High-precision flexible mechanical arm

Abstract

The invention belongs to the field of mechanical arms, and particularly relates to a high-precision flexible mechanical arm which comprises a supporting base, a servo motor is fixedly connected to the top of the supporting base, an electric flexible arm is fixedly connected to the top output end of the servo motor, and a power table is installed at the top of the electric flexible arm. A sound receiving module is arranged on the outer side of the power table, a mechanical claw is installed at the top of the power table, a second camera is installed in the middle of the mechanical claw, a plurality of movable rings capable of sliding are connected to the outer side of the electric flexible arm in a sleeving mode, and a plurality of first cameras are fixedly connected to the outer sides of the movable rings. The function of flexible multi-angle driving of the mechanical claw is achieved, so that various tasks which are difficult to complete by a single person are handled, and the flexible multi-angle driving mechanical claw plays an important role in nursing and assistance of patients and grabbing and transferring of medical devices.

Description

Technical Field

[0001] The invention belongs to the field of mechanical arms, in particular to a high-precision flexible mechanical arm. Background Art

[0002] A robotic arm is a mechanical device that can automatically perform tasks. It is usually composed of multiple joints and connecting rods and can simulate the movements of a human arm. The robotic arm can be used for a variety of operations such as handling, assembly, welding, cutting, etc., and is widely used in industrial automation, medical care, logistics, scientific research and other fields.

[0003] Compared with traditional rigid robotic arms, flexible robotic arms can perform fine movements and adapt to complex environments.

[0004] Traditional robotic arms are relatively complex to operate, generally requiring operators to observe and operate in real time, or can only move and turn according to specific procedures. This results in fewer occasions for use and makes it difficult to complete some autonomous auxiliary and support tasks.

[0005] To this end, the present invention provides a high-precision flexible mechanical arm. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a high-precision flexible mechanical arm described in the present invention comprises a supporting base, a servo motor is fixedly connected to the top of the supporting base, an electric flexible arm is fixedly connected to the top output end of the servo motor, a power platform is installed on the top of the electric flexible arm, a sound receiving module is arranged on the outside of the power platform, a mechanical claw is installed on the top of the power platform, a camera 2 is installed in the middle of the mechanical claw, a plurality of sliding movable rings are sleeved on the outside of the electric flexible arm, and a plurality of cameras 1 are fixedly connected to the outside of the movable ring; In normal state, the electric flexible arm is set vertically, and multiple moving rings are equidistantly distributed on the outside of the electric flexible arm. Camera 1 and Camera 2 are connected to the terminal through wireless signals. Multiple cameras 1 receive the surrounding optical signals at all times. When a predetermined gesture appears, such as: making fists with both hands, crossing hands, etc.; when camera 1 captures the predetermined gesture, it locks the position of the gesture through multiple cameras 1, and then the electric flexible arm drives the mechanical claw to move, so that the mechanical claw faces the direction of the gesture. At this time, voice, such as: approach, move away, etc., can be used to control the movement trend of the mechanical claw. The approaching mechanical claw can grab the items in the user's hand, or use the mechanical claw as a support to help the user get up, etc.; the moving away mechanical claw can temporarily grab the items in the user's hand and move away, and return the items when the user needs them, or you can put the support base in place and observe other platforms through camera 2 first, such as: the location of the bedside medicine cabinet; in this way, the mechanical arm can be awakened by sound or gesture to let the electric The flexible arm drives the mechanical claw to grab the medicine, and then observes the user's position through camera 2, and hands the medicine to a position where the user can take it. After the medicine is used up, the medicine is taken back and put back in place. During the operation, the electric flexible arm can still be kept vertical so that camera 2 can observe the surroundings. During the operation, when the doctor hands out the used surgical instruments, the electric flexible arm can be used to control the mechanical claw to grab the surgical instruments directly through this gesture or by adding a voice wake-up device, and return the surgical instruments to the surgical instrument storage platform. Then, according to the doctor's voice instructions, the required surgical instruments are taken and moved to the doctor's side. This not only ensures that the surgical instruments are contaminated throughout the process, but also ensures the orderly placement of the surgical instruments. Through this setting, the function of flexible multi-angle driven mechanical claw is realized, so as to cope with various tasks that are difficult for a single person to complete. It plays a relatively important role in the care and assistance of patients, and the grabbing and transfer of medical devices.

