The content of the invention
It is contemplated that at least solves one of technical problem present in prior art.Therefore, the present invention needs offer oneKind robot.
The robot of embodiment of the present invention includes mobile device, mechanical arm, first driving means and manipulator, the shiftingDynamic device includes connection pedestal, and the mobile device is used to drive the robot to move, and the mechanical arm is arranged on the companyConnect on pedestal, the first driving means drive the mechanical arm relative to the connection base motion, institute by the first wire drawingState the end that manipulator is installed on the mechanical arm.
In the robot of embodiment of the present invention, first driving means drive manipulator motion by the first wire drawing, becauseThis, first driving means can be arranged on outside mechanical arm, so as to mitigate the deadweight of mechanical arm, simplify the structure of mechanical arm, meanwhile,Robot can be by crawl of the manipulator realization to object simultaneously as the first wire drawing has tensile elasticity so that mechanical armWith passive flexible adaptive characteristic, certain protective effect can be played when being hit by the external world, so that mechanical armCharacteristic with Bionic flexible crawl.
In one embodiment, the mobile device includes wheel assembly, mobile device body and mobile device shell,The mobile device body is carried on the wheel assembly, and the connection pedestal is fixedly mounted on the mobile device bodyAnd the mechanical arm is connected, the mobile device shell is located on the mobile device body and formed with accommodation space, instituteFirst driving means are stated to be arranged in the accommodation space and on the mobile device body.
In one embodiment, the wheel assembly includes transfer and running gear, the transfer connectionThe running gear simultaneously is used to drive the running gear to turn to, and the transfer passes through level synchronization band and drives the walkingDevice turns to, and the running gear drives the robot ambulation by two-stage timing belt.
In one embodiment, the transfer include steering spindle and turn to internal spline, it is described steering internal spline withThe running gear is fixedly connected, and one end of the steering spindle is provided with external splines, and the steering spindle wears the inwardly turned flowerKey is simultaneously passed through described in level synchronization band driving by the external splines and the inwardly turned spline engagement, the transferSteering axes are so as to driving the steering internal spline to rotate to drive the running gear to turn to.
In one embodiment, the transfer includes supporting part, and the steering spindle rotationally wears described holdLoad portion, the steering internal spline are contained in the supporting part, axial direction of the supporting part edge perpendicular to the steering spindleOpening is offered, shock-absorbing element is provided with above the steering internal spline.
In one embodiment, the mechanical arm includes being sequentially connected the first cradle head, the second cradle head, theThree cradle heads and the 4th cradle head, first cradle head connect the connection pedestal, and the first driving means are led toCross first wire drawing and drive first cradle head, second cradle head, the 3rd cradle head and described theAt least one joint in four cradle heads is relative to the connection base motion.
In one embodiment, the mechanical arm includes the gimbal suspension for connecting the 4th cradle head, and described theOne drive device drives first cradle head, second cradle head, the described 3rd to rotate by first wire drawingAt least one joint in joint, the 4th cradle head and the gimbal suspension is relative to the connection base motion.
In one embodiment, the mechanical arm includes bourdon tube, and the first driving means pass through the bourdon tubeCooperation with first wire drawing drives the joint motions of the mechanical arm.
In one embodiment, the manipulator is wire drawing driving manipulator, and the wire drawing driving manipulator includes theTwo drive devices, the second wire drawing, robot base and at least two finger members, the robot base are arranged on the machineryThe end of arm, at least two finger member are installed in rotation in the robot base, second wire drawing and instituteAt least one finger member stated at least two finger members is fixedly connected, and second drive device is drawn by described secondSilk drives at least one finger member to be rotated relative to the robot base.
In one embodiment, the manipulator is assimilating type manipulator, and the assimilating type manipulator includes the 3rd and drivenDynamic device, at least one negative pressure device, fixing device, at least two finger members and at least two suction means, it is each describedSuction means is rotatably installed in a corresponding finger member, the 3rd drive device and the suction meansConnection, the 3rd drive device are used to drive each suction means movable in predetermined angular range, the negative pressure dressPut and be connected with the suction means, at least two finger member is installed in the fixing device, the fixing device peaceMounted in the end of the mechanical arm.
In one embodiment, the mechanical arm is hollow structure.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following descriptionObtain substantially, or recognized by the practice of the present invention.
Embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginningSame or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginsengThe embodiment for examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width "," thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up timeThe orientation or position relationship of the instruction such as pin ", " counterclockwise " are based on orientation shown in the drawings or position relationship, are for only for ease ofDescription is of the invention to be described with simplified, rather than the device or element of instruction or hint meaning must be with specific orientation, Yi TeFixed azimuth configuration and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are only used forPurpose is described, and it is not intended that instruction or hint relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed or implicitly includes one or more feature.In description of the invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phaseEven ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected.CanTo be mechanical connection or electrical connection.Can be joined directly together, can also be indirectly connected by intermediary, Ke YishiThe connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, can be withThe concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Also referring to Fig. 1~Fig. 6, the robot 100 of embodiment of the present invention include mobile device 10, mechanical arm 20,First driving means 30 and manipulator 40.Mobile device 10 includes connection pedestal 11.Mobile device 10 is used to drive robot 100It is mobile.Mechanical arm 20 is arranged on connection pedestal 11.First driving means 30 pass through (not shown) the driving machinery of the first wire drawingArm 20 moves relative to connection pedestal 11.Manipulator 40 is installed on the end of mechanical arm 20.
In the robot 100 of embodiment of the present invention, first driving means 30 drive mechanical arm 20 by the first wire drawingMotion, therefore, first driving means 30 can be arranged on outside mechanical arm 20, so as to mitigate the deadweight of mechanical arm 20, simplify machineryThe structure of arm 20, meanwhile, the crawl to object can be realized by manipulator 40 for robot 100 simultaneously as the first wire drawing hasThere is tensile elasticity so that mechanical arm 20 has passive flexible adaptive characteristic, can be played when being hit by the external world certainProtective effect, so that mechanical arm 20 has the characteristic of Bionic flexible crawl.
In one embodiment, mobile device 10 is included outside wheel assembly 12, mobile device body 13 and mobile deviceShell 14.Mobile device body 13 is carried on wheel assembly 12.Connection pedestal 11 is fixedly mounted on mobile device body 13 simultaneouslyConnect mechanical arm 20.Mobile device shell 14 is located on mobile device body 13 and formed with accommodation space (not shown).First driving means 30 are arranged in accommodation space and on mobile device body 13.
In this way, connection pedestal 11 has the function that to support and protected to mechanical arm 20, and first driving means 30 are setThe deadweight of mechanical arm 20 can both be mitigated in accommodation space by putting, and drive device can be avoided to be damaged again.
In embodiments of the present invention, the one end for connecting pedestal 11 wears mobile device shell 14 and is fixedly mounted on movementOn device body 13, the other end connection mechanical arm 20 of connection pedestal 11.Mobile device body 13 is filled by crossbeam 15 and wheelPut 12 connections.Mobile device 10 drives robot 100 to move by wheel assembly 12.First driving means 30 are close to connection pedestal11 are set.
First driving means 30 include motor (not shown), rotary shaft 31, wire drawing pre-tightening apparatus 32 and rotary shaft and fix dressPut 33.Motor connection rotary shaft 31 simultaneously is used to drive rotary shaft 31 to rotate.Wire drawing pre-tightening apparatus 32 is fixed in rotary shaft 31, is turnedThe end of moving axis 31 is fixed on connection pedestal 11 that with this to rotate rotary shaft 31 more steady by rotating shaft fixing device 33.TurnMoving axis fixing device 33 can be built-in with rolling bearing, and end and the rolling bearing of rotary shaft 31 are interference fitted.
First wire drawing is around being located on wire drawing pre-tightening apparatus 32, and one end of the first wire drawing is fixedly connected with mechanical arm 20.TheOne drive device 30 drives the first wire drawing to drive by driving rotary shaft 31 to rotate to drive wire drawing pre-tightening apparatus 32 to rotateMechanical arm 20 moves relative to connection pedestal 11.
In embodiments of the present invention, wire drawing pre-tightening apparatus 32 includes two reels 321 and end cap 322.Two coilingsA reel 321 in wheel 321 can rotate relative to another reel 321.The outer peripheral face of two reels 321 is respectively formedThere is spiral winding wire casing 321a.Two spiral winding wire casing 321a direction of rotation is identical.Two strand of first wire drawing rotating around be located at correspondinglyReel 321 spiral winding wire casing 321a on.End cap 322 is fixedly connected with a reel 321 in two reels 321To limit the relative motion of two reels 321.Wire drawing pre-tightening apparatus 32 is by a reel 321 relative to another coilingWheel 321 is rotated to adjust the fit angle between two reels 321 so as to realize the pretightning force of two strand of first wire drawing of regulation.
