本實用新型涉及機(ji)(ji)器(qi)人(ren)領域，特別(bie)涉及一(yi)種用于機(ji)(ji)器(qi)人(ren)手臂的(de)旋轉擺動機(ji)(ji)構(gou)、機(ji)(ji)器(qi)人(ren)手臂及機(ji)(ji)器(qi)人(ren)。

背景技術：

隨著(zhu)科技的進步，機(ji)(ji)器人(ren)(ren)的研(yan)究應用領(ling)(ling)域在(zai)不斷(duan)擴展，其中仿人(ren)(ren)型(xing)機(ji)(ji)器人(ren)(ren)的研(yan)究和應用尤其受到普遍關(guan)注，并(bing)成為智能(neng)機(ji)(ji)器人(ren)(ren)領(ling)(ling)域中最活躍(yue)的研(yan)究熱點之一，仿人(ren)(ren)型(xing)機(ji)(ji)器人(ren)(ren)主(zhu)要(yao)是通過(guo)機(ji)(ji)器人(ren)(ren)手(shou)臂完成任務，但是現有(you)的許多機(ji)(ji)器人(ren)(ren)手(shou)臂存在(zai)關(guan)節結構臃腫和控(kong)制(zhi)繁瑣等缺點。

例如中國專利(CN101780673B)公開的(de)一種輕型服(fu)務(wu)機(ji)(ji)器(qi)人手(shou)臂(bei)，其通(tong)過減速機(ji)(ji)和電(dian)機(ji)(ji)配(pei)合(he)驅動(dong)各(ge)關(guan)節動(dong)作(zuo)，使得(de)該機(ji)(ji)器(qi)人手(shou)臂(bei)結構復雜，另外，由于(yu)受機(ji)(ji)器(qi)人手(shou)臂(bei)安裝空間限制(zhi)，減速機(ji)(ji)只能采用(yong)微(wei)小型的(de)減速機(ji)(ji)傳動(dong)實現手(shou)臂(bei)擺動(dong)功能，但是微(wei)小型的(de)減速機(ji)(ji)的(de)價(jia)格較(jiao)高。

技術實現要素：

本(ben)實用(yong)(yong)新型的主(zhu)要目的在于提供了一種(zhong)結(jie)構簡單和緊(jin)湊，且降低生產(chan)成本(ben)的用(yong)(yong)于機器人(ren)手(shou)臂(bei)的旋轉(zhuan)擺動機構和包含有(you)該(gai)旋轉(zhuan)擺動機構的機器人(ren)手(shou)臂(bei)以及包含該(gai)機器人(ren)手(shou)臂(bei)的機器人(ren)。

為達(da)到以上目的，本(ben)實用(yong)新(xin)型提(ti)供了一(yi)(yi)種(zhong)用(yong)于機(ji)(ji)器人手臂的旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)擺動機(ji)(ji)構，包括(kuo)第(di)一(yi)(yi)電(dian)機(ji)(ji)、第(di)一(yi)(yi)連接(jie)(jie)(jie)件(jian)(jian)(jian)、連接(jie)(jie)(jie)座(zuo)、轉(zhuan)(zhuan)(zhuan)動滑(hua)輪(lun)(lun)、固(gu)定(ding)滑(hua)輪(lun)(lun)、旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)、支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)、第(di)一(yi)(yi)牽引(yin)繩、第(di)二牽引(yin)繩、第(di)一(yi)(yi)滑(hua)輪(lun)(lun)和(he)第(di)二滑(hua)輪(lun)(lun)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)電(dian)機(ji)(ji)固(gu)定(ding)在所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)連接(jie)(jie)(jie)件(jian)(jian)(jian)上，且所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)電(dian)機(ji)(ji)的輸出軸(zhou)(zhou)(zhou)(zhou)(zhou)穿過所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)連接(jie)(jie)(jie)件(jian)(jian)(jian)套(tao)接(jie)(jie)(jie)所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)轉(zhuan)(zhuan)(zhuan)動滑(hua)輪(lun)(lun)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)連接(jie)(jie)(jie)件(jian)(jian)(jian)上還固(gu)定(ding)有所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)連接(jie)(jie)(jie)座(zuo)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)連接(jie)(jie)(jie)座(zuo)上固(gu)定(ding)有所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)的軸(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)和(he)所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)轉(zhuan)(zhuan)(zhuan)動滑(hua)輪(lun)(lun)的軸(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)相(xiang)互垂直，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)上套(tao)設(she)有所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)和(he)所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)能夠相(xiang)互轉(zhuan)(zhuan)(zhuan)動，并且所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)和(he)所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)第(di)一(yi)(yi)連接(jie)(jie)(jie)件(jian)(jian)(jian)分別(bie)位(wei)于所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)轉(zhuan)(zhuan)(zhuan)動滑(hua)輪(lun)(lun)的兩側，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)旋(xuan)(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)上還固(gu)定(ding)有所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)固(gu)定(ding)滑(hua)輪(lun)(lun)，所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)固(gu)定(ding)滑(hua)輪(lun)(lun)和(he)所(suo)(suo)(suo)(suo)(suo)述(shu)(shu)(shu)(shu)支(zhi)撐(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)同(tong)軸(zhou)(zhou)(zhou)(zhou)(zhou)設(she)置；

所(suo)(suo)述(shu)(shu)(shu)轉動滑(hua)(hua)(hua)輪(lun)(lun)外側(ce)面(mian)上設置有(you)第(di)(di)(di)(di)(di)一(yi)(yi)卡(ka)槽，所(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)滑(hua)(hua)(hua)輪(lun)(lun)外側(ce)面(mian)上設置有(you)第(di)(di)(di)(di)(di)二卡(ka)槽，所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)的(de)(de)第(di)(di)(di)(di)(di)一(yi)(yi)端和所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)的(de)(de)第(di)(di)(di)(di)(di)一(yi)(yi)端均固(gu)(gu)定(ding)(ding)在所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)卡(ka)槽內(nei)，所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)和所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)分別從所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)卡(ka)槽的(de)(de)兩(liang)側(ce)且(qie)(qie)沿(yan)(yan)(yan)著(zhu)所(suo)(suo)述(shu)(shu)(shu)轉動滑(hua)(hua)(hua)輪(lun)(lun)的(de)(de)切向延伸至(zhi)所(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)滑(hua)(hua)(hua)輪(lun)(lun)所(suo)(suo)在的(de)(de)平面(mian)，其中所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)通(tong)過所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)滑(hua)(hua)(hua)輪(lun)(lun)換向，所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)通(tong)過所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二滑(hua)(hua)(hua)輪(lun)(lun)換向，之后所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)和所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)分別沿(yan)(yan)(yan)著(zhu)所(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)滑(hua)(hua)(hua)輪(lun)(lun)的(de)(de)切向延伸至(zhi)所(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)滑(hua)(hua)(hua)輪(lun)(lun)兩(liang)側(ce)，最后所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)第(di)(di)(di)(di)(di)二端和所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)第(di)(di)(di)(di)(di)二端分別從所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二卡(ka)槽兩(liang)側(ce)且(qie)(qie)沿(yan)(yan)(yan)著(zhu)所(suo)(suo)述(shu)(shu)(shu)固(gu)(gu)定(ding)(ding)滑(hua)(hua)(hua)輪(lun)(lun)的(de)(de)周向延伸至(zhi)所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二卡(ka)槽內(nei)并(bing)固(gu)(gu)定(ding)(ding)，其中所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)一(yi)(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)和所(suo)(suo)述(shu)(shu)(shu)第(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)不相(xiang)交。

