CN110394828B

CN110394828B - Robot

Info

Publication number: CN110394828B
Application number: CN201910797616.9A
Authority: CN
Inventors: 朱荣佳; 董泽锋; 高小云; 徐晓应; 刘亚纯
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2024-03-08
Anticipated expiration: 2039-08-27
Also published as: CN110394828A

Abstract

The present invention provides a robot, wherein the robot includes: the robot comprises a machine body, a robot body and a control device, wherein an accommodating space is formed in the machine body, and a cable of the robot is arranged in the accommodating space; the protection cover is used for being arranged around a driving piece of the robot, and the driving piece is used for driving the joint of the robot to move; an annular cavity is formed between the side wall of the protective cover and at least part of the side wall of the accommodating space, and at least part of the cable is arranged in the annular cavity; the fixing component is arranged in the accommodating space, and at least part of the fixing component is connected with the outer surface of the cable so as to fix the cable in the accommodating space; the fixing component is provided with a passing space for the cable to pass through, so that the cable is fixed in the passing space, and the problem that the cable of the robot in the prior art is easy to wear is solved.

Description

Robot

Technical Field

The invention relates to the field of mechanical design, in particular to a robot.

Background

Currently, due to the rise of 3C products, more and more small-load robots are appearing on the market.

However, since the robot is small in load, the space structure of the robot body is also small, and thus, the space left for the cable to run is insufficient in the internal space of the robot body, and even if the cable is prevented from being in the robot body, cable wear is likely to occur.

Disclosure of Invention

The invention mainly aims to provide a robot so as to solve the problem that cables of the robot in the prior art are easy to wear.

In order to achieve the above object, the present invention provides a robot including: the robot comprises a machine body, a robot body and a control device, wherein an accommodating space is formed in the machine body, and a cable of the robot is arranged in the accommodating space; the protection cover is used for being arranged around a driving piece of the robot, and the driving piece is used for driving the joint of the robot to move; an annular cavity is formed between the side wall of the protective cover and at least part of the side wall of the accommodating space, and at least part of the cable is arranged in the annular cavity; the fixing component is arranged in the accommodating space, and at least part of the fixing component is connected with the outer surface of the cable so as to fix the cable in the accommodating space; the fixing assembly has a passing space for passing the cable therethrough to fix the cable within the passing space.

Further, the robot has the base, has first accommodation space in the base, and the cable has first branch and second branch, and the first end of first branch and the first end of second branch are connected with aviation plug respectively, and fixed subassembly includes: a first supporting plate fixed on the inner wall of the first accommodating space; and the first pressing plate is at least partially arranged opposite to the first supporting plate at intervals so as to form a first passing space for the first branch line to pass through between the first pressing plate and the first supporting plate.

Further, the fixing assembly further includes: the second pressing plate is arranged at a preset distance from the first pressing plate, and at least part of the second pressing plate is arranged at an interval opposite to the first supporting plate so as to form a second passing space for the second branch line to pass through between the second pressing plate and the first supporting plate.

Further, the organism has first axis body, has the second accommodation space in the first axis body, and a motor element of robot sets up in the second accommodation space, and the cable has first branch line and second branch line, and fixed subassembly includes: the second support plate is at least partially arranged on a joint II of the robot; and the third pressing plate is arranged at least partially opposite to the second supporting plate at intervals, so that a third through space for the first branch line to pass through is formed between the third pressing plate and the second supporting plate, and the first branch line extends to the upper part of the second joint after passing through the third through space.

Further, the fixing assembly further includes: the third supporting plate is at least partially arranged on the second joint, and is arranged opposite to the second supporting plate; and a fourth pressing plate, at least part of which is arranged at an interval opposite to the third supporting plate, so as to form a fourth through space for the second branch line to pass through between the fourth pressing plate and the third supporting plate.

Further, the second support plate includes: the guide plate is provided with a guide groove for a wire; the two second connecting plates are respectively arranged on two sides of the guide plate and connected with the guide plate, so that the third pressing plate is connected with the second supporting plate through the two second connecting plates.

Further, the second support plate further includes: the mounting plate is connected with the mounting platform of the joint II, the mounting plate is connected with the guide plate, a preset included angle is formed between the mounting plate and the guide plate, and the first branch line extends to the upper portion of the joint II after being guided by the guide plate.

Further, the guide plate is connected with the mounting plate through an arc transition surface.

