will become more apparent and understandable through the description of the preferred embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0099] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0100] Figure 1 This is a schematic diagram of the structure of a six-axis robot provided in an embodiment of the present invention;

[0101] Figure 2 This is a schematic diagram of the wiring harness structure of the six-axis robot provided in this embodiment of the utility model;

[0102] Figure 3 This is a partial structural diagram of the base shell of a six-axis robot provided in an embodiment of the present invention;

[0103] Figure 4 This is a partial structural diagram of the shoulder shell and upper arm shell of a six-axis robot provided in this embodiment of the utility model;

[0104] Figure 5 This is a partial structural diagram of the elbow shell, forearm shell, and wrist shell of a six-axis robot provided in this embodiment of the present invention;

[0105] Figure 6 This is a schematic diagram of a partial wiring harness structure of a six-axis robot provided in an embodiment of this utility model;

[0106] Figure 7This is a partial structural diagram of the base shell of a six-axis robot provided in an embodiment of the present invention;

[0107] Figure 8 This is a partial structural diagram of the shoulder shell of a six-axis robot provided in an embodiment of the present invention;

[0108] Figure 9 This is a partial structural diagram of the wrist shell of a six-axis robot provided in an embodiment of the present invention.

[0109] Explanation of reference numerals in the attached figures:

[0110] 100: Six-axis robot;

[0111] 11: Base shell;

[0112] 111: First connecting part;

[0113] 12: Shoulder shell;

[0114] 121: Second connecting part;

[0115] 122: First opening;

[0116] 13: Arm housing;

[0117] 131: Third connecting part;

[0118] 14: Elbow housing;

[0119] 141: Fourth connecting part;

[0120] 15: Forearm housing;

[0121] 151: Fifth connecting part;

[0122] 16: Wrist shell;

[0123] 161: Sixth connecting part;

[0124] 162: The second opening;

[0125] 20: Wire harness structure;

[0126] 21: First fixed position;

[0127] 22: Second fixed position;

[0128] 23: Third fixed position;

[0129] 24: Fourth fixed position;

[0130] 25: Fifth fixed position;

[0131] 26: The sixth fixed position;

[0132] 27: Connecting terminal;

[0133] 28: Sub-harness;

[0134] 31: First limiting component;

[0135] 32: Second limiting component;

[0136] 41: Connector;

[0137] 42: Fasteners;

[0138] 51: First sheath;

[0139] 511: First sidewall;

[0140] 512: Second sidewall;

[0141] 513: Receiving cavity;

[0142] 52: Second sheath;

[0143] 53: Third sheath. Detailed Implementation

[0144] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0145] The six-axis robot provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0146] This utility model embodiment provides a six-axis robot 100, such as Figure 1 and Figure 2 As shown, the six-axis robot 100 may include a housing and a wiring harness structure 20 disposed inside the housing. The housing includes at least a base housing 11 and a shoulder housing 12, with the shoulder housing 12 rotatably connected to the base housing 11 along its vertical axis. The base housing 11 includes a first connecting portion 111, and the shoulder housing 12 includes a second connecting portion 121. The maximum counterclockwise rotation angle of the second connecting portion 121 from its initial position is the same as the maximum clockwise rotation angle of the second connecting portion 121 from its initial position. Figure 3 As shown, at least a portion of the second connecting portion 121 has its orthographic projection along the vertical axis of the base housing 11 coinciding with the first connecting portion 111.

[0147] The wiring harness structure 20 includes at least a first fixing position 21 and a second fixing position 22 spaced apart. The first fixing position 21 is fixedly connected to the first connecting portion 111, and the second fixing position 22 is fixedly connected to the second connecting portion 121. A drive motor for driving the shoulder housing 12 to rotate is installed inside the base housing 11. The wiring harness structure 20 located between the first fixing position 21 and the second fixing position 22 includes two sub-wiring harnesses 28, which are located on both sides of the drive motor, and the end of each sub-wiring harness 28 is configured with a first fixing position 21.

[0148] The six-axis robot 100 provided in this application embodiment has a first connecting part 111 on the base housing 11 and a second connecting part 121 on the shoulder housing 12, so as to fix the wire harness structure 20 inside the base housing 11. The second fixing position 22 of the wire harness structure 20 can move together with the second connecting part 121, thereby preventing the wire harness structure 20 from shaking randomly inside the housing. This also prevents the risk of breakage or damage to the wire harness structure 20 after repeated bending and wear of the base housing, thereby improving the service life of the wire harness structure 20.

