Modularized gas-electric hybrid bionic mechanical arm

Abstract

The invention belongs to the technical field of mechanical arms, and discloses a modular gas-electric hybrid bionic mechanical arm which comprises a rotating base, the top end of the rotating base is rotationally matched with a first mechanical arm through a first motor, and the upper portion of the first mechanical arm is rotationally matched with a second mechanical arm and a third mechanical arm through a second motor. One end of the third mechanical arm is rotationally matched with a module mounting piece through a third motor; a lengthening mechanism, a first protection mechanism and a second protection mechanism are oppositely arranged between the second mechanical arm and the third mechanical arm; and through stretching, retracting and transmission of the extension rod, the lengths of the second mechanical arm and the third mechanical arm are increased, the two second protective shells are protected on the outer side of the extension plate in a following mode, under the special working environment condition, the lengths of the mechanical arms do not need to be customized, cost is effectively reduced, and practicability and functionality are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, in particular to a modular gas-electric hybrid bionic robotic arm. Background Art

[0002] With the development of the manufacturing industry, the demand for production automation continues to increase to improve production efficiency, ensure product quality, and reduce labor costs. As a key tool in automated production lines, robotic arms have emerged. In terms of technical principles, mechanical transmission technologies, such as gear drives and chain drives, provide the foundation for the motion transmission of robotic arms. Advances in motor technology, including DC motors, AC motors, and stepper motors, provide the power source for driving robotic arms. In the material field, the emergence of high-strength, lightweight metal materials and engineering plastics meets the strength and weight requirements of robotic arms.

[0003] At present, the length of the robotic arm is uniform. In special working environments (the grasping working length is not enough), the length of the robotic arm needs to be customized. The customized robotic arm is not only costly, but also requires a long waiting time. In addition, the special robotic arm only occupies a large usage space in special working environments.

[0004] Therefore, a modular gas-electric hybrid bionic robotic arm is proposed to address the above problems. Summary of the Invention

[0005] In order to solve the problems of high cost and long waiting time of special robotic arms and related technologies raised in the above background technology, the present invention provides a modular gas-electric hybrid bionic robotic arm.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A modular gas-electric hybrid bionic robotic arm comprises a rotating base, the top of the rotating base being rotatably engaged with a first robotic arm via a first motor, the upper portion of the first robotic arm being rotatably engaged with a second robotic arm and a third robotic arm via a second motor, and one end of the third robotic arm being rotatably engaged with a module mounting piece via a third motor; an extension mechanism and a first protection mechanism and a second protection mechanism are arranged relative to the second robotic arm and the third robotic arm.

[0008] Preferably, the growth mechanism includes a fixed plate fixedly connected to one end of the second robotic arm, a cylinder is installed on the upper side of one side surface of the fixed plate, a push rod is connected to the output end of the cylinder, one end face of the push rod is fixedly connected to an L-shaped frame plate, the lower end faces on both sides of the L-shaped frame plate are fixedly connected to a sliding long plate, the middle of the sliding long plate is fixedly connected to an extension rod, the outer side of the extension rod is slidably fitted with a fixed sleeve, a sliding hole is provided inside the fixed sleeve, the sliding hole is slidably fitted with the outer side of the extension rod, sliding grooves are provided on both sides of the outer surface of the fixed sleeve, the sliding grooves are slidably fitted with both sides of the sliding long plate, and one end of the fixed sleeve is fixedly connected to one side face of the fixed plate.

[0009] Preferably, the lower part of one side of the fixed plate is fixedly connected to the first support rod and the second support rod, one end face of the first support rod and the second support rod is fixedly connected to the baffle, and one end of the first support rod and the second support rod are inserted into the first support hole and the second support hole opened on both sides of the limit plate, a first spring body is wrapped around the outside of the first support rod, and the two ends of the first spring body are fixedly connected to the lower part of one side of the fixed plate and one side of the limit plate, and a second spring body is wrapped around the outside of the second support rod, and the two ends of the second spring body are fixedly connected to the lower part of one side of the fixed plate and one side of the limit plate.

[0010] Preferably, one end of the extension rod is fixed to an end surface of the third robotic arm, and the upper end surface of the limiting plate is fixed to the lower part of the outer side of the end surface of the third robotic arm.

