A robot joint and a robot

Abstract

The utility model provides a kind of robot joint and robot.The robot joint includes joint main body, and joint main body inside has the wire channel extending along the axial direction of joint main body;At least two fixed structures, the both ends of joint main body are provided with fixed structure;Wire harness, wire harness passes through wire channel, wire harness extends out wire channel and forms extension, and fixed structure is fixed to extension.The present application solves the problem that the joint wire harness inside robot in the prior art is prone to damage.

Description

Technical Field

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

[0002] In existing technologies, robot joints utilize hollow structures for wiring to avoid exposed wiring harnesses, improving safety and aesthetics. However, the axial length of the joint and the inner diameter of the hollow structure are generally small, and the range of motion of the robot joint is large. Therefore, for wiring harnesses with hollow wiring, there is relatively more free twisting, resulting in a relatively short service life. Utility Model Content

[0003] The main objective of this invention is to provide a robot joint and a robot to solve the problem that the internal joint wiring harness of robots is easily damaged in the prior art.

[0004] To achieve the above objectives, according to one aspect of the present invention, a robot joint is provided, comprising a joint body having a wiring channel extending along the axial direction of the joint body; at least two fixing structures, each at both ends of the joint body being provided with a fixing structure; a wiring harness passing through the wiring channel, extending out of the wiring channel to form an extension portion, the fixing structures fixing the extension portion.

[0005] Furthermore, the projection of the line connecting the two fixed structures passes through the diameter of the wiring channel.

[0006] Furthermore, the distance between each fixed structure and the wiring channel is the same.

[0007] Furthermore, the fixing structure includes a base, which is disposed on the joint body and has a first groove; and a pressure plate, which is disposed on the base and has a second groove that mates with the first groove. The first groove and the second groove form a wiring hole through which the wire harness passes.

[0008] Furthermore, the fixing structure also includes a fixing plate, which is located on the side of the pressure plate away from the base and is connected to the base.

[0009] Furthermore, the pressure plate is an elastic plate.

[0010] Furthermore, the base is provided with a placement groove, and the pressure plate is placed in the placement groove.

[0011] Furthermore, there are multiple first grooves and multiple second grooves, and multiple first grooves and multiple second grooves cooperate to form multiple wiring holes; at least some of the wiring holes have different diameters.

[0012] Furthermore, the base is detachably connected to the joint body; and / or the fixing plate is detachably connected to the base.

[0013] Furthermore, the fixing structure is arc-shaped.

[0014] According to another aspect of the present invention, a robot is provided, including the aforementioned robot joint.

[0015] By applying the technical solution of this utility model, the following technical effects are achieved:

[0016] In use, the joint body consists of two parts that can rotate relative to each other. When the joint body rotates, the fixing structure for securing the wire harness is located at the end of the joint body, and the wire harness extends out of the routing channel to form an extension. The wire harness participates in the movement but is not restricted by the hollow structure, which greatly releases its own stress and extends the length of the wire harness involved in the torsion. The fixing structures at both ends of the joint body secure the wire harness relatively independently, reducing mutual interference. Both the fixing structures and the fixing points of the wire harness can release the stress of the wire harness during torsion, extending the service life of the cable. Attached Figure Description

[0017] 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:

[0018] Figure 1 This invention provides a schematic diagram of the overall structure of the joint body.

[0019] Figure 2 A schematic diagram of the structure of the end of the joint body of this application is shown;

[0020] Figure 3 A schematic diagram of the fixing structure of this application is shown.

[0021] The above figures include the following reference numerals:

[0022] 10. Joint body; 11. Cable routing channel; 20. Fixing structure; 21. Base; 211. First groove; 212. Placement groove; 22. Pressure plate; 221. Second groove; 23. Fixing plate; 30. Cable harness; 31. Extension. Detailed Implementation

[0023] 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.

[0024] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0025] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0026] To address the problem of easy damage to the internal joint wiring harnesses of robots in existing technologies, this application provides a robot joint and a robot.

[0027] See Figures 1-3 The robot joint includes a joint body 10, at least two fixing structures 20 and a wire harness 30. The joint body 10 has a wiring channel 11 extending along the axial direction of the joint body 10. Fixing structures 20 are provided at both ends of the joint body 10. The wire harness 30 passes through the wiring channel 11 and extends out of the wiring channel 11 to form an extension 31. The fixing structures 20 fix the extension 31.

[0028] In use, the joint body 10 comprises two parts, which can rotate relative to each other. When the joint body 10 rotates, the fixing structure 20 for securing the wire harness 30 is located at the end of the joint body 10, and the wire harness 30 extends out of the cable routing channel 11 to form an extension 31. The wire harness 30 participates in the movement but is not restricted by the hollow structure, which can greatly release its own stress and extend the length of the wire harness 30 participating in the torsion. The fixing structures 20 at both ends of the joint body 10 fix the wire harness 30 relatively independently, reducing mutual interference. The fixing points of the fixing structure 20 and the wire harness 30 can release the stress of the wire harness 30 itself during torsion, extending the service life of the cable.

