Multi-degree-of-freedom flexible robot arm device and control method thereof

Abstract

The application provides a multi-degree-of-freedom flexible mechanical arm device and a control method thereof, and relates to the technical field of mechanical automation, and comprises a seat frame, a bearing cylinder, a support arm and a back plate, a frame is installed on the back plate, a seat plate is installed on the frame, the seat plate is connected with the back plate through bolts, a wireless control module is installed between the seat plate and the back plate, the wireless control module comprises a wireless transceiver and a power module; the application is driven by a motor belt drive and cooperates with a hydraulic rod A, realizes fine control of the swing angle of the terminal adapter seat, and forms an automation network with the controller and the circuit board, accurately coordinates the actions of each component, and adopts an elastic material combined with a pressure sensor and an electro-hydraulic servo cylinder for the flexible clamping arm, can adaptively adjust the clamping force, the bearing cylinder, the rotating column and other structures realize accurate positioning of the support arm, multiple control cylinders cooperatively drive to form a multi-dimensional motion chain, and are suitable for multiple scenes such as industrial assembly and precision machining.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and in particular to a multi-degree-of-freedom flexible robotic arm device and its control method. Background Technology

[0002] In the field of industrial automation and intelligent manufacturing, flexible robotic arms, with their unique elastic structure and adaptive capabilities, are gradually becoming core equipment for handling complex operational needs. Compared to traditional rigid robotic arms, flexible robotic arms, using elastic materials and flexible drive technology, exhibit significant advantages when grasping fragile objects, conforming to irregular surfaces, or performing delicate operations. They are particularly suitable for scenarios sensitive to contact forces, such as electronic component assembly, biomedical sampling, and food sorting. As the manufacturing industry transforms towards "flexibility and intelligence," production scenarios place higher demands on the multi-degree-of-freedom motion capabilities and environmental adaptability of robotic arms. Therefore, a multi-degree-of-freedom flexible robotic arm device is designed.

[0003] Existing robotic arm devices have large deviations in their operating trajectories, making it difficult to meet accuracy requirements, especially in confined spaces or delicate operations. They also lack integrated signal transmission networks, making it difficult to adjust the movements of each component in real time according to operational needs and adapt to high-precision operations under complex working conditions. Summary of the Invention

[0004] This invention relates to a multi-degree-of-freedom flexible robotic arm device and its control method, in order to solve the technical problems mentioned in the background art.

[0005] In a first aspect, this invention provides a multi-degree-of-freedom flexible robotic arm device and its control method, specifically comprising: a base frame, a bearing cylinder, a support arm, and a back plate; a frame is mounted on the back plate, a base plate is mounted on the frame, the base plate and the back plate are connected by bolts, and a wireless control module is installed between them; the wireless control module includes a wireless transceiver and a power module; three limit switches are mounted on the frame, and three connecting seats are mounted on the frame; a housing is mounted on the connecting seats, and a drive motor is mounted on the housing; a drive motor is used to drive... A pulley is mounted on the output shaft of the motor. A rotating seat is mounted on the housing. A pulley is mounted on the shaft of the rotating seat. A connecting belt connects the two pulleys. A hinge seat is mounted on the housing. A clamping seat is mounted on the hinge seat. A spring is installed between the clamping seat and the hinge seat. A clamping wheel is mounted on the clamping seat. The clamping wheel clamps against the connecting belt. An outer cylinder is mounted on each of the three rotating seats. A hydraulic rod A is mounted on the outer cylinder. A welding seat is welded to the inner cylinder. The piston rod of the hydraulic rod A is connected to the welding seat. A connecting block is fixed on the inner cylinder.

[0006] In at least some embodiments, a transmission box and a motor mount are installed at the lower end of the frame. A dual-axis motor is installed on the motor mount. The front end of the output shaft of the dual-axis motor is connected to the input end of the transmission box. Two gearboxes are installed at the lower end of the frame. The two gearboxes are located on the left and right sides of the transmission box, respectively. The output ends of the left and right sides of the transmission box are connected to the input ends of the two transmission boxes, respectively. Four linear modules are installed at the lower end of the frame. Clamping seats are installed on the linear modules. The output ends of the two gearboxes are connected to the input ends of the linear modules near the left and right sides of the frame, respectively. The rear end of the output shaft of the dual-axis motor is connected to the input end of the linear module near the rear side of the frame. The output shaft at the front end of the transmission box is connected to the input end of the linear module near the front side of the frame.

[0007] In at least some embodiments, a protective plate is fixed to the lower end of the seat frame, covering the transmission box, gearbox, and dual-shaft motor. A top frame is welded to the upper end of the seat frame, and a bearing cylinder is installed on the top frame. A rotatable rotating column is installed inside the bearing cylinder, and a turntable is fixed to the upper end of the rotating column. An annular plate is fixed to the bottom surface of the turntable. Four support plates are installed on the top frame, and each of the four support plates is equipped with a roller. The four rollers are in contact with the bottom surface of the annular plate. A limit plate is installed at the lower end of the turntable, and a limit groove is arranged in an annular array on the limit plate. A support rod A is installed on the top frame, and a snap-fit ​​plate that can cooperate with the limit groove on the limit plate is installed on the support rod A. A hydraulic rod B is installed on the top frame, and the piston rod of the hydraulic rod B is connected to the snap-fit ​​plate.

