Self-aware continuum flexible arm based on embedded paper-cut structure and sorting system

Abstract

This invention discloses a self-sensing continuous flexible arm based on an embedded paper-cutting structure. The continuous flexible arm unit includes multiple linear actuators, interdigital capacitors, a retaining ring structure, an upper pressure plate, and a lower pressure plate. The interdigital capacitors are embedded within the linear actuators. The retaining ring structure is fixedly mounted on the multiple linear actuators and conforms to their shape. The upper pressure plate is mounted on the top of the multiple linear actuators and conforms to their shape. The lower pressure plate is mounted on the bottom of the multiple linear actuators and conforms to their shape. The multiple linear actuators are evenly distributed around the same circumference centered on the upper and lower pressure plates. Several continuous flexible arm units are stacked sequentially from bottom to top. This invention also discloses a sorting system in which the self-sensing continuous flexible arm based on the embedded paper-cutting structure is fixedly mounted on a sorting experimental platform via a modular flexible arm bracket. The system is simple in structure and easy to operate.

Description

Technical Field

[0001] This invention relates to a flexible arm and sorting system, specifically to a modular continuous flexible arm and sorting system with self-sensing based on an embedded paper-cutting structure, belonging to the field of soft robot driving and sensing. Background Technology

[0002] We are currently in an era of rapid development in the logistics industry, and the demand for sorting and warehousing services in commerce is increasing daily. As we all know, the initial sorting of goods was done manually, which not only required significant investment of manpower and financial resources but also made it difficult to guarantee the efficiency of the sorting work. Furthermore, workers were at risk of injury due to safety hazards, leading to negative consequences. Later, with the development of technology, mechanical baffles and robotic arms were gradually put into use. However, current mechanical sorting methods can only perform rough sorting based on the shape of the items and the size of the machine. The use of robotic arms will make logistics sorting more intelligent and efficient, greatly improving the speed and accuracy of sorting.

[0003] As robotic arms are deployed in the fields of object grasping and sorting, manual sorting is gradually being replaced. However, traditional robotic arms have many shortcomings: they are expensive, require significant investment, have long cost recovery periods, are difficult to deploy in large quantities, and are large in size, heavy, and noisy, posing safety hazards during operation. Their rigid movement during sorting may damage the packaging of goods, and contact with fragile items may also cause damage. In contrast, modular flexible arms, relying on their modular structure, can be assembled on demand and easily adapted to different working environments, exhibiting strong environmental adaptability. Modular flexible arms have a simple structure, are easy to assemble, and move safely, achieving multi-degree-of-freedom movement with a relatively simple structure, improving the flexibility of the robotic arm. The flexible movement of modular flexible arms avoids collisions during grasping, protecting the target and preventing damage. Furthermore, their manufacturing and assembly costs are low, and their control system is simple, making them suitable for mass production.

[0004] Traditional flexible arm control requires the installation of numerous sensors. These sensors are costly and large, and their mounting on the flexible arm's surface can hinder movement. Furthermore, these sensors are generally unsealed, making them susceptible to humid and dusty environments, leading to decreased accuracy. The interdigital capacitive paper-cutting structure sensor, made of copper-clad PET material, offers low material cost, small size, and high detection accuracy. It can detect target displacement, and the paper-cutting structure can be embedded within the modular flexible arm drive unit, ensuring a stable and reliable detection environment and guaranteeing detection accuracy.

[0005] In conclusion, there is an urgent need to innovate and improve the structure and gripping method of traditional robotic arms to solve the problems that need to be addressed, such as high price, large space occupation, large number of sensors, susceptibility of sensors to environmental influences, and easy damage to target packaging and objects caused by gripping methods. A new type of robotic arm with low cost, integration, high precision and flexible gripping function needs to be designed. Summary of the Invention

[0006] To address the technical challenge of designing a modular flexible arm that is low-cost, simple in structure, easy to assemble and control, and equipped with sensors that are low in material cost, small in size, and have high detection accuracy, thus meeting the current demands for efficient sorting, low-cost equipment, and intelligent control in the logistics sorting field, this invention proposes a self-sensing continuous flexible arm and sorting system based on an embedded paper-cutting structure.