進一(yi)(yi)(yi)步，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)連接座(zuo)呈L型，包括相互(hu)垂(chui)直的第(di)一(yi)(yi)(yi)支(zhi)(zhi)(zhi)板(ban)和(he)第(di)二(er)支(zhi)(zhi)(zhi)板(ban)，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)支(zhi)(zhi)(zhi)撐軸固(gu)定在(zai)所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)二(er)支(zhi)(zhi)(zhi)板(ban)上，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)二(er)支(zhi)(zhi)(zhi)板(ban)和(he)所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)固(gu)定滑輪分別位于所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)旋轉(zhuan)座(zuo)兩側，所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)一(yi)(yi)(yi)支(zhi)(zhi)(zhi)板(ban)位于所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)轉(zhuan)動滑輪和(he)所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)一(yi)(yi)(yi)連接件之(zhi)間(jian)，且(qie)所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)一(yi)(yi)(yi)支(zhi)(zhi)(zhi)板(ban)固(gu)定在(zai)所(suo)(suo)(suo)(suo)述(shu)(shu)(shu)第(di)一(yi)(yi)(yi)連接件上。

進一(yi)(yi)步，所(suo)述(shu)(shu)轉(zhuan)動滑輪外(wai)側(ce)面上設置(zhi)第(di)(di)(di)一(yi)(yi)環形槽(cao)，所(suo)述(shu)(shu)第(di)(di)(di)一(yi)(yi)環形槽(cao)沿所(suo)述(shu)(shu)轉(zhuan)動滑輪周(zhou)向(xiang)分(fen)布(bu)設置(zhi)，且(qie)所(suo)述(shu)(shu)第(di)(di)(di)一(yi)(yi)環形槽(cao)分(fen)別與所(suo)述(shu)(shu)第(di)(di)(di)一(yi)(yi)牽(qian)(qian)引(yin)繩(sheng)和所(suo)述(shu)(shu)第(di)(di)(di)二(er)(er)牽(qian)(qian)引(yin)繩(sheng)配合，所(suo)述(shu)(shu)固(gu)(gu)定滑輪外(wai)側(ce)面上設置(zhi)有第(di)(di)(di)二(er)(er)環形槽(cao)，所(suo)述(shu)(shu)第(di)(di)(di)二(er)(er)環形槽(cao)沿所(suo)述(shu)(shu)固(gu)(gu)定滑輪周(zhou)向(xiang)分(fen)布(bu)設置(zhi)，且(qie)所(suo)述(shu)(shu)第(di)(di)(di)二(er)(er)環形槽(cao)分(fen)別與所(suo)述(shu)(shu)第(di)(di)(di)一(yi)(yi)牽(qian)(qian)引(yin)繩(sheng)和所(suo)述(shu)(shu)第(di)(di)(di)二(er)(er)牽(qian)(qian)引(yin)繩(sheng)配合；

所(suo)(suo)述(shu)第(di)一(yi)(yi)滑(hua)輪(lun)外側面上(shang)(shang)設置有與所(suo)(suo)述(shu)第(di)一(yi)(yi)牽(qian)引繩配合(he)的第(di)三(san)環形槽(cao)，所(suo)(suo)述(shu)第(di)一(yi)(yi)滑(hua)輪(lun)套設在(zai)(zai)第(di)一(yi)(yi)銷(xiao)軸(zhou)上(shang)(shang)，所(suo)(suo)述(shu)第(di)一(yi)(yi)銷(xiao)軸(zhou)固(gu)定(ding)在(zai)(zai)所(suo)(suo)述(shu)第(di)一(yi)(yi)滑(hua)輪(lun)座(zuo)上(shang)(shang)，所(suo)(suo)述(shu)第(di)一(yi)(yi)滑(hua)輪(lun)座(zuo)固(gu)定(ding)在(zai)(zai)所(suo)(suo)述(shu)第(di)一(yi)(yi)支板上(shang)(shang)，所(suo)(suo)述(shu)第(di)二(er)滑(hua)輪(lun)外側面上(shang)(shang)設置有與所(suo)(suo)述(shu)第(di)二(er)牽(qian)引繩配合(he)的第(di)四環形槽(cao)，所(suo)(suo)述(shu)第(di)二(er)滑(hua)輪(lun)套設在(zai)(zai)第(di)二(er)銷(xiao)軸(zhou)上(shang)(shang)，所(suo)(suo)述(shu)第(di)二(er)銷(xiao)軸(zhou)固(gu)定(ding)在(zai)(zai)所(suo)(suo)述(shu)第(di)二(er)滑(hua)輪(lun)座(zuo)上(shang)(shang)，所(suo)(suo)述(shu)第(di)二(er)滑(hua)輪(lun)座(zuo)固(gu)定(ding)在(zai)(zai)所(suo)(suo)述(shu)第(di)一(yi)(yi)支板上(shang)(shang)。

進(jin)一(yi)步(bu)，所(suo)述(shu)第(di)一(yi)滑輪軸(zhou)(zhou)心和所(suo)述(shu)第(di)二(er)滑輪軸(zhou)(zhou)心的連線分別與所(suo)述(shu)轉動滑輪的軸(zhou)(zhou)線和所(suo)述(shu)固定(ding)滑輪的軸(zhou)(zhou)線相互垂直。

進一步，所(suo)述(shu)第一牽(qian)引(yin)繩和所(suo)述(shu)第二(er)牽(qian)引(yin)繩均為(wei)相(xiang)同結構(gou)的(de)牽(qian)引(yin)繩。

