Mechanical arm

Abstract

The utility model relates to the technical field of flight devices, in particular to a mechanical arm. Comprising a telescopic section, an omni-directional bending section and a driving control assembly. The telescopic section is connected with the flight device; the omni-directional bending section is connected with the telescopic section and the tail end executing mechanism. The drive control assembly can control the two ends of the telescopic section to get close to or get away from each other in the first direction and can further control the omni-directional bent section to bend in the direction deviating from the first direction so as to control the posture of the mechanical arm and the position of the tail end executing mechanism, and the mechanical arm can have a first state and a second state. In the first state, the telescopic section is shortened, and the omni-directional bending section is bent towards the flight device, so that the mechanical arm can adapt to a storage space when the flight device is parked; and in the second state, the drive control assembly can control the telescopic degree of the telescopic section, the bending direction of the omni-directional bending section and the bending degree of the omni-directional bending section, so that the mechanical arm can change various postures so as to be matched with the tail end executing mechanism and the flying device to form various posture combinations.

Description

Technical Field

[0001] The present application relates to the technical field of flying devices, and in particular to a robotic arm. Background Art

[0002] With the advancement of science and technology, drones and other flying devices have been widely used in people's lives, such as photography, inspection, data transmission, and transportation of goods. In particular, in terms of transporting goods, the flying device can cooperate with the mechanical arm mounted on the flying device and the operating device connected to the mechanical arm (such as grippers, suction cups, etc.) to autonomously pick up or drop items. This reduces manual labor, makes it more convenient to transport goods, and is safer.

[0003] In order to carry out aerial operations normally, the length of the robotic arm mounted on the flying device needs to exceed the height of the landing gear of the flying device; however, when the flying device lands, the longer robotic arm will cause the landing gear of the flying device to not stably contact the landing platform, thereby causing safety issues such as the flying device rolling over. Utility Model Content

[0004] The purpose of the embodiment of the present application is to provide a robotic arm that can be extended to exceed the height of the landing gear of the flying device during aerial operations, and can be retracted during landing to avoid safety problems during takeoff and landing of the flying device.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the embodiment of the present application is: a robotic arm for flight equipment, the robotic arm comprising a telescopic section, an omnidirectional bending section and a drive control component.

[0006] The telescopic section is connected to a flying device in the flying equipment;

[0007] The omnidirectional bending section is connected to an end of the telescopic section away from the flying device, and the end of the omnidirectional bending section away from the telescopic section is used to connect to the end actuator;

[0008] The drive control component is disposed on the flying device, and the drive control component can control the two ends of the telescopic section to move closer to or farther from each other along a first direction, and the drive control component can also control the omnidirectional bending section to bend in any direction deviating from the first direction, so as to control the posture of the robotic arm and the position of the end actuator, so that the robotic arm has a first state and a second state; wherein,

[0009] In the first state, the telescopic section is shortened, and the omnidirectional bending section is bent in the direction toward the flying device, so that the mechanical arm can adapt to the storage space of the flying device when it is parked;

[0010] In the second state, the drive control component can control the extension degree of the telescopic section, the bending direction of the omnidirectional bending section and the bending degree of the omnidirectional bending section, so that the robotic arm can change into a variety of different postures to adapt to various posture combinations of the end actuator and the flying device.

[0011] The beneficial effect of the mechanical arm provided by the present application is that: when the flying device is landing, the drive control component can control the telescopic section to shorten, and the drive control component can also control the omnidirectional bending section to bend in the direction toward the flying device, so that the sum of the lengths of the telescopic section and the omnidirectional bending section in the first direction is less than the height of the landing gear of the flying device, so that the mechanical arm can be stored in the storage space when the flying device is parked, so that the flying device can land smoothly; when working in the air, the drive control component can control the extension of the telescopic section, and the drive control component controls the omnidirectional bending section to bend in the direction away from the flying device, so that the sum of the lengths of the telescopic section and the omnidirectional bending section in the first direction is greater than the height of the landing gear of the flying device, so that the end effector connected to the mechanical arm can pick up objects. And when working in the air, the drive control component can control the extension degree of the telescopic section, the bending direction of the omnidirectional bending section, and the bending degree of the omnidirectional bending section, so that the mechanical arm can change a variety of different postures to adapt to various posture combinations of the end effector and the flying device.

[0012] In some embodiments, the telescopic section includes a first airbag, a first end plate and a second end plate. In the first direction, the first end plate and the second end plate are opposite and spaced apart, and the first end plate and the second end plate are respectively connected to two ends of the first airbag, and the first end plate is connected to the flying device, and the second end plate is connected to the omnidirectional bending section; the first airbag, the first end plate and the second end plate enclose a first cavity;

[0013] The drive control component includes an air pump, which is connected to the first cavity. The air pump is used to inject driving fluid into the first cavity. The air pump is also used to extract the driving fluid in the first cavity, so that the first airbag stretches or compresses in the first direction, so as to drive the first end plate and the second end plate to move closer to or away from each other, thereby controlling the extension and retraction degree of the telescopic section.

[0014] In some embodiments, the telescopic section further includes a first telescopic rod, a second telescopic rod, a first stopper, and a second stopper;

[0015] The second telescopic rod is slidably mounted on the first telescopic rod, the first telescopic rod is connected to one of the first end plate and the second end plate, and the second telescopic rod is connected to the other of the first end plate and the second end plate;

[0016] The first stopper and the second stopper are both located between the first telescopic rod and the second telescopic rod, the first stopper is connected to the second telescopic rod, and the first stopper extends in a direction close to the first telescopic rod; the second stopper is connected to the first telescopic rod, and the second stopper extends in a direction close to the second telescopic rod;

[0017] In the direction in which the first telescopic rod moves away from the second telescopic rod, the first stopper is located above the second stopper, and on a plane perpendicular to the first direction, the orthographic projections of the first stopper and the second stopper at least partially overlap.

[0018] In some embodiments, the telescopic section further includes a first sliding aid component, the first sliding aid component includes a fixed component and a rolling component, the fixed component is located in the sleeve gap between the first telescopic rod and the second telescopic rod, and the rolling component is rotatably embedded in the fixed component;

[0019] The rolling element and the surface of the first telescopic rod are in rolling cooperation, and the rolling element and the first telescopic rod are in line contact with each other at a first rolling contact line in the first plane, the first plane is perpendicular to the first direction, and the first rolling contact line is perpendicular to the first direction;

[0020] and / or,

[0021] The rolling element rolls with the surface of the second telescopic rod, and the rolling element and the second telescopic rod are in line contact with a second rolling contact line in the second plane, the second plane is perpendicular to the first direction, and the second rolling contact line is perpendicular to the first direction.

[0022] In some embodiments, at the sleeve gap between the first telescopic rod and the second telescopic rod, the first telescopic rod has at least three first side surfaces, the second telescopic rod has at least three second side surfaces, and the first side surfaces and the second side surfaces are arranged opposite to each other across the sleeve gap;

[0023] The fixing member is provided in plurality;

[0024] The fixing member is disposed on the second side surface, the fixing members are distributed around the central axis of the first telescopic rod, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod is less than 180 degrees, and in the first direction, the positions of the plurality of fixing members on the second side surface are aligned;

[0025] and / or,

[0026] The fixing member is arranged on the first side surface, the fixing members are distributed around the central axis of the first telescopic rod, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod is less than 180 degrees, and in the first direction, the positions of the multiple fixing members located on the first side surface are aligned.

