Multifunctional rigid-flexible coupling type cooperative arm
By designing a multifunctional rigid-flex coupled cooperative arm, including rigid telescopic modules, flexible bending modules and rigid rotation modules, the safety and adaptability of existing cooperative arm in terms of human-computer interaction and unstructured environmental adaptability is solved, achieving higher flexibility and safety, and reducing costs.
Patent Information
- Application Number
- CN202421317129.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-11
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-06-11
AI Technical Summary
The existing collaborative arms have problems such as poor safety, poor adaptability, high weight, and high production and maintenance costs in terms of human-computer interaction and unstructured environmental adaptability.
A multifunctional rigid-flexible coupled cooperative arm is designed, including a rigid telescopic module, a flexible bending module and a rigid rotation module. The rigid telescopic module realizes telescopic through the first-stage, second-stage and third-stage cylinder blocks; the flexible bending module realizes bending through the folding of the capsule unit and the support structure; the rigid rotating module realizes rotation through the servo motor.
It improves the flexibility and adaptability of the collaboration arm, enhances the safety of human-computer interaction, reduces damage to the surrounding environment, and reduces production and maintenance costs.
Smart Images
Figure CN222589843U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of mechanical arms, in particular to a multifunctional rigid-flexible coupling type collaborative arm. Background Art
[0002] Traditional rigid collaborative arms have limited flexibility and relatively simple movement modes. They may not be flexible enough in some complex operating scenarios, and have poor adaptability. They have difficulty adapting to objects of different shapes and sizes, and are relatively weak in adapting to environmental changes.
[0003] In addition, existing collaborative arms usually have weak buffering capabilities and lack effective buffering capabilities when colliding with people or other objects, which may cause equipment damage or personal injury. Utility Model Content
[0004] The purpose of the utility model is to provide a multifunctional rigid-flexible coupling collaborative arm to solve the problems of poor human-machine interaction safety, poor adaptability to unstructured environments, heavy weight, and high production and maintenance costs of existing collaborative arms.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multifunctional rigid-flexible coupling type collaborative arm, comprising a rigid telescopic module, a flexible bending module and a rigid rotating module connected to each other;
[0006] The rigid telescopic module includes a primary end plate, a secondary end plate and a telescopic mechanism; the flexible bending module includes a primary rigid part, a plurality of secondary rigid parts and a tertiary rigid part, and a folding bag cavity mechanism and a supporting structure are provided between the primary rigid part, the secondary rigid part and the tertiary rigid part; the rigid rotating module includes a servo motor, an upper mounting part and a lower mounting part, and the upper mounting part and the lower mounting part are both fixed to the servo motor.
[0007] Compared with the prior art, the beneficial effects of the utility model are:
[0008] The rigid telescopic module of the collaborative arm has a compact structure and a large thrust, and is more stable during the upward movement. The two sections are retractable, so that the device has a longer movement stroke and will not cause damage to surrounding personnel and objects during the movement.
[0009] The flexible bending module of the collaborative arm includes a folding capsule unit group composed of 4 folding capsule units. When the pressure in each folding capsule unit is inconsistent, the flexible bending module can be bent. A support structure is also provided between the secondary rigid part and another secondary rigid part. The support structure can make the bending action of the robot arm more stable and can also improve the lateral stiffness of the collaborative arm, thereby improving the load volume ratio and load self-weight ratio of the flexible collaborative arm and preventing the collapse of the folding capsule unit group. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Figure 1 It is a schematic diagram of the multifunctional rigid-flexible coupling collaborative arm of the utility model.
[0011] Figure 2 It is a schematic diagram of the rigid telescopic module of the utility model.
[0012] Figure 3 It is a schematic diagram of the flexible bending module of the utility model.
[0013] Figure 4 It is a schematic diagram of the secondary rigid part of the utility model.
[0014] Figure 5 It is a cross-sectional view of the internal structure of the flexible bending module of the utility model.
[0015] Figure 6 It is a schematic diagram of the foldable capsule unit of the utility model.
[0016] Figure 7 It is a schematic diagram of the rigid rotating module of the utility model.
[0017] Figure 8 It is a cross-sectional view of the rigid rotating module of the utility model.
