A flexible robotic arm based on memory alloy coupled with pneumatic artificial muscle

Abstract

The present invention relates to a flexible robotic arm based on the coupling of memory alloy and pneumatic artificial muscle, wherein the flexible robotic arm comprises a fixed disk, a spacer disk, an airbag, a center rod, a base and an air supply pipe. The fixed disk is a circular thin disk, which is installed at the end of the flexible robotic arm and is used to fix other components. The spacer disk is also a circular thin disk, which plays a supporting role in the middle of the flexible robotic arm. The airbag is a silicone thin shell structure, which provides power for the movement of the flexible robotic arm. The center rod material is nickel-titanium alloy, which has shape memory function, and the stiffness is enhanced after heating, thereby improving the stability of the flexible robotic arm. The base is a circular disk, which is used to fix other components and connect other control devices or power sources. The air supply pipe is rubber soft, which provides power by supplying air to the airbag. The present invention realizes the movement and stiffness change of the flexible robotic arm, reduces vibration and improves stability through the cooperation of the airbag and the shape memory alloy center rod.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, and in particular to a flexible mechanical arm based on the coupling of memory alloy and pneumatic artificial muscle. Background Art

[0002] Flexible robots have become a research hotspot in the field of robotics in recent years due to their small size, light weight, and low energy consumption. Flexible robots have good flexibility, can flexibly bypass various obstacles, and show strong adaptability in unstructured scenes. At present, flexible robots have been widely used in the fields of fragile object grasping, complex environment detection, and medical and engineering integration. The key to flexible robots lies in the research of flexible robotic arms. The biggest pain point of flexible robotic arms is the problem that vibrations caused by their flexibility are difficult to suppress. Therefore, it is of great significance to design a flexible robotic arm with good flexibility and the ability to suppress vibrations.

[0003] Chinese patent CN201810694731.9 discloses a pneumatically controlled rigid-flexible coupled modular soft robot arm, including an airbag structure for controlling the movement of the robot arm by controlling the unidirectional inflation or deflation of the inner cavity, the airbag structure including at least one airbag module, the airbag module is composed of a plurality of airbag bodies arranged circumferentially, the airbag module is provided with a fixing structure for radially tying the airbag body of the airbag module, and the plurality of fixing structures are arranged at intervals along the axial direction of the airbag module, for improving the load capacity of the robot arm and making all the airbag bodies of the airbag module perform coupled motion with each other. The pneumatically controlled rigid-flexible coupled modular soft robot arm of this patent realizes the coupled motion between the airbag bodies of the airbag module at different axial positions by radially tying the fixing structure of the airbag body of the airbag module, and improves the load capacity of the robot arm, making it easier to carry objects with larger mass. Summary of the invention

[0004] The purpose of the present invention is to provide a flexible robotic arm based on the coupling of shape memory alloy and pneumatic artificial muscle in order to overcome the defects of the above-mentioned prior art. The flexible robotic arm mainly includes the functions of airbag drive and memory alloy stiffness enhancement, and has the characteristics of good flexibility and good vibration suppression performance. In addition, as a flexible robotic arm, its structure can be further optimized or the end effector can be added to make it more functional. The present invention uses shape memory alloy and pneumatic artificial muscle to jointly control the flexible robotic arm. While using the airbag to drive the flexible robotic arm to move with high flexibility, the variable stiffness characteristics of the shape memory alloy are used to reduce the vibration of the entire flexible robotic arm, which provides inspiration for the research of flexible robots.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling includes a fixed plate, a spacer plate, an air bag, a center rod, a base and an air pipe.

[0007] The spacer disk is arranged between the fixed disk and the base, and the spacer disk is provided with a plurality of

[0008] The central rod is connected to the fixed plate, a plurality of spacer plates and the base in sequence, the central rod is arranged at the center of the fixed plate, and the gas delivery pipe is fixed under the base;

[0009] Connected air bags are provided between two adjacent spacer plates, between the fixed plate and the spacer plate, and between the base and the spacer plate. The air bags between the base and the spacer plate are connected to an air pipe, which is used to introduce external gas into the air bags.

