A dual-link flexible robotic arm

Abstract

The application provides a double-link flexible mechanical arm, which comprises a power supply base, a limiting block, a first movable arm, a program module, a second movable arm and an access slot, the upper end of the power supply base is attached to the lower layer of the limiting block, the first movable arm is embedded in the two sides of the limiting block and is gap-fitted, and the program module is fixed to the side end of the first movable arm and is electrically connected; the limiting block is further improved, the original circular track is replaced by an auxiliary mechanism, the auxiliary mechanism is connected to the two sides of the bottom of the first movable arm according to the penetrating column and the rotating rod of the auxiliary mechanism, when the first movable arm is swung as a whole, the penetrating column drives the rotating rod and the rotating sleeve to rotate in the bearing, and the first movable arm is prevented from loosening or falling off due to the increase of the swing speed, and the swing stability of the first movable arm is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a double-link flexible mechanical arm. BACKGROUND

[0002] The flexible mechanical arm can realize angle bending according to the specific mechanical skeleton carried by the joint part during production operation, thereby assisting the production personnel to work, and the double-link assembly combined with the flexible mechanical arm can improve the swing range of the mechanical arm and improve the stability of the mechanical arm during operation by suppressing high-frequency vibration characteristics.

[0003] As found by the present inventor, the existing double-link flexible mechanical arm mainly has the following defects: the mechanical arm is pivoted according to the circular slide rails provided on both sides of the limiting block while the whole mechanical arm swings, but there is a gap after the bottom of the mechanical arm is connected with the circular slide rail of the limiting block, so that the mechanical arm can only run at a stable uniform speed, and when the mechanical arm is accelerated to match the automatic production line for rapid production, the gap of the bottom slide rail will cause the connection to be loose, and in severe cases, the mechanical arm will collapse due to one side falling off. SUMMARY

[0004] The technical solution adopted by the present application to achieve the technical purpose is: a double-link flexible mechanical arm, which comprises: a power supply seat, a limiting block, a first movable arm, a program module, a second movable arm, and an access slot, wherein the upper end of the power supply seat is attached to the lower layer of the limiting block, the first movable arm is embedded on both sides of the limiting block and is gap-fitted, the program module is fixed to the side end of the first movable arm and is electrically connected, the second movable arm is arranged above the program module and is movably fitted with the upper end of the first movable arm, and the access slot is embedded in the center of the surface end of the second movable arm and is an integrated structure with the second movable arm.

[0005] As a further improvement of the present application, the limiting block is provided with a clamping block, a bonding layer, a load-bearing member, a cover, and an auxiliary mechanism, the clamping block is welded to the center of the surface layer of the bonding layer, the load-bearing member is an integrated structure with the bonding layer, the cover is embedded in the side end of the load-bearing member and is oppositely distributed with the clamping block, the auxiliary mechanism is arranged inside the load-bearing member and penetrates through both sides of the load-bearing member, and the auxiliary mechanism is movably fitted with both sides of the lower end of the first movable arm through the load-bearing member; the clamping block and the bonding layer are made of magnetic metal material and have a surface layer in a precision polished form, the load-bearing member is made of carbon steel material, and the cover has the same shape as the load-bearing member.

[0006] As a further improvement of the application, the auxiliary mechanism is provided with a positioning device, a rotating sleeve, a parallel rod, a rotating rod, a fixed module, and a penetrating column. The positioning device is arranged at the lower end of the center of the rotating sleeve and is gap-fitted. The parallel rod is embedded in the central area of the rotating sleeve. The rotating rod is in the same center as the parallel rod and is movably connected with the rotating sleeve. The fixed module is penetrated by the rotating rod. The penetrating column is movably connected with the rotating rod through the fixed module and is gap-fitted with the fixed module. The fixed module is attached to the two sides of the outer layer of the load-bearing member. The positioning device is vertically installed on the inner median line of the load-bearing member. The positioning device and the rotating sleeve are perpendicular to each other. The rotating sleeve is internally provided with a parallel rod. The diameter of the rotating rod is smaller than that of the rotating sleeve. The fixed module is provided with one on each side of the rotating rod. The terminal end of the penetrating column is in a rounded corner shape.

