An elephant trunk continuum robotic arm and a driving control method thereof

Abstract

The application relates to an elephant trunk continuous body mechanical arm which comprises a mounting base plate, a control device and bellows, the bellows are arranged in a plurality of arrays around the center circumference of the mounting base plate, form a driving section, any bellows is provided with an air pressure control assembly for controlling the air pressure in the bellows, a first positioning adjusting assembly for controlling the spacing between the bellows is arranged between the mounting base plate and one end of the plurality of bellows close to the mounting base plate, a plurality of driving sections are sequentially arranged along the array axis of the bellows, a second positioning adjusting assembly is further arranged between any two adjacent driving sections, an execution assembly is arranged at the end of the last driving section away from the mounting base plate, and a third positioning adjusting assembly is further arranged between the last driving section and the execution assembly; and the application further relates to a driving control method of the elephant trunk continuous body mechanical arm. The application has the effects of reducing local deviation and structural interference, improving bending continuity, posture stability and end execution precision.

Description

Technical Field

[0001] This application relates to the field of flexible robotic arm technology, and in particular to an elephant trunk-like continuous robotic arm and its drive control method. Background Technology

[0002] With the development of robotics technology, industrial robots have been widely used in manufacturing, material handling, assembly, and other fields. Traditional rigid articulated robots typically consist of multiple rigid links and discrete joints, offering advantages such as high positioning accuracy and strong load-bearing capacity. However, in specialized applications such as pipeline inspection, confined space maintenance, narrow space gripping, flexible workpiece handling, medical assistance, and exploration and rescue, traditional rigid robots, due to their large structural size, fixed degrees of freedom, and limited motion trajectory, struggle to adapt to complex and changing working environments. This can lead to problems such as inability to enter the workspace, difficulty in posture adjustment, or reduced work efficiency.

[0003] Flexible robots and continuum robots are gradually becoming important research directions in the field of robotics. Flexible robots typically achieve movement by deforming flexible materials or structures, enabling them to adapt to the external environment to a certain extent. Continuum robots, on the other hand, achieve bending, twisting, and stretching movements similar to biological organs through continuously deformable structures, exhibiting characteristics such as high degrees of freedom, continuous motion, and strong environmental adaptability. The elephant trunk, as a typical flexible organ in nature, possesses multi-directional bending, continuous deformation, compliant grasping, and strong environmental adaptability. Therefore, elephant trunk-inspired continuum robotic arms have promising applications in confined space operations, unstructured environment manipulation, and flexible grasping.

[0004] To meet the demands of working in confined spaces and multi-directional flexible grasping, elephant trunk-like continuous robotic arms typically require a large bending range and continuous deformation capability. To achieve this, existing structures often employ multiple flexible drive segments connected in series to form a long-stroke continuous structure. However, in such structures, the connection stability between adjacent drive segments is insufficient, and the relative spacing between multiple flexible drive units within the same drive segment is difficult to maintain effectively. This leads to problems such as local offset, structural interference, unstable bending trajectories, and reduced attitude control accuracy during continuous bending. Summary of the Invention

[0005] To address any of the aforementioned problems, this application provides a rhombus-shaped continuous robotic arm and its drive control method.

[0006] The elephant trunk-like continuous robotic arm and its drive control method provided in this application adopt the following technical solution: A continuous elephant trunk-like robotic arm includes a mounting base plate, a control device, and bellows. Multiple bellows are arranged in a circular array around the center of the mounting base plate to form a drive segment. Each bellows is equipped with a pneumatic control component for controlling the internal air pressure. A first positioning adjustment component for controlling the spacing between the bellows is located between the mounting base plate and the ends of the bellows closest to the mounting base plate. Multiple drive segments are arranged sequentially along the array axis of the bellows. The ends of bellows corresponding to any two adjacent drive segments are relatively fixed. A second positioning adjustment component is also located between any two adjacent drive segments to control the end position of the bellows within the corresponding drive segment. An execution component is located at the end of the drive segment furthest from the mounting base plate. A third positioning adjustment component is located between the furthest drive segment and the execution component. The pneumatic control component, execution component, first positioning adjustment component, second positioning adjustment component, and third positioning adjustment component are all electrically connected to the control device.

[0007] By adopting the above technical solution, the control device coordinates the pneumatic control components to change the internal air pressure of different bellows, causing each bellows in the same drive section to expand and contract to different degrees, thus forming a bending trend in the drive section. After multiple drive sections cooperate in sequence, the robotic arm can form a continuous bending posture similar to an elephant's trunk. The first positioning adjustment component, the second positioning adjustment component, and the third positioning adjustment component act on different connection positions, which can constrain the spatial position of the bellows during the bending and posture change of the robotic arm, avoiding swaying, misalignment, or mutual interference of multiple structural segments, thereby improving the continuity and stability of the overall bending and the positioning accuracy of the actuator components.

[0008] Preferably, any of the bellows is provided with an elastic reset member, which is sleeved on the outside of the corresponding bellows or built into the corresponding bellows.

[0009] By adopting the above technical solution, the elastic reset component generates elastic deformation when the bellows is compressed and stretched or bent, and provides restoring force after the air pressure decreases or is released, enabling the bellows to tend towards its initial posture. This method can reduce the dependence of the robotic arm's reset process on active drive, allowing the drive section to maintain good rebound ability and posture consistency during multiple bending cycles, while also improving the smoothness of the robotic arm's movements and its reliability.