[0008] Preferably, the electric flexible arm is composed of a plurality of deflection tables, which are equidistantly arranged from top to bottom, and the deflection tables are composed of two steering wheels, which are rotatably connected by two support seats, and a plurality of steel cables for adjusting the direction of the steering wheels are connected between the two steering wheels. In order to allow the electric flexible arm to move flexibly at multiple angles, a plurality of deflection tables are connected, so that there is a gap between the two steering wheels in the deflection tables and they can be rotated at any angle, and the steel cables can be wound and released, and the plurality of steel cables cooperate with each other to adjust the upper steering wheel to any direction. When the plurality of deflection tables are combined with each other, the electric flexible arm can be bent arbitrarily, thereby allowing the mechanical claw to move to any position.

[0009] Preferably, the mechanical claw includes three rotatable grabbing arms, and the ends of the grabbing arms are installed with adding sleeves. The second camera is located below the middle of the three grabbing arms. The functions of grabbing and putting down objects are completed by unfolding and releasing the three grabbing arms. The adding sleeves can be replaced, and adding sleeves of different shapes can be used in different occasions to better adapt to different tasks. When the grabbing arms are unfolded, the second camera can always observe the front of the mechanical claw, and when the grabbing arms grab the objects, it can also observe whether the objects are grabbed.

[0010] Preferably, a protective cover is sleeved on the outer side of the electric flexible arm, and a plurality of flexible guide rails are fixedly connected to the outer side of the protective cover. The plurality of flexible guide rails are arranged equidistantly in a ring shape, and the movable ring is slidably clamped on the outer side of the flexible guide rail. The movable ring can slide on the outer side of the flexible guide rail and hover at the position after sliding adjustment. It hovers by friction, so that the position of the movable ring and camera 1 can be changed as needed, thereby better observing the object that needs to be served. The protective cover covers the outer sides of the plurality of deflection tables to reduce the influence of the outside world on the deflection tables, and is used to install the flexible guide rails.

[0011] Preferably, a slot is provided on the outer surface of the flexible guide rail, and an electric wheel is installed on the side of the moving ring close to the flexible guide rail. The electric wheel is engaged in the slot, and the electric wheel is slidably engaged in the slot. The moving ring can be driven by the electric wheel to move outside the protective cover. When camera 2 on the outside of one of the moving rings detects a predetermined start gesture, the other moving rings can move to both sides of the moving ring, and the user's position can be determined by multi-angle observation to ensure that the final position reached by the mechanical claw is accurate.

[0012] Preferably, the support seat is composed of two columns, the two steering wheels in the deflection platform are arranged opposite to each other, and the two support seats are arranged in an staggered manner. A rotating rod is rotatably connected between the two columns of the support seat, and the two rotating rods are rotatably connected to each other. The specific connection method of the two rotating rods can be that a sleeve is fixed to the middle part of one of the rotating rods, and the other rotating rod passes through the sleeve, so that one rotating rod can rotate on itself and the other rotating rod can rotate centrally. At the same time, the rotating rod and the support seat are rotatably connected. Through this arrangement, the steering wheel below is kept stationary, and the steering wheel above can be facing in any direction under the adjustment of the steel cable. The stacking of multiple deflection platforms can allow the entire electric flexible arm to perform multi-angle flexible bending.

[0013] Preferably, a winding box is provided at the bottom of the steel cable, and the winding box is located in one of the steering wheels. An electric winding roller is provided in the winding box, one end of the steel cable is fixedly connected to the electric winding roller, and the other end of the steel cable is fixedly connected to another steering wheel. The electric winding rollers in multiple winding boxes cooperate with each other, the steel cable in the rotation direction is wound and shortened, and the steel cable in the opposite rotation direction is released, and the surrounding steel cables change adaptively to complete the steering of the steering wheel. After the steering is in place, the multiple steel cables are straightened to ensure the stillness and stability of the overall deflection table.

