Lightweight telescopic robotic arm

Abstract

The utility model relates to a kind of lightweight telescopic mechanical arm, including telescopic device and end effector;Telescopic device includes fixed sleeve and at least one sliding sleeve slidably engaged in fixed sleeve, telescopic arm is equipped with first actuator for driving sliding sleeve telescopic;End effector is detachably installed in sliding sleeve end portion;Second actuator and telescopic transmission assembly are further included, second actuator is located in the inside or side of fixed sleeve, for driving telescopic transmission assembly action, telescopic transmission assembly is hidden in telescopic device and at least includes the driving transmission interface exposed from sliding sleeve end portion;End effector is provided with driven component for applying force to its mechanical finger, driven component at least includes exposed driven transmission interface, driven transmission interface is configured to be engaged with driving transmission interface when end effector is installed to sliding sleeve end portion so that the power of telescopic transmission assembly is transmitted to driven component.

Description

Technical Field

[0001] This utility model relates to the field of home service robots, and in particular to a lightweight telescopic robot and its robotic arm. Background Technology

[0002] Home service robots are robotic devices that can perform various service tasks in home or similar environments. They have been listed as one of the key development areas. At the same time, the robot application market is becoming more and more widespread, and home service robots have a bright future.

[0003] Currently, most research and development teams are developing home service robots in a more human-like direction. The robots use a rotation drive to form a movement trajectory similar to human joints. However, humanoid robots are still far from being integrated into users' daily home life due to limitations such as complex joint design, size, and cost.

[0004] US20210170583A1 proposes a mobile manipulator robot for performing objective tasks in human environments. It employs a linear drive system, utilizing an XZ-axis linear motion system supplemented by a bottom-mounted mobile base to achieve Y-axis movement. This simplifies the design and reduces weight, potentially enabling rapid market entry. In the XYZ three-axis motion system of US20210170583A1, the mobile base uses a two-drive configuration for forward and backward displacement and rotation. A mast on the base performs Z-axis lifting and lowering, and a multi-segment telescopic structure extends and retracts in the X-axis along the mast. The manipulator (end effector) is attached to the distal end of the telescopic structure. The end effector uses a combination of windings and inner and outer spring arms to reduce weight. However, the actuator of the end effector is also located at the far end of the segment extension. Current actuators require a large amount of metal to construct, and metal has a high specific gravity, making the actuator itself heavy. In addition, its position at the far end of the segment extension amplifies the torque, which greatly reduces the effective load of the telescopic manipulator of this type of lightweight robot. Since the robot's manipulator has a relatively low load limit due to its lightweight purpose, if the torque of the metal actuator is further reduced, the number of household items that the end effector can pick up or grip will be very limited.

[0005] The end effector structures proposed in CN206536492U and CN206855476U use a wire-based method to achieve one-dimensional freedom control of the finger's distal end. The actuator is also located on the end effector, which also suffers from the problem of reduced effective load.

[0006] On the other hand, to handle various domestic tasks, the end effector of a home service robot needs to be equipped with multiple finger types, such as grippers, hooks, trays, etc. This requires the end effector to be detachable and replaceable on the telescopic arm. Simply being replaceable, such as installing multiple forms onto the telescopic arm and then selectively switching them through a conversion structure, does not meet the requirements of lightweight design. Detachable and replaceable design is more suitable. In current detachable and replaceable end effector solutions, the power source is still derived from the end effector itself, which also reduces the already low payload capacity for lightweight telescopic robots. Utility Model Content

[0007] This invention aims to improve the effective payload of the end effector, especially when the end effector is detachable and replaceable, based on the linear drive type of lightweight telescopic home robot.

