A modular multi-degree-of-freedom flexible robotic arm

Abstract

The present invention belongs to the technical field of flexible robotic arms, and in particular to a modular multi-degree-of-freedom flexible robotic arm. In view of the problem that the flexible robotic arm requires a fixed base and cannot be moved after installation, the following scheme is proposed, including a fixed base, a semicircular gear ring is rotatably plugged into the top of the fixed base near the middle of one side, and a mounting groove is provided inside the fixed base near the arc-shaped outer wall of the semicircular gear ring, and the inner walls of the two ends of the mounting groove are rotatably connected to the same rotating shaft near the middle, and one end of the rotating shaft passes through the fixed base. By setting a semicircular gear ring, the present invention can change the height of the flexible robotic arm and adjust it according to the height and body shape of different patients, ensuring that medical operations are more accurate and comfortable, and can also prevent the robotic arm from colliding with its doctor, thereby improving operational safety.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible robotic arms, and in particular to a modular multi-degree-of-freedom flexible robotic arm. Background Art

[0002] A flexible robotic arm is a robotic arm with flexible joints and structures that can imitate the movement of a human arm. This type of robotic arm is usually made of flexible materials such as soft plastics, rubber or composite materials, giving it a certain degree of elasticity and deformation ability, so that it can adapt to different environments and object shapes when performing tasks; in the medical field, flexible robotic arms are usually used as medical devices to help doctors perform delicate operations during surgery.

[0003] Flexible robotic arms usually require a fixed base, which makes it impossible for the robotic arm to move during use. To a certain extent, it will interfere with the doctor's observation and treatment of the patient's injuries, resulting in a longer operation time span and increased surgical risk. Therefore, a modular multi-degree-of-freedom flexible robotic arm is proposed. Summary of the invention

[0004] In order to solve the problem that a flexible robotic arm needs a fixed base and cannot be moved after installation, the present invention provides a modular multi-degree-of-freedom flexible robotic arm.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a modular multi-degree-of-freedom flexible robotic arm, comprising a fixed base, a semicircular gear ring is rotatably inserted at the top of the fixed base near the middle of one side, and an installation groove is opened at the inner part of the fixed base near the arc-shaped outer wall of the semicircular gear ring, the inner walls of both ends of the installation groove are rotatably connected with the same rotating shaft near the middle, and one end of the rotating shaft passes through the fixed base, a gear is sleeved on the circumferential outer wall of the rotating shaft near the middle, and the gear and the semicircular gear ring are embedded, the arc-shaped inner wall of the semicircular gear ring is slidably connected with a fixing mechanism, and the fixing mechanism comprises a clamping block, a semicircular slide rail is welded on the side of the clamping block close to the fixed base, and a sliding mechanism is installed on the outer wall of the semicircular slide rail, the sliding mechanism comprises a slider, a loading block is installed on the side of the slider away from the clamping block, and a flexible arm mechanism is installed on the side of the loading block away from the slider, and the flexible arm mechanism comprises a telescopic protective tube.

[0006] A further configuration of the present invention is that a turntable is sleeved near one end of the circumferential outer wall of the rotating shaft, and a spring washer is fixed by bolts near the circumferential edge of the end of the turntable away from the fixed base, a contraction spring is welded to the side of the spring washer away from the turntable, and a top plate is welded to the end of the contraction spring away from the spring washer, a limiting rod 1 is fixed to the middle part of one end of the top plate close to the contraction spring by bolts, and the limiting rod 1 passes through the spring washer and the turntable, and a limiting hole 1 is evenly opened at one end of the fixed base close to the turntable, and the limiting hole 1 and the limiting rod 1 are adapted to each other.

[0007] A further configuration of the present invention is that the fixing mechanism includes a clamping block, the outer wall of the semicircular gear ring is clamped with a clamping block near one side, and a top plate is fixed to the side of the clamping block away from the arc-shaped inner wall of the semicircular gear ring by bolts.

