A flexible robot arm joint with omni-directional joint and robot

Abstract

The embodiment of the application provides a flexible mechanical arm joint with an omnidirectional joint and a robot. The flexible mechanical arm joint comprises a flexible driving module, a posture adjusting module and an output connecting piece arranged in sequence in a first direction; the flexible driving module comprises a support fixing assembly and flexible units; all the flexible units are located on the side of the support seat of the support fixing assembly away from the output connecting piece and are arranged in sequence in the first direction; the first end of each flexible unit is fixedly connected with the support seat, and the second end can move along the first direction; when the number of the flexible units is at least three, the posture adjusting module has an input end and an output end, or when the number of the flexible units is two, the posture adjusting module has two input ends, two output ends, one first fixed end and one second fixed end, the output connecting piece can be driven by the flexible driving module and the posture adjusting module to rotate omnidirectionally with active and passive flexibility, so that the output torque of the flexible mechanical arm is increased.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a flexible robotic arm segment with omnidirectional joints and a robot. Background Technology

[0002] With the rapid development of the robotics industry, robotic arms have evolved from traditional rigid robotic arms to flexible robotic arms. Flexible robotic arms typically have flexible arm segments, which contain flexible units. These flexible units enable flexible connections between rigid components, giving the flexible robotic arm a certain degree of cushioning performance. Compared to rigid robotic arms, flexible robotic arms have a lower probability of causing mechanical damage or injury to surrounding organisms or objects, and are safer, and have been widely used in many fields.

[0003] In related technologies, flexible robotic arms typically have multiple flexible units arranged in a ring along the cross-sectional direction of the flexible arm segment. Since the output torque of each flexible unit is positively correlated with its diameter, and the diameter of each ring-shaped flexible unit is relatively small, the output torque of the flexible arm segment is correspondingly small, resulting in a low overall output torque for the flexible robotic arm. Therefore, existing flexible robotic arms are only suitable for applications requiring relatively small output torques and are unsuitable for applications requiring larger output torques, severely limiting their application scenarios and hindering their use in automated production. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible robotic arm segment and robot with omnidirectional joints, thereby increasing the overall output torque of the flexible robotic arm and making it suitable for applications requiring higher output torque. The specific technical solution is as follows:

[0005] An embodiment of the first aspect of this application provides a flexible robotic arm segment with an omnidirectional joint, comprising a flexible drive module, an attitude adjustment module, and an output connector arranged sequentially in a first direction; the flexible drive module includes a support and fixing component and at least two flexible units; the support and fixing component includes a support base; all the flexible units are located on the side of the support base away from the output connector and are arranged at intervals in the first direction; each flexible unit has a first end fixedly connected to the support base and a second end movable along the first direction; when the number of flexible units is at least three, and the attitude adjustment module has an input end and an output end, the number of the input end and the number of the output end are the same as the number of flexible units, and all the input ends are connected to the output connector. The second ends of all the flexible units are connected one-to-one, and all the output ends are connected to the output connector, so that the output connector can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module and the attitude adjustment module; or, when there are two flexible units, and the attitude adjustment module has two input ends, two output ends, one first fixed end and one second fixed end, the two input ends are connected one-to-one to the second ends of the two flexible units, the first fixed end is connected to the support base, and the second fixed end and the two output ends are all connected to the output connector, so that the output connector can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module and the attitude adjustment module.

[0006] In some embodiments of this application, the support and fixing assembly includes: a plurality of spaced guide shafts; one end of each guide shaft is fixed to the support base, and the other end extends from the support base in a direction away from the output connector along the first direction;

[0007] Each of the flexible units has a first end fixedly connected to the guide shaft and a second end slidably connected to the guide shaft.

[0008] In some embodiments of this application, the flexible unit is a stacked fluid actuator, comprising: a cylindrical and stacked flexible sidewall and two end faces, wherein the flexible sidewall and the two end faces together enclose a cylindrical cavity with a central axis, and strain is evenly distributed on the strain-evenly distributed stacked structure that can expand and contract along the direction of the central axis; changing the pressure difference between the inside and outside of the cylindrical cavity can drive the strain-evenly distributed stacked structure to fold or expand, while causing the two end faces to move relative to each other;

[0009] The strain-uniformly distributed stacked structure is formed by stacking two or more strain-uniformly distributed stacked layers along the central axis, so that the strain of the entire flexible sidewall is uniformly distributed in each strain-uniformly distributed stacked layer.

[0010] The strain-distributed stacked layer is formed by two folded surfaces. A crease is formed at the connection between two adjacent folded surfaces. The crease is located in the crease surface perpendicular to the central axis. In the initial state, the crease surface is a plane. When the strain-distributed stacked structure is folded or extended, the crease surfaces move closer or further away from each other uniformly along the central axis without deformation, and without relative torsion or deflection.

[0011] In some embodiments of this application, when the number of flexible units is at least three and the attitude adjustment module has an input end and an output end, the attitude adjustment module includes: a transmission assembly; the number of transmission assemblies is the same as the number of flexible units, and each transmission assembly has one input end and one output end;

[0012] When the number of flexible units is two, and the attitude adjustment module has two input terminals, two output terminals, a first fixed terminal and a second fixed terminal, the attitude adjustment module includes: two transmission components and a connection fixing component; each transmission component has one input terminal and one output terminal; the connection fixing component has one first fixed terminal and one second fixed terminal.

[0013] In some embodiments of this application, the transmission assembly includes: a first joint bearing, a push rod, and a first hinge structure;

[0014] The push rod has a first end that is the input end, located on the side of the support base away from the output connector, and connected to the second end of the flexible unit; its second end extends from the side of the support base away from the output connector along the first direction, passes through the support base, extends to the side of the support base near the output connector, and is connected to the first end of the first hinge structure through the first joint bearing.

[0015] The second end of the first hinge structure is the output end, which is connected to the output connector.

[0016] In some embodiments of this application, when the number of flexible units is at least three, and the attitude adjustment module has an input terminal and an output terminal; the attitude adjustment module further includes: a connecting fixing component;

[0017] The connecting and fixing assembly includes a fixed rod and a swing rod; the fixed rod has a first end connected to the support base and a second end that is a free end; the swing rod has a first end that is rotatably connected to the side of the fixed rod and a second end that is fixedly connected to the first joint bearing.

[0018] Alternatively, the connection fixing assembly includes a fixing rod and a second hinge structure; the fixing rod has a first end connected to the support base and a second end connected to the first end of the second hinge structure; the second end of the second hinge structure is connected to the output connector.

[0019] Alternatively, the connecting and fixing assembly includes a fixed rod, a second hinge structure, and a swing arm; the fixed rod has a first end connected to the support base and a second end connected to the first end of the second hinge structure; the second end of the second hinge structure is connected to the output connector; the swing arm has a first end rotatably connected to the side of the fixed rod and a second end fixedly connected to the first joint bearing.

[0020] In some embodiments of this application, the connecting and fixing assembly includes: a fixing rod, a swing rod, and a second hinge structure;

[0021] The fixing rod has a first fixed end that is connected to the support base, and a second end that is connected to the first end of the second hinge structure.

[0022] The second end of the second hinge structure is the second fixed end, which is connected to the output connector;

[0023] The swing arm has a first end that is rotatably connected to the side of the fixed rod, and a second end that is fixedly connected to the first joint bearing.

[0024] In some embodiments of this application, when the number of flexible units is at least three, and the attitude adjustment module has an input end and an output end; the attitude adjustment module further includes a connection fixing component;

[0025] The transmission assembly includes: a second joint bearing, a third joint bearing, a push rod, and a first hinge structure;

[0026] The push rod has a first end that is the input end, located on the side of the support base away from the output connector, and connected to the second end of the flexible unit; its second end extends from the side of the support base away from the output connector along the first direction, passes through the support base, extends to the side of the support base near the output connector, and is connected to the third joint bearing through the second joint bearing.

[0027] The third joint bearing is connected to the first end of the first hinge structure;

[0028] The second end of the first hinge structure is the output end, which is connected to the output connector;

[0029] The connection and fixing assembly includes: a fixing rod, a swing rod, and a second hinge structure;

[0030] The fixing rod has a first end connected to the support base and a second end connected to the first end of the second hinge structure.

[0031] The second end of the second hinge structure is connected to the output connector;

[0032] The swing arm has its first end rotatably connected to the side of the fixed rod, and its second end fixedly connected to the second joint bearing and the third joint bearing.

[0033] In some embodiments of this application, when the connecting and fixing assembly includes a swing arm, the flexible robotic arm segment with omnidirectional joints further includes: an angle sensor;

[0034] The angle sensor is positioned between the fixed rod and the swing arm to acquire the swing angle data of the swing arm.

[0035] An embodiment of the second aspect of this application provides a robot including a flexible robotic arm segment with omnidirectional joints, as described in any embodiment of the first aspect.

