Bionic soft robot arm and control system

Abstract

The application discloses a kind of bionic soft robot arm and control system, including base control component, plane moving component, arm mechanism and clamping mechanism.The application device mainly utilizes the output operation of base control component to cooperate with plane moving component and clamping mechanism, so that the memory metal rod group on arm mechanism, spiral electromagnetic wire cooperate with joint substrate, sleeve hole ring, self inflatable pump valve cavity pipe, flexible cloth bag, so that the equipment can effectively change direction position according to the needs of bionics adaptive, solves the key bottleneck of soft robot technology in popular science application, since adopting pneumatic drive and full flexible structure, soft robot arm will not cause harm when accidental collision with people or environment, fundamentally eliminates the safety risk of rigid robot arm in interactive environment, adopts modular structure and durable material, reduces maintenance complexity and cost, ensures long-term stable operation of equipment.

Description

Technical Field

[0001] This invention relates to the field of soft robotic arm technology, and in particular to a bionic soft robotic arm and its control system. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics. They can be found in fields such as industrial manufacturing, medical treatment, entertainment services, semiconductor manufacturing, and space exploration. Although they vary in form, they all have one thing in common: they can receive instructions and accurately locate a point in three-dimensional space to perform operations.

[0003] Currently, in science museums and other science popularization exhibitions, most interactive exhibits involving robotic arms adopt traditional rigid linkages and motor-driven structures. While these rigid robotic arms offer advantages such as high motion precision and strong load-bearing capacity, their movements are stiff, lacking the compliant characteristics of living organisms, and pose safety risks in unstructured interactive environments. They also struggle to intuitively and vividly demonstrate the soft and flexible movement mechanisms of marine life and other natural organisms. In recent years, although pneumatic soft robotic arms based on soft robot technology have been showcased in research and industrial product exhibitions, revealing their enormous potential in flexible grasping and human-machine interaction safety, these displays have significant limitations. Firstly, they are mostly organized by companies. Short-term, commercial product promotion activities often feature complex, costly, and maintenance-intensive exhibits. There is a lack of long-term, stable, and universally accessible permanent exhibits designed for public venues like science museums. Furthermore, their user interfaces and demonstrations are often geared towards professional audiences or adults, failing to adequately consider the cognitive level and operational abilities of the general public, especially children and teenagers, resulting in a high barrier to entry for interactive experiences. Additionally, the inherent motion lag and nonlinearity of soft robotic arms lead to insufficient control precision, making it difficult to achieve stable and reliable repeated interactive operations for the public. This is the main technical obstacle preventing their practical application in science museums. Therefore, we propose a biomimetic soft robotic arm and control system to address these issues. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a biomimetic soft robotic arm and its control system. This system primarily utilizes the output operation of a base control component in conjunction with a planar moving component and a clamping mechanism. This allows the arm's shape memory metal rods, helical electromagnetic wires, joint substrates, sleeve rings, a self-contained air pump valve chamber, and flexible fabric bag to effectively and adaptively change direction and position according to biomimetic needs. This solves a key bottleneck in the application of soft robotics technology in science popularization. Due to its pneumatic drive and fully flexible structure, the soft robotic arm will not cause injury in the event of accidental collisions with people or the environment, fundamentally eliminating the safety risks of rigid robotic arms in interactive environments. The modular structure and durable materials reduce maintenance complexity and cost, ensuring long-term stable operation of the device.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A biomimetic soft robotic arm includes a base control assembly, a planar movement component, an arm mechanism, and a clamping mechanism. The top of the lifting frame on the base control assembly is bolted to a bolt base on the planar movement component. The bottom side of the longitudinal slide on the planar movement component is bolted to an assembly plate on the arm mechanism. The outer end of the limiting plate on the arm mechanism is bolted to a second base frame on the clamping mechanism.

[0006] As a further technical solution, the base control assembly also includes a cabinet, a platform, a side frame, a control panel, a handle, and a camera. The camera is installed on the inner side of the top of the lifting frame. The bottom end of the lifting frame is bolted to the platform for mounting the cabinet. A side frame is installed on one side of the platform, and a control panel is installed on the top of one end of the side frame. A handle is installed on the side of one end of the side frame.

