Bionic mechanical arm with buffering function

Abstract

The invention belongs to the technical field of bionic mechanical arms, and particularly relates to a bionic mechanical arm with a buffering function, which comprises a buffering mechanism, the buffering mechanism comprises an upper arm, a sliding groove is formed in the upper arm, a first spring is fixedly connected to the inner wall of the sliding groove, a sealing ring is fixedly connected to the interior of the sliding groove, and a piston rod is slidably connected to the interior of the sliding groove; through cooperation of structures such as a piston rod and a first spring, rotation of the lower arm is buffered conveniently, an inclined block slides in an inclined groove in the rotation process and applies pressure to the piston rod, the piston rod slides in the sliding groove in the direction close to the first spring, the first spring and gas in the sliding groove are extruded, and the gas in the sliding groove is compressed; the rotation of the lower arm is buffered through the elastic force of the first spring and the air pressure, and the mechanical energy is converted into the gas pressure energy and the elastic potential energy of the first spring, so that the energy is temporarily stored and can be released in the subsequent reverse rotation of the lower arm, and the energy loss is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic mechanical arms, and in particular to a bionic mechanical arm with a buffering function. Background Art

[0002] The bionic robotic arm is a highly advanced robotic component whose design is inspired by the structure and function of organisms, especially the flexibility, adaptability and manipulation ability of human arms. This robotic arm is designed to imitate the natural movement, force control and perception ability of biological arms. With the rapid development of science and technology, robotics technology has shown great potential and value in many fields such as industry, medicine, services, and scientific research. Especially in high-precision, high-risk or inaccessible environments, the application of robotics technology is particularly important. In recent years, the rise of bionics has provided new inspiration and design ideas for robotics technology. Bionics studies the structure, function and behavior of organisms, aiming to integrate these natural wisdom into engineering design to improve the performance and utility of robots. Organisms, especially humans, have highly flexible structures and intelligent motion control mechanisms, and can perform various tasks safely and efficiently in complex and changing environments. This provides a valuable reference for designing safer, more flexible and efficient bionic robotic arm systems.

[0003] The impact force generated by the existing bionic robotic arm when moving or in contact with an object can easily cause damage to the robotic arm and the operated object, reducing the service life of the device. At the same time, in a complex and changeable environment, the robotic arm is prone to instability due to uneven ground or external interference, and has poor stability. In addition, the robotic arm is prone to unexpected movement due to slight external interference during movement, and has poor accuracy and safety under specific working conditions. Therefore, a bionic robotic arm with a buffering function is proposed, which has the effect of buffering the structure, reducing wear and improving stability. Summary of the invention

[0004] In order to solve the problems raised in the above background technology that the impact force generated when moving or contacting with an object can easily cause damage to the robotic arm and the operated object, reducing the service life of the device; at the same time, in a complex and changeable environment, the robotic arm is prone to instability due to uneven ground or external interference, and has poor stability; the robotic arm is prone to unexpected movement due to slight external interference during movement, and has poor accuracy and safety under specific working conditions, the present invention provides a bionic robotic arm with a buffering function.

[0005] A bionic mechanical arm with a buffering function comprises a buffering mechanism, a fixing mechanism is arranged inside the buffering mechanism, a rotating mechanism is arranged on the buffering mechanism, and a limiting mechanism is arranged inside the rotating mechanism; The buffer mechanism includes an upper arm, a slide groove is provided inside the upper arm, a first spring is fixedly connected to the inner wall of the slide groove, a sealing ring is fixedly connected inside the slide groove, a piston rod is slidably connected inside the slide groove, a side of the piston rod away from the first spring is fixedly connected to an inclined block, a vent hole is provided inside the upper arm, an elastic airbag is fixedly connected inside the upper arm, a limit frame is slidably connected inside the upper arm, an anti-collision pad is fixedly connected to the limit frame, a groove is provided at the bottom of the limit frame, and a plurality of second springs are fixedly connected to one end of the limit frame away from the anti-collision pad.

