A robot flexible arm structure and control method thereof

Abstract

The present invention discloses a robot flexible arm structure and a control method thereof, including an air circuit control component and two flexible arm units, the two flexible arm units are connected by an elbow joint component, one end of one of the flexible arm units is connected to a shoulder joint component; the flexible arm unit includes an inner airbag and an outer airbag arranged outside the inner airbag, and end load-bearing members are respectively arranged at both ends of the inner airbag; a first cavity is arranged inside the inner airbag, and a second cavity is arranged between the outer airbag and the inner airbag; the first cavity is filled with particles; the air circuit control component includes an exhaust device, an inflation device, a sensor device, a control unit, and a negative pressure control valve, a gas transfer pipeline is arranged between the first cavity and the second cavity, and the negative pressure control valve and the sensor device are both arranged on the gas transfer pipeline. In the present invention, by adjusting the vacuum degree in the inner airbag, the rigidity of the flexible arm unit can be adjusted, thereby meeting the use requirements in different environments.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arms, and in particular to a robot flexible arm structure and a control method thereof. Background Art

[0002] With the advancement of technology, some humanoid simulation robots are increasingly being used in the service industry. The humanoid simulation robot has a pair of mechanical arms similar to human arms, and the structure and function of the mechanical arms are similar to human arms, which can flexibly grasp and carry objects.

[0003] However, the robotic arms on existing robots have the following shortcomings: 1. The robotic arm slot is made of metal or other hard materials, and the stiffness of the robotic arm is fixed, and the stiffness of the robotic arm cannot be adjusted; 2. In actual use of the robot, the robotic arm can easily collide violently with surrounding objects or people due to improper control and other reasons. Since the material hardness of the robotic arm itself is relatively high, it is easy to cause greater damage to surrounding objects or people during a collision, which poses certain safety issues. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies in the prior art and to provide a robot flexible arm structure and a control method thereof.

[0005] The objective of the present invention is achieved through the following technical solutions: a robot flexible arm structure, comprising an air path control component and two flexible arm units, the two flexible arm units are connected through an elbow joint component, one end of one of the flexible arm units is connected to the shoulder joint component; the flexible arm unit comprises an inner airbag and an outer airbag arranged outside the inner airbag, and end load-bearing members are respectively arranged at both ends of the inner airbag; a first cavity is arranged inside the inner airbag, and a second cavity is arranged between the outer airbag and the inner airbag; the first cavity is filled with particles, and the rigidity of the flexible arm unit is adjusted by adjusting the vacuum degree in the first cavity to change the extrusion force between the particles;

[0006] The air path control component includes an exhaust device for exhausting the first cavity, an inflation device for inflating the outer airbag, a sensor device, a control unit, and a negative pressure control valve. A gas transfer pipeline is provided between the first cavity and the second cavity. The negative pressure control valve and the sensor device are both arranged on the gas transfer pipeline. When the outer airbag is hit and the internal air pressure reaches the set pressure threshold, the sensor device is triggered and the negative pressure control valve opens.

[0007] Preferably, the end load-bearing member is provided with an outer airbag inflation nozzle connected to the second cavity, and an inner airbag vacuum nozzle connected to the first cavity; the vacuum device comprises a negative pressure pump and a negative pressure pipeline, the negative pressure pump is connected to the inner airbag vacuum nozzle through the negative pressure pipeline, and a pressure sensor is provided on the negative pressure pipeline; the inflation device comprises a positive pressure pump and an inflation pipeline, the positive pressure pump is connected to the outer airbag inflation nozzle through the inflation pipeline; a positive pressure control valve is provided on the inflation pipeline.

[0008] Preferably, the sensing device comprises a box body, a bistable component, and an opposed-beam laser sensor. The bistable component is arranged on the box body, the bistable component is made of a flexible material, a deformation body is arranged on the bistable component, and the opposed-beam laser sensor and the negative pressure control valve are both communicatively connected with the control unit; the opposed-beam laser sensor comprises a laser transmitter and a laser receiver arranged opposite to each other, an air pressure cavity is formed between the bistable component and the box body, and the deformation body is located above the air pressure cavity; a gas transfer pipeline is connected to the air pressure cavity;

[0009] When the sensing device is in an untriggered state, the deformation body is in a concave state, and the laser emitted by the laser transmitter is received by the laser receiver; when the outer airbag is collided and the internal air pressure reaches the set pressure threshold, the air pressure in the air pressure chamber causes the deformation body to change from a concave state to a convex state, and the deformation body blocks the laser emitted by the laser transmitter so that the reflected laser sensor generates a trigger signal.

