Mechanical arm with variable width operation and integrated motion module in narrow environment

Abstract

The application discloses a kind of variable width motion operation integrated module mechanical arm under narrow environment, this mechanical arm is based on modularization, multiple variable width modules are combined with joint module.In joint module, driving motor drives each variable width module to swing in two directions, so that the mechanical arm bends to any direction to complete the work in each scene.The application has flexible telescopic mechanism on each variable width module and multi-section linkage, quickly realizes the change of fuselage width, and has additional motion module, the tip end moves according to the predetermined curve by cam link mechanism.Each variable width module adopts transmission shaft transmission to realize variable width function and additional motion function linkage, control is simple and light in weight, relative to traditional mechanical arm, mechanical arm can be independently moved to specified position for work without manual handling in necessary scene, fuselage adopts special mechanism design, ensure structural strength while lightening, improve stability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and is a kind of operation and motion integrated modular mechanical arm with variable width in narrow environment. Specifically, the mechanical arm is based on modular design, and can freely change the width and length of the body to adapt to the requirements of operation in different narrow environments. At the same time, by attaching leg structures to the body of each module, the motion function is increased, so that it can move independently to the designated position for work. BACKGROUND

[0002] With the diversification of the application scenarios of the mechanical arm, the task difficulty is also increasing, and the requirements for the function of the mechanical arm are also increasing. At the same time, the demand for the mechanical arm to replace people to complete complex work in various more severe or extreme environments is also increasing. Therefore, designing a special mechanical arm with better adaptability to complex environments is the key and difficulty in the field of mechanical arms. In many special application scenarios, the base of the mechanical arm is not convenient to install, so that the advantages of the mechanical arm cannot be fully played. Therefore, it is particularly important to improve the independent motion ability and flexibility of the mechanical arm.

[0003] For the design of the existing mechanical arm, the invention patent application "Bionic mechanical arm" with application number CN202121744443.3 has small mass and simple mechanism compared with the traditional mechanical arm main component, but the base design is complex, the floor area is large, it is not easy to install and move, and the motion ability is low. In addition, the invention patent application "Modular bionic mechanical arm and working method thereof" with application number CN201810275023.1 adopts a modular design idea, and the mechanism design is simple and reasonable, but the size of the mechanical arm main body is fixed, the working range is limited, and it is difficult to work in narrow and irregular environments.

[0004] In view of the problems existing in the above designs, we design a kind of operation and motion integrated modular mechanical arm with variable width in narrow environment, which is composed of multiple modules, and the adjacent modules can realize left-right relative swing and up-down relative swing. At the same time, through a driving device, the width of multiple modules can be changed at the same time, so that it can complete the operation task in narrow environment. On this basis, by using the additional leg mechanism of each module, free movement can be realized, and the operation ability of the mechanical arm is greatly expanded. SUMMARY

[0005] The present application designs a kind of operation and motion integrated modular mechanical arm with variable width in narrow environment, which is characterized by: composed of multiple modules that can freely swing and expand. Each module is composed of a variable-width module (1), an additional motion mechanism (2), and a swing joint (3).

[0006] In the variable width module, the bracket (1-11) is fixedly connected with the carbon fiber top plate (1-10), the flange bearing 1 (1-8) is fixedly connected with the carbon fiber top plate (1-10), the cam sub-shaft (1-1) can rotate in the flange bearing 1 (1-8), the fixed ring 1 (1-7) and the fixed ring 2 (1-9) axially fix the cam sub-shaft (1-1) in the flange bearing 1 (1-8). The driving part is the bevel gear 2 (1-13) rotating to drive the bevel gear 1 (1-12), the bevel gear 1 (1-12) is fixedly connected with the cam sub-shaft (1-1) and rotates the cam sub-shaft (1-1). The flexible beam frame (1-2) is fixedly connected with the bracket (1-11), one end of the flexible beam (1-3) is fixedly connected with the flexible beam frame (1-2), and one end is fixedly connected with the flexible beam slider (1-6). The bearing cover plate (1-4) is fixedly connected with the flexible beam slider (1-6) and the slider bearing (1-5) respectively. When narrowing, the cam sub-shaft (1-1) rotates to drive the slider bearing (1-5) through the rope to drive the flexible beam slider (1-6) to move inward, so that the flexible beam (1-3) deforms, and when moving to a certain distance, the deformation force of the flexible beam (1-3) quickly pulls back the two additional movement modules (2) to complete the narrowing. When stretching, the cam sub-shaft (1-1) rotates to drive the slider bearing (1-5) to move the flexible beam slider (1-6). Thus the flexible beam (1-3) deforms, and when moving to a certain distance, the deformation force of the flexible beam (1-3) quickly pops out the two additional movement modules (2) to complete the stretching. Compared with the traditional gear and rack linear motion mechanism, the reaction is rapid and the weight is lighter.

