CN115070738A - Mechanical arm with flexible movement - Google Patents

Abstract

The invention discloses a mechanical arm with flexible motion, which comprises a support, a rotating platform, a first speed reducing motor, a screw rod mechanism, a moving arm, a clamping jaw fine adjustment mechanism and an electric clamping jaw, wherein the support is arranged on the rotating platform, and the first speed reducing motor is arranged on the support; the clamping jaw fine adjustment mechanism comprises a second speed reducing motor, a first worm and gear mechanism, a belt transmission mechanism and a rotating ring, the first worm and gear mechanism comprises a first worm and a first worm gear, the belt transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt for connecting the driving wheel and the driven wheel, the driving wheel is rotatably arranged on the moving arm, the driven wheel is coaxially connected with the rotating ring, and the rotating ring is rotatably arranged on the moving arm; the electric clamping jaw is arranged on the rotating ring. The electric clamping jaw can rotate in a large range to move quickly, can be finely adjusted in a small range to adjust the position, can move up and down to adjust the position, and is flexible in movement.

Description

Mechanical arm with flexible movement

Technical Field

The invention belongs to the field of robots, and particularly relates to a mechanical arm with flexible motion.

Background

As is well known, robots and equipment play more and more roles in helping human beings to produce and live, along with the development of science and technology, the types of robots and the industries used in the robots are more and more, and in the industries of mechanical manufacturing, metallurgy, electronics, light industry and the like, a lot of robots are used for replacing heavy labor of human beings.

The mechanical arm is the most important component of the robot, and the mechanical clamping jaw on the mechanical arm is used for grabbing, carrying, clamping and the like.

Mechanical jaws typically work by moving up and down and rotating in unison after they are in place, and after they are moved and rotated in place, they can be difficult to accomplish if they are fine-tuned to grasp an object, or they can require relatively complex movements between joints. In addition, most of the robots used at present are expensive, resulting in high initial investment cost and a large amount of preparation work before production, such as time consumption of programming and computer simulation processes.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides the mechanical arm with flexible movement, which is simple in structure and convenient to prepare, the electric clamping jaw can rotate in a large range to move quickly, the position can be adjusted in a fine adjustment mode in a small range, the position can be adjusted in an up-and-down mode, and the movement is flexible.

To achieve the above object, according to one aspect of the present invention, there is provided a robot arm with flexible movement, comprising a support, a rotating table, a first reduction motor, a screw mechanism, a moving arm, a jaw fine adjustment mechanism, and an electric jaw, wherein:

the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line;

the first speed reducing motor is arranged on the support, a lead screw of the lead screw mechanism is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the lead screw mechanism, the lower end of the lead screw mechanism is rotatably arranged on the rotating platform, and a transmission nut of the lead screw mechanism is fixedly connected with the moving arm;

the clamping jaw fine adjustment mechanism comprises a second speed reduction motor, a first worm gear mechanism, a belt transmission mechanism and a rotating ring, the second speed reduction motor is installed on the moving arm, the first worm gear mechanism comprises a first worm and a first worm wheel which are meshed with each other, the belt transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt connecting the driving wheel and the driven wheel, an output shaft of the second speed reduction motor is horizontally arranged and connected with the first worm, the first worm wheel and the driving wheel are coaxially arranged, the driving wheel is rotatably installed on the moving arm, the driven wheel and the rotating ring are coaxially connected, and the rotating ring is rotatably installed on the moving arm;

the electric clamping jaw is arranged on the rotating ring.

Preferably, the rotating platform comprises a shell, a third speed reduction motor, a second worm and gear mechanism, a transmission shaft, a bearing platform and a rotating disk, the third speed reducing motor is arranged in the shell, the second worm gear mechanism comprises a second worm and a second worm wheel which are meshed with each other, the second worm is connected with the third speed reducing motor, the central line of the second worm wheel is vertically arranged and the second worm wheel is coaxially connected with the transmission shaft, the top end of the shell is provided with the bearing table, the rotating disc is horizontally arranged and is supported by the bearing table, the upper end of the transmission shaft penetrates through the bearing table and then is connected with the rotating disc, and the transmission shaft is rotatably connected with the bearing table, and the lower end of the bracket and the lower end of a lead screw of the lead screw mechanism are arranged on the rotating disc so as to drive the bracket and the lead screw mechanism to rotate.