Further, the organism includes the second axis body, has the third accommodation space in the second axis body, and the diaxon motor assembly of robot sets up in the third accommodation space, and fixed subassembly still includes: the fourth supporting plate is at least partially arranged on the connecting end face of the two-shaft motor assembly, and is provided with a first plate body, the first plate body is arranged at the side of the two-shaft motor assembly, and the first plate body extends along the extending direction of the second shaft body; and the fifth pressing plate is connected to the side of the first plate body, and at least part of the fifth pressing plate is arranged at intervals with the first plate body so as to form a fifth passing space for the cable to pass through between the fifth pressing plate and the first plate body.

Further, the fourth backup pad still includes the second plate body, and the top at diaxon motor assembly is set up to the at least part of second plate body, and the second plate body is connected with first plate body, and the cable extends to on the second plate body behind first plate body, and fixed subassembly still includes: and the sixth pressing plate is connected above the second plate body, and at least part of the sixth pressing plate is arranged at intervals with the second plate body so as to form a sixth passing space for the cable to pass through between the sixth pressing plate and the second plate body.

Further, the machine body further comprises a third shaft body, the third shaft body is provided with a fourth accommodating space, the three-shaft motor assembly of the robot is arranged in the fourth accommodating space, and at least part of the cable extends to the upper side of the three-shaft motor assembly from the side of the three-shaft motor assembly.

Further, the machine body further comprises a fourth shaft body, the fourth shaft body is provided with a fifth accommodating space, the fourth accommodating space is communicated with the fifth accommodating space through a threading pipe, and at least part of the cable passes through the threading pipe and then enters the fifth accommodating space.

Further, the machine body further comprises a fifth shaft body and a sixth shaft body, the fifth shaft body is provided with a sixth containing space, the sixth containing space is communicated with the fifth containing space through a through hole, and at least part of the cable penetrates through the through hole and then is connected with the six-shaft motor assembly of the robot.

Further, the fixing assembly further includes: the wire protection sleeve is at least partially arranged in the through hole, a guide end face for guiding the cable is arranged on the wire protection sleeve, a connecting disc is arranged on the wire protection sleeve, and the wire protection sleeve is connected with the machine body through the connecting disc; and the fixed support is connected with the connecting disc, and at least part of the fixed support is spaced from the connecting disc to form a seventh passing space for passing the cable between the connecting disc and the fixed support.

Further, be provided with the mounting hole on the connection pad, the fixed bolster includes: the third connecting plate is arranged at an interval relative to the connecting disc; the connecting columns are two, the two connecting columns are connected through a third connecting plate, and connecting holes are formed in the connecting columns, so that the fixing support and the connecting disc are connected through at least part of the connecting piece penetrating through the connecting holes and the mounting holes in sequence.

Further, the accommodation space includes: first accommodation space, second accommodation space, third accommodation space, fourth accommodation space and fifth accommodation space, first accommodation space, second accommodation space, third accommodation space, fourth accommodation space and fifth accommodation space all communicate, a motor element of robot sets up in the second accommodation space, a motor element of robot sets up in the third accommodation space, a motor element of robot sets up in the fourth accommodation space, wherein, the cable divide into first branch line and second branch line in by the base of robot, first branch line and second branch line are arranged respectively in the both sides of joint two, and extend towards third accommodation space, the pooling becomes one strand cable in the third accommodation space, one strand cable sets up in the side of motor element of second, and pass fourth accommodation space and fifth accommodation space in proper order, in order to be connected with the six motor element of robot.

Further, the fixed subassembly is a plurality of, and a plurality of fixed subassemblies set up respectively in first accommodation space, second accommodation space, third accommodation space, fourth accommodation space and fifth accommodation space to be used for fixed cable.

According to the technical scheme, the robot comprises a machine body, a protective cover and a fixed component, wherein an accommodating space is formed in the machine body, a cable of the robot is arranged in the accommodating space, the protective cover is arranged around a driving piece of the robot, and the driving piece is used for driving a joint of the robot to move; an annular cavity is formed between the side wall of the protective cover and at least part of the side wall of the accommodating space, at least part of the cable is arranged in the annular cavity, the fixing component is arranged in the accommodating space, and at least part of the fixing component is connected with the outer surface of the cable so as to fix the cable in the accommodating space; the fixed subassembly has the space of passing through that is used for supplying the cable to fix the cable in passing through the space, set up like this and improved the outward appearance effect of robot greatly, and do not influence the characteristic of cable, wherein, the surface of cable can adopt grease lubrication, can avoid the cable that little space brought to damage the problem easily.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a first view of a robot according to the present invention;

fig. 2 shows a schematic structural view of an embodiment of a second view of a robot according to the present invention;

