Mechanical arm and double-arm robot

Abstract

The utility model relates to a mechanical arm and a double-arm robot. The mechanical arm comprises a supporting body, a shoulder structure, a large arm, an elbow structure, a small arm and a wrist structure. The shoulder structure comprises a shoulder differential assembly, a shoulder rope driving assembly and a shoulder joint, and the shoulder joint has three degrees of freedom and comprises a shoulder rotating seat fixedly arranged on the shoulder differential assembly and a shoulder adapter which is pivoted to the shoulder rotating seat, fixedly arranged at the first end of the big arm and in transmission connection with the shoulder rope driving assembly; the wrist structure comprises a wrist fixing support, a wrist rope differential assembly, a wrist rotation driving assembly and a wrist joint, and the wrist joint has three degrees of freedom and comprises a wrist rotation support pivoted to the wrist fixing support and a wrist deflection support which is in transmission connection with the power output end of the wrist rope differential assembly and pivoted to the wrist rotation support; the wrist rotation driving assembly is installed on the wrist deflection support and used for being in transmission connection with the tail end mechanical arm. The shoulder joint and the wrist joint of the mechanical arm are small in mass and inertia.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, a kind of mechanical arm and double-arm robot. BACKGROUND

[0002] With the development of robot technology, the performance and application scenarios of mechanical arm are continuously expanded, whether it is military scenario or civilian scenario, higher requirements are put forward for the response speed of mechanical arm, the safety of man-machine interaction. People hope that the arm of robot has the characteristics of small mass, small inertia, fast speed, strong dexterity. Among them, humanoid robot is a kind of robot similar to human appearance, with certain man-machine interaction and action ability.

[0003] In related art, the mechanical arm of humanoid robot is basically set by referring to the structure of industrial robot, adopts multiple independent joint motors to form shoulder joint and wrist joint in series; There are also the following deficiencies: the driving components such as motor are mainly arranged in shoulder joint and wrist joint, resulting in large mass and large inertia of shoulder joint and wrist joint. UTILITY MODEL CONTENT

[0004] One of the purposes of the utility model is to provide a kind of mechanical arm, to solve the technical problem that driving components such as motor are mainly arranged in shoulder joint and wrist joint in related art, resulting in large mass and large inertia of shoulder joint and wrist joint.

[0005] The utility model provides a kind of mechanical arm, including support body, shoulder structure, big arm, elbow structure, small arm and wrist structure connected in sequence;

[0006] The shoulder structure includes shoulder differential assembly, shoulder rope driving assembly and shoulder joint, the shoulder differential assembly and the shoulder rope driving assembly are all installed on the support body, the shoulder joint has three degrees of freedom, the shoulder joint includes shoulder rotating seat and shoulder adapter, the shoulder rotating seat is fixedly arranged on the power output end of the shoulder differential assembly, the shoulder adapter is pivoted on the shoulder rotating seat, fixedly arranged on the first end of the big arm and transmissionally connected on the power output end of the shoulder rope driving assembly;

[0007] The wrist structure includes wrist fixed support, wrist rope differential assembly, wrist rotating driving assembly and wrist joint, the wrist fixed support is fixedly arranged on the first end of the small arm, the wrist rope differential assembly is installed on the big arm or the small arm, the wrist joint has three degrees of freedom, the wrist joint includes wrist rotating support and wrist deflection support, the wrist rotating support is pivoted on the wrist fixed support, the wrist deflection support is transmissionally connected on the power output end of the wrist rope differential assembly and pivoted on the wrist rotating support, the wrist rotating driving assembly is installed on the wrist deflection support, for transmissionally connected end manipulator.

[0008] Optionally, the shoulder differential assembly comprises a shoulder driven bevel gear assembly and a shoulder differential drive assembly;

[0009] The shoulder driven bevel gear assembly comprises a shoulder first driven bevel gear, a shoulder planetary bevel gear and a shoulder planetary support, the shoulder first driven bevel gear is provided with two vertical axes of rotation extending in the up-down direction, the shoulder planetary bevel gear is engaged with the two shoulder first driven bevel gears respectively, and the shoulder rotating seat is fixed to the shoulder planetary bevel gear; the shoulder planetary support is in a U-shaped structure, the sidewall of the shoulder planetary support is pivoted to the shoulder first driven bevel gear, the bottom wall of the shoulder planetary support is pivoted to a transverse shaft, and the shoulder planetary bevel gear is fixed to the transverse shaft;

[0010] The shoulder differential drive assembly has two groups, and the power output ends thereof are respectively connected to the shoulder first driven bevel gears, and are configured to drive the shoulder rotating seat to perform pitching movement around the horizontal axis extending in the left-right direction and / or to drive the shoulder rotating seat to perform deflection movement around the vertical axis extending in the up-down direction.

[0011] Optionally, the shoulder differential drive assembly has two groups, and each of the shoulder differential drive assemblies comprises a shoulder differential motor, a shoulder differential motor mounting seat, a shoulder driving bevel gear, a shoulder vertical shaft and a shoulder second driven bevel gear; the shoulder differential motor mounting seat comprises a shoulder differential motor mounting plate and a shoulder bevel gear mounting plate, the shoulder differential motor mounting plate is fixed to the support body, and the shoulder differential motor is mounted on the shoulder differential motor mounting plate; the shoulder driving bevel gear is connected to the shoulder differential motor, and the shoulder second driven bevel gear is engaged with the shoulder driving bevel gear; the shoulder bevel gear mounting plate is fixed perpendicularly to the shoulder differential motor mounting plate, the shoulder vertical shaft is pivoted to the shoulder bevel gear mounting plate, and the shoulder second driven bevel gear and the shoulder first driven bevel gear are both fixed to the shoulder vertical shaft.

[0012] Optionally, the shoulder rope drive assembly comprises a shoulder rope drive motor, a shoulder rope drive mounting seat, a shoulder rope transmission shaft, a shoulder first rope, a shoulder second rope and a shoulder rope wheel, the shoulder rope drive mounting seat is fixed to the support body, the shoulder rope drive motor is mounted on the shoulder rope drive mounting seat, the shoulder rope transmission shaft is connected to the shoulder rope drive motor, the shoulder rope transmission shaft has a spiral rope groove on the outer wall surface thereof, the shoulder rope wheel is fixed to the shoulder adapter seat, and the shoulder rope wheel has a shoulder first rope groove and a shoulder second rope groove;

[0013] The shoulder planetary bevel gear and the shoulder rotating seat both have a rope channel;

[0014] the first end of the shoulder first rope is fixed to the spiral rope groove and wound in the clockwise direction on the spiral rope groove, the second end passes through the rope channel and is wound in the clockwise direction and fixed to the shoulder first rope groove; the first end of the shoulder second rope is fixed to the spiral rope groove and wound in the counterclockwise direction on the spiral rope groove, the second end passes through the rope channel and is wound in the counterclockwise direction and fixed to the shoulder second rope groove.

[0015] Optionally, the shoulder rope drive mounting seat is located above or below the shoulder differential motor mounting seat; the shoulder second driven bevel gear, the shoulder vertical shaft and the shoulder first driven bevel gear all have the rope channel; the second end of the shoulder first rope and the second end of the shoulder second rope pass through the rope channels of the shoulder second driven bevel gear, the shoulder vertical shaft, the shoulder first driven bevel gear, the shoulder planetary bevel gear and the shoulder rotating seat respectively;

[0016] And / or, the shoulder rotating seat is a U-shaped shoulder rotating seat, the U-shaped shoulder rotating seat comprises a shoulder vertical plate and shoulder connecting plates, the shoulder connecting plates are two and are arranged in parallel and at intervals, the shoulder connecting plates are both fixed to the shoulder vertical plate, the shoulder vertical plate is fixed with the transverse shaft, the end of the transverse shaft is fixed to the shoulder planetary bevel gear; the shoulder adapter seat is a U-shaped shoulder adapter seat, the U-shaped shoulder adapter seat comprises a shoulder adapter plate and shoulder lateral plates, the shoulder lateral plates are two and are arranged in parallel and at intervals, the shoulder lateral plates are both fixed to the shoulder adapter plate, the shoulder lateral plates are both pivoted to the shoulder connecting plates; the shoulder rope wheel is located between the two shoulder lateral plates, the shoulder rope wheel is fixed to the shoulder adapter plate.

[0017] Optionally, the shoulder rope drive mounting seat is fixed with a shoulder rope transmission support seat, the shoulder rope transmission shaft is pivoted to the shoulder rope transmission support seat; the shoulder rope transmission support seat is provided with a shoulder first rope joint and a shoulder second rope joint, the shoulder first rope joint and the shoulder second rope joint are arranged at intervals; the shoulder rotating seat is provided with a shoulder third rope joint and a shoulder fourth rope joint, the shoulder third rope joint and the shoulder fourth rope joint are arranged at intervals; the shoulder first rope passes through the shoulder first rope joint, the rope channel and the shoulder third rope joint; the shoulder second rope passes through the shoulder second rope joint, the rope channel and the shoulder fourth rope joint;

[0018] And / or, the shoulder rope wheel has a flat part, the flat part is fixed to the shoulder adapter plate, the flat part has the first rope groove and the shoulder second rope groove; the shoulder adapter plate has a shoulder third rope groove and a shoulder fourth rope groove on one side of the flat part; the shoulder first rope groove and the shoulder third rope groove form a space for accommodating the shoulder first rope, and the shoulder second rope groove and the shoulder fourth rope groove form a space for accommodating the shoulder second rope; one of the shoulder adapter plate and the flat part is threadedly connected with a fastener, and the fastener is configured to limit the movement of the shoulder first rope along the length direction of the shoulder third rope groove and to limit the movement of the shoulder second rope along the length direction of the shoulder fourth rope groove.

[0019] Optionally, the wrist rope differential assembly includes a wrist rope differential drive assembly and a wrist driven bevel gear, the wrist rope differential drive assembly includes a wrist first driving bevel gear and a wrist second driving bevel gear, both of which are pivotally connected to the wrist fixed support;

[0020] The wrist driven bevel gear is fixed to the wrist deflection support, and the wrist driven bevel gear is drivingly connected to the wrist first driving bevel gear and the wrist second driving bevel gear.

[0021] Optionally, the wrist driven bevel gear includes a wrist first driven bevel gear and a wrist second driven bevel gear, both of which are fixed to the wrist deflection support;

[0022] The wrist rope differential drive assembly includes a wrist outer drive shaft and a wrist inner drive shaft, the wrist outer drive shaft is pivotally connected to the wrist fixed support, the upper end of the wrist outer drive shaft is drivingly connected with a wrist outer drive motor, and the lower end is fixed to the wrist first driving bevel gear; the wrist inner drive shaft is pivotally connected to the wrist fixed support, the wrist inner drive shaft is arranged in the wrist outer drive shaft, and the upper end of the wrist inner drive shaft protrudes from the upper end of the wrist outer drive shaft, the upper end of the wrist inner drive shaft is drivingly connected with the power output end of a wrist inner drive motor, and the lower end is fixed to the wrist second driving bevel gear.

[0023] Optionally, the wrist rope differential drive assembly further comprises a wrist outer wire transmission shaft, a wrist first outer driving wire, a wrist second outer driving wire and a wrist outer wire wheel, the wrist outer wire transmission shaft is drivingly connected to the wrist outer driving motor; the wrist outer wire wheel is fixedly arranged on the upper end of the wrist outer driving shaft; the first end of the wrist first outer driving wire is fixedly arranged on the wrist outer wire transmission shaft and wound on the outer wall surface of the wrist outer wire transmission shaft in the clockwise direction, and the second end is fixedly arranged on the wrist outer wire wheel and wound on the outer wall surface of the wrist outer wire wheel in the clockwise direction; the first end of the wrist second outer driving wire is fixedly arranged on the wrist outer wire transmission shaft and wound on the outer wall surface of the wrist outer wire transmission shaft in the counterclockwise direction, and the second end is fixedly arranged on the wrist outer wire wheel and wound on the outer wall surface of the wrist outer wire wheel in the counterclockwise direction.

[0024] The wrist rope differential drive assembly further comprises a wrist inner wire transmission shaft, a wrist first inner driving wire, a wrist second inner driving wire and a wrist inner wire wheel, the wrist inner wire transmission shaft is drivingly connected to the wrist inner driving motor; the wrist inner wire wheel is fixedly arranged on the upper end of the wrist inner driving shaft; the first end of the wrist first inner driving wire is fixedly arranged on the wrist inner wire transmission shaft and wound on the outer wall surface of the wrist inner wire transmission shaft in the clockwise direction, and the second end is fixedly arranged on the wrist inner wire wheel and wound on the outer wall surface of the wrist inner wire wheel in the clockwise direction; the first end of the wrist second inner driving wire is fixedly arranged on the wrist inner wire transmission shaft and wound on the outer wall surface of the wrist inner wire transmission shaft in the counterclockwise direction, and the second end is fixedly arranged on the wrist inner wire wheel and wound on the outer wall surface of the wrist inner wire wheel in the counterclockwise direction.

