Mechanical arm skin structure for protecting a human body and method of manufacturing the same

Abstract

The application discloses a mechanical arm skin structure for protecting human body and a manufacturing method thereof, and relates to the field of mechanical arms, which comprises a movable mechanical arm, a sensing skin wrapped outside the mechanical arm, and a controller electrically connected with the mechanical arm and the sensing skin, wherein the sensing skin triggers the controller when touching the human body outside the world, so that the controller controls the mechanical arm to stop; the sensing skin comprises a base layer arranged on the mechanical arm, a plurality of sensor units arranged in parallel on the base layer, and a protective layer for covering and protecting the sensor units. The application can reduce the risk of accidental injury of the staff when operating the mechanical arm, and can protect the safety of the staff by pasting the sensing skin on the surface of the mechanical arm and constructing a weak electrostatic field on the sensing skin, and by monitoring the position and speed of the staff in real time through the electrostatic induction caused by the human body entering the electrostatic field. When the staff mistakenly enters a dangerous area, the staff can slow down, avoid or even stop to avoid the danger according to the speed of the staff.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a robotic arm skin structure for protecting the human body and its manufacturing method. Background Technology

[0002] In the current field of robotics research, much effort remains focused on overcoming the challenges posed by unstructured environments. Fields such as medicine, healthcare, agriculture, Industry 4.0, and space and underwater exploration are poised to benefit from the robotics technologies currently under development. Furthermore, one of the main challenges in unstructured environments or situations is developing robotics technologies capable of safe and reliable interaction with humans.

[0003] Robotic arms are widely used in industrial manufacturing. Currently, most robotic arms use teaching to complete tasks, running fixed programs and executing pre-taught actions. For factories where there are no people or no human presence, this type of robotic arm is sufficient. However, most industrial production involves both humans and robotic arms working together. Therefore, robotic arms running fixed programs pose a serious threat to human safety. Thus, robotic arms need to have the ability to sense humans. Most intelligent robotic arms are equipped with cameras as visual sensors to perceive the surrounding environment, using vision to identify the positions of humans and the robot, and controlling the robot to stop movement or avoid obstacles to ensure human safety. However, vision is sensitive to light; in poor lighting conditions, it is difficult to effectively perceive the environment. Furthermore, visual sensors can be obstructed by objects, creating blind spots and posing safety hazards. To address these issues, we provide a protective robotic arm skin structure and its manufacturing method. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robotic arm skin structure for protecting the human body and its manufacturing method. It solves the problem that existing robotic arms cannot ensure the safety of workers when visual recognition of the positional relationship between the human and the robotic arm is used, especially when lighting conditions are poor or objects are obstructing the view.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0006] A robotic arm skin structure for protecting the human body includes a movable robotic arm, a sensory skin covering the outside of the robotic arm, and a controller electrically connected to the robotic arm and the sensory skin. When the sensory skin touches a human body in the outside world, it triggers the controller to stop the robotic arm. The sensory skin has a base layer disposed on the robotic arm, multiple sensor units disposed on the base layer and arranged in parallel, and a protective layer for covering and protecting the sensor units.

[0007] The base layer is made of flexible circuit board, which is rolled into a cylindrical shape and attached to the outside of the robotic arm;

[0008] The protective layer is made of a soft material.

[0009] Furthermore, the sensor unit can be a resistance strain gauge sensor, a pressure sensor, a capacitive level sensor, a piezoresistive sensor, or an infrared sensor.

[0010] Furthermore, the sensory skin also includes an adhesive layer set on the base layer and a release layer that can be separated and adhered to the adhesive layer. The base layer is made of a flexible circuit board and is attached to the outer surface of the robotic arm via the adhesive layer. The protective layer is made of sponge or silicone.

[0011] Furthermore, the base layer is directly attached to the robotic arm and can be fixed to the surface of the robotic arm by solid solution. The surface of the base layer is also provided with a conductive layer, and an electrostatic generation module is also provided inside the sensing skin.

[0012] The conductive layer is prepared using polyurethane as the base material, polystyrene magnetic composite material and graphene powder as dopants. Placement grooves are formed on the surface of the conductive layer, and electrostatic induction sensors are embedded in the placement grooves.

[0013] The protective layer is made of spliced ​​silicone blocks, with gaps between adjacent silicone blocks, and the gaps are filled with conductive wires.

[0014] The electrostatic generator module can inject charge into the conductive layer, and the electrostatic generator module and the conductive layer can form a weak electrostatic field. Both the electrostatic generator module and the sensor unit can be connected to external control equipment.