[0011] Preferably, the first protective mechanism includes a first supporting plate and a second supporting plate fixedly connected to one side of the fixed plate, and the first supporting plate and the second supporting plate are both fixedly connected to a first protective shell on one side, the outer side of the first protective shell is provided with openings equidistantly along the length direction, and a T-shaped slot is provided in the middle of the inner surface of the first protective shell, a T-shaped plate is slidably fitted inside the T-shaped slot, and a second protective shell is fixedly connected to one side of the T-shaped plate, and the second protective shell is fixedly connected to the outside of one end of the third robotic arm through the third supporting plate and the fourth supporting plate, and the structural positions of the first protective mechanism and the second protective mechanism are the same.

[0012] Preferably, the interior of the first protective shell is covered on the outside of the second protective shell, and the interior of the first protective shell is covered on the outside of the fixing sleeve.

[0013] Preferably, when the second protective shell is in operation, one side of the second protective shell extends outward, and the interior of the second protective shell covers the outer side of the extension rod.

[0014] Preferably, the jet mechanism includes a pressure rod fixedly connected to one side of the limit plate, one end of the pressure rod is slidably fitted with a pressure cylinder, one end of the pressure cylinder is fixed to one side of the baffle, and the upper surface of one end of the pressure cylinder is connected to a conveying pipe, and the upper end surfaces of the conveying pipe are connected to the first guide pipe and the second guide pipe.

[0015] Preferably, a first one-way valve is provided inside one end of the first guide tube, and the upper end of the first guide tube is connected to a first airbag, one side of the first airbag is installed on one side of the third robotic arm, and the upper end face of the first airbag is connected to a jet component through a first connecting tube, and the lower end face of the jet component is connected to the upper end face of the third robotic arm, a second one-way valve is provided inside one end of the second guide tube, and the upper end of the second guide tube is connected to a second airbag, one side of the second airbag is installed on the other side of the third robotic arm, and the upper end face of the second airbag is connected to one side of the lower end face of the jet component through a second connecting tube, and the port of the jet component is opposite to one side of the cylinder.

[0016] Preferably, the upper part of the connection between the first guide tube and the second guide tube is connected to an air intake valve, and the air intake valve includes an air intake cylinder, the lower end face of the air intake cylinder is connected to the upper part of the connection between the first guide tube and the second guide tube, and the upper end face of the air intake cylinder is fixed to the lower end face of the third robotic arm, an air inlet is provided at the upper part of the outer side of the air intake cylinder, and a spring body is fixedly connected to the top of the inner part of the air intake cylinder, the lower end face of the spring body is fixedly connected to a support plate, the outer ring surface of the support plate is slidably fitted in the inner lower part of the air intake cylinder, and the lower part of the inner lower part of the air intake cylinder is fixedly connected to a baffle plate, and the lower end face of the baffle plate is abutted against the upper end face of the support plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The third robotic arm of the present invention slides to one side on the outside of the first support rod and the second support rod through the first support hole and the second support hole on the limit plate, and the limit plate is stretched to one side on the first spring body and the second spring body, allowing the extension rod to move stably to one side, thereby strengthening the supporting force on the third robotic arm.

[0019] The present invention uses the extension rod to extend and retract, so there is no need to customize the length of the robotic arm in special working environments, which effectively reduces costs and eliminates the need for long waiting times. The present invention can be used in both special working environments and ordinary working environments, thereby improving practicality and functionality.

[0020] The present invention not only increases the length of the second mechanical arm and the third mechanical arm through the transmission of the extension rod, but also allows the two second protective shells to follow and protect the outer side of the extension plate.

[0021] The present invention can prevent foreign objects from damaging the outer sides of the fixed sleeve and the extension rod through the protection of the first protection shell and the second protection shell, thereby improving the service life and protection of the fixed sleeve and the extension rod.

[0022] The present invention can strengthen the protection of the fixed sleeve and the extension rod through the double-layer protection of the first protective shell and the second protective shell.