[0025] Optionally, the axis direction of the wrist outer driving motor is perpendicular to the axis direction of the wrist outer driving shaft; the wrist rope differential drive assembly further comprises a wrist first outer guide wheel and a wrist second outer guide wheel which are respectively pivotally connected to the wrist fixed support, the axis directions of the wrist first outer guide wheel and the wrist second outer guide wheel are perpendicular to the axis direction of the wrist outer driving shaft, and the wrist first outer driving wire is wound on part of the outer wall surface of the wrist first outer guide wheel; the wrist second outer driving wire is wound on part of the outer wall surface of the wrist second outer guide wheel.

[0026] The axis direction of the wrist inner driving motor is perpendicular to the axis direction of the wrist inner driving shaft; the wrist rope differential drive assembly further comprises a wrist first inner guide wheel and a wrist second inner guide wheel which are respectively pivotally connected to the wrist fixed support, the axis directions of the wrist first inner guide wheel and the wrist second inner guide wheel are both perpendicular to the axis direction of the wrist inner driving shaft, the wrist first inner driving wire is wound on part of the outer wall surface of the wrist first inner guide wheel, and the wrist second inner driving wire is wound on part of the outer wall surface of the wrist second inner guide wheel.

[0027] Optionally, the wrist rotation support is fixed with a wrist rotating shaft, and the wrist first driven bevel gear and the wrist second driven bevel gear are respectively pivoted to the wrist rotating shaft.

[0028] Alternatively, the wrist rotation support is pivoted with a wrist rotating shaft, and the wrist first driven bevel gear and the wrist second driven bevel gear are respectively fixed to the wrist rotating shaft.

[0029] Optionally, the wrist rotation support is fixed with a wrist rotating shaft, and the wrist rotating shaft is a T-shaped wrist rotating shaft, the T-shaped wrist rotating shaft comprises a wrist horizontal shaft and a wrist vertical shaft, the wrist vertical shaft is connected perpendicularly to the wrist horizontal shaft, the upper end of the wrist vertical shaft is pivoted to the inner wall surface of the wrist inner driving shaft, the wrist first driven bevel gear is pivoted to the first end of the wrist horizontal shaft, and the wrist second driven bevel gear is pivoted to the second end of the wrist horizontal shaft.

[0030] And / or, the wrist outer driving motor and the wrist inner driving motor are respectively installed at the first end of the large arm; the elbow structure comprises an elbow joint, the elbow joint comprises an elbow first rope wheel, an elbow second rope wheel and an elbow connecting frame, the first end of the elbow connecting frame is pivoted to the second end of the large arm, the second end of the elbow connecting frame is pivoted to the second end of the small arm, the elbow first rope wheel is pivoted to the first end of the elbow connecting frame, and the elbow second rope wheel is pivoted to the second end of the elbow connecting frame; the elbow first rope wheel has an elbow first rope groove, and the elbow second rope wheel has an elbow second rope groove; the wrist first outer driving line and the wrist first inner driving line are respectively wound in an “S” shape along a clockwise direction in the elbow first rope groove and the elbow second rope groove; the wrist second outer driving line and the wrist second inner driving line are respectively wound in an “S” shape along an anticlockwise direction in the elbow first rope groove and the elbow second rope groove; wherein, the wrist first outer driving line, the wrist second outer driving line, the wrist first inner driving line and the wrist second inner driving line are arranged in a staggered and spaced manner.

[0031] Optionally, the middle part of the wrist horizontal shaft has a connecting part; the wrist deflection support comprises a wrist deflection plate and wrist connecting side plates, the wrist deflection plate is pivoted to the wrist rotation support, the wrist connecting side plates are one and arranged in a spaced manner, the upper ends of the wrist connecting side plates are respectively fixed to the wrist deflection plate, and the lower ends of the wrist connecting side plates are respectively fixed to the connecting part; a gear accommodating space is formed between the wrist deflection plate and the wrist connecting side plates, for accommodating the wrist first driving bevel gear and the wrist second driving bevel gear; the wrist first driven bevel gear and the wrist second driven bevel gear are respectively fixed to the wrist connecting side plates.

[0032] And / or, the elbow structure further comprises an elbow rope drive assembly, the elbow rope drive assembly comprises an elbow drive motor, an elbow rope transmission shaft, an elbow first drive rope, an elbow second drive rope and an elbow guide wheel, the elbow drive motor is installed at the first end of the large arm, the elbow rope transmission shaft is drivingly connected to the elbow drive motor, the elbow rope transmission shaft has a spiral groove;The elbow guide wheel is pivoted to the large arm and located at one end of the elbow first rope wheel away from the elbow second rope wheel;The first end of the elbow first drive rope is fixed and wound in a clockwise direction on the spiral groove of the elbow rope transmission shaft;The elbow first drive rope is wound in an "S" shape in a clockwise direction on the elbow guide wheel and the elbow first rope wheel, and the second end of the elbow first drive rope is fixed to the elbow second rope wheel, and the elbow first rope wheel and the elbow second rope wheel are located on the same side of the elbow first drive rope;The elbow second drive rope is wound in an "S" shape in a counterclockwise direction on the elbow guide wheel and the elbow first rope wheel, and the second end of the elbow second drive rope is fixed to the elbow second rope wheel, and the elbow first rope wheel and the elbow second rope wheel are located on the same side of the elbow second drive rope.

[0033] Optionally, the elbow rope drive assembly further comprises an elbow first linkage rope and an elbow second linkage rope, the elbow first linkage rope and the elbow second linkage rope are wound in an "S" shape in opposite directions on the elbow first rope wheel and the elbow second rope wheel, respectively, the first end of the elbow first linkage rope and the first end of the elbow second linkage rope are fixed to one of the elbow first rope wheel and the elbow second rope wheel, and the second end of the elbow first linkage rope and the second end of the elbow second linkage rope are fixed to the other of the elbow first rope wheel and the elbow second rope wheel.

[0034] The mechanical arm provided by the utility model has at least the following beneficial technical effects:

[0035] In the first aspect, the shoulder differential assembly and the rope drive assembly are both installed on the support body and arranged away from the shoulder joint, which can reduce the weight of the shoulder joint, thereby reducing the inertia of the shoulder joint, making the mechanical arm more stable during movement, improving the precision and stability of the movement of the mechanical arm, enabling the mechanical arm to quickly respond to control instructions, and making the impact on the surrounding personnel small in the case of power failure, thereby improving the safety of human-machine interaction.

[0036] In the second aspect, the wrist adopts a combination of a wrist rope differential drive and a wrist rotation drive, which can reduce the structural size of the wrist, thereby increasing the movement range of the end manipulator and the flexibility of the mechanical arm, and setting the wrist rope differential drive assembly away from the wrist joint can reduce the weight of the wrist joint, thereby reducing the inertia of the wrist joint, making the end manipulator more stable during movement, and improving the precision and stability of the end mechanical shaft movement.

[0037] In the third aspect, the shoulder joint and the wrist joint each have three degrees of freedom, and have flexible movement capability.

[0038] The utility model also provides a double -armed robot, its characterized in be including the mechanical arm of any one of claims 1-14, the mechanical arm has 2, and is located the both sides of support body along left and right direction respectively.

[0039] The double -armed robot provided by the utility model has at least the following beneficial technical effects:

[0040] The double -armed robot has two mechanical arms, and correspondingly, the double -armed robot has all the advantages of the mechanical arms, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A schematic assembly view of the mechanical arm is provided for the utility model embodiment;

[0042] Figure 2 A partial enlarged structure schematic view of the shoulder structure in the mechanical arm provided for the utility model embodiment;

[0043] FIGS. 3(a) and 3(b) are transmission principle diagrams of the shoulder differential assembly in the mechanical arm provided for the utility model embodiment;

[0044] Figure 4 A front view structure schematic view of the shoulder structure in the mechanical arm provided for the utility model embodiment;

[0045] Figure 5 A top view structure schematic view of the shoulder structure in the mechanical arm provided for the utility model embodiment;

[0046] Figure 6 A Figure 5 A-A sectional structure schematic view in the mechanical arm provided for the utility model embodiment;

[0047] Figure 7 An isometric structure schematic view of the shoulder structure in the mechanical arm provided for the utility model embodiment;

[0048] Figure 8 A partial structure schematic view of the shoulder joint in the mechanical arm provided for the utility model embodiment;

[0049] Figure 9 As Figure 2 Partial enlarged structural schematic view of the circled part in D;

[0050] Figure 10 As Partial enlarged structural schematic view of the circled part in D;

[0051] Figure 11 As Figure 10 Partial enlarged structural schematic view of the circled part in D;

[0052] Figure 12 As Figure 10 Partial enlarged structural schematic view of the circled part in D;

[0053] Figure 13 As Partial enlarged structural schematic view of the circled part in D;

[0054] Fig. 14 (a) and Fig. 14 (b) are transmission principles of a wrist differential assembly in a mechanical arm provided by an embodiment of the present application Figure 1 ;

[0055] Fig. 15 (a) and Fig. 15 (b) are transmission principles of a wrist differential assembly in a mechanical arm provided by an embodiment of the present application Figure 2 ;

[0056] Figure 16 As Partial enlarged structural schematic view of the circled part in D;

[0057] Figure 17 As Figure 16 Partial enlarged structural schematic view of the circled part in D;

[0058] Figure 18 As Structural schematic view of a mechanical arm provided by an embodiment of the present application

[0059] Figure 19 As

[0060] Partial enlarged structural schematic view of the circled part in D; Figure 20 Figure 13 Partial enlarged structural schematic view of the circled part in D;

[0061] Figure 21 As Partial enlarged structural schematic view of the circled part in D;

[0062] Figure 22Part structure schematic diagram of the wrist rope differential driving assembly in the mechanical arm provided by the embodiment of the utility model;

[0063] Figure 23 For Figure 18 Local enlarged structure schematic diagram of the part of the circle in G in the middle;

[0064] Figure 24 Part structure schematic diagram of the elbow joint in the mechanical arm provided by the embodiment of the utility model;

[0065] Figure 25 Local structure schematic diagram of the pre-tightening block in the elbow joint in the mechanical arm provided by the embodiment of the utility model;

[0066] Figure 26 For Figure 25 Schematic diagram of the K-K section structure in the middle;

[0067] Figure 27 Part explosion structure schematic diagram of the elbow joint in the mechanical arm provided by the embodiment of the utility model Figure 1 ;

[0068] Figure 28 Part explosion structure schematic diagram of the elbow joint in the mechanical arm provided by the embodiment of the utility model Figure 2 ;

[0069] Figure 29 Assembly structure schematic diagram of the double-arm robot provided by the embodiment of the utility model.

[0070] Mark explanation:

[0071] 1, mechanical arm; 2, double-arm robot;

[0072] 10, support body;

[0073] 20, shoulder structure; 210, shoulder differential assembly; 220, shoulder driven bevel gear assembly; 221, shoulder first driven bevel gear; 222, shoulder planetary bevel gear; 223, shoulder planetary carrier; 230, shoulder differential drive assembly; 231, shoulder differential motor; 232, shoulder differential motor mount; 2321, shoulder motor mounting plate; 2322, shoulder bevel gear mounting plate; 233, shoulder driving bevel gear; 234, shoulder vertical shaft; 235, shoulder second driven bevel gear; 240, shoulder cable drive assembly; 241, shoulder cable drive motor; 242, shoulder cable drive mount; 243, shoulder cable transmission shaft; 244, shoulder first cable; 245, shoulder second cable; 246, shoulder cable pulley; 2461, shoulder first cable groove; 2462, shoulder second cable groove; 2463, flat portion; 247, shoulder cable transmission support mount; 2471, shoulder first cable joint; 2472, shoulder second cable joint; 250, shoulder joint; 260, shoulder rotation mount; 261, shoulder vertical plate; 2611, shoulder third cable joint; 2612, shoulder fourth cable joint; 262, shoulder connecting plate; 270, shoulder adapter mount; 271, shoulder adapter plate; 272, shoulder lateral plate; 2711, shoulder third cable groove; 2712, shoulder fourth cable groove;

[0074] 30, large arm;

[0075] 40, elbow structure; 401, cable head; 410, elbow joint; 420, elbow first cable pulley; 421, elbow first cable pulley one; 422, elbow first cable pulley two; 423, elbow first cable pulley three; 424, elbow first cable pulley four; 425, elbow first cable pulley five; 426, first groove; 427, first boss; 430, elbow second cable pulley; 431, elbow second cable pulley one; 432, elbow second cable pulley two; 433, elbow second cable pulley three; 434, elbow second cable pulley four; 435, elbow second cable pulley five; 436, second groove; 437, second boss; 440, elbow connecting frame; 450, elbow cable drive assembly; 451, elbow drive motor; 452, elbow cable transmission shaft; 453, elbow first drive cable; 454, elbow second drive cable; 455, elbow guide pulley; 456, elbow first linkage cable; 457, elbow second linkage cable; 460, pressing block; 461, pressing portion; 462, first connecting portion; 463, first linkage cable passing hole; 464, second linkage cable passing hole; 465, first limiting hole; 466, second limiting hole; 470, cable pre-tightening block; 471, pre-tightening portion; 472, second connecting portion; 473, cable pre-tightening hole; 4731, first linkage cable pre-tightening hole; 4732, second linkage cable pre-tightening hole; 4733, first drive cable pre-tightening hole; 4734, second drive cable pre-tightening hole;

