Modularized driving, controlling and sensing integrated pneumatic flexible mechanical arm based on spring telescopic driver

Abstract

The invention provides a modularized driving, controlling and sensing integrated pneumatic flexible mechanical arm based on a spring telescopic driver, which relates to the field of flexible mechanical arms and comprises a one-way connecting device, a two-way connecting device, a soft actuator, the spring telescopic driver, a fixed connecting device, a spring and a non-contact sensor, and each section of single-section modularization is connected through a fixed connecting device. Pneumatic driving is adopted, large-amplitude deformation can be achieved through a multi-fold structure, all the modularized actuators are independently controlled, large-angle and large-space coordinated movement can be completed, and the flexibility and flexibility are outstanding. A non-contact sensor integrated at the tail end is matched with a bidirectional LSTM deep learning model, environment electric field disturbance signals can be analyzed in real time and predicted and fed back, self-adaptive adjustment and closed-loop control of air pressure and postures are achieved, and the motion precision, the response speed and the environment adaptability of the mechanical arm are greatly improved. The device is light and handy in structure, low in cost, high in modularization degree and suitable for multi-mode precision operation and intelligent sensing tasks in complex scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of soft robots, in particular to a modular driving and sensing integrated pneumatic flexible robot arm based on spring telescopic driver. BACKGROUND

[0002] Robots and soft actuators have excellent compliance and can achieve continuous and smooth bending, elongation and other complex movements, so they have the potential to be high-precision manipulators. These devices are usually made of super-elastic materials, which have the advantages of low cost, strong compliance and high safety, and perform well in human-machine interaction.

[0003] The driving methods of rigid robot arms mainly include motor drive, fluid drive and gear mechanical transmission. However, these driving methods have many limitations, such as low energy utilization efficiency, high system maintenance cost, complex structure, large operation noise and poor spatial flexibility and environmental adaptability. Flexible robot arms have more diversity in driving methods, in addition to common pneumatic and hydraulic drives, including magnetic drive, thermal drive and other new driving methods. Among them, pneumatic drive is an ideal choice for flexible robot arms due to its fast response speed, no need for complex electrical systems, and clean and pollution-free advantages.

[0004] The Chinese invention patent with publication number CN117207165A discloses a gas-driven modular telescopic flexible robot arm. The robot arm uses pneumatic driving method. When gas is introduced into the flexible robot arm chamber, it deforms accordingly, and three wire ropes are used to control its torsion. This method demonstrates its compliance and flexibility.

[0005] However, most flexible robot arms currently use separate driving and control methods to ensure their integrity and reliability. This method can achieve compliance and flexibility, but the required structure is complex and has certain control difficulty. SUMMARY

[0006] To address the deficiencies in the prior art, the present application provides a modular driving and sensing integrated pneumatic flexible robot arm based on spring telescopic driver. The flexible robot arm uses a separate driving method and does not need to rely on large flexible joints and complex external auxiliary systems, thereby simplifying the driving structure.

[0007] The present application achieves the above technical purpose through the following technical means.

[0008] A kind of based on spring telescopic drive modular control perception integrated pneumatic flexible robot, flexible robot includes connecting device, soft actuator and spring telescopic drive;Several described soft actuator is distributed equidistantly around spring telescopic drive;The two ends of soft actuator are connected with connecting device respectively, and spring telescopic drive passes through connecting device;Soft actuator and the change of air pressure in spring telescopic drive cavity can realize the elongation or shortening or / and torsion or / and bending movement of flexible robot.

[0009] In the above scheme, the flexible robot includes a plurality of soft actuators and a spring telescopic drive, and the plurality of soft actuators include one to several soft actuators.

[0010] In the above scheme, the connecting device includes a one-way connecting device or a two-way connecting device, the one-way connecting device is a center hole disc, and a plurality of sector grooves are uniformly distributed on the top of the hole disc, and the two-way connecting device is a hole disc, and a plurality of sector grooves are uniformly distributed on the top and bottom of the hole disc.