[0027] In some embodiments, the rolling element is a ball bearing, the ball bearing comprises a ball bearing body and a rotating shaft, the axis of the rotating shaft is in the first plane, and the axis of the rotating shaft is parallel to the first rolling contact line, or the axis of the rotating shaft is in the second plane, and the axis of the rotating shaft is parallel to the second rolling contact line;

[0028] The rotating shaft passes through the ball bearing body, and at least one end of the rotating shaft is connected to the fixing member, and the ball bearing body can rotate around the axis of the rotating shaft;

[0029] A perpendicular line to the axis of the first telescopic rod passing through the midpoint of the first rolling contact line is also perpendicular to the first rolling contact line;

[0030] and / or,

[0031] A perpendicular line to the axis of the second telescopic rod passing through the midpoint of the second rolling contact line is also perpendicular to the second rolling contact line;

[0032] The first side surface and the second side surface are planes parallel to the first direction;

[0033] The ball bearing body is in line contact with the first side surface at the first rolling contact line, and the first rolling contact line is a straight line;

[0034] and / or,

[0035] The ball bearing body is in line contact with the second side surface at the second rolling contact line, and the second rolling contact line is a straight line.

[0036] In some embodiments, the fixing member includes at least three first fixing members and at least three second fixing members;

[0037] The first fixing member is disposed on the second side surface, and the first fixing member is located at an end of the second telescopic rod close to the first telescopic rod;

[0038] The second fixing member is disposed on the first side surface, and the second fixing member is located at an end of the first telescopic rod close to the second telescopic rod;

[0039] The rolling member includes a first rolling member and a second rolling member, the first rolling member is rotatably embedded in the first fixed member, the first rolling member is partially embedded in the side wall where the second side surface is located, the second rolling member is rotatably embedded in the second fixed member, the second rolling member is partially embedded in the side wall where the first side surface is located, and the first side surface is in line contact with the first rolling member, and the second side surface is in line contact with the second rolling member.

[0040] In some embodiments, the first stopper is disposed on one of the first fixing member and the second stopper, and the second stopper is disposed on the other of the first fixing member and the second fixing member.

[0041] In some embodiments, the drive control assembly further includes an air pipe, two ends of which are respectively connected to the air pump and the first cavity, and the air pipe is spirally wound around the outer peripheral side of the first airbag.

[0042] In some embodiments, the omnidirectional bending section includes an omnidirectional bending arm section, the omnidirectional bending arm section includes a first bending assembly, the first bending assembly includes a first rigid member, a second rigid member, a first support member, a second support member, and at least three second airbags;

[0043] The first support member and the second support member are distributed in the first direction, and the first support member and the second support member are connected by a ball joint or a cross hinge, one end of the first support member away from the second support member is fastened to the first rigid member, and one end of the second support member away from the first support member is fastened to the second rigid member; one end of the second airbag is fastened to the first rigid member, and the other end of the second airbag is fastened to the second rigid member, and the first rigid member, the second rigid member and each of the second airbags are enclosed to form a cylindrical second cavity with a central axis;

[0044] The air pump is connected to each of the second cavities, and is used to inject a driving fluid into the second cavities. The air pump is also used to extract the driving fluid in the second cavities to change the length of the second airbag, thereby controlling the bending direction of the first bending component;

[0045] Alternatively, the omnidirectional bending section includes a rotating arm section and a unidirectional bending arm section, and the rotating arm section is used to drive the unidirectional bending arm section to rotate around the first direction;

[0046] The one-way bending arm section includes a second bending assembly, and the second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two third air bags;

[0047] The third support member and the fourth support member are distributed in the first direction, the third support member and the fourth support member are connected by a one-way hinge, one end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; one end of the third airbag is fastened to the third rigid member, and the other end of the third airbag is fastened to the fourth rigid member, and the third rigid member, the fourth rigid member and any one of the third airbags are all enclosed to form a cylindrical third cavity with a central axis;

[0048] The air pump is connected to each of the third cavities and is used to inject driving fluid into the third cavities. The air pump is also used to extract the driving fluid in the third cavities to change the length of the third airbags, thereby controlling the bending direction of the second bending component. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0050] Figure 1 is a schematic diagram of the structure of a robotic arm, a flying device, and an end-effector in one embodiment of the present application;

[0051] Figure 2 is a schematic structural diagram of a robotic arm and an end effector in one embodiment of the present application;

[0052] Figure 3 yes Figure 1 Schematic diagram of the structure of the robotic arm;

[0053] Figure 4 yes Figure 3 A schematic diagram of the structure of the telescopic section in the robotic arm shown;

[0054] Figure 5 This is a schematic diagram of the structure of the telescopic section in one embodiment of the present application after the first airbag is removed;

[0055] Figure 6 yes Figure 5 A cross-sectional view of the telescopic section shown;

[0056] Figure 7 yes Figure 6 A partial enlarged view of the A part shown;

[0057] Figure 8This is a schematic diagram of the structure of the telescopic section in one embodiment of the present application after the first airbag is removed;

[0058] Fig. 9 yes Figure 8 A cross-sectional view of the telescopic section shown;

[0059] Fig.10 yes Fig. 9 A partial enlarged view of the B portion shown;

[0060] Fig.11 yes Figure 4 A schematic diagram of the structure of the omnidirectional bending section in the robotic arm shown;

[0061] Fig.12 yes Fig.11 A schematic structural diagram of the first bending component in the omnidirectional bending section shown;

[0062] Fig.13 yes Figure 8 A schematic structural diagram of the telescopic section from another perspective shown;

[0063] Fig.14 yes Fig.13 A cross-sectional view of the telescopic section along the AA direction is shown;

[0064] Fig.15 yes Fig.14 A partial enlarged view of portion C is shown.

[0065] Reference numerals:

[0066] 1. Flight device; 11. Landing gear;

[0067] 2. End effector;

[0068] 3. Mechanical arm; 31. Telescopic section; 311. First airbag; 312. First end plate; 313. Second end plate; 314. First telescopic rod; 3141. First side surface; 3142. First rolling contact line; 315. Second telescopic rod; 316. First sliding aid component; 3161. First fixing member; 31611. First receiving groove; 3162. First rolling member; 3163. Second fixing member; 31631. Second receiving groove; 3164. Second rolling member; 317. Third telescopic rod; 318. Second sliding aid component; 32. Omnidirectional bending section;

[0069] 321, omnidirectional bending arm section; 3211, first bending component; 32111, first rigid part; 32112, second rigid part; 32113, first supporting part; 32114, second supporting part; 32115, second airbag. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0071] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0072] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0073] References to "one embodiment", "some embodiments" or "an embodiment" described in the specification of this application mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some other embodiments", "in some other embodiments", etc., which appear at different places in this specification, do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. In addition, in one or more embodiments, particular features, structures or characteristics may be combined in any suitable manner.

[0074] With the advancement of science and technology, drones and other flying devices have been widely used in people's lives, such as photography, inspection, data transmission, and transportation of goods. In particular, in terms of transporting goods, the flying device can cooperate with the mechanical arm mounted on the flying device and the operating device connected to the mechanical arm (such as grippers, suction cups, etc.) to autonomously pick up or drop items. This reduces manual labor, makes it more convenient to transport goods, and is safer.

