Robot cabling structure and robot

Abstract

The utility model discloses a kind of robot wiring structure and robot, robot wiring structure includes: first component, first component includes first part, and the first line cover of being set to the outside of first part;Second component, with first component rotation connection, second component includes with the rotation connection of first part second part, and the second line cover of being set to the outside of second part;Wire tube, wire tube has first connecting portion and second connecting portion sequentially arranged along the extension direction of wire tube, first connecting portion is fixedly connected in first component, second connecting portion is fixedly connected in second component, part wire tube is located in the inside of first line cover, there is part wire tube in the inside of second line cover.The utility model's part wire tube in robot wiring structure of the robot is shielded by first line cover and second line cover, so also is protected by first line cover and second line cover, can reduce the risk of being damaged.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robot wiring structure and a robot. Background Technology

[0002] As the application scenarios of humanoid, bio-inspired, and industrial functional robots continue to expand, higher requirements are being placed on the wiring structure of their joint modules. The wiring structure needs to provide stable protection for the cables, that is, to avoid damage to cables such as USB cables and signal cables when the joints rotate, and to ensure stable signal / power transmission.

[0003] In related technologies, cable conduits are used at the joint modules of robots to protect the cables. However, these conduits are exposed and easily damaged, thus losing their protective function. Furthermore, during repeated joint rotation, the conduits can rub against and become entangled with the robot's shell or other components, posing a significant risk of wear and tear. This problem is particularly pronounced at the joints of humanoid robots requiring high dynamic range and wide-range motion, severely impacting the robot's reliability and lifespan. Utility Model Content

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a robot wiring structure that improves the protection of wiring conduits and reduces the risk of conduit damage.

[0005] This utility model also proposes a robot with the above-mentioned robot wiring structure.

[0006] According to a first aspect embodiment of the present invention, a robot wiring structure includes: a first component, the first component including a first part and a first wire cover disposed on the outside of the first part; a second component rotatably connected to the first component, the second component including a second part rotatably connected to the first part and a second wire cover disposed on the outside of the second part; and a wire tube having a first connecting portion and a second connecting portion arranged sequentially along the extension direction of the wire tube, the first connecting portion being fixedly connected to the first component, the second connecting portion being fixedly connected to the second component, a portion of the wire tube being located inside the first wire cover, and a portion of the wire tube being located inside the second wire cover.

[0007] The robot wiring structure according to the embodiment of this utility model has at least the following beneficial effects: In the robot wiring structure of this invention, a conduit is used for the cable to pass through. The conduit isolates the cable from external friction, oil, and mechanical impact, preventing cable damage and ensuring stable signal / power transmission. The first connecting part of the conduit is fixedly connected to the first component and moves with it; the second connecting part is fixedly connected to the second component and moves with it. Without affecting the relative movement of the first and second components, a portion of the conduit is shielded by the first and second cable covers, thus protecting it and reducing the risk of damage. This further reduces the risk of cable damage. Furthermore, by concealing at least a portion of the conduit inside the first and second cable covers, motion interference caused by exposed conduit is avoided, reducing the risk of friction and entanglement between the conduit and the robot's shell or other components. This is particularly suitable for compact humanoid robot joint modules, resulting in a cleaner external appearance for the robot joint module.

[0008] According to some embodiments of the present invention, the portion of the conduit between the first connecting portion and the second connecting portion is defined as a movable section, and the movable section is a curved structure; at least a portion of the movable section is located inside the first wire cover, and at least a portion of the movable section is located inside the second wire cover.

[0009] According to some embodiments of the present invention, a cylindrical surface with the rotation axis of the second component as its center is defined as a reference cylindrical surface; The movable segment extends circumferentially from the first connecting portion along the reference cylindrical surface on the outside of the first component, then extends toward the outside of the second component, and then extends circumferentially along the reference cylindrical surface on the outside of the second component until it reaches the second connecting portion.