[0007] As a further improvement of the application, the positioning device is provided with an anti-deviation component, an assembly block, a solid plate, a sliding rail, and a lifting component. The anti-deviation component is gap-fitted with the assembly block at the upper end. The solid plate is connected with the top of the anti-deviation component through the assembly block. The sliding rail is an integrated structure with the solid plate. The lifting component is installed inside the solid plate through the sliding rail and is communicated with the sliding rail. The anti-deviation component is vertically connected with the rotating sleeve through the solid plate and the sliding rail. The anti-deviation component and the assembly block are in the same vertical line. The assembly block contains an ordinary bolt on the basis of gap-fitting. The solid plate and the sliding rail are both in a semicircular shape, and the sliding rail is in a double-layer shape. The lifting component is internally provided with a plurality of spherical balls and is arranged in the sliding rail in a semicircular orientation. There is a corresponding gap between them.

[0008] As a further improvement of the application, the anti-deviation component is provided with a bottom block, a protruding block, a vertical column, a reinforcing frame, and a connecting piece. The bottom block is communicated with the protruding block at the upper side. The vertical column is welded with the protruding block on both sides. The vertical column is fixed to the center of the surface layer of the bottom block. The reinforcing frame is connected with the vertical column through the protruding block. The connecting piece is welded on the top of the reinforcing frame. The connecting piece is gap-fitted with the assembly block at the lower end. The bottom block is in a trapezoidal shape. There are two protruding blocks on both sides of the vertical column. The reinforcing frame is made of steel. The connecting piece is in a solid shape.

[0009] As a further improvement of the application, the cover is provided with a lifting plate, an overlapping layer, an insert, a cavity, and an airtight layer. The lifting plate and the overlapping layer are an integrated structure. The insert is fixed to the edge of the surface layer of the lifting plate through the overlapping layer. The cavity penetrates the center of the insert and is communicated with the overlapping layer. The airtight layer is embedded in the surface layer of the overlapping layer through the cavity. The airtight layer is communicated with the inner middle section of the auxiliary mechanism through the cavity. The area of the lifting plate and the overlapping layer is larger than the overall area of the insert, and the overlapping layer is in a fine polishing shape. The cavity of the insert is in a rectangular shape. The shape of the airtight layer is consistent with the shape of the cavity.

[0010] As a further improvement of the present application, the airtight layer is provided with a connecting body embedded in the upper and lower ends of the frame, a rubber plate fixed to the inside of the frame and on the same horizontal line as the frame, the frame is installed in the cavity through the connecting body, and the rubber plate communicates with the cavity through the frame; the connecting body is provided with one on the upper and lower ends of the frame, and the inside of the frame contains a rectangular rubber plate.

[0011] Compared with the prior art, the present application has the following beneficial effects:

[0012] 1. After the improvement of the limiting block, the original circular track is replaced by the auxiliary mechanism, which can be connected to the bottom of the first movable arm on both sides through the penetrating column and the rotating rod, so that when the first movable arm swings as a whole, the rotating rod and the rotating sleeve can be driven to rotate in the bearing inside, thereby achieving a common rotation effect, preventing the bottom from loosening or falling off due to the gap and the speed-up swinging operation of the first movable arm, and further improving the overall swinging stability of the first movable arm.

[0013] 2. After the improvement of the positioning device, the trapezoidal bottom block of the anti-deviation assembly and the vertical column can improve the perpendicularity of the slide rail and the lifting assembly, so as to strengthen the balanced rotation of the rotating sleeve inside the slide rail, indirectly improve the parallel placement effect of the rotating rod, and prevent the generation of inclination phenomenon, and then the arc-shaped slide rail and the built-in lifting assembly can be pushed by the rotating sleeve, so as to improve the rotating effect of the rotating rod inside the slide rail and prevent the generation of jamming.

[0014] 3. After the improvement of the cover, the lifting plate can be separated from the connection area of the bearing by manual lifting, so that the middle segment of the auxiliary mechanism can be directly exposed in space, thereby providing convenience for subsequent maintenance of the key part of the auxiliary mechanism, and the air-tight layer in the insert can use the rubber plate to eliminate the gap between the cover and the bearing after combination, so that the built-in auxiliary mechanism can be used in an absolutely dry area, and rusting of the central part caused by moisture invasion is prevented. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It belongs to a structure diagram of a double-link flexible mechanical arm.

[0016] Figure 2 It belongs to a structure diagram of a limiting block improvement.

[0017] Figure 3 It belongs to a structure diagram of a auxiliary mechanism improvement.

[0018] Figure 4 Structure diagram of improved rear side view of a positioning device.