[0010] Preferably, any of the air pressure control components includes an air pipe, one end of any of the bellows is fixed with a sealing plug, and the other end is connected to an external air source through the air pipe. A pressure regulating valve and a solenoid reversing valve are connected to any of the air pipes, and the pressure regulating valve and the solenoid reversing valve are respectively electrically connected to the control device.

[0011] By adopting the above technical solution, the pneumatic control component introduces gas from an external gas source into the corresponding bellows, and regulates the gas pressure and inflation / deflation status through a pressure regulating valve and a solenoid directional valve. This allows the control device to convert electrical control signals into gas pressure changes, which then drive the bellows to expand and contract. Through this pneumatic-electric coordinated approach, each bellows can obtain independent driving force, thus facilitating the control of the bending direction, bending amplitude, and response speed of different drive sections.

[0012] Preferably, the first positioning adjustment component includes a first mounting plate, a first mounting rod on the mounting base plate, a first connecting rod on the first mounting plate, the first mounting rod being rotatably connected to the mounting base plate about any radial direction of the corrugated pipe, the first connecting rod being rotatably connected to the first mounting plate about an axis parallel to the rotation axes of the first mounting rod and the mounting base plate, the first connecting rod being rotatably connected to the first mounting rod about an axis parallel to the rotation axes of the first mounting rod and the mounting base plate, a first fixing block being provided on the first mounting rod, the first fixing block being fixedly connected to the end of the corrugated pipe near the mounting base plate, the first connecting rod, the first mounting rod, and the first fixing block being provided for multiple corrugated pipes in a driving section, and the mounting base plate also having a first driving component that drives the first mounting plate to move along the axial direction of the corrugated pipe, the control device controlling the first driving component to drive the first mounting plate to move; the first driving component is configured as a first electric push rod, one end of the first electric push rod being fixedly connected to the mounting base plate, the other end being fixedly connected to the first mounting plate, and the first electric push rod being electrically connected to the control device.

[0013] By adopting the above technical solution, the first positioning adjustment component uses the first drive component to drive the first mounting plate to generate axial displacement, and drives the first mounting rod to swing through the first connecting rod, thereby changing the position of the first fixed block. This transmission relationship can transform the linear motion of the first drive component into the spacing adjustment motion between multiple bellows ends, making the initial arrangement of the same drive section more controllable; using the first electric push rod as the first drive component facilitates precise control by the control device, thereby improving the automation level and repeatability of the spacing adjustment.

[0014] Preferably, the first fixing block and the first mounting rod are rotatably connected around the rotation axis of the first connecting rod and the first mounting rod. A first limiting block is also provided on the side of the first mounting rod away from the first fixing block. The first limiting block and the first mounting rod are rotatably connected around the rotation axis of the first connecting rod and the first mounting rod. The corresponding first limiting blocks and first fixing blocks on two adjacent first mounting rods slide and cooperate in a direction parallel to the radial direction of the bellows.

[0015] By adopting the above technical solution, the first fixing block and the first limiting block form a mutual guiding relationship when the first mounting rod moves, making it less likely for the first fixing block to deflect randomly during the adjustment of its position with the first mounting rod. The sliding fit between adjacent structures can provide a guiding path for the spacing change, making the adjustment of multiple bellows ends smoother and reducing structural jamming caused by unilateral force or movement deviation, thereby improving the adjustment stability of the first positioning adjustment component.

[0016] Preferably, the first fixing block is provided with a first limiting hole, and the first limiting block is provided with a first limiting post. The first limiting post is inserted into the first limiting hole. When the first driving component pushes the first mounting plate to move relative to the mounting base plate, the first limiting post slides relative to the first limiting hole.

[0017] By adopting the above technical solution, the fit between the first limiting post and the first limiting hole can limit the range of motion of the first fixed block and the first limiting block while allowing relative sliding. When the first driving component pushes the first mounting plate to move, this fit ensures that the adjustment action is carried out within a predetermined range, avoiding structural detachment, misalignment, or jamming due to excessive displacement, thereby improving the safety and reliability of the first positioning adjustment component during dynamic adjustment.

[0018] Preferably, the actuating component is configured as a pneumatic gripper, the control device controls the opening and closing of the pneumatic gripper, and the driving air source of the pneumatic gripper is an external air source.

[0019] By adopting the above technical solution, the pneumatic gripper can complete the gripping and releasing actions under the control of the control device, and cooperate with the bending posture control of the robotic arm so that the execution component can perform the grasping task after reaching the target position.

[0020] A drive control method for a trunk-shaped continuous robotic arm includes the following steps: S1, the control device acquires a target posture command, which includes the target position and orientation of the execution component in three-dimensional space; S2, the control device calculates the required target elongation of each bellows using inverse kinematics based on the target posture command; S3, the control device determines the target air pressure value of each bellows based on the mapping relationship between the target elongation of each bellows and air pressure; S4, the control device adjusts each air pressure control component to make the actual air pressure in each bellows reach its respective target air pressure value, thereby causing each bellows to produce axial elongation corresponding to the target elongation, driving each drive segment to bend to the target posture; S5, the control device controls the execution component to perform corresponding actions according to the target posture command.