[0075] In order to carry out aerial operations normally, the length of the robotic arm mounted on the flying device needs to exceed the height of the landing gear of the flying device; however, when the flying device lands, the longer robotic arm will cause the landing gear of the flying device to not stably contact the landing platform, thereby causing safety issues such as the flying device rolling over.

[0076] In view of the above problems, an embodiment of the present application provides a robotic arm that can be extended to exceed the height of the landing gear of the flying device during aerial operations, and can be retracted during landing to avoid safety problems during takeoff and landing of the flying device.

[0077] In order to illustrate the technical solution of the present application, a description is given below with reference to specific drawings and embodiments.

[0078] Please refer to Figure 1 and Figure 2 The embodiment of the present application provides a robotic arm 3 for use in flight equipment. The robotic arm 3 includes a telescopic section 31, an omnidirectional bending section 32, and a drive control component (not shown in the figure).

[0079] The telescopic section 31 is connected to the flight device 1 in the flight equipment; the omnidirectional bending section 32 is connected to the end of the telescopic section 31 away from the flight device 1, and the end of the omnidirectional bending section 32 away from the telescopic section 31 is used to connect the end actuator 2; the drive control component is arranged on the flight device 1, and the drive control component can control the two ends of the telescopic section 31 to approach or move away from each other along the first direction, and the drive control component can also control the omnidirectional bending section 32 to bend in any direction deviating from the first direction, so as to control the posture of the robot arm 3 and the position of the end actuator 2, so that the robot arm 3 has a first state and a second state; wherein, in the first state, the telescopic section 31 is shortened, and the omnidirectional bending section 32 is bent in the direction toward the flight device 1, so that the robot arm 3 can adapt to the storage space when the flight device 1 is parked; in the second state, the drive control component can control the telescopic degree of the telescopic section 31, the bending direction of the omnidirectional bending section 32, and the bending degree of the omnidirectional bending section 32, so that the robot arm 3 can change a variety of different postures to adapt to various posture combinations of the end actuator 2 and the flight device 1.

[0080] In the robotic arm 3 provided in the present application, when the flying device 1 lands, the drive and control component can control the telescopic section 31 to shorten, and the drive and control component can also control the omnidirectional bending section 32 to bend in the direction toward the flying device 1, so that the sum of the lengths of the telescopic section 31 and the omnidirectional bending section 32 in the first direction is less than the height of the landing gear 11 of the flying device 1, so that the robotic arm 3 can be stored in the storage space when the flying device 1 is parked, so that the flying device 1 can land smoothly; when operating in the air, the drive and control component can control the extension of the telescopic section 31, and the drive and control component controls the omnidirectional bending section 32 to bend in the direction away from the flying device 1, so that the sum of the lengths of the telescopic section 31 and the omnidirectional bending section 32 in the first direction is greater than the height of the landing gear 11 of the flying device 1, so that the end actuator 2 connected to the robotic arm 3 can pick up objects. When operating in the air, the drive control component can control the extension degree of the telescopic section 31, the bending direction of the omnidirectional bending section 32, and the bending degree of the omnidirectional bending section 32, so that the robot arm 3 can change into a variety of different postures to adapt to various posture combinations of the end actuator 2 and the flying device 1.

[0081] It should be noted that the first direction is the distribution direction of the flying device 1, the robotic arm 3 and the end effector 2, and is also Figure 1 The X direction is shown.

[0082] It should be noted that the posture of the end effector 2 and the flying device 1 refers to the relative position of the end effector 2 and the flying device 1 and the orientation of the end effector 2. That is, when the relative position of the end effector 2 and the flying device 1 changes, or the orientation of the end effector 2 changes, the posture combination of the end effector 2 and the flying device 1 will change.

[0083] Please refer to Figure 2 Specifically, when the end actuator 2 needs to pick up an object located on the side of the flying device 1, the orientation of the end actuator 2 needs to deviate from the vertical direction and needs to be toward the object. At this time, the relative position of the end actuator 2 and the flying device 1 and the orientation of the end actuator 2 are a posture combination.

[0084] Please refer to Figure 1 Specifically, the end effector 2 faces downward, the robotic arm 3 is straightened, and the flying device 1, the robotic arm 3 and the end effector 2 are distributed in sequence in the vertical direction, which is also a posture combination.

[0085] It should be noted that the drive control component is arranged on the flying device 1, which can concentrate the weight of the aerial work system composed of the flying device 1, the robotic arm 3 and the end actuator 2 on the flying device 1, so that the flying device 1 can fly and hover stably, and can also reduce the weight of the suspended part of the robotic arm 3 to facilitate the control of the robotic arm 3 (control the telescopic length of the telescopic section 31, control the bending direction of the omnidirectional bending section 32, and control the bending degree of the omnidirectional bending section 32).

[0086] Please refer to Figure 2 In some embodiments, a retractable and bendable outer cover is provided on the outer side of the telescopic section 31 and the outer side of the omnidirectional bending section 32, so that the telescopic section 31 and the omnidirectional bending section 32 are integrated as a whole, making the structure of the robot arm 3 more compact and more beautiful.

[0087] Please refer to Figure 3 and Figure 4 In some embodiments, the telescopic section 31 includes a first airbag 311, a first end plate 312 and a second end plate 313. In the first direction (X direction), the first end plate 312 and the second end plate 313 are opposite to each other and spaced apart, and the first end plate 312 and the second end plate 313 are respectively connected to the two ends of the first airbag 311, and the first end plate 312 is connected to the flying device 1, and the second end plate 313 is connected to the omnidirectional bending section 32; the first airbag 311, the first end plate 312 and the second end plate 313 enclose a first cavity.

[0088] The drive control component includes an air pump, which is connected to the first cavity. The air pump is used to inject driving fluid into the first cavity. The air pump is also used to extract the driving fluid in the first cavity, so that the first airbag 311 stretches or compresses in the first direction to drive the first end plate 312 and the second end plate 313 to move closer to or away from each other, thereby controlling the extension degree of the telescopic section 31.

[0089] The air pump draws out the driving fluid in the first cavity, the first airbag 311 contracts, the volume of the first cavity decreases, the length of the first airbag 311 decreases, and the distance between the first end plate 312 and the second end plate 313 decreases, thereby causing the telescopic section 31 to contract; by injecting the driving fluid into the first cavity, the first airbag 311 can be stretched, thereby changing the length of the first airbag 311. The stretched first airbag 311 can drive the first end plate 312 and the second end plate 313 to move away from each other, thereby causing the telescopic section 31 to extend. By injecting different volumes of driving fluid into the first cavity, the first airbag 311 can be stretched to different lengths, that is, the distance between the first end plate 312 and the second end plate 313 can be changed, thereby controlling the degree of telescopic extension of the telescopic section 31.

[0090] It should be noted that in order to facilitate the contraction and extension of the first airbag 311, the first airbag 311 needs to have a certain degree of softness. However, the soft first airbag 311 is easy to bend in a direction deviating from the first direction, so that the relative position of the first end plate 312 and the second end plate 313 perpendicular to the first direction changes; when the first airbag 311 contracts or extends, the length change of the first airbag 311 cannot be completely converted into the distance change of the first end plate 312 and the second end plate 313 in the first direction, thereby reducing the telescopic efficiency of the telescopic section 31.

