robot

Abstract

This utility model provides a robot, comprising: a body movably disposed along a predetermined trajectory; a wiring conduit for threading wires, the conduit being disposed on and connected to the body so that the body can move the conduit; a support assembly disposed on the body, the conduit being connected to the support assembly to support the conduit; and a protective component, one end of which is connected to the support assembly and the other end to the conduit, at least a portion of which is retractable to allow the conduit to return to its initial position after the body moves with it. This application solves the problem of signal lines and pneumatic lines easily becoming entangled and interfering in existing robot end effectors.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a robot. Background Technology

[0002] In the field of mechanical manufacturing, robots are being used more and more widely. They can replace manual operation of various precise and complex processes, greatly improving production efficiency and saving labor resources.

[0003] However, the robot may encounter the following problems during use:

[0004] On automated production lines, robots need to perform precise positioning, rapid movement, and complex operations frequently. This places extremely high demands on the distribution of robot pipelines. If the distribution is not proper, the robot will not be able to guarantee stable operation under complex working conditions.

[0005] When wiring robot grippers, direct leads are commonly used and locked to the robot body. However, signal lines of the robot end effector and air lines often become entangled and interfere with each other. Utility Model Content

[0006] The main purpose of this invention is to provide a robot that solves the problem of signal lines and air lines of robot end effectors easily getting tangled and interfering in the prior art.

[0007] To achieve the above objectives, according to one aspect of the present invention, a robot is provided, comprising: a body movably disposed along a predetermined trajectory; a conduit for threading wires, the conduit being disposed on and connected to the body so that the body can move the conduit; a support assembly disposed on the body, the conduit being connected to the support assembly to support the conduit; and a protective component, one end of which is connected to the support assembly and the other end of which is connected to the conduit, at least a portion of which is retractable to allow the conduit to return to its initial position after the body moves with it.

[0008] Furthermore, the protective components include: a connecting joint, which is disposed on and connected to the conduit; and a telescopic component, which is sleeved on the conduit, with one end of the telescopic component connected to the connecting joint and the other end connected to the support assembly.

[0009] Furthermore, the support component includes: a first limiting component disposed on the body, the first limiting component having a first limiting channel, and a conduit fitting passing through the first limiting channel; at least a portion of the connecting joint is fitted with the first limiting channel to limit the protective component through the first limiting channel.

[0010] Furthermore, along the direction from the middle of the first limiting channel to the outlet opening of the first limiting channel, the cross-sectional area of ​​the flow section of the first limiting channel gradually increases.

[0011] Furthermore, the support assembly also includes: a second limiting component, which is disposed on the machine body and along the outward direction of the threaded tube; the first limiting component and the second limiting component are spaced apart; the second limiting component has a second limiting channel; the threaded tube is sequentially threaded through the first limiting channel and the second limiting channel; one end of the telescopic component is connected to the second limiting component, and the other end is connected to the threaded tube through a connecting joint.

[0012] Furthermore, the body includes joint components, and the support assembly further includes: a support base, at least partially disposed on the joint components, and a first limiting component and a second limiting component respectively disposed on the support base.

[0013] Furthermore, the robot body also includes an end effector for mounting operating equipment, and the robot also includes a connecting component, one end of which is connected to the end effector and the other end of which is connected to a conduit, with a predetermined interval between the conduit and the end effector; wherein the distance between the centerline of the conduit and the axis of the end effector is H, and H≥120mm.

[0014] Furthermore, the connecting assembly includes: a first connecting body, which is sleeved on and connected to the conduit; and a second connecting body, one end of which is connected to the end arm and the other end of which is connected to the first connecting body. The second connecting body and the first connecting body are movably arranged relative to each other to adjust the size of the predetermined interval between the conduit and the end arm.

[0015] Furthermore, the second connecting body includes a lock and a body and an extension body that are interconnected. The lock and the body are connected to the end arm body, and the extension body extends from the lock and the body toward the first connecting body. The first connecting body is provided with a clamping space, and at least a portion of the extension body passes through the clamping space to connect with the first connecting body.

[0016] Furthermore, the body also includes an intermediate arm body, which is connected to the end arm body via a joint component. The extension direction of the intermediate arm body and the extension direction of the end arm body form an angle. The support assembly also includes: a support base, disposed on the joint component, with at least a portion of the cable conduit disposed on the support base; a support plate, disposed on the support base, extending from the support base in a direction away from the support base; and a third limiting component, disposed at the end of the support plate away from the support base, the third limiting component having a third limiting channel through which the cable conduit passes and is mounted on the support base.