[0008] In at least some embodiments, a ratchet is bolted to the lower end of the limiting plate, and a rotatable rotating handle is mounted on the rotating column. A push plate is mounted on the rotating handle via a pin. A tension spring is installed between the push plate and the rotating handle. The push plate is pressed against the ratchet. A hydraulic rod C is mounted on the top frame. The piston rod of the hydraulic rod C is connected to the rotating handle. A support arm is mounted on the turntable.

[0009] In at least some embodiments, a large arm is mounted on the support arm via a pin, a small arm is mounted on the large arm via a bearing, a sliding arm slides inside the small arm, a control cylinder A is installed between the support arm and the large arm, a control cylinder B is installed between the large arm and the small arm, and a control cylinder C is installed between the small arm and the sliding arm.

[0010] In at least some embodiments, a mounting base is bolted to the sliding arm, a lifting arm is mounted on the mounting base via a pin, a control cylinder D is mounted between the mounting base and the lifting arm, a control cylinder E and a control cylinder F are hinged to the lower end of the lifting arm, the piston rod of the control cylinder F is connected to the cylinder barrel of the control cylinder E, and a connecting plate is fixed on the piston rod of the control cylinder E.

[0011] In at least some embodiments, a clamp A is installed on the lifting arm, a clamp B is installed on the boom, a first controller and a second controller are respectively installed on clamp A and clamp B, the first controller is connected to the second controller, the first controller is connected to control cylinder D, control cylinder E and control cylinder F respectively, and the second controller is connected to control cylinder A, control cylinder B and control cylinder C respectively, and a connecting frame is connected to each of the three connecting blocks.

[0012] In at least some embodiments, three connecting frames are connected to connecting seats, connecting seats are fixed to control seats, control seats are fixed to fixing columns, fixing columns are fixed to mounting frames, and mounting frames are mounted on the mounting frames via pins. Telescopic cylinders are installed between the flexible clamping arms and the control seats, and the telescopic cylinders are connected to the control seats.

[0013] In at least some embodiments, the flexible clamping arm is made of an elastic material and has a pressure sensor inside. The telescopic cylinder is an electro-hydraulic servo cylinder. The control base has a control circuit board connected to the telescopic cylinder and the pressure sensor. The control circuit board is electrically connected to the telescopic cylinder and the pressure sensor and is used to control the clamping action of the flexible clamping arm and receive pressure feedback signals.

[0014] This invention discloses a multi-degree-of-freedom flexible robotic arm device and its control method, comprising the following steps:

[0015] 1) Start the dual-axis motor. The power of the dual-axis motor is transmitted to the linear module through the transmission box and gearbox, which drives the clamping seat to move and firmly clamp the entire device on the installation platform.

[0016] 2) When hydraulic rod B retracts, the buckle plate disengages from the limiting groove of the limiting plate, releasing the lock on the rotating column. Hydraulic rod C repeatedly extends and retracts, pushing the rotating handle. The push plate on the rotating handle cooperates with the ratchet to push the turntable to rotate, thereby adjusting the angle of the support arm. When the support arm rotates to the correct position, hydraulic rod B extends, and the buckle plate re-engages into the limiting groove, locking the position of the turntable and the support arm.

[0017] 3) The first controller and the second controller send signals to control cylinders A, B, C, D, E and F respectively to precisely control the extension and retraction of each control cylinder. Through the coordinated extension and retraction of each control cylinder, the multi-angle and multi-dimensional position adjustment of the support arm, upper arm, lower arm, sliding arm and lifting arm can be realized.

[0018] 4) The wireless control module sends a command to start the drive motor, which uses a belt drive structure to rotate the rotating seat, thereby adjusting the angle of the outer cylinder and controlling the extension and retraction of the hydraulic rod A to control the swing amplitude of the corresponding connecting frame. The control circuit board inside the control seat sends a drive signal to the telescopic cylinder according to the preset clamping force threshold. The telescopic cylinder pushes the flexible clamping arm to close and clamp the object. During the clamping process, the pressure sensor inside the flexible clamping arm collects pressure data in real time and feeds it back to the control circuit board. The control circuit board adjusts the output force of the telescopic cylinder in real time according to the pressure feedback signal to keep the clamping force within the preset range.

[0019] This invention provides a multi-degree-of-freedom flexible robotic arm device and its control method, which has the following beneficial effects:

[0020] In this invention, the drive motor drives the outer cylinder to adjust its angle via a belt drive structure. Simultaneously, the extension and retraction of hydraulic rod A directly controls the swing amplitude of the connecting frame. Through precise adjustment of the extension and retraction of hydraulic rod A, the swing angle of the end-effector is precisely controlled, improving the accuracy of the work trajectory and further expanding the application scenarios of the robotic arm in confined spaces or delicate operations. The wireless control module enables remote control. Each drive motor, hydraulic rod, and control cylinder forms an automated control network through signal transmission between the controller and the circuit board, precisely coordinating the movements of each joint of the robotic arm and the end effector, thereby improving overall control accuracy and ease of operation.

