Articulated flexible arm

Abstract

This invention provides an articulated flexible arm, belonging to the technical field of robotic arms. The articulated flexible arm includes multiple flexible joints, with connectors and connecting grooves at both ends. The outer wall of the connector has multiple mating surfaces, each including a limiting plane and two symmetrically connected mating arc surfaces on either side of the limiting plane. These mating surfaces are arranged in a circular array around the axis of the flexible joints on the connector. The inner wall of the connecting groove has limiting protrusions matching the number of mating surfaces. In adjacent flexible joints, the connector is embedded in the adjacent connecting groove, allowing each limiting protrusion to slidably contact and engage with each mating surface. When the limiting protrusion contacts the limiting plane, the flexible joint cannot rotate around its own axis, while the limiting protrusion can slide freely on each mating surface. This allows the flexible arm to perform relatively smooth bending movements, offering advantages such as good control sensitivity and high stability.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to an articulated flexible arm. Background Technology

[0002] There are two common types of articulated flexible arms. One type connects the joints through universal joints, allowing the flexible arm to bend in any direction. However, since the relative movement between the joints is achieved by two mutually perpendicular axes in the universal joint, not only is the distance between the two joints large, but when bending in an upward or downward direction, the relative position of the two axes will affect the feeling of jerking, resulting in poor sensitivity.

[0003] Another type of articulated flexible arm has a ball and a groove on its joint. By embedding the ball in the groove, adjacent joints can rotate in any direction relative to each other, thus enabling the flexible arm to bend in any direction. Although this type of articulated flexible arm overcomes the shortcomings of universal joints, the large freedom of the ball in this type of joint makes it easy for each joint to rotate around its own axis during movement, affecting the control precision and stability of the flexible arm's bending motion. Summary of the Invention

[0004] To address the shortcomings of existing articulated flexible arms in terms of poor control sensitivity and stability, this invention provides an articulated flexible arm.

[0005] The articulated flexible arm provided by this invention adopts the following technical solution:

[0006] An articulated flexible arm includes multiple flexible joints connected end to end, with a connector head and a connecting groove on each side of the flexible joint.

[0007] The outer wall of the connector is provided with multiple mating surfaces arranged in a circular array along the axis of the flexible joint. Each mating surface includes a limiting plane and mating arc surfaces symmetrically connected on both sides of the limiting plane. The inner wall of the connecting groove is provided with multiple limiting protrusions. The number of limiting protrusions is the same as that of the mating surfaces and they are arranged in a circular array along the axis of the flexible joint.

[0008] In two adjacent flexible joints, the connector is embedded in the connecting groove, so that each mating surface and each limiting protrusion can slide against each other.

[0009] Optionally, the flexible arm further includes multiple first control lines evenly distributed around the flexible joint; the two ends of the flexible arm are a head and a tail, respectively, one end of the first control line is connected to the flexible joint of the head, and the other end is slidably connected to the flexible joint of the tail.

[0010] Optionally, the flexible joint is provided with a plurality of grooves corresponding to the first control line, and the first control line is slidably embedded in the grooves.

[0011] Optionally, the first control line is configured as a U-shaped structure, so that one end of the first control line forms a hook, and a hook groove is also provided on the flexible joint at the head, and the hook is hooked in the hook groove; the end of the first control line opposite to the hook is two wire ends, and the two wire ends pass through the wire groove on the flexible joint at the tail and are connected to a wire clip.

[0012] Optionally, each of the flexible joints has two grooves corresponding to each first control line.

[0013] Optionally, the groove opening is provided, and a collar is sleeved on the flexible joint to cover the opening of each groove.

[0014] Optionally, the flexible arm further includes an elastic element that allows the initial posture of the flexible arm to be a straight posture in which the axes of each flexible joint coincide.

[0015] Optionally, the elastic element is a wave spring, which is disposed between the flexible joint at the tail and each clamp.

[0016] Optionally, the clamp is further provided with a second control line.

[0017] Optionally, the mating arc surface is tangent to the limiting plane.