Preferably, the transmission shaft with bearing platform clearance fit, the top of bearing platform is provided with annular groove A, install many ball A in the annular groove A, the bottom of rotating disc is in the position that corresponds to annular groove A is provided with the annular groove B that is used for preventing these ball A from dropping, and all ball A all stretch into in the annular groove B.

Preferably, a protective cover is mounted on the housing;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is in corresponding to the position of annular groove C is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

Preferably, the moving arm is provided with a through hole, the lower part of the driving wheel extends into the through hole, the moving arm is fixedly provided with a baffle plate at the position corresponding to the driving wheel, the driving wheel comprises a wheel body and an annular boss A arranged at the lower part of the wheel body, the moving arm is provided with an annular boss B at a position corresponding to the annular boss A, the annular boss B is positioned above the annular boss A, the bottom surface and the top surface of the annular boss A are respectively provided with a circle of balls C and a circle of balls D, the balls C are arranged between the annular boss A and the baffle plate, and each ball C is clamped by the inner wall of the moving arm at the through hole and the wheel body, the balls D are arranged between the annular boss A and the annular boss B and each ball D is clamped by the inner wall of the moving arm at the through hole and the wheel body.

Preferably, the rotating ring is provided with a connecting shaft which is in clearance fit with the moving arm, the lower part of the rotating ring is provided with an annular groove C, a circle of balls E is arranged in the annular groove C, the moving arm receives the balls E, and the balls E receive the rotating ring;

the annular groove C is provided with a first groove wall and a second groove wall which are coaxial, the diameter of the first groove wall is smaller than that of the second groove wall, the moving arm is provided with an annular boss C at a position corresponding to the rotating ring, the annular boss C extends upwards, the annular boss C extends into the annular groove C, the inner wall of the annular boss C is in clearance fit with the first groove wall of the annular groove C, and each ball E is located between the outer wall of the annular boss C and the second groove wall of the annular groove C so as to prevent the ball E from falling.

Preferably, a circle of protrusion extends from the bottom of the moving arm, one end of the connecting shaft of the rotating ring, which extends out of the moving arm, penetrates through the protrusion and then is connected with a locknut, and the locknut is in contact with the circle of protrusion extending from the bottom of the moving arm.

Preferably, the moving arm is provided with the electric clamping jaw through a mounting block, and the electric clamping jaw is detachably connected with the mounting block.

Preferably, the rotating ring is provided with a flat position, the flat position penetrates through the driven wheel, and the part of the flat position penetrating through the driven wheel is connected with a locking nut, and the locking nut locks the driven wheel on the rotating ring.

Preferably, the device further comprises a plurality of guide rods, each guide rod is vertically arranged on the support, the moving arm comprises an arm body and a plurality of lugs arranged on the arm body, and each lug is movably arranged on one guide rod in a penetrating mode.

In general, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

1) the electric clamping jaw fine adjustment mechanism is simple in structure and convenient to use, and particularly can drive the electric clamping jaw to move up and down through the first speed reduction motor, the rotary table drives the electric clamping jaw to rotate in a large range in a horizontal plane, the rotary ring can be driven to rotate through the second speed reduction motor of the clamping jaw fine adjustment mechanism, so that the electric clamping jaw is driven to perform fine adjustment in a small range in the horizontal plane, the working stroke of the mechanical arm is effectively expanded, the mechanical arm is flexible in movement, and articles in the working range can be quickly and flexibly grabbed.

2) The electric clamping jaw and the moving arm are detachably mounted, different electric clamping jaws can be replaced according to different clamped articles, and the electric clamping jaw is convenient to detach and replace.

3) The transmission structure can realize self-locking by matching the lead screw and the transmission nut of the lead screw mechanism, so that the movable arm can also be self-locked, the speed reducing motor can be protected, and the service life of the whole structure of the mechanical arm is prolonged.