[0010] Preferably, the deformation body is composed of two trapezoidal diaphragms and two triangles, the two trapezoidal diaphragms are arranged opposite to each other, and a ridge line is formed at the connection of the two trapezoidal diaphragms; a triangular diaphragm is arranged between the two sides of the two trapezoidal diaphragms; and all parts of the bistable body except the deformation body are connected diaphragms;

[0011] When the deformable body is in a convex state, the ridge line on the deformable body is higher than the connecting diaphragm; when the deformable body is in a concave state, the ridge line on the deformable body is lower than the connecting diaphragm.

[0012] Preferably, the trapezoidal diaphragm is provided with a first thickened area, which is located in the central area of ​​the trapezoidal diaphragm, and the triangular diaphragm is provided with a second thickened area, which is located in the central area of ​​the triangular diaphragm.

[0013] Preferably, the sensor device further comprises a pressing plate, which is connected to the box body via connecting bolts, and the connecting diaphragm on the bistable member is clamped between the pressing plate and the box body.

[0014] Preferably, the shoulder joint component includes a first shoulder joint component, a second shoulder joint component, a third shoulder joint component, and a connecting sleeve. The first shoulder joint component is provided with a first motor, and the first motor is connected to the second shoulder joint component. The second shoulder joint component is provided with a second motor, and the second motor is connected to the third shoulder joint component. A third motor is provided between the third shoulder joint component and the connecting sleeve, and the connecting sleeve is connected to the end load-bearing member on the flexible arm unit.

[0015] Preferably, the elbow joint component includes a first elbow joint component, a second elbow joint component, and a fourth motor, the fourth motor is arranged between the first elbow joint component and the second elbow joint component, the first elbow joint component is provided with a first connecting member, and the second elbow joint component is provided with a second connecting member; the first connecting member and the second connecting member are used to be connected to the end load-bearing members on the flexible arm unit.

[0016] Preferably, the particles are ABS resin particles, and the particles are spherical.

[0017] A control method for a robot flexible arm structure comprises the following specific steps:

[0018] The first cavity is evacuated by the vacuum device, and the vacuum degree in the first cavity is adjusted by the vacuum device to change the squeezing force between the particles, thereby adjusting the stiffness of the flexible arm unit; the second cavity is inflated by the inflation device until the pressure value in the second cavity reaches the target pressure value;

[0019] During use, when the outer airbag on the flexible arm unit is hit and the internal air pressure reaches the set pressure threshold, the deformation body on the bistable part changes from a concave state to a convex state under the action of the air pressure in the air pressure chamber. The deformation body blocks the laser emitted by the laser emitter to make the opposing laser sensor generate a trigger signal. The control unit receives the trigger signal and controls the negative pressure control valve to open. The air in the second cavity flows into the first cavity through the gas transfer pipeline, reducing the vacuum degree in the first cavity, thereby reducing the stiffness of the flexible arm unit.

[0020] The beneficial effects of the present invention are:

[0021] 1. In the present invention, the vacuum device can adjust the vacuum degree in the inner airbag (the first cavity). The higher the vacuum degree in the inner airbag (that is, the lower the pressure), the tighter the inner airbag wraps the internal granules, the greater the mutual squeezing force between the granules, the lower the overall "fluidity" of the granules, and the interior of the inner airbag presents a "solid" property, so that the flexible arm unit has a higher rigidity; conversely, the lower the vacuum degree in the inner airbag (that is, the higher the pressure), the looser the inner airbag wraps the internal granules, the smaller the mutual squeezing force between the granules, the higher the overall "fluidity" of the granules, and the interior of the inner airbag presents a "liquid" property, so that the flexible arm unit has a lower rigidity and higher flexibility; by adjusting the vacuum degree in the inner airbag, the rigidity of the flexible arm unit can be adjusted, thereby meeting the use requirements in different environments.

