CN217097850U - Robot and mechanical arm thereof - Google Patents
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- CN217097850U CN217097850U CN202122985619.0U CN202122985619U CN217097850U CN 217097850 U CN217097850 U CN 217097850U CN 202122985619 U CN202122985619 U CN 202122985619U CN 217097850 U CN217097850 U CN 217097850U
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Abstract
The application discloses robot and arm thereof, this arm includes arm base, joint spare, first software driver and software attenuator. One end of the first soft driver is connected with the arm base, and the other end of the first soft driver is connected with the joint piece. The first soft driver is used for being communicated with the fluid source and can be stretched and folded under the action of fluid pressure so as to drive the part of the joint piece connected with the first soft driver to move relative to the arm base. The soft damper is connected between the arm base and the joint part, the soft damper is provided with an internal cavity for containing fluid, the arm base is provided with a damping flow channel, and the internal cavity of the soft damper is communicated with the damping flow channel. Compared with the traditional rigid driving structure, the first soft driver is simpler in structure, lighter in weight and better in adaptability to underwater working environment. The soft damper can reduce the influence of the vibration force of the external environment on the mechanical arm and improve the stability of the mechanical arm.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot and a mechanical arm thereof.
Background
With the development of science and technology, mechanical arms replace human work in more and more fields. For example, in the field of underwater operation of robots, an underwater robot arm is one of the operation modules that are essential for the robot to complete maintenance work. The traditional underwater mechanical arm is generally a rigid mechanical arm, and the traditional rigid mechanical arm has the problems of complex mechanical structure, heavy weight and poor adaptability to underwater working environment due to the fact that a steering engine, a speed reducer, a circuit and various metal elements need to be configured.
SUMMERY OF THE UTILITY MODEL
The utility model discloses main aim at provides a structure is simpler, and weight is lighter, to the better arm of underwater working environment adaptability to and adopt the robot of this arm.
In a first aspect, an embodiment provides a robot arm comprising:
the arm base plays a bearing role;
an articulation for coupling with an end effector of a robot;
one end of the first soft driver is connected with the arm base, and the other end of the first soft driver is connected with the joint part so as to support the joint part; the first soft driver is used for being communicated with a fluid source, the first soft driver can be folded under the action of fluid pressure to drive the part of the joint part connected with the first soft driver to move close to the arm base, and the first soft driver can be stretched under the action of the fluid pressure to drive the part of the joint part connected with the first soft driver to move away from the arm base; and
the soft body damper is connected between the arm base and the joint piece, the soft body damper is provided with an internal cavity used for containing fluid, the arm base is provided with a damping flow channel, the internal cavity of the soft body damper is communicated with the damping flow channel, and the soft body damper is used for playing a vibration damping role when the joint piece swings relative to the arm base under the action of external vibration force.
In one embodiment, the soft damper comprises two damping end parts and a flexible damping cavity side wall, the damping cavity side wall is arranged between the two damping end parts, and two sides of the damping cavity side wall respectively extend to the corresponding damping end parts and are enclosed along the circumferential direction of the damping end parts to form the internal cavity; the damping end part of the soft damper connected with the joint part is sealed, the damping end part of the soft damper connected with the arm base is provided with an inlet and an outlet, the inlet and the outlet are communicated with the damping flow passage, the inlet and the outlet are used for allowing fluid to enter and exit the internal cavity, and the side wall of the damping cavity is provided with a folding structure; when the joint part swings relative to the arm base under the action of external vibration force, the side wall of the damping cavity of the soft damper is driven to extend and fold, so that fluid flows between the inner cavity of the soft damper and the damping flow channel.
In one embodiment, the damping device comprises at least two soft dampers, one end of each soft damper connected with the joint part is closed, and one end of each soft damper connected with the arm base is communicated with the damping flow passage.
In one embodiment, the arm base comprises three soft dampers, the number of the damping flow channels is three, the three soft dampers are arranged on the arm base in a triangular shape, the three damping flow channels are respectively arranged on three side edges of the triangle, one end of each of the three soft dampers connected with the joint part is closed, and the two soft dampers positioned on the same side edge of the triangle are communicated through the damping flow channels.
In one embodiment, the joint comprises at least two joint pieces, and a second soft driver is connected between the adjacent joint pieces and is used for being communicated with a fluid source, and the second soft driver can be expanded and folded under the action of fluid pressure so as to drive the adjacent joint pieces to move relatively.
In one embodiment, the joint members are arranged along the center line of the arm base, and the area of the radial section of each joint member is gradually reduced along the direction far away from the arm base.
