Collaborative robot

Abstract

The application relates to a collaborative robot, since the wire harness unit comprises an optical fiber, the optical fiber has an extremely wide bandwidth, can support an extremely high data transmission rate, can ensure that data is quickly and accurately transmitted between different components of the robot, meets the requirements of complex action control and real-time feedback adjustment, guarantees the accuracy and fluency of the action of the robot. Moreover, the optical fiber transmits signals by relying on the propagation of light instead of electrical signals, so it is not affected by external electromagnetic interference, can guarantee the stability and accuracy of the transmitted data, and enables the robot to work stably and reliably, avoids data errors or abnormal control instructions caused by electromagnetic interference, and the like. At the same time, the first shielding layer arranged in the joint module can effectively block the external electromagnetic interference from entering the wire harness unit, so that the control instructions, sensor feedback and the like of the robot can be reliably transmitted in the wire harness, and the normal operation of the collaborative robot is guaranteed.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to collaborative robots. Background Technology

[0002] In today's industrial automation and many scenarios requiring human-machine collaboration, collaborative robots (also known as multi-joint robots) are playing an increasingly important role. Collaborative robots typically consist of multiple joint modules, each equipped with a joint module control board, as well as key components such as a robotic arm, an electrical control box, and robotic arm connection cables connecting them. The various internal components work together through complex wiring harnesses and signal transmission mechanisms to achieve various precise movements and operational tasks.

[0003] In related technologies, collaborative robots are prone to control failures, which not only affect production efficiency but also pose safety hazards. Utility Model Content

[0004] Therefore, it is necessary to provide a collaborative robot that addresses the problem of control failures that are common in existing collaborative robots.

[0005] A collaborative robot, the collaborative robot comprising:

[0006] Multiple joint modules include a control board, two joint assemblies, a joint housing, and a joint rear cover for docking with the joint housing; the joint housing and the joint rear cover cooperate to form a first receiving cavity, and the control board and the two joint assemblies are both located in the first receiving cavity; the central axes of the two joint assemblies intersect; the joint assembly is configured with a first wire through hole;

[0007] Multiple connecting arms, with adjacent connecting arms connected by the joint module, and each connecting arm having a second wire passage hole;

[0008] A wire harness unit includes an optical fiber; the optical fiber passes through the first wire through hole and the second wire through hole;

[0009] An end unit is connected to the joint module located at the output end;

[0010] The inner wall surface of the joint shell and the inner wall surface of the joint rear cover are both provided with a first shielding layer.

[0011] In one embodiment, both ends of the connecting arm are provided with mounting slots, one of the mounting slots is used to install the side cover, and the other mounting slot is used to install the joint module;

[0012] The groove wall of the mounting slot and the inner wall of the side cover are both provided with a second shielding layer.

[0013] In one embodiment, the collaborative robot further includes a shielding mesh covering the outer periphery of the wiring harness unit, and the wiring harness unit extends relative to the shielding mesh.

[0014] In one embodiment, the collaborative robot further includes a thermoplastic tube covering the outer periphery of the shielding mesh, and the wiring harness unit extends relative to the thermoplastic tube.

[0015] In one embodiment, the control board is provided with a photoelectric conversion module, which is used to convert optical signals into electrical signals.

[0016] In one embodiment, the end unit is provided with a vision imaging device, and the optical fiber is connected to the vision imaging device.

[0017] In one embodiment, the joint assembly includes a hollow shaft and a reducer sleeved on the outer peripheral wall of the hollow shaft, the joint assembly being sleeved on the hollow shaft; the hollow shaft is configured with the first wire through hole;

[0018] The speed reducer is provided with a speed reduction wiring harness connected to the control board, and the speed reduction wiring harness includes at least one of a speed reduction temperature detection wiring harness, a speed reduction vibration detection wiring harness, and a speed reduction grease detection wiring harness.

[0019] In one embodiment, the joint assembly includes a motor assembly sleeved on the outer peripheral wall of the hollow shaft; the motor assembly is provided with a motor wiring harness connected to the control board, the motor wiring harness including a motor power wiring harness, a stator winding temperature detection wiring harness and a stator core temperature detection wiring harness;

[0020] The joint assembly includes a brake sleeved on the outer peripheral wall of the hollow shaft; the brake is provided with a brake power line connected to the control board.

