Flexible skin for movable mechanical arm

Abstract

The utility model relates to the technical field of flexible skin for mechanical arms, in particular to flexible skin for a movable mechanical arm. The problems that bionic skin is low in durability, poor in flexibility and not suitable for high-strength operation of a mechanical arm are solved. The bionic skin body is composed of a flexible base material layer, a plurality of sensing units and an electric connector unit, the bionic skin body is arranged on the outer side of the mechanical arm component, and when the movable mechanical arm drives the bionic skin body to make contact with an external human body or other components, the sensing units trigger the control box unit through the wire unit or the electric connector unit; the control box unit controls the driving part to stop running, the situation that the skin is damaged due to scraping and collision during operation of the mechanical arm is avoided, the use safety is improved, the good buffering protection effect can be achieved, injury to operators is avoided, the skin heat dissipation effect is good, and the service life of the mechanical arm is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of flexible skin for mechanical arm, especially relates to a flexible skin for movable mechanical arm. BACKGROUND

[0002] Skin as the biggest organ of human body, covers in the whole body, can perceive the outside environment (such as temperature, pressure etc.), and can protect human body from being harmed;With the progress of science and technology, various flexible electronic devices, robots and intelligent prostheses are developing rapidly, and bionic skin also emerges as the times require, so that the function of the prosthesis or robot is closer to the function of the human body itself, which can help those people with physical defects to have better life improvement, and the bionic skin used on the mechanical arm in the prior art is generally only one layer of silicone material, the durability of the bionic skin is low, the flexibility of the skin is poor, and the bionic skin cannot be applied to high-strength operation of the mechanical arm. SUMMARY

[0003] (1) technical problem to be solved

[0004] In order to solve the problem that the durability of the bionic skin is low, the flexibility of the skin is poor, and the bionic skin cannot be applied to high-strength operation of the mechanical arm.

[0005] (2) technical scheme

[0006] The technical scheme of the utility model is as follows: a flexible skin for movable mechanical arm, including bionic skin body;Its characterized in that: still including the movable setting mechanical arm component, the drive part for driving the mechanical arm component movement, bionic skin body sets up on the outside of the mechanical arm component;Bionic skin body includes flexible base material layer, multiple sensing units that are arranged in parallel on the flexible base material layer, multiple sensing units are arranged along the length direction and width direction of the flexible base material layer, the flexible base material layer is equipped with the wire unit or electric connector unit that is electrically connected to the control box unit;When the movable mechanical arm drives bionic skin body to touch the human body or other components in the outside world, the sensing unit triggers the control box unit through the wire unit or electric connector unit, so that the control box unit regulates and controls the drive part to stop running.

[0007] Further, the bionic skin body further includes a flexible buffer layer covering the sensing unit, and the flexible buffer layer is made of sponge or silicone.

[0008] Further, the bionic skin body further includes a release layer, a side of the flexible base material layer away from the sensing unit is provided with a sticky layer, and the release layer is attached to the flexible base material layer and covers the protective sticky layer;The bionic skin body is attached to the outside of the mechanical arm component through the sticky layer, and the bionic skin body is wound and covered on the outside of the mechanical arm component.

[0009] Furthermore, the bionic skin body has a first electrode layer, a second electrode layer, and an insulating isolation layer located between the first electrode layer and the second electrode layer. The first electrode layer and the second electrode layer are respectively provided with multiple positive contacts and multiple negative contacts for conducting each other, and a positive contact and a negative contact are combined to form a sensor unit; the first electrode layer is arranged on the flexible substrate layer; the insulating isolation layer is provided with multiple perforations penetrating the insulating isolation layer, and the perforations and the sensor units correspond one to one, and the positive contacts and the negative contacts contact each other through the perforations to conduct and trigger the control box unit.

[0010] Furthermore, it also includes a wear-resistant filling layer, a reinforcement belt, heat dissipation holes and an anti-collision layer. The wear-resistant filling layer is provided on one side of the bionic skin body, and the reinforcement belt is provided between the two wear-resistant filling layers. The surface of the wear-resistant filling layer is provided with a plurality of heat dissipation holes arranged at equal distances. The reinforcement belt is located between the two wear-resistant filling layers, and the outer surface of the bionic skin body is provided with an anti-collision layer.