[0008] To address this, a lightweight telescopic robotic arm is provided, comprising a telescopic device and an end effector. The telescopic device includes a fixed sleeve and at least one sliding sleeve slidably engaged with the fixed sleeve in a nested manner. The telescopic arm is equipped with a first actuator for driving the sliding sleeve to extend or retract. The end effector is detachably mounted on the end of the sliding sleeve of the telescopic device. The arm also includes at least one second actuator and at least one telescopic transmission assembly. The second actuator is located inside or beside the fixed sleeve and is used to drive the telescopic transmission assembly. The telescopic transmission assembly is concealed within the telescopic device and includes at least an active transmission interface exposed from the end of the sliding sleeve. The end effector is provided with a driven component for applying force to its robotic finger. The driven component includes at least an exposed driven transmission interface, which is configured to engage with the active transmission interface when the end effector is mounted to the end of the sliding sleeve, thereby transmitting the power of the telescopic transmission assembly to the driven component.

[0009] In the structure of this utility model, the power source for driving the extension and retraction of the sleeve is located inside or beside the near-end fixed sleeve, which greatly reduces the torque. The telescopic sleeve is detachably connected to the end effector, and the power is transmitted through the engagement of the active and driven transmission interfaces. The telescopic transmission component is transmitted simultaneously with the extension and retraction of the sleeve, driving the actuator finger movement.

[0010] In this utility model, the word "telescopic" in the telescopic transmission component should be understood as referring to the entire transmission component; the active transmission interface and the driven transmission interface can be in a one-to-one, one-to-many, or many-to-one relationship; the length of the sliding sleeve is configured to be at least greater than 1cm.

[0011] As an improvement, the end effector is equipped with an electrical module. The function of the electrical module can be selectively configured according to requirements, including but not limited to signal interaction and / or low-voltage drive. The end of the end effector for docking with the sliding sleeve has an exposed electrical interface. The electrical interface is configured to couple with the electrical module and dock with the electrical interface on this end when the end effector is installed on the end of the sliding sleeve, realizing the electrical connection of signal and / or power supply between the end effector and the telescopic arm. Considering the robot's protection requirements, especially to avoid collisions between the telescopic arm and human bodies or obstacles, the end effector further incorporates tactile sensing. Specifically, the electrical module is configured to include at least a tactile sensor for sensing the approach and / or contact of the end effector with external objects. Furthermore, the tactile sensor includes at least two electrodes, configured as a tactile electronic skin covering the outer surface of the end effector with self-capacitance and / or mutual capacitance, or configured as a flexible capacitive three-dimensional force vector sensor structure located at the fingertip, such as CN201920633712.5. The end effector is provided with a control module and a capacitance-to-digital conversion circuit. The capacitance-to-digital conversion circuit is coupled to each electrode, and the control module is coupled to the electrical terminals of the end effector and the capacitance-to-digital conversion circuit respectively.