進一步，所述第一牽引(yin)繩和所述第二牽引(yin)繩均為鋼絲材料制(zhi)成的(de)牽引(yin)繩。

進一(yi)步，所(suo)述(shu)旋(xuan)轉座通(tong)過(guo)兩個軸承套設在所(suo)述(shu)支撐軸上。

本實用(yong)新型還提供了一種(zhong)機器人手臂(bei)(bei)，包括一旋轉擺動機構，以及一大臂(bei)(bei)殼體(ti)、一小臂(bei)(bei)殼體(ti)和(he)一手部殼體(ti)；

所述大臂殼體連接所述小臂殼體的一端，連接在(zai)所述旋轉座上；

所(suo)(suo)述(shu)(shu)(shu)小臂殼(ke)(ke)體(ti)(ti)連接(jie)所(suo)(suo)述(shu)(shu)(shu)大臂殼(ke)(ke)體(ti)(ti)的一(yi)端，套設在所(suo)(suo)述(shu)(shu)(shu)第一(yi)連接(jie)件外，且(qie)所(suo)(suo)述(shu)(shu)(shu)第一(yi)電機位于所(suo)(suo)述(shu)(shu)(shu)小臂殼(ke)(ke)體(ti)(ti)內部(bu)；所(suo)(suo)述(shu)(shu)(shu)手部(bu)殼(ke)(ke)體(ti)(ti)與所(suo)(suo)述(shu)(shu)(shu)小臂殼(ke)(ke)體(ti)(ti)為一(yi)體(ti)(ti)化(hua)結(jie)構(gou)或組(zu)裝結(jie)構(gou)；

或(huo)者(zhe)，所(suo)述(shu)大臂(bei)殼(ke)體(ti)遠(yuan)離所(suo)述(shu)小臂(bei)殼(ke)體(ti)的(de)一(yi)端，套(tao)設在所(suo)述(shu)第一(yi)連(lian)接件外，且所(suo)述(shu)第一(yi)電(dian)機位于(yu)所(suo)述(shu)大臂(bei)殼(ke)體(ti)內；所(suo)述(shu)大臂(bei)殼(ke)體(ti)、所(suo)述(shu)小臂(bei)殼(ke)體(ti)和所(suo)述(shu)手部殼(ke)體(ti)三者(zhe)之間為組裝結構和/或(huo)一(yi)體(ti)化結構。

進一步，所(suo)(suo)述(shu)(shu)(shu)用于機(ji)(ji)器人手(shou)臂的(de)旋轉擺動機(ji)(ji)構還包(bao)括第(di)二(er)(er)(er)電(dian)機(ji)(ji)、第(di)二(er)(er)(er)連(lian)接(jie)件和(he)法(fa)蘭(lan)，所(suo)(suo)述(shu)(shu)(shu)法(fa)蘭(lan)固(gu)(gu)定在(zai)所(suo)(suo)述(shu)(shu)(shu)旋轉座上，所(suo)(suo)述(shu)(shu)(shu)法(fa)蘭(lan)連(lian)接(jie)所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)電(dian)機(ji)(ji)的(de)輸(shu)(shu)出(chu)軸(zhou)(zhou)，所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)電(dian)機(ji)(ji)的(de)輸(shu)(shu)出(chu)軸(zhou)(zhou)軸(zhou)(zhou)線與(yu)所(suo)(suo)述(shu)(shu)(shu)支撐(cheng)軸(zhou)(zhou)軸(zhou)(zhou)線相互垂直，其中所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)電(dian)機(ji)(ji)固(gu)(gu)定在(zai)所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)連(lian)接(jie)件上，所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)連(lian)接(jie)件位(wei)于所(suo)(suo)述(shu)(shu)(shu)第(di)二(er)(er)(er)電(dian)機(ji)(ji)和(he)所(suo)(suo)述(shu)(shu)(shu)法(fa)蘭(lan)之間；

所(suo)述大臂殼(ke)(ke)體(ti)(ti)連接(jie)所(suo)述小臂殼(ke)(ke)體(ti)(ti)的一端，套(tao)接(jie)在第(di)二(er)連接(jie)件(jian)外，且所(suo)述第(di)二(er)電機位于所(suo)述大臂殼(ke)(ke)體(ti)(ti)內部。

本實用新型還提(ti)供了(le)一(yi)種機器人，包(bao)括上身(shen)殼體和兩(liang)(liang)條所述(shu)機器人手臂，兩(liang)(liang)機器人手臂分別通過(guo)一(yi)所述(shu)旋轉擺動機構連接(jie)上身(shen)殼體；

所述大(da)臂殼(ke)體連接所述上(shang)身殼(ke)體的一端，套設在(zai)所述第一連接件(jian)外；且所述第一電機(ji)位于(yu)所述大(da)臂殼(ke)體內部；

所(suo)(suo)述上(shang)身殼體(ti)連接所(suo)(suo)述大(da)臂殼體(ti)的一端，連接在所(suo)(suo)述旋轉座上(shang)。

本實用(yong)新(xin)型還提(ti)供了一(yi)種機(ji)器(qi)人(ren)，包括一(yi)上身殼體和兩條機(ji)器(qi)人(ren)手(shou)臂，兩機(ji)器(qi)人(ren)手(shou)臂分別通過一(yi)所(suo)述旋轉擺動機(ji)構連接上身殼體；

所(suo)述(shu)大臂殼體連接(jie)所(suo)述(shu)上身殼體的一(yi)(yi)端，套設在所(suo)述(shu)第一(yi)(yi)連接(jie)件外；且所(suo)述(shu)第一(yi)(yi)電機位于所(suo)述(shu)大臂殼體內(nei)部；

所(suo)述上身(shen)殼(ke)體(ti)連(lian)接所(suo)述大臂(bei)殼(ke)體(ti)的一端(duan)，套設在(zai)所(suo)述第二(er)連(lian)接件外(wai)，且所(suo)述第二(er)電機位于(yu)所(suo)述上身(shen)殼(ke)體(ti)內(nei)部。

本實用新型提供了如下優點：

(1)本實(shi)用(yong)新型的旋轉擺動機構結構緊(jin)湊，另外旋轉擺動機構可(ke)組裝(zhuang)完成后再安裝(zhuang)到(dao)大臂殼體和(he)小臂殼體之間(jian)(jian)，以及大臂殼體和(he)上身殼體之間(jian)(jian)，提高了安裝(zhuang)效率。

(2)本實用新(xin)型用以模擬人體肘關(guan)節(jie)和肩關(guan)節(jie)的動作，其中肘關(guan)節(jie)具有(you)兩個自由(you)度(du)，肩膀具有(you)兩個自由(you)度(du)。