[0014] Preferably, a plurality of expansion sleeves are sleeved on the outer side of the electric flexible arm, and the expansion sleeves are woven from metal wires. Adjacent expansion sleeves are fixedly connected by series rings, and the series rings are rotatably clamped to the outer side of the steering wheel. A flexible transmission line is connected between the outer side of the deflection table and the support base, and the protective sleeve is sleeved on the outer side of the expansion sleeve. A plurality of expansion sleeves are connected by series rings. The expansion sleeve can bend and deform, and the original state of the expansion sleeve is convex. When squeezed, it will squeeze outward. In this way, when the deflection table is bent, the expansion sleeve will only bulge outward but will not squeeze inward to affect the steel cable.

[0015] Preferably, multiple power disks are arranged between the multiple separation disks, and the power disks are composed of two separation disks, one of which is equipped with two rotatable transmission gears, and the top surface of the other separation disk is fixedly connected with a gear disk meshing with the transmission gears. The power disks are arranged between adjacent deflection tables, and the number of installations is determined according to demand. When the two transmission gears rotate, the transmission gears will move on the surface of the gear disks, and finally the two separation disks will rotate relative to each other. The two separation disks of the power disk can rotate relative to each other, thereby greatly increasing the bending angle of the electric flexible arm, so as to adapt to more usage scenarios. Since the series ring and the steering wheel are rotatably connected, the rotation of the deflection table will not affect the expansion sleeve.

[0016] Preferably, a connecting rod is provided between the two transmission gears, the connecting rod is clamped in the separation disk, the transmission gear is rotatably connected to the connecting rod, a driving motor for driving the transmission gear to rotate is installed in the separation disk, the connecting rod is rotatably clamped with another separation disk, and the two transmission gears are driven to rotate by the driving motor. Since the connecting rod clamps the two separation disks, the transmission gear will move on the surface of the gear disk, and finally the two separation disks will rotate relative to each other.

[0017] The beneficial effects of the present invention are as follows: 1. The high-precision flexible robotic arm described in the present invention is vertically arranged by setting a moving ring, camera one and camera two. In a normal state, a plurality of moving rings are equidistantly distributed on the outside of the electric flexible arm. Camera one and camera two are connected to a terminal via wireless signals. Multiple cameras one receive surrounding optical signals at all times. When a predetermined gesture appears, when camera one captures the predetermined gesture, the position of the gesture is locked by multiple cameras one. Then the electric flexible arm drives the mechanical claw to move so that the mechanical claw faces the direction of the gesture. At this time, the movement trend of the mechanical claw can be controlled by voice. The approaching mechanical claw can grab the objects in the user's hand, or use the mechanical claw as a support. Support, assist the user to get up, etc.; during the operation, when the doctor hands over the used surgical instruments, he can directly use this gesture or add a voice wake-up device to control the mechanical claw to grab the surgical instruments through the electric flexible arm, and return the surgical instruments to the surgical instrument holding platform, and then according to the doctor's voice instructions, the required surgical instruments are taken and moved to the doctor's hand. This not only ensures that the entire surgical equipment is contaminated, but also ensures the orderly placement of surgical instruments. Through this setting, the function of flexible multi-angle driven mechanical claw is realized, so as to cope with various tasks that are difficult for a single person to complete. It plays a relatively important role in the care and assistance of patients, and the grasping and transfer of medical devices.

