A flexible and variable stiffness humanoid robotic arm with variable fulcrum

Abstract

This invention discloses a flexible, variable-stiffness humanoid robotic arm with a variable fulcrum, comprising, in sequence: a shoulder joint linkage module for achieving rotation with three vertical degrees of freedom; an elbow joint drive module, including a fourth drive unit and a linkage system; an elbow joint elastic input module, including a guide rail assembly, an elastic component, and a fixing component; the elastic component includes an optical shaft fitted with a linear bearing and a spring; the guide rail assembly includes a guide rail, a slider assembly, and a guide rail pivot; one end of the guide rail is connected to the linear bearing via the slider assembly, and the other end is connected to the fixing component via the guide rail pivot; the fixing component is connected to the linkage system to receive the power of the linkage system; an elbow joint variable-stiffness module; and an end effector interaction module. This robotic arm can achieve flexible, variable-stiffness movements with a variable fulcrum, providing a new approach to humanoid design and possessing significant application potential.

Description

Technical Field

[0001] This invention proposes a flexible and variable stiffness humanoid robotic arm with a variable fulcrum, belonging to the field of robotics technology, and particularly relating to a humanoid robotic arm. Background Technology

[0002] In recent years, with the continuous development of robotics technology, humanoid robotic arms have received increasing attention in both research and application. Compared to traditional industrial robotic arms, humanoid robotic arms, due to their conformity to the human arm's structure and movement characteristics, have greater potential in human-computer interaction and other application scenarios. In such scenarios, higher demands are being placed on the flexibility of humanoid robotic arms.

[0003] Currently, the flexibility of most humanoid robotic arms is achieved by the control algorithms of the motors mounted on the robotic arm. However, most humanoid robotic arms are still structurally rigid, which means that there are still certain risks in human-computer interaction scenarios.

[0004] Therefore, there is an urgent need for a flexible, variable stiffness humanoid robotic arm with a variable fulcrum. Summary of the Invention

[0005] To address the aforementioned technical problems, the present invention provides a flexible, variable stiffness humanoid robotic arm with a variable fulcrum.

[0006] The technical solutions provided by the present invention are as follows:

[0007] A flexible, variable stiffness humanoid robotic arm with a variable fulcrum, comprising the following components connected in sequence:

[0008] The shoulder joint cascade module includes a first drive unit, a second drive unit, and a third drive unit connected in sequence, which are used to realize rotation with three vertical degrees of freedom;

[0009] Elbow joint drive module, including a fourth drive unit and a linkage system;

[0010] An elbow joint elastic input module includes a guide rail assembly, an elastic component, and a fixing component. The elastic component includes an optical shaft fitted with a linear bearing and a spring assembly. The guide rail assembly includes a guide rail, a first slider assembly, and a guide rail pivot. One end of the guide rail is connected to the linear bearing via the first slider assembly, and the other end is connected via the guide rail pivot. The fixing component is used to clamp the spring assembly, connects to the guide rail assembly via the guide rail pivot, and receives externally input power.

[0011] An elbow joint variable stiffness module includes a bracket, a lead screw assembly, a second slider assembly, and a variable stiffness driver. The lead screw assembly is fixed in the bracket, and its lead screw nut is connected to a guide rail through the second slider assembly. The variable stiffness driver is used to drive the lead screw. The bracket is movably connected to a fixed assembly. Under the drive of the fixed assembly, the guide rail shaft rotates around the lead screw nut, causing the first slider assembly to move, thereby causing the linear bearing to move elastically along the optical axis under the action of a spring.

[0012] The terminal interaction module is used to install interactive components.

[0013] In one possible implementation, the first, second, third, and fourth drive units all include SEA drive motors.

[0014] In one possible implementation, the first drive unit includes a first output connector for connecting to the second drive unit; the first output connector is arc-shaped to ensure that the rotational degrees of freedom of the first drive unit and the second drive unit are perpendicular.

[0015] In one possible implementation, the second drive unit includes a second output connector for connecting to the third drive unit; the second output connector is a straight plate structure to achieve perpendicular rotational degrees of freedom between the second drive unit and the third drive unit.