(3)本(ben)實用新型的轉動滑輪(lun)和固定(ding)滑輪(lun)之間通過第(di)一牽引(yin)繩和第(di)二牽引(yin)繩配合連接，代替了傳統(tong)機(ji)械換向結(jie)構(gou)，因此大(da)大(da)降低了旋轉擺動機(ji)構(gou)的成(cheng)本(ben)。

以下結合附圖(tu)及(ji)實施例進(jin)一步說明(ming)本實用新(xin)型。

附圖說明

圖1為本實用新型所述(shu)旋轉(zhuan)擺動(dong)機構的爆炸圖；

圖2為本實用新型所(suo)述(shu)機器人手臂的結構(gou)示意圖；

圖3為本實(shi)用新(xin)型(xing)所述機(ji)器人的結構示意圖；

圖(tu)4為本實用新型所述旋轉擺動機構的工(gong)作(zuo)原(yuan)理圖(tu)。

具體實施方式

以(yi)(yi)(yi)下(xia)(xia)描(miao)述用(yong)(yong)于(yu)揭露本(ben)實(shi)用(yong)(yong)新(xin)型(xing)(xing)以(yi)(yi)(yi)使本(ben)領(ling)域技(ji)術人(ren)員能(neng)夠(gou)實(shi)現本(ben)實(shi)用(yong)(yong)新(xin)型(xing)(xing)。以(yi)(yi)(yi)下(xia)(xia)描(miao)述中的(de)(de)(de)優(you)選實(shi)施(shi)例只作為舉例，本(ben)領(ling)域技(ji)術人(ren)員可(ke)以(yi)(yi)(yi)想到其(qi)他(ta)顯而(er)易見(jian)的(de)(de)(de)變形。在以(yi)(yi)(yi)下(xia)(xia)描(miao)述中界定的(de)(de)(de)本(ben)實(shi)用(yong)(yong)新(xin)型(xing)(xing)的(de)(de)(de)基(ji)本(ben)原理可(ke)以(yi)(yi)(yi)應用(yong)(yong)于(yu)其(qi)他(ta)實(shi)施(shi)方(fang)案(an)、變形方(fang)案(an)、改進方(fang)案(an)、等同方(fang)案(an)以(yi)(yi)(yi)及沒有背(bei)離本(ben)實(shi)用(yong)(yong)新(xin)型(xing)(xing)的(de)(de)(de)精神和范圍的(de)(de)(de)其(qi)他(ta)技(ji)術方(fang)案(an)。

參見圖(tu)1，示(shi)出(chu)了根據(ju)本(ben)實(shi)用(yong)新型優選實(shi)施例所(suo)述的(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)種用(yong)于機器(qi)人手臂的(de)(de)(de)旋(xuan)轉(zhuan)(zhuan)(zhuan)擺動(dong)(dong)機構，包括第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)電機401、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連接(jie)(jie)(jie)(jie)件(jian)402、連接(jie)(jie)(jie)(jie)座(zuo)429、轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408、固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413、旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416、支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428、第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)424和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)406，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)電機401固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)在(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連接(jie)(jie)(jie)(jie)件(jian)402上(shang)，且(qie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)電機401的(de)(de)(de)輸出(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)穿過(guo)(guo)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連接(jie)(jie)(jie)(jie)件(jian)402套接(jie)(jie)(jie)(jie)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408，即(ji)(ji)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)電機401的(de)(de)(de)輸出(chu)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)同軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)設置，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連接(jie)(jie)(jie)(jie)件(jian)402上(shang)還固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)有連接(jie)(jie)(jie)(jie)座(zuo)429，連接(jie)(jie)(jie)(jie)座(zuo)429上(shang)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)有支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415，支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415的(de)(de)(de)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)和(he)(he)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408的(de)(de)(de)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)相(xiang)互垂(chui)(chui)直，支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415上(shang)套設有旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416，旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416和(he)(he)支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415能夠(gou)相(xiang)互轉(zhuan)(zhuan)(zhuan)動(dong)(dong)，其(qi)中(zhong)旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416位置固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)，且(qie)不發生轉(zhuan)(zhuan)(zhuan)動(dong)(dong)，即(ji)(ji)支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415能夠(gou)繞著(zhu)自身軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)，并(bing)且(qie)旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)連接(jie)(jie)(jie)(jie)件(jian)402分別位于轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408的(de)(de)(de)兩側，旋(xuan)轉(zhuan)(zhuan)(zhuan)座(zuo)416上(shang)還固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)有固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun) 413，即(ji)(ji)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413也(ye)不發生轉(zhuan)(zhuan)(zhuan)動(dong)(dong)，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413和(he)(he)支撐(cheng)(cheng)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)415同軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)設置，即(ji)(ji)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413 的(de)(de)(de)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)和(he)(he)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408的(de)(de)(de)軸(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)線(xian)相(xiang)互垂(chui)(chui)直。轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408外側面(mian)上(shang)設置有第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)卡(ka)槽(cao)(cao)(cao)417，固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413外側面(mian)上(shang)設置有第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)卡(ka)槽(cao)(cao)(cao)412，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409的(de)(de)(de)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428的(de)(de)(de)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)端(duan)均(jun)通(tong)(tong)過(guo)(guo)端(duan)頭410固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)在(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)卡(ka)槽(cao)(cao)(cao)417內，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428分別從(cong)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)卡(ka)槽(cao)(cao)(cao)417的(de)(de)(de)兩側且(qie)沿(yan)著(zhu)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)408的(de)(de)(de)切向延(yan)伸(shen)至(zhi)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413所(suo)在(zai)的(de)(de)(de)平面(mian)，其(qi)中(zhong)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409通(tong)(tong)過(guo)(guo)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)424換向，第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428通(tong)(tong)過(guo)(guo)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)406換向，之后第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng) 409和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428分別沿(yan)著(zhu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413的(de)(de)(de)切向延(yan)伸(shen)至(zhi)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413兩側，最后第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)端(duan)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)端(duan)分別從(cong)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)卡(ka)槽(cao)(cao)(cao)412兩側且(qie)沿(yan)著(zhu)固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)滑(hua)(hua)(hua)(hua)(hua)輪(lun)(lun)(lun)413的(de)(de)(de)周向延(yan)伸(shen)至(zhi)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)卡(ka)槽(cao)(cao)(cao)412內，且(qie)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)端(duan)和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)端(duan)均(jun)通(tong)(tong)過(guo)(guo)端(duan)頭 410固(gu)(gu)(gu)定(ding)(ding)(ding)(ding)在(zai)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)卡(ka)槽(cao)(cao)(cao)412內，其(qi)中(zhong)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)409和(he)(he)第(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)(di)二(er)(er)(er)(er)牽(qian)(qian)(qian)(qian)(qian)引(yin)(yin)(yin)(yin)(yin)繩(sheng)(sheng)(sheng)(sheng)(sheng)428不相(xiang)交。