[0021] In one embodiment, the wire harness unit includes a plurality of joint wire harnesses, with one joint wire harness passing through each of the first wire through holes; the joint wire harness includes the optical fiber;

[0022] The control board is provided with two joint interfaces, an input interface, and an output interface; the two joint interfaces are used to connect the two joint components respectively; the input interface and the input interface are used to connect the two joint wiring harnesses respectively.

[0023] In one embodiment, the harness unit further includes a plurality of arm harnesses, with one arm harness corresponding to each of the second wire holes;

[0024] The harness unit also includes a harness connector, through which adjacent arm harnesses and joint harnesses are connected.

[0025] The aforementioned collaborative robot, due to the inclusion of optical fibers in its wiring harness unit, and the extremely wide bandwidth of optical fibers supporting very high data transmission rates, ensures the rapid and accurate transmission of data between different components of the robot. This meets the needs of complex motion control and real-time feedback adjustments, guaranteeing the precision and smoothness of the robot's movements. Furthermore, optical fiber signal transmission relies on the propagation of light, rather than electrical signals, thus avoiding the influence of external electromagnetic interference. This ensures the stability and accuracy of transmitted data, allowing the robot to operate stably and reliably, and preventing data errors or abnormal control commands caused by electromagnetic interference. Simultaneously, the first shielding layer within the joint module effectively blocks external electromagnetic interference from entering the wiring harness unit, protecting internal signal lines and power lines from surrounding electromagnetic fields (such as those generated by nearby high-power motors or wireless equipment). This ensures the accuracy and stability of signal transmission, reduces signal distortion and bit errors, and allows the robot's control commands and sensor feedback to be reliably transmitted within the wiring harness, guaranteeing the normal operation of the collaborative robot. Furthermore, the wiring harness inside the collaborative robot also generates a certain amount of electromagnetic radiation when transmitting electrical signals. Setting up a first shielding layer can limit this electromagnetic radiation inside the wiring harness, preventing interference with other external electronic devices, sensitive instruments, etc., and preventing unnecessary electromagnetic pollution to the surrounding environment when the robot is running. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of a collaborative robot provided in one embodiment of this application.

[0028] Figure 2 for Figure 1 A partial schematic diagram of the connecting arm in the collaborative robot shown.

[0029] Figure 3 for Figure 2 A cross-sectional view of the connecting arm in the collaborative robot shown.

[0030] Figure 4 for Figure 1 A schematic diagram of the joint module in the collaborative robot shown.

[0031] Figure 5 for Figure 4A partial schematic diagram of the joint module in the collaborative robot shown.

[0032] Figure 6 for Figure 4 A cross-sectional view of the joint module in the collaborative robot shown.

[0033] Figure 7 for Figure 6 A schematic diagram of the wiring harness unit in the collaborative robot shown.

[0034] Figure 8 for Figure 4 The diagram shows a collaborative robot with a hidden joint back cover for the joint module.

[0035] Figure 9 for Figure 6 The diagram shows a joint component in the joint module of a collaborative robot.

[0036] Figure 10 for Figure 9 A cross-sectional view of the joint components in the joint module of the collaborative robot shown.

[0037] Figure 11 for Figure 1 A schematic diagram of the end effector unit in the collaborative robot shown.

[0038] Figure 12 for Figure 11 A cross-sectional view of the end effector unit in the collaborative robot shown.

[0039] Reference numerals: 100, Joint module; 110, Joint housing; 111, First accommodating cavity; 112, First shielding layer; 120, Joint rear cover; 130, Joint assembly; 140, Control board; 141, Joint interface; 142, Input interface; 143, Output interface; 150, Hollow shaft; 151, First wire through hole; 160, Reducer; 161, Reducer wiring harness; 170, Motor assembly; 171, Motor power supply wiring harness; 172, Stator winding temperature detection wiring harness; 173, Stator Iron core temperature detection wiring harness; 180, brake; 181, brake power supply line; 200, connecting arm body; 201, second shielding layer; 210, base; 220, lower arm; 230, upper arm; 240, side cover; 300, wiring harness unit; 310, joint wiring harness; 320, shielding mesh; 400, end unit; 401, end housing; 410, vision imaging device; 420, lens; 430, end plug; 440, vision housing; 500, electrical control box; 510, robot arm connection line. Detailed Implementation