[0007] The technical solution adopted by the present invention to solve the above problems is as follows:

[0008] The self-sensing continuous flexible arm based on an embedded paper-cutting structure includes a continuous flexible arm unit, a module top connector, a module bottom connector, a negative pressure gripping suction cup, and a modular flexible arm support. The continuous flexible arm unit includes multiple linear actuators, interdigital capacitors, a retaining ring structure, an upper pressure plate, and a lower pressure plate. The interdigital capacitors are embedded in the linear actuators. The retaining ring structure is fixedly installed on the multiple linear actuators and conforms to their shape. The upper pressure plate is installed on the top of the multiple linear actuators and conforms to their shape. The lower pressure plate is installed on the bottom of the multiple linear actuators and conforms to their shape. The multiple linear actuators are evenly distributed around the same circumference with the centers of the upper and lower pressure plates as the center. The lower surface of the module top connector is fixedly connected to the upper surface of the upper pressure plate. The negative pressure gripping suction cup is fixedly installed on the upper surface of the module top connector. The upper surface of the module bottom connector is fixedly connected to the lower surface of the lower pressure plate. The modular flexible arm support is fixedly installed on the lower surface of the module bottom connector.

[0009] Furthermore, there are several continuous flexible arm units, which are stacked sequentially from bottom to top, with the upper pressure plate of the lower continuous flexible arm unit connected to the lower pressure plate of the next continuous flexible arm unit.

[0010] Furthermore, a module intermediate connector is provided between the upper pressure plate of the lower continuous flexible arm unit and the lower pressure plate of the upper continuous flexible arm unit. The lower surface of the module intermediate connector conforms to the upper pressure plate of the lower continuous flexible arm unit, and the upper surface of the module intermediate connector conforms to the lower pressure plate of the upper continuous flexible arm unit.

[0011] Furthermore, the linear actuator includes a pneumatic muscle body, a limit ring mounting groove, an upper silicone plug, and a lower silicone plug. The pneumatic muscle body is a hollow column. The interdigitated capacitor is mounted on the inner wall of the pneumatic muscle body. The limit ring mounting groove is mounted around the outer wall of the pneumatic muscle body. The upper silicone plug is mounted on the upper side of the pneumatic muscle body and connected to the upper pressure plate. The lower silicone plug is mounted on the lower side of the pneumatic muscle body and connected to the lower pressure plate.

[0012] Furthermore, there are several limit ring mounting slots, which are evenly spaced on the outer wall of the pneumatic muscle body.

[0013] Furthermore, the retaining ring structure includes multiple limiting rings and limiting ring connection structures. The number of limiting rings is consistent with the number of linear actuators, and the number of retaining ring structures is consistent with the number of limiting ring mounting slots on a linear actuator.

[0014] Furthermore, the interdigital capacitor includes an interdigital paper-cutting electrode, a measuring pin, and a copper-clad interdigital capacitor. The interdigital paper-cutting electrode is embedded in the inner wall of the linear driver, and the copper-clad interdigital capacitor is coated on the surface of the interdigital paper-cutting electrode. One side of the measuring pin is connected to the interdigital paper-cutting electrode, and the other side extends out of the outer side of the linear driver.

[0015] Furthermore, the negative pressure gripping suction cup includes a suction cup bracket, a flexible suction cup, and a negative pressure air pipe. The suction cup bracket is fixedly installed on the upper surface of the top connector of the module, the flexible suction cup is installed on the top of the suction cup bracket, and the negative pressure air pipe is connected to the center of the flexible suction cup.

[0016] Furthermore, there are several modular flexible arm supports, which are evenly distributed along the same circumference with the center of the bottom connector of the module as the center.

