Flexible bionic mechanical arm for operation in narrow space

Abstract

A flexible bionic mechanical arm for operation in a narrow space belongs to the technical field of bionic mechanical arms and comprises a base, a main mechanical arm is arranged on the outer wall of the top end of the base, a touch block is fixedly connected to the outer wall of the main mechanical arm, a connecting block is arranged on the outer wall of the main mechanical arm through a lubricating mechanism, and an auxiliary mechanical arm is arranged on the outer wall of the connecting block; the lubricating mechanism comprises a rotating shaft, the inner wall of the rotating shaft is elastically connected with a clamping block through a connecting spring, the inner wall of the rotating shaft is slidably connected with a connecting rod, and the outer wall of the main mechanical arm is fixedly connected with an oil tank. Through cooperation of the oil tank, the baffle and other structures, an operator can control the auxiliary mechanical arm to be turned upwards to be in a vertical state, lubricating oil can flow to the outer wall of the connecting block to lubricate the connecting position of the main mechanical arm and the auxiliary mechanical arm, then friction generated during operation in a narrow space is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of bionic mechanical arms, and in particular to a flexible bionic mechanical arm for working in a narrow space. Background Art

[0002] The flexible bionic robotic arm for working in narrow spaces is a robotic arm specially designed for working in narrow and confined spaces. It imitates certain characteristics of biological organisms, such as flexible joint movements and soft limb forms. It uses flexible materials and special structural design. It can perform operations such as inspection, maintenance, and grasping in complex and narrow space environments, effectively avoiding the problem of traditional rigid robotic arms being easily restricted in narrow spaces and easily damaging surrounding objects.

[0003] When the bionic robotic arm is in use, it needs to flip or rotate. Friction will be generated at the connection between the two sets of robotic arms when they move. When the friction is too large, long-term use will cause damage to the connection, and may even cause the entire robotic arm to be damaged and unable to rotate normally to operate. In some existing technologies, the robotic arm itself does not have the function of lubrication and cannot lubricate itself during operation. It is also inconvenient for the operator to manually lubricate during long-term operation, which can easily cause damage to the connection and make it unusable. Therefore, in response to the above problems, a flexible bionic robotic arm for operations in narrow spaces is proposed. Summary of the invention

[0004] In order to solve the problems raised in the above background technology, the present invention provides a flexible bionic robot arm for working in a narrow space, which reduces the problem of the robot arm being unable to be used due to damaged joints due to its inability to lubricate itself.

[0005] A flexible bionic mechanical arm for narrow space operation comprises a base, a main mechanical arm is arranged on the top outer wall of the base, a touch block is fixedly connected to the outer wall of the main mechanical arm, a connecting block is arranged on the outer wall of the main mechanical arm through a lubrication mechanism, and a secondary mechanical arm is arranged on the outer wall of the connecting block; The lubrication mechanism includes a rotating shaft, the inner wall of the rotating shaft is elastically connected to a block through a connecting spring, the inner wall of the rotating shaft is slidably connected to a connecting rod, the outer wall of the main robotic arm is fixedly connected to an oil tank, the top outer wall of the oil tank is provided with an oil inlet, the outer wall of the oil tank is provided with an oil outlet, the inner wall of the oil tank is rotatably connected to a baffle, the inner wall of the oil tank is fixedly connected to a protrusion, the outer wall of the baffle is provided with a slot, the inner wall of the auxiliary robotic arm is provided with a supporting assembly, and the inner wall of the oil tank is provided with an extrusion assembly.

[0006] Preferably, the rotating shaft is rotatably connected to the outer wall of the main mechanical arm, the connecting rod is fixedly connected to the outer wall of the block, and the rotating shaft is rotatably connected to the inner wall of the oil tank.

[0007] Preferably, one end of the connecting spring is fixedly connected to the outer wall of the block, and the other end of the connecting spring is fixedly connected to the inner wall of the rotating shaft.

