CN221135879U - Modularized mechanical arm control module - Google Patents

Abstract

The utility model discloses a modularized mechanical arm control module, which comprises: the mechanical arm comprises a first platform and a second platform, wherein a wire passing flexible shaft is arranged between the first platform and the second platform, two ends of the wire passing flexible shaft are respectively arranged at the centers of the first platform and the second platform, an arc-shaped connecting rod assembly is further arranged between the first platform and the second platform, two ends of the arc-shaped connecting rod assembly are respectively connected with the first platform and the second platform, the arc-shaped connecting rod assembly is arranged outside the wire passing flexible shaft, one surface, far away from the arc-shaped connecting rod assembly, of the second platform is provided with a driving mechanism, and the driving mechanism is matched with the arc-shaped connecting rod assembly to improve the loading capacity and the transmission efficiency of the mechanical arm, reduce the manufacturing cost and improve the stability of the mechanical arm.

Description

Modularized mechanical arm control module

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a modularized mechanical arm control module.

Background

At present, with the rapid development of robot technology, robots are increasingly applied by factories, and various industries are involved. However, the conventional robot lacks reconfigurability and generally can only meet a single production job or production task, so that the requirements on multi-task application and high flexibility are difficult to meet;

The modularized design of the robot has the advantages of conveniently changing the degree of freedom and the configuration of the robot, and the like, so that the problems of adaptability of the robot to tasks and application occasions and the like can be well solved;

As disclosed in chinese patent 201910821975.3, a rope-driven large-angle flexible joint and a robot, the flexible joint comprises a first platform, a second platform, an elastic branched chain and a plurality of rigid branched chains, two ends of the elastic branched chain are respectively and fixedly connected to the first platform and the second platform, the rigid branched chain comprises a connecting rod, a first rotating joint and a second rotating joint, one end of the connecting rod is connected to the first platform through the first rotating joint, the other end of the connecting rod is connected to the second platform through the second rotating joint, the first rotating joint comprises a first connecting piece with two rotating pairs, the first connecting piece is respectively connected to the first platform and the connecting rod, the second rotating joint comprises a second connecting piece with two rotating pairs and a third connecting piece with one rotating pair, the second connecting piece is respectively connected to one ends of the second platform and the third connecting piece, and the other end of the third connecting piece is connected to the connecting rod;

In the prior art of the patent document, the rope is adopted to drive the platform, so that the defects of poor stability, low load capacity, low-level transmission efficiency and the like exist;

Therefore, a mechanical arm control module with high stability, strong load capacity and high transmission efficiency is needed.

Disclosure of utility model

The utility model provides a modularized mechanical arm control module which is used for improving the load capacity and transmission efficiency of a mechanical arm, reducing the manufacturing cost and improving the stability of the mechanical arm.

A modular robotic control module, comprising: the device comprises a first platform and a second platform, wherein a wire passing flexible shaft is arranged between the first platform and the second platform, two ends of the wire passing flexible shaft are respectively arranged at the centers of the first platform and the second platform, an arc-shaped connecting rod assembly is further arranged between the first platform and the second platform, two ends of the arc-shaped connecting rod assembly are respectively connected with the first platform and the second platform, the arc-shaped connecting rod assembly is arranged outside the wire passing flexible shaft, one surface, far away from the arc-shaped connecting rod assembly, of the second platform is provided with a driving mechanism, and the driving mechanism is matched with the arc-shaped connecting rod assembly.

Preferably, the first platform and the second platform are of disc structures, two ends of the wire passing flexible shaft are respectively connected with circle centers of the disc structures of the first platform and the second platform, wiring holes are formed in the circle centers of the first platform and the second platform, and the wire passing flexible shaft is respectively communicated with the two wiring holes.

Preferably, the arc connecting rod assembly comprises a plurality of arc rods, the bending surfaces of the arc rods face the line passing flexible shaft, one end of each arc rod is provided with a hinge assembly, the hinge assembly is close to the first platform, and the other end of each arc rod is close to the driving mechanism.

Preferably, the hinge assembly comprises a U-shaped buckle, the U-shaped buckle opening faces the arc-shaped rod, the U-shaped buckle bottom surface is close to the first platform, a plurality of mounting holes are formed in the first platform surface at intervals, each mounting hole is used for being connected with the U-shaped buckle bottom surface through bolts, a first hinge hole is formed in the U-shaped buckle opening, the first hinge hole penetrates through two ends of the U-shaped buckle opening, the first hinge hole is used for hinging one end of a hinge piece, and the other end of the hinge piece is hinged to one end of the arc-shaped rod.