[0036] Beneficial effects of the embodiments of the present invention:

[0037] The flexible robotic arm segment with omnidirectional joints according to embodiments of this application includes a flexible drive module, an attitude adjustment module, and an output connector arranged sequentially in a first direction. The flexible drive module includes a support and fixing component and flexible units. Each flexible unit has a first end fixedly connected to a support base of the support and fixing component, and a second end movable along the first direction. When the number of flexible units is at least three, and the attitude adjustment module has input and output ends, the number of input and output ends is the same as the number of flexible units. All input ends are connected one-to-one to the second ends of all flexible units, and all output ends are connected to the output connector. Alternatively, when the number of flexible units is two, and the attitude adjustment module has two input ends, two output ends, a first fixed end, and a second fixed end, the two input ends are connected one-to-one to the second ends of the two flexible units, the first fixed end is connected to the support base, and the second fixed end and both output ends are connected to the output connector. All flexible units are arranged sequentially at intervals in the first direction, and the interval between two adjacent flexible units provides movement space for the second end of the flexible unit. The second end of the flexible unit can move along the first direction to drive the attitude adjustment module to move. The attitude adjustment module has at least three points of connection with the output connector to determine the attitude of the output connector. By controlling the movement distance of different flexible units in the first direction, the attitude adjustment of the output connector is realized so that the output connector can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module and the attitude adjustment module.

[0038] Compared to related technologies where multiple flexible units are arranged in a ring along the cross-section (radial) of the flexible arm segment, the flexible robotic arm segment with omnidirectional joints in this application embodiment, while achieving all the functions of existing flexible arm segments, has all flexible units located on the side of the support base away from the output connector, and arranged sequentially at intervals along the first direction (axial direction of the flexible robotic arm segment). That is, all flexible units are arranged linearly in the first direction, resulting in only one flexible unit being arranged along the cross-section of the flexible robotic arm segment. With the diameter of the flexible robotic arm segment remaining constant, the fewer flexible units arranged along the cross-section of the flexible robotic arm segment, the larger the diameter of a single flexible unit can be. In this embodiment, only one flexible unit is arranged in the cross-sectional direction of the flexible robotic arm segment, maximizing the space occupied by a single flexible unit in the cross-sectional direction of the flexible robotic arm segment. This increases the diameter of the single flexible unit, thereby increasing the output torque of the single flexible unit compared to the output torque of a single flexible unit in related technologies. Consequently, the overall output torque of the flexible robotic arm segment is also increased compared to the overall output torque of the flexible robotic arm segment in related technologies. As a result, the flexible robotic arm including the flexible robotic arm segment has an overall output torque that is also increased compared to the overall output torque of the flexible robotic arm in related technologies. This makes it suitable for application scenarios with larger output torques, thus expanding the application scenarios of the flexible robotic arm.

[0039] The robot in this application includes a flexible robotic arm segment with omnidirectional joints according to any embodiment of the first aspect. The overall output torque of the flexible robotic arm segment is increased. The robot including the flexible robotic arm segment of this application has a correspondingly increased overall output torque of its flexible robotic arm, which can be applied to application scenarios with larger output torque, thus increasing the application scenarios of the robot.

[0040] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0042] Figure 1 This is a structural schematic diagram of a flexible robotic arm segment from a first-view perspective according to a first embodiment of this application.

[0043] Figure 2 for Figure 1 A schematic diagram of the decomposed structure;

[0044] Figure 3 This is a schematic diagram of the structure of the flexible unit in the first embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the flexible sidewall structure in the first embodiment of this application;

[0046] Figure 5 for Figure 3 A schematic diagram of the decomposed structure;

[0047] Figure 6 for Figure 3 A schematic diagram of the decomposed structure from another perspective;

[0048] Figure 7 This is a schematic diagram of the flexible unit from a second perspective of the first embodiment of this application;

[0049] Figure 8 for Figure 1 A schematic diagram of the decomposed structure from another perspective;

[0050] Figure 9 This is an exploded structural diagram of the transmission component in the first embodiment of this application;

[0051] Figure 10 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the second embodiment of this application;

[0052] Figure 11 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective according to the second embodiment of this application;

[0053] Figure 12 for Figure 11 A schematic diagram of the decomposed structure;

[0054] Figure 13 for Figure 11 A schematic diagram of the decomposed structure from another perspective;

[0055] Figure 14 This is a partially exploded structural diagram of the attitude adjustment module in the second embodiment of this application;

[0056] Figure 15 for Figure 14 A first-person perspective exploded view of the connection and fixing components in the diagram;

[0057] Figure 16 for Figure 14 A second-view exploded structural diagram of the connecting and fixing components in the diagram;

[0058] Figure 17 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the third embodiment of this application;

[0059] Figure 18 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective according to the third embodiment of this application;

[0060] Figure 19 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the fourth embodiment of this application;

[0061] Figure 20 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective according to the fourth embodiment of this application;

[0062] Figure 21 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the fifth embodiment of this application;

[0063] Figure 22 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective according to the fifth embodiment of this application;

[0064] Figure 23 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the sixth embodiment of this application;

[0065] Figure 24 for Figure 23 A structural schematic diagram of the shell from a first-person perspective is omitted.

[0066] Figure 25 for Figure 23 Structural schematic diagram of the shell from a second-view perspective is omitted;

[0067] Figure 26 for Figure 24 A schematic diagram of the decomposed structure;

[0068] Figure 27 for Figure 24 A schematic diagram of the decomposed structure from another perspective;

[0069] Figure 28 This is a partially exploded structural diagram of the attitude adjustment component in the sixth embodiment of this application.

[0070] Explanation of reference numerals in the attached figures:

[0071] Flexible drive module 100; support and fixing assembly 110; support base 111; guide shaft 112; housing 113; flexible unit 120; end plate 1201; telescopic component 1202; push plate 1203; through hole structure 12031; linear bearing 1204; snap ring 1205; air nozzle 1206; first connecting hole 1207; flexible sidewall 121; end face 122; stacked layer 1211; folded surface 1211a; crease 1211b; crease surface S; attitude adjustment module 200; input end A1; output end A2; first fixed end B1; second fixed end B2; transmission assembly 210; first joint bearing 211; extension 2111; push rod 212; connecting ring 2122; first hinge structure 213; first fixing component 2134; second connecting hole 2135; sixth connecting hole 2136. Hinge connecting rod 214; seventh connecting hole 2141; connecting seat 215; fifth connecting hole 2151; fourth joint bearing 216; second joint bearing 217; third joint bearing 218; connecting and fixing assembly 220; fixing rod 221; connecting shaft 2211; eighth connecting hole 22111; third connecting hole 2212; fourth connecting hole 2213; rocker arm 222; first mounting hole 2221; second mounting hole 2222; second connecting part 2223; first connecting part 2224; second hinge structure 223; second fixing member 2234; connecting bearing 224; cover plate 225; first limiting member 226; second limiting member 227; fastener 228; output connecting member 300; output end face 310; angle sensor 400; third mounting hole 410; screw 500; central axis L'. Detailed Implementation

[0072] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of the present invention.

[0073] With the rapid development of the robotics industry, robotic arms have evolved from traditional rigid robotic arms to flexible robotic arms. Flexible robotic arms typically have flexible arm segments, which contain flexible units. These flexible units enable flexible connections between rigid components, giving the flexible robotic arm a certain degree of cushioning performance. Compared to rigid robotic arms, flexible robotic arms have a lower probability of causing mechanical damage or injury to surrounding organisms or objects, and are safer, and have been widely used in many fields.

[0074] In related technologies, flexible robotic arms typically have multiple flexible units arranged in a ring along the cross-sectional direction of the flexible arm segment. Since the output torque of each flexible unit is positively correlated with its diameter, and the diameter of each ring-shaped flexible unit is relatively small, the output torque of the flexible arm segment is correspondingly small, resulting in a low overall output torque for the flexible robotic arm. Therefore, existing flexible robotic arms can only be applied to scenarios with relatively small output torques and cannot be used in applications with larger output torques, severely limiting their application scenarios and hindering their use in automated production. To address the above technical problems, this application proposes a flexible robotic arm segment with an omnidirectional joint and a robot.

[0075] like Figures 1 to 28 As shown, an embodiment of the first aspect of this application proposes a flexible robotic arm segment with an omnidirectional joint. The flexible robotic arm segment includes a flexible drive module 100, an attitude adjustment module 200, and an output connector 300 arranged sequentially in a first direction. Specifically, the flexible drive module 100 includes a support and fixing component 110 and at least two flexible units 120. The support and fixing component 110 includes a support base 111. All flexible units 120 are located on the side of the support base 111 away from the output connector 300 and are arranged at intervals in the first direction. Each flexible unit 120 has its first end fixedly connected to the support base 111 and its second end movable along the first direction.

