阅读说明：本技术 柔性伸缩器件及机械臂 (Flexible telescopic device and mechanical arm ) 是由 冯雪 唐瑞涛 刘兰兰 付浩然 陆方圆 于 2019-12-05 设计创作，主要内容包括：本发明的柔性伸缩器件及机械臂,其中所述柔性伸缩器件包括柔性管部、导气部以及开设有空气通道的端头部,通过所述导气部向所述柔性管部通气或者从所述柔性管部抽气,所述柔性管部能够响应于通气或者抽气而伸缩,所述端头部通过所述空气通道内的气压变化而抓取或者释放目标物。本发明整体结构简单,体积小,具有对目标物取放速度快,抓取距离远的功能,同时该柔性伸缩器件的使用范围广。(The flexible telescopic device comprises a flexible pipe part, an air guide part and an end head part provided with an air channel, wherein the air guide part is used for ventilating the flexible pipe part or exhausting air from the flexible pipe part, the flexible pipe part can be stretched and contracted in response to the ventilation or the air exhausting, and the end head part grabs or releases a target object through the change of air pressure in the air channel. The flexible telescopic device has the advantages of simple integral structure, small volume, high speed of taking and placing the target object and long grabbing distance, and meanwhile, the flexible telescopic device has wide application range.)

1. A flexible telescopic device characterized in that: comprises a flexible pipe part, an air guide part and an end head part provided with an air channel; the air guide portion is connected to one end of the flexible pipe portion, the end head portion is connected to the other end of the flexible pipe portion, the air guide portion can ventilate or exhaust air from the flexible pipe portion, the flexible pipe portion can stretch out and draw back in response to ventilation or air exhaust, the flexible pipe portion is communicated with the outside through the air channel, and the end head portion grabs or releases a target object through air pressure change in the air channel.

2. The flexible retractor device of claim 1 wherein: the end head part comprises an opening and closing control part and a flexible grabbing part, an air channel is formed in the flexible grabbing part, the opening and closing control part is arranged on one side, close to the flexible pipe part, of the flexible grabbing part, and the opening and closing control part can be opened or closed along with air pressure change in the flexible pipe part so as to control the on-off of the air channel and the flexible pipe part.

3. A flexible telescopic device according to claim 2, characterized in that: the opening and closing control part comprises a plurality of opening and closing pieces, an elastic part is connected between the plurality of opening and closing pieces, and the elastic part can drive the plurality of opening and closing pieces to be folded so as to disconnect a passage communicated between the air channel and the flexible pipe part.

4. A flexible telescopic device according to claim 3, characterized in that: and a shifting sheet is arranged on one side of each opening and closing sheet facing the air guide part, and the air communicated by the air guide part to the flexible pipe part can act on the shifting sheet so as to enable the plurality of opening and closing sheets to move away from each other.

5. The flexible retractor device of claim 4 wherein: the poking pieces are of arc-shaped structures and are arranged concentrically.

6. A flexible telescopic device according to claim 4 or 5, characterized in that: the shifting sheet is convexly arranged on the surface of one side, facing the air guide part, of the opening and closing sheet, and the protruding direction of the shifting sheet is arranged in an inclined manner relative to the central axis of the air guide tube.

7. A flexible telescopic device according to claim 3, characterized in that: the number of the opening and closing sheets is two; and/or the number of the elastic pieces is two.

8. A flexible telescopic device according to claim 3, characterized in that: the flexible pipe part is provided with a plurality of extending convex parts corresponding to the opening and closing sheets, the opening and closing sheets are fixedly connected to the corresponding extending convex parts, and the flexible grabbing piece is fixedly connected between the extending convex parts.

9. A flexible telescopic device according to claim 3, characterized in that: the flexible grabbing piece abuts against the opening and closing pieces, wherein the end face of one side, far away from the opening and closing pieces, of the flexible grabbing piece is a concave-convex face.

