Flexible mechanical arm section and flexible mechanical arm

Abstract

The utility model is suitable for the technical field of mechanical equipment, and provides a flexible mechanical arm section and a flexible mechanical arm. A second end plate; the multi-dimensional connecting assembly comprises a supporting structure, and the first end plate and the second end plate are connected in a rotating or translation mode through the supporting structure; at least one stacked structure fluid actuator disposed laterally adjacent to the support structure between the first end plate and the second end plate; the multi-dimensional connecting assembly protection structure is located between the multi-dimensional connecting assembly and the stacked structure fluid actuator in the cross section direction of the flexible mechanical arm section so that the multi-dimensional connecting assembly and the stacked structure fluid actuator can be separated, and interference or extrusion or friction between the stacked structure fluid actuator and the supporting structure can be prevented; the multi-dimensional connection assembly protection structure is provided with a shape follow-up part, the stacked structure fluid actuator is provided with a contact part, and the shape follow-up part abuts against the contact part and is provided with a shape matched with the contact part.

Description

Technical Field

[0001] The present application belongs to the technical field of mechanical equipment, and more specifically, to a flexible robotic arm segment and a flexible robotic arm. Background Art

[0002] The flexible robotic arm is a mechanical device that utilizes the change of fluid pressure in the stacked structure fluid actuator arranged between two end plates to drive the stacked structure fluid actuator to expand and contract, thereby realizing the bending of the flexible robotic arm.

[0003] In order to improve the working efficiency of the flexible robotic arm, the flexible robotic arm usually includes multiple stacked structure fluid actuators arranged around the center position of the flexible robotic arm, and the connecting structures such as fluid pipelines and circuit connecting lines in the flexible robotic arm are arranged through the center position of the flexible robotic arm, resulting in a very compact cross-sectional design of the flexible robotic arm. When the stacked structure fluid actuator is deformed, it is easy to be squeezed by the fluid pipelines, circuit connecting lines, etc. at the center position of the flexible robotic arm, causing the flexible robotic arm to fail, and the reliability of the flexible robotic arm is low. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a flexible robotic arm segment and a flexible robotic arm to solve the technical problem of low reliability of the flexible robotic arm existing in the prior art.

[0005] To achieve the above purpose, the technical solution adopted in this application is: to provide a flexible mechanical arm segment, including:

[0006] a first end plate;

[0007] a second end plate;

[0008] A multidimensional connection assembly and a multidimensional connection assembly protection structure, wherein the multidimensional connection assembly comprises a support structure, and a first end plate and a second end plate are rotationally connected or translationally connected via the support structure;

[0009] at least one stacked structure fluid actuator disposed between the first end plate and the second end plate laterally adjacent to the support structure;

[0010] Among them, the multi-dimensional connection component protection structure is located between the multi-dimensional connection component and the stacked structure fluid actuator in the cross-sectional direction of the flexible robotic arm arm section to separate the multi-dimensional connection component and the stacked structure fluid actuator to prevent interference, extrusion or friction between the stacked structure fluid actuator and the supporting structure. The multi-dimensional connection component protection structure has a conformal portion, and the stacked structure fluid actuator has a contact portion on one side facing the multi-dimensional connection component. The conformal portion is adjacent to the contact portion and has a shape adapted to the contact portion.

[0011] Optionally, one end of the stacked structure fluid actuator is connected to the first end plate, and the other end of the stacked structure fluid actuator is connected to the second end plate. The stacked structure fluid actuator includes two end surfaces and a flexible side wall. The flexible side wall and the two end surfaces enclose a cylindrical cavity with a central axis. The flexible side wall includes a plurality of folded surfaces. A fold is formed at the connection of two adjacent folded surfaces. Adjacent folded surfaces of the flexible side wall form alternating depressions and protrusions at the fold position.

[0012] The multi-dimensional connection component protection structure includes a limiting structure, which is clamped between the concave folds of the stacked structure fluid actuator in the longitudinal direction and is arranged around the intermediate space between the stacked structure fluid actuator and the support structure in the transverse direction. The limiting structure is used to limit the degree of intrusion of multiple stacked structure fluid actuators in the cross-sectional direction of the flexible mechanical arm, and at the same time separates the stacked structure fluid actuator and the intermediate space to prevent interference, extrusion or friction between the stacked structure fluid actuator and the support structure;

[0013] The arm section of the flexible mechanical arm is a bending arm section or a telescopic arm section, the supporting structure includes a hinge or a telescopic rod, and the multi-dimensional connection component protection structure follows the stacking structure fluid actuator to telescope and / or bend;

[0014] The concave fold has a closed shape with continuous curvature G1 or continuous curvature G2 on the cross section perpendicular to the central axis. In the cross-sectional direction of the flexible robotic arm, the outer contour of the limiting structure matches the shape of the closed shape in the inner direction of the flexible robotic arm.

