Multi-degree-of-freedom light line-driven inner skeleton capable of detecting collision touch

Abstract

The utility model relates to the technical field of robots, in particular to a multi-degree-of-freedom light line-driven inner skeleton capable of detecting collision and touch, which comprises a plurality of functional parts, a joint area is arranged between every two adjacent functional parts; each functional part is sleeved with a partition air bag; each group of partitioned air bags is provided with an air pressure sensor; the multi-degree-of-freedom light line-driven inner skeleton capable of detecting collision and touch further comprises an integral air bag. All the functional parts, all the joint areas and all the partitioned air bags are arranged in the integral air bag. According to the utility model, each functional part is sleeved with the partition air bag, each group of partition air bags is provided with the air pressure sensor, and the partition air bags form a layer of buffer in the hard mechanism and the external environment, so that the collision energy can be absorbed through deformation, and the safety is further improved; and the deformation of the partitioned air bags can cause the change of internal air pressure, and the position and force of collision and touch can be sensed by monitoring the air pressure through the air pressure sensor.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multi-freedom lightweight line-driven endoskeleton capable of detecting collision and touch. Background Art

[0002] With the development of automation technology, humanoid robots have shown great potential in unstructured environments due to their unique flexibility and adaptability. Because their tools and interaction methods are designed for humans, humanoid robots are well-suited to perform tasks in these environments. However, while humanoid robots have been used in research and industry, they have yet to be widely adopted in broader scenarios. One major obstacle is safety.

[0003] Safety issues are particularly prominent in unstructured environments. These issues primarily stem from the rigidity and weight of humanoid robots. Any unexpected collisions or falls in these environments could potentially cause damage to people and property. To ensure safety, the traditional approach is to install physical barriers within the robot's work area to isolate it from humans. While this approach is feasible in some fixed work environments, it is impractical in unstructured environments where close human-robot collaboration is required.

[0004] Furthermore, traditional robots typically rely on numerous force sensors to detect collisions and initiate protective measures, such as emergency stops. However, the delay between collision detection and action can result in damage to personnel and property. Furthermore, even if the robot is able to respond promptly, an emergency stop can cause irreversible damage to the robot itself. Utility Model Content

[0005] The purpose of the utility model is to address the above-mentioned deficiencies in the prior art and to provide a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch.

[0006] The purpose of the utility model is achieved through the following technical solutions: a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch, comprising multiple functional parts; a joint area is provided between two adjacent functional parts;

[0007] Each functional part is covered with a partitioned airbag; each group of partitioned airbags is equipped with an air pressure sensor; the multi-degree-of-freedom lightweight wire-driven endoskeleton that can detect collision and touch also includes an integral airbag; all functional parts, all joint areas and all partitioned airbags are arranged in the integral airbag.

[0008] The present invention is further configured such that the functional portion includes a shoulder, an elbow, a wrist and a clamping claw portion arranged in sequence; the partitioned airbag includes a first partitioned airbag arranged outside the shoulder, a second partitioned airbag arranged outside the elbow, a third partitioned airbag arranged outside the wrist and a fourth partitioned airbag arranged outside the clamping claw portion.

[0009] The present invention is further configured such that the joint area includes a first joint area between the shoulder and the elbow, a second joint area between the elbow and the wrist, and a third joint area between the wrist and the clamping jaw.

[0010] The present invention is further configured such that a traction assembly consisting of cables and pulleys is provided between the first joint area, the second joint area and the third joint area; and the traction assembly is provided in the integral airbag.

[0011] The present invention is further configured such that the multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch further includes a driving component; the driving component is connected to the traction component.

[0012] The present invention is further configured such that the first partitioned airbag, the second partitioned airbag, the third partitioned airbag and the fourth partitioned airbag are all formed by one annular airbag or by stacking a plurality of annular airbags.

[0013] The present invention is further configured such that the air pressure sensor is arranged in the partitioned airbag or is connected to the partitioned airbag through an air pipe.

[0014] The present invention is further configured such that the annular airbag is a sealed and elastic plastic film or a composite woven cloth.

[0015] The utility model is further configured such that the integral airbag is a sealed and elastic plastic film or a composite woven cloth.

[0016] The utility model is further configured such that the integral airbag is made of non-sealed Oxford cloth or composite woven cloth.