[0040] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0041] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0042] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0044] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0045] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0046] Collaborative robots utilize complex wiring harnesses and signal transmission mechanisms to coordinate their various components, enabling precise movements and tasks. The inventors of this application have discovered that during actual operation, the close proximity of different types of wiring harnesses can easily lead to signal interference. For example, when the motor power line and signal line are too close, the electromagnetic field generated by the motor power line can interfere with the signal being transmitted, causing deviations in the collaborative robot's operation. Specifically, this manifests as deviations from the preset trajectory, delays affecting the timeliness and smoothness of the robot's movements, or even other malfunctions, severely disrupting the robot's normal workflow and efficiency. Furthermore, the internal wiring harnesses and printed circuit boards of collaborative robots are relatively weak in resisting external electromagnetic interference. Collaborative robots often operate in complex electromagnetic environments, such as those with numerous large motors and high-frequency communication devices. These external electromagnetic fields can easily penetrate the robot's shell, interfering with the wiring harnesses and circuit boards, disrupting normal signal transmission and control logic. This causes the collaborative robot to enter an abnormal working state, greatly increasing the probability of malfunctions. This not only affects production efficiency but may also pose certain safety hazards, seriously hindering the normal operation of production and the smooth progress of human-robot collaboration.

[0047] Based on this, one embodiment of this application provides a collaborative robot that can solve the above-mentioned technical problems. The collaborative robot provided in one embodiment of this application will now be described in detail with reference to the accompanying drawings.

[0048] See Figure 1 , Figures 4 to 6 As shown, a collaborative robot provided in one embodiment of this application includes multiple joint modules 100, multiple connecting arms 200, wiring harness units 300, and end effector units 400. Each joint module 100 includes a control board 140, two joint assemblies 130, a joint housing 110, and a joint rear cover 120 for docking with the joint housing 110. The joint housing 110 and the joint rear cover 120 cooperate to enclose a first receiving cavity 111, and the control board 140 and the two joint assemblies 130 are all located in the first receiving cavity 111. The central axes of the joint components 130 intersect; the joint components 130 are configured with a first wire passage hole 151; two adjacent connecting arms 200 are connected through a joint module 100, and the connecting arm 200 is configured with a second wire passage hole; the wiring harness unit 300 includes optical fibers; the optical fibers pass through the first wire passage hole 151 and the second wire passage hole; the end unit 400 is connected to the joint module 100 located at the output end; wherein, the inner wall surface of the joint housing 110 and the inner wall surface of the joint rear cover 120 are both provided with a first shielding layer 112. Understandably, the collaborative robot also includes an electrical control box 500, which is connected to the connecting arm 200 through a robotic arm connection cable 510. The output end is the end of the collaborative robot furthest from the electrical control box 500 and closest to the object being grasped. For example, in Figure 1 In the view shown, the joint module 100 located at the output end is the joint module 100 located in the lower right corner. The wiring harness unit 300 may also include power lines, grounding lines, etc.

[0049] The aforementioned collaborative robot, because the wiring harness unit 300 includes optical fiber, and optical fiber has an extremely wide bandwidth, it can support extremely high data transmission rates. This ensures that data is transmitted quickly and accurately between different components of the robot, meeting the needs of complex motion control and real-time feedback adjustment, and guaranteeing the precision and smoothness of the robot's movements. Moreover, optical fiber transmission relies on the propagation of light, rather than electrical signals, so it is not affected by external electromagnetic interference, ensuring the stability and accuracy of transmitted data. This allows the robot to operate stably and reliably, avoiding data errors or abnormal control commands caused by electromagnetic interference. Simultaneously, the first shielding layer 112 within the joint module 100 effectively blocks external electromagnetic interference from entering the wiring harness unit 300, protecting internal signal lines and power lines from surrounding electromagnetic fields (such as those generated by nearby high-power motors or wireless equipment). This ensures the accuracy and stability of signal transmission, reduces signal distortion and bit errors, and allows the robot's control commands and sensor feedback to be reliably transmitted within the wiring harness, guaranteeing the normal operation of the collaborative robot. Furthermore, the wiring harness inside the collaborative robot also generates a certain amount of electromagnetic radiation when transmitting electrical signals. Setting up the first shielding layer 112 can limit this electromagnetic radiation inside the wiring harness, preventing interference to other external electronic devices, sensitive instruments, etc., and preventing unnecessary electromagnetic pollution to the surrounding environment when the robot is running.