[0010] Furthermore, a plurality of the spacer disks are distributed at equal intervals.

[0011] Furthermore, the base is disc-shaped, a fixing platform is provided at the center of the base, a circular hole is provided at the center of the fixing platform, the diameter of the circular hole is the same as that of the center rod, and the circular hole is used to fix the center rod;

[0012] The fixing plate is a circular thin plate, and a first through hole is provided at the center of the fixing plate. The diameter of the first through hole is the same as that of the center rod, and the first through hole is used to pass the center rod;

[0013] The spacer disk is a circular thin disk, and a second through hole is provided at the center of the spacer disk. The diameter of the second through hole is the same as that of the center rod, and the second through hole is used to pass the center rod.

[0014] Further, the flexible mechanical arm further comprises a first locking hoop and a second locking hoop, the first locking hoop is arranged below the fixing plate, the fixing plate is fixed to the center rod through the first locking hoop, the first locking hoop is connected to the fixing plate through a longitudinal bolt, the first locking hoop clamps the center rod through a transverse bolt, and a knurled stripe is arranged at the center of the first locking hoop, the knurled stripe is used to increase friction and prevent the center rod from sliding;

[0015] The second locking hoop is arranged below the spacer disk, the spacer disk is fixed to the center rod through the second locking hoop, the second locking hoop is connected to the spacer disk through longitudinal bolts, the second locking hoop clamps the center rod through transverse bolts, and a knurled stripe is provided in the center of the second locking hoop, and the knurled stripe is used to increase friction and prevent the center rod from sliding.

[0016] Furthermore, three air bags are respectively arranged between two adjacent spacer plates, between the fixed plate and the spacer plate, and between the base and the spacer plate, and the three air bags are evenly spaced in the circumferential direction;

[0017] The airbag is bonded to the fixing plate or the spacing plate by strong glue.

[0018] In the above, further, the spacer disc is provided with three first vent holes, the three first vent holes are evenly spaced on the spacer disc along the circumferential direction, and the three first vent holes are connected to three airbags respectively;

[0019] The base is provided with three second ventilation holes, which are evenly spaced along the circumferential direction on the base, one end of the three second ventilation holes is connected to the three air bags respectively, and the other end of the three second ventilation holes is connected to the air pipe of the base.

[0020] Furthermore, a large number of holes are provided on the fixing plate and the spacer plate. Since the airbags are connected through the holes, the holes improve the scalability of the flexible robotic arm, facilitate the addition of more airbags, and have the effect of reducing weight.

[0021] Furthermore, both ends of the airbag are provided with ventilation pipes, the ventilation pipes are located at the center line of the airbag, the ventilation pipe of the airbag between two adjacent spacer disks is connected to the first ventilation hole by gluing, the ventilation pipe of the airbag between the base and the spacer disk is connected to the second ventilation hole by gluing, and the other end of the second ventilation hole is connected to the air supply pipe of the base.

[0022] Furthermore, the thickness of the base is greater than the thickness of the fixing plate and the spacer plate; six threaded fixing holes are evenly distributed on the outer ring of the base, and the fixing holes are used to connect the flexible robotic arm with the control device or the power source.

[0023] Furthermore, the air pipe is a rubber hose, the flexible robotic arm has three air pipes, and the three air pipes are respectively connected to external air pumps.

[0024] Furthermore, the airbag is a thin shell structure with uniform thickness, the airbag material is silica gel, and the outer wall of the airbag includes an outer edge and an inner edge.

[0025] Furthermore, the central rod is a shape memory alloy rod, and the central rod is externally connected to a power source.

[0026] Furthermore, the material of the central rod is nickel-titanium alloy, which has the characteristic of variable stiffness. Its initial stiffness is low and can be bent by applying a small force. After power is applied and the temperature is increased, the stiffness is greatly enhanced.