[0029] In this application, the projection of the line connecting the two fixed structures 20 passes through the radius of the wiring channel 11. Each fixed structure 20 is equidistant from the wiring channel 11.

[0030] Specifically, this arrangement ensures that each fixed structure 20 is at the same distance from the wiring channel 11, and that the fixed structures 20 located at both ends of the joint body 10 are centrally symmetrical. This allows the wire harnesses 30 located at both ends of the joint structure to maintain a balance of forces, reducing the occurrence of excessive local stress on the wire harnesses 30 due to force imbalance, and improving the service life of the wire harnesses 30.

[0031] See Figure 3The fixing structure 20 includes a base 21 and a pressure plate 22. The base 21 is disposed on the joint body 10 and has a first groove 211. The pressure plate 22 is disposed on the base 21 and has a second groove 221 that cooperates with the first groove 211. The first groove 211 and the second groove 221 form a wiring hole for the wire harness 30 to pass through.

[0032] Specifically, the fixing structure 20 includes an additional base 21 and pressure plate 22, instead of utilizing the joint body 10, which allows the fixing structure 20 and the joint body 10 to remain relatively independent, facilitating the installation of the fixing structure 20. By utilizing the first groove 211 and the second groove 221 to form a wiring hole, the wiring harness 30 can be easily fixed and constrained, thereby achieving the fixing of the wiring harness 30.

[0033] In this application, the fixing structure 20 also includes a fixing plate 23, which is disposed on the side of the pressure plate 22 away from the base 21, and the fixing plate 23 is connected to the base 21.

[0034] Specifically, the fixing plate 23 is located on the side of the pressure plate 22 away from the base 21 and is connected to the base 21. At this time, the pressure plate 22 is located between the fixing plate 23 and the base 21. The pressure plate 22 is clamped and limited by the fixing plate 23 and the base 21 together, so that the pressure plate 22 is in a stable state, thereby enabling the wire harness 30 passing through the wiring hole to maintain a stable state and achieve the fixation of the wire harness 30.

[0035] In this application, the pressure plate 22 is an elastic plate. By setting the pressure plate 22 as an elastic plate, it is possible to avoid excessive compression of the wire harness 30 by the pressure plate 22 and the base 21, thereby achieving protection for the wire harness 30.

[0036] In this application, a placement groove 212 is provided on the base 21, and the pressure plate 22 is disposed in the placement groove 212. By providing the placement groove 212 and placing the pressure plate 22 in the placement groove 212, relative sliding between the pressure plate 22 and the base 21 can be avoided, thus preventing damage to the wire harness 30 caused by relative sliding between the base 21 and the pressure plate 22, thereby achieving protection for the wire harness 30.

[0037] In this application, there are multiple first grooves 211 and multiple second grooves 221, and multiple first grooves 211 and multiple second grooves 221 cooperate to form multiple wiring holes; at least some of the wiring holes have different diameters.

[0038] Specifically, in actual use, the wire harness 30 contains various types and specifications of cables, and the diameters of each wire harness 30 are not necessarily the same. Therefore, the diameters of some wiring holes are set to be different in order to match the wire harness 30s of different diameters, thereby improving the fixing effect of different wire harnesses 30.

[0039] In this application, the base 21 is detachably connected to the joint body 10. The fixing plate 23 is detachably connected to the base 21. The detachable connection between the fixing plate 23 and the base 21, and between the base 21 and the joint body 10, facilitates the installation and removal of the fixing structure 20. At the same time, when some parts of the wiring harness 30 change, it is convenient to replace the fixing structure 20 to adapt to the changed wiring harness 30.

[0040] In this application, the fixing structure 20 is arc-shaped.

[0041] Specifically, the fixing structure 20 is set to an arc shape. When there are multiple wire harnesses 30, they can be set along the arc direction of the fixing structure 20, so that the distance between the fixing point of each wire harness 30 and the fixing structure 20 and the wiring channel 11 is the same, which increases the balance of force on the wire harnesses 30 and balances the service life of each wire harness 30.

[0042] In the preferred embodiment of this application, the robot joint includes a joint body 10, a wire harness 30 passing through the joint body 10, and fixing structures 20 disposed at both ends of the joint body 10. The fixing structures 20 fix the wire harness 30. The wire harness 30 extends out of the wiring channel 11 and forms an extension 31, and the length of the extension 31 is greater than the distance from the fixing structure 20 to the wiring channel 11, so that the wire harness 30 has some spare capacity. In this way, the wire harness 30 participates in the movement but is not restricted by the hollow structure, which can greatly release its own stress, reduce the damage to the wire harness 30 during rotation, and improve the life of the wire harness 30.

