Robot

Abstract

The utility model provides a robot, which relates to the technical field of robots and can further improve the space utilization rate by changing the winding mode of a cable. The robot comprises a base part, a first arm and at least two cables, the first arm is arranged on one side of the base part and is connected with the base part; the cable is guided from the interior of the base part to the exterior of the base part, the cable comprises a first part located in the base part and a second part located outside the base part, the second part of the cable comprises a first sub-part and a second sub-part, the first sub-part extends in the extending direction of the first arm and is fixed to the first arm, and the second sub-part is connected with the first part and the first sub-part; the second sub-portion is located on one side of the first arm.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot. Background Technology

[0002] In recent years, industrial robot technology has developed rapidly, continuously moving towards higher speeds and higher loads, which has placed higher demands on robot cable connections. The design requires cables to support robots with higher loads within limited space, while also demanding higher space utilization.

[0003] In existing technologies, the robot's cables pass through the base, wrap around once, and then connect to the upper arm. As a result, the robot is only suitable for a hollow base with a large cable loop outside the base, requiring a large amount of cable material, resulting in high cost and occupying a lot of external space. Utility Model Content

[0004] This invention provides a robot that can further improve space utilization by changing the way cables are wound.

[0005] This application provides a robot. The robot includes: a base, a first arm, and at least two cables; the first arm is disposed on one side of the base and connected to the base; the cables are guided from inside the base to outside the base, and the cables include a first part located inside the base and a second part located outside the base, the second part of the cables includes a first sub-part and a second sub-part, the first sub-part extends along the extension direction of the first arm and is fixed to the first arm, the second sub-part connects the first part and the first sub-part, and the second sub-part is located on one side of the first arm.

[0006] Based on the above solution, this application provides a robot that connects the cable directly to the first arm without looping it in the middle. The cable is connected along the direction of the first arm, which reduces the use of cables and does not occupy much external space, thus making the robot more space-efficient.

[0007] In some embodiments, the base portion includes: a base and a rotating body; the base includes a housing and a shaft, the shaft being located within the housing and having a gap between the shaft and the housing; the rotating body is located on one side of the base and connected to the shaft; a first portion of the cable is located within the housing and disposed in the gap between the housing and the shaft, the cable surrounds at least a portion of the shaft, and the cable is guided to the outside of the base portion through an opening in the rotating body.

[0008] In some embodiments, the cable wraps around at least a portion of the shaft, and the cable is U-shaped.

[0009] In some embodiments, the at least two cables include: a first cable and a second cable; a first portion of the first cable passes through the inner cavity of the first arm and is fixed to the inner wall of the first arm; a first portion of the second cable is disposed outside the first arm and is fixed to the outer wall of the first arm.

[0010] In some embodiments, the robot further includes at least one fixing component for securing the cable.

[0011] In some embodiments, the fixing component includes clamps and / or sheet metal; the clamps are used to fix the cable, and the sheet metal is used to provide structural support.

[0012] In some embodiments, the fixing component includes a first fixing component and a second fixing component; the first fixing component is used to fix one end of the first sub-section of the cable near the second sub-section to the first arm, and the second fixing component is used to fix one end of the first sub-section of the cable away from the second sub-section to the first arm.

[0013] In some embodiments, where the base portion includes a base and a rotating body, the fixing assembly includes a third fixing assembly and a fourth fixing assembly, the third fixing assembly being used to fix one end of the first portion of the cable to the housing, and the fourth fixing assembly being used to fix the other end of the first portion of the cable to the rotating body.

[0014] In some embodiments, the robot further includes a motor disposed on one side of the base and connected to the rotating body; the second part of the first cable further includes a third sub-part, the first end of the third sub-part of the first cable is connected to the first part of the first cable, and the second end of the third sub-part of the first cable is connected to the motor. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of embodiments of this disclosure and form part of the embodiments of this disclosure, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0016] Figure 1 A side view of a robot provided for some embodiments of this disclosure;

[0017] Figure 2 This is a rear view of a robot provided for some embodiments of the present disclosure.

[0018] Figure Labels

[0019] 1. Base; 11. Base; 12. Rotating body; 2. First arm; 3. Cable; 31. First cable; 32. Second cable; 3a. First part; 3b. Second part; 31a. First part of the first cable; 31b. Second part of the first cable; 31b1. First sub-part of the first cable; 31b2. Second sub-part of the first cable; 32a. First part of the second cable; 32b. Second part of the second cable; 32b1. First sub-part of the second cable; 32b2. Second sub-part of the second cable; 4. Fixing assembly; 41. First fixing assembly; 42. Second fixing assembly; 43. Third fixing assembly; 44. Fourth fixing assembly; 5. Motor; 51. First motor; 52. Second motor; 100. Robot; K. Clamp; B. Sheet metal. Detailed Implementation

[0020] The technical solutions in some embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application are within the scope of protection of this application.

