Hydraulic driving multi-joint flexible mechanical arm overall structure and driving method

Abstract

The invention discloses a hydraulic driving multi-joint flexible mechanical arm overall structure and a driving method. The flexible mechanical arm comprises a driving structure, the driving structure is connected with one end of a middle flexible mechanical arm moving structure, the middle flexible mechanical arm moving structure comprises a set of connecting plates, a set of aggregate structures and three telescopic corrugated pipes, and the three telescopic corrugated pipes are evenly distributed in the circumferential direction of 120 degrees; multi-angle bending of the middle mechanical arm flexible movement structure is achieved through different telescopic distances among the three telescopic corrugated pipes, and the other end of the middle mechanical arm flexible movement structure is connected with a mechanical arm rigid structure. Liquid can be injected into or pumped out of the different telescopic corrugated pipes through control of the injection pump and the electric valve, so that multi-degree-of-freedom movement of the flexible part of the mechanical arm is achieved, and finally the purposes of improving the transmission efficiency and flexibility of the mechanical arm and increasing the moving space range of the mechanical arm are achieved.

Description

Technical Field

[0001] The invention belongs to the field of mechanical structure design, and in particular relates to an overall structure of a hydraulically driven multi-joint flexible mechanical arm and a driving method. Background Art

[0002] The overall structure of the hydraulically driven multi-joint flexible robotic arm plays a key role in the field of robotic arm performance improvement, and is related to the overall structural stability of the flexible robotic arm and the range of the robotic arm's working space. The overall structure mainly includes the installation method of the middle flexible part of the flexible robotic arm and the implementation method of the movement of the bottom hydraulically driven flexible part. The installation method of the middle flexible part of the flexible robotic arm is related to the stability of the overall structure of the robotic arm and the range of the working space.

[0003] For traditional rigid robotic arms, since the control is all done by the coordination of servos or motors with the rigid arms, the range of motion of the robotic arms is small and their flexibility is not high.

[0004] The driving method of the flexible robotic arm is related to the movement efficiency of the robotic arm. For traditional rigid robotic arms, motors and gear sets are used to transmit power at the joints of the robotic arm. This driving device is not compact when assembled with the robotic arm, which increases the weight of the robotic arm and has low transmission efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide an overall structure and driving method of a hydraulically driven multi-joint flexible robotic arm. To address the above-mentioned problems, an injection pump and an electric valve are used in combination to hydraulically drive the flexible part of the middle end of the robotic arm, so as to improve the transmission efficiency of the robotic arm and reduce the deadweight of the robotic arm.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The overall structure of a hydraulically driven multi-joint flexible robotic arm comprises: a driving structure, wherein the driving structure is connected to one end of a middle flexible robotic arm motion structure, wherein the middle flexible robotic arm motion structure comprises a group of connecting plates, a group of frame structures, and three retractable bellows, wherein the three retractable bellows are evenly distributed in a circle of 120°, and multi-angle bending of the middle flexible robotic arm motion structure is achieved through different telescopic distances between the three retractable bellows, and the other end of the middle flexible motion structure is connected to the rigid structure of the robotic arm.

[0008] Furthermore, the driving structure comprises a driving structure housing, an injection pump is installed inside the driving structure housing, and the injection pump is connected to the variable-section connecting pipe through an electric valve.

[0009] Furthermore, the injection pump includes an injection pump stand, on which an injection pump motor and a syringe are installed, a syringe handle and a syringe piston are inserted into the syringe, the syringe handle is connected to the motor screw through a connecting piece, the motor screw is connected to the injection pump motor, the syringe is connected to one end of a connecting hose, a four-way valve is installed on the other end of the connecting hose, the four-way valve is connected to a variable-section connecting pipe, an electric valve is installed on the variable-section connecting pipe, and the retractable bellows is retracted and extended by using the injection pump motor to drive the injection pump and the electric valve to control the injection or extraction of liquid into the interior.

