Two-section type controllable flexible connection module and flexible mechanical arm

Abstract

The utility model discloses a two-section type controllable flexible connection module and a flexible mechanical arm. The two-section type controllable flexible connection module comprises an upper flexible connection unit and a lower flexible connection unit. The upper flexible connection unit and the lower flexible connection unit are the same in structure and comprise bottom plates, each bottom plate is provided with a first switch claw and a second switch claw, the first switch claw comprises a first gear tooth part and a first claw hook part, and the second switch claw comprises a second gear tooth part and a second claw hook part; a first inner gear and a second inner gear are further arranged on the bottom plate, the first switch claw is meshed with the first inner gear, the second switch claw is meshed with the second inner gear, a lower cover body covers the bottom plate, a lower through hole is formed in the top of the lower cover body, a flexible spring is arranged on the circumference of the lower through hole, the upper end of the flexible spring is connected with an upper cover body, and an upper through hole is formed in the upper cover body. A traction rope penetrates through the flexible spring, an upper terminal is arranged at the upper end of the traction rope, and a lower terminal is arranged at the lower end of the traction rope; the device is easy to operate, high in feasibility and not limited by narrow space.

Description

Technical Field

[0001] The utility model belongs to the technical field of flexible connection structures, and in particular relates to a two-stage controllable flexible connection module and a flexible mechanical arm. Background Art

[0002] As an important medium for interaction between people and technology, robotic arms have gradually entered many fields and are widely used in geological exploration, deep space exploration and other scenarios. Traditional robotic arms are mostly composed of rigid connecting rods connected in series or in parallel. These widely used traditional rigid robotic arms have limited degrees of freedom and poor deformation ability. They can only achieve simple bending functions, with relatively fixed bending angles and low control accuracy, making it difficult to achieve flexible operational movements in limited spaces. In some high-precision scenarios or small spaces, these robotic arms are difficult to meet the requirements. In addition, the traditional robotic arms have a complex structure, resulting in high manufacturing costs, difficulty in installation, and limited application scenarios. Therefore, there is a need for a two-stage controllable flexible connection module and a flexible robotic arm with a simple structure that can adapt to small spaces. Utility Model Content

[0003] In order to solve the deficiencies in the prior art, the utility model provides a two-stage controllable flexible connection module and a flexible mechanical arm which are simple in structure, easy to operate and suitable for narrow spaces.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions: a two-stage controllable flexible connection module, comprising an upper flexible connection unit and a lower flexible connection unit connected to each other;

[0005] The upper flexible connection unit has the same structure as the lower flexible connection unit, and both include a bottom plate, on which a first switch claw and a second switch claw are arranged along a circumference, the first switch claw includes a first gear portion and a first claw hook portion, and the second switch claw includes a second gear portion and a second claw hook portion;

[0006] The bottom plate is also provided with a first internal gear and a second internal gear which are parallel to each other. The first switch claw is meshed with the first internal gear through the first gear teeth, and the second switch claw is meshed with the second internal gear through the second gear teeth, so that the rotation of the first internal gear drives the rotation of the first switch claw, and the rotation of the second internal gear drives the rotation of the second switch claw;

[0007] The bottom plate is covered with a lower cover body, the top of the lower cover body is provided with lower through holes corresponding to the first switch claw and the second switch claw, a flexible spring is provided on the circumference of the lower through hole, the upper end of the flexible spring is connected to the upper cover body, the upper cover body is provided with an upper through hole corresponding to the lower through hole, a traction rope is passed through the flexible spring, the upper end of the traction rope is provided with an upper terminal, the lower end of the traction rope is provided with a lower terminal corresponding to the upper terminal, and the bottom plate is provided with mounting holes corresponding to the upper through hole and the lower through hole;

[0008] An upper limit groove is arranged on the side of the upper through hole, a lower limit groove is arranged on the side of the lower through hole, the upper terminal is clamped in the upper limit groove, and the lower terminal is clamped in the lower limit groove.

