A flexible robotic arm active vibration controller

Abstract

The application provides a flexible mechanical arm active vibration controller, which has the structure comprising: a connecting plate, a main box, a control end, a power socket and a vibration monitoring body; the connecting plate is fixedly connected with the main box; the control end is embedded in the surface layer of the main box; the power socket is fixed at the upper end of the main box; and the vibration monitoring body is arranged at the lower end of the main box and is electrically connected; the main box is further improved, the wire spool cavity and the vibration assembly are separated by the internal classification assembly, the vibration assembly cannot contact the power supply wire of the wire spool cavity, the interweaving of the vibration assembly and the power supply wire is solved, the winding condition caused by the interweaving is solved, the winding shaft in the wire spool cavity can collect and wind multiple power supply wires on the surface layer, the power supply wires can be summarized, and the subsequent maintenance difficulty caused by the arbitrary accumulation is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control, in particular to a flexible robot arm active vibration controller. BACKGROUND

[0002] The flexible robot arm has the characteristics of high degree of freedom and expansibility, and can realize high-difficulty operation according to the combination of its flexible links and flexible joints. Therefore, the vibration controller connected thereto can balance the vibration frequency generated by the flexible robot arm, so that the vibration of the robot arm can be at the same frequency, and the operation stability of the flexible robot arm can be further improved under the control of the controller.

[0003] As the inventor of the present application found, the existing vibration controller mainly has the following defects: the power supply wire shaft and the vibration assembly are all included in the box, so that when the vibration of the flexible robot arm is controlled, the vibration assembly will be in contact with the power supply wire shaft during movement, which will easily cause mutual entanglement, and the power supply wire shaft will be pulled and the skin will be broken due to the entanglement of the power supply wire shaft and the vibration assembly, resulting in a leakage situation. SUMMARY

[0004] The technical solution adopted by the present application to achieve the technical purpose is: a flexible robot arm active vibration controller, which comprises: a connecting plate, a main box, a control end, a power socket and a vibration monitoring body, the connecting plate is fixedly connected with the main box, the control end is embedded in the surface layer of the main box, the power socket is fixedly connected to the upper end of the main box, and the vibration monitoring body is arranged at the lower end of the main box and is electrically connected.

[0005] As a further improvement of the present application, the main box is provided with a solid frame, a spool cavity, a winding shaft, a positioning plate, a classification assembly, a power supply shaft and a vibration assembly, the inner side of the solid frame and the spool cavity are an integrated structure, the spool cavity is matched with the winding shaft at a distance, the positioning plate is fixed on both sides of the winding shaft and is fixedly connected with the spool cavity, the classification assembly is connected with the positioning plate on the right side of the winding shaft, the power supply shaft penetrates through the inside of the classification assembly and communicates with the winding shaft, the vibration assembly is electrically connected with the power supply shaft and is installed on the right side of the classification assembly, and the classification assembly communicates with the inside of the control end and is matched at a gap; the solid frame is square in shape, the inner wall of the spool cavity is finely polished, the winding shaft has three on the positioning plate and is a telescopic rod product itself, there is one positioning plate on each side of the winding shaft, the classification assembly is arranged in a vertical orientation, and the vibration assembly contains corresponding springs inside.

[0006] As a further improvement of the application, the classification component is provided with a pulley, a stabilizing module, a limiting body, an insertion slot, a balance block, a clamping groove, the pulley is embedded in the upper layer of the stabilizing module and is gap fitted, the limiting body is fixedly connected with the inner side of the stabilizing module, the insertion slot is communicated with the inner side of the limiting body, the balance block is communicated with the insertion slot, the clamping groove is arranged at the left end of the balance block, the insertion slot and the limiting body, the balance block is connected with the power supply shaft through the insertion slot; the pulley and the stabilizing module are each provided with a group on the upper and lower ends of the limiting body, the limiting body is in solid form, the insertion slot is provided with three in the limiting body, the balance block is provided with two on the edge of the insertion slot, and the clamping groove is in the form of a hollow rectangle.

