WO2024012582A1 - 柔性机械臂及机器人 - Google Patents

柔性机械臂及机器人 Download PDF

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Publication number
WO2024012582A1
WO2024012582A1 PCT/CN2023/107553 CN2023107553W WO2024012582A1 WO 2024012582 A1 WO2024012582 A1 WO 2024012582A1 CN 2023107553 W CN2023107553 W CN 2023107553W WO 2024012582 A1 WO2024012582 A1 WO 2024012582A1
Authority
WO
WIPO (PCT)
Prior art keywords
plate
flexible
folding unit
screw rod
folding
Prior art date
Application number
PCT/CN2023/107553
Other languages
English (en)
French (fr)
Inventor
钱钟锋
魏瀛
陈秀林
刘蓓能
Original Assignee
万勋科技(深圳)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 万勋科技(深圳)有限公司 filed Critical 万勋科技(深圳)有限公司
Publication of WO2024012582A1 publication Critical patent/WO2024012582A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • This application relates to the technical field, specifically to a flexible robotic arm and a robot.
  • Existing robotic arms mainly use traditional motors, rigid-structured fluid drive and other actuation methods.
  • the existing robotic arms are large in size and weight, and their degree of freedom is limited by the number of joints, specific configurations and combinations. Therefore, The range of activities is limited and it is sensitive to special environmental conditions such as electric fields, magnetic fields, and rays. Therefore, the working environment is limited.
  • its rigid structure has poor safety and can easily cause damage or injury to surrounding objects or people.
  • One of the purposes of the embodiments of the present application is to provide a flexible robotic arm and a robot.
  • a flexible manipulator including interconnected arm segments, a flexible rotating module and an end effector.
  • the flexible rotating module is connected between a fixed side and a rotating side, and the fixed side is the The base of the flexible robotic arm or the arm section, the rotating side is the arm section or the end effector, the flexible rotating module is driven by fluid, the flexible rotating module includes a first end plate , a power push plate, a first folding unit connected between the first end plate and the power push plate and driven by fluid to expand and contract, a nut fixed to the power push plate, and a wire threadedly connected to the nut.
  • the screw rod rotates through the first end plate, and the first folding unit telescopically pushes the power push plate to translate relative to the first end plate in the axial direction of the screw rod under fluid drive.
  • the first end plate is fixedly connected to one of the fixed side or the rotating side, and one or both ends of the screw rod are fixed to the other of the fixed side or the rotating side. connect.
  • both ends of the screw rod are fixedly connected to one of the fixed side or the rotating side through a connecting piece;
  • the connecting piece includes two connecting arms and a connecting part, and the connecting part The two ends are respectively fixedly connected to the two connecting arms, the two connecting arms are fixedly connected to the two ends of the screw rod, and the connecting part is fixedly connected to the fixed side or the rotating side.
  • the screw rod is hollow, and the outer periphery of the screw rod has an external thread that matches the nut thread, and the external thread is a multi-thread trapezoidal thread.
  • the arm section is a flexible bending module
  • the flexible bending module includes a first plate-shaped member, a second plate-shaped member, and is provided between the first plate-shaped member and the second plate-shaped member.
  • the folding unit group between the plate-like members and the support structure connecting the first plate-like member and the second plate-like member, the folding unit group includes at least two second folding units deformed by fluid driving, so One end of the folding unit group is fastened to the first plate-like member, the other end of the folding unit group is fastened to the second plate-like member, and one end of the support structure is fastened to the third plate-like member.
  • the hinge is a one-way hinge, a ball hinge, a cross hinge, or a Hooke hinge.
  • the flexible rotating module further includes a second end plate and a power-assisting member.
  • the first end plate is fixedly connected to the second end plate, and both ends of the power-assisting member are respectively connected to the second end plate.
  • the end plate and the power push plate, the screw rod rotates through the second end plate;
  • the assisting member is an elastic member, or the assisting member is a third folding unit that is driven by fluid to expand and contract, and the Both ends of the third folding unit are respectively fixed to the second end plate and the power push plate.
  • the third folding unit telescopically pushes the power push plate in the direction of the axis of the screw rod under fluid drive. Translation between the first end plate and the second end plate.
  • the flexible rotation module further includes at least one set of guide components.
  • the guide components include a first guide member and a second guide member.
  • the first guide member is provided on the first end plate.
  • the second guide piece is provided on the power push plate, the first guide piece and the second guide piece have mating parts that match each other in shape, so that the power push plate faces the first end plate Moves in the axial direction parallel to the screw.
  • one of the first guide part and the second guide part is a rod parallel to the screw rod, and the other is a hole wrapped around the rod; or, the first guide part and the second guide part are One of the second guide members is a groove parallel to the screw rod, and the other is a lug embedded in the groove.
  • the first folding unit is a flexible side wall, and the flexible side wall, the first end plate and the power push plate form a cylindrical cavity with a central axis;
  • the flexible side wall is designed to include a multi-layer folding structure, each folding structure has a folding surface, and the connection between the folding surfaces of two adjacent layers forms a crease surface, and the adjacent folding surface is connected to the folding surface.
  • the angle between the crease surfaces is defined as the intrusion angle ⁇ ;
  • the first folding unit has an initial intrusion angle ⁇ p in an initial state, and the intrusion angle ⁇ changes between 0° and the maximum intrusion angle ⁇ max during the compression or expansion process of the folded structure, where,
  • the initial intrusion angle ⁇ p and the maximum intrusion angle ⁇ max of the first folding unit are configured to satisfy the following relationship: 0.6 ⁇ max ⁇ p ⁇ 0.8 ⁇ max ;
  • the distance between two adjacent layers in the multi-layer crease surface is h
  • the wall thickness of the flexible side wall is t
  • h, t and ⁇ p are configured to satisfy the following relationship Formula: 0.05h/sin ⁇ p ⁇ t ⁇ 0.2h/sin ⁇ p ;
  • An opening is provided on the flexible side wall, the first end plate or the power push plate.
  • the opening is used to allow driving fluid to enter and exit the cavity to change the internal and external pressure difference of the cavity and make the
  • the folding structure compresses or expands to drive the first end plate and the power push plate to be relatively close to or away from each other; to shorten or extend the first folding unit.
  • a robot including the above-mentioned flexible robotic arm.
  • the flexible manipulator provided by the present application includes interconnected arm segments, a flexible rotation module and an end effector.
  • the flexible rotation module includes a first folding unit, a power push plate , nut, screw and first end plate.
  • the first end plate and the power push plate are respectively fixed at both ends of the first folding unit.
  • the first folding unit is driven by the fluid, and then the power push plate drives the nut along the length of the screw. Movement in the direction causes the screw rod to rotate, thus outputting rotational motion.
  • the flexible rotation module is flexible and can be deformed driven by fluids without causing harm to surrounding objects or people. It can also be applied in special environments such as electric fields, magnetic fields, and radiation.
  • the flexible robotic arm in this application has a large arm load-to-weight ratio, and the movement process is relatively stable.
  • the robot provided by the present application includes a flexible mechanical arm, and the flexible rotating module in the flexible mechanical arm is driven by fluid to deform, will not cause harm to surrounding objects or people, and can Suitable for special environments such as electric fields, magnetic fields, and rays.
  • the flexible robotic arm in this application has a large arm load-to-weight ratio, and the movement process is relatively stable.
  • Figure 1 is a three-dimensional structural view of a flexible robotic arm provided by an embodiment of the present application
  • Figure 2 is an exploded structural view of the flexible rotating module provided by the embodiment of the present application.
  • Figure 3 is a cross-sectional view of the flexible rotating module in Figure 2;
  • Figure 4 is an exploded structural view of the second flexible rotating module provided by the embodiment of the present application.
  • Figure 5 is an exploded structural view of the flexible rotating module in Figure 4.
  • Figure 6 is a cross-sectional view of the flexible rotating module in Figure 4.
  • Figure 7 is a three-dimensional structural view of the first flexible bending module provided by the embodiment of the present application.
  • Figure 8 is a three-dimensional structural view of the second flexible bending module provided by the embodiment of the present application.
  • Figure 9 is a three-dimensional structural view of the connector provided by the embodiment of the present application.
  • Figure 10 is an exploded structural view of the end effector provided by the embodiment of the present application.
  • each figure in the figure is marked with: 1-flexible bending module; 11-first plate-shaped member; 110-input interface; 111-first rigid unit; 12-second plate-shaped member; 121-Second rigid unit; 13-Folding unit group; 131-Second folding unit; 14-Support structure; 141-Hinge; 2-flexible rotation module; 21-first folding unit; 221-nut; 222-power push plate; 223-screw; 224-guide column; 23-first end plate; 24-second end plate; 241-annular protrusion; 25-elastic member; 26-outer cylinder; 27-third folding unit; 28-bearing; 3-End effector; 31-Clamp seat; 32-Fourth folding unit; 33-Clamp body; 4-connecting piece; 41-connecting arm; 42-connecting part; 43-extension piece; 431-extension rod; 432-U-shaped part.
  • the flexible robotic arm includes interconnected arm segments, a flexible rotation module 2 and an end effector 3 .
  • the connection sequence of the arm joint, the flexible rotation module 2 and the end effector 3 is not limited here, as long as the end effector 3 is located at the end of the flexible robotic arm.
  • the arm section may be a flexible arm section driven by fluid to deform, or a rigid arm section driven by electricity or the like.
  • the number of arm sections can be one or more.
  • the flexible rotating module 2 is driven by fluid to deform.
  • the flexible rotating module 2 is connected between the fixed side and the rotating side.
  • the fixed side is the base or arm section of the flexible mechanical arm, and the rotating side is the arm section or the end effector 3.
  • one end of the flexible rotation module 2 is connected to the base, and the other end is connected to the end effector 3; or, one end of the flexible rotation module 2 is connected to the arm joint, and the other end is connected to the end effector 3; or, the flexible rotation module 2
  • One end of module 2 is connected to one of the arm sections, The other end is connected to another arm section; or, one end of the flexible rotation module 2 is connected to the base, and the other end is connected to the arm section.
  • the flexible rotating module 2 includes a first folding unit 21 , a nut 221 , a screw rod 223 , a first end plate 23 and a power push plate 222 .
  • the first folding unit 21 is fluid driven to expand and contract. Both ends of the first folding unit 21 are respectively fixed to the first end plate 23 and the power push plate 222, and the nut 221 is also fixed to the power push plate 222. Therefore, when the fluid pushes the first folding unit 21 to expand and contract, the power push plate 222 moves along with the expansion and contraction of the first folding unit 21 , and the nut 221 also moves synchronously with the power push plate 222 .
  • the nut 221 is threadedly connected to the screw rod 223.
  • the nut 221 is synchronized with the movement of the power push plate 222.
  • the nut 221 only moves linearly in the telescopic direction of the first folding unit 21 and does not rotate.
  • the screw rod 223 rotates under the linear motion of the nut 221. , and the screw rod 223 outputs rotational motion.
  • first folding unit 21 is connected to the first end plate 23 and the power push plate 222 in a sealed manner to prevent air or water leakage.
  • the first end plate 23 is fixedly connected to one of the fixed side and the rotating side, and the end of the screw rod 223 is fixedly connected to the other one of the fixed side and the rotating side.
  • the end of the screw rod 223 is the rotation end of the flexible rotation module 2 .
  • the first end plate 23 is fixedly connected to the fixed side, and the end of the screw rod 223 is fixedly connected to the rotating side; or the first end plate 23 is fixedly connected to the rotating side, and the end of the screw rod 223 is fixedly connected to the fixed side.
  • the end of the screw rod 223 is one end of the screw rod 223 or both ends of the screw rod 223 .
  • the flexible rotating module 2 also includes a second end plate 24, the first end plate 23 and the second end plate 23 are fixedly connected, that is to say, the first end plate 23
  • the relative position to the second end plate 23 remains unchanged.