[0018] 2. The high-precision flexible robotic arm described in the present invention, in order to allow the electric flexible arm to move flexibly at multiple angles, is connected by connecting multiple deflection tables. There is a gap between the two steering wheels in the deflection table and they can rotate at any angle. The steel cable can be wound and released. The multiple steel cables cooperate with each other to adjust the upper steering wheel to any direction. After the multiple deflection tables are combined with each other, the electric flexible arm can be bent arbitrarily, thereby allowing the robotic claw to move to any position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 is a stereogram of the present invention; Figure 2 is a three-dimensional diagram of the electric flexible arm and the mechanical claw of the present invention; Figure 3 is a three-dimensional diagram of the support base and the electric flexible arm of the present invention; Figure 4 is a cross-sectional view of the electric flexible arm of the present invention; Figure 5 is a stereogram of a deflection table of the present invention; Figure 6 is a three-dimensional view of a steering wheel of the present invention; Figure 7 is a three-dimensional diagram of a separation disk of the present invention; In the figure: 1. Support base; 2. Moving ring; 3. Electric flexible arm; 4. Flexible guide rail; 5. Mechanical claw; 6. Camera 1; 7. Power platform; 8. Grabbing arm; 9. Camera 2; 10. Adding sleeve; 11. Card slot; 12. Deflection platform; 13. Expansion sleeve; 14. Protective sleeve; 15. Transmission line; 16. Steel cable; 17. Steering wheel; 18. Series ring; 19. Power disk; 20. Winding box; 21. Turning rod; 22. Separation disk; 23. Transmission gear; 24. Connecting rod; 25. Driving motor; 26. Gear disk; 27. Support seat. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] like Figures 1 to 7 As shown, a high-precision flexible robotic arm according to an embodiment of the present invention comprises a support base 1, a servo motor is fixedly connected to the top of the support base 1, an electric flexible arm 3 is fixedly connected to the top output end of the servo motor, a power table 7 is installed on the top of the electric flexible arm 3, a sound receiving module is arranged on the outside of the power table 7, a mechanical claw 5 is installed on the top of the power table 7, a camera 9 is installed in the middle of the mechanical claw 5, a plurality of sliding moving rings 2 are sleeved on the outside of the electric flexible arm 3, and a plurality of cameras 6 are fixedly connected to the outside of the moving ring 2; In a normal state, the electric flexible arm 3 is vertically arranged, and multiple mobile rings 2 are equidistantly distributed on the outside of the electric flexible arm 3. Camera 1 6 and camera 2 9 are connected to the terminal through wireless signals. Multiple cameras 1 6 receive surrounding optical signals at all times. When a predetermined gesture appears, such as: making a fist with both hands, crossing both hands, etc.; when camera 1 6 captures the predetermined gesture, the position of the gesture is locked through multiple cameras 1 6, and then the electric flexible arm 3 drives the mechanical claw 5 to move, so that the mechanical claw 5 faces the direction of the gesture. At this time, voice can be used, such as: approach, move away, etc.; to control the movement trend of the mechanical claw 5. The approaching mechanical claw 5 can grab the items in the user's hand, or use the mechanical claw 5 as a support to help the user get up, etc.; the moving away mechanical claw 5 can temporarily grab the items in the user's hand and move away, and return the items when the user needs them, or after the support base 1 is placed, observe other platforms through camera 2 9, such as: the position of the bedside medicine cabinet; in this way, the mechanical claw 5 can be awakened by voice or gesture The electric flexible arm 3 drives the mechanical claw 5 to grab the medicine, and then observes the user's position through the camera 2 9, and hands the medicine to the position where the user can take it. After the medicine is used up, the medicine is taken back and put back in place; it is also possible to keep the electric flexible arm 3 vertical during the operation so that the camera 2 9 can observe the surroundings. During the operation, when the doctor hands out the used surgical instruments, the mechanical claw 5 can be controlled by the electric flexible arm 3 directly through this gesture or by adding a voice wake-up device to grab the surgical instruments and return the surgical instruments to the surgical instrument storage platform. Then, according to the doctor's voice instructions, the required surgical instruments are taken and moved to the doctor's hand. In this way, not only can the entire surgical instruments be contaminated, but also the orderly placement of surgical instruments is ensured. Through this setting, the function of flexible multi-angle driving mechanical claw 5 is realized, so as to cope with various tasks that are difficult for a single person to complete. It plays an important role in the care and assistance of patients, and the grabbing and transfer of medical devices.