[0019] Figure 5 Structure diagram of improved rear split front view of a deviation prevention assembly.

[0020] Figure 6 Structure diagram of improved three-dimensional view of a cover.

[0021] Figure 7 Structure diagram of improved top view of an air-tight layer.

[0022] In the figure: power supply seat 1, limiting block 2, first movable arm 3, program module 4, second movable arm 5, access slot 6, clamping block 21, adhering layer 22, bearing part 23, cover 24, auxiliary mechanism 25, positioning device 251, rotating sleeve 252, parallel rod 253, rotating rod 254, fixed module 255, interpenetrating column 256, deviation prevention assembly a1, assembly block a2, solid plate a3, sliding rail a4, lifting assembly a5, bottom block a11, protruding block a12, vertical column a13, reinforcing frame a14, connecting part a15, lifting plate 241, overlapping layer 242, plug-in part 243, cavity 244, air-tight layer 245, connecting body b1, frame b2, rubber plate b3. DETAILED DESCRIPTION

[0023] The application is further described below in conjunction with the accompanying drawings: Embodiment 1

[0024] Figures 1 to 5 As shown:

[0025] The application provides a double-link flexible mechanical arm,

[0026] The structure comprises a power supply seat 1, a limiting block 2, a first movable arm 3, a program module 4, a second movable arm 5, and an access slot 6. The upper end of the power supply seat 1 is attached to the lower layer of the limiting block 2. The first movable arm 3 is embedded in the two sides of the limiting block 2 and is gap-fitted. The program module 4 is fixed to the side end of the first movable arm 3 and is electrically connected. The second movable arm 5 is arranged above the program module 4 and is movably fitted with the upper end of the first movable arm 3. The access slot 6 is embedded in the center of the surface end of the second movable arm 5 and is an integrated structure.

[0027] The limiting block 2 is provided with a clamping block 21, a laminating layer 22, a bearing member 23, a cover 24 and an auxiliary mechanism 25, the clamping block 21 is welded at the center of the surface layer of the laminating layer 22, the bearing member 23 is an integrated structure with the laminating layer 22, the cover 24 is embedded in the side end part of the bearing member 23 and is opposite to the clamping block 21, the auxiliary mechanism 25 is arranged in the interior of the bearing member 23 and penetrates the two sides of the bearing member 23, and the auxiliary mechanism 25 is movably connected with the lower end of the first movable arm 3 through the bearing member 23; the clamping block 21 and the laminating layer 22 are both made of magnetic metal material and have a surface layer in a fine polishing form, the bearing member 23 is made of carbon steel material, and the cover 24 has the same shape as the bearing member 23.

[0028] The clamping block 21 and the laminating layer 22 can be clamped and laminated with the components without gap through the magnetic attraction function and the surface fine polishing feature, so as to increase the firmness of the connection between the two, the bearing member 23 can strengthen the bearing of the weight of the components through the carbon steel material, so that the components can work stably under the limitation of the components, and the cover 24 can cover the key parts in the auxiliary mechanism 25 to achieve the protection effect through the same shape as the bearing member 23.

[0029] The auxiliary mechanism 25 is provided with a positioning device 251, a rotating sleeve 252, a parallel rod 253, a rotating rod 254, a fixed module 255 and a penetrating column 256, the positioning device 251 is arranged at the lower end of the center of the rotating sleeve 252 and is gap-connected, the parallel rod 253 is embedded in the central area of the rotating sleeve 252, the rotating rod 254 is in the same center as the parallel rod 253 and is movably connected with the rotating sleeve 252, the center of the fixed module 255 is penetrated by the rotating rod 254, the penetrating column 256 is movably connected with the rotating rod 254 through the fixed module 255 and is gap-connected with the fixed module 255, the fixed module 255 is laminated on the two sides of the outer layer of the bearing member 23, and the positioning device 251 is vertically installed on the inner median line of the bearing member 23; the positioning device 251 and the rotating sleeve 252 are perpendicular to each other, the rotating sleeve 252 is internally provided with a parallel rod 253, the diameter of the rotating rod 254 is smaller than that of the rotating sleeve 252, the fixed module 255 is provided with one on each side of the rotating rod 254, and the terminal end of the penetrating column 256 is in a rounded corner form.

