Robot

Abstract

Disclosed in the present application is a robot, comprising first joints, second joints and first conveying structures. Each first joint is provided with a first through hole, each second joint is provided with a second through hole, and one of each first joint and each second joint drives the other to rotate. Each first conveying structure passes through one first through hole and one second through hole. Each second joint can rotate relative to each first joint to an original position, a first limit position and a second limit position. The magnitude of the angle by which each second joint rotates from the original position to the first limit position is the same as the magnitude of the angle by which each second joint rotates from the original position to the second limit position. During processes in which each second joint rotates to the first limit position and rotates to the second limit position, the displacement of the part of each first conveying structure located in one second through hole relative to the part of each first conveying structure located in one first through hole is the same. When each second joint rotates relative to each first joint in two opposite directions by an angle of the same magnitude, the degree to which each first conveying structure inclines is the same, thereby rendering the wear of each first conveying structure uniform.

Description

Robot

[0001] The present application claims priority to the Chinese patent application No. 202422195467.8, filed on September 6, 2024, and entitled "Robot", the content of which is incorporated herein by reference in its entirety.

[0002] The present application claims priority to the Chinese patent application No. 202422197874.2, filed on September 6, 2024, and entitled "Robot base and robot", the content of which is incorporated herein by reference in its entirety.

[0003] The present application claims priority to the Chinese patent application No. 202422198013.6, filed on September 6, 2024, and entitled "Joint module and robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0004] The present application belongs to the technical field of mechanical equipment, in particular relates to a wheel-foot robot and a wheel-foot mobile terminal. BACKGROUND

[0005] The interior of the robot needs to be supplied with power, gas or liquid through a conveying structure. For example, motors in adjacent joints are connected through the conveying structure to transmit power. For another example, the conveying structure passes through multiple joints to communicate with a spray gun on the operating end of the robot to deliver gas or liquid to the spray gun.

[0006] When the conveying structure passes through two adjacent joints that can rotate relative to each other, the conveying structure passes out of one of the joints to the outside world, and then passes into the other joint from the outside world. In order to ensure that the two joints can rotate normally, the conveying structure is generally a wire harness or a hose that can bend to match the rotation of the two joints. However, the positions on the two joints for passing through the conveying structure are generally staggered. When the joints rotate by the same angle in opposite directions relative to the other joint, the inclination of the conveying structure is inconsistent, which causes uneven wear of the conveying structure and affects the service life of the conveying structure. SUMMARY

[0007] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application proposes a robot that can make the inclination of the conveying structure the same when the joints rotate by the same angle in opposite directions relative to the other joint, making the conveying structure wear evenly and improving the service life of the conveying structure.

[0008] The robot according to the embodiments of the present application comprises a first joint, a second joint and a first conveying structure. The first joint is provided with a first through hole; the second joint is provided with a second through hole; one of the first joint and the second joint drives the other to rotate; the first conveying structure is used for conveying power, gas or liquid, and the first conveying structure passes through the first through hole and the second through hole; wherein the second joint can rotate relative to the first joint to an original position, a first limit position and a second limit position, and the angle of the second joint rotating from the original position to the first limit position and the angle of the second joint rotating to the second limit position are the same; during the process that the second joint rotates to the first limit position and the second limit position, the displacement of the part of the first conveying structure located in the second through hole relative to the part of the first conveying structure located in the first through hole is the same.

[0009] The robot according to the embodiments of the present application has at least the following beneficial effects: during the process that the second joint rotates relative to the first joint, the position of the first through hole and the position of the second through hole will relatively offset, and the first conveying structure will be inclined. During the process that the second joint rotates from the original position to the first limit position and the second limit position relative to the first joint, the displacement of the part of the first conveying structure located in the first through hole relative to the part of the first conveying structure located in the second through hole is the same, so that when the second joint rotates to the first limit position and the second limit position relative to the first joint by the same angle in two opposite directions, the inclination degree of the first conveying structure is the same, thereby the wear of the first conveying structure is uniform, and the service life of the first conveying structure is improved.

[0010] According to some embodiments of the present application, the first conveying structure comprises a first conveying part and a second conveying part, the first conveying part is at least partially located in the first joint, and the first conveying part is provided with a first connector; the second conveying part is at least partially located in the second joint, and the second conveying part is provided with a second connector; the first connector and the second connector are detachably connected, so that the first conveying part and the second conveying part are in conduction.

[0011] According to some embodiments of the present application, the first conveying part is located in the first joint, and the first connector is fixed in the first through hole.

[0012] According to some embodiments of the present application, the first joint is provided with a first protruding part on the outside, and the opening of the first through hole is formed on the side of the first protruding part close to the second joint.

[0013] According to some embodiments of the present application, the first conveying structure further comprises a third conveying part, the second conveying part is located in the second joint, and the second joint is fixed in the second through hole; two ends of the third conveying part are respectively provided with a third joint, and the first joint and the second joint are respectively detachably connected with one of the third joints to make the first conveying part, the third conveying part and the second conveying part conductive.

[0014] According to some embodiments of the present application, the first conveying structure is electrically connected with the electrical structure in the first joint and the electrical structure in the second joint respectively.

[0015] According to some embodiments of the present application, the first conveying structure is detachably connected with the electrical structure in the first joint and the electrical structure in the second joint respectively.

[0016] According to some embodiments of the present application, a third joint and a second conveying structure are further included, the fixed end of the third joint is fixedly connected with the fixed end of the first joint, and the second conveying structure is connected with the fixed end of the third joint and the fixed end of the first joint respectively.

[0017] According to some embodiments of the present application, a connecting arm is further included, the connecting arm connects the fixed end of the third joint and the fixed end of the first joint, an internal passage is formed in the connecting arm, and the second conveying structure is arranged in the passage.

[0018] According to some embodiments of the present application, the first joint is a base, a connecting plate is arranged on the side surface of the base, and the first through hole is formed in the connecting plate.

[0019] According to the robot provided by the embodiments of the present application, the base comprises a shell, a connecting seat, a mounting seat and a driver; the shell is provided with an accommodating cavity; the connecting seat is arranged in the accommodating cavity and rotatably connected with the cavity wall of the accommodating cavity through a bearing; the mounting seat is connected with the connecting seat, and the mounting seat is used for mounting a mechanical arm; and the driver is arranged in the accommodating cavity and connected with the connecting seat, and the driver is used for driving the connecting seat and the mounting seat to synchronously rotate around a preset axis.

[0020] The robot provided by the present application has at least the following beneficial effects: in the robot of the present application, the driver is drivingly connected with the mounting seat through the connecting seat, the connecting seat is arranged in the accommodating cavity of the shell and rotatably connected with the cavity wall of the accommodating cavity through a bearing; when the mounting seat is mounted with a mechanical arm, even if the gravity center of the mechanical arm is located on one side of the preset axis, at this time, the load applied by the mechanical arm to the mounting seat can be sequentially transmitted to the shell through the connecting seat and the bearing, so as to reduce the influence of the load applied by the mechanical arm to the mounting seat on the driver, thereby reducing the probability of damage of the driver and further improving the service life of the whole base.

[0021] According to some embodiments of the present application, the robot, the connecting seat and the mounting seat are fixedly connected through the first threaded connecting piece; the connecting seat is provided with a first abutting structure, the mounting seat is provided with a second abutting structure, and the first abutting structure and the second abutting structure abut each other to prevent the connecting seat and the mounting seat from rotating relative to each other around the preset axis.

[0022] According to some embodiments of the present application, the robot, the mounting seat is provided with a connecting protrusion located on the preset axis, a first protruding part is formed on the peripheral surface of the connecting protrusion, and the first protruding part forms the first abutting structure; the connecting seat is provided with a connecting groove matched with the connecting protrusion, an abutting groove is formed on the groove side wall of the connecting groove, the protruding part is arranged in the abutting groove, and the groove wall of the abutting groove forms the second abutting structure.

[0023] According to some embodiments of the present application, the connecting protrusion is prismatic, and the side edge angle of the connecting protrusion forms the first protruding part; the connecting groove is prismatic, and the side edge angle of the connecting groove forms the abutting groove.

[0024] According to some embodiments of the present application, the mounting seat is provided with a third abutting structure, the shell is provided with a fourth abutting structure and a fifth abutting structure, the third abutting structure can abut the fourth abutting structure to prevent the mounting seat from continuing to rotate forward relative to the shell, and the third abutting structure can abut the fifth abutting structure to prevent the mounting seat from continuing to rotate reversely relative to the shell.

[0025] According to some embodiments of the present application, the mounting seat is provided with an abutting protrusion, and the abutting protrusion forms the third abutting structure; the shell is provided with an arc-shaped groove extending in the circumferential direction of the preset axis, groove walls at opposite ends of the arc-shaped groove in the extending direction of the arc-shaped groove form the fourth abutting structure and the fifth abutting structure respectively, and the abutting protrusion is slidably arranged in the arc-shaped groove.

[0026] According to some embodiments of the present application, the bearing is a cross-roller bearing.

[0027] According to some embodiments of the present application, the robot further comprises a mechanical arm, and the mechanical arm is mounted on the mounting seat.

