A flexible robotic arm structure

Abstract

The application discloses a flexible mechanical arm structure, which comprises a mounting disc and an adjusting mechanism, the adjusting mechanism comprises a movable block and a first shape memory spring, the movable block is slidably arranged on the mounting disc, one end of the first shape memory spring is connected with the movable block, and the other end of the first shape memory spring is connected with the mounting disc; wherein, at least two mounting discs are arranged at intervals, one end of a second shape memory spring is connected with the movable block on one side of the mounting disc, and the other end of the second shape memory spring is connected with the movable block on the other side of the mounting disc. The structure of the flexible mechanical arm structure can be reconfigured, so that the driving efficiency, the carrying capacity and the bending performance of the flexible mechanical arm can be adjusted according to different operation requirements, the overall motion performance and the environmental adaptability of the flexible mechanical arm are improved, and the flexible mechanical arm has good popularization prospect and application value.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a flexible robotic arm structure. Background Technology

[0002] In recent years, with the rapid development of robotics technology, more and more robots have begun to adopt flexible robotic arms. Due to their continuous structure, high compliance, and good environmental adaptability, flexible robotic arms have shown broad application prospects in fields such as medical operations, pipeline inspection, confined space operations, and human-robot collaboration. Compared with traditional rigid robotic arms, flexible robotic arms can achieve multi-directional movement through continuous bending and have higher safety and adaptability when in contact with the environment or human body.

[0003] Currently, the driving methods for flexible robotic arms mainly include pneumatic drive, tendon drive, and shape memory alloy drive. Among them, the SMA actuator (Shape Memory Alloy Actuator) utilizes the thermally induced phase change properties of shape memory alloys to generate contractile force based on the phase change, thereby achieving drive. It has advantages such as compact structure, light weight, high power density, and easy integration.

[0004] However, research has found that most existing flexible robotic arm structures typically employ an axially uniform cylindrical or conical configuration, with actuators arranged circumferentially along the robotic arm and the radial distance of the drive path relative to the central axis of the robotic arm remaining essentially fixed. Based on this robotic arm structure, since the equivalent force arm of the actuator is difficult to adjust after the structural design is completed, the bending efficiency, load-bearing capacity, and range of motion of such flexible robotic arms are often difficult to optimize and control through structural configuration, resulting in poor performance. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the present invention discloses a flexible robotic arm structure to solve the problem that the structural configuration of existing flexible robotic arm structures is difficult to adjust effectively.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: a flexible robotic arm structure, which includes: a mounting plate and an adjustment mechanism. The adjustment mechanism includes a movable block and a first shape memory spring. The movable block is slidably disposed on the mounting plate, and one end of the first shape memory spring is connected to the movable block, and the other end of the first shape memory spring is connected to the mounting plate. In this configuration, at least two mounting discs are spaced apart from each other, and one end of the second shape memory spring is connected to the movable block on one side of the mounting disc, while the other end of the second shape memory spring is connected to the movable block on the other side of the mounting disc.

[0007] To address the problem that existing flexible robotic arm structures are difficult to adjust effectively once their structural configuration is fixed, this invention designs a novel flexible robotic arm structure. This structure incorporates adjustment mechanisms on multiple mounting plates connected in series with a first shape memory spring. The first shape memory spring adjusts the position of a movable block on the mounting plate, thereby changing the posture of a second shape memory spring connected to the movable block. This effectively adjusts the entire flexible robotic arm structure, allowing for reconfiguration of its configuration. This enables adjustments to the driving efficiency, load-bearing capacity, and bending performance of the flexible robotic arm according to different operational requirements, ultimately improving its overall motion performance and environmental adaptability.

[0008] Furthermore, in the flexible robotic arm structure described in this invention, the other end of the second shape memory spring passes through at least one of the movable blocks on the mounting plate and is connected to the movable block on the other side of the mounting plate.

[0009] Furthermore, the flexible robotic arm structure described in this invention also includes a flexible support rod, which extends along a first direction, and at least two mounting discs are spaced apart from each other on the flexible support rod along the first direction.

[0010] Furthermore, in the flexible robotic arm structure described in this invention, one side of the mounting plate is located at the top end of the flexible support rod in the first direction, and the other side of the mounting plate is located at the bottom end of the flexible support rod in the first direction.