[0007] As a further technical solution, the planar moving component also includes a first slot box, a transverse lead screw, a transverse slider, a second slot box, and a longitudinal lead screw. The first slot box is provided above the bolt base, and the output end of the first slot box is provided with a transverse lead screw threadedly connected to the transverse slider. The second slot box is bolted below the transverse slider, and the output end of the second slot box is connected to the longitudinal lead screw.

[0008] As a further technical solution, the arm mechanism also includes a first base frame, a first gear column, a first electric gear, and a first rotating base shaft. The first base frame is provided below the assembly plate, and the first gear column is provided on the inner side of the first base frame. The input end of the first gear column is meshed with the output end of the first electric gear, and the output end of the first gear column is provided with the first rotating base shaft.

[0009] As a further technical solution, the robotic arm mechanism also includes a flexible cloth bag, a shape memory metal rod assembly, a spiral electromagnetic wire, a bolt disc, a joint base plate, a sleeve ring, and a self-contained air pump valve chamber. The outer side of the limiting plate is provided with a flexible cloth bag for covering installation. The inside of the limiting plate is provided with multiple sections of shape memory metal rod assembly, and the outer side of the shape memory metal rod assembly is provided with a spiral electromagnetic wire for winding installation. The two ends of the shape memory metal rod assembly are bolted to the joint base plate through the bolt disc, and the inner sides of the two ends of the joint base plate are provided with sleeve rings for sleeve installation. The inner side of the sleeve ring is provided with a self-contained air pump valve chamber, which has an air pump, a control valve, and an expansion and contraction structure for the air chamber.

[0010] As a further technical solution, the clamping mechanism also includes a second gear column, a second electric gear, a second rotating base shaft, and a clamp base. The second gear column is provided on the inner side of the second base frame, and the input end of the second gear column is meshed with the output end of the second electric gear. The output end of the second gear column is provided with the second rotating base shaft, and the output end of the second rotating base shaft is bolted to the clamp base.

[0011] As a further technical solution, the clamping mechanism also includes a fixed hinge seat, a servo motor, a threaded rod, a hinge base, and a gripper. The fixed hinge seat is bolted to the lower outer side of the clamp base. A threaded rod connected to the output end of the servo motor is provided on the inner side of the clamp base, and the output end of the threaded rod is threaded to the hinge base. The output end of the hinge base has a gripper that is hinged to the fixed hinge seat.

[0012] As a further technical solution, the platform serves as the core load-bearing foundation. The cabinet houses the control system and power module, providing power and command support to various components. The camera on the lifting frame is activated, capturing real-time images of the work area and transmitting the images to the control panel for visual monitoring and target positioning, providing a reference for subsequent actions. The control panel is activated, work parameters are input, and the user operates the machine manually via a handle. The horizontal lead screw in the first slot is activated, driving the horizontal slider to slide horizontally, causing the second slot below and subsequent components to move horizontally synchronously, adjusting the horizontal position of the machine arm to match the target's lateral coordinates. The vertical lead screw in the second slot is activated, driving the vertical slide to slide vertically, causing the assembly plate and machine arm mechanism to move vertically synchronously, adjusting the height of the machine arm to match the target's longitudinal coordinates. The first electric gear in the first base frame is activated, meshing with the first gear column to rotate the first rotating base shaft, adjusting the initial angle between the limiting plate and the subsequent flexible structure. When further machining is required... When the arm angle changes, a preset current is passed through the spiral electromagnetic wire. The magnetic field generated by the current causes the shape memory metal rod assembly to change its preset shape, which drives the joint base plate to move in tandem, realizing the biomimetic movement of the arm. The bolt disc ensures that the shape memory metal rod assembly and the joint base plate are firmly connected, and the sleeve ring provides cushioning for the movement to prevent parts from jamming. The built-in air pump valve chamber works synchronously. By inflating or deflating the air pump, the pressure inside the chamber is adjusted. In conjunction with the deformation of the shape memory metal rod assembly, the arm posture is accurately calibrated and stably supported. The flexible cloth bag covers the entire arm structure, which not only protects the internal components but also enhances the smoothness of the movement. The second electric gear in the second base frame is activated and meshes with the second gear column to drive the second rotating base shaft to rotate. The angle between the clamp base and the gripper is adjusted so that the gripper is aligned with the target object to meet the gripping posture requirements. The servo motor in the clamp base is activated, and the power is transmitted to the threaded rod, which drives the hinge base to move along the threaded rod. The hinge drives the gripper to open and close to achieve the clamping and releasing operation, thereby completing the operation of the control equipment.