In one embodiment, the joint member located at the end of the robot arm opposite to the arm base is an end joint, and the joint member located between the end joint and the arm base is an intermediate joint, and the end joint has a connection structure for connecting with an end effector of a robot.
In one embodiment, each of the first soft body driver and the second soft body driver includes two driving end portions and a flexible driving cavity side wall, the driving cavity side wall is disposed between the two driving end portions, two sides of the driving cavity side wall respectively extend to the corresponding driving end portions and enclose along the circumferential direction of the driving end portions to form a closed cavity, an inlet and an outlet are formed in the driving end portions or the driving cavity side wall, the inlet and the outlet are used for allowing pressure fluid to enter and exit the closed cavity, the driving cavity side wall has a folding structure, and when the pressure of the fluid in the closed cavity changes, the folding structure can deform to fold or extend the folding structure along the axial direction of the closed cavity.
In one embodiment, the device further comprises a connecting piece, and the connecting piece is connected between the middle parts of two adjacent second soft drivers.
In a second aspect, an embodiment provides a robot, comprising a robot arm according to any one of the preceding claims, a robot body, and an end effector, wherein the arm base of the robot arm is connected to the robot body, and the joint member is connected to the end effector.
According to the robot and the mechanical arm thereof, the mechanical arm comprises an arm base, a joint part, a first soft driver and a soft damper. The arm base plays a bearing role, and the joint piece is used for being connected with an end effector of the robot. One end of the first soft driver is connected with the arm base, and the other end of the first soft driver is connected with the joint piece, so that the joint piece is supported. The first soft driver is used for being communicated with a fluid source, the first soft driver can be folded under the action of fluid pressure to drive the part, connected with the first soft driver, of the joint piece to move close to the arm base, and the first soft driver can be stretched under the action of the fluid pressure to drive the part, connected with the first soft driver, of the joint piece to move away from the arm base. The soft damper is connected between the arm base and the joint piece, the soft damper is provided with an internal cavity used for containing fluid, the arm base is provided with a damping flow channel, the internal cavity of the soft damper is communicated with the damping flow channel, and the soft damper is used for playing a role in damping when the joint piece swings relative to the arm base under the action of external vibration force. Through the relative software base motion of first software driver drive joint spare, compare with traditional rigidity drive structure, the structure of first software driver is simpler, and weight is lighter, and is better to the adaptability of operational environment under water. Due to the addition of the soft damper, the influence of the vibration force of the external environment on the mechanical arm can be reduced, and the stability of the mechanical arm is improved.
Drawings
FIG. 1 is a schematic view of a robotic arm according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of the soft body damper, arm base and joint component according to an embodiment of the present application;
FIG. 3 is a schematic view of a robot base according to an embodiment of the present disclosure;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3 of the present application;
FIG. 5 is a schematic view of a single soft damper according to an embodiment of the present application;
reference numerals: 100. an arm base; 110. a damping flow channel; 200. a joint member; 300. a first software driver; 400. a soft damper; 500. a second software driver; 600. a connecting member; 700. a damping end portion; 800. a damping cavity side wall; 900. and (5) a connecting structure.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the described features, operations, or characteristics may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
The present embodiment provides a robot.
Referring to fig. 1 to 5, the robot includes a robot arm, a robot body, and an end effector, wherein an arm base 100 of the robot arm is connected to the robot body, and a joint member 200 is connected to the end effector. In particular, the end effector may be a jaw device, a camera device, a detection device, or the like.
In another aspect, the present implementation provides a robot arm.
Referring to fig. 1-5, the robot arm includes an arm base 100, a joint member 200, a first soft driver 300 and a soft damper 400. The arm base 100 is used for bearing, and the joint member 200 is used for connecting with an end effector of the robot. The first soft driver 300 is connected to the arm base 100 at one end and to the joint member 200 at the other end, so as to support the joint member 200. The first soft driver 300 is used for communicating with a fluid source, the first soft driver 300 can be folded under the action of fluid pressure to drive the part of the joint member 200 connected with the first soft driver 300 to move close to the arm base 100, and the first soft driver 300 can be stretched under the action of fluid pressure to drive the part of the joint member 200 connected with the first soft driver to move away from the arm base 100. The soft damper 400 is connected between the arm base 100 and the joint member 200, the soft damper 400 has an internal cavity for containing fluid, the arm base 100 has a damping flow passage 110, the internal cavity of the soft damper 400 is communicated with the damping flow passage 110, and the soft damper 400 is used for damping vibration when the joint member 200 swings with respect to the arm base 100 under the action of external vibration force.
