Two-DOF planar flexible robotic arm and its usage

Abstract

This invention relates to the field of robotic arm technology, specifically to a planar two-degree-of-freedom flexible robotic arm, comprising an adjustable base, a rotation adjustment assembly, a front flexible robotic arm, a rear flexible robotic arm, a clamping working part, and a cable winding assembly. The adjustable base is disposed on top of an external moving assembly and is driven by the external moving assembly. The rotation adjustment assembly is disposed on top of the adjustable base and can rotate horizontally relative to the adjustable base. The front flexible robotic arm is disposed at the end of the rotation adjustment assembly, and the rear flexible robotic arm is connected to the end of the front flexible robotic arm via a rotating shaft. The clamping working part is fixed to the end of the rear flexible robotic arm. The cable winding assembly is disposed on top of the rotation adjustment assembly, and several sets of first and second steel cables are respectively connected inside the cable winding assembly. The cable winding assembly controls the rear flexible robotic arm and the clamping working part through the first and second steel cables. The clamping working part can complete the cleaning and inspection of debris in the gap.

Description

Technical Field

[0001] This invention relates to the field of flexible robotic arm technology, specifically to a planar two-degree-of-freedom flexible robotic arm and its usage method. Background Technology

[0002] Extensive research revealed that for equipment with non-removable surfaces and narrow gaps, routine maintenance only focuses on the external environment, such as keeping the surrounding environment clean and dry. This makes it difficult to detect early signs of wear, loosening, aging, and other minor issues in the internal parts of the equipment. Therefore, a planar two-degree-of-freedom flexible robotic arm and its usage method were proposed. Summary of the Invention

[0003] In order to solve the technical problems existing in the prior art, the present invention provides a planar two-degree-of-freedom flexible robotic arm and a method of using it.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a planar two-degree-of-freedom flexible robotic arm, including an adjustable base, a rotation adjustment assembly, a front flexible robotic arm, a rear flexible robotic arm, a clamping and working part, and a wire winding assembly;

[0005] The adjustable base is disposed on the top of the external moving component, and the adjustable base is driven by the external moving component;

[0006] The rotation adjustment component is disposed on the top of the adjustable base, and the rotation adjustment component can rotate horizontally relative to the adjustable base;

[0007] The front flexible robotic arm is disposed at the end of the rotation adjustment assembly, the rear flexible robotic arm is connected to the end of the front flexible robotic arm via a rotating shaft, and the clamping working part is fixed to the end of the rear flexible robotic arm.

[0008] The winding assembly is located on top of the rotation adjustment assembly. Several sets of first steel cables and second steel cables are connected inside the winding assembly. The winding assembly controls the rear flexible robotic arm and the clamping operation unit through the first steel cables and second steel cables.

[0009] Preferably, the rotation adjustment assembly includes a rotating base, a rotation drive motor, and a rotating arm. The rotating base is disposed above the top of the adjustable base. The rotation drive motor is installed inside the rotating base, and the output end of the rotation drive motor is connected to the top of the adjustable base. The rotating arm is disposed on one side of the rotating base. The rotating base and the rotating arm are driven by the rotation drive motor.

[0010] Preferably, the front flexible robotic arm includes a front flexible robotic arm body, a wire winding roller shaft, guide wheels, and a front flexible robotic arm dividing groove. The end of the front flexible robotic arm body is fixedly connected to the end of the rotating arm. A set of wire winding roller shafts is provided on both sides of one end of the front flexible robotic arm body, and a set of guide wheels is provided on both sides of the other end of the front flexible robotic arm body. A set of wire winding roller shafts and a set of guide wheels on the same side of the front flexible robotic arm body form a corresponding set. The front flexible robotic arm dividing groove is opened at the bottom of the front flexible robotic arm body.

[0011] Preferably, the rear flexible robotic arm includes a rear flexible robotic arm body, a branching guide wheel, a rear flexible robotic arm body traction arm, and a rear flexible robotic arm branching groove. The branching guide wheel is mounted on the end of the rear flexible robotic arm body via a rotating shaft, and the end of the rear flexible robotic arm body is mounted on the other end of the front flexible robotic arm body via a rotating shaft. The rear flexible robotic arm body can rotate relative to the other end of the front flexible robotic arm body. A rear flexible robotic arm body traction arm is provided on both sides of the end of the rear flexible robotic arm body, and the rear flexible robotic arm branching groove is formed in the middle of the surface of the rear flexible robotic arm body.