[0009] The upper flexible connection unit and the lower flexible unit are connected via a claw hook mechanism;

[0010] The claw hook mechanism comprises a mounting plate arranged on the outer surface of the lower cover body, a claw hook assembly is arranged on the mounting plate, and a claw hook protrusion corresponding to the claw hook assembly is arranged on the outer surface of the upper cover body;

[0011] The claw hook assembly includes a left claw hook and a right claw hook that are arranged relatively to each other. The left claw hook is installed on the mounting plate through a left torsion spring and a left torsion spring column, and the right claw hook is installed on the mounting plate through a right torsion spring and a right torsion spring column. A switch component that is slidably installed on the mounting plate is connected above the left claw hook and the right claw hook, and the switch component is connected to a switch button.

[0012] A vertical slide bar is arranged on the mounting plate, and a slide groove corresponding to the slide bar is arranged on the switch member;

[0013] The upper surface of the switch piece is an inclined surface, the switch button bears against the inclined surface, and a return spring is arranged on the switch button.

[0014] The lower terminal includes a first lower cylindrical section and a first upper cylindrical section, the diameter of the first upper cylindrical section is smaller than that of the first lower cylindrical section, a first groove is arranged in the middle of the first lower cylindrical section, and the first upper cylindrical section is correspondingly clamped in the lower limit groove;

[0015] The upper terminal comprises a second lower cylindrical section and a second upper cylindrical section, the diameter of the second lower cylindrical section is smaller than the diameter of the second upper cylindrical section, and the second lower cylindrical section is correspondingly clamped in the upper limit groove.

[0016] The first lower cylindrical section is concave inwardly along the middle of its outer circumferential contour to form a first annular concave portion, and a buckle is arranged in the first annular concave portion;

[0017] The second upper cylindrical section is indented inwardly along its outer circumferential contour to form a second annular lower concave portion;

[0018] The buckle comprises a semi-cylindrical shell, which comprises an upper filling portion corresponding to the first annular lower recess and a lower filling portion corresponding to the second annular lower recess, and a cavity is formed between the upper filling portion and the lower filling portion.

[0019] An upper connecting through hole, a lower connecting through hole and a central hole are respectively arranged at the central positions of the upper cover body, the lower cover body and the bottom plate, and a corrugated hose is arranged between the upper connecting through hole and the lower connecting through hole.

[0020] The upper terminal, the lower terminal, the first switch claw and the second switch claw are all magnetic parts.

[0021] A first protrusion is arranged on the outer surface of the first internal gear, and a second protrusion is arranged on the outer surface of the second internal gear;

[0022] The lower cover body is provided with a first elongated hole corresponding to the first protrusion and a second elongated hole corresponding to the second protrusion.

[0023] The flexible robotic arm includes a base, on which are arranged a plurality of mutually connected two-stage controllable flexible connection modules, a mechanical claw is arranged on the top of the uppermost flexible connection module, and the lowermost flexible connection module is connected to the base. The base is provided with traction motors corresponding to the traction ropes, and each traction motor pulls a traction rope separately.

[0024] By adopting the above technical scheme, when the utility model is in use, the first internal gear and the second internal gear are rotated to drive the rotation of the upper terminal and the lower terminal of the snap connection, so that the upper terminal and the lower terminal are freed from the constraints of the upper limit groove and the lower limit groove, so that the traction rope can move freely in the upper through hole and the lower through hole, and the corresponding flexible spring is compressed by pulling the traction rope, so that the flexible connection module is biased in one direction, thereby realizing the steering of the flexible connection module.

[0025] Several flexible modules are connected to each other through a connecting mechanism to form a flexible robotic arm. The flexible robotic arm pulls the traction rope through the traction motor arranged on the base, and then controls the direction of each module, so that it can move in various narrow spaces. In addition, a spray gun or a welding gun can be installed on the top of the uppermost flexible connection module for spraying or welding work. Corresponding water pipes or electric wires can pass through the hose to achieve multi-functional purposes, effectively solving the technical problem that the existing rigid robotic arm cannot work through a narrow space.