[0022] 2. An outer airbag is provided on the outside of the flexible arm unit. The outer airbag is filled with gas of a certain pressure, so that the outer airbag is inflated, thereby making the outside of the flexible arm unit softer. In this way, when the flexible arm unit collides with external objects or people, the presence of the outer airbag will play a good cushioning role, which not only reduces the impact damage to external objects or people, but also reduces the impact damage to the flexible arm unit body.

[0023] 3. When the flexible arm unit collides with an external object or a person, the outer airbag is squeezed and the gas pressure inside it increases. When the pressure increases to the set pressure threshold, the sensor device is triggered and the negative pressure control valve on the gas transfer pipeline is opened. After the negative pressure control valve is opened, the gas transfer pipeline connects the first cavity and the second cavity, and the gas in the second cavity will quickly flow into the first cavity through the gas transfer pipeline; in this process, on the one hand, the outer airbag gradually deflates, which reduces the tension of the outer airbag and improves the flexibility of the surface of the outer airbag; on the other hand, with the rapid filling of air in the first cavity, the vacuum degree in the first cavity is rapidly reduced, the flexibility of the flexible arm unit is rapidly improved, and the flexible arm unit is quickly switched from a rigid state to a flexible state, and the bendability of the flexible arm unit is rapidly improved. Through the combined effect of the above two aspects, the impact of the flexible arm unit on surrounding objects or people in the event of a collision is greatly reduced, and feedback can be given instantly in the event of a collision, and the feedback sensitivity is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 A cross-sectional view of the flexible arm unit.

[0026] Figure 3 It is a structural schematic diagram of the gas path control components.

[0027] Figure 4 A schematic diagram of the structure of the sensor device.

[0028] Figure 5 A cross-sectional view of the sensor device.

[0029] Figure 6 It is a structural schematic diagram of a bistable device.

[0030] Figure 7 A schematic diagram of the structure of the shoulder joint components.

[0031] Figure 8 Schematic diagram of the structure of the elbow joint components.

[0032] In the figure: 1. flexible arm unit, 1-1. inner airbag, 1-2. outer airbag, 1-3. first cavity, 1-4. second cavity, 1-5. end load-bearing member, 1-6. inner airbag vacuum nozzle, 1-7. outer airbag inflation nozzle, 1-8. filter, 2. shoulder joint component, 2-1. first shoulder joint assembly, 2-2. first motor, 2-3. second shoulder joint assembly, 2-4. second motor, 2-5. third shoulder joint assembly, 2-6. connecting sleeve, 2-7. third motor, 3. elbow joint component, 3-1. first elbow joint assembly, 3-2. first connecting member, 3 -3. Second elbow joint assembly, 3-4. Second connecting piece, 3-5. Fourth motor, 4. Air path control component, 4-1. Negative pressure pump, 4-2. Positive pressure pump, 4-3. Sensing device, 4-3-1. Box body, 4-3-2. Bistable piece, 4-3-2a. Deformation part, 4-3-2b. Connecting diaphragm, 4-3-3. Pressure plate, 4-3-4. Connecting bolt, 4-3-5. Laser transmitter, 4-3-6. Laser receiver, 4-3-7. Air pressure chamber, 4-4. Negative pressure control valve, 4-5. Positive pressure control valve, 4-6. Pressure sensor, 4-7. Gas transfer pipeline. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0034] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0035] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0036] like Figures 1 to 8 As shown, a robot flexible arm structure includes an air path control component 4 and two flexible arm units 1, the two flexible arm units 1 are connected via an elbow joint component 3, and one end of one of the flexible arm units 1 is connected to a shoulder joint component 2; the flexible arm unit 1 includes an inner airbag 1-1, an outer airbag 1-2 arranged on the periphery of the inner airbag 1-1, and end load-bearing members 1-5 are respectively arranged at both ends of the inner airbag 1-1; a first cavity 1-3 is arranged inside the inner airbag 1-1, and a second cavity 1-4 is arranged between the outer airbag 1-2 and the inner airbag 1-1; the first cavity 1-3 is filled with particles, and the extrusion force between the particles is changed by adjusting the vacuum degree in the first cavity 1-3, thereby adjusting the stiffness of the flexible arm unit 1;

[0037] The air path control component 4 includes an exhaust device for exhausting the first cavity 1-3, an inflation device for inflating the outer airbag 1-2, a sensor device 4-3, a control unit, and a negative pressure control valve 4-4. A gas transfer pipeline 4-7 is provided between the first cavity 1-3 and the second cavity 1-4. The negative pressure control valve 4-4 and the sensor device 4-3 are both arranged on the gas transfer pipeline 4-7. When the outer airbag 1-2 is hit and the internal air pressure reaches the set pressure threshold, the sensor device 4-3 is triggered and the negative pressure control valve 4-4 is opened.