[0011] In the above scheme, a circular hole is provided on the hole disc, and the circular hole is located within the sector groove.

[0012] In the above scheme, the soft actuator is communicated with the circular hole, a plurality of hole protrusions are provided on the outer wall of the disc, and the hole protrusions are connected with the fixed connecting devices provided at the two ends of the spring telescopic drive through bolts.

[0013] In the above scheme, the sector groove has three, and the sector groove is connected with the soft actuator.

[0014] In the above scheme, the spring telescopic drive is a hollow column structure, the fixed connecting devices are provided at the two ends of the spring telescopic drive, the fixed connecting devices are connected with the one-way connecting device through bolts, and a non-contact sensor is provided below the fixed connecting device.

[0015] In the above scheme, the spring telescopic drive is an elastic element, a spring is provided in the elastic element, and the spring is poured into the spring telescopic drive after being fixed in a mold.

[0016] In the above scheme, the spring is poured into the spring telescopic drive after being fixed in a mold.

[0017] The scheme further includes an upper computer, an STM32 single-chip microcomputer, a D / A module conversion, a relay module, a proportional valve, a power supply, a gas source, an oil mist purifier, a solenoid valve, a vacuum pump and a flexible mechanical arm; the power supply, the gas source, the oil mist purifier, the solenoid valve, the proportional valve and the vacuum pump are sequentially connected with the flexible mechanical arm, wherein the proportional valve and the vacuum pump are connected in parallel; the upper computer, the STM32 single-chip microcomputer, the D / A module conversion and the relay module are sequentially connected, wherein the D / A module conversion and the relay module are connected in parallel, and the D / A module conversion is electrically connected with the proportional valve; the solenoid valve and the proportional valve adjust the air pressure of the soft actuator to realize real-time correction of the posture of the flexible mechanical arm. Advantages

[0018] The flexible mechanical arm in the application includes a group of soft actuators and a spring telescopic driver, and the group of soft actuators can include one to several soft actuators, so that the flexible mechanical arm with different lengths is formed.

[0019] The flexible mechanical arm shown in the application is equipped with nine independent soft actuators, and each three soft actuators form a single-module flexible mechanical arm, each soft actuator can be independently driven, and more accurate and flexible movement can be realized by accurately controlling each soft actuator, so that the range of the reachable working space is expanded. The spring telescopic drivers are connected between the modular single flexible mechanical arms, and the spring telescopic drivers can assist the mechanical arm to elongate in the axial direction, thereby enhancing the operable range of the mechanical arm in the axial direction. Therefore, the flexible mechanical arm can not only realize large-range and accurate bending movement in space, but also can realize large elongation in the axial direction, thereby further improving the ability to adapt to complex tasks and environments.

[0020] The application has a clever structure design, is simple to operate, small in size, light in weight and low in cost, has good detachability, and is superior in flexibility and safety. In addition, the application has stronger adaptability in unstructured environments.

[0021] The non-contact sensor of the application realizes real-time detection of a space target through electric field sensing, and realizes pneumatic closed-loop control in combination with an LSTM signal prediction model, so that the system can adaptively adjust the driving output according to environmental changes, thereby improving the operation accuracy and response sensitivity of the mechanical arm. At the same time, the application combines the non-contact sensor and the LSTM deep learning control algorithm to form a pneumatic closed-loop control system, and through prediction and feedback of the sensing signal, automatic air pressure adjustment and posture optimization can be realized, thereby significantly improving the stability, accuracy and environmental adaptability of the flexible mechanical arm.

[0022] This invention connects an external air source to an oil mist purifier to clean the air. Then, an STM32 microcontroller is used to control a relay module and a D / A conversion module, which in turn control a solenoid valve and a proportional valve to switch the air supply to and from the chamber. At the same time, the air pressure is adjusted to achieve multi-modal motion switching of the entire flexible robotic arm, making the control simple.

