A flexible robotic arm based on a measuring tape spring and equipped with a linkage-type inter-arm steering module

Abstract

This invention relates to a flexible robotic arm based on a measuring tape spring and equipped with a linkage-type inter-arm steering module. The robotic arm includes a main body and a steering mechanism. The main body comprises a support platform, an extension / retraction module, and a measuring tape spring. The measuring tape spring is connected to the support platform via the extension / retraction module, and the measuring tape spring is connected to the robotic arm via the steering mechanism. By extending and retracting the measuring tape spring, the robotic arm can extend a certain distance or retract to a designated position. The steering mechanism consists of a node module and an orientation module mounted on the node module, used to change the angle between the bending node and the bending of the robotic arm. Through the combination of the main body and the steering mechanism, the robotic arm can quickly reach a designated position to achieve grasping, handling, or manipulation functions. This invention provides a flexible robotic arm that can autonomously extend or retract a certain distance, and simultaneously, by assembling a steering mechanism on the main body, it can meet the work requirements of rotating at a certain angle to reach a designated position.

Description

Technical Field

[0001] This invention relates to a flexible robotic arm, and more particularly to a single-V-shaped multi-degree-of-freedom steerable robotic arm device that can be used in devices such as drones, based on a measuring tape spring and equipped with a linkage-type inter-arm steering module. Background Technology

[0002] The "low-altitude economy" refers to a comprehensive economic model primarily driven by manned and unmanned civilian aircraft, focusing on various low-altitude flight activities such as cargo transportation, environmental reconnaissance, and equipment malfunction inspection, and radiating outwards to promote the integrated development of other related fields. Benefiting from its advantages such as breaking down traditional ground transportation limitations and providing new dimensions for urban transportation, the low-altitude economy is considered one of the main directions for future economic development. Unmanned aerial vehicles (UAVs) are of paramount importance within this model.

[0003] With the development of modern science and technology, drones are expanding into broader fields and playing an increasingly important role in many areas. To date, drones have been used in various scenarios. For example, after disasters such as earthquakes, drones are used for search and rescue missions in dangerous environments; and for inspecting equipment working at high altitudes. Traditional single-drone applications are relatively mature. To further expand the application scope of drones, combining them with robotic arms to improve the "active" working capabilities of drones has become a major research direction. A robotic arm is a device used for moving objects over short to medium distances, capable of performing various tasks such as grasping, carrying, or manipulating. The combination of the two can accomplish more complex tasks, such as directly repairing faulty equipment at high altitudes or in the ocean. However, the movement of drones combined with robotic arms is still subject to many limitations, such as the drone's own load, the weight of the robotic arm, and working efficiency.

[0004] On June 4, 2024, the State Grid Xinle Power Supply Company successfully removed a plastic film hanging on a 10 kV power line in a live environment using a combination of drones and robotic arms. Compared to traditional manual labor, this method allows for rapid access to the designated work area and avoids the potential danger of injury to personnel. However, in this particular operation, the drone was primarily controlled remotely by staff to change its position and complete the task. If tasks require picking up small objects, navigating narrow spaces, or making multiple turns, drone operation alone would be insufficient to achieve the desired results. Therefore, a robotic arm capable of autonomous operation and maneuvering within confined spaces is still needed.

[0005] Chinese patent document CN220741227U proposes a line-driven flexible robotic arm. This design is mainly capable of performing tasks in confined environments and unstructured spaces, and the device can be controlled to complete tasks by controlling joint rotation. However, when faced with a specific task, the device needs to adjust the joints in advance according to the target, and it cannot guarantee that the device can actively and adaptively complete the work objective.

[0006] Chinese patent document CN220994519U proposes a gas-hydraulic reversible flexible robotic arm. This design utilizes gas-hydraulic reversible conversion drive to achieve multi-degree-of-freedom bending deformation and posture control. The device mainly consists of multiple series-connected flexible joints, and its outer shell skeleton ensures the stability of the device. However, this structure has relatively limited movement and is prone to damage to the body in narrow spaces.