[0008] A further configuration of the present invention is that a connecting rod is inserted into the middle part of one side of the top plate, and a hanging ring is sleeved and fixed on the side of the circumferential outer wall of the connecting rod away from the blocking block, a stopper is screwed on the end of the connecting rod close to the semicircular gear ring, and the stopper and the tooth groove of the semicircular gear ring are adapted to each other, a supporting spring is fixed on the side of the stopper close to the top plate, and the end of the supporting spring away from the stopper is connected to the top plate.

[0009] A further configuration of the present invention is that the sliding mechanism includes a slider, the outer wall of the semicircular slide rail is slidably connected with the slider, and the outer walls of the top and bottom ends of the semicircular slide rail are both provided with sliding grooves, and the sliding grooves are adapted to the slider.

[0010] A further configuration of the present invention is that two limiting holes are evenly opened on the top of the semicircular slide rail, a limiting column is screwed to the top of the slider, and the limiting column is adapted to the two limiting holes.

[0011] A further configuration of the present invention is that the robotic arm mechanism includes an air pump box, an air pump box is fixed to the middle part of the side of the loading block away from the slider, and support tubes are evenly inserted near the circumferential edge of the side of the air pump box away from the loading block, the circumferential outer walls of several support tubes are sleeved with telescopic airbags, and several additional telescopic airbags are connected in series at one end of the telescopic airbag away from the air pump box, and the same fixing plate is fixed to one side of several of the telescopic airbags away from the air pump box.

[0012] A further configuration of the present invention is that an air pipe is inserted into the middle of a side of the support tube close to the telescopic airbag, and the air pipe passes through a number of telescopic airbags and a fixed plate, solenoid valves are fixed near the middle of the circumferential inner walls of the several telescopic airbags, and the solenoid valves and the air pipes are connected, a cylinder is fixed to the middle of a side of the fixed plate away from the telescopic airbag, and a number of air pipes are connected to the cylinder, a mechanical claw mechanism is fixed to a side of the cylinder away from the fixed plate, and the mechanical claw mechanism includes a fixed claw.

[0013] A further configuration of the present invention is that a connecting plate is fixed to the middle part of one side of the fixed plate close to the telescopic airbag, and a positioning spring is welded to the side of the connecting plate close to the air pump box, the end of the positioning spring away from the connecting plate is connected to the air pump box through a gasket, and the circumferential outer walls of the air pump box and the fixed plate are sleeved with the same telescopic protective tube.

[0014] A further configuration of the present invention is that the mechanical claw mechanism includes a protective tube, a protective tube is fixed by bolts on a side of the fixed plate close to the cylinder near the circumferential edge, and a loading plate is fixed by bolts on a side of the protective tube away from the fixed plate, a support block 1 is evenly slidably inserted on a side of the loading plate close to the cylinder deviating from the center of the circle, and a plurality of support blocks 1 are welded to the same fixed plate on a side close to the cylinder, the fixed plate and the cylinder are connected, a support block 3 is evenly fixed on a side of the loading plate away from the fixed plate near the circumferential edge, and the support block 3 corresponds to the support block 1, and both ends of the support block 1 The same rotating shaft 1 is plugged in, and the circumferential outer wall of the rotating shaft 1 is rotatably connected with a connecting plate 1 near both ends, and another rotating shaft 1 is plugged in on the side of each pair of connecting plates 1 away from the corresponding supporting block 1, and the two ends of the supporting block 3 are plugged with the same pair of rotating shafts 2, and the circumferential outer walls of the same pair of rotating shafts 2 are sleeved and fixed with connecting plates 2 near both ends, and another rotating shaft 2 is plugged in on the side of each pair of connecting plates 2 away from the corresponding supporting block 3, and the circumferential outer walls of each pair of rotating shafts 1 and 2 away from the loading disk are rotatably connected with the same supporting block 2, and a fixing claw is clamped on the side of the supporting block 2 away from the loading disk.