[0010] According to some embodiments of the present invention, the direction in which the movable segment extends circumferentially from the first connecting portion on the outside of the first component along the reference cylindrical surface is opposite to the direction in which the movable segment extends circumferentially from the outside of the second component along the reference cylindrical surface to the second connecting portion.

[0011] According to some embodiments of this utility model, the movable segment is a U-shaped structure that fits into the reference cylindrical surface.

[0012] According to some embodiments of the present invention, at least a portion of the movable segment extending circumferentially from the first connecting portion along the reference cylindrical surface on the outside of the first component is located inside the first wire cover, and at least a portion of the movable segment extending circumferentially from the second component along the reference cylindrical surface to the second connecting portion is located inside the second wire cover.

[0013] According to some embodiments of the present invention, the first wire cover includes a first end and a second end arranged circumferentially along the reference cylindrical surface, and the second wire cover includes a third end and a fourth end arranged circumferentially along the reference cylindrical surface, wherein the arrangement direction of the first end and the second end is the same as the arrangement direction of the third end and the fourth end. The conduit extends from the first end into the inner side of the first wire cover from the outside of the first component, then extends toward the second end, then extends toward the outside of the second component and into the inner side of the second wire cover, and then extends toward the third end and exits the third end; wherein the first connecting part is fixedly connected to the first end, and the second connecting part is fixedly connected to the third end.

[0014] According to some embodiments of the present invention, the inner side of the first wire cover is provided with a first snap-fit ​​portion, and the first connecting portion is snap-fitted and fixed to the first snap-fit ​​portion; and / or the inner side of the second wire cover is provided with a second snap-fit ​​portion, and the second connecting portion is snap-fitted and fixed to the second snap-fit ​​portion.

[0015] According to some embodiments of the present invention, a cylindrical surface with the rotation axis of the second component as its center is defined as a reference cylindrical surface; There are two first wire covers, which are arranged circumferentially along the reference cylindrical surface and are both located on the outside of the first component; there are two second wire covers, which are arranged circumferentially along the reference cylindrical surface and are both located on the outside of the second component; there are two wire tubes, which correspond to the two wire tubes, the two first wire covers, and the two second wire covers respectively. At least a portion of one of the conduits is located inside the corresponding first conduit cover, and a portion is located inside the corresponding second conduit cover; at least a portion of the other conduit is located inside the corresponding first conduit cover, and a portion is located inside the corresponding second conduit cover.

[0016] The robot according to a second aspect of the present invention includes the robot wiring structure described in the above embodiments.

[0017] The robot according to the embodiments of this utility model has at least the following beneficial effects: The robot of this invention possesses the robot wiring structure described in the above embodiments. In this wiring structure, a conduit is used for the cable to pass through, and the conduit can isolate external friction, oil stains, and mechanical impacts, preventing cable damage and ensuring stable signal / power transmission. The first connecting portion of the conduit is fixedly connected to the first component and moves with the first component; the second connecting portion of the conduit is fixedly connected to the second component and moves with the second component. Without affecting the relative movement of the first and second components, a portion of the conduit is shielded by the first and second cable covers, thus being protected and reducing the risk of damage. This further reduces the risk of cable damage. Furthermore, by housing at least a portion of the conduit inside the first and second cable covers, motion interference caused by exposed conduit is avoided, reducing the risk of friction and entanglement between the conduit and the robot's shell or other components. This is particularly suitable for compact humanoid robot joint modules, making the exterior of the robot joint module cleaner.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the robot wiring structure in its initial state according to an embodiment of the present invention. Figure 2 for Figure 1 The diagram shown is a structural schematic after the first and second line covers are hidden. Figure 3 for Figure 1 A schematic diagram of the conduit structure shown in the figure; Figure 4 This is a schematic diagram of the structure of the first and second line covers according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the robot wiring structure according to an embodiment of the present invention after the second component is rotated 80° relative to the first component; Figure 6 for Figure 5 The diagram shown is a structural schematic after the first and second line covers are hidden. Figure 7 for Figure 5 A schematic diagram of the conduit structure shown in the figure; Figure 8 This is a schematic diagram of the structure of the robot wiring structure according to an embodiment of the present invention, after the second component is rotated 160° relative to the first component. Figure 9 for Figure 8 The diagram shown is a structural schematic after the first and second line covers are hidden. Figure 10 for Figure 8 The diagram shows a schematic of the conduit structure.