[0050] Furthermore, the first shielding layer 112 can prevent static electricity accumulation and electrostatic discharge from damaging the wires and related electronic components within the wiring harness. Especially in dry environments prone to static electricity generation, the first shielding layer 112 can promptly conduct static electricity away, preventing electrostatic interference from affecting the robot's normal operation and maintaining the stable operation of the robot's electrical system. In some embodiments, the first shielding layer 112 can be a copper film, aluminum film, metallized polyester film, metallized polypropylene film, etc. Electroplating, for example, can be used to plate the shielding material, such as copper, onto the inner wall surface. Alternatively, shielding paper can be pasted onto the inner wall surface. In other embodiments, the first shielding layer 112 can also be a metal wire mesh, such as tin-plated copper wire mesh or stainless steel wire mesh.

[0051] In some embodiments, the inner wall surface of the joint housing 110 and the inner wall surface of the joint rear cover 120 both include an inner surface and a mounting surface. The joint housing 110 and the joint rear cover 120 are connected by the mounting surface. The control board 140 is located in the first accommodating cavity 111 formed by the inner surface of the joint housing 110 and the inner surface of the joint rear cover 120. The inner surface and the mounting surface are both provided with a first shielding layer 112, thereby forming a shielding space. External interference sources cannot interfere with the signals of the control board 140 and the internal wiring harness, thereby protecting the control board 140 and the wiring harness from interference from the external environment and improving the anti-interference capability.

[0052] See Figures 1 to 3 As shown, in one embodiment, both ends of the connecting arm 200 are provided with mounting grooves. One mounting groove is used to mount the side cover 240, and the other mounting groove is used to mount the joint module 100. A second shielding layer 201 is provided on the groove wall of the mounting groove and the inner wall of the side cover 240. By providing the second shielding layer 201, external electromagnetic interference can be prevented from entering the interior of the connecting arm 200, thereby ensuring the normal operation of internal electronic components and signal transmission, enabling the collaborative robot's control commands to be executed accurately, and avoiding deviations or loss of control due to external electromagnetic interference. The material of the second shielding layer 201 can refer to the aforementioned first shielding layer 112, and will not be repeated here. The connecting arm 200 and the side cover 240 may also include an inner surface and a mounting surface. The connecting arm 200 and the side cover 240 are connected by the mounting surface, and a receiving cavity is formed by the inner surface. Both the internal surface and the mounting surface are provided with a second shielding layer 201, thereby forming a shielding space. External interference sources cannot interfere with the signal of the internal wiring harness, thus protecting the wiring harness from interference from the external environment and improving its anti-interference capability.

[0053] See Figure 7 As shown, in one embodiment, the collaborative robot further includes a shielding mesh 320 covering the outer periphery of the wiring harness unit 300, with the wiring harness unit 300 extending relative to the shielding mesh 320. The shielding mesh 320 effectively blocks the influence of external electromagnetic fields on the wiring harness, shielding most of the external electromagnetic interference, ensuring the stability and accuracy of signal transmission within the wiring harness, enabling the robot to execute actions according to accurate control commands, and avoiding action errors, delays, or malfunctions caused by electromagnetic interference. Simultaneously, the wiring harness unit 300 itself generates a certain amount of electromagnetic radiation during operation. The shielding mesh 320 can limit this internally generated electromagnetic radiation to the vicinity of the wiring harness, preventing it from interfering with other external electronic devices and instruments, allowing the collaborative robot to work harmoniously and stably with other devices even in complex electromagnetic environments. Furthermore, the shielding mesh 320 possesses a certain degree of flexibility and malleability. When wiring within the complex spatial structure of a collaborative robot, it can be more easily bent and twisted according to actual needs, adapting to different wiring paths and directions. This allows the wire harness to be rationally laid out along the robot's internal mechanical structure and gaps, reducing obstacles to wiring caused by space constraints and improving wiring efficiency and rationality. The shielding mesh 320 can be a type of woven metal wire mesh, such as tinned copper wire woven mesh or stainless steel wire woven mesh.

