High-temperature-resistant rigid-flexible coupling flexible mechanical arm

Abstract

The present application relates to the technical field of mechanical arm, and disclose a kind of high-temperature-resistant rigid-flexible coupling flexible mechanical arm, including mechanical arm and fixedly connected on the support frame of mechanical arm, further comprising: fixed part, the fixed part is provided with two, two The fixed part is arranged below support frame, the lifting part, the lifting part is provided with several, several The lifting part is arranged on two fixed parts, power part, the power part is installed on support frame, the fixed part includes transmission assembly, and the transmission assembly is arranged below support frame;Fixed assembly, the fixed assembly is arranged on transmission assembly.The present application is by being provided with fixed part, the flexible mechanical arm of existing in use process is single, it is difficult to realize four-way synchronous limit, leading to poor material fixing effect, it is prone to shift in the process of operation, to reduce the problem of material clamping stability.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a high-temperature resistant, rigid-flexible coupled flexible robotic arm. Background Technology

[0002] With the continuous development of high-end intelligent manufacturing, high-temperature special operations, and high-risk environment operation and maintenance, high-temperature resistant rigid-flexible coupling flexible robotic arms have been expanding their application scenarios due to their advantages of flexible movement, strong environmental adaptability, and combination of rigid positioning and flexible buffering. In various high-temperature working conditions, robotic arms not only need to complete posture adjustment and material transfer, but also need to achieve stable and reliable material clamping and fixing. Their overall structure and clamping performance directly determine the quality of operation and operational safety. Therefore, high-performance high-temperature resistant rigid-flexible coupling flexible robotic arms are needed to meet the material grasping and transfer needs in complex high-temperature scenarios.

[0003] However, existing flexible robotic arms have a relatively simple method of fixing materials during use, making it difficult to achieve synchronous four-sided positioning. This results in poor material fixing and easy shaking and displacement during operation, which reduces the stability of material clamping. Summary of the Invention

[0004] The purpose of this invention is to provide a high-temperature resistant, rigid-flexible coupled flexible robotic arm. By setting a fixing part, it solves the problem that existing flexible robotic arms have a relatively simple method of fixing materials during use, making it difficult to achieve synchronous positioning on four sides, resulting in poor material fixing effect and easy shaking and displacement during operation, thereby reducing the stability of material clamping.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] This invention relates to a high-temperature resistant, rigid-flexible coupled flexible robotic arm, comprising a robotic arm and a support frame fixedly connected to the robotic arm, and further comprising: two fixing parts, each located below the support frame; several lifting parts, each located on one of the two fixing parts; a power unit mounted on the support frame; each fixing part including a transmission assembly located below the support frame; and a fixing assembly mounted on the transmission assembly; the transmission assembly including a support rod located at the bottom of the support frame, the support rod having a circular groove, a drive plate rotatably connected within the circular groove, and the drive plate having two arc-shaped grooves. The upper part has a sliding groove, on which two sliding rods are slidably connected. A transmission rod is fixedly connected to the side of each sliding rod near the drive plate. A cylindrical rod slides through the support rod, and a driving component is mounted on the cylindrical rod. Two fixed parts are mirror images of each other, each with two supporting parts. The two transmission rods are located in two arc-shaped grooves and are mirror images of each other. The driving component includes a threaded groove on the outer wall of the cylindrical rod, in which a driving block is mounted. The driving block is fixedly connected to the drive plate. A spring is sleeved on the outer wall of the cylindrical rod. The side of the spring near the silicone fixing plate is fixedly connected to the silicone fixing plate, and the side of the spring away from the silicone fixing plate is fixedly connected to the support rod. The driving block is located inside the drive plate.

[0007] Furthermore, the lifting part includes a support assembly disposed on the fixing assembly; and a hydraulic assembly disposed on the support assembly.

[0008] Furthermore, the power unit includes a limiting component mounted on the support frame; and a power component disposed on the support frame.

[0009] Furthermore, the fixing component includes a silicone fixing plate fixedly connected to the side of the cylindrical rod away from the support rod, and rectangular blocks are fixedly connected to the sides of the two sliding rods that are away from each other; the two rectangular blocks are mirror images of each other.

