CN220279691U

CN220279691U - Wire harness protection structure and robot thereof

Info

Publication number: CN220279691U
Application number: CN202320412758.0U
Authority: CN
Inventors: 胡万权; 许晋诚
Original assignee: Passini Perception Technology Shenzhen Co ltd
Current assignee: Passini Perception Technology Shenzhen Co ltd
Priority date: 2023-02-25
Filing date: 2023-02-25
Publication date: 2024-01-02
Anticipated expiration: 2033-02-25

Abstract

The embodiment of the application belongs to the technical field of robots, and relates to a wire harness protection structure for protecting a wire harness, comprising: a first support; the first support piece comprises a first body and an elastic deformation part; an elastic deformation part formed by extending from a first starting point positioned on the first body to the center of the first supporting piece; one end of the elastic deformation part, which is far away from the first starting point, forms a first wire harness bayonet; a first harness bayonet for clamping a harness passing through the first harness bayonet; the elastic deformation part is a spiral structure or a serpentine structure which can elastically deform along the axial direction and the radial direction of the first wire harness bayonet. The application also relates to a robot. The technical scheme that this application provided can realize the protection to the pencil through simple structure, has reduced the cost of protection architecture and the space that occupies, extension pencil life.

Description

Wire harness protection structure and robot thereof

Technical Field

The application relates to the technical field of robots, and more particularly relates to a wire harness protection structure and a robot thereof.

Background

The existing joint module adopts a hollow wire passing structure, a wire harness is subjected to knob and friction in the operation process of a robot, and poor wire harness protection design can cause abrasion aggravation and seriously affect the service life of the whole machine.

For this reason, a harness protection structure for a hollow wire is designed, but it should be noted that the existing harness protection structure tends to be complicated in structure or occupy a large space, thereby increasing the manufacturing cost and volume of the robot accordingly.

Disclosure of Invention

Based on this, this application embodiment provides a pencil protection architecture and robot thereof to extension pencil life.

In a first aspect, the present application provides a wire harness protection structure, which adopts the following technical scheme:

a wire harness protection structure for protecting a wire harness, comprising: a first support; the first support piece comprises a first body and an elastic deformation part;

the elastic deformation part is formed by extending from a first starting point positioned on the first body to the center of the first supporting piece;

one end of the elastic deformation part, which is far away from the first starting point, forms a first wire harness bayonet;

the first wire harness bayonet is used for clamping the wire harness passing through the first wire harness bayonet;

the elastic deformation part is a spiral structure or a serpentine structure which can elastically deform along the axial direction and the radial direction of the first wire harness bayonet.

Further, the wire harness protection structure further includes a second support; the second support piece comprises a second body and a fixing part;

the fixing part is formed by extending from a second starting point positioned on the second body to the center of the second supporting piece;

a second wire harness bayonet is formed at one end of the fixing part, which is far away from the second starting point;

the second wire harness bayonet is used for clamping the wire harness passing through the second wire harness bayonet.

Further, the wire harness protection structure further comprises an elastic protection sleeve;

the elastic protective sleeve is arranged between the first wire harness bayonet and the wire harness.

Further, the first wire harness bayonet is of an open annular structure; or (b)

The first starting point is a plurality of; one ends of the elastic deformation parts, which are far away from the first starting point, respectively form an arc-shaped structure; the plurality of arc structures are jointly enclosed to form the first wire harness bayonet.

Further, the first body extends outwards to form a mounting part; or (b)

The edge of the first body forms a mounting hole.

Further, the first supporting piece is of a sheet-shaped structure; and/or

The first body is of an annular structure; the first starting point is positioned at the inner side edge of the annular structure; and/or

The first supporting piece is a plastic sheet or a metal sheet.

Further, the elastic deformation part comprises two serpentine structures respectively formed by extending from two first starting points to the center of the first support; the two serpentine structures are distributed on both sides of a central axis passing through the first support.

Further, the elastic protective sleeve is further arranged between the second wire harness bayonet and the wire harness; and/or

The second wire harness bayonet is of an open annular structure; or the second starting point is a plurality of; one ends of the fixing parts, which are far away from the second starting point, respectively form arc structures; the plurality of arc structures are enclosed together to form the second wire harness bayonet; and/or

The second body extends outwards to form an installation part; or the edge of the second body forms a mounting hole; and/or

The first supporting piece is of a sheet-shaped structure; and/or

The second body is of an annular structure; the second starting point is positioned at the inner side edge of the annular structure; and/or

The second supporting piece is a plastic sheet or a metal sheet.