  • the two ends of the screw rod 223 are supported on the first end plate 23 and the second end plate 24 respectively, and the two ends of the screw rod 223 rotate in the first end plate 23 and the second end plate 24 respectively.
  • a bearing 28 is provided between the screw rod 223 and the first end plate 23 to make the rotation of the screw rod 223 smoother; a bearing 28 can also be installed between the screw rod 223 and the second end plate 24 to make the screw rod rotate smoothly.
  • the rotation of 223 is smoother.
  • the flexible rotating module 2 also includes a power-assist member, which is also used to push the power push plate 222.
  • the power-assist member cooperates with the first folding unit 21 to make the movement of the nut 221 more stable, and the rotation of the screw rod 223 is also smoother. More stable.
  • the first folding unit 21 cannot return automatically, the first folding unit 21 can be returned to its original position through expansion and contraction of the power assist member.
  • the power-assisting member is an elastic member 25 , and both ends of the elastic member 25 are connected to the second end plate 24 and the power push plate 222 respectively.
  • the elastic member 25 can be a spring, and the elastic member 25 can be sleeved on the outer periphery of the screw rod 223 .
  • the second end plate 24 has an annular protrusion 241.
  • the annular protrusion 241 has a positioning effect on the elastic member 25.
  • One end of the elastic member 25 can be sleeved on the annular protrusion 241.
  • the flexible rotating module 2 also includes an outer cylinder 26.
  • the two ends of the outer cylinder 26 are respectively fixed to the first end plate 23 and the second end plate 24, the first folding unit 21, the power push plate 222, and the screw rod 223. , nuts 221, etc. are all arranged inside the outer cylinder 26.
  • the outer cylinder 26 can protect the above-mentioned structure, so that the flexible rotating module 2 can work in a relatively harsh environment.
  • the power-assisting member is a third folding unit 27 , and both ends of the third folding unit 27 are respectively fixed to the second end plate 24 and the power push plate 222 .
  • the third folding unit 27 is sealedly connected to the second end plate 24 and the power push plate 222 .
  • the power push plate 222 can move under the action of the first folding unit 21 and can also move under the action of the third folding unit 27 .
  • the movement speed and movement stroke of the power push plate 222 can be determined under the joint action of the first folding unit 21 and the third folding unit 27, which can make the movement of the nut 221 more stable and the rotation of the screw rod 223 more stable. .
  • the first folding unit 21 when the first folding unit 21 cannot return automatically, the first folding unit 21 can be returned to its original position through the expansion and contraction of the third folding unit 27; when the third folding unit 27 cannot return automatically, the first folding unit 21 can also be returned to its original position. 21 Automatic return.
  • the relative positions of the first end plate 23 and the second end plate 24 are fixed, the telescopic states of the first folding unit 21 and the third folding unit 27 are complementary, and the sum of the lengths of the first folding unit 21 and the third folding unit 27 remains constant. constant. That is to say, when the first folding unit 21 is extended by L, the third folding unit 27 is shortened by L, and when the first folding unit 21 is shortened by L, the third folding unit 27 is extended by L.
  • the cross-sections of the first folding unit 21 and the third folding unit 27 are circular, that is to say, the first folding unit 21 and the third folding unit 27 include an annular side wall, and the screw rod 223, guide pillars 224, etc. can be disposed inside the first folding unit 21 and the third folding unit 27 to make the space of the flexible rotating module 2 more compact.
  • the cross-sections of the first folding unit 21 and the third folding unit 27 are annular. That is to say, the first folding unit 21 and the third folding unit 27 include The inner ring wall and the outer ring wall form a space between the inner ring wall and the outer ring wall, which is a cavity for accommodating fluid.
  • the screw rod 223, the guide column 224, etc. can be arranged inside the inner ring wall to make the space of the flexible rotating module 2 more compact.
  • the flexible rotating module 2 is fixedly connected to the fixed side or the rotating side, that is to say, the end of the screw rod 223 is fixedly connected to the fixed side or the rotating side.
  • the screw rod 223 rotates, driving the end effector 3 to rotate.
  • One end of the screw rod 223 extends out of the first end plate 23 or the second end plate 24, and the fixed side or the rotating side is directly connected to the extended portion of the screw rod 223.
  • the extended end of the screw rod 223 is connected to the end effector 3, and the end effector 3 has a central axis.
  • the connection between the screw rod 223 and the end effector 3 is located on the central axis of the end effector 3, the end effector 3 Able to rotate.
  • the central axis of the end effector 3 and the central axis of the screw 223 coincide with each other, so that the end effector 3 can rotate.
  • the central axis of the end effector 3 may not coincide with the central axis of the screw 223 , and the central axis of rotation of the end effector 3 is also the central axis of the screw 223 .
  • the flexible rotating module 2 is fixedly connected to the fixed side or the rotating side through the connector 4. That is to say, the screw rod 223 is connected to the fixed side or the rotating side.
  • the parts 4 are fixedly connected, so that the position of the arm joint on the rotating side or the end effector 3 can be more unrestricted.
  • the screw rod 223 is fixedly connected to the connecting piece 4, and the fixed side or the rotating side is also fixedly connected to the connecting piece 4, so that the screw rod 223 can drive the end effector 3 to rotate through the connecting piece 4.
  • Both ends of the screw rod 223 are fixedly connected to the connecting piece 4, so that the force of the flexible rotating module 2 is more uniform.
  • the connecting piece 4 is also connected to the fixed side or the rotating side. Fixed connection.
  • the connecting member 4 includes two connecting arms 41 and a connecting part 42. Both ends of the connecting part 42 are fixedly connected to the two connecting arms 41 respectively.
  • the two connecting arms 41 are respectively connected to both ends of the screw rod. Fixed connection.
  • the two connecting arms 41 and one connecting portion 42 can be connected in a U shape, and the connecting portion 42 is the bottom of the U shape, so that the connection between the screw rod 223 and the fixed side or the rotating side is more stable.
  • one end of the screw rod 223 is fixedly connected to the connector 4, and one end of the screw rod 223 extends out of the flexible rotating module 2.
  • the side of the flexible rotating module 2 facing away from the extended end of the screw rod 223 is the support side. .
  • one end of the screw rod 223 is disposed through the second end plate 24, and the outside of the first end plate 23 is the support side. That is to say, one end of the screw rod 223 passes through one end of the flexible rotating module 2, and the other end of the flexible rotating module 2 is the supporting side.
  • One end of the connecting piece 4 is connected to the support side, the other end of the connecting piece 4 is fixedly connected to the screw rod 223, and the connecting piece 4 is fixedly connected to the fixed side or the rotating side.
  • one end of the screw rod 223 is disposed through the first end plate 23, and the outside of the second end plate 24 is the support side. That is to say, one end of the screw rod 223 passes through one end of the flexible rotating module 2, and the other end of the flexible rotating module 2 is the supporting side.
  • One end of the connecting piece 4 is connected to the support side, the other end of the connecting piece 4 is fixedly connected to the screw rod 223, and the connecting piece 4 is fixedly connected to the fixed side or the rotating side.
  • the connecting piece includes two connecting swing arms and a connecting rod. Both ends of the connecting rod are fixedly connected to the two connecting swing arms respectively, so that the connecting piece can be arranged in a U shape, and the connecting rod is the bottom of the U-shaped structure.
  • One end of the connecting swing arm away from the connecting rod is rotatably connected to the support side, and the other end of the connecting arm away from the connecting rod is fixedly connected to the screw rod 223 .
  • the flexible manipulator includes a plurality of flexible rotating modules 2, and a plurality of flexible rotating modules 2 2 are connected in sequence, the flexible rotating module 2 at the end can be connected to the end effector 3 through the connecting piece 4, and the two adjacent flexible rotating modules 2 are also rotationally connected through the connecting piece 4.
  • the connecting member 4 includes two connecting arms 41 and a connecting part 42, and also includes an extending part 43.
  • One end of the extending part 43 and the connecting part 42 are fixed to each other.
  • the arrangement of the extending part 43 can increase the distance between two adjacent ones. The distance between the flexible rotating modules 2, or increasing the distance between the flexible rotating modules 2 and the end effector 3.
  • one end of the extending piece 43 is fixedly connected to the connecting portion 42, and the other end of the extending piece 43 is fixedly connected to the end effector 2.
  • the extension member 43 includes a rod-shaped extension rod 431 , and the arrangement of the extension member 43 can increase the distance between the flexible rotation module 2 and the end effector 3 .
  • the extension member 43 can be arranged in a fork shape.
  • the extension member 43 includes an extension rod 431 and a U-shaped portion 432.
  • One end of the extension rod 431 is fixedly connected to the connecting portion 42, and the other end of the extension rod 431 is fixedly connected to the bottom of the U-shaped portion 432.
  • the top two ends of the U-shaped portion 432 are respectively fixedly connected to the two ends (such as the first end plate and the second end plate) of the corresponding flexible rotating module 2. In this way, the connection structure between the two flexible rotating modules 2 is More stable and more evenly stressed.
  • the screw rod 223 is provided with a hollow structure. Firstly, the weight of the screw rod 223 can be made lighter, which helps to realize the lightweight of the flexible robotic arm; secondly, it can be used The flow path can pass through the middle of the screw rod 223 and does not need to be set outside the flexible rotating module 2. This keeps the appearance of the robotic arm clean and can also protect the flow path to a certain extent.
  • the outer circumference of the screw rod 223 has external threads
  • the nut 221 has internal threads.
  • the external threads and the internal threads cooperate with each other, so that when the nut 221 moves along the length direction of the screw rod 223, the screw rod 223 rotates.
  • the external thread on the outer periphery of the screw rod 223 is a multi-thread trapezoidal thread, which makes the nut 221 drive the screw rod 223 to move more smoothly without self-locking.
  • the axial force of the internal thread on the external thread drives the screw rod 223 to rotate, so it is different from the screw rod 223 that is generally used for fastening or rotational force driving axial movement.
  • the cooperation between the nut 221 and the screw rod 223 has opposite requirements, so the lead angle needs to be set to a larger value.
  • Multi-thread threads are used to transmit power and motion due to their larger thread pitch angle (easy to slide), so they are more suitable as external threads on the outer circumference of the screw rod 223.
  • the thread self-locking condition is that the thread lead angle is less than the equivalent friction angle.
  • the trapezoidal thread lead angle of the screw 223 should be greater than the equivalent friction angle, ⁇ >arctan(f /cos ⁇ ), arctan(f/cos ⁇ ) is the equivalent friction angle.
  • ⁇ thread lead angle, f is the friction coefficient
  • ⁇ is the tooth form bevel angle.
  • 30° ⁇ 50° such as 35°, 40°, 45°, 48°, etc., more recently, 40° ⁇ 50°.
  • the nut 221 can drive the screw rod 223 to rotate more smoothly, and the required driving force is smaller. If ⁇ is too small, the thread lead angle is too small, and when the nut 221 moves per unit length, the screw rod 223 rotates at a small angle; if ⁇ is too large, the thread lead angle is too large, and the resistance the nut 221 experiences when moving is too large. A large driving force is required to move the nut 221.
  • the flexible rotating module 2 also includes at least one set of guide components.
  • the guide components are used to assist the power push plate 222 in moving along the telescopic direction of the screw rod 223 and prevent the power push plate 222 from tilting or shaking.
  • the number of guide assemblies can be selected as one, two, three, etc. Multiple guide assemblies can make the movement of the power push plate 222 more stable and prevent the power push plate 222 from shaking during movement.
  • the guide assembly includes a first guide member and a second guide member.
  • the first guide member is provided on the first end plate 23 and the second guide member is provided on the power push plate 222.
  • the first guide member and the second guide member The pieces have mating portions whose shapes match each other.
  • the first guide member has a convex portion
  • the second guide member has a groove portion. In this way, the power push plate 222 can be smoothly moved along the axial direction of the screw rod 223 to prevent the power push plate 222 from being skewed, dislocated, etc.
