CN106037934A

CN106037934A - Surgical robot and mechanical arm thereof

Info

Publication number: CN106037934A
Application number: CN201610498120.8A
Authority: CN
Inventors: 何超; 李涛; 王常春; 袁帅; 杨捷
Original assignee: Microport (shanghai) Medical Robot Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2016-06-29
Filing date: 2016-06-29
Publication date: 2016-10-26
Anticipated expiration: 2036-06-29
Also published as: CN108324376A; CN106037934B; CN108324376B

Abstract

The invention provides a surgical robot and a mechanical arm of the surgical robot. The mechanical arm comprises a vertical movement joint, a gravity balance mechanism and a first transmission mechanism, wherein the vertical movement joint is provided with a connector for driving an external component to move along the vertical direction, and the gravity balance mechanism is connected with the connector through the first transmission mechanism for balancing the connector and the external component; the gravity balance mechanism comprises a balance structure and a first flexible body, the first transmission mechanism comprises a proportion wheel and a second flexible body, and the proportion wheel comprises an inner wheel and an outer wheel; the first flexible body is connected with the balance structure and the inner wheel, a first body of the second flexible body surrounds and is partially fixedly connected with the outer wheel, two ends of the first body are respectively connected with a first extension part and a second extension part of the second flexible body, the direction, surrounding the outer wheel, of the first body is contrary to the direction, connected with the inner wheel, of the first flexible body, the other end of the first extension part is connected with the upper part of the connector, and the other end of the second extension part is connected with the lower part of the connector, and the displacement variable quantities of the first extension part and the second extension part are equal when the connector moves.

Description

Operating robot and mechanical arm thereof

Technical field

The present invention relates to technical field of medical instruments, particularly to a kind of medical mechanism arm for carrying out minimally invasive surgery And operating robot.

Background technology

Operating robot, as a novel developing direction of medical field, receives increasing attention, thus, right It is important that its research also seems all the more.

Typically, medical operating robot needs on the premise of satisfied operation required function, the most integrated, light Change, intellectuality, in the structure in this each joint being mainly reflected in operating robot.Wherein, mechanical arm is as operating robot An important feature, the hardware performance of operating robot, surgical effect etc. are served vital effect.Performing the operation In journey or perioperatively, mechanical arm is mainly used in the actuating station of operation is carried out position adjustment, the simplicity of its operation, Yi Jigong The complete property etc. of energy, is the Main way of the design of present stage mechanical arm.

Specifically, existing operating robot is to realize space motion by plane motion, therefore plane motion is machine The basis of mechanical arm motion.Mechanical arm, if having good plane motion, it is possible not only to complete space motion task well, The control algolithm for mechanical arm can also be simplified simultaneously.

But, the mechanical arm that current machine medical operating robot uses there is also problems:

The first, existing mechanical arm generally use connecting rod or gear as drive mechanism, to realize plane motion control, This larger increase size of mechanical arm；And, the drive mechanism being made up of connecting rod or gear, although drive mechanism can be promoted Rigidity, but owing to driving-chain is complicated, thus, easily occur installing or problem in processing, thus affect mechanical arm Performance；

The second, existing mechanical arm often uses multiple drive mechanism to realize plane motion control, adds mechanical arm Oeverall quality, was both not convenient to use, and was not inconsistent with lightweight demand for development；

3rd, only need planar to realize the movement in x-axis, y-axis and z-axis direction due to mechanical arm, therefore, normally only need The motion in plane is realized by corresponding linear joint；But, existing mechanical arm can realize flat by rotary joint Motion in face, causes the interlaced of movable joint, not only complicated movement and also to control difficulty big.

Summary of the invention

It is an object of the invention to provide a kind of surgical machine and mechanical arm thereof, to solve the driver of existing mechanical arm Structure is complicated, quality is big, and one or more problem in the joint motions complexity of mechanical arm, control difficulty problem.

For achieving the above object and other relevant purpose, the invention provides a kind of mechanical arm, including having a connection The vertical linear joint of device, described vertical linear joint is in order to drive the external member being connected with described adapter vertically Mobile, wherein: described mechanical arm also includes gravitational equilibrium mechanism and the first drive mechanism, described gravitational equilibrium mechanism is by the One drive mechanism is connected with described adapter, with adapter described in trim and the gravity of external member；

Wherein, described gravitational equilibrium mechanism includes that trim structure and the first flexible body, described first drive mechanism include Ratio wheel and the second flexible body, described ratio wheel includes being co-axially mounted and the interior wheel of synchronous axial system and foreign steamer；

One end of described first flexible body is connected with described trim structure, the other end of described first flexible body and described ratio The interior of example wheel takes turns connection, and described second flexible body includes the first noumenon, the first extension and the second extension, described the first noumenon Including the first end and the second end, described the first noumenon around and part be connected the periphery of described foreign steamer, the of described the first noumenon One end around described foreign steamer direction and the first flexible body around described interior take turns in opposite direction, the first end of described the first noumenon Extending and be connected with one end of the first extension, the second end extension of described the first noumenon is connected with one end of the second extension, institute The top of the other end and described adapter of stating the first extension is connected, the other end of described second extension and described adapter Bottom connect, and described first extension and the second extension are configured as adapter when moving, described first extension Equal with the displacement variable of the second extension.

Preferably, described trim structure is a constant force spring, and described constant force spring is in order to apply constant to described ratio wheel Moment.

Preferably, described gravitational equilibrium mechanism also includes that one first deflecting roller, described first deflecting roller are arranged at described ratio The side of example wheel；After being connected with described constant force spring, after described first flexible body extends past the turning to of described first deflecting roller It is connected with described interior wheel.

Preferably, described first flexible body part between described constant force spring and the first deflecting roller is in the horizontal direction Extend, described first flexible body the first deflecting roller and described interior take turns between sections transverse in horizontal direction extend.

Preferably, described gravitational equilibrium mechanism also includes the sliding tray of horizontal positioned and is slidably arranged in sliding tray Spring joint；Described first flexible body is connected with described constant force spring by described spring joint；Wherein, described sliding tray in order to Limit described first flexible body part between described constant force spring and the first deflecting roller to move the most in the horizontal direction.

Preferably, described first drive mechanism also includes the second deflecting roller, the 3rd deflecting roller, the 4th deflecting roller and the 5th turn To wheel；

Wherein, described 3rd deflecting roller is positioned at described ratio wheel far-end, and described second deflecting roller is positioned at the 3rd deflecting roller Upside, described 4th deflecting roller is positioned on the upside of the far-end of the second deflecting roller, and described 5th deflecting roller is positioned at the remote of the 3rd deflecting roller On the downside of end；

Described first extension is connected with the first end of the first noumenon, and extends through the second deflecting roller and the 4th and turn to Wheel, then the top with described adapter is connected, and described second extension is connected with the second end of the first noumenon, and extends through 3rd deflecting roller and the 5th deflecting roller, then the bottom with described adapter is connected, and described first extension extends through second Deflecting roller turn to after bearing of trend and the second extension extend through the 3rd deflecting roller after bearing of trend deviate from mutually, described One extension extends through the bearing of trend after the 4th deflecting roller turns to and after the second extension extends through the 5th deflecting roller Bearing of trend is in opposite directions；

Further, the second flexible body between the 4th deflecting roller and adapter be positioned at the 5th deflecting roller and adapter portion Point the second flexible body conllinear or be parallel to each other, the second flexible body between the 4th deflecting roller and the second deflecting roller be positioned at The second flexible body conllinear between 5th deflecting roller and the 3rd deflecting roller or be parallel to each other, be positioned at the 4th deflecting roller and adapter it Between the second flexible body and the second flexible body between the 4th deflecting roller and the second deflecting roller be parallel to each other.

Preferably, described first drive mechanism also includes being positioned at the first of the second deflecting roller near-end and turns to wheels, and described One turns to wheels to include the 6th deflecting roller and the 7th deflecting roller, and described 6th deflecting roller and the 7th deflecting roller are coaxially arranged and respective Rotate；

Described first extension is connected with the first end of described the first noumenon, and extends through first and turn in wheels After deflecting roller, re-extending by the second deflecting roller and the 4th deflecting roller, be then connected with the top of adapter, described second extends Portion is connected with the second end of described the first noumenon, and after extending through first another deflecting roller turned in wheels, re-extends logical Cross the 3rd deflecting roller and the 5th deflecting roller, be then connected with the bottom of adapter.

Preferably, described first drive mechanism also includes that second turns to wheels and the 3rd to turn to wheels, and described second turns to Wheels include that the 8th deflecting roller and the 9th deflecting roller, described 8th deflecting roller and the 9th deflecting roller be coaxially arranged and each autorotation, Described 3rd turns to wheels to include the tenth deflecting roller and the 11st deflecting roller, and described tenth deflecting roller and the 11st deflecting roller are coaxial Arrange and each autorotation；

Wherein, described second wheels and the 3rd near-end turning to wheels to be positioned at the second deflecting roller, and described second turn are turned to It is positioned at the 3rd upside turning to wheels to wheels；Second is extended through after first end of described first extension connection the first noumenon Turn to wheels and the 3rd to turn to the deflecting roller in wheels, re-extend by the second deflecting roller and the 4th deflecting roller and adapter Top connects, and extends through second and turn to wheels and the 3rd deflecting roller after the second end of described second extension connection the first noumenon Another deflecting roller in group, is re-extended and is connected with the bottom of adapter by the 3rd deflecting roller and the 5th deflecting roller.

Preferably, described mechanical arm also includes that one moves horizontally joint, described in move horizontally joint by a linking arm with Vertically linear joint connects, and moves in the horizontal direction in order to drive to be connected with described adapter；

Wherein, described linking arm has an inner chamber, and described gravitational equilibrium mechanism is arranged in described inner chamber, and, described Ratio wheel in first drive mechanism is also disposed in described inner chamber.