Preferably, the hinge member includes a mounting block, wherein one set of opposite sides of the mounting block are provided with first hinge rods, the other set of opposite sides of the mounting block are provided with second hinge rods, and the first hinge rods are arranged on the upper part of the mounting block and are respectively and rotatably arranged in the first hinge holes;

The second hinging rod is arranged at the lower part of the mounting block and is used for hinging one end of the arc-shaped rod.

Preferably, one end of the arc-shaped rod is provided with a first U-shaped part, the other end of the arc-shaped rod is provided with a second U-shaped part, the opening of the first U-shaped part and the opening of the second U-shaped part are respectively far away from the arc-shaped rod, two ends of the opening of the first U-shaped part and two ends of the opening of the second U-shaped part are respectively provided with a second hinge hole and a third hinge hole, the second hinge holes are used for respectively connecting the two second hinge rods in a rotating mode, and the third hinge holes are used for connecting a driving mechanism.

Preferably, the driving mechanisms are provided with a plurality of groups, each group of driving mechanism is respectively used for being matched with each arc-shaped rod, each driving mechanism comprises a driving motor, each driving motor is arranged on one surface, far away from the arc-shaped rod, of the second platform at intervals, each driving motor output end is provided with a driving gear, the surface of the second platform is provided with a plurality of driving grooves, one side, close to the second platform, of each driving gear penetrates through each driving groove and is meshed with one side of a driven gear, and the other side, close to the arc-shaped rod, of each driven gear is arranged;

The driven gear is provided with the cooperation piece near one side of arc pole, cooperation piece place plane with driven gear place plane is perpendicular, cooperation piece both sides surface all is provided with the third articulation pole, two the third articulation pole rotates respectively and sets up two in the third articulation hole.

Preferably, the two side surfaces of the driven gear are respectively provided with a mounting seat, the two mounting seats are arranged on one surface, close to the arc-shaped rod, of the second platform at intervals, and the driven gear is arranged between the two mounting seats in a rotating mode.

Preferably, the one side that arc link assembly was kept away from to the second platform is provided with the connecting seat, the connecting seat is close to second platform one side and is provided with the second collar, the one side that the second platform is close to the connecting seat is provided with first collar, first collar inner wall with second collar outer wall threaded connection.

Preferably, the connecting seat is of a disc structure, a threading hole is formed in the center of the connecting seat, a plurality of mounting grooves are formed in the peripheral outer wall of the connecting seat at intervals, and each mounting groove is used for mounting the second platform on the surface of the working platform.

The technical scheme of the utility model has the following advantages:

The utility model provides a modularized mechanical arm control module, which comprises: the device comprises a first platform and a second platform, wherein a wire passing flexible shaft is arranged between the first platform and the second platform, two ends of the wire passing flexible shaft are respectively arranged at the centers of the first platform and the second platform, an arc-shaped connecting rod assembly is further arranged between the first platform and the second platform, two ends of the arc-shaped connecting rod assembly are respectively connected with the first platform and the second platform, the arc-shaped connecting rod assembly is arranged at the outer side of the wire passing flexible shaft, one surface, far away from the arc-shaped connecting rod assembly, of the second platform is provided with a driving mechanism, and the driving mechanism is matched with the arc-shaped connecting rod assembly;

When the mechanical arm needs to be driven to rotate, the driving mechanism works to drive one end of the arc-shaped connecting rod assembly, which is close to the second platform, to operate, so that the arc-shaped connecting rod assembly swings around one end, which is close to the second platform, and because the arc-shaped connecting rod assembly is arc-shaped, one end of the arc-shaped connecting rod assembly is connected with the first platform, the arc-shaped connecting rod assembly swings obliquely around the linear flexible shaft, so that the first platform is close to or far away from the second platform, and meanwhile, the first platform is driven to rotate through the arc-shaped connecting rod assembly;

when the mechanical arm is required to be driven to bend, the driving mechanism drives the independent arc-shaped connecting rod assemblies to work, so that the arc-shaped connecting rod assemblies on one side of the threading flexible shaft tilt and swing, the first platform on the side is pulled, one side of the first platform tilts, and the purpose of bending the mechanical arm is achieved;

The control module for controlling the rotation or bending of the mechanical arm has the advantages of simple structure, low manufacturing cost, high control precision and high degree of freedom, can realize bending and rotation in all directions, has higher stability, and can improve the load capacity and the transmission efficiency by setting the transmission ratio of the driving assembly;

Meanwhile, the first platform can be connected with a second platform of another mechanical arm, so that the multiple mechanical arms can be freely combined, and the mechanical arms are prolonged.

Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model. The objects and other advantages of the utility model may be realized and obtained by means of the instrumentalities particularly pointed out in the specification.

The technical scheme of the utility model is further described in detail through the drawings and the embodiments.

Drawings

The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:

FIG. 1 is a schematic diagram illustrating an assembly of a robot control module according to the present utility model;

FIG. 2 is a schematic view of an arcuate connecting rod assembly according to the present utility model;

FIG. 3 is a schematic view of a first platform structure according to the present utility model;

FIG. 4 is a schematic view of a connector structure according to the present utility model;

FIG. 5 is a schematic view of a U-shaped buckle according to the present utility model;

FIG. 6 is a schematic view of the hinge structure of the present utility model;

FIG. 7 is a schematic diagram of a driving mechanism according to the present utility model;

fig. 8 is a schematic view of the fitting structure of the present utility model.

The device comprises a first platform, a second platform, a 3-wire passing flexible shaft, a 4-arc connecting rod assembly, a 5-driving mechanism, a 6-wiring hole, a 7-arc rod, an 8-U-shaped buckle, a 9-mounting hole, a 10-first hinge hole, an 11-mounting block, a 12-first hinge rod, a 13-second hinge rod, a 14-first U-shaped piece, a 15-second U-shaped piece, a 16-second hinge hole, a 17-third hinge hole, a 18-driving motor, a 19-driving gear, a 20-driving groove, a 21-driven gear, a 22-fitting piece, a 23-third hinge rod, a 24-mounting seat, a 25-connecting seat, a 26-first mounting ring, a 27-second mounting ring, a 28-wiring hole and a 29-mounting groove.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present utility model more apparent, preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustrating and explaining the present utility model only and are not limiting the present utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Example 1,

Referring to fig. 1-8, an embodiment of the present utility model provides a modular mechanical arm control module, including: the device comprises a first platform 1 and a second platform 2, wherein a wire passing flexible shaft 3 is arranged between the first platform 1 and the second platform 2, two ends of the wire passing flexible shaft 3 are respectively arranged at the centers of the first platform 1 and the second platform 2, an arc-shaped connecting rod assembly 4 is further arranged between the first platform 1 and the second platform 2, two ends of the arc-shaped connecting rod assembly 4 are respectively connected with the first platform 1 and the second platform 2, the arc-shaped connecting rod assembly 4 is arranged at the outer side of the wire passing flexible shaft 3, a driving mechanism 5 is arranged on one surface, away from the arc-shaped connecting rod assembly 4, of the second platform 2, and the driving mechanism 5 is matched with the arc-shaped connecting rod assembly 4;

In the above embodiment, when the mechanical arm needs to be driven to rotate, the driving mechanism 5 works to drive the arc-shaped connecting rod assembly 4 to operate near one end of the second platform 2, so that the arc-shaped connecting rod assembly 4 swings around one end near the second platform 2, and as the arc-shaped connecting rod assembly 4 is arc-shaped, one end of the arc-shaped connecting rod assembly is connected with the first platform 1, so that the arc-shaped connecting rod assembly 4 swings obliquely around the linear flexible shaft 3, so that the first platform 1 approaches or is far away from the second platform 2, and meanwhile, the arc-shaped connecting rod assembly 4 drives the first platform 1 to rotate;

When the mechanical arm is required to be driven to bend, the driving mechanism 5 drives the independent arc-shaped connecting rod assemblies 4 to work, so that the arc-shaped connecting rod assemblies 4 on one side of the threading flexible shaft 3 tilt and swing, the first platform 1 on the side is pulled, one side of the first platform 1 tilts, and the purpose of bending the mechanical arm is achieved;

The control module for controlling the mechanical arm to rotate or bend is simple in structure, low in manufacturing cost, high in control precision and high in degree of freedom, can bend and rotate in all directions, has higher stability, and can improve load capacity and transmission efficiency by setting the transmission ratio of the driving assembly.

