robot

Abstract

The utility model provides a kind of robot, including multiple robot joints, multiple wire harnesses and multiple connectors, each robot joint is sequentially connected;Wire harness is arranged in robot joint, and at least one wire harness is arranged in at least two robot joints;Connector is located at the end of wire harness, and wire harness is sequentially connected and conducted through connector, and signal transmission is carried out between robot joints through wire harness.The utility model solves the problem of mutual restriction between robot joints in the prior art.

Description

Technical Field

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

[0002] Collaborative robots typically have hollow joints that allow for cable routing, with a very small inner diameter. However, cables and connectors used for high-speed network signals have much larger diameters than ordinary cables and connectors. These two aspects present a conflict in terms of space requirements.

[0003] Currently, to ensure efficient signal transmission in robots and avoid conflicts between signals and joint space, a high-speed network cable is typically used from the robot's base to its end effector to achieve high-speed signal transmission. However, this approach sacrifices the independent installation and maintenance capabilities of the joints. During robot production, the installation of each joint is required in a specific order, and the joints are interdependent. Furthermore, during robot maintenance, the non-removable nature of the cable means that a single joint malfunction may require disassembling multiple joints for repair or replacement, significantly increasing maintenance costs and time, and reducing efficiency and user experience. Utility Model Content

[0004] The main objective of this invention is to provide a robot that solves the problem of mutual constraints between robot joints in the prior art.

[0005] To achieve the above objectives, according to one aspect of the present invention, a robot is provided, comprising multiple robot joints, multiple wire harnesses, and multiple connectors, wherein each robot joint is sequentially and movably connected; the wire harnesses are inserted into the robot joints, and at least one wire harness is inserted into at least two robot joints; the connectors are located at the ends of the wire harnesses, and the wire harnesses are sequentially connected and conductive through the connectors, and the robot joints transmit signals through the wire harnesses.

[0006] Furthermore, the robot joint has a first side and a second side that are angled or parallel to each other, with the first sides of the robot joint being positioned opposite each other, and the end of the wire harness passing through the second side.

[0007] Furthermore, in two adjacent wire harnesses, one end of each harness is located on the same side of the robot joint and is connected via a connector.

[0008] Furthermore, connectors are provided at both ends of the wire harness, and in two adjacent wire harnesses, the connector at one end of one wire harness is connected to the connector at one end of the other wire harness.

[0009] Furthermore, connectors are provided at both ends of the wire harness, and the robot also includes multiple circuit boards. In two adjacent wire harnesses, the connector at one end of one wire harness is connected to the connector at one end of the other wire harness through the circuit board.

[0010] Furthermore, the robot also includes an intermediate tube wall, which is located between two adjacent robot joints and is hollow, with the wiring harness passing through the inside of the intermediate tube wall.

[0011] Furthermore, the robot joints are sequentially connected to form a joint assembly. The robot also includes a base and an end effector structure, which are located at both ends of the joint assembly. The wiring harness is threaded through the base and the end effector structure, and the robot joints at both ends of the joint assembly are connected to the base and the end effector structure through different wiring harnesses.

[0012] Furthermore, the connector includes a connection body and a shield for connection to a wire harness or to the connection body of another connector; the shield is disposed on the outer periphery of the connection body for shielding electromagnetic signals.

[0013] Furthermore, the connector also includes a wire clamp, which is located on the outer periphery of the shield and the connector body and is used to secure the wire harness.

[0014] Furthermore, the wiring harness includes a cable for transmitting signals and a shielding layer, with both ends of the cable connected to connectors respectively; the shielding layer is sleeved on the outer periphery of the cable to shield electromagnetic signals.

[0015] By applying the technical solution of this utility model, multiple connectors are located at the ends of the wire harness, allowing the wire harnesses to be connected to each other. This enables different wire harnesses to be run inside different robot joints, eliminating the need for mutual constraints between robot joints and improving their flexibility and maintainability. This avoids the need for a single wire harness running through all robot joints. Furthermore, this embodiment does not use a single wire harness running through only one robot joint; in this embodiment, at least one wire harness runs through at least two robot joints. Thus, for robot joints requiring frequent disassembly and assembly, a single wire harness can be used within one robot joint; for two, three, or more adjacent robot joints requiring minimal disassembly and assembly, a single wire harness can be used across multiple robot joints. This further improves the flexibility between robot joints, ensuring both flexibility in disassembly and assembly and efficient signal transmission, while also saving space to some extent. This allows the robot joints to maintain both flexibility and overall integrity. Attached Figure Description

[0016] 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:

[0017] Figure 1 A schematic diagram showing the arrangement of the robot joints, base, and end effector of this invention is provided.