[0007] In the additional movement mechanism, the flange bearing 2 (2-11) is fixedly connected with the outer cam bracket (2-2), the swing rotating shaft (2-10) penetrates into the two flange bearings (2-11) and can rotate and is fixedly connected with the swing slide rail (2-4), the swing slider (2-5) is fixedly connected with the movement slider (2-6) and can slide along the swing slide rail (2-4). The cam follower (2-14) is fixedly connected with the sliding groove bearing (2-15) and the movement slider (2-6). The leg rotating shaft (2-13) is fixedly connected with the rotating sliding groove (2-3), and the spline bearing (2-12) is fixedly connected with the leg rotating shaft (2-13) and can rotate. The driving part is the helical gear 1 (2-7) rotating to drive the helical gear 2 (2-8), the helical gear 2 (2-8) is fixedly connected with the spline shaft (2-9) and rotates, the spline shaft (2-9) rotates the spline bearing (2-12), and finally drives the swing sliding groove (2-3) to rotate, so that the sliding groove bearing (2-15) drives the cam follower (2-14) to slide in the cam sliding groove composed of the outer cam bracket (2-1) and the inner cam (2-2), so that the tip moves along the predetermined track.

[0008] In the joint module, the synchronous wheel 1 (3-2) is fixedly connected with the joint swing shaft (3-3), the joint swing shaft (3-3) is fixedly connected with the flange coupling (3-6), the flange coupling (3-6) is fixedly connected with the flange coupling sleeve (3-5) and can rotate in the flange bearing 3 (3-4). The direct current motor (3-8) drives the synchronous wheel 2 (3-7) to rotate after being decelerated by the worm gear reducer (3-8), the synchronous wheel 2 (3-7) drives the synchronous wheel 1 (3-2) to rotate, and finally drives the flange coupling (3-6) to rotate. The flange coupling (3-6) is fixedly connected with the joint swing carbon fiber plate (5), the joint swing carbon fiber plate (5) is fixedly connected with the variable width module (1), and finally the variable width module (1) is driven to swing left and right. The up and down lifting structure of the variable width module (1) is similar and will not be repeated. That is, one joint module can realize two degrees of freedom movement. Each joint module (3) is fixedly connected with the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) and the front and rear variable width modules (1) through the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6). When multiple modules are stacked together, the mechanical arm can realize multi-degree of freedom movement.

[0009] In the transmission structure, the transmission shaft component 1 (4-5) and the transmission shaft component 2 (4-6) form a transmission pair, the transmission shaft component 2 (4-6) and the transmission shaft component 3 (4-7) form a rotating pair to jointly form a transmission shaft. The main shaft 1 (4-1) and the main shaft 2 (4-2) are fixedly connected with the transmission shaft connecting shaft 1 (4-3) and the transmission shaft connecting shaft 2 (4-4) and are fixedly connected with the transmission shaft, and finally are fixedly connected with the main shaft 1 (4-1) and the main shaft 2 (4-2) in the next variable width module, so as to realize power transmission while swinging up and down. That is, when multiple modules are stacked, two motors can be used to drive each variable width module (1) and each additional motion module, which greatly reduces the number of motors, makes the control simpler, reduces the weight, and enables the additional motion module (1) to be independently phase-adjustable and simultaneously linked.

