Robot

Abstract

The present application discloses a robot, comprising: a first joint, a second joint, a connecting arm, a first wiring harness and a second wiring harness. The connecting arm connects the first joint and the second joint, wherein one of the first joint and the second joint is capable of driving the connecting arm to rotate the other one. One end of the first wiring harness is electrically connected to the first joint, and the other end of the first wiring harness is provided with a first connector. One end of the second wiring harness is electrically connected to the second joint, the other end of the second wiring harness is provided with a second connector, and the second connector is detachably connected to the first connector. One or more of the first joint, the second joint, and the connecting arm are provided with a mounting portion, and the first connector and / or the second connector are inserted into and matched with the mounting portion. The robot of the present application facilitates assembly and disassembly, and can reduce the risk of breakage of the first wiring harness and the second wiring harness during the assembly and disassembly. After the first connector and the second connector are connected, the first connector and / or the second connector are accommodated in the mounting portion, so as to reduce the risk of detachment between the first connector and the second connector.

Description

Robot

[0001] The present application claims priority to the Chinese patent application No. 202422195494.5, 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. 202422197838.6, filed on September 6, 2024, and entitled "Robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application belongs to the technical field of mechanical equipment, and in particular relates to a robot. BACKGROUND

[0004] To realize multi-degree-of-freedom rotation, a robot generally includes multiple joints connected in sequence, and the joints are generally electrically connected through a wire harness. In the related art, the two ends of the wire harness are welded to the pads at the two adjacent joints. In the installation process of the robot, if the two adjacent joints are connected through a connecting arm first and then the wire harness is welded to the pads, the connecting arm will block the pads, causing certain hindrance to the process of welding the wire harness to the pads. If the two ends of the wire harness are welded to the pads of the two joints first and then the two joints are connected through the connecting arm, the wire harness is easy to be pulled off in the installation process of the joints and the connecting arm. Correspondingly, when the two joints are disassembled for maintenance, the wire harness is also difficult to be detached from the pads, affecting the disassembly of the joints. Therefore, the robot in the related art is not convenient to disassemble and assemble. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a robot which can be conveniently disassembled and assembled.

[0006] The robot according to the embodiments of the present application comprises a first joint, a second joint, a connecting arm, a first wire harness and a second wire harness. The connecting arm connects the first joint and the second joint, one of the first joint and the second joint can be driven to rotate the other through driving the connecting arm; one end of the first wire harness is electrically connected to the first joint, and the other end is provided with a first connector; one end of the second wire harness is electrically connected to the second joint, and the other end is provided with a second connector, the second connector is detachably connected to the first connector; wherein one or more of the first joint, the second joint and the connecting arm is provided with a mounting portion, and the first connector and / or the second connector is accommodated in the mounting portion.

[0007] According to the robot provided in the embodiments of the present application, at least the following beneficial effects are achieved: the first wire harness and the first joint preassembly and the second wire harness and the second joint preassembly form two modules, and during the process of connecting the connecting arm to the first joint and the second joint, the first wire harness and the second wire harness do not have the risk of being broken, and after the connecting arm is connected to the first joint and the second joint, connecting the first connector and the second connector can make the first wire harness and the second wire harness conductive, so as to electrically connect the first joint and the second joint. Correspondingly, during the process of disassembling the first joint and the second joint, the first connector and the second connector can be disassembled first, and then the first joint and the second joint can be disassembled, thereby reducing the risk of breaking the first wire harness and the second wire harness, and after the first joint and the second joint are separated by disassembling the connecting arm, the first wire harness and the first joint can be separated and the second wire harness and the second joint can be separated. Thus, the robot provided in the present application is convenient to disassemble and assemble, and the risk of breaking the first wire harness and the second wire harness during the process of disassembling and assembling can be reduced. Moreover, after the first connector and the second connector are connected, the first connector and / or the second connector are accommodated in the mounting portion, so that the positions of the two ends of the first wire harness and the second wire harness are relatively stable, the swing range of the first wire harness and the second wire harness is reduced, and the risk of disengagement of the first connector and the second connector is reduced.

[0008] According to some embodiments of the present application, the first connector and the second connector are accommodated in the mounting portion.

[0009] According to some embodiments of the present application, the connecting arm is provided with the mounting portion.

[0010] According to some embodiments of the present application, the connecting arm is provided with the mounting portion.

[0011] According to some embodiments of the present application, the connecting arm includes a shell and a structural rod, the structural rod or the shell is provided with the mounting portion, the structural rod connects the first joint and the second joint, the shell is arranged outside the structural rod, and the shell and the structural rod form the wire channel or the inside of the structural rod forms the wire channel.

[0012] According to some embodiments of the present application, the inside of the structural rod is hollow to form the mounting portion, and the wire channel is formed between the outer wall of the structural rod and the inner wall of the shell.

[0013] According to some embodiments of the present application, the structural rod comprises a rod body, a first connecting portion and a second connecting portion, the rod body is hollow inside to form the mounting portion, the first connecting portion and the second connecting portion are connected to two ends of the rod body respectively, the first connecting portion is connected with the first joint, the first connecting portion is provided with a first threading hole corresponding to the wiring portion of the first joint, one end of the first wire harness is threaded through the first threading hole to be connected with the wiring portion of the first joint; the second connecting portion is connected with the second joint, the second connecting portion is provided with a second threading hole corresponding to the wiring portion of the second joint, one end of the second wire harness is threaded through the second threading hole to be connected with the wiring portion of the second joint.

[0014] According to some embodiments of the present application, the first connecting portion is provided with a first wire slot corresponding to the first threading hole, the first wire harness is threaded through the first wire slot; the first connecting portion is provided with a second wire slot corresponding to the second threading hole, the second wire harness is threaded through the first wire slot.

[0015] According to some embodiments of the present application, the first connecting portion is provided with a first wire cover corresponding to the first wire slot, the first wire cover is detachably connected, the first wire harness is threaded through between the first wire cover and the slot wall of the first wire slot; the second connecting portion is provided with a second wire cover corresponding to the second wire slot, the second wire cover is detachably connected, the second wire harness is threaded through between the second wire cover and the slot wall of the second wire slot.

[0016] According to some embodiments of the present application, the first wire harness and the first joint are detachably connected, and the second wire harness and the second joint are detachably connected.

[0017] According to some embodiments of the present application, the mounting portion is a mounting cavity or a mounting slot, if the mounting portion is a mounting cavity, the mounting portion accommodates the first connector and the second connector; if the mounting portion is a mounting slot, the mounting slot is inserted and matched with the first connector and the second connector.

[0018] According to some embodiments of the present application, at least part of the first wire harness and at least part of the second wire harness are accommodated in the mounting portion.

[0019] According to some embodiments of the present application, the connecting arm is provided with a first abutting structure; the first joint comprises a driver and a joint connecting piece, the driver is connected with the joint connecting piece and is used to drive the joint connecting piece to rotate around a preset axis, the joint connecting piece is fixedly connected with the connecting arm through a first threaded connecting piece, the joint connecting piece is provided with a second abutting structure, and the second abutting structure and the first abutting structure at least abut in the circumferential direction of the preset axis.