[0013] Compared with the prior art, the beneficial effects of the present invention are: This invention primarily utilizes the output operation of the base control component in conjunction with the planar moving parts and clamping mechanism. This allows the shape memory metal rods, helical electromagnetic wires, joint substrates, sleeve rings, self-contained air pump valve chambers, and flexible bags on the robotic arm mechanism to effectively and adaptively change direction and position according to biomimetic needs. This solves a key bottleneck in the application of soft robotics technology in popular science. Due to the use of pneumatic drive and a fully flexible structure, the soft robotic arm will not cause injury in the event of an accidental collision with a person or the environment, fundamentally eliminating the safety risks of rigid robotic arms in interactive environments. The use of modular structure and durable materials reduces maintenance complexity and cost, ensuring the long-term stable operation of the device. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a biomimetic soft robotic arm and its control system; Figure 2 This is a schematic diagram of the structure viewed from below in this invention; Figure 3 This is a schematic diagram of the planar moving component in this invention; Figure 4 This is a schematic diagram of the arm mechanism in this invention; Figure 5 This is a schematic diagram of the structure of the first gear post and the first electric gear in this invention; Figure 6 This is a schematic diagram of the structure of the limiting plate and the flexible bag in this invention; Figure 7 This is a schematic diagram of the clamping mechanism in this invention.

[0015] In the diagram: 1. Base control assembly; 101. Cabinet; 102. Platform; 103. Side frame; 104. Control panel; 105. Handle; 106. Lifting frame; 107. Camera; 2. Planar moving component; 201. Bolt base; 202. First slot box; 203. Transverse lead screw; 204. Transverse slider; 205. Second slot box; 206. Longitudinal lead screw; 207. Longitudinal slide; 3. Arm mechanism; 301. Assembly plate; 302. First base frame; 303. First gear column; 304. First electric gear; 305. ... 1. Rotating base shaft; 306. Limiting plate; 307. Flexible cloth bag; 308. Memory metal rod assembly; 309. Helical electromagnetic wire; 3010. Bolt disc; 3011. Joint base plate; 3012. Sleeve ring; 3013. Self-contained air pump valve chamber; 4. Clamping mechanism; 401. Second base frame; 402. Second gear column; 403. Second electric gear; 404. Second rotating base shaft; 405. Clamp base; 406. Fixed hinge seat; 407. Servo motor; 408. Threaded rod; 409. Hinge base; 4010. Hand. Detailed Implementation

[0016] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0017] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0018] 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.

[0019] Please see Figure 1-7 In this embodiment of the invention, a biomimetic soft robotic arm includes a base control component 1, a planar moving component 2, a robotic arm mechanism 3, and a clamping mechanism 4. The top of the lifting frame 106 on the base control component 1 is bolted to the bolt base 201 on the planar moving component 2. The bottom side of the longitudinal slide 207 on the planar moving component 2 is bolted to the assembly plate 301 on the robotic arm mechanism 3. The outer end of the limiting plate 306 on the robotic arm mechanism 3 is bolted to the second base frame 401 on the clamping mechanism 4.

[0020] The base control assembly 1 also includes a cabinet 101, a platform 102, a side frame 103, a control panel 104, a handle 105, and a camera 107. The camera 107 is installed on the inner side of the top of the lifting frame 106. The bottom end of the lifting frame 106 is bolted to the platform 102 on which the cabinet 101 is installed. The side frame 103 is installed on one side of the platform 102, and the control panel 104 is installed on the top of one end of the side frame 103. The handle 105 is installed on the side of one end of the side frame 103.