[0016] In one possible implementation, the linkage system includes a linkage input disc and a fisheye bearing linkage; the fisheye bearing linkage is connected to a fixed assembly.

[0017] In one possible implementation, the spring assembly includes a fixed baffle, an optical axis fixing flange, and a spring connected in sequence; the fixed baffle is connected to a fixing assembly; and elastic components are provided at both ends of the optical axis.

[0018] In one possible implementation, the fixing component includes a first fixing ring, a first fixing plate, a second fixing ring, and a second fixing plate; the first fixing ring is disposed on the first fixing plate, and the second fixing ring is disposed on the second fixing plate, and the two are symmetrically arranged for clamping the guide rail assembly and the elastic assembly.

[0019] In one possible implementation, the first slider assembly includes a rotary bearing, a slider rotating ring, and a first slider connected in sequence; the rotary bearing is connected to one side of the linear bearing; the first slider is placed on a guide rail and can slide along the guide rail; the slider assembly is symmetrically arranged on both sides of the linear bearing.

[0020] In one possible implementation, the lead screw assembly includes a lead screw and a lead screw nut; the lead screw nut is disposed in a guide rail, between the rotating shaft and the first slider assembly.

[0021] In one possible implementation, the second slider assembly includes a deep groove ball bearing, a flange bearing, and a second slider connected in sequence; the deep groove ball bearing is connected to a lead screw nut.

[0022] The beneficial effects of the present invention are as follows:

[0023] 1. The shoulder joint serial module of the present invention adopts a three-degree-of-freedom integrated drive unit, which has a simple structure and small size;

[0024] 2. The variable stiffness flexible drive joint of the present invention includes an elastic input module and a variable stiffness module. The elastic input module includes a guide rail assembly, an elastic component, and a fixing component. The variable stiffness module includes a bracket, a lead screw assembly, a second slider assembly, and a variable stiffness actuator. Flexible variable stiffness adjustment is achieved through the integrated design and synergistic effect of the above two modules.

[0025] 3. The robotic arm described in this invention provides a new approach to humanoid design and has great application prospects. Attached Figure Description

[0026] Figure 1 , Figure 2 This is a schematic diagram of the structure of the humanoid robotic arm provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the shoulder joint series flexible module provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the elbow joint drive module provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the elbow joint elastic input module, elbow joint variable stiffness module, and end effector interaction module provided in an embodiment of the present invention.

[0030] Figure 6 This is a schematic diagram of the elbow joint elastic input module structure provided in an embodiment of the present invention;

[0031] Figure 7 This is an exploded view of the elbow joint elastic input module structure provided in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the elbow joint variable stiffness module structure provided in an embodiment of the present invention;

[0033] Figure 9 This is an exploded view of the elbow joint variable stiffness module structure provided in an embodiment of the present invention;

[0034] Figure 10This is a top view of the elbow joint variable stiffness module structure provided in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the SEA module provided in an embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the driving joint provided in an embodiment of the present invention;

[0037] In the attached diagram: Ⅰ. Shoulder joint series flexible module; Ⅱ. Elbow joint drive module; Ⅲ. Elbow joint elastic input module; Ⅳ. Elbow joint variable stiffness module; Ⅴ. End-effector interaction module; 1. Arm connecting carbon plate; 2. First SEA drive motor; 3. Shoulder joint skeleton; 4. First output structure; 5. First output connector; 6. Second output structure; 7. Second SEA drive motor; 8. Third SEA drive motor; 9. Second output connector; 10. Third output structure; 11. Fisheye bearing connecting rod; 12. Connecting rod input. 13. First motor mounting bracket; 14. Shoulder and elbow transition connector; 15. Fourth SEA drive motor; 16. Second motor mounting bracket; 17. First fixing ring; 18. First fixing plate; 19. Thrust roller bearing I; 20. First guide rail; 21. Guide rail shaft; 22. First flange bearing; 23. Second guide rail; 24. Second flange bearing; 25. Second fixing plate; 26. Thrust roller bearing II; 27. Linear bearing; 28. Optical shaft; 29. ​​Rotary bearing; 30. First spring flange; 31. 31. Spring; 32. Second spring flange; 33. Optical shaft fixing flange; 34. Fixing baffle; 35. Slider rotating ring; 36. First slider; 41. Ball bearing; 42. Flange bearing I; 43. First deep groove ball bearing; 44. Flange bearing II; 45. Second slider; 46. Slider rotating shaft; 47. Deep groove ball bearing; 48. Leadscrew nut; 49. Leadscrew; 50. Second deep groove ball bearing; 51. First leadscrew end fixing bracket; 52. Deep groove ball bearing; 53. Axial positioning ring; 54. 485 code 55. Slider guide rail; 56. Lead screw input fixing bracket; 57. Second output plate; 58. Variable stiffness main and auxiliary motors; 59. Second lead screw end fixing bracket; 60. First output plate; 101. SEA drive motor; 102. Connecting transition piece; 103. Lower spring frame; 104. Upper spring frame; 105. Lower drive motor frame; 106. Array spring; 107. Upper drive motor frame; 108. Deep groove ball bearing I; 109. 485 encoder; 110. Housing output end; 111. Deep groove ball bearing II. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0040] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0041] See Figure 1 , Figure 2 A flexible, variable-stiffness humanoid robotic arm with a variable fulcrum includes:

[0042] A flexible, variable stiffness humanoid robotic arm with a variable fulcrum, comprising the following components connected in sequence:

[0043] The shoulder joint serial module I includes a first drive unit, a second drive unit, and a third drive unit connected in sequence, which are used to realize rotation with three vertical degrees of freedom;

[0044] Elbow joint drive module II includes a fourth drive unit and a linkage system;

[0045] Elbow joint elastic input module III includes a guide rail assembly, an elastic component, and a fixing component. The elastic component includes an optical shaft 28 fitted with a linear bearing 27 and a spring assembly. The guide rail assembly includes a guide rail, a first slider assembly, and a guide rail pivot 21. One end of the guide rail is connected to the linear bearing 27 via the first slider assembly, and the other end is connected via the guide rail pivot 21. The fixing component is used to clamp the spring assembly, connects to the guide rail assembly via the guide rail pivot 21, and receives externally input power.

[0046] Elbow joint variable stiffness module III includes a bracket, a lead screw assembly, a second slider assembly, and a variable stiffness driver; the lead screw assembly is fixed in the bracket, and its lead screw nut is connected to the guide rail through the second slider assembly; the variable stiffness driver is used to drive the lead screw; the bracket is movably connected to the fixed assembly; the guide rail shaft 21, driven by the fixed assembly, causes the guide rail to rotate around the lead screw nut and drive the first slider assembly to move, thereby causing the linear bearing 27 to move elastically along the optical axis 28 under the action of the spring 31;

[0047] End-to-end interaction module IV is used to install interactive components.

[0048] In one possible implementation, the first, second, third, and fourth drive units all include SEA drive motors.

[0049] In one possible implementation, the first drive unit includes a first output connector 5 for connecting to the second drive unit; the first output connector 5 is arc-shaped to ensure that the rotational degrees of freedom of the first drive unit and the second drive unit are perpendicular.

[0050] In one possible implementation, the second drive unit includes a second output connector 9 for connecting to the third drive unit; the second output connector 9 is a straight plate structure to achieve perpendicular rotational degrees of freedom between the second drive unit and the third drive unit.

[0051] For example, see Figure 3 The first SEA drive motor 2 is fixed to the arm connecting carbon plate 1 via the shoulder joint frame 3. The first output structure 4 is the output end of the SEA drive motor 2, connected to the first output connector 5. The first output connector 5 is an arc-shaped structure that bends towards and connects to the second SEA drive motor 7. Similarly, the second output structure 6 is connected to the third SEA drive motor 8 via the second output connector 9. The rotation directions of the three SEA drive motors are perpendicular to each other to achieve three degrees of freedom of rotation.

[0052] In one possible implementation, the linkage system includes a linkage input disk 12 and a fisheye bearing linkage 11; the fisheye bearing linkage 11 is connected to a fixed assembly.