4) The up-down movement and the rotation movement of the moving arm are independently controlled, so that the mechanical arm can be opened independently and used in a combined manner, and the diversity is provided for the movement of the mechanical arm.

5) The electric clamping jaw is driven by electric power to move up and down, rotate and clamp by itself, and can be used in places with electricity, so that the electric clamping jaw is very convenient to work.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a schematic structural view of an electric clamping jaw and a clamping jaw fine adjustment mechanism arranged on a moving arm in the invention;

fig. 3 is a cross-sectional view of the present invention.

Fig. 4 is an exploded view of the actuator of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 4, a robot arm with flexible movement comprises a support 7, a rotary table, a first speed reduction motor, a screw mechanism, a moving arm, a jaw fine adjustment mechanism and an electric jaw 15, wherein the moving arm comprises a lower support plate 25, a mounting frame 26, a first mounting cover plate 5 and a second mounting cover plate 8, the second mounting cover plate 8 covers the mounting frame 26 and is fixedly connected with the mounting frame 26, wherein:

the bracket 7 is arranged on the rotating platform and is used for driving the bracket 7 to rotate around a vertical line; the rotary table can adopt the existing structure and can drive the bracket 7 to rotate by 360 degrees.

The mounting on support 7 first gear motor, the vertical setting of lead screw 4 of screw mechanism, first gear motor's output shaft with the upper end of screw 4 of screw mechanism is connected, the rotatable installation of lower extreme of screw 4 of screw mechanism is in on the revolving stage, screw mechanism's drive nut 21 with removal arm fixed connection. Specifically, the first speed reducing motor comprises a first driving motor 1 and a first gear box 2, an input shaft of the first gear box 2 is connected with an output shaft of the first driving motor 1, and an output shaft of the first gear box 2 is connected with a lead screw 4 of the lead screw mechanism. The first gearbox 2 is mounted on the support 7 via the flange 3, and the inner teeth of the drive nut 21 are in engagement with the outer teeth of the lead screw 4, which translates the rotation of the lead screw 4 into a movement of the drive nut 21. The first drive motor 1 allows the entire movable arm to have a degree of freedom of moving up and down.

The clamping jaw fine adjustment mechanism comprises a second speed reduction motor, a first worm gear mechanism, a belt transmission mechanism and a rotating ring 24, the second speed reduction motor is mounted on a mounting frame 26 of the moving arm, the first worm gear mechanism comprises a first worm 18 and a first worm wheel 19 which are meshed with each other, the belt transmission mechanism comprises a driving wheel 20, a driven wheel 23 and a transmission belt 22 which connects the driving wheel 20 and the driven wheel 23, an output shaft of the second speed reduction motor is horizontally arranged and is connected with the first worm 18, the first worm wheel 19 is coaxially arranged with the driving wheel 20, the driving wheel 20 is rotatably mounted on the moving arm, the driven wheel 23 is coaxially connected with the rotating ring 24, and the rotating ring 24 is rotatably mounted on the moving arm; specifically, the second reduction motor includes a second drive motor 16 and a second gear box 17, an input shaft of the second gear box 17 is connected to an output shaft of the second drive motor 16, and an output shaft of the second gear box 17 is connected to the first worm 18. The first mounting cover plate 5 covers the first worm and gear mechanism and the belt transmission mechanism and the rotating ring 24, and the second mounting cover plate 8 covers the second reduction motor.

The electric clamping jaw 15 is arranged on the rotating ring 24 and can rotate along with the rotating ring 24 to perform fine adjustment on the position.