[0012] In this invention, the active and driven transmission interfaces can be gear-based, and the telescopic transmission assembly can be a telescopic rod, a pull cable, or a chain link as described in US20210170583A1. Preferably, the telescopic transmission assembly is configured as a telescopic rod with a non-circular cross-section, such as a hollow cross-shaped or serpentine tube. One end of the telescopic rod is coupled to the shaft of the second actuator, and the other end of the telescopic rod protrudes from the end of the sliding sleeve to form the active transmission interface. The outer wall of the telescopic rod is connected to the sliding sleeve via a connecting structure, which is configured to fix the relative position of the telescopic rod and the sliding sleeve in the telescopic direction while simultaneously providing the telescopic rod with axial rotational capability. The driven transmission interface is configured as a drive shaft, with the drive shaft nested within the end of the telescopic rod. One method of connection structure is through bearings. Specifically, the outer wall of the telescopic rod is rolled to the bearing, and the outer wall of the bearing is fixed relative to the sliding sleeve, achieving the effect of the telescopic rod following the extension and retraction of the sleeve while allowing rotation. Other connection structures are also possible, such as a snap-fit ​​method. For example, the outer wall of the telescopic rod is fixed with a flange adjacent to the active drive interface, and the sliding sleeve has a receiving portion to accommodate the flange and form a snap-fit ​​relationship with it in the extension and retraction direction, thus allowing the telescopic rod to follow the extension and retraction of the sliding sleeve. The peripheral wall of the flange is in rolling contact with the receiving portion, or the receiving portion has a gap from the peripheral wall of the flange, allowing the telescopic rod to rotate axially. The telescopic rod design facilitates simultaneous extension and retraction with the telescopic sleeve, resulting in a simple, reliable structure with high stability. Furthermore, the telescopic rod and / or end effector and / or sleeve are configured to be made of low-density metal materials (such as lightweight hard alloys) or engineering plastics. The metal content in low-density metal materials or engineering plastics is much lower than that of the motor, further improving lightness and reducing costs, achieving a lightweight design for the main body. To further reduce the weight of the end effector, the end effector is configured to transmit force between the driven transmission interface and the mechanical finger using a wire connection. Specifically, the end effector is equipped with a wire to pull the mechanical finger, and a winding wheel for winding the wire. The winding wheel has conical teeth that mesh with the conical teeth at the end of the drive shaft. Furthermore, to achieve higher degrees of freedom control of the mechanical finger, the mechanical finger of the end effector is equipped with an elastomer, a fixed joint, an intermediate joint, and a fingertip joint. The fixed joint is mounted on the end effector body, and the fixed joint, intermediate joint, and fingertip joint are sequentially hinged by a pivot. The elastomer drives the intermediate joint and fingertip joint to open outward or close inward. The winding wheel and the wire wound on it include at least two sets, used to pull the intermediate joint and fingertip joint in the opposite direction of the force exerted by the elastomer.The elastic body can be a torsion spring. Winding wheels 1 and 2 are located on the same side. The pull wire 1 on winding wheel 1 passes through the through hole in the middle of the fixed joint, then passes above the hinge axis from the fixed joint and intermediate joint to the end of the fingertip joint. The pull wire 2 on winding wheel 2 passes through the through hole in the middle of the fixed joint, then passes below the hinge axis from the fixed joint and intermediate joint to the end of the intermediate joint. When the pull wire is relaxed, the fingertip joint and intermediate joint are in an open state due to the elastic force of the torsion spring. Winding wheel 1 rotates... Rotating the pull wheel 1 pulls the cable 1, overcoming the torsion spring force, causing the fingertip joint to move counterclockwise relative to the intermediate joint. The fingertip joint bends inward. Due to the action of the winding wheel 2, the intermediate joint is prevented from moving clockwise relative to the fixed joint. The winding wheel 2 rotates, pulling the cable 2, overcoming the torsion spring force, causing the intermediate joint to move counterclockwise relative to the fixed joint. The intermediate joint drives the fingertip joint to move inward simultaneously, realizing the contraction action of the actuator. The winding wheel 1 releases part of the cable 1, reducing the tension of the cable 1 and preventing excessive tension in the cable 2. The winding wheels 1 and 2 simultaneously release the thread, and under the action of the torsion spring, realize the opening action of the end effector. Through the coordinated control of the winding wheels 1 and 2, free movement of the fingertip joint and intermediate joint can be achieved to adapt to more complex application scenarios.

[0013] As another improvement, the end effector has at least two components, each with a different finger joint shape, such as a hook, tray, suction cup, or gripper. The driven drive interface of each end effector is configured to be compatible with the active drive interface at the end of the sliding sleeve, and / or the assembly of each end effector with the end of the sliding sleeve is mutually compatible, forming a standardized interface to facilitate disassembly and replacement between end effectors. This compatibility can be achieved by the same structure of the drive interfaces of each end effector, and / or the same assembly structure between each end effector and the telescopic device.

