CN214490645U - Robot joint structure and robot - Google Patents
Robot joint structure and robot Download PDFInfo
- Publication number
- CN214490645U CN214490645U CN202120251266.9U CN202120251266U CN214490645U CN 214490645 U CN214490645 U CN 214490645U CN 202120251266 U CN202120251266 U CN 202120251266U CN 214490645 U CN214490645 U CN 214490645U
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- boss
- joint structure
- wire outlet
- circuit board
- robot joint
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- Insertion, Bundling And Securing Of Wires For Electric Apparatuses (AREA)
Abstract
The utility model provides a robot joint structure, robot joint structure includes casing and circuit board, the concave wire groove that is equipped with on the outside portion of casing and seting up in the wire hole of wire groove tank bottom, the circuit board is located in the casing, just be provided with the boss on the circuit board, the boss passes the wire hole extends to wire groove department. In other words, in the technical scheme provided by the present invention, the circuit board is provided with the boss, so that the boss passes through the wire hole and is exposed to the outer side portion of the housing, so that the cable is conveniently inserted into the boss, thereby improving the assembly efficiency; and through setting up the cable on the boss in the casing outside to realize cable and optical encoder's isolation, and then prevent to cause the interference to optical encoder, reach the effect of protection optical encoder.
Description
Technical Field
The utility model relates to a robot field, in particular to robot joint structure and robot.
Background
At present, robot electrical system adopts the cable to carry out electrical connection with each joint of robot, directly inserts through the cable and connects on each articular circuit board of robot promptly, however, when carrying out electrical connection, need dismantle the back lid of robot and just can peg graft the cable, be not convenient for wiring and assembly efficiency are low, and the cable directly pegs graft the circuit board, the condition that causes the interference to the encoder on the circuit board probably appears.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot joint structure and robot, when aiming at solving robot joint structure and carrying out electrical connection, need dismantle the back lid of robot and just can peg graft the cable, be not convenient for wiring and assembly efficiency low and lead to the fact the problem of interference to the encoder on the circuit board.
In order to achieve the above object, the utility model provides a robot joint structure, robot joint structure includes:
the shell is provided with a wire outlet groove and a wire outlet hole formed at the bottom of the wire outlet groove in a concave mode on the outer side portion of the shell;
the circuit board is arranged in the shell, a boss is arranged on the circuit board, and the boss penetrates through the wire outlet hole and extends to the wire outlet groove.
In an optional embodiment, the robot joint structure further comprises:
the plugging piece is arranged in the wire outlet hole and is abutted against the boss.
In an optional embodiment, the robot joint structure further comprises:
the limiting piece is connected to the outer periphery of the plugging piece, so that when the plugging piece is installed in the wire outlet hole, the limiting piece abuts against the inner side wall of the shell.
In an alternative embodiment, the retaining member is attached to the outer periphery of the block piece along the length of the block piece.
In an optional embodiment, the position-limiting member is disposed in an arc shape.
In an optional embodiment, the housing has a receiving cavity communicated with the outlet groove, and the circuit board is disposed in the receiving cavity.
In an optional embodiment, the robot joint structure further comprises:
and the rear cover is covered on the shell to seal the accommodating cavity.
In an optional embodiment, the robot joint structure further comprises:
and the power terminal is positioned in the wire outlet groove and connected to the boss so as to be connected with a power cable arranged in the wire outlet groove.
In an optional embodiment, the robot joint structure further comprises:
and the signal terminal is positioned in the wire outlet groove and connected to the boss so as to be connected with a signal cable arranged in the wire outlet groove.
In order to achieve the above object, the present invention further provides a robot, which includes the robot joint structure as described above.
The utility model provides a robot joint structure and robot, robot joint structure includes casing and circuit board, the concave wire groove that is equipped with on the outside portion of casing and seting up in the wire hole of wire groove tank bottom, the circuit board is located in the casing, just be provided with the boss on the circuit board, the boss passes the wire hole extends to wire groove department. In other words, in the technical scheme provided by the present invention, the circuit board is provided with the boss, so that the boss passes through the wire hole and is exposed to the outer side portion of the housing, so that the cable is conveniently inserted into the boss, thereby improving the assembly efficiency; and through setting up the cable on the boss in the casing outside to realize cable and optical encoder's isolation, and then prevent to cause the interference to optical encoder, reach the effect of protection optical encoder.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or examples of the present invention, the drawings used in the embodiments or examples will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of a partially exploded structure of a robot joint structure according to an embodiment of the present invention;
fig. 2 is a schematic view illustrating an assembly of the housing and the circuit board according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a housing according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a plugging member according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
The utility model provides a robot joint structure.