[0076] refer to Figure 1 , Figure 1 This is a structural schematic diagram of the flexible robotic arm segment from a first perspective according to the first embodiment of this application. When the number of flexible units 120 is at least three and the attitude adjustment module 200 has an input end A1 and an output end A2, the number of input ends A1 and output ends A2 is the same as the number of flexible units 120. All input ends A1 are connected to the second ends of all flexible units 120 in a one-to-one correspondence. All output ends A2 are connected to the output connector 300 respectively, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0077] refer to Figure 21 , Figure 21This is a structural schematic diagram of the flexible robotic arm segment from a first perspective according to the fifth embodiment of this application. When there are two flexible units 120, and the attitude adjustment module 200 has two input ends A1, two output ends A2, a first fixed end B1 and a second fixed end B2, the two input ends A1 are connected to the second ends of the two flexible units 120 in a one-to-one correspondence. The first fixed end B1 is connected to the support base 111. The second fixed end B2 and the two output ends A2 are both connected to the output connector 300, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0078] It should be noted that the first direction refers to the axial direction of the flexible robotic arm segment. Omnidirectional rotation refers to the ability of an object to deflect and move in different directions; the omnidirectional rotation of the output connector 300 mentioned here refers to the movement of the output end face 310 (the face away from the flexible unit 120) of the output connector 300 in any direction in its circumferential direction during the movement of the flexible robotic arm segment. The angle of deflection and the axial and radial displacement of the movement are coupled, and the output connector 300 does not have completely free omnidirectional rotation. When the output connector 300 deflects, its rotation center axis is perpendicular to the length direction of the arm segment, not parallel to it. For example, when the output connector 300 deflects, there is an angle between the output end face 310 and the first direction, such as... Figure 1 As shown in the diagram, the included angle α is the angle between the dashed line L and the first direction. The dashed line L is the line connecting the highest and lowest points of the output end face 310. The size of the included angle α can change during the movement. Optionally, the size of the included angle α can be 30° to 150°. In this case, the dashed line L is perpendicular to the rotation center axis of the deflection.

[0079] The flexible robotic arm segment with omnidirectional joints in this application embodiment includes a flexible drive module 100, an attitude adjustment module 200 and an output connector 300 arranged sequentially in a first direction. The flexible drive module 100 includes a support and fixing component 110 and a flexible unit 120. Each flexible unit 120 has its first end fixedly connected to the support seat 111 of the support and fixing component 110, and its second end is movable along the first direction. When the number of flexible units 120 is at least three, and the attitude adjustment module 200 has an input terminal A1 and an output terminal A2, the number of input terminals A1 and output terminals A2 is the same as the number of flexible units 120. All input terminals A1 are connected to the second terminals of all flexible units 120 in a one-to-one correspondence, and all output terminals A2 are connected to the output connectors 300 respectively. Alternatively, when the number of flexible units 120 is two, and the attitude adjustment module 200 has two input terminals A1, two output terminals A2, a first fixed terminal B1 and a second fixed terminal B2, the two input terminals A1 are connected to the second terminals of the two flexible units 120 in a one-to-one correspondence, the first fixed terminal B1 is connected to the support base 111, and the second fixed terminal B2 and the two output terminals A2 are both connected to the output connectors 300. All flexible units 120 are arranged sequentially at intervals in the first direction, and the interval between two adjacent flexible units 120 provides movement space for the second end of the flexible unit 120. The second end of the flexible unit 120 can move along the first direction to drive the attitude adjustment module 200 to move. The attitude adjustment module 200 has at least three points of connection with the output connector 300 to determine the attitude of the output connector 300. By controlling the movement distance of different flexible units 120 in the first direction, the attitude adjustment of the output connector 300 is realized so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0080] Compared to related technologies where multiple flexible units 120 are arranged in a ring along the cross-section (radial) direction of the flexible arm segment, the flexible robotic arm segment with omnidirectional joints in this embodiment, while achieving all the functions of existing flexible arm segments, has all flexible units 120 located on the side of the support base 111 away from the output connector 300, and arranged sequentially at intervals in the first direction. That is, all flexible units 120 are arranged linearly in the first direction, so that only one flexible unit 120 is arranged in the cross-sectional direction of the flexible robotic arm segment. With the diameter of the flexible robotic arm segment remaining constant, the fewer flexible units 120 arranged in the cross-sectional direction of the flexible robotic arm segment, the larger the diameter of a single flexible unit 120 can be. In this embodiment, only one flexible unit 120 is arranged in the cross-sectional direction of the flexible robotic arm segment, so that the space occupied by a single flexible unit 120 in the cross-sectional direction of the flexible robotic arm segment is maximized, that is, the diameter of a single flexible unit 120 is increased. As a result, the output torque of a single flexible unit 120 is increased compared with the output torque of a single flexible unit in the related technology. Consequently, the overall output torque of the flexible robotic arm segment is also increased compared with the overall output torque of the flexible robotic arm segment in the related technology. The flexible robotic arm including the flexible robotic arm segment has an overall output torque that is also increased compared with the overall output torque of the flexible robotic arm in the related technology, which can be applied to application scenarios with larger output torque, thus increasing the application scenarios of the flexible robotic arm.

[0081] The diameter of the flexible unit 120 in this embodiment is about three times that of the flexible unit in the related art, so that the output torque of the flexible robotic arm segment in this embodiment is more than three times that of the flexible arm segment in the related art.

[0082] The structures of the flexible robotic arm segments in different embodiments of this application will be described below.

[0083] In the first embodiment of this application, as Figure 1 and Figure 2 As shown, Figure 1 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the first embodiment of this application. Figure 2 for Figure 1The exploded structural diagram shows that the flexible robotic arm segment with omnidirectional joints includes a flexible drive module 100, an attitude adjustment module 200, and an output connector 300 arranged sequentially in a first direction. The flexible drive module 100 includes a support and fixing assembly 110 and at least two flexible units 120. The support and fixing assembly 110 includes a support base 111. All flexible units 120 are located on the side of the support base 111 away from the output connector 300 and are arranged at intervals in the first direction. Each flexible unit 120 has its first end connected to the support base. 111 is fixedly connected, and its second end can move along the first direction; the attitude adjustment module 200 has an input end A1 and an output end A2. The number of input ends A1 and output ends A2 is the same as the number of flexible units 120, which is three. All input ends A1 are connected to the second ends of all flexible units 120 in a one-to-one correspondence. All output ends A2 are connected to the output connector 300 respectively, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0084] In the first embodiment of this application, as Figure 1 and Figure 2 As shown, the support and fixing assembly 110 includes a plurality of spaced guide shafts 112; one end of each guide shaft 112 is fixed to the support base 111, and the other end extends from the support base 111 in a first direction away from the output connector 300; each flexible unit 120 has its first end fixedly connected to the guide shaft 112, and its second end slidably connected to the guide shaft 112. The first end of the flexible unit 120 is fixedly connected to the support base 111 through the guide shaft 112, and the second end of the flexible unit 120 slides along the guide shaft 112. The guide shaft 112 guides the movement of the second end of the flexible unit 120 in the first direction, thereby ensuring transmission accuracy.

[0085] In the first embodiment of this application, there are three guide shafts 112, which are evenly distributed on the support base 111, thereby providing a better guiding effect. In other embodiments of this application, the number of guide shafts 112 may be two or more than three, and this application does not limit this.

[0086] Optionally, the support base 111 can be in the shape of a circular plate, and the three guide shafts 112 can be evenly distributed on the support base 111, that is, evenly distributed with the center of the circular plate-shaped support base 111 as the center, so that the first end and the second end of the flexible unit 120 are connected to the guide shafts 112 at three points, and the connection points are distributed in a triangle, which makes the force on the flexible unit 120 more uniform. Compared with the scheme of two guide shafts 112, the setting of three guide shafts 112 can prevent the flexible unit 120 from flipping in the cross-sectional direction of the flexible robotic arm segment, and the stability is high. Moreover, compared with the scheme of more guide shafts 112, the structure of three guide shafts 112 is simpler and saves more space.