[0014] As another improvement, to further reduce the weight of the robotic arm, the telescopic sleeve is also driven by a cable. Specifically, the telescopic device includes a first cable, a second cable, a first fixed pulley, a first active rotating component, a second active rotating component, a fixed sleeve, and at least one sliding sleeve that is slidably engaged within the fixed sleeve in a nested manner. The cable is configured to withstand a tensile force of at least 10N. The end of the sliding sleeve facing the distal direction is the top, and the end facing the proximal direction is the bottom. Each sliding sleeve has a first limiting component at its top to limit the distance it extends into the adjacent outer sleeve in the proximal direction, and a second limiting component at its bottom to limit the distance it extends into the distal direction. The distance the first thread extends from the adjacent outer sleeve in the direction of extension; one end of the first thread is fixed to one side of the axis of the fixed sleeve, and the first fixed pulley is fixed to the other side of the axis of the fixed sleeve. The other end of the first thread passes through the bottom of the sliding sleeve inside the tube and wraps around the first fixed pulley to the first active rotating component. The position of the first fixed pulley is configured such that when the first active rotating component tightens the first thread, the sliding sleeve can be pushed towards the far end through the first thread. Taking the sleeve extending to the farthest end as the terminal sleeve, one end of the second thread is fixed to the terminal sleeve, and the other end extends towards the proximal end inside the tube and wraps around the second active rotating component. The position of the second active rotating component is configured such that when the second thread is tightened, the terminal sleeve can be pulled back towards the proximal end. In this scheme, the telescopic drive is formed by a winding module, which is lighter in weight. At the same time, the winding module adopts an open mode, that is, the extension and retraction are achieved by two windings respectively, and the entire winding module is located inside the hollow sleeve, which does not occupy external space and is compact in size. This improves the safety and durability of the winding module. In this invention, the first wire and / or the second wire can be configured as steel wire ropes to ensure that the wires are not easily broken. One end of the first wire is fixed to the top inner wall on one side of the axis of the fixed sleeve, and the first fixed pulley is fixed to the top inner wall on the other side of the axis of the fixed sleeve.

[0015] In the above scheme, the telescopic mechanism can be two-sectioned, consisting of one fixed sleeve and one sliding sleeve. This scheme sacrifices the extension distance for the advantage of structural simplicity. For telescopic arms applied to linear drive service robots, three or more segments are more suitable as an improvement, addressing the issues of telescopic capacity and the robot's center of gravity being located above the base when retracted. The implementation of three or more segments involves at least two sliding sleeves, with the sleeves other than the terminal sleeve being intermediate sleeves. Each of the intermediate sleeves has a movable pulley fixed to its top inner wall on both sides of its axis. The other end of the first thread passes through the bottom of each intermediate sleeve and the movable pulley on one side of the intermediate sleeve axis, then through the bottom of the terminal sleeve to the other side of the intermediate sleeve axis, and then passes through the bottom of each intermediate sleeve and the movable pulley on the other side before winding around the first fixed pulley to the first active rotating component. Furthermore, based on the multi-segment design, each sliding sleeve is equipped with a movable pulley at its bottom. The movable pulley serves two purposes: guiding the transmission trajectory of the first thread and reducing sliding friction. This allows for achieving the telescopic segmentation with a smaller driving force, and the selection of the drive motor allows for a small volume to be concealed inside the hollow interior of the fixed sleeve. Even further, each sleeve is coaxially arranged, and the corresponding movable pulleys on both sides of the sliding sleeve's axial direction are axially symmetrically arranged. This coaxial symmetry enables more efficient and smooth force transmission. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall shape of a lightweight telescopic robotic arm is shown. Figure 2 A schematic diagram of the telescopic guidance of a lightweight telescopic robotic arm is shown; Figure 3 A schematic diagram of the telescopic drive of a lightweight telescopic robotic arm is shown. Figure 4 A schematic diagram of a retractable transmission structure for a lightweight telescopic robotic arm is shown. Figure 5a A schematic diagram of a retractable transmission docking structure for a lightweight telescopic robotic arm is shown. Figure 5b A cross-sectional view of a retractable transmission docking system for a lightweight telescopic robotic arm is shown. Figure 6 A schematic diagram of the electrical connection of a lightweight telescopic robotic arm is shown. Figure 7 A schematic diagram of the electric gripper transmission of a lightweight telescopic robotic arm is shown. Figure 8 A schematic diagram of the internal structure of the electric gripper is shown; Figure 9 A schematic diagram of a lightweight telescopic robotic arm with front-end capacitance detection is shown. Figure 10A schematic diagram of a lightweight electric gripper for a lightweight telescopic robotic arm is shown. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0018] like Figure 1 As shown, the lightweight telescopic robotic arm mainly comprises a fixed sleeve 10, an intermediate sleeve 20, an end sleeve 30, a telescopic transmission system 40, and a lightweight electric gripper 50. The three sleeves are designed in a nested manner, with the fixed sleeve 10 having the largest external dimensions and the end sleeve 30 the smallest. This reduces the weight at the distal end of the robotic arm and improves its overall load capacity. The telescopic transmission system 40 uses a three-segment design to transmit power to the lightweight electric gripper 50 in conjunction with the telescopic robotic arm's extension and retraction. The lightweight electric gripper 50 employs a two-joint design, with the joints connected by a shaft. It opens naturally using a torsion spring and closes its fingers using a pull cable to grasp objects.