  • the first guide member is a rod parallel to the screw rod 223, and the second guide member is a hole wrapped around the rod.
  • the first guide member is the guide post 224
  • the second guide member is a hole opened on the power push plate 222
  • the guide post 224 It is disposed through the hole on the power push plate 222 to prevent the power push plate 222 from moving in a direction perpendicular to the length direction of the guide column 224 .
  • Both ends of the guide column 224 are fixed to the first end plate 23 and the second end plate 24 respectively, and the guide column 224 is disposed through the power push plate 222 so that the power push plate 222 only moves along the length direction of the guide column 224 .
  • the second guide member is a rod parallel to the screw rod 223, and the second guide member is a hole wrapped around the rod.
  • the first guide member is a groove parallel to the screw rod 223, and the second guide member is a lug embedded in the groove.
  • the first end plate 23 or other structural parts extend along the axial direction of the screw rod 223 to form a positioning groove, and the power push plate has lugs embedded in the positioning groove.
  • the movement direction of the power push plate 222 can also be always parallel. in the axial direction of the screw rod 223.
  • the second guide member is a groove parallel to the screw rod 223, and the first guide member is a lug embedded in the groove.
  • the arm section is a flexible bending module 1.
  • the flexible bending module 1 is driven by fluid and can bend and deform.
  • the flexible bending module 1 includes a folding unit group 13 , a first plate-shaped member 11 , a second plate-shaped member 12 and a support structure 14 .
  • the folding unit group 13 is disposed between the first plate-like member 11 and the second plate-like member 12, and both ends of the folding unit group 13 are respectively fastened to the first plate-like member 11 and the second plate-like member 12 to improve the efficiency of the folding unit group 13.
  • the stiffness of the flexible bending module 1 reduces phenomena such as indentation, collapse, dislocation and disorder during the deformation process of the folding unit group 13.
  • the folding unit group 13 is sealingly connected to both the first plate-shaped member 11 and the second plate-shaped member 12 .
  • the folding unit group 13 includes at least two second folding units 131 .
  • the second folding units 131 in the folding unit group 13 are arranged side by side between the first plate-shaped member 11 and the second plate-shaped member 12 .
  • Each second folding unit 131 The sizes can be the same or different.
  • the second folding unit 131 is driven to deform by fluids such as gas and liquid.
  • fluids such as gas and liquid.
  • the gas is input into the second folding unit 131.
  • the air pressure inside the second folding unit 131 is greater than the external atmospheric pressure, the volume of the second folding unit 131 becomes larger.
  • the second folding unit 131 becomes larger.
  • Unit 131 becomes smaller in size.
  • the flexible bending module 1 will bend toward the side of the second folding unit 131 with lower air pressure, thereby driving the bending of the flexible bending module 1 through the fluid.
  • the first plate-shaped member 11 and the second plate-shaped member 12 are connected through a supporting structure 14.
  • One end of the supporting structure 14 is fixed to the first plate-shaped member 11, and the other end of the supporting structure 14 is fixed to the second plate-shaped member 12. .
  • a hinge 141 is provided on the support structure 14 .
  • the support structure 14 forms a support for the bending movement of the flexible bending module 1 and can increase the lateral stiffness of the second folding unit 131, thereby enabling This allows it to have a larger operating range and prevent it from collapsing due to excessive bending angles.
  • the flexible bending module 1 includes a folding unit group 13 composed of at least two second folding units 131.
  • the two ends of the folding unit group 13 are respectively supported by the first plate-shaped member 11 and the second plate-shaped member 12. , when the pressure in each second folding unit 131 is inconsistent, the flexible bending module 1 can be bent.
  • a support structure 14 is also provided between the first plate-like member 11 and the second plate-like member 12.
  • the support structure 14 is provided with a hinge 141.
  • the support structure 14 can firstly make the bending action of the mechanical arm more stable, and secondly, can improve The lateral stiffness of the robotic arm can thereby improve the load volume ratio and load self-weight ratio of the flexible robotic arm, prevent the folding unit group 13 from collapsing, etc.
  • the number of the second folding units 131 is two, the number of the supporting structure 14 is one, and the supporting structure 14 is disposed at the midpoint of the line connecting the centers of the two second folding units 131 .
  • the flexible bending module 1 has at least two bending directions, that is, bending toward the outside of the two second folding units 131 respectively.
  • the support structure 14 can bend toward the second folding unit 131 .
  • the second folding unit 131 has a better supporting effect and reduces the possibility of collapse when the second folding unit 131 is deformed.
  • the support structure 14 can also be arranged at other positions, that is, deviated from the above-mentioned midpoint.
  • the number of the second folding units 131 is greater than or equal to three, such as three, four, five, etc.
  • the plurality of second folding units 131 are arranged in an annular shape between the first plate-shaped member 11 and the second plate-shaped member 12, which can increase the overall rigidity of the flexible bending module 1 and enable the flexible bending module 1 to It bends in multiple directions. The more bending directions the flexible bending module 1 has, the greater the operating range of the mechanical claw connected to it.
  • the ring shape is not necessarily a circular ring shape.
  • a plurality of second folding units 131 are distributed at equal intervals along the circumferential direction of a certain central axis, so that the flexible bending module 1 is subjected to roughly the same force when bending in all directions, and there will be no distortion in one place or in a certain direction. Weak strength and stiffness condition.
  • a plurality of second folding units 131 are arranged in an annular shape between the first plate-shaped member 11 and the second plate-shaped member 12 .
  • the central axis of the circumscribed cylinder of the folding unit group 13 is set as the central symmetry axis, and the number of the support structure 14 is one, and the support structure 14 is arranged at the central symmetry axis. That is to say, each second folding unit 131 is arranged in rotational symmetry about the central axis of symmetry.
  • the support structure 14 can cooperate and guide the bending of the flexible bending module 1 to make its bending movement more stable. It can also enable each second folding unit 131 to strengthen its lateral direction when bending. Stiffness.
  • the support structure 14 can also be arranged deviated from the above-mentioned central axis of symmetry.
  • both the first plate-shaped member 11 and the second plate-shaped member 12 are circular, and both ends of each second folding unit 131 are respectively fixed to the first plate-shaped member 11 and on the second plate-shaped member 12.
  • the centers of the first plate-shaped member 11 and the second plate-shaped member 12 can both be located on the central axis of symmetry (the central axis of the circumscribed cylinder of each second folding unit 131), so that the flexible bending module 1 has a centrally symmetrical structure, facing in all directions.
  • the stress situation during bending is relatively balanced, and the lateral stiffness of each part in the circumferential direction is roughly the same.
  • the fixed connection method of the first plate-shaped member 11 , the second plate-shaped member 12 and the second folding unit 131 is not limited here. For example, they may be fixedly connected by screws.
  • the first plate-shaped member 11 includes a plurality of first rigid units 111 , and each first rigid unit 111 is connected to one end of the support structure 14 .
  • the second plate-shaped member 12 includes a plurality of second rigid units 121 , and each second rigid unit 121 is connected to the other end of the support structure 14 .
  • the number of first rigid units 111 , second rigid units 121 and second folding units 131 is the same, and both ends of each second folding unit 131 are respectively fixedly connected to the corresponding first rigid unit 111 and second rigid unit 121 .
  • the distribution of the first rigid unit 111 and the second rigid unit 121 relative to the support structure 14 is the same as the distribution of the second folding unit 131 relative to the support structure 14 .
  • the amount of material used in the plate-shaped parts is reduced, and the weight of the flexible bending module 1 is reduced, thereby increasing the load-to-weight ratio.
  • first plate-shaped member 11 and the second plate-shaped member 12 may be in shapes such as ellipses, polygons, etc., and the shapes of the first plate-shaped member 11 and the second plate-shaped member 12 are not limited here.
  • the folding unit group 13 when the folding unit group 13 is in a non-driven state, its projected area in a plane parallel to the end surface of the second folding unit 131 is S1, and the first plate-shaped member 11 and the second plate-shaped member 12 The smaller one of the minimum circumscribed circle areas projected in a plane parallel to the end surface of the second folding unit 131 is S2.
  • the plane parallel to the end surface of the second folding unit 131 may be called a reference projection plane.
  • the first plate-shaped member 11 and the second plate-shaped member 12 have the same shape and size, and the projection areas of the minimum circumscribed circles of the first plate-shaped member 11 and the second plate-shaped member 12 on the reference projection plane are both S2 ;
  • the projection area of the minimum circumscribed circle of the first plate-shaped member 11 on the reference projection plane is greater than the projection area of the minimum circumscribed circle of the second plate-shaped member 12 on the reference projection plane, the minimum circumscribed circle of the second plate-shaped member 12 is on the reference projection surface.
  • the projection area of the projection surface is S2; when the projection area of the minimum circumscribed circle of the first plate-shaped member 11 on the reference projection surface is smaller than the projection area of the minimum circumscribed circle of the second plate-shaped member 12 on the reference projection surface, the first plate-shaped member
  • the projected area of the smallest circumscribed circle of 11 on the reference projection plane is S2.
  • S1:S2>1:5 makes the flexible bending module 1 more compact in structure, smaller in size, and lighter in weight.
  • S1:S2 is 0.3, 0.4, 0.5, etc.
  • the hinge 141 is a damping hinge.
  • the damping hinge rotates accordingly, increasing the friction of the flexible bending module 11 during the rotation, causing the flexible bending module 1 to move. It is more stable and smooth to prevent jitter.
  • the damping hinge is a one-way hinge, a damping ball hinge, a damping cross hinge, etc.
  • the damping of the damping hinge is adjustable, and the damping can be adjusted according to the load of the manipulator. Damping ball hinges, damping cross hinges, etc. are all existing technologies and will not be described in detail here.
  • the hinge 141 is a ball hinge, a cross hinge, a Hooke hinge, etc.
  • the second folding unit 131 is a folding airbag, and gas or liquid can be input into the folding airbag to adjust the pressure in the folding airbag and change the volume of the folding airbag.
  • the second folding unit 131 is a soft piece and can be made of polymer material.
  • the first plate-shaped member 11 or the second plate-shaped member 12 has an input interface 110 for gas or liquid. Enter the interior of the foldable airbag through the input interface 110 .
  • an input interface 110 may also be provided on the second folding unit 131 to input fluid from the input interface 110 .
  • the size of the first plate-shaped member 11 and the second plate-shaped member 12 in a direction perpendicular to the end surface of the second folding unit 131 is h
  • the first plate-shaped member 11 and the second plate-shaped member 12 The smaller diameter of the smallest circumscribed circle projected in a plane parallel to the end surface of the second folding unit 131 is D
  • h:D is less than 1:2, so that the first plate-shaped member 11 and the second plate-shaped member 12 tend to be
  • the flattening reduces the axial space it occupies (the direction perpendicular to the end surface of the second folding unit 131), thereby achieving miniaturization and weight reduction of the flexible bending module 11.
  • h:D is 1:3, 1:5, 1:10, etc.
  • first plate-shaped member 11 and the second plate-shaped member 12 are flat-shaped, so that the first plate-shaped member 11 and the second plate-shaped member 12 can not only enhance the rigidity of the flexible bending module 1, but also Does not take up too much axial space.
  • h is the thickness of the first plate-shaped member 11 and the second plate-shaped member 12.
  • the maximum distance between the first plate-shaped member 11 and the second plate-shaped member 12 in a parallel state is d, and the first plate-shaped member 11 and the second plate-shaped member 12 are at The smaller diameter of the smallest circumscribed circle of the reference projection surface is D, and d:D is less than 2:1.
  • D The smaller diameter of the smallest circumscribed circle of the reference projection surface
  • d:D is less than 2:1.
  • More bending modules are installed in the length to achieve a larger combined bending range.
  • d:D is 3:2, 5:4, 1:1, 4:5, etc.