[0076] 50, forearm;

[0077] 60, wrist structure; 610, wrist fixing support; 611, wrist support horizontal plate; 612, wrist support side plate; 613, wrist first outer guide wheel; 614, wrist second outer guide wheel; 615, wrist first inner guide wheel; 616, wrist second inner guide wheel; 617, wrist wheel support; 620, wrist rope differential assembly; 630, wrist rope differential drive assembly; 631, wrist first driving bevel gear; 632, wrist second driving bevel gear; 633, wrist outer drive shaft; 634, wrist inner drive shaft; 635, wrist outer drive motor; 636, wrist inner drive motor; 637, wrist outer wire transmission shaft; 638, wrist first outer drive wire; 6381, outer wire joint; 639, wrist second outer drive wire; 640, wrist outer wire wheel; 6401, outer pre-tightening hole; 641, wrist inner wire transmission shaft; 642, wrist first inner drive wire; 643, wrist second inner drive wire; 644, wrist inner wire wheel; 6441, inner pre-tightening hole; 650, wrist driven bevel gear; 651, wrist first driven bevel gear; 652, wrist second driven bevel gear; 660, wrist rotation drive assembly; 670, wrist joint; 671, wrist rotation support; 672, wrist deflection support; 6721, wrist deflection plate; 6722, wrist connecting side plate; 673, wrist rotation shaft; 6731, wrist horizontal shaft; 6732, wrist vertical shaft;

[0078] 70, end manipulator;

[0079] 80, base;

[0080] 90, column;

[0081] 100, walking assembly. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned purpose, characteristics and advantages of the present application more obvious and easy to understand, the following will combine the attached drawings to make a detailed description. Figures 1-29 The specific embodiments of the present application will be described in detail.

[0083] In the present application, the terms "connection", "connection" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection or integral structure.

[0084] In the present application, the terms "inner", "outer", "upper", "lower" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0085] Please refer to Figure 4 As shown in the drawings, the front, rear, left, right, up, down, etc. directions are defined with the shoulder structure 20 as a reference. Among them, the height direction of the shoulder is the up-down direction, the up-down direction is the Y direction shown in the drawing, and correspondingly, the length direction of the shoulder is the left-right direction, the left-right direction is the X direction shown in the drawing, and the thickness direction of the shoulder is the front-rear direction, and the front-rear direction is the Z direction shown in the drawing.

[0086] The utility model embodiment provides a kind of mechanical arm, please refer to attached Figure 1 , the mechanical arm includes support body 10, shoulder structure 20, large arm 30, elbow structure 40, small arm 50 and wrist structure 60 connected in turn;Shoulder structure 20 includes shoulder differential assembly 210, shoulder cable drive assembly 240 and shoulder joint 250, shoulder differential assembly 210 and cable drive assembly are installed in support body 10, shoulder joint 250 has three degrees of freedom, shoulder joint 250 includes shoulder rotating seat 260 and shoulder adapter seat 270, shoulder rotating seat 260 is fixedly arranged on the power output end of shoulder differential assembly 210, shoulder adapter seat 270 is pivoted in shoulder rotating seat 260, is fixedly arranged on the first end of large arm 30 and is transmissionally connected on the power output end of shoulder cable drive assembly 240;Wrist structure 60 includes wrist fixed support 610, wrist cable differential assembly 620, wrist rotating drive assembly 660 and wrist joint 670, wrist fixed support 610 is fixedly arranged on the first end of small arm 50, wrist cable differential assembly 620 is installed in large arm 30 or small arm 50, wrist joint 670 has three degrees of freedom, wrist joint 670 includes wrist rotating support 671 and wrist deflection support 672, wrist rotating support 671 is pivoted in wrist fixed support 610, wrist deflection support 672 is transmissionally connected on the power output end of wrist cable differential assembly 620 and is pivoted in wrist rotating support 671, wrist rotating drive assembly 660 is fixedly arranged on wrist deflection support 672, for transmissionally connected end manipulator 70.

[0087] The working principle of the utility model embodiment provides a kind of mechanical arm: shoulder differential assembly 210 is transmissionally connected on shoulder rotating seat 260, for driving shoulder rotating seat 260 around the horizontal axis of left and right direction and does pitch motion, and / or, for driving shoulder rotating seat 260 around the vertical axis of up and down direction and does deflection motion;Shoulder cable drive assembly 240 is transmissionally connected on shoulder adapter seat 270, for driving shoulder adapter seat 270 around the longitudinal axis of front and rear direction relative to shoulder rotating seat 260 and does rotation motion;Wrist cable differential assembly 620 is transmissionally connected on wrist deflection support 672, for driving wrist deflection support 672 to realize around the horizontal axis and does pitch motion and / or vertical axis and does deflection motion;And, wrist rotating drive assembly 660 is installed on wrist deflection support 672, for driving end manipulator 70 around the vertical axis deflection motion.

[0088] The utility model discloses a kind of mechanical arms, first, shoulder differential component 210 and rope drive component are installed in support body 10, away from shoulder joint 250 is set, can reduce the weight of shoulder joint 250, to reduce the inertia of shoulder joint 250, so that mechanical arm is more stable in the process of movement, improve the precision and stability of mechanical arm movement, so that mechanical arm can quickly respond control instruction and so that mechanical arm in the case such as power failure, the impact to surrounding personnel is small, improve the security of man-machine interaction;Second, wrist structure 60 adopts the combination of wrist rope differential drive and wrist rotation drive, can reduce the structure size of wrist, to increase the movement range of end manipulator 70 and increase the flexibility of mechanical arm, and wrist rope differential drive component 630 is set away from wrist joint 670, can reduce the weight of wrist joint 670, to reduce the inertia of wrist joint 670, so that end manipulator 70 is more stable in the process of movement, improve the precision and stability of end mechanical shaft movement;Third, shoulder joint 250 and wrist joint 670 have three degrees of freedom respectively, have flexible movement ability.

[0089] Please refer to the attached drawings Figure 2The utility model discloses a shoulder differential assembly 210 includes shoulder driven bevel gear assembly 220 and shoulder differential drive assembly 230, and shoulder driven bevel gear assembly 220 includes shoulder first driven bevel gear 221, shoulder planetary bevel gear 222 and shoulder planetary support 223, and shoulder first driven bevel gear 221 has 2 and all rotates around the vertical axis of direction extension and is arranged, and shoulder planetary bevel gear 222 is engaged in 2 shoulder first driven bevel gear 221 respectively, and shoulder rotating seat 260 is fixed in shoulder planetary bevel gear 222, and shoulder planetary support 223 is U shape structure, and the side wall of shoulder planetary support 223 is hinged in shoulder first driven bevel gear 221, and the bottom wall of shoulder planetary support 223 is hinged with horizontal shaft, and shoulder planetary bevel gear 222 is fixed in horizontal shaft, and shoulder differential drive assembly 230 has 2 groups and its power output end is drivenly connected in shoulder first driven bevel gear 221 respectively, and is configured: for driving shoulder rotating seat 260 around the horizontal axis of direction extension and pitching movement, and / or, for driving shoulder rotating seat 260 around the vertical axis of direction extension and deflection movement. Specifically, shoulder differential drive assembly 230 drives shoulder planetary bevel gear 222 reverse same speed movement through shoulder first driven bevel gear 221, and shoulder planetary bevel gear 222 drives shoulder rotating seat 260 to rotate around horizontal axis, realizes the pitching movement of shoulder rotating seat 260, wherein the reverse in reverse same speed movement points to the direction of the big end from the little end of shoulder planetary bevel gear 222, and the rotating direction or rotating tendency direction of shoulder planetary bevel gear 222 under the driving action of corresponding shoulder first driven bevel gear 221, as shown in the direction of arrow a in figure 3 (a), and shoulder planetary bevel gear 222 rotates along clockwise direction and counterclockwise direction respectively, and shoulder differential drive assembly 230 drives shoulder planetary bevel gear 222 same speed movement through 2 shoulder first driven bevel gear 221, and shoulder planetary bevel gear 222 drives shoulder rotating seat 260 to rotate around vertical axis, realizes the deflection movement of shoulder rotating seat 260, wherein the same direction movement in same speed movement of shoulder planetary bevel gear 222 points to the direction of the big end from the little end of shoulder planetary bevel gear 222, and the rotating direction or rotating tendency direction of shoulder planetary bevel gear 222 under the driving action of corresponding shoulder first driven bevel gear 221, as shown in the direction of arrow b in figure 3 (b), and shoulder planetary bevel gear 222 rotates along clockwise direction or rotates along counterclockwise direction, and when shoulder differential drive assembly 230 drives shoulder planetary bevel gear 222 to move at different speeds through 2 shoulder first driven bevel gear 221, shoulder planetary bevel gear 222 drives shoulder rotating seat 260 to rotate around horizontal axis and vertical axis simultaneously, namely, realizes the pitching and deflection movement of shoulder rotating seat 260 simultaneously.In this way, the pitch movement and / or the yaw movement of the shoulder rotating seat 260 is realized by the differential transmission of the bevel gear to the shoulder rotating seat 260. Since the tooth line of the bevel gear is a curve, at least two teeth are engaged at the same time, which reduces the impact, so that the pitch movement and / or the yaw movement of the shoulder joint 250 is more stable and has less noise. The differential transmission structure of the bevel gear is compact, which saves space and reduces the size of the shoulder joint 250. In addition, the differential transmission of the bevel gear has good load capacity and can bear larger load.

[0090] Please refer to the attached drawings Figure 2 、 Figure 4 、 Figure 6 and Figure 7The utility model discloses shoulder differential drive assembly 230 has 2 groups, shoulder differential drive assembly 230 all includes shoulder differential motor 231, shoulder differential motor mounting seat 232, shoulder main drive bevel gear 233, shoulder vertical shaft 234 and shoulder second driven bevel gear 235, shoulder differential motor mounting seat 232 includes shoulder differential motor mounting plate 2321 and shoulder bevel gear mounting plate 2322, and shoulder differential motor mounting plate 2321 is fixedly established in support body 10, and shoulder differential motor 231 is installed in shoulder differential motor mounting plate 2321, shoulder main drive bevel gear 233 transmission is connected in shoulder differential motor 231, and shoulder second driven bevel gear 235 is engaged in shoulder main drive bevel gear 233, shoulder bevel gear mounting plate 2322 is vertically fixedly established in shoulder differential motor mounting plate 2321, and shoulder vertical shaft 234 is pivoted in shoulder bevel gear mounting plate 2322, and shoulder second driven bevel gear 235 and shoulder first driven bevel gear 221 all are fixedly established in shoulder vertical shaft 234, so setting, if 2 shoulder differential motor 231 same direction same speed movement, respectively in turn through shoulder main drive bevel gear 233, shoulder second driven bevel gear 235 and shoulder first driven bevel gear 221 drive shoulder planetary bevel gear 222 same direction same speed movement, namely drive shoulder planetary bevel gear 222 drive shoulder rotating seat 260 around the transverse axis of itself rotation, thereby realize the forward flexion or the back extension of shoulder joint 250, namely, the pitch movement of shoulder joint 250, wherein, same direction movement in the same direction same speed movement refers to: from the direction of the little end of shoulder planetary bevel gear 222 to the big end, the rotation direction or the rotation trend direction of shoulder planetary bevel gear 222 under the drive action of corresponding shoulder first driven bevel gear 221, as shown in the direction of arrow b in figure 3 (b), shoulder planetary bevel gear 222 all rotates along clockwise direction or all rotates along counterclockwise direction, if 2 shoulder differential motor 231 reverse same speed movement, respectively in turn through shoulder main drive bevel gear 233, shoulder second driven bevel gear 235 and shoulder first driven bevel gear 221 drive shoulder planetary bevel gear 222 reverse same speed movement, make shoulder planetary bevel gear 222 be locked in 2 shoulder first driven bevel gear 221, drive shoulder planetary bevel gear 222 drive shoulder rotating seat 260 around the vertical axis of shoulder first driven bevel gear 221 revolution, thereby realize the internal rotation or the external rotation of shoulder joint 250, namely, the deflection movement of shoulder joint 250, wherein, reverse movement in the reverse same speed movement refers to: from the direction of the little end of shoulder planetary bevel gear 222 to the big end, the rotation direction or the rotation trend of shoulder planetary bevel gear 222 under the drive action of corresponding shoulder first driven bevel gear 221, as shown in the direction of arrow a in figure 3 (a), shoulder planetary bevel gear 222 rotates along clockwise direction or rotates along counterclockwise direction respectively.