[0018] The technical solution of this invention has the following advantages:

[0019] The articulated flexible arm provided by this invention, under the action of various limiting protrusions and mating surfaces, prevents each flexible joint from rotating around its own axis when the limiting protrusion contacts the limiting plane, and the limiting protrusion can slide freely on each mating surface, so that the flexible arm can perform relatively smooth bending movements, and has the advantages of good control sensitivity and high stability. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the articulated flexible arm provided by the present invention;

[0022] Figure 2A cross-sectional view of the articulated flexible arm provided by the present invention;

[0023] Figure 3 A schematic diagram of the flexible joint in the articulated flexible arm provided by the present invention;

[0024] Figure 4 for Figure 2 Enlarged view of section A;

[0025] Figure 5 An exploded view showing the connection between the first control line and the flexible joint of the head;

[0026] Explanation of reference numerals in the attached drawings: 1. Flexible joint; 11. Connecting groove; 12. Limiting protrusion; 13. Wire groove; 14. Hook groove; 2. Connector; 21. Mating surface; 211. Limiting plane; 212. Mating arc surface; 3. First control line; 31. Hook; 4. Wire clamp; 5. Second control line; 6. Wave spring; 7. Collar. Detailed Implementation

[0027] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0030] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] This embodiment provides an articulated flexible arm, combined with Figures 1 to 5 As shown, the articulated flexible arm includes multiple flexible joints 1. Each end of the flexible joint 1 is provided with a connector 2 and a connecting groove 11. By embedding the connector 2 into the adjacent connecting groove 11, the multiple flexible joints 1 are connected end to end in series to form a flexible arm.

[0032] Among them, combined Figure 2 , Figure 3 and Figure 4 As shown, the outer wall of the connector 2 is provided with multiple mating surfaces 21, which are arranged in a circular array around the axis of the flexible joint 1. The inner wall of the connecting groove 11 is provided with limiting protrusions 12 in the same number as the mating surfaces 21, and each limiting protrusion 12 contacts and engages with each mating surface 21. The mating surface 21 includes a limiting plane 211 and two mating arc surfaces 212 symmetrically connected on both sides of the limiting plane 211. When the axes of two adjacent flexible joints 1 coincide and are in a straight state, the limiting protrusions 12 contact the limiting plane 211 and are restricted by the limiting plane 211, preventing the connector 2 from rotating along the axis of the flexible joint 1 within the connecting groove 11, thereby limiting the relative rotation between the flexible joints 1. When the flexible arm is bent, the limiting protrusions 12 can slide from the limiting plane 211 to the arc surface without affecting the bending action of the flexible arm. Therefore, under the interaction of the limiting protrusion 12 and the mating surface 21, the relative rotation of each flexible joint 1 in the flexible arm is restricted, and the bending action of the flexible arm is more flexible. The bending action in any direction is not prone to a sense of jerkiness, which is easy to control and has the advantages of high control precision and good stability.

[0033] The number of mating surfaces 21 and limiting protrusions 12 is not specifically limited, and the limiting plane 211 is tangent to the mating arc surface 212, so that the limiting protrusions 12 can slide more smoothly between the limiting plane 211 and the mating arc surface 212, thereby improving the smoothness of the action.

[0034] In some embodiments, the articulated flexible arm further includes multiple first control lines 3, which are evenly arranged around the axis of the flexible arm. One end of each first control line 3 is connected to a flexible joint 1 located at the head of the flexible arm, so that the flexible arm can bend in the corresponding direction by pulling the first control lines 3 at each position.

[0035] Furthermore, each flexible joint 1 is provided with a groove 13 corresponding to the first control line 3. The groove 13 is set in a direction parallel to the axis of the flexible joint 1. The first control line 3 is slidably embedded in each groove 13, which plays a limiting and guiding role in the movement of each first control line 3, and can more stably control the bending direction of the flexible arm.

[0036] Furthermore, the wire groove 13 is open, which facilitates the installation and removal of the first control line 3. The flexible joint 1 is also fitted with a collar 7, which covers the opening of each wire groove 13 and restricts the first control line 3 inside the wire groove 13, preventing the first control line 3 from coming out of the wire groove 13.

[0037] The connection method between the first control line 3 and the flexible joint 1 of the head is not specifically limited. For example, such as... Figure 5 As shown, in some embodiments, the first control line 3 can be configured as a U-shaped structure, so that one end of the first control line 3 forms a semi-circular hook 31. The flexible joint 1 of the head is also provided with a hook groove 14. The first control line 3 is fixed to the flexible joint 1 of the head by hooking the hook 31 into the hook groove 14.