[0053] For example, see Figure 4 The fourth drive unit includes a first motor mounting bracket 13, a shoulder-elbow transition connector 14, a fourth SEA drive motor 15, and a second motor mounting bracket 16. The fourth SEA drive motor 15 is clamped and fixed by the first motor mounting bracket 13 and the second motor mounting bracket 16. The shoulder-elbow transition connector 14 is fixed to the fourth SEA drive motor 15 and connected to the output end of the third drive unit. The connecting rod input disc 12 is a ring structure with bolts, used to limit the movement of the fisheye bearing connecting rod 11.

[0054] Specifically, the first motor mounting bracket 13 is a flange used to match the motor.

[0055] Specifically, the second motor mounting bracket 16 includes a motor wrapping part and a connecting part; the motor wrapping part is an arc-shaped surface used to wrap and support the motor; the connecting part is a flat plate with a circular groove used to support the motor wrapping part and connect the elbow joint elastic input module III.

[0056] In one possible implementation, such as Figure 5-6As shown, the spring assembly includes a fixed baffle 34, an optical axis fixing flange 33, and a spring 31 connected in sequence; the fixed baffle 34 is connected to the fixing assembly; and spring assemblies are provided at both ends of the optical axis 28.

[0057] Furthermore, a first spring stop 30 and a second spring stop 32 are provided at both ends of the spring 31.

[0058] Furthermore, the spring 31 remains in a compressed state throughout the entire movement.

[0059] Understandably, the two compression springs 31 keep the linear bearing 27 in a central position; the compression springs are always in a compressed state and are equipped with two spring guards 30 and 32 to prevent them from disengaging from the axial position; the central optical axis 28 not only serves to orient the linear bearing 27, but also guides the springs, ensuring that the two compression springs do not experience instability when subjected to pressure.

[0060] In one possible implementation, the fixing component includes a first fixing ring 17, a first fixing plate 18, a second fixing ring, and a second fixing plate 25; the first fixing ring 17 is disposed on the first fixing plate 18, and the second fixing ring is disposed on the second fixing plate 25, and the two are symmetrically arranged for clamping and fixing the guide rail assembly and the elastic assembly.

[0061] See Figure 7 The first fixing ring 17 and the second fixing ring are flanges. The first fixing plate 18 and the second fixing ring are fan-shaped structures, with a round hole matching the fixing ring in the wide part, a connecting plate for connecting the fixing baffle 34 is provided on the end face perpendicular to the fan surface, and holes for installing the guide rail shaft 21 are provided in the narrow part.

[0062] In one possible implementation, the first slider assembly includes a rotary bearing 29, a slider rotating ring 35, and a slider 36 connected in sequence; the rotary bearing 29 is connected to one side of the linear bearing 27, and the slider 36 is placed on a guide rail and can slide along the guide rail; the slider assembly is symmetrically arranged on both sides of the linear bearing 27.

[0063] Specifically, the guide rail includes a track and a protective housing, with the track housed within the protective housing.

[0064] Specifically, the guide rail shaft 21 is connected to the first fixed ring 17 and the second fixed ring by means of thrust roller bearing I 19, first flange bearing 21, second flange bearing 24 and thrust roller bearing II 26.

[0065] In one possible implementation, the bracket is a square frame, with one end movably connected to a fixing component via an axial fit.

[0066] For details, see Figure 8 and Figure 9 The bracket includes a first output plate 60, a second output plate 57, a first lead screw end fixing bracket 51, a lead screw input fixing bracket 56, and a second lead screw end fixing bracket 59. The first output plate 60 and the second output plate 57 are supported by the first lead screw end fixing bracket 51, the lead screw input fixing bracket 56, and the second lead screw end fixing bracket 59, forming a square frame structure. The first lead screw end fixing bracket 51 and the lead screw input fixing bracket 56 are used to fix the lead screw 49, and the lead screw input fixing bracket 56 and the second lead screw end fixing bracket 59 are used to fix the variable stiffness actuator.

[0067] Specifically, the way the one end is connected to the fixed component through axial fit is as follows: the bracket and the fixed component are movably connected by setting a second deep groove ball bearing 52, an axial positioning ring 53 and a 485 encoder 54.

[0068] It should be noted that, Figure 5-9 The guide rail assembly is shown in both figures to better illustrate the structure and connections. In reality, the guide rail assembly belongs to the elastic input module. Similarly, ball bearing 41, flange bearing I 42, and flange bearing II 44 are actually the same set of components as thrust roller bearing II 26, second flange bearing 24, and first flange bearing 22.