[0021] Furthermore, in this invention, the flexible clamping arm is made of elastic material, and the internal pressure sensor cooperates with the telescopic cylinder of the electro-hydraulic servo cylinder to provide real-time feedback of pressure data according to the preset clamping force threshold and automatically adjust the clamping force. This not only firmly grasps the object but also avoids damage to fragile or irregularly shaped objects, making it highly adaptable.

[0022] Furthermore, in this invention, the locking structure of the bearing cylinder and rotating column, along with the hydraulic rod B and the snap plate, enables precise positioning of the turntable. Combined with the pushing mechanism of the ratchet, rotating handle, and hydraulic rod C, the working angle of the support arm can be precisely adjusted to meet the operational needs of different directions. The support arm, upper arm, lower arm, and sliding arm form a multi-dimensional motion chain through the coordinated extension and retraction of control cylinders A, B, and C, enabling flexible movements in multiple angles and directions within space, suitable for complex trajectory operation tasks.

[0023] Furthermore, in this invention, the transmission box and gearbox are driven by a dual-axis motor, and the clamping seat is driven by a linear module. The device can be stably clamped on different installation platforms, adapting to diverse working environments. The installation reliability is high, and the multi-degree-of-freedom structural design allows the robotic arm to be applied to fields such as industrial assembly, material handling, and precision machining. It is especially suitable for scenarios that require complex movements or flexible operations. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly described below.

[0025] The accompanying drawings described below are only related to some embodiments of the invention and are not intended to limit the invention.

[0026] In the attached diagram:

[0027] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the frame portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0029] Figure 3 This is an embodiment of the multi-degree-of-freedom flexible robotic arm device of the present invention. Figure 2 A magnified structural diagram at point A.

[0030] Figure 4 This is a schematic diagram of the top frame portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the bearing cylinder portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0032] Figure 6 This is a schematic diagram of the rotating handle portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the support arm portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of the back plate portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0035] Figure 9 This is a schematic diagram of the base plate portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0036] Figure 10 This is a schematic diagram of the housing portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0037] Figure 11 This is a schematic diagram of the hinge seat portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0038] Figure 12 This is a schematic diagram of the outer cylinder portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0039] Figure 13 This is an embodiment of the multi-degree-of-freedom flexible robotic arm device of the present invention. Figure 12 A magnified structural diagram at point B.

[0040] Figure 14 This is a schematic diagram of the connecting frame portion of the multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0041] Figure 15 This is a schematic diagram of the control base portion of a multi-degree-of-freedom flexible robotic arm device according to an embodiment of the present invention.

[0042] List of reference numerals

[0043] 1. Frame; 11. Transmission box; 12. Motor mount; 121. Dual-axis motor; 13. Gearbox; 14. Linear module; 141. Clamping seat; 15. Protective plate; 16. Top frame; 2. Bearing cylinder; 21. Rotating column; 211. Limiting plate; 22. Turntable; 221. Annular plate; 222. Support plate; 223. Support roller; 23. Support rod A; 231. Buckle plate; 232. Hydraulic rod B; 24. Ratchet; 241. Rotating handle; 242. Push plate; 243. Tension spring; 244. Hydraulic rod C; 3. Support arm; 31. Main arm; 311. Control cylinder A; 312. Clamping seat B; 3121. Second controller; 32. Forearm; 321. Control cylinder B; 322. Sliding arm; 323. Control cylinder C; 33. Mounting seat; 331 3311 Lifting arm; 3312 Clamp A; 3312 First controller; 332 Control cylinder D; 333 Control cylinder E; 3331 Connecting plate; 334 Control cylinder F; 4. Back plate; 41. Frame; 411 Limit switch; 42. Seat plate; 43. Connecting seat; 431. Housing; 432. Drive motor; 433. Rotating seat; 434. Connecting belt; 435. Hinge seat; 4351. Tightening seat; 4352. Spring; 4353. Tightening wheel; 44. Outer cylinder; 441. Inner cylinder; 4411. Welding seat; 442. Hydraulic rod A; 443. Connecting block; 444. Connecting frame; 45. Connecting seat; 46. Control seat; 461. Fixed column; 462. Mounting frame; 4621. Flexible clamping arm; 4622. Telescopic cylinder. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please refer to Figures 1 to 15 Example 1:

[0046] This invention proposes a multi-degree-of-freedom flexible robotic arm device and its control method, comprising: a base frame 1, a bearing cylinder 2, a support arm 3, and a back plate 4; a frame 41 is mounted on the back plate 4, a base plate 42 is mounted on the frame 41, the base plate 42 and the back plate 4 are connected by bolts, and a wireless control module is installed between them. The wireless control module includes a wireless transceiver and a power module. Three limit switches 411 are mounted on the frame 41, and three connecting seats 43 are mounted on the frame 41. A housing 431 is mounted on the connecting seats 43, a drive motor 432 is mounted on the housing 431, a pulley is mounted on the output shaft of the drive motor 432, and a rotating seat 43 is mounted on the housing 431. 3. A pulley is installed on the shaft of the rotating seat 433. A connecting belt 434 is connected between the two pulleys. A hinge seat 435 is installed on the housing 431. A clamping seat 4351 is installed on the hinge seat 435. A spring 4352 is installed between the clamping seat 4351 and the hinge seat 435. A clamping wheel 4353 is installed on the clamping seat 4351. The clamping wheel 4353 is clamped to the connecting belt 434. An outer cylinder 44 is installed on each of the three rotating seats 433. A hydraulic rod A442 is installed on the outer cylinder 44. A welding seat 4411 is welded on the inner cylinder 441. The piston rod of the hydraulic rod A442 is connected to the welding seat 4411. A connecting block 443 is fixed on the inner cylinder 441.

[0047] In this invention, a transmission box 11 and a motor mount 12 are installed at the lower end of the base frame 1. A dual-axis motor 121 is installed on the motor mount 12, and the front end of the output shaft of the dual-axis motor 121 is connected to the input end of the transmission box 11. Two gearboxes 13 are installed at the lower end of the base frame 1, and the two gearboxes 13 are located on the left and right sides of the transmission box 11, respectively. The output ends of the left and right sides of the transmission box 11 are connected to the input ends of the two transmission boxes 11, respectively. Four linear modules 14 are installed at the lower end of the base frame 1, and clamping seats 141 are installed on the linear modules 14. The output ends of the two gearboxes 13 are connected to the input ends of the linear modules 14 near the left and right sides of the base frame 1, respectively. The rear end of the output shaft of the dual-axis motor 121 is connected to the input end of the linear module 14 near the rear side of the base frame 1. The output shaft at the front end of the transmission box 11 is connected to the input end of the linear module 14 near the front side of the seat 1. The lower end of the seat 1 is fixed with a guard plate 15, which covers the transmission box 11, the gearbox 13, and the dual-axis motor 121. Its function is as follows: the dual-axis motor 121 serves as a power source, driving the transmission box 11 through the front end of the output shaft. The power is then transmitted to the two gearboxes 13 through the output ends on the left and right sides of the transmission box 11. The gearboxes 13 then drive the linear modules 14 near the left and right sides of the seat 1. At the same time, the rear end of the output shaft directly drives the linear module 14 near the rear side of the seat 1. In conjunction with the front linear module 14 driven by the front output shaft of the transmission box 11, the four clamping seats 141 move, which facilitates the stable clamping of the seat 1 on the mounting platform.

[0048] In this invention, a top frame 16 is welded to the upper end of the base frame 1. A bearing cylinder 2 is mounted on the top frame 16. A rotatable rotating column 21 is installed inside the bearing cylinder 2. A turntable 22 is fixed to the upper end of the rotating column 21. An annular plate 221 is fixed to the bottom surface of the turntable 22. Four support plates 222 are mounted on the top frame 16. Each of the four support plates 222 is equipped with a support roller 223, and all four support rollers 223 are in contact with the bottom surface of the annular plate 221. A limit plate 211 is installed at the lower end of the turntable 22. An annular plate 211 is mounted on the limit plate 211. The array has a limiting groove. A support rod A23 is installed on the top frame 16. A snap-fit ​​plate 231 that can be used with the limiting groove on the limiting plate 211 is installed on the support rod A23. A hydraulic rod B232 is installed on the top frame 16. The piston rod of the hydraulic rod B232 is connected to the snap-fit ​​plate 231. A ratchet 24 is bolted to the lower end of the limiting plate 211. A rotatable rotating handle 241 is installed on the rotating column 21. A push plate 242 is installed on the rotating handle 241 through a pin. The push plate 242 and the rotating handle... A tension spring 243 is installed between 241, and the push plate 242 is pressed against the ratchet 24. A hydraulic rod C244 is installed on the top frame 16. The piston rod of the hydraulic rod C244 is connected to the rotating handle 241. The support arm 3 is installed on the turntable 22. Its function is to reduce rotational friction through the rolling contact between the support roller 223 and the annular plate 221, so as to ensure that the turntable 22 rotates smoothly. The limiting plate 211 at the lower end of the turntable 22 cooperates with the buckle plate 231. When the hydraulic rod B232 extends, the buckle plate 231 engages with the limiting plate. The limiting groove of plate 211 locks the position of turntable 22. When hydraulic rod B232 retracts, it unlocks, realizing the locking and unlocking control of rotating column 21. Ratchet 24, rotating handle 241, push plate 242 and tension spring 243 constitute the ratchet 24 transmission mechanism. The extension and retraction of hydraulic rod C244 pushes rotating handle 241 to swing. Push plate 242 meshes with ratchet 24 and is kept in a pressed state by tension spring 243, so that ratchet 24 drives rotating column 21 to achieve step-by-step rotation, thereby precisely adjusting the angle of turntable 22.