[0010] Furthermore, the support assembly includes a rectangular groove formed within a rectangular block, a guide rod disposed within the rectangular groove, the guide rod extending beyond the rectangular block on the side furthest from the rectangular block, the guide rod being slidably connected to the rectangular block, a second silicone fixing plate being fixedly connected to the side of the guide rod furthest from the rectangular block, an L-shaped support plate disposed within the rectangular groove, the L-shaped support plate extending beyond the rectangular block on the side furthest from the rectangular block, the L-shaped support plate being slidably connected to the rectangular block, and an elastic element disposed on the guide rod; the bottom of the L-shaped support plate is inclined, and the elastic element includes a second spring sleeved on the outer wall of the guide rod, the side of the second spring near the second silicone fixing plate being fixedly connected to the second silicone fixing plate, and the side of the second spring furthest from the second silicone fixing plate being fixedly connected to the rectangular block.

[0011] Furthermore, the hydraulic assembly includes a hydraulic rod one fixedly connected to the inner wall of the rectangular groove on the side away from the guide rod, the side of the hydraulic rod one being fixedly connected to the guide rod, and a hydraulic rod two fixedly connected to the inner wall of the rectangular groove on the side away from the L-shaped support plate, the side of the hydraulic rod two being fixedly connected to the L-shaped support plate, and a connecting pipe being provided at the bottom of the hydraulic rod one, the bottom of the connecting pipe being connected to the hydraulic rod two; the hydraulic rod one is in an extended state, and the hydraulic rod two is in a retracted state.

[0012] Furthermore, the limiting component includes two limiting grooves formed at the bottom of the support frame, each of which is slidably connected to a limiting slider, and the bottom of each limiting slider is fixedly connected to two support rods respectively.

[0013] Furthermore, the power assembly includes a trapezoidal groove formed on the inner wall of the bottom of the support frame, a bidirectional hinge block slidably connected to the trapezoidal groove, two hinge rods hinged on the bidirectional hinge block, the two hinge rods being hinged to two limiting sliders on opposite sides, and an electric telescopic rod fixedly connected to the inner wall of the bottom of the support frame, the output end of the electric telescopic rod being fixedly connected to the bidirectional hinge block; the electric telescopic rod is located on the rear side of the bidirectional hinge block.

[0014] Furthermore, the robotic arm used in this device is the Luoshi xMate3 / 3Pro flexible robotic arm. Its working principle is to achieve hybrid control of force and position by coordinating the multi-degree-of-freedom bionic arm body with the joints of the integrated high-precision torque sensor and relying on the self-developed control system. During operation, it can sense external contact force in real time and make feedback adjustments, which not only ensures positioning accuracy, but also has the ability to compliantly buffer and sensitive collision detection. It can flexibly avoid obstacles in confined spaces and is suitable for human-machine collaboration and complex working conditions.

[0015] The present invention has the following beneficial effects:

[0016] (1) By setting a fixing part, the support rod drives the silicone fixing plate to adhere to the left and right sides of the material via the cylindrical rod. The support rod continues to move towards each other and slides along the cylindrical rod, compressing the spring to deform and store energy. The drive block, in conjunction with the threaded groove, drives the cylindrical rod and the drive plate to rotate in the circular groove. The arc groove on the drive plate pushes the transmission rod, causing the slide rod to drive the rectangular block to approach and adhere to the front and rear sides of the material, thus completing the all-round fixing of the material. The synchronous limiting method on all four sides makes the material more stable and the operation is smooth. It is suitable for the material clamping requirements under various working conditions and improves the stability of material fixing.

[0017] (2) By setting up a lifting part, when the rectangular block moves toward the material, the guide rod drives the silicone fixing plate two to contact the material. The rectangular block continues to move and slides along the guide rod, squeezing the spring two to generate elastic force. At the same time, the guide rod presses the hydraulic rod one, and the liquid inside it flows into the hydraulic rod two through the connecting pipe, pushing the hydraulic rod two to extend and drive the L-shaped support plate to move, supporting the material from the bottom, effectively preventing the material from slipping or shifting, greatly improving the safety of clamping operations, adapting to clamping conditions of various materials, and further improving the stability of fixing the material.