  • the number of flexible bending modules 1 is multiple, such as two, three, etc., to avoid force dislocation, disorder or offset, so as to maintain the flexibility of the flexible manipulator. Normal movement.
  • the second plate-shaped member 12 of one flexible bending module 1 is fixedly connected to the first plate-shaped member 11 of the adjacent flexible bending module 1, so that the adjacent flexible bending module 1
  • Two flexible bending modules 1 are fixedly connected.
  • the adjacent first plate-shaped member 11 and the second plate-shaped member 12 are fixedly connected through connecting members 4 such as screws, or the adjacent first plate-shaped member 11 It is integrally formed with the second plate-shaped member 12 , or the adjacent first plate-shaped member 11 is the second plate-shaped member 12 .
  • a plate-shaped member is sufficient to be spaced between the second folding units 131 arranged in the axial direction.
  • the first folding unit 21, the second folding unit 131, and the third folding unit 27 are all flexible side walls.
  • the first folding unit 21, the first end plate 23 and the power push plate 222 are enclosed to form a cylindrical cavity with a central axis.
  • the third folding unit 27, the second end plate 24 and the power push plate 222 are enclosed to form a cylindrical cavity with a central axis.
  • the central axis of the cylindrical cavity of the flexible rotating module 2 is the same as the telescopic direction of the first folding unit 21 and the telescopic direction of the third folding unit 27 .
  • the second folding unit 131, the first plate member 11 and the second plate member 12 enclose a cylindrical cavity with a central axis. When the flexible bending module 1 bends, the central axis of the cavity also bends accordingly. state.
  • the cavity formed by the first folding unit 21 , the first end plate 23 and the power push plate 222 is used as an example for illustration.
  • An opening is provided on the flexible side wall, the first end plate 23 or the power push plate 222. The opening is used to allow the driving fluid to enter and exit the cavity to change the internal and external pressure difference of the cavity and compress or expand the folding structure to drive the first
  • the end plate 23 and the power push plate 222 are relatively close to or far away; the first folding unit 21 is shortened or extended.
  • the flexible side walls are designed into a multi-layer folding structure. When each layer of the folding structure is folded, the flexible side walls shrink and the cavity volume is reduced. When each layer of the folding structure is unfolded, the flexible side walls expand and the cavity volume is elongated.
  • Each layer of the folded structure has a folding surface. The connection between the folding surfaces of two adjacent layers forms a crease surface. The angle between the adjacent folding surface and the crease surface is defined as the intrusion angle ⁇ .
  • the first folding unit 21 has an initial intrusion angle ⁇ p in the initial state, and the intrusion angle ⁇ changes between 0° and the maximum intrusion angle ⁇ max during compression or expansion of the folded structure.
  • the initial intrusion angle ⁇ p and the maximum intrusion angle ⁇ max of the soft body muscle may be configured to satisfy the following relationship: 0.6 ⁇ max ⁇ p ⁇ 0.8 ⁇ max .
  • the change of the cavity volume is mainly reflected in the change of the axis direction. Therefore, the fluid volume and the end face displacement, or the internal and external pressure difference ⁇ P and the end face output force, these operation control-related parameters are basically linear relation. Furthermore, it is possible that during folding or extension of soft body muscles, primarily the folding of the folding surface is involved, whereas the change in area of the soft body muscle itself can be very small. In other words, the energy of the fluid entering the cavity can be mainly used to fold or expand the folded structure, and the strain of the folded structure itself can therefore be very small (which is generated during the deformation process The strain is always within the elastic deformation range of the material and is less than 20%, 15%, 10%, 5% or 1%.
  • this feature will be named small strain).
  • the internal stress of the folded structure itself will be very small, so only a small proportion of the mechanical energy of the fluid is used to overcome the stress generated by the deformation of the folded structure itself, and most of it occurs during muscle stretch-
  • the reciprocating motion of compression is reversibly converted into elastic potential energy and released into mechanical energy of the muscle during the change in the opposite direction, so the energy conversion efficiency of the soft muscle is high.
  • small strains can be evenly distributed across the entire folding surface, allowing the soft body muscles to withstand or output greater loads and withstand more times than other existing soft body muscles.
  • the folding unit in order to control lateral deflection under high pressure difference, the hardness or modulus of the side wall material of the folding unit should be as high as possible, and high-modulus materials often take into account bending resistance; in order to Taking into account the requirements of controlling lateral deformation and long life and bending resistance, the folding unit provided by this application is structurally constrained.
  • the maximum intrusion angle ⁇ max may advantageously be configured to satisfy the following relationship: 15° ⁇ ⁇ max ⁇ 60°.
  • the initial intrusion angle ⁇ p may advantageously be configured to satisfy the following relationship: 10° ⁇ ⁇ p ⁇ 45°.
  • 10° ⁇ ⁇ p ⁇ 45° Advantageously, by setting a favorable initial intrusion angle range, smaller strains and/or more uniform strain distribution during the deformation process of the folded structure of the soft muscle can be favorably promoted.
  • the distance between two adjacent layers in the multi-layer crease surface is h
  • the flexible side wall The wall thickness is t.
  • the distance h, wall thickness t, and initial intrusion angle ⁇ p may advantageously be configured to satisfy the following relationship: 0.05h/sin ⁇ p ⁇ t ⁇ 0.2h/sin ⁇ p .
  • the wall thickness t of the flexible side wall remains unchanged.
  • the folds formed at the connection of each folding surface of the adjacent two-layer folding structure are circles with different radii and are convex along the radial direction of the first folding unit 21.
  • the radius of the circle at is R
  • the radius of the circle at the depression is r
  • R or r is the shortest distance from the geometric center of the cross-section to the side of the cross-section; for example, when the first folding unit 21 has an elliptical cross-section, R is half of the minor axis of the ellipse.
  • the penetration depth coefficient a can be basically a constant value. Furthermore, a reasonable setting of the a value can improve the folding and deformation performance of the soft muscle according to specific working conditions, such as increasing the extension-compression ratio under normal circumstances, or taking a larger a value on the outer side wall of the annular cavity to obtain A cavity inside a sufficiently large annular cavity. Furthermore, for soft muscles, their end face load and environmental pressure jointly determine the pressure range inside the cavity required for work. The range of the internal pressure of the cavity determines the range of the wall thickness t of the flexible side wall.
  • the folds formed at the connection of each folding surface of the adjacent two-layer folding structure are circles with different radii, and the creases formed along the radial direction of the second folding unit 131 are
  • the circular radius is R
  • the circular radius of the depression is r
  • R when the cross-section of the second folding unit 131 is non-circular, R is the shortest distance from the geometric center to the side of the cross-section; for example, when the second folding unit 131 is oval, R is the shortest distance of the oval. half of the shaft.
  • the structure composed of the above-mentioned cavity and cavity wall can be called a soft body muscle.
  • the soft body muscle is driven by fluid.
  • the soft body muscle can also be called a fluid actuator.
  • the difference adjusts the fluid capacity of the internal cavity of the soft muscle, thereby changing the volume of the soft muscle. Through the change in volume, the size in the specified direction is changed, and the load in that direction is driven to displacement, completing the driving process.
  • the fluid actuator has foldable flexible side walls so that the fluid actuator can be acted upon by a smaller force in the axis direction. It is folded down and can withstand large forces (internal and external pressure differences of the fluid) in other directions without large deviations relative to the axis.
  • the fluid actuator has the ability to withstand large pressure differences. It has the ability to maintain its own shape, so that it can withstand large pressure differences laterally and have a larger load-to-weight ratio. In the axial direction, it has the characteristics of filtering interference forces other than effective control sources to maintain a stable state.
  • the end effector 3 can be a flexible gripper, a mechanical gripper, a pan/tilt, a camera module, a fire-fighting or agricultural spraying device, etc.
  • the end effector 3 is a flexible gripper.
  • the flexible clamping jaw includes a clamping jaw base 31 , a clamping jaw body 33 and a fourth folding unit 32 .
  • There are multiple clamping jaw bodies 33 and the clamping jaw body 33 is rotationally connected to the clamping jaw base 31 .
  • There are also multiple fourth folding units 32 and the number of the fourth folding units 32 is the same as the number of the clamping claw bodies 33 .
  • Each fourth folding unit 32 drives the corresponding jaw body 33 to rotate relative to the jaw base 31 .
  • the fourth folding unit 32 is provided between the jaw base 31 and the jaw body 33 .
  • the fourth folding unit 32 is also driven by fluid to deform, and its working principle is the same as that of the first folding unit 21, which will not be described again here.
  • Both ends of the fourth folding unit 32 can be fixed to the jaw base 31 and the jaw body 33 respectively, and are sealedly connected to the jaw base 31 and the jaw body 33 .
  • This application also provides a robot, which includes the flexible robotic arm in any of the above embodiments, and may also include a flexible telescopic module and other mechanisms.
  • the robot provided by this application includes a flexible robotic arm.
  • the flexible rotating module 2 in the flexible robotic arm is driven by fluid to deform, which will not cause harm to surrounding objects or people, and can be applied to special environments such as electric fields, magnetic fields, and radiation. middle.
