A multifunctional electric telescopic arm based on light weight

Abstract

The utility model discloses a kind of multifunctional electric telescopic arm's manipulator based on light weight, belong to robot technical field, mechanical arm includes several precision rudders and connecting seat, connecting seat is rotatably installed on precision rudder, and its pivot is perpendicular with the pivot of precision rudder rotation;Mechanical arm includes outer arm and linear sliding installation in outer arm one rack, rack is engaged with one gear assembly in outer arm, gear assembly is drivingly connected with first rudder;In the end of rack extending outer arm, still be connected with a base, base is engaged with a pair of driving gear that is driven by second rudder, the side of two driving gears is fixed with transmission arm, the end of transmission arm is articulated with clamping arm, the both ends of clamping arm are also articulated with one end of connecting rod, the other section of connecting rod is articulated on base, when two driving gears synchronous reverse rotation, the clamping end of two clamping arms is close to each other or away from each other.The utility model structure is compact, motion control is sensitive and changeable, can improve work efficiency well.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robotic hand based on a lightweight, multi-functional electric telescopic arm. Background Technology

[0002] In existing technologies, robotic arms are widely used in industrial automation, material handling, and assembly lines. However, the fixed length of traditional robotic arms limits their operating range and makes them unsuitable for diverse working environments. To address this issue, telescopic arm technology has emerged. However, existing telescopic arm technologies suffer from complex structures, low reliability, and limited extension range, making it difficult to meet the demands for high-precision and high-efficiency operations. The limitations of existing telescopic robotic arms: Currently available telescopic robotic arms often suffer from insufficient precision during extension and retraction. Furthermore, traditional telescopic arm devices mostly employ hydraulic, pneumatic, or electric drives, which have limitations in practical applications. For example, on some industrial production lines, robotic arms are required to precisely grasp and place parts. Insufficient precision in the telescopic arm's extension and retraction movements leads to deviations in the grasping position, affecting production efficiency and product quality.

[0003] To address the aforementioned issues, a search revealed a utility model patent with Chinese patent authorization announcement number CN219429571U, published on July 28, 2023, which discloses a hydraulic telescopic arm. This device uses a sealing ring to generate a certain amount of extrusion deformation under force, filling and compressing the gap between the top plate and the arm, effectively reducing the gap between the top plate and the arm and improving the sealing performance of the arm. However, this device cannot solve the problem of increased costs due to the aging of the sealing ring and frequent replacement. Another example is a pneumatic telescopic arm for a rolling obstacle-crossing robot disclosed in Chinese patent CN214560907U. This device solves the problem of insufficient stability and flexibility in the installation of existing robot components through the cooperation of a sliding frame and axle. However, the telescopic force of the pneumatic telescopic arm is achieved through gas compression, and the amount of gas compression is difficult to precisely match with the load size. Therefore, this device cannot solve the problem of torsional deformation of the pneumatic telescopic arm under heavy loads, limiting its application in certain heavy-duty applications.

[0004] For example, a utility model patent with Chinese patent authorization announcement number CN211946015U and authorization announcement date of November 17, 2020, relates to a multi-stage vertical lifting electric telescopic boom. The telescopic boom assembly includes several telescopic tubes that are sequentially nested together, and the telescopic tubes are slidably connected by linear guide rails. However, in this device, the pulley is located at the front end of the boom body and is used to guide transmission components such as steel wire ropes to realize the extension and retraction of the boom body. When the boom body is extended, the position of the pulley will also move forward accordingly, increasing the risk of collision with obstacles.

[0005] Existing lightweight robotic arms require fixed arms of varying lengths to operate in different environments. Changing between these arms is time-consuming and fails to meet the robot's operational requirements. While existing technologies, such as the robotic hands disclosed in CN 104227708 A, offer significant motion control precision, their transmission designs are relatively complex. Achieving multi-degree-of-freedom precision control and expanding the motion range necessitates additional auxiliary components, resulting in a bulky overall structure that is difficult to easily adapt to different applications. Therefore, designing a robotic hand that is structurally simple, offers relatively reliable motion control, and boasts a relatively large operating radius is essential to address these shortcomings. Summary of the Invention

[0006] In light of the above description of the current state of the technology, the purpose of this invention is to provide a lightweight, multi-functional electric telescopic arm-based robotic arm to better solve the technical problems of insufficient precision and inflexible motion control during the extension and retraction of the robotic arm, which affect production efficiency and product quality.