[0018] (3) By setting up a power unit, the electric telescopic rod is started, which pushes the bidirectional hinge block to slide along the trapezoidal slide groove. The bidirectional hinge block drives the limiting slider to move towards each other along the limiting slide groove with the help of the hinge rod. The limiting slider then drives the support rod to move closer to both sides of the material. The support rod then drives the silicone fixing plate to move closer to each other through the cylindrical rod, so as to achieve material clamping, synchronous action, stable and reliable operation. The silicone contact parts can effectively protect the material surface and the clamping and positioning effect is stable.

[0019] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a partial cross-sectional view of the fixing part of the present invention;

[0023] Figure 3 This is a partial exploded view of the transmission component of the present invention;

[0024] Figure 4This is a partial cross-sectional view of the fixing component of the present invention;

[0025] Figure 5 This is a partial exploded view of the cylindrical rod of the present invention;

[0026] Figure 6 This is a partial cross-sectional view of the supporting part of the present invention;

[0027] Figure 7 This is a partial cross-sectional view of the support component of the present invention;

[0028] Figure 8 This is a partial cross-sectional view of the power unit of the present invention.

[0029] The attached diagram lists the components represented by each number as follows:

[0030] In the diagram: 111, robotic arm; 112, support frame; 2, fixing part; 21, transmission assembly; 211, support rod; 212, circular groove; 213, drive plate; 214, arc groove; 215, slide groove; 216, slide rod; 217, transmission rod; 218, cylindrical rod; 219, threaded groove; 2110, drive block; 2111, spring one; 22, fixing assembly; 221, silicone fixing plate one; 222, rectangular block; 3, lifting part; 31, support. Support assembly; 311, rectangular groove; 312, guide rod; 313, silicone fixing plate II; 314, L-shaped support plate; 315, spring II; 32, hydraulic assembly; 321, hydraulic rod I; 322, hydraulic rod II; 323, connecting pipe; 4, power unit; 41, limiting assembly; 411, limiting slide groove; 412, limiting slider; 42, power assembly; 421, trapezoidal slide groove; 422, bidirectional hinge block; 423, hinge rod; 424, electric telescopic rod. Detailed Implementation

[0031] 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.

[0032] Please see Figures 1-8 As shown, the present invention is a high-temperature resistant, rigid-flexible coupled flexible robotic arm, including a robotic arm 111 and a support frame 112 fixedly connected to the robotic arm 111. It also includes: a fixing part 2, two fixing parts 2 are provided, both fixing parts 2 are located below the support frame 112; a lifting part 3, several lifting parts 3 are provided, several lifting parts 3 are provided on the two fixing parts 2; and a power part 4, the power part 4 is installed on the support frame 112.

[0033] The fixing part 2 includes a transmission assembly 21, which is disposed below the support frame 112; and a fixing assembly 22, which is disposed on the transmission assembly 21. The transmission assembly 21 includes a support rod 211 disposed at the bottom of the support frame 112. A circular groove 212 is formed in the support rod 211, and a drive plate 213 is rotatably connected in the circular groove 212. Two arc-shaped grooves 214 are formed on the drive plate 213. A sliding groove 215 is formed on the support rod 211, and two sliding rods 216 are slidably connected on the sliding groove 215. A transmission rod 217 is fixedly connected to the side of each sliding rod 216 near the drive plate 213. A cylindrical rod 218 slides through the support rod 211, and a driving component is disposed on the cylindrical rod 218. The two fixing parts 2 are mirror images of each other. Each fixing part 2 is provided with two supporting parts 3. The two transmission rods 217 are respectively located in the two arc-shaped grooves 214 and are mirror images of each other. The driving component includes a support rod 211 disposed in the arc-shaped groove 214. The cylindrical rod 218 has a threaded groove 219 on its outer wall. A drive block 2110 is installed in the threaded groove 219 and is fixedly connected to the drive plate 213. A spring 2111 is sleeved on the outer wall of the cylindrical rod 218. The side of the spring 2111 close to the silicone fixing plate 221 is fixedly connected to the silicone fixing plate 221, and the side of the spring 2111 away from the silicone fixing plate 221 is fixedly connected to the support rod 211. The drive block 2110 is located inside the drive plate 213. The fixing assembly 22 includes a silicone fixing plate 221 fixedly connected to the side of the cylindrical rod 218 away from the support rod 211. Rectangular blocks 222 are fixedly connected to the sides of the two sliding rods 216 that are away from each other. The two rectangular blocks 222 are mirror images of each other. By setting the fixing part 2, the material is fixed more firmly by means of four-sided synchronous limiting. The operation is smooth and adaptable to the material clamping requirements under various working conditions, improving the stability of material fixing.