[0011] The wear-resistant filling layer is made of rubber material;

[0012] The surface of the bionic skin body is provided with multiple groups of pressure-sensing monitoring points. By filling the inner side of the bionic skin body with a wear-resistant filling layer, and there are two wear-resistant filling layers, a reinforcement belt is set between the two wear-resistant filling layers, which can improve the toughness of the wear-resistant filling layer, thereby improving the overall strength of the bionic skin body and increasing the service life of the bionic skin body, avoiding scratches and skin damage during the operation of the robotic arm. The design structure is simple, and the skin has good toughness and firmness.

[0013] Furthermore, the reinforcement strips are arranged in a plurality of transverse and longitudinal staggered arrangements, which can improve the overall strength of the reinforcement strips and further improve the toughness and firmness of the wear-resistant filling layer.

[0014] Furthermore, the reinforcement belt is made of one of the following materials: polyester (PET) rope, nylon (Nylon) rope and polypropylene (PP) rope. By using the following materials, the strength of the reinforcement belt can be guaranteed and the service life of the reinforcement belt can be improved.

[0015] Furthermore, the wear-resistant filling layer and the bionic skin body are adhered to each other by any one of organic silica gel, epoxy resin glue and acrylic glue, thereby ensuring the adhesion firmness between the wear-resistant filling layer and the bionic skin body.

[0016] Furthermore, the surface of the bionic skin body is also provided with a plurality of groups of evenly arranged through holes, and a dust-proof net is provided in the through holes, which can facilitate the heat dissipation of the robotic arm and prevent small debris from entering the robotic arm and causing wear to the robotic arm.

[0017] Furthermore, one side of the anti-collision layer is made of silicone material, and the other side of the anti-collision layer is adhered with breathable sponge. The surface of the anti-collision layer is also provided with ventilation holes, which can provide good cushioning and protection when the robotic arm collides with a person, avoiding injuries to the operator.

[0018] (3) Beneficial effects

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: the bionic skin body is composed of a flexible substrate layer and multiple sensor units and an electrical connector unit. The bionic skin body is arranged on the outside of the robotic arm component. When the movable robotic arm drives the bionic skin body to touch the human body or other components outside, the sensor unit triggers the control box unit via the wire unit or the electrical connector unit, so that the control box unit controls the driving part to stop running, thereby avoiding scratches and skin damage during the operation of the robotic arm. A reinforcement belt is arranged between the two wear-resistant filling layers to improve the toughness of the wear-resistant filling layer, thereby improving the overall strength of the bionic skin body and increasing The service life of the bionic skin body is extended, and multiple heat dissipation holes are opened on the surface of the wear-resistant filling layer and the bionic skin body, which can dissipate the heat generated by the robotic arm during operation, ensuring that the heat generated by the robotic arm during long-term operation can be quickly discharged, avoiding internal overheating and causing damage to parts in the robotic arm. The skin has good heat dissipation effect, which increases the service life of the robotic arm, and an anti-collision layer is set on the outside of the bionic skin body, which can protect the robotic arm from damage when it collides during operation, and can have a good buffering protection effect when the robotic arm hits people, avoiding harm to the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Shown is the installation structure diagram of the anti-collision layer in this utility model;

[0021] Figure 2 Shown is a schematic diagram of the bionic skin body in the present utility model;

[0022] Figure 3 Shown is a schematic diagram of the installation of the reinforcement belt in the present utility model;

[0023] Figure 4 Shown is a diagram of the location of the wear-resistant filling layer in the present utility model;

[0024] Figure 5 Shown is the arrangement diagram of the reinforcement belt in the utility model;

[0025] Figure 6 Shown is a diagram of the locations of the heat dissipation holes in this utility model;

[0026] Figure 7 Shown is a schematic diagram of the installation of the anti-collision layer in the utility model.