[0054] In one embodiment, the collaborative robot also includes a thermoplastic tube (not shown) covering the outer periphery of the shielding mesh 320, with the wiring harness unit 300 extending relative to the thermoplastic tube. The thermoplastic tube acts as a physical protective layer, providing wear resistance, scratch resistance, and corrosion protection for the wiring harness. The shielding mesh 320, as a physical protective layer, provides wear resistance and scratch resistance to the wiring harness, reducing the risk of damage due to physical contact. It also prevents some dust and oil from entering the wiring harness, reducing corrosion and damage to the internal wires and extending the service life of the wiring harness. By reducing the impact of physical damage and external environmental factors on the wiring harness, it ensures that the wiring harness maintains good performance over a long period, keeping the conductivity and insulation properties of the internal wires stable. This ensures continuous and reliable signal transmission and power supply, helping the collaborative robot maintain stable operating performance and improving the reliability and maintainability of the equipment.

[0055] In some embodiments, the metal mesh is in the shape of a grid of strips. After the wire harness passes through the inside of the metal mesh, the two sides of the metal mesh are straightened, which can reduce the mesh size to cover the wire harness. Then, a thermoplastic tube is fitted onto the outside of the metal mesh to enclose it. After the metal mesh encloses the wire harness unit 300, the two sides of the metal mesh are joined together and twisted into a single metal wire. The side closer to the control board 140 is connected to the ground interface on the driver, and the other side is connected to the ground interface of the connecting arm 200 (e.g., upper arm 230, lower arm 220, base 210, etc.). In other embodiments, after the two sides of the metal mesh are joined together, they can also be connected to the control board 140 or the arm body respectively through connecting terminals.

[0056] In one embodiment, the control board 140 is equipped with a photoelectric conversion module (not shown). This module converts optical signals transmitted in the optical fiber into electrical control signals, and then converts the electrical control signals back into optical signals for transmission in the optical fiber. Since optical signals are unaffected by electromagnetic interference, the photoelectric conversion module effectively avoids damage to the signal from external electromagnetic interference, ensuring the accuracy and stability of signal transmission. This allows important data such as control commands and feedback information to be reliably transmitted between components, guaranteeing the precision of robot actions and the stable operation of the system. Furthermore, the attenuation of optical signals is relatively low when transmitted through media such as optical fibers. The photoelectric conversion module can first convert electrical signals into optical signals for long-distance transmission, and then convert them back to electrical signals upon arrival at the destination. This ensures that signal quality remains largely unaffected even over long transmission lines, reducing bit errors and signal distortion caused by signal attenuation. This helps expand the application range of collaborative robots and adapt to more complex wiring scenarios. The photoelectric conversion module supports high data transmission rates, meeting the needs of collaborative robots for real-time transmission of large amounts of data during operation.

[0057] In some embodiments, the photoelectric conversion module may consist of one or more independent photoelectric conversion devices (such as photodiodes, light-emitting diodes, etc.) and some simple supporting circuits (such as current-limiting resistors, amplifier circuits, etc.). For example, in some simple light-controlled switch applications, only one photodiode may be used to detect the light signal, and then the weak electrical signal generated is amplified and output through a simple transistor amplifier circuit to realize the light control function.

[0058] See Figures 9 to 10 As shown, in one embodiment, the joint assembly 130 includes a hollow shaft 150 and a reducer 160 sleeved on the outer peripheral wall of the hollow shaft 150. The joint assembly 130 is sleeved on the hollow shaft 150. The hollow shaft 150 is configured with a first wire hole 151. The reducer 160 is provided with a reduction harness 161 connected to the control board 140. The reduction harness 161 includes at least one of a reduction temperature detection harness, a reduction vibration detection harness, and a reduction grease detection harness.

