A bionic flexible arm with the mechanical properties of elephant trunk muscles

Abstract

The present invention provides a bionic flexible arm with the mechanical characteristics of an elephant trunk muscle group, including a flexible arm body, a driving mechanism, a flexible arm control box and a remote control handle, wherein the flexible arm body is designed to be a continuous structure consisting of a base plate, a plurality of ordinary cells, an end plate, a clamp, a plurality of first springs, a plurality of second springs, three first transmission ropes and three second transmission ropes according to the concept of coordinated control of elephant trunk muscles, using round rods to simulate oblique passive muscles, first springs to simulate radial passive muscles, and ropes to simulate longitudinal active muscles. The user operates the remote control handle to send a control instruction to the driving mechanism, thereby driving the flexible arm body to work, thereby realizing the position adjustment of the clamp at the end position of the bionic flexible arm. The bionic flexible arm of the present invention imitates the mechanical characteristics of the elephant trunk muscle group, and has the advantages of being both rigid and flexible, variable stiffness and simple and practical.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a remotely controlled flexible arm designed based on the muscle coordination control concept of an elephant's trunk and having both high load capacity and high flexibility, specifically a bionic flexible arm having the mechanical properties of an elephant's trunk muscle group. Background Art

[0002] At present, the application field of most robotic arms is in factories, such as spot welding and painting in automobile factories, packaging and filling in chemical and pharmaceutical factories, and work in high-risk environments such as nuclear power plants. However, in recent years, with the rise of service robots, low-cost, small, so-called "desktop" robotic arm products have gradually entered our daily lives. The rigid robotic arms commonly used in service robots have strong carrying capacity, but lack flexibility and human-machine interaction safety. Compared with traditional rigid robotic arms, bionic flexible arms imitate and learn from various organisms in nature in structure, and cleverly achieve flexibility with the help of nature's wisdom, such as the elephant trunk flexible arm.

[0003] The trunk of an adult elephant weighs about 145 kilograms, but it can lift about 250 kilograms. The trunk is also very flexible and can bend and rotate in multiple directions. The reason is that the trunk uses more than 40,000 muscles, including radial muscle groups, longitudinal muscle groups and oblique muscle groups, to coordinate control and give full play to the strength of all muscles. However, most existing flexible arms that imitate elephant trunks only imitate the structural function, but not the core muscle mechanism, and cannot match the performance of elephant trunks.

[0004] Therefore, according to the mechanical properties of the elephant trunk muscle group, it is of great research significance to design a bionic flexible arm with strong load capacity and high flexibility by using round rods to simulate passive oblique tension muscles, the first spring to simulate passive radial passive muscles, and ropes to simulate longitudinal active muscles. Summary of the invention

[0005] In order to solve the above technical problems, a bionic flexible arm with the mechanical characteristics of the elephant trunk muscle group is provided.

[0006] The technical means adopted by the present invention are as follows:

[0007] A bionic flexible arm having the mechanical characteristics of an elephant trunk muscle group, comprising a flexible arm body and a driving mechanism for driving the flexible arm body to work;

[0008] The flexible arm body comprises a base plate, a plurality of common unit cells, an end plate and a clamp which are arranged end to end and coaxially arranged;

[0009] The ordinary unit cell includes a central ball, a plurality of first connecting rods are fixed in the head end direction of the central ball, and a plurality of second connecting rods are fixed in the tail end direction of the central ball, and the number of the first connecting rods and the second connecting rods are adapted to each other; the first connecting rods and the second connecting rods are evenly distributed around the central ball and are staggered; in two adjacent ordinary unit cells, the second connecting rod of the ordinary unit cell close to the head end direction is connected to the central ball of the ordinary unit cell close to the tail end direction through a first spring, and the central ball close to the head end direction is connected to the first connecting rod of the ordinary unit cell close to the tail end direction through a second spring; and the plurality of second connecting rods of the ordinary unit cell close to the head end direction cross with the first connecting rod of the ordinary unit cell close to the tail end direction; the first connecting rod of the ordinary unit cell located at the head end is fixedly connected to the base plate; the second connecting rod of the ordinary unit cell located at the tail end is fixedly connected to the end plate; the clamp is fixedly connected to the end plate;