[0027] In addition, the present invention also provides a method for using a flexible mechanical arm based on the coupling of memory alloy and pneumatic artificial muscle, and the specific steps are as follows:

[0028] The flexible robotic arm is in a vertical state by default. When moving, the airbag on the inside of the bending arc is deflated, and the inside of the arc is the side with a smaller bending radius. The airbag on the outside is inflated to achieve the overall bending of the flexible robotic arm. When recovering, the air pressure in all airbags returns to the initial state. The outer edge size of the airbag remains unchanged, and the inner edge expands outward when inflated and contracts inward when deflated. When the flexible robotic arm moves to the target position, the center rod is energized to enhance its rigidity and ensure its stability.

[0029] The working principle of the present invention is as follows:

[0030] Memory alloy center rod: Using memory alloy as the center rod, the stiffness of the flexible robotic arm can be adjusted at any time.

[0031] Pneumatic artificial muscle: By controlling the airbag, the flexible robotic arm simulates the state of artificial muscle.

[0032] Compared with the prior art, the present invention has the following advantages:

[0033] 1. The flexible mechanical arm based on the coupling of memory alloy and pneumatic artificial muscle in the present invention has a simple structure, a small volume, a large working range and high flexibility;

[0034] 2. The flexible mechanical arm of the present invention is composed of a plurality of identical spacer disks and airbag structures, and the structure can be increased or decreased according to demand, and has high scalability;

[0035] 3. The main components of the flexible mechanical arm of the present invention include an airbag and a memory alloy center rod, which can enhance rigidity and reduce vibration while ensuring flexibility, and the rigidity of the flexible mechanical arm can be adjusted at any time according to actual needs;

[0036] 4. The flexible robotic arm demonstrated in the present invention is a single-segment arm structure, and the end motion space is a circular arc. In actual work, multiple such structures can be used to form a multi-segment arm to increase the motion space, so that it can be applied to the fields of medical and engineering integration, human-machine collaboration, disaster relief and emergency rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The overall structure diagram of the flexible robotic arm based on the coupling of memory alloy and pneumatic artificial muscle;

[0038] Figure 2 This is a schematic diagram of the structure of the flexible robotic arm end;

[0039] Figure 3 This is a schematic diagram of the base structure;

[0040] Figure 4 is a schematic diagram of the airbag structure;

[0041] Figure 5Schematic diagrams of locking hoop structures, wherein (a) is a schematic diagram of the first locking hoop structure, and (b) is a schematic diagram of the second locking hoop structure;

[0042] Figure 6 It is a schematic diagram of the bottom structure of the flexible robotic arm;

[0043] Figure 7 Schematic diagram of the overall motion deformation of the flexible robotic arm.

[0044] Explanation of the accompanying drawings: 1. fixing plate, 2. spacer plate, 3. air bag, 4. center rod, 5. base, 6. air pipe, 7. first locking hoop, 8. second locking hoop, 9. first vent hole, 10. fixing platform, 11. second vent hole, 12. fixing hole, 13. vent pipe, 14. outer edge, 15. inner edge, 16. bolt, 17. knurled stripes. DETAILED DESCRIPTION

[0045] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] A flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling includes a fixing plate 1, a spacer plate 2, an air bag 3, a center rod 4, a base 5 and an air delivery pipe 6.

[0048] The spacer plate 2 is disposed between the fixed plate 1 and the base 5. The spacer plate 2 is provided with a plurality of

[0049] The central rod 4 is connected to the fixed plate 1, the plurality of spacer plates 2 and the base 5 in sequence. The central rod 4 is arranged at the center of the fixed plate 1, and the gas pipe 6 is fixed below the base 5.

[0050] Connected air bags 3 are provided between two adjacent spacer plates 2, between the fixed plate 1 and the spacer plate 2, and between the base 5 and the spacer plate 2. The air bags 3 between the base 5 and the spacer plate 2 are connected to the air pipe 6, and the air pipe 6 is used to introduce external gas into the air bags 3.

[0051] Furthermore, a plurality of the spacer disks 2 are distributed at equal intervals.