Further, the revolving stage includes shell 14, third gear motor, second worm gear mechanism, transmission shaft 33, bearing platform and rotating disc 12, third gear motor sets up in shell 14, second worm gear mechanism includes intermeshing's second worm 34 and second worm wheel 35, second worm 34 is connected third gear motor, third gear motor sets up in shell 14, third gear motor includes third driving motor 32 and third gear box 31, the mounting panel A that is provided with in the shell 14, third gear box 31 installs on the mounting panel A. An input shaft of the third gear box 31 is connected to an output shaft of the third driving motor 32, and an output shaft of the third gear box 31 is connected to the second worm 34. The center line of the second worm wheel 35 is vertically arranged, the second worm wheel 35 is coaxially connected with the transmission shaft 33, the top end of the housing 14 is provided with the bearing table, the rotating disc 12 is horizontally arranged and is supported by the bearing table, the upper end of the transmission shaft 33 penetrates through the bearing table and is connected with the rotating disc 12, the transmission shaft 33 is rotatably connected with the bearing table, and the bracket 7 is mounted at the top end of the rotating disc 12 and is used for driving the bracket 7 to rotate. The third driving motor 32 is transversely arranged inside the housing 14, the rear end of the third driving motor 32 is provided with an encoder, the front end of the third driving motor is provided with a third gear box 31, and the third gear box 31 is fixedly arranged on a mounting plate A inside the housing 14 and is fixed through screws. The second worm 34 protrudes from the through hole of the mounting plate a and is horizontally disposed within the housing 14. The second worm and gear mechanism has a self-locking function and is matched with the self-locking function of the screw rod mechanism, so that the electric mechanical claw is effectively prevented from shifting caused by uncontrollable factors. The third gear motor is meshed with the second worm 34 through the second worm wheel 35, and transmits the staggered motion to drive the rotating disc 12 to rotate, so that the whole mechanical arm has the rotating degree of freedom. The rotation of the rotating disc 12 can drive the bracket 7 and the first speed reducing motor on the bracket 7 and the moving arm on the transmission nut 21 to rotate.

The transmission shaft 33 is in clearance fit with the bearing table, the top end of the bearing table is provided with an annular groove A, a plurality of balls A30-2 are installed in the annular groove A, the bottom end of the rotating disc 12 is provided with an annular groove B used for preventing the balls A30-2 from falling at a position corresponding to the annular groove A, all the balls A30-2 extend into the annular groove B, and the friction force between the rotating disc 12 and the bearing table can be reduced through the balls A30-2. By adopting the ball A30-2, the bearing 37 does not need to be arranged between the transmission shaft 33 and the bearing platform, so that the transmission shaft 33, the rotating disc 12 and other parts are convenient to disassemble and assemble.

Further, a protective cover 13 is installed on the outer shell 14, an annular groove C is formed in the top end of the rotating disc 12, a plurality of balls B30-1 are installed in the annular groove C, an annular groove D for preventing the balls B30-1 from falling is formed in the position, corresponding to the annular groove C, of the bottom end of the protective cover 13, and all the balls B30-1 extend into the annular groove D. The rotation disk 12 is protected by the protective cover 13, and the ball B30-1 reduces the friction between the protective cover 13 and the rotation disk 12. The casing comprises a shell 14, a bottom cover 36 and a top cover 11, wherein the bottom cover 36 receives the shell 14 and the top cover 11, and the bottom cover 36 and the shell 14 together enclose the third speed reduction motor. The protective cover 13 is fixedly arranged on the shell 14 through screws, the top cover 11 is also fixedly arranged on the shell 14 through screws, the bottom cover 36 is fixedly arranged at the bottom of the shell 14, and the protective cover 13, the shell 14, the bottom cover 36 and the upper cover integrally wrap the rotary disc 12 and driving structures such as a second speed reduction motor and the like, so that the rotary table becomes an independent module.

Further, the moving arm is provided with a through hole, the lower portion of the driving wheel 20 extends into the through hole, the moving arm is fixedly provided with a baffle 39 at a position corresponding to the driving wheel 20, the driving wheel 20 is a special-shaped wheel, the driving wheel 20 comprises a wheel body and an annular boss a arranged at the lower portion of the wheel body, the moving arm is provided with an annular boss B at a position corresponding to the annular boss a, the annular boss B is positioned above the annular boss a, the bottom surface and the top surface of the annular boss a are respectively provided with a circle of balls C29-1 and a circle of balls D29-2, the balls C29-1 are arranged between the annular boss a and the baffle 39, each ball C29-1 is clamped by the inner wall of the moving arm at the through hole and the wheel body, the balls D29-2 are arranged between the annular boss a and the annular boss B, and each ball D29-2 is clamped by the moving arm at the through hole The inner wall of the hole and the wheel body are clamped. The annular boss B and the baffle 39 limit the vertical axial movement of the driving wheel 20 in the vertical direction respectively, and the inner wall of the through hole, the circle of ball C29-1 and the circle of ball D29-2 limit the radial movement of the driving wheel 20 together, so that the axial direction and the radial direction of the driving wheel 20 are limited and cannot fall off, but the rotation of the driving wheel 20 is not limited, and the driving wheel 20 can flexibly rotate. And the driving wheel 20 is not installed through a bearing, so that the driving wheel 20 is convenient to disassemble and assemble.