[0006] Preferably, the end of the piston rod away from the inclined block is slidably connected to the inner wall of the slide groove through the first spring, the end of the piston rod close to the inclined block passes through the inner wall of the slide groove and extends to the outside of the upper arm, the limit frame is slidably connected to the inner wall of the upper arm through the second spring, the end of the limit frame close to the anti-collision pad passes through the inner wall of the upper arm and extends to the side of the upper arm close to the inclined block, the first spring is connected to the elastic airbag through the vent hole, the vent hole passes through the groove and extends to the inside of the limit frame, and the elastic airbag is located inside the limit frame.

[0007] Preferably, the fixing mechanism includes a fixing hole on the upper arm, a plurality of rubber blocks are fixedly connected to the inner wall of the fixing hole, a rotating frame is fixedly connected to the side of the upper arm close to the inclined block, a plurality of tooth grooves are evenly arranged on the rotating frame, a first slot is arranged at the top of the fixing hole, and second slots are arranged on both sides of the fixing hole.

[0008] Preferably, the rotating frame is located between the limiting frame and the piston rod, a plurality of rubber blocks are evenly distributed inside the fixing hole, and the second slot is located below the first slot.

[0009] Preferably, the rotating mechanism includes a lower arm, the top of the lower arm is fixedly connected to a first clamping plate, the bottom of the lower arm is fixedly connected to two second clamping plates, the lower arm is provided with a rotating groove, the lower arm is provided with an inclined groove, and the lower arm has two limit grooves inside.

[0010] Preferably, the first card plate is snap-fitted to the first card slot, and the second card plate is snap-fitted to the second card slot.

[0011] Preferably, the rotating frame is rotatably connected to the rotating groove, the size of the inclined block is matched with the size of the inclined groove, and the inclined block is slidably connected to the inclined groove.

[0012] Preferably, the limiting mechanism includes a gear, a screw rod is fixedly connected on both sides of the gear, a threaded barrel is threadedly sleeved on the screw rod, limiting blocks are fixedly connected on both sides of the threaded barrel, a sliding rod is slidably connected to the end of the threaded barrel away from the screw rod, and a plurality of slots are evenly arranged on the end of the sliding rod away from the threaded barrel.

[0013] Preferably, the threaded cylinder has an "L" shape, the sliding rod has an "L" shape, the gear is rotationally connected to the inner wall of the lower arm, the gear passes through the inner wall of the lower arm and extends to the inside of the rotating groove, and the gear is meshed with the tooth groove on the rotating frame.

[0014] Preferably, the two threaded cylinders respectively penetrate the inner wall of the lower arm and extend to both sides of the lower arm, the limit block is slidably connected to the limit groove, the end of the sliding rod away from the threaded cylinder is slidably connected to the fixing hole, and the slot is clamped to the rubber block.

[0015] Working principle and working process of the present invention: When the device is in the straightened state as shown in the figure, the second spring is in a compressed state, and the first spring is in a natural state. When the lower arm rotates on the upper arm to bend the mechanical arm, the top of the lower arm will rotate away from the upper arm, so that the first clamping plate and the first clamping slot are released from the clamping connection. In the process of rotation, the limit frame will slide out from the inside of the upper arm under the action of the elastic force of the second spring and always abut against the lower arm through the anti-collision pad; The bottom of the lower arm will rotate toward the direction close to the upper arm, so that the inclined block slides inside the inclined slot and applies pressure to the piston rod, so that the piston rod slides inside the slot toward the direction close to the first spring, squeezing the first spring and the gas inside the slot, and buffering the rotation of the lower arm through the elastic force of the first spring and the air pressure, and converting the mechanical energy into the gas pressure energy and the elastic potential energy of the first spring, so as to realize the temporary storage of energy, which can be released in the subsequent reverse rotation of the lower arm, thereby reducing the energy loss. At the same time, the piston rod squeezes the gas inside the slot to move the gas into the elastic airbag through the vent hole, so that the elastic airbag is filled in the direction close to the lower arm, so that the surface of the elastic airbag is against the lower arm, and the air pressure inside the slot is balanced, so as to avoid the damage to the device structure caused by excessive air pressure inside the slot. At the same time, when the lower arm rotates in the opposite direction, the gas pressure and the elastic force of the first spring on the lower arm can be buffered by the air pressure in the second spring and the elastic airbag, and the setting of the limit frame can also limit the filled elastic airbag inside it, so as to avoid the situation where the elastic airbag is stuck with other structures. At the same time, the rotation of the lower arm on the upper arm will drive the meshing gear to rotate through the tooth groove on the rotating frame. The rotation of the gear will drive the screw rod to rotate. The rotation of the screw rod will cause the threaded barrel to slide inside the limit groove in the direction close to the gear under the limit of the limit block, driving the end of the sliding rod away from the threaded barrel to move in the direction close to the rubber block. When the rotation angle of the lower arm exceeds degrees, the slot on the sliding rod is engaged with the rubber block, and a triangle is formed between the threaded barrel and the sliding rod, the lower arm and the upper arm, thereby improving the stability of the device. The engagement of the slot and the rubber block can increase the resistance to the rotation of the lower arm, which can prevent unexpected movement caused by slight external interference to a certain extent.