[0015] In summary, the beneficial effects of this solution are:

[0016] 1. By setting a semicircular gear ring, the height of the flexible robotic arm can be changed and adjusted according to the height and body shape of different patients to ensure that medical operations are more accurate and comfortable. It can also prevent the robotic arm from colliding with its doctor, improve operational safety, and ensure that the distance from the robotic arm to the axis of the semicircular gear ring remains unchanged.

[0017] 2. By setting the slider, the fixed angle of the flexible robotic arm can be adjusted. According to different surgical or treatment needs, the angle of the robotic arm can be adjusted to more accurately aim at the target area. It can adapt to different operating postures and environments, ensuring that it can still maintain high efficiency in complex medical scenarios, reduce interference with patients or other equipment, and reduce operational risks.

[0018] 3. By setting the positioning spring, the rigidity of the flexible robotic arm can be improved, which can reduce vibration and deviation during operation and ensure more precise execution. In high-intensity or complex operations, increasing rigidity can reduce deformation, thereby ensuring consistent performance and reducing loss and maintenance requirements after long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall schematic diagram of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0020] Figure 2 A schematic cross-sectional structure diagram of a modular multi-degree-of-freedom flexible robotic arm fixed base proposed by the present invention;

[0021] Figure 3 A schematic diagram of the turntable structure of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0022] Figure 4 A schematic diagram of the fixing mechanism structure of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0023] Figure 5 A schematic diagram of the sliding mechanism structure of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0024] Figure 6 A schematic diagram of a telescopic airbag structure of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0025] Figure 7 A schematic diagram of the cross-sectional structure of a telescopic airbag of a modular multi-degree-of-freedom flexible robotic arm proposed by the present invention;

[0026] Figure 8 A modular multi-degree-of-freedom flexible robotic arm proposed by the present invention Figure 6 Schematic diagram of the enlarged structure at point A in the middle.

[0027] In the figure: 1, semicircular gear ring; 2, fixed base; 201, mounting groove; 202, limit hole 1; 3, turntable; 4, semicircular slide rail; 401, slide groove; 402, limit hole 2; 5, clamping block; 6, telescopic protective tube; 7, protective tube; 8, rotating shaft; 9, gear; 10, contraction spring; 11, top plate; 12, spring gasket; 13, limit rod 1; 14, top plate; 15, hanging ring; 16, connecting rod; 17, support spring; 18, stopper; 19 , slider; 20, limit column; 21, loading block; 22, air pump box; 23, positioning spring; 24, connecting plate; 25, cylinder; 26, air pipe; 27, fixed plate; 28, telescopic airbag; 29, support tube; 30, solenoid valve; 31, fixed plate; 32, support block one; 33, support block two; 34, fixed claw; 35, rotating shaft one; 36, connecting plate one; 37, connecting plate two; 38, support block three; 39, rotating shaft two; 40, loading plate. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In this embodiment, refer to Figure 1-8 A modular multi-degree-of-freedom flexible robotic arm comprises a fixed base 2, a semicircular gear ring 1 is rotatably inserted at the top of the fixed base 2 near the middle of one side, and a mounting groove 201 is opened at the arc-shaped outer wall of the fixed base 2 near the semicircular gear ring 1, and the inner walls of both ends of the mounting groove 201 are rotatably connected with the same rotating shaft 8 near the middle, and one end of the rotating shaft 8 passes through the fixed base 2, and a gear 9 is sleeved on the circumferential outer wall of the rotating shaft 8 near the middle, and the gear 9 and the semicircular gear ring 1 are embedded, and the arc-shaped inner wall of the semicircular gear ring 1 is slidably connected with a fixing mechanism, and the fixing mechanism comprises a clamping block 5, and a semicircular slide rail 4 is welded on the side of the clamping block 5 near the fixed base 2, and the semicircular slide A sliding mechanism is installed on the outer wall of the rail 4, and the sliding mechanism includes a slider 19. A loading block 21 is installed on the side of the slider 19 away from the block 5, and a flexible arm mechanism is installed on the side of the loading block 21 away from the slider 19, and the flexible arm mechanism includes a telescopic protective tube 6; by setting the semicircular gear ring 1 and changing the connection position of the semicircular gear ring 1 and the gear 9, the extension length of the semicircular gear ring 1 can be changed, and then the height of the flexible robotic arm can be changed. It can be adjusted according to the height and body shape of different patients to ensure that medical operations are more accurate and comfortable. It can also prevent the robotic arm from colliding with its doctor, improve operational safety, and ensure that the distance from the robotic arm to the axial center line of the semicircular gear ring 1 remains unchanged.