[0069] In one possible implementation, the lead screw assembly includes a lead screw 49 and a lead screw nut 48; the lead screw nut 48 is disposed in a guide rail, located between the guide rail shaft 21 and the first slider assembly.

[0070] In one possible implementation, the second slider assembly includes a deep groove ball bearing 47, a slider rotation shaft 46, and a second slider 45 connected in sequence; the deep groove ball bearing 47 is connected to a lead screw nut 48. In another possible implementation, the variable stiffness flexible drive joint further includes an interaction module.

[0071] Furthermore, the variable stiffness drive includes variable stiffness main and auxiliary motors 38.

[0072] Furthermore, the interaction module includes a dexterous hand or gripper.

[0073] For details, see Figure 10 In the variable stiffness main and auxiliary motors, the main motor is used to drive the lead screw assembly, and the auxiliary motor is used to drive the interaction module.

[0074] Specifically, the variable stiffness main and auxiliary motors are two RoboMaster M3508 motors arranged in parallel.

[0075] In one possible implementation, see [link to relevant documentation] Figure 11The SEA driver module includes a SEmotor SETZ90 series motor manufactured by Shenzhen Xiaoxiang Electric Technology Co., Ltd. Specifically, it consists of a hexagonal layout of six linear tension spring arrays 106. Bolts are used to fix both ends of the tension springs between the upper spring frame 104 and the lower spring frame 103, respectively. The lower spring frame is fixedly connected to the output end of the drive motor 101 via a connecting adapter. The lower spring frame is then concentrically fitted with a deep groove ball bearing I 108. The adjacent segments of the upper and lower spring frames form a 60-degree angle in a balanced state. All six tension springs are pre-tensioned and installed between the two spring frames, with structural limiting mechanisms ensuring the upper spring... The two lower spring frames form a torsion angle with a maximum offset of ±15 degrees from the equilibrium position, and the selected tension spring is always kept in a stretched state within this torsion range; the large end of the encoder is fixed to the upper spring frame, and the output shaft of the 485 encoder 109 is fixed to the lower spring frame through a D-shaped shaft hole. Therefore, the encoder is used to record the torsion angle between the upper and lower spring frames; the output shaft is fixed to the upper spring frame and forms a concentric fit with the drive motor frame 107 through the deep groove ball bearing II111; finally, the output end is fixed to the external connector by bolts to form a complete torque transmission chain.

[0076] The following describes the motion principle of the robotic arm based on the structure of the robotic arm described in this embodiment.

[0077] The shoulder joint series module I achieves three vertical degrees of freedom of rotation through the rotation of the SEA motor. In the elbow joint drive module II, the SEA motor drives the fisheye bearing connecting rod 11 to rotate, and the output end of the fisheye bearing connecting rod 11 drives the first fixed ring 17 to rotate, which in turn drives the guide rail to rotate through the guide rail shaft 21. In the elbow joint elastic input module III, two compression springs 31 stabilize the linear bearing 27 in the center position. See also Figure 12 Initially, without any force, the linear bearing 11 and the first slider 20 at point C are in equilibrium at point O. The screw nut 48 at point B and the second slider 45 also fall on the center line of AO. In the figure, the guide rail and the screw are initially in a coincident state. When an external torque τ is applied to this structure, the entire system will twist as shown in the figure, with an overall twist angle of φ. Under the action of the torque, the guide rail, driven by the guide rail shaft 21 (point A), will rotate around point B (screw nut 48) by an angle of α. At the other end, point C (linear bearing 11) will provide axial thrust to the spring system, compressing the spring and storing energy for the elastic system. In the elbow joint variable stiffness module IV, the ball screw is driven by the auxiliary motor of the variable stiffness module to change the preload of the compressed spring, thereby realizing variable stiffness adjustment.

[0078] Figure 12 middle, ρ represents the relative compression of the elastic system, ρ represents the effective length of the variable stiffness input of the ball screw, and λ represents the end length of the guide lever action. This length will change slightly when the system is torn and is a variable.

