CN220109837U - Drive wire fixer for drive structure, drive structure and robot - Google Patents

Abstract

The utility model provides a drive wire fixer for drive structure, drive structure and robot, drive wire fixer for drive structure, including the fixed section that is used for the installation and connect gradually wire winding section and tapered end top on the fixed section, be provided with solid line passageway and global wire winding groove on the wire winding section, solid line passageway is including being located the first solid line passageway of wire winding section, first solid line passageway bias in one side of wire winding section axis and with global wire winding groove intercommunication. The wire fixing channel is arranged on one side of the axis of the winding section and is communicated with the circumferential surface winding groove, and on one hand, the wire fixing channel is arranged on a chord of the cylindrical section where the winding section is arranged, and compared with the wire fixing channel arranged on the diameter, the angle of bending of the driving wire is smaller.

Description

Drive wire fixer for drive structure, drive structure and robot

Technical Field

The utility model relates to the field of medical instruments, in particular to a driving wire fixer for a driving structure, the driving structure and a robot.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like. However, the minimally invasive instrument in the minimally invasive surgery is limited by the size of the incision, so that the operation difficulty is greatly increased, and actions such as fatigue, tremble and the like of a doctor in the long-time operation process can be amplified, which becomes a key factor for restricting the development of the minimally invasive surgery technology. With the development of robot technology, a new minimally invasive medical field technology, namely minimally invasive surgery robot technology, capable of overcoming the defects and inheriting the advantages, has been developed.

A common minimally invasive surgical robot consists of a physician console, a patient side cart, and a display device, where the surgeon operates an input device and communicates input to the patient side cart that is connected to a teleoperated surgical instrument. The doctor console is generally called a master hand having a multi-degree-of-freedom operation input mechanism, the patient side cart is generally called a slave hand having a multi-degree-of-freedom operation surgical instrument, and a driving wire or the like is often required as a transmission member in the master hand and the slave hand in response to an operation input of the doctor. How to fix the driving wires is a very important issue.

In the prior art, holes are directly formed in a rotary table for driving the mechanical arm to rotate, so that the holes and the driving wire receiving driving wires of the driving wire fixer are positioned on the same straight line, and the purpose of reducing small-angle bending of the driving wires is achieved. But in order to fix the driving wire tip on the driving wire fixer, provided with the holding tank on the driving wire fixer top, still need carry out 90 degrees buckling when the driving wire gets into the holding tank on the one hand, on the other hand utilize locking screw to support the driving wire tip and press the circumstances that the department edge can have local overstress in supporting the pressure screw, can cause the damage to the driving wire to increase surgical robot's fault rate and maintenance cost.

Disclosure of Invention

The utility model aims to provide a driving wire fixer for a driving structure, a driving structure and a robot, which can reduce small-angle bending generated when the driving wire is connected with the driving wire fixer as much as possible.

Embodiments of the present utility model are implemented as follows:

in a first aspect, the utility model provides a driving wire fixer for a driving structure, which comprises a fixing section for installation, a winding section and a tapered end top, wherein the winding section and the tapered end top are sequentially connected to the fixing section, a wire fixing channel and a peripheral surface winding groove are arranged on the winding section, the wire fixing channel comprises a first wire fixing channel positioned in the winding section, and the first wire fixing channel is deviated to one side of the axis of the winding section and is communicated with the peripheral surface winding groove.

In an alternative embodiment, the wire fixing channel further comprises a second wire fixing channel located in the wire winding section, the second wire fixing channel is communicated with the peripheral surface wire winding groove, and the first wire fixing channel and the second wire fixing channel are respectively offset at two sides of the axis of the wire winding section and do not intersect.

In an alternative embodiment, the first wire fixing channel and the second wire fixing channel are both notch grooves, the notch of each notch groove is positioned on the circular end face of the top of the lock head, and the ratio of the central line length of each notch groove to the diameter length of the circular end face is 0.6-0.8; or the first wire fixing channel and the second wire fixing channel are through holes, the inlet and the outlet of each through hole are positioned in the wire winding groove, and the ratio of the length of the center line of the through hole to the diameter length of the circular section of the wire winding section is 0.6-0.8.

In an alternative embodiment, a straight slot is arranged on the end surface of the top of the lock head, which is far away from the winding section.

In an alternative embodiment, a threaded hole coaxial with the top of the lock head is arranged on the end surface of the top of the lock head, which is far away from the winding section.