[0021] By adopting the above technical solution, the target posture command is converted into the target elongation of each bellows through the control device. Then, the corresponding target air pressure value is obtained according to the relationship between the elongation and air pressure, and the actual air pressure is adjusted by the air pressure control component. This process establishes a control chain from the target posture to the air pressure output and then to the bending of the drive section, enabling the robotic arm to bend continuously according to the predetermined posture and complete the corresponding operation through the execution component after reaching the position, thereby improving the coordination between posture control and end effector.

[0022] Preferably, the control device includes a storage unit; in S3, the mapping relationship between the elongation of the bellows and the air pressure is determined by pre-calibration or theoretical calculation and stored in the storage unit.

[0023] By adopting the above technical solution, the mapping relationship between the elongation of the bellows and the air pressure is predetermined and stored in the storage unit. The control device can then directly call up the corresponding data when performing attitude control, reducing real-time calculations and debugging. This improves the efficiency of determining the target air pressure value, making the expansion and contraction responses of each bellows closer to the target requirements, thereby enhancing the accuracy and response speed of the drive section bending control.

[0024] Preferably, in S2, the control device determines the target bending direction, target bending angle, and target spacing between multiple bellows in the same drive segment according to the target posture command; before S4, the control device controls the first positioning adjustment component, the second positioning adjustment component, and the third positioning adjustment component to operate so that the spacing between multiple bellows in the same drive segment reaches or approaches the target spacing.

[0025] By adopting the above technical solution, before the pneumatically driven bending of each drive segment, the bending requirements of the drive segment and the target spacing between multiple bellows are determined according to the target posture. The spacing is then adjusted using the first, second, and third positioning adjustment components, ensuring the bellows have a more suitable spatial arrangement for the target posture before the bending action. By adjusting the spacing before pneumatic driving, local interference and posture deviations during continuous bending can be reduced, improving the stability of the multi-segment robotic arm's bending trajectory and the accuracy of the actuators reaching the target position.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By forming a drive segment by circumferentially arraying multiple bellows and setting multiple drive segments along the array axis, the robotic arm can form a continuous bending posture similar to an elephant trunk; at the same time, the spacing and position constraints of the bellows at different positions are adjusted by the first positioning adjustment component, the second positioning adjustment component and the third positioning adjustment component, reducing the sway, misalignment and mutual interference during the bending process, and improving the continuity and structural stability of the overall bending of the robotic arm. 2. The control device determines the target elongation and target air pressure value of each bellows according to the target posture command, and adjusts each air pressure control component to make different bellows produce corresponding expansion and contraction, thereby driving each drive section to bend to the target posture; before air pressure drive, the spatial arrangement of bellows can also be adjusted according to the target spacing to make the bending trajectory more stable, reduce posture deviation, and improve the accuracy of the actuator reaching the target position. 3. The elastic reset component can assist the bellows in restoring its initial posture after the air pressure decreases or is released, improving the smoothness and reliability of the robotic arm's cyclic movements; when the actuator uses a pneumatic gripper, it can complete the gripping or releasing action after the robotic arm reaches the target posture, enabling the robotic arm to adapt to complex operation scenarios such as grasping in narrow spaces and flexible handling, and improving the coordination and practicality of the end-effector operation. Attached Figure Description

[0027] Figure 1 This is an isometric view of the overall structure of the elephant trunk-like continuous robotic arm, which is the main feature of Embodiment 1 of this application. Figure 2 This is an isometric view of Embodiment 1 of this application, which mainly illustrates the overall structure of the first positioning adjustment component; Figure 3 This is an isometric view of Embodiment 1 of this application, which mainly illustrates the overall structure of the second positioning adjustment component; Figure 4 This is an isometric view of the overall structure of the third positioning adjustment component and the execution component, which are the main features of Embodiment 1 of this application.

[0028] Reference numerals: 1. Mounting base plate; 2. Drive section; 21. Bellows; 3. First positioning adjustment assembly; 31. First mounting plate; 32. First mounting rod; 33. First connecting rod; 34. First fixing block; 341. First limiting hole; 35. First limiting block; 351. First limiting post; 36. First electric push rod; 4. Second positioning adjustment assembly; 41. Second mounting plate; 42. First fixing plate; 43. Second mounting rod; 44. Second connecting rod; 45. Second fixing block; 451. Second limiting hole; 452. Fixing frame; 46. Second limiting block; 461. Second limiting post; 47. Second electric push rod; 5. Third positioning and adjustment assembly; 51. Third mounting plate; 52. Second fixing plate; 53. Third mounting rod; 54. Third connecting rod; 55. Third fixing block; 551. Third limiting hole; 56. Third limiting block; 561. Third limiting post; 57. Third electric push rod; 6. Pneumatic gripper. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0030] This application discloses an elephant trunk-like continuous robotic arm and its drive control method.

