CN214818556U - Mechanical arm - Google Patents

Abstract

The application relates to a manipulator, this manipulator includes: a manipulator body and a cable; a channel for at least partially routing cables is formed inside the manipulator body; the cable is connected with the manipulator body in a matching way; at least the cable located in the channel comprises a spring-like cable portion preformed in a spring-like manner. By designing at least part of the cable as a spring-like cable part, the resistance of the cable against torsion and/or pulling can be improved, increasing the service life of the cable.

Description

Mechanical arm

Technical Field

The utility model relates to the technical field of robot, concretely relates to manipulator.

Background

With the rapid development of industrial automation, the manipulator is also rapidly developed and widely applied.

The manipulator comprises a manipulator body and a cable, wherein the cable is connected with the manipulator body in a matched mode (for example, in an electric connection mode or a communication connection mode), the cable often moves along with the manipulator body in the moving process of the manipulator body, and therefore the cable is pulled and twisted, the cable is prone to falling off, abrasion and the like, and normal use of the manipulator or safety, stability and other performances of the manipulator are affected.

SUMMERY OF THE UTILITY MODEL

The utility model discloses embodiment provides a manipulator.

The utility model discloses a first aspect provides a manipulator, manipulator includes: a manipulator body and a cable; a channel for at least partially routing the cable is formed inside the manipulator body;

the cable is connected with the manipulator body in a matching manner;

at least the cable located in the channel comprises a spring-like cable portion preformed in a spring-like manner.

In one embodiment, the robot body includes a motor; the motor forms a motor hollow part penetrating through the motor along the axial direction; the motor hollow is at least a portion of the channel;

the cable passes through the motor hollow part;

at least a part of the cable located at least in the hollow portion of the motor is the spring-like cable portion.

In one embodiment, an output portion of a mover of the motor is fixedly connected with a connector;

the part of the cable penetrating through the hollow part of the motor is a moving part;

the moving part and the connecting piece are relatively fixedly arranged so as to move synchronously with the connecting piece.

In one embodiment, the connector is a connector plate; the connecting plate is fixed at the output end of the rotor of the motor.

In one embodiment, the robot body includes an end effector; the end effector comprises an effector shell, an executing main body and a fixing piece;

the fixing piece is fixed in the actuator shell;

the actuating body is arranged movably relative to the actuator housing;

two ends of a first part of cables in the cables are respectively matched and connected with the execution main body and the fixing piece;

at least a portion of the first portion of the cable within the actuator housing is the spring-like cable portion.

In one embodiment, the actuating body is a jaw;

a sensor is arranged on the clamping jaw; the fixing piece is an execution controller;

and two ends of the first part of cable are respectively matched and connected with the sensor and the execution controller on the clamping jaw.

In one embodiment, the end effector further comprises: a guide bar; the guide rod sequentially comprises a guide first part and a guide second part along the axial direction;

the guide rod is fixed in the actuator shell;

the execution main body is arranged on the guide first part of the guide rod and can move along the guide first part; the spring-like cable portion is sleeved on the guide second portion of the guide rod.

In one embodiment, the cable at least within the channel comprises a spring-like cable portion in the form of a spring:

a cable located at least within the channel and proximate to the moving portion includes the spring-like cable portion; wherein the moving part is a part of the cable with relatively large moving amplitude; and/or

At least the cable in the passage with a narrow inner space comprises the spring-shaped cable part.

In one embodiment, the spring-like cable portion is formed by winding in a first direction; wherein the first direction is clockwise or counterclockwise; or

The spring-shaped cable part is formed by winding a certain number of cables along a first direction and then winding the cables in a second direction opposite to the first direction; wherein the first direction is one of a clockwise and a counter-clockwise direction; the second direction is the other of the clockwise and counterclockwise directions.

In one embodiment, a guide is provided axially inside the spring-like cable part.

In one embodiment, the cable is a unitary piece; or the cable is in multiple sections, and the multiple sections of cables are connected through the interfaces.

In one embodiment, the robot further comprises a control device; the cable comprises a communication cable; the mating connection comprises a communication connection;

the communication cable is in communication connection with the control device and the manipulator body, respectively.