In an alternative embodiment, the fixed section includes a first threaded section and a second threaded section, the threads on the first threaded section and the second threaded section being of opposite sense.

In a second aspect, the utility model provides a mechanical arm driving structure, which comprises a turntable, a rotating shaft penetrating through the turntable, a winding unit, a driving assembly for driving the winding unit and a driving wire wound on the winding unit, wherein the driving wire fixer is arranged on the turntable, at least one end of the driving wire sequentially penetrates through a wire fixing channel of the driving wire fixer and is connected with a limiting piece, and the width of the limiting piece is larger than the inlet of the wire fixing channel.

In an alternative embodiment, the device further comprises a guide ring which is arranged on the rotary table and is coaxial with the rotary table, and a U-shaped groove for the driving wire to pass through is arranged on the guide ring.

In a third aspect, the present utility model provides a robot, including the mechanical arm driving structure according to the foregoing embodiment.

The embodiment of the utility model has the beneficial effects that:

the wire fixing channel is arranged on one side of the axis of the winding section and is communicated with the circumferential surface winding groove, and on one hand, the wire fixing channel is arranged on a chord of the cylindrical section where the winding section is arranged, and compared with the wire fixing channel arranged on the diameter, the angle of bending of the driving wire is smaller.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a turntable according to the present utility model;

FIG. 2 is a front view of FIG. 1 of the present utility model;

FIG. 3 is an enlarged view of portion A of FIG. 1 in accordance with the present utility model;

FIG. 4 is a schematic structural view of a turntable body according to the present utility model;

FIG. 5 is an enlarged view of portion B of FIG. 4 in accordance with the present utility model;

FIG. 6 is a front view of FIG. 4 in accordance with the present utility model;

FIG. 7 is a schematic view of a drive wire holder according to the present utility model;

FIG. 8 is a front view of FIG. 7 in accordance with the present utility model;

FIG. 9 is a schematic view of another embodiment of a drive wire holder according to the present utility model;

fig. 10 is an enlarged view of the portion C of fig. 9 in the present utility model.

Icon: 100-rotating disc; 101-a turntable body; 102-rotating shaft through holes; 103-mounting holes; 104, pressing the tongue; 105-guide ring; 106, driving the wire to avoid the channel; 107-fixed steps; 200-driving wire fixer; 201-a first thread segment; 202-a second thread segment; 203-winding the wire segment; 204-the top of the lock head; 205-a first fixed line channel; 206-a second wire fixing channel; 207-peripheral winding grooves; 208-limiting cavity; 209-notch groove; 210-a through hole; 211-a straight slot; 212-a threaded hole; 300-driving wire; 301-pipe clamp.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 to 6, the present embodiment provides a steel wire fixer for driving structure, which is used for being mounted on a turntable 100 for driving structure, specifically, the turntable 100 for driving structure includes a turntable body 101, a rotating shaft via hole 102 and a driving wire 300 fixing structure are disposed on the turntable body 101, a driving wire 300 guiding structure is disposed on a side of a driving wire 300 fixing structure mounting hole 103 away from the rotating shaft via hole 102, the driving wire 300 guiding structure includes a pressing tongue 104 for supporting the driving wire 300, and a side of the pressing tongue 104 contacting with the driving wire 300 is gradually close to the driving wire 300 fixing structure mounting hole 103 and bends towards a direction in which the driving wire 300 fixing structure mounting hole 103 is located.

The turntable body 101 in this embodiment is used to be sleeved on the rotating shaft, and the mechanical arm or other necessary structures are driven by the driving wire 300 to rotate, in this embodiment or in general cases, the turntable body 101 is disc-shaped, and under some special requirements, the turntable body 101 can also be in other shapes.

The driving wire 300 guiding structure can be an arc-shaped part arranged along the edge of the turntable 100 or on the end surface of the turntable 100, specifically can be an arc for guiding the driving wire 300 to the driving wire 300 fixing structure, one side of the pressing tongue 104, which is contacted with the driving wire 300, is arc-shaped, gradually approaches to the driving wire 300 fixing structure mounting hole 103 and bends the mounting hole 103 towards the direction of the driving wire 300 fixing structure mounting hole 103, so that the driving wire 300 is prevented from bending at a small angle at the entrance of the turntable 100, damage to the driving wire 300 is avoided, and the service life is ensured.