[0007] As a further improvement of the application, the balance block is provided with a connecting end, a temperature guide plate, an electrical connector, a cooling body and an assembly accessory, the connecting end and the lower end of the temperature guide plate are in an integrated structure, the electrical connector is embedded in the inner lower layer of the temperature guide plate, the cooling body is electrically connected with the electrical connector, the assembly accessory is embedded in the inner cooling body and is electrically connected with the electrical connector, the connecting end is communicated with the clamping groove, and the electrical connector is communicated with the spool cavity through the connecting end and the clamping groove; the connecting end is made of plastic material, the temperature guide plate is in irregular solid shape and contains three groups of electrical connectors and cooling bodies in the inside, and the assembly accessory is provided with three in the cooling body.

[0008] As a further improvement of the application, the electrical connector is provided with a protruding block, a conductive body, an insulating layer, an electrical balance component and a recess, the protruding block and the conductive body on both sides are in an integrated structure, the conductive body penetrates the lower end of the insulating layer and is attached, the electrical balance component is attached to the outer layer of the insulating layer and is fixedly connected with the conductive body, the recess is embedded in the upper end of the insulating layer and the electrical balance component, and the electrical balance component is electrically connected with the assembly accessory and the cooling body through the recess; the protruding block is provided with one on the middle end of the conductive body on both sides, the shape of the insulating layer is consistent with the electrical balance component, and the recess contains corresponding electromagnets in the inside.

[0009] As a further improvement of the application, the regulating end is provided with a key layer, a steel plate, a bonding layer, a clamping block, a loading slot and a rebound component, the key layer is attached to the steel plate, the steel plate and the bonding layer are in an integrated structure, the clamping block is welded to the edge of the steel plate through the bonding layer, the loading slot penetrates the center of the steel plate of the bonding layer and is communicated with the inner side of the key layer, the rebound component is embedded in the inside of the loading slot and is attached to the inner side of the key layer, and the rebound component is communicated with the inner side of the main body box; the shape of the key layer is consistent with the steel plate, the steel plate is made of stainless steel metal material and the bonding layer thereof is in a flat shape, the clamping block is provided with four on the edge of the steel plate, the loading slot is in a recessed form, and the rebound component is connected with the loading slot without gap.

[0010] As a further improvement of the application, the rebound assembly is provided with a locking bolt, a stabilizer, a positioning frame, a matching groove and a rubber plate, the locking bolt is embedded in the center of the stabilizer, the stabilizer is welded to the upper and lower ends of the positioning frame, the matching groove is arranged on both sides of the positioning frame, and the rubber plate is fixed to the inner center of the positioning frame, and the locking bolt protrudes into the inner side of the steel plate of the bonding layer through the stabilizer; the stabilizer is trapezoidal in shape and one set is arranged on the upper and lower ends of the positioning frame, one matching groove is arranged on each side of the positioning frame, and the area of the rubber plate is smaller than the overall area of the positioning frame.

[0011] Compared with the prior art, the application has the following beneficial effects:

[0012] 1. After further improvement of the main box, the classification assembly inside the main box can separate the spool cavity and the vibration assembly from each other, so that the vibration assembly cannot contact the live wire in the spool cavity, and the interweaving of the vibration assembly and the live wire can be solved from the root cause, and the winding shaft inside the spool cavity can collect and wind multiple live wires on the surface layer, so that the live wires can be summarized and the subsequent maintenance difficulty caused by arbitrary accumulation can be prevented.

[0013] 2. After further improvement of the balance block inside the classification assembly, the temperature guide plate and the internal cooling body can be matched with each other, so that the cooling body can be started during the power-on control of the vibration assembly, so that the heat energy generated by the through slot and the live wire inside the spool cavity can be offset by the refrigeration effect of the cooling body, the high temperature caused by the high-performance control of the vibration frequency of the flexible mechanical arm is prevented, and the control accuracy of the vibration frequency of the flexible mechanical arm is indirectly improved.

[0014] 3. After further improvement of the control end, the bonding layer of the steel plate can improve the assembly stability of the key layer and the surface layer of the main box, and then the rebound assembly in the loading groove can be held, the rebound assembly uses the rubber plate to connect with the specific key, so that the rebound assembly can assist the subsequent key to quickly reset through the rebound feature, improve the control efficiency of the overall controller, and the stabilizer and the locking bolt at the upper and lower ends of the rebound assembly can ensure that the rubber plate is stable in the loading groove, and prevent the position deviation of the rubber plate caused by frequent rebound assistance. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It belongs to a structure diagram of a flexible mechanical arm active vibration controller.