[0015] Optionally, the limiting structure includes a plurality of limiting rings abutting against the folding surface and embedded in the recessed fold, the plurality of limiting rings are distributed along the direction of the central axis, and when the stacked structure fluid actuator is extended and / or bent, the conforming portion follows the movement of the folding surface, the limiting ring includes a conforming portion and a connecting portion connected to the conforming portion, the conforming portion abuts against the folding surface, the connecting portion is circumferentially located between contact portions of adjacent stacked structure fluid actuators, or the connecting portion connects the conforming portion with the support structure or the first end plate, the connecting portion is used to cooperate with the conforming portion to achieve a protective effect.

[0016] Optionally, when the stacked structure fluid actuator is in an initial state, there is a gap between the conformal portion and the recessed fold.

[0017] Optionally, the shape of the following portion on the limiting ring is matched with the corresponding portion of the closed shape.

[0018] Optionally, the limiting ring is in the shape of a closed ring as a whole.

[0019] Optionally, the limiting ring has a shape at the connecting portion that is convex relative to the conformal portion in a cross-sectional direction.

[0020] Optionally, the flexible robotic arm section is a bending arm section or a telescopic arm section, the supporting structure includes a hinge or a telescopic rod, one end of the hinge is connected to the first end plate, and the other end of the hinge is connected to the second end plate, and the flexible robotic arm section includes at least two stacked structure fluid actuators, and the at least two stacked structure fluid actuators are arranged around the supporting structure.

[0021] Optionally, the flexible robotic arm also includes a sensor, which is connected to the supporting structure. The sensor is used to detect the rotation angle or extension degree of the supporting structure. The sensor is connected to one end of the flexible robotic arm through a wire, and the wire passes through an intermediate space inside the limit ring to avoid interference, squeezing or friction with the stacked structure fluid actuator when the stacked structure is extended, contracted and / or bent.

[0022] The present application also provides a flexible robotic arm, comprising any one of the above-mentioned flexible robotic arm segments, the stacked structure fluid actuator is driven by fluid, the stacked structure fluid actuator also includes a drive source interface, the flexible robotic arm also includes a fluid passage, the fluid passage passes through an intermediate space to avoid interference, extrusion or friction with the stacked structure fluid actuator when the stacked structure fluid actuator is extended, contracted and / or bent.

[0023] The beneficial effects of the flexible robotic arm section and the flexible robotic arm provided by the embodiments of the present application are as follows: the multi-dimensional connection component protection structure in the flexible robotic arm section is located between the multi-dimensional connection component and the stacked structure fluid actuator in the cross-sectional direction of the flexible robotic arm section, and can effectively separate the multi-dimensional connection component and the stacked structure fluid actuator, and can prevent the stacked structure fluid actuator from interfering, squeezing or rubbing with the support structure during the deformation process, thereby reducing the risk of robotic arm failure and helping to improve the reliability of the flexible robotic arm; the conformal portion of the multi-dimensional connection component protection structure is adapted to the contact portion of the stacked structure fluid actuator, which helps the conformal portion to uniformly contact the contact portion during the deformation of the stacked structure fluid actuator, thereby supporting the stacked structure fluid actuator, and helping to further improve the reliability of the flexible robotic arm.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a schematic diagram of the assembly structure of a flexible mechanical arm segment provided in one embodiment of the present application;

[0027] Figure 2 It is a schematic diagram of the exploded structure of a flexible mechanical arm section provided in one embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of a stacked structure fluid actuator provided in one embodiment of the present application;

[0029] Figure 4 is a schematic structural diagram of a flexible mechanical arm segment provided by an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the positions of the limiting ring and the fold provided in one embodiment of the present application;

[0031] Figure 6 yes Figure 5 A magnified schematic diagram of the middle A area;

[0032] Figure 7 It is a schematic diagram of the structure of a limit ring provided in one embodiment of the present application.

[0033] Among them, the reference numerals in the figure are:

[0034] 100. Flexible robotic arm segment; 10. First end plate; 20. Second end plate; 30. Multi-dimensional connection assembly; 31. Support structure; 40. Multi-dimensional connection assembly protection structure; 41. Limiting structure; 411. Limiting ring; 4111. Conformal portion; 4112. Connection portion; 50. Stacked structure fluid actuator; 51. Contact portion; 52. End face; 53. Flexible side wall; 531. Folding surface; 532. Crease. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0038] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] See also Figures 1 to 7 An embodiment of the present application proposes a flexible robotic arm segment 100, comprising a first end plate 10, a second end plate 20, a multi-dimensional connection assembly 30, a multi-dimensional connection assembly protection structure 40 and at least one stacked structure fluid actuator 50.

[0040] The first end plate 10 is a plate-shaped, sheet-shaped or other structure.

[0041] The second end plate 20 is a plate-shaped, sheet-shaped or other structure.

[0042] The multi-dimensional connection assembly 30 is a structure capable of rotation, translation, etc. For example, a telescopic rod structure, a hinge structure, etc.

[0043] One end of the multi-dimensional connection component 30 is connected to the first end plate 10, and the other end of the multi-dimensional connection component 30 is connected to the second end plate 20. The multi-dimensional connection component 30 can drive the first end plate 10 and the second end plate 20 to translate or rotate relative to each other.

[0044] The multi-dimensional connection assembly 30 includes a support structure 31 , one end of the support structure 31 is connected to the first end plate 10 , and the other end of the support structure 31 is connected to the second end plate 20 . The first end plate 10 and the second end plate 20 are rotationally connected or translationally connected via the support structure 31 .