[0007] To achieve the above objectives, the present invention employs a lightweight, multi-functional electric telescopic arm robotic hand, comprising a gripping part and a robotic arm for connecting the gripping part. The robotic arm includes several precision servo motors and a connecting seat. The connecting seat is rotatably mounted on the precision servo motors, and its rotation axis is perpendicular to the rotation axis of the precision servo motors. The robotic arm includes an outer arm and a rack linearly slidably mounted inside the outer arm. The rack meshes with a gear assembly inside the outer arm, and the gear assembly is driven by a first servo motor. A base is also connected to the end of the rack extending out of the outer arm. A pair of transmission gears driven by a second servo motor meshes on the base. A transmission arm is fixed to one side of the two transmission gears, and a clamping arm is hinged to the end of the transmission arm. One end of a connecting rod is hinged between the two ends of the clamping arm, and the other end of the connecting rod is hinged to the base. When the two transmission gears rotate synchronously in opposite directions, the clamping ends of the two clamping arms move closer to or further away from each other.

[0008] Furthermore, the rack is fixed to an inner arm, which is linearly slidably installed inside the outer arm. The end face of the inner arm extending out of the outer arm is in contact with the side of the base to push the base to move. A guide rod is also fixed on the side of the base, and the guide rod is axially fixedly inserted into the inner arm to define the relative installation position between the base and the inner arm.

[0009] Furthermore, a suction cup is fixed to the end face between the two connecting rods on the base. The suction cup can pick up objects with smooth surfaces. The suction cup is fixed to the suction tube, which is fixed to the base. A vacuum pump is connected to the suction tube.

[0010] Furthermore, the connecting seat has a Π-shaped structure. Except for the first precision servo which is mounted on a mounting plate, each of the other precision servos is rotatably mounted in the center of the closed end of the adjacent connecting seat. Except for the connecting seat which is rotatably connected to the outer arm, the open ends of the other connecting seats cover the precision servos, and the two side walls of the open end of the connecting seat are rotatably connected to the two opposite outer side walls of the adjacent precision servos.

[0011] Furthermore, the outer arm is a rectangular block structure, and a T-shaped groove is formed inside the outer arm along the length direction, passing through both ends of the outer arm. The rack is slidably installed near the bottom of the T-shaped groove, and the gear assembly is rotatably installed near the opening of the T-shaped groove.

[0012] Furthermore, the gear assembly includes five cylindrical gears that mesh sequentially, wherein the first cylindrical gear is connected to the first servo motor, the fifth cylindrical gear meshes with the rack, and the first servo motor is embedded and fixedly installed inside one side of the T-shaped slide groove opening.

[0013] Furthermore, each clamping arm is hinged with a connecting rod and a transmission arm on both its front and rear sides, and the two connecting rods and the two transmission arms are respectively aligned front to back and parallel to each other; one section of the clamping arm where the clamping end is located is a curved structure that arches outward, and the end face of the clamping end has a serrated protrusion.

[0014] Furthermore, the end face of the rack extending from the outer arm is connected to the side of the base to push the base to move; a guide rod is also fixed on the side of the base, and the guide rod is axially slidably inserted into the outer arm to guide the base to move linearly when the end face of the rack pushes against the base.

[0015] Furthermore, the end of the rack is slidably mounted in an annular groove on the side of the base and never leaves the annular groove. The rack has teeth on both its upper and lower surfaces. One row of teeth on the upper surface meshes with the gear assembly, and one row of teeth on the lower surface meshes with the driven gear rotatably mounted in the outer arm. A worm gear is coaxially fixed on the driven gear, and a worm is meshed below the worm gear. The worm is parallel to the rack, and a cylindrical thin gear is coaxially fixed at the end of the worm away from the worm gear. The cylindrical thin gear meshes with a spur gear column below it. The spur gear column is rod-shaped and coaxially fixed on the guide rod, which also rotatably engages with the outer arm. This allows the base to not only move linearly but also rotate around the axis of the guide rod as the rack slides out of the outer arm.