[0023] The electric flexible arm 3 is composed of a plurality of deflection platforms 12, which are arranged equidistantly from top to bottom. The deflection platform 12 is composed of two steering wheels 17, which are rotatably connected to each other through two support seats 27, and a plurality of steel cables 16 for adjusting the direction of the steering wheels 17 are connected between the two steering wheels 17; During operation, in order to allow the electric flexible arm 3 to move flexibly at multiple angles, multiple deflection tables 12 are connected. There is a gap between the two steering wheels 17 in the deflection table 12 and they can be rotated at any angle. The steel cable 16 can be wound and released. The multiple steel cables 16 cooperate with each other to adjust the upper steering wheel 17 to any direction. After the multiple deflection tables 12 are combined with each other, the electric flexible arm 3 can be bent arbitrarily, thereby allowing the mechanical claw 5 to move to any position.

[0024] The mechanical claw 5 includes three rotatable grabbing arms 8, and the ends of the grabbing arms 8 are installed with adding sleeves 10, and the second camera 9 is located below the middle of the three grabbing arms 8; When working, the functions of grabbing and putting down objects are completed by unfolding and releasing the three grabbing arms 8. The additional sleeve 10 can be replaced, and additional sleeves 10 of different shapes can be used in different occasions to better adapt to different tasks. The camera 2 9 can always observe the front of the mechanical claw 5 when the grabbing arm 8 is unfolded, and when the grabbing arm 8 grabs the object, it can also observe whether the object is grabbed.

[0025] The outer side of the electric flexible arm 3 is sleeved with a protective cover 14, and the outer side of the protective cover 14 is fixed with a plurality of flexible guide rails 4, and the plurality of flexible guide rails 4 are arranged in a ring-like shape with equal spacing, and the movable ring 2 is slidably clamped on the outer side of the flexible guide rails 4; During operation, the moving ring 2 can slide on the outside of the flexible guide rail 4, and hover at this position after sliding adjustment, relying on friction to hover, so that the position of the moving ring 2 and the camera 6 can be changed as needed, so as to better observe the object that needs service. The protective cover 14 covers the outside of multiple deflection tables 12 to reduce the impact of the outside world on the deflection table 12, and is used to install the flexible guide rail 4.

[0026] A slot 11 is provided on the outer surface of the flexible guide rail 4, and an electric wheel is installed on the side of the mobile ring 2 close to the flexible guide rail 4, and the electric wheel is engaged in the slot 11; During operation, the electric wheel slides and is engaged in the card slot 11. The moving ring 2 can be driven to move on the outside of the protective cover 14 by the drive of the electric wheel. When the camera 2 9 on the outside of one of the moving rings 2 detects a predetermined start gesture, the other moving rings 2 can be moved to both sides of the moving ring 2. The user's position is determined by multi-angle observation to ensure that the final position reached by the mechanical claw 5 is accurate.

[0027] The support seat 27 is composed of two columns. The two steering wheels 17 in the deflection table 12 are arranged opposite to each other. The two support seats 27 are arranged alternately. A rotating rod 21 is rotatably connected between the two columns of the support seat 27. The two rotating rods 21 are rotatably connected to each other. When working, the specific connection method of the two rotating rods 21 can be that a sleeve is fixedly connected to the middle part of one of the rotating rods 21, and the other rotating rod 21 passes through the sleeve, so that one rotating rod 21 can rotate on itself, and the other rotating rod 21 can rotate centrally, and at the same time, the rotating rod 21 and the support seat 27 are rotatably connected. Through this arrangement, the lower steering wheel 17 is kept stationary, and the upper steering wheel 17 can be directed to any direction under the adjustment of the steel cable 16. The stacking of multiple deflection tables 12 can allow the entire electric flexible arm 3 to perform multi-angle flexible bending.

[0028] A winding box 20 is provided at the bottom of the steel cable 16. The winding box 20 is located in one of the steering wheels 17. An electric winding roller is provided in the winding box 20. One end of the steel cable 16 is fixedly connected to the electric winding roller, and the other end of the steel cable 16 is fixedly connected to the other steering wheel 17. During operation, the electric winding rollers in the multiple winding boxes 20 cooperate with each other, the steel cables 16 in the rotating direction are wound and shortened, and the steel cables 16 in the opposite rotating direction are released, while the surrounding steel cables 16 change adaptively to complete the steering of the steering wheel 17. After the steering is in place, the multiple steel cables 16 are straightened to ensure the stillness and stability of the entire deflection table 12.