[0052] Furthermore, the base 5 is disc-shaped, a fixing platform 10 is provided at the center of the base 5, a circular hole is provided at the center of the fixing platform 10, the diameter of the circular hole is the same as that of the center rod 4, and the circular hole is used to fix the center rod 4;

[0053] The fixing plate 1 is a circular thin plate, and a first through hole is provided at the center of the fixing plate 1. The diameter of the first through hole is the same as that of the center rod 4, and the first through hole is used to pass the center rod 4;

[0054] The spacer disk 2 is a circular thin disk. A second through hole is provided at the center of the spacer disk 2 . The diameter of the second through hole is the same as that of the center rod 4 . The second through hole is used to pass the center rod 4 .

[0055] Furthermore, the flexible mechanical arm further comprises a first locking hoop 7 and a second locking hoop 8, wherein the first locking hoop 7 is arranged below the fixed plate 1, the fixed plate 1 is fixed to the central rod 4 through the first locking hoop 7, the first locking hoop 7 is connected to the fixed plate 1 through a longitudinal bolt 16, the first locking hoop 7 clamps the central rod 4 through the transverse bolt 16, and a knurled stripe 17 is arranged at the center of the first locking hoop 7, the knurled stripe 17 is used to increase friction and prevent the central rod 4 from sliding;

[0056] The second locking hoop 8 is arranged below the spacer disk 2, and the spacer disk 2 is fixed to the center rod 4 through the second locking hoop 8. The second locking hoop 8 is connected to the spacer disk 2 through the longitudinal bolts 16. The second locking hoop 8 clamps the center rod 4 through the transverse bolts 16. A knurled stripe 17 is provided in the center of the second locking hoop 8. The knurled stripe 17 is used to increase friction and prevent the center rod 4 from sliding.

[0057] Furthermore, three air bags 3 are respectively arranged between two adjacent spacer plates 2, between the fixed plate 1 and the spacer plate 2, and between the base 5 and the spacer plate 2, and the three air bags 3 are evenly spaced in the circumferential direction;

[0058] The airbag 3 is bonded to the fixing plate 1 or the spacing plate 2 by strong glue.

[0059] Furthermore, the spacer disc 2 is provided with three first vent holes 9, the three first vent holes 9 are evenly spaced on the spacer disc 2 along the circumferential direction, and the three first vent holes 9 are connected to the three air bags 3 respectively;

[0060] The base 5 is provided with three second ventilation holes 11, which are evenly spaced along the circumferential direction on the base 5, one end of the three second ventilation holes 11 is connected to the three airbags 3 respectively, and the other end of the three second ventilation holes 11 is connected to the air pipe 6 of the base 5.

[0061] Furthermore, a large number of holes are provided on the fixing plate and the spacer plate. Since the airbags 3 are connected through the holes, the holes improve the scalability of the flexible robotic arm, facilitate the addition of more airbags 3, and have the effect of reducing weight.

[0062] Furthermore, both ends of the airbag 3 are provided with ventilation pipes 13, and the ventilation pipes 13 are located at the center line of the airbag 3. The ventilation pipe 13 of the airbag 3 between two adjacent spacer plates 2 is connected to the first ventilation hole 9 by gluing, and the ventilation pipe 13 of the airbag 3 between the base 5 and the spacer plate 2 is connected to the second ventilation hole 11 by gluing, and the other end of the second ventilation hole 11 is connected to the air supply pipe 6 of the base 5.

[0063] Furthermore, the thickness of the base 5 is greater than the thickness of the fixing plate 1 and the spacer plate 2; six threaded fixing holes 12 are evenly distributed on the outer ring of the base 5, and the fixing holes 12 are used to connect the flexible robotic arm with a control device or a power source.

[0064] Furthermore, the air pipe 6 is a rubber hose, and the flexible robotic arm has three air pipes 6 , and the three air pipes 6 are respectively connected to external air pumps.

[0065] Furthermore, the airbag 3 is a thin shell structure with uniform thickness, the material of the airbag 3 is silica gel, and the outer wall of the airbag 3 includes an outer edge 14 and an inner edge 15 .

[0066] Furthermore, the central rod 4 is a shape memory alloy rod, and the central rod 4 is externally connected to a power source.

[0067] Furthermore, the material of the central rod 4 is nickel-titanium alloy, which has the characteristic of variable stiffness. Its initial stiffness is low and can be bent by applying a small force. After being powered on and heated, the stiffness is greatly enhanced.