[0020] The robot provided by the embodiments of the present application has at least the following beneficial effects: in the robot of the present application, the joint connecting piece is fixedly connected with the connecting arm through the first threaded connecting piece, the connecting arm is provided with the first abutting structure, the joint connecting piece is provided with the second abutting structure, and the second abutting structure and the first abutting structure abut at least in the circumferential direction of the preset axis; when the driver drives the joint connecting piece to start moving and the driver drives the joint connecting piece to stop moving, the shear force generated between the connecting arm and the joint connecting piece can be partially borne by the first abutting structure and the second abutting structure, thereby reducing the shear force borne by the first threaded connecting piece, and further prolonging the service life of the first threaded connecting piece.

[0021] According to the robot provided by the embodiments of the present application, the connecting arm comprises a clamping part, and the clamping part forms the first abutting structure; the joint connecting piece is provided with a clamping groove, the clamping groove forms the second abutting structure, the clamping groove comprises a first groove wall and a second groove wall distributed in the circumferential direction of the preset axis, and the clamping part is arranged in the clamping groove and abuts against the first groove wall and the second groove wall, respectively.

[0022] According to the robot provided by the embodiments of the present application, the clamping groove further comprises a third groove wall, opposite ends of the third groove wall are connected with the first groove wall and the second groove wall, respectively, the first threaded connecting piece is arranged in the third groove wall and is threadedly connected with the clamping part.

[0023] According to the robot provided by the embodiments of the present application, the first joint further comprises a mounting seat, the driver is arranged on the mounting seat, and the joint connecting piece is rotatably arranged on the mounting seat around the preset axis; the mounting seat is provided with a third abutting structure and a fourth abutting structure, the joint connecting piece is provided with a fifth abutting structure and a sixth abutting structure, the third abutting structure can abut against the fifth abutting structure to make the joint connecting piece be in a first state relative to the mounting seat, and the fourth abutting structure can abut against the sixth abutting structure to make the joint connecting piece be in a second state relative to the mounting seat.

[0024] According to the robot provided by the embodiments of the present application, the mounting seat is provided with a first abutting protrusion and a second abutting protrusion distributed in the circumferential direction of the preset axis, and the first abutting protrusion and the second abutting protrusion form the third abutting structure and the fourth abutting structure, respectively; the joint connecting piece is provided with a first abutting surface and a second abutting surface distributed in the circumferential direction of the preset axis, and the first abutting surface and the second abutting surface form the fifth abutting structure and the sixth abutting structure, respectively.

[0025] The robot according to the embodiment of the present application, the first joint comprises two joint connecting pieces, both of which are rotatably arranged on the mounting base along the preset axis, and both of which are connected with the connecting arm through the first threaded connecting piece; the connecting arm is provided with two first abutting structures, the first abutting structure and the second abutting structure are one-to-one corresponding, and the corresponding first abutting structure and the second abutting structure at least abut in the circumferential direction of the preset axis.

[0026] The robot according to the embodiment of the present application, the joint connecting piece comprises a hinged segment and a connecting segment, the hinged segment is hinged with the mounting base, the third abutting structure and the fourth abutting structure are both arranged on the hinged segment, the connecting segment is fixedly connected with the connecting arm through the first threaded connecting piece, and the second abutting structure is arranged on the connecting segment; the relative distance between the two connecting segments is smaller than the relative distance between the two hinged segments.

[0027] The robot according to the embodiment of the present application, the joint connecting piece further comprises a transition segment, one end of each of the two transition segments is connected with a connecting segment, and one end of each of the two transition segments is connected with a hinged segment.

[0028] The robot according to the embodiment of the present application, the output end of the driver is fixedly connected with the joint connecting piece through the second threaded connecting piece; the joint connecting piece is provided with a penetrating shaft, a plurality of protruding portions are formed on the shaft surface of the penetrating shaft, the output end of the driver is provided with a penetrating hole matched with the penetrating shaft, and the penetrating shaft is arranged in the penetrating hole.

[0029] The robot according to the embodiment of the present application, the penetrating shaft is located on the preset axis, and the second threaded connecting piece is spaced apart around the preset axis.

[0030] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0031] Fig. 1 is a structural schematic diagram of the robot according to the embodiment of the present application;

[0032] Fig. 2 is a structural schematic diagram of the robot in Fig. 1 after hiding the shell;

[0033] Fig. 3 is a sectional view of the connecting arm in Fig. 1;

[0034] Fig. 4 is an exploded view of the robot according to the embodiment of the present application;

[0035] Fig. 5 is a structural schematic diagram of the robot according to one embodiment of the present application;

[0036] Fig. 6 is a structural schematic diagram of the first joint and the connecting arm of the robot shown in Fig. 5;

[0037] Fig. 7 is a structural schematic diagram of a first joint of the robot shown in Fig. 5;

[0038] Fig. 8 is an exploded view of the first joint shown in Fig. 7;

[0039] Fig. 9 is a structural schematic diagram of a joint connecting piece of the first joint shown in Fig. 7.

[0040] The reference signs in the description are as follows: 100, first joint; 101, joint connecting piece; 101A, first joint connecting piece; 101B, second joint connecting piece; 110, hinged segment; 111, first abutting face; 112, second abutting face; 113, penetrating shaft; 113a, protruding part; 120, connecting segment; 121, clamping groove; 121a, first groove wall; 121b, second groove wall; 121c, third groove wall; 130, transition segment; 200, second joint; 300, connecting arm; 310, mounting part; 320, wire channel; 330, shell; 340, structural rod; 341, rod body; 342, first connecting part; 3421, first wire penetrating hole; 3422, first wire groove; 3423, first wire cover; 343, second connecting part; 3431, second wire penetrating hole; 3432, second wire groove; 3433, second wire cover; 350, clamping part; 400, first wire harness; 410, first connector; 500, second wire harness; 510, second connector; 600, driver; 601, preset axis; 610, penetrating hole; 700, mounting base; 710, bottom plate; 720, first ear plate; 721, first abutting protrusion; 722, second abutting protrusion; 730, second ear plate. DETAILED DESCRIPTION

[0041] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation of the present application.

[0042] 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 up, down, front, back, left, right, etc. is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and cannot be understood as a limitation of the present application, which indicates or implies that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0043] In the description of the present application, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If it is described as first, second, it is only used 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 sequence of indicated technical features.

[0044] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and those 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.

[0045] 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 present 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.

[0046] With reference to FIG. 1, FIG. 2 and FIG. 4, the robot according to the embodiment of the present application comprises a first joint 100, a second joint 200, a connecting arm 300, a first wire harness 400 and a second wire harness 500. The connecting arm 300 connects the first joint 100 and the second joint 200, one of the first joint 100 and the second joint 200 can drive the other to rotate by driving the connecting arm 300; one end of the first wire harness 400 is electrically connected with the first joint 100, and the other end is provided with a first connector 410; one end of the second wire harness 500 is electrically connected with the second joint 200, and the other end is provided with a second connector 510, the second connector 510 is detachably connected with the first connector 410; wherein one or more of the first joint 100, the second joint 200 and the connecting arm 300 are provided with a mounting portion 310, the first connector 410 and / or the second connector 510 are accommodated in the mounting portion 310.