[0059] The temperature detection harness for speed reduction can transmit the internal temperature information of the speed reducer 160 to the control board 140 in real time. Based on the received temperature data, the control board 140 can determine whether the speed reducer 160 is within the normal operating temperature range. If the temperature is found to be too high, corresponding measures will be taken in time (such as adjusting the robot's workload, reducing the running speed, and issuing an alarm), thereby effectively preventing failures caused by overheating, extending the service life of the speed reducer 160, and ensuring the reliable operation of the joint components 130. The vibration detection harness can sense these vibration signals in real time and transmit them to the control board 140. The control board 140 analyzes the vibration signals with the help of corresponding signal processing algorithms, and can promptly detect whether parameters such as vibration amplitude and frequency exceed the normal range. This allows for early detection of faults (such as minor gear wear or loosening), facilitating early scheduling of maintenance and repair work, preventing further deterioration of the fault, reducing maintenance costs and downtime, and improving the maintainability and availability of the robot. The grease detection harness can detect relevant parameters of the grease (such as grease quality and quantity) and feed the information back to the control board 140. The control board 140 then determines whether the lubricating grease can still meet the normal lubrication requirements. If a problem is found with the grease, the control board will promptly remind the staff to replace or replenish the grease to ensure that the reducer 160 is always in a good lubrication state, maintain its normal mechanical transmission efficiency, and prevent damage to parts due to poor lubrication.

[0060] In some embodiments, the deceleration temperature detection harness can be a temperature sensor wire, the deceleration vibration detection harness can be a vibration sensor wire, and the deceleration grease detection harness can be a grease sensor wire.

[0061] See Figures 9 to 10As shown, in one embodiment, the joint assembly 130 includes a motor assembly 170 sleeved on the outer peripheral wall of the hollow shaft 150. The motor assembly 170 is provided with a motor wiring harness connected to the control board 140. The motor wiring harness includes a motor power supply harness 171, a stator winding temperature detection harness 172, and a stator core temperature detection harness 173. The motor power supply harness 171 delivers electrical energy from an external power source to the motor assembly 170, providing the necessary power support for the motor's operation. The stator winding temperature detection harness 172 can monitor the temperature of the winding in real time and transmit the temperature signal to the control board 140. The stator core temperature detection harness 173 can acquire the temperature data of the core in real time and transmit it to the control board 140, which then determines whether the core is within the normal temperature range. In some embodiments, the motor power supply harness 171 is the motor UVW line, the stator winding temperature detection harness 172 is the stator winding temperature sensor line, and the stator core temperature detection harness 173 is the stator core temperature sensor line.

[0062] See Figures 9 to 10 As shown, in one embodiment, the joint assembly 130 includes a brake 180 sleeved on the outer peripheral wall of the hollow shaft 150; the brake 180 is provided with a brake power line 181 connected to the control board 140. When the robot needs to maintain its current posture and remain still after completing a certain action, or when it needs to stop the joint movement immediately in the event of an emergency (such as an accidental collision, receiving an emergency stop command, etc.), the control board 140 can send a corresponding electrical signal to the brake 180 through the brake power line 181, so that the brake 180 can activate the braking action, allowing the joint to stop rotating quickly, thereby achieving precise control of the robot's joint movement state, ensuring that the robot can stably and safely complete various tasks and cope with various emergencies.

[0063] See Figure 1 and Figure 6 as well as Figure 8As shown, in one embodiment, the wiring harness unit 300 includes multiple joint wiring harnesses 310, with one joint wiring harness 310 correspondingly passing through each first wire through hole 151; the joint wiring harness 310 includes optical fiber; the control board 140 is provided with two joint interfaces 141, an input interface 142, and an output interface 143; the two joint interfaces 141 are respectively used to connect two joint assemblies 130; the input interfaces 142 and 143 are respectively used to connect two joint wiring harnesses 310. By assigning an independent first wire through hole 151 and joint wiring harness 310 to each joint assembly 130, physically isolated wiring channels are achieved. This avoids the wiring harnesses of multiple joints from crossing and twisting inside the hollow shaft 150, reducing the risk of wiring harness wear and signal interference, and effectively protecting the structural integrity of the wiring harness, especially when the joints rotate frequently. Each joint wiring harness 310 corresponds one-to-one with the wire through hole, forming an independent signal transmission path. When a joint malfunctions, the corresponding joint wiring harness 310 can be quickly located and replaced without disassembling the wiring of other joints, significantly improving maintenance efficiency and reducing downtime. Input interface 142 and output interface 143 are connected to different joint wiring harnesses 310 respectively, achieving physical isolation of signal flow.