[0026] To sum up, the utility model is convenient, fast and highly feasible. It is not restricted by narrow spaces and can flexibly move around in various spaces to perform corresponding work. It also effectively avoids the phenomenon of single function by replacing the mechanical claws, and greatly solves the technical problem that the existing mechanical arms have single functions and cannot work in narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the utility model;

[0028] Figure 2 It is a structural schematic diagram of the flexible connection unit of the utility model;

[0029] Figure 3 yes Figure 2 Enlarged view of middle part B;

[0030] Figure 4 yes Figure 2 A-A section view;

[0031] Figure 5 It is a schematic diagram of the structure of the first internal gear and the second internal gear of the utility model;

[0032] Figure 6 It is a structural schematic diagram of the upper terminal and the lower terminal of the utility model;

[0033] Figure 7 It is a structural schematic diagram of the buckle of the utility model;

[0034] Figure 8 It is a structural schematic diagram of the buckle and the lower terminal of the utility model;

[0035] Fig. 9 It is a structural schematic diagram of the flexible mechanical arm of the utility model. DETAILED DESCRIPTION

[0036] Embodiment 1

[0037] like Figure 1-Figure 8 As shown, the two-stage controllable flexible connection module of the utility model comprises an upper flexible connection unit 22 and a lower flexible connection unit 23 connected to each other;

[0038] The upper flexible connection unit 22 and the lower flexible connection unit 23 have the same structure, and both include a bottom plate 2, on which three first switch claws 13 and three second switch claws 15 are arranged along the circumference, the first switch claw 13 includes a first gear tooth portion 18 and a first claw hook portion 20, and the second switch claw 15 includes a second gear tooth portion 24 and a second claw hook portion 25;

[0039] The bottom plate 2 is also provided with a first inner gear 3 and a second inner gear 6 which are parallel to each other. The first switch claw 13 is meshed with the first inner gear 3 through the first gear tooth portion 18, and the second switch claw 15 is meshed with the second inner gear 6 through the second gear tooth portion 24, so that the first inner gear 3 rotates to drive the first switch claw 13 to rotate, and the second inner gear 6 rotates to drive the second switch claw 15 to rotate;

[0040] The bottom plate 2 is covered with a lower cover body 4, the top of the lower cover body 4 is provided with a lower through hole corresponding to the first switch claw 13 and the second switch claw 15, the circumference of the lower through hole is provided with a flexible spring 7, the upper end of the flexible spring 7 is connected to the upper cover body 9, the upper cover body 9 is provided with an upper through hole corresponding to the lower through hole, a traction rope 10 is passed through the flexible spring 7, the upper end of the traction rope 10 is provided with an upper terminal 11, the lower end of the traction rope 10 is provided with a lower terminal 14 corresponding to the upper terminal 11, and the bottom plate 2 is provided with mounting holes corresponding to the upper through hole and the lower through hole;

[0041] An upper limit groove is arranged on the side of the upper through hole, and a lower limit groove is arranged on the side of the lower through hole. The upper terminal 11 is clamped in the upper limit groove, and the lower terminal 14 is clamped in the lower limit groove.

[0042] The upper flexible connection unit 22 and the lower flexible unit are connected via a claw hook mechanism;

[0043] The claw hook mechanism includes a mounting plate arranged on the outer surface of the lower cover body 4, a claw hook assembly is arranged on the mounting plate, and a claw hook protrusion 41 corresponding to the claw hook assembly is arranged on the outer surface of the upper cover body 9;

[0044] The claw hook assembly includes a left claw hook 28 and a right claw hook 17 that are arranged relatively. The left claw hook 28 is installed on the mounting plate through a left torsion spring and a left torsion spring column 29, and the right claw hook 17 is installed on the mounting plate through a right torsion spring and a right torsion spring column 30. The upper part of the left claw hook 28 and the right claw hook 17 is connected with a switch member 16 that is slidably installed on the mounting plate, and the switch member 16 is connected with a switch button 5. By pressing the switch button 5, the switch member 16 moves downward vertically, thereby driving the left claw hook 28 to rotate around the left torsion spring column 29 and the right claw hook 17 to rotate around the right torsion spring column 30, so as to realize the function of opening the switch claw hook, which is convenient for rapid disassembly between the module shells. Align the lower cover body 4 and the upper cover body 9 of the two flexible connection modules, and push them with force, so that the left switch claw and the right switch claw can clamp the claw hook protrusion 41 of the upper cover body 9 of the other flexible connection module to achieve rapid connection and locking.