[0008] Preferably, the outer wall of the clamping block is slidably connected to the inner wall of the rotating shaft, and the clamping block is clamped in the clamping slot.

[0009] Preferably, the extrusion assembly comprises an extrusion plate, an outer wall of the extrusion plate is fixedly connected to a sliding rod, and an outer wall of the baffle is fixedly connected to a ramp block.

[0010] Preferably, the extrusion plate is slidably connected to the inner wall of the oil tank, and the sliding rod is slidably connected to the outer wall of the ramp block.

[0011] Preferably, the support assembly includes a block, the outer wall of the block is fixedly connected to a trapezoidal block, the inner wall of the auxiliary robotic arm is elastically connected to a wedge block via a return spring, the inner wall of the auxiliary robotic arm is slidably connected to a moving rod, the inner wall of the auxiliary robotic arm is elastically connected to a rotating rod via a spiral spring, and the outer wall of the rotating rod is fixedly connected to the support block.

[0012] Preferably, the stopper is slidably connected to the inner wall of the auxiliary robotic arm, the wedge block is slidably connected to the inner wall of the auxiliary robotic arm, and the rotating rod is rotatably connected to the inner wall of the auxiliary robotic arm.

[0013] Preferably, one end of the return spring is fixedly connected to the outer wall of the wedge block, the other end of the return spring is fixedly connected to the inner wall of the auxiliary robotic arm, and the wedge block contacts the outer wall of the support block.

[0014] Preferably, one end of the moving rod is slidably connected to the outer wall of the trapezoidal block, the other end of the moving rod is fixedly connected to the outer wall of the wedge block, one end of the spiral spring is fixedly connected to the outer wall of the rotating rod, and the other end of the spiral spring is fixedly connected to the inner wall of the auxiliary robotic arm.

[0015] Working principle and working process of the present invention: The device can operate in a narrow space. By flipping the auxiliary mechanical arm and the main mechanical arm, the position of the mechanical claw at the front end of the auxiliary mechanical arm can be adjusted to grab the object. When used for a long time, the connection between the auxiliary mechanical arm and the main mechanical arm needs to be lubricated to reduce wear and increase service life. When lubrication is needed, the operator can remotely control the auxiliary mechanical arm to rotate upward to a vertical state, driving the rotating shaft to rotate synchronously. At this time, the connecting rod rotates and moves along the arc surface outside the convex block, and gradually contacts the outer wall of the convex block. As shown in the figure, during the counterclockwise rotation of the auxiliary mechanical arm, the convex block squeezes the connecting rod to drive the card block to move outward. After the card block moves outward, it engages with the card slot to fix the rotating shaft and the baffle. When the rotating shaft rotates, it can drive the baffle to rotate synchronously. When the baffle rotates, the oil outlet is opened, so that the lubricating oil can flow out of the oil outlet to the outer wall of the connecting block. Then, by rotating the auxiliary mechanical arm in the opposite direction, the rotating shaft drives the baffle to close the oil outlet to complete lubrication. In the later rotation of the auxiliary mechanical arm, the connecting block rotates accordingly to be lubricated by the lubricating oil.

[0016] Since there are multiple groups of oil outlets, several groups of oil outlets can be opened by adjusting the angle at which the baffle is driven to rotate by the rotating shaft. Therefore, the oil output can be controlled at the same time according to the specific needs of lubrication. This is more flexible and does not require a long time for lubrication when a large amount of lubricating oil is needed, thereby improving the lubrication efficiency.

[0017] When the baffle rotates, the inclined block fixed to its outer wall also rotates accordingly. During the rotation of the inclined block, the sliding rod gradually changes from contacting with a higher point of the inclined block to contacting with a lower point. Since the extrusion plate can only move laterally in the inner wall of the oil tank, the sliding rod can drive the extrusion plate to move horizontally toward the baffle, squeezing the oil in the oil tank and speeding up the discharge of the oil from the oil outlet, further improving the oil outlet rate and avoiding the problem of too little oil in the oil tank being unable to be discharged from the oil outlet.