[0091] In the embodiment of the utility model, the shoulder differential motor 231 can be a disc type motor, the power output end of the disc type motor is fixedly provided with a flange shaft, and the shoulder driving bevel gear 233 is fixedly arranged on the flange shaft.

[0092] Please refer to the attached drawings Figure 4 、 Figures 6-9 In the embodiment of the utility model, the shoulder rope driving assembly 240 comprises a shoulder rope driving motor 241, a shoulder rope driving mounting seat 242, a shoulder rope transmission shaft 243, a shoulder first rope 244, a shoulder second rope 245 and a shoulder rope wheel 246, the shoulder rope driving mounting seat 242 is fixedly arranged on the support body 10, the shoulder rope driving motor 241 is installed on the shoulder rope driving mounting seat 242, the shoulder rope transmission shaft 243 is drivingly connected to the shoulder rope driving motor 241, the shoulder rope transmission shaft 243 has a spiral rope groove along the outer wall surface thereof, the shoulder rope wheel 246 is fixedly arranged on the shoulder adapter seat 270, and the shoulder rope wheel 246 has a shoulder first rope groove 2461 and a shoulder second rope groove 2462; both the shoulder planetary bevel gear 222 and the shoulder rotating seat 260 have a rope channel; the first end of the shoulder first rope 244 is fixedly arranged in the spiral rope groove and is wound in the spiral rope groove in a clockwise direction, the second end passes through the rope channel and is fixedly arranged in the shoulder first rope groove 2461 and is wound in a clockwise direction; the first end of the shoulder second rope 245 is fixedly arranged in the spiral rope groove and is wound in the spiral rope groove in an anticlockwise direction, and the second end passes through the rope channel and is fixedly arranged in the shoulder second rope groove 2462 and is wound in an anticlockwise direction. In this way, on the one hand, the shoulder rope driving motor 241 is controlled to rotate forward or reversely, the shoulder first rope 244 and the shoulder second rope 245 are controlled to be wound or released in the spiral rope groove of the shoulder rope transmission shaft 243, the shoulder first rope 244 and the shoulder second rope 245 are pulled to drive the shoulder adapter seat 270 to rotate relative to the shoulder rotating seat 260 around the longitudinal axis extending in the front-back direction, so that the abduction or adduction of the shoulder joint 250 is realized, that is, the rotation movement of the shoulder joint 250 is realized.

[0093] Please refer to the attached drawings Figure 6 and Figure 7In the embodiment of the utility model, the shoulder rope drive mounting seat 242 is located above or below the shoulder differential motor mounting seat 232, the shoulder second driven bevel gear 235, the shoulder vertical shaft 234 and the shoulder first driven bevel gear 221 all have rope channels, the second end of the shoulder first rope 244 and the second end of the shoulder second rope 245 respectively pass through the rope channels of the shoulder second driven bevel gear 235, the shoulder vertical shaft 234, the shoulder first driven bevel gear 221, the shoulder planetary bevel gear 222 and the shoulder rotating seat 260. By this arrangement, the shoulder first rope 244 and the shoulder second rope 245 pass through the internal space of the shoulder driven bevel gear assembly 220, the internal space of the shoulder is reasonably utilized, so as to avoid increasing the size of the shoulder, and in addition, the shoulder first rope 244 and the shoulder second rope 245 can be protected.

[0094] In the embodiment of the utility model, the shoulder second driven bevel gear 235, the shoulder first driven bevel gear 221 and the shoulder planetary bevel gear 222 all have hollow parts, and the hollow parts are rope channels.

[0095] In the embodiment of the utility model, the middle part of the shoulder vertical shaft 234 is provided with at least two wire passing holes, the wire passing holes are rope channels, and are respectively used for passing through the shoulder first rope 244 and the shoulder second rope 245. Specifically, the middle part of the shoulder vertical shaft 234 has a partition plate, and the wire passing holes are arranged on the partition plate.

[0096] Please refer to the accompanying drawings Figures 7-12 In the embodiment of the utility model, the shoulder rope drive mounting seat 242 is provided with a shoulder rope transmission support seat 247, and the shoulder rope transmission shaft 243 is pivotally connected to the shoulder rope transmission support seat 247; the shoulder rope transmission support seat 247 is provided with a shoulder first rope joint 2471 and a shoulder second rope joint 2472, and the shoulder first rope joint 2471 and the shoulder second rope joint 2472 are arranged at intervals; the shoulder rotating seat 260 is provided with a shoulder third rope joint 2611 and a shoulder fourth rope joint 2612, and the shoulder third rope joint 2611 and the shoulder fourth rope joint 2612 are arranged at intervals; the shoulder first rope 244 passes through the shoulder first rope joint 2471, the rope channel and the shoulder third rope joint 2611; and the shoulder second rope 245 passes through the shoulder second rope joint 2472, the rope channel and the shoulder fourth rope joint 2612. By this arrangement, a plurality of rope joints are provided, and the shoulder first rope 244 and the shoulder second rope 245 are provided with guiding and supporting effects.

[0097] In the embodiment of the utility model, the shoulder first rope joint 2471 and the shoulder second rope joint 2472 are respectively screw-connected to the shoulder rope transmission support seat 247; and the shoulder third rope joint 2611 and the shoulder fourth rope joint 2612 are respectively screw-connected to the transverse shaft of the shoulder rotating seat 260.

[0098] Please refer to the accompanying drawingsFigure 7 and Figure 8 In the embodiment of the utility model, the shoulder rotating seat 260 is a U-shaped shoulder rotating seat, the U-shaped shoulder rotating seat includes a shoulder vertical plate 261 and a shoulder connecting plate 262, the shoulder connecting plate 262 has two and is arranged in parallel and interval, the shoulder connecting plate 262 is all fixedly arranged on the shoulder vertical plate 261, the shoulder vertical plate 261 is fixedly arranged with a transverse shaft, and the end of the transverse shaft is fixedly arranged on the shoulder planetary bevel gear 222;The shoulder adapter seat 270 is a U-shaped shoulder adapter seat, the U-shaped shoulder adapter seat includes a shoulder adapter plate 271 and a shoulder lateral plate 272, the shoulder lateral plate 272 has two and is arranged in parallel and interval, the shoulder lateral plate 272 is all fixedly arranged on the shoulder adapter plate 271, and the shoulder lateral plate 272 is all pivotally connected to the shoulder connecting plate 262;The shoulder rope wheel 246 is located between the two shoulder lateral plates 272, and the shoulder rope wheel 246 is fixedly arranged on the shoulder adapter plate 271.

[0099] Please refer to the attached Figures 9-12 In the embodiment of the utility model, the shoulder rope wheel 246 has a flat part 2463, the flat part 2463 is fixedly arranged on the shoulder adapter plate 271, the flat part 2463 has a shoulder first rope groove 2461 and a shoulder second rope groove 2462;The side of the shoulder adapter plate 271 towards the flat part 2463 has a shoulder third rope groove 2711 and a shoulder fourth rope groove 2712;The space formed by the shoulder first rope groove 2461 and the shoulder third rope groove 2711 is used to accommodate the shoulder first rope 244, and the space formed by the shoulder second rope groove 2462 and the shoulder fourth rope groove 2712 is used to accommodate the shoulder second rope 245;One of the shoulder adapter plate 271 and the flat part 2463 is screw-connected with a fastener, and the fastener is configured to limit the movement of the shoulder first rope 244 along the length direction of the shoulder third rope groove 2711 and to limit the movement of the shoulder second rope 245 along the length direction of the shoulder fourth rope groove 2712.Such arrangement facilitates the fixation of the shoulder rope wheel 246 and the shoulder adapter plate 271 and the fixation of the shoulder first rope 244 and the shoulder second rope 245.

[0100] Please refer to the attached Figure 13In the embodiment of the utility model, the wrist rope differential assembly 620 comprises a wrist rope differential drive assembly 630 and a wrist driven bevel gear 650, the wrist rope differential drive assembly 630 comprises a wrist first driving bevel gear 631 and a wrist second driving bevel gear 632, both of which are pivotally connected to the wrist fixed support 610; the wrist driven bevel gear 650 is fixedly arranged on the wrist deflection support 672, and the wrist driven bevel gear 650 is drivingly connected to the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632.As shown in FIGS. 14(a) and 15(a), if the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 drive the wrist driven bevel gear 650 to move at the same speed in the same direction, the wrist driven bevel gear 650 will drive the wrist deflection support 672 to move around the vertical axis of the wrist fixed support 610, i.e., to make the wrist deflection support 672 deflect relative to the wrist fixed support 610, wherein the same direction in the same speed movement refers to the direction of rotation or the tendency of rotation of the wrist driven bevel gear 650 under the driving action of the corresponding wrist first driving bevel gear 631 and the wrist second driving bevel gear 632, as shown by the arrow a in FIG. 14(a), the arrow a and the arrow b in FIG. 15(a), the wrist driven bevel gear 650 rotates in the clockwise direction or in the counterclockwise direction; as shown in FIGS. 14(b) and 15(b), if the wrist first driving bevel gear 631 and the second driving bevel gear 632 drive the wrist driven bevel gear 650 to move at the same speed in the opposite direction, the wrist driven bevel gear 650 drives the wrist deflection support 672 to rotate around the horizontal axis, i.e., to make the wrist deflection support 672 pitch relative to the wrist fixed support 610, wherein the opposite direction in the same speed movement refers to the direction of rotation or the tendency of rotation of the wrist driven bevel gear 650 under the driving action of the corresponding driving bevel gear, as shown by the arrow a in FIG. 14(b), the arrow a and the arrow b in FIG. 15(b), the wrist driven bevel gear 650 rotates in the clockwise direction and in the counterclockwise direction, respectively; if the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 drive the wrist driven bevel gear 650 to move at different speeds, the wrist driven bevel gear 650 will drive the wrist deflection support 672 to move around the vertical axis of the wrist fixed support 610 and to rotate around the horizontal axis, i.e., to make the wrist deflection support 672 deflect relative to the wrist fixed support 610 and to pitch relative to the wrist fixed support 610; thus, the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 of the wrist rope differential driving assembly 630 drive the wrist driven bevel gear 650 to rotate relative to the vertical axis and the horizontal axis, thereby driving the wrist deflection support 672 to deflect relative to the vertical axis of the wrist fixed support 610 and to pitch around the horizontal axis.

[0101] Please refer to the accompanying Figure 13 and Figure 17The utility model discloses a wrist driven bevel gear 650 includes wrist first driven bevel gear 651 and wrist second driven bevel gear 652, and wrist first driven bevel gear 651 and wrist second driven bevel gear 652 all are solid in wrist deflection support 672, and wrist rope differential drive assembly 630 includes wrist outer drive shaft 633 and wrist inner drive shaft 634, and wrist outer drive shaft 633 is hinged in wrist fixed support 610, and the upper end transmission of wrist outer drive shaft 633 is connected with wrist outer drive motor 635, and the lower end is solid in wrist first driving bevel gear 631, and wrist inner drive shaft 634 is hinged in wrist fixed support 610, and wrist inner drive shaft 634 is passed in wrist outer drive shaft 633 and the upper end of wrist inner drive shaft 634 is protruding in the upper end of wrist outer drive shaft 633, and the upper end transmission of wrist inner drive shaft 634 is connected with the power output of wrist inner drive motor 636, and the lower end is solid in wrist second driving bevel gear 632, so setting, and wrist outer drive motor 635 is through wrist outer drive shaft 633, wrist first driving bevel gear 631 and power transmission in wrist first driven bevel gear 651, and wrist inner drive motor 636 is through wrist inner drive shaft 634 and wrist second driving bevel gear 632 and power transmission in wrist second driven bevel gear 652, as shown in FIG. 15 (a), if wrist outer drive motor 635 and wrist inner drive motor 636 same direction same rotation speed motion, drive wrist first driven bevel gear 651 and wrist second driven bevel gear 652 same direction same rotation speed motion through wrist first driving bevel gear 631 and wrist second driving bevel gear 632, and wrist deflection support 672 is locked in wrist rotation support 671, and wrist first driven bevel gear 651 and wrist second driven bevel gear 652 drive wrist deflection support 672 rotates around the vertical axis of wrist fixed support 610, that is, make wrist deflection support 672 make deflection motion relative to wrist fixed support 610, wherein, same direction motion in the same direction same rotation speed motion refers to: the direction from the little end of wrist first driven bevel gear 651 to the big end and the direction from the little end of wrist second driven bevel gear 652 to the big end, and the rotation direction or rotation tendency direction of wrist first driven bevel gear 651 and wrist second driven bevel gear 652 under the driving action of corresponding wrist first driving bevel gear 631 and wrist second driving bevel gear 632, as shown in the direction of arrow a and arrow b in FIG. 15 (a), and wrist first driven bevel gear 651 and wrist second driven bevel gear 652 all rotate along clockwise direction or all rotate along counterclockwise direction.As shown in Fig. 15(b), if the wrist outer driving motor 635 and the wrist inner driving motor 636 move at the same speed in opposite directions, the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 drive the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 to move at the same speed in opposite directions, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 drive the wrist deflection bracket 672 to rotate around the horizontal axis, i.e., to make the wrist deflection bracket 672 pitch relative to the wrist fixed bracket 610, wherein the opposite directions in the same speed in opposite directions refer to the direction from the small end to the large end of the wrist first driven bevel gear 651 and the direction from the small end to the large end of the wrist second driven bevel gear 652, and the rotating direction or the rotating trend direction of the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 under the driving action of the corresponding wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 is shown by the arrow a and the arrow b in Fig. 15(b), one of the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 moves in the clockwise direction, and the other moves in the counterclockwise direction; if the wrist outer driving motor 635 and the wrist inner driving motor 636 move at different speeds, the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 drive the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 to move at different speeds, respectively, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 drive the wrist deflection bracket 672 to move around the vertical axis and around the horizontal axis at the same time, i.e., to make the wrist deflection bracket 672 pitch and deflect relative to the wrist fixed bracket 610.