[0010] Furthermore, the rigid structure of the robotic arm includes a second motor installed on the connecting plate located at the top, and the second motor is connected to the rotating structure to drive the rigid structure of the robotic arm to rotate 360 ​​degrees within a plane. The rotating structure is connected to the connecting structure, and a first motor is installed in the connecting structure. The first motor is connected to the forearm of the robotic arm, and the forearm of the robotic arm is connected to the manipulator.

[0011] Furthermore, the retractable bellows of the flexible motion structure of the middle robotic arm is half-embedded in the connecting plate at the top and is closed to prevent the internal liquid from overflowing; the retractable bellows passes through the two connecting plates below and is connected to the variable-section connecting pipe to achieve continuous connection of the coaxial retractable bellows; a bone structure is installed between every two adjacent connecting plates and between the lower connecting plate and the driving structure housing.

[0012] Furthermore, the bone structure includes a group of bones, one end of each bone has a spherical structure, and the other end of each bone has a spherical groove. Every two adjacent bones are tangentially connected through the spherical structure and the spherical groove. A gap is left between the spherical structure and the spherical groove, so as to achieve all-round rotation and support between the bones.

[0013] The present invention may also include:

[0014] A method for driving the hydraulically driven multi-joint flexible mechanical arm overall structure as described above, the method comprising the following steps:

[0015] The injection pump motor fixed on the injection pump stand rotates to drive the screw to rotate, thereby driving the connecting piece and the syringe handle and syringe piston connected to the connecting piece to move left and right, thereby realizing the entry and exit of the liquid inside the syringe, and the internal liquid is pumped to the electric valve through the four-way valve and the connecting pipe. The opening and closing of the electric valve port are controlled by three different electric valves, thereby realizing the entry and exit of the internal liquid of the three groups of axially distributed retractable bellows and controlling the injection or extraction amount of the internal liquid of different groups of bellows as required, thereby realizing the extension and retraction of the upper section of the retractable bellows to achieve different directional bending of the flexible mechanism part of the flexible robotic arm. At the same time, the four bones of each section achieve corresponding angle bending while playing a supporting role.

[0016] The beneficial effects of the present invention are:

[0017] The telescopic bellows of the present invention can be telescoped under hydraulic drive, and the frame 2 and the frame 3 can rotate more than 20 degrees. The bellows and the frame can cooperate to play a supporting role, realize flexible movement of the flexible part, and have overall structural stability.

[0018] The bottom injection pump and the electric valve of the present invention can cooperate to respectively inject or extract liquid into the retractable bellows in three directions, realize the bending of the flexible part of the mechanical arm in the specified direction, have multiple degrees of freedom, and increase the range of the activity space.

[0019] The present invention replaces the middle part of the traditional rigid robotic arm with a flexible structure, which is composed of a retractable bellows and a frame material, and provides a driving structure for the middle part of the flexible robotic arm. Specifically, an injection pump and an electric valve are used to inject or extract liquid into the retractable bellows to achieve hydraulic drive, so as to improve the transmission efficiency of the robotic arm and improve the flexibility of the robotic arm.

[0020] The present invention replaces the middle rigid part of the traditional rigid robotic arm with a flexible structure, which is composed of three circumferentially distributed retractable bellows and four middle sections of rotating frame materials. It solves the problems of low flexibility and limited activity space of traditional robotic arms. At the same time, the retractable bellows cooperate with the four sections of frame materials to make the overall structure stable, thereby achieving the purpose of improving the flexibility of the robotic arm and expanding the activity space of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0022] Attached Figure 2 It is a structural schematic diagram of the flexible motion structure of the middle mechanical arm of the present invention.

[0023] Attached Figure 3 It is a structural schematic diagram of the driving structure of the present invention.

[0024] Attached Figure 4It is a connection schematic diagram of the frame structure of the present invention.

