Flexible mechanical arm and robot

Abstract

The flexible mechanical arm comprises a driving device, at least two arm sections, a telescopic rotating device and a terminal executing device, a movable joint is arranged between every two adjacent arm sections, the two adjacent arm sections are connected into a whole in series through the movable joints, and the driving device comprises a driving mechanism and at least one elastic rod set; the terminal of each elastic rod set is connected with one arm section and used for controlling and driving the arm section to be bent through a driving mechanism, and the terminal executing device used for grabbing or fixing an object is installed at the tail end of the arm section through a telescopic rotating device. The terminal executing device is installed on the telescopic rotating device, rotating and telescopic commands can be achieved through the telescopic rotating device, the optimal effect can be achieved for the special working environment needing the telescopic function, the number of arm sections of the flexible mechanical arm can be increased according to the working requirement, and a larger stretching space is achieved.

Description

A flexible robotic arm and robot Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a flexible robotic arm and robot. Background Technology

[0002] A continuous flexible robotic arm is a type of continuously bending manipulator with a flexible structure or flexible joints. It has an invertebrate mechanism similar to that of an elephant's trunk, animal tentacles, snakes, and other creatures. Compared with traditional robotic arms that combine discrete joints with rigid links, the multi-redundant continuous flexible robotic arm has strong bending motion performance and is lightweight. The continuous flexible robotic arm can achieve compliant control within a limited range and has a unique adaptability to confined spaces and unstructured spatial structures. Therefore, it is widely used in industrial and medical fields.

[0003] The invention patent with patent number 202410869934.2 discloses a flexible robotic arm with an ultra-long reach in space. It includes at least two flexible robotic arms, which are detachably connected by a series connection at both ends. Each flexible robotic arm operates independently, allowing it to be launched into orbit and assembled separately. The far end of the series connection of the flexible robotic arms is suitable for mounting an end effector. The flexible robotic arm consists of a drive mechanism and at least one arm segment. Each arm segment is composed of multiple arm sections connected in series. The arm segment is driven to bend by an elastic rod connected to its end.

[0004] While the aforementioned patents can achieve longer arm spans and larger workspaces, the length of the flexible robotic arm is fixed and it cannot achieve telescopic functionality. Therefore, it cannot achieve optimal results for special working environments that require telescopic functionality. Summary of the Invention

[0005] The technical problem to be solved by this invention is that traditional flexible robotic arms cannot achieve the telescopic effect, thus providing a flexible robotic arm and robot with telescopic function.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a flexible robotic arm, including a driving device, at least two arm segments, a telescopic rotation device and an end effector, wherein a movable joint is provided between two adjacent arm segments and they are connected in series through the movable joint. The driving device includes a driving mechanism and at least one elastic rod group. The end of each elastic rod group is connected to an arm segment and is used by the driving mechanism to control the bending of the arm segment. The end effector for grasping or fixing objects is installed at the end of the arm segment through the telescopic rotation device.

[0007] Preferably, the arm segment includes an inner cylinder and an outer cylinder woven from elastic screws, an inner sleeve made of elastic material is embedded in the outer cylinder, the elastic rod group passes through the inner cylinder and the outer cylinder and extends along the axial direction of the inner cylinder, and the cylinder wall of the outer cylinder is set to be hollow.

[0008] Preferably, the rotary telescopic device includes a base, a hollow inner cover, a power component, a movable top plate, and multiple linkage arms; the hollow inner cover and the base are spliced ​​together to form a cavity for the power component to be installed therein; each linkage arm includes a crank and a gear ring; multiple gear rings are sequentially sleeved on the hollow inner cover, with their outer diameters gradually decreasing; the gear ring with the largest outer diameter fits against the base; each gear ring has a connecting rod on its outer wall; the free ends of multiple connecting rods are at the same plane height; one end of each crankshaft is hinged to the corresponding connecting rod free end pin, and the other end is hinged to the side wall pin of the movable top plate; the crank ends are evenly distributed circumferentially on the movable top plate; the multiple gear rings are driven to rotate independently by the power component.