10. The flexible retractor device of claim 1 wherein: the air guide part comprises an air guide pipe and a vacuum pipe, the air guide pipe is sleeved on the outer wall of the vacuum pipe and extends into the flexible pipe part, the air guide pipe can ventilate the flexible pipe part, and the vacuum pipe can exhaust air from the flexible pipe part.

11. The flexible retractor device of claim 10 wherein: the number of the air guide pipes is multiple, and a gap is formed between every two adjacent air guide pipes; and/or a through groove communicated with the gap is formed in the pipe wall of the vacuum pipe.

12. A robotic arm, characterized by: the flexible telescopic device comprises a flexible telescopic device, and a high-pressure pump and a vacuum pump which are connected with and communicated with the flexible telescopic device, wherein the flexible telescopic device is as claimed in any one of claims 1 to 11.

Technical Field

The invention belongs to the technical field related to mechanical transmission, and particularly relates to a flexible telescopic device and a mechanical arm.

Background

With the development of economy and the progress of technology, the production intelligence is realized by using a robot to replace manpower, which is an important reason for improving the production efficiency. In order to realize effective grabbing, the existing mechanical arms are rigid, the movement speed is generally slow, and the grabbing distance of the mechanical arms is limited by the arm length. And because the rigidity characteristic of present manipulator, its whole size of structure is great, and speed of motion and distance are relatively fixed, and the mobility of structure is relatively poor.

In order to solve the technical problems, an ejection type rapid grabbing robot (with an authorization publication number of CN104842359B) provided by the Chinese mainland patent is provided at present, the ejection type rapid grabbing robot generates elastic force through the deformation of a compression spring to realize the ejection of a grabbing mechanism of the robot, the grabbing mechanism of the robot is retracted through a retraction mechanism, and multidirectional grabbing or obstacle crossing grabbing can be realized by adjusting the ejection direction of a launching mechanism.

The ejection type quick grabbing robot of the scheme has the advantages that quick grabbing and long-distance grabbing functions are achieved to a certain extent, however, kinetic energy of the working process of the scheme is provided by deformation of the compression spring, ejection speed of the gripper is limited by compression performance of the spring, rotation of the idler wheel is depended on when the gripper is retracted, the whole structure is large in size, weight is large, and the use scene is limited. In addition, the robot grabbing is realized by adopting an adhesion grabbing mechanism, the structure can realize grabbing functions, but the grabbed object needs to be manually released, so that the operation is very inconvenient.

Disclosure of Invention

In view of the above, it is necessary to provide a flexible telescopic device and a robot arm for solving the technical problems in the prior art.

The flexible telescopic device comprises a flexible pipe part, an air guide part and an end head part provided with an air channel; the air guide portion is connected to one end of the flexible pipe portion, the end head portion is connected to the other end of the flexible pipe portion, the air guide portion can ventilate or exhaust air from the flexible pipe portion, the flexible pipe portion can stretch out and draw back in response to ventilation or air exhaust, the flexible pipe portion is communicated with the outside through the air channel, and the end head portion grabs or releases a target object through air pressure change in the air channel.

As a preferable scheme of the present invention, the tip portion includes an opening and closing control member and a flexible grasping member, the flexible grasping member is provided with an air passage, the opening and closing control member is disposed on one side of the flexible grasping member close to the flexible tube portion, and the opening and closing control member can be opened or closed along with a change in air pressure in the flexible tube portion to control on/off of the air passage and the flexible tube portion.

As a preferable aspect of the present invention, the opening/closing control member includes a plurality of opening/closing pieces, and an elastic member is connected between the plurality of opening/closing pieces, and the elastic member can drive the plurality of opening/closing pieces to close so as to disconnect a passage communicating between the air passage and the flexible tube portion.

In a preferred embodiment of the present invention, a paddle is provided on a side of each of the shutters facing the air guide, and the air that the air guide passes through the flexible tube portion can act on the paddle to move the shutters apart from each other.

In a preferred embodiment of the present invention, the paddle has an arc-shaped configuration, and the plurality of paddles are concentrically arranged.