In one embodiment, the cable includes a power cable and/or a communication cable; the mating connection includes an electrical connection and/or a communication connection.

By prefabricating at least part of the cable as a spring-like cable part, the torsion and/or pulling resistance of the cable can be improved, and the service life of the cable can be prolonged.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings used in the description of the embodiments and the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a manipulator according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a manipulator body according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of one of the motors of the robot body according to the embodiment of the present invention;

fig. 4 is a schematic cross-sectional view of one of the motors of the robot body according to the embodiment of the present invention;

fig. 5 is a schematic view of an internal structure of an end effector of a robot body according to an embodiment of the present invention;

fig. 6A is a schematic view of a first structure of a spring-shaped cable portion according to an embodiment of the present invention;

fig. 6B is a second schematic structural diagram of the spring-shaped cable portion according to the embodiment of the present invention;

fig. 7A is a schematic view of a third structure of a spring-shaped cable portion according to an embodiment of the present invention;

fig. 7B is a fourth schematic structural diagram of the spring-shaped cable portion according to the embodiment of the present invention.

Description of the symbols of the drawings: the robot comprises a 10 manipulator, a 11 manipulator body, a 12 control device, a 13 cable, a 131 spring-shaped cable part, a 132 guide piece, a 133 moving part, a 111 motor, a 112 end effector, a 113 connecting piece, a 1121 guide rod, F1, an F2 clamping jaw, an M effector shell, six driving modules of L1, L2, L3, L4, L5 and L6, two connecting pieces of L7 and L8 and an L0 base.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

The embodiment of the utility model provides a manipulator through at least part design into spring form cable portion with the cable, can improve the cable and resist the ability of twisting and/or dragging, increases the life of cable.

As shown in fig. 1, in one embodiment of the present invention, there is provided a robot 10, the robot 10 including a robot body 11 and a cable 13; a channel for at least partially routing the cable 13 is formed inside the manipulator body 11;

the cable 13 is connected with the manipulator body 11 in a matching way;

at least the cable 13 located in the channel comprises a spring-like cable part 131 preformed in a spring-like manner.

Through at least partly designing into the spring form with being located the cable in the passageway at least, when certain part of cable received stress such as twist, the helical structure of spring form cable portion has increased the radius of curvature of cable, can realize that the cable obtains great radius of curvature in narrow and small space to offset or very big reduction cable receives stress such as twist, and then improve the whole antitorque circular ability of cable, increase the life of cable.

In addition, based on the scalability of the spring-like cable part in the axial direction, when the cable is applied to a high-frequency reciprocating linear motion scene, the service life of the cable can be increased.

In addition, through with the at least part prefabrication of cable become the spring form, can make the whole line of walking of cable more pleasing to the eye, neat, and more be favorable to placing accurate preset position with spring form cable portion, for example: in the hollow part of motor to can receive the biggest part of stress in the cable more accurate and carry out stress offset etc., increase the life of cable.

For the sake of easy understanding, the structure of the above-described robot is described in further detail below.

The interior of the robot body 11 forms a channel for at least part of the cabling 13 to run.

Specifically, an integrally communicated channel may be formed from the base to the end of the manipulator inside the manipulator body, so that the cable 13 is integrally routed inside the manipulator body 11 (as shown in fig. 1); the manipulator body can be internally provided with a channel which is partially communicated, so that part of the cable can be wired inside the manipulator body, and part of the cable can be wired outside the manipulator body. In a preferred embodiment, the cable is integrally routed inside the manipulator body, so that the manipulator is more attractive; in addition, the risk of damage due to the cable being exposed to the outside can also be reduced.

Specifically, the robot 10 may be: parallel robots or serial robots, etc., each robot comprising at least one drive unit. Taking a tandem robot as an example, a robot having any number of axes such as a three-axis robot, a four-axis robot, and a six-axis robot may be used. Specifically, the manipulator body can be formed by connecting a driving unit and a connecting piece in series and/or in parallel; alternatively, as shown in fig. 1, the robot body 11 is formed by connecting a plurality of drive modules including drive units and connecting members in series and/or in parallel, and the like. For convenience of understanding, the present embodiment will be described in detail by taking a six-axis robot 10 as an example, as shown in fig. 1 and 2.