FIG. 3 shows a schematic structural view of an embodiment of a base according to the present invention;

FIG. 4 shows a second schematic structural view of an embodiment of a base according to the present invention;

fig. 5 shows a schematic structural view of an embodiment of a fifth shaft body according to the present invention;

FIG. 6 shows a second schematic structural view of an embodiment of a fifth shaft according to the present invention;

fig. 7 shows a schematic structural view of an embodiment of a second support plate according to the present invention;

FIG. 8 shows a schematic structural view of an embodiment of a fourth platen according to the present invention;

fig. 9 shows a schematic structural view of an embodiment of a grommet according to the present invention;

fig. 10 shows a schematic structural view of an embodiment of a fixing bracket according to the present invention;

fig. 11 shows a schematic structural view of an embodiment of a protective cover according to the present invention.

Wherein the above figures include the following reference numerals:

1. a body; 10. an accommodation space; 101. an annular cavity; 2. a cable; 3. a fixing assembly; 4. a base; 40. a first accommodation space; 21. a first branch line; 22. a second branch line; 31. a first support plate; 32. a first platen; 320. a first connection plate; 321. a transition plate; 33. a second pressing plate; 11. a first shaft body; 110. a second accommodation space; 34. a second support plate; 35. a third platen; 36. a third support plate; 37. a fourth pressing plate; 340. a guide plate; 3401. a guide groove; 341. a second connecting plate; 342. a mounting plate; 12. a second shaft body; 120. a third accommodation space; 38. a fourth support plate; 370. a first plate body; 39. a fifth pressing plate; 371. a second plate body; 8. a sixth pressing plate; 13. a third shaft body; 130. a fourth accommodation space; 14. a fourth shaft body; 140. a fifth accommodation space; 15. a fifth shaft body; 150. a sixth accommodation space; 16. a sixth shaft body; 6. a wire protecting sleeve; 61. a connecting disc; 7. a fixed bracket; 610. a mounting hole; 71. a third connecting plate; 72. a connecting column; 720. a connection hole; 9. a threading tube; 17. a protective cover; 170. an opening.

Detailed Description

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

The present invention provides a robot, please refer to fig. 1 to 11, comprising: the robot comprises a machine body 1, wherein an accommodating space 10 is formed in the machine body 1, and a cable 2 of the robot is arranged in the accommodating space 10; the protection cover 17 is arranged around a driving piece of the robot, and the driving piece is used for driving the joint of the robot to move; an annular cavity 101 is formed between the side wall of the protective cover 17 and at least part of the side wall of the accommodating space 10, and at least part of the cable 2 is arranged in the annular cavity 101; a fixing member 3, the fixing member 3 being disposed in the accommodating space 10, at least a portion of the fixing member 3 being connected with an outer surface of the cable 2 to fix the cable 2 in the accommodating space 10; the fixing assembly 3 has a passing space for passing the cable 2 therethrough to fix the cable 2 within the passing space.

The robot provided by the invention comprises a machine body 1, a protective cover 17 and a fixing component 3, wherein an accommodating space 10 is formed in the machine body 1, a cable 2 of the robot is arranged in the accommodating space 10, the protective cover 17 is used for being arranged around a driving piece of the robot, and the driving piece is used for driving an articulation of the robot; an annular cavity 101 is formed between the side wall of the protective cover 17 and at least part of the side wall of the accommodating space 10, at least part of the cable 2 is arranged in the annular cavity 101, the fixing component 3 is arranged in the accommodating space 10, and at least part of the fixing component 3 is connected with the outer surface of the cable 2 so as to fix the cable 2 in the accommodating space 10; the fixed subassembly 3 has the space of passing that is used for supplying cable 2 to fix cable 2 in passing the space, set up like this and improved the outward appearance effect of robot greatly, and do not influence the characteristic of cable, wherein, the surface of cable can adopt grease lubrication, can avoid the problem that the cable that little space brought is damaged easily.

Preferably, the shield 17 is provided with an opening 170, the opening 170 communicates with the receiving space 10, and the wires of the driving member are connected to the cable 2 through the opening 170.