As a preferable scheme of the present invention, the poking piece is convexly arranged on a side surface of the opening and closing piece facing the air guide portion, and the protruding direction is arranged to be gradually inclined relative to the central axis of the air guide tube.

As a preferable aspect of the present invention, the number of the opening and closing pieces is two; and/or the number of the elastic pieces is two.

In a preferred embodiment of the present invention, the flexible tube portion is provided with a plurality of extending protrusions corresponding to the opening/closing pieces, the opening/closing pieces are fixedly connected to the corresponding extending protrusions, and the flexible grasping pieces are fixedly connected between the extending protrusions.

As a preferable scheme of the present invention, the flexible grasping member abuts against the plurality of opening and closing pieces, wherein an end surface of the flexible grasping member on a side away from the opening and closing pieces is provided with a concave-convex surface.

As a preferable scheme of the present invention, the air guide portion includes an air guide tube and a vacuum tube, the air guide tube is sleeved on an outer wall of the vacuum tube and extends into the flexible tube portion, the air guide tube can ventilate the flexible tube portion, and the vacuum tube can extract air from the flexible tube portion.

As the preferred scheme of the invention, the number of the air guide pipes is multiple, and a gap is arranged between every two adjacent air guide pipes; and/or a through groove communicated with the gap is formed in the pipe wall of the vacuum pipe.

The invention also provides a mechanical arm, which comprises a flexible telescopic device, and a high-pressure pump and a vacuum pump which are connected and communicated with the flexible telescopic device, wherein the flexible telescopic device is any one of the flexible telescopic devices.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

according to the flexible telescopic device and the mechanical arm provided by the invention, the flexible pipe part, the air guide part and the end head part are reasonably arranged in a structure, so that the flexible telescopic device can utilize the expansion of the flexible pipe part and the air pressure change of an air channel in the flexible pipe part and the end head part to realize the grabbing and releasing of a target object by using the end head part, and further, the functions of high speed and long grabbing distance of the flexible telescopic device on the target object are achieved; meanwhile, the flexible telescopic device is simple in overall structure, small in size, wide in application range and capable of achieving telescopic effect by means of the flexible pipe portion.

Drawings

Fig. 1 is a schematic structural diagram of a flexible telescopic device according to an embodiment of the present invention.

Fig. 2 is an enlarged view of a portion P in fig. 1.

Fig. 3 is a schematic structural view of the flexible telescopic device of fig. 1 when a plurality of opening and closing pieces on the opening and closing control member are closed.

Fig. 4 is a schematic structural view of the flexible telescopic device of fig. 1 when a plurality of opening and closing pieces on the opening and closing control member are closed.

Fig. 5 is a schematic structural view of the flexible telescopic device of fig. 1 when a plurality of opening and closing pieces on the opening and closing control member are closed.

Fig. 6 is a schematic view of the structure of the air guide in the flexible telescopic device of fig. 1.

Fig. 7 is a schematic structural diagram of a vacuum tube in the flexible telescopic device of fig. 1.

10, a flexible pipe part; 11. an extending projection; 20. an air guide part; 21. an air duct; 211. a gap; 22. a vacuum tube; 221. a through groove; 30. an opening and closing control member; 31. an opening and closing sheet; 301. a through hole; 32. an elastic member; 33. a shifting sheet; 40. a flexible grasping member; 41. an air passage; 101. a high pressure pump; 102. a vacuum pump.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 to 7, a flexible telescopic device according to an embodiment of the present invention includes a flexible tube portion 10, an air guide portion 20 and a tip portion, the tip portion is provided with an air channel 41, the air guide portion 20 is connected to one end of the flexible tube portion 10, the tip portion is connected to the other end of the flexible tube portion 10, the air guide portion 20 can ventilate the flexible tube portion 10 or exhaust air from the flexible tube portion 10, and the flexible tube portion 10 can expand and contract in response to the ventilation or the air exhaust; the flexible tube portion 10 communicates with the outside through the air passage 41, and the tip portion grasps or releases an object by a change in air pressure in the air passage 41. Wherein the flexible tube portion 10 is provided as a bellows.