[0068] In addition, the present invention also provides a method for using a flexible mechanical arm based on the coupling of memory alloy and pneumatic artificial muscle, and the specific steps are as follows:

[0069] The flexible robotic arm is in a vertical state by default. When moving, the airbag 3 on the inner side of the bending arc is deflated, and the inner side of the arc is the side with a smaller bending radius, and the outer airbag 3 is inflated to achieve the overall bending of the flexible robotic arm; during recovery, the air pressure inside all airbags 3 returns to the initial state; the size of the outer edge 14 of the airbag 3 remains unchanged, the inner edge 15 expands outward when inflated, and contracts inward when deflated; when the flexible robotic arm moves to the target position, the center rod 4 is energized to enhance its rigidity and ensure its stability.

[0070] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] Example

[0072] See also Figures 1 to 5 , this embodiment provides a flexible robotic arm based on the coupling of memory alloy and pneumatic artificial muscle.

[0073] like Figure 1 As shown, the flexible mechanical arm comprises a fixing plate 1, a spacing plate 2, an airbag 3, a center rod 4, a base 5, and an air pipe 6. The characteristics are as follows: the fixing plate 1 is fixed to the top of the flexible mechanical arm; the spacing plates 2 are evenly spaced on the flexible mechanical arm; the airbag 3 is supported between two spacing plates 2; the center rod 4 runs through the entire flexible mechanical arm and is connected to the base 5; the air pipe 6 is fixed below the base 5.

[0074] like Figure 2 As shown, the fixed disk 1 is fixed to the center rod 4 by a first locking hoop 7 and connected to the three airbags 3. The fixed disk 1 is a circular thin disk with a large number of holes and a through hole in the center with the same diameter as the center rod 4 for fixing the center rod 4. The spacer disk 2 is similar in shape to the fixed disk 1, and is a circular thin disk with a large number of holes. The diameter of the central through hole is the same as that of the center rod 4 for passing the center rod 4. The spacer disk 2 is fixed to the center rod 4 by a second locking hoop 8. The spacer disk 2 is provided with three evenly distributed first ventilation holes 9 for connecting the airbags 3. Two adjacent airbags 3 are connected to each other through the first ventilation holes 9.

[0075] like Figure 3 As shown, the base 5 is disc-shaped, and its thickness is much greater than the fixing plate 1 and the spacer plate 2, and is used to fix the overall structure of the flexible robotic arm. There is a fixing platform 10 in the center of the base 5, in which the diameter of the circular hole is the same as that of the center rod 4, and is used to fix the center rod 4. The base 5 is evenly distributed with three second vent holes 11 for connecting the airbag 3. The airbag 3 is connected to the air pipe 6 below the base 5 through the second vent holes 11. Six threaded fixing holes 12 are evenly distributed on the outer ring of the base 5, which are used to connect the flexible robotic arm with the control device or power source.

[0076] like Figure 4As shown, the airbag 3 is a thin shell structure with uniform thickness, made of silica gel, and has a vent 13 at its center line. In the invention, the outer diameters of the first vent holes 9, 11, 13 of the intermediate plate 2, the base 5, and the airbag 3 are the same, which is convenient for connection. The outer wall of the airbag 3 includes an outer ridge 14 and an inner ridge 15.

[0077] like Figure 5 As shown, the flexible mechanical arm also includes a first locking hoop 7 and a second locking hoop 8, the first locking hoop 7 is arranged below the fixed plate 1, the fixed plate 1 is fixed to the central rod 4 through the first locking hoop 7, the first locking hoop 7 is connected to the fixed plate 1 through a longitudinal bolt 16, the first locking hoop 7 clamps the central rod 4 through the transverse bolt 16, and the center of the first locking hoop 7 is provided with a knurled stripe 17, the knurled stripe 17 is used to increase friction and prevent the central rod 4 from sliding;

[0078] The second locking hoop 8 is arranged below the spacer disk 2, and the spacer disk 2 is fixed to the center rod 4 through the second locking hoop 8. The second locking hoop 8 is connected to the spacer disk 2 through the longitudinal bolts 16. The second locking hoop 8 clamps the center rod 4 through the transverse bolts 16. A knurled stripe 17 is provided in the center of the second locking hoop 8. The knurled stripe 17 is used to increase friction and prevent the center rod 4 from sliding.