[0030] refer to Figure 3 A turntable 3 is sleeved on the circumferential outer wall of the rotating shaft 8 near one end, and a spring gasket 12 is fixed by bolts near the circumferential edge of the end of the turntable 3 away from the fixed base 2, a contraction spring 10 is welded on the side of the spring gasket 12 away from the turntable 3, and a top plate 11 is welded on the end of the contraction spring 10 away from the spring gasket 12, a limiting rod 13 is fixed by bolts in the middle of one end of the top plate 11 close to the contraction spring 10, and the limiting rod 13 passes through the spring gasket 12 and the turntable 3, and a limiting hole 202 is evenly opened at one end of the fixed base 2 close to the turntable 3, and the limiting hole 202 and the limiting rod 13 are adapted to each other; by setting the limiting rod 13, the stability of the semicircular gear ring 1 is improved, shaking is prevented, the safety of the flexible robotic arm is improved, and it is ensured that the doctor can perform fine operation and the success rate of the operation is improved.

[0031] refer to Figure 4The fixing mechanism includes a clamping block 5, a clamping block 5 is clamped at one side of the outer wall of the semicircular gear ring 1, and a top plate 14 is fixed by bolts on the side of the clamping block 5 away from the arc-shaped inner wall of the semicircular gear ring 1, a connecting rod 16 is inserted in the middle of one side of the top plate 14, and a hanging ring 15 is sleeved and fixed on the side of the circumferential outer wall of the connecting rod 16 away from the clamping block 5, and a stopper 18 is screwed on one end of the connecting rod 16 close to the semicircular gear ring 1, and the stopper 18 is adapted to the tooth groove of the semicircular gear ring 1, a supporting spring 17 is fixed on the side of the stopper 18 close to the top plate 14, and the end of the supporting spring 17 away from the stopper 18 is connected to the top plate 14. By setting the clamping block 5, the relative position of the flexible mechanical arm and the semicircular gear ring 1 can be changed, and an appropriate connection position can be selected to reduce the influence of the semicircular gear ring 1 on the doctor, so that the doctor can observe the patient more carefully, understand the patient's physiological condition in time, and reduce the occurrence of medical accidents.

[0032] refer to Figure 5 The sliding mechanism includes a slider 19, the outer wall of the semicircular slide rail 4 is slidably connected with the slider 19, and the outer walls of the top and bottom ends of the semicircular slide rail 4 are both provided with slide grooves 401, the slide grooves 401 are adapted to the slider 19, the top of the semicircular slide rail 4 is evenly provided with a second limiting hole 402, the top of the slider 19 is screwed with a limiting column 20, and the limiting column 20 is adapted to the second limiting hole 402; by setting the slider 19, the fixed angle of the flexible robotic arm can be adjusted, and the angle of the robotic arm can be adjusted according to different surgical or treatment requirements, so as to more accurately align with the target area, and can adapt to different operating postures and environments, ensuring that high efficiency can be maintained in complex medical scenarios, reducing interference with patients or other equipment, and reducing operating risks.