[0087] In the first embodiment of this application, as Figures 3 to 6 As shown, Figure 3 This is a schematic diagram of the structure of the flexible unit 120 in the first embodiment of this application. Figure 4 This is a schematic diagram of the flexible sidewall 121 in the first embodiment of this application. Figure 5 for Figure 3 A schematic diagram of the decomposed structure. Figure 6 for Figure 3 Another perspective of the exploded structural diagram shows that the strain-uniformly distributed stacked structure in this embodiment refers to a structure in which strain is uniformly distributed on the flexible sidewalls 121 in a stacked structure. The flexible unit 120 is a stacked structure fluid actuator, including a cylindrical and stacked flexible sidewall 121 and two end faces 122. The flexible sidewalls 121 and the two end faces 122 together enclose a cylindrical cavity with a central axis L'. The central axis L' can be parallel to a first direction. The strain is uniformly distributed on the strain-uniformly distributed stacked structure that can expand and contract along the direction of the central axis L'. Changing the pressure difference between the inside and outside of the cylindrical cavity can drive the strain-uniformly distributed stacked structure to fold or expand, while making the two end faces 122 relative to each other. The strain-uniformly distributed stacked structure is formed by stacking two or more strain-uniformly distributed stacked layers 1211 along the central axis L', so that the strain of the entire flexible sidewall 121 is uniformly distributed in each strain-uniformly distributed stacked layer 1211. The strain-uniformly distributed stacked layer 1211 is enclosed by two folded surfaces 1211a. A crease 1211b is formed at the connection of two adjacent folded surfaces 1211a. The crease 1211b is located in the crease surface S perpendicular to the central axis L'. In the initial state, the crease surface S is a plane. When the strain-uniformly distributed stacked structure is folded or extended, the crease surface S moves closer or further away from each other along the central axis L' without deformation, and without relative torsion or relative deflection.

[0088] The strain-uniformly distributed stacked structure in the first embodiment of this application is formed by stacking four strain-uniformly distributed stacked layers 1211 along the central axis L', so that the outer surface of the flexible sidewall 121 is wavy.

[0089] By changing the pressure difference between the inside and outside of the cylindrical cavity, the strain-distributed stacked structure can be driven to fold or extend. At the same time, the two end faces 122 can move relative to each other. The movable end face 122 can be connected to the input end A1 of the attitude adjustment module 200, thereby changing the distance between the movable end face 122 of the flexible unit 120 and the support seat 111, so as to drive the attitude adjustment module 200 to move. During the extension and retraction of the flexible sidewall 121 along the central axis L', the strain of the strain unit is evenly distributed on the folded surface 1211a and not concentrated at the crease 1211b, so that the force on each strain-distributed stacked layer 1211 is more uniform, and the output torque of the flexible unit 120 is more stable, which is conducive to the flexible robotic arm segment providing a more uniform force.

[0090] It should be noted that an actuator refers to a driving device that can convert some form of energy into mechanical energy. Driving devices can typically be driven by pneumatic or electric means; the flexible robotic arm segment in the first embodiment of this application uses pneumatic driving, while hydraulic driving can also be used in some other embodiments of this application, and this application does not limit this. Compared to electric motor driving, pneumatic driving is lighter, has a larger output torque, and avoids the electrical damage and injury caused by electric driving; compared to robotic arms where the motor needs to be integrated into the segment, the air source for the flexible robotic arm segment in this embodiment does not need to be integrated into the segment, which helps to reduce the weight of the flexible robotic arm segment, resulting in a lower load-to-weight ratio and lower energy efficiency ratio.

[0091] Optionally, such as Figures 1 to 6 As shown, the flexible unit 120 may include an end plate 1201, a telescopic member 1202, and a push plate 1203 arranged sequentially in a first direction. The telescopic member 1202 is cylindrical, and the end plate 1201, the telescopic member 1202, and the push plate 1203 together enclose an air outlet cavity. The end plate 1201 is located on the side of the telescopic member 1202 away from the support base 111, and is the first end of the flexible unit 120. Its edge is fixedly connected to the guide shaft 112, and the two can be fixedly connected by screws. The end plate 1201 has one of the aforementioned end faces 122. The end plate 1201 is provided with a surface for air exchange. The air inlet is connected to the cavity. An air nozzle 1206 is provided on the side of the end plate 1201 away from the telescopic member 1202. The air nozzle 1206 is connected to the air cavity through the air inlet. The air nozzle 1206 is used to connect the air pipe of the external air supply device to the air cavity of the flexible unit 120. The push plate 1203 is the second end of the flexible unit 120. Its edge position is slidably connected to the guide shaft 112. The push plate 1203 has one of the aforementioned end faces 122. The two ends of the telescopic member 1202 are fixedly connected to the end plate 1201 and the push plate 1203 respectively. The telescopic member 1202 includes the aforementioned flexible sidewall 121.

[0092] By changing the amount of gas in the air chamber, the telescopic member 1202 can be extended or shortened along the first direction, thereby changing the distance between the end plate 1201 and the push plate 1203; the input end A1 of the attitude adjustment module 200 is connected to the push plate 1203, thereby realizing the driving of the attitude adjustment module 200 by the flexible unit 120.

[0093] Optionally, the telescopic component 1202 can be a pneumatic muscle or an airbag, etc.

[0094] Furthermore, such as Figure 5 and Figure 6 As shown, both the end plate 1201 and the push plate 1203 can be provided with a first connecting hole 1207, and the guide shaft 112 passes through the first connecting hole 1207. A linear bearing 1204 can be installed in the first connecting hole 1207 of the push plate 1203. The linear bearing 1204 is fixed to the push plate 1203 by a snap ring 1205. The guide shaft 112 passes through the linear bearing 1204. The linear bearing 1204 has the advantages of reducing friction and good stability, which can make the sliding between the push plate 1203 and the guide shaft 112 smoother.

[0095] In the first embodiment of this application, as Figure 7 and Figure 8 As shown, Figure 7 This is a schematic diagram of the flexible unit 120 from a second perspective according to the first embodiment of this application. Figure 8 for Figure 1 Another perspective of the exploded structure diagram shows that when the number of flexible units 120 is at least three and the attitude adjustment module 200 has an input terminal A1 and an output terminal A2, the attitude adjustment module 200 includes a transmission component 210. The number of transmission components 210 and flexible units 120 is the same, and each transmission component 210 has an input terminal A1 and an output terminal A2. One flexible unit 120 is connected to the input terminal A1 of one transmission component 210, and the output terminal A2 of the transmission component 210 is connected to the output connector 300, so that the flexible unit 120 can adjust the attitude of the output connector 300 through the transmission component 210. The one-to-one correspondence between the transmission component 210 and the flexible unit 120 allows multiple connection points on the output connector 300 to be controlled individually, which facilitates attitude adjustment.

[0096] In the first embodiment of this application, as Figures 7 to 9 As shown, Figure 9This is an exploded structural diagram of the transmission assembly 210 in the first embodiment of this application. The transmission assembly 210 includes a first joint bearing 211, a push rod 212, and a first hinge structure 213. The push rod 212 has a first end, which is an input end A1, located on the side of the support base 111 away from the output connector 300, and is connected to the second end of the flexible unit 120. Its second end extends from the side of the support base 111 away from the output connector 300 along a first direction, passes through the support base 111, and extends to the side of the support base 111 near the output connector 300. It is then connected to the first end of the first hinge structure 213 via the first joint bearing 211. The second end of the first hinge structure 213 is an output end A2, which is connected to the output connector 300. The first joint bearing 211 increases the flexibility of the transmission and helps reduce wear between parts. The first hinge structure 213 has a high degree of freedom, which allows the output connector 300 to have a larger range of motion, facilitating omnidirectional movement of the output connector 300.

[0097] Optionally, the second end of the push rod 212 can pass through the support base 111, so that the first joint bearing 211 is located between the support base 111 and the output connector 300. The push rod 212 is parallel to and spaced apart from the guide shaft 112. With this arrangement, the push plate 1203 is not located on the outside of the support base 111, and the circumferential dimension of the support base 111 is not restricted. The support base 111 can be made larger to provide better support and improve installation stability.

[0098] Optionally, the first joint bearing 211 can be a ball bearing, preferably a fisheye bearing. The fisheye bearing can rotate in all directions, that is, it can rotate freely in three dimensions. In the embodiments of this application, the fisheye bearing mainly provides unidirectional rotation and small swing freedom of the rotation axis in other directions.

[0099] like Figure 8 and Figure 9 As shown, the second end of the push rod 212 may be provided with a connecting ring 2122, and the side of the first joint bearing 211 may extend outward to form an extension 2111, which is inserted into the connecting ring 2122, and the two are fixedly connected. The first end of the push rod 212 may be directly connected to the second end of the flexible unit 120, or it may be connected to the second end of the flexible unit 120 through a fourth joint bearing 216. The fourth joint bearing 216 may be a ball bearing, which has a spherical sliding connection to reduce friction. The push plate 1203 may be provided with a through hole structure 12031, and the first end of the push rod 212 or the fourth joint bearing 216 may be inserted into the through hole structure 12031.

[0100] Optionally, the first hinge structure 213 can be a Hooke's hinge or a ball joint. For example... Figure 8 and Figure 9As shown, the first end of the first hinge structure 213 is connected to the hinge connecting rod 214 via the first fixing member 2134 (pin), and the hinge connecting rod 214 is connected to the first joint bearing 211; the second end of the first hinge structure 213 is connected to the connecting seat 215 via the first fixing member 2134, and the connecting seat 215 is fixedly connected to the output connecting member 300 via screws 500, and the first fixing member 2134 plays the role of axial fixation.