[0018] When lubrication is completed, the auxiliary robotic arm is controlled to rotate in the opposite direction, the connecting rod gradually disengages from the protrusion, the card block rebounds and resets under the elastic force of the connecting spring, disengages from the card slot, the baffle rotates to its initial state, and the oil outlet is closed. At the same time, the sliding rod also returns to its initial position under the action of the inclined block, the extrusion plate no longer squeezes the oil, and the machine can be used for normal operation.

[0019] The auxiliary robotic arm can only flip up and down within a certain tilt angle and cannot rotate too much to avoid damage caused by the mechanical claw contacting the space due to the narrow space; when the mechanical claw at the front end of the auxiliary robotic arm grabs a heavier object, the auxiliary robotic arm flips downward, and the block first contacts the touch block on the main robotic arm, and is squeezed by the touch block to move to the inside of the auxiliary robotic arm, driving the trapezoidal block to move synchronously.

[0020] When the trapezoidal block and the stopper move synchronously, the moving rod moves to the short side slope of the trapezoidal block, driving the wedge block to move in the direction of the trapezoidal block, and the return spring contracts under the force, and the wedge block is out of contact with the support block. At this time, the support block flips outward under the elastic force of the scroll spring and can contact with the base to support the auxiliary robotic arm so that it will not flip downward by too much angle due to the heavy object, thereby avoiding damage to the connection between the main robotic arm and the auxiliary robotic arm.

[0021] The operator can manually flip the support block upward to squeeze the wedge block. When the support block is flipped to fit the inner wall of the auxiliary robot arm, the wedge block pops out due to the elastic force of the return spring, and its direct surface contacts the outer wall of the support block, thereby limiting the support block and restoring the support assembly to its initial state.

[0022] Beneficial effects of the present invention: The present invention provides the cooperation of structures such as an oil tank and a baffle plate, so that the operator can control the auxiliary mechanical arm to flip upward to a vertical state. At this time, the connecting rod is squeezed by the convex block, so that the clamping block is clamped with the clamping groove. In this state, the auxiliary mechanical arm is continuously controlled to flip, so that the rotating shaft drives the baffle plate to flip through the clamping block. The baffle plate opens the oil outlet, so that the lubricating oil can flow to the outer wall of the connecting block, lubricate the connection between the main mechanical arm and the auxiliary mechanical arm, thereby reducing the friction generated when operating in a narrow space and prolonging the service life. The present invention provides the coordination of the oil outlet and the baffle, and when the auxiliary mechanical arm rotates, the rotating shaft can drive the baffle to rotate to different angles. Since there are multiple groups of oil outlets, different numbers of oil outlets can be opened when the baffle rotates to different angles, thereby adjusting the oil output. According to different lubrication requirements, the oil output at the same time can be controlled, thereby improving the efficiency of lubrication. The present invention provides a squeeze plate and a slope block and other structures. When the rotating shaft drives the baffle to rotate, the slope block rotates along the outer wall of the sliding rod. The sliding rod drives the squeeze plate to move horizontally under the action of its slope, so that the squeeze plate can squeeze the oil inside the oil tank, so that it can be discharged from the oil outlet more quickly. When the amount of oil in the oil tank is not much, all the remaining oil can be discharged, thereby avoiding the problem that the amount of oil is too little to be discharged from the oil outlet, and also speeding up the lubrication speed. The present invention arranges the cooperation of the support block and the like structure. When the grabbed heavy object is too heavy and the auxiliary mechanical arm flips downward due to gravity, the stop block contacts the touch block, and the limitation of the support block by the wedge block is released. Then, the support block can be flipped outward under the elastic force of the scroll spring and contact the base to support the auxiliary mechanical arm, thereby avoiding the problem that the connection of the auxiliary mechanical arm may be damaged due to excessive flipping angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the main structure of the present invention; Figure 2It is a cross section of the connecting block of the present invention and a schematic diagram of the structure after the main mechanical arm is decomposed; Figure 3 It is a schematic diagram of the structure after the rotating shaft, the connecting block section and the oil tank are exploded according to the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram of part A in the middle; Figure 5 It is a schematic diagram of the cross-sectional structure of the connecting block and the oil tank of the present invention; Figure 6 It is a schematic diagram of the oil tank cross section, convex block and rotating shaft structure of the present invention; Figure 7 It is a schematic diagram of the cross-sectional structure of the fuel tank of the present invention; Figure 8 It is a schematic diagram of the supporting mechanism structure of the present invention; Fig. 9 For the present invention Figure 8 The enlarged structural diagram of part B in the middle; Fig.10 It is a schematic diagram of the cross section of the auxiliary mechanical arm and the supporting mechanism structure of the present invention.

