Mechanical arm electronic skin, mechanical arm and medical equipment
By designing electronic skin on the robotic arm and using the buffer layer and arched contact layer to sense external forces, the problems of safety and control accuracy of the large-load robotic arm during movement are solved, and safe control and precise operation of the robotic arm in complex environments are achieved.
Patent Information
- Application Number
- CN202422752678.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-09-12
- Estimated Expiration
- 2034-11-12
AI Technical Summary
Medical robotic arms with large loads pose safety risks during movement, and their range of motion is limited, affecting control accuracy.
A robotic arm electronic skin is designed, including a shell unit and a sensor unit. The shell unit is filled with a buffer layer, and the sensor unit is arranged in the buffer layer. An arched contact layer is provided on the top of the shell to sense external forces. The sensor unit first contacts the outside world through the contact layer, senses the external forces and controls the movement of the robotic arm.
It improves the safety and control accuracy of the robotic arm during movement, reduces the interference of external vibration on the sensor, reduces processing costs, and enhances the adaptability of the robotic arm in complex environments.
Smart Images
Figure CN223326423U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of medical equipment, and specifically relates to a robotic arm electronic skin, a robotic arm and medical equipment. Background Art
[0002] In the application of large-load medical robotic arms, the robotic arms need to carry medical equipment with a large mass, resulting in a large overall weight of the robotic arms and supporting equipment. In addition, during medical operations, the robotic arms have a large range of motion, and the safety risks of the robotic arms during movement are also large. Once the robotic arms collide during movement, it will cause significant damage to the robotic arms and affect the control accuracy of the robotic arms. Utility Model Content
[0003] The purpose of the utility model is to provide a robotic arm electronic skin, a robotic arm and a medical device to solve the safety problems existing in the movement of a heavy-load robotic arm.
[0004] The utility model is achieved through the following technical solutions:
[0005] Robotic arm electronic skin, including:
[0006] The housing unit comprises a shell, a cavity is formed in the shell, and the cavity is filled with a buffer layer;
[0007] The sensor unit is used to detect the pressure exerted by the outside world on the shell unit. The sensor unit is arranged in the buffer layer. A contact layer is arranged on the top of the shell. The contact layer is arranged in an arched protrusion so that the contact layer is gradually arranged away from the connection end of the shell from its outer contour toward the center.
[0008] In some embodiments, the buffer layer is made of elastic or flexible material.
[0009] In some embodiments, the housing is made of flexible material.
[0010] In some embodiments, a flange is provided at the connection end of the shell, and a mounting hole is provided on the flange.
[0011] In some embodiments, a closed buffer cavity is formed between the contact layer and the buffer layer.
[0012] In some embodiments, the thickness of the contact layer is smaller than the thickness of other parts of the shell, and the contact layer is made of flexible or elastic material.
[0013] In some embodiments, the sensor unit comprises a pressure sensor.
[0014] On the other hand, the present invention also provides a robotic arm, which includes a robotic arm body and an electronic skin arranged on the robotic arm body.
[0015] On the other hand, the present invention also provides a medical device, comprising a device body and a robotic arm disposed on the device body.
[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects:
[0017] The utility model fills a buffer layer in the shell and sets the sensor unit in the buffer layer, thereby improving the sensitivity of the electronic skin to external forces and providing reliable protection for the robotic arm; and sets an arched contact layer on the top of the shell, so that the contact layer of the electronic skin can first contact the outside world during the operation of the robotic arm. In this way, the external forces can be sensed in time through the contact layer, which well ensures the safety of the large-load robotic arm during movement.
[0018] The sensor unit is arranged in the buffer layer. The buffer layer provides protection for the sensor unit while reducing the interference of external vibration on the sensor unit, thereby improving the stability of the performance of the sensor unit in different environments.
[0019] By forming a cavity on the shell, it is convenient to directly form a buffer layer in the cavity of the shell, and the buffer layer is used to fix the sensor unit on the shell. The processing and forming of the electronic skin is convenient and the processing cost is low. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.
[0021] Figure 1 This is a schematic diagram of the electronic skin structure in an embodiment of the present utility model.
[0022] Figure 2 This is a schematic diagram of the structure of the medical equipment in the embodiment of the present utility model.
[0023] Figure 3 This is a front view of the medical device structure in an embodiment of the present utility model.
[0024] Figure 4 This is a structural diagram of the medical device execution unit in an embodiment of the present utility model.
[0025] Figure 5 This is a front view of the structure of the medical device execution unit in an embodiment of the present utility model.
[0026] in:
[0027] 10. Robotic arm;
[0028] 20. Electronic skin, 201. Housing, 2011. Flange, 2012. Mounting hole, 2013. Contact layer, 202. Buffer layer, 203. Sensor unit;
[0029] 41. Load bracket, 42. Traction bracket, 421. Traction handle, 422. Safety switch, 43. Transition flange, α, angle between the two connecting end faces of the transition flange. DETAILED DESCRIPTION
[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.