Preferably, described mechanical arm also includes that one moves horizontally joint, described in move horizontally joint by a linking arm with Vertically linear joint connects, in order to drive the described outside structure being connected with described adapter to move in the horizontal direction；

Wherein, described linking arm has an inner chamber, and described gravitational equilibrium mechanism is arranged in described inner chamber, and described first passes Ratio wheel in motivation structure is also disposed in described inner chamber, and, described second deflecting roller, the 3rd deflecting roller, the 4th deflecting roller May be contained within described vertical linear joint with the 5th deflecting roller.

Preferably, described mechanical arm also includes that rotary joint and connector, described rotary joint include urceolus and rotating shaft, institute Stating urceolus to be connected with linking arm, described rotating shaft is connected with connector, and described connector is connected with vertical linear joint, and described second Turning to wheels to be placed in urceolus, the described 3rd turns to wheels to be placed in connector, and is positioned at described second and turns to wheels and the 3rd Turn to the axis collinear of the second flexible body bearing of trend between wheels and rotary joint.

Preferably, described first drive mechanism also includes the first braked wheel, first extended from the periphery of described foreign steamer First end of body, around described first braked wheel, is then connected with the first extension, and described first end is around the first braking Direction and first end of wheel is in opposite direction around described foreign steamer periphery.

Preferably, described mechanical arm also includes that one moves horizontally joint, described in move horizontally joint and vertical linear joint Connect；In addition to described adapter, described vertical linear joint also includes base plate and is fixedly arranged on the upright guide rail on described base plate； The back side of described base plate moves horizontally joint described in connecting, and described upright guide rail is fixedly arranged on the front of described base plate, described company Connect device to be slideably positioned on described upright guide rail.

Preferably, described mechanical arm also includes that be connected with described vertical linear joint moves horizontally joint, described level Linear joint is in order in the horizontal direction, to drive the described external member being connected with described adapter along moving in the horizontal direction.

Preferably, move horizontally described in that joint includes N number of stacked on top moves horizontally module；First moves horizontally mould Block is in order to connect an external stability frame, and remaining moves horizontally module in order to move in the horizontal direction；It is sliding that m-th moves horizontally module Being dynamically connected m-1 and move horizontally module, n-th moves horizontally module and connects described vertical linear joint, and wherein, N is for being more than Or the natural number equal to 2, m is all natural numbers in 2 to N.

Preferably, each module that moves horizontally all includes a sole piece, and, m-1 moves horizontally module and also includes It is fixedly arranged on the horizontal guide rail on its sole piece and is slideably positioned in the slide block on described horizontal guide rail；M-1 moves horizontally mould The slide block of block moves horizontally the sole piece of module and is connected with m-th.

Preferably, described mechanical arm also includes that one second drive mechanism, described second drive mechanism include the second braked wheel With the 3rd flexible body；Described second braked wheel is arranged at n-th and moves horizontally in module；

Described 3rd flexible body includes the second body, the 3rd extension and the 4th extension；Described second body includes 3rd end and the 4th end, described second body is around connected described second braked wheel of also part；3rd end of described second body Being connected with one end of the 3rd extension, the 4th end of described second body and one end of the 4th extension connect；Described 3rd prolongs The other end of extending portion and first one end moving horizontally module connect, the other end of described 4th extension and first level The other end of mobile module connects,

Described 3rd extension and the 4th extension are configured as moving horizontally joint when moving, described 3rd extension Equal with the displacement variable of the 4th extension.

Preferably, described second drive mechanism includes the first pulley and the second pulley；

The other end of described 3rd extension moves horizontally one end of module even with first after being turned to by the second pulley Connect, and described 3rd extension to enter the direction of the second pulley parallel with the direction leaving the second pulley, described 4th extension The other end by the first pulley turn to after be connected with first other end moving horizontally module, described 4th extension entrance The direction of the first pulley is parallel with the direction leaving the first pulley, and described 3rd extension leaves the direction of the second pulley with described 4th extension leaves that the direction of the first pulley is parallel or conllinear.

Preferably, described in move horizontally the quantity of module be two, and, described second drive mechanism also includes two cunnings Wheel, is the 3rd pulley and the 4th pulley respectively；

Wherein, described 3rd pulley, the 4th pulley are positioned on second the second sole piece moving horizontally module and are arranged at The not homonymy of the second braked wheel, described first pulley, the second pulley are positioned on first the first sole piece moving horizontally module；Institute Extend through the 4th pulley, the second pulley and first after stating the three-terminal link of the 3rd extension and the second body to move horizontally One end of first sole piece of module connects；It is sliding that 4th end of described 4th extension and the second body extends through the 3rd after connecting The other end of wheel, the first pulley and first the first sole piece moving horizontally module connects；Described 3rd extension extends through Bearing of trend after bearing of trend after 4th pulley and the 4th extension extend through the 3rd pulley deviates from mutually, and the described 3rd prolongs Extending portion extend through the second pulley after bearing of trend and the 4th extension extend through the bearing of trend after the first pulley in opposite directions；

Further, the 3rd flexible body bearing of trend between described second pulley and the 4th pulley be positioned at the second pulley And the 3rd flexible body bearing of trend between one end fixing point of the first sole piece is parallel, it is positioned at described first pulley and the 3rd pulley Between the 3rd flexible body bearing of trend and the 3rd flexible between the other end fixing point of the first pulley and the first sole piece Body bearing of trend is parallel, the 3rd flexible body bearing of trend and position between one end fixing point of the second pulley and the first sole piece The 3rd flexible body bearing of trend between the first pulley and the other end fixing point of the first sole piece is parallel or conllinear.

Preferably, described in move horizontally the quantity of module be three, and, described second drive mechanism also includes four cunnings Wheel, is the 3rd pulley, the 4th pulley, the 5th pulley and the 6th pulley respectively；

Wherein, described 3rd pulley, the 4th pulley are positioned on the 3rd the 3rd sole piece moving horizontally module and are arranged at The not homonymy of the second braked wheel, described 5th pulley, the 6th pulley are positioned on second the second sole piece moving horizontally module also Being positioned at the top of the second sole piece, described first pulley and the second pulley are arranged on described second sole piece and are positioned at the second sole piece Bottom；The 4th pulley, the 6th pulley and second is extended through sliding after the three-terminal link of described 3rd extension and the second body The one end of the first sole piece that wheel moves horizontally module with first is connected；4th end of described 4th extension and the second body is even The 3rd pulley, the 5th pulley and the first pulley and the other end of first the first sole piece moving horizontally module is extended through after connecing Connect；Described 3rd extension extend the bearing of trend after the 4th pulley and the 4th extension extend through the 3rd pulley after prolong Stretch direction to deviate from mutually, described 3rd extension extend through the 6th pulley after bearing of trend and the 4th extension extend through In opposite directions, described 3rd extension extends through the bearing of trend after the second pulley and the 4th extension to bearing of trend after five pulleys Extend through the bearing of trend after the first pulley to deviate from mutually；

Further, the 3rd flexible body bearing of trend between described 6th pulley and the second pulley be positioned at the second pulley And the 3rd flexible body bearing of trend between one end fixing point of the first sole piece is parallel, it is positioned at described 5th pulley and the first pulley Between the 3rd flexible body bearing of trend and the 3rd flexible between the other end fixing point of the first pulley and the first sole piece Body bearing of trend is parallel, the 3rd flexible body bearing of trend and position between one end fixing point of the second pulley and the first sole piece The 3rd flexible body bearing of trend between the first pulley and the other end fixing point of the first sole piece is parallel or conllinear.

Preferably, move horizontally joint described in and include the first horicontal motion mechanism and the second horicontal motion mechanism；

Described first horicontal motion mechanism includes that at least one rotary joint, the two ends of described first horicontal motion mechanism divide Do not connect described second horicontal motion mechanism and an external stability frame；Described second horicontal motion mechanism includes that at least one revolves Turning joint, the other end of described second horicontal motion mechanism is connected with described vertical linear joint, and described second horizontal movement Mechanism and adapter are distributed in the both sides of described vertical linear joint；

Wherein, the axis of described rotary joint is parallel to each other, and parallel with the moving direction of described adapter.

Preferably, move horizontally joint described in and include the first horicontal motion mechanism and the second horicontal motion mechanism；Described company Connect device and fix the one end connecting described first horicontal motion mechanism, to drive described first horicontal motion mechanism to move；

Described first horicontal motion mechanism includes at least one rotary joint, the other end of described first horicontal motion mechanism It is rotationally connected described external member；Described second horicontal motion mechanism includes at least one rotary joint, described second level fortune The two ends of motivation structure connect described vertical linear joint and an external stability frame, described second horicontal motion mechanism and company respectively Connect device and be distributed in the both sides of described vertical linear joint；

For achieving the above object and other relevant purpose, present invention also offers a kind of operating robot, it includes State the mechanical arm described in any one.

In sum, the mechanical arm of the present invention has a gravity trim structure and one first drive mechanism, and described heavy Dynamic balance mechanism is connected by a flexible body and the first drive mechanism, it is achieved that the weight to the external member on vertical linear joint Power trim, owing to being connected with drive mechanism by gravitational equilibrium mechanism, simplifies trim and drive mechanism, controls the simplest Single；And, first drive mechanism of the present invention carries out motor control, phase based on flexible body to the adapter on vertical linear joint Ratio is in traditional jointed gear unit, and flexible drive mechanism has that light weight, volume be little, simple in construction, the advantage such as easy to adjust, Thus, the mechanical arm of the present invention is lightweight, it is little to take up room, motion control structure simple, and can make the motion of adapter more The most reliable, and then ensure that the reliability that mechanical arm is vertically movable.

Accompanying drawing explanation

Fig. 1 is the structural representation of the mechanical arm of the embodiment of the present invention one；

Fig. 2 is the structural representation of the vertical linear joint of the embodiment of the present invention one；

Fig. 3 is the first flexible body of the embodiment of the present invention one, the second flexible body transmission cascaded structure schematic diagram；

Fig. 4 is the interior views of the mechanical arm of the embodiment of the present invention one；

Fig. 5 is the partial enlarged drawing in linking arm of the gravitational equilibrium mechanism shown in Fig. 4；

Fig. 6 is the structural representation moving horizontally joint of the embodiment of the present invention one；

Fig. 7 is the 3rd flexible body drive mechanism schematic diagram moving horizontally joint of the embodiment of the present invention one；

Fig. 8 is the 3rd flexible body drive mechanism schematic diagram that another of the embodiment of the present invention one moves horizontally joint；

Fig. 9 is the structural representation of the mechanical arm of the embodiment of the present invention two；

Figure 10 is the first flexible body of the embodiment of the present invention two, the second flexible body transmission cascaded structure schematic diagram.