[0033] refer to Figure 5 , Figure 6 , Figure 7The robot arm mechanism includes an air pump box 22, an air pump box 22 is fixed in the middle of the side of the loading block 21 away from the slider 19, and a support tube 29 is evenly inserted near the circumferential edge of the side of the air pump box 22 away from the loading block 21, and the circumferential outer walls of the support tubes 29 are sleeved with telescopic air bags 28, and the end of the telescopic air bags 28 away from the air pump box 22 is connected in series with a plurality of additional telescopic air bags 28, and the same fixing plate 27 is fixed on the side of the telescopic air bags 28 away from the air pump box 22, and the air pipe 26 is inserted in the middle of the side of the support tube 29 close to the telescopic air bags 28, and the air pipe 26 passes through the telescopic air bags 28 and the fixing plate 27, and the plurality of A solenoid valve 30 is fixed near the middle of the circumferential inner wall of the telescopic airbag 28, and the solenoid valve 30 is connected to the air pipe 26. A cylinder 25 is fixed to the middle of the side of the fixed plate 27 away from the telescopic airbag 28, and a plurality of air pipes 26 are connected to the cylinder 25. A mechanical claw mechanism is fixed to the side of the cylinder 25 away from the fixed plate 27, and the mechanical claw mechanism includes a fixed claw 34. By changing the gas filling degree of the telescopic airbags 28 at different positions, the length of the telescopic airbags 28 at the corresponding positions can be changed. When the lengths of the telescopic airbags 28 on the same plane are different, the angle of the telescopic airbags 28 changes under the action of traction, thereby changing the angle of the robotic arm.

[0034] refer to Figure 5 , Figure 6 A connecting plate 24 is fixed to the middle part of one side of the fixing plate 27 close to the telescopic airbag 28, and a positioning spring 23 is welded to the side of the connecting plate 24 close to the air pump box 22. The end of the positioning spring 23 away from the connecting plate 24 is connected to the air pump box 22 through a gasket, and the circumferential outer walls of the air pump box 22 and the fixing plate 27 are sleeved with the same telescopic protective tube 6; by setting the positioning spring 23, the rigidity of the flexible robotic arm can be improved, the vibration and deviation during operation can be reduced, and more precise execution can be ensured. In high-intensity or complex operations, increasing the rigidity can reduce deformation, thereby ensuring consistent performance and reducing the loss and maintenance requirements after long-term use.

[0035] refer to Figure 8The mechanical claw mechanism includes a protective tube 7, a protective tube 7 is fixed by bolts on one side of the fixed plate 27 close to the cylinder 25 near the circumferential edge, and a loading plate 40 is fixed by bolts on one side of the protective tube 7 away from the fixed plate 27, a support block 32 is evenly slidably inserted on the side of the loading plate 40 close to the cylinder 25 deviating from the center of the circle, and a plurality of support blocks 32 are welded with the same fixed plate 31 on one side close to the cylinder 25, the fixed plate 31 is connected to the cylinder 25, a support block 38 is evenly fixed on one side of the loading plate 40 away from the fixed plate 31 near the circumferential edge, and the support block 38 corresponds to the support block 32, and the two ends of the support block 32 are inserted with the same rotating shaft 35, and the circumferential outer wall of the rotating shaft 35 is rotatably connected with a connecting rod near both ends. Plate 1 36, another rotating shaft 1 35 is inserted at the side of each pair of connecting plates 1 36 away from the corresponding supporting block 1 32, the same pair of rotating shafts 2 39 are inserted at both ends of the supporting block 3 38, and the circumferential outer walls of the same pair of rotating shafts 2 39 are sleeved and fixed with connecting plates 2 37 near both ends, and each pair of connecting plates 2 37 is inserted at the side away from the corresponding supporting block 3 38 Another rotating shaft 2 39 is inserted, and each pair of rotating shafts 1 35 and the circumferential outer walls of rotating shafts 2 39 away from the loading disk 40 are rotatably connected to the same supporting block 2 33, and the side of the supporting block 2 33 away from the loading disk 40 is clamped with a fixed claw 34; the fixed disk 31 is pushed by the cylinder 25 to make the supporting block 1 32 extend and retract, thereby changing the grasping state of the fixed claw 34, thereby improving the response speed and stability of the grasping.