[0031] Due to its large load and safety considerations, medical robotic arms usually limit their range of motion, which results in significant restrictions on the motion control path of the robotic arm and the effective working range, limiting the application of medical robotic arms.
[0032] The electronic skin controls the movement of the robotic arm by detecting external forces. While controlling the movement of the robotic arm, it can also ensure the safety of the robotic arm during operation while ensuring the range of motion of the robotic arm.
[0033] Reference Figure 1 In some embodiments of the present invention, the robotic arm electronic skin 20 includes:
[0034] Housing unit; the housing unit includes a housing 201, the housing 201 is formed with a cavity, reference Figure 1 As shown, the cavity may be a structure with one end open, and the cavity is filled to form a buffer layer 202 .
[0035] Sensor unit 203 ; the sensor unit 203 is used to detect the external pressure acting on the housing unit, wherein the sensor unit 203 is arranged in the buffer layer 202 .
[0036] A buffer layer 202 is formed within the housing 201, and a sensor unit 203 is positioned within this layer. This increases the electronic skin's sensitivity to external forces and provides reliable protection for the robotic arm. Furthermore, positioning the sensor unit 203 within the buffer layer 202 protects the sensor unit while reducing interference from external vibrations, improving the sensor unit's performance stability in various environments.
[0037] By forming a cavity on the shell 201, it is convenient to directly form the buffer layer 202 in the cavity of the shell 201, and the sensor unit 203 is fixed on the shell 201 using the buffer layer 202. The electronic skin is easy to process and has low processing costs.
[0038] In some embodiments, as Figure 1 As shown, a contact layer 2013 is provided on the top of the housing 201 in an arched configuration, gradually moving away from the housing's connection end from its outer contour toward the center. This arched contact layer 2013 on the housing 201 ensures that the electronic skin's contact layer first contacts the outside world during operation. This allows the contact layer to promptly sense external forces, effectively ensuring the safety of the high-load robotic arm during movement.
[0039] The thickness of contact layer 2013 is thinner than that of other parts of housing 201. Contact layer 2013 can be made of a flexible or elastic material, such as rubber, and is integrally formed with housing 201. When the robotic arm makes contact with the outside world at this location, contact layer 2013 makes contact first. This allows the electronic skin to better sense external forces, enhancing its sensitivity.
[0040] In some embodiments, the buffer layer 202 is made of a flexible or elastic material. For example, the buffer layer 202 can be formed integrally within the cavity of the housing 201 using porous silicone foam. Leveraging the excellent elasticity, vibration damping, and vibration isolation properties of the porous silicone foam, the porous silicone foam wraps the sensor unit within itself, effectively isolating the sensor unit from external interference while maintaining good sensitivity, thereby ensuring the stability and reliability of the electronic skin's performance.
[0041] At the same time, the use of porous silicone foam can facilitate the molding of the buffer layer 202 in the cavity of the shell 201 , and in the process of molding the buffer layer 202 , realize the connection between the buffer layer 202 and the shell 201 , and set the sensor unit 203 in the shell 201 .
[0042] In some embodiments, the housing 201 is made of a flexible material, such as rubber. A housing formed of a flexible material such as rubber can effectively sense external forces and transmit them to the sensor unit. Furthermore, the electronic skin can adapt well to the shape of the robotic arm, allowing it to be installed at any desired location on the robotic arm and adapt to various deformations caused by movements such as rotation of the robotic arm.
[0043] In some embodiments, a flange 2011 is provided at the connecting end of the shell 201. The flange 2011 can be well fitted to the surface of any shape of the robotic arm due to its flexibility. A mounting hole 2012 is provided on the flange 2011, so that the shell can be conveniently fixed to the robotic arm at the connecting end of the shell.
[0044] In some embodiments, a closed buffer cavity is formed between the contact layer 2013 and the buffer layer 202, and an air chamber is formed between the contact layer 2013 and the buffer layer 202. While isolating external interference, the gas in the air chamber transmits the force acting on the contact layer to the sensor in the buffer layer, so that the electronic skin can better sense the influence of the outside world.
[0045] In some embodiments, the sensor unit 203 includes a pressure sensor, an interface unit, a power management unit, and a microprocessor.
[0046] Pressure sensors can be capacitive or voltage-based. For example, in the case of a capacitive pressure sensor, the sensor unit receives signals from the capacitive pressure sensor, which detects external pressure by measuring changes in capacitance. Typically, a capacitive pressure sensor consists of two electrodes. When an external force acts on the sensor surface, the capacitance changes, and the external pressure is measured by measuring this change in capacitance.
[0047] In some embodiments of the present invention, a robotic arm 10 is further provided. The robotic arm 10 includes a robotic arm body and an electronic skin 20 disposed on the robotic arm body.