[0016] Figure 2 It belongs to a structure diagram of a main box after improvement.

[0017] Figure 3This is a schematic diagram of the structure of a modified component.

[0018] Figure 4 This is a schematic diagram of an enlarged cross-section of an improved balance block.

[0019] Figure 5 This is a front view schematic diagram of an improved electrical connector.

[0020] Figure 6 This is a schematic diagram of a three-dimensional structure after an improvement in the control end.

[0021] Figure 7 This is a schematic diagram of the overall front view of an improved rebound component.

[0022] In the diagram: Connecting plate-1, Main body box-2, Control end-3, Power socket-4, Vibration monitoring body-5, Solid frame-21, spool cavity-22, Winding shaft-23, Positioning plate-24, Classification component-25, Power-conducting shaft-26, Vibration component-27, Pulley-251, Stabilizing module-252, Limiting body-253, Through slot-254, Balance block-255, Slot-256, Connecting end-a1, Temperature guiding plate- a2, Electrical connector - a3, Cooling element - a4, Assembly parts - a5, Protrusion - a31, Conductor - a32, Insulating layer - a33, Electrical balance component - a34, Groove - a35, Button layer - 31, Steel plate - 32, Adhesive layer - 33, Locking block - 34, Loading slot - 35, Rebound component - 36, Locking bolt - 361, Stabilizer - 362, Positioning frame - 363, Matching slot - 364, Rubber plate - 365. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings: Example

[0024] Figures 1 to 5 As shown:

[0025] This invention provides an active vibration controller for a flexible robotic arm.

[0026] Its structure includes a connecting plate 1, a main body box 2, a control end 3, a power socket 4, and a vibration monitoring body 5. The connecting plate 1 is fixedly connected to the main body box 2. The control end 3 is embedded in the surface of the main body box 2. The power socket 4 is fixed to the upper end of the main body box 2. The vibration monitoring body 5 is located at the lower end of the main body box 2 and is connected to the power supply.

[0027] The main body box 2 is provided with a solid frame 21, a spool cavity 22, a winding shaft 23, a positioning plate 24, a classification assembly 25, an electrified shaft 26 and a vibration assembly 27, the inner side of the solid frame 21 is integrated with the spool cavity 22, the spool cavity 22 is spaced apart from the winding shaft 23, the positioning plate 24 is fixed on both sides of the winding shaft 23 and is fixedly connected with the spool cavity 22, the left side of the classification assembly 25 is connected with the positioning plate 24, the electrified shaft 26 penetrates through the inside of the classification assembly 25 and communicates with the winding shaft 23, the vibration assembly 27 is electrically connected with the electrified shaft 26 and is installed on the right side of the classification assembly 25, the classification assembly 25 communicates with the inside of the control end 3 and is gap matched, the solid frame 21 is square in shape, the inner wall of the spool cavity 22 is finely polished, the winding shaft 23 is provided with three on the positioning plate 24 and is a telescopic rod product itself, the positioning plate 24 is provided with one on each side of the winding shaft 23, the classification assembly 25 is arranged in a vertical direction, and the vibration assembly 27 contains corresponding springs inside.

[0028] The solid frame 21 can match the shape of the component through the square shape to achieve stable connection, the spool cavity 22 can prevent scratching of the electrified spool through the fine polishing form, the winding shaft 23 can collect and wind multiple electrified spools through the three quantities itself, so that the position of the electrified spool is limited, and the assembly length of the winding shaft 23 can be controlled by the telescopic feature itself, the positioning plate 24 can fix the position of the winding shaft 23 to be perpendicular to each other, the classification assembly 25 can distinguish the positions of the spool cavity 22 and the vibration assembly 27 through vertical fixing, and the springs inside the vibration assembly 27 can improve the vibration frequency control effect of the flexible mechanical arm.

[0029] The classification assembly 25 is provided with a pulley 251, a stable module 252, a limiting body 253, an insertion groove 254, a balance block 255 and a clamping groove 256, the pulley 251 is embedded in the upper layer of the stable module 252 and is gap matched, the limiting body 253 is fixedly connected with the inside of the stable module 252, the insertion groove 254 communicates with the inside of the limiting body 253, the balance block 255 communicates with the insertion groove 254, and the clamping groove 256 is arranged at the left end of the balance block 255, the insertion groove 254 and the limiting body 253, the balance block 255 is connected with the electrified shaft 26 through the insertion groove 254; the pulley 251 and the stable module 252 are each provided with a group on the upper and lower ends of the limiting body 253, the limiting body 253 is solid in form, the insertion groove 254 is provided with three in the limiting body 253, and the balance block 255 is provided with two blocks on the edge of the insertion groove 254, and the clamping groove 256 is a rectangular hollow form.