[0017] A sorting system includes a sorting test bench and a self-sensing continuous flexible arm based on an embedded paper-cut structure, wherein the self-sensing continuous flexible arm based on the embedded paper-cut structure is fixedly mounted on the sorting test bench via a modular flexible arm bracket.

[0018] The beneficial effects of this invention are:

[0019] 1. This invention, through the use of interdigital capacitors, achieves a completely flat, paper-cutting structure without any extension or expansion when the continuous flexible arm is stationary. When the continuous flexible arm begins operation, each modular flexible arm unit generates different elongations based on three linear actuators with varying driving air pressures, resulting in a certain angular deflection. The displacement elongation generated by each linear actuator is detected and controlled by its internal interdigital capacitors. The interdigital capacitors extend axially with the pneumatic muscle. Due to the characteristics of their interdigital paper-cutting electrode structure, the spacing between the interdigital electrodes changes when the paper-cutting structure extends, causing a change in the sensor capacitance value. Therefore, the elongation of each linear actuator can be detected by measuring the change in sensor capacitance, thereby controlling the deflection angle and elongation of the continuous flexible arm unit. The interdigital capacitors have advantages such as low manufacturing cost, extremely light weight, compact structure, and high precision.

[0020] 2. This invention, through the modular flexible arm design, allows for on-demand assembly and easy adaptation to different working environments, exhibiting strong environmental adaptability. The modular flexible arm has a simple structure, is easy to assemble, and ensures safe movement. It can achieve multi-degree-of-freedom motion with a relatively simple structure, improving the flexibility of the robotic arm. The flexible movement of the modular flexible arm avoids collisions during grasping, protecting the target and preventing damage. Furthermore, its manufacturing and assembly costs are low, and its control system is simple, making it suitable for mass production. This invention solves the technical problem of needing a new type of robotic arm that is low-cost, easy to integrate, highly accurate, reliable, and has flexible grasping capabilities to meet the current demands of the logistics sorting field for efficient sorting, low-cost equipment, and intelligent control, making it suitable for large-scale commercial production. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of one embodiment of the self-sensing continuous flexible arm based on an embedded paper-cutting structure according to the present invention.

[0022] Figure 2 This is a schematic diagram of one embodiment of the modular continuum flexible arm of the present invention.

[0023] Figure 3 This is a schematic diagram of one embodiment of the linear driver equipped with interdigital capacitors according to the present invention.

[0024] Figure 4 This is a schematic diagram of one embodiment of the interdigital capacitor of the present invention.

[0025] Figure 5 This is a schematic diagram illustrating the approximate linear relationship between the elongation displacement of the linear actuator and the interdigital capacitance sensing signal of the present invention.

[0026] Figure 6This is a schematic diagram illustrating the approximate linear relationship between the linear actuator sensing signal and the bending angle of the present invention.

[0027] Figure 7 This is a diagram showing the results of a durability test on the elongation displacement of the linear actuator of this invention.

[0028] Figure 8 This is a diagram showing the results of a durability test on the linear actuator extension and retraction experimental sensing signal of this invention.

[0029] Figure 9 This is a schematic diagram of one embodiment of the sorting system of the present invention.

[0030] In the diagram: 1. Interdigitated capacitor; 11. Interdigitated paper-cutting electrode; 12. Measuring pin; 13. Copper-clad interdigitated capacitor; 211. Upper pressure plate; 212. Lower pressure plate; 22. Retaining ring structure; 221. Limiting ring; 222. Limiting ring connection structure; 231. Top connector of module; 232. Middle connector of module; 233. Bottom connector of module; 3. Linear actuator; 31. Pneumatic muscle body; 32. Limiting ring mounting slot; 33. Silicone upper plug; 34. Silicone lower plug; 4. Negative pressure gripping suction cup; 41. Flexible suction cup; 42. Negative pressure air pipe; 43. Suction cup bracket; 5. Modular flexible arm bracket; 6. Sorting experimental table; 7. Items to be sorted. Detailed Implementation

[0031] In the description of this invention, it should be noted that all directional indications (e.g., up, down, etc.) are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to 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 of this invention.