[0045] A vertical slide bar 31 is provided on the mounting plate, and a slide groove corresponding to the slide bar 31 is provided on the switch member 16;

[0046] The upper surface of the switch member 16 is an inclined surface, and the switch button 5 is against the inclined surface. A return spring is arranged on the switch button 5 .

[0047] The lower terminal 14 includes a first lower cylindrical section 32 and a first upper cylindrical section 33. The diameter of the first upper cylindrical section 33 is smaller than that of the first lower cylindrical section 32. A first groove is provided in the middle of the first lower cylindrical section 32. The first upper cylindrical section 33 is correspondingly clamped in the lower limit groove.

[0048] The upper terminal 11 includes a second lower cylindrical section 34 and a second upper cylindrical section 35 . The diameter of the second lower cylindrical section 34 is smaller than that of the second upper cylindrical section 35 . The second lower cylindrical section 34 is correspondingly clamped in the upper limit groove.

[0049] The first lower cylindrical section 32 is indented inwardly along the middle of its outer circumferential contour to form a first annular lower recess 36, and a buckle 12 is disposed in the first annular lower recess 36;

[0050] The second upper cylindrical section 35 is indented inwardly along its outer circumferential contour to form a second annular lower recess 37;

[0051] The buckle 12 includes a semi-cylindrical shell, which includes an upper filling portion 38 corresponding to the first annular lower recess 36 and a lower filling portion 39 corresponding to the second annular lower recess 37 , and a cavity is formed between the upper filling portion 38 and the lower filling portion 39 .

[0052] An upper connecting through hole, a lower connecting through hole and a central hole are respectively provided at the center positions of the upper cover body 9, the lower cover body 4 and the bottom plate 2, and a corrugated hose 8 is provided between the upper connecting through hole and the lower connecting through hole.

[0053] The upper terminal 11 , the lower terminal 14 , the first switch claw 13 , and the second switch claw 15 are all magnetic parts.

[0054] By rotating the first inner gear 3, the movement of the first switch claw 13 can be controlled, so that the upper terminal 11 and the lower terminal 14 are both placed in the cavity of the buckle 12, and the upper filling part 38 and the lower filling part 39 of the buckle 12 are respectively placed in the first annular lower concave part 36 and the second annular lower concave part 37, so that the traction ropes 10 are connected through the upper terminal 11 and the lower terminal 14. Similarly, by rotating the second inner gear 6, the connection of another traction rope 10 is realized, and then the on-off control of the traction rope 10 is realized, and the two-stage control of the entire flexible mechanical arm is realized. When the traction rope 10 is tightened, the buckle 12 tightly clamps the upper terminal 11 and the lower terminal 14. When the traction rope 10 is relaxed, there is a certain gap between the upper terminal 11 and the lower terminal 14 in the cavity of the buckle 12. Since the first switch claw 13 and the second switch claw 15 are magnetic, the upper terminal 11 and the lower terminal 14 are separated by adsorption, and the traction rope 10 is disconnected.

[0055] A first protrusion 19 is provided on the outer surface of the first internal gear 3, and a second protrusion 21 is provided on the outer surface of the second internal gear 6;

[0056] The lower cover 4 is provided with a first elongated hole corresponding to the first protrusion 19 and a second elongated hole corresponding to the second protrusion 21 .

[0057] When the utility model is in use, the first internal gear 3 and the second internal gear 6 are rotated to drive the buckle 12 to connect the upper terminal 11 and the lower terminal 14, so that the upper terminal 11 and the lower terminal 14 are freed from the constraints of the upper limit groove and the lower limit groove, so that the traction rope 10 can move freely in the upper through hole and the lower through hole, and the corresponding flexible spring 7 is compressed by pulling the traction rope 10, so that the flexible connection module is biased in one direction, thereby realizing the steering of the flexible connection module, which effectively solves the technical problem that the existing rigid mechanical arm cannot work through a small space.