[0079] like Figure 6 As shown, the air delivery pipe 6 is a rubber hose connected to the second vent hole 11 of the base 5. In addition, the central rod 4 is a shape memory alloy rod made of nickel-titanium alloy, which has the characteristic of variable stiffness. Its initial stiffness is low and can be bent by applying a small force. After power is turned on and the temperature is increased, the stiffness is greatly enhanced.

[0080] like Figure 7 As shown, the flexible robotic arm is in a vertical state by default. When moving, the inner airbag 3 of the bending arc is deflated and the outer airbag 3 is inflated to achieve the overall bending of the flexible robotic arm; when returning, the air pressure in all the airbags 3 returns to the initial state; the size of the outer edge 14 of the airbag 3 remains unchanged, the inner edge 15 expands outward when inflated, and contracts inward when deflated; when the flexible robotic arm moves to the target position, the center rod 4 is energized to enhance its rigidity and ensure its stability.

[0081] The specific implementation process of the present invention is as follows:

[0082] Before controlling the movement of the flexible robotic arm, it is necessary to perform kinematic modeling on it, and then determine the relationship between the position of the end of the flexible robotic arm, the bending angle of the flexible robotic arm, and the amount of gas change in the airbag 3 based on the kinematic model. The flexible robotic arm includes three groups of airbags 3, each group consisting of multiple airbags 3 connected in series. The airbags 3 are connected to the external air source. When the flexible robotic arm moves, the airbags 3 on the inner side of the bending arc are deflated, and the airbags 3 on the outer side are inflated to achieve the bending of the flexible robotic arm as a whole; when restoring, the air pressure in all airbags 3 is restored to the initial state. During the entire process of bending and restoring, the size of the outer edge 14 of the airbag 3 remains unchanged. When inflated, the inner edge 15 expands outward, and when deflated, the inner edge 15 contracts inward.

[0083] When the flexible robotic arm moves to the target position, there may be a problem of excessive vibration amplitude due to excessive movement. At this time, the central rod 4 is energized to enhance the rigidity and ensure the stability of the flexible robotic arm.

[0084] In actual use, an actuator can be installed at the end of the flexible robotic arm (the fixed plate 1 is the end of the flexible robotic arm) to achieve more functions, or multiple flexible robotic arms of this type can be connected in series to obtain a larger working space.

[0085] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A flexible robotic arm based on memory alloy and pneumatic artificial muscle coupling, characterized in that: It comprises a fixing plate (1), a spacer plate (2), an air bag (3), a center rod (4), a base (5) and an air delivery pipe (6). The spacer disk (2) is arranged between the fixed disk (1) and the base (5), and the spacer disk (2) is provided with a plurality of The central rod (4) is connected to the fixed plate (1), the plurality of spacer plates (2) and the base (5) in sequence; the central rod (4) is arranged at the center of the fixed plate (1); and the gas delivery pipe (6) is fixed below the base (5); An air bag (3) is provided between two adjacent spacer plates (2), between the fixed plate (1) and the spacer plate (2), and between the base (5) and the spacer plate (2). The air bag (3) between the base (5) and the spacer plate (2) is connected to an air pipe (6). The air pipe (6) is used to introduce external gas into the air bag (3). Three air bags (3) are respectively arranged between two adjacent spacer plates (2), between the fixed plate (1) and the spacer plate (2), and between the base (5) and the spacer plate (2), and the three air bags (3) are evenly spaced in a circumferential direction; The airbag (3) is bonded to the fixing plate (1) or the spacer plate (2) by means of strong glue; The spacer disk (2) is provided with three first ventilation holes (9), the three first ventilation holes (9) are evenly spaced on the spacer disk (2) along the circumferential direction, and the three first ventilation holes (9) are respectively connected to the three air bags (3); The base (5) is provided with three second vent holes (11), which are evenly spaced on the base (5) along a circumferential direction, one end of the three second vent holes (11) is connected to the three air bags (3) respectively, and the other end of the three second vent holes (11) is connected to the air pipe (6) of the base (5); The central rod (4) is a shape memory alloy rod, and the central rod (4) is externally connected to a power source; The air supply pipe (6) is a rubber hose, the flexible robotic arm has three air supply pipes (6), and the three air supply pipes (6) are respectively connected to an external air pump; The airbag (3) is a thin shell structure with uniform thickness. The material of the airbag (3) is silica gel. The outer wall of the airbag (3) comprises an outer edge (14) and an inner edge (15).