[0023] This invention employs a multi-joint connection method, making connection and disassembly simple and quick. Through series or parallel connections, multifunctional combinations can be easily achieved. This technology demonstrates broad application prospects in low-cost system construction, flexible robot manufacturing, and mechanical operation in confined spaces, exhibiting strong adaptability and market potential.

[0024] In this invention, the soft actuator is snap-fitted to the one-way or two-way connection device, thereby enabling convenient installation.

[0025] The non-contact sensor integrated at the end of the arm in this invention, combined with a bidirectional LSTM deep learning model, can analyze environmental electric field disturbance signals in real time and predict feedback, enabling adaptive adjustment and closed-loop control of air pressure and attitude. This significantly improves the robotic arm's motion accuracy, response speed, and environmental adaptability. The device is lightweight, low-cost, and highly modular, making it suitable for multimodal precision operations and intelligent sensing tasks in complex scenarios. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of a modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism, as described in Example 1. Figure 2 This is a schematic diagram of a modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing, as described in Example 2. Figure 3 for Figure 1 Schematic diagram of the curved structure; Figure 4 for Figure 1 A schematic diagram of the bending structure of the soft actuator involved in the process; Figure 5 This invention Figure 3 A schematic diagram of the connecting base involved in the process; Figure 6 This invention Figure 1 The diagram involves a unidirectional connection device. Figure 7 This invention Figure 1 The diagram involves a two-way connection device. Figure 8 For the present invention Figure 1 The diagram involves the structure of a spring telescopic actuator and a fixed connection device. Figure 9 Structure diagram of the fixed connection device involved in the present application Figure 1 Structure diagram of the fixed connection device involved in the present application Figure 10 Structure diagram of the non-contact sensor of the present application Figure 11 Module diagram of the present application

[0027] Reference signs: 1-connection base, 2-one-way connection device, 3-two-way connection device, 4-soft actuator, 5-spring telescopic driver, 6-fixed connection device, 7-spring, 8-non-contact sensor, 9-upper computer, 10-STM32 single-chip microcomputer, 11-D / A module conversion, 12-relay module, 13-proportional valve, 14-power supply, 15-air source, 16-oil mist purifier, 17-solenoid valve, 18-vacuum pump, 19-flexible mechanical arm. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0029] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0030] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0031] In combination Figures 1-11 In this embodiment, a modular control and perception integrated bionic flexible robot arm based on spring telescopic driver is described, which includes a connecting base 1, a one-way connecting device 2, a two-way connecting device 3, a soft actuator 4, a spring telescopic driver 5, a fixed connecting device 6, a spring 7 and a non-contact sensor 8. A single-joint flexible robot arm has three soft actuators 4 with multiple pleated fan angles of 115° and one spring telescopic driver 5. Each soft actuator 4 and spring telescopic driver 5 has an independent air chamber channel. Each independent chamber is connected to an external air source. First, an external air source 15 is connected to an oil mist purifier 16 to achieve the purpose of clean air. Then, an STM32 single-chip microcomputer 10 is used to control a D / A module 11 and a relay module 12, respectively, which control a solenoid valve 17 and a proportional valve 13, respectively, to realize the switching of air charging and discharging to the inside of the soft actuator 4 and the spring telescopic driver 5, and to adjust the air pressure size of the internal charging. After adjusting the internal air pressure of the soft actuator 4 and the spring telescopic driver 5, the flexible robot arm can realize elongation, bending, contraction and other movements. For its single-joint flexible robot arm, it needs to simultaneously introduce positive pressure into the three soft actuators 4 and the spring telescopic driver 5. Due to the special type of slot of the one-way connecting device 2, the radial expansion of the soft actuator 4 can be overcome, and the radial bending force can be overcome when the gas is introduced, realizing the overall axial elongation movement. In addition, a non-contact sensor 8 is integrated at the end of the flexible robot arm, which realizes non-contact distance and obstacle recognition by detecting electric field disturbance, providing data support for subsequent feedback control. At the same time, the control system can combine the signal input of the non-contact sensor to realize real-time monitoring and self-adaptive adjustment of the motion state of the robot arm, thereby forming a closed-loop control of integrated driving and control.