[0020] Icon labels: 100, First component; 110, First part; 120, First wire cover; 120a, First end; 120b, Second end; 121, First snap-fit ​​part; 200, Second component; 210, Second part; 220, Second wire cover; 220a, Third end; 220b, Fourth end; 221, Second snap-fit ​​part; 300, conduit; 301, first connecting part; 302, second connecting part; 310, movable section. Detailed Implementation

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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 utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] like Figure 1 As shown in the figure, an embodiment of this utility model provides a robot wiring structure that can be applied to various robots, such as humanoid robots, biomimetic robots, or other non-biomimetic functional robots. The humanoid robot can be a fully humanoid robot or a partially humanoid robot, and the biomimetic robot can be a robot that mimics terrestrial organisms, aerial organisms, or aquatic organisms.

[0025] like Figure 1 As shown, the robot wiring structure includes a first component 100 and a second component 200, with the second component 200 rotatably connected to the first component 100. Wherein, Figures 1 to 3 The graphic shown represents the state of the relevant components when the robot's wiring structure is in its initial state (when the second component 200 is not rotated relative to the first component 100); Figures 5 to 7 The diagram shown illustrates the state of relevant components in the robot's wiring structure after the second component 200 has rotated 80° relative to the first component 100. Figures 8 to 10 The graphic shown illustrates the state of the relevant components in the robot's wiring structure after the second component 200 rotates 160° relative to the first component 100.

[0026] like Figure 1 As shown, the first component 100 includes a first part 110 and a first wire cover 120 disposed on the outside of the first part 110; the second component 200 includes a second part 210 rotatably connected to the first part 110 and a second wire cover 220 disposed on the outside of the second part 210.

[0027] Specifically, the first component 110 and the second component 210 are connected. The second component 210 can rotate relative to the first component 110. It should be noted that the rotation axis of the second component 210 is the rotation axis of the second assembly 200. The first wire cover 120 is fixed to the outside of the first component 110 and can move with the first component 110. The second wire cover 220 is fixed to the outside of the second component 210 and can move with the second component 210. Specifically, during the rotation of the second component 210 relative to the first component 110, the second wire cover 220 also rotates relative to the first component 110 and the first wire cover 120.

[0028] For example, the first component 110 and the second component 210 can be connected by a bearing so that the second component 210 is rotatably connected to the first component 110.

[0029] The first wire cover 120 can be fixed to the outside of the first component 110 by bolts or clips, and the second wire cover 220 can be fixed to the outside of the first component 110 by bolts or clips. It should be noted that bolt fixing is a rigid connection, providing a large tightening force and ensuring that the first wire cover 120 moves synchronously with the first component 110 and the second wire cover 220 moves synchronously with the second component 210. If the second component 210 rotates rapidly relative to the first component 110, it can reduce the risk of the first and second wire covers 120 becoming loose or shifting. Clip fixing allows for tool-free assembly and disassembly, shortening assembly time, which is especially suitable for later robot maintenance. The two fixing methods can be selected according to the robot's usage scenario: if the robot is in a high-vibration environment (such as an industrial handling robot), bolt fixing is preferred to ensure stability; if frequent maintenance is required (such as a medical robot), clip fixing can be used to improve efficiency.

[0030] In some embodiments, the robot wiring structure can be applied to the joint module of the robot, and the connection position of the first component 110 and the second component 210 constitutes the robot's joint. Of course, in other embodiments, the robot wiring structure can also be applied to other modules of the robot.