Further, the rotating ring 24 has a connecting shaft which is in clearance fit with the moving arm, the lower part of the rotating ring 24 is provided with an annular groove C, a circle of balls E is arranged in the annular groove C, the moving arm receives the balls E27, and the balls E receive the rotating ring 24; the annular groove C has a first groove wall and a second groove wall which are coaxial, the diameter of the first groove wall is smaller than that of the second groove wall, the moving arm is provided with an annular boss C at a position corresponding to the rotating ring 24, the annular boss C extends upwards, the annular boss C extends into the annular groove C, the inner wall of the annular boss C is in clearance fit with the first groove wall of the annular groove C, and each ball E27 is located between the outer wall of the annular boss C and the second groove wall of the annular groove C to prevent the ball E27 from falling.

The axial displacement of the rotating ring 24 is restricted by the balls E27 and the moving arms in the axial direction, and the radial displacement is restricted by the balls E27, the annular boss C, and the like, so that the rotating ring 24 can be smoothly rotated, and the rotating ring 24 is not mounted by bearings, which facilitates the mounting and dismounting of the rotating ring 24 and the like.

Further, a circle of bulges extend from the bottom of the moving arm, one end of the connecting shaft of the rotating ring 24, which extends out of the moving arm, penetrates through the bulges and then is connected with a locknut 28-2, and the locknut 28-2 is in contact with the circle of bulges extending from the bottom of the moving arm. The locknut 28-2 rotates together with the rotating ring 24, connects the rotating ring 24 and the driven ring 23 to the moving arm, and regulates the position of the rotating ring 24 to prevent the rotating ring 24 and the driven ring 23 from being displaced.

Further, the moving arm is installed through the installation block 6 and is provided with the electric clamping jaw 15, and the electric clamping jaw 15 is detachably connected with the installation block 6. Electronic clamping jaw 15 passes through screw fixed mounting on installation piece 6, and the rotation through rotatory ring 24 drives the rotation of installation piece 6, and then drives electronic clamping jaw 15's rotation, makes electronic clamping jaw 15 snatch the removal more nimble.

Further, the rotating ring 24 is provided with a flat position 38, the flat position 38 penetrates through the driven wheel 23, a locking nut 28-1 is connected to the part of the flat position 38 penetrating through the driven wheel 23, and the locking nut 28-1 locks the driven wheel 23 on the rotating ring 24. The flat portion 38 allows the driven wheel 23 and the rotating ring 24 to be connected together without relative movement.

Furthermore, the invention also comprises a plurality of guide rods 10, each guide rod 10 is vertically arranged on the bracket 7, the moving arm comprises an arm body and a plurality of lugs 9 arranged on the arm body, each lug 9 is movably arranged on one guide rod 10 in a penetrating way, and the guide rods 10 guide the moving arm to move up and down.

The first driving motor 1, the second driving motor 16 and the third driving motor 32 are all provided with encoders, and closed-loop control can be realized.

The driver is independently designed and used for driving the first speed reduction motor, the second speed reduction motor and the third speed reduction motor to rotate and the electric clamping jaw 15 to work, the driver comprises a driver upper cover 41, a PCB 42 and a mounting plate B43, the driver upper cover 41 and the PCB 42 are both mounted on the mounting plate B, and the driver upper cover 41 surrounds the PCB 42, so that the PCB 42 is positioned in the driver upper cover 41. The PCB 42 is fixedly mounted on the mounting plate B43 through four screws A40-2, the driver upper cover 41 and the mounting plate B43 are fixedly mounted through four screws B40-1, the PCB 42 is wrapped in the driver upper cover 41 and integrally becomes a driver, and the position of the driver can be flexibly set. The driver can be arranged inside the top cover 11 or outside the mechanical arm for driving and controlling the movement of the mechanical arm. The bottom cover 36 and top cover 11 together enclose the drive inside.