2. A flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling according to claim 1, characterized in that: A plurality of the spacer discs (2) are distributed at equal intervals.

3. The flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling according to claim 1, characterized in that: The base (5) is disc-shaped, a fixing platform (10) is provided at the center of the base (5), a circular hole is provided at the center of the fixing platform (10), the diameter of the circular hole is the same as that of the center rod (4), and the circular hole is used to fix the center rod (4); The fixing disk (1) is a circular thin disk, and a first through hole is provided at the center of the fixing disk (1). The diameter of the first through hole is the same as that of the center rod (4), and the first through hole is used to pass the center rod (4). The spacer disk (2) is a circular thin disk, and a second through hole is provided at the center of the spacer disk (2). The diameter of the second through hole is the same as that of the center rod (4), and the second through hole is used to pass the center rod (4).

4. The flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling according to claim 1, characterized in that: The flexible mechanical arm further comprises a first locking hoop (7) and a second locking hoop (8), wherein the first locking hoop (7) is arranged below the fixing plate (1), the fixing plate (1) is fixed to the central rod (4) via the first locking hoop (7), the first locking hoop (7) is connected to the fixing plate (1) via a longitudinal bolt (16), the first locking hoop (7) clamps the central rod (4) via a transverse bolt (16), and a knurled stripe (17) is arranged at the center of the first locking hoop (7), the knurled stripe (17) is used to increase friction and prevent the central rod (4) from sliding; The second locking hoop (8) is arranged below the spacer disc (2); the spacer disc (2) is fixed to the center rod (4) via the second locking hoop (8); the second locking hoop (8) is connected to the spacer disc (2) via a longitudinal bolt (16); the second locking hoop (8) clamps the center rod (4) via a transverse bolt (16); a knurled pattern (17) is provided at the center of the second locking hoop (8); the knurled pattern (17) is used to increase friction and prevent the center rod (4) from sliding.

5. The flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling according to claim 1, characterized in that: Ventilation pipes (13) are provided at both ends of the airbag (3), and the ventilating pipes (13) are located at the centerline of the airbag (3). The ventilating pipe (13) of the airbag (3) between two adjacent spacer plates (2) is connected to the first ventilating hole (9) by gluing, and the ventilating pipe (13) of the airbag (3) between the base (5) and the spacer plate (2) is connected to the second ventilating hole (11) by gluing, and the other end of the second ventilating hole (11) is connected to the air supply pipe (6) of the base (5).

6. The flexible mechanical arm based on memory alloy and pneumatic artificial muscle coupling according to claim 1, characterized in that: Six threaded fixing holes (12) are evenly distributed on the outer ring of the base (5), and the fixing holes (12) are used to connect the flexible mechanical arm with a control device or a power source.

7. A method for using the flexible mechanical arm based on the coupling of the memory alloy and the pneumatic artificial muscle as claimed in any one of claims 1 to 6, the specific steps being as follows: The flexible robotic arm is in a vertical state by default. When in motion, the airbag (3) on the inner side of the bending arc is deflated, and the inner side of the arc is the side with a smaller bending radius, and the airbag (3) on the outer side is inflated to achieve the bending of the flexible robotic arm as a whole. When returning, the air pressure inside all the airbags (3) returns to the initial state. The size of the outer edge (14) of the airbag (3) remains unchanged, and the inner edge (15) expands outward when inflated, and contracts inward when deflated. When the flexible robotic arm moves to the target position, the central rod (4) is energized to enhance the rigidity and ensure its stability.

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