[0017] By applying the technical solution of this utility model, the robot is equipped with a conduit for threading wires. The conduit is mounted on the robot body and moves with the robot. A support assembly supports the conduit. To prevent breakage during movement, a protective component is also provided. Specifically, one end of the protective component is connected to the support assembly, and the other end is connected to the conduit. At least a portion of the protective component is retractable, allowing it to return to its initial position after the conduit moves with the robot. This provides restoring power to the conduit using the protective component. When the robot performs large-range rotations or complex operations, the elastic recovery function of the protective component reduces excessive stretching or compression of the conduit, thereby reducing the risk of wire breakage. The retractable nature of the protective component allows the conduit to automatically adjust according to the robot's movement during operation, reducing movement restrictions caused by wire entanglement or dragging, and improving the robot's flexibility in complex working conditions. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0019] Figure 1 A first-view structural schematic diagram of an embodiment of the robot according to the present invention is shown;

[0020] Figure 2 A second-view structural schematic diagram of an embodiment of the robot according to the present invention is shown;

[0021] Figure 3 A third-view structural schematic diagram of an embodiment of the robot according to the present invention is shown.

[0022] The above figures include the following reference numerals:

[0023] 100. Body; 110. Joint components; 120. End-effector; 130. Intermediate arm;

[0024] 200. Conduit fitting; 300. Support assembly; 310. First limiting component; 311. First limiting channel; 320. Second limiting component; 321. Second limiting channel; 330. Support base; 340. Support plate; 350. Third limiting component;

[0025] 400. Protective components; 410. Connecting joints; 420. Telescopic components;

[0026] 500. Connecting component; 510. First connecting body; 520. Second connecting body; 521. Lock and body; 522. Extension body. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] As mentioned in the background section, with the increasing working range and flexibility of robots, the relationship between their end effectors (such as grippers) and the signal lines and pneumatic lines within the robot body becomes increasingly complex. This is especially true for six-degree-of-freedom (six-axis) industrial robots, whose rotation range approaches 360°. Furthermore, some axes have large structural dimensions, such as a maximum diameter of 240mm and a structural protrusion of 65mm. In such cases, the lines (signal lines and pneumatic lines) are highly susceptible to interference and entanglement during robot movement. Therefore, in view of the above-mentioned technical problems, the robot provided in this application is provided with a conduit 200 for threading wires. The conduit 200 is mounted on the body 100 and moves with the body 100. The conduit 200 is supported by a support component 300. In order to prevent the conduit 200 from breaking during movement, a protective component 400 is also provided to protect the conduit 200. Specifically, one end of the protective component 400 is connected to the support component 300 and the other end is connected to the conduit 200. At least a portion of the protective component 400 is retractable so that after the conduit 200 moves with the body 100, it will drive the conduit 200 back to its initial position. This allows the protective component 400 to provide restoring power to the conduit 200. When the robot performs large-range rotations or complex operations, the elastic recovery function of the protective component 400 reduces excessive stretching or compression of the conduit 200, thereby reducing the risk of wire breakage. The extensibility of the protective component 400 allows the conduit 200 to automatically adjust according to the motion state during robot operation, reducing robot movement restrictions caused by wire entanglement or dragging, and improving the robot's flexibility in complex working conditions.

[0029] Please refer to Figures 1 to 3This application provides a robot, comprising: a body 100, which is movably disposed along a predetermined trajectory; a conduit 200 for threading wires, which is disposed on and connected to the body 100 so that the body 100 can move the conduit 200; a support assembly 300, which is disposed on the body 100 and connected to the conduit 200 so that the support assembly 300 can support the conduit 200; and a protective member 400, one end of which is connected to the support assembly 300 and the other end of which is connected to the conduit 200, at least a portion of which is retractable so that after the conduit 200 moves with the body 100, it can be driven to return to its initial position.

[0030] The robot provided in this application includes a body 100, a conduit 200, a support assembly 300, and a protective component 400. The body 100 is movably disposed along a predetermined trajectory. The conduit 200 is disposed on and connected to the body 100, so that the body 100 drives the conduit 200 to move. The conduit 200 is used to thread wires. The support assembly 300 is disposed on the body 100, and the conduit 200 is connected to the support assembly 300 to support the conduit 200. One end of the protective component 400 is connected to the support assembly 300, and the other end is connected to the conduit 200. At least a portion of the protective component 400 is retractable, so that after the conduit 200 moves with the body 100, it drives the conduit 200 to return to its initial position.