[0032] In combination Figures 1-2 As shown, they are multi-joint flexible robot arms and single-joint flexible robot arms, corresponding to embodiments 1 and 2.

[0033] In combination Figures 1-11In this embodiment, a kind of based on spring telescopic driver modular simulation drive control perception integrated flexible robot is described, in embodiment 2, after two one-way connection devices 2 with three soft actuators 4 and spring telescopic driver 5 are well connected by bolt, external air source is connected oil mist purifier, after host computer 9 is well connected with STM32 single-chip microcomputer, it is controlled D / A module 11 and relay module 12 by STM32 single-chip microcomputer 10 respectively, it is realized to the cavity inside switch of filling, discharging by respectively controlling electromagnetic valve 17 and proportional valve 13, simultaneously, vacuum pump 18 needs to be connected with electromagnetic valve 17, so that one way can only realize the effect of extracting negative pressure in cavity, and overall shrinkage movement occurs when overcoming the bending force of single soft actuator 4, reach the required effect.

[0034] In combination Figures 1-11 In this embodiment, a kind of based on spring telescopic driver modular simulation drive control perception integrated flexible robot is described, in embodiment 2, after two one-way connection devices 2 with three soft actuators 4 and spring telescopic driver 5 are well connected by bolt, external air source is connected oil mist purifier, after host computer 9 is well connected with STM32 single-chip microcomputer, it is controlled D / A module 11 and relay module 12 by STM32 single-chip microcomputer 10 respectively, it is realized to the cavity inside switch of filling, discharging by respectively controlling electromagnetic valve 17 and proportional valve 13, simultaneously, vacuum pump 18 needs to be connected with electromagnetic valve 17, so that one way can only realize the effect of extracting negative pressure in cavity, and overall shrinkage movement occurs when overcoming the bending force of single soft actuator 4, reach the required effect.

[0035] In combination Figures 1-11 In this embodiment, a kind of based on spring telescopic driver modular simulation drive control perception integrated flexible robot is described, in embodiment 2, after two one-way connection devices 2 with three soft actuators 4 and spring telescopic driver 5 are well connected by bolt, external air source is connected oil mist purifier, after host computer 9 is well connected with STM32 single-chip microcomputer, it is controlled D / A module 11 and relay module 12 by STM32 single-chip microcomputer 10 respectively, it is realized to the cavity inside switch of filling, discharging by respectively controlling electromagnetic valve 17 and proportional valve 13, simultaneously, vacuum pump 18 needs to be connected with electromagnetic valve 17, so that one way can only realize the effect of extracting negative pressure in cavity, and overall shrinkage movement occurs when overcoming the bending force of single soft actuator 4, reach the required effect. In this embodiment, a kind of based on spring telescopic driver modular simulation drive control perception integrated flexible robot is described, in embodiment 2, after two one-way connection devices 2 with three soft actuators 4 and spring telescopic driver 5 are well connected by bolt, external air source is connected oil mist purifier, after host computer 9 is well connected with STM32 single-chip microcomputer, it is controlled D / A module 11 and relay module 12 by STM32 single-chip microcomputer 10 respectively, it is realized to the cavity inside switch of filling, discharging by respectively controlling electromagnetic valve 17 and proportional valve 13, simultaneously, vacuum pump 18 needs to be connected with electromagnetic valve 17, so that one way can only realize the effect of extracting negative pressure in cavity, and overall shrinkage movement occurs when overcoming the bending force of single soft actuator 4, reach the required effect.