In the embodiment of the present utility model, one end of the pressing tongue 104 receiving the driving wire 300 should be tangential to the entering direction of the driving wire 300 as much as possible; the distal end of the tongue 104 should be disposed as tangentially as possible to the entrance of the driving wire 300 to the mounting hole 103 of the fixing structure of the driving wire 300 so as to minimize bending of the driving wire 300. Considering the application scenario, for example, in the surgical robot, because the requirement on precision is relatively high, the tongue 104 should be made of a material with small deformability and wear resistance, such as stainless steel, as much as possible.

In some embodiments, if the angle to which the turntable 100 is required to rotate is large, the guide structure of the driving wire 300 is relatively long; if the angle of rotation of the turntable 100 is small, the guide structure of the driving wire 300 may be relatively short.

In addition, in the present embodiment, the turntable 100 needs to rotate in two directions, and thus the driving wire 300 and the fixing structure of the driving wire 300 are two matched ones. In other application scenarios, for example, the base turntable 100 only needs to rotate in one direction, and the corresponding structure can be simplified to one. In other alternative embodiments, the driving wire 300 fixing structures may be disposed on two sides of the turntable body 101, and then the driving wire 300 guiding structures are disposed on two corresponding sides; and each side can be provided with the number of the fixing structures of the driving wires 300 according to the requirement, so that the driving wires 300 can be fixed in one direction or two directions, and preferably, each driving wire 300 fixing structure corresponds to a driving wire 300 guiding structure.

In some embodiments, the driving wire 300 may be a steel wire rope, a wire rope made of a composite material, or the like, so long as the requirements of the application scene on deformability, strength, wear resistance, and the like of the driving wire 300 can be met, and a person skilled in the art can select the material of the driving wire 300 according to the requirements.

In the embodiment of the present utility model, the guiding structure of the driving wire 300 includes a guiding ring 105 coaxially disposed with the turntable body 101, a driving wire avoiding channel 106 for the driving wire 300 to pass through is disposed on the guiding ring 105, and the pressing tongue 104 is located in an installation hole 103 between the driving wire avoiding channel 106 and the fixing structure of the driving wire 300.

In this embodiment, the guide ring 105 is disposed, the fixing structure of the driving wire 300 may be disposed inside the guide ring 105, the driving wire 300 is attached to the outer surface of the guide ring 105, and enters the guide ring 105 from the driving wire avoidance channel 106, and is connected with the driving wire fixing device 200 inside the guide ring to be fixed, so that the outer surface of the annular convex edge has no redundant parts, and the structure is attractive and is not easy to accumulate dust.

In some embodiments, the number of the driving wire avoidance channels 106 corresponds to the number of the driving wire 300 fixing structures to be installed, each driving wire avoidance channel 106 is correspondingly provided with one pressing tongue 104, and preferably one end of the pressing tongue 104 is tangential to the guide ring 105 connected with the pressing tongue, and the other end of the pressing tongue is tangential to the driving wire 300 inlet of the driving wire 300 fixing structure.

In the embodiment of the present utility model, the driving wire avoiding channel 106 is a U-shaped groove.

In some embodiments, the driving wire avoidance channel 106 is a through hole 210 penetrating through the guide ring 105, and compared with the through hole 210, the U-shaped groove in this embodiment is more convenient for introducing the driving wire 300, which is beneficial for improving the assembly efficiency.

In the embodiment of the present utility model, a fixing step 107 is further provided on the turntable body 101, and the pressing tongue 104 is located on the fixing step 107 and integrally forms the mounting hole 103 with the fixing step 107 to form the mounting hole 103.

The setting height of the fixing step 107 can be set according to the distance between the corresponding driving wire 300 and the turntable body 101, and because of the height difference between the fixing step 107 and the turntable body 101, when the pressing tongue 104 is located on the fixing step 107, the fixing step 107 can provide a supporting force for the pressing tongue 104, which is helpful for reducing the deformation of the pressing tongue 104.

In this embodiment, when two driving wire 300 fixing structures are required to be disposed on the turntable body 101, and the driving wires 300 fixed by the two driving wire 300 fixing structures are connected to the same spool, the two driving wires 300 led out are offset in the axial direction, so that the positions of the two driving wires 300 entering the U-shaped groove are also offset (axially). Due to the misalignment of the entry locations, the two fixed steps 107 also have a corresponding height difference or the winding slot has a sufficient width to accommodate the height difference caused by the misalignment. By the arrangement, the driving wire 300 can be directly wound on the fixing structure of the driving wire 300, and interference with other parts is avoided. In other embodiments, the heights of the two fixing steps 107 may be the same, for example, the driving wires 300 fixed by the two driving wire holders 200 are connected to different bobbins; or only one fixing step 107 is provided, for example, only one driving wire holder 200 is required to be fixed.