[0049] In Example 2, based on Example 1, a large arm 31 is mounted on the support arm 3 via a pin. A small arm 32 is mounted on the large arm 31 via a bearing. A sliding arm 322 slides inside the small arm 32. A control cylinder A311 is installed between the support arm 3 and the large arm 31. A control cylinder B321 is installed between the large arm 31 and the small arm 32. A control cylinder C323 is installed between the small arm 32 and the sliding arm 322. A mounting base 33 is bolted to the sliding arm 322. A lifting arm 331 is mounted on the mounting base 33 via a pin. A control cylinder D332 is installed between the mounting base 33 and the lifting arm 331. Control cylinders E333 and F334 are hinged to the lower end of the lifting arm 331. The piston of control cylinder F334... The piston rod is connected to the cylinder of control cylinder E333. A connecting plate 3331 is fixed on the piston rod of control cylinder E333. A clamp A3311 is installed on the lifting arm 331, and a clamp B312 is installed on the upper arm 31. A first controller 3312 and a second controller 3121 are respectively installed on clamp A3311 and clamp B312. The first controller 3312 is connected to the second controller 3121. The first controller 3312 is connected to control cylinders D332, E333, and F334 respectively. The second controller 3121 is connected to control cylinders A311, B321, and C323 respectively. A connecting bracket 444 is connected to each of the three connecting blocks 443. Its function is to support the arm. 3. The main body of the multi-section robotic arm is formed by connecting the upper arm 31, the lower arm 32, and the sliding arm 322 through pins and bearings. Control cylinders A311, B321, and C323 are respectively installed between the support arm 3 and the upper arm 31, the upper arm 31 and the lower arm 32, and the lower arm 32 and the sliding arm 322. Through telescopic movements, they drive the relative rotation or sliding of each arm section, realizing multi-degree-of-freedom movement of the robotic arm in the dimensions of pitch, telescopic, etc. The mounting base 33 on the sliding arm 322 is connected to the lifting arm 331 through a pin. Control cylinder D332 is installed between the two and is used to drive the lifting arm 331 to swing up and down. Control cylinders E333 and F334, which are hinged at the lower end of the lifting arm 331, form a linkage structure. The piston rod is connected to the cylinder barrel of control cylinder E333. The piston rod of control cylinder E333 can drive the end effector to move through the connecting plate 3331. Through the coordinated extension and retraction of control cylinders E333 and F334, the end effector can achieve fine-tuning of its attitude and precise positioning in space. The first controller 3312 and the second controller 3121 on the clamps A3311 and B312 form a signal transmission network. The first controller 3312 connects to control cylinders D332, E333 and F334, and the second controller 3121 connects to control cylinders A311, B321 and C323. Through the coordinated control of the extension and retraction of each control cylinder by the two controllers, the precise linkage of each joint of the robotic arm can be achieved.

[0050] In Example 3, based on Examples 1 and 2, three connecting frames 444 are connected to connecting seats 45. A control seat 46 is fixed to the connecting seat 45. A fixing post 461 is fixed to the control seat 46. A mounting frame 462 is fixed to the fixing post 461. Four flexible clamping arms 4621 are mounted on the mounting frame 462 via pins. A telescopic cylinder 4622 is installed between the flexible clamping arms 4621 and the control seat 46. The telescopic cylinder 4622 is connected to the control seat 46. The flexible clamping arms 4621 are made of elastic material. The system includes an internal pressure sensor. The telescopic cylinder 4622 is an electro-hydraulic servo cylinder. The control base 46 contains a control circuit board connected to the telescopic cylinder 4622 and the pressure sensor. The control circuit board is electrically connected to the telescopic cylinder 4622 and the pressure sensor, and is used to control the clamping action of the flexible clamping arm 4621 and receive pressure feedback signals. Its function is to form a closed-loop control system by electrically connecting the control circuit board in the control base 46 with the pressure sensor inside the electro-hydraulic servo cylinder 4622 and the flexible clamping arm 4621. The fixed column 461 and the mounting bracket 462 provide mounting support for the four flexible gripping arms 4621. The flexible gripping arms 4621 are made of elastic material and are mounted on the mounting bracket 462 via pins. When the telescopic cylinder 4622 is driven to extend or retract by the control circuit board, it pushes the flexible gripping arms 4621 to rotate around the pins to close or open, thereby gripping or releasing objects. During the gripping process, the pressure sensor inside the flexible gripping arm 4621 collects the pressure data in contact with the object in real time and feeds it back to the control circuit board. The control circuit board dynamically adjusts the output force of the telescopic cylinder 4622 according to the preset gripping force threshold and the real-time pressure data, so that the gripping force is always kept within a reasonable range. This system can firmly grasp objects of different shapes and materials, and avoid damage to objects caused by excessive gripping force. Through the elastic deformation adaptability of the flexible gripping arms 4621, the real-time feedback of the pressure sensor, and the precise drive of the electro-hydraulic servo cylinder, the system realizes flexible gripping and force control operation of irregular and fragile objects, expanding the application of robotic arms in precision assembly, biological sample processing and other scenarios.