[0149] By setting the maximum counterclockwise rotation angle of the second connecting portion 121 from its initial position to be the same as the maximum clockwise rotation angle of the second connecting portion 121 from its initial position, and by ensuring that at least a portion of the orthographic projection of the second connecting portion 121 onto the vertical axis of the base housing 11 coincides with that of the first connecting portion 111, the left and right rotation angles of the second connecting portion 121 are made the same. By connecting the second fixing position 22 to the second connecting portion 121, the maximum stretching distance of the wire harness structure 20 is the same when the shoulder housing 12 rotates in different directions. This reduces the length of the wire harness structure 20 between the first connecting portion 111 and the second connecting portion 121, making the wire harness structure 20 less prone to interference with surrounding equipment, reducing the frequency and amplitude of wire harness movement, and improving wire harness lifespan. Furthermore, it also reduces the space occupied by the wire harness structure 20 and simplifies its layout.

[0150] By including two sub-wire harnesses 28 in the wire harness structure 20 located between the first fixed position 21 and the second fixed position 22, and with the two sub-wire harnesses 28 located on both sides of the drive motor, a thicker wire harness structure 20 can be transformed into two thinner wire harness structures 20. This reduces the volume of the wire harness structure 20 on one side of the base housing 11. In other words, the wire harness structures 20 can be arranged from both sides of the base housing 11 in the gap between the base housing 11 and the drive motor. Compared to setting a single thicker wire harness structure 20, this reduces the volume of the base housing 11, facilitates the arrangement of other components within the base housing 11, and is beneficial to the miniaturization of the six-axis robot 100.

[0151] It should be noted that the "initial position" refers to the factory default position of the six-axis robot 100 when it is not started, that is, the position when none of the multiple rotating components of the six-axis robot are rotating.

[0152] See also Figure 1 As shown, the first connecting part 111 is located at the end of the base housing 11 away from the shoulder housing 12, and the second connecting part 121 is located at the end of the shoulder housing 12 close to the base housing 11. The length of the wire harness structure 20 located between the first fixed position 21 and the second fixed position 22 is greater than the stroke of the second connecting part 121 when it rotates counterclockwise or clockwise from the initial position to the maximum angle, so as to avoid the wire harness structure 20 interfering with the rotation of the shoulder housing 12.

[0153] This design prevents the wire harness structure 20 between the first fixing position 21 and the second fixing position 22 from being stretched to the limit when the shoulder housing 12 rotates, thus preventing the wire harness structure 20 from breaking and extending its service life.

[0154] It should be noted that, in this embodiment of the application, the wire harness structure 20 located between the first fixed position 21 and the second fixed position 22 may be configured without a fixed shape, or it may be configured as a structure including multiple U-shaped bends. In this embodiment of the application, the shape of the wire harness structure 20 located between the first fixed position 21 and the second fixed position 22 is not further limited.

[0155] For example, the first connecting part 111 and the second connecting part 121 are both located inside the base housing 11 away from the center. This allows for more space to be reserved for the installation of the drive motor, making it easier to arrange the components inside the base housing 11, which is beneficial to the miniaturization of the base housing 11.

[0156] like Figure 2 As shown, the wire harness structure 20 is provided with a plurality of connection terminals 27 so as to connect the wire harness structure 20 to the equipment inside the housing, thereby controlling the equipment inside the housing. In this application, the setting position of the connection terminals 27 on the wire harness structure 20 is not further limited, and can be set according to the requirements.

[0157] See Figure 1 and Figure 4 As shown, the housing also includes a large arm housing 13, which is located at the end of the shoulder housing 12 opposite to the base housing 11. The large arm housing 13 is rotatably connected to the shoulder housing 12 along a horizontal axis. The large arm housing 13 includes a third connecting portion 131, the maximum angle by which the third connecting portion 131 can rotate counterclockwise from its initial position is the same as the maximum angle by which the third connecting portion 131 can rotate clockwise from its initial position.

[0158] The wire harness structure 20 includes a third fixing position 23, which is spaced apart from the second fixing position 22, and is fixedly connected to the third connecting part 131. The wire harness structure 20, located between the second fixing position 22 and the third fixing position 23, is located on one side of the shoulder housing 12.