[0010] When the mechanical arm is used, that is, after the rack is installed, the number of modules can be increased or decreased according to actual needs to change the length of the fuselage to adapt to the requirements of the working scene. When encountering a narrow environment, the variable width module (1) can be controlled to quickly narrow the fuselage. When encountering a scene where the mechanical arm cannot be placed in a designated position, the rack can be removed, the phase of each additional motion module can be adjusted to a suitable position, and the additional motion module (1) can be placed on the ground to realize autonomous motion, that is, independent motion to a designated position for work.

[0011] Meanwhile, the overall skeleton design is combined with multiple manufacturing methods to ensure strength while greatly reducing the overall weight.

[0012] The advantages of the present application are:

[0013] 1. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, which is based on the idea of modularization, and can change the overall size by quickly stacking or disassembling corresponding modules according to requirements, so as to adapt to various scene requirements.

[0014] 2. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, which changes the body width by using flexible mechanism deformation in each variable-width module, and has the advantages of quick response, small size, and light weight, compared with traditional linear motion mechanisms such as gear and rack.

[0015] 3. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, which has an additional motion module on each variable-width module, and the tip end can move along a fixed curve through a cam link mechanism in the additional motion module.

[0016] 4. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, wherein each additional motion module is driven by a motor, and can realize linkage while adjusting the phase of each motion module individually according to requirements, so as to facilitate control and operation.

[0017] 5. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, which can be placed horizontally on the ground by disassembling the rack when it is impossible to manually place the mechanical arm to a specified position, and can realize independent crawling to the specified position for operation through the linkage of the additional motion modules after adjusting the phases of the additional motion modules.

[0018] 6. The present application provides a width-variable motion operation integrated module mechanical arm in a narrow environment, which adopts a skeleton type design, and combines multiple materials and manufacturing methods to reduce the weight of the body while ensuring the strength of the body. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The overall schematic diagram of the mechanical arm in the present application.

[0020] Figure 2 The local enlarged schematic diagram of the mechanical arm in the present application.

[0021] Figure 3 The variable-width module in the present application Figure 1 .

[0022] Figure 4 The variable-width module in the present application Figure 2 .

[0023] Figure 5 The additional motion module in the present application Figure 1 .

[0024] Figure 6Additional motion module in the application Figure 2 .

[0025] Figure 7 Additional motion module in the application

[0026] Figure 8 Joint module in the application Figure 1 .

[0027] Figure 9 Joint module in the application Figure 2 .

[0028] Figure 10 Transmission system schematic diagram

[0029] Figure 11 Folding and unfolding function schematic comparison Figure 1 .

[0030] Figure 12 Folding and unfolding function schematic comparison Figure 2 .

[0031] Figure 13 Modular schematic diagram

[0032] Figure 14 Additional motion module trajectory schematic diagram

[0033] Figure 15 Mechanical arm operation schematic diagram

[0034] Figure 16 Mechanical arm narrow environment operation schematic diagram

[0035] Figure 17 Mechanical arm independent motion mode schematic diagram

[0036] In the figure: 1- variable width module; 2 additional motion module; 3- joint module; 5- joint lifting carbon fiber plate; 6- joint swing carbon fiber plate;

[0037] 1-1 cam pair shaft; 1-2 flexible beam frame; 1-3 flexible beam; 1-4 bearing cover plate; 1-5 sliding block bearing; 1-6 flexible beam sliding block; 1-7 fixed ring 1; 1-8 flange bearing 1; 1-9 fixed ring 2; 1-10 carbon fiber top plate; 1-11 support: 1-12 bevel gear 1; 1-13 bevel gear 2;

[0038] 2-1 outer cam support; 2-2 inner cam; 2-3 rotating sliding groove; 2-4 swing guide rail: 2-5 swing sliding block; 2-6 leg sliding block; 2-7 bevel gear 1; 2-8 bevel gear 2; 2-9 spline shaft; 2-10 swing shaft; 2-11 flange bearing 2; 2-12 spline bearing; 2-13 leg rotating shaft; 2-14 cam follower; 2-15 sliding groove bearing;

[0039] 3-1 DC motor; 3-2 synchronous wheel 1; 3-3 joint swing shaft; 3-4 flange bearing 3; 3-5 flange coupling sleeve; 3-6 flange coupling; 3-7 synchronous wheel 2; 3-8 worm gear reducer;

[0040] 4-1 main shaft 1; 4-2 main shaft 2; 4-3 transmission shaft connecting shaft 1; 4-4 transmission shaft connecting shaft 2; 4-5 transmission shaft part 1; 4-6 transmission shaft part 2; 4-7 transmission shaft part 3; DETAILED DESCRIPTION

[0041] The application will be described in conjunction with the drawings and examples, but the application is not limited to the following examples.