[0038] Among them, the two flexible arm units 1 are connected through the elbow joint component 3, and the bending movement between the two flexible arm units 1 can be realized through the elbow joint component 3, and the movement of the human elbow joint is simulated by the elbow joint component 3; the shoulder joint component 2 is used to simulate the movement of the human shoulder joint.

[0039] In the present invention, the vacuum device can adjust the vacuum degree in the inner airbag 1-1 (the first cavity 1-3). The higher the vacuum degree in the inner airbag 1-1 (i.e., the lower the pressure), the tighter the inner airbag 1-1 wraps the internal granules, the greater the mutual squeezing force between the granules, the lower the overall "fluidity" of the granules, and the inner airbag 1-1 presents a "solid" property, so that the flexible arm unit 1 has a higher rigidity. On the contrary, the lower the vacuum degree in the inner airbag 1-1 (i.e., the higher the pressure), the looser the inner airbag 1-1 wraps the internal granules, the smaller the mutual squeezing force between the granules, the higher the overall "fluidity" of the granules, and the inner airbag 1-1 presents a "liquid" property, so that the flexible arm unit 1 has a lower rigidity and higher flexibility. By adjusting the vacuum degree in the inner airbag 1-1, the rigidity of the flexible arm unit 1 can be adjusted, thereby meeting the use requirements in different environments.

[0040] An outer layer airbag 1-2 is provided on the outside of the flexible arm unit 1. The outer layer airbag 1-2 is filled with gas of a certain pressure, so that the outer layer airbag 1-2 is in a bulging state, thereby making the outside of the flexible arm unit 1 appear in a relatively soft state. In this way, when the flexible arm unit 1 collides with an external object or a person, the existence of the outer layer airbag 1-2 will play a good buffering role, which not only reduces the impact damage to the external object or person, but also reduces the impact damage to the body of the flexible arm unit 1. A flexible skin-friendly layer can be provided on the outer surface of the outer layer airbag 1-2. The material of the flexible skin-friendly layer can be selected from silicone, which is softer when in contact with the human body to reduce the damage to the human body. Among them, the outer layer airbag 1-2 (second cavity 1-4) is inflated with gas through the inflation device, and the gas pressure in the second cavity 1-4 can be adjusted by the inflation device.

[0041] During actual use, the negative pressure control valve 4-4 on the gas transfer pipeline 4-7 is in a closed state. At this time, the gas transfer pipeline 4-7 is in an interrupted state, and the gas in the first cavity 1-3 is not connected with the gas in the second cavity 1-4; when the flexible arm unit 1 collides with an external object or a person, the outer airbag 1-2 will be squeezed. After the outer airbag 1-2 is squeezed, the internal gas pressure increases. When the pressure increases to the set pressure threshold, the sensor device 4-3 is triggered and the negative pressure control valve 4-4 on the gas transfer pipeline 4-7 is opened. After the negative pressure control valve 4-4 is opened, the gas transfer pipeline 4-7 is turned on, and the gas transfer pipeline 4-7 connects the first cavity 1-3 and the second cavity 1-4. At this time, since the pressure in the first cavity 1-3 is lower and the pressure in the second cavity 1-4 is higher, the pressure in the gas transfer pipeline 4-7 is higher. The force is relatively high. Under the action of the pressure difference, the gas in the second cavity 1-4 will quickly flow into the first cavity 1-3 through the gas transfer pipeline 4-7; in this process, on the one hand, the outer airbag 1-2 is gradually deflated, so that the tension of the outer airbag 1-2 is reduced, and the flexibility of the surface of the outer airbag 1-2 is improved; on the other hand, with the rapid filling of air in the first cavity 1-3, the vacuum degree in the first cavity 1-3 is rapidly reduced, and the flexibility of the flexible arm unit 1 is rapidly improved, so that the flexible arm unit 1 is quickly switched from a rigid state to a flexible state, and the bendability of the flexible arm unit 1 is rapidly improved. Through the combined effect of the above two aspects, the impact of the flexible arm unit 1 on surrounding objects or people in the event of a collision is greatly reduced, and feedback can be given instantly in the event of a collision, and the feedback sensitivity is high.

