CN214352432U

CN214352432U - Telescopic bionic outer limb mechanical arm

Info

Publication number: CN214352432U
Application number: CN202023121159.9U
Authority: CN
Inventors: 刘金国; 张晓波; 赵新刚
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-10-08
Anticipated expiration: 2030-12-23

Abstract

The utility model relates to a bionical outer limb machinery arm of telescopic, wherein the shoulder joint module includes connecting rod post and a plurality of shoulder joint servo motor, the servo steering wheel of elbow joint in the elbow joint module with the connecting rod post links firmly, and the integrated connecting rod of elbow joint passes through the servo steering wheel drive swing of elbow joint, the servo steering wheel of telescopic joint in the telescopic joint module with the integrated connecting rod of elbow joint links firmly, and the lead screw passes through the servo steering wheel drive rotation of telescopic joint, and the urceolus sets firmly in the servo steering wheel lower extreme of telescopic joint, and interior pole cartridge just inside is equipped with the nut suit on the lead screw in the urceolus, the servo steering wheel of first wrist joint in wrist joint and the end effector module with interior pole connection, the integrated connecting rod of wrist joint through the servo wrist joint drive swing of first wrist joint and drive the servo steering wheel swing of second wrist joint, end effector passes through the servo steering wheel drive rotation of second wrist joint. The utility model discloses degree of freedom and configuration are based on bionical theory and introduce flexible degree of freedom, and the operation is nimble, and the operation space is big.

Description

Telescopic bionic outer limb mechanical arm

Technical Field

The utility model belongs to the technical field of the wearable robot and specifically relates to a bionical outer limb mechanical arm of telescopic.

Background

With the continuous development of the robot technology, the relation between the robot and the human is more and more close in the future, and the wearable robot belongs to the robot. Wearable robots are currently mainly divided into three types: exoskeleton robots, human prosthetic robots, and exoskeleton robots. The exoskeleton robot and the human body prosthesis robot have a lot of research results at present, and the exoskeleton robot belongs to a new research field and is still in a starting stage.

Three robots differ: the exoskeleton robot is mainly used for assisting a human body, enhancing the strength of upper limbs or lower limbs of the human body and realizing the dream of four-dialing and two-dialing jacks; the human body artificial limb robot is mainly used for disabled people with limb loss to help the disabled people live as normal people; the outer limb robot belongs to an additional robot as the name implies, and a normal person can own additional upper limbs and lower limbs through a bearing device, just like a person who owns a plurality of limbs. After the outer limb is carried on the back, the outer limb can help people to complete work tasks which cannot be completed by a plurality of ordinary people or can be completed by cooperation of a plurality of people. For example, in the agricultural field, the outer limb can help farmers who often bend down and kneel down to support their bodies, the abrasion of waist and knee bones is reduced, the operation comfort level is improved, in the industrial field, the outer limb can help the workers to support workpieces, the workers complete the operation tasks of screwing screws and the like by utilizing the limbs of the workers, the work efficiency is improved, the personnel allocation is reduced, in the military field, the outer limb can independently support gun shooting, so that soldiers can simultaneously complete multi-gun shooting and enhance fighting capacity, and the like, the appearance of the outer limb robot realizes the human body function enhancement, the robot has a wide application field and a deep application prospect, and along with the continuous development of electroencephalogram technology, the brain-controlled outer limb is even possible to realize in the future. Therefore, the research significance of the external limb robot is very important.

At present, the research of the outer limb robot is still in a starting stage, and various technical problems are faced, for example, the operation precision of the outer limb robot can be influenced by human body disturbance, the safety problem of outer limb operation, the weight and flexibility problem of outer limb robot body design, the problem of outer limb robot control interface and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a bionical outer limb mechanical arm of telescopic, its degree of freedom and configuration have introduced flexible degree of freedom simultaneously based on bionical theory, and the operation is nimble, and the operation space is big.