[0159] This design reduces the twisting of the wiring harness structure 20 within the shoulder housing 12 under extreme movement angles of the boom housing 13, decreases the length of the wiring harness structure 20 between the second fixing position 22 and the third fixing position 23, makes the wiring harness structure 20 less likely to interfere with surrounding equipment, reduces the frequency and amplitude of the wiring harness's movement, and improves the service life of the wiring harness. Furthermore, it reduces the space occupied by the wiring harness structure 20 and simplifies its installation.

[0160] It should be noted that "vertical axis" refers to the axis in the vertical direction, or the longitudinal extension direction of a six-axis robot, which is what people usually consider the vertical direction. "Horizontal axis" refers to the axis along the horizontal direction, which is what people usually consider the horizontal direction. The horizontal axis is perpendicular to the vertical axis.

[0161] It should be noted that the maximum angle that the third connecting part 131 can rotate counterclockwise from its initial position is the same as the maximum angle that the third connecting part 131 can rotate clockwise from its initial position, meaning that they are the same within a certain allowable error range. For example, a deviation of 5° to the left or right is considered the same.

[0162] For example, the third connection 131 is located at one end of the upper arm housing 13 near the shoulder housing 12, wherein the length of the wire harness structure 20 located between the second fixing position 22 and the third fixing position 23 is greater than the travel of the third connection 131 when it rotates counterclockwise or clockwise from the initial position to the maximum angle, so as to avoid the wire harness structure 20 interfering with the rotation of the upper arm housing 13.

[0163] This design prevents the wiring harness structure 20 between the second fixing position 22 and the third fixing position 23 from being stretched to the limit when the boom housing 13 rotates, thus preventing the wiring harness structure 20 from breaking and extending its service life.

[0164] like Figure 4As shown, the six-axis robot 100 also includes a first limiting member 31. The first limiting member 31 is located between the third fixed position 23 and the fourth fixed position 24. The first limiting member 31 is fixedly connected to the upper arm housing 13. The first limiting member 31 includes a stop arm and a guide arm. The stop arm is arranged along the horizontal axis, and the guide arm is arranged along the extension direction of the upper arm housing 13, forming an angle with the horizontal axis. A wiring harness structure 20 is located between the stop arm and the guide arm, and the first limiting member 31 is used to restrict the wiring harness structure 20 from swaying within the upper arm housing 13.

[0165] By setting the first limiting member 31, the portion of the wire harness structure 20 located between the third fixed position 23 and the fourth fixed position 24 can be limited, preventing the portion of the wire harness structure 20 between the third fixed position 23 and the fourth fixed position 24 from swinging freely within the boom housing 13, so that the wire harness structure 20 is less likely to interfere with surrounding equipment, reducing the activity frequency and amplitude of the wire harness structure 20, and improving the service life of the wire harness structure 20.

[0166] For example, the angle between the guide arm and the horizontal axis is between 45 degrees and 70 degrees. This allows the guide arm to be tilted, which allows the wiring harness structure 20 to gradually extend to the outside of the main arm housing 13, reducing the degree of bending of the wiring harness structure 20 and preventing it from being broken due to excessive bending. This can improve the service life of the wiring harness structure 20.

[0167] In one possible implementation, combining Figure 1 and Figure 5 As shown, the housing also includes an elbow housing 14, located at the end of the upper arm housing 13 opposite to the shoulder housing 12. The elbow housing 14 is rotatably connected to the upper arm housing 13 along a horizontal axis. The elbow housing 14 includes a fourth connecting portion 141. The maximum angle by which the fourth connecting portion 141 can rotate counterclockwise from its initial position is the same as the maximum angle by which it can rotate clockwise from its initial position. The wiring harness structure 20 includes a fourth fixing position 24, which is spaced apart from the third fixing position 23 and fixedly connected to the fourth connecting portion 141. The wiring harness structure 20 located between the third fixing position 23 and the fourth fixing position 24 is situated on one side of the upper arm housing 13.

[0168] This design reduces the degree of twisting of the wiring harness structure 20 within the boom housing 13 at the extreme movement angle of the elbow housing 14, decreases the length of the wiring harness structure 20 between the third fixing position 23 and the fourth fixing position 24, makes the wiring harness structure 20 less likely to interfere with surrounding equipment, reduces the frequency and amplitude of the wiring harness's movement, and improves the service life of the wiring harness. Furthermore, it reduces the space occupied by the wiring harness structure 20 and simplifies its installation.