The working process of the invention is as follows:

after the first driving motor 1 is electrified, the screw rod 4 is driven to rotate (the screw rod 4 is a right-handed screw rod 4). From the top down, when lead screw 4 anticlockwise rotation, drive nut 21 moves down, drives whole moving arm and moves down, through switching on for electronic clamping jaw 15, makes the clamp of electronic clamping jaw 15 indicate to open and shut, can press from both sides the article of getting the low department, also can carry the article of eminence to the low department. When the screw rod 4 rotates clockwise, the transmission nut 21 moves upwards to drive the moving arm to move upwards integrally, so that articles at a lower position can be carried to a higher position, and articles at the higher position can be clamped. The guide rod 10 and the bracket 7 provide upper and lower limiting points for the transmission nut 21, so that the moving arm can only move up and down freely in the limiting points.

After the second driving motor 16 is powered on, the first worm 18 is driven to rotate, and then the first worm wheel 19 meshed with the first worm is driven to rotate, the first worm wheel 19 rotates to drive a driving wheel 20 coaxially arranged with the first worm wheel, the driving wheel 20 drives a driven wheel 23 to rotate through a transmission belt 22, and then the rotating ring 24 is driven to rotate, the rotating ring 24 rotates to drive the mounting block 6 to rotate, and then the electric clamping jaw 15 mounted on the mounting block 6 is driven to rotate.

After the third driving motor 32 is electrified, the second worm 34 is driven to rotate, the second worm 34 rotates to drive the second worm meshed with the second worm to rotate, the second worm wheel 35 rotates to drive the transmission shaft 33 fixedly installed with the second worm wheel 35 to rotate, the rotating disc 12 installed at the upper end of the transmission shaft 33 is further driven to rotate, and the rotating disc 12 rotates to drive the moving arm and the electric clamping jaw 15 to integrally rotate.

First driving motor 1, second driving motor 16, third driving motor 32 and electronic clamping jaw 15 are the individual drive, and the independent control, mutual noninterference can the motion of the electronic clamping jaw 15 of independent control arm, makes the electronic clamping jaw 15 of arm can the centre gripping, press from both sides, loosen article, can make up at will again, provides the variety for the motion of arm. And all have encoders, can realize closed-loop control.

If the spindle 4 is left-handed to the spindle 4, the movement of the drive nut 21 is reversed.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a flexible arm moves which characterized in that, includes support, revolving stage, a gear motor, screw mechanism, carriage arm, clamping jaw fine-tuning and electronic clamping jaw, wherein:

the bracket is arranged on the rotating platform and is used for driving the bracket to rotate around a vertical line;

the first speed reducing motor is arranged on the support, a lead screw of the lead screw mechanism is vertically arranged, an output shaft of the first speed reducing motor is connected with the upper end of the lead screw mechanism, the lower end of the lead screw mechanism is rotatably arranged on the rotating platform, and a transmission nut of the lead screw mechanism is fixedly connected with the moving arm;

the clamping jaw fine adjustment mechanism comprises a second speed reduction motor, a first worm gear mechanism, a belt transmission mechanism and a rotating ring, the second speed reduction motor is installed on the moving arm, the first worm gear mechanism comprises a first worm and a first worm wheel which are meshed with each other, the belt transmission mechanism comprises a driving wheel, a driven wheel and a transmission belt connecting the driving wheel and the driven wheel, an output shaft of the second speed reduction motor is horizontally arranged and connected with the first worm, the first worm wheel and the driving wheel are coaxially arranged, the driving wheel is rotatably installed on the moving arm, the driven wheel and the rotating ring are coaxially connected, and the rotating ring is rotatably installed on the moving arm;

the electric clamping jaw is arranged on the rotating ring.