[0016] Furthermore, at least one of the gears has at least two elastic teeth, and the bottom end of the elastic teeth has a slider. The slider is circumferentially slidably installed in a groove near the root of the gear teeth. A top support spring is provided on one side of the groove. In the assembled state, the top support spring pushes the slider to the other side of the groove. The elastic gear tooth has a threaded hole in the center, and the bottom of the groove has a threaded blind hole. In the assembled state, the threaded hole is aligned with the threaded blind hole, and a locking screw is screwed into the threaded hole and the threaded blind hole to fix the elastic gear tooth. The top of the locking screw is connected to a threaded pressure ring via a tension spring. The threaded pressure ring is threadedly installed in the top port of the threaded hole, and the tension spring is always stretched when the locking screw and the threaded blind hole are in threaded engagement. A pressure plate is fitted on the gear shaft of the gear and pressed by a fastening nut. A compressed pressure-resistant spring is provided between the pressure plate and the end face of the gear.

[0017] Beneficial effects: This invention designs and constructs a lightweight multifunctional electric telescopic arm robotic hand. The entire robotic arm and gripping part adopt a lightweight design. Several connecting seats are based on mechanical joints formed by the precision transmission of multiple servo motors, and a pair of transmission gears driven by the same servo motors realize the gripping and releasing actions. The structure is simple and compact, which can well control the movement accuracy and range of the robotic hand and improve the movement sensitivity. This lightweight design makes the overall weight of the robotic hand lighter, which is convenient for handling and use.

[0018] More specifically, the lightweight robotic arm of this invention requires less power, which undoubtedly results in lower energy consumption for an industrial robot, contributing to the concept of energy conservation and emission reduction. Secondly, this invention also boasts high precision, enabling accurate grasping and placement of the grasped objects. The robotic arm employs an electric telescopic arm assembly structure, driven by a servo motor, making operation simple and easy to control, reducing operational difficulty and complexity. Its telescopic movement also significantly expands the working radius of the robotic arm, enabling it to cover a wider working area. Attached Figure Description

[0019] The following are auxiliary illustrations used to explain some specific embodiments of the present invention. The accompanying drawings mainly describe the principles of specific operation execution structures or methods of some embodiments of the present invention, but this does not mean that the physical structure or operation steps of the present invention can only be as shown in the figures.

[0020] Figures 1-2 These are three-dimensional structural diagrams of the present invention from two different perspectives; Figure 3 This is a diagram of the first connection structure between the gripper and the robotic arm; Figure 4 This is a diagram of the second connection structure between the gripper and the robotic arm; Figure 5 This is a schematic diagram of the end face of the transmission gear when a fastening nut and pressure plate are installed on it. Figure 6 This is a specific installation structure diagram of an elastic gear tooth.

[0021] Component labeling: 1. Connecting rod; 2. Precision servo; 3. Connecting seat; 4. First servo; 5. Outer arm; 6. Inner arm; 7. Rack; 8. Guide rod; 9. Transmission gear; 10. Base; 11. Transmission arm; 12. Suction cup; 13. Vacuum pump; 14. Suction tube; 15. Clamping arm; 16. Mounting plate; 17. Second servo; 18. Gear assembly; 19. Driven gear; 20. Worm gear; 21. Cylindrical thin gear; 22. Circular gear column; 23. Annular groove; 24. T-bolt structure; 25. One of the gears; 26. Elastic gear tooth; 27. Slider; 28. Top support spring; 29. ​​Locking screw; 30. Tension spring; 31. Threaded pressure ring; 32. Fastening nut; 33. Pressure plate; 34. Detailed Implementation

[0022] The embodiments of the present invention will be fully described below. Some core features of the embodiments will be specifically illustrated in the accompanying drawings, wherein the same or similar reference numerals in the drawings represent the same or similar technical features, or structures, steps, or processes with similar functions. Other embodiments derived by those skilled in the art based on these embodiments without requiring creative effort are also within the protection scope of the present invention.

