Flexible mechanical arm

Abstract

The utility model discloses a flexible mechanical arm, which belongs to the technical field of mechanical arms and comprises a flexible mechanical arm body, a mounting block is fixed at the tail end of the flexible mechanical arm body, a first operation tool and a second operation tool are arranged in the mounting block in a penetrating manner, and an operation tool switching mechanism is arranged on the upper portion of the mounting block. The operation tool switching mechanism comprises a magnetic rotating disc, a positioning circular plate, an extrusion ring, an anti-falling end plate and a supporting spring; the magnetic rotating disc is rotationally connected to the upper part of the mounting block; according to the flexible mechanical arm, through the arranged operation tool switching mechanism, different types of first operation tools and second operation tools are intensively clamped in the mounting block, so that flexible switching of machining modes can be facilitated, and multifunctional switching implementation conditions are provided for the flexible mechanical arm; in addition, when the first operation tool and the second operation tool are used, the first operation tool and the second operation tool are pressed and positioned through an anti-disengaging abutting plate and a supporting spring, the disassembly and assembly mode is flexible, and the operation head has certain impact resistance elasticity.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a flexible mechanical arm. Background Art

[0002] A flexible robotic arm is a mechanical device made of soft or hyperelastic materials. Its application areas include: flexible robotic arms are widely used in complex terrain exploration, medical surgery, beverage filling and other fields. Its working principle is based on bionics, material mechanics, etc. It achieves flexible movement of joints by controlling motors and transmission devices. The flexibility mainly comes from the joint transmission mechanism, which enables the robotic arm to show a certain degree of flexibility and compliance during movement.

[0003] At present, flexible robotic arms realize different processing methods by arranging different processing tools at the end. However, the working tools are generally fixed to the end of the arm with screws. The working tools arranged in this way are not convenient for flexible switching. To replace the new working tools, the original ones need to be removed before they can be replaced, which will result in a long waiting time for switching the working tools. Alternatively, arranging multiple flexible robotic arms to realize multi-functional processing will occupy processing space and increase equipment investment. Utility Model Content

[0004] The purpose of the present invention is to provide a flexible robotic arm to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a flexible robotic arm, comprising a flexible robotic arm body, a mounting block fixed to the end of the flexible robotic arm body, a first working tool and a second working tool inserted into the interior of the mounting block, a working tool switching mechanism provided on the upper part of the mounting block, the working tool switching mechanism comprising a magnetic rotating disk, a positioning circular plate, an extrusion ring, an anti-fall end plate and a support spring, the magnetic rotating disk being rotatably connected to the upper part of the mounting block, the positioning circular plate being arranged above the magnetic rotating disk, the extrusion ring being respectively sleeved on the side surfaces of the first working tool and the second working tool, the anti-fall end plates being respectively fixed to the upper ends of the first working tool and the second working tool, and the support springs being respectively sleeved on the outside of the first working tool and the second working tool.

[0006] It should be noted in the solution that a steering ring groove is provided on the upper end surface of the mounting block, and the annular slider of the magnetic rotating disk is rotatably connected to the steering ring groove of the mounting block.

[0007] It is further worth mentioning that a support plate is fixed on the inner wall of the mounting block, and the upper end of the support spring is fixed on the lower end surface of the extrusion ring.

[0008] It should be further explained that a magnetic attraction receiving opening is provided on the upper end surface of the magnetic rotating disk, and the extrusion ring is magnetically attracted to the magnetic attraction receiving opening of the magnetic rotating disk.

[0009] As a preferred embodiment, a connecting rotary column is fixed between the magnetic rotating disk and the positioning circular plate, and one end of the connecting rotary column passing through the positioning circular plate is rotatably connected to a rotating support arm, and one end of the rotating support arm is fixed with an anti-slip plate, and the lower end of the anti-slip plate is attached to the upper end surface of the anti-fall end plate, and a clearance is provided between the extrusion ring and the magnetic rotating disk.

[0010] As a preferred embodiment, a support frame is provided at the lower part of the flexible robotic arm body, and a moving wheel is provided at the bottom of the support frame.

[0011] Compared with the prior art, the flexible robotic arm provided by the present invention has at least the following beneficial effects:

[0012] Through the setting of the working tool switching mechanism, different types of first working tools and second working tools are centrally clamped in the mounting block, which can facilitate the flexible switching of processing methods and provide the flexible robotic arm with multi-functional switching implementation conditions. In addition, the first working tool and the second working tool are tightened and positioned by the anti-slip plate and the support spring when in use, which has the advantages of more flexible disassembly and assembly and a certain impact resistance of the working head.