[0058] Embodiment 2

[0059] like Fig. 9As shown, the flexible robotic arm includes a base, on which are arranged several interconnected two-stage controllable flexible connection modules, a mechanical claw is arranged on the top of the uppermost flexible connection module, and the lowermost flexible connection module is connected to the base, and a traction motor corresponding to the traction rope 10 is arranged on the base, and each traction motor pulls a traction rope 10 separately. The present application can split a whole robotic arm into multiple modules through a claw hook mechanism, and the number of modules to be installed is determined according to the required length, which is conducive to the transportation and installation of the flexible robotic arm. Several flexible modules are connected to each other through a connecting mechanism to form a flexible robotic arm. The flexible robotic arm pulls the traction rope 10 through the traction motor arranged on the base, and then the direction of each module is controlled, and it can be moved in various narrow spaces. In addition, a spray gun or a welding gun can be installed on the top of the uppermost flexible connection module for spraying or welding work, and the hose can pass through a corresponding water pipe or wire to achieve the purpose of multi-function, which effectively solves the technical problem that the existing rigid robotic arm cannot work through a narrow space. Furthermore, the flexible robotic arm can also be equipped with an advanced intelligent control system to achieve precise movement and operation. These control systems use sensors, feedback mechanisms and algorithms to monitor and adjust the position, force and speed of the robot arm. This enables the flexible robot arm to achieve high-precision operations in complex and dynamic working environments and has adaptive capabilities. The robot arm of the present application has high adaptability to complex channels and imitates the softness of an "elephant trunk". Therefore, the flexible robot arm of the present application can reach some locations that are difficult for traditional robot arms to enter through some relatively curved and complex routes. For example, it reaches the destination through a continuous curved route.

[0060] In addition, in order to achieve flexibility and durability, high-strength, lightweight materials such as carbon fiber reinforced composites are used. At the same time, advanced manufacturing technologies such as 3D printing and composite material processing can be used to manufacture flexible robotic arms with complex shapes and structures. The application of these new materials and manufacturing technologies increases the lightweight and practicality of flexible robotic arms. In the manufacturing industry, flexible robotic arms can flexibly adapt to different production needs, such as assembly, handling and welding. In the medical field, flexible robotic arms can perform minimally invasive surgery and provide high-precision manipulation during surgery. At the same time, flexible robotic arms are also used for tasks in special environments such as environmental monitoring, dangerous rescue and military fields. The flexible robotic arm can also achieve high-precision operation through advanced intelligent control systems and precise position feedback. Compared with traditional robotic arms, high-precision operation can improve production efficiency and reduce human errors. The flexible robotic arm based on tensegrity structure is made of lightweight materials, which makes it have a lower dead weight. This lightweight design makes the robotic arm more maneuverable and fast, and can quickly respond to complex tasks. In addition, lightweight design can also reduce energy consumption and mechanical wear.

[0061] This embodiment does not impose any formal restrictions on the shape, material, structure, etc. of the utility model. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the utility model are within the protection scope of the technical solution of the utility model.

Claims

1. Two-stage controllable flexible connection module, characterized by: comprising an upper flexible connection unit and a lower flexible connection unit connected to each other; The upper flexible connection unit has the same structure as the lower flexible connection unit, and both include a bottom plate, on which a first switch claw and a second switch claw are staggeredly arranged along a circumference, the first switch claw includes a first gear tooth portion and a first claw hook portion, and the second switch claw includes a second gear tooth portion and a second claw hook portion; The bottom plate is also provided with a first internal gear and a second internal gear which are parallel to each other. The first switch claw is meshed with the first internal gear through the first gear teeth, and the second switch claw is meshed with the second internal gear through the second gear teeth, so that the rotation of the first internal gear drives the rotation of the first switch claw, and the rotation of the second internal gear drives the rotation of the second switch claw; The bottom plate is covered with a lower cover body, the top of the lower cover body is provided with lower through holes corresponding to the first switch claw and the second switch claw, a flexible spring is provided on the circumference of the lower through hole, the upper end of the flexible spring is connected to the upper cover body, the upper cover body is provided with an upper through hole corresponding to the lower through hole, a traction rope is passed through the flexible spring, the upper end of the traction rope is provided with an upper terminal, the lower end of the traction rope is provided with a lower terminal corresponding to the upper terminal, and the bottom plate is provided with mounting holes corresponding to the upper through hole and the lower through hole; An upper limit groove is arranged on the side of the upper through hole, a lower limit groove is arranged on the side of the lower through hole, the upper terminal is clamped in the upper limit groove, and the lower terminal is clamped in the lower limit groove.