[0025] In the attached drawings: 1, manipulator; 2, manipulator forearm; 3, connection structure; 4, motor 1; 5, rotating structure; 6, motor 2; 7, connection plate; 8, retractable bellows; 9, frame; 9-1, frame 1; 9-3, frame 4; 10, drive part housing; 11, variable cross-section connection pipe; 12, electric valve; 13, injection pump; 14, wires;

[0026] 8-1, the upper connecting part of the bellows; 8-2, the bendable part of the middle bellows; 8-3, the lower connecting part of the bellows;

[0027] 10-1, connecting hole of the outer plate of the driving part; 10-2, four-way valve; 10-3, connecting hose; 12-2, valve port of the electric valve; 13-1, injection pump motor; 13-2, syringe; 13-3, injection pump stand; 13-4, connecting piece; 13-5, injection pump handle; 13-6, syringe piston. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings.

[0029] The present invention provides a hydraulically driven multi-joint flexible mechanical arm overall structure, as shown in the attached Figure 1 As shown, its components include: a driving structure, a middle robotic arm flexible motion structure, and a robotic arm rigid structure.

[0030] The driving structure is connected to one end of the middle flexible robotic arm motion structure. The middle flexible robotic arm motion structure includes a group of connecting plates 7, a group of frame structures 9, and three retractable bellows 8. The three retractable bellows 8 are evenly distributed in a circle of 120°. The multi-angle bending of the middle flexible robotic arm motion structure is achieved through the different telescopic distances between the three retractable bellows 8. The other end of the middle flexible motion structure is connected to the rigid structure of the robotic arm.

[0031] Three retractable bellows 8 are installed between the connecting plates 7 of the flexible motion structure of the middle robotic arm and between the connecting plates 7 and the driving part housing 10. The middle part is supported by a four-section frame structure 9, and the upper end is connected to the rigid structure of the robotic arm. The driving part 10 uses an injection pump 13 and an electric valve 12 to control the liquid in and out of the retractable bellows 8.

[0032] As attached Figure 2As shown, the flexible motion structure of the middle robot arm in this embodiment includes: a connecting plate 7 connecting the top part of the robot arm, a retractable bellows 8 half-embedded in the upper connecting plate 7, and a frame 9 structure connecting the upper and lower connecting plates 7 for supporting and steering. The four sections of the frame are respectively connected between the three connecting plates 7. Except for the top connecting plate, the lower two connecting plates 7 open up the position where the bellows 8 are located to achieve continuous connection of the coaxial bellows, and the multi-angle bending of the flexible part of the robot arm is achieved through the different telescopic distances between the three retractable bellows 8.

[0033] In this embodiment, the upper connecting part 8-1 of each bellows is fixedly connected to the connecting plate 7, and the lower connecting part 8-3 of each bellows is fixedly connected to the connecting plate 7. The bendable part 8-2 of the middle bellows realizes the bending function of the flexible section, and the driving liquid can enter or be pressed out of each bellows through the connecting plate.

[0034] The top section of the telescopic bellows is half-embedded into the top connection plate and sealed to prevent the internal liquid from spilling out. At the same time, it is connected to the two coaxial bellows below through the connection plate to realize the liquid transportation between the three coaxial bellows.

[0035] As attached Figure 4 As shown, the frame structure 9 in this embodiment includes a group of frames, one end of which has a spherical structure, and the other end of which has a spherical groove, and each adjacent two frames are tangentially connected through the spherical structure and the spherical groove, and the middle part of the upper and lower connecting plates 7 is supported by four frames, wherein frame one 9-1 and frame four 9-3 are fixed on the connecting plate 7 or the driving part housing 10, except for frame one 9-1 and frame four 9-3, the spherical structure at the upper end of the lower frame is embedded in the spherical groove reserved at the bottom end of the upper frame, and a gap of 1 mm is left between the spherical structure and the spherical groove, which play a role of all-round rotation and support between the frames through tangential cooperation.

[0036] Except for the first section, the four sections of bone material between the connecting plates are all spherical at the top, with spherical grooves at the bottom. The sections are tangentially matched, and the maximum rotation angle of each section is 20°. The four sections of bone material can support the flexible part of the robotic arm.