[0018] Figure 2 A schematic diagram showing the arrangement of the robot joints, base, end effector structure, and wiring harness of this utility model is provided.

[0019] Figure 3 A schematic diagram of the structure of a single robot joint, wiring harness, and connector of this utility model is shown;

[0020] Figure 4 A structural schematic diagram of the second side of the robot of this utility model is shown;

[0021] Figure 5 A schematic diagram of the connector of this utility model is shown.

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

[0023] 10. Robot joint; 11. First joint; 12. Second joint; 13. Third joint; 14. Fourth joint; 15. Fifth joint; 16. Sixth joint; 20. Wiring harness; 21. First wiring harness; 22. Second wiring harness; 23. Third wiring harness; 24. Fourth wiring harness; 25. Fifth wiring harness; 26. Sixth wiring harness; 27. Seventh wiring harness; 30. Connector; 31. Connecting body; 32. Shielding cover; 33. Wire clamping component; 34. Connecting shell; 35. Heat shrink sleeve; 40. Intermediate tube wall; 41. First tube wall; 42. Second tube wall; 50. Base; 60. End structure. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] To address the problem of mutual constraints between robot joints in existing technologies, this invention provides a robot.

[0028] like Figures 1 to 5 The robot shown includes multiple robot joints 10, multiple wire harnesses 20, and multiple connectors 30. The robot joints 10 are sequentially and movably connected. The wire harnesses 20 are inserted into the robot joints 10, and at least one wire harness 20 is inserted into at least two robot joints 10. The connectors 30 are located at the ends of the wire harnesses 20, and the wire harnesses 20 are sequentially connected and conductive through the connectors 30. The robot joints 10 transmit signals through the wire harnesses 20.

[0029] This embodiment uses multiple connectors 30 located at the ends of the wire harnesses 20, allowing the wire harnesses 20 to be interconnected. This enables different wire harnesses 20 to be run inside different robot joints 10, thus eliminating the need for mutual constraints between robot joints 10 and improving their flexibility and maintainability. It also avoids the wiring configuration where a single wire harness 20 runs through all robot joints 10. Furthermore, this embodiment does not use a single wire harness 20 running through only one robot joint 10; in this embodiment, at least one wire harness 20 is run through at least two... Inside the robot joint 10, for robot joints 10 that require frequent disassembly and assembly, a single wiring harness 20 can be run inside one robot joint 10. For two, three, or more adjacent robot joints 10 that require almost no disassembly and assembly, a single wiring harness 20 can be run through multiple robot joints 10. This further improves the flexibility between robot joints 10, ensuring both the flexibility of disassembly and assembly and the efficiency of signal transmission, while also saving space to a certain extent. Thus, the robot joint 10 achieves both flexibility and overall integrity.

[0030] It should be noted that at least one wire harness 20 passes through at least two robot joints 10, meaning that in the entire robot, there are one, two, or more wire harnesses 20 that can be run through two, three, or more robot joints 10. Other wire harnesses 20 can be routed in a way that one wire harness 20 passes through one robot joint 10, or they can be arranged in a structure where each wire harness 20 passes through multiple robot joints 10. Depending on the actual situation, a single wire harness 20 can be set to pass through 2 to 3 robot joints 10 to improve the flexibility of the robot joints 10 while ensuring the stability and reliability of the signals transmitted by the robot joints 10.

