WO2019242247A1 - 布线结构及具有其的机器人 - Google Patents

布线结构及具有其的机器人 Download PDF

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Publication number
WO2019242247A1
WO2019242247A1 PCT/CN2018/119144 CN2018119144W WO2019242247A1 WO 2019242247 A1 WO2019242247 A1 WO 2019242247A1 CN 2018119144 W CN2018119144 W CN 2018119144W WO 2019242247 A1 WO2019242247 A1 WO 2019242247A1
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WIPO (PCT)
Prior art keywords
wiring structure
wiring
wire
cavity
end surface
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PCT/CN2018/119144
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English (en)
French (fr)
Inventor
李久林
张文欣
沈显东
杨裕才
柳明正
何胜红
赵必顺
Original Assignee
珠海格力智能装备有限公司
珠海格力电器股份有限公司
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Publication of WO2019242247A1 publication Critical patent/WO2019242247A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa

Definitions

  • the present invention relates to the technical field of robots, and in particular, to a wiring structure and a robot having the same.
  • the cables of a robot with a multi-level connecting arm are mostly arranged outside the robot.
  • Such a wiring method will cause problems such as inconvenience and unsafe operation of the robot.
  • the cables need to be arranged inside the robot.
  • the main object of the present invention is to provide a wiring structure and a robot having the same to solve the wiring problem of the cables inside the robot in the prior art.
  • a wiring structure which is arranged in a connecting arm assembly of a robot and fixed on a bottom plate of the connecting arm assembly, and is used for installing a wire protection sleeve and accommodating the sleeve in The driven wheel on the wire protective sleeve
  • the wiring structure includes: a wiring main body, the wiring main body has a first end face and a second end face opposite to each other, a receiving cavity is provided on the second end face and the receiving cavity extends toward the first end face to accommodate At least part of the wire-passing protective sleeve and the driven wheel; wherein the receiving cavity has a cavity top wall and a cavity inner wall disposed around the cavity top wall, and a communication hole is provided between the cavity top wall and the first end surface so that The wire protection sleeve is inserted into the communication hole.
  • the wiring main body has a passing space, the passing space is provided on the second end surface and communicates with the accommodating cavity, so that the conveyor belt sleeved on the driven wheel enters the accommodating cavity through the passing space.
  • a positioning groove is provided on the bottom plate of the connecting arm, and a positioning protrusion suitable for the positioning groove is provided on the second end surface of the wiring body, and the positioning protrusion is locked in the positioning groove to position the wiring structure on the bottom plate.
  • the positioning groove is a circular groove
  • the positioning protrusion is a circular ring-shaped protrusion.
  • the outer circumferential wall of the circular ring-shaped protrusion is matched with the second circumferential inner wall of the circular groove, so that the positioning protrusion is snapped on.
  • Positioning slot is a circular groove
  • the inner wall of the cavity accommodating the cavity is flush with the third circumferential inner wall of the circular annular protrusion.
  • one end of the wire protection sleeve is provided with a mounting portion
  • a first end surface of the wiring body is provided with a limiting groove
  • the mounting portion is limited in the limiting groove
  • the wire passing protective sleeve has a plurality of first mounting holes, a plurality of first fastening holes are provided on the limiting groove, the plurality of first fastening holes are evenly distributed along the circumferential direction of the communication hole, and the plurality of first The fastening holes and the plurality of first mounting holes are provided in a one-to-one correspondence, so that the wire protective sleeve is fixed on the wiring body through the first fastener inserted in the first mounting hole and the first fastening hole.
  • the second end surface of the wiring body is provided with a plurality of second fastening holes, and the plurality of second fastening holes are arranged at intervals, so that the wiring body passes through the second fastener inserted in the second fastening hole. It is fixed on the base plate.
  • a plurality of third fastening holes are provided on the first end surface of the wiring body, and the plurality of third fastening holes are disposed at intervals, so that the fixed wire portion passes through the third fastening inserted in the third fastening hole.
  • the pieces are fixed on the wiring body.