[0016] Beneficial effects of the present invention: The present invention facilitates the buffering of the rotation of the lower arm by arranging the cooperation of the piston rod and the first spring and other structures. During the rotation process, the inclined block slides inside the inclined slot and applies pressure to the piston rod, so that the piston rod slides inside the slot toward the first spring, squeezing the first spring and the gas inside the slot. The rotation of the lower arm is buffered by the elastic force of the first spring and the air pressure, and the mechanical energy is converted into the gas pressure energy and the elastic potential energy of the first spring, thereby realizing the temporary storage of energy, which can be released in the subsequent reverse rotation of the lower arm, thereby reducing energy loss. The present invention provides a limit frame and an elastic airbag to cooperate with each other, thereby buffering the lower arm during the process of resetting by the reverse rotation of the lower arm. The piston rod squeezes the gas in the slide slot to make the gas move into the elastic airbag through the vent hole, so that the elastic airbag is filled in the direction close to the lower arm, so that the surface of the elastic airbag is against the lower arm, and the air pressure inside the slide slot is balanced to avoid damage to the device structure caused by excessive air pressure inside the slide slot. At the same time, when the lower arm rotates in the reverse direction, the gas pressure and the elastic force of the first spring on the lower arm can be buffered by the second spring and the air pressure in the elastic airbag. In the process of rotation, the limit frame will slide out from the inside of the upper arm under the action of the elastic force of the second spring and always be against the lower arm through the anti-collision pad. The limit frame can also limit the filled elastic airbag inside it to avoid the situation where the elastic airbag and other structures are stuck. The anti-collision pad can reduce noise and protect the limit frame and other structures. The present invention facilitates improving the stability of the device by arranging the coordination of structures such as gears and screw rods. When the lower arm rotates on the upper arm, the gear meshing with it will be driven to rotate through the tooth groove on the rotating frame. The rotation of the gear will drive the screw rod to rotate. The rotation of the screw rod will cause the threaded barrel to slide in the inner part of the limit groove toward the gear under the limit of the limit block, driving the end of the slide rod away from the threaded barrel to move toward the rubber block. When the rotation angle of the lower arm exceeds 45 degrees, the slot on the slide rod is engaged with the rubber block, and a triangle is formed between the threaded barrel and the slide rod, the lower arm and the upper arm, thereby improving the stability of the device. The engagement of the slot and the rubber block can increase the resistance to the rotation of the lower arm, which can prevent unexpected movement caused by slight external interference to a certain extent, and improve the control accuracy and safety under specific working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 A schematic diagram of the structural relationship between the tooth groove and the gear of the present invention; Figure 3 It is a schematic diagram of the structural relationship between the threaded barrel and the upper arm of the present invention; Figure 4 For the present invention Figure 3A schematic diagram of the enlarged structure at point A; Figure 5 A schematic diagram of the structural relationship between the slide bar and the fixing hole of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the rotating mechanism of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the buffer mechanism of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the limiting mechanism of the present invention.