EXAMPLE 2,

Referring to fig. 1-8, the first platform 1 and the second platform 2 are disc structures, two ends of the wire passing flexible shaft 3 are respectively connected with circle centers of the disc structures of the first platform 1 and the second platform 2, wiring holes 6 are respectively formed in the circle centers of the first platform 1 and the second platform 2, and the wire passing flexible shaft 3 is respectively communicated with the two wiring holes 6.

In the above embodiment, the wire passing flexible shaft 3 is used for leading wires into from one end of the second platform 2, discharging wires from one end of the first platform 1, collecting wires of the mechanical arm, protecting the wires, and avoiding the wires from knotting in the mechanical arm during the operation of the mechanical arm.

EXAMPLE 3,

Referring to fig. 1-8, the arc-shaped connecting rod assembly 4 includes a plurality of arc-shaped rods 7, the curved surface of each arc-shaped rod 7 faces the line-passing flexible shaft 3, one end of each arc-shaped rod 7 is provided with a hinge assembly, the hinge assembly is arranged close to the first platform 1, and the other end of each arc-shaped rod 7 is arranged close to the driving mechanism 5.

In the above embodiment, the two ends of the arc-shaped connecting rod assembly are respectively hinged to the first platform and the second platform, the arc-shaped rods are provided with three groups, when one of the arc-shaped rods is driven by the driving mechanism and swings, the distance between the first platform and the second platform at the side is reduced, and the arc-shaped rods drive the first platform at the side to incline, so that the purpose of turning the mechanical arm is achieved.

EXAMPLE 4,

Referring to fig. 1-8, the hinge assembly includes a U-shaped buckle 8, an opening of the U-shaped buckle 8 is towards the arc-shaped rod 7, a bottom surface of the U-shaped buckle 8 is close to the first platform 1, a plurality of mounting holes 9 are formed on a surface of the first platform 1 at intervals, each mounting hole 9 is used for being connected with the bottom surface of the U-shaped buckle 8 through a bolt, a first hinge hole 10 is formed at the opening of the U-shaped buckle 8, the first hinge hole 10 penetrates through two ends of the opening of the U-shaped buckle 8, the first hinge hole 10 is used for hinging one end of a hinge, and the other end of the hinge is hinged to one end of the arc-shaped rod 7.

In the above embodiment, the U-shaped buckle 8 is hinged with the hinge member through the first hinge hole 10, so that when the arc-shaped rod 7 swings, one side of the first platform is pulled to be close.

EXAMPLE 5,

Referring to fig. 1-8, the hinge member includes a mounting block 11, wherein one set of opposite sides of the mounting block 11 are provided with a first hinge rod 12, and the other set of opposite sides are provided with a second hinge rod 13, and the first hinge rod 12 is disposed at an upper portion of the mounting block 11 and is respectively rotatably disposed in the first hinge hole 10;

The second hinge rod 13 is disposed at a lower portion of the mounting block 11 and is used to hinge one end of the arc-shaped rod 7.

In the above embodiment, when the arc lever is driven by the driving mechanism and swings, since the hinge member has the first hinge lever and the second hinge lever, and the first hinge lever and the second hinge lever are perpendicular to each other, the arc lever can swing in different directions.

EXAMPLE 6,

Referring to fig. 1-8, a first U-shaped member 14 is disposed at one end of the arc-shaped rod 7, a second U-shaped member 15 is disposed at the other end of the arc-shaped rod, openings of the first U-shaped member 14 and the second U-shaped member 15 are respectively disposed away from the arc-shaped rod 7, second hinge holes 16 and third hinge holes 17 are respectively disposed at two ends of the openings of the first U-shaped member 14 and the second U-shaped member 15, the second hinge holes 16 are used for respectively rotatably connecting the two second hinge rods 13, and the third hinge holes 17 are used for connecting the driving mechanism 5.

In the above embodiment, the second hinge hole 16 of the first U-shaped member 14 is hinged to the hinge member, and the second U-shaped member 15 is hinged to the driving mechanism through the third hinge hole 17, so that the arc-shaped rod can swing obliquely around the wire passing flexible shaft 3, and the first platform is pulled to be close to the second platform.