[0011] Furthermore, in the flexible robotic arm structure described in this invention, at least one of the mounting discs is sleeved on the flexible support rod and is located in the middle section of the flexible support rod in the first direction.

[0012] Furthermore, in the flexible robotic arm structure described in this invention, the flexible support rod is engaged with the mounting plate.

[0013] Furthermore, in the flexible robotic arm structure described in this invention, a plurality of the adjustment mechanisms are arranged in a ring around the mounting plate; wherein, any two adjacent adjustment mechanisms form the same angle with the center point of the mounting plate.

[0014] Furthermore, in the flexible robotic arm structure of the present invention, the movable block includes: a first rod and a second rod, one end of the first rod being slidably disposed on the mounting plate, and the other end of the first rod being connected to the second rod; wherein the second rod extends out from the outer contour of the mounting plate.

[0015] Furthermore, in the flexible robotic arm structure described in this invention, the mounting plate has a mounting groove, the mounting groove has a guide rail, at least a portion of the first rod extends into the mounting groove and is slidably mounted on the guide rail.

[0016] Furthermore, in the flexible robotic arm structure of the present invention, the mounting groove is provided with multiple slots, which are arranged sequentially along the extension direction of the guide rail; wherein, the first rod is provided with a fastening element, which includes a clip and a return spring, one end of the return spring is connected to the movable block, the other end of the return spring is connected to the clip, and at least a portion of the clip is accommodated in any one of the slots.

[0017] The beneficial effects of this invention are as follows: The flexible robotic arm structure designed in this invention can be effectively applied in the field of robotics. By setting a movable block, a first shape memory spring, and a second shape memory spring on the mounting plate, the first shape memory spring is used to adjust the position of the movable block on the mounting plate, thereby enabling the movable block on the mounting plate to extend and retract. This changes the posture of the second shape memory spring connected to the movable block, alters the equivalent arm length of the second shape memory spring, and adjusts the drive path radius. This allows the structural configuration of the flexible robotic arm to be reconfigured, so that the drive efficiency, load-bearing capacity, and bending performance of the flexible robotic arm can be adjusted according to different operational requirements, thereby improving the overall motion performance and environmental adaptability of the flexible robotic arm.

[0018] Based on this, the flexible robotic arm structure designed in this invention can adjust its driving efficiency, load-bearing capacity and bending performance according to different operational needs. Moreover, the flexible robotic arm structure has the advantages of compact structure, high integration and flexible adjustment method, which can meet the application needs of flexible operation and detection tasks in complex space environment. It has good promotion prospects and application value. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the flexible robotic arm structure described in this invention, with the first shape memory spring omitted in one embodiment. Figure 2 This is a schematic diagram of the flexible robotic arm structure described in this invention, in which the movable block is disposed on the first mounting plate in one embodiment. Figure 3 This is a schematic diagram of the flexible robotic arm structure described in this invention, in which the movable block is disposed on the second mounting plate in one embodiment. Figure 4 This is a top view of the flexible robotic arm structure described in this invention, showing the movable block on the mounting plate in a first posture in one embodiment. Figure 5This is a bottom view of the flexible robotic arm structure described in the present invention, showing the movable block on the mounting plate in a second posture in one embodiment. Figure 6 This is a schematic diagram of the first mounting plate in one embodiment of the flexible robotic arm structure described in this invention. Figure 7 This is a schematic diagram of the second mounting plate in one embodiment of the flexible robotic arm structure described in this invention. Figure 8 This is a schematic diagram of the flexible support rod in one embodiment of the flexible robotic arm structure described in this invention. Figure 9 This is a schematic diagram of the movable block in one embodiment of the flexible robotic arm structure described in this invention. Figure 10 This is a schematic diagram of the buckle component in one embodiment of the flexible robotic arm structure described in this invention; Figure 11 This is a schematic diagram of the flexible robotic arm structure described in this invention, showing the buckle on the movable block in one embodiment.