[0030] The pulley 251 and the stabilizing module 252 are adjusted by setting a group of bases on the upper and lower ends of the limiting body 253, the limiting body 253 is strengthened by the solid form to limit the position of the power wire shaft in the insertion slot 254, the insertion slot 254 can insert multiple power wire shafts by the three features, the balance block 255 can assist the stable insertion of the power wire shaft by the number, and the clamping groove 256 can be stably connected with the components by the rectangular hollow shape.

[0031] The balance block 255 is provided with a connecting end a1, a temperature guide plate a2, an electrical connector a3, a cooling body a4, and an assembly part a5, the connecting end a1 and the temperature guide plate a2 are integrated at the lower end, the electrical connector a3 is embedded in the inner lower layer of the temperature guide plate a2, the cooling body a4 is connected with the electrical connector a3, the assembly part a5 is embedded in the cooling body a4 and connected with the electrical connector a3, the connecting end a1 is communicated with the clamping groove 256, and the electrical connector a3 is communicated with the wire shaft cavity 22 through the connecting end a1 and the clamping groove 256; the connecting end a1 is made of plastic material, the temperature guide plate a2 is irregular solid shape and contains three groups of electrical connectors a3 and cooling bodies a4, and the assembly part a5 is provided with three in the cooling body a4;

[0032] The connecting end a1 can be connected with the power wire shaft to ensure the stable flow of current and prevent leakage from the connection area, the temperature guide plate a2 can match the shape of the components by the irregular shape, and the heat generated by the power wire shaft can be offset by the three groups of electrical connectors a3 and cooling bodies a4 in the temperature guide plate a2, and the assembly part a5 can control the spacing between the cooling bodies a4 by three numbers to achieve vertical fixation.

[0033] The electrical connector a3 is provided with a protruding block a31, a conductive body a32, an insulating layer a33, an electrical balance assembly a34, and a recess a35, the protruding block a31 and the conductive body a32 are integrated on both sides, the conductive body a32 penetrates the lower end of the insulating layer a33 and is attached, the electrical balance assembly a34 is attached to the insulating layer a33 and is fixedly connected with the conductive body a32, the recess a35 is embedded in the upper end of the insulating layer a33 and the electrical balance assembly a34, and the electrical balance assembly a34 is connected with the assembly part a5 and the cooling body a4 through the recess a35; the protruding block a31 is provided with one on both sides of the middle end of the conductive body a32, the shape of the insulating layer a33 is consistent with the electrical balance assembly a34, and the recess a35 contains corresponding electromagnets;

[0034] The convex block a31 can improve the firmness of the electric conductor a32 and the components on both sides of the electric conductor a32, the insulating layer a33 can be attached to the outer layer of the electrically balanced component a34 through its own shape to achieve the protection effect, and the electromagnet inside the groove a35 can strengthen the stability of the connection between itself and the components.

[0035] The specific functions and operation processes of the embodiment are as follows:

[0036] In the present application,

[0037] Firstly, the flexible mechanical arm active vibration controller can fix the main box 2 in the specific vibration area of the flexible mechanical arm through the connection plate 1, so that the lower end vibration monitoring body 5 of the main box 2 can be connected with the vibration area of the flexible mechanical arm after the upper end power socket 4 of the main box 2 is powered on, and the vibration frequency generated by the flexible mechanical arm can be introduced into the main box 2 through the vibration monitoring body 5, so that the main box 2 can balance the vibration frequency of the flexible mechanical arm by using the control effect of the main box 2 under the program debugged by the regulation end 3, so as to strengthen the operation stability of the flexible mechanical arm.