In a specific implementation, the robot has a base 4, a first accommodating space 40 is provided in the base 4, the cable 2 has a first branch line 21 and a second branch line 22, a first end of the first branch line 21 and a first end of the second branch line 22 are respectively connected with an aviation plug, and the fixing assembly 3 includes: a first support plate 31, the first support plate 31 being fixed on an inner wall of the first accommodation space 40; the first pressing plate 32, at least a portion of the first pressing plate 32 is disposed opposite to the first supporting plate 31 at a spacing to constitute a first passing space for passing the first branch line 21 between the first pressing plate 32 and the first supporting plate 31. To secure the first leg 21 in the first pass-through space.

Specifically, the first platen 32 includes: the first connection plate 320, the first connection plate 320 is connected with the first support plate 31, and the number of the first connection plates 320 is two; the transition plate 321, the transition plate 321 is disposed between the two first connection plates 320, and the first passing space is disposed between the transition plate 321 and the first support plate 31. Preferably, the transition plate 321 is an arcuate plate.

The fixing assembly 3 further includes: the second presser plate 33, the second presser plate 33 and the first presser plate 32 have a predetermined distance therebetween, and at least a portion of the second presser plate 33 is disposed at an opposite interval from the first support plate 31 to constitute a second passage space between the second presser plate 33 and the first support plate 31 for the second branch line 22 to pass through. Wherein the second pressure plate 33 is identical to the first pressure plate 32 in structure.

In the embodiment provided by the invention, the machine body 1 is provided with a first shaft body 11, the first shaft body 11 is provided with a second accommodating space 110, a shaft motor assembly of the robot is arranged in the second accommodating space 110, the cable 2 is provided with a first branch line 21 and a second branch line 22, and the fixing assembly 3 comprises: a second support plate 34, at least part of the second support plate 34 being disposed on a second joint of the robot; the third pressing plate 35, at least a part of the third pressing plate 35 is arranged opposite to the second supporting plate 34 at intervals, so that a third through space for the first branch line 21 to pass through is formed between the third pressing plate 35 and the second supporting plate 34, and the first branch line 21 extends to the upper part of the joint II of the robot after passing through the third through space. The cable can be arranged according to the installation position of the one-axis motor assembly, so that the cable has allowance along with the rotation of the one-axis motor assembly when the one-axis motor assembly works, and the cable is prevented from being pulled.

Specifically, the fixing assembly 3 further includes: the third support plate 36, at least part of the third support plate 36 is arranged on the second joint of the robot, and the third support plate 36 is arranged opposite to the second support plate 34; a fourth pressure plate 37, at least a portion of the fourth pressure plate 37 being disposed in spaced opposition to the third support plate 36 to form a fourth passage space between the fourth pressure plate 37 and the third support plate 36 for the second branch 22 to pass through.

To facilitate the arrangement of the cables 2, the second support plate 34 comprises: a guide plate 340, the guide plate 340 having a guide groove 3401 for a wire; the second connection plates 341 are provided in two, and the two second connection plates 341 are respectively disposed at both sides of the guide plate 340 and connected with the guide plate 340 such that the third pressing plate 35 is connected with the second support plate 34 through the two second connection plates 341.

To facilitate the installation of the guide plate 340, the second support plate 34 further includes: the mounting plate 342, the mounting plate 342 is connected with the mounting platform of joint two of robot, and mounting plate 342 is connected with deflector 340, has predetermined contained angle between mounting plate 342 and the deflector 340 to extend to the top of joint two of robot after making first branch line 21 pass through the deflector 340 direction.

To avoid sharp edges from cutting the cable, the guide plate 340 is connected to the mounting plate 342 by an arcuate transition surface.

In the embodiment provided by the invention, the machine body 1 comprises a second shaft body 12, a third accommodating space 120 is formed in the second shaft body 12, a two-shaft motor assembly of the robot is arranged in the third accommodating space 120, and the fixing assembly 3 further comprises: the fourth support plate 38, at least part of the fourth support plate 38 is mounted on the connecting end surface of the two-shaft motor assembly, the fourth support plate 38 has a first plate body 370, the first plate body 370 is arranged at the side of the two-shaft motor assembly, and the first plate body 370 extends along the extending direction of the second shaft body 12; the fifth pressing plate 39, the fifth pressing plate 39 is connected at the side of the first plate body 370, and at least part of the fifth pressing plate 39 is arranged at a distance from the first plate body 370, so that a fifth passing space for passing the cable is formed between the fifth pressing plate 39 and the first plate body 370.