  • the flexible robotic arm in this application has a large arm load-to-weight ratio, and the movement process is relatively stable.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

本申请公开一种柔性机械臂及机器人，柔性机械臂包括相互连接的臂节、柔性旋转模组(2)和末端执行机构(3)，柔性旋转模组(2)由流体驱动，柔性旋转模组(2)包括第一端板(23)、动力推板(222)、连接于第一端板(23)和动力推板(222)之间且由流体驱动伸缩的第一折叠单元(21)、固定于动力推板(222)的螺母(221)、与螺母(221)螺纹连接的丝杆(223)，丝杆(223)转动穿过第一端板(23)，第一折叠单元(21)在流体驱动下伸缩推动动力推板(222)在丝杆(223)的轴线方向相对第一端板(23)平移。柔性机械臂能够在流体驱动下变形，不会对周围的物体或者人造成伤害，而且可以适用于电场、磁场、射线特殊环境中。

Description

柔性机械臂及机器人
本申请要求于2022年07月15日在中国专利局提交的、申请号为202210829604.1、发明名称为“柔性机械臂及机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及技术领域，具体涉及一种柔性机械臂及机器人。
背景技术
现有的机械臂主要采用传统的电机、刚性结构的流体驱动等致动方式，导致现有的机械臂尺寸大、重量大，其自由度受限于关节的数量、具体配置及组合方式，因此活动范围受限，对电场、磁场、射线等特殊环境条件较为敏感，因此作业环境受限，而且其刚性结构安全性差，容易对周围物体或人造成破坏或伤害。
目前的柔性臂方案多停留在实验室阶段，例如利用磁性材料、电聚合物、形状记忆材料等，但还是无法克服作业环境受限和载荷自重比小的缺陷。或也有以气体改变气囊形状，带动机械臂运动的方式，但其载荷自重比仍然很小。
以上各种机械臂各自或组合的方案均无法同时克服所列举的技术缺陷，如载荷体积比小，载荷自重比小、运动过程中稳定性不佳难以精确操控等问题。
技术问题
本申请实施例的目的之一在于：提供一种柔性机械臂及机器人。
技术解决方案
本申请实施例采用的技术方案是：
第一方面，提供了一种柔性机械臂，包括相互连接的臂节、柔性旋转模组和末端执行机构，所述柔性旋转模组连接于固定侧和旋转侧之间，所述固定侧为所述柔性机械臂的基座或所述臂节，所述旋转侧为所述臂节或所述末端执行机构，所述柔性旋转模组由流体驱动，所述柔性旋转模组包括第一端板、动力推板、连接于所述第一端板和所述动力推板之间且由流体驱动伸缩的第一折叠单元、固定于所述动力推板的螺母、与所述螺母螺纹连接的丝杆，所述丝杆转动穿过所述第一端板，所述第一折叠单元在流体驱动下伸缩推动所述动力推板在所述丝杆的轴线方向相对所述第一端板平移。
在一些实施例中，所述第一端板与所述固定侧或所述旋转侧之一固定连接，所述丝杆的一端或两端与所述固定侧或所述旋转侧之另一固定连接。
在一些实施例中，所述丝杆的两端与所述固定侧或所述旋转侧之一通过连接件固定连接；所述连接件包括两个连接支臂和一个连接部，所述连接部的两端分别与两个所述连接支臂固定连接，两个所述连接支臂分别与所述丝杆的两端固定连接，所述连接部与所述固定侧或所述旋转侧固定连接。
在一些实施例中，所述丝杆呈中空设置，所述丝杆的外周具有与所述螺母螺纹配合的外螺纹，所述外螺纹为多线梯形螺纹。
在一些实施例中，所述臂节为柔性弯曲模组，所述柔性弯曲模组包括第一板状件、第二板状件、设于所述第一板状件和所述第二板状件之间的折叠单元组、以及连接所述第一板状件和所述第二板状件的支撑结构，所述折叠单元组包括至少两个由流体驱动变形的第二折叠单元，所述折叠单元组的其中一端紧固于所述第一板状件，所述折叠单元组的另一端紧固于所述第二板状件，所述支撑结构的其中一端紧固于所述第一板状件，所述支撑结 构的另一端紧固于所述第二板状件，所述支撑结构上设有铰链，所述铰链为单向铰链或球铰或十字铰链或虎克铰。
在一些实施例中，所述柔性旋转模组还包括第二端板和助力件，所述第一端板与第二端板固定连接，所述助力件的两端分别连接于所述第二端板和所述动力推板，所述丝杆转动穿过所述第二端板；所述助力件为弹性件，或者，所述助力件为由流体驱动伸缩的第三折叠单元，所述第三折叠单元的两端分别固定于所述第二端板和所述动力推板，所述第三折叠单元在流体驱动下伸缩推动所述动力推板在所述丝杆的轴线方向在所述第一端板和所述第二端板之间平移。
在一些实施例中，所述柔性旋转模组还包括至少一组导向组件，所述导向组件包括第一导向件和第二导向件，所述第一导向件设于所述第一端板上，所述第二导向件设于所述动力推板上，所述第一导向件和所述第二导向件具有形状相互匹配的配合部，使所述动力推板相对所述第一端板在平行所述丝杆的轴向方向移动。
在一些实施例中，所述第一导向件和所述第二导向件之一为平行所述丝杆的杆，另一为外套于所述杆的孔；或者，所述第一导向件和所述第二导向件之一为平行所述丝杆的槽，另一为内嵌于所述槽的凸耳。
在一些实施例中，所述第一折叠单元为柔性侧壁，所述柔性侧壁、所述第一端板和所述动力推板合围形成具有中心轴线的筒状的腔体；
所述柔性侧壁被设计成包括多层折叠结构，每一层折叠结构均具有折叠面，相邻两层所述折叠面的连接处形成折痕面，相邻的所述折叠面与所述折痕面之间的夹角被定义为侵入角θ；
所述第一折叠单元在初始状态下具有初始侵入角θp，并且在所述折叠结构的压缩或伸展过程中所述侵入角θ在0°至最大侵入角θmax之间变化，其中，所述第一折叠单元的初始侵入角θp和最大侵入角θmax被配置为满足如下关系式：0.6θmax＜θp＜0.8θmax；
在所述初始状态下，多层折痕面中的相邻两层之间的距离为h，所述柔性侧壁的壁厚为t，其中，h、t以及θp被配置为满足如下关系式：0.05h/sinθp＜t＜0.2h/sinθp；
所述柔性侧壁上、所述第一端板或者所述动力推板上设置有开口，所述开口用于使驱动流体进出所述腔体以改变所述腔体的内外压差并使所述折叠结构压缩或伸展以驱动所述第一端板和所述动力推板相对靠近或远离；使所述第一折叠单元缩短或伸长。
第二方面，提供了一种机器人，包括上述的柔性机械臂。
有益效果
本申请实施例提供的柔性机械臂的有益效果在于：本申请提供的柔性机械臂包括相互连接的臂节、柔性旋转模组和末端执行机构，柔性旋转模组包括第一折叠单元、动力推板、螺母、丝杆以及第一端板，第一端板和动力推板分别固定在第一折叠单元的两端，通过流体驱动第一折叠单元，然后使动力推板带动螺母沿丝杆的长度方向移动，使得丝杆旋转，从而输出旋转运动。柔性旋转模组为柔性，能够在流体驱动下变形，不会对周围的物体或者人造成伤害，而且可以适用于电场、磁场、射线等特殊环境中。而且，本申请中的柔性机械臂具有较大的臂载荷自重比，运动过程也较为稳定。
本申请实施例提供的机器人的有益效果在于：本申请提供的机器人包括柔性机械臂，柔性机械臂中的柔性旋转模组等由流体驱动变形，不会对周围的物体或者人造成伤害，而且可以适用于电场、磁场、射线等特殊环境中。而且，本申请中的柔性机械臂具有较大的臂载荷自重比，运动过程也较为稳定。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或示范性技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实 施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本申请实施例提供的柔性机械臂的立体结构图；
图2是本申请实施例提供的柔性旋转模组的爆炸结构图；
图3是图2中柔性旋转模组的剖视图；
图4是本申请实施例提供的第二种柔性旋转模组的爆炸结构图；
图5是图4中柔性旋转模组的爆炸结构图；
图6是图4中柔性旋转模组的剖视图；
图7是本申请实施例提供的第一种柔性弯曲模组的立体结构图；
图8是本申请实施例提供的第二种柔性弯曲模组的立体结构图；
图9是本申请实施例提供的连接件的立体结构图；
图10是本申请实施例提供的末端执行机构的爆炸结构图。
其中，图中各附图标记：
1-柔性弯曲模组；11-第一板状件；110-输入接口；111-第一刚性单元；12-第二板状件；
121-第二刚性单元；13-折叠单元组；131-第二折叠单元；14-支撑结构；141-铰链；
2-柔性旋转模组；21-第一折叠单元；221-螺母；222-动力推板；223-丝杆；224-导向柱；
23-第一端板；24-第二端板；241-环形凸起；25-弹性件；26-外筒；27-第三折叠单元；28-轴承；
3-末端执行机构；31-夹爪座；32-第四折叠单元；33-夹爪本体；
4-连接件；41-连接支臂；42-连接部；43-延伸件；431-延伸杆；432-U形部。
本发明的实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需说明的是，当部件被称为“固定于”或“设置于”另一个部件，它可以直接在另一个部件上或者间接在该另一个部件上。当一个部件被称为是“连接于”另一个部件，它可以是直接或者间接连接至该另一个部件上。术语“上”、“下”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。术语“第一”、“第二”仅用于便于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明技术特征的数量。“多个”的含义是两个或两个以上，除非另有明确具体的限定。
目前常用的机器人及其机械臂主要采用传统的电机、刚性的传动组件等结构驱动，导致现有的机械臂尺寸大、重量大，而且活动范围受限，对电场、磁场、射线等特殊环境条件较为敏感，因此作业环境受限，而且其刚性结构安全性差，容易对周围物体或人造成破坏或伤害。为了克服以上技术问题，本申请提出一种柔性机械臂及机器人。
为了说明本申请所提供的技术方案，以下结合具体附图及实施例进行详细说明。
本申请的一些实施例提供一种柔性机械臂，请参阅图1，柔性机械臂包括相互连接的臂节、柔性旋转模组2和末端执行机构3。臂节、柔性旋转模组2和末端执行机构3的连接顺序此处不作限定，使末端执行机构3位于柔性机械臂的末端即可。臂节可为由流体驱动变形的柔性臂节，或者为由电力等驱动的刚性臂节。臂节的数量可为一个或者多个。柔性旋转模组2由流体驱动变形，柔性旋转模组2连接于固定侧和旋转侧之间，固定侧为柔性机械臂的基座或者臂节，旋转侧为臂节或者末端执行机构3。例如，柔性旋转模组2的一端连接于基座，另一端连接于末端执行机构3；或者，柔性旋转模组2的一端连接于臂节，另一端连接于末端执行机构3；或者，柔性旋转模组2的一端连接于其中一个臂节， 另一端连接于另一个臂节；或者，柔性旋转模组2的一端连接于基座，另一端连接于臂节。
请参阅图2及图3，柔性旋转模组2包括第一折叠单元21、螺母221、丝杆223、第一端板23和动力推板222。第一折叠单元21由流体驱动伸缩。第一折叠单元21的两端分别固定于第一端板23和动力推板222，螺母221也固定于动力推板222。因此，在流体推动第一折叠单元21伸缩时，动力推板222随着第一折叠单元21的伸缩而运动，螺母221也随动力推板222同步运动。螺母221与丝杆223螺纹连接，螺母221与动力推板222的运动同步，螺母221仅在第一折叠单元21的伸缩方向直线运动，并不转动，丝杆223在螺母221的直线运动下旋转，并由丝杆223输出旋转运动。