[0079] When the variable stiffness flexible actuated joint (VSA) deflects, its initial potential energy and the changed potential energy are expressed as follows:

[0080]

[0081] The double compression spring system can be considered as two springs connected in parallel, producing a stiffness of 2k. In the above formula... Assume the initial elastic potential energy of the elastic system is 0 in the initial state. This represents the elastic potential energy stored in the VSA when the VSA twist angle is φ.

[0082] The first derivative of the total elastic potential energy stored in the VSA with respect to the torsional angle is the output torque of the system, and the second derivative is the torsional stiffness of the VSA. The expressions for the torque and stiffness of the VSA are as follows:

[0083]

[0084] in, Indicates the torque of VSA. This indicates the stiffness of the VSA.

[0085] Analytical expression for the stiffness of a VSA variable stiffness flexible actuator:

[0086]

[0087] in, Indicates the spring compression stroke. This indicates the distance from the linear bearing to the initial position of the guide rail shaft.

[0088] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the invention.

Claims

1. A flexible, variable stiffness humanoid robotic arm with a variable fulcrum, characterized in that, Including those connected sequentially: The shoulder joint cascade module includes a first drive unit, a second drive unit, and a third drive unit connected in sequence, which are used to realize rotation with three vertical degrees of freedom; Elbow joint drive module, including a fourth drive unit and a linkage system; An elbow joint elastic input module includes a guide rail assembly, an elastic component, and a fixing component. The elastic component includes an optical shaft fitted with a linear bearing and a spring assembly. The guide rail assembly includes a guide rail, a first slider assembly, and a guide rail pivot. One end of the guide rail is connected to the linear bearing via the first slider assembly, and the other end is connected via the guide rail pivot. The fixing component is used to clamp the spring assembly, connects to the guide rail assembly via the guide rail pivot, and receives externally input power. An elbow joint variable stiffness module includes a bracket, a lead screw assembly, a second slider assembly, and a variable stiffness actuator. The lead screw assembly is fixed in the bracket, and its lead screw nut is connected to a guide rail via the second slider assembly. The variable stiffness actuator drives the lead screw. The bracket is movably connected to a fixed assembly. Under the drive of the fixed assembly, the guide rail shaft rotates around the lead screw nut, causing the first slider assembly to move, thereby causing the linear bearing to move elastically along the optical axis under the action of a spring. The lead screw assembly includes a lead screw and a lead screw nut. The lead screw nut is disposed in the guide rail, located between the shaft and the first slider assembly. The terminal interaction module is used to install interactive components.

2. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The first, second, third and fourth drive units all include SEA drive motors.

3. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The first drive unit includes a first output connector for connecting to the second drive unit; the first output connector is arc-shaped to ensure that the rotational degrees of freedom of the first drive unit and the second drive unit are perpendicular.

4. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The second drive unit includes a second output connector for connecting to the third drive unit; the second output connector is a straight plate structure to achieve perpendicular rotational degrees of freedom between the second drive unit and the third drive unit.

5. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The linkage system includes a linkage input disk and a fisheye bearing linkage; the fisheye bearing linkage is connected to a fixed assembly.

6. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The spring assembly includes a fixed baffle, an optical axis fixing flange, and a spring connected in sequence; the fixed baffle is connected to the fixed assembly; and elastic components are provided at both ends of the optical axis.

7. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The fixing component includes a first fixing ring, a first fixing plate, a second fixing ring, and a second fixing plate; the first fixing ring is disposed on the first fixing plate, and the second fixing ring is disposed on the second fixing plate, and the two are symmetrically arranged to clamp the guide rail assembly and the elastic component.

8. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The first slider assembly includes a rotating bearing, a slider rotating ring, and a first slider connected in sequence; the rotating bearing is connected to one side of the linear bearing; the first slider is placed on a guide rail and can slide along the guide rail; the slider assembly is symmetrically arranged on both sides of the linear bearing.

9. The flexible, variable stiffness humanoid robotic arm with a variable fulcrum according to claim 1, characterized in that, The second slider assembly includes a deep groove ball bearing, a flange bearing, and a second slider connected in sequence; the deep groove ball bearing is connected to the lead screw nut.

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