[0017] The beneficial effects of the present invention are as follows: the present invention provides partitioned airbags on the outside of each functional part, and each group of partitioned airbags is provided with an air pressure sensor. The partitioned airbags form a buffer between the hard structure and the external environment, which can not only absorb collision energy through deformation to further improve safety, but also the deformation of the partitioned airbags will cause changes in the internal air pressure. By monitoring the air pressure through the air pressure sensor, the position and strength of the collision and touch can be sensed. In addition, the multi-degree-of-freedom lightweight wire-driven endoskeleton is light in texture and has a large load. The low weight reduces the damage to personal property caused by the collision, and the high load ensures functionality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the utility model. A person skilled in the art can obtain other drawings based on the following drawings without making any creative effort.

[0019] Figure 1 It is a structural diagram of the utility model;

[0020] Figure 2 It is the internal structure diagram of the utility model;

[0021] Figure 3 This is a diagram of the internal structure of the utility model after the partition airbag is hidden;

[0022] Among them: 1. Overall airbag; 21. Shoulder; 22. Elbow; 23. Wrist; 24. Clamping jaw; 31. First partition airbag; 32. Second partition airbag; 33. Third partition airbag; 34. Fourth partition airbag; 41. First joint area; 42. Second joint area; 43. Third joint area; 5. Annular airbag. DETAILED DESCRIPTION

[0023] The present invention will be further described with reference to the following embodiments.

[0024] Depend on Figures 1 to 3 It can be seen that the multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch described in this embodiment includes multiple functional parts; a joint area is provided between two adjacent functional parts;

[0025] Each functional part is equipped with a partitioned airbag; each group of partitioned airbags is equipped with an air pressure sensor; the multi-degree-of-freedom lightweight wire-driven endoskeleton that can detect collision and touch also includes an overall airbag 1; all functional parts, all joint areas and all partitioned airbags are arranged in the overall airbag 1; the air pressure sensor is not drawn in the figure.

[0026] Specifically, the multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch described in this embodiment has partitioned airbags sheathed on the outside of each functional part, and each group of partitioned airbags is provided with an air pressure sensor. The partitioned airbags form a buffer layer between the hard structure and the external environment, which can not only absorb collision energy through deformation to further improve safety, but also the deformation of the partitioned airbags will cause changes in the internal air pressure. By monitoring the air pressure through the air pressure sensor, the position and strength of the collision and touch can be sensed.

[0027] In addition, the deformation process of the partitioned airbag can give the robot system enough time to respond. Even if the response fails, the damage caused is controllable because the deformation process will absorb a very large part of the energy.

[0028] The embodiment described a multi-degree-of-freedom lightweight line-drive endoskeleton that can detect collision and touch, wherein the functional parts include a shoulder 21, an elbow 22, a wrist 23 and a clamping claw 24 arranged in sequence; the partitioned airbags include a first partitioned airbag 31 arranged outside the shoulder 21, a second partitioned airbag 32 arranged outside the elbow 22, a third partitioned airbag 33 arranged outside the wrist 23 and a fourth partitioned airbag 34 arranged outside the clamping claw 24.

[0029] Specifically, the functional parts of this embodiment include a shoulder 21, an elbow 22, a wrist 23 and a clamping claw 24, so that the multi-degree-of-freedom lightweight wire-driven endoskeleton imitates the endoskeleton of the human arm, thereby being able to replace the human body to perform tasks in unstructured environments; in addition, by providing a first partition airbag 31, a second partition airbag 32, a third partition airbag 33 and a fourth partition airbag 34, each functional part can be cushioned and protected respectively, and the position and force of the collision of the multi-degree-of-freedom lightweight wire-driven endoskeleton can be detected conveniently.

[0030] The embodiment of the present invention describes a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision touch, wherein the joint area includes a first joint area 41 provided between the shoulder 21 and the elbow 22, a second joint area 42 provided between the elbow 22 and the wrist 23, and a third joint area 43 provided between the wrist 23 and the clamping claw 24. The embodiment of the present invention describes a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision touch, wherein a traction assembly consisting of cables and pulleys is provided between the first joint area 41, the second joint area 42 and the third joint area 43; the traction assembly is provided in the overall airbag 1. The embodiment of the present invention describes a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision touch, wherein the multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision touch also includes a drive assembly; the drive assembly is connected to the traction assembly. The traction assembly and the drive assembly are not drawn in the figure.

[0031] Specifically, this embodiment forms a wire-driven solution for the robot by forming a traction component composed of cables and pulleys; the driving component can be a motor, which is connected to a turntable to reel in and out the cable; the wire-driven solution has a smaller outer size than the joint motor and can achieve more degrees of freedom within the same outer size, thereby ensuring flexibility.