[0034] The supporting part 3 includes a support assembly 31, which is mounted on the fixing assembly 22; and a hydraulic assembly 32, which is mounted on the support assembly 31. The support assembly 31 includes a rectangular groove 311 formed within a rectangular block 222. A guide rod 312 is disposed within the rectangular groove 311. The side of the guide rod 312 away from the rectangular block 222 extends outward from the rectangular block 222. The guide rod 312 is slidably connected to the rectangular block 222. A silicone fixing plate 313 is fixedly connected to one side of the rectangular block 222. An L-shaped support plate 314 is provided in the rectangular groove 311. The side of the L-shaped support plate 314 away from the rectangular block 222 extends outside the rectangular block 222. The L-shaped support plate 314 is slidably connected to the rectangular block 222. An elastic element is provided on the guide rod 312. The bottom of the L-shaped support plate 314 is inclined. The elastic element includes a spring 315 sleeved on the outer wall of the guide rod 312. The side of the spring 315 closest to the silicone fixing plate 313 is... The second spring 315 is fixedly connected to the silicone fixing plate 313, and the side of the spring 315 away from the silicone fixing plate 313 is fixedly connected to the rectangular block 222. The hydraulic assembly 32 includes a hydraulic rod 321 fixedly connected to the inner wall of the rectangular groove 311 away from the guide rod 312. The side of the hydraulic rod 321 near the guide rod 312 is fixedly connected to the guide rod 312. A hydraulic rod 322 is fixedly connected to the inner wall of the rectangular groove 311 away from the L-shaped support plate 314. The side of the hydraulic rod 322 near the L-shaped support plate 314 is fixedly connected to the L-shaped support plate 314. A connecting pipe 323 is provided at the bottom of the hydraulic rod 321, and the bottom of the connecting pipe 323 is connected to the hydraulic rod 322. The hydraulic rod 321 is in the extended state, and the hydraulic rod 322 is in the retracted state. By setting the lifting part 3, the material slippage and displacement are effectively prevented, the safety of the clamping operation is greatly improved, and it can be adapted to the clamping conditions of various materials, further improving the stability of material fixation.

[0035] The power unit 4 includes a limiting component 41, which is mounted on the support frame 112; and a power component 42, which is also mounted on the support frame 112. The limiting component 41 includes two limiting grooves 411 formed at the bottom of the support frame 112, each containing a limiting slider 412. The bottoms of the two limiting sliders 412 are fixedly connected to two support rods 211. The power component 42 includes a trapezoidal groove 421 formed on the inner wall of the bottom of the support frame 112, on which a bidirectional hinge is slidably connected. The connecting block 422 has two hinge rods 423 hinged on it. The two hinge rods 423 are hinged to two limit sliders 412 on their opposite sides. An electric telescopic rod 424 is fixedly connected to the bottom inner wall of the support frame 112. The output end of the electric telescopic rod 424 is fixedly connected to the bidirectional hinge block 422. The electric telescopic rod 424 is located on the rear side of the bidirectional hinge block 422. By setting the power unit 4, the action is synchronized and the operation is stable and reliable. The silicone contact parts can effectively protect the material surface and the clamping and positioning effect is stable.

[0036] It should be noted that the electric telescopic pole 424 in this application can be automatically controlled by inputting relevant parameters according to the program set in the control panel. The setting of this control method can be achieved by existing technology, such as PLC control.