  • a robot which includes a wiring structure, a wire protection sleeve, and a wire fixing portion.
  • the wire protection sleeve is inserted into a communication hole of the wiring structure, and the wire fixing portion is installed on the wiring structure.
  • the cable fixed on the fixed wire portion is arranged in a wire protective cover, wherein the wiring structure is the aforementioned wiring structure.
  • a receiving cavity is provided on the wiring body and a communication hole is provided in the receiving cavity, wherein the axis of the communication hole is arranged in parallel with the axis of the receiving cavity, so that the cable protective sleeve can be inserted in the communication hole.
  • the accommodating cavity is also used for accommodating the driven wheel sleeved on the wire protective sleeve, which can provide sufficient accommodating space for the parts connecting the inner wall of the arm assembly.
  • FIG. 1 is a perspective view showing an embodiment of a wiring structure according to the present invention.
  • FIG. 2 is a plan view showing an embodiment of a wiring structure according to the present invention.
  • FIG. 3 shows a side view of an embodiment of a wiring structure according to the present invention
  • FIG. 4 shows a bottom view of an embodiment of a wiring structure according to the present invention
  • FIG. 5 illustrates a cross-sectional view at a cross-section C-C of the wiring structure in FIG. 4;
  • FIG. 6 shows a schematic diagram of a wiring structure according to the present invention installed in a connection arm assembly
  • Fig. 7 shows a cross-sectional view at a section B-B in Fig. 6.
  • the present invention provides a wiring structure. Please refer to FIG. 1 to FIG. 5.
  • the wiring structure is installed in a connecting arm assembly of a robot and is fixed on a bottom plate of the connecting arm assembly.
  • the driven wheel 20 on the protective cover 10 includes a wiring body 30.
  • the wiring body 30 has a first end face and a second end face opposite to each other.
  • the second end face is provided with a receiving cavity 31 and the receiving cavity 31 faces the first
  • the end surface extends to accommodate at least a part of the wire protective sleeve 10 and the driven wheel 20; wherein the receiving cavity 31 has a cavity top wall 311 and a cavity inner wall 312 provided around the cavity top wall 311, and the cavity top wall 311 and Communication holes 32 are defined between the first end surfaces, so that the wire protection sleeve 10 is inserted into the communication holes 32.
  • the wiring structure of the present invention is provided with a receiving cavity 31 on the wiring main body 30 and a communication hole 32 is opened in the receiving cavity 31.
  • the axis of the communication hole 32 is arranged in parallel with the axis of the receiving cavity 31, so that the cable can be passed through.
  • the protective cover 10 is inserted into the communication hole 32 and is accommodated in the receiving cavity 31 to fix the wire protective cover 10, thereby ensuring that the cable of the robot is set in the wire protective cover 10, which solves the problem that the cable is inside the robot. Wiring and routing issues.
  • the accommodating cavity 31 is also used for accommodating the driven wheel 20 sleeved on the wire protective cover 10, and can provide sufficient accommodating space for the parts connected to the inner wall of the arm assembly.
  • the wiring body 30 has a passage space 33.
  • the passage space 33 is provided on the second end surface and communicates with the accommodation cavity 31 so that the conveyor belt 83 sleeved on the driven wheel 20 passes through.
  • the space 33 enters the receiving cavity 31.
  • the passage space 33 has first and second side walls that are parallel to each other.
  • the inner wall 312 of the cavity is a non-closed circumferential surface.
  • the first side wall is connected to one end of the inner wall 312 of the cavity, and the second side wall and the inner wall of the cavity. The other end of the 312 is connected.
  • the bottom plate of the connecting arm is provided with a positioning groove, and the second end surface of the wiring body 30 is provided with a positioning protrusion 34 suitable for the positioning groove. 34 is clamped in the positioning slot, so that the wiring structure is positioned on the bottom plate.
  • the positioning groove is a circular groove
  • the positioning protrusion 34 is a circular ring-shaped protrusion.