[0012] Preferably, the clamping operation unit includes a clamping arm, side wire grooves, side wire guide wheels, a main wire groove, a reversing guide wheel, a main gripper, an outer gripper traction arm, an inner gripper traction arm, an auxiliary gripper, and a self-illuminating camera. The clamping arm is installed at the other end of the rear flexible robotic arm body. Two sets of side wire grooves are symmetrically opened on both sides inside the clamping arm. The side wire grooves connect the front and rear sides of the clamping arm. The side wire guide wheels are mounted on the ends of the side wire grooves via rotating shafts. The main wire groove is opened at the middle position inside the clamping arm. The main cable groove connects the front and rear sides of the clamping arm. The reversing guide wheel is mounted on the end of the main cable groove via a rotating shaft. Two sets of main jaws are mounted on the middle sides of the clamping arm via rotating shafts. Each set of main jaws has an outer jaw traction arm corresponding to the side cable guide wheel on its exterior. Each set of main jaws has an inner jaw traction arm corresponding to the reversing guide wheel on its interior. Each set of main jaws has an auxiliary jaw fixed at its end. Each set of auxiliary jaws has a self-illuminating camera for image acquisition inside its interior.

[0013] Preferably, the winding assembly includes a bobbin groove, a multi-groove bobbin, a first drive motor, a base, a transmission rod, a single-groove bobbin, and a second drive motor. The bobbin groove is formed at the end of the rotating arm. The multi-groove bobbin is mounted inside the multi-groove bobbin via a rotating shaft. The first drive motor is mounted on the side of the rotating arm, and the output shaft of the first drive motor is connected to the rotating shaft on which the multi-groove bobbin is mounted. The multi-groove bobbin is driven by the first drive motor. The base is mounted on the top of the rotating arm. The transmission rod is disposed inside the upper part of the base. Two sets of single-groove bobbins are respectively disposed at both ends of the transmission rod. The second drive motor is mounted on the side of the base, and the output end of the second drive motor is connected to the end of the transmission rod.

[0014] Preferably, four sets of first steel cables are wound inside the multi-groove spool. The four sets of first steel cables are wound sequentially in a counter-clockwise-clockwise-counter-clockwise order within four partitions of the multi-groove spool. Four sets of through holes are opened at the ends of the spool grooves for the first steel cables to exit. The four sets of first steel cables are led out from the spool grooves through the four sets of corresponding through holes and pass through the front flexible robotic arm cable distribution groove, the cable distribution guide wheel, and the rear flexible robotic arm cable distribution groove, finally exiting from the end of the rear flexible robotic arm cable distribution groove. After the four sets of first steel cables are led out from the rear flexible robotic arm cable distribution groove, two sets of first steel cables wound counter-clockwise on the multi-groove spool enter two sets of side cable grooves respectively and are connected to the outer traction arm of the corresponding main gripper under the guidance of the side cable guide wheel at the end of the side cable groove. The other two sets of first steel cables wound clockwise on the multi-groove spool simultaneously enter the main cable groove and are connected to the inner traction arm of the gripper on the two sets of main grippers respectively under the guidance of the reversing guide wheel and the reversing direction.

[0015] Preferably, a second steel cable is wound inside each of the two sets of single-groove spools. The two sets of second steel cables are wound in opposite directions on the transmission rod. Both sets of second steel cables are connected to the dividing guide wheel after passing through the winding roller and the guide wheel.

[0016] Preferably, both the first and second steel cables are pre-tensioned.

[0017] The method of using a planar two-degree-of-freedom flexible robotic arm includes the following steps:

[0018] Step S1: The external moving component drives the rotary adjustment component, the front flexible robotic arm, the rear flexible robotic arm, the clamping work unit and the winding assembly to move to the front of the workpiece to be transferred via the adjustable base, so that the clamping work unit is aligned with the workpiece to be clamped.

[0019] In step S2, the multi-groove spool is driven to rotate in the opposite direction by the first drive motor. The multi-groove spool can drive the two sets of first steel cables arranged in opposite directions to be retracted and drive the two sets of first steel cables arranged in the same direction to be released.

[0020] During the retrieval process, the first steel cable arranged in opposite directions pulls the outer traction arm of the gripper, causing the outer traction arm to drive the main gripper to rotate relative to the gripping arm to complete the opening action. The auxiliary gripper can open synchronously with the opening of the main gripper. The external moving component drives the gripping work part to move forward through the adjustable base. The self-illuminating camera collects video images, and the operator judges whether the auxiliary gripper is in place based on the returned video images.

[0021] In step S3, after the auxiliary gripper is in position, the multi-groove spool is driven to rotate in the forward direction by the first drive motor. The multi-groove spool drives the two sets of first steel cables arranged in opposite directions to be released, and drives the two sets of first steel cables arranged in the forward direction to be retrieved.