[0042] Referring to Figure 1 , the application is a narrow environment width variable motion operation integrated module mechanical arm including a plurality of modular components composed of a variable width module (1), an additional motion module (2), a joint module (3), and a rack connected at the end.

[0043] Referring to Figure 2 , the variable width module is fixedly connected with the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6), and the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) form a rotating pair on the joint module (3). The reduction motor 1 and the reduction motor 2 on the joint module drive the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) to rotate, so that the variable width module (1) connected in front and back swings, that is, one joint module (3) can form two degrees of freedom motion.

[0044] Referring to Figure 3 , Figure 5 , Figure 8 , the variable width module (1), the additional motion module (2), and the joint module (3) are shown in Figure 12 , Figure 13 , the mechanical arm can be combined with different numbers of modules based on modularization, that is, the mechanical arm can freely change the length of the body to adapt to different scene requirements, and at the same time, one joint module has two degrees of freedom, and multiple modules can realize multiple degrees of freedom motion, that is, it can swing into multiple shapes to adapt to multiple environments and can work in a narrow environment.

[0045] Referring to Figure 11 , Figure 12 , the variable width function demonstration, Figure 11The center is the narrow state, the cam shaft (1-1) is in the center position, and the flexible beam (1-3) is in the bending state. When you want to stretch, the cam shaft (1-1) rotates and pushes the flexible beam slider (1-6) and the flexible beam (1-3) to move linearly to a certain distance. When the flexible beam (1-3) itself deforms, the two additional motion mechanisms (2) on both sides are stretched to a certain position. At this time, the cam shaft rotates 90 degrees, that is, the state shown in Figure 11 When the narrow state is switched again, the cam shaft rotates again and the rope is connected with the slider bearing (1-5) to make the slider bearing (1-5) pull the flexible beam slider (1-6) and the flexible beam (1-3) to move to a certain distance. When the flexible beam (1-3) itself deforms, the two additional motion mechanisms (2) on both sides are stretched to a certain narrow position.

[0046] Refer to Figure 10 The main shaft 1 (4-1) and the main shaft 2 (4-2) in each variable width module (1) are connected through transmission shaft connecting shaft 1 (4-3) and transmission shaft connecting shaft 2 (4-4), respectively. The transmission shaft is fixedly connected. Each variable width module (1) transmits power through the transmission shaft, that is, the change of the width of each variable width module and the movement of the tip of the additional motion module each have only one power input, so that the variable width and the additional motion are linked, the control is very simple, and the number of motors is greatly reduced to reduce the weight.

[0047] Refer to Figure 14 The leg rotating shaft (2-13) drives the rotating slide groove (2-3) to rotate, so that the cam follower (2-14) can move along the slide groove while moving in the slide groove between the inner cam (2-2) and the outer cam support (2-1). The cam follower (2-14) is fixedly connected with the swing slider (2-5), and the cam follower (2-15) drives the swing slider (2-5) to slide on the swing slide rail (2-4), while the swing slide rail (2-4) is fixedly connected with the slide rail rotating shaft (2-10) and can rotate. Finally, the tip moves along the trajectory shown in the figure.

[0048] Refer to Figure 15 , Figure 16 The mechanical arm operation scene demonstration is shown in the figure. In a narrow environment, the variable width module can quickly reduce the width of the fuselage to meet the environmental requirements for operation. Figure 16

[0049] Refer to Figure 17 The switching of the motion mode is shown in the figure. When the mechanical arm cannot be placed in the operation scene by human, the last rack can be removed, and the mechanical arm body is placed on the ground as shown in the figure. The mechanical arm can move through the linkage of the additional motion module, and at the same time, the attitude of the fuselage is changed through the motor in each joint module to overcome the obstacle, and the operation is carried out at the specified position.​

