CN113400291A - Bionic mechanical arm - Google Patents

Abstract

The invention relates to a bionic mechanical arm, belonging to the field of robots; the bionic mechanical arm has flexible action and operation and light structure, and can be widely applied to the current production and manufacturing; the technical scheme is as follows: a biomimetic mechanical arm comprising: the articulated arm comprises a plurality of base, articulated arms and a grabbing piece, wherein the articulated arms are sequentially articulated, the articulated arms are a first articulated arm, a second articulated arm … … n-level articulated arm and a last articulated arm from front to back, the base is movably connected with the first articulated arm, and the grabbing piece is articulated with the last articulated arm; the base is provided with an output main shaft, the output main shaft is connected with a head joint arm input shaft, the joint arms are driven by a transmission mechanism, and the head joint arm input shaft drives the transmission mechanism to operate.

Description

Bionic mechanical arm

Technical Field

The invention relates to a bionic mechanical arm, belonging to the field of robots.

Background

The mechanical arm is a robot simulating a human hand and an arm, and is a tool device for intelligent manufacturing instead of human power after the modern industry is developed to the utmost extent. The mechanical arm has the advantages of stable production speed, constant quality of processed products and all-weather work.

The mechanical arm is widely applied to the fields of automobile manufacturing, metallurgy, automatic welding and the like in China. At present, the mechanical arm mainly works through hydraulic drive and motor drive, and a part of grippers adopt a pneumatic mode, and each gripper has advantages and disadvantages.

The hydraulic drive has the advantage of large force, is suitable for large-scale mechanical arms, is applied more in heavy equipment manufacturing enterprises, but needs pump station drive and oil way laying, and the whole system is overstaffed. After long-time use, the oil leakage condition exists, and the influence on the workshop environment is large.

The motor drive requires that a motor is additionally arranged at each joint conversion part, so that the requirements on the power and the volume of the motor are high, and the problems of high overall cost and high quality of the mechanical arm are caused. The structure is relatively complex, and once the fault occurs, the maintenance is difficult.

At present, a mechanical arm driven by partial transmission fibers mainly is in a theoretical stage, and the mechanical arm driven by the existing transmission fibers has the following problems:

1. the operation flexibility is low, the swing direction around can not be freely realized, and the requirement of flexible manufacturing at present can not be met.

2. The overall control precision is low, the stretching position and the grabbing force are often not well controlled due to too much variable, for example, the arm is completely bent and the grabbing force of the grab cannot be simultaneously and accurately controlled

Disclosure of Invention

In order to solve the technical problems, the invention provides the bionic mechanical arm which is flexible in action and operation, light in structure and widely applicable to the current production and manufacturing.

In order to achieve the technical purpose, the technical scheme provided by the invention is as follows:

a biomimetic mechanical arm comprising: the articulated arm comprises a plurality of base, articulated arms and a grabbing piece, wherein the articulated arms are sequentially articulated, the articulated arms are a first articulated arm, a second articulated arm … … n-level articulated arm and a last articulated arm from front to back, the base is movably connected with the first articulated arm, and the grabbing piece is articulated with the last articulated arm; the base is provided with an output main shaft, the output main shaft is connected with a head joint arm input shaft, the joint arms are driven by a transmission mechanism, and the head joint arm input shaft drives the transmission mechanism to operate.

The transmission mechanism includes: the device comprises a power shaft, a reel, a clutch, a wire locking device and a transmission fiber; the power shaft, the reel wheels and the clutch pieces are arranged in the first joint arm, the power shaft is horizontally arranged, the power shaft is connected with the output main shaft, the power shaft is provided with a plurality of reel wheels and a plurality of clutch pieces, the reel wheels correspond to the clutch pieces one to one, the clutch pieces are used for connecting the power shaft and the reel wheels, each joint arm is provided with a wire locker, each reel wheel is fixedly provided with a transmission fiber, the other end of each transmission fiber penetrates through the plurality of joint arms and then is fixedly connected with the corresponding wire locker, and at least four wire lockers are arranged on the upper portion of each joint arm.