[0015] The robotic arm also includes a connecting arm, a first motor, a first reducer, and a second motor. A gripping unit is also installed at one end of the robotic arm.

[0016] Furthermore, the connecting arm is installed on the upper end of the controller, and a third motor is installed inside the controller. The connecting arm is electrically connected to the third motor. The first motor is installed on the upper end of the connecting arm, and the first reducer is installed on the side of the first motor. There are two connecting arms, and one end of the other connecting arm is installed on the side of the first reducer.

[0017] Furthermore, a second motor is installed at the other end of the connecting arm, and a second reducer is installed at one end of the second motor. The gripping unit is installed at one end of the second reducer.

[0018] Furthermore, the first and second reducers are any one of planetary reducers, helical cylindrical reducers, bevel gear reducers, or worm gear reducers, and the first, second, and third motors have the same model number.

[0019] Furthermore, the gripping unit is a negative pressure suction cup.

[0020] Furthermore, the surface of the conductive layer is coated with a conductive coating, which is prepared by mixing nano-conductive particles, dispersant, coupling agent, water, catalyst and organic solvent.

[0021] Furthermore, the conductive wire is prepared by coaxial electrospinning and drying, with a conductive material as the core layer and a molten mixture of polyarylate fiber and silicon dioxide as the skin layer. The conductive wire is used to guide free charges adsorbed by an electrostatic field.

[0022] A method for manufacturing a protective robotic arm skin structure for the human body includes the following steps:

[0023] Step 1: Suspend the polystyrene magnetic composite material and graphene powder separately in an appropriate amount of solvent and mix them evenly. Then, mix the mixture with polyurethane at a ratio of 1:4-6.5 to obtain a conductive mixture.

[0024] Step 2: The conductive mixture from Step 1 is processed into a conductive layer of the required shape and thickness by calendering or injection molding. The conductivity of the prepared conductive skin is tested, and a placement groove corresponding to the electrostatic induction sensor is opened on the surface of the conductive layer.

[0025] Step 3: Apply a conductive coating evenly to the surface of the conductive layer, embed the electrostatic induction sensor in the placement slot, fix the electrostatic generation module on the surface of the conductive layer, and control the electrostatic generation module to inject charge into the conductive layer through the wire to form a weak electrostatic field.

[0026] Step 4: Fill the gaps on the surface of the protective layer with conductive wires, and then fix the base layer, conductive layer and protective layer in sequence with hot melt adhesive or solid solution to obtain the sensing skin. Then attach the base layer of the sensing skin to the robotic arm.

[0027] Furthermore, in step 4, the gap on the surface of the protective layer is 1.5mm-2.5mm, and the diameter of the conductive wire is 1.2mm-1.8mm.

[0028] Furthermore, in step 1, the preparation method of the polystyrene magnetic composite material is as follows:

[0029] Step 1.1: Select polystyrene particles of appropriate size and shape as the matrix material;

[0030] Step 1.2: Surface modification of polystyrene particles is performed by introducing functional groups with ion exchange capabilities, so that the surface of polystyrene particles has an electrophilic structure.

[0031] Step 1.3: Magnetic nanoparticles are suspended in a solution of polystyrene particles containing ionic functional groups. Through ion exchange, the magnetic particles adsorb onto the surface of the polystyrene particles, and the magnetic particles are uniformly dispersed on the surface of the polystyrene particles to form a composite material.

[0032] Step 1.4: Perform solid-liquid separation on the ion-exchange composite material, and then dry the resulting composite material to obtain the final polystyrene magnetic composite material.

[0033] Compared with existing technologies, the robotic arm skin structure for protecting the human body and its manufacturing method have the following beneficial effects:

[0034] I. This invention, by attaching sensory skin to the surface of a robotic arm and constructing a weak electrostatic field on the sensory skin, can monitor the position and speed of the operator in real time through electrostatic induction triggered when the human body enters the electrostatic field. This not only reduces the risk of accidental injury to the operator while operating the robotic arm and ensures the operator's safety, but also slows down or even stops to avoid collisions or contact between the robotic arm and the operator if the operator accidentally enters a dangerous area. This improves workplace safety and protects the safety of the operator.