[0036] Working principle: First, according to the medical site environment, drag the top plate 11 to disengage the limiting rod 13 from the limiting hole 202, rotate the turntable 3, adjust the position of the semicircular gear ring 1, and then change the connection position of the clamping block 5 and the semicircular gear ring 1, and then slide the slider 19 to change the angle of the flexible robotic arm to ensure that the semicircular gear ring 1 and the flexible robotic arm do not affect the doctor's observation line of sight, and then inflate and deflate the telescopic airbags 28 at different positions through the trachea 26 to change the length of the telescopic airbags 28 so that the angle changes around the positioning spring 23 to achieve the effect of a flexible robotic arm, and finally make the cylinder 25 push the fixed plate 31 away from the cylinder 25, and the fixed plate 31 drives the support block 1 32, and the support block 1 32 pushes the support block 2 33 outward, so that the support block 2 33 rotates along the rotating shaft 2 39 to open the fixed claw 34, and vice versa, close the fixed claw 34.

[0037] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A modular multi-degree-of-freedom flexible robotic arm, comprising a fixed base (2), characterized in that: A semicircular gear ring (1) is rotatably inserted at the top of the fixed base (2) near the middle of one side, and a mounting groove (201) is provided at the arc-shaped outer wall of the fixed base (2) near the semicircular gear ring (1). The inner walls of both ends of the mounting groove (201) are rotatably connected to the same rotating shaft (8) near the middle, and one end of the rotating shaft (8) passes through the fixed base (2). A gear (9) is sleeved on the circumferential outer wall of the rotating shaft (8) near the middle, and the gear (9) and the semicircular gear ring (1) are engaged with each other. The arc-shaped inner wall of the round gear ring (1) is slidably connected to a fixing mechanism, and the fixing mechanism comprises a clamping block (5), a semicircular slide rail (4) is welded to a side of the clamping block (5) close to the fixed base (2), and a sliding mechanism is installed on the outer wall of the semicircular slide rail (4), and the sliding mechanism comprises a slider (19), a loading block (21) is installed on a side of the slider (19) away from the clamping block (5), and a flexible arm mechanism is installed on a side of the loading block (21) away from the slider (19), and the flexible arm mechanism comprises a telescopic protective tube (6); The mechanical arm mechanism comprises an air pump box (22), an air pump box (22) is fixed to the middle of a side of the loading block (21) away from the slider (19), and support tubes (29) are evenly inserted near the circumferential edge of a side of the air pump box (22) away from the loading block (21), a plurality of support tubes (29) are sleeved on the circumferential outer walls of the plurality of support tubes (29), and a plurality of additional telescopic air bags (28) are connected in series at one end of the telescopic air bags (28) away from the air pump box (22), and a same fixing plate (27) is fixed to one side of the plurality of telescopic air bags (28) away from the air pump box (22); An air pipe (26) is inserted into the middle of a side of the support tube (29) close to the telescopic airbag (28), and the air pipe (26) passes through a plurality of telescopic airbags (28) and a fixing plate (27). Solenoid valves (30) are fixed to the inner walls of the circumferences of the plurality of telescopic airbags (28) close to the middle, and the solenoid valves (30) and the air pipe (26) are connected. A cylinder (25) is fixed to the middle of a side of the fixing plate (27) away from the telescopic airbag (28), and a plurality of air pipes (26) and the cylinder (25) are connected. A mechanical claw mechanism is fixed to a side of the cylinder (25) away from the fixing plate (27), and the mechanical claw mechanism includes a fixing claw (34).

2. A modular multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: A rotating disk (3) is sleeved near one end of the circumferential outer wall of the rotating shaft (8), and a spring washer (12) is fixed by bolts near the circumferential edge of the end of the rotating disk (3) away from the fixed base (2), a contraction spring (10) is welded to the side of the spring washer (12) away from the rotating disk (3), and a top plate (11) is welded to the end of the contraction spring (10) away from the spring washer (12), a limiting rod (13) is fixed by bolts at the middle of one end of the top plate (11) close to the contraction spring (10), and the limiting rod (13) passes through the spring washer (12) and the rotating disk (3), and a limiting hole (202) is evenly opened at one end of the fixed base (2) close to the rotating disk (3), and the limiting hole (202) and the limiting rod (13) are adapted to each other.