[0021] In this embodiment of the invention, the platform 102 serves as the core supporting foundation, and the cabinet 101 has a built-in control system and power module to provide power and command support for each component. The camera 107 on the lifting frame 106 is activated to capture the work area in real time and transmit the image to the control panel 104 to achieve visual monitoring and target positioning, providing a reference for subsequent actions. The control panel 104 is activated, the work parameters are input, and the user operates in manual mode through the handle 105.

[0022] The planar moving component 2 also includes a first slot 202, a transverse lead screw 203, a transverse slider 204, a second slot 205, and a longitudinal lead screw 206. The first slot 202 is provided above the bolt base 201, and the output end of the first slot 202 is provided with a transverse lead screw 203 that is threadedly connected to the transverse slider 204. The second slot 205, whose output end is connected to the longitudinal lead screw 206, is bolted below the transverse slider 204.

[0023] In an embodiment of the present invention, the transverse lead screw 203 in the first slot 202 is activated, driving the transverse slider 204 to slide horizontally, thereby causing the second slot 205 below to move horizontally synchronously with the subsequent components, adjusting the position of the machine arm in the horizontal direction to match the target's transverse coordinates. The longitudinal lead screw 206 in the second slot 205 is activated, driving the longitudinal slide block 207 to slide vertically, thereby causing the assembly plate 301 to move vertically synchronously with the machine arm mechanism 3, adjusting the height position of the machine arm to match the target's longitudinal coordinates.

[0024] The arm mechanism 3 also includes a first base frame 302, a first gear column 303, a first electric gear 304, and a first rotating base shaft 305. The first base frame 302 is provided below the assembly plate 301, and the first gear column 303 is provided on the inner side of the first base frame 302. The input end of the first gear column 303 is meshed with the output end of the first electric gear 304, and the output end of the first gear column 303 is provided with the first rotating base shaft 305.

[0025] In an embodiment of the present invention, the first electric gear 304 inside the first base frame 302 is activated and meshes with the first gear column 303 to drive the first rotating base shaft 305 to rotate, thereby adjusting the initial angle between the limiting plate 306 and the subsequent flexible structure.

[0026] The arm mechanism 3 also includes a flexible cloth bag 307, a shape memory metal rod assembly 308, a spiral electromagnetic wire 309, a bolt disc 3010, a joint base plate 3011, a sleeve ring 3012, and a self-contained air pump valve chamber 3013. The outer side of the limiting plate 306 is provided with a flexible cloth bag 307 that is wrapped and installed. The inside of the limiting plate 306 is provided with multiple sections of shape memory metal rod assembly 308, and the outer side of the shape memory metal rod assembly 308 is provided with a spiral electromagnetic wire 309 that is wound and installed. The two ends of the shape memory metal rod assembly 308 are bolted to the joint base plate 3011 through the bolt disc 3010. The inner sides of the two ends of the joint base plate 3011 are provided with sleeve rings 3012 that are sleeved and installed. The inner side of the sleeve ring 3012 is provided with a self-contained air pump valve chamber 3013. The self-contained air pump valve chamber 3013 has an expansion and contraction structure for an air pump, a control valve, and an air chamber.

[0027] In an embodiment of the present invention, when the angle of the robotic arm needs to be changed, a preset current is passed through the spiral electromagnetic wire 309. The magnetic field generated by the current causes the shape memory metal rod assembly 308 to undergo a preset shape change, which drives the joint base plate 3011 to move in tandem, thereby realizing the biomimetic movement of the robotic arm. The bolt disc 3010 ensures that the shape memory metal rod assembly 308 and the joint base plate 3011 are firmly connected. The sleeve ring 3012 provides a buffer for the movement and avoids component jamming. The built-in air pump valve chamber 3013 works synchronously, and the pressure inside the chamber is adjusted by inflating or deflating the air pump. In conjunction with the deformation of the shape memory metal rod assembly 308, the precise calibration and stable support of the robotic arm posture are achieved. The flexible cloth bag 307 covers the entire robotic arm structure, which not only protects the internal components but also enhances the smoothness of the movement.