[0023] The present invention stores the first airbag and the second airbag, so that the first airbag and the second airbag gradually expand, which not only transports gas to the jet part and effectively blows away the dust on the outside of the cylinder and the extension rod, but also, when the third robotic arm swings randomly and collides with an external object, it effectively reduces the impact force of the collision, reduces damage to the third robotic arm, and also reduces harm to workers, thereby improving the protection and cleaning effects. At the same time, during the dust removal process, it also has the effect of cooling and heat dissipation, ensuring that the robotic arm is always in a healthy working state and avoiding overheating failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the present invention;

[0025] Figure 2 A full cross-sectional view of the extension rod of the present invention;

[0026] Figure 3 A partial cross-sectional view of a sliding long board according to the present invention;

[0027] Figure 4 It is a structural schematic diagram of the sliding notch of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the limiting plate of the present invention;

[0029] Figure 6 This is a schematic structural diagram of the first protective shell of the present invention;

[0030] Figure 7 This is a schematic structural diagram of the second protective shell of the present invention;

[0031] Figure 8 It is a structural schematic diagram of the pressing cylinder of the present invention;

[0032] Figure 9 A schematic diagram of the positions of the first guide pipe and the second guide channel of the present invention;

[0033] Figure 10 It is a schematic diagram of the position of the suction cylinder of the present invention;

[0034] Figure 11 It is a structural schematic diagram of the jet component of the present invention.

[0035] In the figure: 1. Rotating base; 11. First motor; 12. First robotic arm; 13. Second motor; 14. Second robotic arm; 15. Third robotic arm; 16. Third motor; 17. Module mounting member; 2. Growth mechanism; 21. Fixed plate; 22. Cylinder; 23. Push rod; 24. L-shaped frame; 25. Sliding long plate; 26. Extension rod; 27. Fixed sleeve; 271. Sliding hole; 272. Sliding notch; 28. First support rod; 281. Second support rod; 282. Baffle; 283. First spring body; 284. Second spring body; 29. ​​Limiting plate; 291. First support hole; 292. Second support hole; 3. First protective mechanism; 31. First bearing plate ;311, second supporting plate;32, first protective shell;321, through port;322, T-slot;33, T-plate;34, second protective shell;341, third supporting plate;342, third supporting plate;4, second protective mechanism;5, jet mechanism;51, pressure rod;52, pressure cylinder;53, conveying pipeline;54, first guide pipeline;541, first one-way valve;55, second guide pipe;551, second one-way valve;56, first air bag;561, first connecting pipe;57, second air bag;571, second connecting pipe;58, jet component;59, suction valve;591, suction cylinder;592, air inlet;593, spring body;594, back plate;595, baffle plate. DETAILED DESCRIPTION

[0036] The following will be used in conjunction with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0037] like Figure 1 As shown, the present invention provides a modular gas-electric hybrid bionic robotic arm, including a rotating base 1, the top of the rotating base 1 is rotated by a first motor 11 to cooperate with a first robotic arm 12, the upper part of the first robotic arm 12 is rotated by a second motor 13 to cooperate with a second robotic arm 14 and a third robotic arm 15, one end of the third robotic arm 15 is rotated by a third motor 16 to cooperate with a module mounting part 17; an extension mechanism 2 and a first protection mechanism 3 and a second protection mechanism 4 are arranged between the second robotic arm 14 and the third robotic arm 15.

[0038] like Figure 2 、 Figure 3 、 Figure 4As shown, the growth mechanism 2 includes a fixed plate 21 fixedly connected to one end of the second robotic arm 14, and a cylinder 22 is installed on the upper side of one side of the fixed plate 21, and the output end of the cylinder 22 is connected to a push rod 23, and one end face of the push rod 23 is fixedly connected to an L-shaped frame plate 24, and the lower end faces on both sides of the L-shaped frame plate 24 are fixedly connected to a sliding long plate 25, and the middle of the sliding long plate 25 is fixedly connected to an extension rod 26, and a fixed sleeve 27 is slidably fitted on the outer side of the extension rod 26, and a sliding hole 271 is opened inside the fixed sleeve 27, and the sliding hole 271 is slidably fitted on the outer side of the extension rod 26, and sliding grooves 272 are opened on both sides of the outer surface of the fixed sleeve 27, and the sliding groove 272 is slidably fitted on both sides of the sliding long plate 25, and one end of the fixed sleeve 27 is fixedly connected to one side of the fixed plate 21.