In this embodiment, the tip portion includes an opening and closing control member 30 and a flexible grasping member 40, the flexible grasping member 40 is provided with an air passage 41, the opening and closing control member 30 is disposed on a side of the flexible grasping member 40 close to the flexible tube portion 10, the opening and closing control member 30 can be opened or closed along with the change of the air pressure in the flexible tube portion 10 to control the opening and closing of the air passage 41 and the flexible tube portion 10, and the flexible grasping member 40 grasps or releases the target object through the change of the air pressure in the air passage 41.

Specifically, the open-close control member 30 is opened with the ventilation of the flexible tube portion 10 to communicate the air passage 41 with the flexible tube portion 10; after acting on the target object, the flexible grasping element 40 can deform along with the air suction of the flexible tube portion 10, so that the opening and closing control element 30 keeps the air passage 41 communicated with the flexible tube portion 10 under the deformation action of the flexible grasping element 40, the flexible grasping element 40 can grasp the target object by utilizing the air pressure difference between the inside and the outside of the flexible tube portion 10, and the grasped target object can be retrieved along with the retraction of the flexible tube portion 10. After the flexible grasping member 40 of the present embodiment is applied to the object, the flexible grasping member 40 is sealed in contact with the object.

The opening/closing control member 30 of the present embodiment is provided with a plurality of opening/closing pieces 31, an elastic member 32 is connected between the plurality of opening/closing pieces 31, and the elastic member 32 can drive the plurality of opening/closing pieces 31 to be folded to cut off a path communicating between the air duct 41 and the flexible tube portion 10. That is, in the open/close control member 30 of the present embodiment, the elastic member 32 can drive the plurality of open/close pieces 31 to close and block the communication path between the air passage 41 and the flexible tube portion 10 when the external force is not applied, that is, when the flexible tube 10 is ventilated and acts on the plurality of open/close pieces 31, the gas acting on the open/close pieces 31 can generate the acting force for stretching the elastic member 32, and the flexible grasping member 40 which is deformed can restrict the elastic member 32 from driving the plurality of open/close pieces 31 to close.

Specifically, a shifting piece 33 is provided on one side of each of the opening and closing pieces 31 facing the air guide portion 20, and the gas passing through the air guide portion 20 to the flexible tube portion 10 can act on the shifting piece 33 to move the opening and closing pieces 31 away from each other. That is, when the gas guide 20 introduces high-pressure gas into the flexible tube portion 10, the high-pressure gas introduced into the flexible tube portion 10 can directly act on the shutter 31, and the shutter 31 and the flexible grasping member 40 are driven by the flexibility of the flexible tube portion 10 to be rapidly ejected toward the target object; on the other hand, the gas part acting on the opening and closing sheet 31 can be turned and acts on the shifting sheet 33, and the shifting sheet 33 drives the corresponding opening and closing sheet 31 to move, so that the opening and closing sheets 31 are driven to open.

The paddle 33 has an arc-shaped structure, and the plurality of paddles 33 are arranged concentrically. Preferably, the shifting piece 33 is convexly disposed on a side surface of the opening/closing piece 31 facing the air guide portion 20, and the protruding direction is gradually inclined relative to the central axis of the air guide tube 20, so that the high-pressure air pair acting on the shifting piece 33 can drive the corresponding opening/closing piece 31 to move in a direction away from the central line of the flexible tube portion 10 through the shifting piece 33. It should be noted that the structure of the pick 33 is not limited to that shown in the drawings, and those skilled in the art can set the pick 33 to have a structure with a certain curved surface, even a planar plate-like structure according to the use requirement, and will not be elaborated herein.