[0029] The outer side of the electric flexible arm 3 is sleeved with a plurality of expansion sleeves 13, the expansion sleeves 13 are woven from metal wires, adjacent expansion sleeves 13 are fixedly connected by a series ring 18, the series ring 18 is rotatably connected to the outer side of the steering wheel 17, a flexible transmission line 15 is connected between the outer side of the deflection table 12 and the support base 1, and the protective sleeve 14 is sleeved on the outer side of the expansion sleeve 13; During operation, multiple expansion sleeves 13 are connected by a series ring 18. The expansion sleeves 13 can bend and deform, and the original state of the expansion sleeves 13 is convex. When squeezed, they will be squeezed outward. In this way, when the deflection table 12 is bent, the expansion sleeves 13 will only bulge outward, and will not be squeezed inward to affect the steel cable 16.

[0030] A plurality of power disks 19 are arranged between the plurality of separation disks 22, and the power disk 19 is composed of two separation disks 22, wherein two rotatable transmission gears 23 are installed in one of the separation disks 22, and a gear disk 26 meshing with the transmission gear 23 is fixedly connected to the top surface of the other separation disk 22; During operation, the power disk 19 is arranged between adjacent deflection tables 12, and the number of installations is determined according to demand. The two transmission gears 23 rotate, and the transmission gears 23 will move on the surface of the gear disk 26, and finally the two separation disks 22 will rotate relative to each other. The two separation disks 22 of the power disk 19 can rotate relative to each other, so that the bending angle of the electric flexible arm 3 is greatly increased, so as to adapt to more usage occasions. Since the series ring 18 and the steering wheel 17 are rotatably connected, the rotation of the deflection table 12 will not affect the expansion sleeve 13.

[0031] A connecting rod 24 is provided between the two transmission gears 23, the connecting rod 24 is clamped in the separation disc 22, the transmission gear 23 is rotatably connected to the connecting rod 24, a driving motor 25 for driving the transmission gear 23 to rotate is installed in the separation disc 22, and the connecting rod 24 is rotatably clamped with the other separation disc 22; During operation, the two transmission gears 23 are driven to rotate by the driving motor 25. Since the connecting rod 24 clamps the two separation discs 22, the transmission gears 23 move on the surface of the gear disc 26, and finally the two separation discs 22 rotate relative to each other.