[0031] In this embodiment, the robot joint 10 has a first side and a second side arranged at an angle or parallel to each other. The first sides of the robot joint 10 are arranged opposite to each other, and the end of the wiring harness 20 passes through the second side, thereby optimizing the space utilization between the robot joints 10 and reducing the interference of the wiring harness 20 on the movement of the robot joint 10. Specifically, in this embodiment, the first side refers to the side of two adjacent robot joints 10 that is close to each other, and the second side refers to the side of a single robot joint 10 that is not arranged opposite to other robot joints 10. That is, when the wiring harness 20 passes through the interior of one robot joint 10 to the interior of another robot joint 10 and then exits, the side through which the end of the wiring harness 20 exits is the second side. The second side can be any side of the robot joint 10 other than the first side. When there are two robot joints 10 adjacent to a certain robot joint 10, there are two first sides, namely the sides close to the two adjacent robot joints 10 respectively, and the second side is the second side. The robot joint 10 is different from the other side of the two first sides. When there is only one robot joint 10 adjacent to a certain robot joint 10, there is one first side, which is the side close to the adjacent robot joint 10. The second side is the other side of the robot joint 10 that is different from this first side. In this way, the end of the wiring harness 20 can avoid the position where the two robot joints 10 are close to each other, so that the connector 30 can also avoid the position where the two robot joints 10 are close to each other. This avoids the wiring harness 20 and the connector 30 interfering with the movement of the robot joint 10, thereby improving the flexibility of the wiring harness 20 arrangement and the range of motion of the joint, and ensuring the efficient operation of the robot.

[0032] In this embodiment, in two adjacent wire harnesses 20, one end of each harness is located on the same side of the robot joint 10 and is connected via a connector 30, thereby achieving series connection of the wire harnesses 20 and enabling communication between the robot joints 10 while maintaining the independence of each robot joint 10. This simplifies the connection process of the wire harnesses 20, improves assembly efficiency, and facilitates later maintenance and upgrades. Specifically, in two adjacent wire harnesses 20, the ends closest to each other are located on the second side of the robot joint 10, providing space for the connector 30. This allows the connectors 30 located at the ends of the wire harnesses 20 to have sufficient space to connect to each other without interfering with the movement of the robot joint 10.

[0033] like Figure 3 As shown in the figure, in this embodiment, connectors 30 are provided at both ends of the wire harness 20. In two adjacent wire harnesses 20, one end of the connector 30 of one wire harness 20 is connected to the other end of the connector 30, thereby realizing the rapid docking of the two adjacent wire harnesses 20, ensuring the continuity and stability of signal transmission, thereby improving the reliability and speed of the wire harness 20 connection, and reducing interference and loss in signal transmission. Specifically, the connector 30 in this embodiment includes a male connector and a female connector. Both the male connector and the female connector have low continuous resistance and shielding function. The male connector is smaller in overall size than the female connector. Therefore, the male connector can be inserted into the robot joint 10 from the end of the robot joint 10 to adapt to the narrow space inside the robot joint 10. Connector 30 achieves gigabit communication speeds through the combined use of male and female connectors. The male and female connectors mate at the ends of wire harnesses 20 to enable communication between them. One end of each wire harness 20 has a male connector, and the other end has a female connector, facilitating quick connection between adjacent wire harnesses 20. Alternatively, depending on the specific requirements, both ends of a wire harness 20 can be configured with male connectors, while adjacent wire harnesses 20 can have female connectors at both ends, allowing for quick assembly and disassembly of the wire harnesses 20.

[0034] In an embodiment not shown, the robot also includes multiple circuit boards. In two adjacent wire harnesses 20, the connector 30 at one end of one wire harness 20 is connected to the connector 30 at one end of the other wire harness 20 through the circuit board. The circuit board serves as an intermediate connection to realize signal conversion and transmission between the wire harnesses 20, while optimizing the size and layout of the connector 30. Specifically, each end of the wire harness 20 is provided with a connector 30. In two adjacent wire harnesses 20, a circuit board is provided at the ends of the two wire harnesses 20 that are close to each other. This allows the two connectors 30 connected to different wire harnesses 20 to be connected to the circuit board. In this way, the two connectors 30 do not need to be directly mated. Instead, the connectors 30 are inserted into the circuit board. In cases where the internal space of the robot joint 10 is extremely small, since the volume of the male connector is smaller than that of the female connector, both ends of the wire harness 20 can be set as male connectors. The male connectors are connected to the circuit board, thereby avoiding the situation where a female connector and a male connector must be used to connect two adjacent wire harnesses 20. This allows the wire harness 20 and the connector 30 to pass through the robot joint 10 with a smaller internal space, which is conducive to further improving the flexibility of the robot joint 10.