In the present embodiment, the number of the opening/closing pieces 31 is two, and/or the number of the elastic members 32 is two, and the two elastic members 32 are provided at positions between the facing surfaces of the two opening/closing pieces 31, specifically, at opposite sides of the two opening/closing pieces 31, thereby improving the stability of the driving action of the elastic members 32 on the opening/closing pieces 31. Wherein the elastic member 32 is preferably a spring. It should be noted that, the number of the opening and closing pieces 31 and the number of the elastic members 32 are not limited to two, and those skilled in the art may set the number of the opening and closing pieces 31 to three, four, or even more according to the use requirement, as long as it is satisfied that when the plurality of opening and closing pieces 31 are folded, an end face for blocking the opening on the flexible tube portion 10 can be formed, and the number of the elastic members 32 may be specifically set according to the use requirement.

Two ends of the two elastic members 32 are respectively connected and fixed with the corresponding opening and closing piece 31 to prevent the elastic members 32 from being separated from the corresponding opening and closing piece 31, the elastic members 32 can be disposed on the portions of the two opening and closing pieces 31 located between the two extending convex portions 11 according to the use requirement, and the two opening and closing pieces 31 are respectively provided with spring grooves for accommodating the elastic members 32, or the two elastic members 32 can be disposed on the portions of the two opening and closing pieces 31 located outside the two extending convex portions 11, which will not be described herein.

In the present embodiment, the flexible tube portion 10 is provided with a plurality of extending convex portions 11 corresponding to the opening/closing pieces 31, the plurality of extending convex portions 11 penetrate the corresponding opening/closing pieces 31, and the flexible grasping member 40 is provided on a portion of the extending convex portions 11 extending out of the opening/closing pieces 31. The plurality of opening and closing pieces 31 can drive the corresponding extending convex parts 11 to open and close, and then the opening and closing pieces 31 can control the on-off of the air channel 41 on the flexible grabbing piece 40 and the flexible tube part 10.

Specifically, the opening/closing plate 31 of the present embodiment is provided with through holes 301, and the extending protrusions 11 penetrate through the corresponding through holes 301 of the opening/closing plate 31, so that the extending protrusions 11 of the flexible tube portion 10 and the opening/closing plate 31 are assembled and connected. The extending convex part 11 and the corresponding hole wall of the through hole 301 on the opening and closing sheet 31 are connected and fixed in a tight fit manner, so that the opening and closing sheet 31 and the extending convex part 11 are connected and fixed.

The outer peripheral wall of the flexible grasping member 40 is provided so as to be bonded to the inner walls of the plurality of extending projections 11, and the extending projections 11 of the flexible tube portion 10 of the present embodiment are specifically formed in an arc-shaped configuration, and accordingly, the cross section of the flexible grasping member 40 is formed in a circular shape so as to bond the flexible grasping member 40 to the portions of the plurality of extending projections 11 extending out of the corresponding opening/closing pieces 31. It should be understood that each of the extending protrusions 11 is not limited to be configured as an arc, and those skilled in the art can configure each of the extending protrusions 11 as a straight bar structure or other irregular shapes according to the use requirement.

As can be seen from the above, after the flexible grasping element 40 acts on a target object, the flexible grasping element 40 can deform along with air suction of the flexible tube portion 10, the deformed flexible grasping element 40 can specifically limit the automatic folding of the shutter 31 under the driving of the elastic element 32 through deformation after squeezing and expanding the extending convex portions 11, and the deformed flexible grasping element 40 can realize the tight fit between the flexible grasping element 40 and the extending convex portions 11, so that when the flexible tube portion 10 is evacuated, the flexible grasping element 40 can rapidly retract along with the flexible tube portion 10 through squeezing and expanding between the flexible grasping element 40 and the extending convex portions 11. The flexible grasping element 40 may be an elastic rubber sleeve, and the air channel 41 penetrates through the elastic rubber sleeve.

The flexible grabbing piece 40 of the embodiment abuts against the plurality of opening and closing pieces 31, wherein one end face, far away from the opening and closing pieces 31, of the flexible grabbing piece 40 is designed to be a concave-convex face, so that the fitting degree of the flexible grabbing piece 40 and a target object in mutual contact is improved, the flexible grabbing piece acting on the target object is ensured to be fitted and sealed with the target object, and the grabbing effect of the flexible telescopic device on the target object in working is further ensured.