[0091] To overcome the above problems, please refer to Figure 5 and Figure 8 In some embodiments, the telescopic section 31 further includes a first telescopic rod 314 and a second telescopic rod 315 .

[0092] The second telescopic rod 315 is slidably mounted on the first telescopic rod 314 . One of the first end plate 312 and the second end plate 313 is connected to the first telescopic rod 314 , and the other of the first end plate 312 and the second end plate 313 is connected to the second telescopic rod 315 .

[0093] Through the above arrangement, the first telescopic rod 314 and the second telescopic rod 315 can support the first end plate 312 and the second end plate 313 to prevent the relative positions of the first end plate 312 and the second end plate 313 from changing in a direction perpendicular to the first direction, thereby improving the bending resistance of the telescopic section 31 and improving the telescopic efficiency of the telescopic section 31.

[0094] In some embodiments, the telescopic section 31 further includes a first stopper and a second stopper. The first stopper and the second stopper are both located between the first telescopic rod 314 and the second telescopic rod 315, the first stopper is connected to the second telescopic rod 315, and the first stopper extends in a direction close to the first telescopic rod 314; the second stopper is connected to the first telescopic rod 314, and the second stopper extends in a direction close to the second telescopic rod 315.

[0095] In the direction in which the first telescopic rod 314 moves away from the second telescopic rod 315 , the first stopper is located above the second stopper, and on a plane perpendicular to the first direction, the orthographic projections of the first stopper and the second stopper at least partially overlap.

[0096] Please refer to Figure 6 and Figure 7 Specifically, in the X direction, the second telescopic rod 315 is located above the first telescopic rod 314, and the second stopper (not shown in the figure) is located above the first stopper (not shown in the figure).

[0097] Through the above arrangement, when the first telescopic rod 314 and the second telescopic rod 315 slide relative to each other and move away from each other, the first stopper and the second stopper approach each other. When the first stopper and the second stopper are in contact with each other, the first stopper and the second stopper can resist each other to prevent the first telescopic rod 314 and the second telescopic rod 315 from separating.

[0098] The telescopic section 31 further includes a first sliding aid component 316 , which includes a fixed component and a rolling component. The fixed component is located in the sleeve gap between the first telescopic rod 314 and the second telescopic rod 315 , and the rolling component is rotatably embedded in the fixed component.

[0099] The rolling element rolls with the surface of the first telescopic rod 314 and is in line contact with it, and the rolling element and the first telescopic rod 314 are in line contact with each other at a first rolling contact line 3142 in a first plane, the first plane is perpendicular to the first direction, and the first rolling contact line 3142 and the first direction are mutually perpendicular; and / or, the rolling element rolls with the surface of the second telescopic rod 315, and the rolling element and the second telescopic rod 315 are in line contact with each other at a second rolling contact line (not shown in the figure) in a second plane, the second plane is perpendicular to the first direction, and the second rolling contact line and the first direction are mutually perpendicular.

[0100] Specifically, when the first telescopic rod 314 and the second telescopic rod 315 slide relative to each other, the rolling element may roll on the outer surface of the first telescopic rod 314 or roll relative to the inner surface of the second telescopic rod 315 .

[0101] By setting the first sliding aid component 316, the relative sliding between the first telescopic rod 314 and the second telescopic rod 315 can be converted into rolling between the first sliding aid component 316 and the first telescopic component, or converted into rolling between the first sliding aid component 316 and the second telescopic component, so that the first telescopic rod 314 and the second telescopic rod 315 can slide relative to each other more smoothly.

[0102] The fixing member is located between the first telescopic rod 314 and the second telescopic rod 315, so as to control the matching clearance between the first telescopic rod 314 and the second telescopic rod 315. In addition, since the rolling member and the surface of the first telescopic rod 314 are rolling matched and in line contact; and / or the rolling member and the surface of the second telescopic rod 315 are rolling matched and in line contact, the pressure between the rolling member and the first telescopic rod 314 and / or the pressure between the rolling member and the second telescopic rod 315 can be dispersed, so that the rolling member, the first telescopic rod 314 and the second telescopic rod 315 are subjected to more uniform force, the stability of the first telescopic rod 314 and the second telescopic rod 315 when sliding is increased, and friction is reduced. Moreover, by dispersing stress, local pressure loss and wear can be reduced, and the service life of the robot arm 3 of the embodiment of the present application can be extended.

[0103] In some embodiments, at the sleeve gap between the first telescopic rod 314 and the second telescopic rod 315, the first telescopic rod 314 has at least three first side surfaces 3141, and the second telescopic rod 315 has at least three second side surfaces (not shown in the figure), and the first side surfaces 3141 and the second side surfaces are arranged opposite to each other one by one with the sleeve gap between them, and a plurality of fixing members are provided.

[0104] The fixing parts are arranged on the second side surface, the fixing parts are distributed around the central axis of the first telescopic rod 314, and the offset angle of two adjacent fixing parts around the central axis of the first telescopic rod 314 is less than 180 degrees, and in the first direction, the positions of the multiple fixing parts on the second side surface are aligned. And / or, the fixing parts are arranged on the first side surface 3141, the fixing parts are distributed around the central axis of the first telescopic rod 314, and the offset angle of two adjacent fixing parts around the central axis of the first telescopic rod 314 is less than 180 degrees, and in the first direction, the positions of the multiple fixing parts on the first side surface 3141 are aligned.

[0105] Through the above arrangement, the relative positions of the first telescopic rod 314 and the second telescopic rod 315 in a direction perpendicular to the first direction can be prevented from changing, so as to control the gap between the first telescopic rod 314 and the second telescopic rod 315 .

[0106] Furthermore, through the above arrangement, the first telescopic rod 314 and the second telescopic rod 315 are polygonal rods, which can prevent the first telescopic rod 314 and the second telescopic rod 315 from rotating relative to each other around the first direction, thereby preventing the telescopic section 31 from twisting.

[0107] Furthermore, through the above arrangement, the contact surface on the outer surface of the first telescopic rod 314 and the inner surface of the second telescopic rod 315 that rolls with the rolling element is a long strip plane extending along the axial direction of the telescopic rod, which can reduce the difficulty of manufacturing and assembling the first telescopic rod 314 and the second telescopic rod 315. The structure of the first telescopic rod 314 and the second telescopic rod 315 can be simplified on the premise of achieving linear contact between the rolling element and the first telescopic rod 314 and the second telescopic rod 315, thereby improving assembly efficiency and reducing production costs.

[0108] Please refer to Fig.13 , Fig.14 and Fig.15 In some embodiments, the rolling element is a ball bearing, which includes a ball bearing body and a rotating shaft, wherein the axis of the rotating shaft is in a first plane and is parallel to the first rolling contact line 3142, or the axis of the rotating shaft is in a second plane and is parallel to the second rolling contact line.

[0109] The rotating shaft passes through the ball bearing body, and at least one end of the rotating shaft is connected to the fixing member, and the ball bearing body can rotate around the axis of the rotating shaft.

[0110] The perpendicular line to the axis of the first telescopic rod 314 through the midpoint of the first rolling contact line 3142 is also perpendicular to the first rolling contact line 3142; and / or, the perpendicular line to the axis of the second telescopic rod 315 through the midpoint of the second rolling contact line is also perpendicular to the second rolling contact line.