The cable 13 is connected to the robot body 11.

It should be noted that the cable 13 may be, but is not limited to: communication cables, which may be used for communication of the control device 12 with the respective drive units, and/or power cables, which may be used for powering windings or controllers of the motor, etc. Different cables need to be connected with the corresponding cooperation of manipulator body, for example: when the cable is a power line, the matching connection is electric connection; when the cable is a telecommunication cable, the mating connection is a telecommunication connection.

Specifically, the cable may be a whole cable or multiple cables, and this embodiment is not limited, and when the cable is multiple cables, at least one end of each cable is provided with an interface, which may be an input interface and/or an output interface, and the input interface and the output interface of two adjacent cables are connected to connect the multiple cables into a whole. It should be noted that different cables implement different switching through corresponding input interfaces and output interfaces, such as: when the cable is a power cable, the input interface and the output interface may be electrically connected.

Continuing to be shown in fig. 1, in one embodiment, the robot 10 further includes a control device 12.

In one embodiment, the control device 12 is connected to the manipulator body 11 in a wired or wireless communication manner, and the manipulator body 11 may perform corresponding actions and/or output torque/force based on instructions from the control device 12.

In one embodiment, the control device 12 and the robot body 11 are connected to each other by wired communication cables, the cables include at least communication cables, and the connection includes at least communication connection.

It should be noted that, as shown in fig. 1, the control device 12 may be located outside the robot body 11, or integrated with the robot body, for example, disposed in a base of the robot, and the present embodiment is not limited thereto.

At least the cable 13 located in the channel comprises a spring-like cable part 131 preformed in a spring-like manner.

It should be noted that, the cables at least located in the channel include spring-shaped cable portions, all cables located in the channel may be the spring-shaped cable portions, or a part of cables located in the channel may be the spring-shaped cable portions; in addition, it may mean that only the cable located in the channel includes the spring-like cable portion in a spring shape, and in addition, the cable located outside the channel may include the spring-like cable portion as needed.

As shown in fig. 3 or 4, in one embodiment, all or part of the driving unit of the robot body includes the motor 111, and in addition, the driving unit may include a pneumatic or hydraulic driving structure, so that the motor 111 forms a motor hollow portion penetrating the motor 111 in the axial direction, so that at least part of the cable 13 is routed inside the motor 111, and the motor hollow portion is at least part of the channel formed inside the robot body.

As shown in fig. 1 and 2, for example, taking a certain six-axis manipulator as an example, the manipulator body 11 includes six drive modules L1, L2, L3, L4, L5, and L6, and two cylindrical connecting pieces L7 and L8, each drive module may include a motor and a motor housing disposed outside the motor, a motor hollow portion is formed inside the motor along an axial direction, the drive modules L1, L2, L3, L4, L5, L6 and the connecting pieces L7 and L8 are connected in series, and a communicating channel is formed between the motor hollow portion (not shown due to shielding), an end of the motor housing and the connecting pieces, so as to route the cable 13 inside the manipulator body 11. It should be noted that, according to the motion space range actually required to be reached by the end of the manipulator body, connecting pieces L7 and L8 of any shapes can be added to construct a corresponding manipulator model. Further, in one embodiment, the connectors L7 and L8 may be cylindrical structures penetrating through the cables to communicate with adjacent driving modules, so as to form at least a part of the channel for routing the cables.

It should be noted that the motor may be any driving motor with any structure, such as: the motor is divided in a motion mode and can comprise a rotary motor and a linear motor; the motor is divided by the magnetic flux trend, and can comprise an axial magnetic flux motor, a radial magnetic flux motor, a mixed magnetic flux motor and the like.