[0101] Specifically, the connecting seat 215 may be provided with a fifth connecting hole 2151, the second end of the first hinge structure 213 may be provided with a sixth connecting hole 2136, the first fixing member 2134 is arranged around the second end of the first hinge structure 213 and passes through the fifth connecting hole 2151 and the sixth connecting hole 2136; the hinge connecting rod 214 may be provided with a seventh connecting hole 2141, the first end of the first hinge structure 213 may be provided with a second connecting hole 2135, the first fixing member 2134 is arranged around the first end of the first hinge structure 213 and passes through the second connecting hole 2135 and the seventh connecting hole 2141.

[0102] Optionally, the first fastener 2134 can be formed by injection molding.

[0103] In other embodiments of this application, the number of flexible units 120 and transmission components 210 may also be greater than three. For example, when the number is four, the four connection points on the output connector 300 can be arranged in a rectangular pattern; when the number is five, the five connection points on the output connector 300 can be arranged in a regular pentagonal pattern. Each flexible unit 120 can adjust the posture of the output connector 300. The increase in the number of flexible units 120 makes the control of the output connector 300 by the flexible drive module 100 more precise.

[0104] The motion process of the flexible robotic arm segment in the first embodiment of this application is as follows:

[0105] 1. Air is injected into the air chamber of the flexible unit 120 through the air nozzle 1206, and the telescopic member 1202 extends along the first direction, pushing the push plate 1203 to move along the first direction toward the output connector 300;

[0106] 2. The push plate 1203 drives the transmission assembly 210 to move; the push plate 1203 drives the fourth joint bearing 216 to move, the fourth joint bearing 216 drives the push rod 212 to move, and the push rod 212 pushes the first joint bearing 211.

[0107] 3. The first joint bearing 211 pushes the first hinge structure 213 through the hinge connecting rod 214;

[0108] 4. The first hinge structure 213 drives the output connector 300 to move.

[0109] In the above-described motion process, the flexible robotic arm segment of the first embodiment of this application can control the angle of the output end face 310 of the output connector 300 through the mutual cooperation of three flexible units 120 and three transmission components 210. While realizing all the functions of the existing flexible arm segment, the overall output torque of the flexible robotic arm segment is increased compared with the overall output torque of the flexible arm segment in the related technology. As a result, the overall output torque of the flexible robotic arm including the flexible robotic arm segment is also increased compared with the overall output torque of the flexible robotic arm in the related technology.

[0110] like Figures 10 to 13 As shown, Figure 10 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the second embodiment of this application. Figure 11 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective according to the second embodiment of this application. Figure 12 for Figure 11 A schematic diagram of the decomposed structure. Figure 13 for Figure 11 Another perspective of the exploded structure diagram. Compared with the first embodiment, the second embodiment adds a connecting and fixing component 220 to the flexible robotic arm segment, and an angle sensor 400 can also be added on this basis.

[0111] In the second embodiment of this application, such as Figures 10 to 13 As shown, when the number of flexible units 120 is at least three, and the attitude adjustment module 200 has an input end A1 and an output end A2; the attitude adjustment module 200 also includes a connecting and fixing assembly 220; the connecting and fixing assembly 220 includes a fixing rod 221, a second hinge structure 223 and a swing rod 222; the fixing rod 221 has a first end connected to the support base 111 and a second end connected to the first end of the second hinge structure 223; the second end of the second hinge structure 223 is connected to the output connector 300; the swing rod 222 has a first end rotatably connected to the side of the fixing rod 221 and a second end fixedly connected to the first joint bearing 211. The connecting and fixing assembly 220 provides support, improving the rotational accuracy and torque of the output connector 300. The fixing rod 221 and the rocker arm 222 provide support for the transmission assembly 210, further enhancing the accuracy and torque of the end-effector rotation. The second hinge structure 223 acts as a fulcrum, ensuring that the force on the output connector 300 is the resultant force of the three fulcrums of the transmission assemblies 210. The second hinge structure 223 further improves the accuracy and torque of the end-effector rotation. The transmission assembly 210 is a crank-rocker mechanism. By adjusting the relative lengths of the push rod 212 and the rocker arm 222, the angle at the end of the output connector 300 can be enlarged or reduced, making the adjustment simple.

[0112] Optionally, the second hinge structure 223 and the first hinge structure 213 can have the same structure.

[0113] The structures of the support fixing component 110, flexible unit 120, transmission component 210, and output connector 300 in the second embodiment of this application and the first embodiment of this application are the same.

[0114] like Figures 13 to 16 As shown, Figure 14 This is a partially exploded structural diagram of the attitude adjustment module 200 in the second embodiment of this application. Figure 15 for Figure 14 An exploded view of the first-person perspective of the connecting and fixing component 220. Figure 16 for Figure 14 The exploded structural diagram of the connecting and fixing component 220 from a second perspective shows that the first end of the fixing rod 221 can be connected to the support base 111 by screw 500, and the second end of the fixing rod 221 is provided with a third connecting hole 2212. The first end of the second hinge structure 223 is connected to the fixing rod 221 through the second fixing member 2234 and the third connecting hole 2212. The second fixing member 2234 is arranged around the first end of the second hinge structure 223 and passes through the third connecting hole 2212.

[0115] The second end of the swing arm 222 can extend toward the fixed rod 221 to form a first connecting part 2224. The first connecting part 2224 can be provided with a first mounting hole 2221. The first connecting part 2224 passes through the connecting ring 2122. The extension 2111 of the first joint bearing 211 is inserted into the first mounting hole 2221 to realize the connection between the swing arm 222 and the transmission assembly 210. The first end of the swing arm 222 is provided with a second mounting hole 2222. The side of the fixed rod 221 can extend outward to form a connecting shaft 2211. The connecting shaft 2211 passes through the second mounting hole 2222 and the two are rotatably connected. A connecting bearing 224 can also be provided in the second mounting hole 2222. The connecting shaft 2211 passes through the inner ring of the connecting bearing 224 and is connected to the swing arm 222 through the connecting bearing 224, thereby reducing friction. The connecting bearing 224 can constrain the degree of freedom of the swing arm 222, so that it has only one swinging degree of freedom, thereby improving the transmission accuracy. An eighth connecting hole 22111 can be provided on the connecting shaft 22111, and a screw 500 can be set in the eighth connecting hole 22111 to realize the connection between the connecting bearing 224 and the connecting shaft 2211. A cover plate 225 can be provided on the side of the first end of the rocker arm 222 away from the fixed rod 221. The cover plate 225 is fixedly connected to the rocker arm 222 by a screw 500. The screw 500 is lower than the surface of the cover plate 225 away from the fixed rod 221, and the embedded design is more aesthetically pleasing.

[0116] Furthermore, the connecting and fixing assembly 220 may also include a limiting structure, which includes a first limiting member 226 and a second limiting member 227. The first limiting member 226 is sleeved on the outside of the first end of the second hinge structure 223 and is connected to the fourth connecting hole 2213 on the fixing rod 221 via a fastener 228. The second limiting member 227 is sleeved on the outside of the second end of the second hinge structure 223. The limiting structure provides a hard limit to restrict the rotation angle of the second hinge structure 223 of the connecting and fixing assembly 220. For example, it can allow the second hinge structure 223 to rotate 45° in the circumferential direction. The hard limit angle can be adjusted by adjusting the size of the limiting structure, and the adjustment method is simple.

[0117] In the second embodiment of this application, such as Figures 14 to 16 As shown, when the connecting and fixing assembly 220 includes the swing arm 222, the flexible robotic arm segment with omnidirectional joint also includes an angle sensor 400; the angle sensor 400 is disposed between the fixing rod 221 and the swing arm 222 and is used to acquire the swing angle data of the swing arm 222. The first end of the swing arm 222 can extend towards the side near the fixed rod 221 to form a second connecting part 2223. The second mounting hole 2222 passes through the second connecting part 2223. The angle sensor 400 can be set between the fixed rod 221, the swing arm 222, and the connecting bearing 224. The angle sensor 400 can be provided with a third mounting hole 410. The connecting shaft 2211 and the second connecting part 2223 pass through the third mounting hole 410. The angle sensor 400 is fixedly connected to the swing arm 222 by screws 500. When the swing arm 222 swings, the angle sensor 400 reads the swing angle. The angle sensor 400 can transmit the data to the control center (not shown in the figure). The angle of the end (output end face 310) is confirmed by the feedback of the angle of the swing arm 222, thereby confirming the control of the point of omnidirectional rotation of the end, thereby realizing a more precise adjustment of the swing angle, and thus a more precise adjustment of the posture of the output connector 300.