[0007] Chinese patent document CN110480614A proposes a two-degree-of-freedom parallel telescopic robotic arm based on a measuring tape spring. This design is mainly capable of grasping target objects and realizing telescopic and left-right translational movements. It has the advantages of simple structure, low mass, and large unfoldability. However, the equipment does not have functions such as steering. Summary of the Invention

[0008] To address the problems of poor flexibility and limited range of motion in complex environments, traditional robotic arms provide a flexible robotic arm based on a measuring tape spring and equipped with a linkage-type inter-arm steering module. Employing a design concept that combines retraction and steering functions, this flexible robotic arm utilizes a modular approach, with its main body primarily consisting of a support platform, an extension / retraction module, a linkage-type inter-arm steering module, and a measuring tape spring. The objective of this invention is to design a flexible robotic arm capable of autonomously extending or retracting a certain distance, while simultaneously incorporating a steering mechanism on the main body to achieve the desired work position by rotating at a specific angle.

[0009] To achieve the above objectives, the present invention employs the following technical solution:

[0010] A flexible robotic arm based on a measuring tape spring and equipped with a linkage-type inter-arm steering module includes a robotic arm body and a steering mechanism. The robotic arm body includes a support platform, an extension / retraction module, and a measuring tape spring. The measuring tape spring is connected to the support platform via the extension / retraction module, and the measuring tape spring is connected to the robotic arm via the steering mechanism. By extending and retracting the measuring tape spring, the robotic arm can extend a certain distance or retract to a designated position. The steering mechanism consists of a node module and an orientation module mounted on the node module, used to change the bending node of the robotic arm and a certain angle between the bending node and the bending robotic arm. Through the combination of the robotic arm body and the steering mechanism, the robotic arm can quickly reach the designated position to realize the functions of grasping, carrying, or manipulating.

[0011] Furthermore, the orientation module consists of a connecting rod and a connecting frame, used to control the measuring tape spring to turn in a specified direction; wherein, the two ends of the connecting rod are connected to one side of the node and the corresponding side of the connecting frame, respectively; the connecting frame is an "H" structure, and the measuring tape spring passes through the holes opened at both ends.

[0012] Furthermore, the "H" structure of the connecting frame adopts an H-shaped sleeve. The two ends of the H-shaped sleeve are connected to four connecting rods by bolts. Each node module has a connecting rod installed at both ends. In the vertical plane, the node module, connecting rods and H-shaped sleeve form a frame structure similar to a parallelogram linkage. When the node module moves, the connecting rods and H-shaped sleeve also move accordingly.

[0013] Furthermore, the node module and the orientation module in the steering mechanism connect the nodes located on both sides of the measuring tape spring to form a "parallelogram" linkage frame; by controlling the nodes on both sides to move in different directions, a position difference is created, causing the connecting frame and connecting rod to rotate, thereby controlling the robotic arm to steer.

[0014] Furthermore, the node module consists of a roller, a node motor, a roller shaft, a node frame, a driving gear, and a driven gear. The node frame contains two rollers, which are connected to the driving gear and the driven gear respectively through their respective roller shafts. The node motor is connected to the driving gear, and the driving gear meshes with and pulls the driven gear. A measuring tape spring passes through the middle of the two rollers in the node frame and forms a plane at their contact surface.

[0015] Furthermore, on the support platform of the main body of the robotic arm, from back to front, there are an auxiliary compression mechanism, an active extension mechanism, a storage bin, a stop mechanism, and a measuring tape spring. The auxiliary compression mechanism and the active extension mechanism are fixed on the support platform. One end of the measuring tape spring is fixed on the end stop block, and the other end passes through the roller of the active extension mechanism and the rotating drum of the auxiliary compression mechanism and is fixed in the storage bin.

[0016] Furthermore, the active extension mechanism consists of a motor, gears, shafts, and rollers. The motor connects to two rollers via gears and shafts. By using the friction of the two rollers to compress the measuring tape spring, the measuring tape spring is controlled to freely extend in one direction, either upwards or downwards.

[0017] Furthermore, the auxiliary compression mechanism consists of a coupling disc, a motor, a bearing housing, a steel belt drum, and a rotating shaft. The motor and bearing housing are mounted on the storage compartment. The motor is connected to the steel belt drum and the coupling disc via the rotating shaft. The coupling disc is mounted on the rotating end face of the steel belt drum. When the robotic arm needs to retract, the auxiliary compression mechanism provides an extra pull force, while ensuring that the measuring tape spring can retract around the rotating drum.

[0018] Furthermore, the stop mechanism includes a strip end stop and an extension end stop. The strip end stop is a square mechanism used to fix the end of the measuring tape spring in a specific area of ​​the storage compartment. The extension end stop is an irregular mechanism with an extension end, in which an elliptical hole is opened. The extension end stop is installed at the extension end of the storage compartment, and the measuring tape spring is located in the central hole and enters the storage compartment through the roller.