3. The modular multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: The fixing mechanism comprises a clamping block (5), the clamping block (5) being clamped on one side of the outer wall of the semicircular gear ring (1), and a top plate (14) being fixed to the side of the clamping block (5) away from the arc-shaped inner wall of the semicircular gear ring (1) via bolts.

4. A modular multi-degree-of-freedom flexible robotic arm according to claim 3, characterized in that: A connecting rod (16) is inserted into the middle of one side of the top plate (14), and a hanging ring (15) is sleeved and fixed on the side of the circumferential outer wall of the connecting rod (16) away from the clamping block (5); a stopper (18) is screwed to one end of the connecting rod (16) close to the semicircular gear ring (1), and the stopper (18) and the tooth groove of the semicircular gear ring (1) are adapted to each other; a supporting spring (17) is fixed to one side of the stopper (18) close to the top plate (14), and the end of the supporting spring (17) away from the stopper (18) is connected to the top plate (14).

5. The modular multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: The sliding mechanism comprises a slider (19), the outer wall of the semicircular slide rail (4) is slidably connected to the slider (19), and the top and bottom outer walls of the semicircular slide rail (4) are both provided with sliding grooves (401), and the sliding grooves (401) are adapted to the slider (19).

6. The modular multi-degree-of-freedom flexible robotic arm according to claim 5, characterized in that: The top of the semicircular slide rail (4) is evenly provided with two limiting holes (402); the top of the slider (19) is screwed to a limiting column (20), and the limiting column (20) is adapted to the two limiting holes (402).

7. The modular multi-degree-of-freedom flexible robotic arm according to claim 1, characterized in that: A connecting plate (24) is fixed to the middle of one side of the fixing plate (27) close to the telescopic airbag (28), and a positioning spring (23) is welded to one side of the connecting plate (24) close to the air pump box (22). One end of the positioning spring (23) away from the connecting plate (24) is connected to the air pump box (22) via a gasket. The circumferential outer walls of the air pump box (22) and the fixing plate (27) are sleeved with the same telescopic protective tube (6).

8. The modular multi-degree-of-freedom flexible robotic arm according to claim 7, characterized in that: The mechanical claw mechanism comprises a protective tube (7), a protective tube (7) is fixed by bolts on a side of the fixing plate (27) close to the cylinder (25) near the circumferential edge, and a loading plate (40) is fixed by bolts on a side of the protective tube (7) away from the fixing plate (27), a support block one (32) is evenly slidably inserted on a side of the loading plate (40) close to the cylinder (25) deviating from the center of the circle, and a plurality of support blocks one (32) are welded with the same fixed plate (31) on a side close to the cylinder (25), the fixed plate (31) and the cylinder (25) are connected, a support block three (38) is evenly fixed on a side of the loading plate (40) away from the fixing plate (31) near the circumferential edge, and the support block three (38) corresponds to the support block one (32), and the two ends of the support block one (32) are inserted with the same A rotating shaft (35) is provided, and the circumferential outer wall of the rotating shaft (35) is rotatably connected to a connecting plate (36) near both ends, and each pair of the connecting plates (36) is plugged with another rotating shaft (35) on one side away from the corresponding supporting block (32). The two ends of the supporting block (38) are plugged with the same pair of rotating shafts (39), and the circumferential outer wall of the same pair of rotating shafts (39) is sleeved and fixed with a connecting plate (37) near both ends, and each pair of the connecting plates (37) is plugged with another rotating shaft (39) on one side away from the corresponding supporting block (38). The circumferential outer walls of each pair of the rotating shafts (35) and the rotating shafts (39) away from the loading disk (40) are rotatably connected to the same supporting block (33), and the side of the supporting block (33) away from the loading disk (40) is clamped with a fixing claw (34).

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