[0010] Except for the first connecting rod located at the head end, the ends of the other first connecting rods are all provided with first lifting rings; except for the second connecting rod located at the tail end, the ends of the other second connecting rods are all provided with second lifting rings;

[0011] The driving mechanism comprises a first driving mechanism whose number matches the number of first connecting rods in the common unit cell, and a second driving mechanism whose number matches the number of second connecting rods in the common unit cell;

[0012] The first driving mechanism comprises a first transmission rope and a first transmission rope driving mechanism that stretches the first transmission rope; the second driving mechanism comprises a second transmission rope and a second transmission rope driving mechanism that stretches the second transmission rope;

[0013] The head end of the first transmission rope is connected to the first transmission rope driving mechanism, and the head end of the second transmission rope is connected to the second transmission rope driving mechanism; the tail end of the first transmission rope sequentially passes through the base plate and all the first lifting rings on the same straight line and is fixedly connected to the end plate, and the tail end of the second transmission rope sequentially passes through the base plate and some of the second lifting rings on the same straight line and is fixedly connected to one of the second lifting rings; or the tail end of the first transmission rope sequentially passes through the base plate and all the second lifting rings on the same straight line and is fixedly connected to the end plate, and the tail end of the second transmission rope sequentially passes through the base plate and some of the first lifting rings on the same straight line and is fixedly connected to one of the first lifting rings;.

[0014] Preferably, the common unit cell has three first connecting rods and three second connecting rods.

[0015] Preferably, the driving mechanism further comprises a driving box, the first transmission rope driving mechanism and the second transmission rope driving mechanism are fixed in the driving box, and both comprise a servo motor fixing frame fixedly connected to the driving box, a servo motor fixed on the servo motor fixing frame, a motor reducer connected to the servo motor, a shaft sleeve connected to the motor reducer and a rope winding wheel fixed on the shaft sleeve, and the ends of the first transmission rope and the second transmission rope are fixed and wound on the rope winding wheels corresponding thereto;

[0016] Among the six servo motors, four of them are stacked in pairs and arranged symmetrically left and right, and the other two servo motors are arranged symmetrically up and down to form a rectangular space. A plurality of changing pulleys for changing direction are arranged in the rectangular space. The first transmission rope and the second transmission rope are changed in direction by the changing pulleys and then pass through the drive box.

[0017] Preferably, the direction-changing pulley is fixedly connected to the driving box via a pulley fixing frame.

[0018] Preferably, it also includes a flexible arm control box, which includes a control box body, in which a clamping jaw driver electrically connected to the clamper and a driving mechanism driver electrically connected to the driving mechanism are fixed.

[0019] Preferably, it also includes a remote control handle electrically connected to the clamping jaw driver and the driving mechanism driver, and the remote control handle is located outside the flexible arm control box.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The bionic flexible arm designed by the present invention has the characteristics of both rigidity and flexibility. Since the bionic flexible arm designed by the present invention conforms to the characteristics of coordinated control of the trunk muscle group in structure, the synergistic effect of the first spring, the rod and the rope is fully utilized, so that the bionic flexible arm not only has flexible movement capabilities such as telescoping, bending, and winding, but also has a load capacity of at least six times the weight of the flexible arm body itself. The robotic arm used as a service robot needs flexibility to enhance interactive safety, and requires a certain load capacity to complete the task, so its characteristics of both rigidity and flexibility are the biggest advantage as a service-type robotic arm.

[0022] 2. The bionic flexible arm designed by the present invention has the characteristic of variable stiffness. Since the bionic flexible arm designed by the present invention can actively apply prestress to the rope and enhance the stiffness of the flexible arm, the effect of actively switching the flexible arm to different performance states can be achieved. The mechanical arm used as a service robot will face various task requirements, and flexible arms with different load-bearing performance and flexibility are required to complete the tasks. Therefore, its variable stiffness characteristic is the basis for completing state switching under different task requirements.

[0023] 3. The bionic flexible arm designed by the present invention has simple material preparation, simple driving equipment, and high practicality. Since the bionic flexible arm designed by the present invention does not require the preparation of special materials, and the driving force comes from the motor, there is no bulky driving equipment, so the body of the bionic flexible arm is easy to manufacture and its driving equipment is small. The mechanical arm used as a service robot requires low cost and small size, so it has practical advantages as a service-type mechanical arm.