[0042] The particles fill the entire first cavity 1-3. In this embodiment, the particles are ABS resin particles, which are spherical and have a diameter of 2-3 mm.

[0043] The end bearing member 1-5 is provided with an outer airbag inflation nozzle 1-7 connected to the second cavity 1-4 and an inner airbag vacuum nozzle 1-6 connected to the first cavity 1-3; the air extraction device includes a negative pressure pump 4-1 and a negative pressure pipeline, the negative pressure pump 4-1 is connected to the inner airbag vacuum nozzle 1-6 through the negative pressure pipeline, and a pressure sensor 4-6 is provided on the negative pressure pipeline; the inflation device includes a positive pressure pump 4-2 and an inflation pipeline, the positive pressure pump 4-2 is connected to the outer airbag inflation nozzle 1-7 through the inflation pipeline; a positive pressure control valve 4-5 is provided on the inflation pipeline. The positive pressure control valve 4-5 is used to control the conduction or interruption of the inflation pipeline. One end of the gas transfer pipeline 4-7 is connected to the outer airbag inflation nozzle 1-7, and the other end is connected to the inner airbag vacuum nozzle 1-6. A filter tip 1-8 is provided on the inner side of the inner air bag vacuum nozzle 1-6. When the inner air bag 1-1 is evacuated, the presence of the filter tip 1-8 can prevent the internal particles from being extracted.

[0044] In this embodiment, the negative pressure control valve 4 - 4 and the positive pressure control valve 4 - 5 are both solenoid valves, and are both controlled by a control unit.

[0045] Specifically, the sensing device 4-3 includes a box body 4-3-1, a bistable component 4-3-2, and a beam-type laser sensor. The bistable component 4-3-2 is arranged on the box body 4-3-1. The bistable component 4-3-2 is made of a flexible material. A deformation body is arranged on the bistable component 4-3-2. The beam-type laser sensor and the negative pressure control valve 4-4 are both communicatively connected with the control unit. The beam-type laser sensor includes a laser transmitter 4-3-5 and a laser receiver 4-3-6 which are arranged opposite to each other. An air pressure chamber 4-3-7 is formed between the bistable component 4-3-2 and the box body 4-3-1. The deformation body is located above the air pressure chamber 4-3-7; the gas transfer pipeline 4-7 is connected to the air pressure chamber 4-3-7; when the sensor device 4-3 is in an untriggered state, the deformation body is in a concave state, and the laser emitted by the laser transmitter 4-3-5 is received by the laser receiver 4-3-6; when the outer airbag 1-2 is collided and the internal air pressure reaches the set pressure threshold, the air pressure in the air pressure chamber 4-3-7 causes the deformation body to change from a concave state to a convex state, and the deformation body blocks the laser emitted by the laser transmitter 4-3-5 so that the opposing laser sensor generates a trigger signal.

[0046] It is worth mentioning that when the pressure in the air pressure chamber 4-3-7 is in a stable state, the deformation body on the bistable member 4-3-2 will maintain either a concave state or a convex state.

[0047] Furthermore, the deformation body is composed of two trapezoidal diaphragms and two triangles. The two trapezoidal diaphragms are arranged opposite to each other, and a ridge line is formed at the connection of the two trapezoidal diaphragms; a triangular diaphragm is arranged between the two sides of the two trapezoidal diaphragms; all parts of the bistable body except the deformation body are connected diaphragms 4-3-2b; when the deformation body is in a convex state, the ridge line on the deformation body is higher than the connecting diaphragm 4-3-2b; when the deformation body is in a concave state, the ridge line on the deformation body is lower than the connecting diaphragm 4-3-2b.