[0013] By setting up a magnetic rotating disk, rotating the magnetic rotating disk can drive the first working tool and the second working tool to adjust their positions inside the mounting block, so that the second working tool can flexibly replace the work station where the first working tool is located, thereby realizing the effect of multi-functional processing switching for the flexible robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional diagram of the overall structure of the utility model;

[0015] Figure 2 This is a three-dimensional diagram of the cross-sectional structure of the mounting block of the present utility model;

[0016] Figure 3 This is a three-dimensional diagram of the steering ring groove structure of the present utility model;

[0017] Figure 4 This is a three-dimensional diagram of the structure of the first working tool of the present utility model.

[0018] In the figure: 1. Flexible robotic arm body; 2. Support frame; 3. Mounting block; 4. Magnetic rotating disk; 5. Connecting rotary column; 6. Positioning circular plate; 7. First working tool; 8. Second working tool; 9. Extrusion ring; 10. Anti-fall end plate; 11. Magnetic receiving port; 12. Support plate; 13. Support spring; 14. Steering ring groove; 15. Rotating support arm; 16. Anti-slip plate. DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0020] See also Figure 1-4 The utility model provides a flexible robotic arm, including a flexible robotic arm body 1, a mounting block 3 is fixed at the end of the flexible robotic arm body 1, a first working tool 7 and a second working tool 8 are passed through the interior of the mounting block 3, and a working tool switching mechanism is provided on the upper part of the mounting block 3. The working tool switching mechanism includes a magnetic rotating disk 4, a positioning circular plate 6, an extrusion ring 9, an anti-fall end plate 10 and a support spring 13. The magnetic rotating disk 4 is rotatably connected to the upper part of the mounting block 3, the positioning circular plate 6 is arranged above the magnetic rotating disk 4, the extrusion ring 9 is respectively sleeved on the side surfaces of the first working tool 7 and the second working tool 8, the anti-fall end plates 10 are respectively fixed to the upper ends of the first working tool 7 and the second working tool 8, and the support springs 13 are respectively sleeved on the outside of the first working tool 7 and the second working tool 8.

[0021] Further as Figure 1 、 Figure 2 and Figure 3 As shown, it is worth mentioning that a turning ring groove 14 is provided on the upper end surface of the mounting block 3 , and the annular slider of the magnetic rotating disk 4 is rotatably connected in the turning ring groove 14 of the mounting block 3 .

[0022] Further as Figure 3 As shown, it is worth noting that a support plate 12 is fixed on the inner wall of the mounting block 3 , and the upper end of the support spring 13 is fixed on the lower end surface of the extrusion ring 9 .

[0023] This solution has the following working process: before use, the first working tool 7 and the second working tool 8 of different working types are sequentially placed in the mounting block 3 along the positioning circular plate 6, the magnetic receiving port 11 of the magnetic rotating disk 4 and the support plate 12. The first working tool 7 and the second working tool 8 of different types are centrally clamped in the mounting block 3, which can facilitate the flexible switching of processing methods and provide the flexible robotic arm with multi-functional switching implementation conditions. When the first working tool 7 is used for processing, the extrusion ring 9 on the first working tool 7 causes extrusion deformation to the support spring 13, and at the same time, the anti-slip plate 16 uses the rotating support arm 15 to move along the connecting The rotating column 5 rotates to above the anti-fall end plate 10 of the first working tool 7, and the anti-slip plate 16 cooperates with the support spring 13 to limit the height of the first working tool 7 extending out of the positioning circular plate 6. At this time, the working head at the lower end of the first working tool 7 extends out of the mounting block 3, and the second working tool 8 is magnetically adsorbed in the magnetic accommodating port 11 of the magnetic rotating disk 4 through the extrusion ring 9 to limit the position and allow the working end to be stored in the mounting block 3. When in use, the first working tool 7 and the second working tool 8 are tightened and positioned using the anti-slip plate 16 and the support spring 13, which has the advantages of flexible disassembly and assembly and a certain impact resistance of the working head.

[0024] According to the above working process, it can be seen that different types of first working tools 7 and second working tools 8 are centrally clamped in the mounting block 3, which can facilitate the flexible switching of processing methods and provide the flexible robotic arm with multi-functional switching implementation conditions. In addition, the first working tool 7 and the second working tool 8 are pressed and positioned using the anti-slip plate 16 and the support spring 13 when in use, which has the advantages of more flexible disassembly and assembly and a certain impact resistance of the working head.

[0025] Further as Figure 1 、 Figure 2 and Figure 4 As shown, it is worth mentioning that a magnetic attraction receiving opening 11 is provided on the upper end surface of the magnetic rotating disk 4 , and the extrusion ring 9 is magnetically attracted to the magnetic attraction receiving opening 11 of the magnetic rotating disk 4 .