[0030] The positioning device 251 and the rotating sleeve 252 are perpendicular to each other, which can ensure that the rotating sleeve 252 is arranged horizontally and rotated, and can keep the rotating sleeve 252 at a certain height according to the holding of the positioning device 251, the parallel rod 253 built-in the rotating sleeve 252 can improve the alignment with the center of the rotating rod 254 and the rotation balance, the rotating rod 254 can be easily distinguished by being smaller in diameter than the rotating sleeve 252, the fixed module 255 can improve the transverse arrangement effect of the rotating rod 254 by being arranged on both sides of the rotating rod 254, and the penetrating column 256 can be matched with the parts without gap by being rounded, which can reduce the rotation performance of the two after being connected.

[0031] The positioning device 251 is provided with an anti-deviation assembly a1, an assembly block a2, a solid plate a3, a sliding rail a4 and a lifting assembly a5, the upper end of the anti-deviation assembly a1 is clamped and connected with the assembly block a2, the solid plate a3 is connected with the top of the anti-deviation assembly a1 through the assembly block a2, the sliding rail a4 is an integrated structure with the solid plate a3, the lifting assembly a5 is installed in the solid plate a3 through the sliding rail a4 and communicates with the sliding rail a4, and the anti-deviation assembly a1 vertically connects with the rotating sleeve 252 through the solid plate a3 and the sliding rail a4; the anti-deviation assembly a1 and the assembly block a2 are on the same vertical line, the assembly block a2 contains an ordinary bolt on the basis of clamping connection, the solid plate a3 and the sliding rail a4 are both semicircular in shape, and the sliding rail a4 is double-layered, the lifting assembly a5 is built-in with a plurality of spherical balls and arranged in the sliding rail a4 in a semicircular orientation, and there is a corresponding gap between them;

[0032] The anti-deviation assembly a1 and the assembly block a2 are on the same vertical line, which can be stably spliced with the center of the lower end of the solid plate a3 through the assembly block a2, the ordinary bolt carried by the assembly block a2 can improve the original clamping stability, the solid plate a3 and the sliding rail a4 can be matched with the shape of the parts through the semicircular shape, and the sliding rail a4 can limit the parts during sliding in the sliding rail a4 through the double-layered shape, and the plurality of spherical balls of the lifting assembly a5 can improve the rotation fluency of the parts in the sliding rail a4 and prevent the generation of jamming phenomenon.

[0033] The anti-deviation assembly a1 is provided with a bottom block a11, a protruding block a12, a vertical column a13, a reinforcing frame a14 and a connecting piece a15, the bottom block a11 is communicated with the protruding block a12, the vertical column a13 is welded on both sides of the protruding block a12, the vertical column a13 is fixed to the center of the surface layer of the bottom block a11, the reinforcing frame a14 is connected with the vertical column a13 through the protruding block a12, the connecting piece a15 is welded on the top of the reinforcing frame a14, and the connecting piece a15 is clamped and connected with the lower end of the assembling block a2.

[0034] The trapezoidal shape of the bottom block a11 can improve the straight placement of the vertical column a13 in a specific area, the number of the protruding blocks a13 on both sides of the vertical column a13 can fix the inner side of the reinforcing frame a14, so that the reinforcing frame a14 can be connected with the vertical column a13 through the protruding block a12, the reinforcing frame a14 made of steel can increase the supporting effect of the vertical column a13 on the components, and the solid form of the connecting piece a15 can improve the connecting performance of the top of the reinforcing frame a14 and the components.

[0035] The specific functions and operation processes of the embodiment are as follows:

[0036] In the application,

[0037] Firstly, the double-link flexible mechanical arm can fix the limiting block 2 in a specific production line through the power seat 1, so that the program module 4 at the side end of the first movable arm 3 can be artificially programmed to realize the effect of automatic operation after the power seat 1 is connected with the external power supply, so that the two ends at the bottom of the first movable arm 3 can swing in the overall orientation provided by the circular tracks on both sides of the limiting block 2, and the second movable arm 5 at the top can drive the clamp of the access slot 6 to clamp and take the workpiece on the production line according to the actual working condition.