[0028] According to some embodiments of the present application, the robot, the mechanical arm comprises a driving structure and a mechanical arm body, the driving structure comprises a motor and an ear plate, the motor and the ear plate are arranged on the mounting seat, a connecting arm is rotatably arranged on the ear plate, the motor is connected with the connecting arm and is used to drive the connecting arm to rotate relative to the ear plate.

[0029] According to some embodiments of the present application, the robot, the ear plate comprises a connecting part, the mounting seat is provided with a plug-in groove, the connecting part is arranged in the plug-in groove and abuts against the groove wall of the plug-in groove; the connecting part and the groove wall of the plug-in groove are fixedly connected through the second threaded connecting piece.

[0030] According to some embodiments of the present application, the robot comprises a third joint, which comprises a joint assembly and a joint driver; the joint assembly comprises a first joint connecting piece and a second joint connecting piece, opposite ends of the first joint connecting piece form a first hinged end and a first connecting end respectively, opposite ends of the second joint connecting piece form a second hinged end and a second connecting end respectively, the first hinged end and the second hinged end are hinged, the first connecting end is bent towards the second joint connecting piece, and is used to connect with the connecting arm, the second connecting end is bent towards the first joint connecting piece, and is used to connect with the mechanical arm; the joint driver is arranged on the first joint connecting piece, an output end of the joint driver is connected with the second joint connecting piece, and the joint driver is used to drive the second joint connecting piece to rotate along the rotation axis relative to the first joint connecting piece.

[0031] The robot described in the present application has at least the following beneficial effects: the first connecting end of the first joint connecting piece is connected with the connecting arm, the second connecting end of the second joint connecting piece is connected with the mechanical arm, when the joint driver drives the connecting arm and the mechanical arm to fold, since the first connecting end is bent towards the second joint connecting piece, and the second connecting end is bent towards the first joint connecting piece, the connecting arm and the mechanical arm can be folded to a parallel state, thereby reducing the storage space of the entire robot after folding.

[0032] According to some embodiments of the present application, the robot comprises two joint assemblies arranged side by side, the first joint connecting piece comprises a hinged section, a connecting section and a transition section, opposite ends of the transition section are connected with the hinged section and the connecting section respectively, one end of the hinged section away from the transition section forms a first hinged end, one end of the connecting section away from the transition section forms a first connecting end, and both first connecting ends are used to connect with the connecting arm; in the same joint assembly, the connecting section is located on the side of the hinged section close to the other joint assembly.

[0033] According to some embodiments of the present application, the joint driver is arranged between the two first hinged ends, and opposite ends of the joint driver are fixedly connected with the two first hinged ends respectively, an output end of the joint driver is connected with the second joint connecting piece of one of the joint assemblies.

[0034] According to some embodiments of the present application, the output end of the joint driver and the second joint connecting piece are fixedly connected through a threaded connecting piece; one of the output end of the joint driver and the second joint connecting piece is provided with a first matching structure, and the other is provided with a second matching structure, the first matching structure and the second matching structure abut each other to hinder the second joint connecting piece from rotating along the rotation axis relative to the output end of the joint driver.

[0035] The robot according to some embodiments of the present application, the second joint connecting piece is provided with a mounting protrusion on the rotation axis, a second protrusion is formed on the peripheral surface of the mounting protrusion, and the second protrusion forms a first matching structure; the output end of the joint driver is provided with a mounting groove matched with the mounting protrusion, a matching groove is formed on the groove side wall of the mounting groove, the mounting protrusion is arranged in the mounting groove, and the second protrusion is arranged in the matching groove, and the groove wall of the matching groove forms a second matching structure.

[0036] The robot according to some embodiments of the present application, the first hinge end is provided with a third matching structure, the second hinge end is provided with a fourth matching structure and a fifth matching structure, the fourth matching structure can abut against the third matching structure to hinder the second joint connecting piece from continuing to rotate forward relative to the first joint connecting piece, and the fifth matching structure can abut against the third matching structure to hinder the second joint connecting piece from continuing to rotate reversely relative to the first joint connecting piece.

[0037] The robot according to some embodiments of the present application, the first hinge end is provided with a first abutment protrusion, the first abutment protrusion forms a third matching structure, the second hinge end is provided with a second abutment protrusion and a third abutment protrusion, the second abutment protrusion and the third abutment protrusion are arranged on the movement path of the first abutment protrusion, and along the movement direction of the first abutment protrusion, the first abutment protrusion is located between the second abutment protrusion and the third abutment protrusion, the second abutment protrusion forms a fourth matching structure, and the third abutment protrusion forms a fifth matching structure.

[0038] The robot according to some embodiments of the present application, the robot further comprises a connecting arm and a mechanical arm, the connecting arm is connected with the first connecting end, and the mechanical arm is connected with the second connecting end.

[0039] The robot according to some embodiments of the present application, the inside of the connecting arm and the inside of the mechanical arm are both provided with a wire channel for wire arrangement.

[0040] The robot according to some embodiments of the present application further comprises a first shell and a second shell, the first shell wraps the connecting arm and the first joint connecting piece, and the second shell wraps the mechanical arm and the second joint connecting piece.

[0041] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0042] FIG. 1 is a perspective view of a robot according to an embodiment of the present application;

[0043] FIG. 2 is a sectional view of the robot in FIG. 1;

[0044] FIG. 3 is a partial structure schematic view of a first embodiment of the robot in FIG. 1;

[0045] Figure 4 is a cross-sectional view of the robot in Figure 3;

[0046] Figure 5 is a partial structural schematic diagram of the second embodiment of the robot in Figure 1;

[0047] Figure 6 is a partial structural schematic diagram of the third embodiment of the robot in Figure 1;

[0048] Figure 7 is a partial structural schematic diagram of the fourth embodiment of the robot in Figure 1;

[0049] Figure 8 is a partial structural schematic diagram of the fifth embodiment of the robot in Figure 1;

[0050] Figure 9 is a schematic diagram of the structure of a robot according to an embodiment of this application;

[0051] Figure 10 is a schematic diagram of the base of the robot shown in Figure 9;

[0052] Figure 11 is a schematic diagram of the mounting base of the machine base shown in Figure 10;

[0053] Figure 12 is a partial enlarged view of the structure at point A of the mounting base shown in Figure 11;

[0054] Figure 13 is a schematic diagram of part of the base structure of the robot shown in Figure 9;

[0055] Figure 14 is a partial enlarged view of the structure at point B of the base shown in Figure 13;

[0056] Figure 15 is a schematic diagram of the drive structure and base according to an embodiment of this application;

[0057] Figure 16 is a schematic diagram of the structure of the third joint of a robot according to an embodiment of this application;

[0058] Figure 17 is an exploded view of the third joint shown in Figure 16;

[0059] Figure 18 is a partial enlarged view of the structure at point C of the third joint shown in Figure 17;

[0060] Figure 19 is a schematic diagram of the structure of the second joint connector of the third joint shown in Figure 16;

[0061] Figure 20 is a schematic diagram of a structure in which a connecting arm and a robotic arm are mounted on the third joint according to an embodiment of this application;

[0062] Figure 21 is a schematic diagram of the structure of a robot according to an embodiment of this application.

[0063] The reference signs in the description are as follows: 100, first joint; 110, first through hole; 120, first protruding part; 130, connecting plate; 1, base; 11, shell; 110, accommodating cavity; 111, bearing; 112, arc-shaped slot; 1121, fourth abutting structure; 1122, fifth abutting structure; 12, connecting seat; 121, connecting slot; 1211, abutting slot; 13, mounting seat; 131, connecting protrusion; 1311, first protruding section; 132, abutting protrusion; 1321, first connecting section; 1322, insertion section; 133, insertion slot; 14, driver; 15, mechanical arm; 151, driving structure; 1511, motor; 1512, lug plate; 1512a, connecting part; 152, mechanical arm body; 200, second joint; 210, second through hole; 220, second protruding part; 300, first conveying structure; 310, first conveying part; 311, first joint; 320, second conveying part; 321, second joint; 330, third conveying part; 331, third joint; 400, third joint; 410, joint assembly; 41, first joint connecting piece; 411, hinged section; 411a, first hinged end; 411b, first abutting protrusion; 412, second connecting section; 412a, first connecting end; 413, transition section; 42, second joint connecting piece; 421, second hinged end; 421a, second abutting protrusion; 421b, third abutting protrusion; 422, second connecting end; 423, mounting protrusion; 423a, second protruding section; 424, wire slot; 420, joint driver; 42a, output end; 4201, mounting slot; 4201a, matching slot; 430, first shell; 4301, first splicing part; 4302, second splicing part; 440, second shell; 4401, third splicing part; 4402, fourth splicing part; 500, second conveying structure; 600, connecting arm; 610, channel; 700, electrical structure; 810, J1 joint; 820, J2 joint; 830, J3 joint; 840, J4 joint; 850, J5 joint. DETAILED DESCRIPTION

[0064] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are for the purpose of explaining the present application, and cannot be understood as limiting the present application.