[0024] In the figure: 1. base; 2. main robotic arm; 3. auxiliary robotic arm; 4. lubrication mechanism; 401. rotating shaft; 402. oil tank; 403. oil inlet; 404. oil outlet; 405. connecting spring; 406. block; 407. connecting rod; 408. bump; 409. baffle; 410. slot; 5. connecting block; 601. extrusion plate; 602. sliding rod; 603. inclined block; 701. block; 702. supporting block; 703. trapezoidal block; 704. moving rod; 705. reset spring; 706. wedge block; 707. rotating rod; 708. scroll spring; 8. touch block. DETAILED DESCRIPTION

[0025] See also Figures 1 to 10 Shown is an embodiment of the present invention.

[0026] A flexible bionic robot arm for working in a narrow space comprises a base 1, a main robot arm 2 is arranged on the top outer wall of the base 1, a touch block 8 is fixedly connected to the outer wall of the main robot arm 2, a connecting block 5 is arranged on the outer wall of the main robot arm 2 through a lubricating mechanism 4, and an auxiliary robot arm 3 is arranged on the outer wall of the connecting block 5; the lubricating mechanism 4 comprises a rotating shaft 401, an inner wall of the rotating shaft 401 is elastically connected to a clamping block 406 through a connecting spring 405, a connecting rod 407 is slidably connected to the inner wall of the rotating shaft 401, an oil tank 402 is fixedly connected to the outer wall of the main robot arm 2, an oil inlet 403 is arranged on the top outer wall of the oil tank 402, an oil outlet 404 is provided on the outer wall of the oil tank 402, a baffle 409 is rotatably connected to the inner wall of the oil tank 402, a convex block 408 is fixedly connected to the inner wall of the oil tank 402, a clamping groove 410 is provided on the outer wall of the baffle 409, a supporting component is arranged on the inner wall of the auxiliary robot arm 3, and an extrusion component is arranged on the inner wall of the oil tank 402.

[0027] The base 1, the main robot arm 2 and the auxiliary robot arm 3 form a flexible bionic robot arm body that can operate in a small space. The main robot arm 2 and the auxiliary robot arm 3 can be flipped and rotated, which is relatively flexible. The connecting block 5 is fixedly connected to the oil tanks 402 on both sides, and the rotating shaft 401 is rotatably connected to the inner wall of the connecting block 5; when working, the auxiliary robot arm 3 can only rotate up and down within a certain tilt angle, and cannot rotate up or down too much. Through the lubrication mechanism 4, the connecting block 5 between the main robot arm 2 and the auxiliary robot arm 3 can be lubricated when needed to reduce wear during rotation and increase service life. When lubrication is needed, the auxiliary robot arm 3 can be controlled to rotate upward to a vertical state, such as Figure 5 , Figure 6 As shown, continue to rotate counterclockwise to open the oil outlet 404, so that the oil flows to the outside of the connecting block 5 for lubrication; the rotating shaft 401 does not contact the outer wall of the baffle 409, and the outer walls on both sides of the connecting block 5 are also kept at a certain distance from the outer wall of the oil tank 402.