[0031] The optimized combination of the conduit 200 and the support assembly 300, along with the telescopic capability of the protective component 400, allows the robot to perform tasks more flexibly, reducing movement limitations caused by cable sluggishness. Simultaneously, the elasticity and stability of the protective component 400 effectively protects and manages the cable even during significant robot movements, preventing interference between cables and damage from the external environment, thereby improving cable reliability and anti-interference capabilities.

[0032] The combination of conduit 200 and protective component 400 enables the robot to better adapt to complex and ever-changing working environments, ensuring smooth wiring whether in narrow spaces or multi-obstacle scenarios.

[0033] Specifically, such as Figure 2 and Figure 3 As shown, the protective component 400 includes: a connecting joint 410, which is disposed on and connected to the conduit 200; and a telescopic component 420, which is sleeved on the conduit 200, with one end of the telescopic component 420 connected to the connecting joint 410 and the other end connected to the support component 300.

[0034] The presence of the telescopic component 420 allows the protective component to dynamically expand and contract with the position of the conduit 200, thereby maintaining the conduit in a relatively ideal position and state at all times, avoiding excessive stretching or compression caused by static fixation. This adaptive compensation mechanism is crucial for improving the lifespan of the conduit and reducing maintenance frequency.

[0035] The telescopic component 420 is directly fitted onto the conduit 200 and tightly connected to it, forming an additional protective layer. Even when the robot performs extreme actions, the telescopic component can absorb most of the impact and deformation stress, effectively preventing damage to the internal wiring of the conduit.

[0036] By connecting one end of the telescopic component 420 to the support component 300, the position of the protective component can be flexibly adjusted so that it fits more closely into the structure of the robot.

[0037] The design of the connector 410 facilitates the disassembly and assembly of the telescopic component 420 and the conduit 200, enabling quick replacement of the telescopic component or the entire protective component in case of malfunction or wear, reducing downtime caused by line maintenance, and thus lowering maintenance costs.

[0038] In the specific implementation process, the support component 300 includes: a first limiting component 310, which is disposed on the body 100. The first limiting component 310 has a first limiting channel 311, and the cable conduit 200 passes through the first limiting channel 311. At least a portion of the connecting joint 410 is in contact with the first limiting channel 311 to limit the protective component 400 through the first limiting channel 311.

[0039] The first limiting component 310 and its internal first limiting channel 311 provide precise positioning and guidance for the wire guide 200, ensuring that the wire moves along a predetermined path when the robot moves, and avoiding accidental contact and damage caused by the wire swinging randomly.

[0040] By fitting the connector 410 with the first limiting channel 311, the degree of freedom of the protective component 400 is effectively restricted, making its extension and retraction direction consistent with the robot's movement direction. This reduces unnecessary lateral swaying, enhances the stability and controllability of the protective component, and avoids additional wear or energy loss caused by the swaying of the protective component itself.

[0041] The design of the first limiting channel 311 reduces the contact area between the conduit 200 and the surrounding environment during movement, thereby reducing the possibility of friction and wear. This advantage is particularly important when the robot performs high-frequency, large-amplitude movements, as it helps to extend the service life of the conduit 200 and the protective component 400.

[0042] In the specific implementation process, along the middle of the first limiting channel 311 to the direction of the outlet opening of the first limiting channel 311, the cross-sectional area of ​​the flow section of the first limiting channel 311 gradually increases.

[0043] Gradual cross-sectional area helps guide and position cables within the channel, ensuring that cables do not become excessively twisted or tangled during movement, maintaining the order and smoothness of the cables, which is especially important when cables need to move frequently or travel through complex environments.

[0044] The gradually increasing cross-sectional area makes it easier for cables to pass through the channel during installation, reducing resistance during installation. At the same time, since at least a portion of the connector 410 is in contact with the first limiting channel 311, this design also facilitates quick positioning during maintenance, allowing the connector 410 and the first limiting channel 311 to fit precisely and drive the conduit 200 back to its initial position.