[0047] It can be understood that one of the first joint 100 and the second joint 200 can drive the other to rotate through the connecting arm 300. For example, in the embodiment, the first joint 100 includes a first motor, the first motor is connected with the second joint 200 through the connecting arm 300, the first motor drives the connecting arm 300 to swing around the axis of the first motor, so as to drive the second joint 200 to rotate around the axis of the first motor. In other embodiments, the second joint 200 can also include a second motor, the second motor is connected with the first joint 100 through the connecting arm 300, the second motor drives the first joint 100 to rotate around the axis of the second motor through the connecting arm 300.

[0048] It can be understood that one end of the first wire harness 400 is electrically connected with the first joint 100, and one end of the second wire harness 500 is electrically connected with the second joint 200. For example, one end of the first wire harness 400 is welded or plugged on the circuit board of the first joint 100, and one end of the second wire harness 500 is welded or plugged on the circuit board of the second joint 200. After the first connector 410 and the second connector 510 are connected, the first wire harness 400 and the second wire harness 500 are conducted, so that the first joint 100 and the second joint 200 are electrically connected through the connection of the first wire harness 400 and the second wire harness 500.

[0049] It should be understood that, in the installation process of the first joint 100 and the second joint 200, one end of the first wire harness 400 can be connected with the first joint 100, one end of the second wire harness 500 can be connected with the second joint 200, so that the first wire harness 400 and the first joint 100, and the second wire harness 500 and the second joint 200 form two separate modules. When the first joint 100 and the second joint 200 need to be connected, the first joint 100 and the second joint 200 are connected through the connecting arm 300. Since the first wire harness 400 and the second wire harness 500 are separated at this time, there is no risk of breakage in the installation process. After the connecting arm 300 is connected with the first joint 100 and the second joint 200, since one end of the first wire harness 400 and one end of the second wire harness 500 have been pre-installed with the first joint 100 and the second joint 200 respectively, at this time, only the first connector 410 on the other end of the first wire harness 400 and the second connector 510 on the other end of the second wire harness 500 need to be connected. Correspondingly, when one or both of the first joint 100 and the second joint 200 need to be repaired or replaced, and the first joint 100 and the second joint 200 need to be disassembled, the first connector 410 and the second connector 510 can be disassembled first, so that the end of the first wire harness 400 with the first connector 410 and the end of the second wire harness 500 with the second connector 510 are free ends, and the first wire harness 400 and the second wire harness 500 are not easy to be pulled, so that the first wire harness 400 and the second wire harness 500 are not easy to be pulled during the disassembly process of the first joint 100 and the second joint 200; and after the first connector 410 and the second connector 510 are separated, the connecting arm 300 can be disassembled to separate the first joint 100 and the second joint 200. After the first joint 100 and the second joint 200 are separated, the first wire harness 400 can be easily separated from the first joint 100, and the second wire harness 500 can be easily separated from the second joint 200.

[0050] In summary, the first wire harness 400 is pre-assembled with the first joint 100 and the second wire harness 500 is pre-assembled with the second joint 200 to form two modules. During the process of connecting the first joint 100 and the second joint 200 by the connecting arm 300, the first wire harness 400 and the second wire harness 500 do not have the risk of breakage. After the connecting arm 300 connects the first joint 100 and the second joint 200, connecting the first connector 410 and the second connector 510 can make the first wire harness 400 and the second wire harness 500 conductive, so as to electrically connect the first joint 100 and the second joint 200, thereby facilitating the installation of the first joint 100 and the second joint 200. Correspondingly, during the process of disassembling the first joint 100 and the second joint 200, the first connector 410 and the second connector 510 can be separated first and then the first joint 100 and the second joint 200 are disassembled, thereby reducing the risk of breakage of the first wire harness 400 and the second wire harness 500. After the connecting arm 300 is disassembled to separate the first joint 100 and the second joint 200, the first wire harness 400 and the first joint 100 can be separated and the second wire harness 500 and the second joint 200 can be separated. Therefore, the robot of the present application is convenient to disassemble and assemble, and the risk of breakage of the first wire harness 400 and the second wire harness 500 during disassembly and assembly can be reduced.

[0051] It should be understood that by providing the mounting portion 310 on one or more of the first joint 100, the second joint 200 and the connecting arm 300, the first connector 410 and / or the second connector 510 are accommodated in the mounting portion 310, so that after the first connector 410 and the second connector 510 are connected, the first connector 410 and / or the second connector 510 are placed in the mounting portion 310, so that the positions of the two ends of the first wire harness 400 and the second wire harness 500 are relatively stable, the swing range of the first wire harness 400 and the second wire harness 500 is reduced, and the risk of disconnection of the first connector 410 and the second connector 510 is reduced. Specifically, regarding the specific form of the first connector 410 and / or the second connector 510 accommodated in the mounting portion 310, in some embodiments, the first connector 410 and / or the second connector 510 are only placed in the mounting portion 310, and the first connector 410 and / or the second connector 510 have a certain activity allowance in the mounting portion 310; in other embodiments, the first connector 410 and / or the second connector 510 are inserted into the mounting portion 310, so that the first connector 410 and / or the second connector 510 are relatively fixed. It should be understood that only the first connector 410 and / or the second connector 510 need to be limited within a certain range, which is not limited here.

[0052] Regarding the specific form of the cooperation between the first connector 410 and the second connector 510 and the mounting portion 310:

[0053] In the embodiment, referring to FIG. 2 and FIG. 4, the first connector 410 and the second connector 510 are both accommodated in the mounting portion 310. It can be understood that after the first connector 410 and the second connector 510 are connected, they are accommodated in the mounting portion 310 together.

[0054] In some other embodiments, the outer side of the first connector 410 or the outer side of the second connector 510 can also be formed as a protrusion, and after the first connector 410 and the second connector 510 are connected, the protrusion is accommodated in the mounting portion 310, and the first connector 410 or the second connector 510 is accommodated in the mounting portion 310 to limit the first connector 410 or the second connector 510 by the mounting portion 310.

[0055] Regarding the position of the mounting portion 310:

[0056] In the embodiment, referring to FIG. 2 and FIG. 4, the connecting arm 300 is provided with the mounting portion 310. It can be understood that the mounting portion 310 is provided on the connecting arm 300, which can avoid the first wire harness 400 or the second wire harness 500 being too long, and can ensure that the first wire harness 400 is provided with one end of the first connector 410 penetrating out of the first joint 100, and the second wire harness 500 is provided with one end of the second connector 510 penetrating out of the second joint 200, so as to facilitate the connection of the first connector 410 and the second connector 510.

[0057] In some other embodiments, the mounting portion 310 can also be provided in the first joint 100 or the second joint 200.

[0058] In some other embodiments, the mounting portion 310 can be provided on the first joint 100, the second joint 200 and the connecting arm 300, which can select the appropriate mounting portion 310 according to the actual length of the first wire harness 400 and the second wire harness 500, or the first connector 410 and the second connector 510 can be accommodated in the mounting portion 310 of the first joint 100 and the mounting portion 310 of the second joint 200 respectively during the connection of the connecting arm 300 to the first joint 100 and the second joint 200, so as to protect the first connector 410 and the second connector 510, and after the connecting arm 300 is connected to the first joint 100 and the second joint 200, the first connector 410 and the second connector 510 are connected and inserted into the mounting portion 310 of the connecting arm 300 together.