When at least part of the cable 13 is routed inside the manipulator body 11, because the motor 111 on the manipulator body 11 performs a rotation and/or linear motion, the connecting member 113 that is relatively fixedly connected with the mover of the motor 111 is driven to perform a rotation and/or linear motion, during the motion process, the connecting member 113 often generates a certain friction and collision with the cable 13 inside the manipulator body 11, so as to affect the transmission performance of the cable itself, for example: when the cable is a communication cable, an error occurs in signal transmission due to collision, and therefore, the part of the cable (hereinafter, referred to as a "moving part" for short) and the connecting piece are often required to be relatively fixedly arranged, so that the two can move synchronously, and therefore, the connecting piece can drive the moving part of the cable fixedly connected with the connecting piece to perform synchronous rotating and/or pulling movement in the rotating and/or linear movement process, so that by prefabricating the part of the cable adjacent to the moving part into a spring shape, when the moving part of the cable is twisted and/or pulled along with the connecting piece in the manipulator body, the spiral structure of the spring-shaped cable part adjacent to the moving part of the cable increases the curvature radius of the cable on one hand, and the purpose that the cable obtains a larger bending radius in a narrow space can be achieved, and on the other hand, the cable has scalability in the axial direction, so as to offset or greatly reduce the twisting and/or pulling stress applied to the cable, and then improve the whole antitorque commentaries on classics of cable and/or anti ability of tearing, reduce the risk that the cable damaged in manipulator body motion process.

As shown in fig. 4, in one embodiment, at least a part of the cable 13 located in the hollow portion of the motor is a spring-shaped cable portion 131 which is preformed in a spring shape, and besides, the spring-shaped cable portion 131 may extend out of the hollow portion of the motor as needed, and the present embodiment is not limited thereto. It should be noted that, generally, the larger the cross section and the longer the spring-shaped cable part are, the larger the stress that can share or counteract the torsion and/or pulling of the moving part is, but the cross section and the length of the spring-shaped cable part are limited by the structure and the size of the internal space of the manipulator body.

Continuing with fig. 3 and 4, in one embodiment, the cable passing through the hollow portion of the motor is fixedly disposed relative to the connecting member 113 and moves with the connecting member 113, so that the spring-like cable portion 131 located in the hollow portion of the motor is a portion close to the moving portion 133 of the cable 13, and by designing at least a portion of the cable located in the hollow portion of the motor to be spring-like, the stress on the moving portion 133 during twisting and/or pulling can be offset or greatly reduced.

Further, in one embodiment, the moving portion 133 of the cable is fixedly disposed relative to the connecting member 113; the connecting member 113 is fixedly connected to the mover of the motor 111 and moves along with the mover of the motor 111. Specifically, the coupling member 113 is fixedly coupled to the mover of the motor 111, and the coupling member 113 may be directly fixedly coupled to the output portion of the mover of the motor or fixedly coupled to the mover through another member of the robot body fixedly coupled to the output portion of the mover.

As shown in fig. 3, for example, the connection member 113 may be a connection plate 113, the connection plate 113 is fixed to an output end of a mover of the motor 111, and moves along with the movement of the mover, and a cable drawn from a hollow portion of the motor may be fixed to the connection plate (for example, fixed by a wire clamp), so as to fix the cable, so that when the motor 111 moves, the cable 13 may move along with the motor 111, so that, during the movement of the motor 111, the probability that the cable 13 collides with the motor 111 or another component of the manipulator body fixedly connected to the motor 111 is reduced, thereby reducing the probability that an error occurs during the signal transmission process due to the collision.

As further shown in fig. 2, the exemplary six-axis robot body 11 includes six driving modules L1, L2, L3, L4, L5, L6 and connecting members L7, L8, the six driving modules L1, L2, L3, L4, L5, L6 are connected in series with the connecting members L7, L8 in order from the base L0 of the six-axis robot to the driving module L6 located at the end of the robot body, and each driving module includes one motor driving unit. Specifically, taking the fourth-sixth driving modules L4, L5, and L6 as an example, the cable 13 is led out through the motor hollow portion of the fourth driving module L4, and is fixed to the connecting plate 113, and led into the fifth driving module L5 through the routing channel formed inside the robot, and then led into the sixth driving module through the motor hollow portion of the fifth driving module L5 and the connecting plate, and so on.