[0035] II. This invention prepares a conductive layer using polyurethane as the base material and polystyrene magnetic composite material and graphene powder as dopants. Polyurethane, as the substrate, has good elasticity and wear resistance, which can enhance the wear resistance of the conductive skin and extend its service life. Polystyrene magnetic composite material and graphene powder, as dopants, have good conductivity, which can significantly improve the conductivity of the conductive skin, reduce resistance, and improve signal transmission efficiency. At the same time, polystyrene magnetic composite material and graphene powder have good mechanical strength and hardness, which can enhance the mechanical properties of the conductive skin and improve its durability and stability.

[0036] Third, by coating the conductive layer with a conductive coating, this invention can not only significantly improve the conductivity of conductive skin, reduce resistance, and improve current transmission efficiency, but also provide a protective layer for the conductive layer, effectively enhancing the antioxidant properties of the conductive skin, increasing its wear resistance and corrosion resistance, and improving its service life in harsh environments. At the same time, the conductive coating can enhance the strength of the electrostatic field, increasing the sensing distance of electrostatic charges on the human body, further improving the safety of workers.

[0037] Fourth, the protective layer made of silicone blocks in this invention can act as a buffer when the robotic arm encounters a person who suddenly enters and cannot avoid collision even when it slows down and stops. This reduces the impact of the collision and the risk of injury to the staff. At the same time, silicone has a certain frictional force, which can increase the friction when the staff collides with the sensory skin, which helps to prevent slippage and avoid secondary collisions. Furthermore, the protective layer made of silicone can form a protective film that can protect the surface of the sensory skin from scratches and damage from external objects, thus extending the service life of the sensory skin.

[0038] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0039] Figure 1 This is a three-dimensional structural diagram of the robotic arm in this invention;

[0040] Figure 2 This is a front view schematic diagram of the robotic arm in this invention;

[0041] Figure 3 This is a side view of the robotic arm in this invention.

[0042] Figure 4 This is a top view of the robotic arm in this invention.

[0043] Figure 5 This is a cross-sectional view of the skin being sensed in this invention.

[0044] Figure 6 This is a flowchart of the manufacturing method of the robotic arm skin structure in this invention.

[0045] In the picture:

[0046] 1. Controller; 101. Third motor;

[0047] 2. Robotic arm; 201. Connecting arm; 202. First motor; 203. First reducer; 204. Second motor; 205. Second reducer; 206. Gripping unit;

[0048] 3. Sensory skin; 301. Base layer; 302. Adhesive layer; 303. Release layer; 304. Protective layer. Detailed Implementation

[0049] 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0050] Please refer to the figure. This invention provides a technical solution: a skin structure for protecting the human body in a robotic arm 2, including a movable robotic arm 2, a sensory skin 3 wrapped around the outside of the robotic arm 2, and a controller 1 electrically connected to the robotic arm 2 and the sensory skin 3. When the sensory skin 3 touches a human body in the outside, it triggers the controller 1 to stop the robotic arm 2. The sensory skin 3 has a base layer 301 disposed on the robotic arm 2, multiple sensor units disposed on the base layer 301 and arranged in parallel, and a protective layer 304 for covering and protecting the sensor units. The base layer 301 is made of a flexible circuit board and is rolled into a cylindrical shape and wrapped around the outside of the robotic arm 2. The protective layer 304 is made of a soft material.

[0051] The sensor unit is a resistance strain gauge sensor, pressure sensor, capacitive level sensor, piezoresistive sensor or infrared sensor; the sensing skin 3 also includes an adhesive layer 302 disposed on the base layer 301 and a release layer 303 that can be separably bonded to the adhesive layer 302. The base layer 301 is made of a flexible circuit board and is attached to the outer surface of the robotic arm 2 via the adhesive layer 302; the protective layer 304 is made of sponge or silicone.

[0052] The base layer 301 is directly attached to the robotic arm 2 and can be fixed to the surface of the robotic arm 2 by solid solution;

[0053] The conductive layer is prepared using polyurethane as the base material, polystyrene magnetic composite material, and graphene powder as dopants. Placement grooves are formed on the surface of the conductive layer, and electrostatic induction sensors are embedded in these grooves. The protective layer 304 is composed of spliced ​​silicone blocks with gaps between adjacent blocks, filled with conductive wires. The electrostatic generation module can inject charge into the conductive layer, and the module and conductive layer can form a weak electrostatic field. Both the electrostatic generation module and the electrostatic induction sensors can be connected to external control equipment. The base layer 301 is an insulating substrate layer made of flexible material, used to isolate the electrostatic field from the robotic arm 2. The electrostatic generation module can inject charge into the conductive layer. The electrostatic generator module and conductive layer can form a weak electrostatic field. Both the electrostatic generator module and the electrostatic induction sensor can be connected to external control equipment. This invention, by constructing a weak electrostatic field on the sensing skin 3, can monitor the position and speed of the worker in real time through electrostatic induction triggered when the human body enters the electrostatic field. This not only reduces the risk of accidental injury to the worker when operating the robotic arm 2, ensuring the worker's safety, but also slows down or even stops to avoid collisions or contact between the robotic arm 2 and the worker if the worker accidentally enters a dangerous area, improving workplace safety and protecting the worker's safety. The robotic arm 2 also includes a connecting arm 201, a first motor 202, a first reducer 203, and a second motor 204. A gripping unit 206 is also fixed to one end of the robotic arm 2.

