A high-precision flexible robotic arm

Abstract

The present invention belongs to the field of robotic arms, specifically a high-precision flexible robotic arm, comprising a supporting base, a servo motor fixedly connected to the top of the supporting base, an electric flexible arm fixedly connected to the top output end of the servo motor, a power platform installed on the top of the electric flexible arm, a sound receiving module provided on the outside of the power platform, a mechanical claw installed on the top of the power platform, a second camera installed in the middle of the mechanical claw, a plurality of sliding movable rings sleeved on the outside of the electric flexible arm, a plurality of first cameras fixedly connected to the outside of the movable ring. Through this arrangement, the function of flexible multi-angle driving of the mechanical claw is realized, so as to cope with various tasks that are difficult for a single person to complete, and it plays an important role in the care and assistance of patients, and the grasping and transfer 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 capable of performing tasks automatically. Typically composed of multiple joints and linkages, it mimics the movements of a human arm. Robotic arms can be used for a variety of operations, including handling, assembly, welding, and cutting. They are widely used in industrial automation, healthcare, 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 limited 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 robotic 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 as follows: a high-precision flexible robotic arm described in the present invention includes a support base, a servo motor is fixedly connected to the top of the support 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 provided on the outside of the power platform, a mechanical claw is installed on the top of the power platform, a second camera 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 first cameras are fixedly connected to the outside of the movable ring;

[0008] 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 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, you can use voice, such as: move closer, move away, etc. to control the movement trend of the mechanical claw. The mechanical claw that approaches 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 mechanical claw that moves away can temporarily grab the items in the user's hand and move away, and then return the items when the user needs them. You can also put the support base in place and observe other platforms through camera 2 first, such as: the position of the bedside medicine cabinet; in this way, you can wake up the mechanical arm 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 add 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 hand. This not only ensures that the surgical instruments are contaminated throughout the process, but also ensures that the surgical instruments are placed in an orderly manner. 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.

[0009] Preferably, the electric flexible arm is composed of a plurality of deflection tables, and the plurality of deflection tables are arranged equidistantly from top to bottom. The deflection tables are composed of two steering wheels, and the two steering wheels are rotatably connected by two support seats. 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, by connecting a plurality of deflection tables, there is a gap between the two steering wheels in the deflection tables, and they can be rotated to any angle, and the steel cables can be wound and released. The plurality of steel cables cooperate with each other to adjust the upper steering wheel to any direction. After 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.

[0010] 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. The second camera can always observe the front of the mechanical claw when the grabbing arms are unfolded, and can also observe whether the object is grabbed after the grabbing arms grab the object.

[0011] 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 in a ring with equal distances. 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 side of the plurality of deflection tables to reduce the impact of the outside world on the deflection table and is used to install the flexible guide rail.

[0012] Preferably, a card 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 card slot, and the electric wheel slides and is engaged in the card slot. The moving ring can be driven by the electric wheel to move on the outside of the protective cover. When the camera 2 on the outside of one of the moving rings detects a predetermined start gesture, the other moving ring can move to both sides of the moving ring, and the user's position is determined by multi-angle observation to ensure that the final position reached by the mechanical claw is accurate.

[0013] Preferably, the support seat is composed of two columns, the two steering wheels in the deflection platform are arranged opposite to each other, the two support seats are staggered, and 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 rotating rod, 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 around the center, and at the same time, the rotating rod and the support seat are rotatably connected. Through this arrangement, the lower steering wheel is kept stationary, and the upper steering wheel can be facing 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.

[0014] 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, and after the steering is in place, multiple steel cables are straightened to ensure the stillness and stability of the entire deflection platform.

[0015] 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. Multiple 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 bends, the expansion sleeve will only bulge outward, and will not squeeze inward to affect the steel cable.

[0016] Preferably, a power disk is provided between adjacent deflection tables, and the power disk is 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 fixed with a gear disk that meshes with the transmission gears. The power disk is provided 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 disk, and eventually 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, thereby adapting 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.