[0031] Example 1 See Figures 1-4 The elephant trunk-like continuous robotic arm includes a mounting base plate 1 and a control device. Corrugated pipes 21 are arranged on the mounting base plate 1, with multiple corrugated pipes 21 arranged in a circumferential array around the center of the mounting base plate 1 to form a drive segment 2. In this embodiment, a drive segment 2 includes three circumferentially arrayed corrugated pipes 21; in other embodiments, a drive segment 2 may include four or more parallel arranged corrugated pipes 21. Multiple drive segments 2 are arranged at intervals along the axis of the corrugated pipe array. In this embodiment, the drive segment 2 is configured as three segments. An execution component is also provided at the end of the drive segment 2 furthest away from the mounting base plate 1. A first positioning adjustment component 3 is also provided between the mounting base plate 1 and the drive segment 2 closest to the mounting base plate 1; a second positioning adjustment component 4 is also provided between any two adjacent drive segments 2; and a third positioning adjustment component 5 is also provided between the furthest drive segment 2 and the execution component. A pneumatic control component is provided on any of the corrugated pipes 21. The pneumatic control component, the actuation component, the first positioning adjustment component 3, the second positioning adjustment component 4, and the third positioning adjustment component 5 are respectively electrically connected to the control device.

[0032] The control device can be configured as a PLC integrated module including a processor and components such as a power supply, control screen, and buttons electrically connected to the processor, and connected to the drive units of each component via circuitry or wireless signals. The control device also includes a storage unit, in which the mapping relationship between the elongation of the bellows 21 and the internal air pressure of the bellows 21 is determined by pre-calibration or theoretical calculation and stored.

[0033] Any pneumatic control component includes a pipe, one end of any bellows 21 is fixed with a sealing plug, and the other end is connected to an external air source through the pipe. A pressure regulating valve and a solenoid directional valve are connected to any pipe, and the pressure regulating valve and the solenoid directional valve are respectively electrically connected to the control device.

[0034] See Figure 1 , Figure 2The first positioning adjustment component 3 includes a first mounting plate 31, a first mounting rod 32 on a mounting base plate 1, and a first connecting rod 33 on the first mounting plate 31. The first mounting rod 32 is rotatably connected to the mounting base plate 1 about any radial direction of the corrugated pipe 21. The first connecting rod 33 is rotatably connected to the first mounting plate 31 about an axis parallel to the rotation axes of the first mounting rod 32 and the mounting base plate 1. The first connecting rod 33 is rotatably connected to the first mounting rod 32 about an axis parallel to the rotation axes of the first mounting rod 32 and the mounting base plate 1. A first fixing block 34 is also provided on the first mounting rod 32, and the first fixing block 34 is fixedly connected to the end of the corrugated pipe 21 near the side of the mounting base plate 1. The first connecting rod 33, the first mounting rod 32, and the first fixing block 34 are respectively provided for multiple corrugated pipes 21 within a drive section 2. In this embodiment, three are provided for each. The mounting base plate 1 is also provided with a first drive assembly that drives the first mounting plate 31 to move along the axis of the corrugated pipe 21, and the control device controls the first drive assembly to drive the first mounting plate 31 to move.

[0035] The first fixing block 34 and the first mounting rod 32 are rotatably connected around the rotation axis of the first connecting rod 33 and the first mounting rod 32. A first limiting block 35 is also provided on the side of the first mounting rod 32 facing away from the first fixing block 34. The first limiting block 35 and the first mounting rod 32 are rotatably connected around the rotation axis of the first connecting rod 33 and the first mounting rod 32. The corresponding first limiting blocks 35 and first fixing blocks 34 on two adjacent first mounting rods 32 slide in a direction parallel to the radial direction of the bellows 21. A first limiting hole 341 is provided on the first fixing block 34, and a first limiting post 351 is provided on the first limiting block 35. The first limiting post 351 is inserted into the first limiting hole 341. When the first driving assembly pushes the first mounting plate 31 to move relative to the mounting base plate 1, the first limiting post 351 slides relative to the first limiting hole 341.

[0036] The first drive component is configured as a first electric push rod 36. One end of the first electric push rod 36 is fixedly connected to the mounting base plate 1, and the other end is fixedly connected to the first mounting plate 31. The first electric push rod 36 is electrically connected to the control device.

[0037] See Figure 1 , Figure 3The second positioning adjustment assembly 4 includes a second mounting plate 41 and a first fixing plate 42. A second mounting rod 43 is mounted on the first fixing plate 42, and a second connecting rod 44 is mounted on the second mounting plate 41. The second mounting rod 43 is rotatably connected to the first fixing plate 42 about any radial direction of the bellows 21. The second connecting rod 44 is rotatably connected to the second mounting plate 41 about an axis parallel to the rotation axes of the second mounting rod 43 and the first fixing plate 42. The second connecting rod 44 is rotatably connected to the second mounting rod 43 about an axis parallel to the rotation axes of the second mounting rod 43 and the first fixing plate 42. A second fixing block 45 is also mounted on the second mounting rod 43, and the second fixing block 45 is fixedly connected to the end of the bellows 21 near the mounting base plate 1. Multiple second connecting rods 44, second mounting rods 43, and second fixing blocks 45 are respectively provided for multiple bellows 21 within a single drive section 2; in this embodiment, three are provided for each. The first fixed plate 42 is also provided with a second drive assembly that drives the second mounting plate 41 to move along the axis of the corrugated pipe 21. The control device controls the second drive assembly to drive the second mounting plate 41 to move.