[0039] The above solution is adopted: the cylinder 22 is started to drive the push rod 23 to move to one side, and the push rod 23 is driven by force to drive the L-shaped frame plate 24 to move to one side, and the L-shaped frame plate 24 is driven by force to pull the sliding long plate 25 to one side, and the sliding long plate 25 is driven by force to drive the extension rod 26 to slide outward in the sliding hole 271, wherein the two sides of the sliding long plate 25 slide to one side in the sliding groove 272, and the extension rod 26 is driven by force to drive the third robot arm 15 to move to one side. After the extension rod 26 reaches a predetermined length, the cylinder 22 is stopped, and the first robot arm 13, the second robot arm 14, the third robot arm 15 and the module mounting part 17 are started to cooperate with each other, making the grabbing work in special working environments more convenient and practical, and being beneficial in special working environments. There is no need to customize the length of the robot arm, which effectively reduces costs and does not require a long waiting time. It can be used regardless of whether it is used in special working environments or normal working environments, thereby improving practicality and functionality.

[0040] like Figure 5 As shown, the lower part of one side of the fixed plate 21 is fixedly connected to a first support rod 28 and a second support rod 281, and one end surface of the first support rod 28 and the second support rod 281 is fixedly connected to a baffle 282, and one end of the first support rod 28 and the second support rod 281 is inserted into the first support hole 291 and the second support hole 292 opened on both sides of the limiting plate 29, and a first spring body 283 is wrapped around the outside of the first support rod 28, and the two ends of the first spring body 283 are fixedly connected to the lower part of one side of the fixed plate 21 and one side of the limiting plate 29, and a second spring body 284 is wrapped around the outside of the second support rod 281, and the two ends of the second spring body 284 are fixedly connected to the lower part of one side of the fixed plate 21 and one side of the limiting plate 29.

[0041] The above solution is adopted: the third robotic arm 15 slides to one side on the outside of the first support rod 28 and the second support rod 281 through the first support hole 291 and the second support hole 292 on the limit plate 29, and the limit plate 29 is stretched to one side on the first spring body 283 and the second spring body 283, allowing the extension rod 26 to move stably to one side, thereby strengthening the supporting force on the third robotic arm 15.

[0042] like Figure 3 、 Figure 5 As shown, one end of the extension rod 26 is fixed to one end surface of the third robotic arm 15 , and the upper end surface of the limiting plate 29 is fixed to the lower part of the outer side of one end surface of the third robotic arm 15 .

[0043] The above solution is adopted, which is beneficial for not only increasing the length of the second robotic arm 14 and the third robotic arm 15 , but also allowing the two second protective shells 34 to follow and protect the outer side of the extension plate.

[0044] like Figure 6 、 Figure 7 As shown, the first protective mechanism 3 includes a first supporting plate 31 and a second supporting plate 311 fixedly connected to one side of the fixed plate 21, and the first supporting plate 31 and the second supporting plate 311 are fixedly connected to one side of the first protective shell 32, and the outer side of the first protective shell 32 is provided with openings 321 equidistantly along the length direction, and a T-slot 322 is provided in the middle of the inner surface of the first protective shell 32, and a T-plate 33 is slidably fitted inside the T-slot 322, and a second protective shell 34 is fixedly connected to one side of the T-plate 33, and the second protective shell 34 is fixedly connected to the outside of one end of the third robotic arm 15 through a third supporting plate 341 and a fourth supporting plate 342. The structural positions of the first protective mechanism 3 and the second protective mechanism 4 are the same.

[0045] The above solution is adopted: the third supporting plate 341 and the fourth supporting plate 342 are forced to pull the second protective shell 34 outward, and the second protective shell 34 is forced to slide to one side through the T-plate 33 inside the T-slot 322, and the second protective shell 34 will follow the extension rod 26 to move to one side, so that the second protective shell 34 has been protecting the outside of the extension rod 26 until the extension rod 26 reaches a predetermined length, the extension rod 26 stops moving, and the second protective shell 34 also stops moving. The above work is the work of the first protective mechanism 3. At the same time, the second protective mechanism 4 is synchronized with the work of the first protective mechanism 3 to ensure that the interiors of the two second protective shells 34 are covered on both sides of the outer surface of the extension rod 26, and also ensure that the interiors of the two first protective shells 32 are covered on both sides of the outer surface of the fixed sleeve 27, which is beneficial to prevent foreign objects from damaging the outer sides of the fixed sleeve 27 and the extension rod 26, and can improve the service life and protection of the fixed sleeve 27 and the extension rod 26.