[0032] Specific implementation method one: Combining Figure 1-9 This implementation method is described as follows: Figure 1-8As shown in the figure, the self-sensing continuous flexible arm based on an embedded paper-cutting structure described in this embodiment includes a continuous flexible arm unit, a module top connector 231, a module bottom connector 233, a negative pressure gripping suction cup 4, and a modular flexible arm support 5. The continuous flexible arm unit includes multiple linear actuators 3, interdigital capacitors 1, retaining ring structures 22, an upper pressure plate 211, and a lower pressure plate 212. The interdigital capacitors 1 are embedded in the linear actuators 3, embodying a paper-cutting structure. They deform accordingly with the change in length of the linear actuators 3, thereby generating a change in capacitance value. They serve as the sensing component of the overall device, completing the length detection of the linear actuators 3, and acting as the sensing feedback unit of the continuous flexible arm. A retaining ring structure 22 is fixedly mounted on and conforms to the multiple linear actuators 3, serving as the interconnection between the multiple linear actuators 3. An upper pressure plate 211 is mounted on the top of the multiple linear actuators 3 and conforms to their shape. A lower pressure plate 212 is mounted on the bottom of the multiple linear actuators 3 and conforms to their shape. The upper and lower pressure plates 211 and 212 are used to mount and connect the linear actuators 3, restricting their position and stabilizing their axial distance. The multiple linear actuators 3 are evenly distributed around the same circumference with the centers of the upper and lower pressure plates 211 and 212 as the center. The linear actuators 3 are the driving units of the continuous flexible arm. Preferably, there are three linear actuators 3. These three linear actuators 3 can cause the continuous robotic arm unit to deflect in any direction in the horizontal plane and extend and shorten in the vertical direction according to different elongation amounts, ensuring the number of degrees of freedom of the overall robotic arm.

[0033] The linear actuator 3 can achieve axial extension via pneumatic drive. When different air pressures are applied to it, the different extension lengths result in angular deflection of the continuous flexible arm unit, i.e., bending of the flexible arm. By controlling the different extensions of multiple linear actuators 3, the continuous flexible arm unit can be deflected in any direction. The length of the linear actuator 3 is measured by the interdigital capacitor 1, thereby calculating the bending angle and position information of the flexible arm. The lower surface of the module top connector 231 is fixedly connected to the upper surface of the upper pressure plate 211. The negative pressure gripping suction cup 4 is fixedly installed on the upper surface of the module top connector 231. The negative pressure gripping suction cup 4 can generate a pressure difference by pumping air to achieve the gripping function of the item 7 to be sorted. It is the execution unit of the continuous flexible arm and is used to complete the flexible capture of the item 7 to be sorted. The upper surface of the module bottom connector 233 is fixedly connected to the lower surface of the lower pressure plate 212. The modular flexible arm bracket 5 is fixedly installed on the lower surface of the module bottom connector 233. Preferably, there are several modular flexible arm brackets 5, which are evenly distributed along the same circumference with the center of the module bottom connector 233 as the center. The modular flexible arm bracket 5 is used to install and connect the self-sensing continuous flexible arm based on the embedded paper-cutting structure to the sorting experimental table 6. Preferably, the continuous flexible arm unit comprises several units, which are stacked sequentially from bottom to top. The upper pressure plate 211 of the lower continuous flexible arm unit is connected to the lower pressure plate 212 of the next continuous flexible arm unit, forming a modular continuous flexible arm. A module middle connector 232 is provided between the upper pressure plate 211 of the lower continuous flexible arm unit and the lower pressure plate 212 of the upper continuous flexible arm unit. The lower surface of the module middle connector 232 conforms to the upper pressure plate 211 of the lower continuous flexible arm unit, and the upper surface of the module middle connector 232 conforms to the lower pressure plate 212 of the upper continuous flexible arm unit. The module top connector 231, the module middle connector 232, and the module bottom connector 233 are used to install and connect the continuous flexible arm units and restrict the position of the continuous flexible arm units. This self-sensing continuous flexible arm based on an embedded paper-cutting structure adopts a multi-modal design, is assembled from continuous flexible arm units, and can be installed as needed according to task requirements. It has advantages such as ease of manufacturing and assembly, low processing cost, flexible operation, customizability, high controllability, high control precision, and simple control system. This invention can be mainly applied to the fields of logistics sorting and spatial grasping.