[0024] Based on the above reasons, the present invention can be widely promoted in the fields of robotic arms and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The schematic diagram of the structure of a bionic flexible arm having the mechanical properties of the elephant trunk muscle group in the present invention.

[0027] Figure 2 It is a schematic diagram of the structure of the flexible arm body in the present invention.

[0028] Figure 3 It is a schematic diagram of a common unit cell structure in the present invention.

[0029] Figure 4 It is a schematic diagram of connecting two adjacent common unit cells in the present invention.

[0030] Figure 5 It is a schematic diagram of the connection between the common unit cell at the head end and the base plate in the present invention.

[0031] Figure 6 It is a schematic diagram of the connection between the common unit cell at the tail end and the base plate in the present invention.

[0032] Figure 7 It is a schematic diagram of the driving box structure in the present invention.

[0033] Figure 8 It is a schematic diagram of the driving mechanism structure in the present invention.

[0034] Fig. 9 It is a schematic diagram of the structure of the first transmission rope driving mechanism in the present invention.

[0035] Fig.10 It is a schematic diagram of the single wheel pulley transmission structure in the present invention.

[0036] Fig.11It is a schematic diagram of the double wheel pulley transmission structure in the present invention.

[0037] Fig.12 It is a schematic diagram of the control box structure of the present invention.

[0038] Fig.13 This is a schematic diagram of the internal structure of the flexible arm control box in the present invention.

[0039] In the figure: 1, flexible arm body; 2, driving mechanism; 3, flexible arm control box; 4, remote control handle; 5, base plate; 6, ordinary unit cell; 7, end plate; 8, clamp; 9, center ball; 10, first connecting rod; 11, second connecting rod; 12, first spring; 13, first lifting ring; 14, second lifting ring; 15, driving box; 16, first driving mechanism; 17, second driving mechanism; 18, first transmission rope; 19, second transmission rope; 20, servo Motor fixing frame; 21. servo motor; 22. motor reducer; 23. bushing; 24. rope winding wheel; 25. single wheel pulley transmission structure; 26. double wheel pulley transmission structure; 27. single wheel pulley fixing frame; 28. first pulley; 29. ​​double wheel pulley fixing frame; 30. second pulley; 31. control box body; 32. main controller; 33. clamping claw driver; 34. servo motor driver; 35. power converter; 36. second spring. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0044] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0045] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0046] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0047] like Figure 1As shown, a bionic flexible arm having the mechanical characteristics of an elephant trunk muscle group comprises a flexible arm body 1, a driving mechanism 2 for driving the flexible arm body 1 to work, a flexible arm control box 3 and a remote control handle 4;

[0048] like Figure 2 As shown, the flexible arm body 1 includes a base plate 5, a plurality of common unit cells 6, an end plate 7 and a clamp 8 which are arranged end to end and coaxially arranged;

[0049] like Figure 3 As shown, the common unit cell 6 includes a central ball 9, three first connecting rods 10 are fixed to the head end direction of the central ball 9, and three second connecting rods 11 are fixed to the tail end direction of the central ball 9, and the first connecting rods 10 and the second connecting rods 11 are evenly distributed around the central ball 9, staggered, and radially distributed;

[0050] like Figure 4 As shown, in two adjacent common unit cells 6, the second connecting rod 11 of the common unit cell 6 near the head end direction is connected to the center ball 9 of the common unit cell 6 near the tail end direction through the first spring 12, and the center ball 9 near the head end direction is connected to the first connecting rod 10 of the common unit cell 6 near the tail end direction through the second spring 36; and the three second connecting rods 11 of the common unit cell 6 near the head end direction cross the first connecting rod 10 of the common unit cell 6 near the tail end direction, and there is a gap between two adjacent center balls 9;

[0051] like Figure 5 As shown, the first connecting rod 10 of the common unit cell 6 at the head end is fixedly connected to the base plate 5;

[0052] like Figure 6 As shown, the second connecting rod 11 of the common unit cell 6 at the tail end is fixedly connected to the end plate 7; the clamp 8 is fixedly connected to the end plate 7;

[0053] The base plate 5 and the end plate 7 are both circular plates, and the first connecting rod 10 and the second connecting rod 11 are both cylindrical rods;

[0054] Except for the first connecting rod 10 at the head end, the ends of the other first connecting rods 10 are all provided with a first lifting ring 13; except for the second connecting rod 11 at the tail end, the ends of the other second connecting rods 11 are all provided with a second lifting ring 14;