[0102] Please refer to the accompanying drawings Figure 17 and Figure 18 In the embodiment of the utility model, the wrist rope differential driving assembly 630 further includes a wrist outer wire transmission shaft 637, a wrist first outer driving wire 638, a wrist second outer driving wire 639 and a wrist outer wire wheel 640, the wrist outer wire transmission shaft 637 is transmissionally connected to the wrist outer driving motor 635; the wrist outer wire wheel 640 is fixedly arranged on the upper end of the wrist outer driving shaft 633; the first end of the wrist first outer driving wire 638 is fixedly arranged on the wrist outer wire transmission shaft 637 and is wound on the outer wall surface of the wrist outer wire transmission shaft 637 in the clockwise direction, and the second end is fixedly arranged on the wrist outer wire wheel 640 and is wound on the outer wall surface of the wrist outer wire wheel 640 in the clockwise direction; the first end of the wrist second outer driving wire 639 is fixedly arranged on the wrist outer wire transmission shaft 637 and is wound on the outer wall surface of the wrist outer wire transmission shaft 637 in the counterclockwise direction, and the second end is fixedly arranged on the wrist outer wire wheel 640 and is wound on the outer wall surface of the wrist outer wire wheel 640 in the counterclockwise direction.

[0103] The wrist rope differential driving assembly 630 further comprises a wrist inner wire transmission shaft 641, a wrist first inner driving wire 642, a wrist second inner driving wire 643 and a wrist inner wire wheel 644, the wrist inner wire transmission shaft 641 is in transmission connection with the wrist inner driving motor 636; the wrist inner wire wheel 644 is fixedly arranged on the upper end of the wrist inner driving shaft 634; the first end of the wrist first inner driving wire 642 is fixedly arranged on the wrist inner wire transmission shaft 641 and wound on the outer wall surface of the wrist inner wire transmission shaft 641 in the clockwise direction, and the second end is fixedly arranged on the wrist inner wire wheel 644 and wound on the outer wall surface of the wrist inner wire wheel 644 in the clockwise direction; the first end of the wrist second inner driving wire 643 is fixedly arranged on the wrist inner wire transmission shaft 641 and wound on the outer wall surface of the wrist inner wire transmission shaft 641 in the counterclockwise direction, and the second end is fixedly arranged on the wrist inner wire wheel 644 and wound on the outer wall surface of the wrist inner wire wheel 644 in the counterclockwise direction. In this way, on the one hand, by rotating or reversing the wrist outer driving motor 635, the wrist first outer driving wire 638 and the wrist second outer driving wire 639 are wound or released on the wrist outer wire transmission shaft 637 and the wrist outer wire wheel 640, so that the wrist first outer driving wire 638 and the wrist second outer driving wire 639 pull the wrist outer wire wheel 640 to drive the wrist outer driving shaft 633 to rotate, and then the wrist outer driving shaft 633 drives the wrist first driving bevel gear 631 to rotate; by rotating or reversing the wrist inner driving motor 636, the wrist first inner driving wire 642 and the wrist second inner driving wire 643 are wound or released on the wrist inner wire transmission shaft 641 and the wrist inner wire wheel 644, so that the wrist first inner driving wire 642 and the wrist second inner driving wire 643 drive the wrist inner driving shaft 634 to rotate, and then the wrist inner driving shaft 634 drives the wrist second driving bevel gear 632 to rotate; that is, the rotation of the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632 is realized by wire driving, and then the wrist driven bevel gear 650 is driven to rotate, realizing the single direction or two direction freedom of the wrist joint 670; on the other hand, by means of wire driving, the wrist outer driving motor 635 and the wrist inner driving motor 636 can be arranged on the large arm 30 or the small arm 50 away from the wrist, reducing the mass of the wrist, thereby reducing the inertia of the wrist, making the end manipulator 70 more stable in the movement process, improving the precision and stability of the end manipulator 70 in the movement process; making the end manipulator 70 have small inertia in the movement process, which can quickly respond to the control instruction; in addition, the structure size of the wrist can be reduced, and the structure of the wrist is compact.

[0104] Referring to the accompanying drawings Figures 17-19, the axis direction of the wrist outer driving motor 635 is perpendicular to the axis direction of the wrist outer driving shaft 633; the wrist rope differential driving assembly 630 further comprises a wrist first outer guide wheel 613 and a wrist second outer guide wheel 614 which are respectively pivotally connected to the wrist fixed support 610, the axis directions of the wrist first outer guide wheel 613 and the wrist second outer guide wheel 614 are perpendicular to the axis direction of the wrist outer driving shaft 633, and the wrist first outer driving line 638 is wound on part of the outer wall surface of the wrist first outer guide wheel 613; the wrist second outer driving line 639 is wound on part of the outer wall surface of the wrist second outer guide wheel 614;

[0105] The axis direction of the wrist inner driving motor 636 is perpendicular to the axis direction of the wrist inner driving shaft 634; the wrist rope differential driving assembly 630 further comprises a wrist first inner guide wheel 615 and a wrist second inner guide wheel 616 which are respectively pivotally connected to the wrist fixed support 610, the axis directions of the wrist first inner guide wheel 615 and the wrist second inner guide wheel 616 are both perpendicular to the axis direction of the wrist inner driving shaft 634, the wrist first inner driving line 642 is wound on part of the outer wall surface of the wrist first inner guide wheel 615, and the wrist second inner driving line 643 is wound on part of the outer wall surface of the wrist second inner guide wheel 616. In this way, the directions of the wrist first outer driving line 638, the wrist second outer driving line 639, the wrist first inner driving line 642 and the wrist second inner driving line 643 are changed, that is, the wrist first outer driving line 638 and the wrist second outer driving line 639 wound on the wrist outer line wheel 640 can be wound on the wrist outer line transmission shaft 637 through the wrist first outer guide wheel 613 and the wrist second outer guide wheel 614 respectively; and the wrist second inner driving line 643 and the wrist second inner driving line 643 wound on the wrist inner line wheel 644 can be wound on the wrist inner line transmission shaft 641 through the wrist first inner guide wheel 615 and the wrist second inner guide wheel 616 respectively.

[0106] Referring to the accompanying drawings Figure 13 and Figure 19 In the utility model embodiment, the wrist fixed support 610 is a U-shaped structure, the wrist fixed support 610 includes a wrist support horizontal plate 611 and a wrist support side plate 612, the wrist support side plate 612 has two and is parallelly and spacedly fixed on the wrist support horizontal plate 611, and the wrist rotating support 671 is pivotally connected to the wrist support horizontal plate 611; the wrist first outer guide wheel 613 and the wrist second outer guide wheel 614 are both pivotally connected to the wrist support side plate 612; and the wrist first inner guide wheel 615 and the wrist second inner guide wheel 616 are both pivotally connected to the wrist support side plate 612.

[0107] Referring to the accompanying drawings Figure 19In the embodiment of the utility model, the wrist support side plate 612 has a plurality of wrist wheel supports 617 arranged at intervals, the wrist wheel supports 617 protrude from the inner surface of the wrist support side plate 612 in the direction close to the wrist outer line wheel 640, and the wrist first outer guide wheel 613, the wrist second outer guide wheel 614, the wrist first inner guide wheel 615 and the wrist second inner guide wheel 616 are respectively pivotally connected to the corresponding wrist wheel supports 617.

[0108] Referring to the accompanying drawings Figure 18 And Figure 19 In the embodiment of the utility model, the wrist outer line transmission shaft 637 has a wrist first outer line groove, and the first ends of the wrist first outer driving line 638 and the wrist second outer driving line 639 are respectively wound and fixedly arranged in the wrist first outer line groove; the outer wall surface of the wrist outer line wheel 640 has a wrist second outer line groove, and the second ends of the wrist first outer driving line 638 and the wrist second outer driving line 639 are respectively wound and fixedly arranged in the wrist second outer line groove; the wrist inner line transmission shaft 641 has a wrist first inner line groove, and the first ends of the wrist first inner driving line 642 and the wrist second inner driving line 643 are respectively wound and fixedly arranged in the wrist first inner line groove; the outer wall surface of the wrist inner line wheel 644 has a wrist second inner line groove, and the second ends of the wrist first inner driving line 642 and the wrist second inner driving line 643 are respectively wound and fixedly arranged in the wrist second inner line groove. In this way, the wrist first outer line groove, the wrist second outer line groove, the wrist first inner line groove and the wrist second inner line groove enable the wrist first outer driving line 638, the wrist second outer driving line 639, the wrist first inner driving line 642 and the wrist second inner driving line 643 to be arranged in order respectively, reduce the friction between adjacent driving lines, thereby reducing wear and tear and prolonging the service life of the driving lines.

[0109] Referring to the accompanying drawings Figure 20 And Figure 21 In the embodiment of the utility model, the second ends of the wrist first outer driving line 638 and the wrist second outer driving line 639 are provided with outer line joints 6381; the upper end surface and the lower end surface of the wrist outer line wheel 640 are recessed to form outer pre-tightening holes 6401, and the outer pre-tightening holes 6401 are communicated with the wrist second outer line groove; the outer line joints 6381 and the outer pre-tightening holes 6401 are provided with limiting portions, the limiting portions are used for limiting the movement of the outer line joints 6381 along the circumferential direction of the outer pre-tightening holes 6401; the outer line joints 6381 are threadedly connected with fasteners, the fasteners can abut against the end surface of the outer pre-tightening hole 6401, and are configured to: tighten the fastener to drive the outer line joint 6381 to move along the axis direction of the outer pre-tightening hole 6401 to tension the wrist first outer driving line 638 and / or the wrist second outer driving line 639;

[0110] The second end of the wrist first inner driving line 642 and the wrist second inner driving line 643 is provided with an inner wire joint, which has the same structure as the outer wire joint 6381; the upper end surface and the lower end surface of the wrist inner wire wheel 644 are recessed to form inner pre-tightening holes 6441, which are communicated with the wrist second inner wire groove; the inner wire joint and the inner pre-tightening hole 6441 are provided with a limiting portion for limiting the movement of the inner wire joint along the circumferential direction of the inner pre-tightening hole 6441; the inner wire joint is threadedly connected with a fastener which can abut against the end surface of the inner pre-tightening hole 6441, and is configured to: tighten the fastener to drive the inner wire joint to move along the axis direction of the inner pre-tightening hole 6441 to tension the wrist first inner driving line 642 and / or the wrist second inner driving line 643. In this way, the operator adjusts the depth of the fastener screwed into the outer wire joint 6381 by tightening the fastener, the fastener drives the outer wire joint 6381 to move along the axis direction of the outer pre-tightening hole 6401, and the contact length of the outer wire joint 6381 and the outer pre-tightening hole 6401 is adjusted, so as to pre-tighten the wrist first outer driving line 638 and the wrist second outer driving line 639 respectively; and the depth of the fastener screwed into the inner wire joint is adjusted, the fastener drives the inner wire joint to move along the axis direction of the inner pre-tightening hole 6441, and the contact length of the inner wire joint and the inner pre-tightening hole 6441 is adjusted, so as to pre-tighten the wrist first inner driving line 642 and the wrist second inner driving line 643 respectively.

[0111] Please refer to the accompanying drawings Figure 20 In the embodiment of the utility model, the outer side wall cross-sectional shape of the outer wire joint 6381 can be various, specifically, the outer side wall cross-sectional shape of the outer wire joint 6381 can be triangular, quadrilateral, pentagonal, hexagonal, convex or concave. It should be noted that the outer side wall cross-sectional shape of the matching section of the outer pre-tightening hole 6401 and the outer wire joint 6381 is matched. In this way, the outer side wall cross-sectional shape of the outer wire joint 6381 and the outer pre-tightening hole 6401 is polygonal, thereby forming a limiting portion to limit the movement of the outer wire joint 6381 along the circumferential direction of the outer pre-tightening hole 6401.