[0018] In the figure: 1. buffer mechanism; 101. upper arm; 102. slide groove; 103. first spring; 104. sealing ring; 105. piston rod; 106. inclined block; 107. vent hole; 108. elastic airbag; 109. limit frame; 110. anti-collision pad; 111. groove; 112. second spring; 2. fixing mechanism; 201. fixing hole; 202. rubber block; 203. rotating frame; 204. tooth groove; 205. first card slot; 206. second card slot; 3. rotating mechanism; 301. lower arm; 302. first card plate; 303. second card plate; 304. rotating groove; 305. inclined groove; 306. limit groove; 4. limit mechanism; 401. gear; 402. screw rod; 403. threaded cylinder; 404. limit block; 405. slide rod; 406. card slot. DETAILED DESCRIPTION

[0019] See also Figures 1 to 8 Shown is an embodiment of the present invention.

[0020] A bionic mechanical arm with a buffering function comprises a buffering mechanism 1, a fixing mechanism 2 is arranged inside the buffering mechanism 1, a rotating mechanism 3 is arranged on the buffering mechanism 1, and a limiting mechanism 4 is arranged inside the rotating mechanism 3; The buffer mechanism 1 includes an upper arm 101, a slide groove 102 is provided inside the upper arm 101, a first spring 103 is fixedly connected to the inner wall of the slide groove 102, a sealing ring 104 is fixedly connected inside the slide groove 102, a piston rod 105 is slidably connected inside the slide groove 102, a side of the piston rod 105 away from the first spring 103 is fixedly connected to an inclined block 106, a vent hole 107 is provided inside the upper arm 101, an elastic air bag 108 is fixedly connected inside the upper arm 101, a limit frame 109 is slidably connected inside the upper arm 101, an anti-collision pad 110 is fixedly connected to the limit frame 109, a groove 111 is provided at the bottom of the limit frame 109, and a plurality of second springs 112 are fixedly connected to one end of the limit frame 109 away from the anti-collision pad 110.

[0021] The end of the piston rod 105 away from the inclined block 106 is slidably connected to the inner wall of the slide groove 102 through the first spring 103, and the end of the piston rod 105 close to the inclined block 106 passes through the inner wall of the slide groove 102 and extends to the outside of the upper arm 101. The limit frame 109 is slidably connected to the inner wall of the upper arm 101 through the second spring 112. The end of the limit frame 109 close to the anti-collision pad 110 passes through the inner wall of the upper arm 101 and extends to the side of the upper arm 101 close to the inclined block 106. The first spring 103 is connected to the elastic airbag 108 through the vent 107. The vent 107 passes through the groove 111 and extends to the inside of the limit frame 109. The elastic airbag 108 is located inside the limit frame 109.

[0022] By setting the cooperation of the piston rod 105 and the first spring 103 and other structures, the rotation of the lower arm 301 is facilitated to be buffered. During the rotation, the inclined block 106 slides inside the inclined groove 305 and applies pressure to the piston rod 105, so that the piston rod 105 slides inside the slide groove 102 in the direction close to the first spring 103, squeezing the first spring 103 and the gas inside the slide groove 102. The rotation of the lower arm 301 is buffered by the elastic force of the first spring 103 and the air pressure, and the mechanical energy is converted into gas pressure energy and the elastic potential energy of the first spring 103, thereby realizing temporary storage of energy, which can be released in the subsequent reverse rotation of the lower arm 301 to reduce energy loss; by setting the cooperation of the limit frame 109 and the elastic airbag 108 and other structures, the lower arm 301 is buffered during the process of resetting the lower arm 301 by reverse rotation, and the piston rod 105 squeezes the gas inside the slide groove 102 to make the gas pass The vent hole 107 moves to the inside of the elastic airbag 108, so that the elastic airbag 108 is filled in the direction close to the lower arm 301, so that its surface is against the lower arm 301, balancing the air pressure inside the slide groove 102, and preventing the air pressure inside the slide groove 102 from being too high and causing damage to the device structure. At the same time, when the lower arm 301 rotates in the opposite direction, the second spring 112 and the air pressure in the elastic airbag 108 can buffer the gas pressure on the lower arm 301 and the elastic force of the first spring 103, and during the rotation process, the limit frame 109 will slide out from the inside of the upper arm 101 under the action of the elastic force of the second spring 112 and always be against the lower arm 301 through the anti-collision pad 110, and the setting of the limit frame 109 can also limit the filled elastic airbag 108 inside it, avoiding the elastic airbag 108 from being stuck with other structures, and the setting of the anti-collision pad 110 can reduce noise and protect structures such as the limit frame 109.

