Water pressure artificial muscle driven mechanical arm module and modular mechanical arm

Abstract

This invention provides a hydraulically driven artificial muscle robotic arm module and a modular robotic arm. The robotic arm module includes joint links, a root muscle connector, a hydraulically driven artificial muscle, joint connectors, end muscle connectors, and tension springs. The joint links include four links. The joint connectors include a joint shaft, which is mounted on the first link assembly and the second link assembly. The root muscle connector includes a first root connecting block, a second root connecting block, a root support block, a connecting shaft, a root muscle fastening stud, and a root muscle fastening nut. The end muscle connector includes a first end connecting block, a long connecting shaft, an end support block, a second end connecting block, an end muscle fastening stud, and a second end fastening nut. The technical solution of this invention has significant advantages such as high modularity, compact structure, simple control, large joint torque output, and flexible load bearing.

Description

Technical Field

[0001] This invention relates to the field of modular robot technology, and more particularly to a hydraulically driven artificial muscle robotic arm module and a modular robotic arm. Background Technology

[0002] The salvage of floating objects is a crucial measure in maritime emergency rescue and support. Traditional surface salvage robotic arms typically employ either hydraulic or electric drive systems. Hydraulic drives offer significantly higher output force / torque than electric drives of the same size, boasting advantages such as a high power-to-weight ratio, easy overload protection, and corrosion resistance. However, the working medium for hydraulic drives is generally hydraulic oil, which is incompatible with the marine environment and prone to leakage and pollution. Hydraulic devices also suffer from drawbacks such as large weight and difficulty in miniaturization. Electric drives, on the other hand, have a simple overall structure and offer precise motion and force / torque control. However, they are susceptible to seawater intrusion, requiring robust sealing. They also exhibit disadvantages such as low power density, large size, and relatively poor reliability.

[0003] Hydraulic artificial muscles, a novel driving method, evolved from pneumatic artificial muscles. Using pure water as the driving medium, they offer advantages over pneumatic artificial muscles, including a higher output force-to-weight ratio, faster response, and lower noise. Most importantly, hydraulic artificial muscles are compatible with marine environments, making them a key development direction for robotic arm actuators. Currently, the most common joint type in the artificial muscle field is the antagonistic artificial muscle joint. Its advantages include a compact structure and the ability to rotate in both directions, while its disadvantages include poor control precision, weak anti-interference capabilities, and low joint torque output. Summary of the Invention

[0004] Based on the aforementioned technical problems of traditional salvage operation robotic arms and antagonistic joints, a hydraulically driven artificial muscle robotic arm module and a modular robotic arm are provided, which have significant advantages such as high modularity, compact structure, simple control, large joint torque output, and flexible load bearing.

[0005] The technical means employed in this invention are as follows:

[0006] A robotic arm module driven by hydraulic artificial muscle, wherein one end of the robotic arm module is a root and the other end is an end; the robotic arm module includes a joint link, a root muscle connector, a hydraulic artificial muscle, a joint connector, an end muscle connector, and a tension spring;

[0007] The joint link includes four links, each link having end through holes at both ends, a root through hole, and two intermediate through holes; the four links are respectively the root first joint link and the end first joint link forming the first link group, and the root second joint link and the end second joint link forming the second link group.

[0008] The joint connector includes a joint shaft located between the first link assembly and the second link assembly, and rotatably mounted on both sides of the first link assembly and the second link assembly via bearing assemblies; the end through hole of the root first joint link and the root through hole of the end first joint link are rotatably connected by the joint shaft; the end through hole of the root second joint link and the root through hole of the end second joint link are rotatably connected by the joint shaft.

[0009] The hydraulic artificial muscle includes a hydraulic artificial muscle body, and the water inlet end and the closed end of the hydraulic artificial muscle body are respectively provided with a root joint bearing and an end joint bearing.