[0038] The second fixing block 45 is rotatably connected to the second mounting rod 43 around the rotation axis of the second connecting rod 44 and the second mounting rod 43. A second limiting block 46 is also provided on the side of the second mounting rod 43 facing away from the second fixing block 45. The second limiting block 46 is rotatably connected to the second mounting rod 43 around the rotation axis of the second connecting rod 44 and the second mounting rod 43. The corresponding second limiting blocks 46 and second fixing blocks 45 on two adjacent second mounting rods 43 slide in a direction parallel to the radial direction of the bellows 21. A second limiting hole 451 is provided on the second fixing block 45, and a second limiting post 461 is provided on the second limiting block 46. The second limiting post 461 is inserted into the second limiting hole 451. When the second driving assembly pushes the second mounting plate 41 to move relative to the first fixing plate 42, the second limiting post 461 slides relative to the second limiting hole 451.

[0039] The second fixing block 45 is fixedly connected to the end of the corresponding bellows 21 in one of the drive sections 2 that is close to the adjacent drive section 2. A fixing bracket 452 is also fixed on the second fixing block 45. The fixing bracket 452 is fixedly connected to the end of the corresponding bellows 21 in the other adjacent drive section 2 that is close to that drive section 2, so that the two ends of the corresponding bellows 21 in the two adjacent drive sections 2 that are close to each other are relatively fixed.

[0040] With the cooperation of the second fixing block 45 and the fixing frame 452, the two ends of the corresponding bellows 21 in the two adjacent drive sections 2 that are close to each other can be kept relatively fixed, and the position of the end of the corresponding bellows 21 can be adjusted synchronously when the second positioning adjustment component 4 is activated.

[0041] The second drive assembly is configured as a second electric push rod 47. One end of the second electric push rod 47 is fixedly connected to the first fixed plate 42, and the other end is fixedly connected to the second mounting plate 41. The second electric push rod 47 is electrically connected to the control device.

[0042] See Figure 1 , Figure 4 The third positioning adjustment component 5 includes a third mounting plate 51 and a second fixing plate 52. A third mounting rod 53 is mounted on the second fixing plate 52, and a third connecting rod 54 is mounted on the third mounting plate 51. The third mounting rod 53 is rotatably connected to the second fixing plate 52 about any radial direction of the corrugated pipe 21. The third connecting rod 54 is rotatably connected to the third mounting plate 51 about an axis parallel to the rotation axes of the third mounting rod 53 and the second fixing plate 52. The third connecting rod 54 is rotatably connected to the third mounting rod 53 about an axis parallel to the rotation axes of the third mounting rod 53 and the second fixing plate 52. A third fixing block 55 is also mounted on the third mounting rod 53, and the third fixing block 55 is fixedly connected to the end of the corrugated pipe 21 on the side of the last driving section 2 facing away from the mounting base plate 1. The third connecting rod 54, the third mounting rod 53, and the third fixing block 55 are provided for multiple corrugated pipes 21 within one driving section 2; in this embodiment, three are provided for each. The second fixed plate 52 is also provided with a third drive assembly that drives the third mounting plate 51 to move along the axis of the corrugated pipe 21. The control device controls the third drive assembly to drive the third mounting plate 51 to move.

[0043] The third fixing block 55 and the third mounting rod 53 are rotatably connected around the rotation axis of the third connecting rod 54 and the third mounting rod 53. A third limiting block 56 is also provided on the side of the third mounting rod 53 opposite to the third fixing block 55. The third limiting block 56 and the third mounting rod 53 are rotatably connected around the rotation axis of the third connecting rod 54 and the third mounting rod 53. The corresponding third limiting blocks 56 and third fixing blocks 55 on two adjacent third mounting rods 53 slide and engage in a direction parallel to the radial direction of the bellows 21. The third fixing block 55 is provided with a third limiting hole 551, and the third limiting block 56 is provided with a third limiting post 561. The third limiting post 561 is inserted into the third limiting hole 551. When the third driving component pushes the second fixing plate 52 to move relative to the third mounting plate 51, the third limiting post 561 slides relative to the third limiting hole 551. The third positioning adjustment component 5 is used to adjust the position of multiple bellows 21 in the last driving section 2 near one end of the execution component, so that the connection position between the execution component and the last driving section 2 can adapt to the target bending posture.

[0044] The third drive assembly is configured as a third electric push rod 57. One end of the third electric push rod 57 is fixedly connected to the second fixed plate 52, and the other end is fixedly connected to the third mounting plate 51. The third electric push rod 57 is electrically connected to the control device.

[0045] The actuator is mounted on the second fixed plate 52. In this embodiment, the actuator is set as a pneumatic gripper 6. In other embodiments, the actuator can also be set as an electric gripper, a vacuum suction cup or a multi-finger dexterous hand or other electric or pneumatic structure.

[0046] The control device controls the opening and closing of the pneumatic gripper 6. The driving air source for the pneumatic gripper 6 is an external air source. The driving air source for the pneumatic gripper 6 can share the same air source as multiple pneumatic control components.

[0047] Each bellows 21 is provided with an elastic reset element, which is sleeved on the outside of the corresponding bellows 21 or built into the corresponding bellows 21. In this embodiment, the elastic reset element is set as a reset spring. In other embodiments, the elastic reset element can also be set as a built-in elastic core or shape memory alloy wire. The reset spring is sleeved on the outside of the bellows 21 and is fixedly connected to the first fixing block 34, the second fixing block 45, the third fixing block 55, or the fixing bracket 452 at both ends of the bellows 21. The reset spring can also be built into the inside of the bellows 21 and coaxially arranged with the bellows 21.