[0023] Please see Figures 1-2 This embodiment describes a lightweight, multi-functional electric telescopic arm robotic arm. Structurally, it includes a gripping unit for directly gripping goods, and a robotic arm for connecting the gripping unit. This robotic arm mounts the gripping unit, drives it to the corresponding goods, and then performs the gripping. Specifically, this robotic arm includes several precision servo motors 2 and connecting seats 3. The connecting seats 3 are rotatably mounted on the precision servo motors 2, and their rotation axes are perpendicular to the rotation axes of the precision servo motors 2. Each precision servo motor 2 can rotate according to set parameters, thereby driving the corresponding connecting seat 3 to rotate and reach different positions. The combination of these connecting seats and precision servo motors 2 forms multiple sets of joints that are independent of each other but can cooperate to achieve different motion trajectories and reach different spatial positions. Meanwhile, the robotic arm in this embodiment mainly includes an outer arm 5 and a rack 7 linearly slidably installed inside the outer arm 5. The rack 7 meshes with a gear assembly 18 inside the outer arm 5. The gear assembly 18 is connected to a first servo motor 4 for transmission. The first servo motor 4 accurately controls the amount of movement of the rack 7, thereby indirectly controlling the clamping action of the base 10 and its clamping arm 15 mentioned later.

[0024] In practice, refer to the following: Figure 3A base 10 can be connected to one end of the rack 7 extending out of the outer arm 5. The base 10 is a rectangular plate structure. A pair of transmission gears 9, driven by the second servo motor 17, are meshed on the base 10 to achieve precise and controllable transmission control of the transmission gears 9. A transmission arm 11 is fixed on one side of the two transmission gears 9. A clamping arm 15 is hinged to the end of the transmission arm 11. One end of a connecting rod 1 is hinged between the two ends of the clamping arm 15. The other end of the connecting rod 1 is hinged to the base 10. When the second servo motor 17 is started, the two transmission gears 9 rotate synchronously in opposite directions, so that the clamping ends of the two clamping arms 15 move closer or further apart, accurately realizing the grabbing and release of goods.

[0025] As one example, such as Figures 1-3 The rack 7 is fixed to an inner arm 6, which is linearly slidably installed inside the outer arm 5. The end face of the inner arm 6 extending out of the outer arm 5 is in contact with the side of the base 10, so as to drive the base 10 to move linearly and approach the goods. In addition, a guide rod 8 is also fixed on the side of the base 10. The guide rod 8 is axially fixedly inserted into the inner arm 6 to limit the relative installation position between the base 10 and the inner arm 6, and control the installation position of the base 10 at the end of the inner arm 6.

[0026] Specifically, during manufacturing and installation, a suction cup 12 can be fixed on the end face between the two connecting rods 1 on the base 10. This suction cup 12 can pick up objects with smooth surfaces. The suction cup 12 is fixed on a suction tube 14, which is fixed on the base 10. A vacuum pump 13 is connected to the suction tube 14. When it is necessary to grab some goods that are not convenient to be held by the clamping arm 15, the goods can be taken away by contacting the smooth surface of the goods through the suction cup 12.

[0027] In the above embodiments, as one of the implementation structures, such as Figures 1-2 As shown, all the connecting seats 3 used are of a Π-shaped structure. Except for the first precision servo 2, which is mounted on a mounting plate 16, each of the other precision servos 2 is rotatably mounted in the center of the closed end of the adjacent connecting seat 3 to drive the corresponding connecting seat 3 to rotate. In addition, except for the connecting seat 3 that is rotatably connected to the outer arm 5, the open ends of the other connecting seats 3 cover the precision servos 2, and the two side walls of the open ends of the connecting seats 3 are rotatably connected to the two opposite outer side walls of the adjacent precision servos 2, so that the pitch angle can be adjusted.

[0028] In practice, such as Figures 1-2In this embodiment, the outer arm 5 is a rectangular block structure. A T-shaped groove, extending through both ends of the outer arm 5, is specially formed along its length. A rack 7 is slidably mounted near the bottom of this T-shaped groove for linear sliding. Furthermore, a gear assembly 18 is rotatably mounted near the opening of the T-shaped groove to directly drive the gear to slide within the groove. More specifically, during manufacturing, as... Figure 3 The gear assembly 18 includes five cylindrical gears that mesh sequentially. The first cylindrical gear is connected to the first servo motor 4 for transmission, while the fifth cylindrical gear meshes with the rack 7 to precisely control the movement of the rack 7. During installation, the first servo motor 4 is embedded and fixedly installed inside one side of the T-shaped slide groove, making the structure more compact.