Description of reference numerals in figure is as follows:

1-moves horizontally joint；110-first moves horizontally module；111-the first sole piece；112-the first horizontal guide rail； 113-the first slide block；120-second moves horizontally module；121-the second sole piece；122-the second horizontal guide rail；123-second is sliding Block；130-the 3rd moves horizontally module；131-the 3rd sole piece；140-the second braked wheel；150-the 3rd flexible body；161-first Pulley；162-the second pulley；163-the 3rd pulley；164-the 4th pulley；165-the 5th pulley；166-the 6th pulley；R, L-arrow Head；

2-linking arm；

The vertical linear joint of 3-；310-base plate；320-upright guide rail；330-slide block；340-adapter；350-ratio is taken turns； 351a-foreign steamer；Wheel in 351b-；360-the second flexible body；371-the second deflecting roller；372-the 3rd deflecting roller；373-the 4th turns to Wheel；374-the 5th deflecting roller；375-first turns to wheels；380-the first braked wheel；

4-gravitational equilibrium mechanism；401-trim structure；402-the first flexible body；403-spring joint；404-sliding tray； 405-the first deflecting roller；

5-rotary joint；

6-connector.

Detailed description of the invention

For making the purpose of the present invention, advantage and feature clearer, the hands proposed below in conjunction with accompanying drawing 1～10 couples of present invention Art robot and mechanical arm thereof are described in further detail.It should be noted that, accompanying drawing all uses the form simplified very much and all makes By non-ratio accurately, only in order to facilitate, to aid in illustrating lucidly the purpose of the embodiment of the present invention.

As used in the specification and the appended claims, singulative " ", " one " and " being somebody's turn to do " include Plural reference, unless outside content additionally explicitly points out.As used in the specification and the appended claims, term "or" It is typically to include that the implication of "and/or" and carrying out uses, unless outside content additionally explicitly points out.Term " far-end ", " front End ", " right side " refer to the one end near vertical linear joint；Accordingly, term " near-end ", " rear end ", " left side " refer to Vertically one end of linear joint.

Refering to Fig. 1～5, Fig. 1 is the structural representation of the mechanical arm of the embodiment of the present invention one, and Fig. 2 is the embodiment of the present invention The structural representation of the vertical linear joint of, Fig. 3 is the first flexible body of the embodiment of the present invention one, the second flexible body transmission string Connection structural representation, Fig. 4 is the interior views of the mechanical arm of the embodiment of the present invention one, and Fig. 5 is the gravitational equilibrium mechanism shown in Fig. 4 Partial enlarged drawing in mechanical arm.

A kind of mechanical arm, including having the vertical linear joint 3 of adapter 340, described vertical linear joint 3 is in order to drive The external member being connected with adapter 340 vertically moves；Further, described mechanical arm also includes the first drive mechanism and weight Dynamic balance mechanism 4, described gravitational equilibrium mechanism 4 is connected with adapter 340 by the first drive mechanism, with trim adapter 340 And the gravity of external member.

Described gravitational equilibrium mechanism 4 includes trim structure 401 and the first flexible body 402, described first flexible body 402 One end connects trim structure 401, and the other end of described first flexible body 402 connects the interior of the ratio wheel 350 of the first drive mechanism Wheel 351b；Described ratio wheel 350 also includes being co-axially mounted with the interior 351b of wheel and can the foreign steamer 351a of synchronous axial system.

Then, in addition to aforementioned proportion wheel 350, described first drive mechanism also includes the second flexible body 360；Described second soft Gonosome 360 includes the first noumenon, the first extension and the second extension, and described the first noumenon includes the first end and the second end, Described the first noumenon is around the periphery of the connected foreign steamer 351a of also part, and the first end of described the first noumenon extends and the first extension One end connect, described the first noumenon second end extend be connected with one end of the second extension, the first of described the first noumenon Hold and be connected interior the in opposite direction of 351b of taking turns around the direction of foreign steamer 351a with the first flexible body 402, and described first extension The other end is connected with the top of adapter 340, and the other end of described second extension is connected with the bottom of adapter 340, and institute State the first extension and the second extension is configured as adapter 340 when moving, described first extension and the second extension Equal in the displacement variable of vertical direction.Only moving when adapter 340, described first extension and the second extension are perpendicular Nogata to displacement variable remain equal, the even tension of the second flexible body could be kept so that the first drive mechanism Smooth rotation.Obviously, the movement of described " displacement variable " part being interpreted as flexible body or flexible body in the present invention Distance, its be one on the occasion of." the first end of the first noumenon is around the direction of foreign steamer 351a ", for the first end of the first noumenon from first The fixing point of body and foreign steamer sets out around the direction of foreign steamer, same the direction of the interior 351b of wheel " first flexible body 402 connect " is First flexible body 402 from the junction point of the first flexible body 402 and the interior 351b of wheel around the interior direction taking turns 351b.

Gravitational equilibrium mechanism in the present embodiment uses the constant force of spring output and external member Gravity Matching, and passes through base The motion of the adapter 340 on vertical linear joint 3 is controlled, compared to traditional by the first drive mechanism in flexible body Jointed gear unit, gravitational equilibrium mechanism and flexible drive mechanism have that light weight, volume be little, simple in construction, easy to adjust Etc. advantage, thus, the mechanical arm of the present embodiment is lightweight, it is little to take up room, motion control structure simple, and can make the most mobile The motion in joint 3 is the most accurate reliable, and then ensure that the reliability that mechanical arm is vertically movable.

Additionally, the first noumenon of described second flexible body 360 around length and the adapter of foreign steamer 351a stroke mutually Join.Described first flexible body 403, around the interior length taking turns 351b, can take turns 351b, the diameter of foreign steamer 351a and according to interior One body obtains around the length computation of foreign steamer 351a.And, those skilled in the art know: owing to described first is flexible Body 402 and the second flexible body 360 all take turns 350 through ratio, thus, the power output passing ratio of described trim structure 401 wheel 350 It is transferred to vertical linear joint 3, thus achieves the gravity trim of external member on vertical linear joint 3.It addition, in Fig. 3 The interior 351b that takes turns of the ratio wheel 350 illustrated, under the effect of trim structure 401, can realize rotating counterclockwise of the interior 351b of wheel, instead It, the foreign steamer 351a of described ratio wheel 350 realizes rotating clockwise of foreign steamer 351a under the pulling of the second flexible body 360.

Further, in described ratio wheel 350, the ratio of the inside and outside diameter taken turns can be according to external member on adapter 340 The parameters such as the coefficient of elasticity of weight and spring set.It is said that in general, the described interior diameter of 351b of taking turns is more than its foreign steamer 351a's Diameter, such trim structure 401 has only to export less power can trim adapter 340 and the gravity of external member.But It is that, it practice, the ratio of described ratio wheel 350, the present invention is not especially limited, if the equalising torque of disclosure satisfy that, example As met: the diameter of trim gravity * foreign steamer is equal to the diameter of wheel in spring force *.

It is preferred that described trim structure 401 is a constant force spring, described constant force spring applies constant in order to comparative example wheel Moment.Using constant force spring as the primary structure of gravitational equilibrium, gravitational equilibrium is effective, and puts down without through loaded down with trivial details Weighing apparatus calculates, and simplifies the shape internally taking turns 351b, optimizes the process of gravity trim；Meanwhile, the first flexible body 402 conduct is used The transmission of gravity trim controls, and under the basis ensureing gravitational equilibrium effect, saves more greatly structure space.

Further, described gravitational equilibrium mechanism 4 also includes that a spring joint 403, described spring joint 403 are arranged at constant force The outfan of spring, described first flexible body 402 connects the other end of spring joint 403.Following example are made with constant force spring For example, further illustrate the mechanical arm of the present invention.

First, with continued reference to Fig. 1, described mechanical arm also includes moving horizontally joint 1, described in move horizontally joint 1 and pass through Linking arm 2 is connected with vertical linear joint 3, in order to drive the described external member being connected with adapter 340 to move in the horizontal direction Dynamic.

Concrete, one end of described linking arm 2 is fixed connection and is moved horizontally joint 1, and the other end of described linking arm 2 connects Vertically linear joint 3；Wherein: described in move horizontally joint 1 and can connect an external stability frame, and in order to move in the horizontal direction.

In the present embodiment, driving moves horizontally joint 1 and vertical linear joint 3 moves, the most manually Being that described mechanical arm uses the passive mode adjusted, driving moves horizontally joint 1 and vertical linear joint 3 moves.So-called " passive Adjust " refer to, to the applying power moving horizontally joint 1 and vertical linear joint 3 people is, make them move, rather than employing motor Or other driving means realize moving accordingly.This is because, in operation process, described mechanical arm needs are in " locked State ", and carry out locked easily breaking down by motor etc., reliability is the highest.

Additionally, those skilled in the art it is to be understood that described in move horizontally the horizontal movement in joint 1 and can pass through linking arm 2 Being transferred to vertical linear joint 3, the adapter 340 on so vertical linear joint 3 just possesses horizontal direction and vertical direction Motion.The mechanical arm of the present embodiment only moves horizontally joint 1 by one and a vertical linear joint 3 realizes plane and transports Dynamic, compared to the existing plane motion being realized mechanical arm by multiple rotary joints, decrease the quantity of movable joint, simplify The structure of mechanical arm, and be independent of each other between two linear joints (i.e. two linear joints can separate independently moving), because of And, motion is simple, controls difficulty low.Following example are moved as signal in the horizontal direction to move horizontally joint 1, more enter one Step describes the mechanical arm of the present invention in detail.