[0046] like Figure 6 、 Figure 7 As shown, the interior of the first protective shell 32 is covered on the outside of the second protective shell 34 , and the interior of the first protective shell 32 is covered on the outside of the fixing sleeve 27 .

[0047] The above solution is adopted to help strengthen the protection of the fixed sleeve 27 and the extension rod 26.

[0048] like Figure 7 As shown, when the second protective shell 34 is in operation, one side of the second protective shell 34 extends outward, and the interior of the second protective shell 34 covers the outer side of the extension rod 26 .

[0049] The above solution is adopted: it is beneficial for the second protective shell 34 to follow the extended length of the extension rod 26 , which can effectively improve the protection of the extension rod 26 .

[0050] like Figure 8 、 Figure 9 As shown, the jet mechanism 5 includes a pressure rod 51 fixedly connected to one side of the limit plate 29, one end of the pressure rod 51 is slidably fitted with a pressure cylinder 52, one end of the pressure cylinder 52 is fixed to one side of the baffle 282, and the upper surface of one end of the pressure cylinder 52 is connected to a conveying pipe 53, and the upper end surfaces of the conveying pipe 53 are connected to a first guide pipe 54 and a second guide pipe 55.

[0051] The above-mentioned solution is adopted: the limiting plate 29 drives the pressure rod 51 to slide to one side inside the pressure cylinder 52, and the space inside the pressure cylinder 52 squeezed by the pressure rod 51 is squeezed into the conveying pipe 53. The conveying pipe 53 conveys the squeezed air to the inside of the first guide tube 54 and the second guide tube 55 respectively, so that the first airbag 56 and the second airbag 57 can be inflated at the same time.

[0052] like Figure 9 、 Figure 11 As shown, a first one-way valve 541 is provided inside one end of the first guide tube 54, and the upper end of the first guide tube 54 is connected to the first airbag 56, one side of the first airbag 56 is installed on one side of the third robotic arm 15, and the upper end face of the first airbag 56 is connected to the jet component 58 through a first connecting tube 561, and the lower end face of the jet component 58 is connected to the upper end face of the third robotic arm 15, a second one-way valve 551 is provided inside one end of the second guide tube 55, and the upper end of the second guide tube 55 is connected to the second airbag 57, one side of the second airbag 57 is installed on the other side of the third robotic arm 15, and the upper end face of the second airbag 57 is connected to one side of the lower end face of the jet component 58 through a second connecting tube 571, and the port of the jet component 58 is facing one side of the cylinder 22.

[0053] Using the above solution, after being squeezed by forced air, the first and second check valves 541, 551 open their flaps and press against the spring element, causing the squeezed air to be delivered to the first and second airbags 56, 57, respectively. The air stored in these airbags gradually increases, gradually inflating them. The air in these airbags 56, 57 is then delivered to the air jet 58 via the first and second connecting tubes 561, 571. The air jet 58 directs air toward the cylinder 22 and extension rod 26, removing dust from these areas. Furthermore, the angle of the air jet 58 is adjustable, allowing it to remove dust from other locations. When the robotic arm is in operation for extended periods, it generates significant heat, which can put it in an unhealthy operating state. In this case, the air jet 58 can be used to cool the arm and prevent it from overheating. This not only facilitates the delivery of gas to the air jet element 58, effectively removing dust from the outside of the cylinder 22 and the extension rod 26, but also effectively mitigates the impact of any collision with an external object caused by the third robotic arm 15 swinging arbitrarily, reducing damage to the third robotic arm 15 and harm to workers, thereby improving both protection and cleaning effectiveness. A valve can be installed at the air jet element 58 to control its opening and closing, or the size of the air jet opening (the air jet angle of the air jet element 58 can also be adjusted). The valve can be a conventional ball valve, etc., and will not be described in detail.

[0054] like Figure 9 、 Figure 11 As shown, the upper part of the connection between the first guide tube 54 and the second guide tube 55 is connected to an air intake valve 59, and the air intake valve 59 includes an air intake cylinder 591. The lower end face of the air intake cylinder 591 is connected to the upper part of the connection between the first guide tube 54 and the second guide tube 55, and the upper end face of the air intake cylinder 591 is fixed to the lower end face of the third robotic arm 15. An air inlet 592 is provided at the upper outer part of the air intake cylinder 591, and a spring body 593 is fixedly connected to the top of the air intake cylinder 591, and the lower end face of the spring body 593 is fixedly connected to a support plate 594, and the outer ring surface of the support plate 594 is slidably fitted in the inner lower part of the air intake cylinder 591. The inner lower part of the air intake cylinder 591 is fixedly connected to a baffle plate 595, and the lower end face of the baffle plate 595 is abutted against the upper end face of the support plate 594.