[0029] like Figures 1-3 Each clamping arm 15 has a connecting rod 1 and a transmission arm 11 hinged to both its front and rear sides. That is, each side has a pair of connecting rods 1 and transmission arms 11, and the two connecting rods 1 and the two transmission arms 11 are directly opposite each other and parallel to each other, improving the stability and reliability of the clamping action. In particular, one section of the clamping arm 15 where the clamping end is located has an outwardly arched curved structure, and the end face of the clamping end has serrated protrusions to better clamp the goods and achieve stable and reliable gripping.

[0030] As another refined design scheme, it not only needs to realize the movement of the gripping part, but also the simultaneous rotation of the gripping part: In this design scheme, the installation of the base 10 does not depend on the inner arm 6 mentioned above. Here, the inner arm 6 is removed, and the base 10 is directly connected by a rack 7. Specifically, as follows Figure 4 As shown, the end face of the rack 7 extending from the outer arm 5 can be connected to the side of the base 10 to directly push the base 10 to move without the aid of the inner arm 6. Similarly, a guide rod 8 is fixed on the side of the base 10, but unlike the inner arm 6, this guide rod 8 is axially slidably inserted into the outer arm 5 to guide the base 10 to move linearly when the end face of the rack 7 pushes against the base 10. That is, although there is no inner arm 6 to guide and drive, linear movement can still be well achieved when the rack 7 is directly driven, with the assistance of the guide rod 8. At the same time, in this design scheme, as Figure 4Furthermore, the end of the rack 7 must be slidably installed in an annular groove 24 on the side of the base 10, and must never leave the annular groove 24. In specific manufacturing, the end of the rack 7 can be provided with a T-bolt structure 25, and correspondingly, the annular groove 24 can be a T-shaped sliding groove structure with a T-shaped cross-section. Furthermore, in this embodiment, teeth are provided on both the upper and lower surfaces of the rack 7, rather than the single-sided teeth of a traditional rack 7. A row of teeth on the upper surface of the rack 7 meshes with the gear assembly 18, driving the rack 7 to move and thus pushing the base 10 forward. A row of teeth on the lower surface of the rack 7 meshes with the driven gear 19 rotatably mounted in the outer arm 5. A worm gear 20 is coaxially fixed on the driven gear 19. A worm 21 meshes below the worm gear 20 and is rotatably mounted inside the outer arm 5. The worm 21 is parallel to the rack 7. A cylindrical thin gear 22 is coaxially fixed at the end of the worm 21 away from the worm gear 20. The cylindrical thin gear 22 meshes with the spur gear 23 below it. The spur gear 23 is rod-shaped. It is called a spur gear 23 because it is very special. Compared with ordinary gears, it is extremely thick, making the overall structure look like a spline shaft. This structure is designed so that when the cylindrical thin gear 22 drives the spur gear 23, even if the guide rod 8 and the spur gear 23 move axially together, they will not disengage. That is, the cylindrical gear is coaxially fixed on the guide rod 8, and the guide rod 8 also rotates with the outer arm 5. This allows the base 10 to not only move linearly but also rotate around the axis of the guide rod 8 during the process of the rack 7 sliding out of the outer arm 5. During operation, after the rack 7 slides out of the outer arm 5 to a set distance, the second servo motor 17 is activated. The base 10 and its two clamping arms 15 move linearly toward the goods while rotating. When the clamping arms 15 rotate to a set angle, the clamping end of the clamping arms 15 also clamps the goods. Then the second servo motor 17 reverses, and the two clamping arms 15 clamp the goods and move backward in a rotating manner, which can achieve the effect of rotation and pulling. It is especially suitable for dismantling and crushing some waste items and is best used as a dismantling robot.