[0038] Secondly, the main box 2 can splice the wire shaft cavity 22 and other components with the connection plate 1 through the solid frame 21, so that the corresponding power supply shaft 26 can be completely introduced into the wire shaft cavity 22 through the position of the power socket 4, and then the power supply shaft 26 can be uniformly interwoven on the winding shaft 23, so that the position of the power supply shaft 26 can be limited, and the disorder caused by any accumulation can be avoided, so that the positioning plate 24 on both sides of the winding shaft 23 can determine the position of the winding shaft 23, so that the power supply shaft 26 can be horizontally wound and positioned, and then the wire shaft cavity 22 and the vibration assembly 27 can be completely separated by the blocking effect of the side end classification assembly 25, so that the vibration assembly 27 cannot form a communication state with the wire shaft cavity 22 under the blockage of the classification assembly 25, so as to prevent the interweaving caused by the mutual contact between the power supply shaft 26 and the vibration assembly 27 under the real-time control effect of the flexible mechanical arm, and under the complete separation, the power supply shaft 26 can penetrate the center of the classification assembly 25, so that the joint of the power supply shaft 26 can uniformly provide the corresponding kinetic energy for the vibration assembly 27 under the penetration limitation effect, so that the vibration assembly 27 can normally work after complete classification, and only after the joint of the power supply shaft 26 is connected with the vibration assembly 27, the vibration assembly 27 cannot be in contact with the wire of the power supply shaft 26 again, so as to achieve stable control effect.

[0039] Third: the classification component 25 is embedded in the upper and lower end base of the inner wall of the solid frame 21 through the pulley 251 of the stabilizing module 252, which combines the telescopic feature of the winding shaft 23 to complete the displacement effect, so that the stabilizing module 252 can drive the limiting body 253 and other components to move left and right inside the solid frame 21, thereby adjusting the space area of the spool cavity 22 and the vibration component 27 in combination with the actual assembly effect, in the process, the winding shaft 23 will be stretched or shrunk with the movement of the classification component 25, further improving the loading effect between components, preventing the use of subsequent components from being unable to increase due to solidification classification, and then the three insertion grooves 254 and the two balance blocks 255 inside the limiting body 253 can make the three power supply shafts 26 horizontally penetrate, achieve stable power supply effect, and the balance blocks 255 can improve the horizontal penetration degree of the power supply shaft 26, prevent the generation of inclination phenomenon, and the rectangular clamping groove 256 at the side end can be assembled with the single positioning plate 24, so that the displacement movement of the winding shaft 23 is driven.

[0040] Fourth: the balance block 255 introduces a single power supply shaft 26 into the inside of the temperature guide plate a2 through the connection end a1, so that the single power supply shaft 26 can be connected to the lower end of the electrical connector a3 for power supply, and the electrical energy provided can be introduced into the cooling body a4 through the assembly fitting a5, thereby completing the activation effect of the cooling body a4, so that the cooling body a4 can offset the heat generated by the power supply of the plurality of power supply shafts 26 through its own refrigeration state, strengthen the stable operation effect of the power supply shaft 26, prevent overload caused by too high temperature, and enable the cold air to be directly transmitted into the spool cavity 22 through the temperature guide plate a2, and strengthen the temperature balance between components.

[0041] Fifth: the electrical connector a3 can ensure that the conductor a32 is horizontally fixed inside the connection end a1 through the two side protrusions a31 of the conductor a32, and can prevent leakage during the power energy transmission process by relying on the insulating layer a33 of the electrical balance component a34, so that the assembly fitting a5 can be connected to the electrical balance component a34 for power supply through the groove a35, and the electrical safety factor between components can be improved under the protection of the insulating layer a33. Embodiment

[0042] Figures 6 to 7 As shown:

[0043] The application provides a flexible mechanical arm active vibration controller,

[0044] The structure comprises that the control end 3 is provided with a key layer 31, a steel plate 32, a bonding layer 33, a clamping block 34, a loading groove 35 and a rebound assembly 36; the key layer 31 is bonded with the steel plate 32; the steel plate 32 and the bonding layer 33 are integrated; the clamping block 34 is welded to the edge of the steel plate 32 through the bonding layer 33; the loading groove 35 penetrates through the center of the steel plate 32 of the bonding layer 33 and is communicated with the inner side of the key layer 31; the rebound assembly 36 is embedded in the inside of the loading groove 35 and is bonded with the inner side of the key layer 31; the rebound assembly 36 is communicated with the inner side of the main body box 2; the shape of the key layer 31 is consistent with that of the steel plate 32; the steel plate 32 is made of stainless steel metal material and the bonding layer 33 thereof is in a flat shape; the clamping block 34 is provided with four blocks at the edge of the steel plate 32; the loading groove 35 is in a recessed shape; the rebound assembly 36 and the loading groove 35 form a gapless connection;