The power shaft is integrally of a rod-shaped structure and comprises a main shaft and a plurality of tooth groups fixed on the main shaft; the tooth group is a plurality of ribs with parallel main shaft axes, an installation gap exists between adjacent tooth groups, a reel is fixed at the position of the installation gap, and the reel is connected with the power shaft through a bearing.

The clutch member includes: the friction plate, the compression spring and the toggle assembly; the friction disc center is provided with the through-hole, and the through-hole inner circle is provided with the open slot with tooth group looks meshing, compression spring sets up in the open slot and is located between tooth group end and the open slot end, friction disc one side still is provided with stirs the subassembly, it is used for promoting the friction disc and the laminating of reel to stir the subassembly.

The toggle assembly comprises: the device comprises an electric push rod, a support point and a toggle roller; the support device is characterized in that a support part parallel to the power shaft is arranged on one side of the power shaft, a plurality of support accessories are arranged on the support part, the support accessories correspond to the friction plates one to one, a support accessory is arranged on one side of each friction plate, a support point is arranged on each support accessory, the middle of each support rod is hinged to the corresponding support accessory through the support point, one end of each support rod is hinged to the corresponding electric push rod, a stirring roller is arranged at the other end of each support rod, and the stirring roller rotates after being attached to the corresponding friction plate.

The grasping piece includes: a grabbing seat and grabbing fingers; the grabbing device is characterized in that a plurality of groups of grabbing fingers are hinged to the grabbing seat, each grabbing finger comprises three finger joints hinged in sequence, each finger joint is a straight rod, finger transmission fibers are arranged on the upper side and the lower side of each grabbing finger respectively, the tail ends of the finger transmission fibers are fixedly connected with the tip ends of the grabbing fingers, and the other ends of the finger transmission fibers extend into the joint arms from the grabbing seat and then are fixedly connected with corresponding hinge wheels.

The knuckle hinged part is provided with a pulley, and the finger transmission fiber is arranged in the corresponding pulley clamping groove.

And adjacent joint arms are connected through a universal shaft.

The output main shaft is connected with the input shaft through a second-stage friction plate.

The first-stage friction piece comprises an arc-shaped friction plate, a transmission shell and a transmission push rod, the transmission shell is of an annular structure, the transmission shell is fixedly connected with the lower end of the first-stage joint arm, a plurality of transmission push rods are fixed in the transmission shell, the transmission push rods are electric push rods, the arc-shaped friction plate is fixed on a piston rod of each transmission push rod, the arc-shaped friction plate is matched with the rotation shell and the first-stage joint arm, and the transmission push rod extends to form a trend that the arc-shaped friction plate tightly holds the rotation shell and the first-stage joint arm.

The second grade friction disc includes: second grade transmission shell, clutch blocks and micro motor, second grade transmission shell are fixed in the input shaft lower extreme, second grade transmission shell internal fixation has at least three micro motor, is provided with at least one clutch blocks on every micro motor output shaft, micro motor output shaft rotates and promotes the reciprocating motion of clutch blocks, is provided with the output main shaft in the middle of a plurality of clutch blocks, and a plurality of clutch blocks are close to the trend that forms and hold output main shaft tightly.

The bionic mechanical arm further comprises a plurality of fisheye bearings, and fisheye bearings are arranged at the hinged positions between the joint arms and the connecting positions of the joint arms and the grabbing seats.

When the transmission fiber enters another adjacent articulated arm from one articulated arm, the transmission fiber passes through the center of the fisheye bearing.

The fisheye bearing comprises: outer lane, inner circle, ball frame and slip ball, the fisheye bearing is outer lane, ball frame, inner circle and slip ball from outer to interior in proper order, the outer lane has the inner wall cross-section and is the pitch arc, inner circle outer wall cross-section is the pitch arc that suits with the outer lane, the ball frame includes the support of ball and restriction ball, the ball is contradicted simultaneously with outer lane inner wall and inner circle outer wall, outer lane inner wall both ends and inner circle outer wall both ends all are provided with the protruding reason that prevents the ball frame and drop, inner circle side end face has the slope contained angle with outer lane side end face, be provided with the dead slot of a plurality of slip balls of installation on the inner circle inner wall, just the relative dead slot of slip ball rotates.