[0055] The above scheme is adopted: when the pressure rod 51 slides in the interior of the pressure cylinder 52 in the original direction, the pressure rod 51 sucks air into the interior of the pressure cylinder 52, and the first one-way valve 541 and the second one-way valve 551 use the elastic force of the spring member to make the baffle block the interior of the first guide tube 54 and the second guide tube 55. Among them, due to the action of the pressure rod 51, the suction force inside the pressure cylinder 52 is relatively large, so that the push plate 594 slides downward in the interior of the suction cylinder 591, and the push plate 594 moves downward to the interior of the connection between the first guide tube 54 and the second guide tube 55. At this time, the air from the outside enters the interior of the suction cylinder 591 through the air inlet 592, and is sucked into the interior of the connection between the first guide tube 54 and the second guide tube 55 by the guidance of the suction cylinder 591, preparing for the next air squeezing.

[0056] The working principle and use process of the present invention:

[0057] For example, when the second robotic arm 14 and the third robotic arm 15 need to be extended to perform gripping in a special working environment (problem of insufficient length), the cylinder 22 is first activated to drive the push rod 23 to move to one side. The push rod 23 is driven by the force to drive the L-shaped frame 24 to move to one side. The L-shaped frame 24 is driven by the force to pull the sliding long plate 25 to one side. The sliding long plate 25 is driven by the force to drive the extension rod 26 to slide outward in the sliding hole 271. Among them, the two sides of the sliding long plate 25 slide to one side in the sliding groove 272. The extension rod 26 is driven by the force to drive the third robotic arm 15 to move to one side. At the same time, the third robotic arm 15 is moved by the limit plate 29. The first support hole 291 and the second support hole 292 on the upper slide to one side on the outside of the first support rod 28 and the second support rod 281, and the limit plate 29 is stretched to one side on the first spring body 283 and the second spring body 283, so that the extension rod 26 can move stably to one side, thereby strengthening the supporting force on the third robotic arm 15. After the extension rod 26 reaches the predetermined length, the cylinder 22 is stopped, and then the first robotic arm 12, the second robotic arm 14, the third robotic arm 15, and the module mounting part 17 (the module is used to mount various processed parts, such as grippers, flamethrowers, 3D printed parts, etc.) are started to cooperate with each other, making the grasping work in special working environments more convenient and practical.

[0058] At the same time, the limit plate 29 drives the pressure rod 51 to slide to one side inside the pressure cylinder 52, and the space inside the pressure cylinder 52 squeezed by the pressure rod 51 is squeezed into the delivery pipe 53, and the delivery pipe 53 delivers the squeezed air to the inside of the first guide pipe 54 and the second guide pipe 55 respectively, wherein the first one-way valve 541 and the second one-way valve 551 open the baffles of the first one-way valve 541 and the second one-way valve 551 after being squeezed by the forced air, and squeeze the spring member, so that the squeezed air is delivered to the first air bag 56 and the second air bag 57 respectively, and the first air bag 56 and the second air bag 57 store more and more air, which gradually expands the first air bag 56 and the second air bag 57 (the reciprocating extension of the extension rod 26 makes the stored air gradually more), wherein the air in the first air bag 56 and the second air bag 57 is delivered to the jet component 58 through the first connecting pipe 561 and the second connecting pipe 571, and the jet component 58 sprays in the direction of the cylinder 22 and the extension rod 26, The dust on 22 and the extension rod 26 is blown away, and the pressure rod 51 slides in the interior of the pressure cylinder 52 in the original direction, and the pressure rod 51 sucks air into the interior of the pressure cylinder 52. The first one-way valve 541 and the second one-way valve 551 use the elastic force of the spring member to block the interior of the first guide tube 54 and the second guide tube 55, thereby preventing the air in the first air bag 56 and the second air bag 57 from being sucked into the interior of the pressure cylinder 52. Due to the action of the pressure rod 51, the suction force inside the pressure cylinder 52 is relatively large, so that the plate 594 It slides downward inside the air suction cylinder 591, and its push plate 594 moves downward to the inside of the connection between the first guide tube 54 and the second guide tube 55. At this time, the air from the outside enters the interior of the air suction cylinder 591 through the air inlet 592, and is sucked into the inside of the connection between the first guide tube 54 and the second guide tube 55 by means of the guidance of the air suction cylinder 591, preparing for the next air squeezing (the pressure rod 51 is in the squeezing air, and the push plate 594 is tightly attached to the baffle plate 595 to avoid leakage).