In a second aspect, the present application provides a robot comprising a motor; the center of the motor forms a hollow part; the wire harness passes through the hollow part, and the robot further comprises the wire harness protection structure;

the first supporting piece is at least fixed at the output end of the motor corresponding to the hollow part.

Further, when the harness protection structure further includes the second support;

the first supporting piece is fixed at the output end of the motor; the second support is fixed to an input end of the motor.

Compared with the prior art, the embodiment of the application has the following main beneficial effects:

according to the embodiment of the application, on one hand, the wire harness can be limited in the radial direction through the first wire harness bayonet, so that sliding friction of the wire harness is avoided; on the other hand, because the elastic deformation part corresponds the axial and radial deformation of first pencil bayonet socket, consequently at pencil at the torsional process, elastic deformation part can be along with the pencil is stretched and shrink to can compensate the shrink and the stretching of pencil, consequently, can realize the protection to the pencil through simple structure, reduced the cost of protection architecture and the space that occupies, extension pencil life.

Drawings

For a clearer description of the solution of the present application, a brief introduction will be given to the drawings needed in the description of the embodiments, which are some embodiments of the present application, and from which other drawings can be obtained for a person skilled in the art without the inventive effort.

Fig. 1 is a schematic structural view of one embodiment of a wire harness protection structure of the present application;

fig. 2 is a schematic structural view of another embodiment of the harness protection structure of the present application;

fig. 3 is a schematic structural view of another embodiment of the harness protection structure of the present application;

FIG. 4 is a schematic view of a structure of an embodiment of a hollow portion of a motor in a robot of the present application;

fig. 5 is a schematic view showing a partial cross-sectional structure of an embodiment of a motor in the robot of the present application.

Reference numerals: 10 protection structure, 20 pencil, 11 first support, 12 elastic protection cover, 13 second support, 111 elastic deformation portion, 112 installation portion, 113 mounting hole, 114 fixed part, 1111 first pencil bayonet, 1111 'second pencil bayonet, 1112 first starting point, 1112' second starting point, 0 center.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.

As shown in fig. 1 and 2, fig. 1 is a schematic structural view of one embodiment of the harness protection structure of the present application; fig. 2 is a schematic structural view of another embodiment of the harness protection structure of the present application.

The embodiment of the application provides a wire harness protection structure 10 for protecting a wire harness 20, including a first support 11; the first support 11 includes: a first body and an elastic deformation portion 111.

The elastic deformation portion 111 is formed by extending from a first start point 1112 located in the body toward the center 0.

It should be noted that, the first starting point 1112 may be set at any position of the first body according to need, for example: an inner edge of the first body.

The elastic deformation portion 111 forms a first harness bayonet 1111 through which the harness 20 passes, corresponding to the center 0 of the first support.

A first harness bayonet 1111 for clamping a harness 20 passing through the first harness bayonet 1111.

The elastic deformation portion 111 is a spiral structure 111 (as shown in fig. 2) or a serpentine structure 111 (as shown in fig. 1) that can be elastically deformed in the axial direction and the radial direction of the first harness bayonet 1111.

It should be noted that the above-mentioned "spiral structure or serpentine structure" does not necessarily refer to a spiral structure or serpentine structure in a strict sense, but includes various deformation structures based on the deformation principle, so long as it can achieve elastic deformation along the axial direction and the radial direction, which is all within the scope of the present application. Generally, the above-described "spiral structure or serpentine structure" is a spiral or serpentine structure formed along a tangential direction of the elastically deforming portion, so that the elastically deforming portion can be elastically deformed along a normal direction; in addition, the adjustment can be carried out according to the requirement, and all the adjustment belongs to the protection scope of the application.

In addition, generally, in order to ensure that the serpentine structure can elastically deform along the axial direction of the first bundle bayonet, each bent single pass of the serpentine structure needs to have a larger span, and specifically, the span of each single pass can be set to be arbitrary as required, so long as the serpentine structure can elastically deform along the axial direction of the first bundle bayonet, which belongs to the scope of protection of the application.

In one embodiment, as shown in fig. 1, the elastic deformation portion 11 includes two serpentine structures formed by extending from two first starting points 1112 toward the center of the first support 11, respectively; two serpentine structures are distributed on both sides of a central axis passing through the first support 11.

Compared with a spiral structure which is round as a whole, the elastic part formed by the plurality of snakelike structures can generate elastic deformation along the axial direction and the radial direction, and meanwhile, the strength of the whole elastic deformation part can be improved due to the fact that the span of each single pass (the single pass of the spiral structure is the whole circle and the single pass of the snakelike structure can be a semicircle) is reduced.