  • the circumferential outer wall of the circular ring-shaped protrusion is matched with the second circumferential inner wall of the circular groove, so that the positioning protrusion 34 The card is set in the positioning slot.
  • the inner wall 312 of the cavity accommodating the cavity 31 is flush with the third inner wall of the annular protrusion. This arrangement facilitates the processing of the wiring structure and reduces production costs.
  • a mounting portion is provided at one end of the wire protective cover 10
  • a limiting groove 35 is provided on the first end surface of the wiring body 30, and the mounting portion is limited to the limiting groove. Inside the slot 35. Such a setting facilitates the installation and positioning of the wire protection cover 10.
  • the wire protection sleeve 10 has a plurality of first mounting holes, a plurality of first fastening holes 36 are provided on the limiting groove 35, and a plurality of first The fastening holes 36 are evenly distributed along the circumferential direction of the communication hole 32.
  • a plurality of first fastening holes 36 and a plurality of first mounting holes are provided one-to-one correspondingly, so that the wire protective cover 10 is inserted in the first mounting hole.
  • the first fastener in the first fastening hole 36 is fixed to the wiring body 30.
  • a plurality of second fastening holes 37 are provided on the second end surface of the wiring body 30, and the plurality of second fastening holes 37 are arranged at intervals to allow the wiring body 30 to pass through.
  • a second fastener inserted in the second fastening hole 37 is fixed on the bottom plate.
  • a plurality of third fastening holes 38 are provided on the first end surface of the wiring body 30, and the plurality of third fastening holes 38 are arranged at intervals to allow the wire fixing portion to pass through.
  • a third fastener inserted in the third fastening hole 38 is fixed to the wiring body 30.
  • the present invention also provides a robot, which includes a wiring structure, a wire protection sleeve 10, and a wire fixing portion 50.
  • the wire protection sleeve 10 is inserted in the communication hole 32 of the wiring structure, and the wire fixing portion 50 is installed on the wiring structure.
  • the cables fixed on the fixed wire portion 50 are arranged in the wire protective cover 10, wherein the wiring structure is the wiring structure described above.
  • the robot includes a first connecting arm assembly and a second connecting arm assembly, and the second connecting arm assembly is rotatably mounted on a lower side of the first connecting arm assembly.
  • the robot further includes an adapter flange, one end of the adapter flange is connected to the first connecting arm assembly, and the other end of the adapter flange is connected to the second connecting arm assembly.
  • the first connecting arm assembly includes a hood 61 and a bottom plate 62, and the hood 61 is disposed on the bottom plate 62 so that a first portion is formed between the hood 61 and the bottom plate 62.
  • a receiving space 64; a wiring hole 63 is provided on the hood 61, so that the cables of the robot can enter the first receiving space 64 through the wiring hole 63.
  • the wiring structure is disposed in the first receiving space 64 and is mounted on the base plate 62.
  • One end of the wire protection sleeve 10 is connected to the wiring structure, and the other end of the wire protection sleeve 10 is connected to the adapter flange so that The cables located in the first receiving space 64 enter the second receiving space of the second connecting arm assembly through the cable protective sleeve 10 and the adapter flange.
  • the first connection arm assembly includes a fixed wire portion 50, and the fixed wire portion 50 is disposed on the wiring structure so that the cable located between the wiring hole 63 and the wire protective sleeve 10 It is fixed to the fixed wire portion 50.
  • the robot further includes a speed reducer 70, which is set on the wire protection cover 10.
  • One end of the speed reducer 70 is connected to the bottom plate 62, and the other end of the speed reducer 70 is connected to the rotating shaft. It is driven by a flange, so that the adapter flange is driven by the reduction gear 70 to rotate.
  • the robot further includes a driving wheel 81, a driven wheel 20, and a conveyor belt 83 sleeved on the driving wheel 81 and the driven wheel 20, and the driven wheel 20 is sleeved on the wire protection cover 10.