[0017] 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, and a driving motor for driving the transmission gear to rotate is installed in the separation disk, the connecting rod is rotatably clamped with the other 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 eventually the two separation disks will rotate relative to each other.

[0018] The beneficial effects of the present invention are as follows:

[0019] 1. The high-precision flexible robotic arm described in the present invention is configured with a moving ring, camera one, and camera two. In a normal state, the electric flexible arm is vertically configured, and multiple moving rings are equidistantly distributed on the outside of the electric flexible arm. Camera one and camera two are both connected to the terminal via wireless signals. Multiple cameras one receive the 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 through 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 object in the user's hand, or the mechanical claw can be used as a support. Support, assist the user to stand 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. 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 surgical instruments are contaminated throughout the process, but also ensures that the surgical instruments are placed in an orderly manner. Through this setting, the function of flexible multi-angle drive 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.

[0020] 2. The high-precision flexible robotic arm described in the present invention is designed to allow the electric flexible arm to move flexibly at multiple angles. By connecting multiple deflection tables, there is a gap between the two steering wheels in the deflection table and they can be rotated 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

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 is a perspective view of the present invention;

[0023] Figure 2 is a perspective view of the electric flexible arm and mechanical claw of the present invention;

[0024] Figure 3 is a perspective view of the support base and the electric flexible arm of the present invention;

[0025] Figure 4 is a cross-sectional view of the electric flexible arm of the present invention;

[0026] Figure 5 is a perspective view of a deflection table of the present invention;

[0027] Figure 6is a perspective view of a steering wheel of the present invention;

[0028] Figure 7 is a perspective view of the separation disc of the present invention;

[0029] 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. Rotating rod; 22. Separation disk; 23. Transmission gear; 24. Connecting rod; 25. Drive motor; 26. Gear disk; 27. Support base. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0031] 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 platform 7 is installed on the top of the electric flexible arm 3, a sound receiving module is provided on the outside of the power platform 7, a mechanical claw 5 is installed on the top of the power platform 7, a camera 2 9 is installed in the middle of the mechanical claw 5, a plurality of sliding mobile 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 mobile ring 2;

[0032] In a normal state, the electric flexible arm 3 is set vertically, 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 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 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 is facing 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 mechanical claw 5 that is approaching 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 mechanical claw 5 that is moving away 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 observe other platforms through camera 2 9 first, such as: the position of the bedside medicine cabinet; in this way, the mechanical claw 5 can be awakened by voice or gesture Arm, let the electric flexible arm 3 drive the mechanical claw 5 to grab the medicine, and then observe the user's position through the camera 2 9, and hand the medicine to the position where the user can take it. After the medicine is used up, take back the medicine and put it 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 over the used surgical instruments, he can directly use this gesture or add a voice wake-up device to control the mechanical claw 5 through the electric flexible arm 3 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. This not only ensures that the surgical instruments are contaminated throughout the process, but also ensures that the surgical instruments are placed in an orderly manner. 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 a relatively important role in the care and assistance of patients, and the grabbing and transfer of medical devices.

[0033] The electric flexible arm 3 is composed of a plurality of deflection platforms 12, which are arranged equidistantly from top to bottom. The deflection platforms 12 are composed of two steering wheels 17, which are rotatably connected by two support seats 27. A plurality of steel cables 16 for adjusting the direction of the steering wheels 17 are connected between the two steering wheels 17.

[0034] 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.

[0035] The mechanical claw 5 includes three rotatable grabbing arms 8, the ends of the grabbing arms 8 are equipped with adding sleeves 10, and the second camera 9 is located below the middle of the three grabbing arms 8;

[0036] During operation, 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 different shapes of additional sleeves 10 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 can also observe whether the object is grabbed after the grabbing arm 8 grabs the object.