[0032] During operation, the electric flexible arm 3 is vertically arranged in a normal state, and multiple moving rings 2 are equidistantly distributed on the outside of the electric flexible arm 3. Camera 1 6 and camera 2 9 are connected to the terminal through wireless signals. Multiple cameras 1 6 receive surrounding optical signals at all times. When a predetermined gesture appears, such as: making fists with both hands, crossing hands, etc.; when camera 1 6 captures the predetermined gesture, the position of the gesture is locked through multiple cameras 1 6, and then the electric flexible arm 3 drives the mechanical claw 5 to move, so that the mechanical claw 5 faces the direction of the gesture. At this time, voice can be used, such as: approach, move away, etc.; to control the movement trend of the mechanical claw 5. The approaching mechanical claw 5 can grab the items in the user's hand, or use the mechanical claw 5 as a support to help the user get up, etc.; the moving away mechanical claw 5 can temporarily grab the items in the user's hand and move away, and return the items when the user needs them. You can also place the support base 1 and first observe other platforms through camera 2 9, such as: the position of the bedside medicine cabinet; in this way, you can wake up by voice or gesture The mechanical arm allows the electric flexible arm 3 to drive the mechanical claw 5 to grab the medicine, and then observes the user's position through the camera 2 9, and delivers the medicine to the position where the user can take it. After the medicine is used up, the medicine is taken back and put back in place; it can also be kept vertical during the operation, so that the camera 2 9 can observe the surroundings. During the operation, when the doctor hands out the surgical instruments after use, the mechanical claw 5 can be controlled by the electric flexible arm 3 directly through this gesture or by adding a voice wake-up device to grab the surgical instruments and return the surgical instruments to the surgical instrument storage platform. Then, according to the doctor's voice instructions, the required surgical instruments are taken and moved to the doctor's hand. In this way, not only can the whole surgical instruments be contaminated, but also the orderly placement of surgical instruments can be ensured. Through this setting, the function of flexible multi-angle driving mechanical claw 5 is realized, so as to cope with various tasks that are difficult for a single person to complete. It plays an important role in the care and assistance of patients, and the grabbing and transfer of medical devices. In order to allow the electric flexible arm 3 to move flexibly at multiple angles, multiple deflection tables 12 are connected, and there is a gap between the two steering wheels 17 in the deflection table 12, and they can be rotated at any angle, and the steel cable 16 can be wound and released. The multiple steel cables 16 cooperate with each other, and the upper steering wheel 17 can be adjusted to turn to any direction. After the multiple deflection tables 12 are combined with each other, the electric flexible arm 3 can be bent arbitrarily, so that the mechanical claw 5 can be moved to any position; The functions of grabbing and putting down objects are completed by unfolding and releasing the three grab arms 8. The adding sleeve 10 can be replaced. Different shapes of adding sleeves 10 are used in different occasions to better adapt to different tasks. The camera 2 9 can always observe the front of the mechanical claw 5 when the grab arm 8 is unfolded. When the grab arm 8 grabs an object, it can also observe whether the object is grabbed. The mobile ring 2 can slide on the outside of the flexible guide rail 4, and hover at the position after sliding adjustment, relying on friction to hover, so that the position of the mobile ring 2 and the camera 6 can be changed as needed, so as to better observe the object to be served. The protective cover 14 covers the outside of the multiple deflection tables 12 to reduce the impact of the outside on the deflection tables 12, and is used to install the flexible guide rail 4; The electric wheel is slidably connected to the card slot 11. The electric wheel can drive the mobile ring 2 to move outside the protective cover 14. When the camera 2 9 outside one of the mobile rings 2 detects a predetermined start gesture, the other mobile rings 2 can move to both sides of the mobile ring 2. The user's position is determined by multi-angle observation to ensure that the final position of the mechanical claw 5 is accurate. The specific connection method of the two rotating rods 21 can be that a sleeve is fixedly connected to the middle of one rotating rod 21, and the other rotating rod 21 passes through the sleeve, so that the rotating rod 21 can rotate by itself, and the other rotating rod 21 can rotate centrally, and the rotating rod 21 and the support seat 27 are rotatably connected. Through this arrangement, the lower steering wheel 17 is kept stationary, and the upper steering wheel 17 can be oriented in any direction under the adjustment of the steel cable 16. The stacking of multiple deflection tables 12 can allow the entire electric flexible arm 3 to be flexibly bent at multiple angles; The electric winding rollers in the multiple winding boxes 20 cooperate with each other, the steel cables 16 in the rotating direction are wound and shortened, and the steel cables 16 in the opposite rotating direction are released, and the surrounding steel cables 16 change adaptively to complete the steering of the steering wheel 17. After the steering is in place, the multiple steel cables 16 are straightened to ensure the static stability of the entire deflection platform 12. Multiple expansion sleeves 13 are connected by a series ring 18. The expansion sleeves 13 can be bent and deformed. The expansion sleeves 13 are originally convex. When squeezed, they will be squeezed outward. In this way, when the deflection table 12 is bent, the expansion sleeves 13 will only bulge outward, and will not be squeezed inward to affect the steel cable 16. The power disc 19 is arranged between adjacent deflection tables 12, and the number of installations is determined according to demand. The two transmission gears 23 rotate, and the transmission gears 23 will move on the surface of the gear disc 26, and finally the two separation discs 22 will rotate relative to each other. The two separation discs 22 of the power disc 19 can rotate relative to each other, so that the bending angle of the electric flexible arm 3 is greatly increased, so as to adapt to more use occasions. Since the series ring 18 and the steering disc 17 are rotatably connected, the rotation of the deflection table 12 will not affect the expansion sleeve 13; The two transmission gears 23 are driven to rotate by the driving motor 25 . Since the connecting rod 24 clamps the two separation discs 22 , the transmission gears 23 move on the surface of the gear disc 26 , and finally the two separation discs 22 rotate relative to each other.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-precision flexible robotic arm, characterized in that: The invention comprises a support base (1), a servo motor is fixedly connected to the top of the support base (1), an electric flexible arm (3) is fixedly connected to the top output end of the servo motor, a power platform (7) is installed on the top of the electric flexible arm (3), a sound receiving module is arranged on the outside of the power platform (7), a mechanical claw (5) is installed on the top of the power platform (7), a second camera (9) is installed in the middle of the mechanical claw (5), a plurality of slidable moving rings (2) are sleeved on the outside of the electric flexible arm (3), and a plurality of first cameras (6) are fixedly connected to the outside of the moving ring (2).