The fisheye bearing comprises: the minimum distance between adjacent sliding balls is less than the diameter of the drive fiber.

Compared with the prior art, the invention has the following beneficial effects:

the invention adopts the transmission mechanism to drive and operate, can greatly reduce the overall quality of the equipment, does not need to install a hydraulic power system in a field, and greatly reduces the cost of the equipment; in addition, the invention can grasp large and high-quality workpieces, is related to the load bearing of the whole structure and the tension limit of the transmission fiber, and can adapt to the production of a plurality of heavy manufacturing enterprises.

The invention adopts a transmission mechanism, can freely control the work of the closing arm and the grabbing piece through the wire locking device and the clutch piece, is stable and kept, has relatively flexible operation, relatively accurate control on each part and can meet the production requirements of modern enterprises.

The gear shifting module is adopted, so that the degree of freedom of the mechanical arm is further improved, free steering in a workshop is facilitated, and the adaptability is improved.

The fisheye bearing is adopted, so that when the articulated arms steer, the steering can be carried out simultaneously under the condition that the transmission fibers are restrained, the problem of hard friction does not exist, and the fisheye bearing is very suitable for assisting the operation of the transmission fibers when the articulated arms steer.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

FIG. 2 is an enlarged view of A of FIG. 1 according to the present invention.

FIG. 3 is a schematic view of the internal structure of the present invention.

FIG. 4 is an enlarged view of B in FIG. 3 according to the present invention.

FIG. 5 is an enlarged view of C in FIG. 3 according to the present invention.

FIG. 6 is a schematic cross-sectional view of D-D of FIG. 3 according to the present invention.

FIG. 7 is a schematic cross-sectional view of E-E of FIG. 3 according to the present invention.

FIG. 8 is a schematic view of the internal structure of the base of the present invention.

FIG. 9 is a schematic view of the engagement between the power shaft and the friction plate according to the present invention.

FIG. 10 is a schematic view of the internal structure of the second friction plate according to the present invention.

FIG. 11 is a schematic cross-sectional view of a secondary transmission housing of a secondary friction plate according to the present invention.

FIG. 12 is a schematic view of the friction block structure of the second friction plate of the present invention.

FIG. 13 is a side view of a secondary friction plate friction block of the present invention.

Fig. 14 is a schematic structural diagram of the inner ring of the fisheye bearing of the invention.

FIG. 15 is a schematic view of a snap ring structure of the fisheye bearing of the present invention.

In the figure: the device comprises a base 1, ajoint arm 2, a grabbingpart 3, a fisheye bearing 4, asecondary friction plate 21, a grabbing seat 31, a grabbing finger 32, apower shaft 51, areel 52, aclutch part 53, awire locking device 54,transmission fibers 55, atooth group 511, afriction plate 531, acompression spring 532, atoggle assembly 533, anopen slot 534, anelectric push rod 5331, asupport rod 5332, asupport point 5333 and atoggle roller 5334.

Detailed Description

For a further understanding of the invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings and examples:

as shown in fig. 1 to 15: the bionic mechanical arm comprises: the grabbing device comprises a base 1, threejoint arms 2 and grabbingpieces 3, wherein the threejoint arms 2 are sequentially hinged, thejoint arms 2 are tubular structures with openings at two ends, the hingedjoint arms 2 are sequentially a first joint arm, a second joint arm and a last joint arm from front to back, the base 1 is movably connected with the first joint arm, and thegrabbing pieces 3 are hinged with the last joint arm; an output main shaft is arranged on the base 1 and connected with a head joint arm input shaft, thejoint arms 2 are driven by a transmission mechanism, and the head joint arm input shaft drives the transmission mechanism to operate.