[0169] For example, the wire harness structure 20 located between the second fixing position 22 and the third fixing position 23, and the wire harness structure 20 located between the third fixing position 23 and the fourth fixing position 24 are both located on the same side of the housing.

[0170] This configuration can reduce the length of the wire harness structure 20 between the second fixed position 22 and the fourth fixed position 24, reduce the layout space, reduce the layout difficulty, and also save costs.

[0171] It should be noted that the wiring harness structure 20 includes multiple bending points. For example, the wiring harness structure 20 is laterally bent at the second fixing position 22 to one side of the shoulder housing 12, and then extends along the extending direction of the shoulder housing 12. It is then laterally bent again at the connection between the shoulder housing 12 and the upper arm housing 13 and extends into the interior of the upper arm housing 13. Finally, it is longitudinally bent at the third connecting portion 131 inside the upper arm housing 13, causing the wiring harness structure 20 to extend along the extending direction of the upper arm housing 13.

[0172] In some embodiments, fixing structures can be provided at both the position before and after the bending of the wire harness structure 20 to fix the wire harness structure 20 to the housing. This increases the connection stability between the wire harness structure 20 and the housing, prevents the wire harness structure 20 from moving freely inside the housing, reduces wear, and extends the service life of the wire harness structure 20.

[0173] In one possible implementation, the fourth connection 141 is located at one end of the elbow housing 14 near the upper arm housing 13, wherein the length of the wire harness structure 20 located between the third fixing position 23 and the fourth fixing position 24 is greater than the travel of the fourth connection 141 when it rotates counterclockwise or clockwise from the initial position to the maximum angle, so as to avoid the wire harness structure 20 interfering with the rotation of the elbow housing 14.

[0174] This design prevents the wire harness structure 20 between the third fixing position 23 and the fourth fixing position 24 from being stretched to the limit when the elbow housing 14 rotates, thus preventing the wire harness structure 20 from breaking and extending its service life.

[0175] See Figure 1 and Figure 5As shown, the housing also includes a forearm housing 15, located at the end of the elbow housing 14 opposite to the upper arm housing 13. The forearm housing 15 is rotatably connected to the elbow housing 14 along a vertical axis. Here, the "vertical axis" refers to the axis along the extension direction of the forearm housing; when the forearm rotates to a vertical position, this vertical axis is parallel to the vertical axis of the base. The forearm housing 15 includes a fifth connecting portion 151. The maximum angle by which the fifth connecting portion 151 can rotate counterclockwise from its initial position is the same as the maximum angle by which it can rotate clockwise from its initial position. The wiring harness structure 20 includes a fifth fixing position 25, which is spaced apart from the fourth fixing position 24 and fixedly connected to the fifth connecting portion 151. The wiring harness structure 20, located between the fourth fixing position 24 and the fifth fixing position 25, is situated in the middle of the elbow housing 14 and the forearm housing 15.

[0176] This design reduces the twisting of the wiring harness structure 20 within the elbow housing 14 at the extreme movement angles of the forearm housing 15, decreases the length of the wiring harness structure 20 between the fourth fixing position 24 and the fifth fixing position 25, makes the wiring harness structure 20 less likely to interfere with surrounding equipment, reduces the frequency and amplitude of the wiring harness's movement, and improves the wiring harness's service life. Furthermore, it reduces the space occupied by the wiring harness structure 20 and simplifies its installation.

[0177] In one possible implementation, the fifth connecting portion 151 is located at one end of the forearm housing 15 near the elbow housing 14. The length of the wiring harness structure 20 located between the fourth fixing position 24 and the fifth fixing position 25 is greater than the travel of the fifth connecting portion 151 when it rotates to its maximum angle counterclockwise or clockwise from its initial position, to avoid interference of the wiring harness structure 20 with the rotation of the forearm housing 15.

[0178] This design prevents the wire harness structure 20 between the fourth fixing position 24 and the fifth fixing position 25 from being stretched to the limit when the forearm housing 15 rotates, thus preventing the wire harness structure 20 from breaking and extending its service life.