[0019] Furthermore, the measuring tape spring is an irregular elliptical structure. The steel measuring tape is made into a component, with some filling material in the middle to ensure the flexibility of the steel measuring tape. The measuring tape spring can be pressed tightly into the storage compartment inside the main body of the robotic arm.

[0020] The technical solution proposed in this invention achieves the following technical effects compared to the prior art:

[0021] (1) The roller is driven to rotate by the gears and shafts set in advance, and the measuring tape spring is pressed out from the storage compartment. In addition, the measuring tape spring is pressed tightly in the middle of the roller and a flat surface is formed at the pressing point, which ensures the movement stability of the robotic arm. The overall structure is simple and concentrated, and the robotic arm occupies a small volume after retraction, which ensures that the overall mechanism is lightweight and has a large extension-retraction ratio. It can be mounted on the designated area of ​​the UAV to complete tasks such as grasping, carrying or manipulating.

[0022] (2) By using a customized connecting frame and connecting rod, the nodes on both sides of the V-shaped measuring tape spring are connected together to form a parallelogram-like linkage frame. By controlling the nodes on both sides to move in different directions, a positional difference is created, which causes the connecting frame and connecting rod to rotate, further controlling the robot arm to turn. In addition, the measuring tape spring passes through the two ends of the connecting frame and the node drum, respectively. This structure ensures the stability of the robot arm's turning and ensures that the robot arm can turn quickly.

[0023] (3) The node with a gear-driven rotating roller provided by the present invention is not fixedly installed at a certain position of the robotic arm, and can move freely up and down along the robotic arm. When the nodes on both sides move together in a certain direction, the measuring tape spring will not be displaced, while its turning node changes position as the node moves, which ensures good movement capability of the robotic arm and improves the adaptive capability of the robotic arm, that is, it is not necessary to preset the node position according to the work target. Attached Figure Description

[0024] Figure 1 This invention provides a layout scheme for the flexible robotic arm on a drone.

[0025] Figure 2 This is an isometric view of the flexible robotic arm of the present invention in a turning state;

[0026] Figure 3 The flexible robotic arm of this invention is divided into various modules;

[0027] Figure 4 This is an isometric view of the main structure of the flexible robotic arm of the present invention under normal conditions;

[0028] Figure 5 This is an exploded view of the storage compartment and extension module in the flexible robotic arm of the present invention;

[0029] Figure 6 This is an isometric view of the steering device in the flexible robotic arm of the present invention;

[0030] Figure 7 This is an exploded view of a node, a key component of the flexible robotic arm of the present invention.

[0031] Figure 8 This is a cross-sectional view of the flexible robotic arm node component of the present invention;

[0032] The following is an explanation of the labeling in the attached figures:

[0033] 1—Measuring tape spring, 2—Connecting rod, 3—Node device, 4—End stop block, 5—Bearing seat, 6—Steel strip drum, 7—Steel strip drum drive motor, 8—Extension device motor, 9—Storage bin, 10—Extended end stop block, 11—H-type sleeve, 12—Extension module, 13—Link-type arm-to-arm steering module, 14—Drive gear, 15—Driven gear, 16—Drum, 17—Node motor, 18—Drum shaft, 19—Node frame. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] The main function of this invention is to extend to a designated position, complete the target task, and then return to the original state. Its general principle is similar to that of a rope-driven robotic arm, but unlike it, this invention mainly uses a measuring tape spring, which utilizes the flexibility of a specific measuring tape spring mechanism to achieve the contraction and bending of the overall mechanism.

[0036] Based on the above description, the single-V-shaped multi-degree-of-freedom steerable robotic arm designed in this invention, based on a measuring tape spring, mainly consists of two parts: the robotic arm body and the steering mechanism. The robotic arm body includes three modules: a support platform, an extension / retraction module, and a measuring tape spring. It has both extension and retraction functions, allowing the robotic arm to extend a certain distance or retract to a designated position. The steering mechanism consists of a node module and an orientation module, and its main function is to change the bending node of the robotic arm and the angle between the bending node and the bending robotic arm. Through the combination of the robotic arm body and the steering mechanism, the robotic arm can quickly reach the designated position to achieve functions such as grasping, transporting, or manipulating.

