A multi-robotic variable acoustic array structure

Abstract

The application discloses a variable acoustic array structure of multiple mechanical arms, relates to the technical field of mechanical arm design, and adopts a three-section plane structure of a base-arm rod-end effector to design multiple mechanical arms to realize accurate regulation and control of the pose of array units in a two-dimensional plane, so that the adaptability, motion accuracy and structural stability of the array units are considered through modular interfaces, a multi-rod parallel arm rod design and selection of high-strength lightweight materials; the application can realize real-time dynamic adjustment of the spatial position and attitude of acoustic array units, adapt to the acoustic signal collection requirements of multiple scenes such as industrial detection, scientific research experiments and security monitoring, greatly improve the multiplexing, signal collection accuracy and dynamic response capability of the acoustic array, and reduce the equipment cost and experimental period of multiple scene applications.

Description

Technical Field

[0001] This invention relates to the field of robotic arm design technology, and in particular to a variable acoustic array structure for multiple robotic arms, which is used to realize real-time dynamic control of the spatial position, attitude and topology of acoustic array units, and adapt to the high-precision acoustic signal acquisition needs of various scenarios such as industrial inspection, scientific research experiments, and security monitoring. Background Technology

[0002] Acoustic arrays are core sensing devices in fields such as acoustic signal acquisition, sound field detection, fault diagnosis, and environmental acoustic analysis, and are widely used in various scenarios including industrial equipment inspection, scientific experiments, and security acoustic monitoring. Early acoustic arrays were mostly fixed monolithic structures, with the installation position, arrangement, and elevation angle of the array units fixed after factory manufacturing or field deployment. This meant they could not be dynamically adjusted according to different detection objects, complex sound field environments, or diverse operational needs. These fixed acoustic arrays have weak beam pattern adjustment capabilities and poor adaptability to diverse detection objects such as large industrial equipment and miniature precision devices. This not only easily leads to decreased acoustic signal acquisition accuracy and low equipment fault diagnosis accuracy but also significantly reduces overall detection efficiency. Furthermore, fixed-structure acoustic arrays have low reusability, requiring customized equipment for different scenarios, directly increasing the overall cost of hardware procurement, on-site maintenance, and scientific research experiments, resulting in significant limitations in industry applications. With the convergence of mechanical design, automatic control, and acoustic technology, the industry has begun to explore combining mechanical adjustment mechanisms with acoustic arrays, resulting in adjustable acoustic arrays with certain deformation and displacement capabilities. These arrays utilize mechanical mechanisms to change the position and orientation of array units, thereby breaking through the limitations of traditional fixed arrays and improving their dynamic adaptability and signal acquisition performance. This technological approach provides a new direction for the intelligent and dynamic development of acoustic arrays and is gradually becoming a mainstream research and development trend in the field.

[0003] Currently, there are numerous authorized patents in China for adjustable acoustic arrays, acoustic array adjustment brackets, and array deformation mechanisms. Among them, patent CN223772156U (an in-vehicle voice testing microphone array) is a typical example. This patent discloses an acoustic array structure using an H-shaped array bracket paired with an adjustable support frame, enabling simple adjustment of microphone spacing and overall pitch angle, thus improving the lack of flexibility of traditional fixed arrays to some extent. However, based on analysis of actual application conditions, most of the published authorized acoustic array-related patents in China, including this one, still have many unavoidable shortcomings. First, most of these adjustment structures only support coarse adjustments in a single dimension and with a large stroke, such as simply changing the sensor spacing or the overall tilt angle. They cannot achieve multi-directional, fine-grained pose control of the array units in a two-dimensional plane, making it difficult to flexibly reconstruct the array topology. The adjustable range of the beam pattern and the sound field coverage effect remain limited, failing to meet the needs of precision acoustic testing. Secondly, this patent uses a conventional bracket and hinge structure as the adjustment component, which has limited transmission precision. After long-term reciprocating adjustment, problems such as gaps in the fit and component misalignment are prone to occur, resulting in poor positioning stability and an inability to guarantee the high-precision positioning of the acoustic array unit, thus affecting the continuity and accuracy of acoustic signal acquisition. Furthermore, the adjustment mechanisms in existing authorized patents generally fail to balance lightweight design with structural strength. Some bracket-type structures are heavy, have strong inertia, slow operating response, and poor dynamic performance; some lightweight designs oversimplify the support structure, resulting in insufficient overall rigidity. During operation, they are prone to vibration, deformation, and even structural resonance, causing acoustic sensor jitter and seriously interfering with signal acquisition results.