[0028] The clamping mechanism 4 also includes a second gear post 402, a second electric gear 403, a second rotating base shaft 404, and a clamp base 405. The second gear post 402 is provided on the inner side of the second base frame 401, and the input end of the second gear post 402 is meshed with the output end of the second electric gear 403. The output end of the second gear post 402 is provided with the second rotating base shaft 404, and the output end of the second rotating base shaft 404 is bolted to the clamp base 405.

[0029] In an embodiment of the present invention, the second electric gear 403 inside the second base frame 401 is activated and meshes with the second gear column 402 to drive the second rotating base shaft 404 to rotate, thereby adjusting the angle between the clamp base 405 and the gripper 4010 so that the gripper 4010 is aligned with the target object.

[0030] The clamping mechanism 4 also includes a fixed hinge seat 406, a servo motor 407, a threaded rod 408, a hinge base 409, and a gripper 4010. The fixed hinge seat 406 is bolted to the lower outer side of the clamping base 405. The threaded rod 408 connected to the output end of the servo motor 407 is provided on the inner side of the clamping base 405. The output end of the threaded rod 408 is threaded to the hinge base 409. The output end of the hinge base 409 is hinged to the gripper 4010, which is hinged to the fixed hinge seat 406.

[0031] In an embodiment of the present invention, the servo motor 407 inside the clamp base 405 is started, and the power is transmitted to the threaded rod 408, driving the hinge base 409 to move along the threaded rod 408. The hinge drives the gripper 4010 to open and close to achieve the clamping and releasing operation, thereby completing the operation of the control device.

[0032] In terms of intelligent control: Centralized control and visual positioning, with control panel 104 as the core of operation, supports preset and manual operation of work parameters such as grasping force and motion trajectory. The mode can be switched via handle 105. Camera 107 captures the work area in real time and transmits the image to the control system built into cabinet 101. Target positioning and environmental monitoring are achieved through image recognition, providing data support for subsequent actions. If a collision risk or positioning deviation is detected, adjustment commands are automatically triggered.

[0033] Multi-dimensional precise movement control: The control system drives the planar moving component 2 to move. The horizontal lead screw 203 and the vertical lead screw 206 work together to drive the horizontal slider 204 and the vertical slide block 207 to slide precisely, realizing the coordinate calibration of the arm in the horizontal and vertical directions, and the positioning accuracy is adapted to the needs of different working positions.

[0034] The flexible posture intelligent adjustment system, for the arm mechanism 3, the control system sends a preset current to the spiral electromagnetic wire 309, drives the memory metal rod group 308 to undergo biomimetic deformation, and links the joint substrate 3011 to realize the bending and twisting of the arm. At the same time, it controls the built-in air pump valve chamber 3013 to inflate or deflate, adjust the chamber pressure, and complete the posture calibration in conjunction with the memory metal rod group 308 to ensure the smoothness and stability of the movement.

[0035] The clamping action is controlled in a closed loop. After receiving the command, the clamping mechanism 4 drives the second electric gear 403 to rotate the second gear column 402, adjusts the angle of the clamp base 405, and the servo motor 407 drives the threaded rod 408 to precisely drive the gripper 4010 to open and close. The clamping force is adjusted in real time through torque feedback to avoid damaging the target or causing it to fall off, thus achieving flexible gripping.