[0045] Furthermore, the support assembly 300 also includes: a second limiting component 320, which is disposed on the body 100 and along the outward direction of the conduit 200; the first limiting component 310 and the second limiting component 320 are spaced apart; the second limiting component 320 has a second limiting channel 321; the conduit 200 is sequentially inserted into the first limiting channel 311 and the second limiting channel 321; one end of the telescopic component 420 is connected to the second limiting component 320, and the other end is connected to the conduit 200 through a connecting joint 410.

[0046] The combination of the first limiting channel 311 and the second limiting channel 321 provides stricter path restrictions for the cable conduit 200, ensuring that the cable can maintain a stable path during complex movements and reducing cable swaying and tangling caused by large robot movements.

[0047] By setting two limiting components, the tensile and compressive forces on the cable can be distributed more evenly, avoiding damage caused by excessive force on a single limiting point, extending the service life of the cable and conduit fittings, and reducing maintenance costs.

[0048] The spacing design between the first limiting component 310 and the second limiting component 320 provides the robot with a larger range of motion. At the same time, the elasticity of the telescopic component 420 ensures that the cable can be quickly reset after the robot's movement is completed, thus enhancing the robot's movement flexibility.

[0049] The introduction of the second limiting component 320 simplifies the installation process of conduit fittings and protective components, while facilitating quick operation during maintenance or cable replacement, improving maintenance efficiency and reducing production downtime caused by maintenance.

[0050] The combination of dual-limit channel design and telescopic components effectively prevents cables from suddenly falling off or breaking during robot movement, reducing the risk of production accidents caused by cable failures and improving the safety of the production process.

[0051] In this application, the body 100 includes a joint component 110, and the support assembly 300 further includes a support base 330, which is at least partially disposed on the joint component 110, and a first limiting component 310 and a second limiting component 320 are respectively disposed on the support base 330.

[0052] The first limiting component 310 and the second limiting component 320 are respectively mounted on the support base 330, which can effectively establish a stable pipeline guiding and limiting system around the range of motion of the joint. This not only helps to maintain the orderly layout of the pipeline and avoid the entanglement between pipelines and external collisions, but also reduces the excessive stretching or compression of the pipeline caused by the sudden movement of the robotic arm, thus extending the pipeline life.

[0053] By setting limiting components near the joint components, the pipeline is firmly fixed and guided, reducing the interference of the pipeline on the joint movement, ensuring the smoothness of the robotic arm when performing high-precision positioning and rapid movement, and improving the robot's response speed and operation accuracy.

[0054] The integrated design of the support base 330 and the joint component 110, as well as the reasonable layout of the first limiting component 310 and the second limiting component 320, make the overall structure of the robotic arm more compact and reduce space occupation.

[0055] Furthermore, the body 100 also includes an end arm 120 for mounting operating equipment, and the robot also includes a connecting assembly 500, one end of which is connected to the end arm 120 and the other end of which is connected to a conduit 200, with a predetermined interval between the conduit 200 and the end arm 120.

[0056] The connecting component 500 acts as a bridge between the end arm 120 and the conduit 200, ensuring the physical connection between the two while maintaining an appropriate predetermined interval. This not only reduces the impact of the conduit on the operating range of the end arm but also reduces the weight of the conduit directly supported by the end arm, thereby improving the load capacity and movement flexibility of the end arm.

[0057] By setting a predetermined interval between the conduit 200 and the end effector 120, the spatial layout of the robot's working area can be optimized, preventing the conduit from colliding with other components or obstacles during the movement of the end effector. At the same time, this interval also provides the conduit with sufficient freedom, allowing it to swing naturally during movement, thus providing a certain degree of shock absorption.

[0058] The connecting assembly 500 includes: a first connecting body 510, which is sleeved on and connected to the conduit 200; and a second connecting body 520, one end of which is connected to the end arm 120 and the other end of which is connected to the first connecting body 510. The second connecting body 520 and the first connecting body 510 are movably arranged relative to each other to adjust the size of the predetermined interval between the conduit 200 and the end arm 120.

[0059] The second connecting body 520 is movably disposed relative to the first connecting body 510, allowing the user to flexibly adjust the predetermined interval between the conduit 200 and the end effector 120 according to actual operational needs. This adjustability not only improves the robot's adaptability to different working environments and tasks, but also helps maintain appropriate tension in the conduit during robot operation, reducing wear or interference caused by excessive stretching or slack.