The purpose of the utility model is realized through the following technical scheme:

a telescopic bionic external limb mechanical arm comprises a shoulder joint module, an elbow joint module, a telescopic joint module, a wrist joint and an end effector module, wherein the shoulder joint module comprises a connecting rod column and a plurality of shoulder joint servo motors, a second shoulder joint servo steering engine is driven by a first shoulder joint servo steering engine to swing left and right, a third shoulder joint servo steering engine is driven by a second shoulder joint servo steering engine to swing front and back, the connecting rod column is driven by a third shoulder joint servo steering engine to horizontally rotate, the elbow joint module comprises an elbow joint servo steering engine and an elbow joint integrated connecting rod, the upper end of the elbow joint servo steering engine is fixedly connected with the connecting rod column, the elbow joint integrated connecting rod is driven by the elbow joint servo steering engine to swing, the telescopic joint module comprises a telescopic joint servo steering engine, a lead screw, an outer cylinder and an inner rod, the upper end of the telescopic joint servo steering engine is fixedly connected with the elbow joint integrated connecting rod, the lead screw rotates through the servo steering engine drive of telescopic joint, and the urceolus sets firmly in the servo steering engine lower extreme of telescopic joint, and interior pole cartridge is in the urceolus and inside is equipped with the nut suit on the lead screw, wrist joint and end effector module include first wrist joint servo steering engine, wrist joint integration connecting rod, the servo steering engine of second wrist joint and end effector, first wrist joint servo steering engine upper end with interior pole connection, the integrated connecting rod of wrist joint is through the servo steering engine drive swing of first wrist joint, the servo steering engine of second wrist joint with the integrated connecting rod lower extreme of wrist joint links firmly, and end effector is through the servo steering engine drive rotation of second wrist joint.

The servo steering engine output end steering wheel disc of the first shoulder joint is connected with the servo steering engine of the second shoulder joint through a shoulder joint flange plate, the servo steering engine output end steering wheel disc of the second shoulder joint is connected with one side of the servo steering engine of the third shoulder joint through a driving end driving connecting rod, and one end of the driving end driving connecting rod, far away from the servo steering engine of the second shoulder joint, is provided with a driven end connecting rod which is connected with the other side of the servo steering engine of the third shoulder joint in a rotating mode.

And a connecting rod at one side of the elbow joint integrated connecting rod is connected with the rudder disc at the output end of the elbow joint servo steering engine, and a connecting rod at the other side of the elbow joint integrated connecting rod is rotatably connected with one side of the elbow joint servo steering engine, which is far away from the rudder disc at the output end.

The telescopic joint servo steering engine upper end is equipped with the elbow joint integrated connecting rod lower extreme that first switching dish and elbow joint module and links firmly, the steering wheel of telescopic joint servo steering engine lower extreme links firmly with the tip flange of lead screw, and telescopic joint servo steering engine downside is equipped with the mount), and urceolus upper end with the mount links firmly, the lead screw passes stretch into behind the mount extremely in the interior pole, interior pole lower extreme be equipped with the second switching dish with the servo steering engine of first wrist joint links firmly.

The outer side of the inner rod is provided with a convex edge, the inner side of the outer barrel is provided with a guide limiting groove, and the convex edge is matched with the corresponding guide limiting groove.

The fixing frame is characterized in that a first limiting block is arranged on the fixing frame, one end of the first limiting block penetrates through the through hole in the middle of the fixing frame and stretches into the outer barrel, the outer barrel is far away from one end of the fixing frame and is provided with a second limiting block, and the inner rod is provided with a positioning block which is matched with the first limiting block and the second limiting block for limiting.

The wrist joint servo steering engine is characterized in that a connecting rod on one side of the wrist joint integrated connecting rod is connected with a steering wheel disc at the output end of the first wrist joint servo steering engine, the end part of the connecting rod on the other side is rotatably installed on one side, away from the steering wheel disc at the output end, of the first wrist joint servo steering engine, the lower end of the wrist joint integrated connecting rod is fixedly connected with a second wrist joint servo steering engine through a wrist joint switching disc, and a steering wheel disc at the lower side of the second wrist joint servo steering engine is fixedly connected with the end effector.