需要说明的是，第一折叠单元21与第一端板23和动力推板222均为密封连接，防止漏气或者漏水。
可选地，第一端板23与固定侧和旋转侧中的一个固定连接，丝杆223的端部与固定侧和旋转侧的另外一个固定连接。丝杆223的端部为柔性旋转模组2的旋转运动端。例如，第一端板23与固定侧固定连接，丝杆223的端部与旋转侧固定连接；或者，第一端板23与旋转侧固定连接，丝杆223的端部与固定侧固定连接。在该实施例中，丝杆223的端部为丝杆223的其中一端或者丝杆223的两端。
在本申请的一些实施例中，请参阅图3，柔性旋转模组2还包括第二端板24，第一端板23和第二端板23固定连接，也就是说，第一端板23和第二端板23之间的相对位置保持不变。丝杆223的两端分别支撑于第一端板23和第二端板24，丝杆223的两端分别在第一端板23和第二端板24内转动。具体而言，丝杆223和第一端板23之间设置有轴承28，使丝杆223的转动更加顺滑；丝杆223和第二端板24之间也可设置轴承28，使丝杆223的转动更加顺滑。
可选地，柔性旋转模组2还包括助力件，助力件也用于推动动力推板222，助力件与第一折叠单元21配合，可以使螺母221的运动更加平稳，丝杆223的转动也更加平稳。另外，在第一折叠单元21无法自动回位时，可以通过助力件的伸缩使第一折叠单元21回位。
在其中一些实施例中，请参阅图3，助力件为弹性件25，弹性件25的两端分别连接于第二端板24和动力推板222。在流体停止驱动第一折叠单元21时，弹性件25在自身的弹力作用下会推动动力推板222，从而使第一折叠单元21回位，避免出现第一折叠单元21无法自动回位的情况发生。弹性件25可选为弹簧，弹性件25可套设于丝杆223的外周。具体而言，第二端板24上具有环形凸起241，环形凸起241对弹性件25具有定位作用，弹性件25的一端可套设于环形凸起241上。
可选地，柔性旋转模组2还包括外筒26，外筒26的两端分别固定于第一端板23和第二端板24，第一折叠单元21、动力推板222、丝杆223、螺母221等均设置于外筒26的内部，外筒26可以对上述的结构进行保护，使该柔性旋转模组2可以在较为恶劣的环境下工作。
在本申请的一些实施例中，请参阅图4至图6，助力件为第三折叠单元27，第三折叠单元27的两端分别固定于第二端板24和动力推板222。第三折叠单元27与第二端板24和动力推板222均密封连接。在该实施例中，动力推板222可在第一折叠单元21的作用下运动，也可在第三折叠单元27的作用下运动。具体而言，动力推板222的运动速度和运动行程可在第一折叠单元21和第三折叠单元27的共同作用下确定，可以使螺母221的运动更加平稳，丝杆223的转动也更加平稳。另外，在第一折叠单元21无法自动回位时，可以通过第三折叠单元27的伸缩使第一折叠单元21回位；在第三折叠单元27无法自动回位时，也可以第一折叠单元21自动回位。
其中，第一端板23和第二端板24的相对位置固定，第一折叠单元21和第三折叠单元27的伸缩状态互补，第一折叠单元21和第三折叠单元27的长度之和保持不变。也就是说，第一折叠单元21伸长L时，第三折叠单元27缩短L，第一折叠单元21缩短L时，第三折叠单元27伸长L。
在本申请的一些实施例中，第一折叠单元21、第三折叠单元27的横截面呈圆形，也就是说，第一折叠单元21、第三折叠单元27包括一个环形侧壁，丝杆223、导向柱224等可设置于第一折叠单元21、第三折叠单元27的内部，使柔性旋转模组2的空间更加紧凑。
在本申请的一些实施例中，请参阅图3及图6，第一折叠单元21、第三折叠单元27的横截面呈环形，也就是说，第一折叠单元21、第三折叠单元27包括内环壁和外环壁，内环壁和外环壁之间形成空间为容纳流体的腔体。丝杆223、导向柱224等可设置于内环壁的内部，使柔性旋转模组2的空间更加紧凑。
在本申请的一些实施例中，请参阅图1，柔性旋转模组2与固定侧或者旋转侧固定连接，也就是说，丝杆223的端部与固定侧或者旋转侧固定连接，在柔性旋转模组2工作时，丝杆223转动，带动末端执行机构3旋转。
其中，丝杆223的一端伸出第一端板23或者第二端板24，固定侧或者旋转侧直接与丝杆223伸出的部分固定连接。例如，丝杆223的伸出端与末端执行机构3连接，末端执行机构3具有中轴线，丝杆223与末端执行机构3的连接处位于末端执行机构3的中轴线上时，末端执行机构3能够自转。在该实施例中，末端执行机构3的中轴线与丝杆223的中轴线相互重合，从而使末端执行机构3能够自转。在其他实施例中，末端执行机构3的中轴线也可不与丝杆223的中轴线重合，末端执行机构3的旋转中心轴也为丝杆223的中轴线。
在本申请的一些实施例中，请参阅图9及图10，柔性旋转模组2与固定侧或者旋转侧通过连接件4固定连接，也就是说，丝杆223与固定侧或者旋转侧通过连接件4固定连接，如此，可以使旋转侧的臂节或者末端执行机构3的位置更加不受限制。具体而言，丝杆223与连接件4固定连接，固定侧或者旋转侧也与连接件4固定连接，如此使得丝杆223能够通过连接件4带动末端执行机构3转动。
在一些实施例中，请参阅图3及图9，丝杆223的两端均与连接件4固定连接，使得柔性旋转模组2的受力更加均匀，连接件4还与固定侧或者旋转侧固定连接。
可选地，连接件4包括两个连接支臂41和一个连接部42，连接部42的两端分别与两个连接支臂41固定连接，两个连接支臂41分别与丝杆的两端固定连接。两个连接支臂41和一个连接部42可连接呈U形，连接部42为U形的底部，如此使得丝杆223和固定侧或者旋转侧的连接更为稳定。
在一些实施例中，丝杆223的一端与连接件4固定连接，丝杆223的一端伸出柔性旋转模组2设置，柔性旋转模组2背向丝杆223伸出端的一侧为支撑侧。
可选地，丝杆223的一端穿过第二端板24设置，第一端板23的外侧为支撑侧。也就是说，丝杆223的一端穿过柔性旋转模组2的一端，柔性旋转模组2的另一端则为支撑侧。连接件4的一端连接于支撑侧，连接件4的另一端与丝杆223固定连接，且连接件4与固定侧或者旋转侧固定连接。
可选地，丝杆223的一端穿过第一端板23设置，第二端板24的外侧为支撑侧。也就是说，丝杆223的一端穿过柔性旋转模组2的一端，柔性旋转模组2的另一端则为支撑侧。连接件4的一端连接于支撑侧，连接件4的另一端与丝杆223固定连接，且连接件4与固定侧或者旋转侧固定连接。
可选地，连接件包括两个连接摆臂和一个连接杆，连接杆的两端分别与两个连接摆臂固定连接，使得连接件可呈U字形设置，连接杆为U字形结构的底部。其中一个连接摆臂远离连接杆的一端与支撑侧转动连接，另一个连接臂远离连接杆的一端与丝杆223固定连接。在该实施例中，连接件与柔性旋转模组2之间具有两个连接位置，分别为丝杆223和支撑侧，这样，在丝杆223带动连接件转动时，由于连接件的两个连接摆臂均与柔性旋转模组2连接，从而可以使连接件的转动更加稳定，柔性旋转模组2轴向两端均受力，其受力更加均匀，承载能力也更强。
在本申请的一些实施例中，柔性机械臂包括多个柔性旋转模组2，多个柔性旋转模组 2依次连接，末端的柔性旋转模组2可与末端执行机构3通过连接件4连接，相邻的两个柔性旋转模组2之间也通过连接件4转动连接。
可选地，连接件4包括两个连接支臂41和一个连接部42，还包括延伸件43，延伸件43的一端与连接部42相互固定，延伸件43的设置可以增大相邻两个柔性旋转模组2之间的距离，或者增大柔性旋转模组2和末端执行机构3之间的距离。
对于连接柔性旋转模组2和末端执行机构3的连接件4：其延伸件43的一端与连接部42固定连接，延伸件43的另一端与末端执行机构2固定连接。延伸件43包括杆状的延伸杆431，延伸件43的设置可以增大柔性旋转模组2和末端执行机构3之间的距离。
对于连接两个相邻的柔性旋转模组的连接件4：其延伸件43的一端与连接部42固定连接，延伸件43的另一端与对应的柔性旋转模组2固定连接。延伸件43可呈叉形设置，延伸件43包括延伸杆431和U形部432，延伸杆431的一端与连接部42固定连接，延伸杆431的另一端与U形部432的底部固定连接，U形部432的顶部两端分别固定连接于对应的柔性旋转模组2的两端(如第一端板和第二端板)，如此，使得两个柔性旋转模组2之间的连接结构更加稳定，受力更加均匀。
在本申请的一些实施例中，请参阅图3及图6，丝杆223中空设置，一是可以使丝杆223的重量较轻，有助于实现柔性机械臂的轻量化，二是可以使流路可以从丝杆223中间穿过，无需设置在柔性旋转模组的2的外部，保持机械臂外表的整洁，对流路也能够起到一定的保护作用。
在本申请的一些实施例中，丝杆223的外周具有外螺纹，螺母221具有内螺纹，外螺纹与内螺纹相互配合，使得螺母221沿丝杆223的长度方向运动时，使丝杆223转动。丝杆223外周的外螺纹为多线梯形螺纹，使螺母221驱动丝杆223的运动更加顺滑，不会发生自锁现象。
其中，丝杆223的外螺纹和螺纹的内螺纹之间相互配合时，内螺纹对外螺纹的轴向力驱动丝杆223旋转运动，所以区别于一般用于紧固或旋转力驱动轴向运动等需要小的导程角降低驱动力要求的应用场景，螺母221和丝杆223的配合而是有相反的要求，因此需要将导程角设置为较大的数值。多线螺纹由于其螺纹升角较大(容易滑动)，用于传递动力和运动，因此更适用于作为丝杆223外周的外螺纹。
螺纹自锁条件为螺纹导程角小于当量摩擦角，为了使丝杆223和螺母221之间的配合不自锁，丝杆223的梯形螺纹导程角应该大于当量摩擦角，λ>arctan(f/cosβ)，arctan(f/cosβ)为当量摩擦角，丝杆223和螺母221之间的静摩擦系数f＝0.10，β＝15°时，当量摩擦角为5.93°，也就是说，λ>5.93°，避免丝杆223和螺母221自锁。其中，λ螺纹导程角，f为摩擦系数，β为牙形斜角。
可选地，30°＜λ＜50°，如35°、40°、45°、48°等，更近一步地，40°＜λ＜50°。可以使螺母221更顺滑地驱动丝杆223旋转，所需的驱动力更小。λ过小时，螺纹导程角过小，螺母221移动单位长度时，丝杆223转动的角度较小；λ过大时，螺纹导程角过大，螺母221移动时所受的阻力过大，需要较大的驱动力才能使螺母221移动。
在本申请的一些实施例中，柔性旋转模组2还包括至少一组导向组件，导向组件用于辅助动力推板222沿丝杆223的伸缩方向运动，防止动力推板222歪斜或者晃动等。其中，导向组件的数量可选为一个、两个、三个等，多个导向组件可以使动力推板222的运动更加稳定，防止动力推板222在运动过程中晃动。
具体而言，导向组件包括第一导向件和第二导向件，第一导向件设置在第一端板23上，第二导向件设置在动力推板222上，第一导向件和第二导向件具有形状相互匹配的配合部。例如，第一导向件上具有凸起部，第二导向件上具有凹槽部。如此，可以使动力推板222平稳地沿丝杆223的轴向方向运动，防止动力推板222歪斜、错位等等。
在一些实施例中，第一导向件为平行于丝杆223的杆，第二导向件为外套于杆的孔。例如，第一导向件为导向柱224，第二导向件为开设于动力推板222上的孔，导向柱224 穿过动力推板222上的孔设置，防止动力推板222朝垂直于导向柱224长度方向的方向运动。导向柱224的两端分别固定于第一端板23和第二端板24，且导向柱224穿过动力推板222设置，使得动力推板222仅沿导向柱224的长度方向运动。在另一实施例中，第二导向件为平行于丝杆223的杆，第二导向件为外套于杆的孔。
在一些实施例中，第一导向件为平行于丝杆223的槽，第二导向件为内嵌于槽的凸耳。例如，第一端板23或者其他结构件沿丝杆223的轴向延伸形成有定位槽，动力推板上具有嵌设于定位槽的凸耳，也可以使动力推板222的运动方向始终平行于丝杆223的轴向。在另一个实施例中，第二导向件为平行于丝杆223的槽，第一导向件为内嵌于槽的凸耳。