[0055] like Figure 7 and 8As shown, the driving mechanism 2 includes a driving box 15, three first driving mechanisms 16 and three second driving mechanisms 17; the first driving mechanism 16 includes a first transmission rope 18 and a first transmission rope driving mechanism that stretches the first transmission rope 18; the second driving mechanism 17 includes a second transmission rope 19 and a second transmission rope driving mechanism that stretches the second transmission rope 19;

[0056] like Figure 8 and 9 As shown, the first transmission rope drive mechanism and the second transmission rope drive mechanism both include a servo motor fixing frame 20 fixedly connected to the driving box 15, a servo motor 21 fixed on the servo motor fixing frame 20, a motor reducer 22 connected to the servo motor 21, a shaft sleeve 23 connected to the motor reducer 22, and a rope winding wheel 24 fixed on the shaft sleeve 23; among the six servo motors 21, four of the servo motors 21 are stacked in pairs and arranged symmetrically on the left and right, and the other two servo motors 20 are arranged symmetrically up and down to form a rectangular space, and a plurality of direction-changing pulleys for changing direction are arranged in the rectangular space;

[0057] like Figure 8 , Fig.10 and Fig.11 As shown, the multiple change-of-direction pulleys include two groups of single-wheel pulley transmission structures 25 and two groups of double-wheel pulley transmission structures 26; the two groups of single-wheel pulley transmission structures 25 are arranged left and right, respectively, and are fixedly connected to the drive box 15; the two groups of double-wheel pulley transmission structures 26 are arranged up and down, respectively, and are fixedly connected to the drive box 15. The single-wheel pulley transmission structure 25 includes a single-wheel pulley fixing frame 27 and three groups of first pulleys 28, and the three groups of first pulleys 28 are fixed to the single-wheel pulley fixing frame 27 by bolts. The double-wheel pulley transmission structure 26 includes a double-wheel pulley fixing frame 29 and six groups of second pulleys 30, and the six groups of second pulleys 30 are fixed to the double-wheel pulley fixing frame 29 by bolts.

[0058] like Figure 2 As shown, the head end of the first transmission rope 18 is fixed and wound around the corresponding rope winding wheel 24, and the tail end passes through the driving box 15 after changing direction through the changing pulley, and passes through the base plate 5 and all the first lifting rings 13 on the same straight line in sequence, and then is fixedly connected to the end plate 7. The head of the second transmission rope 19 is fixed and wound around the corresponding rope winding wheel 24, and the tail end passes through the driving box 15 after changing direction through the changing pulley, and passes through the base plate 5 and some of the second lifting rings 14 on the same straight line in sequence, and then is fixedly connected to one of the second lifting rings 14.

[0059] like Fig.12 and 13As shown, the flexible arm control box 3 includes a control box body 31, in which a main controller 32, a gripper driver 33, a servo motor driver 34, and a power converter 35 are fixed. The gripper driver 33 is electrically connected to the clamp 8 to control the operation and closing of the clamp 8; the servo motor driver 34 is electrically connected to the servo motor 21 to control the operation and closing of the servo motor 21, as well as its rotation amount. The remote control handle 4 is located outside the flexible arm control box 3 and is electrically connected to the main controller 32, and the main controller 32 is electrically connected to the gripper driver 33 and the servo motor driver 34, so as to realize remote control of the servo motor and the clamp 8 through the remote control handle 4. The above electrical connection can be connected by wired physical line or by wireless signal. The power converter 35 is electrically connected to the main controller 32, the gripper driver 33, the servo motor driver 34 and the remote control handle 4 to convert the 220V voltage into 24V voltage.