[0043] The fixing structure 20 includes a base 21, a pressure plate 22, and a fixing plate 23. The base 21 is detachably connected to the joint body 10 by bolts or plug-in connections. A placement groove 212 is provided on the base 21, and the pressure plate 22 is placed in the placement groove 212. A first groove 211 and a second groove 221 are respectively provided on the sides of the base 21 and the pressure plate 22 that are close to each other, forming a wiring hole to fix the wire harness 30. The fixing plate 23 is detachably connected to the base 21 by bolts or plug-in connections. The pressure plate 22 is located between the fixing plate 23 and the base 21, and is fixed by the fixing plate 23 and the base 21. To reduce damage to the wire harness 30, the pressure plate 22 is chosen as an elastic plate.

[0044] The base 21, pressure plate 22 and fixing plate 23 are arc-shaped, and the center of the arc coincides with the axis of the joint body 10. When there are multiple wire harnesses 30, they can be set along the arc direction of the fixing structure 20 so that the distance between the fixing point of each wire harness 30 and the fixing point of the fixing structure 20 and the wiring channel 11 is the same, which increases the balance of the force on the wire harness 30 and balances the service life of each wire harness 30.

[0045] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0046] 1. In use, the joint body 10 comprises two parts, which can rotate relative to each other. When the joint body 10 rotates, the fixing structure 20 for fixing the wire harness 30 is located at the end of the joint body 10, and the wire harness 30 extends out of the wiring channel 11 to form an extension 31. The wire harness 30 participates in the movement but is not restricted by the hollow structure, which can greatly release its own stress and extend the length of the wire harness 30 participating in the torsion. The fixing structures 20 at both ends of the joint body 10 fix the wire harness 30 relatively independently, reducing mutual interference. The fixing points of the fixing structure 20 and the wire harness 30 can release the stress of the wire harness 30 itself during torsion, extending the service life of the cable.

[0047] 2. The fixing structure 20 includes an additional base 21 and pressure plate 22, instead of using the joint body 10, which allows the fixing structure 20 and the joint body 10 to remain relatively independent, facilitating the installation of the fixing structure 20. By using the first groove 211 and the second groove 221 to form a wiring hole, the wiring hole facilitates the fixing and constraint of the wire harness 30, thereby achieving the fixing of the wire harness 30.

[0048] 3. Set the fixing structure to an arc shape. When there are multiple wire harnesses, they can be set along the arc direction of the fixing structure, so that the distance between the fixing point of each wire harness and the wiring channel is the same, which increases the balance of the force on the wire harness and balances the service life of each wire harness.

[0049] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0050] 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.

[0051] 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.

[0052] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements 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 joint, characterized in that, include: The joint body (10) has a wiring channel (11) extending along the axial direction of the joint body (10). At least two fixing structures (20) are provided at both ends of the joint body (10). A wire harness (30) passes through the wiring channel (11), extends out of the wiring channel (11) and forms an extension (31), and the fixing structure (20) fixes the extension (31).

2. The robot joint according to claim 1, characterized in that, The projection of the line connecting the two fixed structures (20) passes through the radial line of the wiring channel (11).

3. The robot joint according to claim 2, characterized in that, Each of the fixed structures (20) is at the same distance from the wiring channel (11).

4. The robot joint according to claim 1, characterized in that, The fixing structure (20) includes: A base (21) is disposed on the joint body (10) and has a first groove (211). A pressure plate (22) is disposed on the base (21). The pressure plate (22) has a second groove (221) that cooperates with the first groove (211). The first groove (211) and the second groove (221) form a wiring hole through which the wire harness (30) passes.

5. The robot joint according to claim 4, characterized in that, The fixing structure (20) further includes a fixing plate (23), which is disposed on the side of the pressure plate (22) away from the base (21) and is connected to the base (21).

6. The robot joint according to claim 4, characterized in that, The pressure plate (22) is an elastic plate.

7. The robot joint according to claim 4, characterized in that, The base (21) is provided with a placement groove (212), and the pressure plate (22) is disposed in the placement groove (212).

8. The robot joint according to claim 4, characterized in that, There are multiple first grooves (211) and multiple second grooves (221), and multiple first grooves (211) and multiple second grooves (221) cooperate to form multiple wiring holes; At least some of the wiring holes have different diameters.

9. The robot joint according to claim 5, characterized in that, The base (21) is detachably connected to the joint body (10); and / or The fixing plate (23) is detachably connected to the base (21).

10. The robot joint according to any one of claims 1 to 9, characterized in that, The fixing structure (20) is arc-shaped.

11. A robot, characterized in that, Includes the robot joint according to any one of claims 1 to 10.

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