Therefore, the regulative mode of the pretightning force of two bursts of wire drawings is to relatively rotate to realize by two reels 321, and is heldThe limit method of lid 322 ensure that the stability of firmly beforehand meanses, that is, rotating pre- two bursts of next wire drawings can be stably around being located atOn corresponding reel 321, this way it is ensured that pretightning force during two bursts of wire drawing work, and shared by wire drawing pre-tightening apparatus 32Space is smaller.
In one embodiment, wheel assembly 12 includes transfer 121 and running gear 122.Transfer 121 connectsConnect running gear 122 and for driving running gear 122 to turn to.Transfer 121 drives walking dress by level synchronization band 123Put 122 steerings.Running gear 122 drives robot 100 to walk by two-stage timing belt 124.
Specifically, in embodiments of the present invention, running gear 122 includes wheel 125 and housing 126.Transfer 121On housing 126.Transfer 121 is turned to by the drive shell 126 of level synchronization band 123 and wheel 125.Running gear122 are rotated by the driving moment 125 of two-stage timing belt 124 to be walked with mobile robot 100.
So, on the one hand, steering can be operated alone by transfer 121 in running gear 122, and mobile device 10 can be achievedSingle-wheel independent steering, required steering space is small, on the other hand, the driving moment by way of two-stage timing belt Synchronous Transmission125 rotate, and have the advantages that small transmission efficiency, noise, easy care and in the course of the work without extra lubricating arrangement, dropThe low cost of mobile device 10.
Specifically, running gear 122 includes the transmission device 1222 of motor 1221 and second.Second transmission device 1222Including first order belt wheel group 1223, second level belt wheel group 1224 and power transmission shaft 1225.First order belt wheel group 1223 and second level bandWheel group 1224 forms two-stage synchronous pulley group.First order belt wheel group 1223 connects second level belt wheel group 1224 and motor1221.First order belt wheel group 1223 connects second level belt wheel group 1224 by power transmission shaft 1225.First order belt wheel group 1223 passes throughA timing belt in two-stage timing belt 124 is driven.Second level belt wheel group 1223 is connected with wheel 125.Second level belt wheelGroup 1223 is driven by another timing belt in two-stage timing belt 124.Motor 1221 is used to drive first order bandWheel group 1223 and the synchronous axial system of second level belt wheel group 1224 turn 125 with band motor car wheel and moved.
In one embodiment, transfer 121 includes steering spindle 127 and turns to internal spline 128 (see Fig. 5).Turn toInternal spline 128 is fixedly connected with running gear 122.One end of steering spindle 127 is provided with external splines 127a (see Fig. 5).Steering spindle127 wear steering internal spline 128 and are engaged by external splines 127a with turning to internal spline 128.Transfer 121 is same by one-levelStep band 123 drives steering spindle 127 to rotate so as to drive steering internal spline 128 to rotate to drive running gear 122 to turn to.
In this way, walking is driven to fill with turning to by way of internal spline 128 coordinates the external splines 127a of the one end of steering spindle 127122 steerings are put, there is constant gearratio, transmission efficiency, reliable operation, the rotation arm of force of driving is larger so that walking dressPutting 122 has less steering space, and improves transmission efficiency.
In one embodiment, transfer 121 includes supporting part 121a.Steering spindle 127 rotationally wears carryingPortion 121a.Internal spline 128 is turned to be contained in supporting part 121a.Axial direction of the supporting part 121a edges perpendicular to steering spindle 127Offer opening 121b.Turn to the top of internal spline 128 and be provided with shock-absorbing element 129.
Specifically, in embodiments of the present invention, shock-absorbing element 129 can move back and forth along the axial direction of steering spindle 127,And shock-absorbing element 129 can be used for the crossbeam 15 that carrying is stretched into from opening 121b, crossbeam 15 is carried on car by shock-absorbing element 129In wheel apparatus 12, and steering spindle 127 rotationally wears crossbeam 15 and shock-absorbing element 129.
In this way, supporting part 121a has carrying and cushioning effect, it ensure that steering spindle 127 and steering internal spline 128 rotateWhen stability, and to steering spindle 127 and turn to internal spline 128 there is protective effect, meanwhile, when wheel 125 runs into vibrations,Shock-absorbing element 129 belongs to dynamic connection, can move up and down, so as to form shock-absorbing suspension, so as to buffer by not level roadFace is transmitted to the impulsive force of crossbeam 15, and the thus caused vibrations that decay, to ensure the smooth-going row of the vehicle with vehicle wheel component 100Sail.