2. A high-precision flexible robotic arm according to claim 1, characterized in that: The electric flexible arm (3) is composed of a plurality of deflection platforms (12), the plurality of deflection platforms (12) being arranged equidistantly from top to bottom, the deflection platforms (12) being composed of two steering wheels (17), the two steering wheels (17) being rotatably connected via two support seats (27), and a plurality of steel cables (16) for adjusting the direction of the steering wheels (17) being connected between the two steering wheels (17).

3. A high-precision flexible robotic arm according to claim 2, characterized in that: The mechanical claw (5) comprises three rotatable grabbing arms (8), the ends of the grabbing arms (8) are provided with adding sleeves (10), and the second camera (9) is located below the middle of the three grabbing arms (8).

4. A high-precision flexible robotic arm according to claim 3, characterized in that: The outer side of the electric flexible arm (3) is sleeved with a protective sleeve (14), the outer side of the protective sleeve (14) is fixedly connected with a plurality of flexible guide rails (4), the plurality of flexible guide rails (4) are arranged in a ring-like shape and at equal intervals, and the movable ring (2) is slidably clamped on the outer side of the flexible guide rail (4).

5. A high-precision flexible robotic arm according to claim 4, characterized in that: The outer surface of the flexible guide rail (4) is provided with a slot (11), and a motor-driven wheel is installed on a side of the movable ring (2) close to the flexible guide rail (4), and the motor-driven wheel is engaged in the slot (11).

6. A high-precision flexible robotic arm according to claim 5, characterized in that: The support seat (27) is composed of two upright posts. The two steering wheels (17) in the deflection platform (12) are arranged opposite to each other. The two support seats (27) are arranged in a staggered manner. A rotating rod (21) is rotatably connected between the two upright posts of the support seat (27). The two rotating rods (21) are rotatably connected to each other.

7. A high-precision flexible robotic arm according to claim 6, characterized in that: A winding box (20) is provided at the bottom of the steel cable (16), the winding box (20) is located in one of the steering wheels (17), an electric winding roller is provided in the winding box (20), one end of the steel cable (16) is fixedly connected to the electric winding roller, and the other end of the steel cable (16) is fixedly connected to the other steering wheel (17).

8. A high-precision flexible robotic arm according to claim 7, characterized in that: The outer side of the electric flexible arm (3) is sleeved with a plurality of expansion sleeves (13), the expansion sleeves (13) are woven from metal wires, adjacent expansion sleeves (13) are fixedly connected via a series ring (18), the series ring (18) is rotatably engaged with the outer side of a steering wheel (17), a flexible transmission line (15) is connected between the outer side of the deflection table (12) and the support base (1), and the protective sleeve (14) is sleeved on the outer side of the expansion sleeve (13).

9. A high-precision flexible robotic arm according to claim 8, characterized in that: A plurality of power disks (19) are arranged between the plurality of separation disks (22), wherein the power disk (19) is composed of two separation disks (22), wherein two rotatable transmission gears (23) are installed in one of the separation disks (22), and a gear disk (26) meshing with the transmission gear (23) is fixedly connected to the top surface of the other separation disk (22).

10. The high-precision flexible robotic arm according to claim 9, characterized in that: A connecting rod (24) is provided between the two transmission gears (23), the connecting rod (24) is engaged in the separation disc (22), the transmission gear (23) and the connecting rod (24) are rotationally connected, a driving motor (25) for driving the transmission gear (23) to rotate is installed in the separation disc (22), and the connecting rod (24) is rotationally engaged with the other separation disc (22).

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