[0048] When the robotic arm touches the outside world, the pressure generated by the touch transmits the force to the sensor unit 203 through the contact layer of the shell unit. The capacitive pressure sensor converts the pressure into an electrical signal and transmits it to the robotic arm control module of the mechanical unit. The robotic arm control module quickly locks the movement of the electric cylinder between the robotic arm joints. The electric cylinder stops moving, causing the robotic arm to stop moving, thereby avoiding damage to the equipment or human body.
[0049] The placement of electronic skin 20 on robotic arm 10 makes the arm more intelligent, improving its real-time perception and response to the external environment. When the robotic arm contacts an external object or a person, it can promptly detect changes in pressure and take appropriate safety measures, such as stopping the movement or adjusting the posture, to avoid potential damage or accidents. This is of great significance in the application of medical robotic arms.
[0050] The shell unit is molded from flexible materials such as rubber, giving it good flexibility and adaptability, enabling it to adapt to different shapes and surfaces. This environmental adaptability enhances the application capabilities of the robot arm in complex work scenarios, enabling it to perform tasks in small spaces or on irregular surfaces, reducing restrictions on the robot arm's range of motion, and effectively reducing the possibility of the robot arm entering a dead zone of motion.
[0051] In some embodiments of the present invention, a medical device is further provided. The medical device includes a device body and a robotic arm 10 disposed on the device body.
[0052] In some embodiments, reference Figure 2 、 Figure 3 、 Figure 4 and Figure 5 , medical devices, including:
[0053] The robot arm 10 is a high-precision robot arm that can respond promptly and accurately to the operation of the execution unit through program control;
[0054] The execution unit includes a load bracket 41 provided on the robotic arm and a traction bracket 42 provided on the load bracket. The load bracket 41 is connected to the robotic arm 10 via a transition flange 43. One end of the transition flange 43 is connected to the robotic arm 10, and the other end is connected to the load bracket 41. The two connecting end surfaces of the transition flange 43 form an angle of 30°-45°.
[0055] The load bracket 41 is used to carry the end load. The load bracket 41 may adopt a frame structure to facilitate the installation of the end load and other components.
[0056] The traction bracket 42 is used by the operator to pull the robot arm 10. A six-dimensional force sensor is usually set between the traction bracket and the load bracket to detect the force acting on the traction bracket and then control the movement of the robot arm.
[0057] The load bracket 41 is connected to the robotic arm 10 via a transition flange 43, and the two connecting end faces of the transition flange are set to have a certain angle, so that the action direction of the load bracket and the connecting end face of the robotic arm form a certain angle. This can effectively avoid interference between the load bracket and the robotic arm during movement, giving the medical device a larger operating range.
[0058] Reference Figure 3 The included angle α between the two connecting end faces of the transition flange 43 can be set to 30°.
[0059] The traction bracket 42 includes two opposing traction handles 421, each equipped with a safety switch 422 for controlling the movement of the robotic arm. The traction handles are used by the operator to traction the robotic arm, and the safety switch on the traction handles ensures safe movement control of the robotic arm. When the safety switch is pressed, the robotic arm can move with the traction bracket.
[0060] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. used to indicate the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the utility model product is usually placed when in use. They 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. Therefore, they cannot be understood as a limitation on the present invention.
[0061] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this invention does not necessarily mean that the components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that the direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.
[0062] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.
[0063] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention falls within the scope of protection of the present invention.
Claims
1. The electronic skin of the robotic arm is characterized by: include: The housing unit comprises a shell, a cavity is formed in the shell, and the cavity is filled with a buffer layer; The sensor unit is used to detect the pressure exerted by the outside world on the shell unit. The sensor unit is arranged in the buffer layer. A contact layer is arranged on the top of the shell. The contact layer is arranged in an arched protrusion so that the contact layer is gradually arranged away from the connection end of the shell from its outer contour toward the center.
2. The robotic arm electronic skin according to claim 1, characterized in that: The buffer layer is made of elastic or flexible material.
3. The robotic arm electronic skin according to claim 1, characterized in that: The shell is made of flexible material.
4. The robotic arm electronic skin according to claim 1, characterized in that: The connecting end of the shell is provided with a flange, and the flange is provided with a mounting hole.
5. The robotic arm electronic skin according to claim 1, characterized in that: A closed buffer cavity is formed between the contact layer and the buffer layer.
6. The robotic arm electronic skin according to claim 1, characterized in that: The thickness of the contact layer is smaller than the thickness of other parts of the shell, and the contact layer is made of flexible or elastic material.
7. The robotic arm electronic skin according to claim 1, characterized in that: The sensor unit includes a pressure sensor.
8. A robotic arm, characterized in that The robotic arm includes a robotic arm body and an electronic skin according to any one of claims 1 to 7 arranged on the robotic arm body.
9. A medical device, characterized in that The device comprises a device body and a robot arm as claimed in claim 8 arranged on the device body.