[0027] Explanation of the accompanying figures: 1-bionic skin body, 2-wear-resistant filling layer, 3-reinforcement belt, 4-heat dissipation hole, 5-anti-collision layer, 6-mechanical arm component, 7-motion driving component. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Example 1:

[0030] 11. Please refer to Figures 1-7 , the utility model provides an embodiment: a flexible skin for a movable robotic arm, comprising a bionic skin body; characterized in that: it also includes a movably arranged robotic arm component and a driving component for driving the robotic arm component to move, and the bionic skin body is arranged on the outer side of the robotic arm component; the bionic skin body includes a flexible substrate layer, a plurality of sensor units arranged on the flexible substrate layer and arranged in parallel, the plurality of sensor units are arranged along the length direction and the width direction of the flexible substrate layer, and the flexible substrate layer is provided with a wire unit or an electrical connector unit electrically connected to a control box unit; when the movable robotic arm drives the bionic skin body to touch the human body or other components outside, the sensor unit triggers the control box unit via the wire unit or the electrical connector unit, so that the control box unit controls the driving component to stop running, the bionic skin body also includes a flexible buffer layer covering the sensor unit, the flexible buffer layer is made of sponge or silicone, which can play a certain buffering effect and has high safety in use, the bionic skin body also includes a release layer, and an adhesive layer is provided on the side of the flexible substrate layer away from the sensor unit, The release layer is attached to the flexible substrate layer and covers the protective adhesive layer; the bionic skin body is attached to the outer side of the robotic arm component via the adhesive layer, and the bionic skin body is wrapped around the outer side of the robotic arm component. When in use, the release layer on the bionic skin body is torn off to make the bionic skin body and the adhesive layer on the flexible substrate layer, so that the bionic skin body can be conveniently placed on the surface of the robotic arm. The bionic skin body has a first electrode layer, a second electrode layer, and an insulating isolation layer located between the first electrode layer and the second electrode layer. The first electrode layer and the second electrode layer are respectively provided with multiple positive contacts and multiple negative contacts for conducting each other, and a positive contact and a negative contact are combined to form a sensor unit; the first electrode layer is provided on the flexible substrate layer; the insulating isolation layer is provided with multiple perforations penetrating the insulating isolation layer, and the perforations and the sensor units correspond one to one. The positive contacts and the negative contacts contact each other through the perforations and trigger the control box unit. When they touch the human body or other components outside, the control box unit is triggered to stop the operation of the robotic arm in time, thereby improving safety.

[0031] Example 2:

[0032] See also Figure 1In this embodiment, it also includes a wear-resistant filling layer, a reinforcement belt, heat dissipation holes and an anti-collision layer. A wear-resistant filling layer is provided on one side of the bionic skin body, a reinforcement belt is provided between the two wear-resistant filling layers, a plurality of heat dissipation holes are provided on the surface of the wear-resistant filling layer, the reinforcement belt is located between the two wear-resistant filling layers, and an anti-collision layer is provided on the outer surface of the bionic skin body;

[0033] The wear-resistant filling layer is made of rubber material;

[0034] The surface of the bionic skin body is provided with multiple groups of pressure-sensing monitoring points. By filling the inner side of the bionic skin body with a wear-resistant filling layer, and there are two wear-resistant filling layers, a reinforcement belt is provided between the two wear-resistant filling layers, which can improve the toughness of the wear-resistant filling layer, thereby improving the overall strength of the bionic skin body and increasing the service life of the bionic skin body, thereby avoiding scratches and skin damage caused by the operation of the robotic arm. The design structure is simple, and the skin has good toughness and firmness. The reinforcement belt is made of one of the following materials: polyester (PET) rope, nylon (Nylon) rope and polypropylene (PP) rope. By using the following materials, the strength of the reinforcement belt can be guaranteed and the service life of the reinforcement belt can be improved.

[0035] Through the above steps, the bionic skin body is composed of a flexible substrate layer and multiple sensor units and an electrical connector unit. The first electrode layer and the second electrode layer are respectively provided with multiple positive contacts and multiple negative contacts for conducting each other, and a positive contact and a negative contact are combined to form a sensor unit; the first electrode layer is arranged on the flexible substrate layer; the insulating isolation layer is provided with multiple perforations penetrating the insulating isolation layer, and the perforations and the sensor units correspond one to one. The positive contacts and the negative contacts contact each other through the perforations and conduct and trigger the control box unit. The bionic skin body is arranged on the outside of the robotic arm component. When the movable robotic arm drives the bionic skin body to touch the human body or other components outside, the sensor unit triggers the control box unit through the wire unit or the electrical connector unit, so that the control box unit controls the driving part to stop running, avoiding scratches when the robotic arm is operating, causing skin damage, improving use safety, and having a good buffering protection effect to avoid harm to the operator. The skin has good heat dissipation effect and improves the service life of the robotic arm.