Further, the flexible grasping element 40 partially protrudes outward relative to the plurality of extending protrusions 11, so that when the flexible grasping element 40 moves along with the flexible tube portion 10, the flexible grasping element 40 comes into contact with the target object first, thereby further improving the degree of fitting when the flexible grasping element 40 comes into contact with the target object.

The gas guide portion 20 of the present embodiment is used to introduce high-pressure gas into the flexible tube portion 10, so that the gas introduced into the flexible tube portion 10 directly acts on the shutter 31, and the flexible tube portion 10 is driven to extend rapidly, so that the tip portion is ejected rapidly; in addition, the air guide part 20 can also extract air from the flexible tube part 10, so that the flexible tube part 10 is driven to contract rapidly by vacuumizing the flexible tube part 10, and the flexible telescopic device can be driven to move telescopically when in work. The air guide 20 also supports the flexible tube portion 10 in the contracted state, and prevents the flexible tube portion 10 in the contracted state from sagging due to the force of gravity.

It can be understood that the different amounts of high-pressure gas introduced into the flexible tube portion 10 by the gas guide portion 20 can correspond to different elongation amounts of the flexible tube portion 10, so that when the flexible telescopic device of the present embodiment is in operation, the different amounts of high-pressure gas introduced into the flexible tube portion 10 by the gas guide portion 20 can be controlled according to different distances between the flexible grasping member 40 on the flexible telescopic device and the target object, so as to ensure that the flexible tube portion 10 can drive the flexible grasping member 40 to act on the target object.

In this embodiment, the airway portion 20 includes an airway tube 21 and a vacuum tube 22, and the airway tube 21 is sleeved on the outer wall of the vacuum tube 22 and extends into the flexible tube portion 10, so as to support the airway tube 21 by the vacuum tube 22; the air duct 21 can ventilate the flexible tube part 10, so that the flexible tube part 10 can be driven to extend rapidly; the vacuum tube 22 is capable of evacuating air from the flexible tube portion 10, thereby effecting actuation of the rapid contraction of the flexible tube portion 10. It is to be noted, of course, that the length of the air guide 20 extending into the flexible tube portion 10 is equal to the length of the flexible tube portion 10 after it has been retracted in response to the air being drawn through the air guide 20, thereby ensuring that the air guide 20 is again vented to act directly on the tip portion.

In the embodiment, the number of the air guide tubes 21 is multiple, and a gap 211 is arranged between every two adjacent air guide tubes 21; and/or, a through groove 221 communicated with the gap 211 is formed on the tube wall of the vacuum tube 22, so that the flexible telescopic device of the present embodiment can perform air suction on the flexible tube portion 10 through the vacuum tube 22, and can perform air suction through the through groove 221 on the vacuum tube 22, thereby improving the efficiency of vacuum-pumping on the flexible tube portion 10, and thus realizing rapid contraction of the flexible tube portion 10.

Furthermore, the number of the air ducts 21 is two, and the two air ducts 21 are sleeved on the outer wall of the vacuum tube 22 and extend into the flexible tube portion 10, so that the efficiency of introducing high-pressure gas into the flexible tube portion 10 is improved.

As a preferable aspect of the present invention, the outer wall of the flexible tube portion 10 of the present embodiment may be further provided with a sensor for detecting the ejection speed of the tip portion and the extension length of the flexible tube portion 10 when the flexible tube portion 10 is expanded and contracted, thereby playing a role of signal feedback. Wherein the sensor is arranged in an undeformed portion of the flexible tubing portion 10 to prevent the sensor from being affected by the telescoping of the flexible tubing portion 10.