[0037] The purpose of this invention is to design a robotic arm capable of extending, retracting, and changing its orientation, thereby addressing the problems existing in the prior art. This device alters the rotational state of the robotic arm by changing the positions of the nodes located on both sides of the V-shaped measuring tape spring. When both nodes move upwards simultaneously, the turning node of the robotic arm also moves accordingly. Consequently, when the nodes move in different directions, the support point of the measuring tape experiences displacement error on a certain plane. Relying on the parallelogram-like linkage mechanism formed by the nodes and the H-shaped sleeve, the robotic arm can achieve its turning function. Simultaneously, when the extended length of the robotic arm is insufficient, the device controls the measuring tape to extend outwards through the frictional force of the rollers pressing the measuring tape in the extension module, thus expanding the working range of the robotic arm. Finally, when the robotic arm finishes its work and needs to return to normal operation, the steel belt drum inside the storage compartment rotates, ensuring that the measuring tape spring is stably stored in the storage compartment.

[0038] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] Under normal conditions, the measuring tape spring can be stored in a designated storage compartment, ensuring a small overall footprint. Furthermore, under extreme operating conditions (i.e., the robotic arm extends forward without turning), the device can achieve an arm span of approximately 2 meters. When the position of the node on the robotic arm changes, causing the arm to turn, it can operate within a 2-meter radius.

[0040] Figure 1 The diagram illustrates one possible layout: the integration of a robotic arm with a drone represents a major future application prospect for robotic arms. The robotic arm is positioned on a carrying platform beneath the drone to achieve the desired work objectives. Circles in the diagram represent the robotic arm designed in this invention, and arrows indicate the possible installation directions or positions. Due to varying work requirements, the installation method of the robotic arm often differs. Typically, the robotic arm is mounted on the side of the drone's carrying platform to facilitate operator control and ensure a sufficient working area.

[0041] When the drone is in standby or non-operating state, the device designed in this invention is in the following state: Figure 2 As shown in Figure 3: The measuring tape spring 1 is housed within the storage compartment 9, wrapped around the steel belt drum 6. The node devices 3 in the linkage-type inter-arm steering module 13 are parallel to the H-shaped sleeve 11 in the vertical plane and are close to the protruding end stop 10 of the storage compartment 9. At this time, the drone occupies a relatively small area. When the drone needs to work, the measuring tape spring 1 extends outward along the rotation direction of the steel belt drum 6 and drives the linkage-type inter-arm steering module 13 to control the robotic arm's steering according to the work target.

[0042] The robotic arm device in this invention requires adjustment of the steering angle via a linkage-type inter-arm steering module 13, and adjustment of the working length of the device via an extension component 12. Figure 3 As can be seen in the normal state of the overall mechanism, the measuring tape spring 1 is set in a V-shape, with one end fixed to the end stop 4 and the other end restricted by the protruding end stop 10. Simultaneously, two node devices 3 are respectively arranged on both sides of the V-shaped structure of the measuring tape spring 1 and are parallel to the horizontal plane, while the H-shaped sleeve 11 remains parallel to the node devices 3. Figure 2 The working principle of the device in its rotating state can be seen. The originally horizontal node device 3 undergoes relative movement in the vertical plane. For example, the device on the left moves upward along the measuring tape spring 1, while the device on the other side moves in the opposite direction. At the same time, the H-shaped sleeve 11, connected to the node through four connecting rods 2, rotates, thereby causing the measuring tape spring at the lower end to change direction. Figure 5 This is an exploded view of the storage compartment and the extension module. The passive extension and retraction mechanism is controlled by a steel strip drum drive motor 7, which works in conjunction with the drum shaft to control the rotation of the steel strip drum 6. The steel strip drum drive motor 7 is fixedly mounted on the storage compartment.

[0043] The active extension and retraction mechanism is controlled by the extension device motor 8. When the device is working, the extended end of the extension device motor 8 rotates, driving the connected drive gear 14 to rotate, which in turn drives the driven gear 15 to rotate. Figure 5 As shown, roller 16 is connected to roller shaft 18 via a key connection. One side of roller shaft 18 has machined teeth that mesh with the inner teeth of gears 14 and 15, forming a tight fit. Because the extension device motor 8 drives the driving gear 14 and driven gear 15 to rotate, roller shaft 18 and the connected roller 16 also rotate. Since the active extension and retraction mechanism has two roller devices, and the measuring tape spring 1 passes between the devices, the extension rate of the measuring tape spring 1 is mainly controlled by roller 16, i.e., the extension device motor 8. When the motor 8 has a higher power, the rotational speed of roller 16 is higher, resulting in greater friction, causing the measuring tape spring 1 to pass through the device composed of the two rollers 16 more quickly.