[0028] like Figures 2 to 6 As shown, the rotating shaft 401 is rotatably connected to the outer wall of the main robotic arm 2, the connecting rod 407 is fixedly connected to the outer wall of the block 406, and the rotating shaft 401 is rotatably connected to the inner wall of the oil tank 402; one end of the connecting spring 405 is fixedly connected to the outer wall of the block 406, and the other end of the connecting spring 405 is fixedly connected to the inner wall of the rotating shaft 401; the outer wall of the block 406 is slidably connected to the inner wall of the rotating shaft 401, and the block 406 is engaged with the slot 410.

[0029] When the auxiliary mechanical arm 3 is in the tilted state, the connecting rod 407 does not contact the outer wall of the protrusion 408, and when the auxiliary mechanical arm 3 rotates to the vertical state, as shown in FIG. Figure 6As shown, at this time, the connecting rod 407 contacts the outer wall of the protrusion 408, and the two ends of the protrusion 408 are provided with arc surfaces to facilitate the movement of the connecting rod 407. When the two are in contact, the connecting rod 407 drives the clamping block 406 to move outward and can be clamped with the clamping groove 410. At this time, the rotating shaft 401 and the baffle 409 can be fixed, and when the rotating shaft 401 rotates, the baffle 409 can be driven to rotate synchronously; when it is not affected by external forces, the baffle 409 closes the oil outlet 404, and when the rotating shaft 401 drives it to rotate, its The oil outlet 404 can be opened. Since there are multiple groups of oil outlets 404, several groups of oil outlets 404 can be opened by adjusting the angle of rotation of the baffle 409 driven by the rotating shaft 401, so as to control the oil output; when the baffle 409 rotates, the squeezing plate 601 can be driven to move horizontally in the direction of the baffle 409 to squeeze the oil in the oil tank 402, thereby accelerating the discharge of the oil; when the oil in the oil tank 402 is used up, oil can be injected into the interior through the oil inlet 403; when lubrication is completed, as shown in FIG. Figure 5 , Figure 6 As shown, the auxiliary robotic arm 3 can be controlled to rotate clockwise, and the connecting rod 407 gradually disengages from the protrusion 408, so that the block 406 rebounds and resets under the elastic force of the connecting spring 405 and disengages from the slot 410, and the baffle 409 rotates to the initial state to close the oil outlet 404; thus, lubrication can be controlled by the lubrication mechanism 4, which is more convenient.

[0030] like Figure 7 As shown, the extrusion assembly includes an extrusion plate 601, the outer wall of the extrusion plate 601 is fixedly connected to a sliding rod 602, and the outer wall of the baffle 409 is fixedly connected to a ramp block 603; the extrusion plate 601 is slidably connected to the inner wall of the oil tank 402, and the sliding rod 602 is slidably connected to the outer wall of the ramp block 603.

[0031] When not affected by external forces, the sliding rod 602 contacts the higher point of the inclined block 603. During the lubrication process, when the rotating shaft 401 drives the baffle 409 to rotate, the inclined block 603 on the outer wall of the baffle 409 gradually rotates to a lower point and contacts the sliding rod 602. Since the extrusion plate 601 can only move laterally in the inner wall of the oil tank 402, the extrusion plate 601 can be driven to move in the direction of the baffle 409 during the movement of the baffle 409, squeezing the oil inside the oil tank 402 so that the oil can be discharged from the oil outlet 404 faster, and the problem of too little oil in the oil tank 402 and being unable to be discharged from the oil outlet 404 can also be avoided.

[0032] like Figures 8 to 10As shown, the support assembly includes a stopper 701, the outer wall of the stopper 701 is fixedly connected to a trapezoidal block 703, the inner wall of the auxiliary robotic arm 3 is elastically connected to a wedge block 706 via a return spring 705, the inner wall of the auxiliary robotic arm 3 is slidably connected to a moving rod 704, the inner wall of the auxiliary robotic arm 3 is elastically connected to a rotating rod 707 via a volute spring 708, and the outer wall of the rotating rod 707 is fixedly connected to the support block 702.