[0059] When the extension rod 26 moves outward, the third supporting plate 341 and the fourth supporting plate 342 are forced to pull the second protective shell 34 outward. The second protective shell 34 is forced to slide to one side through the T-plate 33 inside the T-slot 322. The second protective shell 34 will move to one side along with the extension rod 26, so that the second protective shell 34 will continue to protect the outside of the extension rod 26 until the extension rod 26 reaches a predetermined length, the extension rod 26 stops moving, and the second protective shell 34 also stops moving. The above work is the work of the first protective mechanism 3. At the same time, the second protective mechanism 4 is synchronized with the work of the first protective mechanism 3 to ensure that the interiors of the two second protective shells 34 are covered on both sides of the outer surface of the extension rod 26, and also to ensure that the interiors of the two first protective shells 32 are covered on both sides of the outer surface of the fixed sleeve 27, thereby protecting the fixed sleeve 27 and the outside of the extension rod 26. The second protective shell 34 is moved toward the original direction by the extension rod 26, and the second protective shell 34 slides toward the original direction inside the T-slot 322 through the T-plate 33 until the second protective shell 34 is located inside the first protective shell 32 (as shown in FIG. Figure 7 As shown), the first protective shell 32 is completed in the contracted state.

[0060] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0061] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A modular gas-electric hybrid bionic robotic arm, comprising a rotating base (1), characterized in that: The top of the rotating base (1) is rotated by a first motor (11) to be matched with a first mechanical arm (12); the upper part of the first mechanical arm (12) is rotated by a second motor (13) to be matched with a second mechanical arm (14) and a third mechanical arm (15); one end of the third mechanical arm (15) is rotated by a third motor (16) to be matched with a module mounting part (17); an extension mechanism (2) and a first protection mechanism (3) and a second protection mechanism (4) are arranged between the second mechanical arm (14) and the third mechanical arm (15); and jet mechanisms (5) are arranged on both sides of the third mechanical arm (15).

2. The modular gas-electric hybrid bionic robotic arm according to claim 1, characterized in that: The growth mechanism (2) includes a fixed plate (21) fixedly connected to one end of the second mechanical arm (14), a cylinder (22) is installed on the upper side of one side of the fixed plate (21), the output end of the cylinder (22) is connected to a push rod (23), one end face of the push rod (23) is fixedly connected to an L-shaped frame plate (24), the lower end faces of both sides of the L-shaped frame plate (24) are fixedly connected to a sliding long plate (25), the middle of the sliding long plate (25) is fixedly connected to an extension rod (26), the The outer side of the extension rod (26) is slidably fitted with a fixed sleeve (27), a sliding hole (271) is provided inside the fixed sleeve (27), and the sliding hole (271) is slidably fitted with the outer side of the extension rod (26). Sliding grooves (272) are provided on both sides of the outer surface of the fixed sleeve (27), and the sliding grooves (272) are slidably fitted with both sides of the sliding long plate (25). One end of the fixed sleeve (27) is fixedly connected to a side surface of the fixed plate (21).

3. The modular gas-electric hybrid bionic robotic arm according to claim 2, characterized in that: The lower part of one side of the fixing plate (21) is fixedly connected with a first support rod (28) and a second support rod (281), one end surface of the first support rod (28) and the second support rod (281) is fixedly connected with a baffle (282), and one end of the first support rod (28) and the second support rod (281) is inserted into the first support hole (291) and the second support hole (292) provided on both sides of the limiting plate (29), a first spring body (283) is wound around the outside of the first support rod (28), and the two ends of the first spring body (283) are fixedly connected to the lower part of one side of the fixing plate (21) and one side of the limiting plate (29), and a second spring body (284) is wound around the outside of the second support rod (281), and the two ends of the second spring body (284) are fixedly connected to the lower part of one side of the fixing plate (21) and one side of the limiting plate (29).