[0065] In the description of the present application, it needs to be understood that the orientation description, such as the orientation or position relationship indicated by the upper, lower, front, rear, left, right and the like, is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0066] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than and the like are understood as not including the number, above, below, within and the like are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0067] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0068] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0069] Referring to FIGS. 1 and 2, a robot according to an embodiment of the present application includes a first joint 100, a second joint 200 and a first conveying structure 300. The first joint 100 is provided with a first through hole 110; the second joint 200 is provided with a second through hole 210; one of the first joint 100 and the second joint 200 drives the other to rotate; the first conveying structure 300 is used for conveying power, gas or liquid, and the first conveying structure 300 passes through the first through hole 110 and the second through hole 210; wherein the second joint 200 can rotate to an original position, a first limit position and a second limit position relative to the first joint 100, and the angle of the second joint 200 rotating from the original position to the first limit position and the angle of the second joint 200 rotating to the second limit position are the same; when the second joint 200 rotates to the first limit position and the second limit position, the displacement amount of the part of the first conveying structure 300 located in the second through hole 210 relative to the part of the first conveying structure 300 located in the first through hole 110 is the same.

[0070] It can be understood that, with reference to FIG. 2, the first conveying structure 300 passes through the first through hole 110 and the second through hole 210 to be able to penetrate into the first joint 100 and the second joint 200, and the first conveying structure 300 is partially located outside. One of the first joint 100 and the second joint 200 can drive the other to rotate, for example, the first joint 100 drives the second joint 200 to rotate, or the second joint 200 drives the first joint 100 to rotate, as long as the first joint 100 and the second joint 200 can rotate relative to each other. The second joint 200 can rotate relative to the first joint 100 to an original position, a first limit position and a second limit position, when the second joint 200 rotates relative to the first joint 100 to the original position, the second joint 200 can rotate relative to the first joint 100 clockwise or counterclockwise. It should be noted that the second joint 200 has a certain rotation range relative to the first joint 100, when the second joint 200 rotates relative to the first joint 100 to two limit positions in the rotation range, the second joint 200 rotates relative to the first joint 100 to the first limit position or the second limit position. For example, when the second joint 200 rotates relative to the first joint 100 to the original position, the rotation angle of the second joint 200 relative to the first joint 100 is 0 degree, at this time, the maximum angle of the second joint 200 relative to the first joint 100 in the clockwise direction is 100 degrees, and the maximum angle of the second joint 200 relative to the first joint 100 in the counterclockwise direction is also 100 degrees, thus the rotation range of the second joint 200 relative to the first joint 100 is -100 degrees to +100 degrees, when the second joint 200 rotates 100 degrees clockwise relative to the first joint 100, the second joint 200 rotates to the first limit position, when the second joint 200 rotates 100 degrees counterclockwise relative to the first joint 100, the second joint 200 rotates to the second limit position. It should be understood that the above-mentioned rotation angle and rotation range of the second joint 200 relative to the first joint 100 are exemplary, in some embodiments, the rotation angle and the rotation range can also be other values.

[0071] During the rotation of the second joint 200 relative to the first joint 100, the position of the first through hole 110 and the position of the second through hole 210 will relatively offset, and the first conveying structure 300 will be inclined. When the second joint 200 rotates relative to the first joint 100 from the original position to the first limit position and the second limit position, the displacement of the part of the first conveying structure 300 located in the first through hole 110 relative to the part of the first conveying structure 300 located in the second through hole 210 is the same, thus, when the second joint 200 rotates by the same angle in two opposite directions relative to the first joint 100, the inclination of the first conveying structure 300 is the same, thereby being able to make the wear of the first conveying structure 300 uniform, to improve the service life of the first conveying structure 300.

[0072] For example, when the second joint 200 rotates 30 degrees clockwise relative to the first joint 100, and when the second joint 200 rotates 30 degrees counterclockwise relative to the first joint 100, the position of the second through hole 210 deviates from the position of the first through hole 110 by the same distance, so that the first conveying structure 300 is inclined to the same extent during clockwise rotation and during counterclockwise rotation of the second joint 200 relative to the first joint 100.

[0073] Regarding the specific form of the first conveying structure 300:

[0074] In some embodiments, referring to FIG. 2, the first conveying structure 300 is electrically connected to the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200, respectively, and the first conveying structure 300 includes a wire harness that electrically connects the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200 to convey power to the electrical structure 700, which is, for example, an electric motor. Specifically, the first conveying structure 300 can further include a circuit board disposed in the first joint 100 and / or the second joint 200 to cooperate with the wire harness to convey and control the power. Specifically, the electric motor in the first joint 100 can be connected to an external power source, so that the power from the external power source can be conveyed to the electric motor in the second joint 200 by electrically connecting the electric motor in the first joint 100 and the electric motor in the second joint 200 through the wire harness. Specifically, to facilitate the connection of the first conveying structure 300 to the electrical structure 700, the first conveying structure 300 is detachably connected to the electrical structure 700 in the first joint 100 and the electrical structure 700 in the second joint 200, respectively.

[0075] In some embodiments, the operating end of the robot can be provided with a spray gun, and the first conveying structure 300 includes a hose that is used to convey liquid or gas. The hose only passes through the first joint 100 and the second joint 200, but the hose is not in conductive communication with the structures in the first joint 100 and the second joint 200. The hose is inserted into the first joint 100 and the second joint 200 to restrict the path of the hose, and the end of the hose can be in communication with the spray gun at the operating end to transmit the gas or liquid to the spray gun.

[0076] In some embodiments, the first joint 100 or the second joint 200 is a pneumatic joint or a hydraulic joint, and the hose can transmit gas or liquid to a driving end in the first joint 100 or the second joint 200 to actuate the driving end.

[0077] To facilitate the installation of the first conveying structure 300, referring to FIGS. 3, 4 and 5, the first conveying structure 300 comprises a first conveying part 310 and a second conveying part 320, the first conveying part 310 is at least partially located in the first joint 100, and the first conveying part 310 is provided with a first connector 311, the second conveying part 320 is at least partially located in the second joint 200, and the second conveying part 320 is provided with a second connector 321, the first connector 311 and the second connector 321 are detachably connected to make the first conveying part 310 and the second conveying part 320 conductive.

[0078] It can be understood that, in the process of connecting the first joint 100 and the second joint 200, the first conveying part 310 can be connected with the first joint 100 first, and the second conveying part 320 can be connected with the second joint 200, the first connector 311 and the second connector 321 are connected, the first conveying part 310 and the second conveying part 320 can be conductive, so that the power, gas or liquid can be normally conveyed, thereby realizing the rapid installation of the first conveying part 310 and the second conveying part 320. It should be understood that, when the first joint 100 or the second joint 200 needs to be repaired, the first connector 311 and the second connector 321 can also be separated to disconnect the first conveying part 310 and the second conveying part 320, so that the first conveying part 310 and the second conveying part 320 can be quickly separated to facilitate the repair.

[0079] Specifically, the connection position of the first conveying part 310 and the second conveying part 320 can be located in the first joint 100, in the second joint 200 or in the outside, which is not limited here.

[0080] To facilitate the docking of the first connector 311 on the first conveying part 310, referring to FIG. 4, the first conveying part 310 is located in the first joint 100, and the first connector 311 is fixed in the first through hole 110.

[0081] It can be understood that, referring to FIG. 4, the first conveying part 310 is completely located in the first joint 100, the first connector 311 provided on the first conveying part 310 is fixed in the first through hole 110, so as to facilitate the docking of the second connector 321 and the first connector 311, and when the second joint 200 rotates relative to the first joint 100, the first conveying part 310 is not affected by the process of the second joint 200 rotating relative to the first joint 100, and can keep the stability of the position of the first conveying part 310, and can ensure the stability of the connection between the first conveying part 310 and the electrical structure 700 in the first joint 100. It should be understood that, referring to FIG. 6, in some embodiments, the second conveying part 320 can also be arranged in the second joint 200, and the second connector 321 is fixed in the second through hole 210.

[0082] Regarding the connection form of the first conveying part 310 and the second conveying part 320:

[0083] In some embodiments, referring to FIG. 3, FIG. 4 and FIG. 6, the second conveying part 320 is directly connected with the first conveying part 310 through the first joint 311 and the second joint 321, the second conveying part 320 passes through the second through hole 210, the second conveying part 320 is partially located in the second joint 200 and partially located outside, the part of the second conveying part 320 located outside is provided with the second joint 321, since the first joint 311 is located in the first through hole 110, the second joint 321 can be inserted into the first through hole 110 to be connected with the first joint 311, so that the second conveying part 320 can be connected with the first conveying part 310, and when the second joint 200 rotates relative to the first joint 100, the part of the second conveying part 320 located outside is deflected. For example, the first conveying part 310 and the second conveying part 320 both include a wire harness, one end of the wire harness of the first conveying part 310 is provided with the first joint 311, and the other end is electrically connected with the motor in the first joint 100; one end of the wire harness of the second conveying part 320 is provided with the second joint 321, the second joint 321 is inserted into the first joint 311, and the other end of the wire harness of the second conveying part 320 is electrically connected with the motor in the second joint 200, so that the first conveying part 310 and the second conveying part 320 can transmit power from the motor in the first joint 100 to the motor in the second joint 200, since the first conveying part 310 is located in the first joint 100, the first conveying part 310 is stably connected with the motor in the first joint 100 during the rotation of the second joint 200 relative to the first joint 100. For another example, the first conveying part 310 includes a wire harness and a circuit board, the circuit board is provided with the first joint 311, the wire harness of the second conveying part 320 is connected with the first joint 311 through the second joint 321, and the circuit board is electrically connected with the motor in the first joint 100 through the wire harness of the first conveying part 310, so that the circuit board can transmit power to the motor in the first joint 100 and the motor in the second joint 200.