In embodiments of the present invention, mobile device 10 is vehicle.Mobile device 10 includes four wheel assemblies 12 and twoRoot crossbeam 15, each two wheel assembly 12 is arranged on the both sides of mobile device body 12, and each crossbeam 15 wears relative twoThe opening 121b of individual wheel assembly 12.
In embodiments of the present invention, each wheel 125 of four wheel assemblies 12 can be realized in the range of positive and negative 150 degreeTurn to, and mobile device body 12 is motionless, each wheel 125 can go to special angle direction.
In this way, the universal walking of vehicle 1000 can be realized, and the sliding friction number of wheel 125 is reduced, and extends wheel125 life-span.
In one embodiment, mechanical arm 20 include be sequentially connected the first cradle head 21, the second cradle head 22,3rd cradle head 23 and the 4th cradle head 24.First cradle head 21 connection connection pedestal 11.First driving means 30 are logicalThe first wire drawing is crossed to drive in the first cradle head 21, the second cradle head 22, the 3rd cradle head 23 and the 4th cradle head 24At least one joint relative to connection pedestal 11 move.
In this way, mechanical arm 20 can be by pulling the cradle head that wire drawing is connected with wire drawing relative to another connectionPedestal 11 rotates, and in the case, pulls the drive device of wire drawing to be not limited to be arranged at cradle head, and is provided inOutside mechanical arm 20, so as to mitigate the deadweight of mechanical arm 20, simplify the structure of mechanical arm 20.
In embodiments of the present invention, first driving means 30 can by the first wire drawing drive the first cradle head 21,Second cradle head 22, the 3rd cradle head 23 and the 4th cradle head 24 move relative to connection pedestal 11.First rotates passConnected between the 21, second cradle head 22 of section, the 3rd cradle head 23 and the 4th cradle head 24 by arm 20a, andAnd each cradle head can independently be driven by wire drawing and be moved relative to connection pedestal 11.Under wire drawing driving, first turn is connectedThe arm 20a of the cradle head 22 of movable joint 21 and second can rotate relative to connection pedestal 11, connect the second cradle head22 and the 3rd the arm 20a of cradle head 23 can be swung relative to the second cradle head 22, connect the 3rd cradle head 23And the 4th the arm 20a of cradle head 24 can be swung relative to the 3rd cradle head 23.
Specifically, the first cradle head 21 includes the first rotary shaft 21a, and the first rotary shaft 21a is basically parallel to and firstThe length direction (double-head arrow direction as shown in Figure 2) for the arm 20a that cradle head 21 connects.Under wire drawing driving, withThe arm 20a of first cradle head 21 connection can be rotated relative to connection pedestal 11.Second cradle head 22 includesSecond rotary shaft 22a, the second rotary shaft 22a is basically perpendicular to the length for the arm 20a being connected with the second cradle head 21Direction.Under wire drawing driving, an arm 20a in two arm 20a can be relative to another arm 20aSwung.
The structure of 4th cradle head 24 and the structure of the first cradle head 21 are essentially identical, the knot of the 3rd cradle head 23Structure and the structure of the second cradle head 22 are essentially identical.
In one embodiment, mechanical arm 20 includes the gimbal suspension 25 of the 4th cradle head 24 of connection.First drivingDevice 30 drives the first cradle head 21, the second cradle head 22, the 3rd cradle head the 23, the 4th to rotate and closed by the first wire drawingMoved relative to connection pedestal 11 at least one joint in section 24 and gimbal suspension 25.
In this way, the mechanical arm of increase gimbal suspension 25 can realize the free degree of more various dimensions so that mechanical arm 20 is clevererIt is living.
Specifically, in embodiments of the present invention, first driving means 30 can be rotated by the first wire drawing driving firstJoint 21, the second cradle head 22, the 3rd cradle head 23, the 4th cradle head 24 and gimbal suspension 25 are relative to connection pedestal11 motions.