[0038] Secondly, the limiting block 2 is fixed to the upper end surface center of the power seat 1 through the surface precision polishing feature and the clamping block 21 and the fitting layer 22 with magnetic attraction effect, so that the auxiliary mechanism 25 in the bearing 23 can replace the original two circular tracks for use, so that the auxiliary mechanism 25 can be connected with the bottom of the first movable arm 3 according to the protruding form, so that the first movable arm 3 can drive the auxiliary mechanism 25 to swing in the orientation, prevent the shaking instability during the speed-up swing caused by the gap between the original circular tracks, and strengthen the swing stability of the first movable arm 3 on the bearing 23, and according to the carbon steel material of the bearing 23, the overall weight of the first movable arm 3 can be supported, and the stability effect of the mutual connection operation is improved.

[0039] Third: auxiliary mechanism 25 can install rotating sleeve 252 in the upper region of the inside of load-bearing member 23 through positioning device 251, so that rotating sleeve 252 will complete the accurate center connection with rotating rod 254 through the built-in parallel rod 253, and the fixed module 255 on both sides of rotating rod 254 can be installed on the outer layer of load-bearing member 23 to provide corresponding position support for the penetration of column 256, so that the penetration of column 256 can be connected with rotating rod 254 through fixed module 255 after penetrating through both sides of load-bearing member 23, and can rotate with rotating rod 254, and during the process, rotating sleeve 252 can rotate on positioning device 251 to achieve horizontal parallel rotation, thereby improving the overall orientation stability of the first movable arm 3.

[0040] Fourth: the half-circle solid plate a3 connected by the assembly block a2 is stably positioned in the upper part of the load-bearing member 23 under the height position limitation of the anti-deviation assembly a1, so that the double-layer slide rail a4 on the half-circle solid plate a3 can carry the lifting assembly a5 to contact with the rotating sleeve 252, and then the rotating sleeve 252 can drive the lifting assembly a5 in the slide rail a4 to move when rotating with the first movable arm 3 through the parallel rod 253 and the rotating rod 254, and the lifting assembly a5 can improve the rotation fluency of the rotating sleeve 252 in the slide rail a4 according to the ball it carries, prevent the jamming of the first movable arm 3 during swinging, and improve the operation fluency of the mechanical arm on the production line.

[0041] Fifth: the anti-deviation assembly a1 can ensure the origin positioning of the vertical column a13 and other components through the trapezoidal bottom block a11, indirectly improving the fixed-point swinging effect of the first movable arm 3, so that the vertical column a13 perpendicular to the bottom block a11 can be spliced with the steel reinforcing frame a14 through the two side lugs a12, and then the reinforcing frame a14 can be connected with the assembly block a2 through the top adapter a15, so that the origin movement effect of the rotating sleeve 252 and other components can be ensured according to the support limitation of the vertical column a13 and the reinforcing frame a14, and the position deviation caused by the pressure on the lower components during the speed-up swinging of the mechanical arm can be prevented. Embodiment 2

[0042] Figures 6 to 7 as shown:

[0043] The application provides a double-link flexible mechanical arm,

[0044] The structure comprises that the cover 24 is provided with a lifting plate 241, an overlapping layer 242, an insert 243, a cavity 244 and an air-tight layer 245; the lifting plate 241 and the overlapping layer 242 are in an integrated structure; the insert 243 is fixed to the surface edge of the lifting plate 241 through the overlapping layer 242; the cavity 244 penetrates through the center of the insert 243 and communicates with the overlapping layer 242; the air-tight layer 245 is embedded in the surface layer of the overlapping layer 242 through the cavity 244; the air-tight layer 245 communicates with the inner middle section of the auxiliary mechanism 25 through the cavity 244; the area of the lifting plate 241 and the overlapping layer 242 is greater than the overall area of the insert 243, and the overlapping layer 242 is in a precision polished form; the cavity 244 of the insert 243 is in a rectangular shape; and the shape of the air-tight layer 245 is consistent with the shape of the cavity 244.

[0045] The lifting plate 241 and the overlapping layer 242 can cover and connect the insert 243 through the area advantage, and can achieve the effect of gapless fitting connection with the component according to the precision polished form; the cavity 244 of the insert 243 can be adapted to the shape of the component through the rectangular form; and the air-tight layer 245 can be stably loaded in the cavity 244 through its own shape, thereby improving the air tightness between the components and achieving the sealing effect.