Compared with the traditional rigid driving structure, the first soft driver 300 has the advantages that the first soft driver 300 drives the joint part 200 to move relative to the soft base, and the structure is simpler, the weight is lighter, and the adaptability to the underwater working environment is better. Due to the addition of the soft damper 400, the influence of the vibration force of the external environment on the mechanical arm can be reduced, and the stability of the mechanical arm is improved. Particularly in underwater working environments, the vibration of the robot arm may be caused by the motion of the robot arm itself and the wave environment, and the soft damper 400 can effectively damp the vibration of the robot arm. The "fluid" may be water, oil, various solutions, various gases, gas-liquid mixtures, and the like.
Specifically, the soft driver is made of flexible and light materials, can be integrally formed through injection molding, blow molding and the like, can be manufactured through 3D printing and material increase, can realize large-scale batch production, and is convenient to quickly realize customization aiming at specific application scenes. The soft driver can be made of waterproof and anticorrosive materials, so that the adaptability to the underwater working environment is further improved.
Referring to fig. 2-5, in one embodiment, the soft damper 400 includes two damping ends 700 and a flexible damping chamber sidewall 800, the damping chamber sidewall 800 is disposed between the two damping ends 700, two sides of the damping chamber sidewall 800 respectively extend to the corresponding damping ends 700 and surround the damping ends 700 to form an inner chamber. The soft damper 400 is sealed with the damping end 700 connected with the joint member 200, the damping end 700 connected with the arm base 100 of the soft damper 400 is provided with an inlet and an outlet, the inlet and the outlet are communicated with the damping flow passage 110, the inlet and the outlet are used for allowing fluid to enter and exit the internal cavity, and the side wall 800 of the damping cavity is provided with a folding structure. When the joint member 200 swings relative to the arm base 100 under the action of external vibration force, the damping cavity sidewall 800 of the soft damper 400 is driven to extend and fold, so that fluid flows between the internal cavity of the soft damper 400 and the damping flow channel 110, and the vibration energy is dissipated by the flow of the fluid in the internal cavity and the flow channel, thereby greatly reducing the lateral vibration and swing in the motion process of the mechanical arm.
The number of soft dampers 400 can be flexibly set according to actual requirements, and for example, can be one, two, three or more. For different numbers of soft body dampers 400, the arrangement of the soft body dampers 400 on the arm base 100 can be flexibly selected, and the arrangement of the soft body drivers can be symmetrical or asymmetrical. Similarly, the number and arrangement of the damping channels 110 matching with the soft damper 400 can also be flexibly set.
Specifically, in one embodiment, the robot arm includes a soft damper 400, the end of the soft damper 400 connected to the joint member 200 is closed, and the end of the soft damper 400 connected to the arm base 100 is communicated with the damping flow passage 110. Specifically, a single soft body damper 400 may be arranged in the middle of a plurality of soft body drivers.
In another embodiment, the robot arm comprises at least two soft dampers 400, the end of the soft damper 400 connected to the joint member 200 is closed, and the end of the soft damper 400 connected to the arm base 100 is communicated with the damping flow passage 110. The at least two soft dampers 400 are communicated through the damping flow passage 110, which is beneficial to maintaining the balance of the fluid pressure inside each soft damper 400.
Specifically, referring to fig. 2-4, in an embodiment, the robot arm includes three soft dampers 400, the number of the damping flow channels 110 is three, the three soft dampers 400 are arranged in a triangle on the arm base 100, the three damping flow channels 110 are respectively disposed on three sides of the triangle, one end of the three soft dampers 400 connected to the joint member 200 is closed, and the two soft dampers 400 located on the same side of the triangle are communicated through the damping flow channels 110. The three soft dampers 400 are communicated through three flow passages, and the three soft dampers 400 are arranged in a triangular shape, so that the vibration of the mechanical arm in multiple directions can be reduced. In other embodiments, the number of the soft dampers 400 can be four, five or more, and the arrangement of the soft dampers 400 can be adaptively changed. For example, when there are four soft dampers 400, the soft dampers 400 may be arranged in a quadrilateral shape, and the vibration reduction effect of the soft resistor is improved by a reasonable arrangement manner.
Referring to fig. 1, in one embodiment, the robot arm includes at least two joint members 200, a second soft driver 500 is connected between the adjacent joint members 200, the second soft driver 500 is used for communicating with a fluid source, and the second soft driver 500 can be extended and folded under the action of fluid pressure to drive the adjacent joint members 200 to move relatively.
The second soft driver 500 drives the two adjacent joint members 200 to move relatively, and compared with the traditional rigid driving structure, the second soft driver 500 has the advantages of simpler structure, lighter weight and better adaptability to underwater working environment.