2. A flexible robot arm according to claim 1, wherein the rotary table comprises a housing, a third reduction motor, a second worm-gear mechanism, a transmission shaft, a bearing table and a rotary disc, the third reduction motor is disposed in the housing, the second worm-gear mechanism comprises a second worm and a second worm gear which are engaged with each other, the second worm is connected with the third reduction motor, the center line of the second worm gear is vertically disposed and the second worm gear is coaxially connected with the transmission shaft, the top end of the housing is disposed with the bearing table, the rotary disc is horizontally disposed and received by the bearing table, the upper end of the transmission shaft passes through the bearing table and then is connected with the rotary disc, the transmission shaft is rotatably connected with the bearing table, the rotary disc is mounted with the lower end of the bracket and the lower end of the lead screw mechanism, so as to drive the bracket and the screw rod mechanism to rotate.

3. A flexible mechanical arm as claimed in claim 2, wherein the transmission shaft is in clearance fit with the bearing platform, the top end of the bearing platform is provided with an annular groove A, a plurality of balls A are mounted in the annular groove A, the bottom end of the rotating disk is provided with an annular groove B corresponding to the annular groove A for preventing the balls A from falling off, and all the balls A extend into the annular groove B.

4. A flexible robotic arm as claimed in claim 1, in which a protective cover is mounted to the housing;

the top of rotating disc is provided with annular groove C, install many balls B in the annular groove C, the bottom of visor is in corresponding to the position of annular groove C is provided with the annular groove D that is used for preventing these balls B from dropping, and all balls B all stretch into in the annular groove D.

5. A flexible robotic arm as claimed in claim 1 in which the transfer arm is provided with a through hole, the lower part of the driving wheel extends into the through hole, the moving arm is fixedly provided with a baffle plate at the position corresponding to the driving wheel, the driving wheel comprises a wheel body and an annular boss A arranged at the lower part of the wheel body, the moving arm is provided with an annular boss B at the position corresponding to the annular boss A, the annular boss B is positioned above the annular boss A, the bottom surface and the top surface of the annular boss A are respectively provided with a circle of ball C and a circle of ball D, the balls C are arranged between the annular boss A and the baffle plate and each ball C is clamped by the inner wall of the moving arm at the through hole and the wheel body, the balls D are arranged between the annular boss A and the annular boss B and each ball D is clamped by the inner wall of the moving arm at the through hole and the wheel body.

6. A flexible robotic arm as claimed in claim 1, wherein said rotating ring has a coupling shaft and said coupling shaft is in clearance fit with said moving arm, said rotating ring having a lower portion provided with an annular groove C, said annular groove C having a ring of balls E disposed therein, said moving arm receiving said balls E, said balls E receiving said rotating ring;

the annular groove C is provided with a first groove wall and a second groove wall which are coaxial, the diameter of the first groove wall is smaller than that of the second groove wall, the moving arm is provided with an annular boss C at a position corresponding to the rotating ring, the annular boss C extends upwards, the annular boss C extends into the annular groove C, the inner wall of the annular boss C is in clearance fit with the first groove wall of the annular groove C, and each ball E is located between the outer wall of the annular boss C and the second groove wall of the annular groove C so as to prevent the ball E from falling.

7. A flexible mechanical arm as claimed in claim 6, wherein a ring of protrusions extends from the bottom of the movable arm, and a locking nut is connected to the end of the rotating ring extending out of the movable arm and passing through the protrusions, and the locking nut contacts with the ring of protrusions extending from the bottom of the movable arm.

8. A flexible motion robotic arm as claimed in claim 1 in which the moving arm mounts the motorized gripping jaw via a mounting block to which the motorized gripping jaw is releasably attached.

9. A flexible motion robotic arm as claimed in claim 1, wherein the rotating ring is provided with a flat portion, the flat portion passes through the driven wheel, and a locking nut is connected to the portion of the flat portion passing through the driven wheel, the locking nut locking the driven wheel to the rotating ring.

10. The mechanical arm with flexible motion as claimed in claim 1, further comprising a plurality of guide rods, each guide rod is vertically arranged on the support, the moving arm comprises an arm body and a plurality of ears arranged on the arm body, and each ear is movably mounted on one guide rod in a penetrating manner.

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