[0048] The material of the bistable element 4-3-2 can be selected from one of silicone rubber, thermoplastic polyurethane (TPU), single-sided coated highland barley paper, and polydimethylsiloxane (PDMS silicone). Among them, the single-sided coated highland barley paper is made of highland barley paper substrate through single-sided coating, mainly composed of natural plant fibers, and a layer of film material (such as polyethylene, polypropylene, etc.) is covered on the surface to enhance its strength and water resistance.

[0049] From the perspective of hardness, silicone rubber and PDMS silicone are generally softer, while TPU is relatively hard. The hardness of single-sided coated barley paper is affected by the coating and paper materials and is usually lower. From the perspective of elasticity, silicone rubber, PDMS silicone and TPU all have good elasticity, especially silicone rubber and PDMS silicone. The elasticity of single-sided coated barley paper is poor. From the perspective of high temperature resistance, silicone rubber and PDMS silicone have good high and low temperature resistance. TPU also has a certain temperature resistance, but it is worse than silicone rubber. The temperature resistance of single-sided coated barley paper is relatively poor. The material of the bistable part 4-3-2 can be selected according to the above characteristics and combined with actual conditions.

[0050] Moreover, the greater the angle between the two trapezoidal diaphragms in the deformation body, the greater the pressure threshold required when the deformation body changes from a concave state to a convex state. For example, when the material of the bistable member 4-3-2 is selected from silicone rubber, all other parameters except the angle between the two trapezoidal diaphragms remain unchanged. When the angle between the two trapezoidal diaphragms is 90 degrees, the pressure threshold required when the deformation body changes from a concave state to a convex state is 13-14 kPa, when the angle between the two trapezoidal diaphragms is 75 degrees, the pressure threshold required when the deformation body changes from a concave state to a convex state is 18 kPa, and when the angle between the two trapezoidal diaphragms is 60 degrees, the pressure threshold required when the deformation body changes from a concave state to a convex state is 24 kPa. In the actual process, the angle between the two trapezoidal diaphragms on the deformation body can be changed to adjust the size of the set pressure threshold. In this embodiment, the angle between the two trapezoidal diaphragms is 90 degrees, 75 degrees or 60 degrees.

[0051] The trapezoidal diaphragm is provided with a first thickened area, which is located in the central area of ​​the trapezoidal diaphragm, and the triangular diaphragm is provided with a second thickened area, which is located in the central area of ​​the triangular diaphragm. The thickness of the thickened area is greater than the thickness of other positions on the diaphragm. When the deformable body switches from a concave state to a convex state, the area outside the thickened area on the trapezoidal diaphragm or the triangular diaphragm will deform first, while the deformation amount of the thickened area (i.e., the central area) on the diaphragm is small, which is conducive to the deformation body to maintain the stability of the shape before and after the deformation.

[0052] The sensing device 4-3 also includes a pressure plate 4-3-3, which is connected to the box body 4-3-1 through a connecting bolt 4-3-4, and a connecting diaphragm 4-3-2b on the bistable member 4-3-2 is clamped between the pressure plate 4-3-3 and the box body 4-3-1.

[0053] The shoulder joint component 2 includes a first shoulder joint component 2-1, a second shoulder joint component 2-3, a third shoulder joint component 2-5, and a connecting sleeve 2-6. The first shoulder joint component 2-1 is provided with a first motor 2-2, and the first motor 2-2 is connected to the second shoulder joint component 2-3. The second shoulder joint component 2-3 is provided with a second motor 2-2, and the second motor 2-2 is connected to the third shoulder joint component 2-5. A third motor 2-7 is provided between the third shoulder joint component 2-5 and the connecting sleeve 2-6, and the connecting sleeve 2-6 is connected to the end load-bearing member 1-5 on the flexible arm unit 1.