[0022] During the retrieval process, the first steel cable arranged in the two forward directions pulls the traction arm inside the gripper, causing the traction arm inside the gripper to drive the main gripper to rotate relative to the gripping arm to complete the gripping action. The auxiliary gripper completes the gripping action as the main gripper closes.

[0023] In step S4, the external moving component drives the clamping working part to retract via the adjustable base, thereby completing the removal of the workpiece;

[0024] Step S5: In step S1, when the external moving component reaches the limit adjustable position but the clamping work part is still not aligned with the workpiece, the second drive motor drives the transmission rod to rotate. The two sets of single-groove spools on the transmission rod rotate synchronously under the drive of the transmission rod. One side of the single-groove spool winds up the second steel cable, while the other side of the single-groove spool releases the second steel cable. The end of the wound second steel cable pulls the branching guide wheel, causing the branching guide wheel to drive the flexible robotic arm body to deflect to one side around the rotation axis. After deflection, the flexible robotic arm body can drive the clamping work part to align with the workpiece. At this time, the operations of S1-S4 can be performed.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. The present invention comprises an adjustable base, a rotation adjustment component, a front flexible robotic arm, a rear flexible robotic arm, a clamping operation unit, and a winding component. The winding component is located on top of the rotation adjustment component. Several sets of first steel cables and second steel cables are connected inside the winding component. The winding component controls the rear flexible robotic arm and the clamping operation unit through the first steel cables and second steel cables. The clamping operation unit can complete the cleaning and inspection of debris in the gap.

[0027] 2. The present invention also includes a base, a transmission rod, a single-groove spool, and a second drive motor. When the external moving component reaches its limit adjustable position and the clamping workpiece is still not aligned, the second drive motor can drive the transmission rod to rotate. The two sets of single-groove spools on the transmission rod rotate synchronously under the drive of the transmission rod. One side of the single-groove spool winds up the second steel cable, while the other side of the single-groove spool releases the second steel cable. The end of the wound second steel cable pulls the branching guide wheel, causing the branching guide wheel to drive the flexible robotic arm body to deflect to one side around the axis, thereby increasing the cleaning and maintenance range and further increasing the cleaning and inspection capabilities. Attached Figure Description

[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0029] Figure 2 This is a three-dimensional structural diagram of the rotation adjustment component of the present invention;

[0030] Figure 3 This is a schematic diagram of the three-dimensional structure of the front flexible robotic arm of the present invention;

[0031] Figure 4This is a schematic diagram of the three-dimensional structure of the flexible robotic arm of the present invention;

[0032] Figure 5 This is a three-dimensional structural diagram of the clamping working part of the present invention;

[0033] Figure 6 This is a three-dimensional structural diagram of the winding assembly of the present invention;

[0034] Figure 7 This is a schematic diagram showing the arrangement of the first and second steel cables on the winding assembly according to the present invention.

[0035] The numbers in the image represent:

[0036] 1. Adjustable base; 2. Rotary adjustment assembly; 21. Rotary seat; 22. Rotary drive motor; 23. Rotary arm; 3. Front flexible robotic arm; 31. Front flexible robotic arm main body; 32. Wire winding roller shaft; 33. Guide wheel; 34. Front flexible robotic arm wire dividing groove; 4. Rear flexible robotic arm; 41. Rear flexible robotic arm main body; 42. Wire dividing guide wheel; 43. Rear flexible robotic arm main body traction arm; 44. Rear flexible robotic arm wire dividing groove; 5. Clamping work unit; 51. 52. Clamping arm; 53. Side cable groove; 54. Side cable guide wheel; 55. Main cable groove; 56. Changing guide wheel; 57. Main gripper; 58. Outer gripper traction arm; 59. Inner gripper traction arm; 50. Auxiliary gripper; 510. Self-illuminating camera; 6. Cable winding assembly; 61. Spool groove; 62. Multi-groove spool; 63. First drive motor; 64. Base; 65. Transmission rod; 66. Single-groove spool; 67. Second drive motor; 7. First steel cable; 8. Second steel cable. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, which illustrate the above and other technical features and advantages of the present invention. However, the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0038] Example:

[0039] like Figure 1 - Figure 7 As shown, the present invention provides a planar two-degree-of-freedom flexible robotic arm and a method of using it, including an adjustable base 1, a rotation adjustment assembly 2, a front flexible robotic arm 3, a rear flexible robotic arm 4, a clamping and working part 5, and a wire winding assembly 6.