[0048] Example 1 illustrates the implementation principle of a continuous elephant trunk-like robotic arm: During operation, the control device determines the required position and direction of the execution component based on the target posture command, and calculates the required elongation of different bellows 21 based on the arrangement of each drive segment 2. Subsequently, the control device outputs control signals to the corresponding pneumatic control components, adjusts the gas pressure entering the bellows 21 through the pressure regulating valve, and controls the inflation or deflation state of the corresponding bellows 21 through the electromagnetic reversing valve. When the internal air pressure of multiple bellows 21 within the same drive segment 2 is different, each bellows 21 undergoes different degrees of axial elongation, causing the drive segment 2 to bend towards the side with the smaller elongation; after multiple drive segments 2 bend sequentially along the array axis of the bellows 21, a continuous bending posture similar to an elephant trunk can be formed.

[0049] Before or during the bending process of the robotic arm, the control device can also control the first positioning adjustment component 3, the second positioning adjustment component 4, and the third positioning adjustment component 5 to adjust the spacing between multiple bellows 21 at corresponding positions according to the target posture. Specifically, the first electric push rod 36 drives the first mounting plate 31 to move along the axis of the bellows 21. The first mounting plate 31 drives the first mounting rod 32 to rotate relative to the mounting base plate 1 through the first connecting rod 33. The first mounting rod 32 further drives the first fixing block 34 to move, thereby changing the distance between the ends of multiple bellows 21 near the mounting base plate 1. At the same time, the first limiting post 351 slides relative to the first limiting hole 341, so that the first fixing block 34 and the first limiting block 35 maintain guiding cooperation during the adjustment process, avoiding excessive swaying or misalignment of the first fixing block 34.

[0050] The adjustment principles of the second positioning adjustment component 4 and the third positioning adjustment component 5 are the same as those of the first positioning adjustment component 3. The second electric push rod 47 drives the second mounting plate 41 to move relative to the first fixed plate 42, and adjusts the end position of the bellows 21 at the connection between two adjacent drive sections 2 through the second connecting rod 44, the second mounting rod 43 and the second fixed block 45; the third electric push rod 57 drives the second fixed plate 52 to move relative to the third mounting plate 51, and adjusts the end position of the bellows 21 between the last drive section 2 and the execution component through the third connecting rod 54, the third mounting rod 53 and the third fixed block 55. Through the above adjustments, the spacing between the multiple bellows 21 in each drive section 2 can maintain a suitable distance for the target bending posture, reducing local interference, structural offset and posture error during continuous bending.

[0051] Once each drive segment 2 bends to the target posture, the control device controls the movement of the actuator. When the actuator is a pneumatic gripper 6, the control device controls the air supply to the pneumatic gripper 6, enabling it to perform gripping or releasing operations. Thus, the robotic arm can, after multiple consecutive bends, bring the actuator to the designated spatial position and complete the grasping operation.

[0052] After the air pressure decreases or is released, the elastic reset element on the bellows 21 restores its initial state, thus assisting in the reset of each drive segment 2. By independently driving each bellows 21 through the air pressure control component, and cooperating with the first positioning adjustment component 3, the second positioning adjustment component 4, and the third positioning adjustment component 5 to adjust the spacing and end positions of the bellows 21, this embodiment can achieve multi-segment continuous bending, posture adjustment, and end-effector execution of the robotic arm, improving the motion stability and operational reliability of the elephant trunk-like continuous robotic arm in complex spaces.

[0053] Example 2 The drive control method for the elephant trunk-like continuous robotic arm includes the following steps: S1. The control device acquires the target posture command, which includes the target position and orientation of the execution component in three-dimensional space. The control device can receive the target posture command through the control screen, buttons, host computer or wireless signal, and the processor parses the target posture command to obtain the spatial position that the execution component needs to reach, the clamping direction and the overall bending posture that each drive segment 2 needs to form.

[0054] S2. The control device determines the target bending direction, target bending angle, and target spacing between multiple bellows 21 within the same drive segment 2 according to the target attitude command. In this embodiment, one drive segment 2 includes three bellows 21 arranged in a circumferential array around the center of the mounting base plate 1. The drive segment 2 is arranged into three segments along the axis of the bellows 21 array. Based on the spatial distribution relationship of the three drive segments 2, the control device decomposes the target position and orientation of the execution component into the target bending direction and target bending angle corresponding to each drive segment 2, and calculates the required target elongation of each bellows 21 by inverse kinematics, combining the circumferential array position of each bellows 21 in the drive segment 2.

[0055] S3. The mapping relationship between the elongation of the bellows 21 and the air pressure is determined through pre-calibration or theoretical calculation and stored in the storage unit. Based on the target elongation of each bellows 21, the control device retrieves the corresponding mapping relationship between elongation and air pressure from the storage unit to determine the target air pressure value for each bellows 21. Since each bellows 21 is connected to an external air source via an air pipe, and the air pipe is equipped with a pressure regulating valve and a solenoid directional valve, the control device can determine the target adjustment amount of each pressure regulating valve and the target on / off state of each solenoid directional valve.