[0031] Combination Figure 1 , Figure 2 and Figure 3 The robot wiring structure also includes a conduit 300, which has a first connecting part 301 and a second connecting part 302 arranged sequentially along the extension direction of the conduit 300. The first connecting part 301 is fixedly connected to the first component 100, and the second connecting part 302 is fixedly connected to the second component 200.

[0032] It should be noted that in some embodiments, the conduit 300 is a tubular protective layer through which the cable passes. In other embodiments, the conduit 300 is a cable sheath manufactured and processed as a single unit, connected to the internal cable. The cable can be a USB cable or a signal cable. The conduit 300 can isolate the cable from external friction, oil, and mechanical impact, preventing damage and ensuring stable signal / power transmission. The first connecting part 301 and the second connecting part 302 are two different parts of the conduit 300 arranged sequentially along the extension direction of the conduit 300. The first connecting part 301 of the conduit 300 is fixedly connected to the first component 100 and moves together with the first component 100. Specifically, when the first component 100 rotates relative to the second component 200, the first connecting part 301 rotates together with the first component 100 relative to the second component 200. The second connecting part 302 of the conduit 300 is fixedly connected to the second component 200 and moves together with the second component 200. Specifically, when the second component 200 rotates relative to the first component 100, the second connecting part 302 rotates together with the second component 200 relative to the first component 100.

[0033] Furthermore, the first connecting portion 301 of the conduit 300 can be fixedly connected to the first component 110 or the first wire cover 120, and the second connecting portion 302 of the conduit 300 can be fixedly connected to the second component 210 or the second wire cover 220.

[0034] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 Specifically, the inner side of the first wire cover 120 is provided with a first snap-fit ​​part 121, and the first connecting part 301 of the wire conduit 300 is snapped and fixed to the first snap-fit ​​part 121; the inner side of the second wire cover 220 is provided with a second snap-fit ​​part 221, and the second connecting part 302 of the wire conduit 300 is snapped and fixed to the second snap-fit ​​part 221.

[0035] More specifically, the first latching portion 121 is a first buckle formed on the inner side of the first wire cover 120, and the first connecting portion 301 of the wire conduit 300 passes through the first buckle and is held by the first buckle; the second latching portion 221 is a second buckle formed on the inner side of the second wire cover 220, and the second connecting portion 302 of the wire conduit 300 passes through the second buckle and is held by the second buckle.

[0036] It should be noted that the inner side of the first wire cover 120 refers to the side of the first wire cover 120 that is close to the first component 110, and the inner side of the second wire cover 220 refers to the side of the second wire cover 220 that is close to the second component 210.

[0037] Furthermore, the first snap-fit ​​portion 121 can be integrally formed on the first wire cover 120, and the second snap-fit ​​portion 221 can be integrally formed on the second wire cover 220.

[0038] Understandably, during assembly, the first connecting part 301 of the conduit 300 can be snapped and fixed to the first snap-fit ​​part 121 of the first wire cover 120, and the second connecting part 302 of the conduit 300 can be snapped and fixed to the second connecting part 302 of the second wire cover 220, regardless of the order. Then, the first wire cover 120 can be assembled onto the first component 110, and the second wire cover 220 can be assembled onto the second component 210, regardless of the order. The operation is simple. Conversely, if it is necessary to replace the conduit 300, the conduit 300 can be quickly replaced after removing the first wire cover 120 and the second wire cover 220, which is also convenient.

[0039] Combination Figure 2 and Figure 3 Furthermore, the portion of the conduit 300 between the first connecting portion 301 and the second connecting portion 302 is a movable section 310. Specifically, the conduit 300 can be made of a soft material (such as soft polyvinyl chloride, silicone rubber, EPDM rubber, or thermoplastic elastomer, etc.) and can undergo bending deformation. The movable section 310 can bend and deform to adapt to the positional change of the second component 200 relative to the first component 100 during the rotation of the second component 200 relative to the first component 100.