[0118] Furthermore, the air nozzle 1206 can be connected to an external air supply device (not shown in the figure), which is connected to a control center. The control center adjusts the air supply based on the data from the angle sensor 400, thereby achieving angle adjustment of the output end face 310.

[0119] Alternatively, the angle sensor 400 can be an encoder.

[0120] The movement process of the flexible robotic arm segment in the second embodiment of this application is as follows:

[0121] 1. Air is injected into the air chamber of the flexible unit 120 through the air nozzle 1206, and the telescopic member 1202 extends along the first direction, pushing the push plate 1203 to move along the first direction toward the output connector 300;

[0122] 2. The push plate 1203 drives the transmission assembly 210 to move; the push plate 1203 drives the fourth joint bearing 216 to move, the fourth joint bearing 216 drives the push rod 212 to move, and the push rod 212 pushes the first joint bearing 211.

[0123] 3. The first joint bearing 211 pushes the first hinge structure 213 through the hinge connecting rod 214 and directly pushes the rocker arm 222;

[0124] 4. The swing arm 222 swings to drive the angle sensor 400 to rotate, and the angle sensor 400 records the position; the first hinge structure 213 drives the output connector 300 to move.

[0125] The second embodiment of this application adds a connecting and fixing component 220 and an angle sensor 400 to the flexible robotic arm segment of the first embodiment. The connecting and fixing component 220 provides support and can improve the rotation accuracy and torque of the output connector 300. The angle sensor 400 can read the swing angle of the swing arm 222 and confirm the end angle (output end face 310) through the feedback of the swing arm 222 angle, thereby realizing a more precise adjustment of the swing angle and thus a more precise adjustment of the posture of the output connector 300.

[0126] like Figure 17 and Figure 18 As shown, Figure 17 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the third embodiment of this application. Figure 18 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective of the third embodiment of this application. In the third embodiment, the second hinge structure 223 is omitted from the connecting and fixing component 220, compared to the flexible robotic arm segment of the second embodiment.

[0127] In the third embodiment of this application, such as Figure 17 and Figure 18 As shown, when the number of flexible units 120 is at least three, and the attitude adjustment module 200 has an input end A1 and an output end A2; the attitude adjustment module 200 also includes a connecting and fixing assembly 220; the connecting and fixing assembly 220 includes a fixed rod 221 and a swing rod 222; the fixed rod 221 has a first end connected to the support base 111 and a second end that is a free end; the swing rod 222 has a first end that is rotatably connected to the side of the fixed rod 221 and a second end that is fixedly connected to the first joint bearing 211. The effect of increasing the overall output torque of the flexible robotic arm can be achieved without setting the second hinge structure 223, and the structure is simpler.

[0128] The motion process of the flexible robotic arm segment in the third embodiment of this application is described with reference to the motion process of the flexible robotic arm segment in the second embodiment of this application.

[0129] The third embodiment of this application omits the second hinge structure 223 in the connecting and fixing assembly 220, which is based on the flexible robotic arm segment of the second embodiment of this application. While ensuring that the connecting and fixing assembly 220 can improve the rotation accuracy and torque of the output connector 300, the structure is simpler.

[0130] like Figure 19 and Figure 20 As shown, Figure 19 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the fourth embodiment of this application. Figure 20 This is a structural schematic diagram of the flexible robotic arm segment from a second perspective of the fourth embodiment of this application. In the fourth embodiment, the swing arm 222 is omitted from the connecting and fixing component 220, compared to the flexible robotic arm segment of the second embodiment.

[0131] In the fourth embodiment of this application, such as Figure 19 and Figure 20 As shown, when the number of flexible units 120 is at least three, and the attitude adjustment module 200 has an input end A1 and an output end A2, the attitude adjustment module 200 also includes a connecting and fixing component 220. The connecting and fixing component 220 includes a fixing rod 221 and a second hinge structure 223. The first end of the fixing rod 221 is connected to the support base 111, and the second end is connected to the first end of the second hinge structure 223. The second end of the second hinge structure 223 is connected to the output connector 300. The fixing rod 221 can provide support for the transmission component 210, which is beneficial to improving the accuracy and torque of the end-effector rotation. The second hinge structure 223 is a fulcrum, so that the force on the output connector 300 is the resultant force of the fulcrums of the three transmission components 210. The setting of the second hinge structure 223 can further improve the accuracy and torque of the end-effector rotation.

[0132] The motion process of the flexible robotic arm segment in the fourth embodiment of this application refers to the motion process of the flexible robotic arm segment in the first embodiment of this application.

[0133] The fourth embodiment of this application omits the swing arm 222 in the connecting and fixing assembly 220 from the flexible robotic arm segment of the second embodiment of this application. While ensuring that the connecting and fixing assembly 220 can improve the rotation accuracy and torque of the output connector 300, the structure is simpler.

[0134] like Figure 21 and Figure 22 As shown, Figure 21 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the fifth embodiment of this application. Figure 22This is a structural schematic diagram of the flexible robotic arm segment from a second perspective of the fifth embodiment of this application. In the fifth embodiment, compared with the flexible robotic arm segment of the second embodiment, the number of flexible units 120 and transmission components 210 is reduced from 3 to 2.

[0135] like Figure 21 and Figure 22 As shown, in the fifth embodiment of this application, the flexible robotic arm segment with omnidirectional joints includes a flexible drive module 100, an attitude adjustment module 200, and an output connector 300 arranged sequentially in a first direction; the flexible drive module 100 includes a support and fixing assembly 110 and at least two flexible units 120; the support and fixing assembly 110 includes a support base 111; all flexible units 120 are located on the side of the support base 111 away from the output connector 300, and are arranged at intervals in the first direction; each flexible unit 120 has its first end fixedly connected to the support base 111, and its second end fixedly connected to the support base 111. The end can move along the first direction; there are two flexible units 120, and the attitude adjustment module 200 has two input ends A1, two output ends A2, a first fixed end B1, and a second fixed end B2. The two input ends A1 are connected to the second ends of the two flexible units 120 in a one-to-one correspondence. The first fixed end B1 is connected to the support base 111. The second fixed end B2 and the two output ends A2 are all connected to the output connector 300, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200. The attitude adjustment module 200 and the output connector 300 have at least three connection points to determine the attitude of the output connector 300.

[0136] In the fifth embodiment of this application, as Figure 21 and Figure 22 As shown, when there are two flexible units 120, and the attitude adjustment module 200 has two input terminals A1, two output terminals A2, a first fixed terminal B1, and a second fixed terminal B2, the attitude adjustment module 200 includes two transmission components 210 and a connecting and fixing component 220. Each transmission component 210 has an input terminal A1 and an output terminal A2; the connecting and fixing component 220 has a first fixed terminal B1 and a second fixed terminal B2. The flexible unit 120 adjusts the attitude of the output connector 300 through the transmission components 210, and the connecting and fixing component 220 provides support and auxiliary adjustment, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0137] In the fifth embodiment of this application, as Figures 21 to 24As shown, the connecting and fixing assembly 220 includes a fixed rod 221, a swing rod 222, and a second hinge structure 223. The fixed rod 221 has a first fixed end B1 connected to the support base 111, and a second end connected to the first end of the second hinge structure 223. The second end of the second hinge structure 223 is a second fixed end B2 connected to the output connector 300. The swing rod 222 has a first end rotatably connected to the side of the fixed rod 221, and a second end fixedly connected to the first joint bearing 211. The fixed rod 221 and the swing rod 222 provide support for the transmission assembly 210, which helps improve the accuracy and torque of the end-effector rotation. The second hinge structure 223 is a fulcrum, so that the force on the output connector 300 is the resultant force of the three fulcrums of the transmission assembly 210. The second hinge structure 223 further improves the accuracy and torque of the end-effector rotation.

[0138] The motion process of the flexible robotic arm segment in the fifth embodiment of this application refers to the motion process of the flexible robotic arm segment in the second embodiment of this application.

[0139] The fifth embodiment of this application, based on the flexible robotic arm segment of the second embodiment of this application, reduces the number of flexible units 120 and transmission components 210 from 3 to 2. While achieving all the functions of the existing flexible arm segment and increasing the overall output torque of the flexible robotic arm including the flexible robotic arm segment compared to the overall output torque of the flexible robotic arm in the related art, the structure is simpler.

[0140] like Figures 23 to 27 As shown, Figure 23 This is a first-view structural schematic diagram of the flexible robotic arm segment according to the sixth embodiment of this application. Figure 24 for Figure 23 The structural schematic diagram of the shell 113 from a first-view perspective is omitted. Figure 25 for Figure 23 The structural schematic diagram of the shell 113 from a second perspective is omitted. Figure 26 for Figure 24 A schematic diagram of the decomposed structure. Figure 27 for Figure 24 Another perspective of the exploded structural diagram shows that, compared with the flexible robotic arm segment of the second embodiment, the sixth embodiment has different structures and corresponding connection relationships of the transmission component 210 and the swing arm 222. Specifically, the transmission component 210 adds a second joint bearing 217, which is connected to the third joint bearing 218 through the second end of the swing arm 222.