[0019] like Figure 2 As shown, rolling sliders are arranged between the end sleeve 30, intermediate sleeve 20, and fixed sleeve 10 of the telescopic robotic arm to guide the telescopic movement of the sleeves and reduce friction. A first slider 604 is arranged on the lower inner side of the front end of the fixed sleeve 10; a second slider 603 is arranged on the lower inner side of the front end of the intermediate sleeve 20; a third slider 602 is arranged on the upper outer side of the rear end of the intermediate sleeve 20; and a fourth slider 601 is arranged on the upper outer side of the rear end of the end sleeve 30. The fourth slider 601 and the second slider 603 support and guide the relative movement of the end sleeve 30 relative to the intermediate sleeve 20; the third slider 602 and the first slider 604 support and guide the relative movement of the intermediate sleeve 20 relative to the fixed sleeve 10.

[0020] like Figure 3 As shown, the telescopic robotic arm is driven by a motor-driven cable. The cable drives a movable pulley and a fixed pulley, pushing or pulling the end sleeve 30 and the intermediate sleeve 20 relative to the fixed sleeve 10. Drive motors 700 and 800 are arranged inside the tail of the fixed sleeve 10. A cable 708 is wound around drive motor 700, passing through pulleys 701, 702, 703, 704, 705, 706, and 707 in sequence, with the other end fixed to the inside of the front end of the fixed sleeve 10. A cable 801 is wound around drive motor 800, with the other end fixed to the inside of the front end of the end sleeve 30. The extension and retraction of the telescopic robotic arm are achieved through the coordinated rotation of drive motors 700 and 800.

[0021] like Figure 4 As shown, the lightweight telescopic robotic arm contains two sets of telescopic transmission mechanisms. These mechanisms mainly consist of a drive reduction motor 900, a primary transmission rod 901, a secondary transmission rod 902, and a tertiary transmission rod 903. The drive reduction motor 900 is fixed inside the fixed sleeve 10, and the tertiary transmission rod 903 is fixed inside the end sleeve 30 via a bearing 311. The transmission rods 901, 902, and 903 are arranged in a splined configuration, nested one inside the other, to achieve power transmission and mutual sliding.

[0022] like Figure 5a , Figure 5b As shown, the end of the three-stage transmission rod 903 adopts a hexagonal prism design and a beveled design at the end to serve as a guide; at the rear of the transmission steering box 401 of the lightweight electric gripper, there are two internal hexagonal connectors that can be connected to the three-stage transmission rod.

[0023] like Figure 6 As shown, a 4-pin electrical interface 4113 is arranged at the rear of the transmission steering box 401 of the lightweight electric gripper 50, which is responsible for the electrical signal transmission of voltage VCC, ground GND, signal read RX, and signal write TX. The electrical interface 4113 adopts a spring-loaded pin form, and corresponding connecting devices are arranged at the corresponding positions on the end sleeve 30. When the lightweight electric gripper 50 is installed on the end sleeve 30, the electrical signals are connected.