[0035] In this embodiment, the robot also includes an intermediate tube wall 40, which is located between two adjacent robot joints 10. The intermediate tube wall 40 is hollow, and the wiring harness 20 passes through the interior of the intermediate tube wall 40. Thus, the intermediate tube wall 40 serves as a protection and guide for the wiring harness 20 connecting the two adjacent robot joints 10, ensuring stable transmission of the wiring harness 20 between the joints. Specifically, as... Figure 1 , Figure 2 As shown, in this embodiment, an intermediate tube wall 40 is provided between two adjacent robot joints 10 along the height direction. This allows the wire harness 20 to pass through the interior of the intermediate tube wall 40 when the distance between two adjacent robot joints 10 is far. This enables communication between the two robot joints 10, thereby improving the protection level of the wire harness 20 and reducing the risk of damage to the wire harness 20.

[0036] In this embodiment, the robot joints 10 are sequentially connected to form a joint assembly. The robot also includes a base 50 and an end structure 60, which are located at the two ends of the joint assembly. The wiring harness 20 passes through the base 50 and the end structure 60. The robot joints 10 at both ends of the joint assembly are connected to the base 50 and the end structure 60 through different wiring harnesses 20, thereby realizing the overall signal transmission and control of the robot and improving the overall signal transmission efficiency and stability of the robot.

[0037] In this embodiment, as Figure 1 , Figure 2As shown, this embodiment has six robot joints 10, arranged sequentially according to the wiring harness 20 as the first joint 11, the second joint 12, the third joint 13, the fourth joint 14, the fifth joint 15, and the sixth joint 16. The wiring harness 20 running inside the robot joints 10 includes a first wiring harness 21, a second wiring harness 22, a third wiring harness 23, a fourth wiring harness 24, a fifth wiring harness 25, and a sixth wiring harness 26. The first wiring harness 21 passes through the base 50, runs inside the first joint 11, and exits from the second side of the first joint 11, connecting the base 50 and the first joint 11. The second wiring harness 22 connects to the first wiring harness 21 on the second side of the first joint 11 via a connector 30, establishing a communication connection between the two. It then passes through the interior of the second joint 12. The second side of the second joint 12 is connected to the third wiring harness 23 via connector 30; the third wiring harness 23 passes through the first tube wall 41 and is connected to the fourth wiring harness 24 on the second side of the third joint 13; the fourth wiring harness 24 passes through the third joint 13 and is connected to the fifth wiring harness 25 on the second side of the fourth joint 14; the fifth wiring harness 25 passes through the fourth joint 14 and the second tube wall 42 and is connected to the sixth wiring harness 26 on the second side of the fifth joint 15; the sixth wiring harness 26 passes through the fifth joint 15 and the sixth joint 16 in sequence and is connected to the seventh wiring harness 27 passing through the end structure 60 on the second side of the sixth joint 16; the seventh wiring harness 27 connects the robot joint 10 to the end structure 60. Of course, the arrangement of robot joints 10 is not limited to this, nor is the number of robot joints 10 and the number of wiring harnesses 20. They can be adjusted according to actual needs. In places where robot joints 10 are frequently disassembled and assembled, a wiring harness 20 can be installed inside one robot joint 10. In places where robot joints 10 are less frequently disassembled and assembled, a wiring harness 20 can be installed inside two or three robot joints 10.