在本申请的一些实施例中，请参阅图1，臂节为柔性弯曲模组1，柔性弯曲模组1由流体驱动，能够弯曲变形。
请参阅图7及图8，柔性弯曲模组1包括折叠单元组13、第一板状件11、第二板状件12和支撑结构14。折叠单元组13设置于第一板状件11和第二板状件12之间，且折叠单元组13的两端分别紧固于第一板状件11和第二板状件12，以提高柔性弯曲模组1的刚度，减小折叠单元组13变形过程中内陷、坍塌、错位紊乱等现象。折叠单元组13与第一板状件11和第二板状件12均密封连接。折叠单元组13包括至少两个第二折叠单元131，折叠单元组13内的第二折叠单元131并列设置于第一板状件11和第二板状件12之间，各个第二折叠单元131的大小可相同，也可不相同。第二折叠单元131由气体、液体等流体驱动变形，为了方便描述，以下以气体驱动为例进行说明。将气体输入第二折叠单元131，第二折叠单元131内部的气压大于外部的大气压时，第二折叠单元131体积变大；当第二折叠单元131内部的气压小于外部的大气压时，第二折叠单元131体积变小。各个第二折叠单元131内的气压不相同时，柔性弯曲模组1会朝向气压较小的第二折叠单元131一侧弯曲，从而通过流体驱动柔性弯曲模组1的弯曲。
其中，第一板状件11和第二板状件12通过支撑结构14连接，支撑结构14的其中一端固定于第一板状件11，支撑结构14的另外一端固定于第二板状件12。支撑结构14上设置有铰链141。这样，在柔性弯曲模组1朝向某一方向弯曲时，其运动更加稳定，支撑结构14为柔性弯曲模组1的弯曲运动形成支撑，而且可以提高第二折叠单元131的侧向刚度，进而可以使其能够具有更大的作业范围，不会因为弯曲角度过大而内陷坍塌。
上述实施例中，柔性弯曲模组1包括至少由两个第二折叠单元131成的折叠单元组13，折叠单元组13的两端分别由第一板状件11和第二板状件12支撑，当各个第二折叠单元131内的压力不一致时，则可以使柔性弯曲模组1弯曲。第一板状件11和第二板状件12之间还设置有支撑结构14，支撑结构14上具有铰链141，支撑结构14一是可以使该机械臂的弯曲动作更加稳定，二是可以提高该机械臂的侧向刚度，从而可以提高柔性机械臂的载荷体积比、载荷自重比、防止折叠单元组13坍塌等。
在本申请的一些实施例中，第二折叠单元131的数量为两个，支撑结构14的数量为一个，且支撑结构14设置于两个第二折叠单元131中心连线的中点处。如此，该柔性弯曲模组1至少具有两个弯曲方向，即分别朝向两个第二折叠单元131的外侧弯曲，而且，柔性弯曲模组1朝向两个方向弯曲时，支撑结构14均能够对第二折叠单元131具有较好的支撑作用，减小第二折叠单元131变形时坍塌的可能性。支撑结构14当然也可设置于其他位置，即偏离上述的中点设置。
在本申请的一些实施例中，请参阅图7及图8，第二折叠单元131的数量大于等于三个，如三个、四个、五个等。多个第二折叠单元131呈环形排列于第一板状件11和第二板状件12之间，可以使该柔性弯曲模组1的整体刚度变大，而且可以使柔性弯曲模组1能够朝多个方向弯曲，柔性弯曲模组1的弯曲方向则越多，与其连接的机械爪的作业范围也就越大。需要说明的是，环形并不一定是圆环形。
可选地，多个第二折叠单元131沿某一中心轴周向等间隔分布，使柔性弯曲模组1在各个方向弯曲时的受力情况大致相同，不会出现某处或者某一方向的强度和刚度较弱的情 况。
在本申请的一些实施例中，请参阅图7及图8，多个第二折叠单元131呈环形排列于第一板状件11和第二板状件12之间。折叠单元组13的外接圆柱的中心轴设为中心对称轴，支撑结构14的数量为一个，支撑结构14设置在该中心对称轴处。也就是说，各个第二折叠单元131以中心对称轴呈旋转对称排列。柔性弯曲模组1朝任意方向弯曲，支撑结构14均能够对柔性弯曲模组1的弯曲进行配合导向，使其弯曲运动更加平稳，还能够使各个第二折叠单元131在弯曲时增强其侧向刚度。当然，支撑结构14也可以偏离上述的中心对称轴设置。
在本申请的一些实施例中，请参阅图7，第一板状件11和第二板状件12均为圆形，各个第二折叠单元131的两端分别固定在第一板状件11和第二板状件12上。第一板状件11和第二板状件12的圆心可均位于中心对称轴(各个第二折叠单元131的外接圆柱的中心轴)，使柔性弯曲模组1为中心对称结构，朝各个方向弯曲时的受力情况较为均衡，周向各个部位的侧向刚度也大致相同。
其中，第一板状件11、第二板状件12和第二折叠单元131的固定连接方式此处不作限定，例如，可通过螺钉固定连接。
在本申请的一些实施例中，请参阅图8，第一板状件11包括多个第一刚性单元111，各个第一刚性单元111均连接于支撑结构14的其中一端。第二板状件12包括多个第二刚性单元121，各个第二刚性单元121均连接于支撑结构14的另外一端。第一刚性单元111、第二刚性单元121和第二折叠单元131的数量相同，各个第二折叠单元131的两端分别固定连接对应的第一刚性单元111和第二刚性单元121。因此，第一刚性单元111、第二刚性单元121相对支撑结构14的分布与第二折叠单元131相对支撑结构14的分布相同。在该实施例中，在保证柔性弯曲模组1刚度的情况下，减小了板状件的材料用量，减轻柔性弯曲模组1的重量，进而提高了载荷自重比。
在其他实施例中，第一板状件11和第二板状件12可为椭圆、多边形等形状，第一板状件11和第二板状件12的形状此处不作限定。
在本申请的一些实施例中，折叠单元组13在无驱动状态下，其在平行于第二折叠单元131端面的平面内的投影面积为S1，第一板状件11和第二板状件12在平行于第二折叠单元131端面的平面内投影的最小外接圆面积中较小的一个为S2。平行于第二折叠单元131端面的平面可称为参考投影面。具体而言，第一板状件11和第二板状件12的形状和尺寸相同，第一板状件11和第二板状件12的最小外接圆在参考投影面的投影面积均为S2；第一板状件11的最小外接圆在参考投影面的投影面积大于第二板状件12的最小外接圆在参考投影面的投影面积时，第二板状件12的最小外接圆在参考投影面的投影面积为S2；第一板状件11的最小外接圆在参考投影面的投影面积小于第二板状件12的最小外接圆在参考投影面的投影面积时，第一板状件11的最小外接圆在参考投影面的投影面积为S2。S1:S2>1:5，使柔性弯曲模组1的结构更为紧凑、体积更小、重量也更轻。例如，S1:S2为0.3、0.4、0.5等。
在本申请的一些实施例中，铰链141为阻尼铰链，在柔性弯曲模组1弯曲时，阻尼铰链相应转动，增加柔性弯曲模组11在转动过程中的摩擦力，使柔性弯曲模组1运动时更加稳定和平滑，防止产生抖动。
可选地，阻尼铰链为单向铰链、阻尼球铰、阻尼十字铰等。阻尼铰链的阻尼可调节，可根据机械臂负载等调节阻尼的大小。阻尼球铰、阻尼十字铰等均为现有技术，此处不作赘述。
在本申请的一些实施例中，铰链141为球铰、十字铰链或者虎克铰等。
在本申请的一些实施例中，第二折叠单元131为折叠气囊，可向折叠气囊内输入气体或者液体调节折叠气囊内的压力，改变折叠气囊的体积。第二折叠单元131为软质件，可由高分子材料制成。第一板状件11或者第二板状件12上具有输入接口110，气体或者液体 通过该输入接口110进入到折叠气囊的内部。在其他实施例中，也可在第二折叠单元131上设置输入接口110，从该输入接口110内输入流体。
在本申请的一些实施例中，第一板状件11和第二板状件12在垂直于第二折叠单元131端面的方向尺寸为h，第一板状件11和第二板状件12的在平行第二折叠单元131端面的平面内投影的最小外接圆中较小的一个直径为D，h:D小于1:2，使第一板状件11和第二板状件12趋于扁平化，减小了其占用的轴向空间(垂直于第二折叠单元131端面的方向)，实现了柔性弯曲模组11的小型化和轻量化。可选地，h:D为1:3、1:5、1:10等。
可选地，第一板状件11和第二板状件12为平板状，使第一板状件11和第二板状件12既能够起到加强柔性弯曲模组1刚度的作用，又不会占用过多的轴向空间。此时，h为第一板状件11和第二板状件12的厚度。
在本申请的一些实施例中，第一板状件11和第二板状件12在平行状态下两者之间的最大距离为d，第一板状件11和第二板状件12在参考投影面的最小外接圆中较小的一个直径为D，d：D小于2:1。如此，可以防止第二折叠单元131的伸缩长度过长而导致柔性弯曲模组1整体不稳定，可以防止第二折叠单元131坍塌、内陷等，还可以在同D值的柔性机械臂的单位长度里设置更多弯曲模组，实现更大的组合弯曲范围。可选地，d:D为3:2、5:4、1:1、4:5等。
在本申请的一些实施例中，请参阅图1，柔性弯曲模组1的数量为多个，如两个、三个等，以避免力的错位、紊乱或者抵消，从而可以保持柔性机械臂的正常运动。在两个相邻的柔性弯曲模组1中，其中一个柔性弯曲模组1的第二板状件12与其相邻的柔性弯曲模组1的第一板状件11固定连接，从而使相邻两个柔性弯曲模组1固定连接。
可选地，相邻两个柔性弯曲模组1中，相邻的第一板状件11和第二板状件12通过螺钉等连接件4固定连接，或者相邻的第一板状件11和第二板状件12一体成型，或者，相邻的第一板状件11即为第二板状件12。在实际加工装配中，在轴向方向上排列的第二折叠单元131之间隔设一个板状件即可。
在本申请的一些实施例中，第一折叠单元21、第二折叠单元131、第三折叠单元27均为柔性侧壁。第一折叠单元21、第一端板23和动力推板222围合形成具有中心轴线的筒状的腔体，第三折叠单元27、第二端板24和动力推板222围合形成具有中心轴线的筒状的腔体，柔性旋转模组2的腔体的中心轴线与第一折叠单元21的伸缩方向以及第三折叠单元27的伸缩方向均相同。第二折叠单元131、第一板状件11和第二板状件12围合形成具有中心轴线的筒状的腔体，在柔性弯曲模组1弯曲时，腔体的中心轴线也相应呈弯曲状态。
以第一折叠单元21、第一端板23和动力推板222围合形成的腔体进行举例说明。柔性侧壁上、第一端板23或者动力推板222上设置有开口，开口用于使驱动流体进出所述腔体以改变腔体的内外压差并使折叠结构压缩或伸展以驱动第一端板23和动力推板222相对靠近或远离；使第一折叠单元21缩短或伸长。
柔性侧壁被设计成多层折叠结构，各层折叠结构折叠时，柔性侧壁收缩，腔体体积减小，各层折叠结构展开时，柔性侧壁展开，腔体体积伸长。每一层折叠结构均具有折叠面，相邻两层的折叠面的连接处形成折痕面，相邻的折叠面与折痕面之间的夹角被定义为侵入角θ。第一折叠单元21在初始状态下具有初始侵入角θp，并且在折叠结构的压缩或伸展过程中侵入角θ在0°至最大侵入角θmax之间变化。软体肌肉的初始侵入角θp和最大侵入角θmax可以被配置为满足如下关系式：0.6θmax＜θp＜0.8θmax。
通过本申请提供的软体肌肉，腔体容积的变化主要体现在轴线方向尺寸的改变，因而流体容积与端面位移，或，内外压差ΔP与端面输出力，这些操作控制相关的参数基本上成线性关系。此外，可能的是，软体肌肉在折叠或伸展过程中，主要涉及的是折叠面的折叠，而软体肌肉本身的面积变化可以很小。换言之，进入腔体内的流体的能量可以主要用于使折叠结构发生折叠或伸缩，折叠结构本身的应变因此可以很小(其在变形过程中产生 的应变始终处于材料的弹性形变范围且小于20％、15％、10％、5％或1％，为方便描述，后将该特点命名为小应变)。在一些实施例中，折叠结构本身的内应力会很小，因此流体的机械能量中只有很小比例的部分用于克服折叠结构自身发生形变而产生的应力，且其中大部分在肌肉拉伸-压缩的往复运动中可逆的转化为弹性势能并在相反方向的变化过程中释放为肌肉的机械能，因而该软体肌肉的能量转换效率高。在一些实施例中，软体肌肉在变形过程中，小应变可以均匀分布在整个折叠面上，使得该软体肌肉相比现有的其他软体肌肉，能承受或输出更大的载荷，经受更多次数的压缩和伸展，拥有更长的使用寿命；为了控制高压差下的侧向偏移，折叠单元的侧壁材料的硬度或模量应尽量高，高模量材料往往兼顾耐弯折性能；为了兼顾控制侧向形变和长寿命耐弯折的要求，本申请提供的折叠单元在结构上做了约束。