連接座429呈L型(xing)，包(bao)括相(xiang)互垂直的(de)第(di)一支(zhi)(zhi)板(ban)(ban)403和第(di)二支(zhi)(zhi)板(ban)(ban)420，支(zhi)(zhi)撐軸415固(gu)定在(zai)第(di)二支(zhi)(zhi)板(ban)(ban)420上(shang)，第(di)二支(zhi)(zhi)板(ban)(ban)420和固(gu)定滑輪413分別位(wei)(wei)于(yu)旋(xuan)轉座416兩側，第(di)一支(zhi)(zhi)板(ban)(ban)403 位(wei)(wei)于(yu)轉動滑輪408和第(di)一連接件402之間，且第(di)一支(zhi)(zhi)板(ban)(ban)403固(gu)定在(zai)第(di)一連接件402上(shang)，第(di)一支(zhi)(zhi)板(ban)(ban)403上(shang)還設(she)置有避(bi)讓(rang)孔419。

在本實施例中，第一支板403和第二支板420為一體化(hua)結(jie)構。

在其它實施(shi)例中，第一(yi)支板(ban)403和第二支板(ban)420為(wei)組裝結構。

轉(zhuan)動(dong)(dong)滑輪(lun)408外側面(mian)上設置(zhi)第(di)(di)一環(huan)(huan)形(xing)槽(cao)418，第(di)(di)一環(huan)(huan)形(xing)槽(cao)418沿(yan)轉(zhuan)動(dong)(dong)滑輪(lun)408周向(xiang)分布(bu)設置(zhi)，且第(di)(di)一環(huan)(huan)形(xing)槽(cao)418分別與第(di)(di)一牽引繩(sheng)409和第(di)(di)二(er)(er)牽引繩(sheng)428配(pei)合，固定滑輪(lun)413外側面(mian)上設置(zhi)有第(di)(di)二(er)(er)環(huan)(huan)形(xing)槽(cao)411，第(di)(di)二(er)(er)環(huan)(huan)形(xing)槽(cao)411沿(yan)固定滑輪(lun)413周向(xiang)分布(bu)設置(zhi)，且第(di)(di)二(er)(er)環(huan)(huan)形(xing)槽(cao)411分別與第(di)(di)一牽引繩(sheng)409和第(di)(di)二(er)(er)牽引繩(sheng)428配(pei)合。

第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)滑(hua)(hua)輪424外(wai)側(ce)面(mian)上(shang)設(she)(she)置(zhi)有與第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)牽(qian)引(yin)繩(sheng)409配合的第(di)(di)(di)(di)(di)(di)三環形(xing)槽(cao)(cao)(cao)425，第(di)(di)(di)(di)(di)(di)三環形(xing)槽(cao)(cao)(cao)425 沿(yan)第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)滑(hua)(hua)輪424周向分布設(she)(she)置(zhi)，第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)滑(hua)(hua)輪424套設(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)銷(xiao)(xiao)軸427上(shang)，第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)銷(xiao)(xiao)軸427固定(ding)在(zai)(zai)第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)滑(hua)(hua)輪座(zuo)426上(shang)，第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)滑(hua)(hua)輪座(zuo)426固定(ding)在(zai)(zai)第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)支(zhi)板403上(shang)，第(di)(di)(di)(di)(di)(di)二(er)滑(hua)(hua)輪406外(wai)側(ce)面(mian)上(shang)設(she)(she)置(zhi)有與第(di)(di)(di)(di)(di)(di)二(er)牽(qian)引(yin)繩(sheng)428配合的第(di)(di)(di)(di)(di)(di)四環形(xing)槽(cao)(cao)(cao)407，第(di)(di)(di)(di)(di)(di)四環形(xing)槽(cao)(cao)(cao)407沿(yan)第(di)(di)(di)(di)(di)(di)二(er)滑(hua)(hua)輪406周向分布設(she)(she)置(zhi)，第(di)(di)(di)(di)(di)(di)二(er)滑(hua)(hua)輪406套設(she)(she)在(zai)(zai)第(di)(di)(di)(di)(di)(di)二(er)銷(xiao)(xiao)軸405上(shang)，第(di)(di)(di)(di)(di)(di)二(er)銷(xiao)(xiao)軸405固定(ding)在(zai)(zai)第(di)(di)(di)(di)(di)(di)二(er)滑(hua)(hua)輪座(zuo)404上(shang)，第(di)(di)(di)(di)(di)(di)二(er)滑(hua)(hua)輪座(zuo)404固定(ding)在(zai)(zai)第(di)(di)(di)(di)(di)(di)一(yi)(yi)(yi)支(zhi)板403上(shang)。

第一滑(hua)輪(lun)424軸(zhou)心和(he)第二滑(hua)輪(lun)406軸(zhou)心的連(lian)線(xian)(xian)分別與轉動滑(hua)輪(lun)408的軸(zhou)線(xian)(xian)和(he)固(gu)定滑(hua)輪(lun) 413的軸(zhou)線(xian)(xian)相互垂(chui)直(zhi)。

旋轉座(zuo)416可通過兩個軸承414套設在支撐軸415上(shang)。

在本實施例中，第(di)(di)(di)(di)(di)(di)一(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)409和第(di)(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)428為(wei)相同(tong)(tong)結(jie)構(gou)(gou)(gou)的牽(qian)引(yin)繩(sheng)(sheng)(sheng)，即第(di)(di)(di)(di)(di)(di)一(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng) 409和第(di)(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)428的直徑(jing)、材料和長度均相同(tong)(tong)，其(qi)中第(di)(di)(di)(di)(di)(di)一(yi)牽(qian)引(yin)繩(sheng)(sheng)(sheng)409和第(di)(di)(di)(di)(di)(di)二牽(qian)引(yin)繩(sheng)(sheng)(sheng)428 均為(wei)鋼絲材料制成的牽(qian)引(yin)繩(sheng)(sheng)(sheng)。另外，轉(zhuan)動滑(hua)(hua)(hua)輪408和固(gu)定滑(hua)(hua)(hua)輪413為(wei)相同(tong)(tong)結(jie)構(gou)(gou)(gou)的滑(hua)(hua)(hua)輪，第(di)(di)(di)(di)(di)(di)一(yi)滑(hua)(hua)(hua)輪424和第(di)(di)(di)(di)(di)(di)二滑(hua)(hua)(hua)輪406可為(wei)相同(tong)(tong)結(jie)構(gou)(gou)(gou)的滑(hua)(hua)(hua)輪，第(di)(di)(di)(di)(di)(di)一(yi)銷軸(zhou)427和第(di)(di)(di)(di)(di)(di)二銷軸(zhou)405可為(wei)相同(tong)(tong)結(jie)構(gou)(gou)(gou)的銷軸(zhou)，以及第(di)(di)(di)(di)(di)(di)一(yi)滑(hua)(hua)(hua)輪座(zuo)(zuo)426和第(di)(di)(di)(di)(di)(di)二滑(hua)(hua)(hua)輪座(zuo)(zuo)404可為(wei)相同(tong)(tong)結(jie)構(gou)(gou)(gou)的滑(hua)(hua)(hua)輪座(zuo)(zuo)。