[0059] In order to protect the first wire harness 400 and the second wire harness 500, referring to FIG. 2, the inside of the connecting arm 300 is formed as a wire channel 320, the inner wall of the wire channel 320 is formed as the mounting portion 310, and the first wire harness 400 and the second wire harness 500 are at least partially located in the wire channel 320.

[0060] It can be understood that the first wire harness 400 can be inserted into the wire routing channel 320 of the connecting arm 300 after being led out from the first joint 100, the second wire harness 500 can be inserted into the wire routing channel 320 of the connecting arm 300 after being led out from the second joint 200, and the first connector 410 and the second connector 510 are connected in the wire routing channel 320, so that the first wire harness 400 and the second wire harness 500 are routed internally to reduce the exposure of the first wire harness 400 and the second wire harness 500, and to reduce the interference in the movement of the robot.

[0061] Regarding the arrangement of the wire routing channel 320, referring to FIGS. 1, 2 and 4, the connecting arm 300 includes a housing 330 and a structural rod 340, the structural rod 340 or the housing 330 is provided with a mounting portion 310, the structural rod 340 connects the first joint 100 and the second joint 200, the housing 330 is arranged outside the structural rod 340, and the wire routing channel 320 is formed between the housing 330 and the structural rod 340 or inside the structural rod 340.

[0062] It can be understood that the wire routing channel 320 can be formed between the housing 330 and the structural rod 340 to facilitate the installation of the first wire harness 400 and the second wire harness 500, or can be arranged inside the structural rod 340 to reduce the weight of the structural rod 340 while the first wire harness 400 and the second wire harness 500 are routed.

[0063] It can be understood that in the present embodiment, referring to FIGS. 2 and 4, the mounting portion 310 is arranged on the structural rod 340, and during the installation of the connecting arm 300, the structural rod 340 is first connected with the first joint 100 and the second joint 200 to facilitate the connection of the first connector 410 and the second connector 510 and the accommodation of the first connector 410 and the second connector 510 in the mounting portion 310, and then the housing 330 is installed after the first connector 410 and the second connector 510 are connected. In some other embodiments, the mounting portion 310 can also be arranged on the inner wall of the housing 330.

[0064] Specifically, in the present embodiment, referring to FIGS. 2 and 3, the structural rod 340 is hollow inside to form the mounting portion 310, and the wire routing channel 320 is formed between the outer wall of the structural rod 340 and the inner wall of the housing 330.

[0065] It can be understood that the structural rod 340 is internally hollow to form the mounting portion 310 inside the structural rod 340, that is, the mounting portion 310 is a cavity inside the structural rod 340, so as to reduce the weight of the connecting arm 300. And by forming the wire channel 320 between the shell 330 and the structural rod 340, the weight of the connecting arm 300 is further reduced. And the first wire harness 400 and the second wire harness 500 pass between the inner wall of the shell 330 and the structural rod 340, so as to avoid the first wire harness 400 and the second wire harness 500 from leaking out of the shell 330, reduce the interference of the first wire harness 400 and the second wire harness 500 on the movement of the robot, and reduce the risk of breakage caused by the exposure of the first wire harness 400 and the second wire harness 500. And by the wire channel 320, the swing range of the first wire harness 400 and the second wire harness 500 can be limited, and the risk of disengagement of the first joint 410 and the second joint 510 can be reduced.

[0066] In other embodiments, the wire channel 320 can also be formed inside the structural rod 340, and the first wire harness 400 and the second wire harness 500 pass through the wire channel 320 inside the structural rod 340.

[0067] In other embodiments, the structural rod 340 can also be solid to improve the structural strength of the connecting arm 300, and the wire channel 320 is formed between the structural rod 340 and the shell 330.

[0068] In order to reduce the influence of the relative rotation between the first joint 100 and the second joint 200 on the first wire harness 400 and the second wire harness 500, referring to FIGS. 2 and 4, the structural rod 340 includes a rod body 341, a first connecting portion 342 and a second connecting portion 343. The rod body 341 is internally hollow to form the mounting portion 310. The first connecting portion 342 and the second connecting portion 343 are respectively connected to both ends of the rod body 341. The first connecting portion 342 is connected to the first joint 100. The first connecting portion 342 is provided with a first wire hole 3421 corresponding to the wire connecting portion of the first joint 100. One end of the first wire harness 400 passes through the first wire hole 3421 to be connected to the wire connecting portion of the first joint 100. The second connecting portion 343 is connected to the second joint 200. The second connecting portion 343 is provided with a second wire hole 3431 corresponding to the wire connecting portion of the second joint 200. One end of the second wire harness 500 passes through the second wire hole 3431 to be connected to the wire connecting portion of the second joint 200.

[0069] It can be understood that the first connecting part 342 is connected with the first joint 100, and the second connecting part 343 is connected with the second joint 200, so that the rod body 341 connects the first joint 100 and the second joint 200. The first wire hole 3421 on the first connecting part 342 corresponds to the wiring part of the first joint 100. After one end of the first wire harness 400 is connected with the wiring part of the first joint 100, it can pass out through the first wire hole 3421, so as to limit and guide the first wire harness 400 through the first wire hole 3421, and reduce the swing of the first wire harness 400. Specifically, the first joint 100 and the second joint 200 can rotate relative to each other, the second joint 200 can rotate around the axis of the first joint 100, and the axis of the first wire hole 3421 is in the same straight line with the axis of the first joint 100, so as to further reduce the influence of the relative rotation of the first joint 100 and the second joint 200 on the first wire harness 400.

[0070] Similarly, the second wire hole 3431 on the second connecting part 343 corresponds to the wiring part of the second joint 200. After one end of the second wire harness 500 is connected with the wiring part of the second joint 200, it can pass out through the second wire hole 3431, so as to limit and guide the second wire harness 500 through the second wire hole 3431, and reduce the swing of the second wire harness 500. Specifically, the first joint 100 and the second joint 200 can swing relative to each other, the first joint 100 can swing around the axis of the second joint 200, and the axis of the second wire hole 3431 is in the same straight line with the axis of the second joint 200, so as to further reduce the influence of the relative rotation of the first joint 100 and the second joint 200 on the second wire harness 500.

[0071] Specifically, the wiring part of the first joint 100 is the circuit board of the first joint 100, and the wiring part of the second joint 200 is the circuit board of the second joint 200.

[0072] In order to further limit the first wire harness 400 and the second wire harness 500, referring to FIGS. 2 and 4, the first connecting part 342 is formed with a first wire slot 3422, the first wire slot 3422 is communicated with the first wire hole 3421, and the first wire harness 400 passes through the first wire slot 3422; the first connecting part 342 is formed with a second wire slot 3432, the second wire slot 3432 is communicated with the second wire hole 3431, and the second wire harness 500 passes through the first wire slot 3422.

[0073] It can be understood that the first wire harness 400 can pass through the first wire slot 3422 after passing out of the first wire hole 3421, and the first wire harness 400 is further limited by the first wire slot 3422. Similarly, the second wire harness 500 can pass through the second wire slot 3432 after passing out of the second wire hole 3431, and the second wire harness 500 is further limited by the second wire slot 3432. Thus, the limiting effect of the first wire harness 400 and the second wire harness 500 is further improved to improve the connection stability between the first wire harness 400 and the first joint 100 and between the second wire harness 500 and the second joint 200.