First, with continued reference to Fig. 2～5, described gravitational equilibrium mechanism 4 is preferably disposed in the inner chamber of linking arm 2, can be real In the case of showing self function and not affecting other mechanisms, effectively reduce the overall dimensions of mechanical arm.It is highly preferred that described ratio Example wheel 350 is also disposed in the inner chamber of linking arm 2.

Secondly, in the embodiment disclosed in Fig. 2～5, one end of described constant force spring is installed in the cavity wall of linking arm 2, The other end connects one end of the first flexible body 402.

Additionally, described gravitational equilibrium mechanism 4 also includes the sliding tray 404 being placed horizontally in linking arm 2, described spring connects 403 are arranged in sliding tray 404 freely slidable, and described sliding tray 404, in order to restricted spring joint 403, makes spring joint 403 move the most in the horizontal direction, to reduce the frictional force that the first flexible body 402 during gravitational equilibrium is subject to, it is ensured that gravity is joined Flat effect.In other words, under the constraint of sliding tray 404, described first flexible body 402 is positioned at the part in sliding tray 404 Move in the horizontal direction.

It addition, described gravitational equilibrium mechanism 4 also includes one first deflecting roller 405, it is arranged at side (Fig. 2 of ratio wheel 350 ～for the upside of ratio wheel 350 in 5)；After being connected with constant force spring, described first flexible body 402 extends past the first deflecting roller 405 turn rearwardly about wheel 351b in connecting.Especially, described first flexible body 402 is positioned at constant force spring and first and turns to Part between wheel 405 is horizontally extending, described first flexible body 402 be positioned at the first deflecting roller 405 with take turns 351b it Between sections transverse in horizontal direction extend, so can ensure that the power output of constant force spring is constant, again can Appropriate application linking arm 2 Inner space, also can reduce motion transmission frictional force.

Further, described first drive mechanism also includes the second deflecting roller the 371, the 3rd deflecting roller the 372, the 4th deflecting roller 373 and the 5th deflecting roller 374, described 3rd deflecting roller 372 is positioned at the far-end of ratio wheel 350, described second deflecting roller 371 In the upside of the 3rd deflecting roller 372, described 4th deflecting roller 373 is positioned on the upside of the far-end of the second deflecting roller 371, described 5th turn It is positioned on the downside of the far-end of the 3rd deflecting roller 372 to wheel 374；One end of described first extension connects with the first end of the first noumenon Connect, and extend through the second deflecting roller 371 and the 4th deflecting roller 373, the other end of the most described first extension and adapter The top of 340 connects, and one end of described second extension is connected with the second end of described the first noumenon, and extends through the 3rd turn To wheel 372 and the 5th deflecting roller 374, the other end of the most described second extension is connected with the bottom of adapter 340, and described the One extension extends through the bearing of trend after the second deflecting roller 371 turns to and the second extension extends through the 3rd deflecting roller Bearing of trend after 372 deviates from mutually, and the second extension of described the first noumenon extends through prolonging after the 4th deflecting roller 373 turns to Stretch the second extension of direction and the first noumenon and extend through the bearing of trend after the 5th deflecting roller 374 in opposite directions, and, it is positioned at the The second flexible body 360 between four deflecting rollers 373 and adapter 340 and between the 5th deflecting roller 374 and adapter 340 Second flexible body 360 conllinear or be parallel to each other, the second flexible body between the 4th deflecting roller 373 and the second deflecting roller 371 360 and the second flexible body 360 conllinear between the 5th deflecting roller 374 and the 3rd deflecting roller 372 or be parallel to each other, it is positioned at The second flexible body 360 between four deflecting rollers 373 and adapter 340 be positioned at the 4th deflecting roller 373 and the second deflecting roller 371 it Between the second flexible body 360 be parallel to each other.Such setting, can effectively save the cabling space of the second flexible body 360, it is ensured that silk Transmission function smoothly, reduces the volume of the first drive mechanism.

Further, described second deflecting roller the 371, the 3rd deflecting roller the 372, the 4th deflecting roller 373 and the 5th deflecting roller 374 May be contained within vertical linear joint 3.

In preferred embodiment, described first drive mechanism also includes the first deflecting roller being positioned at the second deflecting roller 371 near-end Group 375 (include two coaxially arranged and can the 6th deflecting roller of each autorotation and the 7th deflecting roller)；Described second flexible body 360 The first extension be connected with the first end of described the first noumenon after, extend through first and turn to the deflecting roller in wheels, then Extend through the second deflecting roller 371 and the 4th deflecting roller 373 be connected with the top of adapter 340, described second flexible body 360 it After second extension is connected with the second end of described the first noumenon, extends through first and turn to another deflecting roller in wheels, Re-extend and be connected with the bottom of adapter 340 by the 3rd deflecting roller 372 and the 5th deflecting roller 374.Described first turns to wheels 375 are preferably disposed in linking arm 2.Preferably, the second flexible body between wheels and the second deflecting roller 371 is turned to first 360 are substantially parallel to horizontal direction, and/or turn to the second flexible body between wheels and the 3rd deflecting roller 372 first 360 are substantially parallel to horizontal direction.The present embodiment uses one or more deflecting rollers to realize turning to of flexible body, can be abundant Save the structure space of the first drive mechanism.

Further, described first drive mechanism also includes the first braked wheel 380 (being seen clearly in Fig. 2～5), from foreign steamer First end of the first noumenon of the second flexible body 360 that the periphery of 351a is extended is around the first braked wheel 380, then with first Extension connects, and in opposite direction around direction and first end of the first braked wheel 380 around foreign steamer 351a periphery of the first end. Preferably, described first braked wheel 380 is similarly provided in linking arm 2.Ibid, here " the first end of the first noumenon is around outward Wheel 351a peripheral direction ", for the first noumenon the first end from the first noumenon point fixing with foreign steamer 351a around The direction of wheel 351a, same " the first end is around the direction of the first braked wheel 380 " be the first noumenon the first end from the first end with Set out around the direction of the first braked wheel 380 in point of contact between foreign steamer 351a.

In above-described embodiment, the quantity of the deflecting roller included by described first drive mechanism includes but are not limited to: Fig. 2 ～the quantity shown in 5, should be in this, as limitation of the invention.Additionally, each deflecting roller both also can be able to be fixed with rotation, Preferably can rotation, kinetic friction force is little.

In conjunction with Fig. 3, the operation principle of described first drive mechanism is as follows:

When described first braked wheel 380 does not works (the first braked wheel 380 can be freely rotatable): promote the most mobile The slide block 330 in joint 3 moves up and down, and just can move up and down by band movement connector 340, and when adapter 340 moves up and down, described First extension and second extension of two flexible bodies 360 move in the same direction, in the same direction in motor process, drive the first braked wheel 380 Rotate；Meanwhile, during described adapter 340 moves up and down, described gravitational equilibrium mechanism 4 is (such as permanent by trim structure 401 Power spring), the first flexible body 402 and ratio wheel the 350, second flexible body 360 export constant force and realize outside on adapter 340 The trim of component；

When described first braked wheel 380 works (the first braked wheel 380 is fixed and cannot be rotated): described second soft Gonosome 360 cannot be moved by the constraint of the first braked wheel 380, causes the adapter 340 of end also cannot to move further, Thus brake adapter 340.

In one embodiment (not shown), above-mentioned first braked wheel 380 includes the first rotating shaft and is fixed on described first turn Roller on axle, the two ends of described first rotating shaft are constrained on linking arm 2 by bearing, and rotatably, the most described roller can Rotate together with described first rotating shaft；The second flexible body 360 (more specifically the first noumenon) it is surrounded with on described roller.Described One braked wheel 380 also includes the first stator and the first rotor；First stator is fixed on linking arm 2, and around described first turn Axle is arranged；The first rotor is fixed in described first rotating shaft, and mates layout with the first stator shaft orientation.First braked wheel 380 work When making, the first stator and the first rotor obvolvent, described first rotating shaft can be made to fasten with linking arm 2, and relative rotation does not occur, Thus brake adapter 340；When first braked wheel 380 does not works, the first stator separates with the first rotor, and described roller can be with institute State the first rotating shaft freely rotatable, thus by the second flexible body 360 transmitting movement, it is achieved the vertical motion of adapter 340.

Afterwards, with continued reference to Fig. 2, in addition to above-mentioned adapter 340, described vertical linear joint 3 also includes base plate 310, consolidates The upright guide rail 320 being located on base plate 310 and the slide block 330 being slideably positioned on upright guide rail 320, described adapter 340 Being fixed on slide block 330, described slide block 330 can slide up and down on upright guide rail 320.The back side of described base plate 310 connects even Connecing arm 2, described upright guide rail 320 is vertically fixedly arranged on the front of base plate 310.

After vertical linear joint 3, gravitational equilibrium mechanism 4 and first drive mechanism of the present invention are explained in detail, What following example will be described in the present invention moves horizontally joint 1.

In the present embodiment, described in move horizontally that joint 1 includes N number of stacked on top move horizontally module；First level Mobile module is connected with described external stability frame, and remaining moves horizontally module in order to move in the horizontal direction, and m-th moves horizontally Module is slidably connected m-1 and moves horizontally module, so that m-th moves horizontally module and can move horizontally module at m-1 Upper slip, n-th moves horizontally module and connects linking arm 2；Wherein, N is the natural number more than or equal to 2, and m is the institute in 2 to N There is natural number.For example, if N is equal to 3, then m value is 2 and 3, and now, the 3rd moves horizontally module and be slidably connected second Individual moving horizontally module, second moves horizontally module and is slidably connected first and moves horizontally module, and the 3rd moves horizontally mould Block is connected with linking arm 2.

The mechanical arm of the present embodiment uses multiple module that moves horizontally to realize moving horizontally joint 1 fortune in the horizontal direction Dynamic, module is moved horizontally compared to one, multiple modules that move horizontally can increase the stroke moving horizontally joint 1 so that water The range of movement of translation movable joint 1 is bigger, and regulated efficiency is higher, also can reduce simultaneously and to move horizontally joint 1 in the horizontal direction Size, and then reduce taking up room of mechanical arm.