[0046] The air-tight layer 245 is provided with a connecting body b1, a frame b2 and a rubber plate b3; the connecting body b1 is embedded in the upper and lower ends of the frame b2; the rubber plate b3 is fixed to the inside of the frame b2 and is on the same horizontal line as the frame b2; the frame b2 is installed in the cavity 244 through the connecting body b1; and the rubber plate b3 communicates with the cavity 244 through the frame b2; one connecting body b1 is arranged at each of the upper and lower ends of the frame b2; and the frame b2 contains a rectangular rubber plate b3 inside;

[0047] The number of the connecting body b1 at the upper and lower ends of the frame b2 can improve the connection firmness of the frame b2 to the component; the rectangular rubber plate b3 built in the frame b2 can be combined with the frame b2 according to its own shape, and then increase the air tightness between the components according to its own rubber material.

[0048] The specific functions and operation processes of the embodiment are as follows:

[0049] In the application,

[0050] First: the cover 24 of the load-bearing part 23 is gapless with itself through the lifting plate 241 and the overlapping layer 242, for this, the insert 243 can be inserted into the central edge area of the load-bearing part 23 through the overlapping layer 242 to make the cavity 244, the air-tight layer 245 and the auxiliary mechanism 25 communicate, so that the cover 24 can directly view the central key part of the auxiliary mechanism 25 after taking out the insert 243 from the central area of the load-bearing part 23 through the lifting plate 241, and the key part of the auxiliary mechanism 25 can be maintained conveniently, and the central part of the auxiliary mechanism 25 can be directly maintained according to the visual effect after taking out the cover 24;

[0051] Second: the air-tight layer 245 can complete the horizontal fixation of the rubber plate b3 on the surface of the overlapping layer 242 through the connecting body b1 on the upper and lower ends of the frame b2, so that the solidness and toughness of the rubber plate b3 can improve the sealing degree of the overlapping layer 242 and the load-bearing part 23, and ensure the air-tightness of the cavity 244 and the inside of the load-bearing part 23, so that the auxiliary mechanism 25 can operate in a completely dry area, and the rusting of the central part of the auxiliary mechanism 25 caused by the invasion of external water molecules can be prevented.

[0052] The technical solutions of the present application or the technical solutions inspired by the present application can achieve the above technical effects, and are all within the protection scope of the present application.