[0084] Specifically, in order to reduce the risk of the second joint 321 falling off from the first joint 311, referring to FIG. 7, the outer side of the first joint 100 is provided with the first protrusion 120, the side of the first protrusion 120 close to the second joint 200 forms the opening of the first through hole 110.

[0085] It can be understood that, in order to ensure that the second conveying part 320 will not be pulled off when the second joint 200 rotates relative to the first joint 100, the second conveying part 320 has a certain length, so that the part of the second conveying part 320 located outside is bent, and the end of the second conveying part 320 provided with the second joint 321 is substantially perpendicular to the outer side of the first joint 100. The first protrusion 120 protrudes from the outer surface of the first joint 100, the opening of the first through hole 110 faces the second joint 200, and the first joint 311 fixed in the first through hole 110 also faces the second joint 200, so that when the second joint 321 and the first joint 311 are connected, the end of the second conveying part 320 provided with the second joint 321 will form a bend, so that the second conveying part 320 is not easy to be separated from the first joint 311 when it is pulled by external force. It should be understood that, with reference to FIG. 6, in the embodiment in which the second conveying part 320 is located in the second joint 200 and the second joint 321 is fixed in the second through hole 210, the outer side of the second joint 200 is provided with the second protrusion 220, and the second protrusion 220 forms the opening of the second through hole 210 towards the side of the first joint 100.

[0086] In some embodiments, with reference to FIGS. 5 and 7, the first conveying structure 300 further comprises a third conveying part 330, and the first conveying part 310 and the second conveying part 320 are connected through the third conveying part 330. The second conveying part 320 is located in the second joint 200, and the second joint 321 is fixed in the second through hole 210; the third conveying part 330 is provided with a third joint 331 at each end, and the first joint 311 and the second joint 321 are respectively detachably connected with one third joint 331, so that the first conveying part 310, the third conveying part 330 and the second conveying part 320 are in communication.

[0087] It can be understood that the first conveying part 310 and the second conveying part 320 are respectively located in the first joint 100 and the second joint 200, and the third conveying part 330 is located in the outside world. During the rotation of the second joint 200 relative to the first joint 100, the third conveying part 330 is relatively deflected, while the first conveying part 310 and the second conveying part 320 are not affected, thereby ensuring the stability of the connection between the first conveying part 310 and the second conveying part 320 and the motor. Moreover, the third conveying part 330 is connected to the first joint 311 and the second joint 321 through two third joints 331, so as to facilitate the quick disassembly and assembly between the first joint 100 and the second joint 200, and the conduction between the first conveying part 310 and the second conveying part 320 through the third conveying part 330, so that the power, gas or liquid can be conveyed through the first conveying part 310, the third conveying part 330 and the second conveying part 320. For example, the first conveying part 310, the second conveying part 320 and the third conveying part 330 all include a wire harness, one end of the wire harness of the first conveying part 310 is provided with the first joint 311, and the other end is electrically connected to the motor in the first joint 100; one end of the wire harness of the second conveying part 320 is provided with the second joint 321, and the other end is electrically connected to the motor in the second joint 200; the two third joints 331 of the wire harness of the third conveying part 330 are respectively inserted into the first joint 311 and the second joint 321, so as to transmit the power, and when the second joint 200 rotates relative to the first joint 100, the wire harness of the first conveying part 310 and the wire harness of the second conveying part 320 are not affected, so as to stabilize the connection between the wire harness of the first conveying part 310 and the motor in the first joint 100, and the connection between the wire harness of the second conveying part 320 and the motor in the second joint 200. For another example, the first conveying part 310 and / or the second conveying part 320 can include a circuit board and a wire harness, the circuit board is provided with the first joint 311 or the second joint 321, and the circuit board is connected to the motor through the wire harness.

[0088] Specifically, in order to reduce the risk of the third joint 331 falling off from the first joint 311 and the second joint 321, referring to FIG. 7, the outer side of the first joint 100 is provided with a first protrusion 120, and the outer side of the second joint 200 is provided with a second protrusion 220, and the opposite sides of the first protrusion 120 and the second protrusion 220 are respectively formed with the opening of the first through hole 110 and the opening of the second through hole 210.

[0089] It can be understood that the first convex part 120 protrudes from the outer surface of the first joint 100, the opening of the first through hole 110 faces the second convex part 220, the first joint 311 fixed in the first through hole 110 will also face the second convex part 220, the opening of the second through hole 210 faces the first convex part 120, and the second joint 321 fixed in the second through hole 210 will also face the first convex part 120, so that when the third joint 331 is connected with the first joint 311 and the second joint 321, one end of the third conveying part 330 provided with the third joint 331 will form a bend, so that the third conveying part 330 is not easy to be separated from the first joint 311 and the second joint 321 when subjected to external force pulling, and since the opening of the first through hole 110 is opposite to the opening of the second through hole 210, wiring can be facilitated.

[0090] Referring to FIGS. 1 and 8, the robot of the application further comprises a third joint 400 and a second conveying structure 500, the fixed end of the third joint 400 is fixedly connected with the fixed end of the first joint 100, and the second conveying structure 500 is connected with the fixed end of the third joint 400 and the fixed end of the first joint 100 respectively.

[0091] It can be understood that the fixed end of the third joint 400 and the fixed end of the first joint 100 are fixedly connected, and the second conveying structure 500 is connected with the fixed end of the third joint 400 and the fixed end of the first joint 100, so that when the driving end of the third joint 400 and the driving end of the first joint 100 drive the adjacent joints to rotate, the fixed end of the third joint 400 and the fixed end of the first joint 100 are relatively stationary, so that the movement of the third joint 400 and the first joint 100 will not affect the second conveying structure 500, ensuring the connection stability of the second conveying structure 500 with the first joint 100 and the third joint 400. For example, the second conveying structure 500 includes a wire harness, the fixed end of the third joint 400 and the fixed end of the first joint 100 each include a wiring board, and the two ends of the wire harness are electrically connected with the wiring board of the third joint 400 and the wiring board of the first joint 100 to convey power.

[0092] Specifically, referring to FIG. 8, the robot of the application further comprises a connecting arm 600, the connecting arm 600 connects the fixed end of the third joint 400 and the fixed end of the first joint 100, and a passage 610 is formed in the connecting arm 600, and the second conveying structure 500 is arranged in the passage 610.

[0093] It can be understood that the third joint 400 and the first joint 100 are connected by the connecting arm 600 to improve the operation range of the robot, the connecting arm 600 is connected with the fixed end of the third joint 400 and the fixed end of the first joint 100, a passage 610 is formed in the connecting arm 600 to facilitate the accommodation of the second conveying structure 500, and the weight of the connecting arm 600 can be reduced to realize the lightweight design of the robot.

[0094] In some embodiments, referring to FIG. 2 and FIG. 3, the first joint 100 is a base, which is used to connect with the ground to support other parts of the robot, and the side of the base is provided with a connecting plate 130, which is provided with a first through hole 110.

[0095] It can be understood that the connecting plate 130 arranged on the side of the base can reduce the height of the base, so as to reduce the overall height of the robot, improve the space utilization, and reduce the invalid space that the robot cannot operate. Specifically, the connecting plate 130 can be used to mount a circuit board in the base.

[0096] In summary, in a specific embodiment, referring to FIG. 1, the robot of the present application comprises a plurality of joints, for example, the robot comprises a J1 joint 810, a J2 joint 820, a J3 joint 830, a J4 joint 840 and a J5 joint 850 connected in sequence,

[0097] Among them, the J1 joint 810 is a base. It should be understood that the robot can comprise a plurality of groups of first joints 100 and second joints 200, for example, referring to FIG. 2 and FIG. 3, the J1 joint 810 and the J2 joint 820 connected as a group of first joints 100 and second joints 200, referring to FIG. 2 and FIG. 6, the J4 joint 840 and the J5 joint 850 connected as a group of first joints 100 and second joints 200, specifically, when the J4 joint 840 and the J5 joint 850 are a group of first joints 100 and second joints 200, referring to FIG. 1 and FIG. 8, the J3 joint 830 can be the third joint 400 described above, that is, the fixed end of the J3 joint 830 and the fixed end of the J4 joint 840 are connected, the driving end of the J3 joint 830 is connected with the J2 joint 820, and the driving end of the J4 joint 840 is connected with the J5 joint 850.

[0098] The base 1 of the robot of some embodiments of the present application will be described in detail below with reference to FIG. 10 to FIG. 14.

[0099] Referring to FIG. 10, the base 1 of the robot according to some embodiments of the present application comprises a housing 11, a connecting seat 12, a mounting seat 13 and a driver 14.

[0100] The housing 11 is provided with a receiving cavity 10; the connecting seat 12 is arranged in the receiving cavity 10 and rotatably connected with the cavity wall of the receiving cavity 10 through a bearing 111; the mounting seat 13 is connected with the connecting seat 12, and the mounting seat 13 is used to mount a mechanical arm 15; the driver 14 is arranged in the receiving cavity 10 and connected with the connecting seat 12, and the driver 14 is used to drive the connecting seat 12 and the mounting seat 13 to rotate synchronously around a predetermined axis.