[0023] like Figures 2 to 6As shown, the fixing mechanism 2 includes a fixing hole 201 formed on the upper arm 101, a plurality of rubber blocks 202 are fixedly connected to the inner wall of the fixing hole 201, a rotating frame 203 is fixedly connected to the side of the upper arm 101 close to the inclined block 106, a plurality of tooth grooves 204 are evenly formed on the rotating frame 203, a first card slot 205 is formed on the top of the fixing hole 201, a second card slot 206 is formed on both sides of the fixing hole 201, the rotating frame 203 is located between the limit frame 109 and the piston rod 105, a plurality of rubber blocks 202 are evenly distributed inside the fixing hole 201, and the second card slot 206 is located below the first card slot 205.

[0024] The rotating mechanism 3 includes a lower arm 301, a first clamping plate 302 is fixedly connected to the top of the lower arm 301, two second clamping plates 303 are fixedly connected to the bottom of the lower arm 301, a rotating groove 304 is opened on the lower arm 301, an inclined groove 305 is opened on the lower arm 301, and two limiting grooves 306 are opened inside the lower arm 301, the first clamping plate 302 is clamped with the first clamping groove 205, the second clamping plate 303 is clamped with the second clamping groove 206, the rotating frame 203 is rotatably connected with the rotating groove 304, the size of the inclined block 106 is adapted to the size of the inclined groove 305, and the inclined block 106 is slidably connected with the inclined groove 305.

[0025] The limiting mechanism 4 includes a gear 401, and screw rods 402 are fixedly connected on both sides of the gear 401. A threaded tube 403 is threadedly sleeved on the screw rod 402. Limiting blocks 404 are fixedly connected on both sides of the threaded tube 403. The end of the threaded tube 403 away from the screw rod 402 is slidably connected to a slide rod 405. The end of the slide rod 405 away from the threaded tube 403 is evenly provided with a plurality of slots 406. The outer shape of the threaded tube 403 is "L"-shaped, and the outer shape of the slide rod 405 is "L"-shaped.

[0026] The gear 401 is rotationally connected to the inner wall of the lower arm 301, the gear 401 penetrates the inner wall of the lower arm 301 and extends to the inside of the rotating groove 304, the gear 401 is meshed with the tooth groove 204 on the rotating frame 203, the two threaded tubes 403 respectively penetrate the inner wall of the lower arm 301 and extend to the two sides of the lower arm 301, the limit block 404 is slidingly connected to the limit groove 306, the end of the sliding rod 405 away from the threaded tube 403 is slidingly connected to the fixing hole 201, and the card slot 406 is carded to the rubber block 202.

[0027] By arranging the coordination of the gear 401 and the screw rod 402 and other structures, it is convenient to improve the stability of the device. The rotation of the lower arm 301 on the upper arm 101 will drive the gear 401 meshing therewith to rotate through the tooth groove 204 on the rotating frame 203. The rotation of the gear 401 will drive the screw rod 402 to rotate. The rotation of the screw rod 402 will cause the threaded barrel 403 to slide in the direction close to the gear 401 inside the limit groove 306 under the limit of the limit block 404, driving the end of the slide rod 405 away from the threaded barrel 403 to move close to the rubber block When the lower arm 301 rotates in the direction of 202, when the rotation angle of the lower arm 301 exceeds 45 degrees, the slot 406 on the slide bar 405 is engaged with the rubber block 202, and a triangle is formed between the threaded tube 403 and the slide bar 405, the lower arm 301 and the upper arm 101, thereby improving the stability of the device. In addition, the engagement of the slot 406 with the rubber block 202 can increase the resistance to the rotation of the lower arm 301, which can prevent unexpected movement caused by slight external interference to a certain extent, thereby improving the control accuracy and safety under specific working conditions.