[0074] Specifically, referring to FIGS. 2 and 4, the first wire slot 3422 is connected with the side wall of the first wire hole 3421, and the extension direction of the first wire slot 3422 intersects with the extension direction of the first wire hole 3421 to change the wire direction of the first wire harness 400, so that the first wire harness 400 extends towards the second joint 200, and the first wire harness 400 will be bent after entering the first wire hole 3421 from the first wire slot 3422. Similarly, the second wire slot 3432 is connected with the side wall of the second wire hole 3431, and the extension direction of the second wire slot 3432 intersects with the extension direction of the second wire hole 3431 to change the wire direction of the second wire harness 500, so that the second wire harness 500 extends towards the second joint 200, and the second wire harness 500 will be bent after entering the second wire hole 3431 from the second wire slot 3432.

[0075] In order to further limit the first wire harness 400 and the second wire harness 500, referring to FIGS. 2 and 4, the first connecting portion 342 is provided with a detachably connected first wire cover 3423 corresponding to the first wire slot 3422, and the first wire harness 400 passes between the first wire cover 3423 and the slot wall of the first wire slot 3422; the second connecting portion 343 is provided with a detachably connected second wire cover 3433 corresponding to the second wire slot 3432, and the second wire harness 500 passes between the second wire cover 3433 and the slot wall of the second wire slot 3432.

[0076] It can be understood that the first wire cover 3423 cooperates with the slot wall of the first wire slot 3422 to limit the first wire harness 400 in the first wire slot 3422 to improve the limiting effect of the first wire harness 400, and the first wire cover 3423 is detachably connected with the first connecting portion 342, so that the first wire harness 400 can be easily disassembled. Similarly, the second wire cover 3433 cooperates with the slot wall of the second wire slot 3432 to limit the second wire harness 500 in the second wire slot 3432 to improve the limiting effect of the second wire harness 500, and the second wire cover 3433 is detachably connected with the second connecting portion 343, so that the second wire harness 500 can be easily disassembled.

[0077] Regarding the connection mode of the first wire harness 400 and the first joint 100:

[0078] In some embodiments, the first wire harness 400 and the first joint 100 are detachably connected, and the second wire harness 500 and the second joint 200 are detachably connected, so as to facilitate the disassembly of the first wire harness 400 and the first joint 100 and the disassembly of the second wire harness 500 and the second joint 200. For example, an interface is reserved on the first motor of the first joint 100 and the second motor of the second joint 200, a plug is arranged on the end of the first wire harness 400 connected with the first joint 100 and the end of the second wire harness 500 connected with the second joint 200, and the plug is plugged with the interface.

[0079] In some embodiments, the first wire harness 400 and the first joint 100 are welded, and the second wire harness 500 and the second joint 200 are welded. For example, the first wire harness 400 and the circuit board of the first motor are welded, and the second wire harness 500 and the circuit board of the second motor are welded.

[0080] Regarding the specific form of the mounting portion 310: the mounting portion 310 is a mounting cavity or a mounting slot. If the mounting portion 310 is a mounting cavity, the mounting portion 310 contains the first connector 410 and the second connector 510. If the mounting portion 310 is a mounting slot, the mounting slot is plugged with the first connector 410 and the second connector 510.

[0081] In the present embodiment, referring to FIG. 2 and FIG. 4, the mounting portion 310 is a mounting cavity, and the first connector 410 and the second connector 510 are both contained in the mounting cavity. Specifically, the inside of the structural rod 340 is hollow, so that the inside of the structural rod 340 forms a mounting cavity, and a wire channel 320 is formed between the structural rod 340 and the outer shell 330. The first wire harness 400 and the second wire harness 500 pass through the wire channel 320 and then pass through the mounting cavity, so that the first connector 410 and the second connector 510 are placed in the mounting cavity.

[0082] In other embodiments, the mounting portion 310 is a mounting slot, and the first connector 410 and the second connector 510 are plugged in the mounting slot. Specifically, the side of the structural rod 340 close to the outer shell 330 forms a mounting slot, and a wire channel 320 is formed between the structural rod 340 and the outer shell 330. The first wire harness 400 and the second wire harness 500 pass through the wire channel 320, and then the first connector 410 and the second connector 510 are plugged in the mounting slot, so that the first connector 410 and the second connector 510 are fixed in the mounting slot.

[0083] It should be understood that the mounting portion 310 can be formed by making the structural rod 340 hollow inside, or the mounting portion 310 can be formed by providing a protrusion on the inner wall of the structural rod 340 after the structural rod 340 is hollowed inside. Similarly, if the mounting portion 310 is formed on the outer wall of the structural rod 340 or the inner wall of the outer shell 330, the protrusion can be formed on the outer wall of the structural rod 340 or the inner wall of the outer shell 330 to accommodate the first connector 410 and the second connector 510 through the protrusion.

[0084] It should be noted that in order to facilitate the butt joint of the first wire harness 400 and the second wire harness 500, the first wire harness 400 and the second wire harness 500 have a certain length, and after the first connector 410 and the second connector 510 are butt jointed, the first wire harness 400 and the second wire harness 500 have a certain surplus. In order to reduce the swing of the first wire harness 400 and the second wire harness 500, in the embodiment, referring to FIG. 4, the first wire harness 400 is at least partially accommodated in the mounting portion 310 together with the second wire harness 500.

[0085] It should be understood that the mounting portion 310 can accommodate part of the first wire harness 400 and part of the second wire harness 500, and the surplus part of the first wire harness 400 and the second wire harness 500 is fixed or accommodated through the mounting portion 310, so as to reduce the swing amplitude of the first wire harness 400 and the second wire harness 500 in the swing process of the connecting arm 300.

[0086] Referring to FIGS. 5 and 6, the robot according to the embodiment of the present application comprises the connecting arm 300 and the first joint 100; the first joint 100 comprises a driver 600 and a joint connecting piece 101, the driver 600 is connected with the joint connecting piece 101 and is used to drive the joint connecting piece 101 to rotate around a preset axis 601, and the joint connecting piece 101 is fixedly connected with the connecting arm 300 through a first threaded connecting piece.

[0087] For example, the preset axis 601 extends along the left-right direction, and under the driving of the driver 600, the joint connecting piece 101 can drive the connecting arm 300 to rotate around the preset axis 601 through the first threaded connecting piece.

[0088] It should be noted that when the driver 600 drives the joint 101 to start rotating around the preset axis 601, the joint 101 needs to drive the connecting arm 300 to rotate around the preset axis 601 through the first threaded connection, at this time, in the circumferential direction of the preset axis 601, the connecting arm 300 will exert a larger load on the joint 101 through the first threaded connection, and correspondingly, the first threaded connection needs to bear a larger shear force, in this case, the first threaded connection is prone to breakage, thereby reducing the service life of the first threaded connection; similarly, when the driver 600 stops driving the joint 101 to rotate around the preset axis 601, at this time, since the connecting arm 300 still has a certain kinetic energy, in the circumferential direction of the preset axis 601, the connecting arm 300 will exert a larger load on the joint 101 through the first threaded connection, and correspondingly, the first threaded connection will bear a larger shear force, in this case, the first threaded connection is prone to breakage, thereby reducing the service life of the first threaded connection.

