CN220360456U - Carousel, drive structure and robot for drive structure - Google Patents

Abstract

The rotary table for the driving structure comprises a rotary table body, a rotating shaft through hole and a driving wire fixing structure are arranged on the rotary table body, one side, away from the rotating shaft through hole, of the driving wire fixing structure is provided with a driving wire guiding structure, the driving wire guiding structure comprises a pressing tongue used for supporting driving wires, and one side, in contact with the driving wires, of the pressing tongue is gradually close to the driving wire fixing structure and bends towards the direction where the driving wire fixing structure is located. This application is through setting up the opening on the carousel, and the opening part sets up presses the tongue, presses one side of tongue and driving wire contact to be the arc and to driving wire fixed knot structure place direction crooked, has guaranteed that the driving wire does not produce the low-angle bending at carousel entrance, avoids the damage that the low-angle bending caused the driving wire, is favorable to prolonging the life of driving wire.

Description

Carousel, drive structure and robot for drive structure

Technical Field

The utility model relates to the field of medical instruments, in particular to a turntable for a driving structure, a 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 wire rope 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 wire rope is a very important problem.

The Chinese patent No. 101637402B discloses a minimally invasive surgical wire transmission and four-degree-of-freedom surgical tool, wherein a mode of fixing a wire rope through a wire fixing knot is disclosed, the wire rope is coated and solidified by brazing melt or high-strength glue after being knotted, the wire fixing knot is processed into a wire fixing knot after finishing the shape, and the wire fixing knot and a wire fixing groove are welded or glued into a whole to finish the fixation of the wire rope on a driving wheel.

Chinese patent application CN204224140U discloses a wire rope locking device, in this scheme, including wire rope locking frame and locking subassembly, locking subassembly comprises locking bolt, locking axle sleeve and locking axle, and locking axle passes the macropore on the locking frame, links together through locking bolt and locking axle sleeve, and wire rope passes from the epaxial hole centre of locking, and when tightening the locking bolt, the clearance between locking axle and the locking axle sleeve reduces to compress tightly wire rope.

Chinese patent application CN202220636992.7 discloses a wire fixing structure, in which, a pipe clamp is used to clamp a wire, the wire is passed through a wire lock head, and the wire is fixed by abutting the pipe clamp with the wire lock head.

In the prior art, a problem is that the joint of the turntable and the steel wire rope and the joint of the steel wire fixer for receiving the steel wire are bent at a small angle, so that the steel wire rope is damaged, and the failure rate and the maintenance cost of the surgical robot are increased.

Disclosure of Invention

The utility model aims to provide a turntable for a driving structure, the driving structure and a robot.

Embodiments of the present utility model are implemented as follows:

in a first aspect, the utility model provides a turntable for a driving structure, which comprises a turntable body, wherein a rotating shaft through hole and a driving wire fixing structure are arranged on the turntable body, a driving wire guiding structure is arranged on one side, far away from the rotating shaft through hole, of the driving wire fixing structure, the driving wire guiding structure comprises a pressing tongue for supporting the driving wire, and one side, in contact with the driving wire, of the pressing tongue is gradually close to the driving wire fixing structure and bends towards the direction where the driving wire fixing structure is located.

In an alternative embodiment, the driving wire guiding structure comprises a guiding ring coaxially arranged with the turntable body, a driving wire avoiding channel for the driving wire to pass through is arranged on the guiding ring, and the pressing tongue is positioned between the driving wire avoiding channel and the driving wire fixing structure.

In an alternative embodiment, the driving wire avoiding channel is a U-shaped groove.

In an alternative embodiment, the turntable body is further provided with a fixing step, and the pressing tongue is located on the fixing step and integrally formed with the fixing step.

In an alternative embodiment, the driving wire fixing structure comprises a mounting hole arranged on the turntable and a driving wire fixer arranged in the mounting hole, the driving wire fixer comprises a fixing section connected with the mounting hole, a winding section and a tapered end top part, wherein the winding section and the tapered end top part 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 offset 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 provided with a limiting cavity at one end, the 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 the corresponding limiting cavity is located.

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 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 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; and/or the end face of the top of the lock head, which is far away from the winding section, is provided with a threaded hole coaxial with the top of the lock head.

In a second aspect, the present utility model provides a driving structure, including a rotating shaft, a driving assembly, a driving wire, a winding unit, and a turntable for the driving structure according to any one of the foregoing embodiments, where the rotating shaft passes through a rotating shaft via hole of the turntable and is rotationally connected with the turntable, a power output end of the driving assembly is connected with the winding unit, the driving wire is wound on the winding unit, and at least one end of the driving wire passes through the driving wire guiding structure and extends from the end to be fixed on the driving wire fixing structure.

In a third aspect, the present utility model provides a robot comprising the drive structure of the previous embodiments.

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

this application is through setting up the opening on the carousel, and the opening part sets up presses the tongue, presses one side of tongue and driving wire contact to be the arc and to driving wire fixed knot structure place direction crooked, has guaranteed that the driving wire does not produce the low-angle bending at carousel entrance, avoids the damage that the low-angle bending caused the driving wire, is favorable to prolonging the life of driving wire.