The transmission mechanism includes: apower shaft 51, areel 52, aclutch 53, awire locker 54 and atransmission fiber 55; thepower shaft 51, thereel 52 and theclutch 53 are arranged in a head joint arm, thepower shaft 51 is horizontally arranged, thepower shaft 51 is connected with the output spindle, thepower shaft 51 is provided with a plurality ofreels 52 and a plurality ofclutches 53, thereels 52 correspond to theclutches 53 one by one, theclutches 53 are used for connecting thepower shaft 51 and thereels 52, each joint arm is provided with awire locker 54, eachreel 52 is fixed with atransmission fiber 55, the other end of thetransmission fiber 55 penetrates through a plurality ofjoint arms 2 and then is fixedly connected with thecorresponding wire locker 54, and the upper parts of thejoint arms 2 are provided with at least four wire lockers.

The thread locking device is used for fixing the transmission fiber and preventing the transmission fiber from falling off.

A reversing gear set is installed between the transmission mechanism and the output main shaft and comprises a driving gear and four driven gears, the driving gear and the four driven gears are mutually meshed bevel gears, the output main shaft is coaxially and fixedly connected with the driving gear, each driven gear is coaxially and fixedly connected with apower shaft 51 of the transmission mechanism, and the other end of eachpower shaft 51 is connected with a pipe wall bearing of the first articulated arm.

The number of thepulleys 52 is twenty two, wherein twopower shafts 51 are respectively provided with 4pulleys 52, and the other twopower shafts 51 are respectively provided with 7pulleys 52; thepower shafts 51 with the same number ofsheaves 52 mounted are in the same straight line.

Twopulleys 52 connected with one ends of two transmission fibers connected with the thread locking device on the same articulatedarm 2 are positioned on the same straight line and on different transmission mechanisms.

The number of thetransmission fibers 55 is twenty two, each articulatedarm 2 is fixedly connected with fourtransmission fibers 55, and each grabbing finger 32 is fixedly connected with twotransmission fibers 55.

Thepower shaft 51 is of a rod-shaped structure as a whole, and thepower shaft 51 comprises a main shaft and a plurality oftooth groups 511 fixed on the main shaft; thetooth groups 511 are ribs with parallel main shaft axes, an installation gap 512 exists between every twoadjacent tooth groups 511, areel 52 is fixed in the installation gap 512, and thereel 52 is connected with thepower shaft 51 through a bearing.

Theclutch member 53 includes:friction plate 531,compression spring 532 and toggleassembly 533; thefriction disc 531 is provided with a through hole in the center, an inner ring of the through hole is provided with anopen groove 534 engaged with thetooth group 511, thecompression spring 532 is arranged in theopen groove 534 and is located between the end of thetooth group 511 and the end of theopen groove 534, one side of thefriction disc 531 is further provided with atoggle assembly 533, and thetoggle assembly 533 is used for pushing thefriction disc 531 and thereel 52 to be attached.

Thetoggle assembly 533 includes: anelectric push rod 5331, asupport rod 5332, asupport point 5333 and atoggle roller 5334; the support device is characterized in that a support part parallel to thepower shaft 51 is arranged on one side of the power shaft, a plurality of support accessories are arranged on the support part, the support accessories correspond to the friction plates one to one, a support accessory is arranged on one side of each friction plate, asupport point 5333 is arranged on each support accessory, the middle of thesupport rod 5332 is hinged to the support accessories through thesupport point 5333, one end of thesupport rod 5332 is hinged to theelectric push rod 5331, atoggle roller 5334 is arranged at the other end of thesupport rod 5332, and thetoggle roller 5334 rotates after being attached to thefriction plates 531.

Afisheye bearing 4 is fixed on the supporting part above thereel 52, and the transmission fiber on thereel 52 passes through thefisheye bearing 4 to be connected with the corresponding articulatedarm 2 or the grabbingpart 3.

The grippingmember 3 comprises: a gripping seat 31 and gripping fingers 32; the articulated multiunit that has on the seat 31 of snatching snatchs finger 32, snatch finger 32 includes three articulated knuckle in proper order, the knuckle is the straight-bar, both sides respectively are provided with a finger transmission fibre about snatching finger 32, finger transmission fibre end and the fingertip end fixed connection who snatchs finger 32, the hinge wheel fixed connection rather than corresponding behind the finger transmission fibre other end extends to articulatedarm 2 from snatching seat 31.