[0020] Label Explanation: 1. Flexible support rod; 11. Assembly block; 12. Positioning groove; 2. Mounting plate; 21. First mounting plate; 211. Assembly slot; 22. Second mounting plate; 221. Positioning block; 222. Through hole; 23. Mounting slot; 24. Guide rail; 25. Slot; 3. Movable block; 31. First rod; 32. Second rod; 33. Buckle mounting slot; 34. Protrusion; 35. Groove; 36. Fixing hole; 37. Guide hole; 4. Buckle; 41. Return spring; 42. Clip; 43. Spring fixing plate; 5. First shape memory spring; 6. Second shape memory spring. Detailed Implementation

[0021] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0022] To address the issue of relatively fixed mechanical properties in existing flexible robotic arm structures due to the difficulty in effectively adjusting their fixed structural configuration, this invention designs a new flexible robotic arm structure whose configuration can be reconfigured to adjust the driving efficiency, load-bearing capacity, and bending performance of the flexible robotic arm according to different operational requirements.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention designs a flexible robotic arm structure, which includes: a mounting plate 2 and an adjustment mechanism. The adjustment mechanism includes a movable block 3 and a first shape memory spring 5. The movable block 3 is slidably disposed on the mounting plate 2, and one end of the first shape memory spring 5 is connected to the movable block 3, and the other end of the first shape memory spring 5 is connected to the mounting plate 2. At least two of the mounting discs 2 are spaced apart from each other, and one end of the second shape memory spring 6 is connected to the movable block 3 on one side of the mounting disc 2, while the other end of the second shape memory spring 6 is connected to the movable block 3 on the other side of the mounting disc 2.

[0024] Therefore, in the flexible robotic arm structure designed in this invention, an adjustment mechanism is set on the mounting plate 2 to drive the movable block 3 to slide on the mounting plate 2 using the first shape memory spring 5 of the adjustment mechanism, thereby realizing the extension and retraction of the movable block 3 relative to the mounting plate 2. Furthermore, because the second shape memory spring 6, which drives the bending deformation of the entire structure, is connected to the movable block 3 on the mounting plate 2, and the second shape memory spring 6 is used to drive the flexible robotic arm to generate active bending motion, enabling the flexible robotic arm to achieve multi-directional bending and precise positioning operations, the extension and retraction of the movable block 3 will synchronously change the structure of the second shape memory spring 6 to adjust the driving path, thereby reconstructing the structural configuration of the entire flexible robotic arm structure.

[0025] See Figure 1 In conjunction with references Figure 4 and Figure 5 As can be seen, in this invention, the second shape memory spring 6 in the flexible robotic arm structure is used to simulate the tendon drive mode. Therefore, by adjusting the position of the movable block 3 on each mounting plate 2, the overall configuration of the entire flexible robotic arm can be changed. For example, the movable block 3 on one side of the mounting plate 2 can be controlled to extend outward, while the movable block 3 on the other side of the mounting plate 2 can be controlled to retract inward. At this time, the second shape memory spring 6 can be tilted to obtain a flexible robotic arm with a "thick at one end and thin at the other end" structural configuration.

[0026] See Figure 1 As shown, in some embodiments, the second shape memory spring 6 is not limited to being disposed between two oppositely disposed mounting plates 2. In practical applications, three or more mounting plates 2 can also be disposed simultaneously and spaced apart from each other. Therefore, during installation, when one end of the second shape memory spring 6 is connected to the movable block 3 on one side of the mounting plate 2, its other end can also pass through at least one movable block 3 on the mounting plate 2 and connect with the movable block 3 on the other side of the mounting plate 2.

[0027] In other words, such as Figure 1 As shown, in some embodiments, the two mounting disks 2 on both sides can be specifically defined as first mounting disks 21, and the mounting disk 2 set between the two first mounting disks 21 can be defined as second mounting disk 22, that is, the first mounting disk 21 on one side, at least one second mounting disk 22, and the first mounting disk 21 on the other side are arranged alternately.

[0028] Based on this, in some embodiments of the present invention, the second shape memory spring 6 of the flexible robotic arm structure can be connected at one end to the movable block 3 on the first mounting plate 21 on one side, and its other end can pass through at least one movable block 3 on the second mounting plate 22 and be connected to the movable block 3 on the first mounting plate 21 on the other side.

[0029] In practical applications, see Figure 1 , Figure 6 , Figure 7 and Figure 8 As shown, in order to ensure that the mounting structure of the mounting plate 2 and the second shape memory spring 6 is more stable, a flexible support rod 1 can also be specifically provided. The aforementioned mounting plates 2 can all be specifically mounted on the flexible support rod 1, and the flexible support rod 1 extends along the first direction, and at least two of the mounting plates 2 are spaced apart from each other on the flexible support rod 1 along the first direction.