[0004] Finally, the existing patented products represented by CN223772156U have mostly customized end-mount structures with poor interface universality. They can only match acoustic sensors of specific models and sizes, have weak modular expansion capabilities, and cannot quickly adapt to various acoustic array units in different scenarios such as industrial testing, scientific research experiments, and security monitoring. The overall reusability of the equipment still has significant shortcomings, making it difficult to fully adapt to diverse and complex acoustic testing conditions. Summary of the Invention

[0005] In view of the above-mentioned problems, such as the rigidity of traditional fixed acoustic array structures, poor scene adaptability, and unadjustable beam pattern, this invention proposes a variable acoustic array structure with multiple robotic arms.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a variable acoustic array structure for multiple robotic arms, comprising:

[0007] The variable acoustic array structure adopts a three-section planar structure of base-arm-end actuator, and realizes the position and posture control of the acoustic array unit in a two-dimensional plane through the coordinated movement of multiple robotic arms;

[0008] The device as a whole includes a disc base and multiple robotic arms, each robotic arm comprising a first arm, a second arm, a third arm, an end effector, and an integrated joint;

[0009] The disc base is an industrial-grade high-strength integrated molded fixed end. The robotic arm is a multi-bar collaborative parallel structure. Three arm bars of different sizes are connected by an integrated joint to transmit power and achieve multi-angle rotation. The end effector is equipped with a standard connection area, which can be adapted to acoustic array units of different specifications. The whole adopts a lightweight and high-strength structural design.

[0010] Furthermore:

[0011] The disc base is provided with multiple joint fixation chambers for accommodating and fixing the integrated joint components.

[0012] Furthermore:

[0013] The first arm, the second arm, the third arm, and the end effector are connected in pairs through integrated joints to form a planar serial kinematic chain.

[0014] Furthermore:

[0015] The disc base, first arm, second arm, third arm, and end effector are all fastened to the integrated joint by screws.

[0016] Furthermore:

[0017] The integrated joint is a lightweight integrated harmonic servo motor of uniform specifications, with a motor diameter of 40mm and a length of 55.55mm. It adopts the CAN.2.0B communication protocol and acts as a rotary actuator to drive the arm to complete the planar extension motion.

[0018] Furthermore:

[0019] The first boom, the second boom, and the third boom are three different sizes of rods, and all of them are integrally machined using CNC technology.

[0020] Furthermore:

[0021] The dimensions of the first arm, the second arm, and the third arm decrease sequentially, which reduces the overall weight while ensuring structural strength and improving the stability and operating response speed of the robotic arm.

[0022] Furthermore:

[0023] The two ends of the arm have different interface structures. The left end of the first arm is a joint fixing port, the left end of the second arm is a joint fixing port, and the left end of the third arm is a joint fixing port. Each joint fixing port is used to fix the integrated joint.

[0024] The right end of the first arm is the joint output shaft connection port, the right end of the second arm is the joint output shaft connection port, and the right end of the third arm is the joint output shaft connection port. Each joint output shaft connection port is used to connect the rotation shaft of the integrated joint. The two end interfaces are reserved with connection holes according to the end face of the integrated joint, and coaxial matching and fastening are achieved by screws.

[0025] Furthermore:

[0026] The upper surfaces of the interfaces at both ends of each boom are parallel to each other, and the cross-section of the boom connecting rod is set to T-shape. The planes of the connecting rods remain parallel, which not only forms an acoustic array unit loading platform, but also ensures the overall structural strength of the boom.

[0027] Furthermore:

[0028] The disc base, the first arm, the second arm, the third arm, and the end effector are all made of aluminum-magnesium alloy.

[0029] The acoustic array structure includes 3-8 robotic arms, all of which have the same structure and components and are uniformly assembled on a disc base to form a whole.