[0040] It should be noted that the overall length design of the movable segment 310 meets the maximum rotation angle requirement of the second component 200 relative to the first component 100, and avoids the second component 200 being unable to rotate to the maximum rotation angle requirement relative to the first component 100 due to the length of the movable segment 310 being too short.

[0041] Furthermore, the movable segment 310 has a curved structure. It can be understood that once the positions of the first connecting part 301 and the second connecting part 302 are determined, the more curved the movable segment 310 is, the longer the movable segment 310 will be. This is beneficial for the length of the movable segment 310 to meet the requirement that the second component 200 rotates to the maximum angle relative to the first component 100.

[0042] like Figure 1 As shown, part of the conduit 300 is located inside the first wire cover 120, and another part of the conduit 300 is located inside the second wire cover 220. This can be understood as follows: a portion of the conduit 300 is located inside the first wire cover 120 and is obscured by it, while another portion of the conduit 300 is located inside the second wire cover 220 and is obscured by it.

[0043] Understandably, the routing of some wires through the conduit 300, protected by it, reduces the risk of damage. Similarly, the portion of the conduit 300 is shielded by the first wire cover 120 and the second wire cover 220, further reducing the risk of damage. This further mitigates the risk of wire damage. Additionally, by concealing at least a portion of the conduit 300 within the first wire cover 120 and the second wire cover 220, motion interference caused by exposed conduit 300 is avoided. This reduces the risk of friction or entanglement between the conduit 300 and the robot's outer shell or other components, making it particularly suitable for compact humanoid robot joint modules, resulting in a cleaner external appearance.

[0044] Combination Figure 1 , Figure 2 and Figure 3 For the movable segment 310, at least a portion of the movable segment 310 is located inside the first line cover 120, and at least a portion of the movable segment 310 is located inside the second line cover 220. In other words, the movable segment 310 can be shielded and protected by the first line cover 120 and the second line cover 220, reducing the risk of damage to the movable segment 310.

[0045] Combination Figure 2 and Figure 3 Furthermore, a cylindrical surface centered on the rotation axis of the second component 200 is defined as a reference cylindrical surface; the movable segment 310 extends circumferentially from the first connecting portion 301 on the outside of the first component 110 along the reference cylindrical surface, then extends towards the outside of the second component 210, and then extends circumferentially along the reference cylindrical surface on the outside of the second component 210 until it reaches the second connecting portion 302. Thus, the movable segment 310 constitutes a curved structure.

[0046] Furthermore, the direction in which the movable segment 310 extends circumferentially from the first connecting portion 301 along the reference cylindrical surface on the outer side of the first component 110 is opposite to the direction in which the movable segment 310 extends circumferentially along the reference cylindrical surface on the outer side of the second component 210 to the second connecting portion 302. Specifically, the movable segment 310 is a U-shaped structure that fits against the reference cylindrical surface. In other words, before the first wire cover 120 and the second wire cover 220 are respectively installed on the first component 110 and the second component 210, the movable segment 310 is a planar U-shaped structure. After the first wire cover 120 and the second wire cover 220 are installed, it is constrained by the first wire cover 120 and the second wire cover 220 and formed into a curved shape that fits against the reference cylindrical surface. That is, the movable segment 310 has a pre-formed curved shape in its natural state. After installation, its curved shape is constrained and fits against the reference cylindrical surface, forming a U-shaped orientation in space. In this way, the bending degree of the movable section 310 can be improved, and its length requirement can be met within a small space. In addition, the design of the U-shaped movable section 310 allows the conduit 300 to be smoothly stored and released when the second component 200 rotates relative to the first component 100 in both directions, resulting in good strain performance.

[0047] Furthermore, for the movable segment 310, at least a portion of the segment located outside the first component 110 and extending circumferentially from the first connecting portion 301 along the reference cylindrical surface is located inside the first wire cover 120, and at least a portion of the segment located outside the second component 210 and extending circumferentially along the reference cylindrical surface to the second connecting portion 302 is located inside the second wire cover 220.