[0037] When in use, the robotic arm 111 is activated. The robotic arm 111 works in coordination with the joints of the multi-degree-of-freedom bionic arm body and the integrated high-precision torque sensor. It relies on the self-developed control system to achieve hybrid control of force and position. During operation, it senses external contact force in real time and provides feedback for adjustment. It not only ensures positioning accuracy, but also has compliant buffering and sensitive collision detection capabilities. It can flexibly avoid obstacles in confined spaces and is suitable for human-machine collaboration and complex working conditions. In this way, it adjusts the position of the support frame 112 and aligns it with the material.

[0038] Start the electric telescopic rod 424. The electric telescopic rod 424 pushes the bidirectional hinge block 422 to slide in the front side of the trapezoidal slide groove 421. The bidirectional hinge block 422 drives the two limiting sliders 412 to slide in the two limiting slide grooves 411 respectively through the two hinge rods 423 and move closer to each other. The two limiting sliders 412 drive the two support rods 211 to move closer to the left and right sides of the material respectively. The two support rods 211 drive the two silicone fixing plates 221 to move closer to each other through the two cylindrical rods 218 respectively.

[0039] After the two support rods 211 drive the two silicone fixing plates 221 to contact the left and right sides of the material through the two cylindrical rods 218, the two support rods 211 continue to drive the two support rods 211 to move closer to each other. The two support rods 211 slide on the two cylindrical rods 218 and compress the spring 2111, causing the spring 2111 to deform and generate elastic force. With the cooperation of the drive block 2110 and the threaded groove 219 on the cylindrical rod 218, the threaded groove 219 pushes the cylindrical rod 218 to drive the drive plate 213 to rotate in the circular groove 212. With the cooperation of the two arc grooves 214 and the sliding groove 215 on the drive plate 213, the two arc grooves 214 drive the two sliding rods 216 to move closer to each other by pushing the two transmission rods 217. The two sliding rods 216 drive the two rectangular blocks 222 to contact the front and rear sides of the material, and fix the material on the left and right sides and the front and rear sides.

[0040] As the rectangular block 222 approaches the material, it drives the silicone fixing plate 313 to contact the material via the guide rod 312. The rectangular block 222 continues to move closer to the material, cooperating with it. It slides on the guide rod 312 and compresses the spring 315, causing it to deform and generate elasticity. During this process, the guide rod 312 compresses the hydraulic rod 321, causing the liquid inside to enter the hydraulic rod 322 through the connecting pipe 323, thus extending the hydraulic rod 322. The hydraulic rod 322 then pushes the L-shaped support plate 314 to move, supporting the bottom of the material and preventing it from falling off.

[0041] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A high-temperature resistant, rigid-flexible coupled flexible robotic arm, comprising a robotic arm (111) and a support frame (112) fixedly connected to the robotic arm (111), characterized in that, Also includes: Fixing part (2), two fixing parts (2) are provided, and both fixing parts (2) are located below the support frame (112); A supporting part (3) is provided in a plurality of such supporting parts (3), and the plurality of such supporting parts (3) are provided on two fixing parts (2); A power unit (4) is mounted on a support frame (112); The fixing part (2) includes a transmission assembly (21) disposed below the support frame (112); and A fixing component (22) is disposed on the transmission component (21); The transmission assembly (21) includes a support rod (211) disposed at the bottom of the support frame (112). A circular groove (212) is provided in the support rod (211). A drive plate (213) is rotatably connected in the circular groove (212). Two arc-shaped grooves (214) are provided on the drive plate (213). A sliding groove (215) is provided on the support rod (211). Two sliding rods (216) are slidably connected on the sliding groove (215). A transmission rod (217) is fixedly connected to the side of the two sliding rods (216) near the drive plate (213). A cylindrical rod (218) slides through the support rod (211). A driving component is provided on the cylindrical rod (218). Each fixed part (2) is provided with two supporting parts (3), and the two transmission rods (217) are located in two arc-shaped grooves (214) respectively.