[0064] See Figure 1 As shown, in one embodiment, the wiring harness unit 300 further includes multiple arm body wiring harnesses, with one arm body wiring harness correspondingly disposed in each of the second wire through holes; the wiring harness unit 300 also includes wiring harness connectors, and adjacent arm body wiring harnesses and joint wiring harnesses 310 are connected through the wiring harness connectors. By using wiring harness connectors to connect adjacent arm body wiring harnesses and joint wiring harnesses 310, the connection process between different wiring harnesses is greatly simplified. When it is necessary to expand the functionality of the collaborative robot (such as increasing the length of the robotic arm, adding new joint modules, etc.) or make structural adjustments (such as changing the layout of the arm body, replacing different types of joint components 130, etc.), the wiring harness connectors can be used to easily disconnect and reconnect the corresponding wiring harnesses, realizing rapid modification and reconfiguration of the wiring, making the entire robot system more flexible and scalable, and better able to adapt to different application scenarios and task requirements.

[0065] See Figure 1 , Figures 10 to 11As shown, in one embodiment, the end unit 400 is equipped with a visual imaging device 410, to which an optical fiber is connected. When operational, the visual imaging device 410 provides a real-time ultra-high-definition visual imaging interface, enabling more precise identification of the features of the object being captured, such as shape, position, angle, state, color, edges, gaps, distance, depth, and other detailed features. The end unit 400 includes an end housing 401, and the visual imaging device 410 includes a visual housing 440, a camera, a lens 420, and other components. The visual housing 440 is fixedly connected to the end housing 401, and the lens 420 is mounted inside the lower side of the camera, with one end of the lens 420 extending outside the camera. The camera is fixedly mounted inside the visual housing 440. In some embodiments, the connecting arm 200 includes a base 210, a lower arm 220, and an upper arm 230. A joint module 100 is connected between the base 210 and the lower arm 220, between the lower arm 220 and the upper arm 230, and between the upper arm 230 and the end effector 400. The end effector 400 is provided with an end plug 430. An optical fiber is sequentially connected from the base 210 to the end plug 430, or the optical fiber can be sequentially connected from the base 210 to a camera, or it can be directly connected to a control terminal (such as a computer, host computer, etc.) to realize the reception, feedback, and processing of transmitted data, thereby providing real-time, accurate, and high-speed data transmission for high-precision control. By implementing transmission and displaying the shooting interface on the monitor, users can more accurately understand the working status of the collaborative robot, and the positioning accuracy, grasping accuracy, and recognition accuracy of the collaborative robot can be improved.

[0066] When the collaborative robot is working, control signal commands are issued from the control box 500. These commands are converted into light signals by the photoelectric conversion module and transmitted via the robotic arm connection cable 510 to the control board 140 of the joint module 100 between the base 210 and the lower arm 220. The photoelectric conversion module on the joint module 100 converts the light signals into electrical control signals, which are then executed by the control board 140 to drive the current joint module 100 to complete the required actions. Simultaneously, the control board 140 synchronizes the input control signals to the output interface 143, which transmits them through the next segment of wiring harness from the output interface 143. The wiring harness passes through the arm body 200 and connects to the control board 140 of the next joint module 100 to complete the commands for the next joint module 100. This continues until the wiring harness is connected to the end plug 430 of the end effector or the vision camera 410 of the end effector. During this process, the reducer 160 sensor detects the information data required by the reducer 160 in real time and transmits it to the control board 140 through the reducer 160 sensor line. The motor stator winding temperature sensor detects the temperature of the stator winding in real time, and the motor stator core temperature sensor detects the temperature of the stator core in real time and transmits it to the control board 140 through the corresponding sensor line. The control board 140 processes the data and converts it into optical signals through the photoelectric conversion module. These signals are then transmitted to the previous or next level component through the joint harness 310, and can ultimately be transmitted to the electrical control box 500 or the control terminal, providing a precise control data source for the control strategy and improving the control accuracy of the collaborative robot. Because the harness unit 300 transmits the optical signals converted by the control board 140 through optical fiber, there is no signal interference between the harnesses. Furthermore, because optical fiber has extremely high bandwidth, all control signals and sensor signals can be transmitted through optical fiber, without each harness needing to pass through the hollow shaft 150 for transmission and connection, simplifying the harness layout.