[0112] In the embodiment of the utility model, the outer side wall cross-sectional shape of the inner wire joint can be various, specifically, the outer side wall cross-sectional shape of the inner wire joint can be triangular, quadrilateral, pentagonal, hexagonal, convex or concave. It should be noted that the outer side wall cross-sectional shape of the matching section of the inner pre-tightening hole 6441 and the inner wire joint is matched. In this way, the outer side wall cross-sectional shape of the inner wire joint and the inner pre-tightening hole 6441 is polygonal, thereby forming a limiting portion to limit the movement of the inner wire joint along the circumferential direction of the inner pre-tightening hole 6441.

[0113] In the embodiment of the utility model, the connecting mode of the wrist rotating shaft 673 and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 can be various, and the specific modes are as follows:

[0114] Please refer to the attached Figure 17 , in the first case, the wrist rotating support 671 is fixed with the wrist rotating shaft 673, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 are respectively pivoted to the wrist rotating shaft 673.

[0115] In the second case, the wrist rotating support 671 is pivoted with the wrist rotating shaft 673, and the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 are respectively fixed to the wrist rotating shaft 673.

[0116] In the embodiment of the utility model, for the above first case, please refer to the attached Figure 17 , the wrist rotating support 671 is fixed with the wrist rotating shaft 673, the wrist rotating shaft 673 is T-shaped wrist rotating shaft, the T-shaped wrist rotating shaft includes wrist horizontal shaft 6731 and wrist vertical shaft 6732, the wrist vertical shaft 6732 is connected perpendicularly to the wrist horizontal shaft 6731, the upper end of the wrist vertical shaft 6732 is pivoted to the inner wall surface of the wrist inner driving shaft 634, the wrist first driven bevel gear 651 is pivoted to the first end of the wrist horizontal shaft 6731, and the wrist second driven bevel gear 652 is pivoted to the second end of the wrist horizontal shaft 6731.

[0117] Please refer to the attached Figure 13 , in the embodiment of the utility model, the middle part of the wrist horizontal shaft 6731 has a connecting part; the wrist deflection support 672 includes a wrist deflection plate 6721 and a wrist connecting side plate 6722, the wrist deflection plate 6721 is pivoted to the wrist rotating support 671, the wrist connecting side plate 6722 has one and is arranged oppositely, the upper end of the wrist connecting side plate 6722 is fixed to the wrist deflection plate 6721, and the lower end of the wrist connecting side plate 6722 is fixed to the connecting part; the gear accommodating space is formed between the wrist deflection plate 6721 and the wrist connecting side plate 6722, used for accommodating the wrist first driving bevel gear 631 and the wrist second driving bevel gear 632; the wrist first driven bevel gear 651 and the wrist second driven bevel gear 652 are respectively fixed to the wrist connecting side plate 6722. By so arranging, the stability of the connection between the wrist deflection support 672 and the wrist rotating shaft 673 is improved.

[0118] Please refer to the attached Figure 18 and Figure 19In the wrist outer driving motor 635 and the wrist inner driving motor 636 are respectively installed on the first end of the big arm 30; the elbow structure 40 comprises an elbow joint 410, the elbow joint 410 comprises an elbow first rope wheel 420, an elbow second rope wheel 430 and an elbow connecting frame 440, the first end of the elbow connecting frame 440 is pivotally connected to the second end of the big arm 30, the second end of the elbow connecting frame 440 is pivotally connected to the second end of the small arm 50, the elbow first rope wheel 420 is pivotally connected to the first end of the elbow connecting frame 440, and the elbow second rope wheel 430 is pivotally connected to the second end of the elbow connecting frame 440; the elbow first rope wheel 420 has an elbow first rope groove, and the elbow second rope wheel 430 has an elbow second rope groove; the wrist first outer driving line 638 and the wrist first inner driving line 642 are respectively wound in the clockwise direction in the elbow first rope groove and the elbow second rope groove in the shape of "S"; the wrist second outer driving line 639 and the wrist second inner driving line 643 are respectively wound in the counterclockwise direction in the elbow first rope groove and the elbow second rope groove in the shape of "S"; wherein, the wrist first outer driving line 638, the wrist second outer driving line 639, the wrist first inner driving line 642 and the wrist second inner driving line 643 are arranged in staggered intervals. By so arranging, the elbow connecting frame 440 ensures that the center distance between the elbow first rope wheel 420 and the elbow second rope wheel 430 remains unchanged; the wrist driving lines are wound in the elbow first rope groove of the elbow first rope wheel 420 and the elbow second rope groove of the elbow second rope wheel 430 in the shape of "S", and when the angle of the elbow joint 410 changes, the length of each wrist driving line wound on the elbow first rope wheel 420 and the elbow second rope wheel 430 does not change, thereby realizing the decoupling of wrist driving.

[0119] Referring to the accompanying drawings Figure 18 and Figure 19In the embodiment of the utility model, the elbow structure 40 further includes an elbow rope driving assembly 450, the elbow rope driving assembly 450 includes an elbow driving motor 451, an elbow rope transmission shaft 452, an elbow first driving rope 453, an elbow second driving rope 454 and an elbow guide wheel 455, the elbow driving motor 451 is installed at the first end of the big arm 30, the elbow rope transmission shaft 452 is drivingly connected to the elbow driving motor 451, and the elbow rope transmission shaft 452 has a spiral groove; the elbow guide wheel 455 is pivoted to the big arm 30 and located at one end of the elbow first rope wheel 420 away from the elbow second rope wheel 430; the first end of the elbow first driving rope 453 is fixedly arranged and wound in the clockwise direction on the spiral groove of the elbow rope transmission shaft 452; the elbow first driving rope 453 is "S" shaped wound in the clockwise direction on the elbow guide wheel 455 and the elbow first rope wheel 420, and the second end of the elbow first driving rope 453 is fixedly arranged on the elbow second rope wheel 430; the elbow first rope wheel 420 and the elbow second rope wheel 430 are located on the same side of the elbow first driving rope 453; the elbow second driving rope 454 is "S" shaped wound in the counterclockwise direction on the elbow guide wheel 455 and the elbow first rope wheel 420, and the second end of the elbow second driving rope 454 is fixedly arranged on the elbow second rope wheel 430; the elbow first rope wheel 420 and the elbow second rope wheel 430 are located on the same side of the elbow second driving rope 454. In this way, on the one hand, by means of the elbow rope driving, the elbow driving motor 451 is installed on the big arm 30 away from the elbow joint 410, the weight of the elbow joint 410 is reduced, thereby the inertia of the elbow joint 410 is reduced, and the precision and stability of the movement of the mechanical arm are improved; on the other hand, the size of the elbow joint 410 is reduced, and the structure of the elbow joint 410 is compact.

[0120] Referring to the drawings Figure 19 and Figure 23 In the embodiment of the utility model, the elbow rope driving assembly 450 further includes an elbow first linkage rope 456 and an elbow second linkage rope 457, the first end of the elbow first linkage rope 456 and the first end of the elbow second linkage rope 457 are fixedly arranged on one of the elbow first rope wheel 420 and the elbow second rope wheel 430, and the second end of the elbow first linkage rope 456 and the second end of the elbow second linkage rope 457 are fixedly arranged on the other of the elbow first rope wheel 420 and the elbow second rope wheel 430; the elbow first linkage rope 456 and the elbow second linkage rope 457 are "S" shaped wound in opposite directions on the elbow first rope wheel 420 and the elbow second rope wheel 430, and are configured to limit one of the elbow first rope wheel 420 and the elbow second rope wheel 430 to purely roll on the outer wall surface of the other. In this way, the elbow first linkage rope 456 and the elbow second linkage rope 457 are "S" shaped wound on the elbow first rope wheel 420 and the elbow second rope wheel 430, and the pulling force of the first linkage rope and the second linkage rope guarantees the pure rolling of the elbow first rope wheel 420 and the elbow second rope wheel 430.

[0121] Referring to the drawings Figure 19 and Figure 23 In the embodiment of the utility model, the elbow first rope wheel 420 has multiple and is arranged side by side coaxially, and the elbow first rope wheel 420 includes elbow first rope wheel one 421, elbow first rope wheel two 422, elbow first rope wheel three 423, elbow first rope wheel four 424 and elbow first rope wheel five 425 arranged in turn, and the elbow first rope wheel one 421, elbow first rope wheel two 422, elbow first rope wheel three 423, elbow first rope wheel four 424 and elbow first rope wheel five 425 are all pivotally connected to the first end of the elbow connecting frame 440.

[0122] The elbow second rope wheel 430 has multiple and is arranged side by side coaxially, and the elbow second rope wheel 430 includes elbow second rope wheel one 431, elbow second rope wheel two 432, elbow second rope wheel three 433, elbow second rope wheel four 434 and elbow second rope wheel five 435 arranged in turn, and the elbow second rope wheel one 431, elbow second rope wheel two 432, elbow second rope wheel three 433, elbow second rope wheel four 434 and elbow second rope wheel five 435 are all pivotally connected to the second end of the elbow connecting frame 440.

[0123] The wrist first outer driving line 638 is "S" shape winding in the clockwise direction in the elbow first rope groove of the elbow first rope wheel one 421 and the elbow second rope groove of the elbow second rope wheel one 431, the wrist second outer driving line 639 is "S" shape winding in the counterclockwise direction in the elbow first rope groove of the elbow first rope wheel two 422 and the elbow second rope groove of the elbow second rope wheel two 432, the wrist first inner driving line 642 is "S" shape winding in the clockwise direction in the elbow first rope groove of the elbow first rope wheel five 425 and the elbow second rope groove of the elbow second rope wheel five 435, and the wrist second inner driving line 643 is "S" shape winding in the counterclockwise direction in the elbow first rope groove of the elbow first rope wheel four 424 and the elbow second rope groove of the elbow second rope wheel four 434.

[0124] The elbow first driving rope 453 is "S" shape winding in the clockwise direction in the elbow guide wheel 455 and the elbow first rope wheel three 423, and the second end of the elbow first driving rope 453 is fixedly arranged in the elbow second rope wheel three 433, and the elbow first rope wheel three 423 and the elbow second rope wheel three 433 are located on the same side of the elbow first driving rope 453, and the elbow second driving rope 454 is "S" shape winding in the counterclockwise direction in the elbow guide wheel 455 and the elbow first rope wheel three 423, and the second end of the elbow second driving rope 454 is fixedly arranged in the elbow second rope wheel three 433, and the elbow first rope wheel three 423 and the elbow second rope wheel three 433 are located on the same side of the elbow second driving rope 454.

[0125] The elbow first linkage rope 456 and the elbow second linkage rope 457 are respectively wound in an "S" shape in opposite directions on the elbow first rope wheel three 423 and the elbow second rope wheel three 433, the first end of the elbow first linkage rope 456 and the first end of the elbow second linkage rope 457 are fixed to one of the elbow first rope wheel three 423 and the elbow second rope wheel three 433, and the second end of the elbow first linkage rope 456 and the second end of the elbow second linkage rope 457 are fixed to the other one of the elbow first rope wheel three 423 and the elbow second rope wheel three 433. In this way, each wrist driving line is connected with the corresponding rope wheel, each elbow driving rope is connected with the corresponding rope wheel, and each wrist driving line and each elbow driving rope are arranged in an overlapped and spaced manner, so that the wrist driving and the elbow driving are decoupled at the elbow joint 410.

[0126] Please refer to the accompanying drawings Figure 23 and Figure 24 In the embodiment of the utility model, the elbow second rope wheel three 433 is provided with a rope pre-tightening block 470, the rope pre-tightening block 470 has a plurality of rope pre-tightening holes 473, the second ends of the elbow first linkage rope 456, the elbow second linkage rope 457, the elbow first driving rope 453 and the elbow second driving rope 454 have rope heads, the structure of the rope head is the same as that of the outer pre-tightening hole 6381, the rope head and the corresponding rope pre-tightening hole 473 have a limiting portion, and the limiting portion is used for limiting the movement of the rope head along the circumferential direction of the rope pre-tightening hole 473; the rope head is threadedly connected with a fastener, the fastener can abut against the end face of the rope pre-tightening hole 473, and is configured to: tighten or loosen the fastener to drive the rope head to move along the axis direction of the corresponding rope pre-tightening hole 473 to respectively tighten or loosen the elbow first linkage rope 456, the elbow second linkage rope 457, the elbow first driving rope 453 and the elbow second driving rope 454. In this way, the operator adjusts the depth of the fastener screwed into the rope head by tightening the fastener, the fastener drives the rope head to move along the axis direction of the rope pre-tightening hole 473, and the contact length of the rope head with the rope pre-tightening hole 473 is adjusted, so that the elbow first linkage rope 456, the elbow second linkage rope 457, the elbow first driving rope 453 and the elbow second driving rope 454 are respectively pre-tightened, and the pre-tightening operation is simple.