[0045] The stacked structure fluid actuator 50 is disposed between the first end plate 10 and the second end plate 20 laterally close to the support structure 31 .

[0046] The stacked structure fluid actuator 50 is a structure that generates expansion and contraction deformation or bending deformation by being driven by the pressure of the internal fluid.

[0047] One end of the stacked structure fluid actuator 50 is connected to the first end plate 10, and the other end of the stacked structure fluid actuator 50 is connected to the second end plate 20. The stacked structure fluid actuator 50 has a receiving chamber for receiving fluid. When the fluid flows into the receiving chamber, the volume of the receiving chamber increases, and the fluid drives the stacked structure fluid actuator 50 to extend, and the stacked structure fluid actuator 50 drives the first end plate 10 to move away from the second end plate 20. When the fluid flows out of the receiving chamber, the volume of the receiving chamber decreases, and the fluid drives the stacked structure fluid actuator 50 to contract, and the stacked structure fluid actuator 50 drives the first end plate 10 to move closer to the second end plate 20. When the pressures of multiple stacked structure fluid actuators 50 are different, the deformation lengths of each stacked structure fluid actuator 50 are different, driving the first end plate 10 to rotate relative to the second end plate 20.

[0048] The multi-dimensional connection assembly protection structure 40 is a structure with a certain rigidity.

[0049] The multi-dimensional connection component protection structure 40 is located between the multi-dimensional connection component 30 and the stacked structure fluid actuator 50 in the cross-sectional direction of the flexible mechanical arm arm section 100, so as to separate the multi-dimensional connection component 30 from the stacked structure fluid actuator 50, and prevent interference, extrusion or friction between the stacked structure fluid actuator 50 and the support structure 31. During the deformation of the stacked structure fluid actuator 50, the surface of the stacked structure fluid actuator 50 is pressed on the multi-dimensional connection component protection structure 40. The multi-dimensional connection component protection structure 40 can effectively support the stacked structure fluid actuator 50, limit the position of the stacked structure fluid actuator 50 during the deformation process, prevent the stacked structure fluid actuator 50 from interfering, extruding or rubbing the support structure 31, and ensure space for components such as the support structure 31 and the fluid pipelines, circuit connection lines, etc. at the center of the flexible mechanical arm.

[0050] The multi-dimensional connection assembly protection structure 40 has a conforming portion 4111 , and the stacked structure fluid actuator 50 has a contact portion 51 on one side facing the multi-dimensional connection assembly 30 . The conforming portion 4111 is adjacent to the contact portion 51 and has a shape adapted to the contact portion 51 .

[0051] The conformal portion 4111 is a portion of the multi-dimensional connection assembly protection structure 40 that contacts the stacked structure fluid actuator 50 .

[0052] The contact portion 51 is a portion of the stacked structure fluid actuator 50 that contacts the multi-dimensional connection assembly 30 .

[0053] The shape of the conforming portion 4111 is adapted to the shape of the contact portion 51 , and during the deformation of the stacked structure fluid actuator 50 , the conforming portion 4111 and the contact portion 51 have relatively uniform contact.

[0054] When the stacked structure fluid actuator 50 is deformed, the contact portion 51 abuts against the conformal portion 4111, and the conformal portion 4111 supports the contact portion 51 and limits its intrusion into the spatial range where the support structure 31 is located, thereby preventing the stacked structure fluid actuator 50 from squeezing the fluid pipeline and circuit connection lines between the first end plate 10 and the second end plate 20 and causing the flexible robotic arm segment 100 to fail.

[0055] The flexible robotic arm segment 100 provided in the embodiment of the present application, the multi-dimensional connection component protection structure 40 is located between the multi-dimensional connection component 30 and the stacked structure fluid actuator 50 in the cross-sectional direction of the flexible robotic arm segment 100, and can effectively separate the multi-dimensional connection component 30 and the stacked structure fluid actuator 50, and can prevent the stacked structure fluid actuator 50 from interfering, squeezing or rubbing with the support structure 31 during the deformation process, thereby reducing the risk of robotic arm failure and helping to improve the reliability of the flexible robotic arm; the conformal portion 4111 of the multi-dimensional connection component protection structure 40 is adapted to the contact portion 51 of the stacked structure fluid actuator 50, which helps the conformal portion 4111 to uniformly contact the contact portion 51 during the deformation of the stacked structure fluid actuator 50, thereby supporting the stacked structure fluid actuator 50, and helping to further improve the reliability of the flexible robotic arm.

[0056] Alternatively, if Figures 1 to 4 As shown, one end of the stacked structure fluid actuator 50 is connected to the first end plate 10, and the other end of the stacked structure fluid actuator 50 is connected to the second end plate 20. The stacked structure fluid actuator 50 includes two end surfaces 52 and a flexible side wall 53. The flexible side wall 53 and the two end surfaces 52 enclose a cylindrical cavity with a central axis. The flexible side wall 53 includes a plurality of folding surfaces 531. A fold 532 is formed at the connection between two adjacent folding surfaces 531. Adjacent folding surfaces 531 of the flexible side wall 53 form alternating depressions and protrusions at the position of the fold 532.