[0010] The root muscle connector includes a first root connecting block, a second root connecting block, a root support block, a connecting shaft, a root muscle fastening stud, and a root muscle fastening nut. The first and second root connecting blocks each have three through holes, and the root support block has one through hole. The first, second, and third root connecting blocks are sequentially positioned between the first and second root joint connecting rods, with the through hole in the middle of the first and second root connecting blocks... The through hole of the root support block is coaxially arranged with the two intermediate through holes on the first and second root joint connecting rods to form a connecting shaft mounting channel; the connecting shaft passes through and is fixedly installed in the connecting shaft mounting channel, connecting the first and second root joint connecting rods; the two through holes on the first and second root connecting blocks, located at one end and coaxially arranged, are coaxially arranged with the shaft hole of the root joint bearing, and are fastened by the root muscle fastening stud and the root muscle fastening nut;

[0011] The end muscle connector includes a first end connecting block, a long connecting shaft, an end support block, a second end connecting block, an end muscle fastening stud, and a second end fastening nut. The first end connecting block and the second end connecting block each have three through holes, and the end support block has one through hole. The first end connecting block, the end support block, and the second end connecting block are sequentially positioned between the first end joint link and the second end joint link. The through holes in the first end connecting block and the second end connecting block, as well as the through hole in the end support block, are coaxially aligned with the two intermediate through holes on the first end joint link and the second end joint link, forming a long connecting shaft mounting channel. The long connecting shaft passes through and is fixedly installed in the long connecting shaft mounting channel, connecting the first end joint link and the second end joint link. The first end connecting block and the second end connecting block are coaxially aligned with the shaft holes of the end joint bearing and are fastened by the end muscle fastening stud and the second end fastening nut.

[0012] The tension spring includes a first tension spring and a second tension spring; both ends of the first tension spring and the second tension spring are respectively provided with lifting lugs; one end of the first tension spring is connected to a through hole at the other end of the first end connecting block through a first shackle installed on the lifting lug, and the other end is connected to a through hole at the other end of the first root connecting block through the lifting lug; one end of the second tension spring is connected to a through hole at the other end of the second root connecting block through a second shackle installed on the lifting lug, and the other end is connected to a through hole at the other end of the second end connecting block through the lifting lug.

[0013] Furthermore, the joint connector further includes a first joint shaft fastening nut, a washer, and a second joint shaft fastening nut; one end of the joint shaft passes sequentially through the end through hole of the root first joint connecting rod and the root through hole of the end first joint connecting rod and is fitted with the washer and the first joint shaft fastening nut, and the other end passes sequentially through the end through hole of the root second joint connecting rod and the root through hole of the end second joint connecting rod and is fitted with the washer and the second joint shaft fastening nut; the first joint shaft fastening nut and the second joint shaft fastening nut are connected to the washer.

[0014] Furthermore, the bearing assembly includes a connecting rod bearing and a joint shaft bearing, with the joint shaft bearings respectively installed on both sides of the joint shaft;

[0015] The joint shaft bearing located on one side of the joint shaft is inserted into the end through hole of the first joint connecting rod at the root and the root through hole of the first joint connecting rod at the root, and the other side is inserted into the end through hole of the second joint connecting rod at the root and the root through hole of the second joint connecting rod at the root.

[0016] The connecting rod bearing is respectively provided on the end through hole surface of the root first joint connecting rod, the root through hole surface of the end first joint connecting rod, and between the end through hole of the root first joint connecting rod and the root through hole of the end first joint connecting rod.

[0017] The connecting rod bearing is respectively provided on the end through hole surface of the root second joint connecting rod, the root through hole surface of the end second joint connecting rod, and between the end through hole of the root second joint connecting rod and the root through hole of the end second joint connecting rod.

[0018] Furthermore, the first joint link at the root is perpendicular to the first connecting block at the root; the second joint link at the root is perpendicular to the second connecting block at the root; the second joint link at the root is perpendicular to the first connecting block at the end; and the second joint link at the end is perpendicular to the second connecting block at the end.

[0019] Furthermore, the first joint connecting rod at the root and the first connecting block at the root, the second joint connecting rod at the root and the second connecting block at the root, and the first connecting block at the root and the second connecting block at the root and the support block at the root are respectively tightly fitted together.

[0020] Furthermore, both ends of the connecting shaft are fixed to the first joint connecting rod at the root and the second joint connecting rod at the root respectively by the first fastening nut at the root and the second fastening nut at the root;

[0021] The two ends of the long connecting shaft are respectively fixed to the first end joint link and the second end joint link by the first end fastening nut and the end muscle fastening nut.