[0037] 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 multiple flexible guide rails 4. The multiple flexible guide rails 4 are arranged in a ring with equal distances, and the movable ring 2 is slidably connected to the outer side of the flexible guide rails 4;

[0038] During operation, the mobile 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 mobile ring 2 and the camera 6 can be changed as needed, thereby better observing the object that needs to be served. 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.

[0039] A slot 11 is provided on the outer surface of the flexible guide rail 4 , and a motorized wheel is installed on the side of the movable ring 2 close to the flexible guide rail 4 , and the motorized wheel is engaged in the slot 11 ;

[0040] During operation, the electric wheel slides and engages in the card slot 11. The electric wheel drives 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 ring 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 reached by the mechanical claw 5 is accurate.

[0041] The support base 27 is composed of two columns. The two steering wheels 17 in the deflection platform 12 are arranged opposite to each other. The two support bases 27 are staggered. A rotating rod 21 is rotatably connected between the two columns of the support base 27. The two rotating rods 21 are rotatably connected to each other.

[0042] During operation, the specific connection method of the two rotating rods 21 can be that a sleeve is fixed to the middle part of one rotating rod 21, and the other rotating rod 21 passes through the sleeve, so that one rotating rod 21 can rotate on its own, and the other rotating rod 21 can rotate around the center, 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 in any direction under the adjustment of the steel cable 16. The stacking of multiple deflection platforms 12 can allow the entire electric flexible arm 3 to perform multi-angle flexible bending.

[0043] 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.

[0044] During operation, the electric winding rollers in the multiple winding boxes 20 cooperate with each other, the steel cables 16 in the rotation direction are wound and shortened, and the steel cables 16 in the opposite rotation direction are released, while the surrounding steel cables 16 adapt to change 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 and stable state of the entire deflection platform 12.

[0045] The outer side of the electric flexible arm 3 is sleeved with multiple expansion sleeves 13, each of which is woven from metal wires. Adjacent expansion sleeves 13 are fixedly connected by a series ring 18, and the series ring 18 is rotatably engaged with 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;

[0046] During operation, multiple expansion sleeves 13 are connected by a series ring 18. The expansion sleeves 13 can bend and deform. 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 instead of squeezing inward to affect the steel cable 16.

[0047] A power disk 19 is provided between adjacent deflection tables 12. The power disk 19 is composed of two separation disks 22. Two rotatable transmission gears 23 are installed in one of the separation disks 22. A gear disk 26 meshing with the transmission gears 23 is fixed to the top surface of the other separation disk 22.

[0048] During operation, 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 eventually 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, thereby greatly increasing the bending angle of the electric flexible arm 3, thereby adapting to more usage scenarios. 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.

[0049] 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 is installed in the separation disc 22 to drive the transmission gear 23 to rotate. The connecting rod 24 is rotatably clamped with the other separation disc 22.

[0050] 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 will move on the surface of the gear disc 26, and finally the two separation discs 22 will rotate relative to each other.

[0051] During operation, the electric flexible arm 3 is set vertically 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 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 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 is facing 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 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 observe other platforms through camera 2 9 first, such as: the position of the bedside medicine cabinet; in this way, you can wake up by sound or gesture The robot 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 hands the medicine to the position where the user can take it. After the medicine is used up, it takes back the medicine and puts it 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 over the used surgical instruments, he can directly use this gesture or add a voice wake-up device to control the mechanical claw 5 through the electric flexible arm 3 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. This not only ensures that the surgical instruments are contaminated throughout the whole process, but also ensures that the surgical instruments are placed in an orderly manner. 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 a relatively important role in the care and assistance of patients, and the grabbing and transfer of medical devices.

[0052] In order to allow the electric flexible arm 3 to move flexibly at multiple angles, multiple deflection platforms 12 are connected. There is a gap between the two steering wheels 17 in the deflection platform 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 platforms 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.