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 turntable 100 for a driving structure, including a turntable body 101, a spindle 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 spindle 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 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 application, 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 this embodiment, the guide structure of the driving wire 300 includes a guide 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 guide ring 105, and the pressing tongue 104 is located in the mounting 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 this embodiment of the present application, the driving wire avoidance 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 this embodiment, the turntable body 101 is further provided with a fixing step 107, 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 application embodiment, drive wire 300 fixed knot constructs including setting up mounting hole 103 on carousel 100 and install drive wire fixer 200 in the mounting hole 103, specific structure can be as shown in fig. 7 through 10, drive wire fixer 200 includes the fixed section of being connected with mounting hole 103 and connects gradually wire winding section 203 and tapered end top 204 on the fixed section, be provided with solidus passageway and global wire winding groove 207 on the wire winding section 203, the solidus passageway is including being located the first solidus passageway 205 of wire winding section 203, first solidus passageway 205 bias in one side of wire winding section 203 axis and with global wire winding groove 207 intercommunication mounting hole 103.

In the preferred embodiment of the present application, 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 mounted and screwed, and when two driving wire holders 200 need to be disposed on the turntable body 101, directions of 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, 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 circumferential 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 this embodiment, the first wire fixing channel 205 and the second wire fixing channel 206 are provided with a spacing cavity 208 at one end, and the two spacing cavities 208 are located on the same side of the wire fixing channel, and the width of the spacing cavity 208 is greater than the width of the wire fixing channel where the spacing 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 this embodiment, the first wire fixing channel 205 and the second wire fixing channel 206 are 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 central line length 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 this application 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 application, in some embodiments, the first wire fixing channel 205 and the second wire fixing channel 206 are through holes 210, an inlet and an outlet of each through hole 210 are located in the winding slot, and a ratio of a length of a center line of the through hole 210 to a diameter of the circular section of the winding segment 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 this embodiment, a slot 211 is formed on the end surface of the lock head top 204 far away from the winding segment 203, so that the driving wire fixer 200 is fixed on the turntable 100, and a screwdriver can be used for screwing.

In other embodiments of the present application, the end surface of the lock head top 204 far away 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 through screwing a standard component of an inner hexagon screw, so that the driving wire fixer 200 is fixed on the turntable 100, but compared with the straight slot 211, the operation is slightly complex.

Specifically, in one embodiment of the present application, 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 application provides a mechanical arm driving structure, including pivot, drive assembly, driving wire 300, wire winding unit and the carousel 100 for the aforesaid driving structure, the pivot passes the pivot via hole 102 of carousel 100 and rotates with carousel 100 and be connected, drive assembly's power take off end is connected with wire winding unit, driving wire 300 twines on the wire winding unit, at least one end of driving wire 300 passes through driving wire 300 guide structure and terminal extension and be fixed in on the driving wire 300 fixed knot constructs.

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 further embodiments of the present application provide a robot including the arm driving structure of the foregoing embodiments, 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 (11)

1. The utility model provides a carousel for drive structure, its characterized in that, includes the carousel body, be provided with pivot via hole and driving wire fixed knot on the carousel body, one side that driving wire fixed knot constructs and keep away from the pivot via hole is provided with driving wire guide structure, driving wire guide structure is including the tongue that presses that is used for supporting driving wire, the tongue that presses one side that contacts with driving wire is close to driving wire fixed knot constructs gradually and to the bending of driving wire fixed knot constructs place direction.

2. The rotary table for driving structures according to claim 1, wherein the driving wire guiding structure comprises a guiding ring coaxially arranged with the rotary table body, a driving wire avoiding channel for driving wires to pass through is arranged on the guiding ring, and the pressing tongue is positioned between the driving wire avoiding channel and the driving wire fixing structure.

3. The rotary disk for driving structures according to claim 2, wherein the driving wire avoiding passage is a U-shaped groove.

4. The rotary table for driving structures according to claim 1, wherein a fixing step is further provided on the rotary table body, and the pressing tongue is located on the fixing step and integrally formed with the fixing step.

5. The rotary disk for driving structure according to any one of claims 1-4, wherein the driving wire fixing structure comprises a mounting hole arranged on the rotary disk and a driving wire fixing device arranged in the mounting hole, the driving wire fixing device comprises a fixing section connected with the mounting hole, a winding section and a tapered end top part which 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 which is 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.

6. The turntable for a driving structure according to claim 5, wherein the wire fixing passage further comprises a second wire fixing passage located in the wire winding section, the second wire fixing passage being in communication with the peripheral surface wire winding groove, and the first wire fixing passage and the second wire fixing passage being offset on both sides of the axis of the wire winding section and being disjoint, respectively.

7. The rotary table for driving structures according to claim 6, wherein one end of each of the first wire fixing channel and the second wire fixing channel is provided with a limiting cavity, the 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.

8. The rotary disc for driving structures according to claim 6, wherein the first wire fixing channel and the second wire fixing channel are notch grooves, the notch of each notch groove is positioned on a 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 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 winding section is 0.6-0.8.

9. The rotary table for driving structures according to claim 5, wherein a straight slot is arranged on the end surface of the top of the lock head, which is far away from the winding section; and/or the end face of the top of the lock head, which is far away from the winding section, is provided with a threaded hole coaxial with the top of the lock head.

10. The rotary table for the driving structure is characterized by comprising a rotary shaft, a driving assembly, a driving wire, a winding unit and the rotary table for the driving structure according to any one of claims 1-9, wherein the rotary shaft penetrates through a rotary shaft through hole of the rotary table to be rotationally connected with the rotary table, a power output end of the driving assembly is connected with the winding unit, the driving wire is wound on the winding unit, and at least one end of the driving wire passes through the driving wire guiding structure and extends from the tail end of the driving wire to be fixed on the driving wire fixing structure.

11. A robot comprising the drive structure of claim 10.