Mounting hole 103 in this embodiment of the present utility model, the fixing structure of the driving wire 300 includes a mounting hole 103 disposed on the turntable 100 and a driving wire holder 200 mounted in the mounting hole 103, as shown in fig. 7 to 10, where the driving wire holder 200 includes a fixing section connected to the mounting hole 103, and a winding section 203 and a locking head top 204 sequentially connected to the fixing section, where a wire fixing channel and a circumferential winding groove 207 are disposed on the winding section 203, where the wire fixing channel includes a first wire fixing channel 205 located in the winding section 203, and the first wire fixing channel 205 is offset to one side of the axis of the winding section 203 and is connected to the circumferential winding groove 207 to mount the mounting hole 103.

In the preferred embodiment of the present utility model, the mounting hole 103 is disposed on the fixing step 107, and threads may be disposed on the mounting hole 103, so that the driving wire holder 200 is conveniently installed and screwed, and when two driving wire holders 200 are required to be disposed on the turntable body 101, the directions of the internal threads of the two mounting holes 103 are preferably opposite.

In this embodiment, the driving wire fixer 200 is configured like a bolt, wherein the fixing section is used for installing the driving wire fixer 200 in the mounting hole 103, the rod may include a first threaded section 201 matched with the internal thread of the mounting hole 103, and a second threaded section 202 extending out of the mounting hole 103 and used for fixing with a nut, and the directions of the threads on the first threaded section 201 and the second threaded section 202 are opposite, and the second threaded section 202 is provided with the nut to play a role in strengthening and fixing the driving wire fixer 200. The matching of the thread direction and the winding direction can play a role in preventing looseness and enhancing fixing reliability. Specifically, the pulling force of the driving wire 300 is the same as the screwing direction of the first screw section 201 to the rotation direction of the driving wire holder 200, so that the pulling and tightening function can be performed, and the loosening of the holding section can be prevented. In addition, when the driving wire 300 deforms and stretches after long-term use, the driving wire fixer 200 can be further screwed, and meanwhile, the nut corresponding to the second thread section 202 needs to be further screwed, so that the driving wire 300 is re-tensioned. In addition, it should be noted that the first thread segment 201 is not screwed out beyond the threaded hole 212, otherwise the nut cannot press the turntable 100, and the fastening effect is affected. It should be noted that, in this embodiment, since two driving wire holders 200 are provided, the directions of the threads on the corresponding first thread segments 201 on the two driving wire holders 200 are also opposite.

The fixed section is connected with a winding section 203 on one side for winding the driving wire 300, and the winding section 203 is provided with a peripheral surface winding groove 207, wherein the peripheral surface winding groove 207 can be a flat groove or a groove with threads, and can be selected according to requirements. A wire fixing passage is also connected to the peripheral winding groove 207, and specifically, the driving wire 300 may be passed through the wire fixing passage and then partially wound around the peripheral winding groove 207 and then wound around the winding unit through the tongue 104. The end of the driving wire 300 in some embodiments is provided with a limiting member, and the structure of the limiting member is not limited, so long as the width can be greater than the width of the first fixing line channel 205, so as to play a role in fixing the driving wire 300. In this embodiment, the driving wire holder 200 is used in combination with the tube clamp 301, the driving wire holder 200 is fixed on the turntable 100, the driving wire 300 is clamped by the tube clamp 301, and the tube clamp 301 is larger than the width of the first wire fixing channel 205, so that unidirectional fixing of the end of the driving wire 300 is realized. In other embodiments, the limiting member may be a limiting block, a limiting sheet, or the like.

The lock head top 204 can be provided with a plurality of structures which are convenient for the installation and the disassembly of the driving wire 300 or the installation and the disassembly of the driving structure of the mechanical arm, and can be matched with the winding section 203 to form a winding groove.

In this embodiment of the present utility model, the wire fixing channel further includes a second wire fixing channel 206 located in the wire winding segment 203, the second wire fixing channel 206 is in communication with the peripheral surface wire winding slot 207, and the first wire fixing channel 205 and the second wire fixing channel 206 are respectively offset at two sides of the axis of the wire winding segment 203 and do not intersect.

In some preferred embodiments, considering the versatility of the turntable 100, two wire fixing channels are provided, and the first wire fixing channel 205 and the second wire fixing channel 206 are disposed in parallel to minimize the small-angle bending of the driving wire 300.