[0089] Based on the above problems, in some embodiments of the present application, the connecting arm 300 is provided with a first abutting structure, and the joint 101 is provided with a second abutting structure, and the second abutting structure and the first abutting structure at least abut in the circumferential direction of the preset axis 601.

[0090] It can be understood that since the second abutting structure and the first abutting structure at least abut in the circumferential direction of the preset axis 601, in the circumferential direction of the preset axis 601, when the connecting arm 300 exerts a load on the joint 101, these loads can be partially transmitted to the joint 101 through the first abutting structure and the second abutting structure, thereby reducing the shear force borne by the first threaded connection, and further improving the service life of the first threaded connection.

[0091] Specifically, the extension direction of the first threaded connection is parallel to the extension direction of the preset axis 601, and the first threaded connection is provided in the joint 101 and is threadedly connected with the connecting arm 300.

[0092] It should be noted that if the connecting arm 300 is not provided with the first abutting structure, and the joint 101 is not provided with the second abutting structure, when the driver 600 drives the joint 101 to start rotating around the preset axis 601, the joint 101 will also drive the connecting arm 300 to rotate around the preset axis 601, in this case, under the action of inertia, the connecting arm 300 is easy to rotate around the axial direction of the first threaded connection relative to the joint 101, causing the first threaded connection and the connecting arm 300 to rotate relative to each other, thereby causing the first threaded connection and the connecting arm 300 to loosen.

[0093] In the robot of the present application, due to the abutment of the second abutment structure and the first abutment structure at least in the circumferential direction of the preset axis 601, the rotation of the connecting arm 300 relative to the joint connecting piece 101 around the preset axis 601 can be limited under the action of the first abutment structure and the second abutment structure, so as to limit the relative rotation of the first threaded connecting piece and the connecting arm 300, thereby reducing the probability of loosening between the first threaded connecting piece and the connecting arm 300.

[0094] It should be noted that the first threaded connecting piece is a part such as a bolt or a screw for realizing threaded connection. In further embodiments of the present application, referring to FIGS. 6 and 9, the connecting arm 300 comprises a clamping portion 350, and the clamping portion 350 forms the first abutment structure; the joint connecting piece 101 is provided with a clamping groove 121, and the clamping groove 121 forms the second abutment structure. The clamping groove 121 comprises a first groove wall 121a and a second groove wall 121b distributed in the circumferential direction of the preset axis 601, the clamping portion 350 is arranged in the clamping groove 121, and the clamping portion 350 abuts against the first groove wall 121a and the second groove wall 121b, respectively.

[0095] For example, as shown in FIGS. 7 to 9, the joint connecting piece 101 is provided with a clamping groove 121 extending forward and backward, the clamping groove 121 comprises a first groove wall 121a and a second groove wall 121b arranged oppositely, and the first groove wall 121a is located on the upper side of the second groove wall 121b. The clamping portion 350 is arranged in the clamping groove 121, and the clamping portion 350 abuts against the first groove wall 121a and the second groove wall 121b, respectively.

[0096] It can be understood that under the driving of the driver 600, when the joint connecting piece 101 drives the connecting arm 300 to rotate upward, one part of the load applied by the connecting arm 300 to the joint connecting piece 101 is transmitted to the joint connecting piece 101 through the clamping portion 350 and the second groove wall 121b, and the other part is transmitted to the joint connecting piece 101 through the first threaded connecting piece, so as to reduce the shear force borne by the first threaded connecting piece, thereby prolonging the service life of the first threaded connecting piece. When the joint connecting piece 101 drives the connecting arm 300 to rotate downward, one part of the load applied by the connecting arm 300 to the joint connecting piece 101 is transmitted to the joint connecting piece 101 through the clamping portion 350 and the first groove wall 121a, and the other part is transmitted to the joint connecting piece 101 through the first threaded connecting piece, so as to reduce the shear force borne by the first threaded connecting piece, thereby prolonging the service life of the first threaded connecting piece.

[0097] In some embodiments of the present application, the clamping groove 121 further comprises a third groove wall 121c, the opposite ends of the third groove wall 121c are connected with the first groove wall 121a and the second groove wall 121b, respectively, the first threaded connecting piece is arranged in the third groove wall 121c, and the first threaded connecting piece is threadedly connected with the clamping portion 350.

[0098] For example, as shown in FIG. 9, the third slot wall 121c is located on a vertical plane, the upper end of the third slot wall 121c is connected with the first slot wall 121a, the lower end of the third slot wall 121c is connected with the second slot wall 121b, the first threaded connecting piece extends along the left-right direction, the first threaded connecting piece is threaded through the third slot wall 121c and is threaded connected with the clamping part 350.

[0099] It can be understood that, since the first slot wall 121a and the second slot wall 121b are only used to abut the clamping part 350 in the circumferential direction of the preset axis 601, threading the first threaded connecting piece on the third slot wall 121c can make the area of the first slot wall 121a and the second slot wall 121b smaller.

[0100] It should be noted that, under the driving of the driver 600, the joint connecting piece 101 can drive the connecting arm 300 to rotate around the preset axis 601; but in the actual use of the robot, it is often only necessary for the connecting arm 300 to rotate within a certain angle range around the preset axis 601.

[0101] Based on the above problems, in some embodiments of the present application, referring to FIGS. 6 and 7, the first joint 100 further comprises a mounting seat 700, the driver 600 is arranged on the mounting seat 700, and the joint connecting piece 101 is rotatably arranged on the mounting seat 700 around the preset axis 601; the mounting seat 700 is provided with a third abutting structure and a fourth abutting structure, and the joint connecting piece 101 is provided with a fifth abutting structure and a sixth abutting structure, the third abutting structure can abut against the fifth abutting structure to make the joint connecting piece 101 relative to the mounting seat 700 in a first state, and the fourth abutting structure can abut against the sixth abutting structure to make the joint connecting piece 101 relative to the mounting seat 700 in a second state.

[0102] For example, after the driver 600 drives the joint connecting piece 101 to rotate forward around the preset axis 601 by a certain angle, the third abutting structure can abut against the fifth abutting structure to hinder the joint connecting piece 101 from continuing to rotate forward, at this time, the joint connecting piece 101 is in the first state; after the driver 600 drives the joint connecting piece 101 to rotate reversely around the preset axis 601 by a certain angle, the fourth abutting structure can abut against the sixth abutting structure to hinder the joint connecting piece 101 from continuing to rotate reversely, at this time, the joint connecting piece 101 is in the second state.

[0103] It can be understood that, by arranging the third abutting structure and the fourth abutting structure on the mounting seat 700, and arranging the fifth abutting structure and the sixth abutting structure on the joint connecting piece 101, the joint connecting piece 101 can be switched between the first state and the second state, and the joint connecting piece 101 can rotate within a certain angle range around the preset axis 601.

[0104] In further embodiments of the present application, referring to FIGS. 6 and 8, the mounting seat 700 is provided with a first abutting protrusion 721 and a second abutting protrusion 722 distributed circumferentially along the preset axis 601, the first abutting protrusion 721 and the second abutting protrusion 722 form a third abutting structure and a fourth abutting structure respectively; the joint connecting piece 101 is provided with a first abutting surface 111 and a second abutting surface 112 distributed circumferentially along the preset axis 601, the first abutting surface 111 and the second abutting surface 112 form a fifth abutting structure and a sixth abutting structure respectively.