[0111] The first side surface 3141 and the second side surface are planes parallel to the first direction; the ball bearing body is in line contact with the first side surface 3141 at the first rolling contact line 3142, and the first rolling contact line 3142 is a straight line; and / or, the ball bearing body is in line contact with the second side surface at the second rolling contact line, and the second rolling contact line is a straight line.

[0112] Through the above configuration, the pressure direction between the rolling member and the first telescopic rod 314 is perpendicular to the contact surface between the rolling member and the first telescopic rod 314, and the pressure direction between the rolling member and the second telescopic rod 315 is perpendicular to the contact surface between the rolling member and the second telescopic rod 315, so that the force is more balanced.

[0113] Please refer to Figure 6 , Figure 7 , Fig. 9 and Fig.10 In some embodiments, the fixing members include at least three first fixing members 3161 and at least three second fixing members 3163 .

[0114] The first fixing member 3161 is disposed on the second side surface and is located at an end of the second telescopic rod 315 close to the first telescopic rod 314 ; the second fixing member 3163 is disposed on the first side surface 3141 and is located at an end of the first telescopic rod 314 close to the second telescopic rod 315 .

[0115] The rolling member includes a first rolling member 3162 and a second rolling member 3164. The first rolling member 3162 is rotatably embedded in the first fixed member 3161, and the first rolling member 3162 is partially embedded in the side wall where the second side is located. The second rolling member 3164 is rotatably embedded in the second fixed member 3163, and the second rolling member 3164 is partially embedded in the side wall where the first side is located. The first side 3141 is in line contact with the first rolling member 3162, and the second side is in line contact with the second rolling member 3164.

[0116] Through the above arrangement, the first telescopic rod 314 and the second telescopic rod 315 can slide relatively more smoothly.

[0117] Specifically, the first fixing member 3161 and the second fixing member 3163 are distributed in the first direction, and the position setting of the first fixing member 3161 and the second fixing member 3163 in the first direction is optimized, so that the dynamic matching clearance between the first telescopic rod 314 and the second telescopic rod 315 can be better controlled in different telescopic states, thereby better ensuring dynamic concentricity. The concentricity is controlled by the matching clearance to ensure the straightness of the first telescopic rod 314 and the second telescopic rod 315, and the stability of the telescopic section 31 when it is subjected to the lateral force caused by the weight and relative movement of the omnidirectional bending section 32, the end actuator 2 and the load when the telescopic section 31 is bent sideways by the omnidirectional bending section 32, so that the first telescopic rod 314 and the second telescopic rod 315 can slide relative to each other more stably, and the telescopic section 31 can work more stably and smoothly in different telescopic states.

[0118] Please refer to Figure 6 , Figure 7 , Fig. 9 and Fig.10 Specifically, a first receiving groove 31611 is opened on the first fixing member 3161 , and the first rolling member 3162 is rollably received in the first receiving groove 31611 , and the first rolling member 3162 is rollingly connected to the first telescopic rod 314 .

[0119] Please refer to Figure 6 , Figure 7 , Fig. 9 and Fig.10 Specifically, the second fixing member 3163 is provided with a second accommodating groove 31631 , and the second rolling member 3164 is rotatably accommodated in the second accommodating groove 31631 , and the second rolling member 3164 is rollingly connected to the second telescopic rod 315 .

[0120] Please refer to Figure 6 , Figure 7 , Fig. 9 and Fig.10 Specifically, the rotating axis of the first rolling member 3162 is perpendicular to the first direction, and the first rolling member 3162 is in line contact with the first telescopic rod 314. When the first telescopic rod 314 and the second telescopic rod 315 slide relative to each other, the second telescopic rod 315 drives the first fixing member 3161 to move, and the first rolling member 3162 rolls on the surface of the first telescopic rod 314.

[0121] Specifically, the rotating axis of the second rolling member 3164 is perpendicular to the first direction, and the second rolling member 3164 is in line contact with the second telescopic rod 315. When the first telescopic rod 314 and the second telescopic rod 315 slide relative to each other, the first telescopic rod 314 drives the second fixing member 3163 to move, and the second rolling member 3164 rolls on the surface of the second telescopic rod 315.

[0122] When the second rolling element 3164 is a ball bearing, the second receiving groove 31631 includes a ball bearing body receiving groove and a rotating shaft receiving groove.

[0123] Please refer to Fig.13 , Fig.14 and Fig.15 The first receiving groove 31611 includes a ball bearing body receiving groove and a rotating shaft receiving groove.

[0124] Optionally, the first rolling member 3162 can also be a roller, the length direction of the roller is perpendicular to the first direction, at least one end of the roller is rotatably connected to the first fixing member 3161, and the roller protrudes from the notch of the first accommodating groove 31611 so that the roller can contact the first telescopic rod 314.

[0125] Optionally, the second rolling member 3164 can also be a roller, the length direction of the roller is perpendicular to the first direction, at least one end of the roller is rotatably connected to the second telescopic rod 315, and the roller protrudes from the slot of the second accommodating groove 31631 so that the roller can contact the second telescopic rod 315.

[0126] When the first rolling member 3162 and the second rolling member 3164 are rollers, the first side surface 3141 and the second side surface are planes parallel to the first direction, which can ensure that the first rolling member 3162 is in line contact with the first side surface 3141 and the second rolling member 3164 is in line contact with the second side surface.

[0127] Please refer to Figure 7 and Fig.10 Optionally, the first rolling member 3162 can also be a ball, and the four side walls of the first accommodating groove 31611 are all outer sections of the ball, and the ball protrudes from the groove of the first accommodating groove 31611 so that the ball can contact the first telescopic rod 314, and the ball can also be routable and stuck in the first accommodating groove 31611.

[0128] In some embodiments, a rotating shaft is added to prevent the ball from escaping from the first receiving groove 31611. The length direction of the rotating shaft is perpendicular to the first direction, the rotating shaft passes through the ball, and at least one end of the rotating shaft is connected to the first fixing member 3161, the ball can rotate relative to the rotating shaft, and / or the rotating shaft can rotate relative to the first fixing member 3161.

[0129] Please refer to Figure 7 and Fig.10 Optionally, the second rolling member 3164 can also be a ball, and the four side walls of the second accommodating groove 31631 are all outer sections of the ball, and the ball protrudes from the notch of the second accommodating groove 31631 so that the ball can contact the second telescopic rod 315, and the ball can also be routable and stuck in the second accommodating groove 31631.

[0130] In some embodiments, a rotating shaft is added to prevent the ball from escaping from the second receiving groove 31631. The length direction of the rotating shaft is perpendicular to the first direction, the rotating shaft passes through the ball, and at least one end of the rotating shaft is connected to the second fixing member 3163, the ball can rotate relative to the rotating shaft, and / or the rotating shaft can rotate relative to the second fixing member 3163.

[0131] It should be noted that when the first rolling member 3162 and the second rolling member 3164 are ball bearings, in order to ensure that the first rolling member 3162 is in line contact with the first side surface 3141 and the second rolling member 3164 is in line contact with the second side surface, the first side surface 3141 and the second side surface need to be bent so that the first side surface 3141 adapts to the shape of the rolling surface of the first rolling member 3162 and the second side surface adapts to the shape of the rolling surface of the second rolling member 3164.