[0067] In some embodiments, the end unit may be connected to external tools, grippers, massage heads, welding torches, dexterous hands, etc.

[0068] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A collaborative robot, characterized in that, The collaborative robots include: Multiple joint modules (100) include a control board (140), two joint assemblies (130), a joint housing (110), and a joint rear cover (120) for docking with the joint housing (110); the joint housing (110) and the joint rear cover (120) cooperate to form a first receiving cavity (111), and the control board (140) and the two joint assemblies (130) are all located in the first receiving cavity (111); the central axes of the two joint assemblies (130) intersect; the joint assembly (130) is provided with a first wire through hole (151). Multiple connecting arms (200), two adjacent connecting arms (200) are connected by the joint module (100), and the connecting arms (200) are configured with a second wire hole; The wire harness unit (300) includes an optical fiber; the optical fiber passes through the first wire through hole (151) and the second wire through hole; End unit (400) is connected to the joint module (100) located at the output end. The inner wall surface of the joint shell (110) and the inner wall surface of the joint rear cover (120) are both provided with a first shielding layer (112).

2. The collaborative robot according to claim 1, characterized in that, Both ends of the connecting arm (200) are provided with mounting grooves, one of which is used to install the side cover (240) and the other is used to install the joint module (100). The groove wall of the mounting groove and the inner wall of the side cover (240) are both provided with a second shielding layer (201).

3. The collaborative robot according to claim 1, characterized in that, The collaborative robot also includes a shielding mesh (320) covering the outer periphery of the wiring harness unit (300), and the wiring harness unit (300) extends relative to the shielding mesh (320).

4. The collaborative robot according to claim 3, characterized in that, The collaborative robot also includes a thermoplastic tube covering the outer periphery of the shielding mesh (320), and the wire harness unit (300) extends relative to the thermoplastic tube.

5. The collaborative robot according to claim 1, characterized in that, The control board (140) is equipped with a photoelectric conversion module, which is used to convert optical signals into electrical signals.

6. The collaborative robot according to claim 1, characterized in that, The end unit (400) is provided with a visual imaging device (410), and the optical fiber is connected to the visual imaging device (410).

7. The collaborative robot according to any one of claims 1 to 6, characterized in that, The joint assembly (130) includes a hollow shaft (150) and a reducer (160) sleeved on the outer peripheral wall of the hollow shaft (150). The joint assembly (130) is sleeved on the hollow shaft (150). The hollow shaft (150) is configured with the first wire hole (151). The reducer (160) is provided with a reduction harness (161) connected to the control board (140), and the reduction harness (161) includes at least one of a reduction temperature detection harness, a reduction vibration detection harness, and a reduction grease detection harness.

8. The collaborative robot according to claim 7, characterized in that, The joint assembly (130) includes a motor assembly (170) sleeved on the outer peripheral wall of the hollow shaft (150); the motor assembly (170) is provided with a motor wiring harness connected to the control board (140), the motor wiring harness including a motor power supply wiring harness (171), a stator winding temperature detection wiring harness (172) and a stator core temperature detection wiring harness (173). The joint assembly (130) includes a brake (180) sleeved on the outer peripheral wall of the hollow shaft (150); the brake (180) is provided with a brake power line (181) connected to the control board (140).

9. The collaborative robot according to any one of claims 1 to 6, characterized in that, The wire harness unit (300) includes a plurality of joint wire harnesses (310), and one of the joint wire harnesses (310) is passed through each of the first wire through holes (151); the joint wire harnesses (310) include the optical fibers. The control board (140) is provided with two joint interfaces (141), an input interface (142) and an output interface (143); the two joint interfaces (141) are respectively used to connect the two joint components (130); the input interface (142) and the input interface (143) are respectively used to connect the two joint harnesses (310).

10. The collaborative robot according to claim 9, characterized in that, The harness unit (300) further includes a plurality of arm harnesses, and each of the second wire holes is provided with one arm harness in a corresponding manner. The harness unit (300) further includes a harness connector, through which adjacent arm harnesses and joint harnesses (310) are connected.

Images