[0040] The adjustable base 1 is located on top of the external moving component, and the adjustable base 1 is driven by the external moving component;

[0041] The rotary adjustment component 2 is located on the top of the adjustable base 1, and the rotary adjustment component 2 can rotate horizontally relative to the adjustable base 1;

[0042] The front flexible robotic arm 3 is located at the end of the rotation adjustment assembly 2, and the rear flexible robotic arm 4 is connected to the end of the front flexible robotic arm 3 via a rotating shaft. The clamping operation part 5 is fixed to the end of the rear flexible robotic arm 4.

[0043] The winding assembly 6 is located on top of the rotation adjustment assembly 2, and the winding assembly 6 controls the rear flexible robotic arm 4 and the clamping operation unit 5.

[0044] The rotary adjustment assembly 2 includes a rotary base 21, a rotary drive motor 22, and a rotary arm 23;

[0045] A rotating base 21 is positioned above the top of an adjustable base 1. A rotary drive motor 22 is installed inside the rotating base 21, and the output end of the rotary drive motor 22 is connected to the top of the adjustable base 1. A rotating arm 23 is positioned on one side of the rotating base 21. The rotating base 21 and the rotating arm 23 are driven by the rotary drive motor 22. When it is necessary to adjust the orientation of the rotating arm 23, the rotary drive motor 22 rotates. The rotating base 21, which is connected to the rotary drive motor 22, rotates synchronously under the drive of the rotary drive motor 22. The rotating arm 23, which is positioned outside the rotary drive motor 22, changes its orientation as the rotating base 21 rotates, thereby adjusting the orientation of the front flexible robotic arm 3, the rear flexible robotic arm 4, and the clamping work part 5 on the rotating arm 23.

[0046] The front flexible robotic arm 3 includes a front flexible robotic arm body 31, a wire winding roller 32, a guide wheel 33, and a front flexible robotic arm dividing groove 34;

[0047] The end of the front flexible robotic arm body 31 is fixedly connected to the end of the rotating arm 23. A set of wire winding rollers 32 are provided on both sides of one end of the front flexible robotic arm body 31, and a set of guide wheels 33 are provided on both sides of the other end of the front flexible robotic arm body 31. The set of wire winding rollers 32 and the set of guide wheels 33 on the same side of the front flexible robotic arm body 31 form a corresponding group. The front flexible robotic arm wire dividing groove 34 is opened at the bottom of the front flexible robotic arm body 31. The wire winding rollers 32 and the guide wheels 33 on the same side of the front flexible robotic arm body 31 form a winding corresponding group. The second steel cable 8 led out from the winding assembly 6 enters the winding corresponding group, and the first steel cable 7 led out from the winding assembly 6 enters the front flexible robotic arm wire dividing groove 34. The front flexible robotic arm wire dividing groove 34 separates the first steel cables 7 of different groups.

[0048] The rear flexible robotic arm 4 includes a rear flexible robotic arm body 41, a branching guide wheel 42, a rear flexible robotic arm body traction arm 43, and a rear flexible robotic arm branching groove 44;

[0049] A branching guide wheel 42 is mounted on the end of the rear flexible robotic arm body 41 via a rotating shaft. Simultaneously, the end of the rear flexible robotic arm body 41 is mounted on the other end of the front flexible robotic arm body 31 via a rotating shaft. The rear flexible robotic arm body 41 can rotate relative to the other end of the front flexible robotic arm body 31. A branching groove 44 is formed in the middle of the surface of the rear flexible robotic arm body 41. When different groups of first steel cables 7 enter the branching groove 34 of the front flexible robotic arm and then the branching groove 44 of the rear flexible robotic arm, the cables are branched. The guide wheel 42 limits the first steel cable 7 to prevent it from getting tangled at the connection between the front flexible robotic arm cable tray 34 and the rear flexible robotic arm cable tray 44. Both sides of the rear flexible robotic arm body 41 are provided with rear flexible robotic arm body traction arms 43, which are connected to the second steel cable 8. The winding of the second steel cable 8 can pull the rear flexible robotic arm body traction arms 43, thereby causing the rear flexible robotic arm body 41 to rotate around the axis and change direction.

[0050] The clamping operation unit 5 includes a clamping arm 51, a side wire groove 52, a side wire guide wheel 53, a main wire groove 54, a change guide wheel 55, a main gripper 56, an outer gripper traction arm 57, an inner gripper traction arm 58, an auxiliary gripper 59, and a self-illuminating camera 510.