[0132] Specifically, the first side surface 3141 is recessed in a direction away from the second telescopic rod 315 to form a first rolling groove for the first rolling member 3162 to roll, the first rolling groove extends in the first direction, and the first rolling groove is adapted to the first rolling member 3162. The second side surface is recessed in a direction away from the first telescopic rod 314 to form a second rolling groove for the second rolling member 3164 to roll, the second rolling groove extends in the first direction, and the second rolling groove is adapted to the second rolling member 3164.

[0133] Through the above arrangement, when the first rolling member 3162 rolls relative to the first telescopic rod 314, the first rolling member 3162 can be accommodated in the first rolling groove, and the position of the first rolling member 3162 can be limited to prevent the first rolling member 3162 from sliding relative to the first telescopic rod 314 in the radial direction of the first telescopic rod 314; when the second rolling member 3164 rolls relative to the second telescopic rod 315, the second rolling member 3164 can be accommodated in the second rolling groove, and the position of the second rolling member 3164 can be limited to prevent the second rolling member 3164 from sliding relative to the second telescopic rod 315 in the radial direction of the second telescopic rod 315.

[0134] The first rolling groove is adapted to the first rolling member 3162, so that the surface of the first rolling member 3162 can fit with the side wall and the bottom of the first rolling groove, so that the first rolling member 3162 is in line contact with the first telescopic rod 314; the second rolling groove is adapted to the second rolling member 3164, so that the surface of the second rolling member 3164 can fit with the side wall and the bottom of the second rolling groove, so that the second rolling member 3164 is in line contact with the second telescopic rod 315; when the first rolling member 3162 and the second rolling member 3164 are ball bearings, the pressure between the first rolling member 3162 and the first telescopic rod 314 and the pressure between the second rolling member 3164 and the second telescopic rod 315 can also be dispersed, so that the first rolling member 3162, the first telescopic rod 314, the second rolling member 3164 and the second telescopic rod 315 are subjected to more uniform force to reduce friction.

[0135] It should be noted that the number of the first side surface 3141, the second side surface, the first fixing member 3161 and the second fixing member 3163 can be adjusted according to production requirements, as long as the following restrictions are met: "the first fixing member 3161 is arranged on the second side surface, the first fixing member 3161 is distributed around the central axis of the first telescopic rod 314, and the offset angle of two adjacent first fixing members 3161 around the central axis of the first telescopic rod 314 is less than 180 degrees; the second fixing member 3163 is arranged on the first side surface 3141, the second fixing member 3163 is distributed around the central axis of the first telescopic rod 314; and the offset angle of two adjacent second fixing members 3163 around the central axis of the first telescopic rod 314 is less than 180 degrees; in the first direction, the positions of multiple first fixing members 3161 are aligned, and the positions of multiple second fixing members 3163 are aligned."

[0136] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular triangular prisms, the first telescopic rod 314 has three first side surfaces 3141, the second telescopic rod 315 has three second side surfaces, there are three first fixing members 3161 and three second fixing members 3163, and each first side surface 3141 has a second fixing member 3163, and each second side surface has a first fixing member 3161.

[0137] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular hexagonal prisms, the first telescopic rod 314 has six first side surfaces 3141, the second telescopic rod 315 has six second side surfaces, there are three first fixing members 3161 and three second fixing members 3163, and one second fixing member 3163 is provided on every two first side surfaces 3141 (one first side surface 3141 is separated between two adjacent second fixing members 3163), and one first fixing member 3161 is provided on every two second side surfaces (one first side surface 3141 is separated between two adjacent first fixing members 3161).

[0138] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular hexagonal prisms, the first telescopic rod 314 has six first side surfaces 3141, the second telescopic rod 315 has six second side surfaces, there are six first fixing members 3161 and six second fixing members 3163, and each first side surface 3141 has a second fixing member 3163, and each second side surface has a first fixing member 3161.

[0139] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular quadrangular prisms, the first telescopic rod 314 has four first side surfaces 3141, the second telescopic rod 315 has four second side surfaces, four first fixing members 3161 and four second fixing members 3163 are provided, and each first side surface 3141 is provided with a second fixing member 3163, and each second side surface is provided with a first fixing member 3161.

[0140] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular pentagonal prisms, the first telescopic rod 314 has five first side surfaces 3141, the second telescopic rod 315 has five second side surfaces, the first fixing member 3161 and the second fixing member 3163 are each provided with five, and each first side surface 3141 is provided with a second fixing member 3163, and each second side surface is provided with a first fixing member 3161.

[0141] Optionally, the first telescopic rod 314 and the second telescopic rod 315 can be regular pentagonal prisms, the first telescopic rod 314 has five first side surfaces 3141, the second telescopic rod 315 has five second side surfaces, the first fixing member 3161 and the second fixing member 3163 are each provided with four, and the second fixing members 3163 are provided on the four first side surfaces 3141, and the first fixing members 3161 are provided on the four second side surfaces.

[0142] Optionally, the first telescopic rod 314 and the second telescopic rod 315 may also be irregular polygonal rods or special-shaped rods.

[0143] In some embodiments, the first stopper is disposed on one of the first fixing member 3161 and the second stopper 3163 , and the second stopper is disposed on the other of the first fixing member 3161 and the second fixing member 3163 .

[0144] Through the above arrangement, the first stopper and the first fixing member 3161 can be integrally formed, and the second stopper and the second fixing member 3163 can be integrally formed.

[0145] Please refer to Figure 6 , Figure 7 , Fig. 9 and Fig.10In some embodiments, the telescopic section 31 also includes a third telescopic rod 317, which is mounted on the second telescopic rod 315, and one of the first telescopic rod 314 and the third telescopic rod 317 is used to connect to the end actuator 2, and the other of the first telescopic rod 314 and the third telescopic rod 317 is used to connect to the flying device 1.

[0146] Through the above arrangement, the length of the telescopic section 31 in the fully extended state can be increased, thereby increasing the operating space of the robot arm 3.

[0147] In some embodiments, the telescopic section 31 also includes a second sliding aid component 318, which is sleeved on the second telescopic rod 315 and located inside the third telescopic rod 317. The second sliding aid component 318 is rollingly connected to one of the second telescopic rod 315 and the third telescopic rod 317, and the second sliding aid component 318 is fixedly connected or rollingly connected to the other of the second telescopic rod 315 and the third telescopic rod 317.

[0148] By setting up the second sliding aid component 318, the relative sliding between the third telescopic rod 317 and the second telescopic rod 315 can be converted into rolling between the second sliding aid component 318 and the third telescopic component, or converted into rolling between the second sliding aid component 318 and the second telescopic component, so that the third telescopic rod 317 and the second telescopic rod 315 can slide relative to each other more smoothly.

[0149] Specifically, the structure of the second sliding component 318 is the same as that of the first sliding component 316, and the positional relationship and connection relationship between the second sliding component 318 and the second telescopic rod 315 and the third telescopic rod 317 are the same as the positional relationship and connection relationship between the first sliding component 316 and the first telescopic rod 314 and the second telescopic rod 315, and are not repeated here.

[0150] Specifically, a telescopic rod and a sliding-assisting assembly may be additionally provided according to the required length of the telescopic section 31 , so that the length of the telescopic section 31 in the fully extended state meets the requirement.

[0151] In some embodiments, the drive control assembly further includes an air pipe, two ends of which are connected to the air pump and the first cavity respectively, and the air pipe is spirally wound around the outer peripheral side of the first airbag 311 .