[0057] The number of the stacked structure fluid actuator 50 may be one or more. For example, Figure 1 As shown, the number of stacked structure fluid actuators 50 is six. Figure 2 As shown, the number of stacked structure fluid actuators 50 is three. When the number of stacked structure fluid actuators 50 is multiple, multiple stacked structure fluid actuators 50 are evenly spaced and arranged around the support mechanism in the cross-sectional direction of the flexible mechanical arm arm section 100. One end of the stacked structure fluid actuator 50 is connected to the first end plate 10, and the other end is connected to the second end plate 20. The pressure of the internal fluid drives the deformation to drive the first end plate 10 and the second end plate 20 to translate or rotate relative to each other.

[0058] One of the two end surfaces 52 of the stacked structure fluid actuator 50 is connected to the first end plate 10 , and the other end surface 52 is connected to the second end plate 20 .

[0059] The flexible side wall 53 is located between the two end faces 52. The flexible side wall 53 and the two end faces 52 enclose a cavity for accommodating fluid. The change of the fluid in the cavity drives the volume of the cavity to change, and then drives the two end faces 52 to move relative to each other, thereby driving the first end plate 10 and the second end plate 20 to translate or rotate relative to each other.

[0060] like Figure 3 As shown, the flexible side wall 53 includes a plurality of folding surfaces 531, and a fold 532 is formed at the connection between two adjacent folding surfaces 531. Adjacent folding surfaces 531 of the flexible side wall 53 form alternating depressions and protrusions at the position of the fold 532, and the fold 532 surface is a plane in the initial state (i.e., a relaxed state without external force and pressure difference).

[0061] like Figure 4 and Figure 5 As shown, the multi-dimensional connection component protection structure 40 includes a limiting structure 41, which is longitudinally clamped between the recessed folds 532 of the stacked structure fluid actuator 50 and transversely arranged around the intermediate space between the stacked structure fluid actuator 50 and the support structure 31. The limiting structure 41 is used to limit the degree of inward intrusion of the stacked structure fluid actuator 50 in the cross-sectional direction of the flexible robotic arm, and at the same time separates the stacked structure fluid actuator 50 from the intermediate space to prevent interference, extrusion or friction between the stacked structure fluid actuator 50 and the support structure 31.

[0062] The limiting structure 41 is a structure with a certain rigidity.

[0063] When there are multiple stacked structure fluid actuators 50, the limiting structure 41 is arranged around the intermediate space between the stacked structure fluid actuator 50 and the supporting structure 31 in the horizontal direction, and is clamped between the recessed folds 532 of the multiple stacked structure fluid actuators 50. The shape of the limiting structure 41 is adapted to the shape of the recessed folds 532. When the stacked structure fluid actuator 50 is deformed, the limiting structure 41 and the recessed folds 532 are mutually interlocked, and the contact between the recessed folds 532 provides support for the stacked structure fluid actuator 50, thereby limiting the degree of inward invasion of the stacked structure fluid actuator 50.

[0064] The flexible robotic arm segment 100 is a bending segment or a telescopic segment, the supporting structure 31 includes a hinge or a telescopic rod, and the multi-dimensional connection component protection structure 40 follows the stacking structure fluid actuator 50 to telescope and / or bend.

[0065] During the use of the flexible robotic arm segment 100, the flexible robotic arm segment 100 is driven by the support structure 31 to expand and / or bend, driving the stacked structure fluid actuator 50 to expand and / or bend, and driving the first end plate 10 and the second end plate 20 to translate and / or rotate relative to each other.

[0066] The multi-dimensional connection component protection structure 40 is connected to the stacked structure fluid actuator 50. When the stacked structure fluid actuator 50 expands and / or bends, the multi-dimensional connection component protection structure 40 expands and / or bends synchronously with the stacked structure fluid actuator 50 to support the stacked structure fluid actuator 50 in real time.

[0067] The concave fold 532 has a closed shape with a continuous curvature G1 or a continuous curvature G2 in a cross section perpendicular to the central axis, and the outer contour of the limiting structure 41 in the cross-sectional direction of the flexible robotic arm is adapted to the shape of the closed shape in the inner direction of the flexible robotic arm.

[0068] The concave fold 532 has a closed shape with a continuous curvature G1 or a continuous curvature G2 on a cross section perpendicular to the central axis to reduce the degree of local concentration of stress and / or strain in the circumferential direction. G1 continuity is tangent continuity, which means that the surface or curve is continuous point by point, and all connected line segments and curved surface pieces are tangent to each other. The method for determining G1 continuity is: the curve is continuous, smooth and has no sharp corners; the surface is continuous and has no corners. G2 continuity is curvature continuity, which means that the surface or curve is continuous point by point, and its curvature analysis result is continuously changing. The method for determining G2 continuity is: perform curvature analysis on the curve, and the curvature curve is continuous without breakpoints. For example, a closed shape may include a curve with a continuously changing curvature and a G2 continuous curvature, such as a circle and an ellipse. A closed shape may include at least two of a straight line, an arc, and a curved segment with a changing curvature, which are adjacent and have a G1 continuous curvature, such as a fan ring and a runway shape. The closed shape may include a curve that is convex relative to the geometric center of the closed shape and a curve that is concave relative to the geometric center of the closed shape, such as a fan ring. The closed shape may be an axisymmetric figure; the closed shape may be a centrally symmetrical figure; or the closed shape may be a rotationally symmetrical figure, etc.