[0022] Furthermore, the connecting rod has keyways I in the two through holes in the middle; the root first connecting block and the root second connecting block have keyways II in the through holes in the middle; the root support block has keyways III in the through holes; the connecting shaft has a keyway IV; the keyways I in the two coaxial through holes on the root first joint connecting rod and the root second joint connecting rod are coaxially arranged with keyways II, III and IV and can all match the root long flat key; the connecting shaft is fixedly installed in the connecting shaft mounting channel by the root long flat key and keyways I, II, III and IV cooperating with each other.

[0023] Furthermore, an end first pad is provided between the end first joint connecting rod and the end first connecting block; an end second pad is provided between the end second joint connecting rod and the end second connecting block; the two sides of the end first pad are tightly fitted with the end first joint connecting rod and the end first connecting block, the two sides of the end second pad are tightly fitted with the end second connecting block and the end second joint connecting rod, and the two sides of the end support block are tightly fitted with the end first connecting block and the end second connecting block.

[0024] Furthermore, the connecting rod has two through holes in the middle with keyways I; the end first connecting block and the end second connecting block have through holes in the middle with keyways V; the end first pad and the end second pad each have through holes that can form the mounting channel for the long connecting shaft, and the through holes of the end first pad and the end second pad have keyways VI; the end support block has through holes with keyways VII; and the long connecting shaft has one keyway VIII.

[0025] The keyway I on the first and second joint links of the end caps is coaxially arranged with keyway V, keyway VI, keyway VII, and keyway VIII. The two ends of the long connecting shaft are fixedly installed in the two coaxial intermediate through holes on the first and second joint links of the end caps through end first and end second short flat keys that match keyway I and keyway VIII, respectively. The middle part is fixedly installed in the long connecting shaft mounting channel through a long flat key that matches keyway V, keyway VI, keyway VII, and keyway VIII.

[0026] The present invention also provides a modular robotic arm employing the aforementioned hydraulic artificial muscle driven robotic arm module, comprising a plurality of the aforementioned robotic arm modules; two interconnected robotic arm modules share a single connecting rod.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The hydraulic artificial muscle driven robotic arm module provided by the present invention is driven by a single hydraulic artificial muscle or two or more hydraulic artificial muscles connected in series. It uses pure water as a medium, is green and environmentally friendly, has a simple hydraulic control system, and has a large output force.

[0029] 2. The hydraulic artificial muscle driven robotic arm module and modular robotic arm provided by the present invention can be arranged in series or in parallel according to load requirements, with a high degree of modularity and good operational adaptability.

[0030] 3. The modular robotic arm provided by this invention has several robotic arm modules arranged in a cross pattern. It can achieve flexible load bearing by utilizing the radial force of the artificial muscle under water pressure, thus protecting the load. The tension springs on the modules can provide initial preload and balance the torque generated after the artificial muscle under water pressure contracts.

[0031] Based on the above reasons, this invention can be widely promoted in the field of modular robots. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the robotic arm module structure described in this invention.

[0034] Figure 2 This is an exploded view of the robotic arm module described in this invention.

[0035] Figure 3 This is a schematic diagram of the modular robotic arm structure described in this invention.

[0036] Figure 4 This is a side view of the modular robotic arm described in this invention.

[0037] Figure 5 This is a schematic diagram of the circumferential arrangement of the modular robotic arm described in this invention.

[0038] Figure 6 This is a schematic diagram of the horizontally intersecting arrangement of the modular robotic arm described in this invention.

[0039] In the diagram: 1. Joint connecting rod; 1a. First joint connecting rod at the root; 1b. First joint connecting rod at the end; 1c. Second joint connecting rod at the root; 1d. Second joint connecting rod at the end; 2. Root muscle connector; 2a. First fastening nut at the root; 2b. Second fastening nut at the root; 2c. First connecting block at the root; 2d. Second connecting block at the root; 2e. Root support block; 2f. Connecting shaft; 2g. Root long parallel key; 2h. Root muscle fastening stud; 2i. Root muscle fastening nut; 3. Hydraulic artificial muscle; 3a. Root joint bearing; 3b. End joint bearing; 3c. Water inlet connector; 3d. Hydraulic artificial muscle body; 3e. Union connector; 4. Joint connecting rod; 4a. First joint shaft 4b. Fastening nut; 4c. Washer; 4d. Connecting rod bearing; 4e. Joint shaft bearing; 4f. Joint shaft; 4f. Joint shaft second fastening nut; 5. End muscle connector; 5a. End first fastening nut; 5b. End first short flat key; 5c. End first pad; 5d. End first connecting block; 5e. Long connecting shaft; 5f. End long flat key; 5g. End support block; 5h. End second connecting block; 5i. End second pad; 5j. End second short flat key; 5k. End muscle fastening nut; 5l. End muscle fastening stud; 5m. End second fastening nut; 6. Tension spring; 6a. First tension spring; 6b. Second tension spring; 6c. First shackle; 6d. Second shackle. Detailed Implementation