[0031] In all the above embodiments, servo-driven components are used, which can effectively control the motion position accuracy. In practical use, as a special embodiment, a dual control mechanism is designed. It not only relies solely on the servo's electrical signal for automatic control but also incorporates pure mechanical control. Compared to servo control, it has lower requirements for the operating environment, is more stable and reliable, and is easier for general personnel to maintain, achieving a dual mechanism of electrical signal control and mechanical control. Specifically, in the gear transmission used, at least one gear 26 has at least two elastic teeth 27, because generally, in the gear meshing state, the accessory will have two or more teeth meshing or about to mesh, such as... Figure 6As shown, in this embodiment, a slider 28 is provided at the bottom end of the elastic gear tooth 27. This slider 28 is circumferentially slidably installed in a groove near the root of the gear tooth. A support spring 29 is provided on one side of the groove. In the assembled state, the support spring 29 pushes the slider 28 to the other side of the groove, thus forming a standard cylindrical gear structure. On the other hand, in this embodiment, a screw hole is also provided in the center of the elastic gear tooth 27, and a threaded blind hole is provided at the bottom of the groove. In the assembled state, the screw hole is aligned with the threaded blind hole, and a locking screw 30 is screwed into the screw hole and the threaded blind hole to fix the elastic gear tooth 27, thus realizing normal gear transmission. Specifically, the top of the locking screw 30 is connected to a threaded pressure ring 32 via a tension spring 31. The threaded pressure ring 32 is threadedly installed inside the top port of the threaded hole. When the locking screw 30 is in threaded engagement with the threaded blind hole, the tension spring 31 is always stretched. This serves two purposes: first, it ensures the locking screw 30 is in a pre-tightened state for greater stability; second, it ensures the threaded pressure ring 32 is also tightened, making the structure more stable and reliable, and less prone to loosening; and third, when the locking screw 30 is unscrewed, it automatically springs back into the elastic gear tooth 27, maintaining its fixed relationship with the gear. This design structure, for example, when applied to the transmission gear 9 that is not directly connected to the second servo motor 17, such as… Figure 5 As shown, a pressure plate 34, secured by a fastening nut 33, can be coaxially fitted on the gear shaft of the gear. A compressed pressure-resistant spring (not shown in the figure) is also specially fitted between the pressure plate 34 and the end face of the gear (for example, the gear is one of the transmission gears 9). The degree to which the fastening nut 33 is tightened varies, and the transmission gear 9 has more resistance to rotation relative to its shaft. This is to accommodate the functional design of the elastic gear teeth 27. When some of the locking screws 30 are loosened, these elastic gear teeth 27 become elastically installed. Once other gear teeth engage with its transmission, they will press against the elastic gear teeth 27 and slide, thus preventing the transmission between the gear teeth and causing the gear meshing to fail. Even if the transmission gear 9, which is the active element, rotates continuously, it will no longer be able to make the gear, which is the driven element, rotate. This achieves the purpose of controlling the rotation angle of the transmission gear 9. Regardless of whether the external drive element, such as the servo motor, is activated, it will no longer be able to drive the clamping arms 15 to move closer together, thereby protecting the clamped object from being damaged.

[0032] The above series of specific implementation details are merely some preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the claims of the present invention. Those skilled in the art, based on their understanding of the above embodiments and referring to the basic principles recorded in the claims of the present invention, can easily modify the design ideas, but these modifications still fall within the scope of protection of the invention.