[0105] Further, when the driver 600 drives the joint connecting piece 101 to rotate forward around the preset axis 601 by a certain angle, the first abutting surface 111 can abut against the first abutting protrusion 721 to hinder the joint connecting piece 101 from continuing to rotate forward around the preset axis 601, at this time, the joint connecting piece 101 is in the first state; when the driver 600 drives the joint connecting piece 101 to rotate reversely around the preset axis 601 by a certain angle, the second abutting surface 112 can abut against the second abutting protrusion 722 to hinder the joint connecting piece 101 from continuing to rotate reversely around the preset axis 601, at this time, the joint connecting piece 101 is in the second state.

[0106] In order to improve the stability of the connection between the first joint 100 and the connecting arm 300, in some embodiments of the present application, the first joint 100 includes two joint connecting pieces 101, both of which are rotatably arranged on the mounting seat 700 along the preset axis 601, and both of which are connected to the connecting arm 300 through the first threaded connecting piece; the connecting arm 300 is provided with two first abutting structures, the first abutting structure and the second abutting structure are one-to-one corresponding, and the corresponding first abutting structure and the second abutting structure at least abut in the circumferential direction of the preset axis 601.

[0107] For example, as shown in FIGS. 6-8, two joint connectors 101 are distributed along the left-right direction, the joint connector 101 on the left side is a first joint connector 101A, the joint connector 101 on the right side is a second joint connector 101B, the clamping groove 121 on the first joint connector 101A opens to the right, the clamping groove 121 on the second joint connector 101B opens to the left, the connecting arm 300 is provided with two clamping portions 350, the two clamping portions 350 form two second abutting structures respectively, the two clamping portions 350 are distributed along the left-right direction, and the clamping portion 350 on the left side is arranged in the clamping groove 121 of the first joint connector 101A, and the clamping portion 350 on the right side is arranged in the clamping groove 121 of the second joint connector 101B, the third groove wall 121c of the clamping groove 121 on the first joint connector 101A is fixedly connected with the clamping portion 350 on the left side through a first threaded connector, and the third groove wall 121c of the clamping groove 121 on the second joint connector 101B is fixedly connected with the clamping portion 350 on the right side through a first threaded connector.

[0108] It can be understood that, by arranging the first joint connector 101A and the second joint connector 101B, the first joint connector 101A and the second joint connector 101B can be connected with the left and right ends of the connecting arm 300 respectively, thereby improving the stability and firmness of the connection between the first joint 100 and the connecting arm 300.

[0109] In some embodiments of the present application, referring to FIG. 6, the joint connector 101 comprises a hinged segment 110 and a connecting segment 120, the hinged segment 110 is hinged to the mounting seat 700, the third abutting structure and the fourth abutting structure are arranged on the hinged segment 110, the connecting segment 120 is fixedly connected with the connecting arm 300 through a first threaded connector, and the second abutting structure is arranged on the connecting segment 120; the relative distance between the two connecting segments 120 is smaller than the relative distance between the two hinged segments 110.

[0110] It can be understood that, since the relative distance between the two connecting segments 120 is smaller than the relative distance between the two hinged segments 110, and the connecting arm 300 is connected with the two hinged segments 110 through the first threaded connectors respectively, the cross-sectional size of the connecting arm 300 can be made smaller to realize the miniaturization of the connecting arm 300.

[0111] In further embodiments of the present application, the joint connector 101 further comprises a transition segment 130, one end of each of the two transition segments 130 is connected with a connecting segment 120, and the other end of each of the two transition segments 130 is connected with a hinged segment 110.

[0112] For example, as shown in FIG. 6, the transition section 130 is arranged to extend along the left-right direction, and for the first joint connecting piece 101A, the right end of the transition section 130 is connected with the connecting section 120, and the left end of the transition section 130 is connected with the hinged section 110; and for the second joint connecting piece 101B, the right end of the transition section 130 is connected with the hinged section 110, and the left end of the transition section 130 is connected with the connecting section 120.

[0113] It can be understood that, since the two ends of the two transition sections 130 close to each other are respectively connected with a connecting section 120, and the two ends of the two transition sections 130 far away from each other are respectively connected with a hinged section 110, the two joint connecting pieces 101 can be arranged symmetrically, and the connecting arm 300 can be on the symmetric center line of the two joint connecting pieces 101, so that the load on the connecting arm 300 can be more evenly distributed to the two joint connecting pieces 101, so as to improve the service life of the joint connecting piece 101.

[0114] It can be understood that, since the extension direction of the transition section 130 and the extension direction of the connecting section 120 are at a certain angle, the stress borne by the transition section 130 and the connecting section 120 can be concentrated at the junction of the two.

[0115] In some embodiments of the present application, as shown in FIG. 8, the mounting seat 700 includes a bottom plate 710, a first ear plate 720 and a second ear plate 730, the first ear plate 720 and the second ear plate 730 are both arranged on the bottom plate 710 and are distributed along the left-right direction, the driver 600 is arranged between the first ear plate 720 and the second ear plate 730, and the left and right ends of the driver 600 are respectively connected with the first ear plate 720 and the second ear plate 730, the first joint connecting piece 101A is rotatably connected with the first ear plate 720 and is connected with the output end of the driver 600, and the second joint connecting piece 101B is rotatably connected with the second ear plate 730.

[0116] In order to realize the connection between the output end of the driver 600 and the joint connecting piece 101, in some embodiments of the present application, the output end of the driver 600 is fixedly connected with the joint connecting piece 101 through a second threaded connecting piece.

[0117] Further, the output end of the driver 600 can drive the joint connecting piece 101 to rotate around the preset axis 601 through the second threaded connecting piece.

[0118] It should be noted that, if the output end of the driver 600 and the joint connecting piece 101 are only connected through the second threaded connecting piece, at this time, in the process of the output end of the driver 600 driving the joint connecting piece 101 to rotate around the preset axis 601, the second threaded connecting piece needs to bear a large shear force, so that the second threaded connecting piece is prone to breakage, thereby shortening the service life of the second threaded connecting piece.

[0119] In order to prolong the service life of the second threaded connecting piece, in a further embodiment of the present application, referring to FIG. 8 and FIG. 9, the hinged end of the articulated connecting piece 101 is provided with a left-right extending penetrating shaft 113, a plurality of protruding portions 113a are formed on the shaft surface of the penetrating shaft 113, and the output end of the driver 600 is provided with a penetrating hole 610 adapted to the penetrating shaft 113, and the penetrating shaft 113 is penetrated in the penetrating hole 610.

[0120] Further, when the output end of the driver 600 rotates around the preset axis 601, the protruding portions 113a on the penetrating shaft 113 can push the articulated connecting piece 101 to rotate around the preset axis 601, so as to reduce the shear force borne by the second threaded connecting piece, and further prolong the service life of the second threaded connecting piece.

[0121] In order to make the load of the output end of the driver 600 be uniformly transmitted to the articulated connecting piece 101, in a further embodiment of the present application, the penetrating shaft 113 is located on the preset axis 601, and a plurality of second threaded connecting pieces are spaced around the preset axis 601.