Further, each module that moves horizontally all includes a sole piece.In addition to n-th moves horizontally module, remaining each Move horizontally module the most also include the horizontal guide rail being fixedly arranged on its sole piece and be slideably positioned in the cunning on described horizontal guide rail Block, described slide block level can slide on described horizontal guide rail.

Further, first sole piece moving horizontally module is connected with described external stability frame, and m-th moves horizontally mould The sole piece of block is fixedly arranged on m-1 and moves horizontally on the slide block of module, and n-th moves horizontally the sole piece of module with linking arm 2 even Connect.Specifically, if N is equal to 3, then m is 2 and 3: so, and the 3rd sole piece moving horizontally module is fixedly arranged on second level On the slide block of mobile module, second sole piece moving horizontally module is fixedly arranged on first slide block moving horizontally module, the One sole piece moving horizontally module is connected with described external stability frame, and the 3rd sole piece and the linking arm moving horizontally module 2 connect, and move horizontally joint the most as shown in Figure 2, and it has three and moves horizontally module.

Fig. 6 is the structural representation moving horizontally joint of the embodiment of the present invention one.The described joint 1 that moves horizontally includes three Individual move horizontally module, be first respectively and move horizontally module 110, second and move horizontally module 120 and the 3rd level Mobile module 130.Described first moves horizontally module 110 and is fixedly arranged on the pedestal of operating robot, and include the first sole piece 111, the first horizontal guide rail 112 of being fixedly arranged on the first sole piece 111 and be slideably positioned in first on the first horizontal guide rail 112 Slide block 113；Described second moves horizontally module 120 and includes the second sole piece 121 being fixedly arranged on the first slide block 113, is fixedly arranged on The second horizontal guide rail 122 on second sole piece 121 and the second slide block 123 being slidably connected on the second horizontal guide rail 122；Institute State the 3rd and move horizontally the 3rd sole piece 131 that module 130 includes being fixedly arranged on the second slide block 123；Described linking arm 2 is fixing even Connect the 3rd sole piece 131.

It is to be understood that by promoting the first slide block 113 to move, the second sole piece 121 can be driven at the first sole piece 111 On move along a straight line, correspondingly, by promoting the second slide block 123 to move, can drive the 3rd sole piece 131 on the second sole piece 121 Move along a straight line.Here, those skilled in the art should know: described first sole piece 111 is fixed on any standard compliant flat On face, it remains motionless, and described second sole piece 121 only moves under the drive of the first slide block 113, and described 3rd end Block 131 both can move under the drive of the first slide block 113, it is also possible to moves under the driving of the second slide block 123, so, and two Individual linear motion is serially connected, and compared to the single-stage sliding pair under equal length, the cascaded structure of two grades of sliding pairs increases water The stroke that translation is dynamic.

In further embodiments, described in move horizontally the quantity of module and can also be two, can be more than three, example Such as four or more, the concrete present invention does not limit.The mechanical arm of the present embodiment is combined by horizontal guide rail and slide block Mode realizes moving horizontally the horizontal movement in joint 1, simple in construction, and motion is reliable, and it is convenient to implement.

Further, described mechanical arm also includes one second drive mechanism, in order to control the motion moving horizontally joint 1 System, specifically as it is shown in fig. 7, it is the 3rd flexible body drive mechanism schematic diagram moving horizontally joint of the embodiment of the present invention one.

Wherein, moving horizontally joint 1 and include that three move horizontally module, described second drive mechanism includes the second braked wheel 140 and the 3rd flexible body 150, described second braked wheel 140 is arranged on the 3rd the 3rd sole piece 131 moving horizontally module； Described 3rd flexible body 150 includes that the second body, the 3rd extension and the 4th extension, described second body include the 3rd end With the 4th end；Described second body around and part be connected the first braked wheel 140, preferably about length more than or equal to shown Move horizontally the stroke in joint 1, one end of described 3rd extension and the three-terminal link of the second body, described 4th extension One end be connected with the 4th end of the second body, the other end of described 3rd extension and first move horizontally the first of module The left end of sole piece 111 connects, the right-hand member connection of the other end of described 4th extension and the first sole piece 111, the 3rd extension, the Four extensions are arranged to when moving horizontally joint and moving, described 3rd extension and the displacement variable phase of the 4th extension Deng." displacement variable " is same as above, can more specifically be interpreted as the 3rd flexible body or its part here, as the 3rd extension, The distance that 4th extension moves.Described second braked wheel 140 moves horizontally in order to limit n-th by the 3rd flexible body 150 The horizontal movement of the sole piece of module, thus the horizontal movement of limit mechanical arm.And, described 3rd end and the displacement of the 4th end Variable quantity is equal, and the tension force that the 3rd flexible body 150 so can be made often to locate keeps basically identical, is conducive to moving horizontally joint The control of movement.

Further, described second drive mechanism also includes the first pulley 161 and the second pulley 162, and the described 3rd extends The other end in portion turns to the left end of rear the first sole piece 111 moving horizontally module with first to be connected by the second pulley 162, and The direction that described 3rd extension enters the second pulley 162 is parallel with the direction leaving the second pulley 162, described 4th extension The other end turned to by the first pulley 161 after move horizontally module with first the right-hand member of the first sole piece 111 be connected, described The direction that 4th extension enters the first pulley 161 is parallel with the direction leaving the first pulley 161, and described 3rd extension leaves The direction of the second pulley 162 is parallel with the direction that described 4th extension leaves this first pulley 161 or conllinear.

Further, described second drive mechanism also include the 3rd pulley the 163, the 4th pulley the 164, the 5th pulley 165 with And the 6th pulley 166, wherein, the 3rd pulley the 163, the 4th pulley 164 is positioned on the 3rd sole piece and is arranged at the second braked wheel 140 Left side, the 4th pulley 164 is positioned on the left of the 3rd pulley 163, and the 5th pulley the 166, the 6th pulley 166 is arranged at the second sole piece On 121 and be positioned at the top of the second sole piece 121, the 6th pulley 166 is positioned on the left of the 4th pulley 164, and the 5th pulley 165 is positioned at On the right side of three pulleys 163, the first pulley 161 and the second pulley 162 are arranged on the second sole piece 121 and are positioned at the second sole piece 121 Bottom, the first pulley 161 is positioned on the right side of the second pulley 162, and is positioned on the left of the 5th pulley 165, and described second pulley 162 is positioned at On the right side of 6th pulley 166.

In the embodiment shown in fig. 7, is extended through after the three-terminal link of described 3rd extension and the second body Four pulley the 164, the 6th pulley 166 and the second pulleys 162, then move horizontally a left side for the first sole piece 111 of module with first End connects；4th end of described 4th extension and the second body extends through the 3rd pulley the 163, the 5th pulley 165 after connecting With the first pulley 161, then the right-hand member with the first sole piece 111 is connected.After described 3rd extension extends through the 4th pulley 164 Bearing of trend and the 4th extension extend through the 3rd pulley 163 after bearing of trend deviate from mutually, described 3rd end extend The bearing of trend after the 5th pulley 165 is extended through in opposite directions, institute by the bearing of trend after the 6th pulley 166 and the 4th extension State the bearing of trend after the 3rd end extends through the second pulley 161 and after the 4th extension extends through the first pulley 161 Bearing of trend deviates from mutually.Certainly, described 3rd extension and the 4th extension are configured as moving horizontally joint 1 and move Time: the direction that described 3rd extension enters the second pulley 162 is parallel with the direction leaving the second pulley 162,；Described 4th prolongs The direction that extending portion enters the first pulley 161 is parallel with the direction leaving the first pulley 161, described 3rd extension leaves second The direction of pulley 162 is parallel with the direction that described 4th extension leaves the first pulley 161 or conllinear.

More specifically, the 3rd flexible body 150 bearing of trend between the 6th pulley 166 and the second pulley 162 Parallel with the 3rd flexible body 150 bearing of trend between the second pulley 162 with the first sole piece 111 left end fixing point, it is positioned at The 3rd flexible body 150 bearing of trend between first pulley 161 and the 5th pulley 165 be positioned at for first pulley 161 and first end The 3rd flexible body 150 bearing of trend between block 111 right-hand member fixing point is parallel, and the 6th pulley 166 and the first sole piece 111 left end are solid Between fixed point the between the 3rd flexible body 150 bearing of trend and the 5th pulley 165 and the first sole piece 111 right-hand member fixing point the 3rd Flexible body 150 bearing of trend is parallel.Here, those skilled in the art know: when moving horizontally joint 1 and moving, described 3rd extension of the 3rd flexible body 150 and the displacement variable of the 4th extension are equal, it can be ensured that the tension force of flexible body motion Keep consistent, improve the reliability of transmission, to avoid the motion problems etc. not caused because of the flexible stroke of flexible body.Additionally, this The quantity of the second drive mechanism middle pulley of invention is not limited to the quantity shown in Fig. 7, should be in this, as to the present invention Restriction.It addition, pulley both also can be able to be fixed with rotation, preferably can rotation, kinetic friction force is little.

In conjunction with Fig. 7, the operation principle of described second drive mechanism is as follows:

When described second braked wheel 140 does not works (the second braked wheel 140 is free to rotate), promote the first slide block 113 when moving to arrow R direction, and described 3rd sole piece 131 (the output part of motion) synchronizes under the drive of the first slide block 113 Move to R direction, now, can realize moving horizontally the function moved to R direction in joint 1；Certainly, promote the second slide block 123 to During the motion of arrow R direction, described 3rd sole piece 131 also can synchronize to move to R direction under the drive of the second slide block 123, now, Can realize accordingly moving horizontally the function moved in joint 1 to R direction；

Otherwise, promote the first slide block 113 or the motion of the second slide block 123 arrow L direction, the 3rd sole piece 131 can be driven to R side To motion, i.e. achieve the motion moving horizontally joint 1 to L direction；

(the second braked wheel 140 is fixed and do not rotated), described 3rd sole piece when described second braked wheel 140 works 131 i.e. remain stationary as, namely static relative to the first sole piece 111, and specifically, the most described 3rd sole piece 131 moves to During desired position, by opening the second braked wheel 140, the 3rd sole piece 131 can be braked so that the first sole piece 111 and the 3rd Sole piece 131 keeps relative static；But, the second sole piece 121 now is the most movable, but owing to final horizontal movement is by Three sole pieces 131 export, thus, the motion of described second sole piece 121 does not interferes with the horizontal movement output of mechanical arm, therefore described the The motion of two sole pieces 121 belongs to lost motion.