  • the driven wheel 20 is drivingly connected with the speed reducer 70 to drive the speed reducer 70 to rotate;
  • the conveyor belt 83 is set on the driven wheel 20 through the space 33 so that the driven wheel 20 rotates under the action of the driving wheel 81 and the conveyor belt 83.
  • the wiring structure of the present invention is provided with a receiving cavity 31 on the wiring main body 30 and a communication hole 32 is opened in the receiving cavity 31.
  • the axis of the communication hole 32 is arranged in parallel with the axis of the receiving cavity 31, so that the cable can be passed through.
  • the protective cover 10 is inserted into the communication hole 32 and is accommodated in the receiving cavity 31 to fix the wire protective cover 10, thereby ensuring that the cable of the robot is set in the wire protective cover 10, which solves the problem that the cable is inside the robot. Wiring and routing issues.
  • the accommodating cavity 31 is also used for accommodating the driven wheel 20 sleeved on the wire protective cover 10, and can provide sufficient accommodating space for the parts connected to the inner wall of the arm assembly.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种布线结构及具有其的机器人，布线结构设置在机器人的连接臂组件内并固定在连接臂组件的底板上，用于安装过线防护套（10）并容纳套设在过线防护套（10）上的从动轮（20），布线结构包括：布线主体（30），布线主体（30）具有相对设置的第一端面和第二端面，第二端面上设置有容纳腔体（31）且容纳腔体（31）朝向第一端面延伸，以容纳过线防护套（10）的至少部分和从动轮（20）；其中，容纳腔体（31）具有腔体顶壁（311）和环绕腔体顶壁（311）设置的腔体内壁（312），腔体顶壁（311）与第一端面之间开设有连通孔（32），以使过线防护套（10）插设在连通孔（32）内。该布线结构解决了现有技术中的机器人内部线缆的布线问题。

Description

布线结构及具有其的机器人 技术领域
本发明涉及机器人技术领域，具体而言，涉及一种布线结构及具有其的机器人。
背景技术
目前，具有多级连接臂的机器人的线缆多布置在机器人的外部，这样的布线方式会引发机器人操作不方便与不安全的问题。为了解决上述问题，需将线缆布置在机器人的内部。
然而，将线缆布置在机器人的内部需要解决线缆在机器人内部的布线和走线的问题。
发明内容
本发明的主要目的在于提供一种布线结构及具有其的机器人，以解决现有技术中的机器人内部线缆的布线问题。