[0034] like Figure 3As shown, the linear actuator 3 includes a pneumatic muscle body 31, a limiting ring mounting groove 32, a silicone upper plug 33, and a silicone lower plug 34. The pneumatic muscle body 31 is a hollow cylindrical shape, and the interdigital capacitor 1 is mounted on the inner wall of the pneumatic muscle body 31. Preferably, the pneumatic muscle body 31 is a cast silicone sleeve-shaped structure, and the interdigital capacitor 1 is glued to the cylindrical inner wall. The linear actuator 3 is designed as a hollow cylindrical structure, which facilitates the installation of the interdigital capacitor 1. Thanks to its cylindrical inner wall, the force in all directions is equal after the interdigital capacitor 1 is installed, and no internal force deformation occurs. The limiting ring mounting groove 32 is mounted around the outer wall of the pneumatic muscle body 31. Preferably, the limiting ring mounting groove 32 is a ring-shaped protrusion and is cast together with the pneumatic muscle body 31 for connecting the retaining ring structure 22. There are several limiting ring mounting grooves 32, which are evenly spaced on the outer wall of the pneumatic muscle body 31. The retaining ring structure 22 includes multiple limiting rings 221 and a limiting ring connecting structure 222. The number of limiting rings 221 is the same as the number of linear actuators 3. The limiting ring mounting slots 32 are assembled with the retaining ring limiting rings 221. The number of retaining ring structures 22 is the same as the number of limiting ring mounting slots 32 on one linear actuator 3. The retaining ring structure 22 keeps the radial relative positions of the multiple linear actuators 3 stationary, ensuring that the radial positions of the pneumatic muscles are relatively fixed. The upper silicone plug 33 is installed on the upper side of the pneumatic muscle body 31 and connected to the upper pressure plate 211. The lower silicone plug 34 is installed on the lower side of the pneumatic muscle body 31 and connected to the lower pressure plate 212. The upper silicone plug 33 and the lower silicone plug 34 serve a sealing function. The two ends of the linear actuator 3 are encapsulated with silicone plugs. After the interdigital capacitor 1 is installed, the openings at both ends of the pneumatic muscle are encapsulated with silicone blocks, thereby ensuring that the working environment of the interdigital paper-cutting electrode 11 remains constant, increasing the stiffness of the pneumatic muscle end, and improving its stability.

[0035] like Figure 4As shown, the interdigital capacitor 1 includes an interdigital paper-cut electrode 11, a measuring pin 12, and a copper-plated interdigital capacitor 13. The interdigital paper-cut electrode 11 is embedded in the inner wall of the linear actuator 3, and the copper-plated interdigital capacitor 13 is coated on the surface of the interdigital paper-cut electrode 11. One side of the measuring pin 12 is connected to the interdigital paper-cut electrode 11, and the other side extends out of the linear actuator 3. Preferably, the interdigital paper-cut electrode 11 is a copper-plated PET material inspired by paper-cutting and etched by flexible circuitry. The interdigital paper-cut electrode 11 has a centrally cut paper-cutting structure. This type of paper-cutting structure can meet the requirements of lateral extension of the sensor, and will produce relatively small longitudinal protrusions during extension. When applied to a soft structure, it will not have any impact on the structure. The interdigital paper-cut electrode 11 is embedded in the inner wall of the linear actuator 3, and the copper-plated interdigital capacitor 13 is made of copper and is coated on the surface of the interdigital paper-cut electrode 11 by electroplating. This makes the sensor unaffected by the external environment, extends the sensor's lifespan, and improves the sensor's accuracy. The interdigital capacitor 1 measures the change in capacitance of the interdigital cutting electrode 11 to determine the sensor's own extension displacement. The measuring pin 12 extends outward from the linear actuator 3 and connects to an external electrostatic instrument for testing. The interdigital capacitor 1 is installed on the inner wall of the continuous robotic arm muscle. The electrical signal is transmitted to the outside of the pneumatic muscle via the measuring pin 12, ensuring a constant working environment for the sensor's interdigital cutting electrode 11, unaffected by humidity or dust. This guarantees that the sensor's accuracy is only affected by its own displacement, demonstrating a clear division of labor.