[0069] Optionally, the curvature of the closed shape in the outer direction of the arm section is smaller than that in the inner side of the arm section, so that the flexible side wall 53 is easier to deform in the bending direction and has better shape stability in other directions, thereby achieving better bending performance while maintaining the overall shape stability of the stacked structure fluid actuator 50.

[0070] Alternatively, if Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the limiting structure 41 includes a plurality of limiting rings 411 abutting against the folding surface 531 and embedded in the recessed fold 532, the plurality of limiting rings 411 are distributed along the direction of the central axis, and when the stacked structure fluid actuator 50 is extended and / or bent, the conforming portion 4111 moves along the surface of the fold 532, the limiting ring 411 includes a conforming portion 4111 and a connecting portion 4112 connected to the conforming portion 4111, the conforming portion 4111 abuts against the folding surface 531, the connecting portion 4112 is circumferentially located between the contact portions 51 of the adjacent stacked structure fluid actuator 50, or the connecting portion 4112 connects the conforming portion 4111 with the support structure 31 or the first end plate 10, the connecting portion 4112 is used to cooperate with the conforming portion 4111 to achieve a protective effect.

[0071] The limiting ring 411 is an annular structure, and the outer ring surface of the limiting ring 411 abuts against the folding surface 531 and is embedded in the recessed fold 532, and the support structure 31 is arranged in the inner ring space of the limiting ring 411. The number of limiting rings 411 can be one or more. If the number of limiting rings 411 is one, the limiting ring 411 can be arranged on any folding surface 531 of the stacked structure fluid actuator 50 and embedded in the recessed fold 532. The number of limiting rings 411 can also be the same as the number of folding surfaces 531, and a limiting ring 411 is installed at the recessed fold 532 of each folding surface 531. When the stacked structure fluid actuator 50 is deformed, each limiting ring 411 supports the corresponding folding surface 531 respectively.

[0072] Multiple limit rings 411 are distributed along the direction of the central axis and respectively abut against the concave folds 532 of different fold surfaces. When the stacked structure fluid actuator 50 expands and / or bends, the concave folds 532 of the folding surface 531 are driven to expand and / or bend, so as to drive the limit rings 411 to move along with the folding surface 531.

[0073] Optionally, when the flexible robotic arm segment 100 includes only one stacked structure fluid actuator 50 , the connecting portion 4112 connects the conformal portion 4111 and the supporting structure 31 or the first end plate 10 .

[0074] The limiting ring 411 may include a plurality of conformal portions 4111 and a plurality of connecting portions 4112 , each connecting portion 4112 being disposed between two adjacent conformal portions 4111 , so that the overall structure of the limiting ring 411 is more complete, and helps to improve the tightness of the connection between the limiting ring 411 and the stacked structure fluid actuator 50 .

[0075] When the limiting ring 411 is clamped between the recessed folds 532 of multiple stacked structure fluid actuators 50, the conformal portion 4111 abuts against the folding surface 531 of the stacked structure fluid actuator 50, and the connecting portion 4112 is located between the contact portions 51 of the adjacent stacked structure fluid actuators 50 in the circumferential direction, so that two adjacent stacked structure fluid actuators 50 can be separated to avoid mutual squeezing and interference of the adjacent stacked structure fluid actuators 50 during deformation.

[0076] In the embodiment of the present application, the limiting ring 411 abuts the folding surface 531 and is embedded in the recessed crease 532, which can limit the movement range of the stacked structure fluid actuator 50, helping to ensure that during the operation of the flexible robotic arm segment 100, the stacked structure fluid actuator 50 does not exceed the designed maximum extension or bending range, thereby preventing the deformation of the stacked structure fluid actuator 50 from interfering with the fluid pipelines and circuit connections of the flexible robotic arm segment 100 and causing the flexible robotic arm segment 100 to fail, helping to improve the reliability of the flexible robotic arm segment 100. Since the limit ring 411 is distributed along the central axis and embedded in the depression of the fold 532, the limit ring 411 can adjust its position as the fold 532 surface moves. When the stacked structure fluid actuator 50 expands or bends, the fold 532 surface will move accordingly, and the limit ring 411 follows the changes of the fold 532 surface, maintaining close contact with the fold 532, and can support the fold 532 surface in real time, which helps to further avoid unnecessary friction or interference between the stacked structure fluid actuator 50 and the fluid pipelines and circuit connecting lines of the flexible robotic arm arm section 100, thereby improving the reliability of the flexible robotic arm arm section 100.

[0077] Alternatively, if Figure 5 and Figure 6 As shown, when the stacked structure fluid actuator 50 is in the initial state, there is a gap between the conformal portion 4111 and the recessed fold 532 .

[0078] The initial state is a relaxed state of the stacked structure fluid actuator 50 without external force and pressure difference.