[0030] The beneficial effects of this invention are as follows:

[0031] Compared with traditional fixed acoustic arrays, this invention has multiple advantages. Through the coordinated movement of multiple robotic arms, the spatial position, orientation and topology of the acoustic array units can be dynamically adjusted in real time, which effectively solves the problems of fixed array structure, poor beam pattern adjustability and insufficient scene adaptability of traditional arrays. It can be widely used in various acoustic signal acquisition scenarios such as industrial testing, scientific research experiments and security monitoring, and significantly improves the reusability of equipment.

[0032] This device features high-precision machining and excellent coaxiality at all connecting parts, coupled with an integrated joint for high-precision drive. The arm employs a progressively decreasing lightweight design, improving the robotic arm's operational response speed while ensuring overall structural strength and further optimizing acoustic signal acquisition accuracy. The main body of the device is made of aluminum-magnesium alloy, combined with a reasonable T-section structure design, balancing lightweight design and structural stability. Finite element simulation verification shows that the overall stress and strain meet safety standards, and the natural frequency avoids the conventional operating frequency band, effectively suppressing resonance and end effector jitter, ensuring stable operation of the acoustic array over long periods. Furthermore, this invention uses a modular standard interface, adaptable to acoustic array units of different types and sizes, and is easy to assemble and disassemble. A single device can meet the needs of multiple operating conditions, reducing equipment procurement and maintenance costs and significantly shortening the implementation cycle of related experimental and testing projects. Attached Figure Description

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of a single-arm connection according to an embodiment of the present invention;

[0036] Figure 3 For the appendix Figure 2 An enlarged view at point A shows the details of the connection between the boom and the base;

[0037] Figure 4 For the appendix Figure 2 The enlarged view at point B shows the connection details between the various booms;

[0038] Figure 5 This is a schematic diagram of the base disk structure according to an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the first arm structure according to an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the second arm structure according to an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of the third arm structure according to an embodiment of the present invention;

[0042] Figure 9 This is a schematic diagram of the end effector structure according to an embodiment of the present invention;

[0043] Figure 10 This is a cross-sectional view of the first arm connecting rod according to an embodiment of the present invention;

[0044] Figure 11 This is a schematic diagram of the integrated joint structure used in an embodiment of the present invention;

[0045] Figure 12 This is a structural and dimensional tolerance view of the integrated joint motor used in this invention;

[0046] Figure 13 The figure shows the stress finite element simulation results of a single arm under the influence of gravity.

[0047] Figure 14 The figure shows the finite element simulation results of the displacement of a single arm under the influence of gravity.

[0048] Figure 15 The figure shows the strain finite element simulation results of a single arm under the influence of gravity.

[0049] Figure 16 The image shows the results of modal simulation (26.831Hz) of the first-order mode of a single arm.

[0050] Figure 17 The image shows the results of modal simulation (39.347Hz) of the second-order mode of a single arm.

[0051] Figure 18 The image shows the results of modal simulation (96.912Hz) of the third mode of a single arm.

[0052] Figure 19 The image shows the results of modal simulation (168.98Hz) of the fourth-order mode of a single arm.

[0053] Figure 20 The image shows the results of modal simulation (173.12Hz) of the fifth-order mode of a single arm.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1. Disc base; 11. Base fixing hole; 12. Joint fixing chamber; 2. First arm; 21. First arm joint fixing port; 22. First arm joint output shaft connection port; 23. First arm connecting rod cross section; 3. Second arm; 31. Second arm joint fixing port; 32. Second arm joint output shaft connection port; 4. Third arm; 41. Third arm joint fixing port; 42. Third arm joint output shaft connection port; 5. End effector; 51. Loading platform; 52. End effector joint output shaft connection interface; 6. Integrated joint; 61. Joint fixing end face; 62. Joint output shaft connection port. Detailed Implementation

[0056] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0057] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0058] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0059] Example 1

[0060] This embodiment is a basic standard configuration of the device, which is suitable for general scientific research scenarios such as laboratory sound field analysis and acoustic algorithm verification. The overall structure consists of a disc base 1 and 5 robotic arms with completely identical structures.

[0061] Figure 1 The overall assembly form of this embodiment is clearly shown, with five robotic arms evenly distributed in a ring on the disc base 1;

[0062] Figure 2 The complete serial structure of a single robotic arm is presented, clearly defining the connection sequence of the first arm 2, the second arm 3, the third arm 4, the end effector 5, and the integrated joint 6.