The knuckle hinged part is provided with a pulley, and the finger transmission fiber is arranged in the corresponding pulley clamping groove.

The adjacentjoint arms 2 are connected through universal shafts or ball joints.

The universal shaft or the ball joint is fixed on thejoint arm 2 through a support, the support is fixed in thejoint arm 2, the center of the support protrudes out of the end face of the joint arm, and the universal shaft or the ball joint is fixed in the center of the support.

The improved hydraulic drive output device is characterized in that a rotating shell is arranged at the upper end of the base 1, a speed reducer is arranged between the rotating shell and the output spindle, a thrust bearing is arranged between the upper end face of the rotating shell and the lower end face of the first joint arm, a first-stage friction plate for driving the rotating shell and the first joint arm is arranged at the lower end of the rotating shell and the lower end of the first joint arm, and the output spindle is connected with the input shaft through a second-stage friction plate 21.

The reduction gear adopts the planet wheel reduction gear, the planet wheel reduction gear includes: the outer shell is fixed with the base 1, an output spindle is arranged above the central wheel, a through hole for penetrating the output spindle is formed in the middle of the planet wheel support, and the planet wheel support is further fixedly connected with the rotating outer shell.

The first-stage friction piece comprises an arc-shaped friction plate, a transmission shell and a transmission push rod, the transmission shell is of an annular structure, the transmission shell is fixedly connected with the lower end of the first-stage joint arm, a plurality of transmission push rods are fixed in the transmission shell, the transmission push rods are electric push rods, the arc-shaped friction plate is fixed on a piston rod of each transmission push rod, the arc-shaped friction plate is matched with the rotation shell and the first-stage joint arm, and the transmission push rod extends to form a trend that the arc-shaped friction plate tightly holds the rotation shell and the first-stage joint arm.

Thesecondary friction plate 21 includes: second grade transmission shell, clutch blocks and micro motor, second grade transmission shell are fixed in the input shaft lower extreme, second grade transmission shell internal fixation has at least three micro motor, is provided with at least one clutch blocks on every micro motor output shaft, micro motor output shaft rotates and promotes the reciprocating motion of clutch blocks, is provided with the output main shaft in the middle of a plurality of clutch blocks, and a plurality of clutch blocks are close to the trend that forms and hold output main shaft tightly.

The bionic mechanical arm further comprises a plurality offisheye bearings 4, and thefisheye bearings 4 are arranged at the hinged positions between thejoint arms 2 and the connecting positions of thejoint arms 2 and the grabbing seats 31.

When the transmission fiber enters another adjacent joint arm from one joint arm, the transmission fiber passes through the center of thefisheye bearing 4.

Thefisheye bearing 4 comprises: outer lane, inner circle, ball frame and slip ball,fisheye bearing 4 is outer lane, ball frame, inner circle and slip ball from outer to interior in proper order, the outer lane has the inner wall cross-section and is the pitch arc, inner circle outer wall cross-section is the pitch arc that suits with the outer lane, the ball frame includes the support of ball and restriction ball, the ball is contradicted simultaneously with outer lane inner wall and inner circle outer wall, outer lane inner wall both ends and inner circle outer wall both ends all are provided with the protruding reason that prevents the ball frame and drop, inner circle side end face has the slope contained angle with outer lane side end face, be provided with the dead slot of a plurality of slip balls of installation on the inner circle inner wall, just the relative dead slot of slip ball rotates.

Thefisheye bearing 4 comprises: the minimum distance between adjacent sliding balls is less than the diameter of the drive fiber.

The empty groove is an open groove from one side of the inner ring to the middle of the inner ring, the maximum width of the empty groove is matched with the diameter of the sliding ball, the width of an opening at the upper end of the empty groove is smaller than the diameter of the sliding ball, and the sliding ball is arranged in the empty groove and rotates relatively.