[0079] The limiting ring 411 is clamped between the recessed folds 532 of multiple stacked structure fluid actuators 50. In the circumferential direction of the flexible robotic arm segment 100, there is a gap between the outer contour of the conformal portion 4111 on the limiting ring 411 and the recessed fold 532, that is, when the stacked structure fluid actuator 50 is in an initial state, the conformal portion 4111 abuts against the surface of the fold 532 and does not contact the fold 532.

[0080] When the stacked structure fluid actuator 50 is deformed, the limit ring 411 will not immediately contact the recessed crease 532, which can reduce the deformation resistance of the stacked structure fluid actuator 50 and make the stacked structure fluid actuator 50 deform more smoothly. At the same time, the gap between the limit ring 411 and the recessed crease 532 can improve the flexibility of the flexible robotic arm segment 100, which helps the limit ring 411 to move along the crease 532 surface when the stacked structure fluid actuator 50 is extended and / or bent.

[0081] Alternatively, if Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the shape of the following portion 4111 on the limiting ring 411 is matched with the corresponding portion of the closed shape.

[0082] The limiting ring 411 may include multiple conformal portions 4111. When the limiting ring 411 is clamped between the recessed folds 532 of multiple stacked structure fluid actuators 50, each conformal portion 4111 on the limiting ring 411 respectively abuts against the closed shapes of different stacked structure fluid actuators 50. The conformal portions 4111 on the limiting ring 411 are adapted to the closed shapes, so that when the stacked structure fluid actuator 50 is extended and / or bent, the limiting ring 411 is always in contact with the closed shape, which helps to improve the reliability of the limiting ring 411 in supporting the stacked structure fluid actuator 50, and helps to improve the reliability of the flexible robotic arm segment 100.

[0083] Alternatively, if Figure 2 , Figure 4 and Figure 7 As shown, the limiting ring 411 is in the shape of a closed ring as a whole.

[0084] The support structure 31 is inserted into the inner ring space of the limiting ring 411, and the surface of the limiting ring 411 abuts against the fold 532 surface of the stacked structure fluid actuator 50. When the stacked structure fluid actuator 50 is extended and / or bent, the limiting ring 411 can limit the extent to which the stacked structure fluid actuator 50 intrudes into the inner ring space, so as to prevent the stacked structure fluid actuator 50 from squeezing and interfering with the support structure 31, fluid pipelines, and circuit connection lines in the inner ring space.

[0085] The limiting ring 411 is in the shape of a closed ring as a whole, so that the limiting ring 411 can withstand greater external force and provide more stable and uniform support for the stacked structure fluid actuator 50. At the same time, when the stacked structure fluid actuator 50 is deformed, the pressure on the limiting ring 411 can be evenly distributed on the closed annular surface of the limiting ring 411, avoiding uneven force on the limiting ring 411, which helps to improve the reliability of the flexible robotic arm segment 100.

[0086] Alternatively, if Figure 2 , Figure 4 and Figure 7 As shown, the limiting ring 411 has a convex shape relative to the following portion 4111 in the cross-sectional direction at the connecting portion 4112 .

[0087] When the limiting ring 411 is clamped between the stacked structure fluid actuators 50, the conformal portion 4111 of the limiting ring 411 abuts against the contact portion 51 of the stacked structure fluid actuator 50, and the connecting portion 4112 is located between two adjacent stacked structure fluid actuators 50. The limiting ring 411 has a convex shape relative to the conformal portion 4111 in the cross-sectional direction at the connecting portion 4112, so that when a relative sliding tendency occurs between the limiting ring 411 and the stacked structure fluid actuator 50, the convex connecting portion 4112 can limit the relative movement between the limiting ring 411 and the stacked structure fluid actuator 50, thereby improving the stability of the connection between the limiting ring 411 and the stacked structure fluid actuator 50.

[0088] Alternatively, if Figure 1 , Figure 2 and Figure 4 As shown, the flexible robotic arm segment 100 is a bending segment or a telescopic segment, the supporting structure 31 includes a hinge or a telescopic rod, one end of the hinge is connected to the first end plate 10, and the other end of the hinge is connected to the second end plate 20, the flexible robotic arm segment 100 includes at least two stacked structure fluid actuators 50, and the at least two stacked structure fluid actuators 50 are arranged around the supporting structure 31.

[0089] The rotating shaft of the hinge is arranged in the middle space to avoid interference, extrusion or friction with the stacked structure fluid actuator 50 when the stacked structure fluid actuator 50 is stretched, contracted and / or bent.

[0090] A bending arm section is an arm section that can bend and deform. When the flexible robotic arm section 100 is a bending arm section, the first end plate 10 can bend relative to the second end plate 20 to rotate a preset angle, thereby realizing the rotation of both ends of the flexible robotic arm section 100 to achieve posture control of the flexible robotic arm section.

[0091] A telescopic arm section is an arm section that can be extended and deformed. When the flexible robotic arm section 100 is a telescopic arm section, the first end plate 10 can move parallel to the second end plate 20 to extend or shorten a preset length, thereby achieving the two ends of the flexible robotic arm section 100 approaching or moving away from each other to adjust the length of the flexible robotic arm section 100.