[0101] For example, as shown in FIG. 10, the base 1 comprises a shell 11, a connecting seat 12, a mounting seat 13 and a driver 14, the shell 11 is internally formed with an upwardly open accommodating cavity 10, the driver 14 and the connecting seat 12 are both arranged in the accommodating cavity 10, the output end of the driver 14 is connected with the connecting seat 12, the connecting seat 12 is rotatably connected with the cavity wall of the accommodating cavity 10 through a bearing 111, the upper end of the mounting seat 13 extends out of the accommodating cavity 10 and is used for being connected with a mechanical arm 15, and the lower end of the mounting seat 13 extends into the accommodating cavity 10 and is connected with the upper end of the connecting seat 12.

[0102] It should be noted that, when the base 1 of the present application is applied to a robot, the mechanical arm 15 is mounted on the mounting seat 13, and under the driving of the driver 14, the connecting seat 12 can drive the mounting seat 13 to rotate around the preset vertical axis, so as to realize the adjustment of the posture of the mechanical arm 15.

[0103] It can be understood that, in the process of working of the robot, the center of gravity of the mechanical arm 15 exists on one side of the preset axis, at this time, under the gravity of the mechanical arm 15, the mechanical arm 15 will exert a horizontal load on the output end of the driver 14, thereby damaging the driver 14. In the base 1 of the present application, the output end of the driver 14 is connected with the connecting seat 12, the connecting seat 12 is rotatably connected with the cavity wall of the accommodating cavity 10 through the bearing 111, when the center of gravity of the mechanical arm 15 is located on one side of the preset bearing 111, the load exerted by the mechanical arm 15 on the mounting seat 13 can be sequentially transmitted to the shell 11 through the connecting seat 12 and the bearing 111, thereby reducing the horizontal load borne by the output end of the driver 14, so as to realize the protection of the driver 14, and further prolong the service life of the base 1 of the present application.

[0104] In order to realize the connection between the connecting seat 12 and the mounting seat 13, in some embodiments of the present application, the connecting seat 12 and the mounting seat 13 are fixedly connected through a first threaded connecting piece (not shown in the figure).

[0105] It can be understood that, by realizing the connection between the connecting seat 12 and the mounting seat 13 through the first threaded connecting piece, the connection form between the connecting seat 12 and the mounting seat 13 can be made more simple and more firm.

[0106] Specifically, the first threaded connecting piece can be a threaded connecting piece such as a screw or a bolt.

[0107] It should be noted that after the driver 14 drives the connecting seat 12 to rotate around the preset axis, the connecting seat 12 needs to drive the mounting seat 13 to rotate around the preset axis; if the connecting seat 12 and the mounting seat 13 are only connected through the first threaded connecting piece, the first threaded connecting piece needs to bear a large horizontal torque in the process that the connecting seat 12 drives the mounting seat 13 to rotate around the preset axis, and in this case, the first threaded connecting piece is prone to damage.

[0108] Based on the above, in some embodiments of the present application, one of the connecting seat 12 and the mounting seat 13 is provided with a first abutting structure, and the other is provided with a second abutting structure, the first abutting structure abuts against the second abutting structure to hinder the relative rotation of the connecting seat 12 and the mounting seat 13 around the preset axis.

[0109] It can be understood that by arranging the first abutting structure and the second abutting structure, when the driver 14 drives the connecting seat 12 to rotate around the preset axis, the first abutting structure can push the second abutting structure, so that the mounting seat 13 can rotate around the preset axis with the connecting seat 12. In this case, the first threaded connecting piece is only used to limit the relative position between the connecting seat 12 and the mounting seat 13 in the vertical direction, and the horizontal torque generated when the mounting seat 13 rotates with the connecting seat 12 is borne by the first abutting structure and the second abutting structure, thereby reducing the horizontal torque borne by the first threaded connecting piece, and further improving the service life of the first threaded connecting piece.

[0110] In some embodiments of the present application, referring to FIGS. 11-14, the lower end of the mounting seat 13 is provided with a connecting protrusion 131 located on the preset axis, and a first protruding portion 1311 is formed on the peripheral surface of the connecting protrusion 131, the first protruding portion 1311 forming the first abutting structure; the upper end of the connecting seat 12 is provided with a connecting groove 121 matched with the connecting protrusion 131, and an abutting groove 1211 is formed on the groove side wall of the connecting groove 1211, the first protruding portion 1311 being arranged in the abutting groove 1211, and the groove wall of the abutting groove 1211 forming the second abutting structure.

[0111] In the working process of the base 1 of the present application, under the driving of the driver 14, the connecting seat 12 can rotate around the preset axis, and in this process, the first protruding portion 1311 abuts against the groove wall of the abutting groove 1211 and drives the mounting seat 13 to rotate around the preset axis with the connecting seat 12.

[0112] In further embodiments of the present application, the connecting protrusion 131 is prismatic, and the side edge angle of the connecting protrusion 131 forms the first protruding portion 1311; the connecting groove 121 is prismatic, and the side edge angle of the connecting groove 121 forms the abutting groove 1211.

[0113] Specifically, the connecting protrusion 131 is an octagonal prism, and correspondingly, the connecting groove 121 is also an octagonal prism.

[0114] Optionally, the shapes of the connecting protrusion 131 and the connecting groove 121 are only required to be polygonal prisms, and are not necessarily octagonal prisms. According to requirements, a staff member can also select a pentagonal prism, a hexagonal prism, a nonagonal prism, or the like.

[0115] Optionally, in another embodiment of the present application, the lower end of the mounting seat 13 is provided with the connecting protrusion 131, and the connecting protrusion 131 is arranged on one side of the preset axis. At this time, the upper end of the connecting seat 12 is provided with the connecting groove 121 matched with the connecting protrusion 131, and the connecting protrusion 131 is arranged in the connecting groove 121.

[0116] It should be noted that, in the working process of the machine base 1 of the present application, the mechanical arm 15 is mounted on the mounting seat 13, and under the driving of the driver 14, the connecting seat 12 can drive the mounting seat 13 to rotate around the preset axis, so that the mounting seat 13 can drive the mechanical arm 15 to rotate around the preset axis.

[0117] In order to limit the rotation angle of the mechanical arm 15 around the preset axis within a certain range, in some embodiments of the present application, as shown in FIG. 13, the mounting seat 13 is provided with a third abutting structure, the shell 11 is provided with a fourth abutting structure 1121 and a fifth abutting structure 1122, the third abutting structure can abut against the fourth abutting structure 1121 to hinder the mounting seat 13 from continuing to rotate forward relative to the shell 11, and the third abutting structure can abut against the fifth abutting structure 1122 to hinder the mounting seat 13 from continuing to rotate reversely relative to the shell 11.

[0118] It can be understood that, under the driving of the driver 14, when the mounting seat 13 rotates forward by a certain angle, the third abutting structure can abut against the fourth abutting structure 1121 to hinder the mounting seat 13 from continuing to rotate forward, at this time, the mounting seat 13 is in a first state; when the mounting seat 13 reversely rotates by a certain angle, the third abutting structure can abut against the fifth abutting structure 1122 to hinder the mounting seat 13 from continuing to reversely rotate, at this time, the mounting seat 13 is in a second state; by arranging the third abutting structure on the mounting seat 13 and arranging the fourth abutting structure 1121 and the fifth abutting structure 1122 on the connecting seat 12, the mounting seat 13 can be switched between the first state and the second state. When the mechanical arm 15 is mounted on the mounting seat 13, under the driving of the driver 14, the mechanical arm 15 can be reversely rotated within a certain range.

[0119] In further embodiments of the present application, referring to FIGS. 11 and 13, the mounting base 13 is provided with an abutting protrusion 132, which forms a third abutting structure; the housing 11 is provided with an arc-shaped slot 112 extending in the circumferential direction along the preset axis, the slot walls at the opposite ends of the arc-shaped slot 112 in the extending direction thereof form a fourth abutting structure 1121 and a fifth abutting structure 1122, respectively, and the abutting protrusion 132 is slidably arranged in the arc-shaped slot 112.

[0120] It can be understood that, under the driving of the driver 14, the mounting base 13 can rotate around the preset axis, and in the process of rotation of the mounting base 13 around the preset axis, the abutting protrusion 132 can slide along the arc-shaped slot 112, when the mounting base 13 is forward rotated to abut the abutting protrusion 132 against the slot wall of the arc-shaped slot 112, the mounting base 13 is in the first state, and when the mounting base 13 is reversely rotated to abut the abutting protrusion 132 against the slot wall of the arc-shaped slot 112, the mounting base 13 is in the second state.

[0121] It can be understood that the abutting protrusion 132 and the arc-shaped slot 112 have simple structures and are easy to implement.

[0122] It should be noted that, when the abutting protrusion 132 abuts against the slot wall of the sliding slot, the abutting protrusion 132 needs to bear a horizontal load, and over time, cracks are likely to occur at the connection between the abutting protrusion 132 and the mounting base 13.