[0030] In other words, in some embodiments, the two first mounting plates 21 and at least one second mounting plate 22 can be mounted on the flexible support rod 1. In practical applications, the flexible support rod 1 is specifically provided with a top end, a middle section and a bottom end along the first direction, and the two first mounting plates 21 can be respectively provided at the top end and the bottom end of the flexible support rod 1 in the first direction, while at least one second mounting plate 22 is specifically sleeved on the flexible support rod 1 and provided in the middle section of the flexible support rod 1 in the first direction.

[0031] It should be noted that, see Figure 6 , Figure 7 and Figure 8 As shown, in order to ensure the reliability of the installation, in practical applications, the flexible support rod 1 can be installed through the second mounting plate 22, and the top and bottom ends of the flexible support rod 1 can be respectively formed with assembly blocks 11. The two first mounting plates 21 can be respectively provided with assembly grooves 211 that match the assembly blocks 11, so that the assembly blocks 11 can be inserted into the assembly grooves 211 of the first mounting plates 21, ensuring that the top and bottom ends of the flexible support rod 1 are respectively connected to the first mounting plate 21.

[0032] Accordingly, see further Figure 6 , Figure 7 and Figure 8 As shown, considering that the flexible support rod 1 will pass through the second mounting plate 22, the second mounting plate 22 is provided with through holes 222 so that the flexible support rod 1 can pass through the through holes 222 and extend along the first direction, ensuring that the second mounting plate 22 is fitted onto the middle section of the flexible support rod 1. In actual application, the middle section of the flexible support rod 1 can be provided with multiple mounting positions in the first direction, and each mounting position can be used to install the second mounting plate 22. The flexible support rod 1 is provided with a positioning groove 12 on the outer peripheral wall corresponding to the mounting position, and a positioning block 221 is provided in the through hole 222 of the second mounting plate 22 corresponding to the positioning groove 12. The positioning block 221 matches the positioning groove 12 and the two are engaged to lock the second mounting plate 22 in the mounting position of the flexible support rod 1.

[0033] Based on this, in practical applications, the top and bottom ends of the first mounting plate 21 and the flexible support rod 1 can be engaged and connected by the assembly groove 211 and the assembly block 11, and the middle section of the second mounting plate 22 and the flexible support rod 1 can be engaged and connected by the positioning groove 12 and the positioning block 221, so as to install and lock the two first mounting plates 21 and at least one second mounting plate 22 on the flexible support rod 1.

[0034] It should be noted that, as Figure 1 As shown, in the flexible robotic arm structure designed in this invention, in some embodiments, the mounting disks 2 can all extend along a second direction perpendicular to the first direction, that is, the flexible support rod 1 is perpendicular to the mounting disks 2, and multiple mounting disks 2 are installed along its own extension length. In practical applications, the mounting disks 2 can specifically be discs, which are coaxially arranged with the flexible support rod 1, that is, the center of the mounting disk 2 is coaxial with the axis of the flexible support rod 1.

[0035] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, considering that the second shape memory spring 6 in the flexible robotic arm structure of the present invention is used to simulate tendon drive in order to drive the flexible robotic arm to generate active bending motion; therefore, multiple second shape memory springs 6 can be specifically provided to precisely control the bending motion of the entire flexible robotic arm.

[0036] Therefore, such as Figure 2 and Figure 3As shown, in some embodiments, the mounting plate 2 is specifically provided with multiple adjustment mechanisms. These adjustment mechanisms can be arranged around the mounting plate 2, and the included angle formed by any two adjacent adjustment mechanisms and the center point of the mounting plate 2 is the same. Each adjustment mechanism is respectively provided with a second shape memory spring 6.

[0037] It should be noted that, as Figure 9 , Figure 10 and Figure 11 As shown, in this invention, in order to facilitate the adjustment mechanism to adjust the structural configuration of the second shape memory spring 6 and ensure that the movable block 3 can effectively adjust the structure of the second shape memory spring 6 when it slides on the mounting plate 2, the horizontal projection of the movable block 3 in the first direction can be specifically set in a T-shape. The movable block 3 can specifically include a first rod 31 and a second rod 32. One end of the first rod 31 is slidably disposed on the mounting plate 2, and the other end of the first rod 31 is connected to the second rod 32; wherein, the second rod 32 extends out from the outer contour of the mounting plate 2.