[0054] Among them, the body of the first motor 2-2 is fixedly connected to the first shoulder joint assembly 2-1, and the output shaft of the first motor 2-2 is connected to the second joint assembly, so that the first shoulder joint assembly 2-1 and the second shoulder joint assembly 2-3 are driven by the first motor 2-2 to send relative rotation; the body of the second motor 2-2 is fixedly connected to the second shoulder joint assembly 2-3, and the output shaft of the second motor 2-2 is connected to the third shoulder joint assembly 2-5, so that the second shoulder joint assembly 2-3 and the third shoulder joint assembly 2-5 are driven by the second motor 2-2 to send relative rotation; the body of the third motor 2-7 is fixedly connected to the third shoulder joint assembly 2-5, and the output shaft of the third motor 2-7 is connected to the connecting sleeve 2-6, and the connecting sleeve 2-6 is driven to rotate by the third motor 2-7.

[0055] The elbow joint component 3 includes a first elbow joint component 3-1, a second elbow joint component 3-3, and a fourth motor 3-5. The fourth motor 3-5 is arranged between the first elbow joint component 3-1 and the second elbow joint component 3-3. The first elbow joint component 3-1 is provided with a first connecting member 3-2, and the second elbow joint component 3-3 is provided with a second connecting member 3-4. The first connecting member 3-2 and the second connecting member 3-4 are used to connect with the end bearing member 1-5 on the flexible arm unit 1. The body of the fourth motor 3-5 is fixed in the second elbow joint component 3-3, and the output shaft of the fourth motor 3-5 is connected to the first elbow joint component 3-1. The fourth motor 3-5 drives the first elbow joint component 3-1 and the second elbow joint component 3-3 to rotate relative to each other, thereby driving the relative rotation of the two flexible arm units 1.

[0056] A control method for a robot flexible arm structure comprises the following specific steps:

[0057] The first cavity 1-3 is evacuated by the vacuum device, and the vacuum degree in the first cavity 1-3 is adjusted by the vacuum device to change the squeezing force between the particles, thereby adjusting the stiffness of the flexible arm unit 1; the second cavity 1-4 is inflated by the inflation device until the pressure value in the second cavity 1-4 reaches the target pressure value;

[0058] During use, when the outer airbag 1-2 on the flexible arm unit 1 is hit and the internal air pressure reaches the set pressure threshold, the deformation body on the bistable member 4-3-2 changes from a concave state to a convex state under the action of the air pressure in the air pressure chamber 4-3-7, and the deformation body blocks the laser emitted by the laser emitter 4-3-5 to enable the opposing laser sensor to generate a trigger signal. The control unit receives the trigger signal and controls the negative pressure control valve 4-4 to open, and the air in the second cavity 1-4 flows into the first cavity 1-3 through the gas transfer pipeline 4-7, so that the vacuum degree in the first cavity 1-3 is reduced, thereby reducing the stiffness of the flexible arm unit 1.

[0059] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that are the same or similar to those of the present application fall within the protection scope of the present invention.

Claims

1. A robot flexible arm structure, characterized in that: It comprises an air path control component and two flexible arm units, the two flexible arm units are connected through an elbow joint component, and one end of one of the flexible arm units is connected to the shoulder joint component; the flexible arm unit comprises an inner airbag and an outer airbag arranged outside the inner airbag, and end load-bearing members are respectively arranged at both ends of the inner airbag; a first cavity is arranged inside the inner airbag, and a second cavity is arranged between the outer airbag and the inner airbag; the first cavity is filled with particles, and the extrusion force between the particles is changed by adjusting the vacuum degree in the first cavity, thereby adjusting the rigidity of the flexible arm unit; The gas circuit control component includes an exhaust device for exhausting the first cavity, an inflating device for inflating the outer airbag, a sensor device, a control unit, and a negative pressure control valve. A gas transfer pipeline is provided between the first cavity and the second cavity. The negative pressure control valve and the sensor device are both provided on the gas transfer pipeline. When the outer airbag is hit and the internal air pressure reaches a set pressure threshold, the sensor device is triggered and the negative pressure control valve is opened. The sensing device comprises a box body, a bistable component, and an opposed-beam laser sensor. The bistable component is arranged on the box body, the bistable component is made of a flexible material, a deformation body is arranged on the bistable component, and the opposed-beam laser sensor and the negative pressure control valve are both communicatively connected with the control unit; the opposed-beam laser sensor comprises a laser transmitter and a laser receiver arranged opposite to each other, an air pressure cavity is formed between the bistable component and the box body, and the deformation body is located above the air pressure cavity; a gas transfer pipeline is connected to the air pressure cavity; When the sensing device is in an untriggered state, the deformation body is in a concave state, and the laser emitted by the laser transmitter is received by the laser receiver; when the outer airbag is collided and the internal air pressure reaches the set pressure threshold, the air pressure in the air pressure chamber causes the deformation body to change from a concave state to a convex state, and the deformation body blocks the laser emitted by the laser transmitter so that the reflected laser sensor generates a trigger signal.