[0033] like Figures 8 to 10 As shown, the block 701 is slidably connected to the inner wall of the auxiliary robotic arm 3, the wedge block 706 is slidably connected to the inner wall of the auxiliary robotic arm 3, and the rotating rod 707 is rotatably connected to the inner wall of the auxiliary robotic arm 3; one end of the return spring 705 is fixedly connected to the outer wall of the wedge block 706, and the other end of the return spring 705 is fixedly connected to the inner wall of the auxiliary robotic arm 3, and the wedge block 706 contacts the outer wall of the support block 702; one end of the moving rod 704 is slidably connected to the outer wall of the trapezoidal block 703, and the other end of the moving rod 704 is fixedly connected to the outer wall of the wedge block 706, one end of the spiral spring 708 is fixedly connected to the outer wall of the rotating rod 707, and the other end of the spiral spring 708 is fixedly connected to the inner wall of the auxiliary robotic arm 3.

[0034] By using the support assembly, when the mechanical claw at the front end of the auxiliary mechanical arm 3 grabs a heavier object, it will not flip downward by too much angle due to the heavy object, causing damage to the connection; when the mechanical claw at the front end of the auxiliary mechanical arm 3 flips downward due to the heavy object, the stopper 701 first contacts the touch block 8, and the stopper 701 is squeezed by the touch block 8 to move to the inside of the auxiliary mechanical arm 3, driving the trapezoidal block 703 to move synchronously; when not affected by external forces, the moving rod 704 maintains a state of contact with the inclined surface of the long side of the trapezoidal block 703, so that the straight surface of the wedge block 706 is always in contact with the outer wall of the support block 702, limiting the support block 702, and at this time the volute spring 708 is in a contracted state; when the trapezoidal block 703 moves synchronously with the stopper 701, the moving rod 70 4 moves to the short side inclined surface of the trapezoidal block 703, driving the wedge block 706 to move in the direction of the trapezoidal block 703, the return spring 705 is forced to shrink, and the wedge block 706 is out of contact with the support block 702. At this time, under the elastic force of the spiral spring 708, the support block 702 is turned outward and can contact with the base 1, so that the auxiliary robot arm 3 can be supported, so that it will not be turned down too much due to the heavy object; and the operator can manually turn the support block 702 upward to squeeze the wedge block 706. When the support block 702 is turned over to fit the inner wall of the auxiliary robot arm 3, the wedge block 706 is ejected due to the elastic force of the return spring 705, and its straight surface contacts with the outer wall of the support block 702, so that the support block 702 can be limited to maintain the initial state.

[0035] The working principle and working process of this embodiment: The device can operate in a narrow space. By flipping the auxiliary robot arm 3 and the main robot arm 2, the position of the mechanical claw at the front end of the auxiliary robot arm 3 can be adjusted to grab the object. When used for a long time, the connection between the auxiliary robot arm 3 and the main robot arm 2 needs to be lubricated to reduce wear and increase the service life. When lubrication is needed, the operator can remotely control the auxiliary robot arm 3 to rotate upward to a vertical state, driving the rotating shaft 401 to rotate synchronously. At this time, the connecting rod 407 rotates and moves along the arc surface outside the protrusion 408, gradually contacting the outer wall of the protrusion 408, such as Figure 6 As shown, during the counterclockwise rotation of the auxiliary robotic arm 3, the protrusion 408 squeezes the connecting rod 407 to drive the clamping block 406 to move outward. After the clamping block 406 moves outward, it engages with the clamping groove 410 to fix the rotating shaft 401 and the baffle 409. When the rotating shaft 401 rotates, it can drive the baffle 409 to rotate synchronously. When the baffle 409 rotates, the oil outlet 404 is opened, so that the lubricating oil can flow out from the oil outlet 404 to the outer wall of the connecting block 5. Then, the auxiliary robotic arm 3 is rotated in the opposite direction so that the rotating shaft 401 drives the baffle 409 to close the oil outlet 404 to complete the lubrication. In the later rotation process of the auxiliary robotic arm 3, the connecting block 5 rotates accordingly to be lubricated by the lubricating oil.