[0092] When the support structure 31 includes a hinge, the flexible mechanical arm is a bent arm section, and the two ends of the flexible mechanical arm can rotate relative to each other through the rotation of the hinge.

[0093] When the support structure 31 includes a telescopic rod, the flexible robotic arm is a telescopic arm section. The two ends of the flexible robotic arm can be moved closer to or farther from each other by extending and retracting the telescopic rod to adjust the length of the flexible robotic arm section 100 .

[0094] When the support structure 31 includes a hinge, one end of the hinge is connected to the first end plate 10 and the other end is connected to the second end plate 20, which can ensure that the hinge can rotate effectively while maintaining the stability of the flexible robotic arm segment 100 and the integrity of the structure.

[0095] The hinge is arranged in the middle space to avoid interference, extrusion or friction between the hinge and the stacked structure fluid actuator 50, and can adapt to various possible posture changes and action requirements of the flexible robotic arm segment 100 during movement, ensuring that the flexible robotic arm segment 100 can move freely without interference from other mechanical components.

[0096] Alternatively, if Figure 4 As shown, the flexible robotic arm also includes a sensor 60, which is connected to the support structure 31. The sensor 60 is used to detect the rotation angle or extension degree of the support structure 31. The sensor 60 is connected to one end of the flexible robotic arm through a wire, and the wire passes through the intermediate space inside the limit ring 411 to avoid interference, extrusion or friction with the stacked structure fluid actuator 50 when it is extended, contracted and / or bent.

[0097] The sensor 60 is a device capable of detecting a rotation angle or a telescopic length, for example, an angle encoder, a rotary transformer, a Hall effect sensor, a photoelectric encoder, a capacitive sensor, etc.

[0098] The sensor 60 is connected to the hinge and is used to detect the rotation angle of the hinge to achieve real-time monitoring and control of the movement state of the hinge, ensuring that the flexible robotic arm segment 100 is in an accurate position and the movement is stable and reliable.

[0099] The sensor 60 is connected to one end of the flexible robotic arm via a wire, so that the sensor 60 can easily obtain the rotation angle data of the hinge and transmit it to the control system for real-time feedback and adjustment.

[0100] During the operation of the flexible robotic arm, the stacked structure may undergo complex movements and deformations. The wires passing through the intermediate space can avoid interference, extrusion or friction with the wires in the intermediate space when the stacked structure fluid actuator 50 is stretched, contracted and / or bent, thereby ensuring the stability and reliability of the sensor 60 signal and reducing the risk of possible damage.

[0101] The present application also provides a flexible robotic arm, including any of the above-mentioned flexible robotic arm segments 100, wherein the stacked structure fluid actuator 50 is driven by fluid, the stacked structure fluid actuator 50 also includes a driving source interface, and the flexible robotic arm also includes a fluid passage, which passes through an intermediate space to avoid interference, extrusion or friction with the stacked structure fluid actuator 50 when the stacked structure fluid actuator 50 is stretched, contracted and / or bent.

[0102] The stacked structure fluid actuator 50 is driven by fluid, for example, fluid such as hydraulic pressure or pneumatic pressure can be used as a driving force source to provide high flexibility and precise control, so that the flexible robotic arm can perform precise movements in complex environments.

[0103] The driving source interface is arranged on the flexible side wall 53 or the end face 52. The driving source interface is used to change the pressure difference between the inside and outside of the cavity of the stacked structure fluid actuator 50 to ensure that the fluid can be effectively transferred to the cavity of the stacked structure fluid actuator 50, drive the stacked structure fluid actuator 50 to compress or stretch to drive the end face 52 of the stacked structure fluid actuator 50 to move, thereby realizing the movement of the robotic arm section.

[0104] The fluid passage is a channel or a pipe system connecting the driving source interface and the stack structure fluid actuator 50. The fluid passage is responsible for transmitting the fluid from the driving source to the stack structure fluid actuator 50 for its operation and control.

[0105] The fluid passage is arranged through the intermediate space to avoid interference, squeezing or friction with the stacked structure fluid actuator 50 when it expands, contracts and / or bends, which helps to improve the stability and reliability of the fluid passage while reducing damage or obstruction that may be caused by dynamic movement.

[0106] The flexible robotic arm provided in the embodiment of the present application, wherein the multi-dimensional connection component protection structure 40 in the flexible robotic arm arm section 100 is located between the multi-dimensional connection component 30 and the stacked structure fluid actuator 50 in the cross-sectional direction of the flexible robotic arm arm section 100, and can effectively separate the multi-dimensional connection component 30 and the stacked structure fluid actuator 50, and can prevent the stacked structure fluid actuator 50 from interfering, squeezing or rubbing with the support structure 31 during the deformation process, thereby reducing the risk of failure of the robotic arm and helping to improve the reliability of the flexible robotic arm; the conformal portion 4111 of the multi-dimensional connection component protection structure 40 is adapted to the contact portion 51 of the stacked structure fluid actuator 50, which helps the conformal portion 4111 to uniformly contact the contact portion 51 during the deformation of the stacked structure fluid actuator 50, thereby supporting the stacked structure fluid actuator 50, and helping to further improve the reliability of the flexible robotic arm.