[0040] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] 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 embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the 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.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0044] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0045] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0046] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0047] Example 1

[0048] like Figure 1-2 As shown, the present invention provides a robotic arm module driven by water pressure artificial muscle, wherein one end of the robotic arm module is the root and the other end is the end;

[0049] It includes a joint link 1, a root muscle connector 2, a hydraulic artificial muscle 3, a joint connector 4, an end muscle connector 5, and a tension spring 6;

[0050] The joint link 1 includes four links, and the links are provided with end through holes and root through holes at both ends and two intermediate through holes; the four links are respectively the root first joint link 1a and the end first joint link 1b forming the first link group, and the root second joint link 1c and the end second joint link 1d forming the second link group.

[0051] The joint connector 4 includes a joint shaft 4e, which is located between the first link assembly and the second link assembly, and is rotatably mounted on the first link assembly and the second link assembly respectively via bearing assemblies on both sides; the end through holes of the root first joint link 1a and the root through holes of the end first joint link 1b, which are coaxially arranged, are rotatably connected by the joint shaft 4e; the end through holes of the root second joint link 1c and the root through holes of the end second joint link 1d, which are coaxially arranged, are rotatably connected by the joint shaft 4e.

[0052] The hydraulic artificial muscle 3 includes a hydraulic artificial muscle body 3d, and the water inlet end and the closed end of the hydraulic artificial muscle body 3d are respectively provided with a root joint bearing 3a and an end joint bearing 3b.

[0053] The root muscle connector 2 includes a first root connecting block 2c, a second root connecting block 2d, a root support block 2e, a connecting shaft 2f, a root muscle fastening stud 2h, and a root muscle fastening nut 2i.

[0054] The first root connecting block 2c and the second root connecting block 2d are each provided with three through holes, and the root support block 2e is provided with one through hole;

[0055] The first root connecting block 2c, the root support block 2e, and the second root connecting block 2d are sequentially disposed between the first root joint connecting rod 1a and the second root joint connecting rod 1c. The through holes located in the middle of the first root connecting block 2c and the second root connecting block 2d, as well as the through hole of the root support block 2e, are coaxially disposed with the two middle through holes on the first root joint connecting rod 1a and the second root joint connecting rod 1c, forming a connecting shaft mounting channel. The connecting shaft 2f passes through and is fixedly installed in the connecting shaft mounting channel, connecting the first root joint connecting rod 1a and the second root joint connecting rod 1c.

[0056] The two through holes on the first root connecting block 2c and the second root connecting block 2d, located at one end and coaxially, are coaxially arranged with the shaft hole of the root joint bearing 3a, and are fastened by the root muscle fastening stud 2h and the root muscle fastening nut 2i.

[0057] The end muscle connector 5 includes an end first connecting block 5d, a long connecting shaft 5e, an end support block 5g, an end second connecting block 5h, an end muscle fastening stud 5l, and an end second fastening nut 5m;

[0058] The first end connecting block 5d and the second end connecting block 5h are each provided with three through holes, and the end support block 5g is provided with one through hole;

[0059] The first end connecting block 5d, the end support block 5g, and the second end connecting block 5h are sequentially disposed between the first end joint link 1b and the second end joint link 1d. The through holes located in the middle of the first end connecting block 5d and the second end connecting block 5h, as well as the through hole of the end support block 5g, are coaxially disposed with the two middle through holes on the first end joint link 1b and the second end joint link 1d, forming a long connecting shaft mounting channel. The long connecting shaft 5e passes through and is fixedly installed in the long connecting shaft mounting channel, connecting the first end joint link 1b and the second end joint link 1d.

[0060] The first end connecting block 5d and the second end connecting block 5h are coaxially arranged with the shaft hole of the end joint bearing 3b, and are fastened by the end muscle fastening stud 5l and the second end fastening nut 5m.