[0127] Please refer to the accompanying drawings Figure 23 、 Figure 24 and Figure 25In the embodiment of the utility model, specifically, the rope pre-tightening hole 473 includes a first linkage rope pre-tightening hole 4731, a second linkage rope pre-tightening hole 4732, a first driving rope pre-tightening hole 4733, and a second driving rope pre-tightening hole 4734, wherein the first linkage rope pre-tightening hole 4731 and the second linkage rope pre-tightening hole 4732 are oppositely arranged; the first driving rope pre-tightening hole 4733 and the second driving rope pre-tightening hole 4734 are oppositely arranged; the rope head includes a first linkage rope head, a second linkage rope head, a first driving rope head, and a second driving rope head, the first linkage rope head is arranged in the first linkage rope pre-tightening hole 4731, the second linkage rope head is arranged in the second linkage rope pre-tightening hole 4732, the first driving rope head is arranged in the first driving rope pre-tightening hole 4733, and the second driving rope head is arranged in the second driving rope pre-tightening hole 4734.

[0128] In the embodiment of the utility model, the outer side wall cross-sectional shape of the rope head can be various, specifically, the outer side wall cross-sectional shape of the rope head can be triangular, quadrilateral, pentagonal, hexagonal, convex or concave, that is, the outer side wall cross-sectional shape of the first linkage rope head, the second linkage rope head, the first driving rope head, and the second driving rope head can be triangular, quadrilateral, pentagonal, hexagonal, convex or concave. In this way, the cross-sectional shape of the outer side wall of the rope head and the rope pre-tightening hole 473 is polygonal, thereby forming a limiting part to limit the movement of the rope head along the circumferential direction of the rope pre-tightening hole 473.

[0129] Please refer to the accompanying drawings Figure 27 and Figure 28 In the embodiment of the utility model, the elbow second rope wheel three 433 has a second groove 436, the depth direction of the second groove 436 extends inward along the radial direction of the second rope wheel three; the pre-tightening block includes a pre-tightening part 471, the pre-tightening part 471 is fixedly arranged in the second groove 436, and the rope pre-tightening hole 473 is arranged in the pre-tightening part 471. In this way, space is provided for the installation of the pre-tightening block.

[0130] Please refer to the accompanying drawings Figure 27 and Figure 28 In the embodiment of the utility model, the second groove 436 is provided with a second boss 437, the pre-tightening part 471 is fixedly connected with a second connecting part 472, and the second connecting part 472 is fixed to the second boss 437. In this way, the pre-tightening block and the elbow second rope wheel three 433 are fixed.

[0131] Please refer to the accompanying drawings Figure 27 and Figure 28In the embodiment of the utility model, the elbow first rope wheel three 423 is provided with a pressing block 460, the pressing block 460 is provided with a first linkage rope passing hole 463, a second linkage rope passing hole 464, a first limiting hole 465 and a second limiting hole 466, the first end of the elbow first linkage rope 456 is arranged in the first linkage rope passing hole 463, the first limiting hole 465 is communicated with the first linkage rope passing hole 463 and the axial direction of the first limiting hole 465 is arranged at an angle with the axial direction of the first linkage rope passing hole 463, a locking fastener is screw-connected in the first limiting hole 465 and is configured to limit the movement of the elbow first linkage rope 456 along the axial direction of the first linkage rope passing hole 463, the first end of the elbow second linkage rope 457 is arranged in the second linkage rope passing hole 464, the second limiting hole 466 is communicated with the second linkage rope passing hole 464 and the axial direction of the second limiting hole 466 is arranged at an angle with the axial direction of the second linkage rope passing hole 464, a locking fastener is screw-connected in the second limiting hole 466 and is configured to limit the movement of the elbow second linkage rope 457 along the axial direction of the second linkage rope passing hole 464, the first end of the elbow first linkage rope 456 and the elbow second linkage rope 457 is fixed respectively, and the installation is simple, in addition, the structure is simple and easy to manufacture.

[0132] Please refer to the attached drawings Figure 27 And Figure 28 In the embodiment of the utility model, the elbow first rope wheel three 423 is provided with a first recess 426, the depth direction of the first recess 426 extends inward along the radial direction of the elbow first rope wheel three 423, the pressing block 460 comprises a pressure contact part 461, the pressure contact part 461 is pressed in the first recess 426, and the first linkage rope passing hole 463, the second linkage rope passing hole 464, the first limiting hole 465 and the second limiting hole 466 are all arranged in the pressure contact part 461, so that space is provided for the installation of the pressing block 460.

[0133] Please refer to the attached drawings Figure 27 And Figure 28 In the embodiment of the utility model, the first recess 426 is provided with a first boss 427, the pressure contact part 461 is fixedly connected with a first connecting part 462, and the first connecting part 462 is fixedly arranged in the first boss 427, so that the pressing block 460 and the elbow first rope wheel three 423 are fixed.

[0134] Please refer to the attached drawings Figure 29 The utility model discloses an embodiment further provides a double -armed robot, including above -mentioned mechanical arm 1, and mechanical arm 1 has 2, and is located the both sides of support body 10 along left and right direction respectively.

[0135] Please refer to the attached drawings Figure 29In the embodiment of the utility model, the dual-arm robot 2 further comprises a base 80, a stand column 90 and a walking assembly 100, the walking assembly 100 is installed at the bottom of the base 80, the lower end of the stand column 90 is fixed on the base 80, and the supporting body 10 is fixed on the upper end of the stand column 90.

[0136] Please refer to the attached drawings Figure 29 In the embodiment of the utility model, the walking assembly 100 comprises universal wheels, and the universal wheels are multiple and arranged at intervals.

[0137] Although the utility model discloses as above, the utility model is not limited to this. Any person skilled in the art, without departing from the spirit and scope of the utility model, can make various changes and modifications, therefore the protection scope of the utility model should be the range defined by the claims.

Claims

1. A robot arm, characterized in that, The support body (10), the shoulder structure (20), the large arm (30), the elbow structure (40), the small arm (50) and the wrist structure (60) are sequentially connected; The shoulder structure (20) comprises a shoulder differential assembly (210), a shoulder rope driving assembly (240) and a shoulder joint (250), the shoulder differential assembly (210) and the shoulder rope driving assembly (240) are both mounted on the support body (10), the shoulder joint (250) has three degrees of freedom, the shoulder joint (250) comprises a shoulder rotating seat (260) and a shoulder adapter seat (270), the shoulder rotating seat (260) is fixedly arranged on a power output end of the shoulder differential assembly (210), the shoulder adapter seat (270) is pivotally connected to the shoulder rotating seat (260), fixedly arranged on a first end of the large arm (30) and drivingly connected to a power output end of the shoulder rope driving assembly (240); The wrist structure (60) comprises a wrist fixed support (610), a wrist rope differential assembly (620), a wrist rotating driving assembly (660) and a wrist joint (670), the wrist fixed support (610) is fixedly arranged on a first end of the small arm (50), the wrist rope differential assembly (620) is mounted on the large arm (30) or the small arm (50), the wrist joint (670) has three degrees of freedom, the wrist joint (670) comprises a wrist rotating support (671) and a wrist deflection support (672), the wrist rotating support (671) is pivotally connected to the wrist fixed support (610), the wrist deflection support (672) is drivingly connected to a power output end of the wrist rope differential assembly (620) and pivotally connected to the wrist rotating support (671), the wrist rotating driving assembly (660) is mounted on the wrist deflection support (672) and used for drivingly connecting an end manipulator (70).

2. The robot arm of claim 1, wherein, The shoulder differential assembly (210) comprises a shoulder driven bevel gear assembly (220) and a shoulder differential driving assembly (230); The shoulder driven bevel gear assembly (220) comprises a shoulder first driven bevel gear (221), a shoulder planetary bevel gear (222) and a shoulder planetary support (223), the shoulder first driven bevel gear (221) has two vertical axes which are arranged to rotate around the up-down direction, the shoulder planetary bevel gear (222) is respectively engaged with the two shoulder first driven bevel gears (221), and the shoulder rotating seat (260) is fixedly arranged on the shoulder planetary bevel gear (222); the shoulder planetary support (223) is in a U-shaped structure, the side wall of the shoulder planetary support (223) is pivotally connected to the shoulder first driven bevel gear (221), the bottom wall of the shoulder planetary support (223) is pivotally connected with a transverse shaft, and the shoulder planetary bevel gear (222) is fixedly arranged on the transverse shaft; The shoulder differential driving assembly (230) has two groups, and the power output ends thereof are respectively connected to the shoulder first driven bevel gears (221) to drive the shoulder rotating seat (260) to perform pitching movement around the horizontal axis extending in the left-right direction and / or to drive the shoulder rotating seat (260) to perform deflection movement around the vertical axis extending in the up-down direction.

3. The robot arm of claim 2, wherein, The shoulder differential driving assembly (230) has two groups, and each of the shoulder differential driving assemblies (230) comprises a shoulder differential motor (231), a shoulder differential motor mounting seat (232), a shoulder driving bevel gear (233), a shoulder vertical shaft (234) and a shoulder second driven bevel gear (235); the shoulder differential motor mounting seat (232) comprises a shoulder differential motor (231) mounting plate and a shoulder bevel gear mounting plate (2322), the shoulder differential motor (231) mounting plate is fixedly arranged on the support body (10), and the shoulder differential motor (231) is mounted on the shoulder differential motor (231) mounting plate; the shoulder driving bevel gear (233) is connected to the shoulder differential motor (231), and the shoulder second driven bevel gear (235) is engaged with the shoulder driving bevel gear (233); the shoulder bevel gear mounting plate (2322) is fixedly arranged vertically on the shoulder differential motor (231) mounting plate, the shoulder vertical shaft (234) is pivotally connected to the shoulder bevel gear mounting plate (2322), and the shoulder second driven bevel gear (235) and the shoulder first driven bevel gear (221) are both fixedly arranged on the shoulder vertical shaft (234).

4. The robot arm of claim 3, wherein, The shoulder rope driving assembly (240) comprises a shoulder rope driving motor (241), a shoulder rope driving mounting seat (242), a shoulder rope transmission shaft (243), a shoulder first rope (244), a shoulder second rope (245) and a shoulder rope wheel (246); the shoulder rope driving mounting seat (242) is fixedly arranged on the support body (10), the shoulder rope driving motor (241) is mounted on the shoulder rope driving mounting seat (242), the shoulder rope transmission shaft (243) is connected to the shoulder rope driving motor (241), the shoulder rope transmission shaft (243) has a spiral rope groove on the outer wall surface thereof, and the shoulder rope wheel (246) is fixedly arranged on the shoulder adapter seat (270) and has a shoulder first rope groove (2461) and a shoulder second rope groove (2462). The shoulder planetary bevel gear (222) and the shoulder rotating seat (260) both have a rope channel. The first end of the shoulder first rope (244) is fixed to the spiral rope groove and wound in the clockwise direction, and the second end passes through the rope channel and is wound in the clockwise direction and fixed to the shoulder first rope groove (2461); the first end of the shoulder second rope (245) is fixed to the spiral rope groove and wound in the counterclockwise direction, and the second end passes through the rope channel and is wound in the counterclockwise direction and fixed to the shoulder second rope groove (2462).

5. The robot arm of claim 4, wherein, The shoulder rope drive mounting seat (242) is located above or below the shoulder differential motor mounting seat (232); the shoulder second driven bevel gear (235), the shoulder vertical shaft (234), and the shoulder first driven bevel gear (221) all have the rope channel; the second end of the shoulder first rope (244) and the second end of the shoulder second rope (245) pass through the rope channels of the shoulder second driven bevel gear (235), the shoulder vertical shaft (234), the shoulder first driven bevel gear (221), the shoulder planetary bevel gear (222), and the shoulder rotating seat (260) respectively; And / or, the shoulder rotating seat (260) is a U-shaped shoulder rotating seat, which includes a shoulder vertical plate (261) and a shoulder connecting plate (262), the shoulder connecting plate (262) has two and is arranged in parallel and spaced apart, the shoulder connecting plate (262) is fixed to the shoulder vertical plate (261), the shoulder vertical plate (261) is fixed with the transverse shaft, and the end of the transverse shaft is fixed to the shoulder planetary bevel gear (222); the shoulder adapter seat (270) is a U-shaped shoulder adapter seat, which includes a shoulder adapter plate (271) and a shoulder lateral plate (272), the shoulder lateral plate (272) has two and is arranged in parallel and spaced apart, the shoulder lateral plate (272) is fixed to the shoulder adapter plate (271), and the shoulder lateral plate (272) is pivoted to the shoulder connecting plate (262); the shoulder rope wheel (246) is located between the two shoulder lateral plates (272), and the shoulder rope wheel (246) is fixed to the shoulder adapter plate (271).