[0018] 1. Rigid telescopic module; 11. Primary cylinder body; 12. Secondary cylinder body; 13. Third-level cylinder body; 14. Primary end plate; 15. Secondary end plate; 2. Flexible bending module; 21. Primary rigid part; 22. Secondary rigid part; 23. Third-level rigid part; 24. Folding capsule mechanism; 241. Folding capsule unit; 25. Support structure; 251. Support rod; 252. Hinge; 26. Press plate; 27. Upper mounting plate; 28. Lower mounting plate; 3. Rigid rotating module; 31. Upper mounting part; 32. Lower mounting part; 33. Servo motor. DETAILED DESCRIPTION
[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0020] See also Figure 1-8 , the utility model provides a technical solution: a multifunctional rigid-flexible coupling type collaborative arm, comprising a rigid telescopic module 1, a flexible bending module 2 and a rigid rotating module 3 connected to each other;
[0021] The rigid telescopic module 1 includes a primary end plate 14, a secondary end plate 15 and a telescopic mechanism, and the telescopic mechanism includes a primary cylinder 11, a secondary cylinder 12 and a tertiary cylinder 13 connected in sequence. The primary cylinder 11 and the tertiary cylinder 13 are fixed to the primary end plate 14 and the secondary end plate 15 by screws to ensure the freedom of telescopic amount. The primary cylinder 11, the secondary cylinder 12 and the tertiary cylinder 13 are provided with a drag chain, and the charging cable and the air pipe can be placed inside the drag chain to prevent the charging cable from being exposed and entangled with other objects, and to prevent the shaking of the charging cable from affecting the movement of the module.
[0022] The primary end plate 14 can also be equipped with a pull rope displacement sensor, and the pull rope is tied to the secondary end plate 15 of the telescopic mechanism. When the rigid telescopic module 1 has an elongation movement, the corresponding displacement can be accurately detected by the sensor.
[0023] The flexible bending module 2 includes a primary rigid part 21, a plurality of secondary rigid parts 22 and a tertiary rigid part 23, and a folding capsule mechanism 24 and a supporting structure 25 are arranged between the primary rigid part 21, the secondary rigid part 22 and the tertiary rigid part 23. The folding capsule mechanism 24 is provided with 6 groups, and the folding capsule mechanism 24 includes 4 folding capsule units 241, and the 4 folding capsule units 241 are arranged circumferentially. The folding capsule unit 241 is a folding capsule, and such an arrangement makes the force conditions of the flexible bending module 2 when bending in all directions roughly the same, and there will be no situation where the strength and rigidity are weak in a certain place or direction. The capsule spacing of each folding capsule unit 241 is 0.8 to 1.2 times the thickness of each capsule, and the capsule wall thickness is 0.15 to 0.3 times the capsule spacing.
[0024] When the gas is input into the folding capsule cavity unit 241, when the gas pressure inside the folding capsule cavity unit 241 is greater than the external atmospheric pressure, the volume of the folding capsule cavity unit 241 increases; when the gas pressure inside the folding capsule cavity unit 241 is less than the external atmospheric pressure, the volume of the folding capsule cavity unit 241 decreases. When the gas pressures inside the folding capsule cavity units 241 are different, the flexible bending module 2 will bend toward the side of the folding capsule cavity unit 241 with the lower gas pressure, thereby driving the bending of the flexible bending module 2 through the fluid.
[0025] The folding capsule unit 241 is connected to the primary rigid component 21, the secondary rigid component 22 and the tertiary rigid component 23 through the pressure plate 26. The pressure plate 26 is a ring-shaped arrangement of bolt holes, which not only ensures the rigidity of the flexible bending module 2, but also reduces the material consumption of the rigid components, reduces the weight of the flexible bending module 2, and thereby improves the load-to-weight ratio.
[0026] The primary rigid member 21 is connected to the lower mounting plate 28, and the tertiary rigid member 23 is connected to the upper mounting plate 27. The primary rigid member 21 and the lower mounting plate 28 are provided with input interfaces, and the input interfaces are connected to the folding capsule cavity unit 241. The secondary rigid member 22 is provided with four openings 221 in the circumferential direction, and the openings 221 are connected to the folding capsule cavity units 241 on the adjacent two sides of the secondary rigid member 22.
[0027] The support structure 25 is arranged at the center of the four folding capsule units 241, and the support structure 25 includes a support rod 251 and a hinge 252 connected to each other. The hinge 252 is a damping hinge, a damping ball hinge or a damping cross hinge. The flexible bending module 2 is made to move more stably and smoothly to prevent shaking. In this way, when the flexible bending module 2 bends in a certain direction, its movement is more stable.
[0028] The rigid rotating module 3 includes a servo motor 33, an upper mounting member 31 and a lower mounting member 32, and the upper mounting member 31 and the lower mounting member 32 are both fixed to the servo motor 33. The upper mounting member 31 and the lower mounting member 32 are both ring-shaped.
[0029] The sensor part can detect the spatial position of the end of the collaborative arm in real time, which is convenient for the end actuator, such as the flexible gripper, to achieve precise grasping. The upper mounting part 31 is equipped with a posture sensor. When the collaborative arm has bending and rotating movements through the flexible bending module 2 and the rigid rotating module 3, the posture sensor can detect the spatial position of the end to achieve precise grasping of the object.