2. The two-stage controllable flexible connection module according to claim 1, characterized in that: The upper flexible connection unit and the lower flexible unit are connected via a claw hook mechanism; The claw hook mechanism comprises a mounting plate arranged on the outer surface of the lower cover body, a claw hook assembly is arranged on the mounting plate, and a claw hook protrusion corresponding to the claw hook assembly is arranged on the outer surface of the upper cover body; The claw hook assembly includes a left claw hook and a right claw hook that are arranged relatively to each other. The left claw hook is installed on the mounting plate through a left torsion spring and a left torsion spring column, and the right claw hook is installed on the mounting plate through a right torsion spring and a right torsion spring column. A switch component that is slidably installed on the mounting plate is connected above the left claw hook and the right claw hook, and the switch component is connected to a switch button.

3. The two-stage controllable flexible connection module according to claim 2 is characterized in that: A vertical slide bar is arranged on the mounting plate, and a slide groove corresponding to the slide bar is arranged on the switch member; The upper surface of the switch piece is an inclined surface, the switch button bears against the inclined surface, and a return spring is arranged on the switch button.

4. The two-stage controllable flexible connection module according to claim 3 is characterized in that: The lower terminal includes a first lower cylindrical section and a first upper cylindrical section, the diameter of the first upper cylindrical section is smaller than that of the first lower cylindrical section, a first groove is arranged in the middle of the first lower cylindrical section, and the first upper cylindrical section is correspondingly clamped in the lower limit groove; The upper terminal comprises a second lower cylindrical section and a second upper cylindrical section, the diameter of the second lower cylindrical section is smaller than the diameter of the second upper cylindrical section, and the second lower cylindrical section is correspondingly clamped in the upper limit groove.

5. The two-stage controllable flexible connection module according to claim 4 is characterized in that: The first lower cylindrical section is concave inwardly along the middle of its outer circumferential contour to form a first annular concave portion, and a buckle is arranged in the first annular concave portion; The second upper cylindrical section is indented inwardly along its outer circumferential contour to form a second annular lower concave portion; The buckle comprises a semi-cylindrical shell, which comprises an upper filling portion corresponding to the first annular lower recess and a lower filling portion corresponding to the second annular lower recess, and a cavity is formed between the upper filling portion and the lower filling portion.

6. The two-stage controllable flexible connection module according to claim 5, characterized in that: An upper connecting through hole, a lower connecting through hole and a central hole are respectively arranged at the central positions of the upper cover body, the lower cover body and the bottom plate, and a corrugated hose is arranged between the upper connecting through hole and the lower connecting through hole.

7. The two-stage controllable flexible connection module according to claim 6, characterized in that: The upper terminal, the lower terminal, the first switch claw and the second switch claw are all magnetic parts.

8. The two-stage controllable flexible connection module according to claim 7, characterized in that: A first protrusion is arranged on the outer surface of the first internal gear, and a second protrusion is arranged on the outer surface of the second internal gear; The lower cover body is provided with a first elongated hole corresponding to the first protrusion and a second elongated hole corresponding to the second protrusion.

9. Flexible robotic arm, characterized by: It includes a base, on which are arranged a plurality of interconnected two-stage controllable flexible connection modules as described in any one of claims 1-8, a mechanical claw is arranged on the top of the uppermost flexible connection module, the lowermost flexible connection module is connected to the base, and a traction motor corresponding to the traction rope is arranged on the base, and each traction motor pulls a traction rope separately.

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