[0107] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible robotic arm segment, characterized in that: include: a first end plate; a second end plate; A multidimensional connection assembly and a multidimensional connection assembly protection structure, wherein the multidimensional connection assembly comprises a support structure, and the first end plate and the second end plate are rotationally connected or translationally connected via the support structure; at least one stacked structure fluid actuator disposed between the first end plate and the second end plate laterally adjacent to the support structure; Wherein, the multi-dimensional connection component protection structure is located between the multi-dimensional connection component and the stacked structure fluid actuator in the cross-sectional direction of the flexible robotic arm arm segment to separate the multi-dimensional connection component and the stacked structure fluid actuator to prevent interference, extrusion or friction between the stacked structure fluid actuator and the support structure, the multi-dimensional connection component protection structure has a conformal portion, the stacked structure fluid actuator has a contact portion on one side facing the multi-dimensional connection component, the conformal portion is adjacent to the contact portion and has a shape adapted to the contact portion.

2. The flexible robotic arm section according to claim 1, characterized in that: One end of the stacked structure fluid actuator is connected to the first end plate, and the other end of the stacked structure fluid actuator is connected to the second end plate. The stacked structure fluid actuator includes two end surfaces and a flexible side wall. The flexible side wall and the two end surfaces enclose a cylindrical cavity with a central axis. The flexible side wall includes a plurality of folded surfaces. A fold is formed at the connection of two adjacent folded surfaces. The adjacent folded surfaces of the flexible side wall form alternating depressions and protrusions at the fold position. The multi-dimensional connection component protection structure includes a limiting structure, which is clamped between the concave folds of the stacked structure fluid actuator in the longitudinal direction and is arranged around the intermediate space between the stacked structure fluid actuator and the support structure in the transverse direction. The limiting structure is used to limit the degree of intrusion of multiple stacked structure fluid actuators in the cross-sectional direction of the flexible mechanical arm, and at the same time separate the stacked structure fluid actuator and the intermediate space to prevent interference, extrusion or friction between the stacked structure fluid actuator and the support structure; The arm section of the flexible mechanical arm is a bending arm section or a telescopic arm section, the supporting structure includes a hinge or a telescopic rod, and the multi-dimensional connection component protection structure follows the stacking structure fluid actuator to telescope and / or bend; The concave fold has a closed shape with continuous curvature G1 or continuous curvature G2 on the cross section perpendicular to the central axis. In the cross-sectional direction of the flexible robotic arm, the outer contour of the limiting structure is adapted to the shape of the closed shape in the inner direction of the flexible robotic arm.

3. The flexible mechanical arm section according to claim 2, characterized in that: The limiting structure includes a plurality of limiting rings abutting against the folding surface and embedded in the recessed fold, the plurality of limiting rings are distributed along the direction of the central axis, and when the stacked structure fluid actuator is extended and / or bent, the conformal portion follows the movement of the folding surface, the limiting ring includes the conformal portion and a connecting portion connected to the conformal portion, the conformal portion abuts against the folding surface, the connecting portion is circumferentially located between the contact portions of adjacent stacked structure fluid actuators, or the connecting portion connects the conformal portion to the support structure or the first end plate, and the connecting portion is used to cooperate with the conformal portion to achieve a protective effect.

4. The flexible mechanical arm section according to claim 3, characterized in that: When the stacked structure fluid actuator is in an initial state, there is a gap between the conformal portion and the recessed fold.

5. The flexible mechanical arm section according to claim 3, characterized in that: The shape of the following portion on the limiting ring is adapted to the corresponding portion of the closed shape.

6. The flexible mechanical arm section according to claim 3, characterized in that: The limiting ring is in a closed ring shape as a whole.

7. The flexible mechanical arm section according to claim 6, characterized in that: The limiting ring has a shape at the connecting portion that is convex relative to the following portion in the cross-sectional direction.

8. The flexible mechanical arm section according to claim 6, characterized in that: The flexible robotic arm section is a bending arm section or a telescopic arm section, the supporting structure includes a hinge or a telescopic rod, one end of the hinge is connected to the first end plate, and the other end of the hinge is connected to the second end plate, the flexible robotic arm section includes at least two stacked structure fluid actuators, and the at least two stacked structure fluid actuators are arranged around the supporting structure.

9. The flexible mechanical arm section according to claim 8, characterized in that: The flexible robotic arm also includes a sensor, which is connected to the supporting structure. The sensor is used to detect the rotation angle or extension degree of the supporting structure. The sensor is connected to one end of the flexible robotic arm through a wire, and the wire passes through the middle space inside the limit ring to avoid interference, extrusion or friction with the stacked structure fluid actuator when the stacked structure fluid actuator is extended, contracted and / or bent.

10. A flexible robotic arm, characterized in that: The flexible robotic arm comprises an arm segment as described in any one of claims 1 to 9, wherein the stacked structure fluid actuator is driven by fluid, the stacked structure fluid actuator also comprises a driving source interface, and the flexible robotic arm also comprises a fluid passage, wherein the fluid passage passes through an intermediate space to avoid interference, extrusion or friction with the stacked structure fluid actuator when the stacked structure fluid actuator is extended, contracted and / or bent.

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