[0051] The clamping arm 51 is installed at the other end of the rear flexible robotic arm body 41. Two sets of side grooves 52 are symmetrically opened on both sides inside the clamping arm 51, and the side grooves 52 connect the front and rear sides of the clamping arm 51. The side guide wheel 53 is set at the end of the side groove 52 through a rotating shaft. The main groove 54 is opened at the middle position inside the clamping arm 51, and the main groove 54 connects the front and rear sides of the clamping arm 51. The reversing guide wheel 55 is installed at the end of the main groove 54 through a rotating shaft. Two sets of main grippers 56 are installed on both sides of the middle part of the clamping arm 51 through a rotating shaft. Each set of main grippers 56 is provided with external features. There is an outer traction arm 57 for the gripper corresponding to the side guide wheel 53. Each set of main grippers 56 is provided with an inner traction arm 58 for the gripper corresponding to the reversing guide wheel 55. Different sets of first steel cables 7 pass through the side groove 52 and are connected to the outer traction arm 57 for the gripper, and pass through the main groove 54 and are connected to the inner traction arm 58 for the gripper. The first steel cable 7 pulls the outer traction arm 57 for the gripper to rotate and open the main gripper 56 relative to the clamping arm 51. The first steel cable 7 pulls the inner traction arm 58 for the gripper to rotate and close the main gripper 56 relative to the clamping arm 51, thereby realizing the opening and closing clamping function.

[0052] Each set of main grippers 56 has an auxiliary gripper 59 fixed at its end. Each set of auxiliary grippers 59 has a self-illuminating camera 510 for image acquisition inside. The auxiliary grippers 59 can open and close synchronously with the opening and closing of the main grippers 56, thereby further realizing the opening and closing clamping function. The self-illuminating camera 510 set in the auxiliary gripper 59 can observe the opening and closing angle of the auxiliary gripper 59 through video acquisition, thereby assisting in the precise control of the main grippers 56.

[0053] The winding assembly 6 includes a bobbin groove 61, a multi-groove bobbin 62, a first drive motor 63, a base 64, a transmission rod 65, a single-groove bobbin 66, and a second drive motor 67.

[0054] The spool groove 61 is formed at the end of the rotating arm 23. The multi-groove spool 62 is installed inside the multi-groove spool 62 through a rotating shaft. The first drive motor 63 is installed on the side of the rotating arm 23. The output shaft of the first drive motor 63 is connected to the rotating shaft on which the multi-groove spool 62 is installed. The multi-groove spool 62 is driven by the first drive motor 63 and can rotate under the drive of the first drive motor 63.

[0055] The base 64 is mounted on the top of the rotating arm 23, the transmission rod 65 is located inside the upper end of the base 64, two sets of single-groove spindles 66 are respectively located at both ends of the transmission rod 65, the second drive motor 67 is mounted on the side of the base 64, the output end of the second drive motor 67 is connected to the end of the transmission rod 65, and the second drive motor 67 can drive the transmission rod 65 to rotate.

[0056] The multi-groove spool 62 has four sets of first steel cables 7 wound inside. The four sets of first steel cables 7 are wound in a counter-clockwise-clockwise-counter-clockwise order within four partitions of the multi-groove spool 62. The end of the spool groove 61 has four sets of through holes for the first steel cables 7 to exit. The four sets of first steel cables 7 are led out from the spool groove 61 through the four corresponding through holes and pass through the front flexible robotic arm cable distribution groove 34, the cable distribution guide wheel 42, and the rear flexible robotic arm cable distribution groove 44, finally exiting from the end of the rear flexible robotic arm cable distribution groove 44. After the steel cable 7 is led out from the cable tray 44 of the rear flexible robotic arm, two sets of the first steel cables 7, which are wound in the opposite direction on the multi-slot spool 62, enter the two sets of side cable trays 52 respectively. Under the guidance of the side cable guide wheel 53 at the end of the side cable tray 52, they are connected to the outer traction arm 57 of the corresponding main gripper 56. The other two sets of the first steel cables 7, which are wound in the forward direction on the multi-slot spool 62, simultaneously enter the main cable tray 54 and are guided and reversed by the reversing guide wheel 55 to be pulled into the grippers of the two sets of main grippers 56 respectively. With the arm 58 connected, during the forward rotation of the multi-groove spool 62 driven by the first drive motor 63, the multi-groove spool 62 can drive two sets of counter-arranged first steel cables 7 to be released and two sets of forward-arranged first steel cables 7 to be retrieved. During the retrieval process, the two sets of forward-arranged first steel cables 7 pull the traction arm 58 inside the gripper, causing the traction arm 58 inside the gripper to drive the main gripper 56 to rotate relative to the clamping arm 51 to complete the clamping action. The release of the two sets of counter-arranged first steel cables 7 corresponds to the clamping action of the main gripper 56. Similarly, during the process of the multi-groove spool 62 rotating in the opposite direction driven by the first drive motor 63, the multi-groove spool 62 can drive the two sets of reverse-arranged first steel cables 7 to be retracted and the two sets of forward-arranged first steel cables 7 to be released. During the retraction process, the two sets of reverse-arranged first steel cables 7 pull the outer traction arm 57 of the gripper, causing the outer traction arm 57 of the gripper to drive the main gripper 56 to rotate relative to the gripping arm 51 to complete the opening action. The release of the two sets of forward-arranged first steel cables 7 corresponds to the rotation and opening of the main gripper 56.