The motion moving horizontally joint 1 is controlled by the mechanical arm of the present embodiment based on flexible body, compared to traditional Jointed gear unit, flexible drive mechanism has that light weight, volume be little, simple in construction, the advantage such as easy to adjust, thus, this reality The mechanical arm executing example is lightweight, it is little to take up room, motion control structure simple, and can make to move horizontally the motion in joint 1 more The most reliable, and then ensure that the reliability of mechanical arm horizontal movement.

In the present embodiment (not shown), the structural principle of above-mentioned second braked wheel 140 and working method and the first braking Wheel 380 similar, no longer describe in detail at this.

Further, for the 3rd flexible body drive mechanism shown in Fig. 7, described 3rd pulley 163 is positioned at the second braked wheel The left side of the rotating shaft of the lower section of 140, preferably adjacent to the centre position of the 3rd sole piece 131；Described 4th pulley 164 is arranged at the 3rd Sole piece 131 is along the left end of the direction of motion；Described 5th pulley 165 is arranged at second sole piece 121 right-hand member along the direction of motion (when Two braked wheels 140 are positioned at the right-hand member of the 3rd sole piece 131) time；Described 6th pulley 166 is arranged at the second sole piece 121 along the side of moving To left end；Described first pulley 161 is positioned at the lower section of the 5th pulley 165, preferably adjacent to the centre position of the second sole piece 121； Described first pulley 161 is adjacent to the centre position of the second sole piece 121；Such arrangement, not only increases and moves horizontally pass The movement travel of joint 1, and save cabling space.

In another embodiment, move horizontally joint 1 described in and only include that two move horizontally module, such as shown in Fig. 8.Figure 8 is the 3rd flexible body drive mechanism schematic diagram that another of the embodiment of the present invention one moves horizontally joint.

Unlike Fig. 7, in the embodiment shown in Fig. 8, described second drive mechanism only includes two pulleys, is respectively 3rd pulley 163 and the 4th pulley 164；Wherein, described second braked wheel 140 is arranged at second and moves horizontally the of module On two sole pieces 121；Except cancelling the 5th pulley 166, outside the 6th pulley 165, described first pulley the 161, second pulley 162, The relative position relation of the 3rd pulley 163 and the 4th pulley 164 and the second braked wheel 140 is similar with embodiment illustrated in fig. 7. The 4th pulley 164 and the second pulley 162 is extended through after the three-terminal link of described 3rd extension and the 3rd flexible body 150, The right-hand member of the first sole piece 111 then moving horizontally module with first is connected；The most described 4th extension and the 3rd flexibility 4th end of body 150 extends through the 3rd pulley 163 and the first pulley 161 after connecting, and then moves horizontally module with first The first sole piece 111 left end connect.Equally, the bearing of trend after described 3rd extension extends through the 4th pulley 164 with Bearing of trend after 4th extension extends through the 3rd pulley 163 deviates from mutually, and it is sliding that described 3rd extension extends through second Bearing of trend and the 4th end after wheel 162 extend through the bearing of trend after the first pulley 161 in opposite directions；Further, described it is positioned at The 3rd flexible body 150 bearing of trend between four pulleys 164 and the second pulley 162 be positioned at the second pulley 162 and the first sole piece The 3rd flexible body 150 bearing of trend between one end fixing point of 111 is parallel, is positioned at described first pulley 161 and the 3rd pulley The 3rd flexible body 150 bearing of trend between 163 be positioned at the first pulley 161 and the first sole piece 111 other end fixing point it Between the 3rd flexible body 150 bearing of trend parallel, between the second pulley 162 and one end fixing point of the first sole piece the 3rd Flexible body bearing of trend and the 3rd flexible body extension side between the first pulley 161 and the other end fixing point of the first sole piece To parallel or conllinear.

Further, with reference to Fig. 8, described 3rd pulley 163 is arranged on the second sole piece 121, and is positioned at the second braked wheel 140 Left side below, preferably adjacent to the centre position of the second sole piece 121；Described 4th pulley 164 is arranged on the second sole piece 121, And it is positioned at the left side of the 3rd pulley 163, it is preferably disposed on second sole piece 121 left end along the direction of motion；Described first pulley 161 It is arranged on the first sole piece 111, and on the right side of the second braked wheel 140, is preferably disposed on the right-hand member (second of the first sole piece 111 Braked wheel 140 is positioned at the right-hand member of the second sole piece 121)；Described second pulley 162 is arranged on the first sole piece 111, is preferably disposed on First sole piece 111 is along the left end of the direction of motion.

With embodiment one except that: embodiment adds a rotary joint 5, realizing the same of plane motion Time, it is also possible to realize space motion, concrete as it is shown in figure 9, it is the structural representation of mechanical arm of present example two.

In embodiment shown in Fig. 9, described mechanical arm also includes a rotary joint 5, this rotary joint 5 include urceolus with And second rotating shaft.One end of described linking arm 2 with move horizontally that joint 1 is fixing to be connected, the other end of described linking arm 2 and rotation The urceolus in joint 5 connects, and the second rotating shaft of described rotary joint 5 connects vertical linear joint 3；The axle of described rotary joint 5 Line is parallel with the moving direction of adapter 340, in order to drive vertical linear joint 3 to rotate.

Specifically, described second rotating shaft is arranged in described urceolus, and described second rotating shaft is rotationally connected with described urceolus, The most described urceolus can be relative to the second axis of rotation.

Optional, described second rotating shaft is connected with a connection piece 6 (being illustrated in Figure 10), and described connector 6 connects vertically shifting Movable joint 3, the such as base plate 310 with vertical linear joint 3 are connected, and then, under the drive of described second rotating shaft, described base plate 310 can rotate relative to linking arm 2.

With reference to Figure 10, unlike embodiment one: the present embodiment in the first drive mechanism deflecting roller quantity and Position has been made some and has been adjusted.

Unlike the embodiment shown in Fig. 3, first drive mechanism of the present embodiment separately adds second and turns to wheels 376 and the 3rd turn to wheels 377.Described second turns to wheels to include the 8th deflecting roller and the 9th deflecting roller, and the described 8th turns to Wheel and the 9th deflecting roller coaxially arranged and can each autorotation, the described 3rd turns to wheels to include, and the tenth deflecting roller and the 11st turns to Wheel, described tenth deflecting roller and the 11st deflecting roller is coaxially arranged and can each autorotation.

Wherein, described second turn to wheels, the 3rd turn to wheels to be positioned at the second deflecting roller 371 near-end, and described second turn It is positioned at the 3rd upside turning to wheels to wheels.First extension of described second flexible body 360 connects the first of the first noumenon After end, extend through and first turn to wheels 375, second turn to wheels 376 and the 3rd to turn to a deflecting roller in wheels 377, Re-extending by the second deflecting roller 371, the 4th deflecting roller 373 is connected with the top of adapter 340, and described second extension connects After second end of the first noumenon, extend through and first turn to wheels 375, second turn to wheels the 376, the 3rd to turn in wheels 377 Another deflecting roller, re-extend to the 3rd deflecting roller 372, the 5th deflecting roller 374 is connected with the bottom of adapter 340.Equally, In the present embodiment, the second flexible body 360 between the 4th deflecting roller 373 and adapter 340 be positioned at the 5th deflecting roller 374 And the second flexible body 360 conllinear between adapter 340 or be parallel to each other, is positioned at the 4th deflecting roller 373 and the second deflecting roller 371 Between the second flexible body 360 and the second flexible body 360 conllinear between the 5th deflecting roller 374 and the 3rd deflecting roller 372 Or be parallel to each other, the second flexible body 360 between the 4th deflecting roller 373 and adapter 340 be positioned at the 4th deflecting roller 373 And the second flexible body 360 between the second deflecting roller 371 is parallel to each other.

Preferably, wheels 375 and second are turned to turn to the second flexible body 360 between wheels 375 the most flat first Row is in horizontal direction.Preferably, the second flexible body 360 between wheels 377 and the second deflecting roller 371 is turned to generally the 3rd It is parallel to horizontal direction, and/or turns to the second flexible body 360 between wheels 377 and the 3rd deflecting roller 372 substantially the 3rd On be parallel to horizontal direction.

And, the second deflecting roller the 371, the 3rd deflecting roller 372 shown in Fig. 3 may be contained within neighbouring vertical linear joint 3 Upper end, and the second deflecting roller the 371, the 3rd deflecting roller 372 shown in Figure 10 may be contained within the lower end of neighbouring vertical linear joint 3.

In the present embodiment, described second assembly pulley 376 is placed in the urceolus of rotary joint 5, and described 3rd assembly pulley 377 is put In connector 6.And, it is positioned at second and turns to wheels 376 to turn to the second flexible body 360 of wheels 377 part to extend with the 3rd Direction and the axis collinear of rotary joint 5.

As for gravitational equilibrium mechanism 4, it is similar with embodiment one with the connected mode of the first drive mechanism, and the present embodiment is not Describe the most in detail, specifically see embodiment one.

In addition to the motion that the form by moving horizontally module realizes horizontal direction, described in move horizontally joint 1 and also may be used Horizontal movement (program is not shown) is realized by rotary joint.Specifically, move horizontally joint 1 described in and include the first level Motion and the second horicontal motion mechanism；Wherein, described first horicontal motion mechanism includes at least one rotary joint, described The two ends of the first horicontal motion mechanism connect described second horicontal motion mechanism and external stability frame respectively；Described second level Motion includes that at least one rotary joint, the other end of described second horicontal motion mechanism are connected with vertical linear joint 3, Described second horicontal motion mechanism and adapter 340 are distributed in the both sides of vertical linear joint 3；And, all of rotary joint Axis be parallel to each other, and parallel with the moving direction of adapter 340.