Referring to fig. 1 and 5, it should be noted that the expressions "the first soft driver 300" and "the second soft driver 500" in the embodiment are only used to indicate that the installation positions of the two are different, the first soft driver 300 is installed between the arm base 100 and the joint member 200, and the second soft driver 500 is installed between the adjacent joint members 200, and do not indicate that the structures of the two are necessarily different, and in fact, the cavity side walls 800 of the first soft driver 300 and the second soft driver 500 may adopt the same folding configuration or different folding configurations.
Referring to fig. 1, in an embodiment, the joint members 200 are arranged along a center line of the arm base 100, and an area of a radial cross section of the joint members 200 is gradually reduced along a direction away from the arm base 100, so as to facilitate reducing a weight of the joint members 200 at the end of the robot arm and improving a structural stability of the robot arm.
Referring to fig. 1, in one embodiment, the joint member 200 at the end of the robot arm opposite to the arm base 100 is an end joint, the joint member 200 between the end joint and the arm base 100 is an intermediate joint, and the end joint has a connection structure 900, and the connection structure 900 is used for connecting with an end effector of the robot.
The connection with the end effector of the robot can be realized through the connection structure 900 of the end joint, so that when the joint member 200 moves relative to the arm base 100, the end effector can be driven to move, and the specific work requirement of the end effector can be met. Specifically, the connection structure 900 may be a connection slot, a connection socket, a connection bracket, or the like.
Referring to fig. 1, in one embodiment, the robot arm includes three joint members 200, and in other embodiments, the number of joint members 200 may be two, four, five, and so on.
Referring to fig. 1, in an embodiment, each of the first soft body driver 300 and the second soft body driver 500 includes two driving end portions and a flexible driving cavity side wall, the driving cavity side wall is disposed between the two driving end portions, two sides of the driving cavity side wall respectively extend to the corresponding driving end portions and enclose along a circumferential direction of the driving end portions to form a closed cavity, the driving end portion or the driving cavity side wall has an inlet and an outlet, the inlet and the outlet are used for allowing a pressure fluid to enter and exit the closed cavity, the driving cavity side wall has a folding structure, and when a pressure of the fluid in the closed cavity changes, the folding structure can deform to realize folding or extending of the folding structure along an axial direction of the closed cavity. The flexible actuators can be driven to extend and fold by changing the fluid pressure in the closed cavity, and the driving modes of the first flexible actuator 300 and the second flexible actuator 500 are simpler compared with the traditional rigid driving structure.
Referring to fig. 1, in one embodiment, the robot arm further includes a connecting member 600, and the connecting member 600 is connected between the middle portions of two adjacent second soft drivers 500. The middle parts of the adjacent second soft drivers 500 are connected through the connecting piece 600, which is beneficial to improving the structural stability of the mechanical arm.
Referring to fig. 1, in one embodiment, there are three first soft drivers 300 and three second soft drivers 500, the three first soft drivers 300 are arranged between the joint members 200 and the arm base 100 in a triangular shape, and the three second soft drivers 500 are arranged between two adjacent joint members 200 in a triangular shape. In other embodiments, the number of the software drivers can be flexibly set according to actual requirements, and can be four, five, six, and the like. The arrangement of the soft drivers can also be flexibly changed according to the number of the soft drivers, for example, when the number of the soft drivers is four, the soft drivers can be arranged in a quadrilateral shape. Through the cooperation of a plurality of soft drivers, the joint member 200 can move in a plurality of degrees of freedom, for example, the joint member 200 can stretch and bend relative to the arm base 100.
Aiming at different application scenes, each software driver can be independent, and the software drivers can also be connected in parallel or in series to meet the working requirement. The side wall 800 of the cavity of the soft driver can be a linear motion type folding structure, or a folding structure with bending and curling degrees of freedom. The radial dimension of the soft driver can be kept consistent at two ends, or the radial dimension of one end is large, and the radial dimension of the other end is small. In other embodiments, the side wall of the soft driver can also be in a bellows structure.
Referring to fig. 1, in one embodiment, the first and second soft drives 300, 500 can be in communication with the external water environment, and specifically, external water can be pumped into and out of the first and second soft drives 300, 500 by a pump to expand and collapse the first and second soft drives 300, 500. Therefore, the first software driver 300 and the second software driver 500 do not need to be subjected to additional high-pressure resistant treatment, which is beneficial to reducing the production cost.
It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.