The back side of a first shoulder joint servo steering engine of the shoulder joint module is installed on a backpack device, the backpack device comprises a strap, a rigid plate and an outer limb mechanical arm base, the first shoulder joint servo steering engine is installed on the outer limb mechanical arm base, the outer limb mechanical arm base is fixed with the rigid plate, the rigid plate is bound on the strap, and the strap is bound on a human body (6).

The outer limb mechanical arm base is positioned on one side of the waist of the human body.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses based on bionical design theory, the human model is referred to in degree of freedom and configuration, simplifies wrist and finger degree of freedom, has increased flexible degree of freedom, has not influenced the operation space on the basis of dexterity.

2. The utility model discloses all spare parts all adopt lightweight design thought, through finite element analysis, size optimization, intensity is reliable, and the appearance is small and exquisite.

3. The utility model discloses servo steering wheel is chooseed for use to the power supply, and every servo steering wheel all has very high power density, and inside control panel, drive plate, reduction gear, temperature speed and the torque sensor that has integrateed simultaneously, and the modularization degree is high, and drive power is big, and control algorithm is simple, can guarantee the operation ability of outer limb mechanical arm.

4. The utility model discloses telescopic joint adopts the screw-nut transmission, and the nut is integrated integrative in with the direction, has simplified connecting device, realizes interior pole straight line direction and circumference location through bead and the spacing recess clearance fit of direction between interior pole and the urceolus, and the transmission is reliable the precision height.

5. The utility model discloses be convenient for bear device, human being and the connection of outer limb body arm of machinery, it is reliable to connect.

6. The utility model discloses compact structure, the design is exquisite, and most parts adopt the function design philosophy of integrating, and the maximize reduces unnecessary part, reduces and connects the location relation.

Drawings

Figure 1 is a schematic view of the overall structure of the utility model,

figure 2 is an exploded view of the shoulder joint module of figure 1,

figure 3 is an exploded view of the wrist module of figure 1,

figure 4 is the expansion joint module explosive entity of figure 1,

figure 5 is an exploded view of the wrist and end effector module of figure 1,

FIG. 6 is a schematic view of the connection between the utility model and the backpack device,

fig. 7 is a schematic view of the usage state of the present invention.

The system comprises a power supply, a power supply module and a power supply module, wherein 1 is a shoulder joint module, 101 is a shoulder joint flange plate, 102 is a fixture block, 103 is a second shoulder joint servo steering engine, 104 is a driving end driving connecting rod, 105 is a third shoulder joint servo steering engine, 106 is a connecting rod column, 107 is a driven end connecting rod, 108 is a shoulder joint sliding bearing, and 109 is a first shoulder joint servo steering engine; 2, an elbow joint module, 201 an elbow joint adapter plate, 202 an elbow joint servo steering engine, 203 an elbow joint integrated connecting rod and 204 an elbow joint sliding bearing; 3, a telescopic joint module, 301, a first adapter plate, 302, a telescopic joint servo steering engine, 303, a lead screw, 304, a first limiting block, 305, a fixing frame, 306, an outer cylinder, 307, 308, an inner rod, 3081, 309, a second adapter plate; 4, a wrist joint and end effector module, 401, a first wrist joint servo steering engine, 402, a wrist joint sliding bearing, 403, a wrist joint integrated connecting rod, 404, a wrist joint adapter plate, 405, a second wrist joint servo steering engine and 406, wherein the first wrist joint servo steering engine is connected with the end effector module through a first wrist joint; 5 is a backpack device, 501 is a strap, 502 is a rigid plate, 503 is an external limb mechanical arm base; 6 is human body.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