[0036] The control system of this bionic soft robotic arm consists of a platform 102 as the core support base, and a cabinet 101 housing the control system and power module to provide power and command support to various components. The camera 107 on the lifting frame 106 is activated to capture real-time images of the work area and transmit the images to the control panel 104 for visual monitoring and target positioning, providing a reference for subsequent actions. The control panel 104 is then activated, work parameters are input, and the user operates the arm manually via the handle 105. The horizontal lead screw 203 in the first slot 202 is activated, driving the horizontal slider 204 to slide horizontally, thus moving the lower... The second slot box 205 moves laterally synchronously with the subsequent components, adjusting the horizontal position of the arm to match the target's lateral coordinates. The longitudinal lead screw 206 within the second slot box 205 is activated, driving the longitudinal slide block 207 to slide longitudinally, causing the assembly plate 301 and the arm mechanism 3 to move longitudinally synchronously, adjusting the arm's height to match the target's longitudinal coordinates. The first electric gear 304 within the first base frame 302 engages with the first gear column 303, driving the first rotating base shaft 305 to rotate, adjusting the initial angle between the limiting plate 306 and the subsequent flexible structure. When an angle change of the arm is required... A preset current is supplied to the spiral electromagnetic wire 309. The magnetic field generated by the current causes the shape memory metal rod assembly 308 to undergo a preset shape change, which in turn drives the joint substrate 3011 to achieve biomimetic movement of the robot arm. The bolt disc 3010 ensures a firm connection between the shape memory metal rod assembly 308 and the joint substrate 3011. The sleeve ring 3012 provides cushioning for the movement and prevents parts from jamming. The built-in air pump valve chamber 3013 works synchronously, inflating or deflating the air pump to adjust the pressure inside the chamber. Combined with the deformation of the shape memory metal rod assembly 308, it achieves precise calibration and stable support of the robot arm's posture. The flexible cloth bag 307 covers the entire robot arm. The structure protects internal components and enhances the smoothness of movement. The second electric gear 403 in the second base frame 401 is activated and meshes with the second gear column 402 to drive the second rotating base shaft 404 to rotate. The angle between the clamp base 405 and the gripper 4010 is adjusted so that the gripper 4010 is aligned with the target object to meet the gripping posture requirements. The servo motor 407 in the clamp base 405 is activated, and the power is transmitted to the threaded rod 408, which drives the hinge base 409 to move along the threaded rod 408. The hinge drives the gripper 4010 to open and close to achieve the clamping and releasing operation, thereby completing the operation of the control equipment.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A bionic soft robot arm, comprising a base control assembly (1), a planar moving part (2), an arm mechanism (3) and a clamping mechanism (4), characterized in that: The top of the lifting frame (106) on the base control assembly (1) is bolted to the bolt base (201) on the planar moving part (2), the bottom of the longitudinal slide (207) on the planar moving part (2) is bolted to the assembly plate (301) on the arm mechanism (3), and the outer end of the limiting plate (306) on the arm mechanism (3) is bolted to the second base frame (401) on the clamping mechanism (4).

2. The bionic soft manipulator according to claim 1, characterized in that: The base control assembly (1) also includes a cabinet (101), a platform (102), a side frame (103), a control panel (104), a handle (105), and a camera (107). The camera (107) is provided on the inner side of the upper part of the lifting frame (106). The bottom end of the lifting frame (106) is bolted to the platform (102) on which the cabinet (101) is installed. The side frame (103) is provided on one side of the platform (102), and the control panel (104) is provided on the upper part of one end of the side frame (103). The handle (105) is provided on the side side of one end of the side frame (103).

3. The bionic soft manipulator according to claim 1, characterized in that: The planar moving component (2) also includes a first slot (202), a transverse lead screw (203), a transverse slider (204), a second slot (205), and a longitudinal lead screw (206). The first slot (202) is provided above the bolt base (201), and the output end of the first slot (202) is provided with a transverse lead screw (203) threadedly connected to the transverse slider (204). The second slot (205) with the output end connected to the longitudinal lead screw (206) is bolted below the transverse slider (204).

4. The bionic soft manipulator according to claim 1, characterized in that: The arm mechanism (3) also includes a first base frame (302), a first gear column (303), a first electric gear (304), and a first rotating base shaft (305). The first base frame (302) is provided below the assembly plate (301), and the first gear column (303) is provided on the inner side of the first base frame (302). The input end of the first gear column (303) is meshed with the output end of the first electric gear (304), and the output end of the first gear column (303) is provided with the first rotating base shaft (305).

5. The bionic soft manipulator according to claim 4, characterized in that: The arm mechanism (3) also includes a flexible cloth bag (307), a shape memory metal rod assembly (308), a spiral electromagnetic wire (309), a bolt disc (3010), a joint base plate (3011), a sleeve ring (3012), and a valve chamber tube with a built-in air pump (3013). The outer side of the limiting plate (306) is provided with a flexible cloth bag (307) that is covered and installed. The inside of the limiting plate (306) is provided with multiple sections of shape memory metal rod assembly (308), and the shape memory metal rod assembly (308) The outer side is provided with a spiral electromagnetic wire (309) for winding installation. The two ends of the memory metal rod group (308) are bolted to the joint base plate (3011) through the bolt disc (3010). The inner sides of the two ends of the joint base plate (3011) are provided with sleeve rings (3012) for sleeve installation. The inner side of the sleeve ring (3012) is provided with a self-contained air pump valve chamber (3013). The self-contained air pump valve chamber (3013) has an expansion and contraction structure of air pump, control valve and air chamber.