Preferably, the fourth supporting plate 38 further includes a second plate 371, at least part of the second plate 371 is disposed above the two-axis motor assembly, the second plate 371 is connected with the first plate 370, the cable 2 extends onto the second plate 371 after passing through the first plate 370, and the fixing assembly 3 further includes: and a sixth pressing plate 8, the sixth pressing plate 8 being connected above the second plate 371, at least a portion of the sixth pressing plate 8 being disposed at a distance from the second plate 371 to form a sixth passing space for passing the cable 2 between the sixth pressing plate 8 and the second plate 371.

In the embodiment provided by the invention, the machine body 1 further comprises a third shaft body 13, the third shaft body 13 is provided with a fourth accommodating space 130, the three-shaft motor assembly of the robot is arranged in the fourth accommodating space 130, and at least part of the cable 2 extends to the upper part of the three-shaft motor assembly from the side of the three-shaft motor assembly.

In a specific implementation process, the machine body 1 further includes a fourth shaft body 14, the fourth shaft body 14 has a fifth accommodating space 140, the fourth accommodating space 130 is communicated with the fifth accommodating space 140 through the threading pipe 9, and at least part of the cable 2 passes through the threading pipe 9 and then enters the fifth accommodating space 140. To limit and protect the cable through the threading pipe 9.

Specifically, the machine body 1 further includes a fifth shaft body 15 and a sixth shaft body 16, the fifth shaft body 15 has a sixth receiving space 150, the sixth receiving space 150 and the fifth receiving space 140 are communicated through a through hole, and at least part of the cable passes through the through hole and is connected to a six-axis motor assembly of the robot.

Preferably, the fixing assembly 3 further comprises: the wire protection sleeve 6, at least part of the wire protection sleeve 6 is arranged in the through hole, the wire protection sleeve 6 is provided with a guide end face for guiding the wire, the wire protection sleeve 6 is provided with a connecting disc 61, and the wire protection sleeve 6 is connected with the machine body 1 through the connecting disc 61; and a fixing bracket 7, the fixing bracket 7 being connected to the land 61 with a space between at least a portion of the fixing bracket 7 and the land 61 to form a seventh passing space for passing the cable between the land 61 and the fixing bracket 7.

In order to facilitate the installation of the grommet 6, the connection pad 61 is provided with a mounting hole 610, and the fixing bracket 7 includes: a third connection plate 71, the third connection plate 71 being disposed at an opposite interval to the connection plate 61; the connection posts 72 are provided, and the connection posts 72 are connected by the third connection plate 71, and the connection posts 72 are provided with connection holes 720 so as to connect the fixing bracket 7 with the connection plate 61 by allowing at least part of the connection member to pass through the connection holes 720 and the mounting holes 610 in sequence. Wherein the plurality of mounting holes 610 are provided, the plurality of mounting holes 610 are arranged at intervals along the circumferential direction of the connection plate 61, such that the connection post 72 and any adjacent two of the mounting holes 610 are mutually engaged to form a seventh through space.

In the embodiment provided by the present invention, the accommodation space 10 includes: the first accommodation space 40, the second accommodation space 110, the third accommodation space 120, the fourth accommodation space 130 and the fifth accommodation space 140, the first accommodation space 40, the second accommodation space 110, the third accommodation space 120, the fourth accommodation space 130 and the fifth accommodation space 140 are all communicated, a spindle motor assembly of the robot is arranged in the second accommodation space 110, a spindle motor assembly of the robot is arranged in the third accommodation space 120, a spindle motor assembly of the robot is arranged in the fourth accommodation space 130, wherein the cable 2 is divided into a first branch line 21 and a second branch line 22 in a base of the robot, the first branch line 21 and the second branch line 22 are respectively arranged on two sides of a joint two of the robot and extend towards the third accommodation space 120, a stranded wire is assembled in the third accommodation space 120, and the stranded wire is arranged on the side of the spindle motor assembly and sequentially penetrates through the fourth accommodation space 130 and the fifth accommodation space 140 to be connected with a six-axis motor assembly of the robot.