[0021] Unless the context otherwise requires, throughout the specification and claims, the term "comprising" is interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this application. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific feature, structure, material, or characteristic may be included in any suitable manner in any one or more embodiments or examples.

[0022] In recent years, industrial robot technology has developed rapidly, continuously moving towards higher speeds and higher loads, which has placed higher demands on robot cable connections. The design requires cables to support robots with higher loads within limited space, while also demanding higher space utilization.

[0023] In existing technologies, the robot's cables pass through the base, wrap around once, and then connect to the upper arm. As a result, the robot is only suitable for a hollow base with a large cable loop outside the base, requiring a large amount of cable material, resulting in high cost and occupying a lot of external space.

[0024] Based on this, some embodiments of this application provide a robot. For example... Figure 1As shown, this application provides a robot. The robot 100 includes: a base 1, a first arm 2, and at least two cables 3.

[0025] The first arm 2 is located on one side of the base portion 1 and is connected to the base portion 1.

[0026] The cable 3 is guided from inside the base portion 1 to outside the base portion 1. The cable 3 includes a first portion 3a located inside the base portion 1 and a second portion 3b located outside the base portion 1.

[0027] The second part 3b of the cable 3 includes: a first sub-part 3b1 and a second sub-part 3b2. The first sub-part 3b1 extends along the extension direction of the first arm 2 and is fixed on the first arm 2. The second sub-part 3b2 connects the first part 3a and the first sub-part 3b1 and is located on one side of the first arm 2.

[0028] In other words, the second sub-part 3b2 of the second part 3b is directly connected to the first sub-part 3b1 along the first arm 2 without going around it. This reduces the use of cables and does not occupy much external space, making the robot's space utilization rate higher.

[0029] Based on the above solution, this application provides a robot that connects the cable directly to the first arm without looping it in the middle. The cable is connected along the direction of the first arm, which reduces the use of cables and does not occupy much external space, thus making the robot more space-efficient.

[0030] like Figure 2 As shown, in some embodiments, the base portion 1 includes a base 11 and a rotating body 12.

[0031] The base 11 includes a housing 111 and a shaft 112. The shaft is located inside the housing, and there is a gap between the shaft 112 and the housing 111. The rotating body 12 is located on one side of the base 11 and connected to the shaft 112. The first part 3a of the cable 3 is located inside the housing and is disposed in the gap between the housing 111 and the shaft 112. The cable 3 surrounds at least a portion of the shaft 112 and is guided to the outside of the base through an opening in the rotating body 12.

[0032] In some embodiments, the aforementioned rotating body 12 is located at the center of one side of the base 11.

[0033] The rotating body is mounted relative to the base 11 in a manner that allows it to rotate about a first axis perpendicular to the mounting surface of the base 11 (see reference). Figure 1 ).

[0034] In some embodiments, the cable 3 surrounds at least a portion of the shaft, and the cable is U-shaped.

[0035] Wherein, "at least a portion of the cable 3 encircling the shaft 112" means that the cable 3 can only encircle half of the shaft. For example, the starting end of the cable 3 is set from the lower surface of the base 11, then it encircles along the lower surface to the side opposite the starting end, then it encircles upward along the gap between the shaft 112 and the housing 111 to the lower surface of the rotating body 12, and finally it returns along the lower surface of the rotating body 12 to the position on the same vertical line as the starting end of the cable 3, thus forming a U-shaped structure. This structure only uses the gap on one side of the shaft 112, and a cable 3 can also be set on the other side of the shaft 112, which is a double U-shaped structure; that is, a cable only encircles a part of the shaft 112.

[0036] Similarly, cable 3 can be wrapped around the shaft from one side to the other, so that a cable wraps around the entire shaft 112.

[0037] An interface D is provided on the outside of the housing 111, and the starting end of the cable 3 is connected to the interface D.

[0038] In some embodiments, the interface described above is a power interface or an interface of a heavy-duty connector.

[0039] Heavy-duty connectors ensure stable and reliable electrical connections between internal robot components, guaranteeing normal robot operation. They can withstand high current and voltage, meeting the robot's stringent electrical performance requirements. Furthermore, their pluggable design simplifies installation and maintenance. Compared to traditional hard-wiring methods, heavy-duty connectors eliminate the need for complex wiring, significantly reducing installation costs and time.

[0040] like Figure 1 and Figure 2 As shown, in some embodiments, at least two cables 3 include: a first cable 31 and a second cable 32.

[0041] The dashed lines in the diagram represent the routing of the first cable 31 and the second cable 32.

[0042] The first sub-part 31b1 of the first cable 31 passes through the inner cavity of the first arm 2 and is fixed on the inner wall of the first arm 2; the first sub-part 32b1 of the second cable 32 is disposed on the outside of the first arm 2 and is fixed on the outer wall of the first arm 2.