[0063] Figure 5 The detailed structure of the disc base 1 is shown. It adopts an industrial-grade high-strength integrated molding process. Five joint fixing chambers 12 are evenly opened on the surface to accommodate and fix the integrated joint 6. The base base is provided with base fixing holes 11, and the whole device is fastened to the experimental table with screws to prevent shaking during operation.

[0064] Figure 6 , Figure 7 , Figure 8 The external structure of the first boom 2, the second boom 3, and the third boom 4 are shown respectively. The dimensions of the three booms decrease sequentially, and they are all made of aluminum-magnesium alloy and machined in one piece by CNC.

[0065] Figure 10The first arm 2 is shown in section 23 of the connecting rod, which clearly shows the T-shaped section design. This design not only preserves the flat acoustic array loading platform, but also ensures the overall structural strength of the arm, and the upper surfaces of the connecting rods of all arms remain parallel.

[0066] Figure 9 The structure of the end effector 5 is shown. Its left end is a standard acoustic array loading platform 51, and its right end is a joint output shaft connection interface 52, which can be adapted to acoustic sensors of different specifications.

[0067] Figure 11 Showing the overall structure of the integrated joint 6, Figure 12 The detailed dimensions and fitting tolerances of the integrated joint motor are marked. This motor is a lightweight harmonic integrated servo motor of uniform specifications, with a diameter of 40mm and a length of 55.55mm, and adopts the CAN.2.0B communication protocol.

[0068] Figure 3 for Figure 2 The enlarged view at point A clearly shows the connection between the joint fixing port 21 at the left end of the first arm 2 and the integrated joint 6 inside the joint fixing chamber 12 of the disc base 1.

[0069] Figure 4 for Figure 2 The enlarged view at point B shows the details of the connection between the joint output shaft connection port 22 at the right end of the first arm 2 and the joint fixing port 31 at the left end of the second arm 3 via an integrated joint 6. Both ends of each arm have pre-drilled connection holes of 2.1mm and 1.8mm in diameter, conforming to the end face of the integrated joint 6. The manufacturing tolerance of these holes is controlled within ±0.05mm. Coaxiality matching and tight connection are achieved using screws, effectively eliminating backlash during movement.

[0070] In this embodiment, the minimum working radius of a single robotic arm is 0.3m, the maximum working radius is 0.6m, and the rated load is 0.1kg. To verify the structural reliability, finite element simulation analysis was performed using SolidWorks. Figure 13 The stress distribution of a single arm under gravity is shown, with the maximum equivalent stress being 2.958 × 10⁻⁶. 7 N / m², which is far lower than the yield strength of aluminum-magnesium alloys;

[0071] Figure 14 The displacement distribution of a single arm is shown, with a maximum displacement of 0.3108 mm; Figure 15 The strain distribution of a single arm is shown, with a maximum strain of 2.259 × 10⁻⁶. -4 The overall stiffness meets the design requirements.

[0072] Figures 16 to 20The simulation results of the first five modal modes of the single arm are presented sequentially. The first modal frequency is 26.831Hz, and the mode shape is horizontal oscillation at the end. The second modal frequency is 39.347Hz, and the mode shape is first-order bending of the whole. The third to fifth modal frequencies are 96.912Hz, 168.98Hz, and 173.12Hz, respectively, and the vibration deformation increases from the base to the end. The natural frequencies of this structure are effectively offset from the conventional operating range, which can avoid the end-body shaking problem caused by resonance.

[0073] Example 2

[0074] This embodiment adopts a compact layout of 3 robotic arms, which is suitable for industrial acoustic fault detection scenarios with limited space, such as equipment cavities and narrow workstations.

[0075] Figure 1 The overall layout logic of this embodiment can be adjusted to only 3 robotic arms, and the overall assembly relationship is completely consistent with that of embodiment 1.

[0076] Figure 2 It still uses the standard connection structure of a single robotic arm, clearly showing the connection method of each component.

[0077] Figure 5 The structure of the disc base 1 adapted to this embodiment is shown. Three joint fixing chambers 12 are opened on its surface. The overall size is reduced accordingly, which makes it easy to set up in a narrow space.

[0078] Figure 6 , Figure 7 , Figure 8 The structures of the first boom 2, the second boom 3, and the third boom 4 are shown. Figure 9 The end effector 5 structure shown Figure 10 The T-shaped connecting rod section 23 shown is exactly the same as that in Example 1, ensuring the universality of the components.