[0056] S4. The control device first controls the first positioning adjustment component 3, the second positioning adjustment component 4 and the third positioning adjustment component 5 to make the distance between the ends of multiple bellows 21 at the corresponding positions reach or approach the target distance. Then, it adjusts each air pressure control component to make the actual air pressure in each bellows 21 reach its respective target air pressure value, so that each bellows 21 produces axial elongation corresponding to the target elongation, driving each drive section 2 to bend to the target posture.

[0057] Before adjusting the air pressure, the control device controls the first electric push rod 36 to move, causing the first mounting plate 31 to move relative to the mounting base plate 1 along the axis of the bellows 21. The first mounting plate 31 drives the first mounting rod 32 to rotate relative to the mounting base plate 1 via the first connecting rod 33. The first mounting rod 32 drives the first fixing block 34 to move, thereby adjusting the spacing between the ends of the multiple bellows 21 near the mounting base plate 1. During the movement of the first fixing block 34, the first limiting post 351 slides relative to the first limiting hole 341, keeping the first fixing block 34 and the first limiting block 35 in a guiding fit to limit the sway of the first fixing block 34 and improve the stability of the spacing adjustment.

[0058] The control device controls the second electric push rod 47 to move, causing the second electric push rod 47 to move the second mounting plate 41 relative to the first fixed plate 42 along the axis of the bellows 21. The second mounting plate 41 drives the second mounting rod 43 to rotate relative to the first fixed plate 42 via the second connecting rod 44. The second mounting rod 43 drives the second fixed block 45 to move, thereby adjusting the distance between the ends of the bellows 21 at the connection positions of two adjacent drive sections 2. The second limiting post 461 slides relative to the second limiting hole 451 to guide and limit the movement of the second fixed block 45. At the same time, the fixing bracket 452 on the second fixed block 45 is fixedly connected to the end of the bellows 21 in the other adjacent drive section 2 that is close to each other, so that the ends of the bellows 21 corresponding to the two adjacent drive sections 2 can be adjusted in position while maintaining the connection.

[0059] The control device controls the third electric push rod 57 to move, causing the third electric push rod 57 to move the third mounting plate 51 relative to the second fixed plate 52 along the axis of the bellows 21. The third mounting plate 51 drives the third mounting rod 53 to rotate relative to the second fixed plate 52 via the third connecting rod 54. The third mounting rod 53 drives the third fixed block 55 to move, thereby adjusting the position of the last driving section 2 and the corresponding end of the bellows 21 between them. The third limiting post 561 slides relative to the third limiting hole 551, guiding and limiting the movement of the third fixed block 55.

[0060] When the spacing between the ends of multiple bellows 21 at corresponding positions reaches or approaches the target spacing, the control device adjusts each air pressure control component. Specifically, based on the deviation between the actual air pressure and the target air pressure value of each bellows 21, the control device controls the electromagnetic reversing valve to switch the inflation, deflation, or pressure holding state of the corresponding bellows 21, and adjusts the opening of the pressure regulating valve on the corresponding air pipe through a PID control algorithm, so that the actual air pressure in each bellows 21 tracks its respective target air pressure value. Since the target air pressure values ​​of multiple bellows 21 in the same drive section 2 are different, each bellows 21 produces a difference in axial elongation corresponding to the target elongation, causing the drive section 2 to bend towards the side with smaller elongation; after multiple drive sections 2 cooperate in sequence, they drive the elephant trunk-like continuous robotic arm to bend to the target posture.

[0061] S5. The control device controls the execution component to perform corresponding actions according to the target posture command. After each drive segment 2 bends to the target posture, the control device controls the execution component to perform corresponding actions according to the target posture command. In this embodiment, the execution component is set as a pneumatic gripper 6, which is mounted on the second fixed plate 52. The control device controls the air supply state of the pneumatic gripper 6, so that the pneumatic gripper 6 completes the opening and closing action. When the execution component reaches the target position, the pneumatic gripper 6 closes to grip the target object; when it is necessary to release the target object, the control device controls the pneumatic gripper 6 to open, thereby completing the gripping or releasing operation.

[0062] After the operation is completed, the control device can control each pneumatic control component to reduce or release the air pressure in the corresponding bellows 21. The elastic reset component provides a restoring force, causing the bellows 21 to tend towards the initial state and driving each drive section 2 to gradually reset. Through the above control process, the coordinated control between the bellows 21 spacing adjustment, the continuous bending of the drive section 2, and the action of the actuators can be realized, improving the stability of the bending trajectory of the robotic arm and the end effector accuracy.

[0063] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A continuous robotic arm resembling an elephant trunk, characterized in that: The system includes a mounting base plate (1), a control device, and bellows (21). Multiple bellows (21) are arranged in a circumferential array around the center of the mounting base plate (1) to form a drive section (2). Each bellows (21) is equipped with a pressure control component to control the internal air pressure. A first positioning adjustment component (3) for controlling the spacing between the bellows (21) is provided between the mounting base plate (1) and the ends of the bellows (21) closest to the mounting base plate (1). Multiple drive sections (2) are arranged sequentially along the array axis of the bellows (21). Any two adjacent drive sections (2) correspond to bellows (21)... 21) The two ends that are close to each other are relatively fixed. A second positioning adjustment component (4) is also provided between any two adjacent drive segments (2). The second positioning adjustment component (4) is used to control the end position of the bellows (21) in the corresponding drive segment (2). An execution component is provided at the end of the drive segment (2) that is away from the mounting base plate (1). A third positioning adjustment component (5) is also provided between the last drive segment (2) and the execution component. The air pressure control component, the execution component, the first positioning adjustment component (3), the second positioning adjustment component (4) and the third positioning adjustment component (5) are respectively electrically connected to the control device.