在(zai)其(qi)它實施例中，第一滑(hua)(hua)輪(lun)424的(de)直徑和第二(er)滑(hua)(hua)輪(lun)406的(de)直徑不相等。

在其(qi)它實施例中，轉動滑(hua)(hua)輪408的直(zhi)徑和固定滑(hua)(hua)輪413的直(zhi)徑不相等。

參見(jian)圖2，示出了一(yi)種機器人手(shou)臂，包括一(yi)個旋(xuan)轉擺動(dong)機構，以及(ji)大臂殼(ke)(ke)體(ti)(ti)(ti)100、小(xiao)(xiao)臂殼(ke)(ke)體(ti)(ti)(ti)200和手(shou)部(bu)(bu)殼(ke)(ke)體(ti)(ti)(ti)300，大臂殼(ke)(ke)體(ti)(ti)(ti)100連(lian)(lian)接(jie)小(xiao)(xiao)臂殼(ke)(ke)體(ti)(ti)(ti)200的一(yi)端(duan)，連(lian)(lian)接(jie)在旋(xuan)轉座416上，小(xiao)(xiao)臂殼(ke)(ke)體(ti)(ti)(ti)200連(lian)(lian)接(jie)大臂殼(ke)(ke)體(ti)(ti)(ti)100的一(yi)端(duan)，套設(she)在第(di)一(yi)連(lian)(lian)接(jie)件402外，且第(di)一(yi)電機401位于小(xiao)(xiao)臂殼(ke)(ke)體(ti)(ti)(ti)200內部(bu)(bu)；手(shou)部(bu)(bu)殼(ke)(ke)體(ti)(ti)(ti)300與小(xiao)(xiao)臂殼(ke)(ke)體(ti)(ti)(ti)200可為一(yi)體(ti)(ti)(ti)化結構或組裝(zhuang)結構。

在其它實施例中，大(da)臂(bei)(bei)殼(ke)(ke)體(ti)(ti)100遠離小臂(bei)(bei)殼(ke)(ke)體(ti)(ti)200的(de)一(yi)端，套設在第(di)(di)一(yi)連接件402外(wai)，且第(di)(di)一(yi)電(dian)機401位于大(da)臂(bei)(bei)殼(ke)(ke)體(ti)(ti)100內，大(da)臂(bei)(bei)殼(ke)(ke)體(ti)(ti)100、小臂(bei)(bei)殼(ke)(ke)體(ti)(ti)200和手部殼(ke)(ke)體(ti)(ti)300三者之間為(wei)組裝結構(gou)和/或一(yi)體(ti)(ti)化(hua)結構(gou)。

參見圖2，用于(yu)機(ji)(ji)(ji)器人手臂(bei)(bei)的旋(xuan)轉(zhuan)擺動機(ji)(ji)(ji)構(gou)還包(bao)括第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji)421、第(di)(di)二(er)(er)(er)連(lian)接(jie)件422和(he)法蘭(lan)423，法蘭(lan)423固定(ding)在旋(xuan)轉(zhuan)座416上，法蘭(lan)423連(lian)接(jie)第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji)421的輸出軸(zhou)，第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji) 421的輸出軸(zhou)軸(zhou)線(xian)(xian)與支撐軸(zhou)415軸(zhou)線(xian)(xian)相互垂直，其中第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji)421固定(ding)在第(di)(di)二(er)(er)(er)連(lian)接(jie)件422上，第(di)(di)二(er)(er)(er)連(lian)接(jie)件422位于(yu)第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji)421和(he)法蘭(lan)423之間，此時，大臂(bei)(bei)殼體100連(lian)接(jie)小臂(bei)(bei)殼體200 的一(yi)端，可套接(jie)在第(di)(di)二(er)(er)(er)連(lian)接(jie)件422外，且(qie)第(di)(di)二(er)(er)(er)電機(ji)(ji)(ji)421位于(yu)大臂(bei)(bei)殼體100內部。

第一電(dian)機(ji)401的輸出(chu)軸和(he)第二電(dian)機(ji)421的輸出(chu)軸可同軸設置。

第(di)一電(dian)機(ji)401和第(di)二電(dian)機(ji)421可均為直流無刷(shua)行(xing)星減速電(dian)機(ji)。

參考(kao)圖3，示出了一(yi)(yi)(yi)種機(ji)(ji)(ji)(ji)器人(ren)，包括一(yi)(yi)(yi)上(shang)(shang)身(shen)(shen)殼(ke)體500和兩機(ji)(ji)(ji)(ji)器人(ren)手(shou)(shou)臂，兩機(ji)(ji)(ji)(ji)器人(ren)手(shou)(shou)臂分(fen)別通過(guo)一(yi)(yi)(yi)旋(xuan)(xuan)轉(zhuan)擺(bai)(bai)動(dong)機(ji)(ji)(ji)(ji)構連(lian)接(jie)(jie)上(shang)(shang)身(shen)(shen)殼(ke)體500，大臂殼(ke)體100連(lian)接(jie)(jie)上(shang)(shang)身(shen)(shen)殼(ke)體500的(de)(de)一(yi)(yi)(yi)端，套(tao)設在此(ci)處(chu)的(de)(de)旋(xuan)(xuan)轉(zhuan)擺(bai)(bai)動(dong)機(ji)(ji)(ji)(ji)構中的(de)(de)第一(yi)(yi)(yi)連(lian)接(jie)(jie)件402外；且第一(yi)(yi)(yi)電機(ji)(ji)(ji)(ji)401位于(yu)大臂殼(ke)體100內(nei)(nei)部，上(shang)(shang)身(shen)(shen)殼(ke)體500連(lian)接(jie)(jie)大臂殼(ke)體100的(de)(de)一(yi)(yi)(yi)端，套(tao)設在此(ci)處(chu)的(de)(de)旋(xuan)(xuan)轉(zhuan)擺(bai)(bai)動(dong)機(ji)(ji)(ji)(ji)構中的(de)(de)第二連(lian)接(jie)(jie)件422外，且第二電機(ji)(ji)(ji)(ji)421位于(yu)上(shang)(shang)身(shen)(shen)殼(ke)體500內(nei)(nei)部，值得(de)注(zhu)意的(de)(de)是，上(shang)(shang)身(shen)(shen)殼(ke)體500和機(ji)(ji)(ji)(ji)器人(ren)手(shou)(shou)臂之間還(huan)可(ke)采用不(bu)同(tong)于(yu)本實施例中旋(xuan)(xuan)轉(zhuan)擺(bai)(bai)動(dong)機(ji)(ji)(ji)(ji)構的(de)(de)裝(zhuang)置進行(xing)連(lian)接(jie)(jie)，并(bing)且該裝(zhuang)置能(neng)夠帶動(dong)機(ji)(ji)(ji)(ji)器人(ren)手(shou)(shou)臂擺(bai)(bai)動(dong)和旋(xuan)(xuan)轉(zhuan)。