[0123] Based on the above situation, in some embodiments of the present application, referring to FIG. 11, the abutting protrusion 132 comprises a first connecting section 1321 and a plug-in section 1322, the upper and lower ends of the first connecting section 1321 are connected with the lower end of the mounting base 13 and the upper end of the plug-in section 1322, respectively, the cross-sectional dimension of the first connecting section 1321 gradually decreases from top to bottom, and the plug-in section 1322 is slidably arranged in the arc-shaped slot 112.

[0124] It can be understood that, since the abutting protrusion 132 comprises the first connecting section 1321, the first connecting section 1321 is connected with the lower end of the mounting base 13, and the cross-sectional dimension of the first connecting section 1321 gradually decreases from top to bottom, thereby the strength of the connection between the abutting protrusion 132 and the mounting base 13 can be enhanced, and the difficulty of cracks occurring at the connection between the abutting protrusion 132 and the mounting base 13 can be increased.

[0125] In further embodiments of the present application, the first connecting section 1321 is welded with the mounting base 13.

[0126] In some embodiments of the present application, the bearing 111 is a cross-roller bearing.

[0127] It can be understood that, in use of the base 1 of the present application, the crossed roller bearing needs to bear a large radial load under the weight of the mechanical arm 15, and the crossed roller bearing has a good bearing capacity for axial load and radial load.

[0128] The robot of some embodiments of the present application will be described in detail below with reference to Figs. 9 and 15.

[0129] Referring to Fig. 9, the robot provided according to some embodiments of the present application comprises a base 1; the robot further comprises a mechanical arm 15 installed on the mounting seat 13.

[0130] In some embodiments of the present application, the mechanical arm 15 comprises a driving structure 151 and a mechanical arm body 152, the driving structure 151 comprises a motor 1511 and an ear plate 1512, the motor 1511 and the ear plate 1512 are both arranged on the mounting seat 13, the mechanical arm body 152 is rotatably arranged on the ear plate 1512, the motor 1511 is connected with the mechanical arm body 152 and is used to drive the mechanical arm body 152 to rotate relative to the ear plate 1512.

[0131] It can be understood that, by rotatably arranging the mechanical arm body 152 on the ear plate 1512, the gravity of the mechanical arm body 152 can be transmitted to the mounting seat 13 through the ear plate 1512, and the motor 1511 only applies torque to the mechanical arm body 152, thereby reducing the damage of the gravity of the mechanical arm body 152 to the motor 1511.

[0132] In further embodiments of the present application, the ear plate 1512 comprises a connecting portion 1512a, the mounting seat 13 is provided with a plug-in slot 133, the connecting portion 1512a is inserted into the plug-in slot 133 and abuts against the slot wall of the plug-in slot 133; the connecting portion 1512a and the slot wall of the plug-in slot 133 are fixedly connected through a second threaded connecting piece. For example, as shown in Fig. 15, the lower end of the ear plate 1512 forms the connecting portion 1512a, the mounting seat 13 is provided with the plug-in slot 133, the connecting portion 1512a is inserted into the plug-in slot 133 along the vertical direction, and the connecting portion 1512a and the slot wall of the plug-in slot 133 are fixedly connected through the second threaded connecting piece.

[0133] It can be understood that, during the rotation of the mechanical arm body 152 driven by the motor 1511, the mechanical arm body 152 will apply a load to the ear plate 1512 in the opposite direction, and since the connecting portion 1512a of the ear plate 1512 is inserted into the plug-in slot 133, the load borne by the ear plate 1512 can be transmitted to the mounting seat 13 through the slot wall of the plug-in slot 133, thereby reducing the shear force of the second threaded connecting piece and further improving the service life of the second threaded connecting piece.

[0134] Specifically, the second threaded connecting piece can be a screw, a bolt or the like threaded piece for realizing connection.

[0135] In some embodiments of the present application, two lug plates 1512 are arranged along the front-rear direction, two insertion slots 133 are arranged along the front-rear direction on the mounting seat 13, the connecting portions 1512a of the two lug plates 1512 are inserted into the two insertion slots 133 one by one, the mechanical arm body 152 is rotatably connected with the two lug plates 1512 respectively, and the motor 1511 is arranged between the two lug plates 1512.

[0136] It can be understood that, by arranging the two lug plates 1512, the load borne by a single lug plate 1512 can be reduced, so as to prolong the service life of the lug plate 1512; meanwhile, the two lug plates 1512 can cooperate to limit the motor 1511 in the front-rear direction.

[0137] The third joint 400 of the present application will be described in detail below with reference to FIGS. 16-19.

[0138] Referring to FIG. 16, the third joint 400 according to some embodiments of the present application includes a joint assembly 410 and a joint driver 420.

[0139] The joint assembly 410 includes a first joint connecting piece 41 and a second joint connecting piece 42. Opposite ends of the first joint connecting piece 41 form a first hinged end 411a and a first connecting end 412a respectively, and opposite ends of the second joint connecting piece 42 form a second hinged end 421 and a second connecting end 422 respectively. The first hinged end 411a and the second hinged end 421 are hinged, the first connecting end 412a is arranged to bend towards the second joint connecting piece 42, and is used to connect with the connecting arm 600, and the second connecting end 422 is arranged to bend towards the first joint connecting piece 41, and is used to connect with the mechanical arm 15. The joint driver 420 is arranged on the first joint connecting piece 41, an output end 42a of the joint driver 420 is connected with the second joint connecting piece 42, and the joint driver 420 is used to drive the second joint connecting piece 42 to rotate relative to the first joint connecting piece 41 along the rotation axis.

[0140] For example, as shown in FIG. 16, the right end of the first joint connecting piece 41 forms a first hinged end 411a, the left end of the first joint connecting piece 41 forms a first connecting end 412a, the right end of the second joint connecting piece 42 forms a second hinged end 421, the left end of the second joint connecting piece 42 forms a second connecting end 422, the first hinged end 411a is rotatably connected with the second hinged end 421 around an axis extending front to back, and the first hinged end 411a is located at the back side of the second hinged end 421, the first connecting end 412a is located at the upper side of the second connecting end 422, and the first connecting end 412a is bent downward relative to the first hinged end 411a, the second connecting end 422 is bent upward relative to the second hinged end 421, and the joint driver 420 is arranged on the first joint connecting piece 41, and the output end 42a of the joint driver 420 is connected with the second joint connecting piece 42.

[0141] In use of the third joint 400 of the present application, the first connecting end 412a is connected with the connecting arm 600, and the second connecting end 422 is connected with the mechanical arm 15, under the driving of the joint driver 420, the first hinged end 411a and the second hinged end 421 can rotate relative to each other, so as to make the first connecting end 412a and the second connecting end 422 approach or move away from each other, thereby realizing the approach or moving away of the connecting arm 600 and the mechanical arm 15 relative to each other.

[0142] It can be understood that, due to the first connecting end 412a being bent downward relative to the first hinged end 411a, and the second connecting end 422 being bent upward relative to the second hinged end 421, under the driving of the joint driver 420, when the connecting arm 600 and the mechanical arm 15 approach each other, the connecting arm 600 and the mechanical arm 15 can be relatively moved to a state that they keep parallel to each other, so as to reduce the storage space of the whole robot.

[0143] In some embodiments of the present application, the third joint 400 comprises two joint assemblies 410 arranged side by side, the first joint connecting piece 41 comprises a hinged segment 411, a second connecting segment 412, and a transition segment 413, the transition segment 413 is connected with the hinged segment 411 and the second connecting segment 412 at opposite ends thereof, the end of the hinged segment 411 away from the transition segment 413 forms the first hinged end 411a, the end of the second connecting segment 412 away from the hinged segment 411 forms the first connecting end 412a, and the two first connecting ends 412a are both used for connecting with the connecting arm 600; in the same joint assembly 410, the second connecting segment 412 is located at the side of the hinged segment 411 close to the other joint assembly 410.

[0144] For example, as shown in FIGS. 16 and 17, the third joint 400 includes two joint assemblies 410 distributed side by side along the front-rear direction, the front and rear ends of the joint driver 420 are connected with two first joint connecting pieces 41 respectively, and the output end 42a of the joint driver 420 is connected with the second joint connecting piece 42 located at the front side; the first joint connecting piece 41 includes a hinged segment 411, a transition segment 413 and a second connecting segment 412 connected in sequence, the right end of the hinged segment 411 forms a first hinged end 411a, and the left end of the second connecting segment 412 forms a first connecting end 412a; the transition segment 413 extends along the front-rear direction, for the first joint connecting piece 41 located at the front side, the left end of the hinged segment 411 is connected with the front end of the transition segment 413, and the right end of the second connecting segment 412 is connected with the rear end of the transition segment 413; for the first joint connecting piece 41 located at the rear side, the left end of the hinged segment 411 is connected with the rear end of the transition segment 413, and the right end of the second connecting segment 412 is connected with the front end of the transition segment 413.

[0145] When the third joint 400 of the embodiment is applied to a robot, the connecting arm 600 is partially arranged in the region between the two second connecting segments 412 and is connected with the two second connecting segments 412 respectively.

[0146] It can be understood that, since the distance between the two second connecting segments 412 is smaller than the distance between the two hinged segments 411, the cross-sectional dimension of the connecting arm 600 can be set smaller, so as to reduce the overall volume of the connecting arm 600 and reduce the manufacturing cost of the connecting arm 600.