[0032] In the multi-degree-of-freedom lightweight wire-driven endoskeleton that can detect collision touch described in this embodiment, the first partition airbag 31, the second partition airbag 32, the third partition airbag 33 and the fourth partition airbag 34 are all composed of one annular airbag 5 or a plurality of annular airbags 5 stacked together.

[0033] Specifically, this embodiment configures each group of partitioned airbags to be an annular airbag 5 or a plurality of annular airbags 5 stacked together, thereby being able to accurately determine the specific location where the multi-degree-of-freedom lightweight wire-driven endoskeleton collides.

[0034] In this embodiment of a multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch, the air pressure sensor is disposed within the partitioned airbags or connected to the partitioned airbags via an air tube. Specifically, the air pressure sensor can be disposed within the partitioned airbags to save space; alternatively, the air pressure sensor can be disposed outside the partitioned airbags and connected to the partitioned airbags via an air tube, thereby enabling the air pressure sensor to perform stable air pressure measurements.

[0035] In this embodiment of a multi-DOF lightweight wire-driven endoskeleton capable of detecting collisions and touches, the annular airbag 5 is a sealed and elastic plastic film or composite woven fabric. The annular airbag 5 is made of TPU, PVC, or other similarly elastic and sealing plastic film and its woven composite fabric. This makes the multi-DOF lightweight wire-driven endoskeleton lightweight and capable of carrying a large load. The low weight reduces damage to personal and property caused by collisions, while the high load ensures functionality.

[0036] In this embodiment, a multi-degree-of-freedom, lightweight, wire-driven endoskeleton capable of detecting collision and touch is described, wherein the integral airbag 1 is a sealed and elastic plastic film or composite woven fabric. When the integral airbag 1 is a sealed structure, the integral airbag 1 is made of TPU, PVC, or other similarly elastic and sealed plastic film and its woven composite fabric, making the multi-degree-of-freedom, lightweight, wire-driven endoskeleton light and capable of carrying a large load. The low weight reduces damage to personal and property caused by collisions, while the high load ensures functionality. Furthermore, the integral airbag 1 is filled with gas, which enhances the overall cushioning performance of the multi-degree-of-freedom, lightweight, wire-driven endoskeleton.

[0037] In this embodiment of a multi-DOF lightweight wire-driven endoskeleton capable of detecting collision and touch, the integral airbag 1 is constructed of unsealed Oxford cloth or composite woven fabric. When the integral airbag 1 is unsealed, the Oxford cloth or composite woven fabric possesses sufficient strength to ensure the stability of the multi-DOF lightweight wire-driven endoskeleton.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit the scope of protection of the utility model. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the utility model.

Claims

1. A multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch, characterized by: It includes multiple functional parts; a joint area is provided between two adjacent functional parts; Each functional part is sheathed with a partitioned airbag; each group of partitioned airbags is provided with an air pressure sensor; the multi-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch also includes an overall airbag (1); all functional parts, all joint areas, and all partitioned airbags are provided within the overall airbag (1).

2. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 1, characterized in that: The functional part comprises a shoulder (21), an elbow (22), a wrist (23) and a clamping claw (24) which are arranged in sequence; the partitioned airbag comprises a first partitioned airbag (31) sleeved outside the shoulder (21), a second partitioned airbag (32) sleeved outside the elbow (22), a third partitioned airbag (33) sleeved outside the wrist (23) and a fourth partitioned airbag (34) sleeved outside the clamping claw (24).

3. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 2, characterized in that: The joint area includes a first joint area (41) provided between the shoulder (21) and the elbow (22), a second joint area (42) provided between the elbow (22) and the wrist (23), and a third joint area (43) provided between the wrist (23) and the clamping claw (24).

4. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 3, characterized in that: A traction assembly consisting of cables and pulleys is provided between the first joint area (41), the second joint area (42) and the third joint area (43); the traction assembly is provided in the integral airbag (1).

5. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 4, characterized in that: The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch further includes a driving component; the driving component is connected to the traction component.

6. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 1, characterized in that: Each group of partition airbags is formed by one annular airbag (5) or by stacking a plurality of annular airbags (5).

7. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 1, characterized in that: The air pressure sensor is arranged in the partition airbag or is connected to the partition airbag through an air pipe.

8. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 6, characterized in that: The annular airbag (5) is a sealed and elastic plastic film or a composite woven fabric.

9. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 1, characterized in that: The integral airbag (1) is a sealed and elastic plastic film or composite woven fabric.

10. The multi-degree-of-freedom lightweight wire-driven endoskeleton capable of detecting collision and touch according to claim 1, characterized in that: The integral airbag (1) is made of non-sealed Oxford cloth or composite woven cloth.

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