[0009] Preferably, the power assembly is provided in multiple ways for independently controlling the corresponding gear ring. The power assembly includes a gear, a rotating shaft, and a power element. One end of the rotating shaft is coaxially and fixedly connected to the gear, and the other end is drivenly connected to the power element. The gear is drivenly connected to the gear ring.

[0010] Preferably, the movable joint includes an upper joint and a lower tube segment, the upper joint and the lower joint are hinged together by a pivot pin, and the upper joint and the lower joint are respectively fixedly connected to the ends of two adjacent arm segments; the hinge shafts on the two adjacent movable joints are arranged at an included angle.

[0011] Preferably, the terminal execution device includes an execution motor, an electric gripper, and a fixed base. The electric gripper is mounted on the fixed base, and the fixed base is connected to the output shaft of the execution motor. The execution motor is mounted on a movable top plate.

[0012] Preferably, the terminal execution device further includes a CMOS sensor for capturing the shape and position of the object to be operated, the CMOS sensor being mounted on a fixed base.

[0013] Preferably, the driving mechanism includes a driving element, a lead screw, a slider, a wire fastener, and a guide rail. The guide rail is arranged parallel to and spaced apart from the lead screw. One end of the lead screw is connected to the driving element for transmission. The slider is threadedly connected to the lead screw and simultaneously slidably connected to the guide rail. The wire fastener is fixedly connected to the slider. One of the elastic rods is fixedly connected to the wire fastener. Each of the elastic rods is independently controlled to extend or retract by the driving mechanism.

[0014] A robot comprising a flexible robotic arm as described in any one of claims 1-8.

[0015] The beneficial effects of the present invention are: the terminal execution device is installed on the telescopic rotation device, and the telescopic rotation device can realize the commands of rotation and extension. For special working environments that require extension function, the best effect can be achieved. The flexible robotic arm can also increase the number of arm segments according to work needs to achieve a larger extension space. Attached Figure Description

[0016] Figure 1 is a schematic diagram of a flexible robotic arm; Figure 2 is a schematic diagram of an arm segment; Figure 3 is a schematic diagram of a telescopic rotation device (Figure 1); Figure 4 is a schematic diagram of a telescopic rotation device (Figure 2); Figure 5 is a schematic diagram of an end effector; Figure 6 is a schematic diagram of a drive device; In the figures: 1. Drive device; 11. Drive mechanism; 111. Drive element; 112. Lead screw; 113. Slider; 114. Wire fastener; 115. Guide rail; 12. Elastic rod assembly; 2. Arm segment; 21. Inner cylinder; 22. 3. Outer cylinder; 4. Telescopic and rotating device; 5. Base; 6. Hollow inner cover; 7. Power component; 8. Gear; 9. Rotating shaft; 10. Power element; 11. Movable top plate; 12. Linkage arm; 13. Crank; 14. Gear ring; 15. Connecting rod; 16. Terminal actuator; 17. Actuating motor; 18. Electric gripper; 19. Fixed seat; 20. CMOS sensor; 10. Movable joint; 11. Upper joint; 12. Lower joint. Detailed Implementation

[0017] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0019] In this invention, unless otherwise stated, the directional terms such as "up" and "down" generally refer to the directions shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" generally refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0020] As shown in Figures 1-6, a flexible robotic arm includes a drive unit 1, two or more arm segments 2, a telescopic rotation device 3, and an end effector 4. Movable joints 5 are provided between adjacent arm segments 2, and the segments are connected in series via these joints. The drive unit 1 includes a drive mechanism 11 and at least one elastic rod assembly 12. The end of each elastic rod assembly 12 is connected to one arm segment 2, and the drive mechanism 11 controls the bending of that arm segment 2. The end effector 4, used for grasping or fixing objects, is mounted at the end of the arm segment 2 via the telescopic rotation device 3. It should be noted that the number of elastic rod assemblies 12 is always one less than the number of arm segments 2, and each elastic rod assembly 12 consists of four elastic rods arranged in a matrix.

[0021] As shown in Figures 1-6, the arm segment 2 includes an inner cylinder 21 and an outer cylinder 22 woven from elastic screws. An inner sleeve made of elastic material is embedded in the outer cylinder 22. An elastic rod group 12 passes through the inner cylinder 21 and the outer cylinder 22 and extends along the axial direction of the inner cylinder 21. The cylinder wall of the outer cylinder 22 is set to be hollow.