[0147] It can be understood that, by arranging the two joint assemblies 410, the two first joint connecting pieces 41 of the two joint assemblies 410 can be connected with the connecting arm 600, so as to improve the connection strength between the connecting arm 600 and the third joint 400; meanwhile, the two second joint connecting pieces 42 of the two joint assemblies 410 can be connected with the mechanical arm 15, so as to improve the connection strength between the mechanical arm 15 and the third joint 400.

[0148] The specific structure of the second joint connecting piece 42 is referred to the first joint connecting piece 41.

[0149] In further embodiments of the application, as shown in FIG. 17, the joint driver 420 is arranged between the two first hinged ends 411a, and the opposite ends of the joint driver 420 are fixedly connected with the two first hinged ends 411a respectively, and the output end 42a of the joint driver 420 is connected with the second joint connecting piece 42 of one of the joint assemblies 410.

[0150] It can be understood that by arranging two joint assemblies 410, the front and rear ends of the joint drive 420 can be fixedly connected with the two first hinged ends 411a respectively, so as to improve the mounting strength of the joint drive 420.

[0151] In some embodiments of the present application, the output end 42a of the joint drive 420 and the second joint connecting piece 42 are fixedly connected through a threaded connection; one of the output end 42a and the second joint connecting piece 42 is provided with a first matching structure, and the other is provided with a second matching structure, and the first matching structure and the second matching structure abut to hinder the rotation of the second joint connecting piece 42 relative to the output end 42a along the rotation axis.

[0152] It should be noted that when the third joint 400 is applied to a robot, the first joint connecting piece 41 is connected with the connecting arm 600, and the second joint connecting piece 42 is connected with the mechanical arm 15, and under the drive of the joint drive 420, the first joint connecting piece 41 and the second joint connecting piece 42 are relatively rotated to realize the relative rotation between the connecting arm 600 and the mechanical arm 15; when the output end 42a of the joint drive 420 and the second joint connecting piece 42 are fixedly connected only through a threaded connection, since the joint drive 420 is fixedly mounted on the first joint connecting piece 41, and the output end 42a of the joint drive 420 is in transmission connection with the second joint connecting piece 42, so that when the joint drive 420 drives the first joint connecting piece 41 and the second joint connecting piece 42 to relatively rotate, the threaded connection will bear a large shear force, and thus is prone to damage.

[0153] In the third joint 400 of the present embodiment, one of the output end 42a and the second joint connecting piece 42 is provided with a first matching structure, and the other is provided with a second matching structure, and the first matching structure and the second matching structure abut, so that the output end 42a of the joint drive 420 can drive the second joint connecting piece 42 to rotate relative to the first joint connecting piece 41 through the first matching structure and the second matching structure, so as to reduce the shear force borne by the threaded connection, and thus prolong the service life of the threaded connection.

[0154] In further embodiments of the present application, referring to FIGS. 18 and 19, the second joint connecting piece 42 is provided with a mounting protrusion 423 located on the rotation axis, and a second protrusion 423a is formed on the peripheral surface of the mounting protrusion 423, and the second protrusion 423a forms a first matching structure; the output end 42a is provided with a mounting groove 4201 matched with the mounting protrusion 423, and a matching groove 4201a is formed on the groove side wall of the mounting groove 4201, the mounting protrusion 423 is arranged in the mounting groove 4201, and the second protrusion 423a is arranged in the matching groove 4201a, and the groove wall of the matching groove 4201a forms a second matching structure.

[0155] Further, when the output end 42a of the joint driver 420 rotates around the rotation axis, the groove wall of the matching groove 4201a can push the second protruding part 423a, so that the mounting protrusion 423 drives the second joint connecting part 42 to rotate around the rotation axis.

[0156] It should be noted that when the third joint 400 of the present application is applied to a robot, the first joint connecting part 41 is connected with the connecting arm 600, and the second joint connecting part 42 is connected with the mechanical arm 15. Under the driving of the joint driver 420, the connecting arm 600 and the mechanical arm 15 can relatively rotate around the rotation axis. However, in the actual use of the robot, the rotation angle of the connecting arm 600 relative to the mechanical arm 15 often needs to be limited.

[0157] Based on the above situation, in some embodiments of the present application, the first hinge end 411a is provided with a third matching structure, and the second hinge end 421 is provided with a fourth matching structure and a fifth matching structure. The fourth matching structure can abut against the third matching structure to hinder the second joint connecting part 42 from continuing to rotate forward relative to the first joint connecting part 41, and the fifth matching structure can abut against the third matching structure to hinder the second joint connecting part 42 from continuing to rotate reversely relative to the first joint connecting part 41.

[0158] It can be understood that by providing the third matching structure on the first hinge end 411a and the fourth matching structure and the fifth matching structure on the second hinge end 421, under the driving of the joint driver 420, when the second joint connecting part 42 rotates forward relative to the first joint connecting part 41 to abut the third matching structure and the fourth matching structure, the second joint connecting part 42 cannot continue to rotate forward relative to the first joint connecting part 41, and when the second joint connecting part 42 reversely rotates relative to the first joint connecting part 41 to abut the third matching structure and the fifth matching structure, the second joint connecting part 42 cannot continue to reversely rotate relative to the first joint connecting part 41; so that the second joint connecting part 42 can rotate relative to the first joint connecting part 41 within a certain angle range.

[0159] In further embodiments of the present application, referring to FIG. 16 and FIG. 17, the first hinged end 411a is provided with a first abutting protrusion 411b, the first abutting protrusion 411b forms a third matching structure, the second hinged end 421 is provided with a second abutting protrusion 421a and a third abutting protrusion 421b, the second abutting protrusion 421a and the third abutting protrusion 421b are both arranged on the moving path of the first abutting protrusion 411b, and along the moving direction of the first abutting protrusion 411b, the first abutting protrusion 411b is located between the second abutting protrusion 421a and the third abutting protrusion 421b, the second abutting protrusion 421a forms a fourth matching structure, and the third abutting protrusion 421b forms a fifth matching structure.

[0160] Further, when the second joint connector 42 rotates a certain angle relative to the first joint connector 41 in the forward direction, the first abutting protrusion 411b can abut against the second abutting protrusion 421a to hinder the second joint connector 42 from continuing to rotate relative to the first joint connector 41 in the forward direction; when the second joint connector 42 rotates a certain angle relative to the first joint connector 41 in the reverse direction, the first abutting protrusion 411b can abut against the third abutting protrusion 421b to hinder the second joint connector 42 from continuing to rotate relative to the first joint connector 41 in the reverse direction.

[0161] Referring to FIG. 20 and FIG. 21, according to some embodiments of the present application, the robot further comprises a connecting arm 600 connected with the first connecting end 412a and a mechanical arm 15 connected with the second connecting end 422.

[0162] In further embodiments of the present application, the connecting arm 600 and the mechanical arm 15 are both internally provided with a wire channel for wire arrangement.

[0163] It can be understood that, by arranging the wire channel in the interior of the connecting arm 600 and the mechanical arm 15, the wires in the robot can be arranged from the wire channel, so that the channel wall of the wire channel can protect the wires.

[0164] In further embodiments of the present application, referring to FIG. 17, the first joint connector 41 is provided with a wire groove 424 on the side close to the joint driver 420, and the wire groove 424 is in communication with the wire channel.

[0165] It can be understood that, by arranging the wire groove 424, the wires can be sequentially extended to the joint driver 420 through the wire channel and the wire groove 424, and electrically connected with the joint driver 420. The arrangement of the wire groove 424 can protect the wires and standardize the wire arrangement route.

[0166] In some embodiments of the present application, the robot further comprises a first shell 430 and a second shell 440, the first shell 430 wrapping the connecting arm 600 and the first joint connecting piece 41, and the second shell 440 wrapping the robot arm 15 and the second joint connecting piece 42.

[0167] For example, as shown in FIG. 21, the robot further comprises a first shell 430 and a second shell 440, the first shell 430 comprising a first splicing part 4301 and a second splicing part 4302 distributed along the front and back, the first splicing part 4301 and the second splicing part 4302 jointly defining a first wrapping cavity, the connecting arm 600 and the first joint connecting piece 41 being accommodated in the first wrapping cavity; the second shell 440 comprising a third splicing part 4401 and a fourth splicing part 4402 distributed along the front and back, the third splicing part 4401 and the fourth splicing part 4402 jointly defining a second wrapping cavity, the robot arm 15 and the second joint connecting piece 42 being accommodated in the second wrapping cavity.

[0168] It can be understood that, by arranging the first shell 430, the first shell 430 can wrap the connecting arm 600 and the first joint connecting piece 41 to achieve protection of the connecting arm 600 and the first joint connecting piece 41; by arranging the second shell 440, the second shell 440 can wrap the robot arm 15 and the second joint connecting piece 42 to achieve protection of the robot arm 15 and the second joint connecting piece 42.