[0048] It is understandable that the movable segment 310 has a relatively long length, which is the part extending circumferentially along the reference cylindrical surface outside the first component 110 and the part extending circumferentially along the reference cylindrical surface outside the second component 210. Therefore, by using the first wire cover 120 and the second wire cover 220 to cover these parts of the movable segment 310, it is beneficial to improve the covering and protection effect of the movable segment 310.

[0049] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 Specifically, the first wire cover 120 includes a first end 120a and a second end 120b arranged circumferentially along the reference cylindrical surface, and the second wire cover 220 includes a third end 220a and a fourth end 220b arranged circumferentially along the reference cylindrical surface; wherein, the arrangement direction of the first end 120a and the second end 120b of the first wire cover 120 is the same as the arrangement direction of the third end 220a and the fourth end 220b of the second wire cover 220 (both are clockwise or counterclockwise directions with the rotation axis of the second component 200 as the axis).

[0050] The first connecting part 301 of the conduit 300 is fixedly connected to the first end 120a of the first wire cover 120, and the second connecting part 302 of the conduit 300 is fixedly connected to the third end 220a of the second wire cover 220.

[0051] Furthermore, the conduit 300 extends from the first end 120a of the first wire cover into the inside of the first wire cover 120 on the outside of the first component 110, then extends toward the second end 120b of the first wire cover 120, then extends toward the outside of the second component 210 and into the inside of the second wire cover 220, then extends toward the third end 220a of the second wire cover and exits through the third end 220a of the second wire cover.

[0052] It should be noted that when the second component 200 rotates relative to the first component 100, the movable segment 310 will bend and deform. Therefore, the length of the movable segment 310 hidden inside the first wire cover 120 and / or the length of the movable segment 310 hidden inside the second wire cover 220 will change with the rotation angle of the second component 200 relative to the first component 100. In other words, when the second component 200 rotates relative to the first component 100, there may be a situation where part of the movable segment 310 is pulled out from the inside of the first wire cover 120 or part of the movable segment 310 is hidden inside the first wire cover 120. Of course, there may also be a situation where part of the movable segment 310 is pulled out from the inside of the second wire cover 220 or part of the movable segment 310 is hidden inside the second wire cover 220.

[0053] In addition, part of the movable section 310 extending from the outside of the first component 110 toward the outside of the second component 210 will be covered inside the first line cover 120, and part of it will be covered inside the second line cover 220.

[0054] like Figure 1 As shown, in some embodiments, there are two first wire covers 120, which are arranged circumferentially along the reference cylindrical surface and are both disposed on the outer side of the first component 110; there are also two second wire covers 220, which are arranged circumferentially along the reference cylindrical surface and are both disposed on the outer side of the second component 210. The two first wire covers 120 correspond to two other first wire covers 120.

[0055] Combination Figure 1 , Figure 2 and Figure 3There are two conduits 300, and the two conduits 300, two first wire covers 120 and two second wire covers 220 correspond to each other; at least a portion of one conduit 300 is located inside the corresponding first wire cover 120, and a portion is located inside the corresponding second wire cover 220; at least a portion of the other conduit 300 is located inside the corresponding first wire cover 120, and a portion is located inside the corresponding second wire cover 220.

[0056] Specifically, the two first wire covers 120 are symmetrically arranged with the rotation axis of the second component 200 as the axis of symmetry; the two second wire covers 220 are symmetrically arranged with the rotation axis of the second component 200 as the axis of symmetry; and the two wire tubes 300 are also symmetrically arranged with the rotation axis of the second component 200 as the axis of symmetry.

[0057] Understandably, the two conduits 300 can accommodate different wires, satisfying the requirements for multiple wire routing. In addition, when the second component 200 rotates relative to the first component 100, the two conduits 300 do not interfere with each other.