2. The elephant trunk-like continuous robotic arm according to claim 1, characterized in that: An elastic reset member is provided on any of the bellows (21), and the elastic reset member is sleeved on the outside of the corresponding bellows (21) or built into the corresponding bellows (21).

3. The elephant trunk-like continuous robotic arm according to claim 1, characterized in that: Each of the aforementioned air pressure control components includes an air pipe, and one end of each of the aforementioned bellows (21) is fixed with a sealing plug, and the other end is connected to an external air source through the air pipe. Each of the aforementioned air pipes is connected to a pressure regulating valve and a solenoid reversing valve, and the pressure regulating valve and the solenoid reversing valve are respectively electrically connected to the control device.

4. The elephant trunk-like continuous robotic arm according to claim 1, characterized in that: The first positioning adjustment component (3) includes a first mounting plate (31), a first mounting rod (32) is provided on the mounting base plate (1), a first connecting rod (33) is provided on the first mounting plate (31), the first mounting rod (32) is rotatably connected to the mounting base plate (1) about any radial direction of the corrugated pipe (21), the first connecting rod (33) is rotatably connected to the first mounting plate (31) about an axis parallel to the rotation axis of the first mounting rod (32) and the mounting base plate (1), the first connecting rod (33) is rotatably connected to the first mounting rod (32) about an axis parallel to the rotation axis of the first mounting rod (32) and the mounting base plate (1), and a first fixing block (34) is also provided on the first mounting rod (32). 34) The first connecting rod (33), the first mounting rod (32) and the first fixing block (34) are fixedly connected to the end of the corrugated pipe (21) near the mounting base plate (1). The first connecting rod (33), the first mounting rod (32) and the first fixing block (34) are respectively provided for multiple corrugated pipes (21) in a drive section (2). The mounting base plate (1) is also provided with a first drive assembly that drives the first mounting plate (31) to move along the axis of the corrugated pipe (21). The control device controls the first drive assembly to drive the first mounting plate (31) to move. The first drive assembly is set as a first electric push rod (36). One end of the first electric push rod (36) is fixedly connected to the mounting base plate (1) and the other end is fixedly connected to the first mounting plate (31). The first electric push rod (36) is electrically connected to the control device.

5. The elephant trunk-like continuous robotic arm according to claim 4, characterized in that: The first fixing block (34) and the first mounting rod (32) are rotatably connected around the rotation axis of the first connecting rod (33) and the first mounting rod (32). The first mounting rod (32) is also provided with a first limiting block (35) on one side away from the first fixing block (34). The first limiting block (35) and the first mounting rod (32) are rotatably connected around the rotation axis of the first connecting rod (33) and the first mounting rod (32). The corresponding first limiting blocks (35) and first fixing blocks (34) on two adjacent first mounting rods (32) slide and cooperate in a direction parallel to the radial direction of the bellows (21).

6. The elephant trunk-like continuous robotic arm according to claim 5, characterized in that: The first fixing block (34) is provided with a first limiting hole (341), and the first limiting block (35) is provided with a first limiting post (351). The first limiting post (351) is inserted into the first limiting hole (341). When the first driving component pushes the first mounting plate (31) to move relative to the mounting base plate (1), the first limiting post (351) slides relative to the first limiting hole (341).

7. The elephant trunk-like continuous robotic arm according to claim 1, characterized in that: The execution component is configured as a pneumatic gripper (6), the control device controls the opening and closing of the pneumatic gripper (6), and the driving air source of the pneumatic gripper (6) is an external air source.

8. A drive control method for an elephant trunk-like continuous robotic arm, applied to the elephant trunk-like continuous robotic arm as described in any one of claims 1 to 7, characterized in that: Includes the following steps: S1. The control device acquires the target attitude command, which includes the target position and orientation of the execution component in three-dimensional space; S2. The control device calculates the required target elongation of each bellows (21) according to the target posture command through inverse kinematics; S3. The control device determines the target air pressure value of each bellows (21) based on the mapping relationship between the target elongation of each bellows (21) and the air pressure. S4. The control device adjusts each air pressure control component to make the actual air pressure in each bellows (21) reach its respective target air pressure value, so that each bellows (21) produces an axial elongation corresponding to the target elongation, driving each drive section (2) to bend to the target posture. S5. The control device controls the execution component to perform corresponding actions according to the target attitude command.

9. The drive control method for a rhombus-shaped continuous robotic arm according to claim 8, characterized in that: The control device includes a storage unit; in S3, the mapping relationship between the elongation of the bellows (21) and the air pressure is determined by pre-calibration or theoretical calculation and stored in the storage unit.

10. The drive control method for a rhombus-shaped continuous robotic arm according to claim 8, characterized in that: In S2, the control device determines the target bending direction, target bending angle and target spacing between multiple bellows (21) in the same drive section (2) according to the target posture command. Before S4, the control device controls the first positioning adjustment component (3), the second positioning adjustment component (4) and the third positioning adjustment component (5) to make the spacing between multiple bellows (21) in the same drive section (2) reach or approach the target spacing.

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