And an annular groove is formed in the inner wall of the inner ring and at the position overlapped with the empty groove.

Fisheye bearing 4 still includes the snap ring, be provided with a plurality of archs on the snap ring, the snap ring suits with ring channel and a plurality of dead slots, and a plurality of archs one-to-one set up in a plurality of dead slots, just the relative inner circle of slip ball in the dead slot or snap ring rotate.

The transmission fiber is Kevlar or a steel wire rope.

The specific operation mode of the invention is as follows:

when the first joint arm is required to rotate, an electric push rod of the first-stage friction plate is started to hold the rotating outer shell and the first joint arm tightly through the arc-shaped friction plate, meanwhile, the second-stage friction plate 21 loosens the output main shaft, and a planet wheel support of the speed reducer drives the rotating outer shell to rotate, so that the first joint arm rotates;

the first joint arm is required to stop running, the first-stage friction plate loosens the rotating shell and the first joint arm, the second-stage friction plate 21 holds the output spindle tightly, the output spindle drives thepower shaft 51 to rotate, theelectric push rod 5331 is controlled by the main control module to realize the attachment of thefriction plate 531 and thereel 52, and then the correspondingreel 52 rotates, the angle of the joint arm is adjusted through the pulling of transmission fibers, and because the tworeels 52 connected with one ends of two transmission fibers connected with a thread locker on the samejoint arm 2 are positioned on the same straight line and different transmission mechanisms, when thejoint arm 2 inclines, the two opposite transmission fibers are in a state of loosening and tensioning, the swing of thejoint arm 2 is realized, and the swing of thejoint arm 2 in multiple directions can be realized through the pulling of a plurality of transmission fibers;

the grabbingpiece 3 realizes bending and straightening of a single finger by dragging the finger transmission fibers on the upper side and the lower side, so that the action of a human hand is simulated.

The invention greatly reduces the volume of the traditional mechanical arm and reduces the manufacturing cost by utilizing the combination mode of multiple twisting wheels and multiple clutches. The mechanical arm multi-joint simultaneous issuing of a plurality of instructions can be executed simultaneously, and the micro size creates more possibilities for the wearable mechanical exoskeleton.

The above embodiments are merely illustrative of the principles of the present invention and its effects, and do not limit the present invention. It will be apparent to those skilled in the art that modifications and improvements can be made to the above-described embodiments without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications or changes be made by those skilled in the art without departing from the spirit and technical spirit of the present invention, and be covered by the claims of the present invention.

Claims (10)

1. A biomimetic mechanical arm comprising: the automatic grabbing device comprises a base (1), a plurality of joint arms (2) and grabbing pieces (3), wherein the joint arms (2) are sequentially hinged, the hinged joint arms (2) sequentially comprise a head joint arm, a second-stage joint arm … … n-stage joint arm and a tail joint arm from front to back, the base (1) is movably connected with the head joint arm, and the grabbing pieces (3) are hinged with the tail joint arm; the method is characterized in that: an output main shaft is arranged on the base (1), the output main shaft is connected with a head joint arm input shaft, the joint arms (2) are driven by a transmission mechanism, and the head joint arm input shaft drives the transmission mechanism to operate.

2. The biomimetic robotic arm of claim 1, wherein: the transmission mechanism includes: a power shaft (51), a reel (52), a clutch (53), a wire locking device (54) and a transmission fiber (55); the power shaft (51), the reel (52) and the clutch (53) are arranged in a head joint arm, the power shaft (51) is horizontally arranged, the power shaft (51) is connected with the output main shaft, the power shaft (51) is provided with a plurality of reels (52) and a plurality of clutches (53), the reels (52) correspond to the clutches (53) one by one, the clutches (53) are used for connecting the power shaft (51) and the reels (52), each joint arm is provided with a thread locking device (54), each reel (52) is fixedly provided with a transmission fiber (55), the other end of each transmission fiber (55) is fixedly connected with the corresponding thread locking device (54), and at least four thread locking devices are arranged on the upper portion of the joint arm (2).