As shown in fig. 1-7, the present invention comprises a shoulder joint module 1, an elbow joint module 2, a telescopic joint module 3, a wrist joint and an end effector module 4 connected in sequence, wherein the output end of the shoulder joint module 1 is provided with a connecting rod column 106 connected with an elbow joint switching disc 201 arranged at the input end of the elbow joint module 2, and the output end of the elbow joint module 2 is provided with an elbow joint integrated connecting rod 203 fixedly connected with a first switching disc 301 arranged at the input end of the telescopic joint module 3; the output end of the telescopic joint module 3 is provided with a second adapter plate 309 fixedly connected with a first wrist joint servo steering engine 401 in the wrist joint and end effector module 4, the shoulder joint module 1, the elbow joint module 2, the telescopic joint module 3, the wrist joint and the end effector module 4 form a whole outer limb mechanical arm, and as shown in fig. 6-7, the whole outer limb mechanical arm is fixed with the bearing device 5 through a base 503; the backpack 5 is attached to the upper torso of the human body 6.

As shown in fig. 2, the shoulder joint module 1 comprises a first shoulder joint servo steering engine 109, a second shoulder joint servo steering engine 103, a third shoulder joint servo steering engine 105 and a connecting rod column 106, wherein an output end of the first shoulder joint servo steering engine 109 is provided with a shoulder joint flange 101 connected with the second shoulder joint servo steering engine 103, the second shoulder joint servo steering engine 103 is driven by the first shoulder joint servo steering engine 109 to swing left and right, an output end of the second shoulder joint servo steering engine 103 is provided with a driving end driving connecting rod 104 connected with one side of the third shoulder joint servo steering engine 105, one end of the second shoulder joint servo steering engine 103, which is far away from the driving end driving connecting rod 104, is provided with a driven end connecting rod 107 connected with the other side of the third shoulder joint servo steering engine 105, the upper end of the driven end connecting rod 107 is supported by a shoulder joint sliding bearing 108 and rotatably mounted on the second shoulder joint servo steering engine 103, the third shoulder joint servo steering engine 105 is driven by the second shoulder joint servo steering engine 103 to swing back and forth, the output end of the lower side of the third shoulder joint servo steering engine 105 is fixedly connected with the connecting rod column 106, and the connecting rod column 106 is driven by the third shoulder joint servo steering engine 105 to rotate horizontally.

As shown in fig. 2, the shoulder joint flange plate 101 includes a disk at the middle and fixture blocks 102 disposed at two sides of the disk, a mounting hole is formed in the disk along the circumferential direction for being fixedly connected with a rudder plate of a first shoulder joint servo steering engine 109, and the fixture block 102 is fixedly connected with a side corresponding to a second shoulder joint servo steering engine 103 through a bolt.

As shown in fig. 2, a cutting sleeve is arranged at the upper end of the driving end driving connecting rod 104, the cutting sleeve is positioned in a matching manner with a rudder plate of the second shoulder joint servo steering engine 103, the cutting sleeve is fixedly connected with the rudder plate of the second shoulder joint servo steering engine 103 through a bolt, and grooves are formed in the driving end driving connecting rod 104 and the driven end connecting rod 107 for reducing weight.

As shown in fig. 2, an upper flange plate is arranged at the upper end of the connecting rod column 106 and fixedly connected with a rudder plate of the third shoulder joint servo steering engine 105, a lower flange plate is arranged at the lower end of the connecting rod column 106 and fixedly connected with the elbow joint module 2, and a plurality of grooves are formed in the circumferential direction of the connecting rod column 106 and used for reducing weight.

As shown in fig. 3, elbow joint module 2 includes the servo steering wheel 202 of elbow joint, elbow joint switching dish 201 and the integrated connecting rod 203 of elbow joint, and wherein elbow joint switching dish 201 is installed in the servo steering wheel 202 upper end of elbow joint and is linked firmly with shoulder joint module 1's connecting rod post 106, the servo steering wheel 202 lower extreme of elbow joint with the integrated connecting rod 203 upper end of elbow joint is connected, wherein the integrated connecting rod 203 one side connecting rod of elbow joint with the servo steering wheel 202 output steering wheel of elbow joint is connected, the opposite side connecting rod pass through elbow joint slide bearing 204 support with the servo steering wheel 202 of elbow joint keeps away from output steering wheel one side rotation connection, the integrated connecting rod 203 of elbow joint passes through the servo steering wheel 202 drive of elbow joint is swung around, the integrated connecting rod 203 lower extreme of elbow joint is connected with expansion joint module 3.