[0024] like Figure 7 and Figure 8 As shown, the drive geared motor 900 transmits power to the transmission steering box 401 of the lightweight electric gripper 50 through the first-stage transmission rod 901, the second-stage transmission rod 902, and the third-stage transmission rod 903. Inside the transmission steering box 401, the power transmitted from the drive shaft is received through bevel gears 4011 and 4012, and the power direction is rotated 90 degrees through bevel gears 4014 and 4015. At the ends of bevel gears 4014 and 4015, winding wheels 5703 and 5704 are arranged, and the winding wheels 5703 and 5704 drive the pull wire, thereby driving the closing action of the lightweight electric gripper.

[0025] like Figure 9 As shown, two detection motors 301 and 302 are arranged at the end of the end sleeve 30 away from the fixed sleeve 10. They are used to detect approaching objects and human bodies in front of the robotic arm, and can also detect the installation status of the lightweight electric gripper 50.

[0026] like Figure 10As shown, the lightweight electric gripper 50 mainly consists of the following parts: an upper end joint 5301, an upper intermediate joint 5302, a fixed joint 5303, a lower intermediate joint 5304, a lower end joint 5305, a lower end joint torsion spring 5401, a lower intermediate joint torsion spring 5402, an upper intermediate joint torsion spring 5403, an upper end joint torsion spring 5404, an upper end joint shaft 5501, an upper intermediate joint shaft 5502, a lower intermediate joint shaft 5503, a lower end joint shaft 5504, a lower silicone electrode 5601, an upper silicone electrode 5602, a first joint cable, a second joint cable, and a transmission steering box 401. The transmission steering box 401 contains two winding reels 5703 and 5704. The first joint cable is wound on the winding reel 5703, and the second joint cable is wound on the winding reel 5704. In its natural state, torsion springs 5401, 5402, 5403, and 5404 support the joints. When the two transmission systems transmit power to the lightweight electric gripper, the first joint cable pulls the end joint, and the second joint cable pulls the middle joint, closing the joints. With the end joints 5301 and 5305 closed, when gripping an object, the upper and lower silicone electrodes 5602 and 5601 detect the pressure and other relevant information of the object being gripped, ensuring stable object gripping.

[0027] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit the scope of protection of this utility model. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the essence and scope of the technical solutions of this utility model.

Claims

1. A lightweight telescopic robotic arm, Includes telescopic devices and end effectors; The telescopic device includes a fixed sleeve and at least one sliding sleeve that can be slidably engaged with the fixed sleeve. The telescopic arm is equipped with a first actuator for driving the sliding sleeve to extend or retract. Its features are: The end effector is detachably mounted on the end of the sliding sleeve of the telescopic device; It also includes at least one second actuator and at least one retractable transmission assembly. The second actuator is located inside or beside the fixed sleeve and is used to drive the retractable transmission assembly to move. The retractable transmission assembly is concealed within the telescopic device and includes at least an active transmission interface exposed from the end of the sliding sleeve. The end effector is provided with a driven component for applying force to its mechanical finger. The driven component includes at least an exposed driven drive interface, which is configured to engage with the active drive interface when the end effector is mounted to the end of the sliding sleeve, thereby transmitting power from the retractable drive assembly to the driven component.

2. The lightweight telescopic robotic arm according to claim 1, characterized in that: The end effector is provided with an electrical module, and the end of the end effector for docking with the sliding sleeve is provided with an exposed electrical interface. The electrical interface is configured to couple the electrical module and dock with the electrical interface on the end when the end effector is installed to the end of the sliding sleeve.

3. The lightweight telescopic robotic arm according to claim 2, characterized in that: The electrical module is configured to include at least a tactile sensor for sensing the approach and / or contact of the end effector with an external object.