[0179] Continue to participate Figure 1 and Figure 5As shown, the housing also includes a wrist housing 16, located at the end of the forearm housing 15 opposite to the elbow housing 14. The wrist housing 16 is rotatably connected to the forearm housing 15 along a horizontal axis and includes a sixth connecting portion 161. The maximum counterclockwise rotation angle of the sixth connecting portion 161 from its initial position is the same as the maximum clockwise rotation angle of the sixth connecting portion 161 from its initial position. The wiring harness structure 20 includes a sixth fixing position 26, which is spaced apart from the fifth fixing position 25 and fixedly connected to the sixth connecting portion 161. The portion of the wiring harness structure 20 located between the fifth fixing position 25 and the sixth fixing position 26 is located on one side of the forearm housing 15. The length of the wiring harness structure 20 located between the fifth fixing position 25 and the sixth fixing position 26 is greater than the travel distance of the sixth connecting portion 161 when it rotates to its maximum counterclockwise or clockwise angle from its initial position, to avoid interference of the wiring harness structure 20 with the rotation of the wrist housing 16.

[0180] This design reduces the twisting of the wiring harness structure 20 within the arm housing 15 at the extreme movement angles of the wrist housing 16. It also reduces the length of the wiring harness structure 20 between the fifth fixing position 25 and the sixth fixing position 26, making it less likely to interfere with surrounding equipment, reducing the frequency and amplitude of the wiring harness's movement, and improving its lifespan. Furthermore, it reduces the space occupied by the wiring harness structure 20, simplifying its installation. It also prevents the wiring harness structure 20 between the fifth fixing position 25 and the sixth fixing position 26 from being stretched to its limit during the rotation of the wrist housing 16, preventing breakage and extending its lifespan.

[0181] like Figure 5 As shown, a second limiting member 32 (not shown in the figure) can also be provided inside the forearm housing 15, wherein the second limiting member 32 is located between the fifth fixing position 25 and the sixth fixing position 26. The second limiting member 32 is fixedly connected to the forearm housing 15. The second limiting member 32 is provided along the extending direction of the forearm housing 15, and the portion of the wire harness structure 20 located between the fifth fixing position 25 and the sixth fixing position 26 abuts against the second limiting member 32, and the second limiting member 32 is used to limit the swaying of the wire harness structure 20 within the forearm housing 15.

[0182] By setting the second limiting member 32, the portion of the wire harness structure 20 located between the fifth fixed position 25 and the sixth fixed position 26 can be limited, preventing the portion of the wire harness structure 20 between the fifth fixed position 25 and the sixth fixed position 26 from swinging freely within the forearm housing 15. This makes it less likely for the wire harness structure 20 to interfere with surrounding equipment, reduces the activity frequency and amplitude of the wire harness structure 20, and improves the service life of the wire harness structure 20.

[0183] For example, the six-axis robot 100 provided in this application embodiment may further include multiple fixing components. Each fixing component includes a connector 41 and at least one fixing member 42. The fixing member 42 is fixedly connected to both the wiring harness structure 20 and the connector 41, such that the wiring harness structure 20 is fixedly connected to the connector 41. The connector 41 is fixedly connected to both the fixing member 42 and the housing, such that the fixing member 42 is fixedly connected to the housing.

[0184] For example, the fixing component may include a connector 41 and a fixing member 42, or the fixing component may include a connector 41 and two fixing members 42, or the fixing component may include a connector 41 and three fixing members 42. In this embodiment of the application, the number of fixing members 42 in a fixing component is not further limited.

[0185] This design facilitates the assembly of the wire harness structure 20 with the housing, reducing assembly difficulty and consequently lowering processing costs. Furthermore, it improves the connection stability between the wire harness structure 20 and the housing, extending the service life of the wire harness structure 20.

[0186] For example, such as Figure 6 As shown, the fixing assembly includes a first fixing component, which is used to connect the first fixing position 21 to the first connecting portion 111. The first fixing component includes a connector 41 and two fixing members 42, which are respectively disposed at the ends of the two sub-wire harnesses 28. The connector 41 of the first fixing component is fixedly connected to the first connecting portion 111.

[0187] This configuration can improve the connection stability between the first fixed position and the first connecting part 111, and can constrain each sub-wire harness 28, preventing one of the sub-wire harnesses 28 from shaking, reducing wear on the wire harness structure 20, and increasing the service life of the wire harness structure 20.

[0188] In one possible implementation, the fixing component further includes a second fixing component for connecting the second fixing position 22 to the second connecting portion 121. The second fixing component includes a connector 41 and three fixing members 42. Two of the three fixing members 42 are respectively disposed at the ends of the two sub-wire harnesses 28 near the second fixing position 22. The third fixing member 42 is disposed at the end of the second fixing position 22 opposite to the first fixing position 21. The connector 41 of the second fixing component is fixedly connected to the second connecting portion 121.