[0038] like Figure 5As shown, in this embodiment, the connector 30 includes a connecting body 31 and a shielding cover 32, for connecting to the wire harness 20 or to the connecting body 31 of another connector 30; the shielding cover 32 is disposed on the outer periphery of the connecting body 31 for shielding electromagnetic signals. Thus, through the connecting body 31 and the shielding cover 32 of the connector 30, stable signal transmission and electromagnetic interference shielding are achieved. Specifically, since traditional connectors 30 are relatively large, especially those capable of gigabit-speed communication, they are much larger than ordinary connectors capable of megabit-speed communication. Furthermore, the wiring space inside many robot joints 10 is relatively small, making it difficult for gigabit-speed communication connectors 30 to pass through the robot joint 10, especially near the end effector 60. The space for arranging connectors 30 around the robot joint 10 is also extremely limited. Therefore, this embodiment improves the structure of the connector 30. To ensure high-speed signal transmission and minimal space occupation, compared to traditional connectors 30, the connector 30 in this embodiment does not have a housing, thus greatly reducing its size. This allows the connector 30 to pass through the narrow internal space of the robot joint 10, enabling the robot to achieve gigabit-speed communication. The connecting body 31 is the part where the male and female connectors connect; the conduction of the connecting body 31 enables the connection of the connectors 30. The shielding cover 32 is used to cover the outer periphery of the connecting body 31 to prevent electromagnetic interference, thereby ensuring reliable communication between the connectors 30. Preferably, to ensure a reliable connection between the wire harness 20 and the connecting body 31, a connecting shell 34 can be provided at the connection point between the connecting body 31 and the end of the wire harness 20. The connecting shell includes an upper shell and a lower shell, thereby limiting and protecting the end of the wire harness 20 on opposite sides of the connecting body 31, preventing the wire harness 20 from detaching from the connector 30, and ensuring the stability of the connection between the connecting body 31 and the wire harness 20. The shielding cover 32 can be configured as a hollow shell structure, divided into a first part and a second part. When the first part and the second part are fastened together, they can cover the connector body 31 inside the shielding cover 32. Preferably, the end of the shielding cover 32 near the end of the wire harness 20 can be configured as a flexible end. When the first part and the second part are fastened together, the flexible end can play a certain role in fixing the wire harness 20, thereby preventing the wire harness 20 from detaching from the connector body 31 to a certain extent, thus ensuring a reliable connection between the connector 30 and the wire harness 20.

[0039] In this embodiment, the connector 30 further includes a wire clamping member 33. The wire clamping member 33 is located on the outer periphery of the shielding cover 32 and the connecting body 31, and is used to fix the wire harness 20. The fixing action of the wire clamping member 33 ensures a stable connection of the wire harness 20 within the connector 30, preventing the wire harness 20 from loosening or being damaged during movement. Specifically, the wire clamping member 33 can be configured as copper foil tape. After the connecting body 31, connecting shell 34, and shielding cover 32 are installed, since the connector 30 in this embodiment does not have other outer shells, the wire clamping member 33 is directly wrapped around the outer periphery of the connecting body 31, simultaneously covering the connection between the shielding cover 32 and the connecting body 31, to further improve the reliability and stability of the wire harness 20 connection and reduce the risk of detachment.

[0040] Preferably, the connector 30 may also be provided with a heat shrink sleeve 35, which is cylindrical. After the connector 30 and the wire harness 20 are connected, the heat shrink sleeve 35 can be fitted onto the connection between the wire harness 20 and the connector 30, thereby further improving the reliability of the connection of the wire harness 20.

[0041] In this embodiment, the wiring harness 20 adopts a composite gigabit network communication rate requirement. Each wiring harness 20 can pass through 1-3 robot joints 10 or the intermediate tube wall 40. The wiring harness 20 includes a cable for signal transmission and a shielding layer. The two ends of the cable are respectively connected to the connector 30. The shielding layer is sleeved on the outer periphery of the cable to shield electromagnetic signals. In this way, through the structure of the cable and the shielding layer, stable transmission of high-speed signals and shielding against electromagnetic interference are achieved, thereby improving the stability of signal transmission and data integrity, while reducing the impact of electromagnetic interference on signal transmission. The cable in this embodiment includes 4 pairs of twisted signal wires, and the entire outer periphery of the cable is shielded, thereby achieving a gigabit communication rate.