[0061] The tension spring 6 includes a first tension spring 6a and a second tension spring 6b; the first tension spring 6a and the second tension spring 6b are respectively provided with lifting lugs at both ends;

[0062] One end of the first tension spring 6a is connected to the through hole at the other end of the first connecting block 5d at the end via the first shackle 6c installed on the lug, and the other end is connected to the through hole at the other end of the first connecting block 2c at the root via the lug;

[0063] One end of the second tension spring 6b is connected to the through hole at the other end of the second connecting block 2d at the root through the second shackle 6d installed on the lug, and the other end is connected to the through hole at the other end of the second connecting block 5h at the end through the lug.

[0064] Furthermore, the water inlet connector of the hydraulic artificial muscle body 3d is equipped with a water inlet connector 3c, and the closed connector is equipped with a union connector 3e; the root joint bearing 3a and the end joint bearing 3b are respectively installed on the water inlet connector 3c and the union connector 3e; the union connector 3e is used to adjust the shaft hole of the end joint bearing 3b to be parallel to the shaft hole of the root joint bearing 3a.

[0065] Furthermore, the joint connector 4 also includes a first joint shaft fastening nut 4a, a washer 4b, and a second joint shaft fastening nut 4f; one end of the joint shaft 4e passes sequentially through the end through hole of the root first joint link 1a and the root through hole of the end first joint link 1b and is fitted with the washer 4b and the first joint shaft fastening nut 4a, and the other end passes sequentially through the end through hole of the root second joint link 1c and the root through hole of the end second joint link 1d and is fitted with the washer 4b and the second joint shaft fastening nut 4f; the first joint shaft fastening nut 4a and the second joint shaft fastening nut 4f are connected to the washer 4b.

[0066] Furthermore, the bearing assembly includes a connecting rod bearing 4c and a joint shaft bearing 4d, with the joint shaft bearing 4d installed on both sides of the joint shaft 4e respectively;

[0067] The joint shaft bearing 4d located on one side of the joint shaft 4e is inserted into the end through hole of the root first joint link 1a and the root through hole of the end first joint link 1b, and the other side is inserted into the end through hole of the root second joint link 1c and the root through hole of the end second joint link 1d.

[0068] The connecting rod bearing 4c is respectively provided on the end through hole surface of the root first joint connecting rod 1a, the root through hole surface of the end first joint connecting rod 1b, and between the end through hole of the root first joint connecting rod 1a and the root through hole of the end first joint connecting rod 1b.

[0069] The connecting rod bearing 4c is respectively provided on the end through hole surface of the root second joint connecting rod 1c, the root through hole surface of the end second joint connecting rod 1d, and between the end through hole of the root second joint connecting rod 1c and the root through hole of the end second joint connecting rod 1d.

[0070] Furthermore, the first joint link 1a at the root is perpendicular to the first connecting block 2c at the root; the second joint link 1c at the root is perpendicular to the second connecting block 2d at the root; the second joint link 1c at the root is perpendicular to the first connecting block 5d at the end; and the second joint link 1d at the end is perpendicular to the second connecting block 5h at the end.

[0071] Furthermore, the first joint connecting rod 1a at the root and the first connecting block 2c at the root, the second joint connecting rod 1c at the root and the second connecting block 2d at the root, and the first connecting block 2c and the second connecting block 2d at the root and the support block 2e at the root are respectively tightly fitted together.

[0072] Furthermore, the two ends of the connecting shaft 2f are respectively fixed to the first joint connecting rod 1a and the second joint connecting rod 1c at the root by the first fastening nut 2a and the second fastening nut 2b at the root;

[0073] The two ends of the long connecting shaft 5e are respectively fixed to the first end joint link 1b and the second end joint link 1d by the first end fastening nut 5a and the end muscle fastening nut 5k.

[0074] Furthermore, the connecting rod has keyways I in the two through holes in the middle; the root first connecting block 2c and the root second connecting block 2d have keyways II in the through holes in the middle; the root support block 2e has keyways III in the through holes; the connecting shaft 2f has a keyway IV; the keyways I in the two coaxial through holes on the root first joint connecting rod 1a and the root second joint connecting rod 1c are coaxially arranged with keyways II, III and IV and can all match the root long flat key 2g; the connecting shaft 2f is fixedly installed in the connecting shaft mounting channel through the root long flat key 2g and the keyways I, II, III and IV.