[0022] The inner cylinder 21 has two implementation methods. In the first embodiment, the inner cylinder 21 and the outer cylinder 22 have the same structure. They are both woven from elastic screws and the mesh is diamond-shaped. The gap between the inner cylinder 21 and the outer cylinder 22 is only for the elastic rod to pass through.

[0023] In Example 2, the inner cylinder 21 is directly injection molded from thermoplastic polyurethane into a tube structure with openings at both ends. The outer cylinder 22 is attached to the inner cylinder 21. A through hole is opened on the tube wall of the inner cylinder 21 along its axial direction, and the elastic rod passes through the through hole.

[0024] In addition, the inner cylinder 21 and the outer cylinder 22 can also be configured as a spiral structure made of elastic material.

[0025] As shown in Figures 1-6, the rotary telescopic device includes a base 31, a hollow inner cover 32, a power component 33, a movable top plate 34, and three linkage arms 35. The hollow inner cover 32 and the base 31 are spliced ​​together to form a cavity for the power component 33 to be installed inside. Each linkage arm 35 includes a crank 351 and a toothed ring 352. Multiple toothed rings 352 are sequentially sleeved on the hollow inner cover 32, and their outer diameters gradually decrease. The toothed ring 352 with the largest outer diameter fits against the base 31. Each toothed ring 352 has a connecting rod 353 on its outer wall. The free ends of multiple connecting rods 353 are at the same plane height. One end of each crankshaft is hinged to the free end pin of the corresponding connecting rod 353, and the other end is hinged to the side wall pin of the movable top plate 34. The crank 351 is evenly distributed circumferentially on the movable top plate 34. Multiple toothed rings 352 are driven to rotate independently by the power component 33.

[0026] As shown in Figures 1-6, three power components 33 are provided for independently controlling the corresponding gear rings 352. The power components 33 include gears 331, shafts 332 and power elements 333. One end of the shaft 332 is coaxially and fixedly connected to the gear 331, and the other end is drivenly connected to the power element 333. The gear 331 is drivenly connected to the gear rings 352.

[0027] As shown in Figures 1-6, the movable joint 5 includes an upper joint 51 and a lower tube segment. The upper joint 51 and the lower joint 52 are hinged together by a shaft pin. The upper joint 51 and the lower joint 52 are respectively fixedly connected to the ends of two adjacent arm segments 2. The hinge shafts on the two adjacent movable joints 5 are set at a 90° angle.

[0028] As shown in Figures 1-6, the terminal execution device 4 includes an execution motor 41, an electric gripper 42, and a fixed base 43. The electric gripper 42 is mounted on the fixed base 43, and the fixed base 43 is connected to the output shaft of the execution motor 41. The execution motor 41 is mounted on the movable top plate 34. A CMOS sensor 44 for capturing the shape and position of the object to be operated is mounted on the fixed base 43. The CMOS sensor 44 is connected to a computer or PLC controller, and then the computer or PLC controller sends execution commands to the drive element 111, the execution motor 41, or the power element 333. In this application, the drive element 111 and the power element 333 are both servo motors.

[0029] As shown in Figures 1-6, the drive mechanism 11 includes a drive element 111, a lead screw 112, a slider 113, a wire fastener 114, and a guide rail 115. The guide rail 115 is arranged parallel to and spaced apart from the lead screw 112. One end of the lead screw 112 is connected to the drive element 111 for transmission. The slider 113 is threadedly connected to the lead screw 112 and simultaneously slidably connected to the guide rail 115. The wire fastener 114 is fixedly connected to the slider 113. One of the elastic rods 12 is fixedly connected to the wire fastener 114. Each of the elastic rods 12 is independently controlled to extend and retract by the drive mechanism 11.