In the embodiment of the present utility model, one end of each of the first wire fixing channel 205 and the second wire fixing channel 206 is provided with a limiting cavity 208, and the two limiting cavities 208 are located on the same side of the wire fixing channel, and the width of the limiting cavity 208 is greater than the width of the wire fixing channel where the limiting cavity 208 is located.

The limiting piece can extend into the limiting cavity 208, so that on one hand, the limiting effect can be achieved, and on the other hand, the limiting cavity 208 can play a role in protecting the limiting piece. Specifically, the pipe clamp 301 may be propped against the end surface where the wire fixing channel and the limiting cavity 208 are connected, so as to realize unidirectional fixation of the end of the driving wire 300.

It should be noted that, in some embodiments, the shape of the limiting member may be different, and may be a structure of a limiting block, a limiting piece, a limiting rod, etc. fixed on the driving wire 300, so, in order to be able to accommodate and fix the limiting member, the shape and size of the limiting cavity 208 is preferably adapted to the shape and size of the limiting member.

In the embodiment of the present utility model, the first wire fixing channel 205 and the second wire fixing channel 206 are both notch grooves 209, the notch of the notch groove 209 is located on the circular end face of the lock head top 204, and the ratio of the length of the center line of the notch groove 209 to the diameter length of the circular end face is 0.6-0.8. This structure makes the driving wire 300 conveniently go into and out of the notch 209, and even if the fixing member is fixed at the end of the driving wire 300 in advance, the driving wire 300 is not affected to go into and out of the notch 209. The corresponding limiting cavity 208 and the wire fixing channel in this embodiment form a stepped groove. The notch 209 in the present utility model is disposed as close to the edge as possible to increase the bending angle of the driving wire 300, but too close to the edge may decrease the strength of the wire fixing channel on the side far away from the axis of the driving wire holder 200, so that the driving wire holder 200 is easily damaged, and therefore, the position of the wire fixing channel needs to be limited. Referring to fig. 7 and 8, two notch grooves 209 are provided at the top. Specifically, in this embodiment, the width of the notch 209 is 1.2mm, the diameter of the driving wire 300 is 0.95mm, the pipe clamp 301 is a steel pipe, and the outer diameter Φ1.5mm×the inner diameter Φ1.1mm. The end face of the pipe clamp 301 and the diameter of the notch 209 have a gap of 0.3mm, so that the pipe clamp 301 can prop against the junction of the peripheral surface and the notch 209 to prevent the driving wire 300 from moving, and the steel pipe used therein has high strength and is not easy to deform. Of course, aluminum tubes may also be used in other less demanding scenarios.

In other embodiments of the present utility model, in some embodiments, the first wire fixing channel 205 and the second wire fixing channel 206 are through holes 210, the inlet and the outlet of the through holes 210 are located in the winding groove, and the ratio of the length of the center line of the through holes 210 to the diameter of the circular section of the winding section 203 is 0.6-0.8. In this way, on the premise that one end of the driving wire 300 is fixed on the winding unit, the tail end can only penetrate into the through hole 210 first and then be connected with the limiting piece, although the disassembly and the installation are slightly inconvenient, on the premise that the limiting piece exists, the driving wire 300 cannot be separated from the through hole 210, and the stability is relatively better. The corresponding limiting cavity 208 and the wire fixing channel in this embodiment form a stepped hole.

In the embodiment of the present utility model, a slot 211 is formed on the end surface of the lock head top 204 far from the winding segment 203, so that the driving wire fixer 200 is conveniently fixed on the turntable 100, and can be screwed by using a screwdriver.

In other embodiments of the present utility model, the end surface of the lock head top 204 far from the winding segment 203 is provided with a threaded hole 212 coaxial with the lock head top 204, and the driving wire fixer 200 can be screwed by screwing a standard component of an inner hexagon screw, so that the driving wire fixer 200 is conveniently fixed on the turntable 100, but compared with the straight slot 211, the operation is slightly complicated.