Or, in another embodiment of the present invention, described adapter 340 is fixing connects described first horizontal motion machine One end of structure, to drive described first horicontal motion mechanism to move, the other end of described first horicontal motion mechanism is rotationally connected Described external member；The two ends of described second horicontal motion mechanism connect vertical linear joint 3 and external stability frame, institute respectively State the second horicontal motion mechanism and adapter 340 and be distributed in the both sides of vertical linear joint 3；Similarly, in the program, all of The axis of rotary joint is parallel to each other, and parallel with the moving direction of adapter 340.

To sum up, above-described embodiment is to vertical linear joint, the various configuration that moves horizontally joint and flexible drive mechanism Being described in detail, certainly, the present invention is including, but not limited to configuration cited in above-mentioned enforcement, any in above-mentioned enforcement Carry out the content converted on the basis of the configuration that example provides, belong to the scope that the present invention is protected.Those skilled in the art are permissible Content according to above-described embodiment is drawn inferences about other cases from one instance.Such as, in the embodiment shown in Fig. 7, Fig. 8, described in move horizontally module Quantity is different, and the quantity of described pulley is the amount doesn't matter, and the 3rd extension of the 3rd flexible body of described second drive mechanism, 4th extension and first link position moving horizontally module there occurs change, but as long as ensureing when the first horizontal motion machine When structure moves, the 3rd extension of described 3rd flexible body, the 4th extension displacement variable are equal.Additionally, Fig. 9, figure In embodiment shown in 10, adding a rotary joint on the robotic arm, the most described first drive mechanism adds one Or multiple deflecting roller, the layout of deflecting roller and the bearing of trend of the second flexible body of corresponding described first drive mechanism also occur Change, but as long as described second flexible body is through rotary joint bearing of trend and rotary joint axis collinear.And, The flexible body of the present invention can include the flexible structures such as silk, rope, band.

In sum, the mechanical arm of the present invention only moves horizontally joint 1 by one and a vertical linear joint 3 realizes Plane motion, movable joint is few, and structural relation is simple；And (i.e. two linear joints that are independent of each other between two linear joints Separately independently moving), thus, motion is simple, controls difficulty the lowest.

Further, the joint that moves horizontally of the mechanical arm of the present invention is moved by multiple stacked on top and the level that is slidably connected Dynamic model block realizes the motion of horizontal direction, realizes the motion of horizontal direction compared to only moving horizontally module by one, multiple Move horizontally module and can increase the stroke moving horizontally joint so that range of movement is bigger, and regulated efficiency is higher, also contracts simultaneously Little moving horizontally joint size in the horizontal direction, taking up room of mechanical arm is little.Furthermore, it is to be understood that the machinery of the present invention The joint that moves horizontally of arm is not limited to multiple stacked on top and the module that moves horizontally that is slidably connected realizes, it is also possible to pass through The modes such as the combination of multiple rotary joints realize, and it is the most within the scope of the present invention that these move horizontally joint.

Especially, the mechanical arm of the present invention move horizontally joint and vertical linear joint respectively by the first drive mechanism Motor control is carried out so that the motion moving horizontally joint and vertical linear joint is the most accurate reliable with the second drive mechanism, And then ensure that the reliability of mechanical arm；And, compared to traditional jointed gear unit, flexible drive mechanism has quality Gently, volume is little, simple in construction, the advantage such as easy to adjust, thus, the mechanical arm of the present invention is lightweight, it is little to take up room, motion control Simple in construction processed.

More particularly, the gravitational equilibrium mechanism of the mechanical arm of the present invention is connected by flexible body and the first drive mechanism, real Show the gravity trim to the external member on vertical linear joint, owing to being gone here and there with drive mechanism by gravitational equilibrium mechanism Connection, simplifies trim and drive mechanism, controls the simplest.Meanwhile, gravitational equilibrium mechanism and at least part of drive mechanism are placed in In the inner chamber of linking arm, decrease the volume of mechanical arm, improve reliability.

Further (not shown), present embodiments providing a kind of operating robot, it includes the mechanical arm of above-described embodiment. Owing to described operating robot have employed the mechanical arm of above-described embodiment, so, described operating robot is brought by mechanical arm Beneficial effect refer to above-described embodiment.The mechanical arm of the present embodiment is particularly suited for carrying out the surgical machine of minimally invasive surgery People, operation process is safer, reliable.

Foregoing description is only the description to present pre-ferred embodiments, not any restriction to the scope of the invention, this Any change that the those of ordinary skill in bright field does according to the disclosure above content, modification, belong to the protection of claims Scope.

Claims

1. a mechanical arm, including having the vertical linear joint of a connector, described vertical linear joint is in order to drive and institute The external member stating adapter connection vertically moves, it is characterised in that described mechanical arm also includes gravitational equilibrium mechanism And first drive mechanism, described gravitational equilibrium mechanism is connected with described adapter, described in trim by the first drive mechanism Adapter and the gravity of external member；

One end of described first flexible body is connected with described trim structure, and the other end of described first flexible body is taken turns with described ratio Interior take turns connection, described second flexible body includes the first noumenon, the first extension and the second extension, and described the first noumenon includes First end and the second end, described the first noumenon is around the periphery of the connected described foreign steamer of also part, the first end of described the first noumenon Around described foreign steamer direction and the first flexible body around described interior take turns in opposite direction, the first end of described the first noumenon extends Being connected with one end of the first extension, the second end of described the first noumenon extends and is connected with one end of the second extension, and described the The other end of one extension is connected with the top of described adapter, under the other end of described second extension and described adapter Portion connects, and described first extension and the second extension are configured as adapter when moving, described first extension and the The displacement variable of two extensions is equal.

Mechanical arm the most according to claim 1, it is characterised in that described trim structure is a constant force spring, described constant force Spring is in order to apply constant moment to described ratio wheel.

Mechanical arm the most according to claim 2, it is characterised in that described gravitational equilibrium mechanism also includes that one first turns to Wheel, described first deflecting roller is arranged at the side of described ratio wheel；After being connected with described constant force spring, described first flexible body prolongs Extend through turning to of described first deflecting roller to be connected with described interior wheel afterwards.

Mechanical arm the most according to claim 3, it is characterised in that described first flexible body is positioned at described constant force spring and Part between one deflecting roller is horizontally extending, described first flexible body the first deflecting roller and described interior take turns between Sections transverse extends in horizontal direction.

Mechanical arm the most according to claim 3, it is characterised in that described gravitational equilibrium mechanism also includes the cunning of horizontal positioned Dynamic groove and the spring joint being slidably arranged in sliding tray；Described first flexible body is by described spring joint and described constant force Spring connects；Wherein, described sliding tray in order to limit described first flexible body be positioned at described constant force spring and the first deflecting roller it Between part move in the horizontal direction.

Mechanical arm the most according to claim 1, it is characterised in that described first drive mechanism also include the second deflecting roller, 3rd deflecting roller, the 4th deflecting roller and the 5th deflecting roller；

Wherein, described 3rd deflecting roller is positioned at described ratio wheel far-end, and described second deflecting roller is positioned at the upside of the 3rd deflecting roller, Described 4th deflecting roller is positioned on the upside of the far-end of the second deflecting roller, and described 5th deflecting roller is positioned under the far-end of the 3rd deflecting roller Side；

Described first extension is connected with the first end of the first noumenon, and extends through the second deflecting roller and the 4th deflecting roller, so Top with described adapter is connected afterwards, and described second extension is connected with the second end of the first noumenon, and extends through the 3rd Deflecting roller and the 5th deflecting roller, then the bottom with described adapter is connected, and described first extension extends through second and turns to Bearing of trend after round bearing of trend backward and the second extension extend through the 3rd deflecting roller deviates from mutually, and described first prolongs Extending portion extends through the bearing of trend after the 4th deflecting roller turns to and the second extension extends through the extension after the 5th deflecting roller Direction is in opposite directions；

Further, the second flexible body between the 4th deflecting roller and adapter be positioned at the 5th deflecting roller and connector part Second flexible body conllinear or be parallel to each other, the second flexible body between the 4th deflecting roller and the second deflecting roller be positioned at the 5th The second flexible body conllinear between deflecting roller and the 3rd deflecting roller or be parallel to each other, between the 4th deflecting roller and adapter Second flexible body and the second flexible body between the 4th deflecting roller and the second deflecting roller are parallel to each other.

Mechanical arm the most according to claim 6, it is characterised in that described first drive mechanism also includes that being positioned at second turns to The first of wheel near-end turns to wheels, and described first turns to wheels to include the 6th deflecting roller and the 7th deflecting roller, and the described 6th turns to Take turns coaxially arranged with the 7th deflecting roller and each autorotation；

Described first extension is connected with the first end of described the first noumenon, and extends through first and turn in wheels one to turn to Wheel, re-extends by the second deflecting roller and the 4th deflecting roller, is then connected with the top of adapter, described second extension and institute The second end stating the first noumenon connects, and extends through first and turn to another deflecting roller in wheels, re-extends by the 3rd turn To wheel and the 5th deflecting roller, then it is connected with the bottom of adapter.

Mechanical arm the most according to claim 6, it is characterised in that described first drive mechanism also includes that second turns to wheels Turning to wheels with the 3rd, described second turns to wheels to include the 8th deflecting roller and the 9th deflecting roller, described 8th deflecting roller and Nine deflecting rollers are coaxially arranged and each autorotation, and the described 3rd turns to wheels to include the tenth deflecting roller and the 11st deflecting roller, described Tenth deflecting roller and the 11st deflecting roller is coaxially arranged and each autorotation；

Wherein, described second wheels and the 3rd near-end turning to wheels to be positioned at the second deflecting roller, and described second deflecting roller are turned to Group is positioned at the 3rd upside turning to wheels；Extend through second after first end of described first extension connection the first noumenon to turn to Wheels and the 3rd turn to the deflecting roller in wheels, re-extend the top by the second deflecting roller and the 4th deflecting roller and adapter Connect, extend through second after the second end of described second extension connection the first noumenon and turn to wheels and the 3rd to turn in wheels Another deflecting roller, re-extend and be connected with the bottom of adapter by the 3rd deflecting roller and the 5th deflecting roller.