[0037] As attached Figure 3 As shown, the driving structure in this embodiment includes a driving structure housing 10 , and a syringe pump 13 is installed inside the driving structure housing 10 . The syringe pump 13 is connected to a variable-section connecting pipe 11 through an electric valve 12 .

[0038] The injection pump 13 in this embodiment includes an injection pump stand 13-3, on which an injection pump motor 13-1 and a syringe 13-2 are installed, and a syringe handle 13-5 and a syringe piston 13-6 are inserted into the syringe 13-2, and the syringe handle 13-5 is connected to the motor screw through a connector 13-4, and the motor screw is connected to the injection pump motor 13-1, and the syringe 13-2 is connected to one end of a connecting hose 10-3, and a four-way valve 10-2 is installed on the other end of the connecting hose 10-3, and the four-way valve 10-2 is connected to a variable-section connecting pipe 11, and an electric valve 12 is installed on the variable-section connecting pipe 11, and the telescopic bellows 8 is telescopically controlled by using the injection pump motor 13-1 to drive the injection pump 13 and the electric valve 12 to control the injection or extraction of liquid into the interior.

[0039] The lowermost end of the flexible motion structure of the middle robotic arm is connected to the driving structure, and the adjacent bellows at the upper end are connected through the variable-section connecting pipe 11 through the connecting hole 10-1 of the outer plate of the driving part. The three retractable bellows 8 at the lowermost section of the flexible structure of the flexible robotic arm are connected to three corresponding electric valves 12-1 through the variable-section connecting pipe 11, and then connected to the injection pump 13 through the four-way valve 10-2 and the connecting pipe 10-3.

[0040] The bottom injection pump can inject liquid into the upper bellows through the electric valve and the connecting pipe. At the same time, the volume of liquid injected into the multi-segment bellows of three different axes is controlled by the corresponding three electric valves to achieve differential control, so that the flexible part has multiple degrees of freedom.

[0041] The working method of this embodiment is as follows:

[0042] The injection pump motor 13-1 fixed on the injection pump stand 13-3 rotates to drive the screw on the motor to rotate, thereby driving the connecting piece 13-4 and the syringe handle 13-5 and the syringe piston 13-6 connected to the connecting piece to move left and right, thereby realizing the entry and exit of the liquid inside the syringe, and the internal liquid is pumped to the electric valve 12-1 through the four-way valve 10-2 and the connecting pipe 10-3. The opening and closing of the electric valve port 12-2 are controlled by three different electric valves 12-1, thereby realizing the entry and exit of the internal liquid of the three groups of axially distributed retractable bellows 8 and controlling the injection or extraction amount of the internal liquid of different groups of bellows as required, thereby realizing the telescopic extension of the upper section of the bellows to achieve different azimuth bending of the flexible mechanism part of the flexible robotic arm. At the same time, the four frame materials of each section achieve corresponding angle bending while playing a supporting role.

[0043] Through the above-mentioned implementation modes, the present invention ultimately achieves the purpose of improving the transmission efficiency of the robot arm, reducing the weight of the robot arm, improving the flexibility and stability of the robot arm and expanding the range of the activity space of the robot arm.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hydraulically driven multi-joint flexible mechanical arm overall structure, characterized in that: include: A driving structure, wherein the driving structure is connected to one end of a middle flexible mechanical arm motion structure, wherein the middle flexible mechanical arm motion structure comprises a group of connecting plates (7), a group of frame structures (9), and three retractable bellows (8), wherein the three retractable bellows (8) are evenly distributed in a circle of 120°, and the multi-angle bending of the middle flexible mechanical arm motion structure is achieved through different telescopic distances between the three retractable bellows (8), and the other end of the middle flexible motion structure is connected to the mechanical arm rigid structure.