[0060] By adjusting the interval between the two connecting bodies, the stability of the conduit 200 during robot movement can be ensured, avoiding the swaying of the conduit caused by improper distance between the conduit and the end effector, reducing the risk of breakage of the conduit due to uneven stress, thereby improving the overall stability of the robot and the reliability of the conduit system.

[0061] When robots are performing high-precision operations or working in confined spaces, adjustable connection components help operators to more precisely control the distance between the pipeline and the end effector, preventing the pipeline from coming into contact with obstacles in the working environment and enhancing the robot's operational flexibility and safety.

[0062] In the specific implementation process, the second connecting body 520 includes a lock and body 521 and an extension body 522 that are connected to each other. The lock and body 521 is connected to the end arm 120, and the extension body 522 extends from the lock and body 521 toward the first connecting body 510. The first connecting body 510 is provided with a clamping space, and at least a portion of the extension body 522 passes through the clamping space to connect with the first connecting body 510.

[0063] The connection between the lock and the main body 521 and the end arm 120, as well as the deep cooperation between the extension body 522 and the first connecting body 510, form a stable mechanical connection structure, ensuring the stability and reliability of the conduit 200 under the robot's high-intensity movements, and preventing the conduit from loosening or falling off during movement due to weak connections.

[0064] The threadable nature of the extension body 522 allows for fine adjustment within the clamping space of the first connecting body 510, ensuring precise alignment between the threading tube 200 and the end arm 120.

[0065] The distance between the centerline of the conduit fitting 200 and the axis of the end arm 120 is H, where H ≥ 120 mm.

[0066] By maintaining a sufficient distance H, the conduit 200 can effectively avoid physical contact with the end effector 120 during large-scale rotation or movement, significantly reducing interference and collisions between the conduit and the robotic arm, and lowering the risk of conduit damage, especially when the robot is performing complex six-axis rotational movements.

[0067] Increasing the H value provides the pipeline with greater room for maneuver, ensuring that even in extreme motion scenarios, the pipeline has enough leeway to swing freely with the movement of the end effector without restriction, thus improving the operational flexibility and stability of the robot's end effector.

[0068] A sufficient H value increases the safety margin between the pipeline and the end arm, preventing the pipeline from immediately contacting the mechanical structure even in the event of unexpected movement deviations. This reduces electrical faults or production interruptions caused by pipeline damage and improves the overall safety level of the system.

[0069] Furthermore, the body 100 also includes an intermediate arm 130, which is connected to the end arm 120 via a joint component 110. The extension direction of the intermediate arm 130 and the extension direction of the end arm 120 form an angle. The support assembly 300 further includes: a support base 330 disposed on the joint component 110, with at least a portion of the cable guide 200 disposed on the support base 330; a support plate 340 disposed on the support base 330, extending from the support base 330 in a direction away from the support base 330; and a third limiting component 350 disposed at the end of the support plate 340 away from the support base 330, the third limiting component 350 having a third limiting channel through which the cable guide 200 passes and is mounted on the support base 330. Specifically, the cable guide 200 is bent after passing through the third limiting channel, and then sequentially passes through the first limiting channel 311 and the second limiting channel 321.

[0070] The addition of the third limiting component 350 provides another layer of limiting protection for the cable conduit 200, ensuring that the cable is effectively constrained throughout its transmission path from the robot joint to the end effector. This multi-level limiting design reduces the degree of freedom of the cable during movement, avoids damage caused by cable swinging or collision, and significantly improves the stability and reliability of the cable system.

[0071] The connection between the support plate 340 and the support base 330 provides additional support for the cable conduit 200, reducing the interference of the cable with the movement of the robotic arm joints. This means that the cable will not become an additional burden when the robotic arm is performing a load task.

[0072] The limiting function of the third limiting component 350, together with the synergistic effect of the first two limiting channels, ensures the accurate positioning of the pipeline during robot operation.

[0073] Furthermore, by setting the support plate 340 in conjunction with the third limiting component 350, when the conduit 200 is installed upwards from the bottom of the arm, the support plate 340, connected to the support base 330, provides a stable transition platform for the conduit 200. After the conduit 200 is bent by the third limiting component 350, it passes sequentially through the first limiting component 310 and the second limiting component 320, effectively dispersing the stress borne by the bent portion of the conduit 200. This allows the conduit 200 to extend horizontally at the end arm 120, helping to maintain the straightness of the pipeline and reducing the influence of the pipeline on the movement trajectory of the end effector.