[0058] This utility model also provides a robot, including the robot wiring structure of the above embodiments. The beneficial effects of the robot wiring structure have been described above. The robot with the robot wiring structure of the above embodiments also has the corresponding beneficial effects, which will not be repeated here.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot wiring structure, characterized in that, include: The first component includes a first part and a first line cover disposed on the outside of the first part; The second component is rotatably connected to the first component, and the second component includes a second part rotatably connected to the first component, and a second line cover disposed on the outside of the second part; The conduit has a first connecting portion and a second connecting portion arranged sequentially along the extension direction of the conduit. The first connecting portion is fixedly connected to the first component, and the second connecting portion is fixedly connected to the second component. Part of the conduit is located inside the first cover, and another part of the conduit is located inside the second cover.

2. The robot wiring structure according to claim 1, characterized in that, The portion of the conduit between the first connecting portion and the second connecting portion is defined as a movable section, and the movable section is a curved structure; at least a portion of the movable section is located inside the first wire cover, and at least a portion of the movable section is located inside the second wire cover.

3. The robot wiring structure according to claim 2, characterized in that, Define the cylindrical surface centered on the rotation axis of the second component as the reference cylindrical surface; The movable segment extends circumferentially from the first connecting portion along the reference cylindrical surface on the outside of the first component, then extends toward the outside of the second component, and then extends circumferentially along the reference cylindrical surface on the outside of the second component until it reaches the second connecting portion.

4. The robot wiring structure according to claim 3, characterized in that, The direction in which the movable segment extends circumferentially from the first connecting portion on the outside of the first component along the reference cylindrical surface is opposite to the direction in which the movable segment extends circumferentially from the outside of the second component along the reference cylindrical surface to the second connecting portion.

5. The robot wiring structure according to claim 4, characterized in that, The movable section is a U-shaped structure that fits into the reference cylindrical surface.

6. The robot wiring structure according to any one of claims 3 to 5, characterized in that, At least a portion of the movable segment extending circumferentially from the first connecting portion along the reference cylindrical surface on the outside of the first component is located inside the first wire cover, and at least a portion of the movable segment extending circumferentially from the second component along the reference cylindrical surface to the second connecting portion is located inside the second wire cover.

7. The robot wiring structure according to any one of claims 3 to 5, characterized in that, The first wire cover includes a first end and a second end arranged circumferentially along the reference cylindrical surface, and the second wire cover includes a third end and a fourth end arranged circumferentially along the reference cylindrical surface, wherein the arrangement direction of the first end and the second end is the same as the arrangement direction of the third end and the fourth end. The conduit extends from the first end into the inner side of the first wire cover from the outside of the first component, then extends toward the second end, then extends toward the outside of the second component and into the inner side of the second wire cover, and then extends toward the third end and exits the third end; wherein the first connecting part is fixedly connected to the first end, and the second connecting part is fixedly connected to the third end.

8. The robot wiring structure according to claim 1, characterized in that, The inner side of the first wire cover is provided with a first snap-fit ​​portion, and the first connecting portion is snap-fitted and fixed to the first snap-fit ​​portion; and / or the inner side of the second wire cover is provided with a second snap-fit ​​portion, and the second connecting portion is snap-fitted and fixed to the second snap-fit ​​portion.

9. The robot wiring structure according to claim 1, characterized in that, Define the cylindrical surface centered on the rotation axis of the second component as the reference cylindrical surface; There are two first wire covers, which are arranged circumferentially along the reference cylindrical surface and are both located on the outside of the first component; there are two second wire covers, which are arranged circumferentially along the reference cylindrical surface and are both located on the outside of the second component; there are two wire tubes, which correspond to the two wire tubes, the two first wire covers, and the two second wire covers respectively. At least a portion of one of the conduits is located inside the corresponding first conduit cover, and a portion is located inside the corresponding second conduit cover; at least a portion of the other conduit is located inside the corresponding first conduit cover, and a portion is located inside the corresponding second conduit cover.

10. A robot, characterized in that, Includes the robot wiring structure as described in any one of claims 1 to 9.

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