Claims

1. A variable-width integrated modular robotic arm for operation in confined spaces, characterized in that: It consists of multiple large modules that can swing and retract freely; each large module consists of a variable width module (1), an additional motion module (2), and a swing joint (3); In each large module, the additional motion module (2) is fixed to both sides of the variable width module (1). The variable width module (1) is fixed to the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) respectively. The swing joint (3) forms a rotating pair with the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) fixed to the variable width module (1) at the front and back respectively, so that the variable width module (1) at the front and back can swing up and down and left and right around the swing joint (3). The variable width module (1) includes a bracket (1-11). The bracket (1-11) is fixedly connected to the carbon fiber top plate (1-10), the flange bearing I (1-8) is fixedly connected to the carbon fiber top plate (1-10), the cam subshaft (1-1) rotates in the flange bearing I (1-8), and the fixing ring I (1-7) and fixing ring II (1-9) fix the cam subshaft (1-1) axially in the flange bearing I (1-8); the bevel gear II (1-13) rotates to drive the bevel gear I (1-12) to form the driving element, the bevel gear I (1-12) is fixedly connected to the cam subshaft (1-1) and drives the cam subshaft (1-1) to rotate; the flexible beam frame (1-2) is fixedly connected to the bracket (1-11), one end of the flexible beam (1-3) is fixedly connected to the flexible beam frame (1-2), and the other end is fixedly connected to the flexible beam slider (1-6); the bearing cover plate (1-4) is fixedly connected to the flexible beam slider (1-6) and the slider bearing (1-5) respectively; The additional motion module (2) includes an outer cam support (2-1), a flange bearing II (2-11) fixedly connected to the outer cam support (2-1), a swing shaft (2-10) passing through the flange bearings II (2-11) on both sides and rotatable and fixedly connected to the swing slide rail (2-4), a swing slider (2-5) fixedly connected to the motion slider (2-6) and slidable along the swing slide rail (2-4); a cam follower (2-14) and a slide bearing (2-15) fixedly connected to the motion slider (2-6); and a leg rotation shaft (2-13) fixedly connected to the rotation slide groove (2-3). The spline bearing (2-12) is fixedly connected to the leg rotating shaft (2-13) and can rotate; the helical gear I (2-7) drives the helical gear II (2-8) to rotate, forming the driving element. The helical gear II (2-8) is fixedly connected to the spline shaft (2-9) and rotates. The spline shaft (2-9) drives the spline bearing (2-12) to rotate, and drives the rotating slide (2-3) to rotate, so that the slide bearing (2-15) drives the cam follower (2-14) to slide along the cam slide formed by the outer cam support (2-1) and the inner cam (2-2), so that the tip moves along a predetermined trajectory. The swing joint (3) includes a synchronous pulley I (3-2), which is fixedly connected to the swing shaft (3-3). The swing shaft (3-3) is fixedly connected to the flange coupling (3-6). The flange coupling (3-6) is fixedly connected to the flange coupling sleeve (3-5) and rotates in the flange bearing III (3-4). The DC motor (3-8) drives the synchronous pulley II (3-7) to rotate after being reduced in speed by a worm gear reducer. The synchronous pulley II (3-7) drives the synchronous pulley I (3-2) to rotate, which in turn drives the flange coupling (3-6). Rotation, flange coupling (3-6) is fixed to joint swing carbon fiber plate (6), joint swing carbon fiber plate (6) is fixed to variable width module (1), that is, ultimately drives variable width module (1) to swing left and right; at the bottom of the swing joint there is another DC motor driven by a worm gear reducer to drive synchronous wheel set, thereby driving variable width module (1) to swing up and down, that is, a joint module includes two sets of synchronous wheel sets driven by worm gear reducer motors to drive the joint to lift carbon fiber plate (5) and joint swing carbon fiber plate (6) to achieve two degrees of freedom of movement; Each variable width module (1) is fixedly connected to the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6). At the same time, the joint lifting carbon fiber plate (5) and the joint swing carbon fiber plate (6) fixedly connected to the front and rear variable width modules (1) respectively form a rotating pair on the swing joint (3) and rotate relative to each other, thereby realizing the left and right and up and down swing of each variable width module (1). Each swing joint (3) lifts the carbon fiber plate (5) and swings the carbon fiber plate (6) and the front and rear variable width modules (1) are fixed together by bolts to form a large module. When multiple large modules are stacked together, the robotic arm can achieve multi-degree-of-freedom movement.

2. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, When the additional motion module (2) moves, the transmission shaft component I (4-5) and the transmission shaft component II (4-6) form a transmission pair, and the transmission shaft component II (4-6) and the transmission shaft component III (4-7) form a rotating pair to jointly form the transmission shaft; the main shaft I (4-1) and the main shaft II (4-2) are respectively fixed to the transmission shaft connecting shaft I (4-3) and the transmission shaft connecting shaft II (4-4) and are fixed to the transmission shaft, and finally fixed to the main shaft I (4-1) and the main shaft II (4-2) in the next variable width module (1), so as to realize the transmission of power while swinging up and down and left and right; that is, when multiple large modules are superimposed, two motors drive each variable width module (1) and each additional motion module respectively.

3. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, When the robotic arm is working, the variable width module (1) at one end of the robotic arm is fixed to the frame, and the frame is fixed to the ground to fix the robotic arm. The large module that connects to the frame is the last section of the robotic arm. When encountering a narrow environment, the control variable width module (1) narrows the body; the frame is fixed to the variable width module (1) in the last large module of the robotic arm, and the frame is fixed to the ground. When encountering a scenario where the robotic arm cannot be placed in the designated position, the frame is removed, and the phases of each additional motion module are adjusted to the appropriate position and placed horizontally on the ground. That is, the linkage motion of the additional motion module (2) is used to achieve autonomous movement, that is, to move independently to the designated position to perform the operation.

4. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, When narrowing, the cam subshaft (1-1) rotates and pulls the slider bearing (1-5) through the rope to drive the flexible beam slider (1-6) inward, thereby deforming the flexible beam (1-3). When it moves to a certain distance, the deformation force of the flexible beam (1-3) pulls back the additional motion modules (2) on both sides to complete the narrowing. When extending, the cam subshaft (1-1) rotates and pushes the slider bearing (1-5) to drive the flexible beam slider (1-6) to move, thereby deforming the flexible beam (1-3). When it moves to a certain distance, the deformation force of the flexible beam (1-3) pops out the additional motion modules (2) on both sides to complete the extension.

5. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, In each large module, the variable width module (1) before and after a swing joint (3) swings up and down and left and right respectively; in the multiple large modules of the entire body, the variable width module (1) in each large module swings around the swing joint (3) at any angle, so that the entire robotic arm bends into any shape.

6. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, The number of large modules in the fuselage can be increased or decreased as needed.

7. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, One end of the flexible beam (1-3) is fixedly connected to the flexible beam frame (1-2), and the other end is fixedly connected to the flexible beam slider (1-6); the bearing cover plate (1-4) is fixedly connected to the flexible beam slider (1-6) and the slider bearing (1-5) respectively; when narrowing, the cam subshaft (1-1) rotates and pulls the slider bearing (1-5) through the rope to drive the flexible beam slider (1-6) to move inward, thereby deforming the flexible beam (1-3). When it moves to a certain distance, the deformation force of the flexible beam (1-3) will quickly pull back the additional motion modules (2) on both sides to complete the narrowing; when extending, the cam subshaft (1-1) rotates and pushes the slider bearing (1-5) to drive the flexible beam slider (1-6) to move; thereby deforming the flexible beam (1-3). When it moves to a certain distance, the deformation force of the flexible beam (1-3) will quickly pop out the additional motion modules (2) on both sides to complete the extension.

8. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, An additional motion module (2) is provided on the variable width module (1). The additional motion module (2) uses a cam linkage mechanism to make the tip move along a predetermined curve.

9. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, Each major module is connected by a drive shaft.

10. The integrated modular robotic arm with variable width operation in narrow environments according to claim 1, characterized in that, When it is impossible to manually place the robotic arm in a designated position, the frame attached to the last section of the robotic arm can be removed; the frame on the last section of the robotic arm can be placed horizontally on the ground, and through the linkage of the additional motion module, it can move independently to the designated position to perform the operation.

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