[0036] In combination Figures 1-11 In the embodiment, a bionic non-contact sensor and a flexible mechanical arm system are developed, and the non-contact sensor 8 and the mechanical arm pneumatic control system form a closed-loop cooperative control. The sensor is detachably integrated at the end effector of the mechanical arm through a fixed connection device, and the signal cable passes through the internal hollow channel of the one-way connection device and the two-way connection device to interact with the upper computer; the sensor emits a weak electric field, and a five-way receiving array captures the electric field distortion caused by the target, and a flexible unit packaged with silica gel deforms synchronously with the movement of the mechanical arm; the on-board five-way ADC converts the signal into AD value and uploads it, the two-way LSTM deep learning model of the upper computer 9 quickly analyzes and converts the air pressure parameters to generate instructions to the STM32 single-chip microcomputer 10; the single-chip microcomputer drives the electromagnetic valve 17 and the proportional valve 13 to adjust the air pressure of the actuator, and finally completes the non-contact sensing and adaptive control of the mechanical arm in the unstructured environment.

[0037] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0038] Although the embodiments of the present application have been shown and described above, it should be understood that the above-described embodiments are exemplary, and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments without departing from the principles and spirit of the present application within the scope of the present application.

Claims

1. A modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing, characterized in that, The flexible robotic arm includes a connecting device, a soft actuator (4), and a spring telescopic actuator (5); several of the soft actuators (4) are circumferentially equidistantly distributed around the spring telescopic actuator (5); the two ends of the soft actuators (4) are respectively connected to the connecting device, and the spring telescopic actuator (5) passes through the center of the connecting device; the change of air pressure in the cavity of the soft actuators (4) and the spring telescopic actuator (5) can realize the extension or shortening or / and twisting or / and bending movements of the flexible robotic arm.

2. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 1, is characterized in that... The flexible robotic arm includes an array of soft actuators and a spring telescopic actuator. The array of soft actuators includes one or more soft actuators; the array of soft actuators are connected by a connecting device.

3. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive and sensing system according to any one of claims 1 to 2, characterized in that, The connecting device includes a one-way connecting device (2) or a two-way connecting device (3); the one-way connecting device (2) is a central perforated disc with several fan-shaped grooves evenly distributed above the perforated disc; the two-way connecting device (3) is a perforated disc with several fan-shaped grooves evenly distributed above and below the perforated disc.

4. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 3, is characterized in that... The perforated disk has a circular hole, which is located within a fan-shaped groove.

5. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 4, is characterized in that... The soft actuator (4) is connected to the circular hole.

6. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 3, is characterized in that... There are three fan-shaped grooves; the fan-shaped grooves are engaged with the soft actuator (4).

7. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive and sensing as described in claim 3, characterized in that, The spring telescopic actuator (5) is a hollow columnar structure. Fixed connection devices (6) are provided at both ends of the spring telescopic actuator (5). The fixed connection devices (6) are bolted to the one-way connection device (2). A non-contact sensor (8) is provided below the fixed connection device (6).

8. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 1, is characterized in that... The spring telescopic actuator (5) is an elastic element, and a spring (7) is provided inside the elastic element.

9. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism as described in claim 8, is characterized in that... After the spring (7) is fixed inside the mold, silicone is cast into the spring telescopic actuator (5).

10. The modular pneumatic flexible robotic arm based on a spring telescopic actuator and integrated drive, control, and sensing mechanism according to any one of claims 1-2 and 4-8, characterized in that, It also includes a host computer (9), an STM32 microcontroller (10), a D / A module converter (11), a relay module (12), a proportional valve (13), a power supply (14), an air source (15), an oil mist purifier (16), a solenoid valve (17), a vacuum pump (18), a non-contact sensor, and a flexible robotic arm (19); the power supply (14), air source (15), oil mist purifier (16), solenoid valve (17), proportional valve (13), vacuum pump (18), solenoid valve (17), and flexible robotic arm (19) are also included. Arms (19) are connected in sequence, wherein proportional valve (13) and vacuum pump (18) are connected in parallel; the host computer (9), STM32 microcontroller (10), D / A module converter (11) and relay module (12) are connected in sequence, wherein D / A module converter (11) and relay module (12) are connected in parallel, and D / A module converter (11) is electrically connected to proportional valve (13); the solenoid valve (17) and proportional valve (13) are adjusted to adjust the air pressure of soft actuator (4) to realize the real-time correction of the posture flexible robotic arm.

Images