[0036] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the purpose of the present invention.

Claims

1. A flexible skin for a movable robotic arm, comprising a bionic skin body (1); characterized in that: A movable mechanical arm component, a driving member for driving the mechanical arm component to move, and a bionic skin body (1) arranged on the outer side of the mechanical arm component; the bionic skin body (1) includes a flexible substrate layer, a plurality of sensing units arranged on the flexible substrate layer and arranged in parallel, the plurality of sensing units are arranged along the length direction and the width direction of the flexible substrate layer, and the flexible substrate layer is provided with a wire unit or an electric connector unit electrically connected to a control box unit; when the movable mechanical arm drives the bionic skin body (1) to touch an external human body, the sensing unit triggers the control box unit via the wire unit or the electric connector unit, so that the control box unit controls the driving member to stop running.

2. The flexible skin for a movable robotic arm according to claim 1, characterized in that: The bionic skin body (1) further comprises a flexible buffer layer covering the sensing unit, and the flexible buffer layer is made of sponge or silicone.

3. The flexible skin for a movable robotic arm according to claim 1, characterized in that: The bionic skin body (1) further comprises a release layer, an adhesive layer is provided on the side of the flexible substrate layer away from the sensing unit, the release layer is attached to the flexible substrate layer and covers the protective adhesive layer; the bionic skin body (1) is attached to the outer side of the robotic arm component via the adhesive layer, and the bionic skin body (1) is wrapped around the outer side of the robotic arm component.

4. The flexible skin for a movable robotic arm according to claim 1, characterized in that: The bionic skin body (1) comprises a first electrode layer, a second electrode layer, and an insulating isolation layer located between the first electrode layer and the second electrode layer, wherein the first electrode layer and the second electrode layer are respectively provided with a plurality of positive contacts and a plurality of negative contacts for conducting with each other, and a positive contact and a negative contact are combined to form a sensor unit; the first electrode layer is provided on the flexible substrate layer; the insulating isolation layer is provided with a plurality of perforations penetrating the insulating isolation layer, the perforations and the sensor units correspond one to one, and the positive contacts and the negative contacts are in contact with each other through the perforations to conduct and trigger the control box unit.

5. The flexible skin for a movable robotic arm according to claim 1, characterized in that: The bionic skin body (1) further comprises a wear-resistant filling layer (2), a reinforcement belt (3), heat dissipation holes (4) and an anti-collision layer (5); the wear-resistant filling layer (2) is provided on one side of the bionic skin body (1); a reinforcement belt (3) is provided between the two wear-resistant filling layers (2); a plurality of heat dissipation holes (4) arranged at equal intervals are provided on the surface of the wear-resistant filling layer (2); the reinforcement belt (3) is located between the two wear-resistant filling layers (2); and an anti-collision layer (5) is provided on the outer surface of the bionic skin body (1); the wear-resistant filling layer (2) is made of rubber material; and a plurality of groups of monitoring points for sensing pressure are provided on the surface of the bionic skin body (1).

6. The flexible skin for a movable robotic arm according to claim 5, characterized in that: The reinforcement strips (3) are arranged in a plurality of transverse and longitudinal staggered arrangements.

7. The flexible skin for a movable robotic arm according to claim 5, characterized in that: The reinforcement belt (3) is made of one of the following materials: polyester rope, nylon rope and polypropylene rope.

8. The flexible skin for a movable robotic arm according to claim 5, characterized in that: The wear-resistant filling layer (2) and the bionic skin body (1) are bonded together by any one of organic silica gel, epoxy resin glue and acrylic glue.

9. The flexible skin for a movable robotic arm according to claim 1, characterized in that: The surface of the bionic skin body (1) is also provided with a plurality of evenly arranged through holes, and dustproof nets are provided in the through holes.

10. The flexible skin for a movable robotic arm according to claim 5, characterized in that: One side of the anti-collision layer (5) is made of silicone material, and the other side of the anti-collision layer (5) is adhered with a breathable sponge. The surface of the anti-collision layer (5) is also provided with ventilation holes.

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