[0079] Figure 3 , Figure 4 The connection details between the boom and the base, and between adjacent booms are shown respectively. The assembly process and precision requirements are the same as in Example 1, and the hole position tolerance is still controlled within ±0.05mm.

[0080] Figure 11 , Figure 12 The integrated joint 6 shown in the exhibition retains the same structure and motor parameters, still using a harmonic integrated servo motor with a diameter of 40mm and a length of 55.55mm, and controlled via the CAN.2.0B communication protocol.

[0081] The working radius of a single robotic arm remains 0.3m-0.6m, with a rated load of 0.1kg. Due to space constraints, in this embodiment, only the acoustic array unit is deployed on the loading platform 51 of the end effector 5; no additional sensors are mounted on the main body of the arm.

[0082] Figure 13 , Figure 14 , Figure 15 The static mechanical simulation results for the compact single-arm structure show that the stress, displacement, and strain values ​​are consistent with those of Example 1, indicating sufficient structural safety margin. Figures 16 to 20 The modal simulation results show that the natural frequencies of each order remain unchanged, demonstrating excellent anti-resonance performance. This configuration is compact and flexible in deployment, allowing it to be inserted into large mechanical equipment to locate and collect localized abnormal noises and vibration sources.

[0083] Example 3

[0084] This embodiment uses a maximum configuration of 8 robotic arms, which is suitable for large-scale security acoustic monitoring scenarios such as factories and industrial parks, and achieves full coverage of the sound field in a planar area.

[0085] Figure 1 The overall assembly structure shown can be used as a reference for this embodiment. Eight robotic arms are evenly distributed in a circle on the disk base 1.

[0086] Figure 2 This is the standard connection form for a single robotic arm, exactly the same as in Example 1.

[0087] Figure 5 The circular base 1 structure of this embodiment is shown, with 8 joint fixing chambers 12 evenly distributed around its surface, which has sufficient load-bearing capacity to support the entire robotic arm structure.

[0088] Figures 6 to 10 The structure of each arm, end effector 5, and connecting rod section 23 shown is completely consistent with the previous two embodiments, and all parts of the robotic arm are interchangeable. Figure 3 , Figure 4 The details of the core connection points shown ensure assembly precision and structural stability. All components are coaxially fastened together with screws to eliminate backlash during movement.

[0089] Figure 11 , Figure 12 The integrated joint, with its six parameters unchanged, allows the eight robotic arms to flexibly adjust the array topology within a working radius of 0.3m-0.6m through coordinated movement, significantly expanding the coverage of the sound field monitoring.

[0090] This embodiment makes full use of the parallel upper surfaces of each arm and end effector 5 to accommodate multiple sets of acoustic sensors, constructing a high-density variable acoustic array to enhance the ability to capture acoustic signals over long distances.

[0091] Figures 13 to 15 The static mechanical simulation results show that the strength of the single-arm structure meets the requirements for full-load operation.

[0092] Figures 16 to 20 Modal simulation results show that the overall natural frequency of the device is offset from the vibration frequency of the external environment, and there are no jitter or signal drift issues during long-term outdoor operation. This configuration can perform tasks such as security sound source monitoring and abnormal sound identification around the clock.

[0093] Example 4

[0094] This embodiment employs a lightweight configuration of four robotic arms, specifically optimized for acoustic testing of micro-precision electronic devices and instruments, with a focus on improving structural response speed and positioning accuracy.

[0095] Figure 1 Referring to the overall assembly structure of this embodiment, four robotic arms are evenly distributed on the disc base 1;

[0096] Figure 2 It features a standard single-arm connection structure, clearly showing the assembly relationship of each component.

[0097] Figure 5 The structure of the disc base 1, which is adapted to four robotic arms, is shown, with four joint fixing chambers 12 on its surface;

[0098] Figures 6 to 10 The boom, end effector 5, and T-shaped connecting rod section 23 on display are all made of aluminum-magnesium alloy. The lightweight design of the three booms with progressively decreasing weight further reduces the moment of inertia and improves the operating response speed.

[0099] Figure 3 , Figure 4 The connection details shown strictly ensure the coaxiality and assembly accuracy of each component, and the hole tolerance is still controlled within ±0.05mm.