6. The robot arm of claim 5, wherein, The shoulder rope driving mount (242) is fixedly provided with a shoulder rope transmission support seat (247), and the shoulder rope transmission shaft (243) is pivoted to the shoulder rope transmission support seat (247); the shoulder rope transmission support seat (247) is provided with a shoulder first rope joint (2471) and a shoulder second rope joint (2472), and the shoulder first rope joint (2471) and the shoulder second rope joint (2472) are arranged at intervals; the shoulder rotating seat (260) is provided with a shoulder third rope joint (2611) and a shoulder fourth rope joint (2612), and the shoulder third rope joint (2611) and the shoulder fourth rope joint (2612) are arranged at intervals; the shoulder first rope (244) passes through the shoulder first rope joint (2471), the rope channel and the shoulder third rope joint (2611); the shoulder second rope (245) passes through the shoulder second rope joint (2472), the rope channel and the shoulder fourth rope joint (2612); And / or, the shoulder rope wheel (246) has a flat portion (2463) fixedly provided on the shoulder adapter plate (271), and the flat portion (2463) has the shoulder first rope groove (2461) and the shoulder second rope groove (2462); one side of the shoulder adapter plate (271) facing the flat portion (2463) has a shoulder third rope groove (2711) and a shoulder fourth rope groove (2712); the shoulder first rope groove (2461) and the shoulder third rope groove (2711) enclose a space for accommodating the shoulder first rope (244), and the shoulder second rope groove (2462) and the shoulder fourth rope groove (2712) enclose a space for accommodating the shoulder second rope (245); one of the shoulder adapter plate (271) and the flat portion (2463) is threadedly connected with a fastener configured to limit movement of the shoulder first rope (244) along the length direction of the shoulder third rope groove (2711) and limit movement of the shoulder second rope (245) along the length direction of the shoulder fourth rope groove (2712).

7. The robot arm according to any one of claims 1-6, characterized in that, The wrist rope differential assembly (620) comprises a wrist rope differential driving assembly (630) and a wrist driven bevel gear (650), and the wrist rope differential driving assembly (630) comprises a wrist first driving bevel gear (631) and a wrist second driving bevel gear (632), both of which are pivoted to the wrist fixed support (610); The wrist driven bevel gear (650) is fixedly provided on the wrist deflection support (672), and the wrist driven bevel gear (650) is drivingly connected to the wrist first driving bevel gear (631) and the wrist second driving bevel gear (632).

8. The robotic arm of claim 7, wherein, The wrist driven bevel gear (650) comprises a wrist first driven bevel gear (651) and a wrist second driven bevel gear (652), both of which are fixed to the wrist deflection bracket (672); The wrist rope differential drive assembly (630) comprises a wrist outer drive shaft (633) and a wrist inner drive shaft (634), the wrist outer drive shaft (633) is pivoted to the wrist fixed bracket (610), the upper end of the wrist outer drive shaft (633) is drivingly connected with a wrist outer drive motor (635), and the lower end is fixed to the wrist first driving bevel gear (631); the wrist inner drive shaft (634) is pivoted to the wrist fixed bracket (610), the wrist inner drive shaft (634) is arranged in the wrist outer drive shaft (633), and the upper end of the wrist inner drive shaft (634) protrudes from the upper end of the wrist outer drive shaft (633), the upper end of the wrist inner drive shaft (634) is drivingly connected with the power output end of a wrist inner drive motor (636), and the lower end is fixed to the wrist second driving bevel gear (632).

9. The robot arm of claim 8, wherein, The wrist rope differential drive assembly (630) further comprises a wrist outer wire transmission shaft (637), a wrist first outer drive wire (638), a wrist second outer drive wire (639) and a wrist outer wire wheel (640), the wrist outer wire transmission shaft (637) is drivingly connected with the wrist outer drive motor (635); the wrist outer wire wheel (640) is fixed to the upper end of the wrist outer drive shaft (633); the first end of the wrist first outer drive wire (638) is fixed to the wrist outer wire transmission shaft (637) and wound on the outer wall surface of the wrist outer wire transmission shaft (637) in a clockwise direction, and the second end is fixed to the wrist outer wire wheel (640) and wound on the outer wall surface of the wrist outer wire wheel (640) in a clockwise direction; the first end of the wrist second outer drive wire (639) is fixed to the wrist outer wire transmission shaft (637) and wound on the outer wall surface of the wrist outer wire transmission shaft (637) in a counterclockwise direction, and the second end is fixed to the wrist outer wire wheel (640) and wound on the outer wall surface of the wrist outer wire wheel (640) in a counterclockwise direction; The wrist rope differential drive assembly (630) further comprises a wrist inner wire transmission shaft (641), a wrist first inner drive wire (642), a wrist second inner drive wire (643) and a wrist inner wire wheel (644), the wrist inner wire transmission shaft (641) is in transmission connection with the wrist inner drive motor (636); the wrist inner wire wheel (644) is fixedly arranged on the upper end of the wrist inner drive shaft (634); the first end of the wrist first inner drive wire (642) is fixedly arranged on the outer wall surface of the wrist inner wire transmission shaft (641) and wound on the outer wall surface of the wrist inner wire transmission shaft (641) in a clockwise direction, and the second end is fixedly arranged on the outer wall surface of the wrist inner wire wheel (644) and wound on the outer wall surface of the wrist inner wire wheel (644) in a clockwise direction; the first end of the wrist second inner drive wire (643) is fixedly arranged on the outer wall surface of the wrist inner wire transmission shaft (641) and wound on the outer wall surface of the wrist inner wire transmission shaft (641) in a counterclockwise direction, and the second end is fixedly arranged on the outer wall surface of the wrist inner wire wheel (644) and wound on the outer wall surface of the wrist inner wire wheel (644) in a counterclockwise direction.

10. The robotic arm of claim 9, wherein, The axis direction of the wrist outer drive motor (635) is perpendicular to the axis direction of the wrist outer drive shaft (633); the wrist rope differential drive assembly (630) further comprises a wrist first outer guide wheel (613) and a wrist second outer guide wheel (614) which are respectively pivotally connected to the wrist fixed support (610), the axis directions of the wrist first outer guide wheel (613) and the wrist second outer guide wheel (614) are perpendicular to the axis direction of the wrist outer drive shaft (633), and the wrist first outer drive wire (638) is wound on part of the outer wall surface of the wrist first outer guide wheel (613); the wrist second outer drive wire (639) is wound on part of the outer wall surface of the wrist second outer guide wheel (614); The axis direction of the wrist inner drive motor (636) is perpendicular to the axis direction of the wrist inner drive shaft (634); the wrist rope differential drive assembly (630) further comprises a wrist first inner guide wheel (615) and a wrist second inner guide wheel (616) which are respectively pivotally connected to the wrist fixed support (610), the axis directions of the wrist first inner guide wheel (615) and the wrist second inner guide wheel (616) are both perpendicular to the axis direction of the wrist inner drive shaft (634), the wrist first inner drive wire (642) is wound on part of the outer wall surface of the wrist first inner guide wheel (615), and the wrist second inner drive wire (643) is wound on part of the outer wall surface of the wrist second inner guide wheel (616).

11. The robotic arm of claim 8, wherein, The wrist rotating support (671) is fixedly arranged with a wrist rotating shaft (673), the wrist first driven bevel gear (651) and the wrist second driven bevel gear (652) are respectively pivotally connected to the wrist rotating shaft (673); Or, the wrist rotation support (671) is pivoted with a wrist rotation shaft (673), and the wrist first driven bevel gear (651) and the wrist second driven bevel gear (652) are fixedly arranged on the wrist rotation shaft (673).

12. The robotic arm of claim 9, wherein, The wrist rotation support (671) is fixedly arranged with a wrist rotation shaft (673), the wrist rotation shaft (673) is a T-shaped wrist rotation shaft, the T-shaped wrist rotation shaft comprises a wrist horizontal shaft (6731) and a wrist vertical shaft, the wrist vertical shaft is connected to the wrist horizontal shaft (6731) perpendicularly, the upper end of the wrist vertical shaft is pivoted to the inner wall surface of the wrist inner driving shaft (634), the wrist first driven bevel gear (651) is pivoted to the first end of the wrist horizontal shaft (6731), and the wrist second driven bevel gear (652) is pivoted to the second end of the wrist horizontal shaft (6731). And / or, the wrist outer driving motor (635) and the wrist inner driving motor (636) are respectively arranged on the first end of the big arm (30); the elbow structure (40) comprises an elbow joint (410), the elbow joint (410) comprises an elbow first rope wheel (420), an elbow second rope wheel (430) and an elbow connecting frame (440), the first end of the elbow connecting frame (440) is pivoted to the second end of the big arm (30), the second end of the elbow connecting frame (440) is pivoted to the second end of the small arm (50), the elbow first rope wheel (420) is pivoted to the first end of the elbow connecting frame (440), and the elbow second rope wheel (430) is pivoted to the second end of the elbow connecting frame (440); the elbow first rope wheel (420) has an elbow first rope groove, and the elbow second rope wheel (430) has an elbow second rope groove; the wrist first outer driving line (638) and the wrist first inner driving line (642) are respectively wound in the clockwise direction in the "S" shape in the elbow first rope groove and the elbow second rope groove; the wrist second outer driving line (639) and the wrist second inner driving line (643) are respectively wound in the counterclockwise direction in the "S" shape in the elbow first rope groove and the elbow second rope groove; wherein, the wrist first outer driving line (638), the wrist second outer driving line (639), the wrist first inner driving line (642) and the wrist second inner driving line (643) are arranged in the staggered interval mode.

13. The robotic arm of claim 12, wherein, The middle part of the wrist transverse shaft (6731) has a connecting part; the wrist deflection support (672) comprises a wrist deflection plate (6721) and wrist connecting side plates (6722), the wrist deflection plate (6721) is pivotally connected to the wrist rotation support (671), the wrist connecting side plates (6722) are oppositely spaced, the upper ends of the wrist connecting side plates (6722) are fixedly arranged on the wrist deflection plate (6721), and the lower ends of the wrist connecting side plates (6722) are fixedly arranged on the connecting part; a gear accommodating space is formed between the wrist deflection plate (6721) and the wrist connecting side plates (6722) for accommodating the wrist first driving bevel gear (631) and the wrist second driving bevel gear (632); and the wrist first driven bevel gear (651) and the wrist second driven bevel gear (652) are fixedly arranged on the wrist connecting side plates (6722) respectively. And / or, the elbow structure (40) further comprises an elbow rope driving assembly (450), the elbow rope driving assembly (450) comprises an elbow driving motor (451), an elbow rope transmission shaft (452), an elbow first driving rope (453), an elbow second driving rope (454) and an elbow guide wheel (455), the elbow driving motor (451) is installed on the first end of the large arm (30), the elbow rope transmission shaft (452) is drivingly connected to the elbow driving motor (451), the elbow rope transmission shaft (452) has a spiral groove; the elbow guide wheel (455) is pivotally connected to the large arm (30) and located at one end of the elbow first rope wheel (420) away from the elbow second rope wheel (430); the first end of the elbow first driving rope (453) is fixedly arranged and wound in a clockwise direction on the spiral groove of the elbow rope transmission shaft (452); the elbow first driving rope (453) is "S"-shaped wound in a clockwise direction on the elbow guide wheel (455) and the elbow first rope wheel (420), the second end of the elbow first driving rope (453) is fixedly arranged on the elbow second rope wheel (430), and the elbow first rope wheel (420) and the elbow second rope wheel (430) are located on the same side of the elbow first driving rope (453); the elbow second driving rope (454) is "S"-shaped wound in a counterclockwise direction on the elbow guide wheel (455) and the elbow first rope wheel (420), the second end of the elbow second driving rope (454) is fixedly arranged on the elbow second rope wheel (430), and the elbow first rope wheel (420) and the elbow second rope wheel (430) are located on the same side of the elbow second driving rope (454).

14. The robotic arm of claim 13, wherein, The elbow rope driving assembly (450) further comprises an elbow first linkage rope (456) and an elbow second linkage rope (457), a first end of the elbow first linkage rope (456) and a first end of the elbow second linkage rope (457) are fixedly arranged on one of the elbow first rope wheel (420) and the elbow second rope wheel (430), a second end of the elbow first linkage rope (456) and a second end of the elbow second linkage rope (457) are fixedly arranged on the other of the elbow first rope wheel (420) and the elbow second rope wheel (430); the elbow first linkage rope (456) and the elbow second linkage rope (457) are respectively wound in an "S" shape in opposite directions on the elbow first rope wheel (420) and the elbow second rope wheel (430), configured to limit one of the elbow first rope wheel (420) and the elbow second rope wheel (430) to pure rolling on the outer wall surface of the other.

15. A dual arm robot, characterized by, The mechanical arm according to any one of claims 1-14, wherein the mechanical arm has two, respectively located on the left and right sides of the support body (10) along the left-right direction.

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