Illustratively, as shown in fig. 1, the elastic deformation portion 11 includes two serpentine structures each having a semicircular shape (including exactly semicircular or approximately semicircular) at a tangential direction where the first body is located from two first starting points 1112; two semicircular snakes are distributed on two sides of a central shaft passing through the first supporting piece.

Through adopting helical structure or serpentine structure's elastic deformation portion, can realize that elastic deformation portion axial and radial produce elastic deformation, consequently through simple structural design, in the wire harness torsion process, elastic deformation portion can produce elastic deformation such as bigger stretching and shrink along with the wire harness to can compensate the shrink and the tensile volume of wire harness in each direction better.

It should be noted that, the shape of the first body of the first supporting member 11 may be a circular ring (as shown in fig. 1 and 2), or any other regular or irregular shape may be adopted as required; in one embodiment, the first supporting member 11 is preferably plate-shaped, so that materials and space can be saved, and besides, the first supporting member can be designed into any other shape and structure such as a column according to the requirement.

The elastic deformation portion may be one or more elastic deformation portions led out from one or more starting points. Illustratively, as shown in fig. 1, taking two starting points as examples, two elastic deformation portions are respectively led out from the two starting points. The distribution positions of the starting points can be set arbitrarily according to the needs, as shown in fig. 1, and in an alternative embodiment, the two starting points are set oppositely; through setting up two starting points of relative setting for first support receives the effort that the pencil was pulled more even, thereby can prolong first support's life relatively.

Specifically, the first supporting member may be a plastic sheet or a metal sheet (such as an aluminum alloy sheet, a steel sheet, a titanium alloy sheet), or any other elastic structural member with a certain rigidity that has been developed now or in the future and can play a supporting role, for example: the rigid material (such as metal) can be made into a sheet shape and processed into the serpentine or spiral structure, so that the structure can be elastically deformed to a certain extent along the axial direction and the radial direction of the beam bayonet; in addition, the first body of the first supporting member may be a rigid structure, and the elastic deformation portion may be an elastic structural member made of the above elastic structural member or some elastic materials, and the two may be fixedly connected through an intermediate member to form the above first supporting member. In a preferred embodiment, the first body of the first support and the elastically deformable portion are prefabricated in one piece, such as: the first supporting piece can be obtained after a metal sheet is processed in a blanking mode, so that the processing cost of the first supporting piece can be reduced.

It should be noted that, for the first thread bundle bayonet 1111 formed corresponding to the center 0 of the first support member, the first thread bundle bayonet 1111 may be located at the center of the first support member 11 (as shown in fig. 1), or may be eccentrically disposed as required, which is all the scope of the present application.

According to the embodiment of the application, on one hand, the wire harness can be limited in the radial direction through the first wire harness bayonet, so that sliding friction of the wire harness is avoided; on the other hand, because the elastic deformation portion corresponds the axial and radial deformation that can take place of first pencil bayonet socket, consequently at pencil at the torsional process, elastic deformation portion can be along with the pencil by tensile and shrink to can compensate the shrink and the tensile of pencil, consequently, can realize the protection to the pencil through simple structure, reduce the cost of protection architecture and the space that occupies, extension pencil life.

As further shown in fig. 1 and 2, in one embodiment, the first harness bayonet 1111 may be a ring-like structure.

In particular, the ring structure may be fully closed or partially open. As shown in fig. 1, in a preferred embodiment, the first wire harness bayonet 1111 is an open annular structure, so that the first wire harness bayonet 1111 can be according to the diameter of the first wire harness bayonet 1111 of the wire harness 20, thereby improving the applicability of the structure to various wire harnesses 20 of various thickness.

In another embodiment, the first starting point is a plurality of points; one ends of the plurality of elastic deformation parts, which are far away from the first starting point, respectively form an arc-shaped structure; the plurality of arc structures collectively enclose a first wire harness bayonet 1111 (omitted from the figures, see for details regarding the arc structures for a second support structure).

According to the embodiment of the application, the elastic deformation parts starting from different starting points are enclosed together to form the first wire harness bayonet, the arc structures are matched with each other, the acting force of pulling the wire harness in the clamping process of the arc structures and the wire harness is more uniform, the limiting effect of the wire harness clamped by the arc structures is improved, and the service life of the whole first supporting piece is prolonged.

As further shown in fig. 1 and 2, in one embodiment, the first body of the first support 11 extends outwardly to form a mounting portion 112.

Specifically, the number of the above-described mounting portions may be set to be arbitrary as required. As shown in fig. 1, the number of the mounting parts is 3, which are uniformly distributed on the outer circumference of the first body, by way of example. Further, in one embodiment, the mounting portion may form a mounting hole through which the first support 11 is fixedly coupled with the external structure.