[0043] It should be noted that the labels 31b1 / 3b1~31b / 3b~31 / 3 in the figure refer to: the first sub-part 31b1 of the first cable 31 or the first sub-part 3b1 of the cable 3 belongs to the second part 31b of the first cable 31, or belongs to the second part 3b of the cable 3, and ultimately belongs to the first cable 31 or the cable 3.

[0044] The labels 32b1 / 3b1, 32b / 3b, and 32 / 3 in the diagram indicate a location where the indicated item is either the first sub-section 32b1 of the second cable 32 or the first sub-section 3b1 of the cable 3, the second part 32b of the second cable 32, the second part 3b of the cable 3, or the second cable 32 or the cable 3.

[0045] Meanwhile, the first sub-part 32b1 of the second cable 32 or the first sub-part 3b1 of the cable 3 belongs to the second part 32b of the second cable 32, or the first sub-part 32b1 of the second cable 32 or the first sub-part 3b1 of the cable 3 belongs to the second part 3b of the cable 3; the second part 32b of the second cable 32 or the second part 3b of the cable 3 belongs to the second cable 32, or the second part 32b of the second cable 32 or the second part 3b of the cable 3 belongs to the cable 3.

[0046] The explanations for subsequent labels are the same as those above, and will not be repeated here.

[0047] Subsequent embodiments will only use cables for illustration, therefore cable-related labels will be used, and there is no need to distinguish between the first cable and the second cable.

[0048] like Figure 1 and Figure 2 As shown, in some embodiments, the robot further includes at least one fixing component 4 for fixing the cable 3.

[0049] In some embodiments, the fixing component 4 includes a clamp K and / or sheet metal B.

[0050] It should be noted that the numerical designations of clamp K and sheet metal B in the diagram refer to the specific clamp K or sheet metal B. For example, K3 refers to the third clamp and B4 refers to the fourth sheet metal.

[0051] The clamp K is used to secure cable 3, and the sheet metal B is used to provide structural support. They can be used together or separately.

[0052] For example, the fixing component can use only clamp K; see the details below. Figure 2 K8 and K9 in the middle.

[0053] It should be noted that sheet metal is an important component of robot structures, used to manufacture the robot's shell, support frame, connectors, and so on. Sheet metal processing technology ensures the strength and precision of the robot structure, meeting the requirements of complex robot movements.

[0054] Sheet metal provides structural support, enabling sheet metal components to withstand the robot's weight and load, maintaining its stability. It also protects internal electronic components and sensors from external interference and damage. Furthermore, the sheet metal enclosure serves to dissipate heat and provide electromagnetic shielding, ensuring the proper functioning of the robot's internal electronic components.

[0055] In some embodiments, the robot described above is an industrial robot. Sheet metal processing technology is widely used in the manufacturing process of industrial robots, such as welding robots and handling robots.

[0056] Clamps are crucial components connecting robotic arms and picking tools. Through their clamping function, they securely fasten and fix parts and accessories on the arm or picking tool, ensuring the robot's stability and accuracy during task execution. Clamps possess strong clamping force, firmly connecting the robotic arm and picking tool together to prevent loosening or detachment. A wide variety of clamps are available, allowing selection of appropriate models and specifications based on different application scenarios to meet diverse robot needs. The installation and removal of clamps are simple and convenient, requiring no complex tools or skills, thus reducing robot maintenance costs.

[0057] For example, clamps are used in robotic gripping systems: in robotic gripping systems, clamps are used to connect the robotic arm and the gripping tool to achieve automated gripping and handling tasks.

[0058] In some embodiments, the fixing components include a first fixing component 41 and a second fixing component 42; the first fixing component 41 is used to fix one end of the first sub-part 3b1 of the cable 3 near the second sub-part 3b2 on the first arm 2, and the second fixing component 42 is used to fix one end of the first sub-part 3b1 of the cable 3 away from the second sub-part 3b2 on the first arm 2.

[0059] In other words, both ends of the first sub-section 3b1 of cable 3 need to be fixed to prevent the cable from leaving its position and causing damage to the machine.

[0060] For example, Figure 1 The fourth clamp K4 and the fourth sheet metal B4 are used to fix the end of the first sub-part 3b1 away from the second sub-part 3b2 and fix it to the first arm 2; similarly, the third clamp K3 and the third sheet metal B3 are used to fix the end of the first sub-part 3b1 close to the second sub-part 3b2 and fix it to the first arm 2; in this way, the first sub-part 3b1 of the cable 3 will not move, which facilitates subsequent operations.

[0061] In other words, the designations K4~42~4 refer to the fact that the fourth clamp K4 belongs to the second fixing component 42 and also to the fixing component 4; similarly, B3~41~4 refer to the fact that the third sheet metal B3 belongs to the first fixing component 41 and also to the fixing component 4.