EXAMPLE 7,

Referring to fig. 1-8, the driving mechanisms 5 are provided with a plurality of groups, each group of driving mechanisms 5 is respectively used for matching with each arc-shaped rod 7, the driving mechanism 5 comprises driving motors 18, each driving motor 18 is arranged on one surface of the second platform 2 far away from the arc-shaped rod 7 at intervals, the output end of each driving motor 18 is provided with a driving gear 19, the surface of the second platform 2 is provided with a plurality of driving grooves 20, one side of each driving gear 19 close to the second platform 2 passes through each driving groove 20 and is meshed with one side of a driven gear 21, and the other side of the driven gear 21 is arranged close to the arc-shaped rod 7;

The driven gear 21 is provided with a matching piece 22 near one side of the arc-shaped rod 7, the plane of the matching piece 22 is perpendicular to the plane of the driven gear 21, the surfaces of two sides of the matching piece 22 are provided with third hinging rods 23, and the two third hinging rods 23 are respectively and rotatably arranged in the two third hinging holes 17.

In the above embodiment, a driving mechanism is correspondingly disposed below each arc-shaped rod, when the driving mechanism works, the output shaft of the driving motor 18 drives the driving gear 19 to rotate, the driving gear 19 drives the driven gear 21 to rotate when rotating, because the driven gear 21 and the surface of the matching piece 22 are mutually perpendicular and fixedly connected, the matching piece swings with the axis of the driven gear 21 as the center, when the third hinging rod 23 swings in the plane of the driven gear 21, the bottom end of the arc-shaped rod is pulled to swing around the axis of the driven gear, the top end of the arc-shaped rod is enabled to move downwards, the purpose of downwards tilting one side of the first platform is achieved, multiple groups of driving mechanisms are disposed, and therefore the mechanical arm can bend downwards.

EXAMPLE 8,

Referring to fig. 1-8, the two side surfaces of the driven gear 21 are respectively provided with a mounting seat 24, two mounting seats 24 are spaced apart from one side of the second platform 2, which is close to the arc-shaped rod 7, and the driven gear 21 is rotatably arranged between the two mounting seats 24.

In the above embodiment, the driven gears 21 rotate in the mounting seats 24, and the mounting seats are arranged in pairs, and the driven gears are arranged between the two mounting seats.

EXAMPLE 9,

Referring to fig. 1-8, a connecting seat 25 is disposed on a surface of the second platform 2 far from the arc-shaped connecting rod assembly 4, a second mounting ring 27 is disposed on a surface of the connecting seat 25 near the second platform 2, a first mounting ring 26 is disposed on a surface of the second platform 2 near the connecting seat 25, and an inner wall of the first mounting ring 26 is in threaded connection with an outer wall of the second mounting ring 27.

The connecting seat 25 is of a disc structure, a threading hole 28 is formed in the center of the connecting seat 25, a plurality of mounting grooves 29 are formed in the peripheral outer wall of the connecting seat 25 at intervals, and each mounting groove 29 is used for mounting the second platform 2 on the surface of a working platform.

In the above embodiment, the periphery of the connecting seat 26 is provided with a plurality of mounting grooves 29, the mounting grooves 29 can be spliced with the first platform of another mechanical arm module, and the other mechanical arm module is connected through bolts, so that the mechanical arm can be infinitely prolonged.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present utility model without departing from the spirit or scope of the utility model. Thus, it is intended that the present utility model also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. A modular robotic control module, comprising: the novel flexible cable assembly comprises a first platform (1) and a second platform (2), wherein a cable passing flexible shaft (3) is arranged between the first platform (1) and the second platform (2), two ends of the cable passing flexible shaft (3) are respectively arranged at the centers of the first platform (1) and the second platform (2), an arc-shaped connecting rod assembly (4) is further arranged between the first platform (1) and the second platform (2), two ends of the arc-shaped connecting rod assembly (4) are respectively connected with the first platform (1) and the second platform (2), the arc-shaped connecting rod assembly (4) is arranged outside the cable passing flexible shaft (3), one surface, far away from the arc-shaped connecting rod assembly (4), of the second platform (2) is provided with a driving mechanism (5), and the driving mechanism (5) is matched with the arc-shaped connecting rod assembly (4).

2. The modularized mechanical arm control module according to claim 1, wherein the first platform (1) and the second platform (2) are of disc structures, two ends of the wire passing flexible shaft (3) are respectively connected with circle centers of the disc structures of the first platform (1) and the second platform (2), wiring holes (6) are formed in the circle centers of the first platform (1) and the second platform (2), and the wire passing flexible shaft (3) is respectively communicated with the two wiring holes (6).