[0036] The negative pressure gripping suction cup 4 includes a suction cup bracket 43, a flexible suction cup 41, and a negative pressure air pipe 42. The suction cup bracket 43 is fixedly installed on the upper surface of the module top connector 231. The flexible suction cup 41 is installed on top of the suction cup bracket 43 and is the main component for completing the gripping operation. The negative pressure air pipe 42 is connected to the center of the flexible suction cup 41. One end of the negative pressure air pipe 42 is connected to the flexible suction cup 41, and the other end is connected to an air pump. In the working state, the negative pressure air pipe 42 continuously pumps air from the concave surface of the flexible suction cup 41, thereby ensuring that the gripping operation can be completed even when the target surface is uneven. Furthermore, the gripping by air pressure will not cause collisions with the items to be sorted 7, avoiding damage to packaging and goods caused by the gripping operation, and further increasing the working reliability of the invention. Preferably, the suction cup bracket 43 is hinged to the end joint of the continuous flexible arm, and it can be rotated and retracted in the non-working state to save space and facilitate packing and shipping. This provides the flexible suction cup 41 with a degree of rotational freedom, enabling it to better find a suitable gripping surface and increasing the operational stability of the invention. During gripping, the flexible suction cup 41 adheres tightly to the surface of the object being gripped, and the negative pressure air pipe 42 draws air, pressing the flexible suction cup 41 firmly against the object's surface to achieve the target gripping function. Inspired by the suction cup's close contact with a wall, the suction cup structure is designed as the executing component for the object gripping function. The flexible suction cup 41 can grip objects with arbitrary regular surfaces, such as square, round, and cylindrical packages.

[0037] like Figure 5 As shown, the bending sensing characteristics of one to three linear actuators 3 were tested respectively. When there are three linear actuators 3, the elongation displacement ΔS of the three actuators is approximately linearly related to the sensing signal ΔC. The actuator unit has good consistency and repeatability, which is crucial to the overall stability of the flexible arm performance.

[0038] like Figure 6 As shown, the sensing characteristics of bending generated by two linear actuators 3 and three linear actuators 3 were tested respectively. The sensing signal ΔC increases with the increase of the bending angle θ, and the relationship is approximately linear. Since the three linear actuators 3 are uniformly distributed along the same circumference, the measured data approximately coincides with the fitted curves of both suitable curves.

[0039] like Figure 7 As shown, the linear actuator 3 underwent 1000 cycles of expansion and contraction tests at an air pressure of 30 kPa. The elongation displacement ΔS remained unchanged between 0 and 10 mm, indicating that the paper-cutting structure and sensor have good stability and durability.

[0040] like Figure 8As shown, the linear actuator 3 underwent 1000 cycles of expansion and contraction at an air pressure of 30 kPa. The sensing signal ΔC remained unchanged between 0 and 6 pF, indicating that the paper-cutting structure and sensor have good stability and durability.