[0054] The connecting arm 201 is installed on the upper end of the controller 1. The controller 1 is equipped with a third motor 101. The connecting arm 201 is electrically connected to the third motor 101. The first motor 202 is installed on the upper end of the connecting arm 201. The first reducer 203 is installed on the side of the first motor 202. There are two connecting arms 201. One end of the other connecting arm 201 is installed on the side of the first reducer 203.

[0055] The second motor 204 is installed at the other end of the connecting arm 201. The output end of the second motor 204 is equipped with a second reducer 205, and the gripping unit 206 is installed at one end of the second reducer 205.

[0056] The first reducer 203 and the second reducer 205 are any one of planetary reducers, helical cylindrical reducers, bevel gear reducers or worm gear reducers, and the first motor 202, the second motor 204 and the third motor 101 have the same model.

[0057] The gripping unit 206 is a negative pressure suction cup.

[0058] The conductive layer is prepared using polyurethane as the base material and polystyrene magnetic composite material and graphene powder as dopants. Placement grooves are formed on the surface of the conductive layer, and an electrostatic induction sensor is embedded in these grooves. This invention prepares the conductive layer using polyurethane as the base material and polystyrene magnetic composite material and graphene powder as dopants. Polyurethane, as the substrate, has good elasticity and wear resistance, which can enhance the wear resistance of the conductive skin and extend its service life. Polystyrene magnetic composite material and graphene powder, as dopants, have good conductivity, which can significantly improve the conductivity of the conductive skin, reduce resistance, and improve signal transmission efficiency. At the same time, polystyrene magnetic composite material and graphene powder have good mechanical strength and hardness, which can enhance the mechanical properties of the conductive skin and improve its durability and stability.

[0059] The conductive layer surface is further coated with a conductive coating, which is prepared by mixing nano-conductive particles, dispersants, coupling agents, water, catalysts, and organic solvents. This invention, by coating the conductive layer surface with a conductive coating, not only significantly improves the conductivity of the conductive skin, reduces resistance, and increases current transmission efficiency, but also provides a protective 304 layer for the conductive layer, effectively enhancing the antioxidant properties of the conductive skin, increasing its wear resistance and corrosion resistance, and extending its service life in harsh environments. Simultaneously, the conductive coating enhances the strength of the electrostatic field, increasing the sensing distance for electrostatic charges on the human body, further improving worker safety.

[0060] The protective layer 304 is made of spliced ​​silicone blocks with gaps between adjacent blocks, and conductive wires are filled in the gaps. The conductive wires are prepared by coaxial electrospinning and drying, with a conductive material as the core layer and a molten mixture of polyarylate fiber and silicon dioxide as the skin layer. The conductive wires are used to guide the free charges adsorbed by the electrostatic field. The protective layer 304 made of silicone blocks allows the robotic arm 2 to act as a buffer when it encounters a person who suddenly enters and cannot avoid collision even when it slows down and stops. This reduces the impact force caused by the collision and reduces the risk of injury to the staff. At the same time, silicone has a certain friction force, which can increase the friction force when the staff collides with the sensing skin 3, which helps to prevent slippage and avoid secondary collisions. Furthermore, the protective layer 304 made of silicone can form a protective film that can protect the surface of the sensing skin 3 from scratches and damage by external objects and extend the service life of the sensing skin 3.

[0061] A method for manufacturing a protective robotic arm skin structure for the human body includes the following steps:

[0062] Step 1: Suspend the polystyrene magnetic composite material and graphene powder separately in an appropriate amount of solvent and mix them evenly. Then, mix the mixture with polyurethane at a ratio of 1:4-6.5 to obtain a conductive mixture.

[0063] Step 2: The conductive mixture from Step 1 is processed into a conductive layer of the required shape and thickness by calendering or injection molding. The conductivity of the prepared conductive skin is tested, and a placement groove corresponding to the electrostatic induction sensor is opened on the surface of the conductive layer.