In another embodiment, the edge of the first body of the first support 11 forms a mounting hole (omitted from the drawings, see for details regarding the mounting hole in the second support).

Through the mounting part or the mounting hole, the first supporting piece and other structures can be conveniently mounted and fixed.

In one embodiment, the harness protection structure 10 further includes a resilient protective sleeve 12, the resilient protective sleeve 12 being disposed at the first harness bayonet 1111 of the first support 11, between the harness 20 and the first harness bayonet 1111.

Through set up the elastic protection cover in first pencil bayonet socket department, pack the space between first pencil bayonet socket and pencil through the elastic protection cover to avoid the fretting wear between pencil and the first pencil bayonet socket, thereby be favorable to further improving the life of pencil.

Specifically, the elastic protective sleeve can be a structural member made of super-elastic materials such as rubber members, silica gel members and the like.

As shown in fig. 3, fig. 3 is a schematic structural view of an embodiment of the second support of the present application. In an alternative embodiment, the wire harness protection structure of the embodiment further includes a second support 13; the second support 13 includes a second body and a fixing portion 114.

The fixing portion 114 is formed by extending from a second start point 1112' located at the second body toward the center O of the second support 13.

The end of the fixing portion 114 remote from the second starting point 1112 'forms a second harness bayonet 1111' through which the harness 20 passes.

The second harness bayonet 1111' is used for clamping the harness 20 passing through the second harness bayonet.

It should be noted that, the shape of the second body of the second support member may be a circular shape (as shown in fig. 3), or any other regular or irregular shape may be adopted as required; the second support 13 is preferably plate-shaped, which saves material and space, but can be designed as desired for other structures, etc., which are within the scope of the present application.

The fixing portion 114 may be one or more fixing portions 114 led out from one or more starting points. Illustratively, as shown in fig. 3, taking two starting points as an example, two elastic deformation portions 114 are respectively linearly led out from two second starting points. The distribution positions of the second starting points may be set arbitrarily as required, as shown in fig. 3, and in one embodiment, the two starting points are set oppositely; through setting up the starting point of relative setting for second support piece atress is even, can prolong second support piece's life relatively.

Specifically, the second supporting member may be a rigid structural member, or an elastic structural member such as a plastic sheet or a metal sheet (e.g., an aluminum alloy sheet, a steel sheet, a titanium alloy sheet) having a certain hardness for supporting, or the like, as required. The second body and the fixing portion may be prefabricated as one body or fixedly connected through an intermediate member. In a preferred embodiment, the second support member is integrally formed with an elastic structural member having a certain hardness, such as: the second supporting piece can be obtained after a metal sheet is processed in a blanking mode, so that the supporting effect is achieved, and meanwhile, the supporting piece with certain elasticity can achieve a better effect of protecting a wire harness; in addition, since the second support is simple in structure, processing and material costs can be reduced.

It should be noted that, for the second harness bayonet 1111' formed corresponding to the center 0' of the second support member, the second harness bayonet 1111' may be located at the center of the second support member 13 (as shown in fig. 2), or may be eccentrically disposed as required, which is all within the scope of the present application.

According to the wire harness clamping device, the wire harness can be clamped in a limiting mode in the radial direction through the second wire harness clamping opening, sliding friction is avoided from being generated by the wire harness, so that the wire harness can be protected through a simple structure, the cost of a protection structure is reduced, the occupied space is reduced, and the service life of the wire harness is prolonged.

In one embodiment, the second harness bayonet 1111' may be a ring-shaped structure (the drawings are omitted, and reference may be made to the related description in the first support).

Specifically, the ring structure may be a completely closed or open ring structure, which falls within the scope of the present application. In a preferred embodiment, the second harness bayonet is an open annular structure, thereby improving the applicability of the structure to harnesses of various thicknesses.

In another embodiment, the plurality of fixing portions 114 form an arc structure corresponding to one end of the center of the second support 13 to enclose the second harness bayonet 1111'. For example, as shown in fig. 3, two fixing portions 114 starting from different second starting points respectively form an arc structure at one end of the second support 13 corresponding to the center 0', and the arc structures of the fixing portions 114 jointly enclose to form the second harness bayonet 1111'.

The utility model provides a enclose jointly through a plurality of fixed parts that start in different initial points and close and form the second pencil bayonet socket for the structure is succinct more, and a plurality of arc structures mutually support, make with pencil cooperation chucking in-process atress more even, thereby improve the pencil and by the spacing effect of second pencil bayonet socket chucking.

In one embodiment, the second body of the second support 13 extends to the outside to form a mounting portion (the drawings are omitted, and reference is specifically made to the description of the relevant portions of the first support).