[0045] The key layer 31 can form a mutual connection through the consistent shape with the steel plate 32; the steel plate 32 can prolong the service life through the material thereof and can be gaplessly bonded with the components through the flat bonding layer 33; the clamping block 34 can ensure that the steel plate 32 is stably connected with the four ends of the component edge through the four blocks; the loading groove 35 can vertically load the components through the recessed shape; the gapless connection of the rebound assembly 36 and the loading groove 35 can make the rebound assembly 36 stably stand vertically at the origin.

[0046] The rebound assembly 36 is provided with a locking bolt 361, a stabilizing frame 362, a positioning frame 363, a matching groove 364 and a rubber plate 365; the locking bolt 361 is embedded in the center of the stabilizing frame 362; the stabilizing frame 362 is welded to the upper and lower ends of the positioning frame 363; the matching groove 364 is arranged on the two sides of the positioning frame 363; the rubber plate 365 is fixed to the inner center of the positioning frame 363; the locking bolt 361 protrudes into the inner side of the steel plate 32 of the bonding layer 33 through the stabilizing frame 362; the stabilizing frame 362 is in a trapezoidal shape and is provided with a group of stabilizing frames 362 on the upper and lower ends of the positioning frame 363; the positioning frame 363 is provided with a matching groove 364 on each side; the area of the rubber plate 365 is smaller than the overall area of the positioning frame 363.

[0047] The stabilizing frame 362 improves the verticality of the positioning frame 363 through the shape and quantity thereof; the matching grooves 364 on the two sides of the positioning frame 363 can be connected with the components; the rubber plate 365 can be directly clamped into the positioning frame 363 to complete the assembly.

[0048] The specific functions and operation processes of the embodiment are as follows:

[0049] In the application,

[0050] First: the key layer 31 of the control end 3 can complete fixed assembly through the shape consistent basis of itself and the steel plate 32, and then rely on the gapless fitting of the flat fitting layer 33, at the same time, the back of the steel plate 32 can be firmly spliced with the main box 2 through the four clamping blocks 34 and the flat fitting layer 33, the positioning of the key layer 31 is completed, so that the specific control area in the main box 2 is wrapped by the loading groove 35, then the key button of the key layer 31 will press the control area of the main box 2 in the loading groove 35 through the rebound assembly 36, and in the pressing debugging process, the rebound assembly 36 will use the rebound characteristics to make the button reset quickly, which can improve the debugging efficiency of the program, and rely on the basis of gapless fitting connection to prevent the invasion of space water molecules and dust impurities, and strengthen the cleanliness of the loading groove 35 and other areas, prevent the phenomenon of control failure caused by pollution;

[0051] Second: the rebound assembly 36 can vertically connect with the components inside the loading groove 35 through the matching grooves 364 on both sides of the positioning frame 363, so as to complete the vertical positioning of the positioning frame 363, and the stable frame 362 and the locking bolt 361 on the upper and lower ends of the positioning frame 363 will protrude into the upper and lower ends of the loading groove 35, then rely on the locking bolt 361 to lock, so that the positioning frame 363 can be fixed in the loading groove 35, finally the rubber plate 365 is stably loaded through the basis that the area of the rubber plate 365 is less than the positioning frame 363, the control effect of the button is completed, which can prevent the position deviation caused by the continuous rebound of the rubber plate 365 through the cooperation of the stable frame 362, the locking bolt 361, the matching groove 364 and the loading groove 35, and strengthen the use stability between components.

[0052] The technical solutions of the present application or the technical solutions of the present application can be used to design similar technical solutions, and the above technical effects can be achieved, which are all within the protection scope of the present application.