[0189] This configuration strengthens the connection between the second fixing position 22 and the second connecting part 121, prevents the wire harness structure 20 from shaking at the second connecting part 121, reduces wear on the wire harness structure 20, and extends the service life of the wire harness structure 20.

[0190] For example, the fastener 42 can be a metal clamp. By setting the fastener 42 as a metal clamp, the structure of the fastener 42 can be simplified. In addition, the metal clamp is easy to install, which can reduce the assembly difficulty of the six-axis robot 100 and thus reduce the processing cost.

[0191] join Figure 7 As shown, a first sheath 51 is provided on the outside of the drive motor. The first sheath 51 includes a first sidewall 511 and a second sidewall 512 extending along the vertical axis of the base housing 11. The first sidewall 511 and the second sidewall 512 are spaced apart in the radial direction of the base housing 11, and a receiving cavity 513 is formed between the first sidewall 511 and the second sidewall 512. The two wire harnesses located between the first fixing position 21 and the second fixing position 22 are both located in the receiving cavity 513.

[0192] By providing a protective sleeve, wear on the wire harness structure 20 within the base housing 11 can be prevented, thereby extending the service life of the wire harness structure 20.

[0193] See Figure 8 As shown, the six-axis robot 100 also includes a second sheath 52, wherein the shoulder housing 12 has a first opening 122 for the wire harness structure 20 to pass through. The second sheath 52 is disposed within the first opening 122 and is located between the wire harness structure 20 and the first opening 122.

[0194] By providing a second sheath 52, wear on the wire harness structure 20 at the first opening 122 can be prevented, thereby extending the service life of the wire harness structure 20.

[0195] See Figure 9 As shown, the six-axis robot 100 may also include a third sheath 53, wherein the wrist housing 16 is provided with a second opening 162 for the wire harness structure 20 to pass through, and the third sheath 53 is disposed in the second opening 162 and located between the wire harness structure 20 and the second opening 162.

[0196] By providing a third sheath 53, wear on the wire harness structure 20 at the second opening 162 can be prevented, thereby extending the service life of the wire harness structure 20.

[0197] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0198] In the description of this utility model, it should be understood that the terms "comprising" and "having" as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0199] Unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0200] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A six-axis robot, characterized in that, The shell comprises a shell body and a wire harness structure (20) arranged inside the shell body; wherein, The shell body comprises a base shell (11) and a shoulder shell (12), and the shoulder shell (12) is rotationally connected to the base shell (11) along a vertical axis of the base shell (11); The base shell (11) comprises a first connecting portion (111), and the shoulder shell (12) comprises a second connecting portion (121); A maximum angle of rotation of the second connecting portion (121) from an initial position counterclockwise is the same as a maximum angle of rotation of the second connecting portion (121) from the initial position clockwise, and at least part of the second connecting portion (121) is projected on the vertical axis of the base shell (11) and coincides with the first connecting portion (111); The wire harness structure (20) comprises at least a first fixing position (21) and a second fixing position (22) arranged at intervals, the first fixing position (21) is fixedly connected to the first connecting portion (111), and the second fixing position (22) is fixedly connected to the second connecting portion (121); A driving motor for driving the shoulder shell (12) to rotate is arranged in the base shell (11); The wire harness structure (20) between the first fixing position (21) and the second fixing position (22) comprises two sub-wire harnesses, and the two sub-wire harnesses are respectively arranged on both sides of the driving motor, and the end of each sub-wire harness is configured as the first fixing position (21).

2. The six-axis robot of claim 1, wherein, The first connecting portion (111) is located at one end of the base shell (11) away from the shoulder shell (12), and the second connecting portion (121) is located at one end of the shoulder shell (12) close to the base shell (11); The length of the wire harness structure (20) between the first fixing position (21) and the second fixing position (22) is greater than the stroke of the second connecting portion (121) when the second connecting portion (121) rotates by the maximum angle counterclockwise or clockwise from the initial position, so as to avoid interference of the wire harness structure (20) on the rotation of the shoulder shell (12).