In an embodiment, as shown in fig. 1 to 2, the robot joint structure includes a housing 1 and a circuit board 2, a wire outlet groove 11 and a wire outlet hole 12 opened at a bottom of the wire outlet groove 11 are concavely formed on an outer side portion of the housing 1, the circuit board 2 is disposed in the housing 1, and a boss 21 is disposed on the circuit board 2, and the boss 21 penetrates through the wire outlet hole 12 and extends to the wire outlet groove 11. In other words, in the technical solution provided by the present invention, the circuit board 1 is provided with the boss 21, so that the boss 21 passes through the wire hole 12 and is exposed to the outer side of the housing 1, so as to facilitate the insertion of the cable on the boss 21, thereby improving the assembly efficiency; and through setting up the cable on the boss 21 in the casing 1 outside to realize cable and optical encoder's isolation, and then prevent to cause the interference to optical encoder, reach the effect of protection optical encoder.
Further, the shell 1 is a joint housing of the joint structure of the robot, and is configured to be a hollow cylindrical structure, or is configured to be a hollow other structure, which is not limited in this embodiment.
Namely, the housing 2 has a receiving cavity 13 (as shown in fig. 3) communicating with the outlet groove 11, the circuit board 2 is disposed in the receiving cavity 13, and the size of the circuit board 2 is smaller than that of the receiving cavity 13, so as to facilitate the mounting and dismounting of the circuit board 2.
Further, in order to prevent foreign matters such as dust and oil stains from falling onto the circuit board 2 from the accommodating cavity 13, and thus causing performance degradation or failure of the optical encoder arranged on the circuit board 2, in this embodiment the robot joint structure further includes a rear cover (not shown), and the rear cover is covered on the housing 1 to block the accommodating cavity 13, so as to protect the circuit board 2 and components arranged on the circuit board 2.
Further, because the boss 21 disposed on the circuit board 2 passes through the wire outlet hole 12 and extends into the wire outlet groove 11, that is, to achieve connection between the cable and the circuit board 2, in this embodiment, as shown in fig. 2, the robot joint structure further includes a power terminal 3 and a signal terminal 4, the power terminal 3 is located on the wire outlet groove 11 and connected to the boss 21 to connect to the power cable disposed in the wire outlet groove 11, that is, the power cable is used for connecting an external device to supply power to the circuit board 2, so that the circuit board 2 normally operates; the signal terminal 4 is located in the wire outlet groove 11 and connected to the boss 21 to connect a signal cable arranged in the wire outlet groove 11, that is, the signal cable is used for connecting an external control device to receive a control instruction of the external control device and transmit the control instruction to the circuit board 2 to control the joint structure to perform a corresponding action.
Of course, in this embodiment, the outer side of the housing 1 may be connected to other joint parts of the robot, and the cables may be simply plugged into the corresponding terminals connected to the bosses 21, so as to assemble the joint parts of the robot.
Furthermore, the outlet groove 11 is concavely disposed at an outer side portion of the housing 1, that is, a groove bottom wall of the outlet groove 11 is located in the accommodating cavity 13, so that the outlet groove 11 protrudes from an inner side wall of the accommodating cavity 13. Of course, in other embodiments, the outlet groove 11 may also be an outer side wall of the housing 1 as a groove bottom wall, that is, a groove wall of the outlet groove 11 is a structure protruding from an outer side wall of the housing 1, and is not limited herein.
It should be understood that the outlet hole 12 is a through hole opened in the bottom wall of the outlet groove 11, that is, the outlet hole 12 penetrates through a part of the bottom wall of the outlet groove 11, and does not need to penetrate through the entire bottom wall of the outlet groove 11, and the size of the outlet hole 12 may be set according to practical requirements, and is not limited in this embodiment.
Further, since the thickness of the boss 21 is much smaller than the width of the wire outlet hole 12, that is, after the boss 21 passes through the wire outlet hole 12, a gap exists between the boss 12 and the upper hole wall or the lower hole wall of the wire outlet hole 12, at this time, in order to prevent foreign matters such as dust, oil stains and the like from invading the circuit board 2 from the gap, performance of the optical encoder arranged on the circuit board 2 is reduced or fails. Referring to fig. 1 and 4, in this embodiment, the robot joint structure further includes a plugging member 5, the plugging member 5 is installed in the wire outlet 12, and the plugging member 5 abuts against the boss 21, so as to plug the gap, and isolate the terminal connected to the boss 21 from the component arranged on the circuit board 21, thereby improving the safety performance.
Specifically, when there is a gap between the boss 21 and the upper hole wall of the outlet hole 12, one end of the boss 21 abuts against the lower hole wall of the outlet hole 12, and the other end of the boss 21 abuts against the lower part of the block piece 5; when a gap exists between the boss 21 and the lower hole wall of the wire outlet hole 12, one end of the boss 21 abuts against the upper hole wall of the wire outlet hole 12, and the other end of the boss 21 abuts against the upper part of the plugging piece 5. Here, "upper" and "lower" are only for convenience of describing the relative positions of the boss 21 and the wire outlet hole 12, and are not limitations of the embodiment of the present invention.
Further, the robot joint structure further includes a limiting member 6, and the limiting member 6 is connected to the outer periphery of the blocking member 5, so that when the blocking member 5 is installed in the wire outlet 12, the limiting member 6 abuts against the inner side wall of the housing 1. That is, the limiting member 6 is used to limit the blocking position of the blocking member 5, for example, during the process of inserting the blocking member 5 into the outlet hole 12 from the accommodating cavity 13, the limiting member 6 abuts against the inner side wall of the housing 1, so as to prevent the blocking member 5 from directly passing through the outlet hole 12.