[0026] Further as Figure 4 As shown, it is worth mentioning that a connecting rotary column 5 is fixed between the magnetic rotating disk 4 and the positioning circular plate 6, and one end of the connecting rotary column 5 passing through the positioning circular plate 6 is rotatably connected to a rotating support arm 15, and one end of the rotating support arm 15 is fixed with an anti-slip plate 16, and the lower end of the anti-slip plate 16 is fitted to the upper end surface of the anti-fall end plate 10, and a clearance is provided between the extrusion ring 9 and the magnetic rotating disk 4. During use, when the working heads of the first working tool 7 and the second working tool 8 are lifted out of the support plate 12, the magnetic rotating disk 4 is rotated to drive the first working tool 7 and the second working tool 8 to adjust their positions inside the mounting block 3, so that the second working tool 8 can flexibly replace the work station where the first working tool 7 is located, thereby realizing the effect of multi-functional processing switching for the flexible robotic arm.

[0027] Further as Figure 1 As shown, it is worth noting that a support frame 2 is provided at the lower part of the flexible robotic arm body 1, and a moving wheel is provided at the bottom of the support frame 2.

[0028] In summary: different types of first working tools 7 and second working tools 8 are centrally clamped in the mounting block 3, which can facilitate the flexible switching of processing methods and provide the flexible robotic arm with multi-functional switching implementation conditions. In addition, the first working tool 7 and the second working tool 8 are pressed and positioned by the anti-slip plate 16 and the support spring 13 when in use, which has the advantages of flexible disassembly and assembly and a certain impact resistance of the working head; rotating the magnetic rotating disk 4 can drive the first working tool 7 and the second working tool 8 to adjust their positions inside the mounting block 3, so that the second working tool 8 can flexibly replace the work station where the first working tool 7 is located, thereby realizing the effect of multi-functional processing switching for the flexible robotic arm.

[0029] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Although the embodiments of the present invention have been shown and described, this does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention. Regarding the contents of the embodiments of the present invention, ordinary technicians in this field can understand that these embodiments can be subjected to various changes, modifications, substitutions and variations without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A flexible robotic arm, comprising a flexible robotic arm body (1), characterized in that: A mounting block (3) is fixed to the end of the flexible robotic arm body (1), and a first working tool (7) and a second working tool (8) are inserted into the interior of the mounting block (3). A working tool switching mechanism is provided on the upper part of the mounting block (3), and the working tool switching mechanism comprises a magnetic rotating disk (4), a positioning circular plate (6), an extrusion ring (9), an anti-fall end plate (10) and a support spring (13). The magnetic rotating disk (4) is rotatably connected to the upper part of the mounting block (3), the positioning circular plate (6) is arranged above the magnetic rotating disk (4), the extrusion ring (9) is respectively sleeved on the side surfaces of the first working tool (7) and the second working tool (8), the anti-fall end plate (10) is respectively fixed to the upper ends of the first working tool (7) and the second working tool (8), and the support spring (13) is respectively sleeved on the outside of the first working tool (7) and the second working tool (8).

2. The flexible robotic arm according to claim 1, characterized in that: The upper end surface of the mounting block (3) is provided with a steering ring groove (14), and the annular slider of the magnetic rotating disk (4) is rotatably connected in the steering ring groove (14) of the mounting block (3).

3. The flexible robotic arm according to claim 2, characterized in that: A support plate (12) is fixed on the inner wall of the mounting block (3), and the upper end of the support spring (13) is fixed on the lower end surface of the extrusion ring (9).

4. The flexible robotic arm according to claim 3, characterized in that: The upper end surface of the magnetic rotating disk (4) is provided with a magnetic attraction accommodating opening (11), and the extrusion ring (9) is magnetically attracted to the magnetic attraction accommodating opening (11) of the magnetic rotating disk (4).

5. The flexible robotic arm according to claim 4, characterized in that: A connecting rotating column (5) is fixed between the magnetic rotating disk (4) and the positioning circular plate (6); one end of the connecting rotating column (5) passing through the positioning circular plate (6) is rotatably connected to a rotating support arm (15); one end of the rotating support arm (15) is fixed to an anti-slip plate (16); the lower end of the anti-slip plate (16) is attached to the upper end surface of the anti-fall end plate (10); and a clearance gap is provided between the extrusion ring (9) and the magnetic rotating disk (4).

6. The flexible robotic arm according to claim 5, characterized in that: A support frame (2) is provided at the lower part of the flexible mechanical arm body (1), and a moving wheel is provided at the bottom of the support frame (2).

Images