As shown in fig. 5, in one embodiment, the end of the robot body 11 further includes an end effector 112, such as: jaws, suction cups, etc., and at least a portion of the cable located within the end effector 112 is designed as a spring-like cable portion 131. Because the inner space of the end effector 112 is narrow, the curvature radius of the cable is increased by utilizing the spiral structure of the spring-shaped cable part 13, and the purpose that the cable obtains a larger bending radius in the narrow space can be realized, so that the stress borne by the cable is offset and greatly reduced; in addition, the scalability of the spring-like cable portion 131 in the axial direction can be applied to high-frequency reciprocating linear motion scenes, thereby increasing the service life of the cable.

Illustratively, as shown in fig. 5, the end effector 1112 includes two jaws F1, F2 moving relative to each other, a sensor disposed on an opposite surface of the two jaws F1, F2, and a controller disposed in the end effector is electrically connected to the sensor, since the portion of the cable 12 is accommodated in the housing M of the end effector with a relatively narrow space, the two jaws F1, F2 may drive the portion of the cable to move during the relative movement along the direction X of the guide rod 1121, so that the portion of the cable disposed in the housing M may be the spring-shaped cable portion 131.

In addition to the above-described embodiment, the cables located in the motor hollow portion and the end effector of the robot arm may be formed in a spring shape, and other cables may be formed in a spring shape as needed. The cable at least located in the channel includes a spring-shaped cable part in a spring shape, which may be, but is not limited to: the cable at least located within the channel and located adjacent to the moving portion includes a spring-like cable portion; the moving part is a part with relatively large moving amplitude in the cable; and/or the cable at least positioned in the channel with narrow inner space comprises the spring-shaped cable part.

As shown in fig. 6A and 6B, in one embodiment, since the spring-like cable portion 1121 is formed with a hollow portion in the axial direction, a guide 132 may be disposed in the hollow portion of the spring-like cable portion 131, and the spring-like cable portion 131 is guided by the guide 132 to reduce the swing amplitude during the twisting and/or pulling process, so as to better alleviate or counteract the pulling and/or twisting stress applied to the cable 13. Specifically, the guiding element 132 is any structural element that can be guided. As shown in fig. 6B, in one embodiment, the guide 132 may be a rigid guide rod.

As further shown in fig. 5, in one embodiment, the guide rod 1121 includes a first guide portion and a second guide portion in the axial direction, the guide rod 1121 is fixed in the actuator housing M, and the actuating bodies F1, F2 are disposed on the first guide portion of the guide rod and can move along the first guide portion; the spring-shaped cable portion 131 is sleeved on the guiding second portion of the guiding rod 1121, and the guiding second portion of the guiding rod can be used as the guiding element 132 of the spring-shaped cable portion 131, so that the cost of additionally arranging the guiding element can be saved, and the space can be saved.

It should be noted that the prefabricated spring-like cable part can be formed by winding and shaping the strip-like cable in the following manner:

as shown in fig. 7A, in one embodiment, the spring-like cable portion 131 is formed by winding a strip-like cable in a first direction;

the first direction may be a clockwise direction or a counterclockwise direction.

As shown in fig. 7B, in one embodiment, the spring-like cable portion 131 is formed by winding a certain number of turns in a first direction and then winding the turns in a second direction opposite to the first direction;

for example, as shown in fig. 6B, the spring-shaped cable portion 131 may be wound in a clockwise direction after being wound in a counterclockwise direction by a certain number.

By adopting the winding mode to form the spring-shaped cable, the stress concentration phenomenon of the cable can be avoided, and the service life of the cable is prolonged; so that the curvature radius of the spring-shaped cable is basically kept unchanged during clockwise and anticlockwise rotation of the cable, thereby being suitable for torsion at any rotation angle.

When an element is referred to as being "disposed on" another element, it can be secured to the other element or movably coupled to the other element. When an element is referred to as being "secured to," "fixedly connected to," or "fixedly disposed relative to" another element, it can be directly secured to the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

It will be understood by those skilled in the art that the configurations shown in the drawings are merely schematic representations of portions of configurations relevant to the present application and are not intended to limit the robots, drive modules, etc. to which the present application may be applied, and that a particular robot, drive module, etc. may include more or less components than shown, or may combine certain components, or have a different arrangement of components.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The terms "first," "second," "third," and the like in the claims, in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or apparatus.