为了实现上述目的，根据本发明的一个方面，提供了一种布线结构，设置在机器人的连接臂组件内并固定在连接臂组件的底板上，用于安装过线防护套并容纳套设在过线防护套上的从动轮，布线结构包括：布线主体，布线主体具有相对设置的第一端面和第二端面，第二端面上设置有容纳腔体且容纳腔体朝向第一端面延伸，以容纳过线防护套的至少部分和从动轮；其中，容纳腔体具有腔体顶壁和环绕腔体顶壁设置的腔体内壁，腔体顶壁与第一端面之间开设有连通孔，以使过线防护套插设在连通孔内。
进一步地，布线主体具有通过空间，通过空间设置在第二端面上且与容纳腔体连通，以使套设在从动轮上的传送带通过通过空间进入容纳腔体内。
进一步地，连接臂的底板上设置有定位槽，布线主体的第二端面上设置有与定位槽相配适的定位凸起，定位凸起卡设在定位槽内，以使布线结构定位在底板上。
进一步地，定位槽为圆形凹槽，定位凸起为圆环形凸起，圆环形凸起的圆周外壁与圆形凹槽的第二圆周内壁相配适，以使定位凸起卡设在定位槽内。
进一步地，容纳腔体的腔体内壁与圆环形凸起的第三圆周内壁平齐。
进一步地，过线防护套的一端设置有安装部，布线主体的第一端面上设置有限位凹槽，安装部限位在限位凹槽内。
进一步地，过线防护套具有多个第一安装孔，限位凹槽上设置有多个第一紧固孔，多个第一紧固孔沿连通孔的周向均匀分布，多个第一紧固孔和多个第一安装孔一一对应地设置，以使过线防护套通过插设在第一安装孔和第一紧固孔内的第一紧固件固定在布线主体上。
进一步地，布线主体的第二端面上设置有多个第二紧固孔，多个第二紧固孔间隔设置，以使布线主体通过插设在第二紧固孔内的第二紧固件固定在底板上。
进一步地，布线主体的第一端面上设置有多个第三紧固孔，多个第三紧固孔间隔设置，以使固线部通过插设在第三紧固孔内的第三紧固件固定在布线主体上。
根据本发明的另一方面，提供了一种机器人，包括布线结构、过线防护套和固线部，过线防护套插设在布线结构的连通孔内，固线部安装在布线结构上，以将固定在固线部上的线缆布置在过线防护套内，其中，布线结构为上述的布线结构。
本发明的布线结构通过在布线主体上设置容纳腔体，并在容纳腔体内开设连通孔，其中，连通孔的轴线与容纳腔体的轴线平行设置，可以使过线防护套插设在连通孔内并容纳在容纳腔体内，以固定过线防护套，进而可以保证机器人的线缆设置在过线防护套内，解决了线缆在机器人内部的布线和走线的问题。此外，容纳腔体还用于容纳套设在过线防护套上的从动轮，可以为连接臂组件内壁的零件提供足够的容纳空间。
附图说明
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1示出了根据本发明的布线结构的实施例的立体图；
图2示出了根据本发明的布线结构的实施例的俯视图；
图3示出了根据本发明的布线结构的实施例的侧视图；
图4示出了根据本发明的布线结构的实施例的仰视图；
图5示出了图4中的布线结构的截面C-C处的剖视图；
图6示出了根据本发明的布线结构安装在连接臂组件内的示意图；以及
图7示出了图6中的截面B-B处的剖视图。
其中，上述附图包括以下附图标记：
10、过线防护套；20、从动轮；30、布线主体；31、容纳腔体；311、腔体顶壁；312、腔体内壁；32、连通孔；33、通过空间；34、定位凸起；35、限位凹槽；36、第一紧固孔；37、第二紧固孔；38、第三紧固孔；50、固线部；61、机罩；62、底板；63、布线孔；64、第一容纳空间；70、减速机；81、主动轮；83、传送带。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。
本发明提供了一种布线结构，请参考图1至图5，设置在机器人的连接臂组件内并固定在连接臂组件的底板上，用于安装过线防护套10并容纳套设在过线防护套10上的从动轮20，布线结构包括：布线主体30，布线主体30具有相对设置的第一端面和第二端面，第二端面上设置有容纳腔体31且容纳腔体31朝向第一端面延伸，以容纳过线防护套10的至少部分和从动轮20；其中，容纳腔体31具有腔体顶壁311和环绕腔体顶壁311设置的腔体内壁312，腔体顶壁311与第一端面之间开设有连通孔32，以使过线防护套10插设在连通孔32内。