[0057] Both sets of single-groove spools 66 have a set of second steel cables 8 wound inside. The two sets of second steel cables 8 are wound in opposite directions on the transmission rod 65. Both sets of second steel cables 8 are connected to the wire guide wheel 42 after passing through the wire winding roller 32 and the guide wheel 33.

[0058] When adjusting the orientation of the rear flexible robotic arm body 41, the second drive motor 67 drives the transmission rod 65 to rotate in the forward direction. The two sets of single-groove bobbins 66 on the transmission rod 65 rotate synchronously in the forward direction under the drive of the transmission rod 65. One side of the single-groove bobbin 66 winds up the second steel cable 8, while the other side of the single-groove bobbin 66 releases the second steel cable 8. The end of the wound second steel cable 8 pulls the branching guide wheel 42, causing the branching guide wheel 42 to drive the rear flexible robotic arm body 41 to deflect to one side around the rotation axis. Similarly, when the second drive motor 67 drives the transmission rod 65 to rotate in the reverse direction, the two sets of single-groove bobbins 66 on the transmission rod 65 rotate synchronously in the reverse direction under the drive of the transmission rod 65. One side of the single-groove bobbin 66 releases the second steel cable 8, while the other side of the single-groove bobbin 66 winds up the second steel cable 8. The end of the wound second steel cable 8 pulls the branching guide wheel 42, causing the branching guide wheel 42 to drive the rear flexible robotic arm body 41 to deflect to the other side around the rotation axis.

[0059] Both the first steel cable 7 and the second steel cable 8 are pre-tensioned. During the winding transmission process, the pre-tensioned first steel cable 7 and the second steel cable 8 can directly drive the rear flexible robotic arm body 41 and the main gripper 56 to rotate.

[0060] The method of using a planar two-degree-of-freedom flexible robotic arm includes the following steps:

[0061] The external moving component drives the rotary adjustment component 2, the front flexible robotic arm 3, the rear flexible robotic arm 4, the clamping work unit 5, and the winding assembly 6 to move to the front of the workpiece to be transferred via the adjustable base 1, so that the clamping work unit 5 is aligned with the workpiece to be clamped.

[0062] The multi-groove spool 62 is driven to rotate in the opposite direction by the first drive motor 63. The multi-groove spool 62 can drive the two sets of first steel cables 7 arranged in opposite directions to be retracted and drive the two sets of first steel cables 7 arranged in the same direction to be released.

[0063] During the retrieval process, the first steel cable 7 arranged in opposite directions pulls the outer traction arm 57 of the gripper, causing the outer traction arm 57 to drive the main gripper 56 to rotate relative to the gripping arm 51 to complete the opening action. The auxiliary gripper 59 can open synchronously with the opening of the main gripper 56. The external moving component drives the gripping operation part 5 to move forward through the adjustable base 1. The self-illuminating camera 510 collects video images, and the operator judges whether the auxiliary gripper 59 is in place based on the returned video images.

[0064] After the auxiliary gripper 59 is in position, the multi-groove spool 62 is driven to rotate in the forward direction by the first drive motor 63. The multi-groove spool 62 drives the two sets of first steel cables 7 arranged in opposite directions to be released and drives the two sets of first steel cables 7 arranged in the forward direction to be retrieved.

[0065] During the retrieval process, the first steel cable 7 arranged in the two directions pulls the traction arm 58 inside the gripper, causing the traction arm 58 inside the gripper to drive the main gripper 56 to rotate relative to the gripping arm 51 to complete the gripping action. The auxiliary gripper 59 completes the gripping action as the main gripper 56 closes.