3. The six-axis robot of claim 1 or 2, wherein, The shell further comprises a large arm shell (13), and the large arm shell (13) is located at one end of the shoulder shell (12) away from the base shell (11); wherein, The large arm shell (13) is rotationally connected to the shoulder shell (12) along a horizontal axis; The large arm shell (13) comprises a third connecting portion (131), and a maximum angle of rotation of the third connecting portion (131) from an initial position counterclockwise is the same as a maximum angle of rotation of the third connecting portion (131) from the initial position clockwise; The wire harness structure (20) comprises a third fixing position (23), and the third fixing position (23) is arranged at intervals with the second fixing position (22), and the third fixing position (23) is fixedly connected to the third connecting portion (131); The wire harness structure (20) between the second fixing position (22) and the third fixing position (23) is located on one side of the shoulder shell (12).

4. The six-axis robot of claim 3, wherein, The third connecting part (131) is located at one end of the large arm shell (13) close to the shoulder shell (12); wherein, The length of the wire harness structure (20) between the second fixing position (22) and the third fixing position (23) is greater than the stroke of the third connecting part (131) when rotating the maximum angle counterclockwise or clockwise from the initial position, so as to avoid the wire harness structure (20) from interfering with the rotation of the large arm shell (13).

5. The six-axis robot of claim 4, wherein, The shell further comprises an elbow shell (14), and the elbow shell (14) is located at one end of the large arm shell (13) away from the shoulder shell (12); wherein, The elbow shell (14) is rotationally connected to the large arm shell (13) along a horizontal axis; The elbow shell (14) comprises a fourth connecting part (141); The maximum angle of the fourth connecting part (141) rotatable counterclockwise from the initial position is the same as the maximum angle of the fourth connecting part (141) rotatable clockwise from the initial position; The wire harness structure (20) comprises a fourth fixing position (24), and the fourth fixing position (24) is spaced apart from the third fixing position (23), and the fourth fixing position (24) is fixedly connected to the fourth connecting part (141); The wire harness structure (20) between the third fixing position (23) and the fourth fixing position (24) is located on one side of the large arm shell (13).

6. The six-axis robot of claim 5, wherein, The wire harness structure (20) between the second fixing position (22) and the third fixing position (23) and the wire harness structure (20) between the third fixing position (23) and the fourth fixing position (24) are located on the same side of the shell.

7. The six-axis robot of claim 5 or 6, wherein, The fourth connecting part (141) is located at one end of the elbow shell (14) close to the large arm shell (13); wherein, The length of the wire harness structure (20) between the third fixing position (23) and the fourth fixing position (24) is greater than the stroke of the fourth connecting part (141) when rotating the maximum angle counterclockwise or clockwise from the initial position, so as to avoid the wire harness structure (20) from interfering with the rotation of the elbow shell (14).

8. The six-axis robot of claim 5 or 6, wherein, Further comprising a first limiting piece (31); wherein, The first limiting piece (31) is located between the third fixing position (23) and the fourth fixing position (24); The first limiting piece (31) is fixedly connected to the large arm shell (13); The first limiting piece (31) comprises a stop arm and a guide arm, the stop arm is arranged along a horizontal axis, the guide arm is arranged along the extension direction of the large arm shell (13), and the guide arm is arranged at an angle with the horizontal axis; The wire harness structure (20) is located between the stop arm and the guide arm, and the first limiting piece (31) is used to limit the wire harness structure (20) from shaking in the large arm shell (13).

9. The six-axis robot of claim 8, wherein, The shell further comprises a small arm shell (15), and the small arm shell (15) is located at one end of the elbow shell (14) away from the large arm shell (13); wherein, The small arm shell (15) is rotationally connected with the elbow shell (14) along a vertical axis; The small arm shell (15) comprises a fifth connecting part (151); The maximum angle of rotation of the fifth connecting part (151) from an initial position counterclockwise is the same as the maximum angle of rotation of the fifth connecting part (151) from the initial position clockwise; The wire harness structure (20) comprises a fifth fixed position (25), which is spaced apart from the fourth fixed position (24), and the fifth fixed position (25) is fixedly connected with the fifth connecting part (151); The wire harness structure (20) located between the fourth fixed position (24) and the fifth fixed position (25) is located in the middle of the elbow shell (14) and the small arm shell (15).

10. The six-axis robot of claim 9, wherein, The fifth connecting part (151) is located at one end of the small arm shell (15) close to the elbow shell (14); wherein, The length of the wire harness structure (20) located between the fourth fixed position (24) and the fifth fixed position (25) is greater than the stroke of the fifth connecting part (151) when it rotates by the maximum angle counterclockwise or clockwise from the initial position, so as to avoid interference of the wire harness structure (20) with the rotation of the small arm shell (15).