Mechanical arm the most according to claim 1, it is characterised in that described mechanical arm also includes that one moves horizontally joint, institute State and move horizontally joint and be connected with vertical linear joint by a linking arm, in order to drive be connected with described adapter described outside Portion's component moves in the horizontal direction；

Wherein, described linking arm has an inner chamber, and described gravitational equilibrium mechanism is arranged in described inner chamber, and, described first Ratio wheel in drive mechanism is also disposed in described inner chamber.

Mechanical arm the most according to claim 6, it is characterised in that described mechanical arm also includes that one moves horizontally joint, institute State and move horizontally joint and be connected with vertical linear joint by a linking arm, in order to drive be connected with described adapter described outside Portion's component moves in the horizontal direction；

Wherein, described linking arm has an inner chamber, and described gravitational equilibrium mechanism is arranged in described inner chamber, described first driver Ratio wheel in structure is also disposed in described inner chamber, and, described second deflecting roller, the 3rd deflecting roller, the 4th deflecting roller and the Five deflecting rollers may be contained within described vertical linear joint.

11. mechanical arms according to claim 8, it is characterised in that described mechanical arm also includes rotary joint and connector, Described rotary joint includes that urceolus and rotating shaft, described urceolus are connected with linking arm, and described rotating shaft is connected with connector, described connection Part is connected with vertical linear joint, and described second turns to wheels to be placed in urceolus, and the described 3rd turns to wheels to be placed in connector, And turn to wheels and the 3rd to turn to the axis of the second flexible body bearing of trend between wheels and rotary joint described second Conllinear.

12. mechanical arms according to claim 1, it is characterised in that described first drive mechanism also includes the first braked wheel, First end of the first noumenon extended from the periphery of described foreign steamer is around described first braked wheel, then with the first extension even Connect, and described first end is around direction and first end of the first braked wheel around peripheral in opposite direction of described foreign steamer.

13. mechanical arms according to claim 1, it is characterised in that described mechanical arm also includes that one moves horizontally joint, institute State and move horizontally joint and be connected with vertical linear joint；In addition to described adapter, described vertical linear joint also include base plate with And it is fixedly arranged on the upright guide rail on described base plate；The back side of described base plate moves horizontally joint, described upright guide rail described in connecting Being fixedly arranged on the front of described base plate, described adapter is slideably positioned on described upright guide rail.

14. mechanical arms according to claim 1, it is characterised in that described mechanical arm also includes and described vertical mobile pass What joint connected moves horizontally joint, described in move horizontally joint in order to move in the horizontal direction, to drive with described adapter even The described external member connect moves in the horizontal direction.

15. mechanical arms according to claim 14, it is characterised in that described in move horizontally joint and include N number of stacked on top Move horizontally module；First moves horizontally module in order to connect an external stability frame, and remaining moves horizontally module in order to edge Horizontal motion；M-th moves horizontally the module m-1 that is slidably connected and moves horizontally module, and n-th moves horizontally module even Connecing described vertical linear joint, wherein, N is the natural number more than or equal to 2, and m is all natural numbers in 2 to N.

16. mechanical arms according to claim 15, it is characterised in that each module that moves horizontally all includes a sole piece, And, m-1 moves horizontally module and also includes the horizontal guide rail being fixedly arranged on its sole piece and be slideably positioned in described level Slide block on guide rail；The sole piece that the individual slide block moving horizontally module of m-1 moves horizontally module with m-th is connected.

17. mechanical arms according to claim 16, it is characterised in that described mechanical arm also includes one second drive mechanism, Described second drive mechanism includes the second braked wheel and the 3rd flexible body；Described second braked wheel is arranged at n-th and moves horizontally In module；

Described 3rd flexible body includes the second body, the 3rd extension and the 4th extension；Described second body includes the 3rd End and the 4th end, described second body is around connected described second braked wheel of also part；3rd end of described second body and One end of three extensions connects, and the 4th end of described second body and one end of the 4th extension connect；Described 3rd extension The other end and first one end moving horizontally module connect, the other end of described 4th extension and first move horizontally The other end of module connects；

Described 3rd extension and the 4th extension are arranged to when moving horizontally joint and moving, described 3rd extension and The displacement variable of four extensions is equal.

18. mechanical arms according to claim 17, it is characterised in that described second drive mechanism include the first pulley and Second pulley；

The other end of described 3rd extension is connected with first one end moving horizontally module after being turned to by the second pulley, and The direction that described 3rd extension enters the second pulley is parallel with the direction leaving the second pulley, another of described 4th extension Holding and be connected with first other end moving horizontally module after being turned to by the first pulley, it is sliding that described 4th extension enters first The direction of wheel is parallel with the direction leaving this first pulley, and described 3rd extension leaves the direction and the described 4th of the second pulley Extension leaves that the direction of the first pulley is parallel or conllinear.

19. mechanical arms according to claim 18, it is characterised in that described in move horizontally the quantity of module be two, and And, described second drive mechanism also includes two pulleys, is the 3rd pulley and the 4th pulley respectively；

Wherein, described 3rd pulley, the 4th pulley are positioned on second the second sole piece moving horizontally module and are arranged at second The not homonymy of braked wheel, described first pulley, the second pulley are positioned on first the first sole piece moving horizontally module；Described Extend through the 4th pulley, the second pulley and first after the three-terminal link of three extensions and the second body and move horizontally module The first sole piece one end connect；4th end of described 4th extension and the second body extend through after connecting the 3rd pulley, The other end of the first pulley and first the first sole piece moving horizontally module connects；Described 3rd extension extends through the 4th Bearing of trend after bearing of trend after pulley and the 4th extension extend through the 3rd pulley deviates from mutually, described 3rd extension Extend through the bearing of trend after the second pulley and the 4th extension extends through the bearing of trend after the first pulley in opposite directions；

Further, the 3rd flexible body bearing of trend between described second pulley and the 4th pulley be positioned at the second pulley and The 3rd flexible body bearing of trend between one end fixing point of one sole piece is parallel, between described first pulley and the 3rd pulley The 3rd flexible body bearing of trend and the 3rd flexible body between the other end fixing point of the first pulley and the first sole piece prolong Stretch direction parallel, the 3rd flexible body bearing of trend between one end fixing point of the second pulley and the first sole piece be positioned at The 3rd flexible body bearing of trend between one pulley and the other end fixing point of the first sole piece is parallel or conllinear.

20. mechanical arms according to claim 18, it is characterised in that described in move horizontally the quantity of module be three, and And, described second drive mechanism also includes four pulleys, is that the 3rd pulley, the 4th pulley, the 5th pulley and the 6th are sliding respectively Wheel；

Wherein, described 3rd pulley, the 4th pulley are positioned on the 3rd the 3rd sole piece moving horizontally module and are arranged at second The not homonymy of braked wheel, described 5th pulley, the 6th pulley are positioned on second the second sole piece moving horizontally module and are positioned at The top of the second sole piece, described first pulley and the second pulley are arranged on described second sole piece and are positioned under the second sole piece Portion；The 4th pulley, the 6th pulley and the second pulley is extended through after the three-terminal link of described 3rd extension and the second body The one end of the first sole piece moving horizontally module with first is connected；4th end of described 4th extension and the second body connects After extend through the other end of the 3rd pulley, the 5th pulley and the first pulley and first the first sole piece moving horizontally module even Connect；Described 3rd extension extend through the 4th pulley after bearing of trend and after the 4th extension extends through the 3rd pulley Bearing of trend deviates from mutually, described 3rd extension extend through the 6th pulley after bearing of trend and the 4th extension extend through In opposite directions, described 3rd extension extends through the bearing of trend after the second pulley and the 4th extension to bearing of trend after 5th pulley Bearing of trend after portion extends through the first pulley deviates from mutually；

Further, the 3rd flexible body bearing of trend between described 6th pulley and the second pulley be positioned at the second pulley and The 3rd flexible body bearing of trend between one end fixing point of one sole piece is parallel, between described 5th pulley and the first pulley The 3rd flexible body bearing of trend and the 3rd flexible body between the other end fixing point of the first pulley and the first sole piece prolong Stretch direction parallel, the 3rd flexible body bearing of trend between one end fixing point of the second pulley and the first sole piece be positioned at The 3rd flexible body bearing of trend between one pulley and the other end fixing point of the first sole piece is parallel or conllinear.

21. mechanical arms according to claim 14, it is characterised in that described in move horizontally joint and include the first horizontal movement Mechanism and the second horicontal motion mechanism；

Described first horicontal motion mechanism includes that at least one rotary joint, the two ends of described first horicontal motion mechanism connect respectively Connect described second horicontal motion mechanism and an external stability frame；Described second horicontal motion mechanism includes that at least one rotates and closes Joint, the other end of described second horicontal motion mechanism is connected with described vertical linear joint, and described second horicontal motion mechanism With the both sides that adapter is distributed in described vertical linear joint；

22. mechanical arms according to claim 14, it is characterised in that described in move horizontally joint and include the first horizontal movement Mechanism and the second horicontal motion mechanism；The one end connecting described first horicontal motion mechanism fixed by described adapter, to drive State the first horicontal motion mechanism to move；

Described first horicontal motion mechanism includes at least one rotary joint, and the other end of described first horicontal motion mechanism rotates Connect described external member；Described second horicontal motion mechanism includes at least one rotary joint, described second horizontal motion machine The two ends of structure connect described vertical linear joint and an external stability frame, described second horicontal motion mechanism and adapter respectively It is distributed in the both sides of described vertical linear joint；

23. 1 kinds of operating robots, it is characterised in that include the mechanical arm as described in any one in claim 1 to 22.