在其它實施例中，上(shang)身殼體500連接(jie)大臂殼體100的一(yi)端，連接(jie)在旋轉座416上(shang)。

圖4為(wei)(wei)旋(xuan)轉擺動(dong)(dong)機(ji)構(gou)的(de)工作(zuo)(zuo)原理圖，其中(zhong)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a為(wei)(wei)固定滑輪(lun)413，M為(wei)(wei)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a的(de)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b 為(wei)(wei)轉動(dong)(dong)滑輪(lun)408，N為(wei)(wei)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b的(de)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b可(ke)繞圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)N作(zuo)(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運動(dong)(dong)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e為(wei)(wei)第一(yi)滑輪(lun)424，E 為(wei)(wei)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e的(de)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e可(ke)繞圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)E作(zuo)(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運動(dong)(dong)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f為(wei)(wei)第二(er)滑輪(lun)406，F為(wei)(wei)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f的(de)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f可(ke)繞圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心(xin)F作(zuo)(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運動(dong)(dong)，ASDGR連(lian)(lian)成(cheng)的(de)線(xian)段為(wei)(wei)第一(yi)牽引繩409，SD與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a相(xiang)(xiang)切(qie)于(yu)(yu)S點(dian)(dian)，SD 與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e相(xiang)(xiang)切(qie)于(yu)(yu)D點(dian)(dian)，GR與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b相(xiang)(xiang)切(qie)于(yu)(yu)R點(dian)(dian)，GR與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e相(xiang)(xiang)切(qie)于(yu)(yu)G點(dian)(dian)，KUHCB連(lian)(lian)成(cheng)的(de)線(xian)段為(wei)(wei)第二(er)牽引繩428，BC與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a相(xiang)(xiang)切(qie)于(yu)(yu)B點(dian)(dian)，BC與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f相(xiang)(xiang)切(qie)于(yu)(yu)C點(dian)(dian)，HU與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b相(xiang)(xiang)切(qie)于(yu)(yu)U點(dian)(dian)， HU與(yu)(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f相(xiang)(xiang)切(qie)于(yu)(yu)H點(dian)(dian)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a的(de)直徑(jing)(jing)和圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b的(de)直徑(jing)(jing)相(xiang)(xiang)等(deng)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e的(de)直徑(jing)(jing)和圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f的(de)直徑(jing)(jing)相(xiang)(xiang)等(deng)，圖中(zhong)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a的(de)軸線(xian)和圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b的(de)軸線(xian)相(xiang)(xiang)交于(yu)(yu)一(yi)點(dian)(dian)O，即MO⊥NO，EF⊥MO，EF⊥NO。

現參考圖4，并(bing)結合圖1和圖2介紹(shao)旋轉擺(bai)動機構(gou)的(de)工(gong)作原(yuan)理：

第(di)(di)(di)一(yi)(yi)電機(ji)401帶(dai)動(dong)(dong)(dong)(dong)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b沿(yan)2方(fang)向(xiang)(xiang)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)，使(shi)(shi)旋轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)擺(bai)動(dong)(dong)(dong)(dong)機(ji)構從實線5表(biao)示(shi)的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)狀(zhuang)態運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)到(dao)虛線5’表(biao)示(shi)的(de)(de)運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)狀(zhuang)態，其(qi)中第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b上貼(tie)合的(de)(de)長(chang)度(du)(du)(du)增(zeng)加(jia)(jia)，且(qie)增(zeng)加(jia)(jia)的(de)(de)長(chang)度(du)(du)(du)為(wei)(wei)(wei)劣(lie)(lie)弧RR’，劣(lie)(lie)弧RR’對(dui)應(ying)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠RN’R’，此時(shi)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠RN’R’，第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409長(chang)度(du)(du)(du)的(de)(de)改(gai)變使(shi)(shi)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e繞圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心E且(qie)朝(chao)(chao)(chao)著(zhu)箭(jian)(jian)頭3方(fang)向(xiang)(xiang)作(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)，第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409 在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b增(zeng)加(jia)(jia)的(de)(de)長(chang)度(du)(du)(du)等于(yu)第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上減少(shao)(shao)(shao)的(de)(de)長(chang)度(du)(du)(du)，故第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上的(de)(de)切點從S變為(wei)(wei)(wei)S’，即第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上減少(shao)(shao)(shao)的(de)(de)長(chang)度(du)(du)(du)為(wei)(wei)(wei)劣(lie)(lie)弧S S’，劣(lie)(lie)弧S S’對(dui)應(ying)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠SM S’，由已知(zhi)可得∠SM S’＝∠RN’R’，由于(yu)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a位置固定，且(qie)不發生轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)，且(qie)第(di)(di)(di)一(yi)(yi)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)409在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上減少(shao)(shao)(shao)的(de)(de)長(chang)度(du)(du)(du)使(shi)(shi)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b繞OM且(qie)朝(chao)(chao)(chao)箭(jian)(jian)頭1的(de)(de)方(fang)向(xiang)(xiang)作(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)，該圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠NO’N’，其(qi)中∠NO’N’＝∠SM S’＝∠RN’R’。同理(li)，第(di)(di)(di)一(yi)(yi)電機(ji)401帶(dai)動(dong)(dong)(dong)(dong)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b沿(yan)2方(fang)向(xiang)(xiang)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)后(hou)，第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b上貼(tie)合的(de)(de)長(chang)度(du)(du)(du)減少(shao)(shao)(shao)，該減少(shao)(shao)(shao)的(de)(de)長(chang)度(du)(du)(du)為(wei)(wei)(wei)劣(lie)(lie)弧UU’，劣(lie)(lie)弧UU’對(dui)應(ying)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠UN’U’，其(qi)中∠UN’U’＝∠RN’R’，第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428長(chang)度(du)(du)(du)的(de)(de)改(gai)變使(shi)(shi)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f繞圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)心F且(qie)朝(chao)(chao)(chao)著(zhu)箭(jian)(jian)頭4方(fang)向(xiang)(xiang)作(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)，其(qi)中圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)f的(de)(de)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)方(fang)向(xiang)(xiang)和圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)e的(de)(de)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)方(fang)向(xiang)(xiang)相反，第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b上減少(shao)(shao)(shao)的(de)(de)長(chang)度(du)(du)(du)等于(yu)第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上增(zeng)加(jia)(jia)的(de)(de)長(chang)度(du)(du)(du)，故第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上的(de)(de)切點從B變為(wei)(wei)(wei)B’，即第(di)(di)(di)二(er)牽(qian)(qian)(qian)(qian)引(yin)(yin)繩(sheng)(sheng)428在(zai)(zai)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)a上增(zeng)加(jia)(jia)的(de)(de)長(chang)度(du)(du)(du)為(wei)(wei)(wei)劣(lie)(lie)弧B B’，劣(lie)(lie)弧B B’對(dui)應(ying)的(de)(de)角度(du)(du)(du)為(wei)(wei)(wei)∠BM B’，∠BM B’＝∠UN’ U’。之(zhi)后(hou)，第(di)(di)(di)一(yi)(yi)電機(ji)401帶(dai)動(dong)(dong)(dong)(dong)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b沿(yan)2的(de)(de)反方(fang)向(xiang)(xiang)轉(zhuan)(zhuan)(zhuan)(zhuan)(zhuan)動(dong)(dong)(dong)(dong)，圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)b能夠繞OM且(qie)朝(chao)(chao)(chao)箭(jian)(jian)頭1的(de)(de)反方(fang)向(xiang)(xiang)作(zuo)圓(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)(yuan)周運(yun)(yun)(yun)動(dong)(dong)(dong)(dong)。