[0051] This invention discloses a multi-degree-of-freedom flexible robotic arm device and its control method, comprising the following steps:

[0052] 1) Start the dual-axis motor 121. The power of the dual-axis motor 121 is transmitted to the linear module 14 through the transmission box 11 and the gearbox 13, which drives the clamping seat 141 to move and firmly clamp the entire device on the installation platform.

[0053] 2) When the hydraulic rod B232 retracts, the buckle plate 231 disengages from the limiting groove of the limiting plate 211, releasing the lock on the rotating column 21. The hydraulic rod C244 repeatedly extends and retracts, pushing the rotating handle 241. The push plate 242 on the rotating handle 241 cooperates with the ratchet 24 to push the turntable 22 to rotate, thereby adjusting the angle of the support arm 3. When the support arm 3 rotates to the position, the hydraulic rod B232 extends, and the buckle plate 231 re-engages into the limiting groove, locking the position of the turntable 22 and the support arm 3.

[0054] 3) The first controller 3312 and the second controller 3121 send signals to the control cylinders A311, B321, C323, D332, E333 and F334 respectively to precisely control the extension and retraction of each control cylinder. Through the coordinated extension and retraction of each control cylinder, the multi-angle and multi-dimensional position adjustment of the support arm 3, the upper arm 31, the lower arm 32, the sliding arm 322 and the lifting arm 331 can be realized.

[0055] 4) The wireless control module sends a command to start the drive motor 432, which drives the rotating seat 433 to rotate using the belt drive structure, thereby adjusting the angle of the outer cylinder 44 and controlling the extension and retraction of the hydraulic rod A442 to control the swing amplitude of the corresponding connecting frame 444. The control circuit board in the control seat 46 sends a drive signal to the telescopic cylinder 4622 according to the preset clamping force threshold. The telescopic cylinder 4622 pushes the flexible clamping arm 4621 to close and clamp the object. During the clamping process, the pressure sensor inside the flexible clamping arm 4621 collects pressure data in real time and feeds it back to the control circuit board. The control circuit board adjusts the output force of the telescopic cylinder 4622 in real time according to the pressure feedback signal to keep the clamping force within the preset range.

[0056] The working principle of this embodiment is as follows: The dual-axis motor 121 is mounted on the motor base 12. After starting as a power source, its output shaft front end drives the transmission box 11 to rotate. The transmission box 11 transmits power to the gearboxes 13 on the left and right sides. The gearboxes 13 then drive the linear modules 14 near the left and right sides of the frame 1 respectively. At the same time, the output shaft rear end of the dual-axis motor 121 directly drives the linear module 14 near the rear side of the frame 1. The output shaft front end of the transmission box 11 drives the linear module 14 on the front side. The four linear modules 14 drive the clamping seat 141 to move synchronously or differently, realizing the installation and fixation of the device. When the hydraulic rod B232 retracts, the buckle plate 231 disengages from the limiting groove of the limiting plate 211, releasing the lock on the rotating column 21. 244 repeatedly extends and retracts, pushing the rotating handle 241 to swing. The push plate 242 on the rotating handle 241 engages with the ratchet 24. Under the pressure of the tension spring 243, the ratchet 24 drives the rotating column 21 and the turntable 22 to rotate stepwise, thereby adjusting the angle of the support arm 3. When the support arm 3 rotates to the correct position, the hydraulic rod B232 extends, and the latch plate 231 engages with the limit groove, locking the position of the turntable 22. The annular plate 221 on the bottom surface of the turntable 22 is supported by four rollers 223 to reduce rotational friction and ensure smooth rotation. Control cylinder A311 is installed between the support arm 3 and the upper arm 31, control cylinder B321 is installed between the upper arm 31 and the lower arm 32, and control cylinder C323 is installed between the lower arm 32 and the sliding arm 322. The second controller 3121 sends signals to the three control cylinders to control their extension and retraction, driving the boom 31, forearm 32, and sliding arm 322 to achieve multi-dimensional movements such as pitch and extension. Control cylinder D332 is installed between the mounting base 33 and the lifting arm 331. The first controller 3312 controls its extension and retraction, driving the lifting arm 331 to swing up and down. Control cylinder E333 and control cylinder F334 at the lower end of the lifting arm 331 are hinged. The piston rod of control cylinder F334 is connected to the cylinder barrel of control cylinder E333. The first controller 3312 coordinates the extension and retraction of the two. The attitude fine adjustment and precise positioning of the end effector are realized through the connecting plate 3331. The drive motor 432 is installed on the housing 431. After starting, it connects to the connecting belt 432 via the pulley. The transmission structure of 34 drives the rotating seat 433 to rotate, adjusting the angle of the outer cylinder 44. The hydraulic rod A442 is installed between the outer cylinder 44 and the inner cylinder 441. During extension and retraction, it pushes the inner cylinder 441 through the welding seat 4411, controlling the swing amplitude of the connecting frame 444. The three connecting frames 444 are connected to the control seat 46 through the connecting seat 45. The control circuit board inside the control seat 46 drives the telescopic cylinder 4622 to extend and retract, pushing the flexible clamping arm 4621 to rotate around the pin shaft to achieve closed clamping. The pressure sensor inside the flexible clamping arm 4621 collects the clamping pressure in real time and feeds it back to the control circuit board. The control circuit board adjusts the output force of the telescopic cylinder 4622 according to the preset threshold to keep the clamping force stable, realizing flexible clamping and force control operation of the object.