Claims

1. A robotic hand based on a lightweight, multi-functional electric telescopic arm, comprising a gripping part and a robotic arm for connecting the gripping part, characterized in that, The robotic arm includes several precision servo motors (2) and a connecting seat (3). The connecting seat (3) is rotatably mounted on the precision servo motors (2), and its axis of rotation is perpendicular to the axis of rotation of the precision servo motors (2). The robotic arm includes an outer arm (5) and a rack (7) linearly slidably mounted inside the outer arm (5). The rack (7) meshes with a gear assembly (18) inside the outer arm (5), and the gear assembly (18) is connected to a first servo motor (4) for transmission. A base (10) is also connected to one end of the rack (7) extending out of the outer arm (5). A pair of transmission gears (9) driven by the second servo motor (17) are meshed on the base (10). A transmission arm (11) is fixed on one side of the two transmission gears (9). A clamping arm (15) is hinged to the end of the transmission arm (11). One end of a connecting rod (1) is also hinged between the two ends of the clamping arm (15). The other end of the connecting rod (1) is hinged to the base (10). When the two transmission gears (9) rotate synchronously in opposite directions, the clamping ends of the two clamping arms (15) move closer to each other or further away. The end face of the rack (7) extending out of the outer arm (5) is connected to the side of the base (10) to push the base (10) to move; a guide rod (8) is also fixed on the side of the base (10), and the guide rod (8) is axially slidably inserted into the outer arm (5) to guide the base (10) to move linearly when the end face of the rack (7) pushes the base (10); The end of the rack (7) is slidably mounted in an annular groove (24) on the side of the base (10) and never leaves the annular groove (24); The rack (7) has teeth on both its upper and lower surfaces. One row of teeth on the upper surface meshes with the gear assembly (18), and one row of teeth on the lower surface meshes with the driven gear (19) rotatably mounted in the outer arm (5). A worm gear (20) is coaxially fixed on the driven gear (19). A worm (21) meshes below the worm gear (20). The worm (21) is parallel to the rack (7). A cylindrical thin gear (22) is coaxially fixed at the end of the worm (21) away from the worm gear (20). The cylindrical thin gear (22) meshes with the spur gear column (23) below it. The spur gear column (23) is rod-shaped and coaxially fixed on the guide rod (8). The guide rod (8) also rotates with the outer arm (5) so that during the process of the rack (7) sliding out of the outer arm (5), the base (10) not only moves linearly but also rotates around the axis of the guide rod (8). At least one of the gears (26) has at least two elastic teeth (27), and the bottom end of the elastic teeth (27) has a slider (28). The slider (28) is circumferentially slidably installed in a groove near the tooth root of the gear. A top support spring (29) is provided on one side of the groove. In the assembled state, the top support spring (29) pushes the slider (28) to the other side of the groove. The elastic gear tooth (27) has a screw hole in the center and the bottom of the groove has a threaded blind hole. In the assembled state, the screw hole is aligned with the threaded blind hole, and a locking screw (30) is screwed into the screw hole and the threaded blind hole to fix the elastic gear tooth (27). The top of the locking screw (30) is connected to a threaded pressure ring (32) through a tension spring (31). The threaded pressure ring (32) is threadedly installed in the top port of the screw hole, and the tension spring (31) is always stretched when the locking screw (30) and the threaded blind hole are in threaded engagement. A pressure plate (34) is fitted on the gear shaft of the gear and pressed by a fastening nut (33). A compressed pressure-resistant spring is provided between the pressure plate (34) and the end face of the gear.

2. The robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 1, characterized in that, The rack (7) is fixed on an inner arm (6), which is linearly slidably installed inside the outer arm (5). The end face of the inner arm (6) extending out of the outer arm (5) is connected to the side of the base (10) to push the base (10) to move. A guide rod (8) is also fixed on the side of the base (10). The guide rod (8) is axially fixedly inserted into the inner arm (6) to limit the relative installation position between the base (10) and the inner arm (6).

3. The robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 1, characterized in that, A suction cup (12) is fixed on the end face between the two connecting rods (1) on the base (10). The suction cup (12) can pick up objects with smooth surfaces. The suction cup (12) is fixed on the suction tube (14). The suction tube (14) is fixed on the base (10). A vacuum pump (13) is connected to the suction tube (14).

4. A robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 1, characterized in that, The connecting seat (3) has a Π-shaped structure. Except for the first precision servo (2) which is mounted on a mounting plate (16), each of the other precision servos (2) is rotatably mounted in the center of the closed end of the adjacent connecting seat (3). Except for the connecting seat (3) which is rotatably connected to the outer arm (5), the open ends of the other connecting seats (3) cover the precision servos (2), and the two side walls of the open end of the connecting seat (3) are rotatably connected to the two opposite outer side walls of the adjacent precision servos (2).

5. A robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 1, characterized in that, The outer arm (5) is a rectangular block structure. A T-shaped groove is provided inside the outer arm (5) along the length direction, passing through both ends of the outer arm (5). The rack (7) is slidably installed near the bottom of the T-shaped groove, and the gear assembly (18) is rotatably installed near the opening of the T-shaped groove.

6. A robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 5, characterized in that, The gear assembly (18) includes five cylindrical gears that mesh in sequence. The first cylindrical gear is connected to the first servo motor (4) for transmission, and the fifth cylindrical gear meshes with the rack (7). The first servo motor (4) is embedded and fixedly installed inside one side of the T-shaped slide groove.

7. A robotic arm based on a lightweight, multi-functional electric telescopic arm according to claim 1, characterized in that, Each clamping arm (15) is hinged with a connecting rod (1) and a transmission arm (11) on both the front and rear sides, and the two connecting rods (1) and the two transmission arms (11) are respectively aligned front to back and parallel to each other; one section of the clamping arm (15) where the clamping end is located is a curved structure that arches outward, and the end face of the clamping end has a serrated protrusion.

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