[0044] The passive unfolding and retracting mechanism is controlled by a steel belt drum drive motor 7. For example... Figure 4 As shown, the steel belt drum drive motor 7 is fixedly mounted on the storage bin 9. Figure 1 As shown, the bearing housing 5 is fixed to a fixed position on the storage bin 9 by bolts. A deep groove ball bearing is installed in the middle of the bearing housing 5, and a section of the shaft is fixed thereto. Figure 5An exploded view of the mechanism is shown. The coupling disc is fixedly mounted on the rotating end face of the steel belt drum drive motor 7 according to pre-machined holes. The coupling disc is connected to the rotating shaft via a key. When the motor 7 operates, the coupling disc is driven to rotate, and the rotating shaft connected to it rotates relative to it. The steel belt drum 6 is mounted on the rotating shaft, and its two ends are restricted in displacement by bearing seats 5 and the inner end face of the storage chamber 9, ensuring that the steel belt drum 6 does not undergo relative displacement. When the active deployment and retraction mechanism extends the robotic arm outward, the mechanism can rotate clockwise passively or actively to smoothly roll the measuring tape spring 1 outward from the steel strip drum 6. When the active deployment and retraction mechanism retracts inward, it cannot smoothly collect the measuring tape spring 1 around the steel strip drum 6 on its own. At this time, the steel strip drum drive motor 7 works, driving the rotating shaft and the steel strip drum 6 connected to it to rotate counterclockwise, providing extra tension to the recovered measuring tape spring 1 and providing a guiding function to ensure that the measuring tape spring 1 can smoothly rotate along the steel strip drum 6 and be stored in the storage bin 9.

[0045] Furthermore, the steel strip drum 6 is connected to the rotating shaft by a key, and its two ends are slotted to reduce the weight of the steel strip drum 6. At the same time, the condition of the measuring tape spring can be observed, which is convenient for maintenance.

[0046] Node device 3, such as Figure 7 As shown in Figure 8, the node device 3 consists of a roller 16, a node motor 17, a roller shaft 18, a node frame 19, a driving gear 14, and a driven gear 15. Its assembly method is similar to that of the active unfolding and retracting mechanism; the node motor 17 is connected to the driving gear 14, the roller shaft 18 is fixed to the driving gear 14 and the driven gear 15 via its toothed structure, and the roller 16 is connected to the roller shaft 18 via a key. The various components of the node device 3 are mainly mounted on the node frame 19. The stepped surface of the node motor 17 matches one end face of the node frame 19 and is mounted on the node frame 19 by bolts. The measuring tape spring 1 passes through the middle of the two rollers 16 in the node device 3, forming a plane at their contact surface, ensuring the stability of the device. Thanks to this structural feature, the node device 3 can move autonomously along the middle plane of the measuring tape spring 1.

[0047] The linkage-type inter-arm steering module 13 mainly consists of a node device 3, connecting rods 2, and H-shaped sleeves 11. The connecting rods 2 have holes at both ends, which align with corresponding holes in the node device 3 and H-shaped sleeves 11, and are fixed with bolts. The connecting rods 2 can rotate with the connection point as a fixed point. The H-shaped sleeves 11 are mainly connected to four connecting rods 2 at their two outer ends by bolts. Each node device 3 has one connecting rod 2 installed at each end. Figure 4It can be seen that, in the vertical plane, the node device 3, connecting rod 2, and H-shaped sleeve 11 form a frame structure similar to a parallelogram linkage. When the node device 3 moves, the connecting rod 2 and H-shaped sleeve 11 also move accordingly. When the device designed in this invention needs to turn, the node devices 3 located on both sides of the V-shaped frame of the measuring spring 1 in the linkage-type inter-arm turning module 13 move in the same direction at the same speed. Since the node devices 3 move synchronously with the horizontal plane, the connecting rod 2 and H-shaped sleeve 11 remain in their original state without deformation. When the linkage-type inter-arm turning module 13 stops, the inner roller 16 of the node device 3 compresses the measuring spring 1 to form a plane, i.e., a turning node. Then, the node devices 3 on both sides move in different directions at the same or different speeds. The two node devices 3 are no longer located on the same horizontal plane, and from the vertical plane, it can be seen that a positional difference has been generated between the two devices. Because the connecting rod 2 is connected to the node device 3, and the spacing of the node device 3 and the connecting rod 2 remain unchanged, the H-shaped sleeve 11 rotates relative to the vertical plane. Figure 1 As shown.