[0141] In the sixth embodiment of this application, as Figures 23 to 27As shown, the flexible robotic arm segment with omnidirectional joints includes a flexible drive module 100, an attitude adjustment module 200, and an output connector 300 arranged sequentially in a first direction. The flexible drive module 100 includes a support and fixing component 110 and at least two flexible units 120. The support and fixing component 110 includes a support base 111. All flexible units 120 are located on the side of the support base 111 away from the output connector 300 and are arranged sequentially at intervals in the first direction. Each flexible unit 120 has its first end fixedly connected to the support base 111 and its second end movable along the first direction. The attitude adjustment module 200 has an input end A1 and an output end A2. The number of input ends A1 and output ends A2 is the same as the number of flexible units 120, which is three. All input ends A1 are connected one-to-one with the second ends of all flexible units 120, and all output ends A2 are connected to the output connector 300, so that the output connector 300 can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module 100 and the attitude adjustment module 200.

[0142] In the sixth embodiment of this application, as Figure 27 and Figure 28 As shown, Figure 28 This is a partially exploded structural diagram of the attitude adjustment component in the sixth embodiment of this application. The number of flexible units 120 is at least three. When the attitude adjustment module 200 has an input end A1 and an output end A2, the attitude adjustment module 200 also includes a connecting and fixing component 220. The transmission component 210 includes a second joint bearing 217, a third joint bearing 218, a push rod 212, and a first hinge structure 213. The push rod 212 has its first end as the input end A1, located on the side of the support base 111 away from the output connector 300, and connected to the second end of the flexible unit 120. Its second end extends from the side of the support base 111 away from the output connector 300 along a first direction, passes through the support base 111, and extends to the side of the support base 111 near the output connector 300, and is connected to the third joint bearing 218 through the second joint bearing 217. The third joint bearing 218 is connected to the first end of the first hinge structure 213. The second end of the first hinge structure 213 is the output end A2, which is connected to the output connector 300.

[0143] The connecting and fixing assembly 220 includes a fixed rod 221, a swing rod 222, and a second hinge structure 223. The fixed rod 221 has its first end connected to the support base 111 and its second end connected to the first end of the second hinge structure 223. The second end of the second hinge structure 223 is connected to the output connector 300. The swing rod 222 has its first end rotatably connected to the side of the fixed rod 221 and its second end fixedly connected to the second joint bearing 217 and the third joint bearing 218. Based on the three output ends A2, the connecting and fixing assembly 220 is provided as an auxiliary component. The fixed rod 221 and the swing rod 222 can provide support for the transmission assembly 210, which helps improve the accuracy and torque of the end rotation. The second hinge structure 223 is a fulcrum, so that the force on the output connector 300 is the resultant force of the fulcrums of the three transmission assemblies 210. The setting of the second hinge structure 223 can further improve the accuracy and torque of the end rotation.

[0144] Optionally, the rocker arm 222 can be T-shaped, with its second end connected to the second joint bearing 217 and the third joint bearing 218 respectively, facilitating smooth operation and preventing jamming due to machining accuracy, structural rigidity, or other reasons. The connection method of the first end of the rocker arm 222 can refer to the connection method in the second embodiment of this application, and will not be repeated here. The structures of the second joint bearing 217 and the third joint bearing 218 can be the same as the structure of the first joint bearing 211.

[0145] In the sixth embodiment of this application, as Figures 23 to 27 As shown, the support and fixing assembly 110 also includes a housing 113, which is located on the side of the support base 111 away from the output connector 300. The housing 113 has a receiving space to accommodate the flexible unit 120 and the transmission assembly 210, and plays a protective role.

[0146] Optionally, the housing 113 can be a cylindrical body, and the support base 111 can serve as an end cap at one end of the housing 113. The end plate 1201 of the flexible unit 120, which is away from the output connector 300, can have a larger diameter than the end plates 1201 of the other flexible units 120, and can serve as an end cap at the other end of the housing 113. The two are fixedly connected.

[0147] It is understood that the flexible robotic arm segment in other embodiments of this application may also be provided with the housing 113 in the sixth embodiment of this application.

[0148] The motion process of the flexible robotic arm segment in the sixth embodiment of this application is as follows:

[0149] 1. Air is injected into the air chamber of the flexible unit 120 through the air nozzle 1206, and the telescopic member 1202 extends along the first direction, pushing the push plate 1203 to move along the first direction toward the output connector 300;

[0150] 2. The push plate 1203 drives the transmission assembly 210 to move; the push plate 1203 drives the fourth joint bearing 216 to move, the fourth joint bearing 216 drives the push rod 212 to move, and the push rod 212 pushes the second joint bearing 217.

[0151] 3. The second joint bearing 217 pushes the rocker arm 222 through the hinge connecting rod 214;

[0152] 4. The swing arm 222 drives the angle sensor 400 to rotate, and the angle sensor 400 records the position; the swing arm 222 pushes the third joint bearing 218;

[0153] 5. The third joint bearing 218 pushes the first hinge structure 213 to move the output connector 300.

[0154] The sixth embodiment of this application, based on the flexible robotic arm segment of the second embodiment, modifies the structure and corresponding connection relationship of the transmission component 210 and the swing arm 222. The transmission component 210 adds a second joint bearing 217, which is connected to a third joint bearing 218 via the second end of the swing arm 222. This achieves all the functions of the existing flexible arm segment and increases the overall output torque of the flexible robotic arm, including the flexible robotic arm segment, compared to the overall output torque of the flexible robotic arm in related technologies. Furthermore, the second end of the T-shaped swing arm 222 is connected to both the second joint bearing 217 and the third joint bearing 218, facilitating smooth operation and preventing jamming due to machining accuracy, structural rigidity, or other reasons.

[0155] The flexible robotic arm segment of this application embodiment adopts an axially superimposed positive and negative pressure artificial muscle drive group (flexible unit 120) and an end-effector omnidirectional motion conversion connection structure (posture adjustment module 200). Compared with a rigid robotic arm, it can reduce the damage caused by collisions between the flexible robotic arm and the outside world, and has better safety.

[0156] Compared to the output end face 310, which can only rotate in the planar axis or vertical axis, increasing the degree of freedom requires increasing the number of arm segments and corresponding rotational structures and deceleration mechanisms in the robotic arm, or utilizing the deformation generated by materials with special electromagnetic properties in electric or magnetic fields, using magnetostrictive materials, electropolymers require robotic arms with strong magnetic and electric fields. In the embodiment of this application, the flexible robotic arm segment has flexible units 120 distributed along the first direction in the housing 113 (robotic arm rod part), forming an axial layout, which effectively improves the space utilization rate inside the robotic arm, provides a larger output torque, and can also significantly reduce the cross-sectional size while ensuring the same output torque, making the structure more compact. In the axial direction, the omnidirectional movement of the output connector 300 is controlled by the movement of three flexible units 120 along the guide rod, making the omnidirectional movement more stable, free and higher, with a wider range, stronger environmental adaptability, and no need to use a deceleration mechanism, which is conducive to cost control.

[0157] Compared to using elastic elements (springs, rubber, etc.) to connect rigid components, which can provide small-sized passive redundancy in a specific positional direction and control low precision robotic arms, the flexible robotic arm segments in this embodiment are controlled by flexible units 120, and the volume change is linearly related to the displacement, resulting in high precision.

[0158] Compared to rope control, where each control unit requires an independent power source, the overall system's volume, weight, and power consumption increase with the load and operating distance, resulting in a difficult-to-arrange and costly robotic arm. In this embodiment, the flexible robotic arm does not require the power source to be integrated into the arm segment, making it lighter and easier to reduce the size of the arm segment, thus providing installation space for other components and facilitating layout.

[0159] The flexible robotic arm segment of this application embodiment can adjust the output torque by adjusting the diameter of the flexible unit 120, and the angle control of the output connector 300 can be achieved by adjusting the relative length of the push rod 212 and other structures in different transmission components 210. It does not require the addition of a power source and arm segment, and has the advantages of high energy conversion efficiency, large output torque, accurate angle control, and the ability to obtain a wide range of output angles and torques, smooth and continuous movement, and adjustable motion stiffness under the premise of limited radial size at the end of the arm according to specific needs.

[0160] An embodiment of the second aspect of this application provides a robot including a flexible robotic arm segment with omnidirectional joints, as described in any embodiment of the first aspect.

[0161] The robot in this application includes a flexible robotic arm segment with omnidirectional joints according to any embodiment of the first aspect. The overall output torque of the flexible robotic arm segment is increased. The robot including the flexible robotic arm segment of this application has a correspondingly increased overall output torque of its flexible robotic arm, which can be applied to application scenarios with larger output torque, thus increasing the application scenarios of the robot.