2. A robot flexible arm structure according to claim 1, characterized in that: The end load-bearing member is provided with an outer airbag inflation nozzle connected to the second cavity and an inner airbag vacuum nozzle connected to the first cavity; the vacuum device includes a negative pressure pump and a negative pressure pipeline, the negative pressure pump is connected to the inner airbag vacuum nozzle through the negative pressure pipeline, and a pressure sensor is provided on the negative pressure pipeline; the inflation device includes a positive pressure pump and an inflation pipeline, the positive pressure pump is connected to the outer airbag inflation nozzle through the inflation pipeline; the inflation pipeline is provided with a positive pressure control valve.

3. A robot flexible arm structure according to claim 1, characterized in that: The deformation body is composed of two trapezoidal diaphragms and two triangular diaphragms. The two trapezoidal diaphragms are arranged opposite to each other, and a ridge line is formed at the connection of the two trapezoidal diaphragms. A triangular diaphragm is arranged between the two sides of the two trapezoidal diaphragms. All parts of the bistable body except the deformation body are connected diaphragms. When the deformable body is in an upward convex state, the ridge line on the deformable body is higher than the connecting membrane; when the deformable body is in a concave state, the ridge line on the deformable body is lower than the connecting membrane.

4. A robot flexible arm structure according to claim 3, characterized in that: The trapezoidal diaphragm is provided with a first thickened area, which is located in the central area of ​​the trapezoidal diaphragm. The triangular diaphragm is provided with a second thickened area, which is located in the central area of ​​the triangular diaphragm.

5. The robot flexible arm structure according to claim 3, characterized in that: The sensor device also includes a pressing plate, which is connected to the box body through connecting bolts, and the connecting diaphragm on the bistable member is clamped between the pressing plate and the box body.

6. The robot flexible arm structure according to claim 1, characterized in that: The shoulder joint component includes a first shoulder joint component, a second shoulder joint component, a third shoulder joint component, and a connecting sleeve. The first shoulder joint component is provided with a first motor, and the first motor is connected to the second shoulder joint component. The second shoulder joint component is provided with a second motor, and the second motor is connected to the third shoulder joint component. A third motor is provided between the third shoulder joint component and the connecting sleeve, and the connecting sleeve is connected to the end load-bearing member on the flexible arm unit.

7. The robot flexible arm structure according to claim 1, characterized in that: The elbow joint component includes a first elbow joint component, a second elbow joint component, and a fourth motor. The fourth motor is arranged between the first elbow joint component and the second elbow joint component. The first elbow joint component is provided with a first connecting piece, and the second elbow joint component is provided with a second connecting piece. The first connecting piece and the second connecting piece are used to be connected to the end load-bearing pieces on the flexible arm unit.

8. The robot flexible arm structure according to claim 1, characterized in that: The particles are ABS resin particles, and the particles are spherical.

9. A control method for a robot flexible arm structure, based on the robot flexible arm structure according to claim 1, characterized in that: The specific steps include: The first cavity is evacuated by the vacuum device, and the vacuum degree in the first cavity is adjusted by the vacuum device to change the squeezing force between the particles, thereby adjusting the stiffness of the flexible arm unit; the second cavity is inflated by the inflation device until the pressure value in the second cavity reaches the target pressure value; During use, when the outer airbag on the flexible arm unit is hit and the internal air pressure reaches the set pressure threshold, the deformation body on the bistable part changes from a concave state to a convex state under the action of the air pressure in the air pressure chamber. The deformation body blocks the laser emitted by the laser emitter to make the opposing laser sensor generate a trigger signal. The control unit receives the trigger signal and controls the negative pressure control valve to open. The air in the second cavity flows into the first cavity through the gas transfer pipeline, reducing the vacuum degree in the first cavity, thereby reducing the stiffness of the flexible arm unit.

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