[0053] The functions of grabbing and placing objects are completed by unfolding and releasing the three grab arms 8. The additional sleeve 10 can be replaced. Different shapes of additional sleeves 10 can be used in different occasions to better adapt to different tasks. The second camera 9 can always observe the front of the mechanical claw 5 when the grab arms 8 are unfolded. When the grab arms 8 grab an object, it can also observe whether the object is grabbed.

[0054] The mobile 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 mobile ring 2 and the camera 6 can be changed as needed, thereby better observing 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 world on the deflection tables 12 and is used to install the flexible guide rail 4;

[0055] The electric wheel slides and engages in the card slot 11. By driving the electric wheel, the mobile ring 2 can be driven 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, ensuring that the final position of the mechanical claw 5 is accurate.

[0056] The specific connection method of the two rotating rods 21 can be that a sleeve is fixed to the middle of one rotating rod 21, and the other rotating rod 21 passes through the sleeve, so that one rotating rod 21 can rotate on its own, and the other rotating rod 21 can rotate around the center. At the same time, the rotating rod 21 is rotatably connected to the support seat 27. 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 platforms 12 can allow the entire electric flexible arm 3 to be flexibly bent at multiple angles.

[0057] The electric winding rollers in the multiple winding boxes 20 cooperate with each other to wind up and shorten the steel cables 16 in the rotation direction and release the steel cables 16 in the opposite rotation direction. The surrounding steel cables 16 adapt to change and complete the steering of the steering wheel 17. After the steering is in place, the multiple steel cables 16 are straightened to ensure the stability of the entire deflection platform 12.

[0058] Multiple expansion sleeves 13 are connected by a series ring 18. The expansion sleeves 13 can bend and deform. The expansion sleeves 13 are originally convex. When squeezed, they will squeeze outward. In this way, when the deflection table 12 is bent, the expansion sleeves 13 will only bulge outward without squeezing inward and affecting the steel cable 16.

[0059] 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 eventually 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, thereby greatly increasing the bending angle of the electric flexible arm 3, thereby adapting 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;

[0060] 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 will move on the surface of the gear disc 26, and finally the two separation discs 22 will rotate relative to each other.

[0061] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A high-precision flexible robotic arm, characterized by: 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 provided 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 sliding movable 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 movable ring (2); The electric flexible arm (3) is composed of a plurality of deflection platforms (12), the plurality of deflection platforms (12) are arranged equidistantly from top to bottom, the deflection platforms (12) are composed of two steering wheels (17), the two steering wheels (17) are rotatably connected via 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); The outer side of the electric flexible arm (3) is sleeved with a protective sleeve (14), and the outer side of the protective sleeve (14) is fixedly connected with a plurality of flexible guide rails (4), and the plurality of flexible guide rails (4) are arranged in a circular shape with equal spacing, and the movable ring (2) is slidably engaged with the outer side of the flexible guide rail (4); 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).

2. A high-precision flexible robotic arm according to claim 1, 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).

3. The high-precision flexible robotic arm according to claim 2, characterized in that: 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 movable ring (2) close to the flexible guide rail (4), and the electric wheel is engaged in the slot (11).

4. The high-precision flexible robotic arm according to claim 3, characterized in that: The support seat (27) is composed of two columns. The two steering wheels (17) in the deflection platform (12) are arranged opposite to each other. The two support seats (27) are staggered. 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.

5. The high-precision flexible robotic arm according to claim 4, characterized in that: A winding box (20) is provided at the bottom of the steel cable (16), and 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).

6. The high-precision flexible robotic arm according to claim 5, characterized in that: A power disk (19) is provided between adjacent deflection tables (12), and the power disk (19) is composed of two separation disks (22), one of which is provided with two rotatable transmission gears (23), and the top surface of the other separation disk (22) is fixedly connected with a gear disk (26) meshing with the transmission gear (23).

7. The high-precision flexible robotic arm according to claim 6, 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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