[0028] The working principle and working process of this embodiment: When the device is in Figure 1 In the straightened state shown, the second spring 112 is in a compressed state, and the first spring 103 is in a natural state. When the lower arm 301 rotates on the upper arm 101 to bend the mechanical arm, the top of the lower arm 301 rotates away from the upper arm 101, so that the first clamping plate 302 and the first clamping slot 205 are released from the clamping connection. In the process of rotation, the limit frame 109 slides out from the inside of the upper arm 101 under the action of the elastic force of the second spring 112 and always passes through the anti-collision pad 110 and the lower arm 301. The bottom of the lower arm 301 will rotate toward the direction close to the upper arm 101, so that the inclined block 106 slides inside the inclined groove 305 and applies pressure to the piston rod 105, so that the piston rod 105 slides inside the slide groove 102 toward the direction close to the first spring 103, squeezing the first spring 103 and the gas inside the slide groove 102. The rotation of the lower arm 301 is buffered by the elastic force of the first spring 103 and the air pressure, and the mechanical energy is converted into gas pressure energy and elastic potential energy of the first spring 103, thereby realizing temporary storage of energy, which can be released in the subsequent reverse rotation of the lower arm 301 to reduce energy loss. At the same time, the piston rod 105 squeezes the gas inside the slide groove 102. The body will make the gas move to the elastic airbag 108 through the vent hole 107, so that the elastic airbag 108 is filled in the direction close to the lower arm 301, so that the surface of the elastic airbag 108 is against the lower arm 301, and the air pressure inside the slide groove 102 is balanced to avoid the damage to the device structure caused by excessive air pressure inside the slide groove 102. At the same time, when the lower arm 301 rotates in the opposite direction, the gas pressure on the lower arm 301 and the elastic force of the first spring 103 can be buffered by the second spring 112 and the air pressure in the elastic airbag 108, and the setting of the limit frame 109 can also limit the filled elastic airbag 108 inside, so as to avoid the elastic airbag 108 from being stuck with other structures. At the same time, the rotation of the lower arm 301 on the upper arm 101 will drive the gear 401 meshing therewith to rotate through the tooth groove 204 on the rotating frame 203. The rotation of the gear 401 will drive the screw rod 402 to rotate. The rotation of the screw rod 402 will cause the threaded cylinder 403 to slide in the direction close to the gear 401 inside the limiting groove 306 under the limit of the limiting block 404, driving the end of the slide bar 405 away from the threaded cylinder 403 to move in the direction close to the rubber block 202. When the rotation angle of the lower arm 301 exceeds 45 degrees, the slot 406 on the slide bar 405 is engaged with the rubber block 202, and a triangle is formed between the threaded cylinder 403 and the slide bar 405, the lower arm 301 and the upper arm 101, thereby improving the stability of the device. In addition, the engagement of the slot 406 with the rubber block 202 can increase the resistance to the rotation of the lower arm 301, and can prevent unexpected movement caused by slight external interference to a certain extent.

Claims

1. A bionic mechanical arm with a buffering function, comprising a buffering mechanism (1), characterized in that: The buffer mechanism (1) is provided with a fixing mechanism (2) inside, the buffer mechanism (1) is provided with a rotating mechanism (3), and the rotating mechanism (3) is provided with a limiting mechanism (4) inside; The buffer mechanism (1) comprises an upper arm (101), a slide groove (102) is provided inside the upper arm (101), a first spring (103) is fixedly connected to the inner wall of the slide groove (102), a sealing ring (104) is fixedly connected inside the slide groove (102), a piston rod (105) is slidably connected inside the slide groove (102), a side of the piston rod (105) away from the first spring (103) is fixedly connected to an inclined block (106), a vent hole (107) is provided inside the upper arm (101), an elastic air bag (108) is fixedly connected inside the upper arm (101), a limit frame (109) is slidably connected inside the upper arm (101), an anti-collision pad (110) is fixedly connected to the limit frame (109), a groove (111) is provided at the bottom of the limit frame (109), and a plurality of second springs (112) are fixedly connected to one end of the limit frame (109) away from the anti-collision pad (110).