[0075] Furthermore, an end first pad 5c is provided between the end first joint link 1b and the end first connecting block 5d; and an end second pad 5i is provided between the end second joint link 1d and the end second connecting block 5h.

[0076] Furthermore, the two sides of the first end pad 5c are tightly fitted with the first end joint connecting rod 1b and the first end connecting block 5d, the two sides of the second end pad 5i are tightly fitted with the second end connecting block 5h and the second end joint connecting rod 1d, and the two sides of the end support block 5g are tightly fitted with the first end connecting block 5d and the second end connecting block 5h.

[0077] Furthermore, the connecting rod has two through holes in the middle with keyways I; the end first connecting block 5d and the end second connecting block 5h have through holes in the middle with keyways V; the end first pad 5c and the end second pad 5i each have through holes that can form the mounting channel for the long connecting shaft, and the through holes of the end first pad 5c and the end second pad 5i have keyways VI; the end support block 5g has through holes with keyways VII; and the long connecting shaft 5e has one keyway VIII.

[0078] The keyway I on the first end joint connecting rod 1b and the second end joint connecting rod 1d, which are coaxially arranged with the keyway V, the keyway VI, the keyway VII, and the keyway VIII, is coaxially arranged with the keyway V, the keyway VI, the keyway VII, and the keyway VIII. The two ends of the long connecting shaft 5e are respectively fixedly installed in the two coaxial intermediate through holes on the first end joint connecting rod 1b and the second end joint connecting rod 1d through the first end short flat key 5b and the second end short flat key 5j that match the keyway I and the keyway VIII. The middle part is fixedly installed in the long connecting shaft mounting channel through the cooperation of the long end long flat key 5f that matches the keyway V, the keyway VI, the keyway VII, and the keyway VIII.

[0079] Furthermore, the robotic arm module is symmetrical about the water-pressure artificial muscle 3.

[0080] Furthermore, the hydraulic artificial muscle 3 is a single hydraulic artificial muscle or is composed of two or more hydraulic artificial muscles connected in series.

[0081] Furthermore, the joint link 1 can be weight-reduced through methods such as topology optimization.

[0082] Furthermore, the preload of the first tension spring 6a and the second tension spring 6b can be adjusted by replacing or connecting shackles on the lifting lug.

[0083] When the robotic arm module provided by this invention is in operation: increasing the water pressure of the artificial muscle causes it to contract axially and expand radially, pulling the joint link to overcome the tension of the tension spring and causing the joint link to rotate, thus increasing the joint angle; decreasing the water pressure of the artificial muscle causes it to elongate axially and contract radially, pulling the joint link and causing it to rotate, thus decreasing the joint angle; the tension spring on the module can provide initial preload and balance the torque generated after the artificial muscle contracts.

[0084] Example 2

[0085] Based on Example 1, such as Figure 3-6As shown, the present invention also provides a modular robotic arm that employs the hydraulic artificial muscle driven robotic arm module described in Embodiment 1, comprising a plurality of the robotic arm modules; two robotic arm modules connected to each other share a single connecting rod.

[0086] Furthermore, the two interconnected robotic arm modules are robotic arm module A and robotic arm module B;

[0087] The robotic arm module A is connected to the first link group and the two intermediate through holes near the end of the second link group via the end muscle connector 5;

[0088] The end second joint link 1d in the second link group of the robotic arm module A serves as the root first joint link 1a in the first link group of the robotic arm module B, and is connected to the root second joint link 1c of the second link group of the robotic arm module B through the root muscle connector 2 via the central through hole near the root.

[0089] Furthermore, the connecting rod shared by the two interconnected robotic arm modules can be selected as needed.

[0090] Furthermore, such as Figure 4 As shown, several robotic arm modules are connected longitudinally to form a modular robotic arm in series. From the side, the hydraulic artificial muscles 3 in the modular robotic arm in series are arranged in an alternating manner.

[0091] Furthermore, several of the said robotic arm modules are connected laterally to form a modular robotic arm in parallel.

[0092] Furthermore, the modular robotic arm can have robotic arm modules connected in both serial and parallel configurations as needed to meet usage requirements;

[0093] Two modular robotic arms can be arranged symmetrically to form a dual-robotic arm configuration; several individual modular robotic arms can also be arranged in a circular or lateral cross configuration to form a multi-robotic arm configuration.