Claims

1. A dual-link flexible robotic arm, the structure of which comprises: The utility model provides a double connecting rod flexible mechanical arm, which comprises a power supply seat (1), a limiting block (2), a first movable arm (3), a program module (4), a second movable arm (5) and an access slot (6), characterized in that the upper end of the power supply seat (1) is attached to the lower layer of the limiting block (2), the first movable arm (3) is embedded in the two sides of the limiting block (2) and is gap-fitted, the program module (4) is fixed to the side end of the first movable arm (3) and is electrically connected, the second movable arm (5) is arranged above the program module (4) and is movably connected to the upper end of the first movable arm (3), and the access slot (6) is embedded in the center of the surface end of the second movable arm (5) and is an integrated structure with the second movable arm (5). The limiting block (2) is provided with a clamping block (21), an attachment layer (22), a bearing part (23), a cover (24) and an auxiliary mechanism (25), the clamping block (21) is welded to the center of the surface layer of the attachment layer (22), the bearing part (23) and the attachment layer (22) are an integrated structure, the cover (24) is embedded in the side end of the bearing part (23) and is oppositely distributed with the clamping block (21), the auxiliary mechanism (25) is arranged in the bearing part (23) and penetrates through the two sides of the bearing part (23), and the auxiliary mechanism (25) is movably connected to the lower end of the first movable arm (3) through the bearing part (23). The auxiliary mechanism (25) is provided with a positioning device (251), a rotating sleeve (252), a parallel rod (253), a rotating rod (254), a fixed module (255), and a penetrating column (256). The positioning device (251) is arranged at the lower end of the center of the rotating sleeve (252) and is gap-fitted. The parallel rod (253) is embedded in the central area of the rotating sleeve (252). The rotating rod (254) is in the same center as the parallel rod (253) and is movably connected with the rotating sleeve (252). The center of the fixed module (255) is penetrated by the rotating rod (254). The penetrating column (256) is movably connected with the rotating rod (254) through the fixed module (255) and is gap-fitted with the fixed module (255). The fixed module (255) is attached to the two sides of the outer layer of the load-bearing member (23). The positioning device (251) is vertically installed on the inner median line of the load-bearing member (23). The auxiliary mechanism (25) can install the rotating sleeve (252) in the upper middle area of the load-bearing member (23) through the positioning device (251), so that the rotating sleeve (252) can complete the precise center connection with the rotating rod (254) through the built-in parallel rod (253). Meanwhile, the fixed modules (255) on both sides of the rotating rod (254) can be installed on the outer layer of the load-bearing member (23) to provide corresponding position support for the penetrating connection of the penetrating column (256), so that the penetrating column (256) can be connected with the rotating rod (254) after penetrating the load-bearing member (23) on both sides through the fixed module (255), and can rotate with the rotating rod (254). In the process, the rotating sleeve (252) can rotate on the positioning device (251), achieving horizontal parallel rotation, thereby improving the overall orientation swing stability of the first movable arm (3). The positioning device (251) is provided with an anti-deviation assembly (a1), an assembly block (a2), a solid plate (a3), a sliding rail (a4), a lifting assembly (a5), the upper end of the anti-deviation assembly (a1) is clamped and connected with the assembly block (a2), the solid plate (a3) is connected with the top of the anti-deviation assembly (a1) through the assembly block (a2), the sliding rail (a4) and the solid plate (a3) are an integrated structure, the lifting assembly (a5) is installed in the solid plate (a3) through the sliding rail (a4) and communicates with the sliding rail (a4), the anti-deviation assembly (a1) vertically connects the solid plate (a3), the sliding rail (a4) and the rotating sleeve (252), the positioning device (251) is connected with the semicircular solid plate (a3) through the assembly block (a2), the semicircular solid plate (a3) is stably positioned at the middle and upper part of the load-bearing part (23) under the limitation of the height position of the anti-deviation assembly (a1), so that the double-layer sliding rail (a4) on the semicircular solid plate (a3) can carry the lifting assembly (a5) to contact the rotating sleeve (252), and then when the rotating sleeve (252) rotates together with the parallel rod (253) and the rotating rod (254) and the first movable arm (3), the lifting assembly (a5) in the sliding rail (a4) is driven to move, the lifting assembly (a5) can improve the rotation fluency of the rotating sleeve (252) in the sliding rail (a4) according to the ball carried by itself, and prevent the jamming caused by the swing of the first movable arm (3); The anti-deviation assembly (a1) is provided with a bottom block (a11), a protruding block (a12), a vertical column (a13), a reinforcing frame (a14) and a connecting piece (a15), the upper part of the bottom block (a11) communicates with the protruding block (a12), the vertical column (a13) is welded on the both sides of the protruding block (a12), the vertical column (a13) is fixed to the center of the surface layer of the bottom block (a11), the reinforcing frame (a14) is connected with the vertical column (a13) through the protruding block (a12), the connecting piece (a15) is welded on the top of the reinforcing frame (a14), the connecting piece (a15) is clamped and connected with the lower end of the assembly block (a2), the anti-deviation assembly (a1) can ensure the original positioning of the vertical column (a13) and other components through the trapezoidal bottom block (a11), indirectly improving the fixed-point swinging effect of the first movable arm (3), so that the vertical column (a13) perpendicular to the bottom block (a11) can be spliced with the steel reinforcing frame (a14) through the two protruding blocks (a12), and then the reinforcing frame (a14) can be connected with the assembly block (a2) through the connecting piece (a15) on the top, so that the original movement effect of the rotating sleeve (252) and other components can be ensured under the support limitation of the vertical column (a13) and the reinforcing frame (a14).

2. The dual-link flexible robotic arm of claim 1, wherein: The cover (24) is provided with a lifting plate (241), an overlapping layer (242), an insert (243), a cavity (244), and an airtight layer (245). The lifting plate (241) and the overlapping layer (242) are in an integrated structure. The insert (243) is fixed to the surface edge of the lifting plate (241) through the overlapping layer (242). The cavity (244) penetrates the center of the insert (243) and communicates with the overlapping layer (242). The airtight layer (245) is embedded in the surface layer of the overlapping layer (242) through the cavity (244). The airtight layer (245) communicates with the inner middle section of the auxiliary mechanism (25) through the cavity (244).

3. The dual-link flexible robotic arm of claim 2, wherein: The airtight layer (245) is provided with a connecting body (b1), a frame (b2), and a rubber plate (b3). The connecting body (b1) is embedded in the upper and lower ends of the frame (b2). The rubber plate (b3) is fixed to the inside of the frame (b2) and is on the same horizontal line as the frame (b2). The frame (b2) is installed in the cavity (244) through the connecting body (b1). The rubber plate (b3) communicates with the cavity (244) through the frame (b2).

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