在一些实施例中，最大侵入角θmax可以有利地被配置为满足如下关系式：15°≤θmax≤60°。
在一些实施例中，初始侵入角θp可以有利地被配置为满足如下关系式：10°＜θp＜45°。有利地，通过设定有利的初始侵入角范围可以有利地促使软体肌肉的折叠结构在变形过程中较小的应变和/或更加均匀的应变分布。
为使软体肌肉在折叠变形的过程中产生尽可能均匀的应变分布，在一些实施例中，在初始状态下，多层折痕面中的相邻两层之间的距离为h，柔性侧壁的壁厚为t。距离h、壁厚t以及初始侵入角θp可以被有利地被配置为满足如下关系式：0.05h/sinθp＜t＜0.2h/sinθp。具体地，在软体肌肉的折叠变形过程中，柔性侧壁的壁厚t不变。
在第一折叠单元21的折叠结构中：相邻的两层折叠结构的各个所述折叠面的连接处形成的折痕为半径不同的圆形，沿第一折叠单元21的径向方向凸起处的圆形半径为R，凹陷处的圆形半径为r，第一折叠单元21的侵入深度系数a被定义为a＝r/R，且0.3＜a＜0.92。
在一些实施例中，当第一折叠单元21截面为非圆形时，R或r为所在截面几何中心到截面的边的最短距离；如，当第一折叠单元21截面为椭圆形时，R为椭圆形的短轴的一半。
具体地，本软体肌肉由于小应变的特点，其在变形过程中，侵入深度系数a可以基本为定值。进一步地，合理设置a值能针对具体工况提升该软体肌肉的折叠变形性能，如在一般情况下提高伸长压缩比，或在环形容腔的外层侧壁时取较大a值以得到足够大的环形容腔内部的空腔。更进一步地，对应软体肌肉而言，其端面载荷和环境压力共同决定了工作所需的腔体内部的压力范围。腔体内压的范围决定了柔性侧壁的壁厚t的范围。在此基础上，为了进一步使应变均布，在使aθ的范围满足前述条件的前提下，调节a和θ的具体数值以使得t在满足腔体内压要求的前提下具有优选范围的t/(h*sinθ)比例。
在第二折叠单元131的折叠结构中：相邻的两层折叠结构的各个折叠面的连接处形成的折痕为半径不同的圆形，沿第二折叠单元131的径向方向凸起处的圆形半径为R，凹陷处的圆形半径为r，第二折叠单元131的侵入深度系数a被定义为a＝r/R，且0.3＜a＜0.7，折叠面的结构系数σ满足0.02≤σ≤0.15且σ＝cosθ(1+a)/(2cosθ-1+a)。
在一些实施例中，当第二折叠单元131截面为非圆形时，R为几何中心到截面的边的最短距离；如，当第二折叠单元131为椭圆形时，R为椭圆形的短轴的一半。
需要说明的是，a、R、r及其相互关系是用以说明折叠单元的折叠侵入深度与截面尺寸的相对关系，不表示折叠单元的横截面一定是圆形，或全为弧形边围合而成。
需要说明的是，上述腔体以及腔体壁组成的结构可称为软体肌肉，软体肌肉由流体驱动，软体肌肉也可称为流体致动器，通过提供软体肌肉的腔体与外部环境的压差调节软体肌肉内部腔体的流体容量，从而改变软体肌肉的体积，通过体积的变化，改变指定方向的尺寸，驱动该方向上的负载发生位移，完成驱动过程。
为了更好的针对广泛的使用场景实现规模化的适应性设计制造和应用，最好能通过结构上的设计使得软体肌肉的形变能尽量集中于一个方向发生，这样能避免力和能量在非工作方向的耗散，相对于刚性机械臂来说，也使得精确的控制和操作有实现的可能。目前的 软体肌肉，其结构和材质决定了肌肉的表面积和形状均会在运动过程中发生变化，无法满足前述要求，因此难以避免力和能量在非工作方向的耗散，也无法实现精确的控制和操作。
为了满足该要求，本申请提出了一种在不同方向具有差异化力学特性的软体肌肉，流体致动器具有可折叠的柔性侧壁，使得流体致动器在轴线方向可以被较小的力作用下折叠收拢，而在其他方向可以承受较大的力(流体的内外压差)而不相对轴线发生大的偏移，并且通过调整结构和材料，使得流体致动器具有在较大压差下保持自身形状的能力，从而在侧向承受较大的压差从而可以具有更大的负载自重比，在轴向上则具有过滤有效控制源之外的干扰力保持稳定状态的特性。
在本申请的一些实施例中，末端执行机构3可以为柔性夹爪、机械夹爪、云台、摄像模组、消防或农业用途的喷洒装置等。
在本申请的一些实施例中，末端执行机构3为柔性夹爪。请参阅图10，柔性夹爪包括夹爪座31、夹爪本体33以及第四折叠单元32，夹爪本体33的数量为多个，夹爪本体33与夹爪座31转动连接。第四折叠单元32的数量也为多个，且第四折叠单元32的数量与夹爪本体33的数量相同。每个第四折叠单元32对应驱动相应的夹爪本体33，使夹爪本体33相对夹爪座31转动。
具体而言，第四折叠单元32设置于夹爪座31和夹爪本体33之间。第四折叠单元32也由流体驱动变形，其工作原理与第一折叠单元21相同，此处不再赘述。第四折叠单元32的两端可分别固定在夹爪座31和夹爪本体33，与夹爪座31及夹爪本体33密封连接。在第四折叠单元32内的压力变大时，其体积变大，从而使各个夹爪本体33相互靠近，夹起物体；在第四折叠单元32内的压力变小时，其体积减小，从而使各个夹爪本体33相互远离，放下物体。
本申请还提供一种机器人，包括上述任一实施例中的柔性机械臂，还可包括柔性伸缩模组等机构。
本申请提供的机器人，包括柔性机械臂，柔性机械臂中的柔性旋转模组2等由流体驱动变形，不会对周围的物体或者人造成伤害，而且可以适用于电场、磁场、射线等特殊环境中。而且，本申请中的柔性机械臂具有较大的臂载荷自重比，运动过程也较为稳定。
以上仅为本申请的可选实施例而已，并不用于限制本申请。对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (10)

  1. 柔性机械臂，其特征在于，包括相互连接的臂节、柔性旋转模组和末端执行机构，所述柔性旋转模组连接于固定侧和旋转侧之间，所述固定侧为所述柔性机械臂的基座或所述臂节，所述旋转侧为所述臂节或所述末端执行机构，所述柔性旋转模组由流体驱动，所述柔性旋转模组包括第一端板、动力推板、连接于所述第一端板和所述动力推板之间且由流体驱动伸缩的第一折叠单元、固定于所述动力推板的螺母、与所述螺母螺纹连接的丝杆，所述丝杆转动穿过所述第一端板，所述第一折叠单元在流体驱动下伸缩推动所述动力推板在所述丝杆的轴线方向相对所述第一端板平移。
  2. 根据权利要求1所述的柔性机械臂，其特征在于，所述第一端板与所述固定侧或所述旋转侧之一固定连接，所述丝杆的一端或两端与所述固定侧或所述旋转侧之另一固定连接。
  3. 根据权利要求2所述的柔性机械臂，其特征在于，所述丝杆的两端与所述固定侧或所述旋转侧之一通过连接件固定连接；所述连接件包括两个连接支臂和一个连接部，所述连接部的两端分别与两个所述连接支臂固定连接，两个所述连接支臂分别与所述丝杆的两端固定连接，所述连接部与所述固定侧或所述旋转侧固定连接。
  4. 根据权利要求1所述的柔性机械臂，其特征在于，所述丝杆呈中空设置，所述丝杆的外周具有与所述螺母螺纹配合的外螺纹，所述外螺纹为多线梯形螺纹。
  5. 根据权利要求1所述的柔性机械臂，其特征在于，所述臂节为柔性弯曲模组，所述柔性弯曲模组包括第一板状件、第二板状件、设于所述第一板状件和所述第二板状件之间的折叠单元组、以及连接所述第一板状件和所述第二板状件的支撑结构，所述折叠单元组包括至少两个由流体驱动变形的第二折叠单元，所述折叠单元组的其中一端紧固于所述第一板状件，所述折叠单元组的另一端紧固于所述第二板状件，所述支撑结构的其中一端紧固于所述第一板状件，所述支撑结构的另一端紧固于所述第二板状件，所述支撑结构上设有铰链。
  6. 根据权利要求1所述的柔性机械臂，其特征在于，所述柔性旋转模组还包括第二端板和助力件，所述第一端板与第二端板固定连接，所述助力件的两端分别连接于所述第二端板和所述动力推板，所述丝杆转动穿过所述第二端板；所述助力件为弹性件，或者，所述助力件为由流体驱动伸缩的第三折叠单元，所述第三折叠单元的两端分别固定于所述第二端板和所述动力推板，所述第三折叠单元在流体驱动下伸缩推动所述动力推板在所述丝杆的轴线方向在所述第一端板和所述第二端板之间平移。
  7. 根据权利要求1所述的柔性机械臂，其特征在于，所述柔性旋转模组还包括至少一组导向组件，所述导向组件包括第一导向件和第二导向件，所述第一导向件设于所述第一端板上，所述第二导向件设于所述动力推板上，所述第一导向件和所述第二导向件具有形状相互匹配的配合部，使所述动力推板相对所述第一端板在平行所述丝杆的轴向方向移动。
  8. 根据权利要求7所述的柔性机械臂，其特征在于，所述第一导向件和所述第二导向件之一为平行所述丝杆的杆，另一为外套于所述杆的孔；或者，所述第一导向件和所述第二导向件之一为平行所述丝杆的槽，另一为内嵌于所述槽的凸耳。
  9. 根据权利要求1-8任一项所述的柔性机械臂，其特征在于，所述第一折叠单元为柔性侧壁，所述柔性侧壁、所述第一端板和所述动力推板合围形成具有中心轴线的筒状的腔体；
    所述柔性侧壁被设计成包括多层折叠结构，每一层折叠结构均具有折叠面，相邻两层所述折叠面的连接处形成折痕面，相邻的所述折叠面与所述折痕面之间的夹角被定义为侵入角θ；
    所述第一折叠单元在初始状态下具有初始侵入角θp，并且在所述折叠结构的压缩或伸展过程中所述侵入角θ在0°至最大侵入角θmax之间变化，其中，所述第一折叠单元的初始侵入角θp和最大侵入角θmax被配置为满足如下关系式：0.6θmax＜θp＜0.8θmax；
    在所述初始状态下，多层折痕面中的相邻两层之间的距离为h，所述柔性侧壁的壁厚为t，其中，h、t以及θp被配置为满足如下关系式：0.05h/sinθp＜t＜0.2h/sinθp；
    所述柔性侧壁上、所述第一端板或者所述动力推板上设置有开口，所述开口用于使驱动流体进出所述腔体以改变所述腔体的内外压差并使所述折叠结构压缩或伸展以驱动所述第一端板和所述动力推板相对靠近或远离；使所述第一折叠单元缩短或伸长。
  10. 机器人，其特征在于，包括权利要求1-9任一项所述的柔性机械臂。
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CN210551254U (zh) * 2019-07-15 2020-05-19 无锡城市职业技术学院(无锡高等师范学校无锡环境科学与工程研究中心) 一种基于自主运动控制的类人机器人本体
CN112654931A (zh) * 2020-08-31 2021-04-13 华为技术有限公司 一种控制系统、控制方法、智能汽车以及装置
CN213954046U (zh) * 2020-11-16 2021-08-13 昆明理工大学 一种波纹管式单作用气缸
CN215848278U (zh) * 2021-03-30 2022-02-18 南方科技大学 一种手腕装置、机械臂和机器人
CN114603597A (zh) * 2022-03-04 2022-06-10 北京软体机器人科技有限公司 一种刚软耦合机械臂
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CN115091450A (zh) * 2022-07-15 2022-09-23 万勋科技(深圳)有限公司 柔性机械臂及机器人
CN217893232U (zh) * 2022-07-15 2022-11-25 万勋科技(深圳)有限公司 一种空中作业设备

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