Specifically, in one embodiment of the present utility model, the driving wire holder 200 is provided with a stepped hole, see fig. 9 and 10, and two limiting chambers 208 are provided on the outer circumferential surface of the winding groove. In this embodiment, the diameter of the small hole of the stepped hole is 1.2mm, the diameter of the large hole is 1.7mm, the diameter of the driving wire 300 is 0.95mm, the pipe clamp 301 is made of steel pipe, the outer diameter phi is 1.5mm x the inner diameter phi is 1.1mm, and the pipe clamp 301 can be abutted against the end face of the joint of the through hole 210 and the accommodating cavity to prevent the tail end of the driving wire 300 from moving. In this embodiment, the two stepped holes are designed to facilitate the versatility of the parts, because the two turntables 100 (the boom turntables 100 and the arm turntables 100) of the robot are opposite, the driving wire holders 200 at the corresponding positions thereon are opposite, and only one part can be machined by designing the two stepped holes, and both turntables 100 can be used in common. Of course, the threaded hole 212 at the top can be replaced by a straight slot 211.

Another embodiment of the present utility model provides a driving structure of a mechanical arm, including a rotating shaft, a driving assembly, a driving wire 300, a winding unit, and a turntable 100 for the driving structure, where the rotating shaft passes through a rotating shaft through hole 102 of the turntable 100 and is rotationally connected with the turntable 100, a power output end of the driving assembly is connected with the winding unit, the driving wire 300 is wound on the winding unit, and at least one end of the driving wire 300 extends through a guiding structure of the driving wire 300 and is fixed on a fixing structure of the driving wire 300.

When the mechanical arm is required to rotate, the driving assembly can be started to drive the winding shaft of the winding unit to rotate, and the winding shaft is coupled with the turntable 100 through the driving wire 300, so that the mechanical arm arranged on the turntable 100 is driven to rotate. Specifically, the mechanical arm, the driving assembly, the winding unit, and the like in this embodiment are all of the prior art, and are not described herein.

Still another embodiment of the present utility model provides a robot including the arm driving structure of the foregoing embodiment, and other components than the arm driving structure may be selected by those skilled in the art.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. The driving wire fixer for the driving structure is characterized by comprising a fixing section for installation, a winding section and a tapered end top, wherein the winding section and the tapered end top are sequentially connected to the fixing section, a wire fixing channel and a peripheral surface winding groove are formed in the winding section, the wire fixing channel comprises a first wire fixing channel located in the winding section, and the first wire fixing channel is offset to one side of the axis of the winding section and is communicated with the peripheral surface winding groove.

2. The drive wire holder for a drive structure of claim 1, wherein the wire retention channel further comprises a second wire retention channel located within the wire segment, the second wire retention channel in communication with the circumferential wire slot, the first and second wire retention channels being offset from and not intersecting each other on either side of the axis of the wire segment.

3. The driving wire fixer for driving structure according to claim 2, wherein one end of each of the first wire fixing channel and the second wire fixing channel is provided with a limiting cavity, two limiting cavities are located on the same side of the wire fixing channel, and the width of each limiting cavity is larger than that of the wire fixing channel where each limiting cavity is located.

4. The driving wire holder for driving structure according to claim 2 or 3, wherein the first wire fixing channel and the second wire fixing channel are both notch grooves, the notch of the notch groove is positioned on the circular end face at the top of the lock head, and the ratio of the central line length of the notch groove to the diameter length of the circular end face is 0.6-0.8; or the first wire fixing channel and the second wire fixing channel are through holes, the inlet and the outlet of each through hole are positioned in the wire winding groove, and the ratio of the length of the center line of the through hole to the diameter length of the circular section of the wire winding section is 0.6-0.8.

5. The driving wire holder for driving structure according to claim 1, wherein a straight slot is provided on an end surface of the top of the lock head which is away from the wire winding section.

6. The drive wire holder for a drive structure according to claim 1, wherein a threaded hole coaxial with the tip of the lock head is provided on an end surface of the tip of the lock head remote from the wire winding section.

7. The drive wire holder for a drive structure of claim 1, wherein the fixing section comprises a first threaded section and a second threaded section, the threads on the first threaded section and the second threaded section being of opposite directions of rotation.

8. The mechanical arm driving structure is characterized by comprising a rotary table, a rotating shaft penetrating through the rotary table, a winding unit, a driving assembly for driving the winding unit and a driving wire wound on the winding unit, wherein the driving wire fixer according to any one of claims 1-7 is arranged on the rotary table, at least one end of the driving wire sequentially penetrates through a wire fixing channel of the driving wire fixer and is connected with a limiting piece, and the width of the limiting piece is larger than the inlet of the wire fixing channel.

9. The mechanical arm driving structure according to claim 8, further comprising a guide ring provided on the turntable and coaxially provided with the turntable, wherein the guide ring is provided with a U-shaped groove for the driving wire to pass through.

10. A robot comprising the mechanical arm driving structure according to claim 8 or 9.