[0064] Step 3: Apply a conductive coating evenly to the surface of the conductive layer, embed the electrostatic induction sensor in the placement slot, fix the electrostatic generation module on the surface of the conductive layer, and then control the electrostatic generation module to inject charge into the conductive layer through the wire to form a weak electrostatic field.

[0065] Step 4: Fill the gaps on the surface of the protective layer 304 with conductive wires, and then fix the base layer 301, conductive layer and protective layer 304 in sequence with hot melt adhesive or solid solution to obtain the sensing skin 3, and attach the base layer 301 of the sensing skin 3 to the robotic arm 2; the gaps on the surface of the protective layer 304 are 1.5mm-2.5mm, and the diameter of the conductive wires is 1.2mm-1.8mm.

[0066] This invention constructs a weak electrostatic field on the sensory skin 3, which can monitor the position and speed of the operator in real time by detecting the electrostatic induction caused when the human body enters the electrostatic field. This not only reduces the risk of accidental injury to the operator when operating the robotic arm 2 and ensures the operator's safety, but also slows down or even stops the robot to avoid collisions or contact with the operator if the operator accidentally enters a dangerous area. This improves workplace safety and protects the safety of the operator.

[0067] In step 1 above, the preparation method of polystyrene magnetic composite material is as follows:

[0068] Step 1.1: Select polystyrene particles of appropriate size and shape as the matrix material;

[0069] Step 1.2: Surface modification of polystyrene particles is performed by introducing functional groups with ion exchange capabilities, so that the surface of polystyrene particles has an electrophilic structure.

[0070] Step 1.3: Magnetic nanoparticles are suspended in a solution of polystyrene particles containing ionic functional groups. Through ion exchange, the magnetic particles adsorb onto the surface of the polystyrene particles, and the magnetic particles are uniformly dispersed on the surface of the polystyrene particles to form a composite material.

[0071] Step 1.4: Perform solid-liquid separation on the composite material after ion exchange, and dry the resulting composite material to obtain the final polystyrene magnetic composite material.

[0072] This invention provides a method for manufacturing a protective robotic arm skin structure, comprising the following steps:

[0073] Step 1: Suspend the polystyrene magnetic composite material and graphene powder separately in an appropriate amount of solvent and mix them evenly. Then, mix the mixture with polyurethane at a ratio of 1:4-6.5 to obtain a conductive mixture.

[0074] Step 2: The conductive mixture from Step 1 is processed into a conductive layer of the required shape and thickness by calendering or injection molding. The conductivity of the prepared conductive skin is tested, and a placement groove corresponding to the electrostatic induction sensor is opened on the surface of the conductive layer.

[0075] Step 3: Apply a conductive coating evenly to the surface of the conductive layer, embed the electrostatic induction sensor in the placement slot, fix the electrostatic generation module on the surface of the conductive layer, and then control the electrostatic generation module to inject charge into the conductive layer through the wire to form a weak electrostatic field.

[0076] Step 4: Fill the gaps on the surface of the protective layer 304 with conductive wires, and then fix the base layer 301, the conductive layer and the protective layer 304 in sequence with hot melt adhesive or solid solution to obtain the sensing skin 3, and attach the base layer 301 of the sensing skin 3 to the robotic arm 2.

[0077] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A robotic arm skin structure for protecting the human body, comprising a movable robotic arm (2), a sensory skin (3) wrapped around the outside of the robotic arm (2), and a controller (1) electrically connected to the robotic arm (2) and the sensory skin (3), wherein when the sensory skin (3) touches a human body in the outside, the controller (1) is triggered to stop the robotic arm (2), characterized in that: The sensory skin (3) has a base layer (301) disposed on the robotic arm (2), multiple sensor units disposed on the base layer (301) and arranged in parallel, and a protective layer (304) for covering and protecting the sensor units. The base layer (301) is made of a flexible circuit board and is rolled into a cylindrical shape and attached to the outside of the robotic arm (2); The protective layer (304) is made of a soft material; The base layer (301) is directly attached to the robotic arm (2) and fixed to the surface of the robotic arm (2) by a solid solution. A conductive layer is also provided on the surface of the base layer (301). The conductive layer is prepared using polyurethane as the base material, polystyrene magnetic composite material and graphene powder as dopants. The surface of the conductive layer is provided with a placement groove, and an electrostatic induction sensor is embedded in the placement groove. The sensing skin (3) is also provided with an electrostatic generation module. The protective layer (304) is made of spliced ​​silicone blocks, with gaps between adjacent silicone blocks, and the gaps are filled with conductive wires. The electrostatic generator module can inject charge into the conductive layer, and the electrostatic generator module and the conductive layer can form a weak electrostatic field. Both the electrostatic generator module and the sensor unit can be connected to external control devices.