[0048] In the above embodiments, the gears mainly include a transmission cylindrical gear and a connecting cylindrical gear. The connecting cylindrical gear is connected to the extended end of the motor and the shaft end respectively through its internal teeth, and its external teeth are in contact with the transmission gear. The transmission gear is connected to the other shaft end through tooth profile. When the connecting cylindrical gear rotates, it rotates according to the contact condition, thereby driving the shaft and sleeve to rotate.

[0049] Specific examples have been used to illustrate the principles and implementation methods of this invention. These examples are merely illustrative to aid in understanding the method and core concepts of this invention. Furthermore, those skilled in the art will recognize that modifications may be made to the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as limiting the scope of this invention.

Claims

1. A flexible manipulator arm based on tape-spring with a link-type inter-arm steering module, characterized by: The mechanical arm body includes a bearing platform, an extension-retraction module and a tape spring, the bearing platform is connected with the tape spring through the extension-retraction module, the tape spring is connected with the mechanical arm through the steering mechanism, the mechanical arm can be extended to a certain distance or retracted to a specified position by extending or retracting the tape spring; the steering mechanism is composed of a node module and a directional module installed on the node module, which is used to change the angle between the bending node of the mechanical arm and the bending mechanical arm, so that the mechanical arm can quickly reach the specified position to realize the functions of grabbing, carrying or operating. The two ends of the connecting rod are respectively connected with one side of the node and the corresponding side of the connecting frame; the connecting frame is a "H" structure, and the tape spring passes through the holes opened at both ends. The "H" structure of the connecting frame adopts an H-shaped sleeve, the outer extensions at both ends of the H-shaped sleeve are connected with the four connecting rods through bolts, and each node module is provided with a connecting rod at each end, so that the node module, the connecting rod and the H-shaped sleeve form a parallelogram linkage structure frame in the vertical plane; when the node module moves, the connecting rod and the H-shaped sleeve also move. The node module and the directional module in the steering mechanism connect the nodes on both sides of the tape spring together to form a "parallelogram" linkage frame; by controlling the movement of the nodes on both sides in different directions, a position difference is formed to make the connecting frame and the connecting rod rotate, so as to control the steering of the mechanical arm.

2. The flexible manipulator of claim 1, wherein: The node module is composed of a roller, a node motor, a roller shaft, a node frame, a driving gear and a driven gear, wherein two rollers are arranged in the node frame, the two rollers are connected with the driving gear and the driven gear through the respective roller shafts, the node motor is connected with the driving gear, the driving gear is engaged with the driven gear, the tape spring passes through the middle of the two rollers of the node frame, and a plane is formed at the contact surface thereof.

3. The flexible manipulator of claim 1, wherein: The bearing platform of the mechanical arm body is provided with an auxiliary compression mechanism, a driving extension mechanism, a storage bin, a stop block mechanism and a tape spring from back to front, the auxiliary compression mechanism and the driving extension mechanism are fixed on the bearing platform, one end of the tape spring is fixed on the end stop block, and the other end passes through the rollers of the driving extension mechanism and the auxiliary compression mechanism and is fixed in the storage bin.

4. The flexible manipulator of claim 3, wherein: The driving extension mechanism is composed of a motor, a gear, a shaft and a roller, wherein the motor is connected with the two rollers through the gear and the shaft, and the friction force of the two rollers extruding the tape spring is used to control the tape spring to be wound out in one direction of the upper end or the lower end.

5. The flexible manipulator of claim 3, wherein: The auxiliary compression mechanism is composed of a connecting disc, a motor, a bearing seat, a steel belt roller and a shaft, wherein the motor and the bearing seat are installed on the storage bin, the motor is connected with the steel belt roller and the connecting disc through the shaft, and the connecting disc installs the steel belt roller on the rotating end face; when the mechanical arm needs to be retracted, the auxiliary compression mechanism provides extra pullback force, and the tape spring can be retracted around the roller.

6. The flexible manipulator of claim 3, wherein: The stop mechanism comprises a tape segment stopper and an extended end stopper. The tape segment stopper is a square mechanism for fixing the end of the tape spring in a specific area of the storage compartment. The extended end stopper is an irregular mechanism with an extended end and an oval-shaped hole. The extended end stopper is installed at the extended end of the storage compartment, and the tape spring is located in the central hole and enters the storage compartment through the reel.

7. The flexible manipulator of claim 1, wherein: The tape spring is an irregular oval structure made of steel. The steel tape is filled with a certain amount of material in the middle to ensure its flexibility. The tape spring can be compressed in the storage compartment inside the mechanical arm body.

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