In the embodiment, the fixing assemblies 3 are plural, and the plural fixing assemblies 3 are respectively disposed in the first accommodating space 40, the second accommodating space 110, the third accommodating space 120, the fourth accommodating space 130 and the fifth accommodating space 140 for fixing the cable 2. It should be noted that at least one fixing assembly 3 may be disposed in each accommodation space for fixing the cable.

From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, comprising:

the robot comprises a machine body (1), wherein an accommodating space (10) is formed in the machine body (1), and a cable (2) of the robot is arranged in the accommodating space (10);

-a shield (17), the shield (17) being arranged for surrounding a drive of the robot, the drive being arranged for driving an articulation of the robot; an annular cavity (101) is formed between the side wall of the protective cover (17) and at least part of the side wall of the accommodating space (10), and at least part of the cable (2) is arranged in the annular cavity (101);

-a fixing assembly (3), the fixing assembly (3) being arranged in the accommodation space (10), at least part of the fixing assembly (3) being connected with the outer surface of the cable (2) for fixing the cable (2) in the accommodation space (10);

the fixing assembly (3) is provided with a passing space for the cable (2) to pass through so as to fix the cable (2) in the passing space;

the robot has base (4), have first accommodation space (40) in base (4), cable (2) have first branch (21) and second branch (22), first end of first branch (21) with the first end of second branch (22) is connected with aviation plug respectively, fixed subassembly (3) include:

a first support plate (31), the first support plate (31) being fixed on an inner wall of the first accommodation space (40);

a first presser plate (32), at least a part of the first presser plate (32) being disposed at an opposing interval from the first support plate (31) so as to constitute a first passage space for the first branch line (21) to pass through between the first presser plate (32) and the first support plate (31);

the machine body (1) is provided with a first shaft body (11), a second accommodating space (110) is formed in the first shaft body (11), a shaft motor assembly of the robot is arranged in the second accommodating space (110), and the fixing assembly (3) comprises:

a second support plate (34), at least part of the second support plate (34) being arranged on a second joint of the robot;

a third pressing plate (35), at least part of the third pressing plate (35) is arranged at an opposite interval with the second supporting plate (34) so as to form a third through space between the third pressing plate (35) and the second supporting plate (34) for the first branch line (21) to pass through, and the first branch line (21) extends to the upper part of the second joint after passing through the third through space;

organism (1) includes second axis body (12), have third accommodation space (120) in second axis body (12), the diaxon motor assembly of robot sets up in third accommodation space (120), fixed subassembly (3) still include:

a fourth support plate (38), at least part of the fourth support plate (38) is mounted on the connecting end surface of the two-shaft motor assembly, the fourth support plate (38) is provided with a first plate body (370), the first plate body (370) is arranged at the side of the two-shaft motor assembly, and the first plate body (370) extends along the extending direction of the second shaft body (12);

a fifth pressing plate (39), wherein the fifth pressing plate (39) is connected to the side of the first plate body (370), and at least part of the fifth pressing plate (39) is arranged at a distance from the first plate body (370) so as to form a fifth passing space for passing a cable between the fifth pressing plate (39) and the first plate body (370);

the machine body (1) further comprises a third shaft body (13), the third shaft body (13) is provided with a fourth accommodating space (130), a three-shaft motor assembly of the robot is arranged in the fourth accommodating space (130), and at least part of the cable (2) extends to the upper side of the three-shaft motor assembly from the side of the three-shaft motor assembly;

the machine body (1) further comprises a fourth shaft body (14), the fourth shaft body (14) is provided with a fifth accommodating space (140), the fourth accommodating space (130) is communicated with the fifth accommodating space (140) through a threading pipe (9), and at least part of the cable (2) passes through the threading pipe (9) and then enters the fifth accommodating space (140);

the machine body (1) further comprises a fifth shaft body (15) and a sixth shaft body (16), the fifth shaft body (15) is provided with a sixth containing space (150), the sixth containing space (150) and the fifth containing space (140) are communicated through a through hole, and at least part of the cable is connected with the six-shaft motor assembly of the robot after passing through the through hole.

2. The robot according to claim 1, wherein the stationary assembly (3) further comprises:

and a second pressing plate (33), wherein a preset distance is reserved between the second pressing plate (33) and the first pressing plate (32), and at least part of the second pressing plate (33) is arranged opposite to the first supporting plate (31) at intervals so as to form a second passing space for the second branch line (22) to pass through between the second pressing plate (33) and the first supporting plate (31).