[0057] The following points should be noted in this article:

[0058] 1. The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention; other structures can refer to general designs.

[0059] 2. Where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other to obtain new embodiments.

[0060] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom flexible robotic arm device, comprising: The backplate (1), bearing sleeve (2), support arm (3), and back plate (4) are characterized in that a frame (41) is mounted on the back plate (4), a seat plate (42) is mounted on the frame (41), the seat plate (42) and the back plate (4) are connected by bolts, and a wireless control module is installed between them. The wireless control module includes a wireless transceiver and a power module. Three limit switches (411) are mounted on the frame (41), and three connecting seats (43) are mounted on the frame (41). A housing (431) is mounted on the connecting seat (43), a drive motor (432) is mounted on the housing (431), a pulley is mounted on the output shaft of the drive motor (432), and a rotating seat (433) is mounted on the housing (431). A pulley is mounted on the rotating shaft, and a connecting belt (434) is connected between the two pulleys. A hinge seat (435) is mounted on the housing (431), and a clamping seat (4351) is mounted on the hinge seat (435). A spring (4352) is installed between the clamping seat (4351) and the hinge seat (435). A clamping wheel (4353) is mounted on the clamping seat (4351), and the clamping wheel (4353) is clamped to the connecting belt (434). An outer cylinder (44) is mounted on each of the three rotating seats (433). A hydraulic rod A (442) is mounted on the outer cylinder (44). A welding seat (4411) is welded on the inner cylinder (441). The piston rod of the hydraulic rod A (442) is connected to the welding seat (4411). A connecting block (443) is fixed on the inner cylinder (441).

2. The multi-degree-of-freedom flexible robotic arm device according to claim 1, characterized in that, The lower end of the mounting frame (1) is equipped with a transmission box (11) and a motor mount (12). A dual-axis motor (121) is mounted on the motor mount (12). The front end of the output shaft of the dual-axis motor (121) is connected to the input end of the transmission box (11). Two gearboxes (13) are mounted on the lower end of the mounting frame (1). The two gearboxes (13) are located on the left and right sides of the transmission box (11), respectively. The output ends of the left and right sides of the transmission box (11) are connected to the input ends of the two transmission boxes (11), respectively. (1) has four linear modules (14) installed at its lower end. Each linear module (14) has a clamping seat (141) installed on it. The output ends of the two gearboxes (13) are connected to the input ends of the linear modules (14) on the left and right sides of the frame (1), respectively. The rear end of the output shaft of the dual-axis motor (121) is connected to the input end of the linear module (14) on the rear side of the frame (1). The output shaft of the front end of the transmission box (11) is connected to the input end of the linear module (14) on the front side of the frame (1).

3. The multi-degree-of-freedom flexible robotic arm device according to claim 2, characterized in that, The lower end of the seat frame (1) is fixed with a guard plate (15), which covers the transmission box (11), gearbox (13) and dual-shaft motor (121). The upper end of the seat frame (1) is welded with a top frame (16). The bearing cylinder (2) is installed on the top frame (16). A rotatable rotating column (21) is installed inside the bearing cylinder (2). A turntable (22) is fixed to the upper end of the rotating column (21). An annular plate (221) is fixed to the bottom surface of the turntable (22). Four support plates (222) are installed on the top frame (16). 22) is equipped with rollers (223), and the four rollers (223) are in contact with the bottom surface of the annular plate (221). The lower end of the turntable (22) is equipped with a limiting plate (211), and the limiting plate (211) has a ring array of limiting grooves. The top frame (16) is equipped with a support rod A (23), and the support rod A (23) is equipped with a buckle plate (231) that can be used with the limiting groove on the limiting plate (211). The top frame (16) is equipped with a hydraulic rod B (232), and the piston rod of the hydraulic rod B (232) is connected to the buckle plate (231).

4. The multi-degree-of-freedom flexible robotic arm device according to claim 3, characterized in that, The lower end of the limiting plate (211) is bolted with a ratchet (24), and a rotatable rotating handle (241) is mounted on the rotating column (21). A push plate (242) is mounted on the rotating handle (241) via a pin. A tension spring (243) is installed between the push plate (242) and the rotating handle (241). The push plate (242) is pressed against the ratchet (24). A hydraulic rod C (244) is mounted on the top frame (16). The piston rod of the hydraulic rod C (244) is connected to the rotating handle (241). The support arm (3) is mounted on the turntable (22).