2. The bionic mechanical arm with buffering function according to claim 1, characterized in that: The end of the piston rod (105) away from the inclined block (106) is slidably connected to the inner wall of the slide groove (102) through the first spring (103); the end of the piston rod (105) close to the inclined block (106) penetrates the inner wall of the slide groove (102) and extends to the outside of the upper arm (101); the limit frame (109) is slidably connected to the inner wall of the upper arm (101) through the second spring (112); the end of the limit frame (109) close to the anti-collision pad (110) penetrates the inner wall of the upper arm (101) and extends to a side of the upper arm (101) close to the inclined block (106); the first spring (103) is connected to the elastic airbag (108) through the vent hole (107); the vent hole (107) penetrates the groove (111) and extends to the inside of the limit frame (109); the elastic airbag (108) is located inside the limit frame (109).

3. The bionic mechanical arm with buffering function according to claim 1, characterized in that: The fixing mechanism (2) comprises a fixing hole (201) formed on an upper arm (101), a plurality of rubber blocks (202) being fixedly connected to the inner wall of the fixing hole (201), a rotating frame (203) being fixedly connected to a side of the upper arm (101) close to the inclined block (106), a plurality of tooth grooves (204) being evenly formed on the rotating frame (203), a first clamping groove (205) being formed at the top of the fixing hole (201), and second clamping grooves (206) being formed on both sides of the fixing hole (201).

4. The bionic mechanical arm with buffering function according to claim 3, characterized in that: The rotating frame (203) is located between the limiting frame (109) and the piston rod (105), a plurality of rubber blocks (202) are evenly distributed inside the fixing hole (201), and the second clamping groove (206) is located below the first clamping groove (205).

5. The bionic mechanical arm with buffering function according to claim 3, characterized in that: The rotating mechanism (3) comprises a lower arm (301), the top of the lower arm (301) is fixedly connected to a first clamping plate (302), the bottom of the lower arm (301) is fixedly connected to two second clamping plates (303), a rotating groove (304) is provided on the lower arm (301), an inclined groove (305) is provided on the lower arm (301), and two limiting grooves (306) are provided inside the lower arm (301).

6. The bionic mechanical arm with buffering function according to claim 5, characterized in that: The first clamping plate (302) is clamped with the first clamping slot (205), and the second clamping plate (303) is clamped with the second clamping slot (206).

7. The bionic mechanical arm with buffering function according to claim 5, characterized in that: The rotating frame (203) is rotatably connected to the rotating groove (304), the size of the inclined block (106) is matched to the size of the inclined groove (305), and the inclined block (106) is slidably connected to the inclined groove (305).

8. The bionic mechanical arm with buffering function according to claim 5, characterized in that: The limiting mechanism (4) comprises a gear (401), both sides of the gear (401) are fixedly connected with a screw rod (402), a threaded tube (403) is threadedly sleeved on the screw rod (402), both sides of the threaded tube (403) are fixedly connected with a limiting block (404), one end of the threaded tube (403) away from the screw rod (402) is slidably connected with a slide rod (405), and one end of the slide rod (405) away from the threaded tube (403) is evenly provided with a plurality of slots (406).

9. The bionic mechanical arm with buffering function according to claim 8, characterized in that: The threaded cylinder (403) has an "L"-shaped appearance, the sliding rod (405) has an "L"-shaped appearance, the gear (401) is rotationally connected to the inner wall of the lower arm (301), the gear (401) passes through the inner wall of the lower arm (301) and extends to the inside of the rotating groove (304), and the gear (401) is meshed with the tooth groove (204) on the rotating frame (203).

10. The bionic mechanical arm with buffering function according to claim 8, characterized in that: The two threaded tubes (403) respectively penetrate the inner wall of the lower arm (301) and extend to both sides of the lower arm (301); the limit block (404) is slidably connected to the limit groove (306); one end of the slide rod (405) away from the threaded tube (403) is slidably connected to the fixing hole (201); and the clamping groove (406) is clamped to the rubber block (202).

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