[0066] The external moving component drives the clamping working part 5 to retract via the adjustable base 1, thereby completing the removal of the workpiece;

[0067] When the external moving component reaches its limit adjustable position and the clamping work part 5 is still not aligned with the workpiece, the second drive motor 67 drives the transmission rod 65 to rotate. The two sets of single-groove spools 66 set on the transmission rod 65 rotate synchronously under the drive of the transmission rod 65. One side of the single-groove spool 66 winds up the second steel cable 8, while the other side of the single-groove spool 66 releases the second steel cable 8. The end of the wound second steel cable 8 pulls the branching guide wheel 42, causing the branching guide wheel 42 to drive the flexible robotic arm body 41 to deflect to one side around the rotation axis. After deflection, the flexible robotic arm body 41 can drive the clamping work part 5 to align with the workpiece.

[0068] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. A planar two-degree-of-freedom flexible robotic arm, characterized in that, It includes an adjustable base, a rotation adjustment assembly, a front flexible robotic arm, a rear flexible robotic arm, a gripping work unit, and a wire winding assembly; The adjustable base is disposed on the top of the external moving component, and the adjustable base is driven by the external moving component; The rotation adjustment component is disposed on the top of the adjustable base, and the rotation adjustment component can rotate horizontally relative to the adjustable base; The front flexible robotic arm is located at the end of the rotation adjustment assembly. The front flexible robotic arm includes a front flexible robotic arm body, a wire winding roller, guide wheels, and a front flexible robotic arm dividing groove. The end of the front flexible robotic arm body is fixedly connected to the end of the rotating arm. A set of wire winding rollers is provided on both sides of one end of the front flexible robotic arm body, and a set of guide wheels is provided on both sides of the other end of the front flexible robotic arm body. A set of wire winding rollers and a set of guide wheels on the same side of the front flexible robotic arm body form a corresponding set. The front flexible robotic arm dividing groove is opened at the bottom of the front flexible robotic arm body. The rear flexible robotic arm is connected to the end of the front flexible robotic arm via a rotating shaft. The clamping and working part is fixed to the end of the rear flexible robotic arm. The rear flexible robotic arm includes a rear flexible robotic arm body, a branching guide wheel, a rear flexible robotic arm body traction arm, and a rear flexible robotic arm branching groove. The branching guide wheel is mounted on the end of the rear flexible robotic arm body via a rotating shaft. At the same time, the end of the rear flexible robotic arm body is mounted on the other end of the front flexible robotic arm body via a rotating shaft. The rear flexible robotic arm body can rotate relative to the other end of the front flexible robotic arm body. A rear flexible robotic arm body traction arm is provided on both sides of the end of the rear flexible robotic arm body. The rear flexible robotic arm branching groove is opened in the middle of the surface of the rear flexible robotic arm body. The cable winding assembly is located on top of the rotation adjustment assembly. Several sets of first and second steel cables are connected within the cable winding assembly. The cable winding assembly controls the rear flexible robotic arm and the clamping work unit via the first and second steel cables. The clamping work unit includes a clamping arm, side cable grooves, side cable guide wheels, a main cable groove, a reversing guide wheel, a main gripper, an outer gripper traction arm, an inner gripper traction arm, an auxiliary gripper, and a self-illuminating camera. The clamping arm is installed at the other end of the rear flexible robotic arm body. Two sets of side cable grooves are symmetrically arranged on both sides inside the clamping arm, connecting the front and rear sides of the clamping arm. The wire guide wheel is mounted on the end of the side wire groove via a rotating shaft. The main wire groove is located in the middle of the clamping arm and connects the front and rear sides of the clamping arm. The reversing guide wheel is mounted on the end of the main wire groove via a rotating shaft. Two sets of main jaws are mounted on the middle sides of the clamping arm via rotating shafts. Each set of main jaws has an outer jaw traction arm corresponding to the side wire guide wheel on its exterior and an inner jaw traction arm corresponding to the reversing guide wheel on its interior. Each set of main jaws has an auxiliary jaw fixed at its end and a self-illuminating camera for image acquisition is installed inside each set of auxiliary jaws.

2. The planar two-degree-of-freedom flexible robotic arm as described in claim 1, characterized in that, The rotation adjustment assembly includes a rotating base, a rotation drive motor, and a rotating arm. The rotating base is located above the top of the adjustable base. The rotation drive motor is installed inside the rotating base, and its output end is connected to the top of the adjustable base. The rotating arm is located on one side of the rotating base. The rotating base and the rotating arm are driven by the rotation drive motor.