3. A modular robot control module according to claim 2, wherein the arcuate linkage assembly (4) comprises a plurality of arcuate bars (7), each arcuate bar (7) being arranged with its curved face towards the line passing flexible shaft (3), each arcuate bar (7) being provided with a hinge assembly at one end thereof, the hinge assembly being arranged adjacent the first platform (1) and the other end of the arcuate bar (7) being arranged adjacent the drive mechanism (5).

4. A modular robot control module according to claim 3, wherein the hinge assembly comprises a U-shaped buckle (8), the opening of the U-shaped buckle (8) is arranged towards the arc-shaped rod (7), the bottom surface of the U-shaped buckle (8) is arranged close to the first platform (1), a plurality of mounting holes (9) are formed in the surface of the first platform (1) at intervals, each mounting hole (9) is used for being connected with the bottom surface of the U-shaped buckle (8) through a bolt, a first hinge hole (10) is formed in the opening of the U-shaped buckle (8), the first hinge hole (10) penetrates through two ends of the opening of the U-shaped buckle (8), one end of the hinge is hinged to the first hinge hole (10), and the other end of the hinge is hinged to one end of the arc-shaped rod (7).

5. A modular robot control module according to claim 4, wherein the hinge comprises a mounting block (11), one set of opposite faces of the mounting block (11) being provided with a first hinge lever (12) and the other set of opposite faces being provided with a second hinge lever (13), the first hinge levers (12) being provided in an upper part of the mounting block (11) and being respectively rotatably provided in the first hinge holes (10);

the second hinging rod (13) is arranged at the lower part of the mounting block (11) and is used for hinging one end of the arc-shaped rod (7).

6. A modular mechanical arm control module according to claim 5, wherein one end of the arc-shaped rod (7) is provided with a first U-shaped piece (14), the other end is provided with a second U-shaped piece (15), openings of the first U-shaped piece (14) and the second U-shaped piece (15) are respectively far away from the arc-shaped rod (7), two ends of the openings of the first U-shaped piece (14) and the second U-shaped piece (15) are respectively provided with a second hinge hole (16) and a third hinge hole (17), the second hinge holes (16) are respectively used for rotationally connecting the two second hinge rods (13), and the third hinge holes (17) are used for connecting the driving mechanism (5).

7. A modular mechanical arm control module according to claim 6, wherein the driving mechanisms (5) are provided with a plurality of groups, each group of driving mechanisms (5) is respectively used for being matched with each arc-shaped rod (7), each driving mechanism (5) comprises a driving motor (18), each driving motor (18) is arranged on one surface, far away from the arc-shaped rod (7), of the second platform (2) at intervals, each driving motor (18) output end is provided with a driving gear (19), the surface of the second platform (2) is provided with a plurality of driving grooves (20), one side, close to the second platform (2), of each driving gear (19) penetrates through each driving groove (20) and is meshed with one side of a driven gear (21), and the other side, close to the arc-shaped rod (7), of the driven gear (21) is arranged;

One side of the driven gear (21) close to the arc-shaped rod (7) is provided with a matching piece (22), the plane of the matching piece (22) is perpendicular to the plane of the driven gear (21), the surfaces of two sides of the matching piece (22) are respectively provided with a third hinging rod (23), and the two third hinging rods (23) are respectively and rotatably arranged in the two third hinging holes (17).

8. A modular mechanical arm control module according to claim 7, wherein the two side surfaces of the driven gear (21) are respectively provided with a mounting seat (24), two mounting seats (24) are arranged on one surface, close to the arc-shaped rod (7), of the second platform (2) at intervals, and the driven gear (21) is rotatably arranged between the two mounting seats (24).

9. A modular mechanical arm control module according to claim 8, wherein a connecting seat (25) is arranged on the surface, away from the arc-shaped connecting rod assembly (4), of the second platform (2), a second mounting ring (27) is arranged on the surface, close to the second platform (2), of the connecting seat (25), a first mounting ring (26) is arranged on the surface, close to the connecting seat (25), of the second platform (2), and the inner wall of the first mounting ring (26) is in threaded connection with the outer wall of the second mounting ring (27).

10. A modular mechanical arm control module according to claim 9, wherein the connection base (25) is of a disc structure, a threading hole (28) is formed in the center of the connection base (25), a plurality of mounting grooves (29) are formed in the peripheral outer wall of the connection base (25) at intervals, and each mounting groove (29) is used for mounting the second platform (2) on the surface of the working platform.