[0100] Figure 11 , Figure 12 The integrated joint 6 structure and parameters remain unchanged, and the high-precision servo drive ensures the position and posture adjustment accuracy of the robotic arm. In this embodiment, miniature high-precision acoustic probes are mounted on the entire upper surface of the robotic arm, and the rated load of 0.1 kg per arm perfectly matches the usage requirements of lightweight sensing devices. The robotic arm can quickly complete small-range, high-precision position and posture adjustments, change the array topology in real time, and adapt to multi-point, multi-directional acoustic signal acquisition from precision devices.

[0101] Figures 13 to 15 The static mechanical simulation results show that the structural stress and strain are far below the material yield limit, ensuring the stability during the testing process. Figures 16 to 20 Modal simulation results show that the structure has excellent vibration resistance, can effectively avoid interference from minor vibrations, and avoid data errors in precision testing.

[0102] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0103] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0106] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0107] Furthermore, although the operations of the method of the present invention are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

Claims

1. A variable acoustic array structure for multiple robotic arms, Its features are: The variable acoustic array structure adopts a three-section planar structure of base-arm-end actuator, and realizes the position and posture control of the acoustic array unit in a two-dimensional plane through the coordinated movement of multiple robotic arms; The device as a whole includes a disc base (1) and multiple robotic arms, wherein the robotic arms include a first arm (2), a second arm (3), a third arm (4), an end effector (5), and an integrated joint (6). The disc base (1) is an industrial-grade high-strength integrated molded fixed end. The robotic arm is a multi-bar collaborative parallel structure. Three arm bars of different sizes are connected by an integrated joint (6) to transmit power and achieve multi-angle rotation. The end effector (5) is equipped with a standard connection area, which can be adapted to acoustic array units of different specifications. The whole adopts a lightweight and high-strength structural design.

2. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The disc base (1) is provided with multiple joint fixing chambers (12) for accommodating and fixing the integrated joint (6) component.

3. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The first arm (2), the second arm (3), the third arm (4), and the end effector (5) are connected in pairs through an integrated joint (6) to form a planar serial kinematic chain.

4. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The disc base (1), the first arm (2), the second arm (3), the third arm (4), and the end effector (5) are respectively fastened to the integrated joint (6) by screws.

5. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The integrated joint (6) is a lightweight integrated harmonic servo motor of uniform specifications. The motor has a diameter of 40mm and a length of 55.55mm. It adopts the CAN.2.0B communication protocol and serves as a rotary actuator to drive the arm to complete the planar extension motion.

6. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The first boom (2), the second boom (3), and the third boom (4) are three different sizes of rods, and all are integrally formed by CNC technology.

7. The variable acoustic array structure for multiple robotic arms according to claim 6, Its features are: The dimensions of the first arm (2), the second arm (3), and the third arm (4) decrease sequentially, which reduces the overall weight while ensuring structural strength and improving the stability and operating response speed of the robotic arm.

8. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The two ends of the arm have different interface structures. The left end of the first arm (2) is the joint fixing port (21), the left end of the second arm (3) is the joint fixing port (31), and the left end of the third arm (4) is the joint fixing port (41). Each joint fixing port is used to fix the integrated joint (6). The right end of the first arm (2) is the joint output shaft connection port (22), the right end of the second arm (3) is the joint output shaft connection port (32), and the right end of the third arm (4) is the joint output shaft connection port (42). Each joint output shaft connection port is used to connect the rotation shaft of the integrated joint (6). The two ends of the interface are reserved with connection holes according to the end face of the integrated joint (6), and coaxial matching and fastening are achieved by screws.

9. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The upper surfaces of the interfaces at both ends of each arm are parallel to each other. The cross section (23) of the arm connecting rod is set to T-shape, and the plane of the connecting rod is kept parallel, which forms an acoustic array unit loading platform and ensures the overall structural strength of the arm.

10. The variable acoustic array structure for multiple robotic arms according to claim 1, Its features are: The disc base (1), the first arm (2), the second arm (3), the third arm (4) and the end effector (5) are all made of aluminum-magnesium alloy. The acoustic array structure contains 3-8 robotic arms. All robotic arms have the same structure and components and are uniformly assembled on the disc base (1) to form a whole.

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