As can be seen from the above, in the initial state of the flexible telescopic device of the present embodiment, the two opening and closing pieces 31 are closed by the elastic member 32 to seal the opening of the flexible tube portion 10, and the air guide portion 20 is used to vacuumize the flexible tube portion 10 to tightly stack the flexible tube portions 10 together, and at this time, the opening and closing pieces 31 are disposed near the air outlet of the air guide portion 20. When the flexible telescopic device works, the air guide part 20 introduces high-pressure air into the flexible tube part 10 and acts on the opening and closing sheets 31, on one hand, the two opening and closing sheets 31 can be opened through the poking sheet 33, so that the air channel 41 of the flexible grabbing part 40 is communicated with the flexible tube part 10; on the other hand, the opening/closing piece 31 and the flexible grasping piece 40 can be rapidly ejected toward the object by utilizing the flexibility of the flexible tube portion 10. When the flexible grabbing piece 40 is attached to an object after reaching the object, the air guide part 20 is used for quickly pumping air to the flexible tube part 10, the object is sucked by utilizing the air pressure difference between the inside and the outside of the flexible tube part 10, the flexible tube part 10 is quickly contracted along with the increase of the vacuum degree in the flexible tube part 10 so as to grab the object, in the process, the flexible grabbing piece 40 is deformed under the action of the suction force, and the deformed flexible grabbing piece 40 can prevent the opening and closing piece 31 from being reset under the driving of the elastic piece 32, so that the opening and closing piece 31 cannot be closed; when the target object is grabbed to the initial position, the air guide part 20 stops pumping air to the flexible pipe part 10 and releases the vacuumizing of the flexible pipe part 10, so that the flexible pipe part 10 is communicated with external atmospheric pressure, the flexible grabbing part 40 is separated from attracting the target object and releases the target object, at the moment, the flexible grabbing part 40 does not deform any more and releases the limit of no folding of the opening and closing pieces 31, the opening and closing pieces 31 are folded again under the action of the elastic part 32, and the effect of taking and placing the target object completely at one time by the operation of the flexible telescopic device is further realized.

The mechanical arm claimed by the invention comprises the flexible telescopic device, a high-pressure pump 101 and a vacuum pump 102 which are used for providing power for the flexible telescopic device, so that the flexible pipe part 10 on the flexible telescopic device can realize rapid telescopic under the matching drive of the high-pressure pump 101 and the vacuum pump 102, wherein the elongated flexible pipe part 10 can utilize the air pressure difference between the inside and the outside of the flexible pipe part 10, suck a target object by using the flexible grabbing part 40, bring the target object back along with the contraction of the flexible pipe part 10, and then automatically release the target object. It should be noted that, when the flexible telescopic device of the present embodiment works, the air guide portion 20 is specifically used to introduce high-pressure air into the flexible tube portion 10, and air suction from the flexible tube portion 10 can also be realized by using the air guide portion 20, specifically, a cavity having a cavity is connected to one end of the air guide portion 20 extending out of the flexible tube portion 10, and the high-pressure pump 101 and the vacuum pump 102 are respectively connected and communicated with the cavity.

As a preferred embodiment of the present invention, the gas guide 20 of the present embodiment includes a gas guide tube 21 and a vacuum tube 22, the gas guide tube 21 is connected to and communicated with the high-pressure pump 101, and the vacuum tube 22 is connected to and communicated with the vacuum pump 102. The high-pressure pump 101 can ventilate the flexible tube part 10 through the air duct 21, so as to drive the flexible tube part 10 to extend rapidly; the vacuum pump 102 can draw air from the flexible tube portion 10 through the vacuum tube 22, so as to drive the flexible tube portion 10 to shrink rapidly.

In summary, the flexible telescopic device and the mechanical arm provided by the invention have reasonable structural arrangement of the flexible pipe part, the air guide part and the end head part, so that the flexible telescopic device can utilize the expansion of the flexible pipe part and the air pressure change of the air channel in the flexible pipe part and the end head part to realize the grabbing and releasing of the end head part on a target object, and further achieve the functions of fast taking and placing speed and long grabbing distance of the flexible telescopic device on the target object; meanwhile, the flexible telescopic device is simple in overall structure, small in size, wide in application range and capable of achieving telescopic effect by means of the flexible pipe portion.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.