[0036] Since there are multiple groups of oil outlets 404, several groups of oil outlets 404 can be opened by adjusting the angle of rotation of the baffle 409 driven by the rotating shaft 401. Therefore, the oil output can be controlled at the same time according to the specific needs of lubrication. This is more flexible and does not require a long time for lubrication when a large amount of lubricating oil is needed, thereby improving the lubrication efficiency.

[0037] When the baffle 409 rotates, the inclined block 603 fixedly connected to its outer wall also rotates accordingly. During the rotation of the inclined block 603, the sliding rod 602 gradually changes from contacting with a higher point thereof to contacting with a lower point thereof. Since the extrusion plate 601 can only move laterally in the inner wall of the oil tank 402, the sliding rod 602 can drive the extrusion plate 601 to move horizontally toward the baffle 409, thereby squeezing the oil in the oil tank 402 and accelerating the discharge of the oil from the oil outlet 404, thereby further improving the oil discharge rate and avoiding the problem of too little oil in the oil tank 402 to be discharged from the oil outlet 404.

[0038] When lubrication is completed, the auxiliary robot arm 3 is controlled to rotate in the opposite direction, the connecting rod 407 gradually disengages from the protrusion 408, and the block 406 rebounds and resets under the elastic force of the connecting spring 405, disengaging from the slot 410, and the baffle 409 rotates to the initial state to close the oil outlet 404. At the same time, the sliding rod 602 also returns to the initial position under the action of the inclined block 603, and the extrusion plate 601 no longer squeezes the oil, so that normal operation can be carried out.

[0039] The auxiliary robotic arm 3 can only flip up and down within a certain tilt angle and cannot rotate too much to avoid damage caused by the mechanical claw contacting the space due to the narrow space; when the mechanical claw at the front end of the auxiliary robotic arm 3 grabs a heavier object, the auxiliary robotic arm 3 flips downward, and the stopper 701 first contacts the touch block 8 on the main robotic arm 2, and is squeezed by the touch block 8 to move the stopper 701 to the inside of the auxiliary robotic arm 3, driving the trapezoidal block 703 to move synchronously.

[0040] When the trapezoidal block 703 moves synchronously with the stop block 701, the moving rod 704 moves to the short side slope of the trapezoidal block 703, driving the wedge block 706 to move in the direction of the trapezoidal block 703, and the return spring 705 is forced to shrink, and the wedge block 706 is out of contact with the support block 702. At this time, under the elastic force of the spiral spring 708, the support block 702 flips outward and can contact with the base 1 to support the auxiliary robotic arm 3 so that it will not flip downward by too much angle due to the weight, thereby avoiding damage to the connection between the main robotic arm 2 and the auxiliary robotic arm 3.

[0041] The operator can manually flip the support block 702 upward to squeeze the wedge block 706. When the support block 702 is flipped to fit the inner wall of the auxiliary robot arm 3, the wedge block 706 is ejected due to the elastic force of the reset spring 705, and its face contacts the outer wall of the support block 702, thereby limiting the support block 702 and restoring the support assembly to its initial state.