5. A multi-degree-of-freedom flexible robotic arm device according to claim 4, characterized in that, The support arm (3) is mounted with a large arm (31) via a pin, and a small arm (32) is mounted on the large arm (31) via a bearing. A sliding arm (322) slides inside the small arm (32). A control cylinder A (311) is installed between the support arm (3) and the large arm (31), a control cylinder B (321) is installed between the large arm (31) and the small arm (32), and a control cylinder C (323) is installed between the small arm (32) and the sliding arm (322).

6. A multi-degree-of-freedom flexible robotic arm device according to claim 5, characterized in that, A mounting base (33) is bolted onto the sliding arm (322), and a lifting arm (331) is mounted on the mounting base (33) via a pin. A control cylinder D (332) is installed between the mounting base (33) and the lifting arm (331). A control cylinder E (333) and a control cylinder F (334) are hinged to the lower end of the lifting arm (331). The piston rod of the control cylinder F (334) is connected to the cylinder of the control cylinder E (333), and a connecting plate (3331) is fixed on the piston rod of the control cylinder E (333).

7. A multi-degree-of-freedom flexible robotic arm device according to claim 6, characterized in that, The lifting arm (331) is equipped with a clamp A (3311), and the boom (31) is equipped with a clamp B (312). The clamp A (3311) and the clamp B (312) are respectively equipped with a first controller (3312) and a second controller (3121). The first controller (3312) is connected to the second controller (3121). The first controller (3312) is connected to the control cylinder D (332), the control cylinder E (333), and the control cylinder F (334). The second controller (3121) is connected to the control cylinder A (311), the control cylinder B (321), and the control cylinder C (323). The three connecting blocks (443) are each connected to a connecting frame (444).

8. A multi-degree-of-freedom flexible robotic arm device according to claim 7, characterized in that, Connecting seats (45) are connected to the three connecting frames (444). A control seat (46) is fixed on the connecting seat (45). A fixing column (461) is fixed on the control seat (46). A mounting frame (462) is fixed on the fixing column (461). Four flexible clamping arms (4621) are mounted on the mounting frame (462) via pins. A telescopic cylinder (4622) is installed between the flexible clamping arms (4621) and the control seat (46). The telescopic cylinder (4622) is connected to the control seat (46).

9. A multi-degree-of-freedom flexible robotic arm device according to claim 8, characterized in that, The flexible clamping arm (4621) is made of elastic material and has a pressure sensor inside. The telescopic cylinder (4622) is an electro-hydraulic servo cylinder. The control base (46) has a control circuit board connected to the telescopic cylinder (4622) and the pressure sensor. The control circuit board is electrically connected to the telescopic cylinder (4622) and the pressure sensor and is used to control the clamping action of the flexible clamping arm (4621) and receive pressure feedback signals.

10. A control method employing a multi-degree-of-freedom flexible robotic arm device as described in claim 9, characterized in that: Includes the following steps: 1) Start the dual-axis motor (121). The power of the dual-axis motor (121) is transmitted to the linear module (14) through the transmission box (11) and gearbox (13), which drives the clamping seat (141) to move and firmly clamp the entire device on the installation platform. 2) When the hydraulic rod B (232) retracts, the buckle plate (231) disengages from the limiting groove of the limiting plate (211), releasing the lock on the rotating column (21). The hydraulic rod C (244) repeatedly extends and retracts and pushes the rotating handle (241). The push plate (242) on the rotating handle (241) cooperates with the ratchet (24) to push the turntable (22) to rotate, thereby adjusting the angle of the support arm (3). When the support arm (3) rotates to the position, the hydraulic rod B (232) extends, and the buckle plate (231) re-engages into the limiting groove, locking the position of the turntable (22) and the support arm (3). 3) The first controller (3312) and the second controller (3121) send signals to the control cylinders A (311), B (321), C (323), D (332), E (333) and F (334) respectively to precisely control the extension and retraction of each control cylinder. Through the coordinated extension and retraction of each control cylinder, the multi-angle and multi-dimensional position adjustment of the support arm (3), the upper arm (31), the lower arm (32), the sliding arm (322) and the lifting arm (331) can be realized. 4) Sending instructions through the wireless control module to start the drive motor (432), which drives the rotating seat (433) to rotate using the belt drive structure, thereby adjusting the angle of the outer cylinder (44) and controlling the extension and retraction of the hydraulic rod A (442) to control the swing amplitude of the corresponding connecting frame (444). The control circuit board inside the control seat (46) sends a drive signal to the telescopic cylinder (4622) according to the preset clamping force threshold. The telescopic cylinder (4622) pushes the flexible clamping arm (4621) to close and clamp the object. During the clamping process, the pressure sensor inside the flexible clamping arm (4621) collects pressure data in real time and feeds it back to the control circuit board. The control circuit board adjusts the output force of the telescopic cylinder (4622) in real time according to the pressure feedback signal so that the clamping force is always kept within the preset range.

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