[0162] It is understood that a robotic arm may include multiple segments, with adjacent segments connected by a joint (not shown in the figure), or the robotic arm may include only one segment; this application does not limit this.

[0163] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0164] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0165] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A flexible robotic arm segment with an omnidirectional joint, characterized in that, It includes a flexible drive module (100), an attitude adjustment module (200), and an output connector (300) arranged sequentially in the first direction; The flexible drive module (100) includes: a support and fixing component (110) and at least two flexible units (120); The support and fixing assembly (110) includes a support base (111); all the flexible units (120) are located on the side of the support base (111) away from the output connector (300) and are arranged sequentially at intervals in the first direction; each flexible unit (120) has its first end fixedly connected to the support base (111) and its second end movable along the first direction; When the number of flexible units (120) is at least three, and the attitude adjustment module (200) has an input end (A1) and an output end (A2), the number of input ends (A1) and the number of output ends (A2) are the same as the number of flexible units (120). All input ends (A1) are connected to the second end of all flexible units (120) in a one-to-one correspondence, and all output ends (A2) are connected to the output connector (300) respectively, so that the output connector (300) can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module (100) and the attitude adjustment module (200). Alternatively, when there are two flexible units (120), and the attitude adjustment module (200) has two input terminals (A1), two output terminals (A2), a first fixed terminal (B1), and a second fixed terminal (B2), the two input terminals (A1) are connected to the second terminals of the two flexible units (120) in a one-to-one correspondence, the first fixed terminal (B1) is connected to the support base (111), and the second fixed terminal (B2) and the two output terminals (A2) are both connected to the output connector (300), so that the output connector (300) can perform omnidirectional rotation with active and passive flexibility under the drive of the flexible drive module (100) and the attitude adjustment module (200).

2. The flexible robotic arm segment with omnidirectional joints according to claim 1, characterized in that, The support and fixing assembly (110) includes: a plurality of spaced guide shafts (112); one end of each guide shaft (112) is fixed to the support base (111), and the other end extends from the support base (111) in the first direction away from the output connector (300); Each of the flexible units (120) has its first end fixedly connected to the guide shaft (112) and its second end slidably connected to the guide shaft (112).

3. The flexible robotic arm segment with omnidirectional joints according to claim 2, characterized in that, The flexible unit (120) is a stacked fluid actuator, comprising: a cylindrical and stacked flexible sidewall (121) and two end faces (122). The flexible sidewall (121) and the two end faces (122) together enclose a cylindrical cavity with a central axis (L'). The strain is evenly distributed on the strain-evenly distributed stacked structure that can expand and contract along the direction of the central axis (L'). Changing the pressure difference between the inside and outside of the cylindrical cavity can drive the strain-evenly distributed stacked structure to fold or extend, while causing the two end faces (122) to move relative to each other. The strain-uniformly distributed stacked structure is formed by stacking two or more strain-uniformly distributed stacked layers (1211) along the central axis (L'), so that the strain of the entire flexible sidewall (121) is uniformly distributed in each strain-uniformly distributed stacked layer (1211). The strain-distributed stacked layer (1211) is formed by two folded surfaces (1211a). A crease (1211b) is formed at the connection between two adjacent folded surfaces (1211a). The crease (1211b) is located in the crease surface (S) perpendicular to the central axis (L'). In the initial state, the crease surface (S) is planar. When the strain-distributed stacked structure is folded or extended, the crease surfaces (S) move closer or further away from each other uniformly along the central axis (L') without deformation, and without relative torsion or deflection.

4. The flexible robotic arm segment with omnidirectional joints according to any one of claims 1 to 3, characterized in that, When the number of flexible units (120) is at least three, and the attitude adjustment module (200) has an input terminal (A1) and an output terminal (A2), the attitude adjustment module (200) includes: a transmission assembly (210); the number of transmission assemblies (210) is the same as the number of flexible units (120), and each transmission assembly (210) has one input terminal (A1) and one output terminal (A2); When the number of flexible units (120) is two, and the attitude adjustment module (200) has two input terminals (A1), two output terminals (A2), a first fixed terminal (B1), and a second fixed terminal (B2), the attitude adjustment module (200) includes: two transmission components (210) and a connection fixing component (220); each transmission component (210) has one input terminal (A1) and one output terminal (A2); the connection fixing component (220) has one first fixed terminal (B1) and one second fixed terminal (B2).

5. The flexible robotic arm segment with omnidirectional joints according to claim 4, characterized in that, The transmission assembly (210) includes: a first spherical bearing (211), a push rod (212), and a first hinge structure (213); The push rod (212) has its first end as the input end (A1), located on the side of the support base (111) away from the output connector (300), and connected to the second end of the flexible unit (120); its second end extends from the side of the support base (111) away from the output connector (300) along the first direction, passes through the support base (111), extends to the side of the support base (111) near the output connector (300), and is connected to the first end of the first hinge structure (213) through the first joint bearing (211); The second end of the first hinge structure (213) is the output end (A2), which is connected to the output connector (300).

6. The flexible robotic arm segment with omnidirectional joints according to claim 5, characterized in that, When the number of the flexible units (120) is at least three, the attitude adjustment module (200) has an input terminal (A1) and an output terminal (A2); The attitude adjustment module (200) further includes: a connection fixing component (220); The connecting and fixing assembly (220) includes a fixing rod (221) and a swing rod (222); the fixing rod (221) has a first end connected to the support base (111) and a second end that is free; the swing rod (222) has a first end that is rotatably connected to the side of the fixing rod (221) and a second end that is fixedly connected to the first joint bearing (211); Alternatively, the connecting and fixing assembly (220) includes a fixing rod (221) and a second hinge structure (223); the fixing rod (221) has a first end connected to the support base (111) and a second end connected to the first end of the second hinge structure (223); the second end of the second hinge structure (223) is connected to the output connector (300); Alternatively, the connecting and fixing assembly (220) includes a fixing rod (221), a second hinge structure (223), and a swing rod (222); the fixing rod (221) has a first end connected to the support base (111) and a second end connected to the first end of the second hinge structure (223); the second end of the second hinge structure (223) is connected to the output connector (300); the swing rod (222) has a first end rotatably connected to the side of the fixing rod (221) and a second end fixedly connected to the first joint bearing (211).

7. The flexible robotic arm segment with omnidirectional joints according to claim 5, characterized in that, The connecting and fixing assembly (220) includes: a fixing rod (221), a swing rod (222), and a second hinge structure (223); The fixing rod (221) has a first end that is the first fixing end (B1) and is connected to the support base (111), and a second end that is connected to the first end of the second hinge structure (223). The second end of the second hinge structure (223) is the second fixed end (B2), which is connected to the output connector (300); The swing arm (222) has its first end rotatably connected to the side of the fixed rod (221), and its second end fixedly connected to the first joint bearing (211).

8. The flexible robotic arm segment with omnidirectional joints according to claim 4, characterized in that, When the number of the flexible units (120) is at least three, and the attitude adjustment module (200) has an input terminal (A1) and an output terminal (A2); the attitude adjustment module (200) further includes a connecting fixing component (220); The transmission assembly (210) includes: a second spherical bearing (217), a third spherical bearing (218), a push rod (212), and a first hinge structure (213); The push rod (212) has its first end as the input end (A1), located on the side of the support base (111) away from the output connector (300), and connected to the second end of the flexible unit (120); its second end extends from the side of the support base (111) away from the output connector (300) along the first direction, passes through the support base (111), extends to the side of the support base (111) near the output connector (300), and is connected to the third joint bearing (218) through the second joint bearing (217); The third joint bearing (218) is connected to the first end of the first hinge structure (213); The second end of the first hinge structure (213) is the output end (A2), which is connected to the output connector (300); The connecting and fixing assembly (220) includes: a fixing rod (221), a swing rod (222), and a second hinge structure (223); The fixing rod (221) has its first end connected to the support base (111) and its second end connected to the first end of the second hinge structure (223); The second end of the second hinge structure (223) is connected to the output connector (300); The first end of the swing arm (222) is rotatably connected to the side of the fixed rod (221), and the second end is fixedly connected to the second joint bearing (217) and the third joint bearing (218).

9. The flexible robotic arm segment with omnidirectional joints according to claim 6, 7, or 8, characterized in that, When the connecting and fixing assembly (220) includes a swing arm (222), the flexible robotic arm segment with omnidirectional joints further includes: an angle sensor (400); The angle sensor (400) is disposed between the fixed rod (221) and the swing rod (222) to acquire the swing angle data of the swing rod (222).

10. A robot, characterized in that, Includes the flexible robotic arm segment with omnidirectional joints as described in any one of claims 1-9.

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