[0038] Accordingly, see Figure 6 and Figure 7 As shown, a plurality of mounting slots 23 are provided on the mounting plate 2, and each mounting slot 23 is respectively provided for each adjustment mechanism; wherein, the plurality of mounting slots 23 are arranged around the center of the mounting plate 2 and extend in a direction away from the center, and one end of the slot is opened on the outer peripheral wall of the mounting plate 2; in some embodiments, the mounting slots 23 may also be through slots, which can penetrate the mounting plate 2 in a first direction.

[0039] It should be noted that a guide rail 24 is also provided in the mounting groove 23 so that the mounting groove 23 can match the movable block 3 of the adjustment mechanism. The extension direction of the guide rail 24 is also extended in a direction away from the center of the mounting plate 2. At this time, at least part of the first rod 31 of the movable block 3 extends into the mounting groove 23 and is slidably disposed on the guide rail 24 so as to slide along the extension direction of the guide rail 24.

[0040] In practical applications, such as Figure 6 and Figure 7 As shown, and in conjunction with references Figure 9 , Figure 10 and Figure 11The mounting groove 23 is provided with multiple slots 25, which are arranged sequentially along the extension direction of the guide rail 24. The first rod 31 has a snap-fit ​​mounting groove 33 for mounting a snap-fit ​​component 4. The snap-fit ​​component 4 includes a clip 42 and a return spring 41. One end of the return spring 41 is connected to the movable block 3, and the other end is connected to the clip 42. At least a portion of the clip 42 is accommodated in any one of the slots 25. In some embodiments, one end of the return spring 41 may be specifically connected to a spring fixing plate 43, so as to connect it to the movable block 3 via the spring fixing plate 43.

[0041] In other words, when the aforementioned clip 42 is locked in the slot 25, the position of the aforementioned movable block 3 on the mounting plate 2 is fixed. When the clip 42 is pressed and the reset spring 41 is contracted, the aforementioned movable block 3 can extend the guide rail 24 and slide under the drive of the first shape memory spring 5, thereby extending outward or retracting to move to the next slot 25 position. Under the elastic force of the reset spring 41, the clip 42 is driven to reset and snap into the new slot 25, thereby locking again.

[0042] It should be noted that, in order to facilitate the installation of the first shape memory spring 5, a protrusion 34 may also be provided on the first rod 31 of the movable block 3. The protrusion 34 protrudes from the surface of the mounting plate 2 in the first direction and a groove 35 is provided on the protrusion 34. At the same time, a fixing hole 36 is provided on the mounting plate 2 so that one end of the first shape memory spring 5 is connected to the fixing hole 36 and the other end is connected to the groove 35 on the protrusion 34.

[0043] In practical applications, the protrusion 34 of a single first rod 31 can be matched with two first shape memory springs 5 ​​for connection, and each first shape memory spring 5 is connected to a fixing hole 36. In some embodiments, the upper and lower surfaces of the first rod 31 in the first direction can be respectively provided with protrusions 34, and two first shape memory springs 5 ​​respectively. That is, the mounting plate 2 can be provided with first shape memory springs 5 ​​on both the upper and lower surfaces in the first direction. Users can select and apply according to actual needs. Furthermore, the other end of the different first shape memory springs 5 ​​connected to a single protrusion 34 can be connected to different positions on the mounting plate 2 to achieve the following: when one first shape memory spring 5 is heated and contracts, it pulls the movable block 3 to move closer to the mounting plate 2, realizing inward retraction; when the other first shape memory spring 5 is heated and contracts, it pulls the movable block 3 to move away from the mounting plate 2, realizing outward extension.