As shown in fig. 3, the two side links of the elbow joint integration link 203 are provided with slots for reducing weight.

As shown in fig. 4, the expansion joint module 3 includes an expansion joint servo steering engine 302, a screw 303, a fixing frame 305, an outer cylinder 306 and an inner rod 308, wherein the upper end of the expansion joint servo steering engine 302 is provided with a first adapter 301 fixedly connected to the lower end of an elbow joint integrated link 203 of the elbow joint module 2, a rudder plate at the lower end of the expansion joint servo steering engine 302 is fixed to an end flange of the screw 303 and drives the screw 303 to rotate, the fixing frame 305 is fixedly arranged at the lower side of the expansion joint servo steering engine 302 and is provided with a through hole in the middle for the screw 303 to pass through, the upper end of the outer cylinder 306 is fixedly connected to the fixing frame 305, the inner rod 308 is inserted into the outer cylinder 306, the upper end of the inner rod 308 is provided with a nut sleeved on the screw 303, the screw 303 rotates to drive the inner rod 308 to move linearly along the outer cylinder 306, the lower end of the inner rod 308 is provided with a second adapter 309 fixedly connected to the wrist joint and the end effector module 4, the outer side of the inner rod 308 is provided with a convex rib, the inner side of the outer cylinder 306 is provided with a guide limiting groove, and the convex rib is matched with the corresponding guide limiting groove, so that the inner rod 308 is limited to rotate in the circumferential direction on one hand, and the inner rod 308 is guided to move linearly on the other hand.

As shown in fig. 4, the linear motion range of the inner rod 308 is limited by a first limiting block 304 and a second limiting block 307, wherein the first limiting block 304 is installed on the fixing frame 305, one end of the first limiting block extends into the outer cylinder 306 through a through hole in the middle of the fixing frame 305, the second limiting block 307 is installed at one end of the outer cylinder 306 far away from the fixing frame 305, two positioning blocks 3081 are arranged on the inner rod 308, and the positioning blocks 3081 collide with the first limiting block 304 and the second limiting block 307 when moving to the upper and lower limit positions to prevent the inner rod 308 from further moving, in order to ensure the linear motion of the positioning blocks 3081, sliding grooves are formed on two sides of the outer cylinder 306, and the positioning blocks 3081 are in clearance fit with the corresponding sliding grooves and slide along the sliding grooves.

As shown in fig. 4, the outer cylinder 306 and the fixing frame 305 belong to a stator in the telescopic joint module 3, the lead screw 303 and the inner rod 308 belong to a mover, two side plates of the fixing frame 305 are provided with slots to reduce the mass, and the inner rod 308 is provided with slots in the circumferential direction to reduce the mass.

As shown in fig. 5, the wrist joint and end effector module 4 includes a first wrist joint servo steering engine 401, a wrist joint integrated connecting rod 403, a second wrist joint servo steering engine 405 and an end effector 406, wherein the upper end of the first wrist joint servo steering engine 401 is fixedly connected to a second adapter plate 309 in the telescopic joint module 3, the lower end of the first wrist joint servo steering engine 401 is connected to the upper end of the wrist joint integrated connecting rod 403, one side connecting rod of the wrist joint integrated connecting rod 403 is connected to a rudder plate at the output end of the first wrist joint servo steering engine 401, the end of the other side connecting rod is rotatably supported by a sliding bearing 402 and mounted on one side of the first wrist joint servo steering engine 401 far from the output end rudder plate, the lower end of the wrist joint integrated connecting rod is fixedly connected to the second wrist joint servo steering engine 405 through a wrist joint adapter plate 404, the rudder plate at the output end of the lower side of the second wrist joint servo steering engine 405 is fixedly connected to the end effector 406, the first wrist joint servo steering engine 401 drives the second wrist joint servo steering engine 405 to swing through the wrist joint integrated connecting rod 403, the second wrist joint servo steering engine 405 drives the end effector 406 to rotate, and the end effector 406 is a product which is known in the art and is commercially available.