本发明的布线结构通过在布线主体30上设置容纳腔体31，并在容纳腔体31内开设连通孔32，其中，连通孔32的轴线与容纳腔体31的轴线平行设置，可以使过线防护套10插设在连通孔32内并容纳在容纳腔体31内，以固定过线防护套10，进而可以保证机器人的线缆设置在过线防护套10内，解决了线缆在机器人内部的布线和走线的问题。此外，容纳腔体31还用于容纳套设在过线防护套10上的从动轮20，可以为连接臂组件内壁的零件提供足够的容纳空间。
在本实施例中，如图1所示，布线主体30具有通过空间33，通过空间33设置在第二端面上且与容纳腔体31连通，以使套设在从动轮20上的传送带83通过通过空间33进入容纳腔体31内。其中，通过空间33具有相互平行的第一侧壁和第二侧壁，腔体内壁312为非闭合圆周面，第一侧壁与腔体内壁312的一端连接，第二侧壁与腔体内壁312的另一端连接。
为了实现布线结构的定位，如图3和图4所示，连接臂的底板上设置有定位槽，布线主体30的第二端面上设置有与定位槽相配适的定位凸起34，定位凸起34卡设在定位槽内，以使布线结构定位在底板上。
具体实施时，定位槽为圆形凹槽，定位凸起34为圆环形凸起，圆环形凸起的圆周外壁与圆形凹槽的第二圆周内壁相配适，以使定位凸起34卡设在定位槽内。
具体实施时，容纳腔体31的腔体内壁312与圆环形凸起的第三圆周内壁平齐。这样的设置便于布线结构的加工，降低生产成本。
在本实施例中，如图2和图5所示，过线防护套10的一端设置有安装部，布线主体30的第一端面上设置有限位凹槽35，安装部限位在限位凹槽35内。这样的设置方便过线防护套10的安装与定位。
为了实现过线防护套10的固定，如图2所示，过线防护套10具有多个第一安装孔，限位凹槽35上设置有多个第一紧固孔36，多个第一紧固孔36沿连通孔32的周向均匀分布，多个第一紧固孔36和多个第一安装孔一一对应地设置，以使过线防护套10通过插设在第一安装孔和第一紧固孔36内的第一紧固件固定在布线主体30上。
为了实现布线主体30的固定，如图2所示，布线主体30的第二端面上设置有多个第二紧固孔37，多个第二紧固孔37间隔设置，以使布线主体30通过插设在第二紧固孔37内的第 二紧固件固定在底板上。
为了实现固线部的固定，如图2所示，布线主体30的第一端面上设置有多个第三紧固孔38，多个第三紧固孔38间隔设置，以使固线部通过插设在第三紧固孔38内的第三紧固件固定在布线主体30上。
本发明还提供了一种机器人，包括布线结构、过线防护套10和固线部50，过线防护套10插设在布线结构的连通孔32内，固线部50安装在布线结构上，以将固定在固线部50上的线缆布置在过线防护套10内，其中，布线结构为上述的布线结构。
在一个实施例中，机器人包括第一连接臂组件和第二连接臂组件，第二连接臂组件可旋转地安装在第一连接臂组件的下侧。
在本实施例中，机器人还包括转接法兰，转接法兰的一端与第一连接臂组件连接，转接法兰的另一端与第二连接臂组件连接。
在本实施例中，如图6和图7所示，第一连接臂组件包括机罩61和底板62，机罩61罩设在底板62上，以使机罩61与底板62之间形成第一容纳空间64；机罩61上设置有布线孔63，以使机器人的线缆通过布线孔63进入第第一容纳空间64内。
具体实施时，布线结构设置在第一容纳空间64内且安装在底板62上，过线防护套10的一端与布线结构连接，过线防护套10的另一端与转接法兰连接，以使位于第一容纳空间64内的线缆通过过线防护套10和转接法兰进入第二连接臂组件的第二容纳空间内。
在本实施例中，如图7所示，第一连接臂组件包括固线部50，固线部50设置在布线结构上，以使位于布线孔63和过线防护套10之间的线缆固定在固线部50上。
在本实施例中，如图7所示，机器人还包括减速机70，减速机70套设在过线防护套10上，减速机70的一端与底板62连接，减速机70的另一端与转接法兰驱动连接，以使转接法兰在减速机70驱动下转动。
在本实施例中，如图7所示，机器人还包括主动轮81、从动轮20和套设在主动轮81和从动轮20上的传送带83，从动轮20套设在过线防护套10上，从动轮20与减速机70传动连接，以带动减速机70转动；传送带83通过通过空间33套设在从动轮20上，以使从动轮20在主动轮81和传送带83的作用下转动。
从以上的描述中，可以看出，本发明上述的实施例实现了如下技术效果：