[0044] In this invention, for ease of understanding of the flexible robotic arm structure, see [link to relevant documentation]. Figures 1-11The inventors also used the following specific embodiment for explanation and illustration: In this embodiment, the flexible robotic arm structure is a reconfigurable flexible robotic arm, which includes: The flexible support rod 1 extends axially, that is, it extends in the first direction, and it is provided with assembly blocks 11 at the top and bottom ends in the first direction, and a positioning groove 12 is provided in the middle section. Five mounting discs 2, including two first mounting discs 21 and three second mounting discs 22, are all discs. The two first mounting discs 21 are respectively installed at the top and bottom of the flexible support rod 1, and the assembly grooves 211 on the first mounting discs 21 are assembled with the assembly blocks 11 at both ends of the flexible support rod 1. The three second mounting discs 22 are installed equidistantly along the axial direction of the flexible support rod 1, and the positioning blocks 221 in the through holes 222 of the second mounting discs 22 are assembled with the positioning grooves 12 on the flexible support rod 1, thereby realizing the engaging connection between the first mounting discs 21, the second mounting discs 22 and the flexible support rod 1. Fifteen adjustment mechanisms are provided. Three adjustment mechanisms are installed on each of the first mounting plates 21 and the second mounting plates 22, and these three adjustment mechanisms are distributed at equal angles along the circumference of the mounting plates 2 to adjust the radius. Each adjustment mechanism consists of a movable block 3 and four first shape memory springs 5, and each movable block 3 is equipped with a latching element 4. Therefore, the flexible robotic arm structure has a total of sixty first shape memory springs 5. Four first shape memory springs 5 ​​are installed on each movable block 3, and these four first shape memory springs 5 ​​are arranged in pairs, one pair on the upper surface of the mounting plate 2 in the first direction and the other pair on the lower surface. The first shape memory springs 5 ​​are used to drive the movable blocks 3 to extend and retract radially, thereby adjusting the drive path radius of the flexible robotic arm. Fifteen fasteners 4 are installed on the movable block 3 and cooperate with the slots 25 provided in the mounting groove 23 of the mounting plate 2 to lock the movable block 3 in the radial position of sliding on the mounting plate 2. Three second shape memory springs 6 are arranged along the axial direction of the flexible support rod 1. Their two ends are respectively fixed to the fixing holes 36 in the movable blocks 3 on the two first mounting plates 21, and pass through the guide holes 37 in the movable blocks 3 on the three second mounting plates 22, so as to drive the bending deformation of the flexible robotic arm.

[0045] Accordingly, in this embodiment, the aforementioned flexible support rod 1 serves as a support for the overall flexible robotic arm. It can be specifically made of soft silicone material and processed using a molding process. The flexible support rod 1 is equipped with an assembly block 11 and a positioning groove 12 for engaging with the mounting plate 2. The connection method is simple and precise, and the processing is convenient. Similarly, for ease of installation, the mounting plate 2 is designed with precise positioning in mind. It can be 3D printed, is lightweight, and helps reduce costs and energy consumption.

[0046] In this embodiment, the movable block 3 is specifically slidably disposed in the mounting groove 23 opened on the mounting plate 2. Its installation method is simple, easy to disassemble and assemble, which helps to reduce assembly time and facilitates later maintenance.

[0047] In this embodiment, to improve the driving force, a double-strand shape memory spring is used as the second shape memory spring 6. These three second shape memory springs 6 are respectively matched with the three adjustment mechanisms on each mounting plate 2, and both ends of the second shape memory spring 6 are fixed in the fixing holes 36 in the movable blocks 3 of the two first mounting plates 21, and pass through the guide holes 37 in the movable blocks 3 of the three second mounting plates 22. The second shape memory spring 6 can be made of 0.2mm wire, which is easy to replace and maintain.

[0048] It should be noted that a key feature of this invention is its ability to adjust the radius using an adjustment mechanism, as illustrated in the schematic diagram of the radius adjustment function. Figure 4 and Figure 5 As shown; where, as Figure 4 As shown, when the first shape memory springs 5 ​​connected to the upper surfaces of the three movable blocks 3 in the first direction of the three adjustment mechanisms on the mounting plate 2 are respectively electrically heated to generate a contraction force, the contraction force will cause the movable blocks 3 to move radially outward, thereby achieving outward extension; as Figure 5 As shown, in the three adjustment mechanisms on the mounting plate 2, when the first shape memory springs 5 ​​connected to the lower surfaces of the three movable blocks 3 in the first direction are electrically heated to generate a contraction force, the contraction force will cause the movable blocks 3 to move radially inward, thereby achieving inward retraction.

[0049] It should be noted that in practical applications, the first shape memory springs 5 ​​connected to the upper and lower surfaces of the movable block 3 in the first direction are connected at different positions on the mounting plate 2. Therefore, when they retract, they can apply driving forces to the movable block 3 in different directions, thereby achieving outward extension or inward retraction.