The utility model discloses a theory of operation does:

as shown in fig. 6 to 7, the backpack device 5 of this embodiment includes a strap 501, a rigid plate 502, and an external mechanical arm base 503, wherein the strap 501 is attached to the upper half of the human body 6, the entire external mechanical arm is mounted on the external mechanical arm base 503, the external mechanical arm base 503 is fixed to the rigid plate 502, the rigid plate 502 is attached to the strap 501, and the external mechanical arm base 503 is located at a position on one side of the waist of the human body, and can cooperate with the original upper limb of the human body to perform a task that a normal person cannot complete or needs multiple persons to complete, thereby enhancing the function of the human body.

The utility model discloses during operation, the servo steering wheel of second shoulder joint 103 among the shoulder joint module 1 drives horizontal hunting through the servo steering wheel of first shoulder joint 109, and the servo steering wheel of third shoulder joint 105 passes through the servo steering wheel of second shoulder joint 103 drives the back and forth oscillation, and link post 106 passes through the servo steering wheel of third shoulder joint 105 drives horizontal rotation and drives the elbow joint module 2 rotation of downside, and the servo steering wheel of elbow joint 202 among the elbow joint module 2 drives the swing of the integrated connecting rod of elbow joint 203, and drive and the telescopic joint module 3 swing of the integrated connecting rod of elbow joint 203 lower extreme connection, the servo 302 drive lead screw 303 of telescopic joint among the telescopic joint module 3 rotate, and then drive interior pole 308 and move along urceolus 306 is flexible, interior pole 308 removes the wrist joint that drives rather than being connected and end effector module 4 and removes, the servo 401 of first wrist joint among wrist joint and the end effector module 4 drives through the integrated connecting rod of wrist joint 403 drive The second wrist joint servo steering gear 405 swings, and the second wrist joint servo steering gear 405 drives the end effector 406 to rotate.

The utility model discloses a based on bionical design theory, on the basis of referring to human arm configuration and degree of freedom configuration, make appropriate degree of freedom and simplify, add end effector and snatch the degree of freedom, totally eight degrees of freedom, the flexible degree of freedom has been introduced to the operation, has increased the operation space. All parts of the whole outer limb mechanical arm are based on a lightweight design concept, and the mass is reduced on the premise of ensuring the strength; meanwhile, the design of the parts is integrated with the concept of integrated design, and one part is integrated with multiple functions through appearance design on the premise that the processing conditions are allowed, so that the structure is compact and the connection is reliable. The whole outer limb mechanical arm is convenient to install, maintain and upgrade, and meanwhile, light weight, dexterity and attractiveness are achieved.

Claims

1. The utility model provides a bionical outer limb mechanical arm of telescopic which characterized in that: including shoulder joint module (1), elbow joint module (2), flexible joint module (3) and wrist joint and end effector module (4), wherein shoulder joint module (1) includes connecting rod post (106) and a plurality of shoulder joint servo motor, and second shoulder joint servo steering wheel (103) through the drive horizontal hunting of first shoulder joint servo steering wheel (109), third shoulder joint servo steering wheel (105) through the drive front and back hunting of second shoulder joint servo steering wheel (103), connecting rod post (106) pass through third shoulder joint servo steering wheel (105) drive horizontal rotation, elbow joint module (2) include elbow joint servo steering wheel (202) and the integrated connecting rod of elbow joint (203), and elbow joint servo steering wheel (202) upper end with connecting rod post (106) link firmly, the integrated connecting rod of elbow joint (203) through the drive of elbow joint servo steering wheel (202) swing, flexible joint module (3) include flexible joint servo steering wheel (302), The wrist joint and end effector module (4) comprises a first wrist joint servo steering engine (401), a wrist joint integrated connecting rod (403), a second wrist joint servo steering engine (405) and an end effector (406), the upper end of the first wrist joint servo steering engine (401) is connected with the inner rod (308), the wrist joint and end effector module (401) is driven to swing through the first wrist joint servo steering engine (401), and the second wrist joint servo steering engine (405) is fixedly connected with the lower end of the wrist joint integrated connecting rod (403), the end effector (406) is driven to rotate by a second wrist joint servo steering engine (405).