2. The robotic arm skin structure for protecting the human body according to claim 1, characterized in that: The sensor unit is a resistance strain gauge sensor, pressure sensor, capacitive level sensor, piezoresistive sensor, or infrared sensor.

3. The robotic arm skin structure for protecting the human body according to claim 1, characterized in that: The sensory skin (3) also includes an adhesive layer (302) disposed on the base layer (301) and a release layer (303) that can be separably attached to the adhesive layer (302). The base layer (301) is made of a flexible circuit board and is attached to the outer surface of the robotic arm (2) via the adhesive layer (302). The protective layer (304) is made of sponge or silicone.

4. The robotic arm skin structure for protecting the human body according to claim 1, characterized in that: The robotic arm (2) also includes a connecting arm (201), a first motor (202), a first reducer (203) and a second motor (204), and a gripping unit (206) is also installed at one end of the robotic arm (2).

5. The robotic arm skin structure for protecting the human body according to claim 4, characterized in that: The connecting arm (201) is installed on the upper end of the controller (1). The controller (1) is equipped with a third motor (101). The first motor (202) is installed on the upper end of the connecting arm (201). The first reducer (203) is installed on the side of the first motor (202). There are two connecting arms (201). One end of the other connecting arm (201) is installed on the side of the first reducer (203).

6. The robotic arm skin structure for protecting the human body according to claim 5, characterized in that: The second motor (204) is installed at the other end of the connecting arm (201), and a second reducer (205) is installed at one end of the second motor (204). The gripping unit (206) is installed at one end of the second reducer (205).

7. The robotic arm skin structure for protecting the human body according to claim 6, characterized in that: The first reducer (203) and the second reducer (205) are any one of planetary reducers, helical cylindrical reducers, bevel gear reducers or worm gear reducers, and the first motor (202), the second motor (204) and the third motor (101) are of the same model.

8. The robotic arm skin structure for protecting the human body according to claim 6, characterized in that: The gripping unit (206) is a negative pressure suction cup.

9. A method for manufacturing a robotic arm skin structure to protect the human body, characterized in that: The method for manufacturing the skin structure of the robotic arm that protects the human body includes the following steps: Step 1: Suspend the polystyrene magnetic composite material and graphene powder separately in an appropriate amount of solvent and mix them evenly. Then, mix the mixture with polyurethane at a ratio of 1:4-6.5 to obtain a conductive mixture. Step 2: The conductive mixture from Step 1 is processed into a conductive layer of the required shape and thickness by calendering or injection molding. The conductivity of the prepared conductive skin is tested, and a placement groove corresponding to the electrostatic induction sensor is opened on the surface of the conductive layer. Step 3: Apply a conductive coating evenly to the surface of the conductive layer, embed the electrostatic induction sensor in the placement slot, fix the electrostatic generation module on the surface of the conductive layer, and control the electrostatic generation module to inject charge into the conductive layer through the wire to form a weak electrostatic field. Step 4: Fill the gaps on the surface of the protective layer (304) with conductive wires, and then fix the base layer (301), conductive layer and protective layer (304) in sequence with hot melt adhesive or solid solution to obtain the sensing skin (3), and attach the base layer (301) of the sensing skin (3) to the robotic arm (2); the gaps on the surface of the protective layer (304) are 1.5mm-2.5mm, and the diameter of the conductive wires is 1.2mm-1.8mm; The preparation method of polystyrene magnetic composite material is as follows: Step 1.1: Select polystyrene particles of appropriate size and shape as the matrix material; Step 1.2: Surface modification of polystyrene particles is performed by introducing functional groups with ion exchange capabilities, so that the surface of polystyrene particles has an electrophilic structure. Step 1.3: Magnetic nanoparticles are suspended in a solution of polystyrene particles containing ionic functional groups. Through ion exchange, the magnetic particles adsorb onto the surface of the polystyrene particles, and the magnetic particles are uniformly dispersed on the surface of the polystyrene particles to form a composite material. Step 1.4: Perform solid-liquid separation on the composite material after ion exchange, and dry the resulting composite material to obtain the final polystyrene magnetic composite material.

Images