[0060] In use state: when the user uses the bionic flexible arm, he can operate the remote control handle 4 to send control instructions to the flexible arm control box 3. The flexible arm control box 3 sends the calculated servo motor drive data to each servo motor 21, and then drives the 6 servo motors 21 according to their respective drive amounts, so that the first transmission rope 18 and the second transmission rope 19 pull the bionic flexible arm with a certain displacement and speed, so that its clamp 8 moves and rotates, thereby realizing the remote control function of the end position of the bionic flexible arm.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic flexible arm with the mechanical properties of elephant trunk muscles, characterized in that: It comprises a flexible arm body and a driving mechanism for driving the flexible arm body to work; The flexible arm body comprises a base plate, a plurality of common unit cells, an end plate and a clamp which are arranged end to end and coaxially arranged; The ordinary unit cell includes a central ball, a plurality of first connecting rods are fixed in the head end direction of the central ball, and a plurality of second connecting rods are fixed in the tail end direction of the central ball, and the number of the first connecting rods and the second connecting rods are adapted to each other; the first connecting rods and the second connecting rods are evenly distributed around the central ball and are staggered; in two adjacent ordinary unit cells, the second connecting rod of the ordinary unit cell close to the head end direction is connected to the central ball of the ordinary unit cell close to the tail end direction through a first spring, and the central ball close to the head end direction is connected to the first connecting rod of the ordinary unit cell close to the tail end direction through a second spring; and the plurality of second connecting rods of the ordinary unit cell close to the head end direction cross with the first connecting rod of the ordinary unit cell close to the tail end direction; the first connecting rod of the ordinary unit cell located at the head end is fixedly connected to the base plate; the second connecting rod of the ordinary unit cell located at the tail end is fixedly connected to the end plate; the clamp is fixedly connected to the end plate; Except for the first connecting rod located at the head end, the ends of the other first connecting rods are all provided with first lifting rings; except for the second connecting rod located at the tail end, the ends of the other second connecting rods are all provided with second lifting rings; The driving mechanism comprises a first driving mechanism whose number matches the number of first connecting rods in the common unit cell, and a second driving mechanism whose number matches the number of second connecting rods in the common unit cell; The first driving mechanism comprises a first transmission rope and a first transmission rope driving mechanism that stretches the first transmission rope; the second driving mechanism comprises a second transmission rope and a second transmission rope driving mechanism that stretches the second transmission rope; The head end of the first transmission rope is connected to the first transmission rope driving mechanism, and the head end of the second transmission rope is connected to the second transmission rope driving mechanism; the tail end of the first transmission rope sequentially passes through the base plate and all the first lifting rings on the same straight line and is fixedly connected to the end plate, and the tail end of the second transmission rope sequentially passes through the base plate and some of the second lifting rings on the same straight line and is fixedly connected to one of the second lifting rings; or the tail end of the first transmission rope sequentially passes through the base plate and all the second lifting rings on the same straight line and is fixedly connected to the end plate, and the tail end of the second transmission rope sequentially passes through the base plate and some of the first lifting rings on the same straight line and is fixedly connected to one of the first lifting rings.

2. The bionic flexible arm having the mechanical properties of the elephant trunk muscle group according to claim 1, characterized in that: The common unit cell has three first connecting rods and three second connecting rods.

3. The bionic flexible arm having the mechanical properties of the elephant trunk muscle group according to claim 2, characterized in that: The driving mechanism also includes a driving box, the first transmission rope driving mechanism and the second transmission rope driving mechanism are fixed in the driving box, and both include a servo motor fixing frame fixedly connected to the driving box, a servo motor fixed on the servo motor fixing frame, a motor reducer connected to the servo motor, a shaft sleeve connected to the motor reducer and a rope winding wheel fixed on the shaft sleeve, and the ends of the first transmission rope and the second transmission rope are fixed and wound on the rope winding wheels corresponding thereto; Among the six servo motors, four of them are stacked in pairs and arranged symmetrically left and right, and the other two servo motors are arranged symmetrically up and down to form a rectangular space. A plurality of changing pulleys for changing direction are arranged in the rectangular space. The first transmission rope and the second transmission rope are changed in direction by the changing pulleys and then pass through the drive box.

4. The bionic flexible arm having the mechanical properties of the elephant trunk muscle group according to claim 3, characterized in that: The direction-changing pulley is fixedly connected to the driving box through a pulley fixing frame.

5. The bionic flexible arm having the mechanical properties of the elephant trunk muscle group according to claim 1, characterized in that: It also includes a flexible arm control box, which includes a control box body, in which a clamping jaw driver electrically connected to the clamper and a driving mechanism driver electrically connected to the driving mechanism are fixed.

6. The bionic flexible arm having the mechanical properties of the elephant trunk muscle group according to claim 1, characterized in that: It also includes a remote control handle electrically connected to the clamping claw driver and the driving mechanism driver, and the remote control handle is located outside the flexible arm control box.

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