6. The bionic soft manipulator according to claim 1, characterized in that: The clamping mechanism (4) further includes a second gear column (402), a second electric gear (403), a second rotating base shaft (404), and a clamp base (405). The second gear column (402) is provided on the inner side of the second base frame (401), and the input end of the second gear column (402) is meshed with the output end of the second electric gear (403). The output end of the second gear column (402) is provided with the second rotating base shaft (404), and the output end of the second rotating base shaft (404) is bolted to the clamp base (405).

7. The bionic soft manipulator according to claim 6, characterized in that: The clamping mechanism (4) also includes a fixed hinge seat (406), a servo motor (407), a threaded rod (408), a hinge base (409), and a gripper (4010). The fixed hinge seat (406) is bolted to the lower outer side of the clamp base (405). The inner side of the clamp base (405) is provided with a threaded rod (408) that connects to the output end of the servo motor (407). The output end of the threaded rod (408) is threaded to the hinge base (409). The output end of the hinge base (409) is hinged to a gripper (4010) that is hinged to the fixed hinge seat (406).

8. A control system for a bionic soft robotic arm using a bionic soft robotic arm as claimed in any one of claims 1 to 7, characterised in that: The platform (102) serves as the core load-bearing foundation. The cabinet (101) houses the control system and power module, providing power and command support to each component. The camera (107) on the lifting frame (106) is activated to capture real-time images of the work area and transmit the images to the control panel (104) for visual monitoring and target positioning, providing a reference for subsequent actions. The control panel (104) is activated, work parameters are input, and the user operates in manual mode via the handle (105). The horizontal lead screw (203) in the first slot (202) is activated, driving the horizontal slider (204) to slide horizontally, thereby moving the second slot (205) below and the subsequent... The components move horizontally in sync, adjusting the position of the arm in the horizontal direction to match the target's horizontal coordinates. The longitudinal screw (206) in the second slot (205) is activated, driving the longitudinal slide (207) to slide longitudinally, causing the assembly plate (301) and the arm mechanism (3) to move longitudinally in sync, adjusting the height position of the arm to match the target's longitudinal coordinates. The first electric gear (304) in the first base frame (302) is activated, meshing with the first gear column (303) to drive the first rotating base shaft (305) to rotate, adjusting the initial angle between the limiting plate (306) and the subsequent flexible structure. When the arm angle needs to be changed, the spiral electromagnetic wire ( 309) A preset current is applied, and the magnetic field generated by the current causes the shape memory metal rod assembly (308) to undergo a preset shape change, which drives the joint substrate (3011) to move in tandem, realizing the biomimetic movement of the arm. The bolt disc (3010) ensures that the shape memory metal rod assembly (308) and the joint substrate (3011) are firmly connected. The sleeve ring (3012) provides a buffer for the movement and avoids the parts from jamming. The built-in air pump valve chamber (3013) works synchronously, and the pressure inside the chamber is adjusted by inflating or deflating the air pump. In conjunction with the deformation of the shape memory metal rod assembly (308), the arm posture is accurately calibrated and stably supported. The flexible cloth bag (307) covers the entire arm structure, protecting the internal structure. The components enhance the smoothness of movement. The second electric gear (403) in the second base frame (401) is activated and meshes with the second gear column (402) to drive the second rotating base shaft (404) to rotate. The angle between the clamp base (405) and the gripper (4010) is adjusted so that the gripper (4010) is aligned with the target object to meet the gripping posture requirements. The servo motor (407) in the clamp base (405) is activated and the power is transmitted to the threaded rod (408) to drive the hinge base (409) to move along the threaded rod (408). The gripper (4010) is opened and closed through the hinge to achieve the clamping and releasing operation, thereby completing the operation of the control equipment.

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