Referring to Fig. 6, mechanical arm 20 includes trunnion mount 26, the rotating shaft 28 of first rotating shaft 27 and second.Trunnion mount 26 passes through first turnAxle 27 is rotationally connected with two arm 20a respectively with the second rotating shaft 28.The axis of first rotating shaft 27 and the second rotating shaft 28Axis be intersected in a bit.The rotating shaft 28 of first rotating shaft 27 and second is mutually perpendicular to and forms gimbal suspension 25, so thatThe arm 20a being connected with gimbal suspension 25 is rotated relative to trunnion mount 26, and the angle energy between arm 20aEnough as two arm 20a rotate relative to trunnion mount 26 and change.
In the example depicted in fig. 7, gimbal suspension 25 is driven by four strand of first wire drawing, wherein two strand of first wire drawing is workFor arm wire drawing, another two strand of first wire drawing is as trunnion mount wire drawing.Trunnion mount 26 is in hollow and both ends open structure.With gimbal suspensionTwo arms of 25 connections are respectively left-hand seat arm member 20b and assistant arm member 20c, left-hand seat arm member 20b and lower armsComponent 20c is rotatablely connected trunnion mount 26.One arm wire drawing is fixed around one end of first rotating shaft 27 and left-hand seat arm member 20b to be connectedConnecing, another burst of arm wire drawing is fixedly connected around the other end of first rotating shaft 27 with left-hand seat arm member 20b, in this way, two bursts of wire drawingsThe mode of one arm of driving can make the motion of gimbal suspension more steady.
Under the pulling force effect of arm wire drawing, left-hand seat arm member 20b can be swung around trunnion mount 26, and control is swung so as to realizeSystem.
One trunnion mount wire drawing is fixedly connected around one end of the second rotating shaft 28 with trunnion mount 26, and another burst of trunnion mount wire drawing is around second turnThe other end of axle 28 is fixedly connected with trunnion mount 26.Under the active force of trunnion mount wire drawing, trunnion mount 26 rotates around first rotating shaft 27, so as toTrunnion mount 26 is driven to be rotated relative to assistant's arm member 20c.Around trunnion mount 26 under active forces of the left-hand seat arm member 20b in arm wire drawingDuring rotation, assistant arm member 20c is not interfered with, meanwhile, trunnion mount 26 is under the active force of trunnion mount wire drawing relative to assistant's arm memberWhen 20c is rotated, left-hand seat arm member 20b is not interfered with.
In one embodiment, mechanical arm 20 includes the steering bearing 26a being rotatably arranged in trunnion mount 26.AsFirst wire drawing of arm wire drawing can change the pull direction of arm wire drawing by steering bearing 26a.In this way, can be according to specific feelingsCondition is configured the pull direction of arm wire drawing, is easy to the driving of mechanical arm 20, and improves the stability of the operation of mechanical arm 20,Make compact appearance attractive in appearance simultaneously.
In embodiments of the present invention, mechanical arm 20 is six shaft mechanical arms.First cradle head 21, the second cradle head22nd, the 3rd cradle head 23, the 4th cradle head 24 and gimbal suspension 25 form the six-freedom degree of six shaft mechanical arms.
In one embodiment, mechanical arm 20 includes bourdon tube 29.First driving means 30 pass through bourdon tube 29 andThe joint motions of the cooperation driving mechanical arm 20 of one wire drawing.
In this way, bourdon tube 29 coordinates the type of drive of transmission to add the passive compliance characteristic of mechanical arm 20 with wire drawing, andAnd drive device separates with mechanical arm 20, the bigger end load of mechanical arm 20 can be realized using bigger drive device.
In the illustrated example shown in fig. 2, manipulator 40 is wire drawing driving manipulator.Wire drawing driving manipulator includes the second drivingDevice 41, the second wire drawing (not shown), the finger member 43 of robot base 42 and at least two first.Robot base 42 is pacifiedMounted in the end of mechanical arm 20.At least two first finger members 43 are installed in rotation in robot base 42.Second drawsSilk is fixedly connected with least one first finger member 43 at least two first finger members 43.Second drive device 41 is logicalCrossing the second wire drawing drives at least one first finger member 43 to be rotated relative to robot base 42.
In this way, because the second wire drawing has tensile elasticity so that manipulator 40 has passive flexible characteristic, is hit by the external worldCertain protective effect can be played when hitting, the fragile and vulnerable article that standard machinery hand can not capture, such as glass system can be capturedProduct, fruit, eggs etc., so as to expand the crawl scope of manipulator 40, meanwhile, the mode of wire drawing driving causes drive device canTo be not limited to be arranged on manipulator 40, and it is provided in outside manipulator 40, so as to mitigate the deadweight of manipulator 40, simplifies machineryThe structure of hand 40.