Claims

1. A flexible bionic robot arm for working in a narrow space, comprising a base (1), characterized in that: The top outer wall of the base (1) is provided with a main mechanical arm (2), the outer wall of the main mechanical arm (2) is fixedly connected with a touch block (8), the outer wall of the main mechanical arm (2) is provided with a connection block (5) via a lubrication mechanism (4), and the outer wall of the connection block (5) is provided with a secondary mechanical arm (3); The lubrication mechanism (4) comprises a rotating shaft (401), the inner wall of the rotating shaft (401) is elastically connected to a clamping block (406) via a connecting spring (405), the inner wall of the rotating shaft (401) is slidably connected to a connecting rod (407), the outer wall of the main mechanical arm (2) is fixedly connected to an oil tank (402), the top outer wall of the oil tank (402) is provided with an oil inlet (403), the outer wall of the oil tank (402) is provided with an oil outlet (404), the inner wall of the oil tank (402) is rotatably connected to a baffle (409), the inner wall of the oil tank (402) is fixedly connected to a convex block (408), the outer wall of the baffle (409) is provided with a clamping groove (410), the inner wall of the auxiliary mechanical arm (3) is provided with a supporting assembly, and the inner wall of the oil tank (402) is provided with an extrusion assembly.

2. The flexible bionic mechanical arm for narrow space operation according to claim 1, characterized in that: The rotating shaft (401) is rotatably connected to the outer wall of the main mechanical arm (2), the connecting rod (407) is fixedly connected to the outer wall of the clamping block (406), and the rotating shaft (401) is rotatably connected to the inner wall of the oil tank (402).

3. The flexible bionic mechanical arm for narrow space operation according to claim 1, characterized in that: One end of the connecting spring (405) is fixedly connected to the outer wall of the clamping block (406), and the other end of the connecting spring (405) is fixedly connected to the inner wall of the rotating shaft (401).

4. The flexible bionic mechanical arm for narrow space operation according to claim 1, characterized in that: The outer wall of the clamping block (406) is slidably connected to the inner wall of the rotating shaft (401), and the clamping block (406) is clamped to the clamping slot (410).

5. The flexible bionic mechanical arm for narrow space operation according to claim 1, characterized in that: The extrusion assembly comprises an extrusion plate (601), the outer wall of the extrusion plate (601) is fixedly connected to a sliding rod (602), and the outer wall of the baffle plate (409) is fixedly connected to a slope block (603).

6. The flexible bionic mechanical arm for narrow space operation according to claim 5, characterized in that: The extrusion plate (601) is slidably connected to the inner wall of the oil tank (402), and the sliding rod (602) is slidably connected to the outer wall of the inclined surface block (603).

7. The flexible bionic mechanical arm for narrow space operation according to claim 1, characterized in that: The support assembly comprises a stopper (701), the outer wall of the stopper (701) is fixedly connected to a trapezoidal block (703), the inner wall of the auxiliary mechanical arm (3) is elastically connected to a wedge block (706) via a return spring (705), the inner wall of the auxiliary mechanical arm (3) is slidably connected to a moving rod (704), the inner wall of the auxiliary mechanical arm (3) is elastically connected to a rotating rod (707) via a volute spring (708), and the outer wall of the rotating rod (707) is fixedly connected to the support block (702).

8. The flexible bionic mechanical arm for narrow space operation according to claim 7, characterized in that: The stopper (701) is slidably connected to the inner wall of the auxiliary mechanical arm (3), the wedge block (706) is slidably connected to the inner wall of the auxiliary mechanical arm (3), and the rotating rod (707) is rotationally connected to the inner wall of the auxiliary mechanical arm (3).

9. The flexible bionic mechanical arm for narrow space operation according to claim 7, characterized in that: One end of the return spring (705) is fixedly connected to the outer wall of the wedge block (706), the other end of the return spring (705) is fixedly connected to the inner wall of the auxiliary mechanical arm (3), and the wedge block (706) is in contact with the outer wall of the support block (702).

10. The flexible bionic mechanical arm for narrow space operation according to claim 7, characterized in that: One end of the moving rod (704) is slidably connected to the outer wall of the trapezoidal block (703), the other end of the moving rod (704) is fixedly connected to the outer wall of the wedge block (706), one end of the spiral spring (708) is fixedly connected to the outer wall of the rotating rod (707), and the other end of the spiral spring (708) is fixedly connected to the inner wall of the auxiliary mechanical arm (3).

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