[0152] Through the above arrangement, the air pipe will not affect the expansion and contraction of the first airbag 311, so that the expansion and contraction section 31 can be expanded and contracted more smoothly.

[0153] Please refer to Figure 3 , Fig.11 and Fig.12In some embodiments, the omnidirectional bending section 32 includes an omnidirectional bending arm section 321, the omnidirectional bending arm section 321 includes a first bending component 3211, the first bending component 3211 includes a first rigid member 32111, a second rigid member 32112, a first support member 32113, a second support member 23114 and at least three second airbags 32115.

[0154] The first support member 32113 and the second support member 23114 are distributed in the first direction, and the first support member 32113 and the second support member 23114 are connected by a ball joint or a cross hinge, one end of the first support member 32113 away from the second support member 23114 is fastened to the first rigid member 32111, and one end of the second support member 23114 away from the first support member 32113 is fastened to the second rigid member 32112; one end of the second airbag 32115 is fastened to the first rigid member 32111, and the other end of the second airbag 32115 is fastened to the second rigid member 32112, and the first rigid member 32111, the second rigid member 32112 and each second airbag 32115 are enclosed to form a cylindrical second cavity with a central axis;

[0155] The air pump is connected to each second cavity and is used to inject driving fluid into the second cavity. The air pump is also used to extract the driving fluid in the second cavity to change the length of the second airbag 32115, thereby controlling the bending direction of the first bending component 3211.

[0156] The air pump draws out the driving fluid in the second cavity, the second airbag 32115 contracts, the volume of the second cavity decreases, and the length of the second airbag 32115 decreases; by injecting the driving fluid into the second cavity, the second airbag 32115 can be stretched, the volume of the second cavity increases, and the length of the second airbag 32115 can be increased. The stretched second airbag 32115 can drive the first support member 32113 and the second support member 23114 to rotate relative to each other. By injecting different volumes of driving fluid into the second cavity, multiple second airbags 32115 can be stretched to different lengths, that is, the relative rotation angle of the first support member 32113 and the second support member 23114 can be changed, thereby changing the bending angle of the first bending component 3211.

[0157] The first support member 32113 is connected to the second support member 23114 through a ball joint or a cross hinge, and the first bending component 3211 includes at least three second airbags 32115, that is, at least three second cavities can be enclosed on the first bending component 32111, and by injecting different volumes of driving fluid into different second cavities, different second airbags 32115 can be extended to different lengths, so that the relative rotation angle between the first support member 32113 and the second support member 23114 can be made more diverse, so that the first bending component can be bent in all directions, and then the omnidirectional bending arm section 321 can drive the actuator to rotate in any direction.

[0158] Please refer to Figure 4 Specifically, the plurality of second airbags 32115 are evenly distributed around the first support member 32113 and the second support member 23114 .

[0159] Through the above arrangement, the structure of the first bending component 3211 can be made more compact, and the relative rotation angle between the first support member 32113 and the second support member 23114 can be more easily controlled.

[0160] Optionally, the first bending component 3211 includes three second airbags 32115 ; or, the first bending component 3211 includes four second airbags 32115 .

[0161] Please refer to Figure 3 In some embodiments, the omnidirectional flexure arm section 321 includes a plurality of first flexure components 3211 .

[0162] Through the above arrangement, the bending angle of the omnidirectional bending arm section 321 can be the sum of the bending angles of the plurality of first bending components 3211 , so that the bending angle of the omnidirectional bending arm section 321 is more diverse.

[0163] Specifically, the air pump is connected to the second cavity through an air pipe.

[0164] In some embodiments, the omnidirectional bending section 32 includes a rotating arm section and a unidirectional bending arm section, and the rotating arm section is used to drive the unidirectional bending arm section to rotate around a first direction.

[0165] The one-way bending arm section includes a second bending component, and the second bending component includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two third airbags.

[0166] The third support member and the fourth support member are distributed in the first direction, the third support member and the fourth support member are connected by a one-way hinge, one end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; one end of the third airbag is fastened to the third rigid member, and the other end of the third airbag is fastened to the fourth rigid member, and the third rigid member, the fourth rigid member and any third airbag all enclose a cylindrical third cavity with a central axis.

[0167] The air pump is connected to each third cavity and is used to inject driving fluid into the third cavity. The air pump is also used to extract the driving fluid in the third cavity to change the length of the third airbag, thereby controlling the bending direction of the second bending component.

[0168] Among them, the expansion and contraction principle of the third airbag is consistent with the expansion and contraction principle of the second airbag 32115, which will not be repeated here.

[0169] Since the third support member and the fourth support member are connected by a one-way hinge, the third support member can only rotate in one direction relative to the fourth support member under the drive of the third airbag, so that the one-way bending arm section can only bend in one direction. However, by providing a rotating arm section, and the rotating arm section is used to drive the one-way bending arm section to rotate around the first direction, the one-way bending arm section can drive the end actuator 2 to rotate in any direction under the cooperation of the rotating arm section.

[0170] In some embodiments, the rotating arm section includes a screw, a push plate, a third end plate, a fourth end plate and a fourth airbag. In the first direction, the third end plate and the fourth end plate are opposite to each other and spaced apart. The screw is rotatably connected to the third end plate and the fourth end plate, respectively, and the screw is connected to the second bending assembly. The third end plate is connected to the second end plate 313, the push plate is threadedly connected to the screw, and both ends of the fourth airbag are respectively connected to the push plate and the fourth end plate, and the fourth airbag, the push plate and the fourth end plate enclose a fourth cavity.

[0171] The air pump is connected to the fourth cavity, and is used to inject driving fluid into the fourth cavity. The air pump is also used to extract the driving fluid in the fourth cavity to stretch or compress the fourth airbag in the first direction, so that the push plate moves in the first direction, thereby causing the screw to rotate around the first direction.

[0172] The extension and contraction principle of the fourth airbag is consistent with the extension and contraction principle of the first airbag 311, and will not be described in detail here.

[0173] Specifically, the air pump is connected to the third cavity and the fourth cavity through an air pipe.

[0174] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A mechanical arm for use in flight equipment, characterized in that: The robotic arm comprises: a telescopic section connected to a flight device in the flight equipment; an omnidirectional bending section connected to an end of the telescopic section away from the flying device, and an end of the omnidirectional bending section away from the telescopic section is used to connect to an end actuator; A drive control component is provided in the flying device, and the drive control component can control the two ends of the telescopic section to approach or move away from each other along a first direction, and the drive control component can also control the omnidirectional bending section to bend in any direction deviating from the first direction, so as to control the posture of the mechanical arm and the position of the end actuator, so that the mechanical arm has a first state and a second state; wherein, In the first state, the telescopic section is shortened, and the omnidirectional bending section is bent in the direction toward the flying device, so that the mechanical arm can adapt to the storage space of the flying device when it is parked; In the second state, the drive control component can control the extension degree of the telescopic section, the bending direction of the omnidirectional bending section and the bending degree of the omnidirectional bending section, so that the robotic arm can change into a variety of different postures to adapt to various posture combinations of the end actuator and the flying device.