Specifically, in the illustrated example shown in fig. 2, the quantity of the first finger member 43 is three, the second drive device 41Quantity is identical with the quantity of the first finger member 43.Three the second drive devices 41 drive three by three the second wire drawings respectivelyFirst finger member 43 rotates.
In embodiments of the present invention, the second drive device 41 includes wire drawing reel 411.One end winding of second wire drawingOn wire drawing reel 411, the second drive device 41 can be by driving wire drawing reel 411 to rotate and the second wire drawing stressTense so as to realize driving finger member 43 relative to the rotational motion of robot base 42.
In the example depicted in fig. 8, manipulator 40 is assimilating type manipulator.Assimilating type manipulator includes the 3rd drive device(not shown), at least one negative pressure device (not shown), fixing device 41a, at least two second finger component 42a and extremelyFew two suction means 43a.Each suction means 43a is rotatably installed on a corresponding second finger component 42a.TheThree drive devices are connected with suction means 43a.3rd drive device is used to drive each suction means 43a in predetermined angular rangeInterior activity.Negative pressure device is connected with suction means 43a.At least two second finger component 42a are installed on fixing device 41a.Fixing device 41a is arranged on the end of mechanical arm 20.
In this way, because drive device drives suction means 43a activities in predetermined angular range so that suction means 43aWith the active free degree, therefore, the suction means 43a being installed in finger member can be adjusted automatically according to the shape for being grabbed objectWhole opening angle, and then at least one face for being grabbed object or two intersections can be adsorbed by least two suction means 43aAnd realize a variety of Grasp Modes to object.Therefore assimilating type manipulator can realize the top for including but not limited to capturing box shaped objectFace.
In the example depicted in fig. 8, second finger component 42a quantity is three, suction means 43a quantity and secondFinger member 42a quantity is identical.
The corresponded manner of negative pressure device and suction means 43a can be：The corresponding three suction means 43a of one negative pressure device,Or the corresponding suction means 43a of a negative pressure device, or a variety of sides such as corresponding two suction means 43a of a negative pressure deviceFormula.It is preferred that the corresponding suction means 43a of negative pressure device corresponded manner can be used, make each suction means 43a institutesCaused suction is sufficiently large.
3rd drive device driving suction means 43a modes movable in predetermined angular range can also use the present invention certainThe wire drawing type of drive of a little embodiments.
It is pointed out that each suction means 43a and second finger component 42a rotation connection mode can join the present inventionThe structure in some joints of certain of the above embodiment.
In one embodiment, mechanical arm 20 is hollow structure.
In this way, the mechanical arm 20 of hollow structure improves the settable space of mechanical arm 20, such as it can will be used for driving machineThe wire drawing of tool arm 20 is arranged in hollow structure, while alleviates the deadweight of mechanical arm 20, so as to the light weight beneficial to mechanical arm 20Change design.
In embodiments of the present invention, the arm 20a of connecting joint can be in hollow and both ends open structure.Such asThis, can mitigate the deadweight of arm 10, so as to further mitigate the deadweight of mechanical arm 20.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "Can directly it be contacted including the first and second features, it is not directly to contact but pass through it that can also include the first and second featuresBetween other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first specialSign is directly over second feature and oblique upper, or is merely representative of fisrt feature level height and is higher than second feature.Fisrt feature existsSecond feature " under ", " lower section " and " following " fisrt feature that includes are immediately below second feature and obliquely downward, or be merely representative ofFisrt feature level height is less than second feature.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order toSimplify disclosure of the invention, hereinafter the part and setting of specific examples are described.Certainly, they are only example, andAnd purpose does not lie in the limitation present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,This repetition is for purposes of simplicity and clarity, between itself not indicating discussed various embodiments and/or settingRelation.In addition, the invention provides various specific techniques and material examples, but those of ordinary skill in the art can be withRecognize the application of other techniques and/or the use of other materials.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementationThe description of mode ", " example ", " specific example " or " some examples " etc. means to combine embodiment or example describe it is specificFeature, structure, material or feature are contained at least one embodiment or example of the present invention.In this manual, it is rightThe schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.Moreover, the specific features of description, knotStructure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
While embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that：These embodiments can be carried out with a variety of changes, modification in the case of not departing from the principle and objective of the present invention, replace and becomeType, the scope of the present invention are limited by claim and its equivalent.