2. The overall structure of the hydraulically driven multi-joint flexible mechanical arm according to claim 1 is characterized in that: The driving structure comprises a driving structure housing (10), an injection pump (13) is installed inside the driving structure housing (10), and the injection pump (13) is connected to a variable-section connecting pipe (11) via an electric valve (12).

3. The overall structure of the hydraulically driven multi-joint flexible mechanical arm according to claim 2 is characterized in that: The injection pump (13) comprises an injection pump stand (13-3), on which an injection pump motor (13-1) and a syringe (13-2) are mounted, wherein a syringe handle (13-5) and a syringe piston (13-6) are inserted into the syringe (13-2), wherein the syringe handle (13-5) is connected to a motor screw via a connector (13-4), wherein the motor screw is connected to the injection pump motor (13-1), and wherein the syringe (13-2) is connected to the motor screw via a connector (13-4). -2) is connected to one end of a connecting hose (10-3), a four-way valve (10-2) is installed on the other end of the connecting hose (10-3), the four-way valve (10-2) is connected to a variable-section connecting pipe (11), an electric valve (12) is installed on the variable-section connecting pipe (11), and the telescopic bellows (8) is telescopically controlled by using an injection pump motor (13-1) to drive an injection pump (13) and an electric valve (12) to inject or extract liquid into or out of the interior.

4. The overall structure of the hydraulically driven multi-joint flexible mechanical arm according to claim 1 or 3, characterized in that: The rigid structure of the mechanical arm comprises a second motor (6) mounted on the connecting plate (7) located at the top, the second motor (6) being connected to a rotating structure (5) to drive the rigid structure of the mechanical arm to rotate 360 ​​degrees in a plane, the rotating structure (5) being connected to a connecting structure (3), a first motor (4) being mounted in the connecting structure, the first motor (4) being connected to a forearm of the mechanical arm (2), and the forearm of the mechanical arm (2) being connected to a manipulator (1).

5. The overall structure of the hydraulically driven multi-joint flexible mechanical arm according to claim 1 is characterized in that: The retractable bellows (8) of the flexible motion structure of the middle mechanical arm is half-embedded in the connection plate (7) at the top and is closed to ensure that the internal liquid does not overflow. The retractable bellows (8) passes through the two connection plates (7) located below and is connected to the variable-section connection pipe (11) to achieve continuous connection of the coaxial retractable bellows (8). A frame structure (9) is installed between each two adjacent connection plates (7) and between the connection plate (7) located at the bottom and the drive structure housing (10).

6. The overall structure of the hydraulically driven multi-joint flexible mechanical arm according to claim 1 is characterized in that: The bone material structure (9) comprises a group of bone materials, one end of each bone material has a spherical structure, and the other end of each bone material has a spherical groove. Each two adjacent bone materials are tangentially connected via the spherical structure and the spherical groove. A gap is left between the spherical structure and the spherical groove, so as to achieve all-round rotation and support between the bone materials.

7. A method for driving the hydraulically driven multi-joint flexible mechanical arm overall structure as claimed in any one of claims 1 to 6, characterized in that: The method comprises the following steps: The injection pump motor (13-1) fixed on the injection pump stand (13-3) rotates to drive the screw to rotate, thereby driving the connecting piece (13-4) and the syringe handle (13-5) and the syringe piston (13-6) connected to the connecting piece (13-4) to move left and right, thereby realizing the entry and exit of liquid inside the syringe, and the internal liquid is pumped to the electric valve (12-1) through the four-way valve (10-2) and the connecting pipe (10-3), and the opening and closing of the electric valve port (12-2) are controlled by three different electric valves (12-1), thereby realizing the entry and exit of liquid inside three groups of axially distributed telescopic bellows (8) and controlling the injection or extraction amount of liquid inside different groups of bellows according to requirements, thereby realizing the telescopic extension of the upper section of the telescopic bellows (8) to achieve different azimuth bending of the flexible mechanism part of the flexible mechanical arm, and at the same time, the four frame materials of each section achieve corresponding angle bending while playing a supporting role.

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