Measurement and Sensing System for Continuous Robotic Arms

Abstract

The measurement and sensing system of this invention is applied to a continuous robotic arm, which includes at least a lifting mechanism, a continuous robotic arm module, a displacement mechanism, and a control mechanism. The continuous robotic arm module is connected to and drives a carrier through the measurement and sensing system. The measurement and sensing system has at least three sets of pressure sensors. When the continuous robotic arm module produces bending motion changes and simulates the movement of a human arm at a biomimetic angle for detection, the pressure sensors transmit sensing signals to identify the position of the carrier in contact.

Claims

1. A measurement and sensing system for a continuous robotic arm, the continuous robotic arm comprising a lifting mechanism, a continuous robotic arm module, a displacement mechanism, and a control mechanism, wherein the lifting mechanism and the displacement mechanism are respectively connected to the continuous robotic arm module, and the control mechanism is respectively connected to and controls the lifting mechanism and the displacement mechanism, the continuous robotic arm module comprising a drive mechanism and at least one robotic arm, one end of the robotic arm being connected to the drive mechanism, and the other end being provided with a carrier, characterized in that: the measurement and sensing system comprises a connecting base and a central movable shaft, the connecting base... The seat is located between the robotic arm and the carrier, and the connecting seat is equipped with at least three sets of pressure sensors. The contact direction is determined by the difference in the output signals of the at least three sets of pressure sensors. The central movable shaft is located between the carrier and the connecting seat. Two first elastic bodies are respectively disposed between the carrier and the connecting seat, providing elastic support force to the central movable shaft. At least three connecting arms are provided around the outer ring of the central movable shaft. One end of each connecting arm contacts the pressure sensor with a buffer material, and the other end is connected to the carrier. The central movable shaft is pivotally connected to the connecting arms by a plurality of shaft connectors.

2. The measurement and sensing system of the continuum robotic arm as described in claim 1, wherein, The lifting mechanism has a platform and a lifting module. The lifting module is connected to the platform and can drive the platform to rise or fall. The drive mechanism is set on the platform, while the robotic arm is located below the platform.

3. The measurement and sensing system for the continuum robotic arm as described in claim 2, wherein, The drive mechanism is equipped with a plurality of reels driven by a plurality of first power components. The robotic arm has a spherical torso, a second elastic body, and at least two ropes. The spherical torso has a plurality of continuous bodies, each continuous body having a central perforation and at least two outer perforations surrounding the central perforation. The second elastic body passes through the central perforation to connect the plurality of continuous bodies to each other, and the at least two ropes pass through the outer perforations and are connected to the reels.

4. The measurement and sensing system for the continuum robotic arm as described in claim 3, wherein, The displacement mechanism has a platform, a plurality of Mecanum wheels, and a third power member connected to each of the plurality of Mecanum wheels. The platform has a through-hole through which the robotic arm can pass. The lifting mechanism is mounted on the platform, and the plurality of Mecanum wheels are respectively arranged around the platform. The lifting module has at least one guide rod, at least one bearing, at least one coupling, and a second power member. The guide rod is configured to connect the platform and the platform. The bearing is mounted on the guide rod and located on the platform. The coupling is mounted on the guide rod and located on the platform. The second power member drives the guide rod to rotate, so that the guide rod slides into the bearing, thereby guiding the platform to move in a lifting motion.

5. The measurement and sensing system for the continuous robotic arm as described in any one of claims 1 to 3, wherein, The displacement mechanism has a platform, a plurality of Mecanum wheels, and a third power member that is connected to each of the plurality of Mecanum wheels. The platform has a through-hole through which the robotic arm can pass. The lifting mechanism is mounted on the platform, and the plurality of Mecanum wheels are respectively arranged around the platform.

6. The measurement and sensing system for the continuum robotic arm as described in claim 5, wherein, Each Mecanum wheel includes a central circular wheel body and a plurality of rollers located around the periphery of the wheel body, with the axis of the center of each roller forming an acute angle with the axis of the center of the wheel body.

7. The measurement and sensing system for the continuum robotic arm as described in claim 5, wherein, The platform has four plates connected to each other to form a rectangular structure, and the number of the complex Mecanum wheels is 4, which are symmetrically distributed at the four vertices of the platform.

8. The measurement and sensing system of the continuous robotic arm as described in any one of claims 1 to 4, wherein, The connector is equipped with three sets of pressure sensors, which are arranged at intervals along the circumference of the connector, with the included angle between adjacent sensors being 120 degrees.

9. The measurement and sensing system for a continuous robotic arm as described in any one of claims 1 to 4, wherein, The other end of the connecting arm is pivotally connected to the carrier.

10. The measurement and sensing system for the continuum robotic arm as described in claim 9, wherein, The connecting arm 55 is further provided with a slot near the middle position for mounting the shaft connector.

Images