Claims (10)
1. A robotic arm of a robot, comprising:
the arm base plays a bearing role;
an articulation for coupling with an end effector of a robot;
one end of the first soft driver is connected with the arm base, and the other end of the first soft driver is connected with the joint part so as to support the joint part; the first soft driver is used for being communicated with a fluid source, the first soft driver can be folded under the action of fluid pressure to drive the part of the joint part connected with the first soft driver to move close to the arm base, and the first soft driver can be stretched under the action of the fluid pressure to drive the part of the joint part connected with the first soft driver to move away from the arm base; and
the soft body damper is connected between the arm base and the joint piece, the soft body damper is provided with an internal cavity used for containing fluid, the arm base is provided with a damping flow channel, the internal cavity of the soft body damper is communicated with the damping flow channel, and the soft body damper is used for playing a vibration damping role when the joint piece swings relative to the arm base under the action of external vibration force.
2. The mechanical arm of claim 1, wherein the soft damper comprises two damping ends and a flexible damping cavity side wall, the damping cavity side wall is arranged between the two damping ends, two sides of the damping cavity side wall respectively extend to the corresponding damping ends and enclose along the circumferential direction of the damping ends to form the inner cavity; the damping end part of the soft damper connected with the joint part is sealed, the damping end part of the soft damper connected with the arm base is provided with an inlet and an outlet, the inlet and the outlet are communicated with the damping flow passage, the inlet and the outlet are used for allowing fluid to enter and exit the inner cavity, and the side wall of the cavity is provided with a folding structure; when the joint part swings relative to the arm base under the action of external vibration force, the side wall of the damping cavity of the soft damper is driven to extend and fold, so that fluid flows between the inner cavity of the soft damper and the damping flow channel.
3. The mechanical arm as claimed in claim 1, comprising at least two soft dampers, wherein one end of each soft damper connected with the joint member is closed, and one end of each soft damper connected with the arm base is communicated with the damping flow passage.
4. The mechanical arm as claimed in claim 3, comprising three soft dampers, wherein the number of the damping flow passages is three, the three soft dampers are arranged in a triangle on the arm base, the three damping flow passages are respectively arranged on three sides of the triangle, one end of the three soft dampers connected with the joint member is closed, and the two soft dampers on the same side of the triangle are communicated through the damping flow passages.
5. The mechanical arm of claim 1, comprising at least two of the joint members, wherein a second soft driver is connected between adjacent joint members, the second soft driver is used for being communicated with a fluid source, and the second soft driver can be expanded and folded under the action of fluid pressure so as to drive the adjacent joint members to move relatively.
6. A robotic arm as claimed in claim 5, in which the joint members are arranged along the centre line of the base of the arm, the radial cross-sections of the joint members decreasing in area away from the base of the arm.
7. A robotic arm as claimed in claim 5, in which the joint member at the end of the arm opposite the arm base is an end joint and the joint member between the end joint and the arm base is an intermediate joint, the end joint having a connection formation for connection to an end effector of a robot.
8. The mechanical arm of claim 5, wherein the first soft actuator and the second soft actuator each comprise two driving ends and a flexible driving cavity side wall, the driving cavity side wall is disposed between the two driving ends, two sides of the driving cavity side wall respectively extend to the corresponding driving ends and enclose along the circumferential direction of the driving ends to form a closed cavity, the driving ends or the driving cavity side wall are provided with an inlet and an outlet, the inlet and the outlet are used for allowing a pressure fluid to enter and exit the closed cavity, the driving cavity side wall is provided with a folding structure, and when the pressure of the fluid in the closed cavity changes, the folding structure can be deformed to realize the folding or the extension of the folding structure along the axial direction of the closed cavity.
9. The robotic arm as claimed in claim 5, further comprising a link member connected between the midpoints of two adjacent ones of the second soft drivers.
10. A robot comprising a robot arm according to any one of claims 1 to 9, a robot body, and an end effector, wherein an arm base of the robot arm is connected to the robot body, and the joint member is connected to the end effector.
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| CN202122985619.0U CN217097850U (en) | 2021-11-30 | 2021-11-30 | Robot and mechanical arm thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847418A (en) * | 2022-12-23 | 2023-03-28 | 山西大学 | Bionic pneumatic soft mechanical arm based on hexagonal net structure and control method thereof |
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2021
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115847418A (en) * | 2022-12-23 | 2023-03-28 | 山西大学 | Bionic pneumatic soft mechanical arm based on hexagonal net structure and control method thereof |
| CN115847418B (en) * | 2022-12-23 | 2024-05-28 | 山西大学 | Bionic pneumatic soft mechanical arm based on hexagonal net structure and control method thereof |
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