[0038] Correspondingly, each flexible joint 1 has two sets of grooves 13 corresponding to each first control line 3. The two ends of the first control line 3 pass through the grooves 13 on the flexible joint 1 at the tail end and are connected to a clamp 4. The clamp 4 connects and fixes the two ends of the first control line 3.

[0039] In some embodiments, each clamp 4 is also connected to a second control line 5, which can drive each first control line 3 to move by pulling each second control line 5. The second control line 5 can be easily connected to the control mechanism of the flexible arm.

[0040] In some embodiments, the flexible arm may further include an elastic element, which, under the action of the elastic element, makes the initial posture of the flexible arm a straight posture in which the axes of each flexible joint 1 coincide. When the flexible arm bends, the elastic element stores force, and after the control of the flexible arm is released, it can be reset to the initial posture under the action of the elastic element.

[0041] For example, the elastic element is a wave spring 6, which is disposed between the flexible joint 1 at the tail and each wire clamp 4. The wire clamp 4 holds the wave spring 6 on the flexible joint 1 at the tail. Under the action of the wave spring 6, the relative position of each wire clamp 4 and the flexible joint 1 at the tail is restricted. When the flexible arm is driven to bend by pulling the first control line, the distance between the wire clamp 4 and the flexible joint 1 at the tail changes, causing the wave spring 6 to deform and store force. After releasing the control of the first control line, each wire clamp 4 can be reset under the action of the wave spring 6, so that the flexible arm is reset to the initial posture.

[0042] The articulated flexible arm described above can restrict the rotation of each flexible joint 1 around its own axis through the engagement of the limiting protrusion 12 in the connecting groove 11 and the mating surface 21, allowing each flexible joint 1 to bend smoothly relative to each other. This makes the bending action of the flexible arm smoother and improves the control precision and stability of the flexible arm. Each flexible joint 1 has a simple structure and can be integrally molded using processes such as injection molding. The structure is simple and compact, and each flexible joint is easy to assemble and easy to maintain. It can be widely used in various fields such as medical and manufacturing.

[0043] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A jointed flexible arm, characterized in that, It includes multiple flexible joints (1) that are connected end to end, and the flexible joints (1) are provided with connectors (2) and connecting grooves (11) on both sides respectively. The outer wall of the connector (2) is provided with a plurality of mating surfaces (21) arranged in a circular array along the axis of the flexible joint (1). The mating surfaces (21) include a limiting plane (211) and mating arc surfaces (212) symmetrically connected on both sides of the limiting plane (211). The inner wall of the connecting groove (11) is provided with a plurality of limiting protrusions (12). The number of limiting protrusions (12) is the same as that of the mating surfaces (21) and they are arranged in a circular array along the axis of the flexible joint (1). In two adjacent flexible joints (1), the connector (2) is embedded in the connecting groove (11), so that each of the mating surfaces (21) and each of the limiting protrusions (12) can slide against each other; The flexible arm also includes multiple first control lines evenly distributed around the flexible joint (1); the two ends of the flexible arm are the head and the tail, respectively, one end of the first control line is connected to the flexible joint (1) of the head, and the other end is slidably connected to the flexible joint (1) of the tail. The flexible joint (1) is provided with a plurality of grooves (13) corresponding to the first control line, and the first control line is slidably embedded in the grooves (13). The first control line is configured as a U-shaped structure, so that one end of the first control line forms a hook (31). The flexible joint (1) at the head is also provided with a hook groove (14), and the hook (31) is hooked in the hook groove (14). The end of the first control line opposite to the hook (31) has two wire ends, and the two wire ends pass through the wire groove (13) at the flexible joint (1) at the tail and are connected to the wire clip (4). The flexible arm also includes an elastic element, which causes the initial posture of the flexible arm to be a straight posture in which the axes of each flexible joint (1) coincide. The elastic element is a wave-shaped spring sheet, which is disposed between the flexible joint (1) at the tail and each wire clamp (4).

2. The articulated flexible arm according to claim 1, characterized in that, Each of the flexible joints (1) has two grooves (13) corresponding to each first control line.

3. The articulated flexible arm according to claim 2, characterized in that, The groove (13) is open, and a collar (7) is fitted on the flexible joint (1), which covers the opening of each groove (13).

4. The articulated flexible arm according to claim 3, characterized in that, The clamp (4) is also provided with a second control line.

5. The articulated flexible arm according to any one of claims 1-4, characterized in that, The mating arc surface (212) is tangent to the limiting plane (211).

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