3. The robot according to claim 1, wherein the stationary assembly (3) further comprises:

a third support plate (36), at least part of the third support plate (36) being arranged on the second joint, the third support plate (36) being arranged opposite to the second support plate (34);

and a fourth pressing plate (37), at least part of the fourth pressing plate (37) is arranged at an opposite interval with the third supporting plate (36) so as to form a fourth passing space for the second branch line (22) to pass through between the fourth pressing plate (37) and the third supporting plate (36).

4. A robot according to claim 3, characterized in that the second support plate (34) comprises:

a guide plate (340), the guide plate (340) having a guide groove (3401) for a wire thereon;

the two second connecting plates (341) are respectively arranged at two sides of the guide plate (340) and connected with the guide plate (340), so that the third pressing plate (35) is connected with the second supporting plate (34) through the two second connecting plates (341).

5. The robot of claim 4, wherein the second support plate (34) further comprises:

the mounting plate (342), mounting plate (342) with joint second's mounting platform is connected, mounting plate (342) with deflector (340) are connected, mounting plate (342) with predetermined contained angle has between deflector (340), so that first branch line (21) pass through after the deflector (340) direction extends to joint second's top.

6. The robot of claim 4, wherein the guide plate (340) is coupled to the mounting plate (342) by an arcuate transition surface.

7. The robot of claim 1, wherein the fourth support plate (38) further comprises a second plate (371), at least part of the second plate (371) is disposed above the two-axis motor assembly, the second plate (371) is connected with the first plate (370), the cable (2) extends to the second plate (371) after passing through the first plate (370), and the fixing assembly (3) further comprises:

and a sixth pressing plate (8), wherein the sixth pressing plate (8) is connected above the second plate body (371), and at least part of the sixth pressing plate (8) is arranged at intervals with the second plate body (371) so as to form a sixth passing space for the cable (2) to pass through between the sixth pressing plate (8) and the second plate body (371).

8. The robot according to claim 1, wherein the stationary assembly (3) further comprises:

the wire protection sleeve (6), at least part of the wire protection sleeve (6) is arranged in the through hole, a guide end face for guiding the cable is arranged on the wire protection sleeve (6), a connecting disc (61) is arranged on the wire protection sleeve (6), and the wire protection sleeve (6) is connected with the machine body (1) through the connecting disc (61);

-a fixing bracket (7), the fixing bracket (7) being connected to the land (61), at least part of the fixing bracket (7) being spaced from the land (61) to form a seventh passage space between the land (61) and the fixing bracket (7) for the cable to pass through.

9. The robot according to claim 8, wherein the connection disc (61) is provided with a mounting hole (610), and the fixing bracket (7) comprises:

a third connection plate (71), wherein the third connection plate (71) is arranged at an interval relative to the connection disc (61);

the connecting columns (72), two connecting columns (72) are connected through the third connecting plate (71), and connecting holes (720) are formed in the connecting columns (72), so that at least part of connecting pieces sequentially penetrate through the connecting holes (720) and the mounting holes (610) to connect the fixing support (7) with the connecting disc (61).

10. The robot according to claim 1, wherein the accommodation space (10) comprises:

the first accommodating space (40), the second accommodating space (110), the third accommodating space (120), the fourth accommodating space (130) and the fifth accommodating space (140), wherein the first accommodating space (40), the second accommodating space (110), the third accommodating space (120), the fourth accommodating space (130) and the fifth accommodating space (140) are all communicated, a one-axis motor assembly of the robot is arranged in the second accommodating space (110), a two-axis motor assembly of the robot is arranged in the third accommodating space (120), a three-axis motor assembly of the robot is arranged in the fourth accommodating space (130), wherein,

the cable (2) is divided into a first branch line (21) and a second branch line (22) in the base of the robot, the first branch line (21) and the second branch line (22) are respectively arranged on two sides of a joint II of the robot and extend towards the third accommodating space (120), one strand of cable is collected into the third accommodating space (120), is arranged on the side of the two-axis motor assembly and sequentially passes through the fourth accommodating space (130) and the fifth accommodating space (140) to be connected with the six-axis motor assembly of the robot.

11. The robot according to claim 10, wherein the fixing members (3) are provided in plurality, and the plurality of fixing members (3) are provided in the first accommodating space (40), the second accommodating space (110), the third accommodating space (120), the fourth accommodating space (130), and the fifth accommodating space (140), respectively, for fixing the cable (2).