2. The telescopic biomimetic external limb robotic arm of claim 1, wherein: the servo steering wheel of first shoulder joint (109) output rudder plate passes through shoulder joint ring flange (101) and links to each other with servo steering wheel of second shoulder joint (103), the servo steering wheel of second shoulder joint (103) output rudder plate passes through initiative end drive connecting rod (104) and links to each other with servo steering wheel of third shoulder joint (105) one side, servo steering wheel of second shoulder joint (103) keep away from initiative end drive connecting rod (104) one end is equipped with passive end connecting rod (107) and rotates with the servo steering wheel of third shoulder joint (105) opposite side and links to each other.

3. The telescopic biomimetic external limb robotic arm of claim 1, wherein: one side of the elbow joint integrated connecting rod (203) is connected with the output end rudder plate of the elbow joint servo steering engine (202), and the other side of the elbow joint integrated connecting rod is connected with one side, far away from the output end rudder plate, of the elbow joint servo steering engine (202) in a rotating mode.

4. The telescopic biomimetic external limb robotic arm of claim 1, wherein: the telescopic joint servo steering engine (302) upper end is equipped with elbow joint integrated connecting rod (203) lower extreme of first switching dish (301) and elbow joint module (2) and links firmly, the steering wheel of telescopic joint servo steering engine (302) lower extreme links firmly with the tip flange of lead screw (303), and telescopic joint servo steering engine (302) downside is equipped with mount (305), and urceolus (306) upper end with mount (305) link firmly, lead screw (303) pass stretch into behind mount (305) to in interior pole (308), interior pole (308) lower extreme be equipped with second switching dish (309) with first wrist joint servo steering engine (401) link firmly.

5. The telescopic biomimetic external limb mechanical arm of claim 4, wherein: the outer side of the inner rod (308) is provided with a convex edge, the inner side of the outer barrel (306) is provided with a guide limiting groove, and the convex edge is matched with the corresponding guide limiting groove.

6. The telescopic biomimetic external limb mechanical arm of claim 4, wherein: be equipped with first stopper (304) on mount (305), just first stopper (304) one end sees through mount (305) middle part through-hole stretches into in urceolus (306), urceolus (306) are kept away from mount (305) one end is equipped with second stopper (307), be equipped with on interior pole (308) locating piece (3081) with first stopper (304) and second stopper (307) cooperation are spacing.

7. The telescopic biomimetic external limb robotic arm of claim 1, wherein: the wrist joint servo steering engine is characterized in that a connecting rod on one side of a wrist joint integrated connecting rod (403) is connected with a steering wheel disc at the output end of a first wrist joint servo steering engine (401), the end part of a connecting rod on the other side is rotatably installed on one side, away from the steering wheel disc at the output end, of the first wrist joint servo steering engine (401), the lower end of the wrist joint integrated connecting rod (403) is fixedly connected with a second wrist joint servo steering engine (405) through a wrist joint adapter disc (404), and a steering wheel disc at the lower side of the second wrist joint servo steering engine (405) is fixedly connected with an end effector (406).

8. The telescopic biomimetic external limb robotic arm of claim 1, wherein: the back side of a first shoulder joint servo steering engine (109) of the shoulder joint module (1) is installed on a backpack device (5), the backpack device (5) comprises a strap (501), a rigid plate (502) and an outer limb mechanical arm base (503), the first shoulder joint servo steering engine (109) is installed on the outer limb mechanical arm base (503), the outer limb mechanical arm base (503) is fixed with the rigid plate (502), the rigid plate (502) is bound on the strap (501), and the strap (501) is bound on a human body (6).

9. The telescopic biomimetic external limb robotic arm of claim 8, wherein: the outer limb mechanical arm base (503) is positioned on one side of the waist of the human body.