3. The planar two-degree-of-freedom flexible robotic arm as described in claim 1, characterized in that, The winding assembly includes a bobbin groove, a multi-groove bobbin, a first drive motor, a base, a transmission rod, a single-groove bobbin, and a second drive motor. The bobbin groove is located at the end of the rotating arm. The multi-groove bobbin is mounted inside the multi-groove bobbin via a rotating shaft. The first drive motor is mounted on the side of the rotating arm, and its output shaft is connected to the rotating shaft on which the multi-groove bobbin is mounted. The multi-groove bobbin is driven by the first drive motor. The base is mounted on the top of the rotating arm. The transmission rod is located inside the upper part of the base. Two sets of single-groove bobbins are respectively located at both ends of the transmission rod. The second drive motor is mounted on the side of the base, and its output end is connected to the end of the transmission rod.

4. The planar two-degree-of-freedom flexible robotic arm as described in claim 3, characterized in that, The multi-groove spool has four sets of first steel cables wound inside. The four sets of first steel cables are wound sequentially in a counter-clockwise-clockwise-counter-clockwise order within four partitions of the multi-groove spool. The end of the spool groove has four sets of through holes for the first steel cables to exit. The four sets of first steel cables are led out of the spool groove through the four sets of corresponding through holes and pass through the front flexible robotic arm cable distribution groove, cable distribution guide wheel, and rear flexible robotic arm cable distribution groove, finally exiting from the end of the rear flexible robotic arm cable distribution groove. After the four sets of first steel cables are led out of the rear flexible robotic arm cable distribution groove, two sets of first steel cables wound counter-clockwise on the multi-groove spool enter two sets of side cable grooves respectively and are connected to the outer traction arm of the corresponding main gripper under the guidance of the side cable guide wheel at the end of the side cable groove. The other two sets of first steel cables wound clockwise on the multi-groove spool simultaneously enter the main cable groove and are connected to the inner traction arm of the gripper on the two sets of main grippers respectively under the guidance of the reversing guide wheel and the reversing direction.

5. The planar two-degree-of-freedom flexible robotic arm as described in claim 3, characterized in that, Both sets of single-groove spools have a second steel cable wound inside them. The two sets of second steel cables are wound in opposite directions on the transmission rod. Both sets of second steel cables are connected to the wire guide wheel after passing through the winding roller and the guide wheel.

6. The planar two-degree-of-freedom flexible robotic arm as described in claim 5, characterized in that, Both the first and second steel cables are pre-tensioned.

7. A method of using a planar two-degree-of-freedom flexible robotic arm according to any one of claims 1-6, characterized in that, Includes the following steps: Step S1: The external moving component drives the rotary adjustment component, the front flexible robotic arm, the rear flexible robotic arm, the clamping work unit and the winding assembly to move to the front of the workpiece to be transferred via the adjustable base, so that the clamping work unit is aligned with the workpiece to be clamped. In step S2, the multi-groove spool is driven to rotate in the opposite direction by the first drive motor. The multi-groove spool can drive the two sets of first steel cables arranged in opposite directions to be retracted and drive the two sets of first steel cables arranged in the same direction to be released. During the retrieval process, the first steel cable arranged in opposite directions pulls the outer traction arm of the gripper, causing the outer traction arm to drive the main gripper to rotate relative to the gripping arm to complete the opening action. The auxiliary gripper can open synchronously with the opening of the main gripper. The external moving component drives the gripping work part to move forward through the adjustable base. The self-illuminating camera collects video images, and the operator judges whether the auxiliary gripper is in place based on the returned video images. In step S3, after the auxiliary gripper is in position, the multi-groove spool is driven to rotate in the forward direction by the first drive motor. The multi-groove spool drives the two sets of first steel cables arranged in opposite directions to be released, and drives the two sets of first steel cables arranged in the forward direction to be retrieved. During the retrieval process, the first steel cable arranged in the two forward directions pulls the traction arm inside the gripper, causing the traction arm inside the gripper to drive the main gripper to rotate relative to the gripping arm to complete the gripping action. The auxiliary gripper completes the gripping action as the main gripper closes. In step S4, the external moving component drives the clamping working part to retract via the adjustable base, thereby completing the removal of the workpiece; Step S5: In step S1, when the external moving component reaches the limit adjustable position but the clamping work part is still not aligned with the workpiece, the second drive motor drives the transmission rod to rotate. The two sets of single-groove spools on the transmission rod rotate synchronously under the drive of the transmission rod. One side of the single-groove spool winds up the second steel cable, while the other side of the single-groove spool releases the second steel cable. The end of the wound second steel cable pulls the branching guide wheel, causing the branching guide wheel to drive the flexible robotic arm body to deflect to one side around the rotation axis. After deflection, the flexible robotic arm body can drive the clamping work part to align with the workpiece. At this time, the operations of S2-S4 can be performed.

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