[0122] It should be noted that the second threaded connecting piece is a part for realizing threaded connection, such as a bolt, a screw, etc.

[0123] The embodiments of the present application are described in detail above with reference to the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge range of ordinary 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 kind of joint device, including: First joint; Second joint; Connecting arm, the connecting arm connects the first joint and the second joint, one of the first joint and the second joint can be rotated by driving the connecting arm to drive the other; First wire harness, one end of the first wire harness is electrically connected with the first joint, and the other end is provided with first connector; Second wire harness, one end of the second wire harness is electrically connected with the second joint, and the other end is provided with second connector, and the second connector is detachably connected with the first connector; Wherein, one or more of the first joint, the second joint and the connecting arm are provided with mounting portion, and the first connector and / or the second connector are accommodated in the mounting portion.

2. The robot of claim 1, wherein, The first connector and the second connector are accommodated in the mounting portion.

3. The robot of claim 1, wherein, The connecting arm is provided with the mounting portion.

4. The robot of claim 3, wherein, The connecting arm forms a wire channel inside, the wire channel is communicated with the mounting portion, and the first wire harness and the second wire harness are at least partially located in the wire channel.

5. The robot of claim 4, wherein, The connecting arm includes a shell and a structural rod, the structural rod or the shell is provided with the mounting portion, the structural rod connects the first joint and the second joint, the shell is arranged outside the structural rod, and the wire channel is formed between the shell and the structural rod or inside the structural rod.

6. The robot of claim 5, wherein, The structural rod is hollow inside to form the mounting portion, and the wire channel is formed between the outer wall of the structural rod and the inner wall of the shell.

7. The robot of claim 5, wherein, The structural rod includes a rod body, a first connecting portion and a second connecting portion, the rod body is hollow inside to form the mounting portion, the first connecting portion and the second connecting portion are connected to two ends of the rod body respectively, the first connecting portion is connected with the first joint, the first connecting portion is provided with a first threading hole corresponding to the wiring portion of the first joint, one end of the first wire harness is threaded through the first threading hole to be connected with the wiring portion of the first joint, the second connecting portion is connected with the second joint, the second connecting portion is provided with a second threading hole corresponding to the wiring portion of the second joint, one end of the second wire harness is threaded through the second threading hole to be connected with the wiring portion of the second joint, the first connecting portion is formed with a first wire slot, the first wire slot is communicated with the first threading hole, and the first wire harness is threaded through the first wire slot, the first connecting portion is formed with a second wire slot, the second wire slot is communicated with the second threading hole, and the second wire harness is threaded through the first wire slot.

8. The robot of claim 7, wherein, The first connecting portion is provided with a detachable first wire cover corresponding to the first wire slot, and the first wire harness passes between the first wire cover and the slot wall of the first wire slot;The second connecting portion is provided with a detachable second wire cover corresponding to the second wire slot, and the second wire harness passes between the second wire cover and the slot wall of the second wire slot.

9. The robot according to any one of claims 1 to 8, characterized in that, The mounting portion is a mounting cavity or a mounting slot. If the mounting portion is a mounting cavity, the mounting portion accommodates the first connector and the second connector. If the mounting portion is a mounting slot, the mounting slot is in plug-in cooperation with the first connector and the second connector.

10. The robot according to any one of claims 1 to 8, characterized in that, The first wire harness and the second wire harness are at least partially accommodated in the mounting portion.

11. The robot of claim 1, wherein, The connecting arm is provided with a first abutting structure. The first joint comprises a driver and a joint connecting piece. The driver is connected with the joint connecting piece and is used to drive the joint connecting piece to rotate around a preset axis. The joint connecting piece is fixedly connected with the connecting arm through a first threaded connecting piece. The joint connecting piece is provided with a second abutting structure. The second abutting structure and the first abutting structure abut at least in the circumferential direction of the preset axis.

12. The robot of claim 11, wherein, The connecting arm comprises a clamping portion. The clamping portion forms the first abutting structure. The joint connecting piece is provided with a clamping groove. The clamping groove forms the second abutting structure. The clamping groove comprises a first groove wall and a second groove wall which are distributed in the circumferential direction of the preset axis. The clamping portion is arranged in the clamping groove and abuts with the first groove wall and the second groove wall respectively.

13. The robot of claim 12, wherein, The clamping groove further comprises a third groove wall. The opposite ends of the third groove wall are connected with the first groove wall and the second groove wall respectively. The first threaded connecting piece is arranged in the third groove wall and is threadedly connected with the clamping portion.

14. The robot of claim 11, wherein, The first joint further comprises a mounting seat. The driver is arranged on the mounting seat. The joint connecting piece is rotatably arranged on the mounting seat around the preset axis. The mounting seat is provided with a third abutting structure and a fourth abutting structure. The joint connecting piece is provided with a fifth abutting structure and a sixth abutting structure. The third abutting structure can abut with the fifth abutting structure so that the joint connecting piece is in a first state relative to the mounting seat. The fourth abutting structure can abut with the sixth abutting structure so that the joint connecting piece is in a second state relative to the mounting seat.

15. The robot of claim 14, wherein, The mounting seat is provided with a first abutting protrusion and a second abutting protrusion which are distributed in the circumferential direction of the preset axis. The first abutting protrusion and the second abutting protrusion form the third abutting structure and the fourth abutting structure respectively. The joint connecting piece is provided with a first abutting surface and a second abutting surface which are distributed in the circumferential direction of the preset axis. The first abutting surface and the second abutting surface form the fifth abutting structure and the sixth abutting structure respectively.

16. The robot of claim 14, wherein, The first joint comprises two joint connecting pieces. The two joint connecting pieces are rotatably arranged on the mounting seat around the preset axis. The two joint connecting pieces are connected with the connecting arm through the first threaded connecting piece respectively. The connecting arm is provided with two first abutting structures. The first abutting structure and the second abutting structure are arranged one by one and correspondingly. The corresponding first abutting structure and the second abutting structure abut at least in the circumferential direction of the preset axis.

17. The robot of claim 14, wherein, The articulated connecting piece comprises a hinged segment and a connecting segment, the hinged segment is hinged with the mounting seat, the third abutting structure and the fourth abutting structure are both arranged on the hinged segment, the connecting segment is fixedly connected with the connecting arm through the first threaded connecting piece, and the second abutting structure is arranged on the connecting segment; the relative distance between two connecting segments is smaller than the relative distance between two hinged segments.

18. The robot of claim 17, wherein, The articulated connecting piece further comprises a transition segment, one end of each of the two transition segments close to each other is connected with one connecting segment, and one end of each of the two transition segments far from each other is connected with one hinged segment.

19. The robot of claim 11, wherein, The output end of the driver is fixedly connected with the articulated connecting piece through a second threaded connecting piece; the articulated connecting piece is provided with a penetrating shaft, a plurality of convex parts are formed on the shaft surface of the penetrating shaft, the output end of the driver is provided with a penetrating hole matched with the penetrating shaft, and the penetrating shaft is arranged in the penetrating hole.

20. The robot of claim 19, wherein, The penetrating shaft is located on the preset axis, and the second threaded connecting piece is spaced apart around the preset axis.

Images