綜上所述，設置(zhi)在大臂(bei)(bei)殼(ke)(ke)體(ti)(ti)100和(he)(he)小臂(bei)(bei)殼(ke)(ke)體(ti)(ti)200之(zhi)(zhi)間的(de)旋(xuan)轉(zhuan)(zhuan)擺動(dong)(dong)機(ji)(ji)(ji)構(gou)能(neng)夠(gou)帶動(dong)(dong)小臂(bei)(bei)殼(ke)(ke)體(ti)(ti) 200模(mo)擬(ni)人(ren)體(ti)(ti)肘部(bu)擺動(dong)(dong)動(dong)(dong)作(zuo)，其(qi)具(ju)有一(yi)個自(zi)由(you)度(du)(du)(du)。還(huan)有第(di)(di)二(er)電機(ji)(ji)(ji)421能(neng)夠(gou)帶動(dong)(dong)小臂(bei)(bei)殼(ke)(ke)體(ti)(ti)200 繞(rao)著第(di)(di)二(er)電機(ji)(ji)(ji)421輸出(chu)軸軸線(xian)轉(zhuan)(zhuan)動(dong)(dong)，從而模(mo)擬(ni)人(ren)體(ti)(ti)肘部(bu)轉(zhuan)(zhuan)動(dong)(dong)動(dong)(dong)作(zuo)，其(qi)具(ju)有一(yi)個自(zi)由(you)度(du)(du)(du)，因此，機(ji)(ji)(ji)器人(ren)的(de)肘關節具(ju)有兩個自(zi)由(you)度(du)(du)(du)。同理，設置(zhi)在大臂(bei)(bei)殼(ke)(ke)體(ti)(ti)100和(he)(he)上身殼(ke)(ke)體(ti)(ti)500之(zhi)(zhi)間的(de)旋(xuan)轉(zhuan)(zhuan)擺動(dong)(dong)機(ji)(ji)(ji)構(gou)，可(ke)模(mo)擬(ni)人(ren)體(ti)(ti)肩(jian)部(bu)擺動(dong)(dong)動(dong)(dong)作(zuo)和(he)(he)轉(zhuan)(zhuan)動(dong)(dong)動(dong)(dong)作(zuo)，因此，機(ji)(ji)(ji)器人(ren)的(de)肩(jian)關節具(ju)有兩個自(zi)由(you)度(du)(du)(du)。再說，轉(zhuan)(zhuan)動(dong)(dong)滑輪和(he)(he)固定滑輪之(zhi)(zhi)間通過第(di)(di)一(yi)牽引繩(sheng)和(he)(he)第(di)(di)二(er)牽引繩(sheng)配合連(lian)接，代(dai)替(ti)了傳統機(ji)(ji)(ji)械換(huan)向結(jie)構(gou)，因此大大降(jiang)低(di)了旋(xuan)轉(zhuan)(zhuan)擺動(dong)(dong)機(ji)(ji)(ji)構(gou)的(de)成本。另外旋(xuan)轉(zhuan)(zhuan)擺動(dong)(dong)機(ji)(ji)(ji)構(gou)可(ke)組裝完成后再安(an)裝到大臂(bei)(bei)殼(ke)(ke)體(ti)(ti)和(he)(he)小臂(bei)(bei)殼(ke)(ke)體(ti)(ti)之(zhi)(zhi)間，以(yi)及大臂(bei)(bei)殼(ke)(ke)體(ti)(ti)和(he)(he)上身殼(ke)(ke)體(ti)(ti)之(zhi)(zhi)間，提高了安(an)裝效率。

以(yi)上所(suo)述的實(shi)(shi)施例(li)僅(jin)用(yong)(yong)于(yu)說明本(ben)實(shi)(shi)用(yong)(yong)新型(xing)的技術(shu)思想及特點，其目的在(zai)于(yu)使本(ben)領域內的技術(shu)人員能夠(gou)了(le)解本(ben)實(shi)(shi)用(yong)(yong)新型(xing)的內容并據(ju)以(yi)實(shi)(shi)施，不能僅(jin)以(yi)本(ben)實(shi)(shi)施例(li)來限定本(ben)實(shi)(shi)用(yong)(yong)新型(xing)的專(zhuan)利范圍(wei)采用(yong)(yong)，即凡(fan)依(yi)本(ben)實(shi)(shi)用(yong)(yong)新型(xing)所(suo)揭示(shi)的精神所(suo)作的同等變化或(huo)修飾(shi)，仍落(luo)在(zai)本(ben)實(shi)(shi)用(yong)(yong)新型(xing)的專(zhuan)利范圍(wei)內。