[0041] like Figure 9 As shown, a sorting system includes a sorting test platform 6 and a self-sensing continuous flexible arm based on an embedded paper-cut structure. The self-sensing continuous flexible arm based on the embedded paper-cut structure is fixedly mounted on the sorting test platform 6 via a modular flexible arm bracket 5. The sorting test platform 6 is used to fix the self-sensing continuous flexible arm based on the embedded paper-cut structure. Through the bending and deflection of the modular unit of the continuous flexible arm, the negative pressure gripping suction cup 4 is moved to the gripping target. The negative pressure gripping suction cup 4 is used to firmly grip the gripping target, and the gripping target is moved to the designated position by the movement of the robotic arm itself, thus completing the sorting work.

[0042] Working principle:

[0043] The interdigitated capacitor 1 of the continuous flexible arm unit is embedded in the linear actuator 3 to complete the length detection of the linear actuator 3. The retaining ring structure 22 is fixedly mounted on multiple linear actuators 3 and conforms to their shape, used for interconnection between the multiple linear actuators 3. The upper pressure plate 211 is mounted on the top of the multiple linear actuators 3 and conforms to their shape, while the lower pressure plate 212 is mounted on the bottom of the multiple linear actuators 3 and conforms to their shape, stabilizing the axial distance between the linear actuators 3. The multiple linear actuators 3 are evenly distributed around the same circumference with the centers of the upper pressure plate 211 and the lower pressure plate 212 as the center. Specifically, there are three linear actuators 3. These three linear actuators 3 can cause the continuous robotic arm unit to deflect in any direction in the horizontal plane and extend and shorten in the vertical direction according to different elongation amounts, ensuring the number of degrees of freedom of the overall robotic arm. The lower surface of the top connector 231 of the module is fixedly connected to the upper surface of the upper pressure plate 211. The negative pressure gripping suction cup 4 is fixedly installed on the upper surface of the top connector 231 of the module to perform the gripping function on the items 7 to be sorted. The upper surface of the bottom connector 233 of the module is fixedly connected to the lower surface of the lower pressure plate 212. The modular flexible arm bracket 5 is fixedly installed on the lower surface of the bottom connector 233 of the module. The modular flexible arm bracket 5 is used to install and connect the self-sensing continuous flexible arm based on the embedded paper-cutting structure to the sorting experimental table 6. Preferably, there are several continuous flexible arm units, which are stacked sequentially from bottom to top. The upper pressure plate 211 of the lower continuous flexible arm unit is connected to the lower pressure plate 212 of the next continuous flexible arm unit to form a modular continuous flexible arm. It solves the problems of traditional robotic arms, such as high noise, high manufacturing cost, large size, heavy weight, and limited workspace; it also solves the problems of traditional sensors, such as limited degrees of freedom, non-uniform structure, susceptibility to external environmental interference, and susceptibility to damage from dust and humidity; and it solves the problems of rigid motion and rigid capture of traditional robotic arms, which can easily cause damage to the grasped object.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A self-aware continuum flexible arm based on embedded paper-cut structure, characterized in that: It includes a continuous flexible arm unit, a module top connector (231), a module bottom connector (233), a negative pressure gripping suction cup (4), and a modular flexible arm support (5). The continuous flexible arm unit includes multiple linear actuators (3), interdigital capacitors (1), a retaining ring structure (22), an upper pressure plate (211), and a lower pressure plate (212). The interdigital capacitors (1) are embedded in the linear actuators (3). The retaining ring structure (22) is fixedly installed on the multiple linear actuators (3) and conforms to the multiple linear actuators (3). The upper pressure plate (211) is installed on the top of the multiple linear actuators (3) and conforms to the multiple linear actuators (3). The lower pressure plate (212) is installed on the bottom of the multiple linear actuators (3) and conforms to the multiple linear actuators (3). The multiple linear actuators (3) are on the same circle with the center of the upper pressure plate (211) and the lower pressure plate (212) as the center. The modules are evenly distributed around the top. The lower surface of the module top connector (231) is fixedly connected to the upper surface of the upper pressure plate (211). The negative pressure gripping suction cup (4) is fixedly installed on the upper surface of the module top connector (231). The upper surface of the module bottom connector (233) is fixedly connected to the lower surface of the lower pressure plate (212). The modular flexible arm bracket (5) is fixedly installed on the lower surface of the module bottom connector (233). The interdigital capacitor (1) includes an interdigital paper-cutting electrode (11), a measuring pin (12), and a copper-plated interdigital capacitor (13). The interdigital paper-cutting electrode (11) is embedded in the inner wall of the linear driver (3). The copper-plated interdigital capacitor (13) is coated on the surface of the interdigital paper-cutting electrode (11). One side of the measuring pin (12) is connected to the interdigital paper-cutting electrode (11), and the other side extends out of the outer side of the linear driver (3). The interdigital paper-cutting electrode (11) has a central cut paper-cutting structure.