[0094] like Figure 3As shown, the modular robotic arm in this embodiment consists of three robotic arm modules connected in series longitudinally, three robotic arm modules connected in parallel laterally in the first row, two robotic arm modules connected in parallel laterally in the second row, and one robotic arm module in the third row. When the modular robotic arm is in operation: the modular robotic arm uses a hydraulic system to control the pressure of the artificial muscles in each robotic arm module. By changing the pressure of the artificial muscles, its contraction rate is altered, thereby changing its output force, and consequently changing the joint angle and output torque of the modular robotic arm. The hydraulic control of the modular robotic arm adopts the principle of unified control for parallel modules and separate control for series modules, ensuring that parallel modules have the same working state, while series modules can be adaptively adjusted according to load conditions. After the artificial muscles expand radially with water, their radial force can also flexibly bear the load, avoiding rigid contact between the load and the robotic arm.

[0095] The specific adjustment method and process of each robotic arm module of the modular robotic arm are the same as the working process of the robotic arm module described in Example 1, and will not be repeated here.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robotic arm module driven by water pressure artificial muscles, characterized in that, The robotic arm module has a root at one end and an end at the other end; the robotic arm module includes a joint link, a root muscle connector, a hydraulic artificial muscle, a joint connector, an end muscle connector, and a tension spring; The joint link includes four links, each link having end through holes at both ends, a root through hole, and two intermediate through holes; the four links are respectively the root first joint link and the end first joint link forming the first link group, and the root second joint link and the end second joint link forming the second link group. The joint connector includes a joint shaft located between the first link group and the second link group, and rotatably mounted on both sides of the first link group and the second link group via bearing assemblies; the end through hole of the root first joint link and the root through hole of the end first joint link are rotatably connected by the joint shaft; the end through hole of the root second joint link and the root through hole of the end second joint link are rotatably connected by the joint shaft. The hydraulic artificial muscle includes a hydraulic artificial muscle body, and the water inlet end and the closed end of the hydraulic artificial muscle body are respectively provided with a root joint bearing and an end joint bearing. The root muscle connector includes a first root connecting block, a second root connecting block, a root support block, a connecting shaft, a root muscle fastening stud, and a root muscle fastening nut. The first and second root connecting blocks each have three through holes, and the root support block has one through hole. The first, second, and third root connecting blocks are sequentially positioned between the first and second root joint connecting rods, with the through hole in the middle of the first and second root connecting blocks... The through hole of the root support block is coaxially arranged with the two intermediate through holes on the first and second root joint connecting rods to form a connecting shaft mounting channel; the connecting shaft passes through and is fixedly installed in the connecting shaft mounting channel, connecting the first and second root joint connecting rods; the two through holes on the first and second root connecting blocks, located at one end and coaxially arranged, are coaxially arranged with the shaft hole of the root joint bearing, and are fastened by the root muscle fastening stud and the root muscle fastening nut; The end muscle connector includes a first end connecting block, a long connecting shaft, an end support block, a second end connecting block, an end muscle fastening stud, and a second end fastening nut. The first end connecting block and the second end connecting block each have three through holes, and the end support block has one through hole. The first end connecting block, the end support block, and the second end connecting block are sequentially positioned between the first end joint link and the second end joint link. The through holes in the first end connecting block and the second end connecting block, as well as the through hole in the end support block, are coaxially aligned with the two intermediate through holes on the first end joint link and the second end joint link, forming a long connecting shaft mounting channel. The long connecting shaft passes through and is fixedly installed in the long connecting shaft mounting channel, connecting the first end joint link and the second end joint link. The first end connecting block and the second end connecting block are coaxially aligned with the shaft holes of the end joint bearing and are fastened by the end muscle fastening stud and the second end fastening nut. The tension spring includes a first tension spring and a second tension spring; both ends of the first tension spring and the second tension spring are respectively provided with lifting lugs; one end of the first tension spring is connected to a through hole at the other end of the first end connecting block through a first shackle installed on the lifting lug, and the other end is connected to a through hole at the other end of the first root connecting block through the lifting lug; one end of the second tension spring is connected to a through hole at the other end of the second root connecting block through a second shackle installed on the lifting lug, and the other end is connected to a through hole at the other end of the second end connecting block through the lifting lug.

2. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The joint connector further includes a first joint shaft fastening nut, a washer, and a second joint shaft fastening nut; one end of the joint shaft passes sequentially through the end through hole of the root first joint connecting rod and the root through hole of the end first joint connecting rod and is fitted with the washer and the first joint shaft fastening nut, and the other end passes sequentially through the end through hole of the root second joint connecting rod and the root through hole of the end second joint connecting rod and is fitted with the washer and the second joint shaft fastening nut; the first joint shaft fastening nut and the second joint shaft fastening nut are connected to the washer.

3. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The bearing assembly includes a connecting rod bearing and a joint shaft bearing, with the joint shaft bearings installed on both sides of the joint shaft respectively. The joint shaft bearing located on one side of the joint shaft is inserted into the end through hole of the first joint connecting rod at the root and the root through hole of the first joint connecting rod at the root, and the other side is inserted into the end through hole of the second joint connecting rod at the root and the root through hole of the second joint connecting rod at the root. The connecting rod bearing is respectively provided on the end through hole surface of the root first joint connecting rod, the root through hole surface of the end first joint connecting rod, and between the end through hole of the root first joint connecting rod and the root through hole of the end first joint connecting rod. The connecting rod bearing is respectively provided on the end through hole surface of the root second joint connecting rod, the root through hole surface of the end second joint connecting rod, and between the end through hole of the root second joint connecting rod and the root through hole of the end second joint connecting rod.

4. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The first joint link at the root is perpendicular to the first connecting block at the root; the second joint link at the root is perpendicular to the second connecting block at the root; the second joint link at the root is perpendicular to the first connecting block at the end; and the second joint link at the end is perpendicular to the second connecting block at the end.

5. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The first joint connecting rod at the root and the first connecting block at the root, the second joint connecting rod at the root and the second connecting block at the root, and the first connecting block at the root and the second connecting block at the root and the support block at the root are respectively in close contact.

6. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The two ends of the connecting shaft are respectively fixed to the first joint link and the second joint link at the root by the first fastening nut at the root and the second joint link at the root; the two ends of the long connecting shaft are respectively fixed to the first joint link and the second joint link at the end by the first fastening nut at the end and the second joint link at the end.

7. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, The connecting rod has keyways I in the two through holes in the middle; the first connecting block and the second connecting block at the root have keyways II in the through holes in the middle; the supporting block at the root has keyways III in the through holes; the connecting shaft has one keyway IV; the keyways I in the two coaxial through holes on the first joint connecting rod and the second joint connecting rod at the root are coaxially arranged with keyways II, III and IV and can all match the long horizontal key at the root; the connecting shaft is fixedly installed in the connecting shaft mounting channel by the long horizontal key at the root and keyways I, II, III and IV cooperating with each other.

8. The hydraulically driven artificial muscle robotic arm module according to claim 1, characterized in that, An end first pad is also provided between the end first joint connecting rod and the end first connecting block; an end second pad is also provided between the end second joint connecting rod and the end second connecting block; the two sides of the end first pad are tightly fitted with the end first joint connecting rod and the end first connecting block, the two sides of the end second pad are tightly fitted with the end second connecting block and the end second joint connecting rod, and the two sides of the end support block are tightly fitted with the end first connecting block and the end second connecting block.

9. The hydraulically driven artificial muscle robotic arm module according to claim 8, characterized in that, The connecting rod has two through holes in the middle with keyways I; the end first connecting block and the end second connecting block have through holes in the middle with keyways V; the end first pad and the end second pad each have through holes that can form a mounting channel for the long connecting shaft, and the through holes of the end first pad and the end second pad are provided with keyways VI; the end support block has through holes with keyways VII; the long connecting shaft is provided with one keyway VIII; The keyway I on the first and second joint links of the end caps is coaxially arranged with keyway V, keyway VI, keyway VII, and keyway VIII. The two ends of the long connecting shaft are fixedly installed in the two coaxial intermediate through holes on the first and second joint links of the end caps through end first and end second short flat keys that match keyway I and keyway VIII, respectively. The middle part is fixedly installed in the long connecting shaft mounting channel through a long flat key that matches keyway V, keyway VI, keyway VII, and keyway VIII.

10. A modular robotic arm, characterized in that, The robotic arm module driven by the water pressure artificial muscle as described in claim 1 is adopted, comprising a plurality of said robotic arm modules; two said robotic arm modules connected to each other share a single link.

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