Further, the limiting member 6 is connected to the outer periphery of the plugging member 5 along the length direction of the plugging member 5, that is, the limiting member 6 is a convex edge structure protruding in the length direction of the plugging member 5, so as to limit the plugging member 5.
Optionally, the size of the closure 5 is smaller than the size of the outlet hole 12 to facilitate handling of the closure 5. At this time, the shape of the limiting member 6 in this embodiment is adapted to the shape of the inner sidewall of the housing 1, so that when the limiting member 6 abuts against the inner sidewall of the housing 1, the gap between the blocking member 5 and the hole wall of the outlet hole 12 can be blocked by the limiting member 6, thereby further improving the blocking effect.
Optionally, since the housing 1 has a cylindrical structure, the limiting member 6 is disposed in an arc shape.
Further, the blocking piece 5 and the limiting piece 6 are an integral structure, that is, the limiting piece 6 is integrally formed on the outer periphery of the blocking piece 5; or, the blocking element 5 and the limiting element 6 are separate structures, that is, the limiting element 6 is connected to the outer periphery of the blocking element 5, wherein the limiting element 6 and the blocking element 5 may be connected by a viscous element, such as a super glue, which is not limited in this embodiment.
That is, in the technical solution provided by the present invention, the robot joint structure includes a housing 1 and a circuit board 2, a wire slot 11 and a wire hole 12 opened at the bottom of the wire slot 11 are concavely provided on the outer side portion of the housing 1, the circuit board 2 is provided in the housing 1, and a boss 21 is provided on the circuit board 2, the boss 21 passes through the wire hole 12 and extends to the wire slot 11, so that the boss 21 is provided on the circuit board 1, so that the boss 21 passes through the wire hole 12 and is exposed out of the outer side portion of the housing 1, so as to facilitate the insertion of a cable on the boss 21, thereby improving the assembly efficiency; and through setting up the cable on the boss 21 in the casing 1 outside to realize cable and optical encoder's isolation, and then prevent to cause the interference to optical encoder, reach the effect of protection optical encoder.
Based on the above embodiment, the utility model also provides a robot.
Wherein, the robot comprises the robot joint structure described in the above embodiments.
Since the robot in this embodiment includes the robot joint structure described in the above embodiment, that is, the robot in this embodiment includes all technical features and technical effects of the robot joint structure described in the above embodiment, specific reference is made to the description of the above embodiment, and details are not repeated here.
The above is only the optional embodiment of the present invention, and not therefore the limit to the patent scope of the present invention, all the concepts of the present invention utilize the equivalent transformation made by the contents of the specification and the drawings, or the direct/indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. A robot joint structure, characterized by comprising:
the shell is provided with a wire outlet groove and a wire outlet hole formed at the bottom of the wire outlet groove in a concave mode on the outer side portion of the shell;
the circuit board is arranged in the shell, a boss is arranged on the circuit board, and the boss penetrates through the wire outlet hole and extends to the wire outlet groove.
2. The robot joint structure according to claim 1, further comprising:
the plugging piece is arranged in the wire outlet hole and is abutted against the boss.
3. The robot joint structure according to claim 2, further comprising:
the limiting piece is connected to the outer periphery of the plugging piece, so that when the plugging piece is installed in the wire outlet hole, the limiting piece abuts against the inner side wall of the shell.
4. A robot joint construction according to claim 3, characterized in that the stop is connected to the outer periphery of the block piece along the length of the block piece.
5. The robot joint structure of claim 4, wherein the position limiter is disposed in an arc shape.
6. The robot joint structure according to claim 1, wherein a housing chamber communicating with the outlet groove is provided in the housing, and the circuit board is provided in the housing chamber.
7. The robot joint structure according to claim 6, further comprising:
and the rear cover is covered on the shell to seal the accommodating cavity.
8. The robot joint structure according to claim 1, further comprising:
and the power terminal is positioned in the wire outlet groove and connected to the boss so as to be connected with a power cable arranged in the wire outlet groove.
9. The robot joint structure according to claim 8, further comprising:
and the signal terminal is positioned in the wire outlet groove and connected to the boss so as to be connected with a signal cable arranged in the wire outlet groove.
10. A robot, characterized in that the robot comprises a robot joint structure according to any of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120251266.9U CN214490645U (en) | 2021-01-28 | 2021-01-28 | Robot joint structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120251266.9U CN214490645U (en) | 2021-01-28 | 2021-01-28 | Robot joint structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214490645U true CN214490645U (en) | 2021-10-26 |
Family
ID=78217543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120251266.9U Active CN214490645U (en) | 2021-01-28 | 2021-01-28 | Robot joint structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214490645U (en) |
-
2021
- 2021-01-28 CN CN202120251266.9U patent/CN214490645U/en active Active
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