[0074] The positional design of the support base 330 and the third limiting component 350 takes into account the angle between the intermediate arm 130 and the end arm 120. This design allows the pipeline to better adapt to the range of motion of the joint components, reduces the interference of the pipeline on the movement of the robot's joints, and enables the robot to perform tasks more flexibly and efficiently.

[0075] By providing a support base 330 on the joint component 110, the load of the pipeline section is transferred, reducing the weight burden on the end effector and helping to improve the load capacity and operational stability of the end effector.

[0076] In this application, the telescopic component 420 is a spring, which is sleeved on the conduit 200. The conduit 200 is preferably a corrugated pipe.

[0077] The above-mentioned technical solution of this application solves the problem that when the robot rotates nearly 360° in six-axis motion and the five-axis structure is large, the five-axis casting cavity interferes with the robot fixture pipeline when the robot rotates in four-axis mode, causing the pipeline to be pulled and broken during rotation.

[0078] When the robot is routing cables, a length of at least 120mm (≥120mm) needs to be reserved at the front end to ensure that the five-axis does not interfere with the cable package during normal rotation. The protective component 400 is mainly used for extension and retraction under abnormal pulling conditions. During normal operation, the extension and retraction of the protective component 400 should be minimized or even avoided. At the same time, the angle of the cable guide 200 should be selected above the largest outer diameter of the five-axis casting cavity to ensure that the cable guide 200 can directly pass over the five-axis when the robot's six-axis rotates, without causing entanglement or pulling problems.

[0079] After installing the robot wiring conduit 200 and running it continuously for over forty hours, it was found that the wiring was still being pulled and damaged, and the six-axis mounting bracket had fallen off. The initial assessment was that the frequent tension and expansion of the robot gripper's wiring caused the screws at the six-axis mounting bracket and the six-axis connection of the wiring conduit 200 to loosen and fall off. During the robot's rotation, the wiring was constantly entangled and pulled, causing it to break. After rectification, the screws were tightened and the wiring was reconnected, and the robot was run again. The wiring broke again the next day. During the second rectification, the wiring was re-routed. Sufficient lengths were reserved for the signal wires and air lines at the end of the robot gripper to accommodate the expansion and contraction of the wiring when the robot flips, reducing the expansion and contraction of the robot's protective components 400. After this rectification, the robot can operate continuously and stably.

[0080] Analysis revealed that the robot's front end needs to be reserved with a length equal to the radius of the fifth axis (≥120mm) during cable routing to ensure that the fifth axis does not interfere with the cable guide 200 during normal rotation. The protective component 400 is mainly used for extension and retraction under abnormal pulling conditions, and its extension and retraction should be minimized or even avoided during normal operation. At the same time, the angle at which the cable guide 200 is installed should be above the largest outer diameter of the fifth axis casting cavity to ensure that the cable guide 200 can directly pass over the fifth axis when the robot's sixth axis rotates, without causing entanglement or pulling problems.

[0081] For robots with a six-axis rotation range of nearly 360° and a large five-axis structure, the Robot Cable Management Fitting 200 can be used during cable routing. By paying attention to the installation position, size, and angle during installation, problems such as cable entanglement and interference can be avoided.

[0082] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0083] The robot provided in this application includes a body 100, a conduit 200, a support assembly 300, and a protective component 400. The body 100 is movably disposed along a predetermined trajectory. The conduit 200 is disposed on and connected to the body 100, so that the body 100 drives the conduit 200 to move. The conduit 200 is used to thread wires. The support assembly 300 is disposed on the body 100, and the conduit 200 is connected to the support assembly 300 to support the conduit 200. One end of the protective component 400 is connected to the support assembly 300, and the other end is connected to the conduit 200. At least a portion of the protective component 400 is retractable, so that after the conduit 200 moves with the body 100, it drives the conduit 200 to return to its initial position.

[0084] The optimized combination of the conduit 200 and the support assembly 300, along with the telescopic capability of the protective component 400, allows the robot to perform tasks more flexibly, reducing movement limitations caused by cable sluggishness. Simultaneously, the elasticity and stability of the protective component 400 effectively protects and manages the cable even during significant robot movements, preventing interference between cables and damage from the external environment, thereby improving cable reliability and anti-interference capabilities.