[0030] As shown in Figures 1-6, the terminal actuator 4 is mounted on the telescopic rotation device 3. The telescopic rotation device 3 enables commands for rotation and extension, achieving optimal results in special working environments requiring telescopic functionality. The flexible robotic arm can also increase the number of arm segments 2 according to work needs to achieve a greater extension space. This flexible robotic arm can be used independently or as the arm of a robot.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0033] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible robotic arm, characterized in that: The device includes a drive unit (1), at least two arm segments (2), a telescopic rotation device (3), and a terminal execution device (4). A movable joint (5) is provided between two adjacent arm segments (2), and they are connected in series through the movable joint (5). The drive unit (1) includes a drive mechanism (11) and at least one elastic rod group (12). The end of each elastic rod group (12) is connected to an arm segment (2) and is used by the drive mechanism (11) to control the bending of the arm segment (2). The terminal execution device (4) for gripping or fixing objects is installed at the end of the arm segment (2) through the telescopic rotation device (3).

2. The flexible robotic arm according to claim 1, characterized in that: The arm segment (2) includes an inner cylinder (21) and an outer cylinder (22) woven from elastic screws. An inner sleeve made of elastic material is embedded in the outer cylinder (22). The elastic rod group (12) passes between the inner cylinder (21) and the outer cylinder (22) and extends along the axial direction of the inner cylinder (21). The wall of the outer cylinder (22) is set to be hollow.

3. The flexible robotic arm according to claim 1, characterized in that: The rotary telescopic device includes a base (31), a hollow inner cover (32), a power component (33), a movable top plate (34), and multiple linkage arms (35); the hollow inner cover (32) and the base (31) are spliced ​​together to form a cavity for the power component (33) to be installed therein, and each linkage arm (35) includes a crank (351) and a gear ring (352), and multiple gear rings (352) are sequentially sleeved on the hollow inner cover (32), with the outer diameter gradually decreasing, and the gear ring (352) with the largest outer diameter being the largest. 52) It fits against the base (31). Each gear ring (352) has a connecting rod (353) on its outer wall. The free ends of the multiple connecting rods (353) are at the same plane height. One end of each crankshaft is hinged to the free end pin of the corresponding connecting rod (353), and the other end is hinged to the side wall pin of the movable top plate (34). The crank (351) is circumferentially distributed at equal intervals on the movable top plate (34). The multiple gear rings (352) are driven to rotate independently by the power assembly (33).

4. The flexible robotic arm according to claim 3, characterized in that: The power assembly (33) is provided with multiple components for independently controlling the corresponding gear ring (352). The power assembly (33) includes a gear (331), a rotating shaft (332), and a power element (333). One end of the rotating shaft (332) is coaxially fixedly connected to the gear (331), and the other end is drivenly connected to the power element (333). The gear (331) is drivenly connected to the gear ring (352).

5. The flexible robotic arm according to claim 1, characterized in that: The movable joint (5) includes an upper joint (51) and a lower tube section. The upper joint (51) and the lower joint (52) are hinged together by a pivot pin. The upper joint (51) and the lower joint (52) are respectively fixedly connected to the ends of two adjacent arm sections (2). The hinge shafts on the two adjacent movable joints (5) are set at an included angle.

6. The flexible robotic arm according to claim 4, characterized in that: The terminal execution device (4) includes an execution motor (41), an electric gripper (42) and a fixed base (43). The electric gripper (42) is mounted on the fixed base (43). The fixed base (43) is connected to the output shaft of the execution motor (41). The execution motor (41) is mounted on the movable top plate (34).

7. The flexible robotic arm according to claim 6, characterized in that: The terminal execution device (4) further includes a CMOS sensor (44) for capturing the shape and position of the object to be operated, the CMOS sensor (44) being mounted on a mounting base (43).

8. The flexible robotic arm according to claim 1, characterized in that: The drive mechanism (11) includes a drive element (111), a lead screw (112), a slider (113), a wire fastener (114), and a guide rail (115). The guide rail (115) is arranged parallel to and spaced apart from the lead screw (112). One end of the lead screw (112) is connected to the drive element (111) for transmission. The slider (113) is threadedly connected to the lead screw (112) and simultaneously slidably connected to the guide rail (115). The wire fastener (114) is fixedly connected to the slider (113). One of the elastic rods (12) is fixedly connected to the wire fastener (114). Each of the elastic rods (12) is independently controlled to extend and retract by the drive mechanism (11).

9. A robot characterized by: Including the flexible robotic arm as described in any one of claims 1-8.

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