[0169] The above describes the embodiments of the present application in detail in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A robot, characterized in that, The utility model relates to a first joint, open with first through -hole, second joint, open with second through -hole, one of the first joint and the second joint drive the rotation of the other, first conveying structure for conveying electric power, gas or liquid, the first conveying structure wear the first through -hole and the second through -hole, wherein, the second joint can rotate to original position, first limit position and second limit position relative to the first joint, the angle of the second joint from original position rotates to the first limit position and the angle of rotating to the second limit position are same in size, when the second joint rotates to the first limit position and rotates to the second limit position in the process, the displacement of the part of the first conveying structure in the second through -hole is same relative to the part of the first conveying structure in the first through -hole. The first conveying structure includes a first conveying part and a second conveying part, the first conveying part is at least partially located in the first joint, and the first conveying part is provided with a first connector, the second conveying part is at least partially located in the second joint, and the second conveying part is provided with a second connector, the first connector and the second connector are detachably connected to enable the first conveying part and the second conveying part to be in conduction. The first conveying part is located in the first joint, and the first connector is fixed in the first through -hole. The first joint is provided with a first protrusion on the outside, and the first protrusion forms an opening of the first through -hole on the side close to the second joint. The first conveying structure further includes a third conveying part, the second conveying part is located in the second joint, and the second connector is fixed in the second through -hole; the third conveying part is provided with a third connector at both ends, and the first connector and the second connector are respectively detachably connected with one of the third connectors to enable the first conveying part, the third conveying part, and the second conveying part to be in conduction.

2. The robot of claim 1, wherein, The first conveying structure is electrically connected with electrical structures in the first joint and the second joint respectively.

3. The robot of claim 2, wherein, The first conveying structure is detachably connected with electrical structures in the first joint and the second joint respectively.

4. The robot of claim 3, wherein, Further comprising a third joint and a second conveying structure, a fixed end of the third joint is fixedly connected with a fixed end of the first joint, and the second conveying structure is connected with the fixed end of the third joint and the fixed end of the first joint respectively.

5. The robot of claim 3, wherein, Further comprising a connecting arm, the connecting arm connects the fixed end of the third joint and the fixed end of the first joint, and a channel is formed in the connecting arm, and the second conveying structure passes through the channel.

6. The robot according to any one of claims 1 to 5, characterized in that, The first joint is a machine base, and a connecting plate is arranged on the side surface of the machine base, and the connecting plate is provided with the first through -hole.

7. The robot of claim 6, wherein, The machine base comprises:

8. The robot of claim 1, wherein, a housing, a receiving cavity is arranged in the housing; 9. The robot of claim 8, wherein, a connecting seat arranged in the receiving cavity and rotatably connected with the cavity wall of the receiving cavity through a bearing; 10. The robot of claim 1, wherein, a mounting seat connected with the connecting seat, and a mechanical arm is mounted on the mounting seat; 11. The robot of claim 10, wherein, ​ ​ ​ ​ A driver is arranged in the accommodating cavity and connected with the connecting seat, and the driver is configured to drive the connecting seat and the mounting seat to rotate synchronously around a preset axis.

12. The robot of claim 11, wherein, The connecting seat and the mounting seat are fixedly connected through a first threaded connecting member; the connecting seat is provided with a first abutting structure, the mounting seat is provided with a second abutting structure, and the first abutting structure and the second abutting structure abut each other to prevent the connecting seat and the mounting seat from rotating relative to each other around the preset axis.

13. The robot of claim 12, wherein, The mounting seat is provided with a connecting protrusion located on the preset axis, a first protruding portion is formed on the peripheral surface of the connecting protrusion, and the first protruding portion forms the first abutting structure; the connecting seat is provided with a connecting groove matched with the connecting protrusion, an abutting groove is formed on the groove side wall of the connecting groove, the first protruding portion is arranged in the abutting groove, and the groove wall of the abutting groove forms the second abutting structure.

14. The robot of claim 13, wherein, The connecting protrusion is prismatic, and the side edge angle of the connecting protrusion forms the first protruding portion; the connecting groove is prismatic, and the side edge angle of the connecting groove forms the abutting groove.

15. The robot of claim 11, wherein, The mounting seat is provided with a third abutting structure, the housing is provided with a fourth abutting structure and a fifth abutting structure, the third abutting structure can abut against the fourth abutting structure to prevent the mounting seat from continuing to rotate in the forward direction relative to the housing, and the third abutting structure can abut against the fifth abutting structure to prevent the mounting seat from continuing to rotate in the reverse direction relative to the housing.

16. The robot of claim 15, wherein, The mounting seat is provided with an abutting protrusion, and the abutting protrusion forms the third abutting structure; the housing is provided with an arc-shaped groove extending in the circumferential direction of the preset axis, groove walls at opposite ends of the arc-shaped groove in the extending direction thereof form the fourth abutting structure and the fifth abutting structure, respectively, and the abutting protrusion is slidably arranged in the arc-shaped groove.

17. The robot of claim 11, wherein, The bearing is a cross-roller bearing.

18. The robot according to any of claims 11 to 17, characterized by, The robot further comprises a mechanical arm mounted on the mounting seat.

19. The robot of claim 18, wherein, The mechanical arm comprises a driving structure and a mechanical arm body, the driving structure comprises a motor and an ear plate, the motor and the ear plate are arranged on the mounting seat, a connecting arm is rotatably arranged on the ear plate, the motor is connected with the connecting arm and configured to drive the connecting arm to rotate relative to the ear plate.

20. The robot of claim 19, wherein, The ear plate comprises a connecting portion, the mounting seat is provided with a plug-in groove, the connecting portion is arranged in the plug-in groove and abuts against the groove wall of the plug-in groove, and the connecting portion and the groove wall of the plug-in groove are fixedly connected through a second threaded connecting member.

21. The robot of claim 9, wherein, The third joint comprises: A joint assembly comprises a first joint connecting member and a second joint connecting member, opposite ends of the first joint connecting member respectively form a first hinged end and a first connecting end, opposite ends of the second joint connecting member respectively form a second hinged end and a second connecting end, the first hinged end and the second hinged end are hinged, the first connecting end is arranged to be curved towards the second joint connecting member and configured to be connected with a connecting arm, and the second connecting end is arranged to be curved towards the first joint connecting member and configured to be connected with a mechanical arm. A joint driver is arranged on the first joint connecting piece, an output end of the joint driver is connected with the second joint connecting piece, and the joint driver is configured to drive the second joint connecting piece to rotate relative to the first joint connecting piece along the rotation axis.

22. The robot of claim 21, wherein, The joint assembly comprises two first joint connecting pieces arranged side by side, the first joint connecting piece comprises a hinged segment, a connecting segment and a transition segment, the transition segment is connected with the hinged segment and the connecting segment at opposite ends, one end of the hinged segment away from the transition segment forms the first hinged end, one end of the connecting segment away from the hinged segment forms the first connecting end, and the two first connecting ends are configured to be connected with the connecting arm; in the same joint assembly, the connecting segment is located on a side of the hinged segment close to the other joint assembly.

23. The robot of claim 22, wherein, The joint driver is arranged between the two first hinged ends, and opposite ends of the joint driver are fixedly connected with the two first hinged ends, respectively, and an output end of the joint driver is connected with the second joint connecting piece of one of the joint assemblies.

24. The robot of claim 21, wherein, The output end of the joint driver and the second joint connecting piece are fixedly connected through a threaded connecting piece, the output end of the joint driver and the second joint connecting piece are provided with a first matching structure and a second matching structure, respectively, the first matching structure is abutted with the second matching structure to prevent the second joint connecting piece from rotating relative to the output end of the joint driver along the rotation axis.

25. The robot of claim 24, wherein, The second joint connecting piece is provided with a mounting protrusion located on the rotation axis, a second protruding portion is formed on a peripheral surface of the mounting protrusion, and the second protruding portion forms the first matching structure; the output end of the joint driver is provided with a mounting groove matched with the mounting protrusion, a matching groove is formed on a groove side wall of the mounting groove, the mounting protrusion is arranged in the mounting groove, the second protruding portion is arranged in the matching groove, and a groove wall of the matching groove forms the second matching structure.

26. The robot of claim 21, wherein, The first hinged end is provided with a third matching structure, the second hinged end is provided with a fourth matching structure and a fifth matching structure, the fourth matching structure is abutted with the third matching structure to prevent the second joint connecting piece from continuing to rotate forward relative to the first joint connecting piece, and the fifth matching structure is abutted with the third matching structure to prevent the second joint connecting piece from continuing to rotate reversely relative to the first joint connecting piece.

27. The robot of claim 26, wherein, The first hinged end is provided with a first abutment protrusion, the first abutment protrusion forms the third matching structure, the second hinged end is provided with a second abutment protrusion and a third abutment protrusion, the second abutment protrusion and the third abutment protrusion are arranged on a movement path of the first abutment protrusion, and the first abutment protrusion is located between the second abutment protrusion and the third abutment protrusion along a movement direction of the first abutment protrusion, the second abutment protrusion forms the fourth matching structure, and the third abutment protrusion forms the fifth matching structure.

28. The robot according to any of claims 21 to 27, characterized by, The robot further comprises a connecting arm connected with the first connecting end and a mechanical arm connected with the second connecting end.

29. The robot of claim 28, wherein, The connecting arm and the mechanical arm are both internally provided with a wire channel for wire arrangement.

30. The robot of claim 28, wherein, The robot further comprises a first shell and a second shell, the first shell wrapping the connecting arm and the first joint connecting member, and the second shell wrapping the mechanical arm and the second joint connecting member.

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