[0085] The combination of conduit 200 and protective component 400 enables the robot to better adapt to complex and ever-changing working environments, ensuring smooth wiring whether in narrow spaces or multi-obstacle scenarios.

[0086] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0087] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0088] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0089] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0090] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0091] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot, characterized in that, include: The body (100) is movably disposed along a predetermined trajectory; A conduit fitting (200) is used for threading wires. The conduit fitting (200) is installed on the body (100) and connected to the body (100) so that the body (100) can drive the conduit fitting (200) to move. A support assembly (300) is disposed on the body (100), and the conduit (200) is connected to the support assembly (300) to support the conduit (200) through the support assembly (300); A protective component (400) is provided, one end of which is connected to the support assembly (300) and the other end of which is connected to the conduit (200). At least a portion of the protective component (400) is telescopically configured to drive the conduit (200) back to its initial position after the conduit (200) moves with the body (100).

2. The robot of claim 1, wherein, The protective component (400) includes: A connecting connector (410) is provided on the conduit fitting (200) and connected to the conduit fitting (200); The telescopic component (420) is sleeved on the conduit (200). One end of the telescopic component (420) is connected to the connecting joint (410), and the other end is connected to the support assembly (300).

3. The robot of claim 2, wherein, The support component (300) includes: A first limiting component (310) is disposed on the body (100). The first limiting component (310) has a first limiting channel (311), and the wire guide (200) is disposed in the first limiting channel (311). At least a portion of the connecting joint (410) is abutted against the first limiting channel (311) to limit the protective component (400) through the first limiting channel (311).

4. The robot according to claim 3, characterized in that, Along the middle of the first limiting channel (311) to the direction of the outlet opening of the first limiting channel (311), the cross-sectional area of ​​the flow section of the first limiting channel (311) gradually increases.

5. The robot of claim 3, wherein, The support assembly (300) also includes: The second limiting component (320) is disposed on the body (100) along the through-through direction of the wire conduit (200). The first limiting component (310) and the second limiting component (320) are spaced apart. The second limiting component (320) has a second limiting channel (321). The wire conduit (200) is sequentially inserted into the first limiting channel (311) and the second limiting channel (321). One end of the telescopic component (420) is connected to the second limiting component (320), and the other end is connected to the threading tube (200) through the connecting joint (410).

6. The robot of claim 5, wherein, The body (100) includes a joint component (110), and the support assembly (300) further includes: A support base (330) is at least partially disposed on the joint component (110), and the first limiting component (310) and the second limiting component (320) are respectively disposed on the support base (330).

7. The robot of claim 1, wherein, The body (100) further includes an end effector (120) for mounting operating equipment, and the robot further includes: A connecting component (500) is provided, one end of which is connected to the end arm (120) and the other end of which is connected to the threading tube (200). The threading tube (200) and the end arm (120) are separated by a predetermined interval. The distance between the centerline of the conduit (200) and the axis of the end arm (120) is H, where H ≥ 120 mm.

8. The robot of claim 7, wherein, The connection component (500) includes: The first connecting body (510) is sleeved on the conduit (200) and connected to the conduit (200); The second connecting body (520) is connected at one end to the end arm (120) and at the other end to the first connecting body (510). The second connecting body (520) and the first connecting body (510) are movably arranged relative to each other to adjust the size of the predetermined interval between the threading tube (200) and the end arm (120).

9. The robot of claim 8, wherein, The second connecting body (520) includes a lock and body (521) and an extension body (522) connected to each other. The lock and body (521) is connected to the end arm (120), and the extension body (522) extends from the lock and body (521) toward the first connecting body (510). The first connecting body (510) is provided with a clamping space, and at least a portion of the extension body (522) passes through the clamping space to connect with the first connecting body (510).

10. The robot of claim 7, wherein, The body (100) further includes an intermediate arm (130), which is connected to the end arm (120) via a joint component (110). The extension direction of the intermediate arm (130) forms an angle with the extension direction of the end arm (120). The support assembly (300) further includes: A support base (330) is disposed on the joint component (110), and at least a portion of the conduit (200) is disposed on the support base (330); A support plate (340) is disposed on the support base (330), the support plate (340) extending from the support base (330) in a direction away from the support base (330); A third limiting component (350) is disposed at one end of the support plate (340) away from the support base (330). The third limiting component (350) has a third limiting channel. The wire conduit (200) passes through the third limiting channel and is mounted on the support base (330).

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