11. The six-axis robot of claim 9 or 10, wherein, The shell further comprises a wrist shell (16), which is located at one end of the small arm shell (15) away from the elbow shell (14); wherein, The wrist shell (16) is rotationally connected with the small arm shell (15) along the horizontal axis; The wrist shell (16) comprises a sixth connecting part (161); The maximum angle of rotation of the sixth connecting part (161) from an initial position counterclockwise is the same as the maximum angle of rotation of the sixth connecting part (161) from the initial position clockwise; The wire harness structure (20) comprises a sixth fixed position (26), which is spaced apart from the fifth fixed position (25), and the sixth fixed position (26) is fixedly connected with the sixth connecting part (161); Part of the wire harness structure (20) located between the fifth fixed position (25) and the sixth fixed position (26) is located on one side of the small arm shell (15); The length of the wire harness structure (20) located between the fifth fixed position (25) and the sixth fixed position (26) is greater than the stroke of the sixth connecting part (161) when it rotates by the maximum angle counterclockwise or clockwise from the initial position, so as to avoid interference of the wire harness structure (20) with the rotation of the wrist shell (16).

12. The six-axis robot of claim 11, wherein, Further comprising a second limiting piece (32); wherein, The second limiting piece (32) is located between the fifth fixed position (25) and the sixth fixed position (26); The second limiting piece (32) is fixedly connected with the small arm shell (15); The second limiting piece (32) is arranged along the extension direction of the small arm shell (15), and the part of the wire harness structure (20) between the fifth fixed position (25) and the sixth fixed position (26) is in abutment with the second limiting piece (32), and the second limiting piece (32) is used for limiting the wire harness structure (20) from shaking in the small arm shell (15).

13. The six-axis robot of claim 12, wherein, Further comprising a plurality of fixing assemblies; wherein, Each of the fixing assemblies comprises a connecting piece and at least one fixing piece; The fixing piece is fixedly connected with the wire harness structure (20) and the connecting piece, so that the wire harness structure (20) is fixedly connected with the connecting piece; The connecting piece is fixedly connected with the fixing piece and the shell, so that the fixing piece is fixedly connected with the shell.

14. The six-axis robot of claim 13, wherein, The fixing assembly comprises a first fixing assembly for connecting the first fixed position (21) with the first connecting part (111); wherein, The first fixing assembly comprises the connecting piece and two fixing pieces, and the two fixing pieces are respectively arranged at the end portions of the two sub-wire harnesses; The connecting piece of the first fixing assembly is fixedly connected with the first connecting part (111).

15. The six-axis robot of claim 13 or 14, wherein, The fixing assembly comprises a second fixing assembly for connecting the second fixed position (22) with the second connecting part (121); wherein, The second fixing assembly comprises the connecting piece and three fixing pieces; Two of the three fixing pieces are respectively arranged at the ends of the two sub-wire harnesses close to the second fixed position (22); The other of the three fixing pieces is arranged at the end of the second fixed position (22) away from the first fixed position (21); The connecting piece of the second fixing assembly is fixedly connected with the second connecting part (121).

16. The six-axis robot of claim 15, wherein, The fixing piece is a metal hoop.

17. The six-axis robot of claim 1 or 2, wherein, The outer side of the driving motor is provided with a first sheath (51); wherein, The first sheath (51) comprises a first side wall (511) and a second side wall (512) extending along the vertical axis direction of the base shell (11), and the first side wall (511) and the second side wall (512) are arranged in a spaced manner in the radial direction of the base shell (11), and a containing cavity is formed between the first side wall (511) and the second side wall (512); The two wires located between the first fixed position (21) and the second fixed position (22) are located in the containing cavity.

18. The six-axis robot of claim 1 or 2, wherein, Further comprising a second sheath (52); wherein, The shoulder shell (12) is provided with a first opening (122) for the wire harness structure (20) to pass through; The second sheath (52) is arranged in the first opening (122) and located between the wire harness structure (20) and the first opening (122).

19. The six-axis robot of claim 11, wherein, Further comprising a third sheath (53); wherein, The wrist shell (16) is provided with a second opening (162) for the wire harness structure (20) to pass through; The third sheath (53) is arranged in the second opening (162) and located between the wire harness structure (20) and the second opening (162). The third sheath (53) is disposed within the second opening (162) and between the wiring harness structure (20) and the second opening (162).

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