4. The lightweight telescopic robotic arm according to claim 3, characterized in that: The tactile sensor includes at least two electrodes; The end effector is equipped with a control module and a capacitor-to-digital converter circuit. The capacitor-to-digital converter circuit is coupled to each electrode, and the control module is coupled to the electrical terminals of the end effector and the capacitor-to-digital converter circuit.

5. The lightweight telescopic robotic arm according to claim 1, characterized in that: The telescopic transmission assembly is configured as a telescopic rod with a non-circular cross-section. One end of the telescopic rod is coupled to the rotating shaft of the second actuator, and the other end of the telescopic rod is exposed from the end of the sliding sleeve to form the active transmission interface. The outer wall of the telescopic rod is connected to the sliding sleeve through a connecting structure. The connecting structure is configured to fix the relative position of the telescopic rod and the sliding sleeve in the telescopic direction while giving the telescopic rod axial rotation capability. The driven transmission interface is configured as a transmission shaft, and the transmission shaft and the end of the telescopic rod are nested together.

6. The lightweight telescopic robotic arm according to claim 5, characterized in that: The telescopic rod and / or the end effector are configured to be manufactured from low-density metal materials or engineering plastics.

7. The lightweight telescopic robotic arm according to claim 5, characterized in that: The end effector is equipped with a thread to pull its mechanical finger, and a winding wheel for winding the thread. The winding wheel is provided with conical teeth that mesh with the conical teeth at the end of the drive shaft for transmission.

8. The lightweight telescopic robotic arm according to claim 7, characterized in that: The mechanical finger of the end effector is provided with an elastomer, a fixed joint, an intermediate joint, and a fingertip joint; The fixed joint is mounted and fixed on the end effector body, and the fixed joint, intermediate joint and finger joint are sequentially hinged by a rotating shaft; The elastomer is used to drive the intermediate joints and finger joints to open outwards or close inwards; The winding wheel and the thread wound on it include at least two sets, used to pull the intermediate joint and the finger joint in the opposite direction of the elastic body force, respectively.

9. The lightweight telescopic robotic arm according to claim 1, characterized in that: The telescopic device includes a first thread, a second thread, a first fixed pulley, a first active rotating component, a second active rotating component, a fixed sleeve, and at least one sliding sleeve that is slidably engaged within the fixed sleeve in a nested manner. The tension that the yarn can withstand is at least greater than 10N; The end of the sliding sleeve facing the distal direction is the top, and the end facing the proximal direction is the bottom. Each sliding sleeve has a first limiting component at the top to limit the distance it extends into the adjacent outer sleeve in the proximal direction, and each sliding sleeve has a second limiting component at the bottom to limit the distance it extends out of the adjacent outer sleeve in the distal direction. One end of the first thread is fixed to one side of the axis of the fixed sleeve, and the first fixed pulley is fixed to the other side of the axis of the fixed sleeve. The other end of the first thread passes through the bottom of the sliding sleeve inside the tube and wraps around the first fixed pulley to the first active rotating component. The position of the first fixed pulley is configured such that when the first active rotating component tightens the first thread, the sliding sleeve can be pushed to the far end through the first thread. The end sleeve extends to the farthest end as the terminal sleeve. One end of the second thread is fixed to the terminal sleeve, and the other end extends in the tube towards the proximal end and then wraps around the second active rotating component. The position of the second active rotating component is configured such that the terminal sleeve can be pulled back towards the proximal end when the second thread is tightened.

10. The lightweight telescopic robotic arm according to claim 9, characterized in that: The sliding sleeve has at least two, wherein the other sleeves besides the terminal sleeve are intermediate sleeves; The intermediate sleeve is provided with a movable pulley fixed to the inner wall of its top on each side of its axis. The other end of the first thread passes through the bottom of each intermediate sleeve and the movable pulley on one side of the axis of the intermediate sleeve inside the tube, then passes through the bottom of the terminal sleeve and enters the other side of the axis of the intermediate sleeve inside the tube. After passing through the bottom of the other side of each intermediate sleeve and the movable pulley, it is wound around the first active rotating component by the first fixed pulley.

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