[0062] The explanations for subsequent labels are the same as those above, and will not be repeated here.

[0063] Figure 2 The ninth clamp K9 is used to fix the end of the first sub-part 3b1 away from the second sub-part 3b2, and fix it to the outer wall of the first arm 2; similarly, the eighth clamp K8 is used to fix the end of the first sub-part 3b1 close to the second sub-part 3b2, and fix it to the outer wall of the first arm 2; in this way, the first sub-part 3b1 of the cable 3 will not move, which facilitates subsequent operations.

[0064] like Figure 1 and Figure 2 As shown, in some embodiments, the fixing component 4 includes a third fixing component 43 and a fourth fixing component 44. The third fixing component 43 is used to fix one end of the first part 3a of the cable 3 to the housing, and the fourth fixing component 44 is used to fix the other end of the first part 3a of the cable 3 to the rotating body 12.

[0065] For example, Figure 1 The first clamp K1 and the first sheet metal B1 are used to fix one end of the first part 31a of the first cable 31 to the housing; similarly, Figure 2 The second clamp K2 and the second sheet metal B2 are used to fix the other end of the first part 31a of the first cable 31 to the rotating body 12; in this way, the first part 31a of the first cable 31 will not move, which facilitates subsequent operations.

[0066] Similarly, Figure 2 The fifth clamp K5 and the fifth sheet metal B5 are used to fix the other end of the first part 32a of the second cable 32 to the housing; Figure 1 The sixth clamp K6 and the sixth sheet metal B6 are used to fix one end of the first part 32a of the second cable 32 to the rotating body 12.

[0067] Among them, the seventh clamp K7 and the seventh sheet metal B7 are fixed on the outside when the second cable 32 passes through the base.

[0068] In some embodiments, refer to Figure 1 The robot also includes motor 5.

[0069] The motor is located on one side of the base and is connected to the rotating body 12.

[0070] The second part of the first cable 31 also includes a third sub-part, the first end of the third sub-part of the first cable 31 is connected to the first part of the first cable 31, and the second end of the third sub-part of the first cable 31 is connected to the motor 5.

[0071] In some embodiments, there are multiple motors, including: a first motor 51 and a second motor 52; the second end of the third sub-section of the first cable 31 is connected to the first motor 51 and the second motor 52 respectively.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A robot, characterized in that, include: Base section; The first arm is disposed on one side of the base portion and connected to the base portion; At least two cables are provided, which are guided from inside the base portion to outside the base portion. The cables include a first portion located inside the base portion and a second portion located outside the base portion. The second portion of the cable includes a first sub-part and a second sub-part. The first sub-part extends along the extension direction of the first arm and is fixed to the first arm. The second sub-part connects the first portion and the first sub-part and is located on one side of the first arm. The base portion includes: The base includes a housing and a shaft, the shaft being located within the housing and having a gap between the shaft and the housing; A rotating body is located on one side of the base and connected to the shaft. The first part of the cable is located inside the housing and is disposed in the gap between the housing and the shaft. The cable surrounds at least a portion of the shaft and is guided to the outside of the base portion through an opening in the rotating body.

2. The robot according to claim 1, characterized in that, The cable surrounds at least a portion of the shaft, and the cable is U-shaped.

3. The robot according to any one of claims 1 to 2, characterized in that, The at least two lines include: a first cable and a second cable; The first sub-section of the first cable passes through the inner cavity of the first arm and is fixed to the inner wall of the first arm; The first sub-section of the second cable is disposed on the outside of the first arm and fixed to the outer wall of the first arm.

4. The robot according to any one of claims 1 to 2, characterized in that, The robot also includes at least one fixing component for securing the cable.

5. The robot according to claim 4, characterized in that, The fixing components include clamps and / or sheet metal; The clamp is used to fix the cable, and the sheet metal is used to provide structural support.

6. The robot according to claim 4, characterized in that, The fixing components include a first fixing component and a second fixing component; The first fixing component is used to fix one end of the first sub-section of the cable near the second sub-section to the first arm, and the second fixing component is used to fix one end of the first sub-section of the cable away from the second sub-section to the first arm.

7. The robot according to claim 6, characterized in that, In the case where the base portion includes a base and a rotating body; The fixing components include a third fixing component and a fourth fixing component. The third fixing component is used to fix one end of the first part of the cable to the housing, and the fourth fixing component is used to fix the other end of the first part of the cable to the rotating body.

8. The robot according to claim 1, characterized in that, The robot also includes a motor, which is disposed on one side of the base and connected to the rotating body; the at least two cables include: a first cable and a second cable; The second part of the first cable also includes a third sub-part, the first end of the third sub-part of the first cable is connected to the first part of the first cable, and the second end of the third sub-part of the first cable is connected to the motor.

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