4. A modular gas-electric hybrid bionic robotic arm according to claim 2 or 3, characterized in that: One end of the extension rod (26) is fixed to an end surface of the third mechanical arm (15), and the upper end surface of the limiting plate (29) is fixed to the lower part of the outer side of the end surface of the third mechanical arm (15).

5. The modular gas-electric hybrid bionic robotic arm according to claim 2, characterized in that: The first protective mechanism (3) includes a first bearing plate (31) and a second bearing plate (311) fixedly connected to one side of the fixed plate (21); the first bearing plate (31) and the second bearing plate (311) are both fixedly connected to a first protective shell (32) on one side; the outer side of the first protective shell (32) is provided with openings (321) at equal intervals along the length direction; and a T-shaped slot (322) is provided in the middle of the inner surface of the first protective shell (32); a T-shaped plate (33) is slidably fitted inside the T-shaped slot (322); a second protective shell (34) is fixedly connected to one side of the T-shaped plate (33); the second protective shell (34) is fixedly connected to the outer side of one end of the third mechanical arm (15) through a third bearing plate (341) and a fourth bearing plate (342); the structural positions of the first protective mechanism (3) and the second protective mechanism (4) are the same.

6. The modular gas-electric hybrid bionic robotic arm according to claim 5, characterized in that: The interior of the first protective shell (32) is covered on the outside of the second protective shell (34), and the interior of the first protective shell (32) is covered on the outside of the fixed sleeve (27).

7. The modular gas-electric hybrid bionic robotic arm according to claim 5, characterized in that: When the second protective shell (34) is in operation, one side of the second protective shell (34) extends outward, and the interior of the second protective shell (34) covers the outer side of the extension rod (26).

8. The modular gas-electric hybrid bionic robotic arm according to claim 3, characterized in that: The jet mechanism (5) includes a pressure rod (51) fixedly connected to one side of the limit plate (29), one end of the pressure rod (51) is slidably matched with a pressure cylinder (52), one end of the pressure cylinder (52) is fixed to one side of the baffle (282), and the upper surface of one end of the pressure cylinder (52) is connected to a conveying pipe (53), and the upper end surface of the conveying pipe (53) is connected to a first guide pipe (54) and a second guide pipe (55).

9. The modular gas-electric hybrid bionic robotic arm according to claim 8, characterized in that: A first one-way valve (541) is provided inside one end of the first guide tube (54), and the upper end of the first guide tube (54) is connected to a first airbag (56), one side of the first airbag (56) is installed on one side of the third mechanical arm (15), and the upper end surface of the first airbag (56) is connected to a jet component (58) through a first connecting tube (561), and the lower end surface of the jet component (58) is connected to the upper end surface of the third mechanical arm (15). A second one-way valve (551) is provided inside one end of the second guide tube (55), and the upper end of the second guide tube (55) is connected to a second airbag (57), one side of the second airbag (57) is installed on the other side of the third mechanical arm (15), and the upper end surface of the second airbag (57) is connected to one side of the lower end surface of the jet component (58) through a second connecting tube (571), and the port of the jet component (58) is directly opposite to one side of the cylinder (22).

10. The modular gas-electric hybrid bionic robotic arm according to claim 8, characterized in that: The upper portion of the connection between the first guide tube (54) and the second guide tube (55) is connected to an air intake valve (59), and the air intake valve (59) includes an air intake cylinder (591). The lower end surface of the air intake cylinder (591) is connected to the upper portion of the connection between the first guide tube (54) and the second guide tube (55), and the upper end surface of the air intake cylinder (591) is fixed to the lower end surface of the third mechanical arm (15). The upper outer portion of the air intake cylinder (591) is connected to the upper portion of the connection between the first guide tube (54) and the second guide tube (55). An air inlet (592) is provided, and a spring body (593) is fixedly connected to the top of the air suction cylinder (591), and a lower end surface of the spring body (593) is fixedly connected to a support plate (594), and the outer ring surface of the support plate (594) is slidably matched with the inner lower part of the air suction cylinder (591). A baffle plate (595) is fixedly connected to the inner lower part of the air suction cylinder (591), and the lower end surface of the baffle plate (595) is abutted against the upper end surface of the support plate (594).

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