In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts of a certain embodiment that are not described in detail.

It should be noted that, as will be understood by those skilled in the art, the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention.

The manipulator provided by the embodiment of the present invention has been described in detail above, but the description of the above embodiment is only used to help understand the method and the core idea of the present invention, and should not be understood as a limitation to the present invention. The technical scope of the present invention is to cover the changes or substitutions easily conceivable by those skilled in the art according to the idea of the present invention.

Claims (13)

1. A robot hand, characterized by comprising: a manipulator body and a cable; a channel for at least partially routing the cable is formed inside the manipulator body;

the cable is connected with the manipulator body in a matching manner;

at least the cable located in the channel comprises a spring-like cable portion preformed in a spring-like manner.

2. The robot hand of claim 1, wherein the robot hand body includes a motor; the motor forms a motor hollow part penetrating through the motor along the axial direction; the motor hollow is at least a portion of the channel;

the cable passes through the motor hollow part;

at least a part of the cable located at least in the hollow portion of the motor is the spring-like cable portion.

3. The manipulator according to claim 2, wherein an output portion of the mover of the motor is fixedly connected to a coupling;

the part of the cable penetrating through the hollow part of the motor is a moving part;

the moving part and the connecting piece are relatively fixedly arranged so as to move synchronously with the connecting piece.

4. The robot hand of claim 3, wherein the connecting member is a connecting plate; the connecting plate is fixed at the output end of the rotor of the motor.

5. The manipulator according to any one of claims 1 to 4, wherein the manipulator body includes an end effector; the end effector comprises an effector shell, an executing main body and a fixing piece;

the fixing piece is fixed in the actuator shell;

the actuating body is arranged movably relative to the actuator housing;

two ends of a first part of cables in the cables are respectively matched and connected with the execution main body and the fixing piece;

at least a portion of the first portion of the cable within the actuator housing is the spring-like cable portion.

6. The manipulator according to claim 5, wherein the actuating body is a jaw;

a sensor is arranged on the clamping jaw; the fixing piece is an execution controller;

and two ends of the first part of cable are respectively matched and connected with the sensor and the execution controller on the clamping jaw.

7. The robot hand according to claim 5 or 6, wherein the end effector further comprises: a guide bar; the guide rod sequentially comprises a guide first part and a guide second part along the axial direction;

the guide rod is fixed in the actuator shell;

the execution main body is arranged on the guide first part of the guide rod and can move along the guide first part; the spring-like cable portion is sleeved on the guide second portion of the guide rod.

8. The manipulator of claim 1, wherein the cable at least within the channel comprises a spring-like cable portion in the form of a spring:

a cable located at least within the channel and proximate to the moving portion includes the spring-like cable portion; wherein the moving part is a part of the cable with relatively large moving amplitude; and/or

At least the cable in the passage with a narrow inner space comprises the spring-shaped cable part.

9. The manipulator according to any one of claims 1 to 4, wherein the spring-like cable part is formed by being wound in a first direction; wherein the first direction is clockwise or counterclockwise; or

The spring-shaped cable part is formed by winding a certain number of cables along a first direction and then winding the cables in a second direction opposite to the first direction; wherein the first direction is one of a clockwise and a counter-clockwise direction; the second direction is the other of the clockwise and counterclockwise directions.

10. The manipulator according to any one of claims 1 to 4, wherein a guide is provided in an axial direction inside the spring-like cable portion.

11. The manipulator according to any one of claims 1 to 4, wherein the cable is a whole piece; or the cable is in multiple sections, and the multiple sections of cables are connected through the interfaces.

12. The robot hand according to any one of claims 1 to 4, further comprising a control device; the cable comprises a communication cable; the mating connection comprises a communication connection;

the communication cable is in communication connection with the control device and the manipulator body, respectively.

13. The manipulator according to any one of claims 1 to 4, wherein the cable includes a power supply cable and/or a communication cable; the mating connection includes an electrical connection and/or a communication connection.

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