Claims

1. A flexible robotic arm active vibration controller, the structure of which includes: The components include a connecting plate (1), a main body box (2), a control end (3), a power socket (4), and a vibration monitoring body (5). The connecting plate (1) is fixedly connected to the main body box (2), the control end (3) is embedded in the surface of the main body box (2), the power socket (4) is fixed to the upper end of the main body box (2), and the vibration monitoring body (5) is located at the lower end of the main body box (2) and connected to the power supply. The main body box (2) has a solid frame (21), a bobbin cavity (22), and a winding shaft (2...). 3) Positioning plate (24), sorting component (25), energized shaft (26), vibration component (27). The inner side of the solid frame (21) and the bobbin cavity (22) are an integrated structure. The bobbin cavity (22) and the winding shaft (23) are spaced together. The positioning plate (24) is fixed on both sides of the winding shaft (23) and fixedly connected to the bobbin cavity (22). The left side of the sorting component (25) is connected to the positioning plate (24) on the right side of the winding shaft (23). The energized shaft (26) passes through the... The inner side of the sorting component (25) is connected to the winding shaft (23). The vibration component (27) is electrically connected to the energized shaft (26) and installed on the right side of the sorting component (25). The sorting component (25) is connected to the inner side of the control end (3) and is clearance-fitted. The sorting component (25) is provided with a pulley (251), a stabilizing module (252), a limiting body (253), a through slot (254), a balance block (255), and a slot (256). The pulley (251) is embedded in the stabilizing module (23). The upper layer of the stabilizing module (252) is fitted with a clearance. The limiting body (253) is fixedly connected to the inner side of the stabilizing module (252). The through slot (254) communicates with the inner side of the limiting body (253). The balance block (255) communicates with the through slot (254). The slot (256) is set at the left end of the balance block (255), the through slot (254), and the limiting body (253). The balance block (255) is connected to the power shaft (26) through the through slot (254).

2. The active vibration controller for a flexible robotic arm according to claim 1, characterized in that: The balance block (255) is provided with a connecting end (a1), a temperature-conducting plate (a2), an electrical connector (a3), a cooling body (a4), and an assembly accessory (a5). The connecting end (a1) and the lower end of the temperature-conducting plate (a2) are an integrated structure. The electrical connector (a3) ​​is embedded in the lower inner layer of the temperature-conducting plate (a2). The cooling body (a4) is electrically connected to the electrical connector (a3). The assembly accessory (a5) is embedded in the cooling body (a4) and electrically connected to the electrical connector (a3). The connecting end (a1) communicates with the slot (256). The electrical connector (a3) ​​communicates with the spool cavity (22) through the connecting end (a1) and the slot (256).

3. The active vibration controller for a flexible robotic arm according to claim 2, characterized in that: The electrical connector (a3) ​​is provided with a protrusion (a31), a conductor (a32), an insulating layer (a33), an electrical balance component (a34), and a groove (a35). The protrusion (a31) and the conductor (a32) are integrated on both sides. The conductor (a32) passes through the lower end of the insulating layer (a33) and is attached to it. The outer layer of the electrical balance component (a34) is attached to the insulating layer (a33) and fixedly connected to the conductor (a32). The groove (a35) is embedded in the upper end of the insulating layer (a33) and the electrical balance component (a34). The electrical balance component (a34) is electrically connected to the assembly accessory (a5) and the cooling body (a4) through the groove (a35).

4. The active vibration controller for a flexible robotic arm according to claim 1, characterized in that: The control end (3) is provided with a button layer (31), a steel plate (32), a bonding layer (33), a locking block (34), a loading groove (35), and a rebound component (36). The button layer (31) is bonded to the steel plate (32), and the steel plate (32) and the bonding layer (33) are an integrated structure. The locking block (34) is welded to the edge of the steel plate (32) through the bonding layer (33). The loading groove (35) passes through the center of the steel plate (32) of the bonding layer (33) and communicates with the inner side of the button layer (31). The rebound component (36) is embedded in the loading groove (35) and bonded to the inner side of the button layer (31). The rebound component (36) communicates with the inner side of the main body box (2).

5. The active vibration controller for a flexible robotic arm according to claim 4, characterized in that: The rebound assembly (36) is provided with a locking bolt (361), a stabilizing frame (362), a positioning frame (363), a matching groove (364), and a rubber plate (365). The locking bolt (361) is embedded in the center of the stabilizing frame (362). The stabilizing frame (362) is welded to the upper and lower ends of the positioning frame (363). The matching groove (364) is set on both sides of the positioning frame (363). The rubber plate (365) is fixed to the inner center of the positioning frame (363). The locking bolt (361) protrudes into the inner upper and lower edges of the steel plate (32) of the bonding layer (33) through the stabilizing frame (362).

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