本发明的布线结构通过在布线主体30上设置容纳腔体31，并在容纳腔体31内开设连通孔32，其中，连通孔32的轴线与容纳腔体31的轴线平行设置，可以使过线防护套10插设在连通孔32内并容纳在容纳腔体31内，以固定过线防护套10，进而可以保证机器人的线缆设置在过线防护套10内，解决了线缆在机器人内部的布线和走线的问题。此外，容纳腔体31还用于容纳套设在过线防护套10上的从动轮20，可以为连接臂组件内壁的零件提供足够的容纳空间。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种布线结构，设置在机器人的连接臂组件内并固定在所述连接臂组件的底板上，用于安装过线防护套(10)并容纳套设在所述过线防护套(10)上的从动轮(20)，其特征在于，所述布线结构包括：
    布线主体(30)，所述布线主体(30)具有相对设置的第一端面和第二端面，所述第二端面上设置有容纳腔体(31)且所述容纳腔体(31)朝向第一端面延伸，以容纳所述过线防护套(10)的至少部分和所述从动轮(20)；
    其中，所述容纳腔体(31)具有腔体顶壁(311)和环绕所述腔体顶壁(311)设置的腔体内壁(312)，所述腔体顶壁(311)与所述第一端面之间开设有连通孔(32)，以使所述过线防护套(10)插设在所述连通孔(32)内。
  2. 根据权利要求1所述的布线结构，其特征在于，所述布线主体(30)具有通过空间(33)，所述通过空间(33)设置在所述第二端面上且与所述容纳腔体(31)连通，以使套设在所述从动轮(20)上的传送带(83)通过所述通过空间(33)进入所述容纳腔体(31)内。
  3. 根据权利要求1所述的布线结构，其特征在于，所述连接臂的底板上设置有定位槽，所述布线主体(30)的第二端面上设置有与所述定位槽相配适的定位凸起(34)，所述定位凸起(34)卡设在所述定位槽内，以使所述布线结构定位在所述底板上。
  4. 根据权利要求3所述的布线结构，其特征在于，所述定位槽为圆形凹槽，所述定位凸起(34)为圆环形凸起，所述圆环形凸起的圆周外壁与所述圆形凹槽的第二圆周内壁相配适，以使所述定位凸起(34)卡设在所述定位槽内。
  5. 根据权利要求4所述的布线结构，其特征在于，所述容纳腔体(31)的腔体内壁(312)与所述圆环形凸起的第三圆周内壁平齐。
  6. 根据权利要求1所述的布线结构，其特征在于，所述过线防护套(10)的一端设置有安装部，所述布线主体(30)的第一端面上设置有限位凹槽(35)，所述安装部限位在所述限位凹槽(35)内。
  7. 根据权利要求6所述的布线结构，其特征在于，所述过线防护套(10)具有多个第一安装孔，所述限位凹槽(35)上设置有多个第一紧固孔(36)，多个所述第一紧固孔(36)沿所述连通孔(32)的周向均匀分布，多个所述第一紧固孔(36)和多个所述第一安装孔一一对应地设置，以使所述过线防护套(10)通过插设在所述第一安装孔和所述第一紧固孔(36)内的第一紧固件固定在所述布线主体(30)上。
  8. 根据权利要求1所述的布线结构，其特征在于，所述布线主体(30)的第二端面上设置有多个第二紧固孔(37)，多个所述第二紧固孔(37)间隔设置，以使所述布线主体(30)通过插设在所述第二紧固孔(37)内的第二紧固件固定在所述底板上。
  9. 根据权利要求1所述的布线结构，其特征在于，所述布线主体(30)的第一端面上设置有多个第三紧固孔(38)，多个所述第三紧固孔(38)间隔设置，以使固线部通过插设在所述第三紧固孔(38)内的第三紧固件固定在所述布线主体(30)上。
  10. 一种机器人，包括布线结构、过线防护套(10)和固线部(50)，所述过线防护套(10)插设在所述布线结构的连通孔(32)内，所述固线部(50)安装在所述布线结构上，以将固定在固线部(50)上的线缆布置在所述过线防护套(10)内，其特征在于，所述布线结构为权利要求1至9中任一项所述的布线结构。
PCT/CN2018/119144 2018-06-22 2018-12-04 布线结构及具有其的机器人 WO2019242247A1 (zh)

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