[0030] Working principle: The overall length is controlled by the elongation of the first-stage cylinder 11, the second-stage cylinder 12 and the third-stage cylinder 13; by inflating / liquid and deflating the different folding capsule units 241 of the flexible bending module 2, all-round and all-angle bending can be achieved; by controlling the rotation of the rigid rotating module through the servo motor 33, multi-directional grasping of the end actuator can be achieved.
[0031] The rigid telescopic module 1, the flexible bending module 2 and the rigid rotating module 3 are integrated to enable the entire flexible arm to operate flexibly. In addition, the lower mounting member 32 of the rigid rotating module 3 can be connected to the end actuator. The end actuator is a rigid clamp or a pneumatic flexible clamp. The opening of the lower mounting member 32 facilitates the passage of the air pipe therethrough, controls the opening and closing of the flexible clamp, and realizes the grasping of the target object.
[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.
[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.
Claims
1. A multifunctional rigid-flexible coupling collaborative arm, characterized in that: It comprises a rigid telescopic module (1), a flexible bending module (2) and a rigid rotating module (3) which are connected to each other; The rigid telescopic module (1) comprises a primary end plate (14), a secondary end plate (15) and a telescopic mechanism; The flexible bending module (2) comprises a primary rigid member (21), a plurality of secondary rigid members (22) and a tertiary rigid member (23), and a folding capsule mechanism (24) and a supporting structure (25) are provided between the primary rigid member (21), the secondary rigid member (22) and the tertiary rigid member (23); The rigid rotating module (3) comprises a servo motor (33), an upper mounting member (31) and a lower mounting member (32), and the upper mounting member (31) and the lower mounting member (32) are both fixed to the servo motor (33).
2. The multifunctional rigid-flexible coupling collaborative arm according to claim 1, characterized in that: The telescopic mechanism comprises a primary cylinder (11), a secondary cylinder (12) and a tertiary cylinder (13) which are connected in sequence.
3. The multifunctional rigid-flexible coupling collaborative arm according to claim 1, characterized in that: The folding capsule cavity mechanism (24) is provided with 6 groups, and the folding capsule cavity mechanism (24) includes 4 folding capsule cavity units (241), and the 4 folding capsule cavity units (241) are arranged in a circumferential direction; The folding capsule unit (241) is connected to the primary rigid component (21), the secondary rigid component (22) and the tertiary rigid component (23) via a pressure plate (26); the primary rigid component (21) is connected to a lower mounting plate (28); and the tertiary rigid component (23) is connected to an upper mounting plate (27).
4. The multifunctional rigid-flexible coupling collaborative arm according to claim 3, characterized in that: The primary rigid member (21) and the lower mounting plate (28) are provided with input interfaces, and the input interfaces are connected to the folding capsule unit (241); The secondary rigid member (22) is provided with four openings (221) in the circumferential direction, and the openings (221) are connected to the folding capsule units (241) on two adjacent sides of the secondary rigid member (22).
5. The multifunctional rigid-flexible coupling collaborative arm according to claim 3, characterized in that: The support structure (25) is arranged at the center of the four folding capsule units (241); the support structure (25) comprises a support rod (251) and a hinge (252) connected to each other.
6. The multifunctional rigid-flexible coupling collaborative arm according to claim 3, characterized in that: The folded capsule cavity unit (241) is a folded capsule cavity, and the capsule cavity spacing of each folded capsule cavity unit (241) is 0.8 to 1.2 times the thickness of each capsule cavity, and the capsule cavity wall thickness is 0.15 to 0.3 times the capsule cavity spacing.
7. The multifunctional rigid-flexible coupling collaborative arm according to claim 2, characterized in that: The primary cylinder body (11) and the tertiary cylinder body (13) are fixed to the primary end plate (14) and the secondary end plate (15) by means of screws; a pull-wire displacement sensor is installed between the primary end plate (14) and the secondary end plate (15).
8. The multifunctional rigid-flexible coupling collaborative arm according to claim 2, characterized in that: The first-stage cylinder body (11), the second-stage cylinder body (12) and the third-stage cylinder body (13) are externally provided with drag chains.
9. The multifunctional rigid-flexible coupling collaborative arm according to claim 1, characterized in that: The upper mounting piece (31) and the lower mounting piece (32) are both ring-shaped; the upper mounting piece (31) is equipped with a posture sensor.
10. The multifunctional rigid-flexible coupling collaborative arm according to claim 5, characterized in that: The hinge (252) is one of a damping hinge, a damping ball hinge or a damping cross hinge.