2. The self-sensing continuous flexible arm based on an embedded paper-cutting structure according to claim 1, characterized in that: The number of continuous flexible arm units is several. Several continuous flexible arm units are stacked and installed sequentially from bottom to top. The upper pressure plate (211) of the lower continuous flexible arm unit is connected to the lower pressure plate (212) of the next continuous flexible arm unit.

3. The self-sensing continuous flexible arm based on an embedded paper-cutting structure according to claim 2, characterized in that: A module middle connector (232) is provided between the upper pressure plate (211) of the lower continuous flexible arm unit and the lower pressure plate (212) of the upper continuous flexible arm unit. The lower surface of the module middle connector (232) conforms to the upper pressure plate (211) of the lower continuous flexible arm unit, and the upper surface of the module middle connector (232) conforms to the lower pressure plate (212) of the upper continuous flexible arm unit.

4. The self-sensing continuous flexible arm based on an embedded paper-cutting structure according to claim 1, characterized in that: The linear actuator (3) includes a pneumatic muscle body (31), a limit ring mounting groove (32), a silicone upper plug (33), and a silicone lower plug (34). The pneumatic muscle body (31) is a hollow column. The interdigitated capacitor (1) is installed on the inner wall of the pneumatic muscle body (31). The limit ring mounting groove (32) is installed around the outer wall of the pneumatic muscle body (31). The silicone upper plug (33) is installed on the upper side of the pneumatic muscle body (31) and connected to the upper pressure plate (211). The silicone lower plug (34) is installed on the lower side of the pneumatic muscle body (31) and connected to the lower pressure plate (212).

5. The self-sensing continuous flexible arm based on an embedded paper-cutting structure according to claim 4, characterized in that: The number of limit ring mounting slots (32) is several, and the several limit ring mounting slots (32) are equally spaced on the outer wall of the pneumatic muscle body (31).

6. The self-sensing continuous flexible arm based on an embedded paper-cutting structure according to claim 5, characterized in that: The retaining ring structure (22) includes multiple retaining rings (221) and retaining ring connection structure (222). The number of retaining rings (221) is the same as the number of linear actuators (3), and the number of retaining ring structures (22) is the same as the number of retaining ring mounting slots (32) on a linear actuator (3).

7. The self-aware continuum flexible arm based on embedded paper-cut structure according to claim 1, wherein: The negative pressure gripping suction cup (4) includes a suction cup bracket (43), a flexible suction cup (41), and a negative pressure air pipe (42). The suction cup bracket (43) is fixedly installed on the upper surface of the module top connector (231). The flexible suction cup (41) is installed on the top of the suction cup bracket (43). The negative pressure air pipe (42) is connected to the center of the flexible suction cup (41).

8. The self-aware continuum flexible arm based on embedded paper-cut structure according to claim 1, characterized in that: The number of modular flexible arm supports (5) is several, and the several modular flexible arm supports (5) are evenly distributed along the same circumference with the center of the bottom connector (233) of the module as the center.

9. A sorting system characterized by: The system includes a sorting test bench (6) and a self-sensing continuous flexible arm based on an embedded paper-cutting structure as described in any one of claims 1-8. The self-sensing continuous flexible arm based on the embedded paper-cutting structure is fixedly installed on the sorting test bench (6) by a modular flexible arm bracket (5).

Images