2. The high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 1, characterized in that, The supporting part (3) includes a support component (31), which is disposed on the fixing component (22); and A hydraulic assembly (32) is mounted on a support assembly (31).

3. The high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 1, characterized in that, The power unit (4) includes a limiting assembly (41) mounted on the support frame (112); and A power assembly (42) is mounted on a support frame (112).

4. The high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 1, characterized in that, The fixing component (22) includes a silicone fixing plate (221) fixedly connected to the side of the cylindrical rod (218) away from the support rod (211), and rectangular blocks (222) are fixedly connected to the sides of the two sliding rods (216) that are away from each other. Among them, the two rectangular blocks (222) are mirror images of each other.

5. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 2, characterized in that, The support assembly (31) includes a rectangular groove (311) formed in a rectangular block (222), a guide rod (312) is provided in the rectangular groove (311), the guide rod (312) extends to the outside of the rectangular block (222) on the side away from the rectangular block (222), the guide rod (312) is slidably connected to the rectangular block (222), a silicone fixing plate (313) is fixedly connected to the side of the guide rod (312) away from the rectangular block (222), an L-shaped support plate (314) is provided in the rectangular groove (311), the L-shaped support plate (314) extends to the outside of the rectangular block (222) on the side away from the rectangular block (222), the L-shaped support plate (314) is slidably connected to the rectangular block (222), and an elastic element is provided on the guide rod (312). The bottom of the L-shaped tray (314) is inclined.

6. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 2, characterized in that, The hydraulic assembly (32) includes a hydraulic rod one (321) fixedly connected to the inner wall of the rectangular groove (311) away from the guide rod (312). The side of the hydraulic rod one (321) close to the guide rod (312) is fixedly connected to the guide rod (312). A hydraulic rod two (322) is fixedly connected to the inner wall of the rectangular groove (311) away from the L-shaped support plate (314). The side of the hydraulic rod two (322) close to the L-shaped support plate (314) is fixedly connected to the L-shaped support plate (314). A connecting pipe (323) is provided at the bottom of the hydraulic rod one (321), and the bottom of the connecting pipe (323) is connected to the hydraulic rod two (322). Hydraulic rod one (321) is in the extended state, and hydraulic rod two (322) is in the retracted state.

7. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 3, characterized in that, The limiting component (41) includes two limiting grooves (411) opened at the bottom of the support frame (112). Each of the two limiting grooves (411) is slidably connected to a limiting slider (412). The bottom of each of the two limiting sliders (412) is fixedly connected to two support rods (211).

8. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 3, characterized in that, The power assembly (42) includes a trapezoidal slide groove (421) formed on the inner wall of the bottom of the support frame (112). A two-way hinge block (422) is slidably connected to the trapezoidal slide groove (421). Two hinge rods (423) are hinged on the two-way hinge block (422). The two hinge rods (423) are respectively hinged to two limit sliders (412) on the side away from each other. An electric telescopic rod (424) is fixedly connected to the inner wall of the bottom of the support frame (112). The output end of the electric telescopic rod (424) is fixedly connected to the two-way hinge block (422). The electric telescopic rod (424) is located on the rear side of the two-way hinge block (422).

9. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 1, characterized in that, The driving component includes a threaded groove (219) formed on the outer wall of the cylindrical rod (218), a driving block (2110) is provided in the threaded groove (219), the driving block (2110) is fixedly connected to the driving plate (213), and a spring (2111) is sleeved on the outer wall of the cylindrical rod (218). The side of the spring (2111) close to the silicone fixing plate (221) is fixedly connected to the silicone fixing plate (221), and the side of the spring (2111) away from the silicone fixing plate (221) is fixedly connected to the support rod (211). The drive block (2110) is located inside the drive board (213).

10. A high-temperature resistant, rigid-flexible coupled flexible robotic arm according to claim 5, characterized in that, The elastic element includes a second spring (315) sleeved on the outer wall of the guide rod (312). The second spring (315) is fixedly connected to the second silicone fixing plate (313) on the side close to the second silicone fixing plate (313), and the second spring (315) is fixedly connected to the rectangular block (222) on the side away from the second silicone fixing plate (313).

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