3. The biomimetic robotic arm of claim 2, wherein: the power shaft (51) is integrally of a rod-shaped structure, and the power shaft (51) comprises a main shaft and a plurality of tooth groups (511) fixed on the main shaft; the tooth group (511) is a plurality of ribs with axes parallel to each other, an installation gap (512) exists between every two adjacent tooth groups (511), a reel (52) is fixed in the position of the installation gap (512), and the reel (52) is connected with the power shaft (51) through a bearing.

4. The biomimetic robotic arm of claim 3, wherein: the clutch member (53) includes: the friction plate (531), the compression spring (532) and the toggle assembly (533); friction disc (531) center is provided with the through-hole, and the through-hole inner circle is provided with open slot (534) with tooth group (511) looks meshing, compression spring (532) set up in open slot (534) and lie in between tooth group (511) end and open slot (534) end, friction disc (531) one side still is provided with and stirs subassembly (533), it is used for promoting friction disc (531) and takes turns (52) laminating to stir subassembly (533).

5. The biomimetic robotic arm of claim 4, wherein: the toggle assembly (533) comprises: the device comprises an electric push rod (5331), a support rod (5332), a support point (5333) and a toggle roller (5334); the power shaft (51) one side is provided with rather than parallel support, be provided with a plurality of support accessories on the support, support accessory and friction disc one-to-one, every friction disc one side all is provided with supports the accessory, support and be provided with strong point (5333) on the accessory, bracing piece (5332) middle part is articulated through strong point (5333) and support accessory, bracing piece (5332) one end is articulated with electric putter (5331), the bracing piece (5332) other end is provided with toggle roller (5334), toggle roller (5334) rotates with friction disc (531) laminating back.

6. The biomimetic robotic arm of claim 5, wherein: the gripping member (3) comprises: a gripping seat (31) and gripping fingers (32); the articulated finger (32) of having the multiunit of snatching on snatching seat (31), it includes three articulated knuckle in proper order to snatch finger (32), the knuckle is the straight-bar, both sides respectively are provided with a finger transmission fibre about snatching finger (32), finger transmission fibre end and the fingertip end fixed connection who snatchs finger (32), the hank wheel fixed connection who corresponds rather than back in the finger transmission fibre other end extends to articulated arm (2) from snatching seat (31).

7. The biomimetic robotic arm of claim 6, wherein: the improved hydraulic drive mechanism is characterized in that a rotating shell is arranged at the upper end of the base (1), a speed reducer is arranged between the rotating shell and the output spindle, a thrust bearing is arranged between the upper end face of the rotating shell and the lower end face of the first joint arm, a first-stage friction plate for driving the rotating shell and the first joint arm is arranged at the lower end of the rotating shell and the lower end of the first joint arm, and the output spindle is connected with the input shaft through a second-stage friction plate (21).

8. The biomimetic robotic arm of claim 7, wherein: the bionic mechanical arm further comprises a plurality of fisheye bearings (4), and the fisheye bearings (4) are arranged at the positions where the joint arms (2) are hinged and the joint arms (2) are connected with the grabbing seat (31).

9. The biomimetic robotic arm of claim 8, wherein: the fisheye bearing (4) comprises: outer lane, inner circle, ball frame and slip ball, fisheye bearing (4) are outer lane, ball frame, inner circle and slip ball from outer to interior in proper order, the outer lane has the inner wall cross-section and is the pitch arc, inner circle outer wall cross-section is the pitch arc that suits with the outer lane, the ball frame includes the support of ball and restriction ball, the ball is contradicted simultaneously with outer lane inner wall and inner circle outer wall, outer lane inner wall both ends and inner circle outer wall both ends all are provided with the flange that prevents the ball frame and drop, inner circle side end face has the slope contained angle with outer lane side end face, be provided with the dead slot of a plurality of slip balls of installation on the inner circle inner wall, just the relative dead slot of slip ball rotates.

10. The biomimetic robotic arm of claim 9, wherein: the fisheye bearing (4) comprises: the minimum distance between adjacent sliding balls is less than the diameter of the drive fiber.

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