Further, in one embodiment, the mounting portion is provided with a mounting hole.

In another embodiment, as shown in fig. 3, an edge of the second body of the second support 13 forms a mounting hole 113.

Specifically, the number of the above-described mounting holes may be set to be arbitrary as required. As shown in fig. 3, the number of the mounting parts is 4, which are uniformly distributed at the outer circumference of the main body of the first support member, by way of example.

In one embodiment, the harness protection structure 10 further includes a resilient protective sleeve 12, the resilient protective sleeve 12 being disposed at the second harness bayonet 1111 'of the second support 13, between the second harness bayonet 1111' and the harness 20.

Through setting up the elastic protection cover in second pencil bayonet socket department, can pack the space between second pencil bayonet socket and the pencil through the elastic protection cover to avoid the fretting wear between pencil and the second pencil bayonet socket, thereby be favorable to further improving the life of pencil.

For other descriptions of the second support member, reference may be made to the first support member, and further description thereof will be omitted.

Based on the wire harness protection structure described in the above embodiments, the present application also provides a robot including the above wire harness protection structure. As shown in fig. 4 and 5, a schematic structural view of one embodiment of a hollow portion of a motor in the robot of fig. 4 of the present application; fig. 5 is a schematic view of a partial cross-sectional structure of one embodiment of a motor in the robot of the present application.

The robot includes a motor 40; the motor 40 includes a hollow portion 41 in the axial direction; the wire harness 20 passes through the hollow portion; the first supporting member 11 is fixed to at least an output end of the motor 40 corresponding to the hollow portion.

The output end of the motor may be one end of the output end of the joint module where the motor is located.

According to the embodiment of the application, on one hand, the wire harness can be limited in the radial direction through the wire harness bayonet, so that sliding friction of the wire harness is avoided; on the other hand, because the elastic deformation part corresponds the axial and radial deformation of pencil bayonet socket, consequently at pencil at torsion in-process, elastic deformation part can be along with the pencil by tensile and shrink to can compensate the shrink and the tensile of pencil, consequently, can realize the protection to the pencil through simple structure, reduce the cost of protection architecture and the space that occupies, extension pencil life, and then can reduce the cost and the volume of robot, extension robot's life.

In one embodiment, the wire harness protective structure 10 further includes a second support 13.

The first support 11 is fixed to the output end of the motor 40; the second support 13 is fixed to the input of the motor.

The input end of the motor may be one end of the input end of the joint module where the motor is located.

According to the embodiment of the application, the first supporting piece is fixed at the output end of the motor, so that the first supporting piece can be used for performing motion compensation on one end of the wire harness, which is positioned at the output end and is subjected to torsion and stretching motion mainly due to rotation of the output end of the motor; and to the pencil one end that is located the motor input, need keep the position as far as possible fixed, consequently be fixed in the input of motor through the second support piece, can carry out the chucking to the pencil through the second support piece, consequently, first support piece and second support piece can more be favorable to prolonging the life of pencil through adopting above mutually supporting setting up mode.

It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.

Claims

1. A wire harness protection structure for protecting a wire harness, comprising: a first support; the first support piece comprises a first body and an elastic deformation part;

2. The wire harness protection structure of claim 1, further comprising a second support; the second support piece comprises a second body and a fixing part;

3. The wire harness protection structure according to claim 1 or 2, further comprising an elastic protective sheath;

4. The harness protection structure according to claim 1 or 2, wherein the first harness bayonet is an open annular structure; or (b)

5. The wire harness protection structure according to claim 1 or 2, wherein the first body extends outward to form a mounting portion; or (b)

The edge of the first body forms a mounting hole.

6. The wire harness protection structure according to claim 1 or 2, wherein the first support is a sheet-like structure; and/or

The first supporting piece is a plastic sheet or a metal sheet.

7. The wire harness protection structure according to claim 1 or 2, wherein the elastic deformation portion includes two serpentine structures formed by extending two of the first starting points toward a center of the first support, respectively; the two serpentine structures are distributed on both sides of a central axis passing through the first support.

8. The wire harness protection structure of claim 2, further comprising an elastic protective sleeve; the elastic protective sleeve is arranged between the second wire harness bayonet and the wire harness; and/or

The first supporting piece is of a sheet-shaped structure; and/or

The second supporting piece is a plastic sheet or a metal sheet.

9. A robot comprising a motor; the center of the motor forms a hollow part; the wire harness passes through the hollow part, and is characterized in that: the robot further comprising the wire harness protection structure of any one of claims 1 to 8;

10. The robot of claim 9, wherein the harness protection structure further comprises a second support;