2. The robotic arm according to claim 1, characterized in that: The telescopic section includes a first airbag, a first end plate and a second end plate. In the first direction, the first end plate and the second end plate are opposite to each other and spaced apart. The first end plate and the second end plate are respectively connected to two ends of the first airbag, and the first end plate is connected to the flying device, and the second end plate is connected to the omnidirectional bending section. The first airbag, the first end plate and the second end plate enclose a first cavity. The drive control component includes an air pump, which is connected to the first cavity. The air pump is used to inject driving fluid into the first cavity. The air pump is also used to extract the driving fluid in the first cavity, so that the first airbag stretches or compresses in the first direction, so as to drive the first end plate and the second end plate to move closer to or away from each other, thereby controlling the extension and retraction degree of the telescopic section.

3. The mechanical arm according to claim 2, characterized in that: The telescopic section also includes a first telescopic rod, a second telescopic rod, a first stopper and a second stopper; The second telescopic rod is slidably mounted on the first telescopic rod, the first telescopic rod is connected to one of the first end plate and the second end plate, and the second telescopic rod is connected to the other of the first end plate and the second end plate; The first stopper and the second stopper are both located between the first telescopic rod and the second telescopic rod, the first stopper is connected to the second telescopic rod, and the first stopper extends in a direction close to the first telescopic rod; The second stopper is connected to the first telescopic rod, and the second stopper extends in a direction close to the second telescopic rod; In the direction in which the first telescopic rod moves away from the second telescopic rod, the first stopper is located above the second stopper, and on a plane perpendicular to the first direction, the orthographic projections of the first stopper and the second stopper at least partially overlap.

4. The robotic arm according to claim 3, characterized in that: The telescopic section further includes a first sliding aid component, the first sliding aid component includes a fixing member and a rolling member, the fixing member is located in the sleeve gap between the first telescopic rod and the second telescopic rod, and the rolling member is rotatably embedded in the fixing member; The rolling element and the surface of the first telescopic rod are in rolling cooperation, and the rolling element and the first telescopic rod are in line contact with each other at a first rolling contact line in a first plane, the first plane is perpendicular to the first direction, and the first rolling contact line is perpendicular to the first direction; and / or, The rolling element and the surface of the second telescopic rod are in rolling cooperation, and the rolling element and the second telescopic rod are in line contact with a second rolling contact line in a second plane, the second plane is perpendicular to the first direction, and the second rolling contact line is perpendicular to the first direction.

5. The robotic arm according to claim 4, characterized in that: At the sleeve gap between the first telescopic rod and the second telescopic rod, the first telescopic rod has at least three first side surfaces, the second telescopic rod has at least three second side surfaces, and the first side surfaces and the second side surfaces are arranged opposite to each other across the sleeve gap; There are multiple fixing members; The fixing member is disposed on the second side surface, the fixing members are distributed around the central axis of the first telescopic rod, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod is less than 180 degrees, and in the first direction, the positions of the plurality of fixing members on the second side surface are aligned; and / or, The fixing member is arranged on the first side surface, the fixing members are distributed around the central axis of the first telescopic rod, and the offset angle of two adjacent fixing members around the central axis of the first telescopic rod is less than 180 degrees, and in the first direction, the positions of the multiple fixing members located on the first side surface are aligned.

6. The robotic arm according to claim 5, characterized in that: The rolling element is a ball bearing, and the ball bearing comprises a ball bearing body and a rotating shaft, the axis of the rotating shaft is in the first plane, and the axis of the rotating shaft is parallel to the first rolling contact line, or the axis of the rotating shaft is in the second plane, and the axis of the rotating shaft is parallel to the second rolling contact line; The rotating shaft passes through the ball bearing body, and at least one end of the rotating shaft is connected to the fixing member, and the ball bearing body can rotate around the axis of the rotating shaft; A perpendicular line to the axis of the first telescopic rod passing through the midpoint of the first rolling contact line is also perpendicular to the first rolling contact line; and / or, A perpendicular line to the axis of the second telescopic rod passing through the midpoint of the second rolling contact line is also perpendicular to the second rolling contact line; The first side surface and the second side surface are planes parallel to the first direction; The ball bearing body is in line contact with the first side surface at the first rolling contact line, and the first rolling contact line is a straight line; and / or, The ball bearing body is in line contact with the second side surface at the second rolling contact line, and the second rolling contact line is a straight line.

7. The robotic arm according to claim 5, characterized in that: The fixing members include at least three first fixing members and at least three second fixing members; The first fixing member is disposed on the second side surface, and the first fixing member is located at an end of the second telescopic rod close to the first telescopic rod; The second fixing member is disposed on the first side surface, and the second fixing member is located at an end of the first telescopic rod close to the second telescopic rod; The rolling member includes a first rolling member and a second rolling member, the first rolling member is rotatably embedded in the first fixed member, the first rolling member is partially embedded in the side wall where the second side surface is located, the second rolling member is rotatably embedded in the second fixed member, the second rolling member is partially embedded in the side wall where the first side surface is located, and the first side surface is in line contact with the first rolling member, and the second side surface is in line contact with the second rolling member.

8. The robot arm according to claim 7, characterized in that: The first stopper is disposed on one of the first fixing member and the second stopper, and the second stopper is disposed on the other of the first fixing member and the second fixing member.

9. The robot arm according to any one of claims 2 to 8, characterized in that: The drive control component further includes an air pipe, two ends of which are respectively connected to the air pump and the first cavity, and the air pipe is spirally wound around the outer peripheral side of the first airbag.

10. The robot arm according to any one of claims 2 to 8, characterized in that: The omnidirectional bending section includes an omnidirectional bending arm section, the omnidirectional bending arm section includes a first bending component, the first bending component includes a first rigid member, a second rigid member, a first support member, a second support member and at least three second airbags; The first support member and the second support member are distributed in the first direction, and the first support member and the second support member are connected by a ball joint or a cross hinge, one end of the first support member away from the second support member is fastened to the first rigid member, and one end of the second support member away from the first support member is fastened to the second rigid member; one end of the second airbag is fastened to the first rigid member, and the other end of the second airbag is fastened to the second rigid member, and the first rigid member, the second rigid member and each of the second airbags are enclosed to form a cylindrical second cavity with a central axis; The air pump is connected to each of the second cavities, and is used to inject a driving fluid into the second cavities. The air pump is also used to extract the driving fluid in the second cavities to change the length of the second airbag, thereby controlling the bending direction of the first bending component; Alternatively, the omnidirectional bending section includes a rotating arm section and a unidirectional bending arm section, and the rotating arm section is used to drive the unidirectional bending arm section to rotate around the first direction; The one-way bending arm section includes a second bending assembly, and the second bending assembly includes a third rigid member, a fourth rigid member, a third support member, a fourth support member and one or two third air bags; The third support member and the fourth support member are distributed in the first direction, the third support member and the fourth support member are connected by a one-way hinge, one end of the third support member away from the fourth support member is fastened to the third rigid member, and one end of the fourth support member away from the third support member is fastened to the fourth rigid member; one end of the third airbag is fastened to the third rigid member, and the other end of the third airbag is fastened to the fourth rigid member, and the third rigid member, the fourth rigid member and any one of the third airbags are all enclosed to form a cylindrical third cavity with a central axis; The air pump is connected to each of the third cavities and is used to inject driving fluid into the third cavities. The air pump is also used to extract the driving fluid in the third cavities to change the length of the third airbags, thereby controlling the bending direction of the second bending component.

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