[0050] Meanwhile, during the process of the movable block 3 moving in the mounting groove 23 of the mounting plate 2, since the contraction force generated by the first shape memory spring 5 is much greater than the friction between the buckle 4 and the groove 25 on the mounting plate 2, the friction can be ignored. The cooperation between the buckle 42 in the buckle 4 and the groove 25 is mainly for reliable positioning when the movable block 3 reaches the designated position.

[0051] Specifically, by adjusting the position of each movable block 3 set on each mounting plate 2 of the flexible arm, the active adjustment of the equivalent driving force arm of the flexible arm and the adjustment of the flexible arm configuration can be achieved. In this way, the driving efficiency, load-bearing capacity and bending performance of the flexible robotic arm can be adjusted according to different operation requirements, thereby improving the overall motion performance and environmental adaptability of the flexible robotic arm.

[0052] In summary, the flexible robotic arm structure designed in this invention, by setting a movable block 3, a first shape memory spring 5, and a second shape memory spring 6 on the mounting plate, utilizes the first shape memory spring 5 to adjust the position of the movable block 3 on the mounting plate 2, thereby enabling the movable block 3 on the mounting plate 2 to extend and retract. This changes the posture of the second shape memory spring 6 connected to the movable block 3, alters the equivalent arm length of the second shape memory spring 6, and adjusts the drive path radius. This allows the structural configuration of the flexible robotic arm to be reconfigured, facilitating the adjustment of the driving efficiency, load-bearing capacity, and bending performance of the flexible robotic arm according to different operational requirements, thereby improving the overall motion performance and environmental adaptability of the flexible robotic arm.

[0053] Based on this, the flexible robotic arm structure designed in this invention can adjust its driving efficiency, load-bearing capacity and bending performance according to different operational needs. Moreover, the flexible robotic arm structure has the advantages of compact structure, high integration and flexible adjustment method, which can meet the application needs of flexible operation and detection tasks in complex space environment. It has good promotion prospects and application value.

[0054] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A flexible robotic arm structure, characterized in that, include: The mounting plate and adjustment mechanism include a movable block and a first shape memory spring. The movable block is slidably disposed on the mounting plate, and one end of the first shape memory spring is connected to the movable block, and the other end of the first shape memory spring is connected to the mounting plate. In this configuration, at least two mounting discs are spaced apart from each other, and one end of the second shape memory spring is connected to the movable block on one side of the mounting disc, while the other end of the second shape memory spring is connected to the movable block on the other side of the mounting disc.

2. The flexible robotic arm structure according to claim 1, characterized in that, The other end of the second shape memory spring passes through at least one of the movable blocks on the mounting plate and is connected to the movable block on the other side of the mounting plate.

3. The flexible robotic arm structure according to claim 1, characterized in that, It also includes a flexible support rod, which extends along a first direction, and at least two of the mounting plates are spaced apart from each other along the first direction on the flexible support rod.

4. The flexible robotic arm structure according to claim 3, characterized in that, The mounting plate on one side is located at the top of the flexible support rod in the first direction, and the mounting plate on the other side is located at the bottom of the flexible support rod in the first direction.

5. The flexible robotic arm structure according to claim 4, characterized in that, At least one of the mounting discs is sleeved on the flexible support rod and is located in the middle section of the flexible support rod in the first direction.

6. The flexible robotic arm structure according to claim 5, characterized in that, The flexible support rod engages with the mounting plate.

7. The flexible robotic arm structure according to claim 1, characterized in that, Multiple adjustment mechanisms are arranged in a ring around the mounting plate; wherein any two adjacent adjustment mechanisms form the same angle with the center point of the mounting plate.

8. The flexible robotic arm structure according to claim 1, characterized in that, The movable block includes a first rod and a second rod, one end of the first rod being slidably disposed on the mounting plate, and the other end of the first rod being connected to the second rod; wherein the second rod extends out from the outer contour of the mounting plate.

9. The flexible robotic arm structure according to claim 8, characterized in that, The mounting plate has a mounting groove, and a guide rail is provided in the mounting groove. At least part of the first rod extends into the mounting groove and is slidably mounted on the guide rail.

10. The flexible robotic arm structure according to claim 9, characterized in that, The mounting groove is provided with multiple slots, which are arranged sequentially along the extension direction of the guide rail; wherein, the first rod is provided with a fastening element, which includes a clip and a return spring, one end of the return spring is connected to the movable block, the other end of the return spring is connected to the clip, and at least part of the clip is accommodated in any one of the slots.

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