[0042] The wiring harness 20 and connector 30 used in this embodiment can achieve gigabit network speeds in four aspects: the twisted-pair structure of the cable, the shielding layer, the contact impedance parameters of the connector 30, and the shielding cover 32 of the connector 30. This results in high overall communication parameters for the robot. Integrating a high-speed network communication signal inside the robot enables high-speed network signal routing between the robot joints 10, allowing the robot to support gigabit-level communication connections from the base 50 to the end structure 60. This facilitates communication with other devices via gigabit network when external devices are installed on the end structure 60. On the other hand, for ease of assembly and better maintainability, the relatively independent routing design of each joint allows for relative independence between the robot joints 10 while integrating a single network signal. This eliminates the mutual constraints between the robot joints 10, which is beneficial for robot installation and subsequent maintenance, and improves the robot's maintainability.

[0043] It should be noted that "multiple" in the above embodiments refers to at least two.

[0044] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0045] 1. It solves the problem of mutual constraints between robot joints in existing technologies;

[0046] 2. By setting multiple connectors at the ends of the wire harness, the wire harnesses can be connected to each other, so that different wire harnesses can be run inside different robot joints. This eliminates the need for the robot joints to restrict each other, thereby improving the flexibility and maintainability of the robot joints. This eliminates the need to use a single wire harness that runs inside all robot joints.

[0047] 3. For robot joints that require frequent disassembly and assembly, a single wiring harness can be run inside one robot joint. For two, three, or more adjacent robot joints that require almost no disassembly and assembly, a single wiring harness can be run through multiple robot joints. This further improves the flexibility between robot joints, ensuring both the flexibility of robot joint disassembly and assembly and the efficiency of signal transmission, while also saving space to a certain extent. This allows the robot joints to maintain both flexibility and overall integrity.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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: Multiple robot joints (10), each of which is movably connected in sequence; Multiple wire harnesses (20) are inserted into the robot joints (10), and at least one wire harness (20) is inserted into at least two robot joints (10); Multiple connectors (30) are located at the ends of the wire harness (20), and the wire harnesses (20) are sequentially connected and conductive through the connectors (30). The robot joints (10) transmit signals through the wire harnesses (20).

2. The robot according to claim 1, characterized in that, The robot joint (10) has a first side and a second side that are angled or parallel to each other. The first sides of the robot joint (10) are arranged opposite to each other, and the end of the wire harness (20) passes through the second side.

3. The robot according to claim 1, characterized in that, In two adjacent wire harnesses (20), one end of each wire harness (20) is located on the same side of the robot joint (10) and is connected via the connector (30).

4. The robot according to claim 3, characterized in that, Both ends of the wire harness (20) are provided with connectors (30). In two adjacent wire harnesses (20), the connector (30) at one end of one wire harness (20) is connected to the connector (30) at one end of the other wire harness (20).

5. The robot according to claim 3, characterized in that, Both ends of the wire harness (20) are provided with connectors (30). The robot also includes multiple circuit boards. In two adjacent wire harnesses (20), the connector (30) at one end of one wire harness (20) is connected to the connector (30) at one end of the other wire harness (20) through the circuit boards.

6. The robot according to claim 1, characterized in that, The robot also includes an intermediate tube wall (40), which is located between two adjacent robot joints (10) and is hollow. The wire harness (20) passes through the interior of the intermediate tube wall (40).

7. The robot according to claim 1, characterized in that, The robot joints (10) are sequentially connected to form a joint assembly. The robot also includes a base (50) and an end structure (60). The base (50) and the end structure (60) are located at both ends of the joint assembly. The wiring harness (20) passes through the base (50) and the end structure (60). The robot joints (10) at both ends of the joint assembly are connected to the base (50) and the end structure (60) respectively through different wiring harnesses (20).

8. The robot according to any one of claims 1 to 7, characterized in that, The connector (30) includes: A connecting body (31) for connecting to the wire harness (20) or to another connecting body (31) of the connector (30); A shielding cover (32) is disposed on the outer periphery of the connecting body (31) for shielding electromagnetic signals.

9. The robot according to claim 8, characterized in that, The connector (30) also includes a wire clamp (33) located on the outer periphery of the shield (32) and the connecting body (31) and used to fix the wire harness (20).

10. The robot according to any one of claims 1 to 7, characterized in that, The wire harness (20) includes: A cable for transmitting signals, the two ends of which are respectively connected to the connector (30); A shielding layer is fitted over the outer periphery of the cable to shield electromagnetic signals.

Images