CN113103281A

CN113103281A - Flexible robot with overload protection device

Info

Publication number: CN113103281A
Application number: CN202110073717.9A
Authority: CN
Inventors: 朱少强
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-20
Filing date: 2021-01-20
Publication date: 2021-07-13

Abstract

The invention discloses a flexible robot with an overload protection device, belonging to the field of flexible robots, wherein when a working end bears excessive load, the load can pull the working end to drive a movable pipe to move in a direction away from a movable arm, at the moment, a limiting wing edge can compress a compression spring until a vent hole moves to the left side of a connecting sleeve, at the moment, high-pressure gas in an inner capsule can quickly overflow through the vent hole, the inner capsule and the outer capsule are quickly shrunken, the movable arm and the working end are released from fixation, the load of the working end is not easy to influence the movable arm, a maintainer can detect and maintain the movable arm and the working end, after no fault is confirmed, the outer capsule and the inner capsule can be inserted back into a fixed groove to realize installation, the connection between the movable arm and the working end can be disconnected at the first time, the flexible robot main body is not easy to cause excessive damage.

Description

Flexible robot with overload protection device

Technical Field

The invention relates to the field of flexible robots, in particular to a flexible robot with an overload protection device.

Background

Although the traditional industrial robot can also realize force sense control in a mode of a tail end force application sensor, the traditional industrial robot is limited by a position-oriented control system structure, the force sense closed loop has more links, slow response and slow beat, and is difficult to simulate hands. Flexible robot and the different software and hardware architecture of traditional industrial robot: each joint is provided with a force sensor, and the bottom layer control system structure is changed from original position control into force and position fusion control, so that the robot has high-precision position control and high-dynamic force control.

Depending on the high dynamic force control technology, the characteristics of the current cooperative robot can be comprehensively upgraded: for example, the teaching is more conveniently dragged through sensitive force perception, and even the robot can be directly dragged to write writing brush characters, so that the robot is easier to use. Through high-sensitivity external force collision detection, man-machine cooperation is safer, if AI is compared with human brain decision, mechanical arm motion control is similar to cerebellum and limb control, and only limbs controlled by positions are uncoordinated. And the addition of the force sense and the compliance characteristic provides stronger platform support for upper layer intelligence, and can accelerate the falling of AI in generalized production activities.

The same flexible robot usually comprises a plurality of mechanical arms with multiple degrees of freedom, so that the flexible robot can move in multiple directions, although a pressure sensor is arranged at the joint of each mechanical arm to detect the load condition of the flexible robot, in the normal working process of the flexible robot, the mechanical arms of the flexible robot can detect that the load exceeds the standard in time, and the damage and the fault of the flexible robot can be easily caused even if a target object is not abandoned.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a flexible robot with an overload protection device, which can realize that when the flexible robot is overloaded, the connection between a movable arm (2) and a working end (3) can be disconnected in the first time, the main body of the flexible robot is not easily damaged excessively, and after the original load is removed after the flexible robot is checked and maintained by a maintainer, the working end (3) can be assembled with the movable arm (2) again, so that the flexible robot works normally.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A flexible robot with an overload protection device comprises a base, a plurality of movable arms and a working end, wherein the movable arms are sequentially connected to form a mechanical arm main body capable of realizing movement with a plurality of degrees of freedom, two ends of the mechanical arm main body are respectively connected with the movable arms and the working end, a fixing groove is formed in each movable arm, an outer capsule matched with the movable arms is placed in each fixing groove, an inner capsule is placed in each outer capsule, a connecting sleeve is fixedly connected to each inner capsule, one end, far away from each inner capsule, of each connecting sleeve penetrates through each outer capsule and extends to the outer side of each movable arm, each connecting sleeve is communicated with the outer side of each inner capsule, one end, close to each movable arm, of each working end is fixedly connected with a movable tube, one end, far away from each working end, of each movable tube penetrates through each connecting sleeve, a movable groove is formed in each connecting sleeve, one end, far away from each working end, of each movable, the flexible robot is characterized in that a compression spring is fixedly connected between the limiting wing edge and the inner wall of the connecting sleeve, the compression spring is sleeved on the outer side of the movable tube, a plurality of air holes are cut in the side wall of the movable tube and are positioned on one side of the connecting sleeve close to the limiting wing edge, a plurality of filling balls are filled between the outer capsule and the inner capsule, a plurality of filling tubes are fixedly connected to the outer walls of the filling balls and are in a spatial three-dimensional structure, the adjacent filling tubes are wound together, one ends of the filling tubes close to the inner wall of the outer capsule and the outer wall of the inner capsule are respectively fixedly connected with the inner wall of the outer capsule and the outer wall of the inner capsule, high-pressure gas is filled in the inner capsule, so that when the flexible robot is overloaded, the connection between the movable arm and the working end can be disconnected at the first time, and the flexible robot is not easy to cause excessive damage to the main body, after the flexible robot is inspected and maintained by maintenance personnel, the working end can be assembled with the movable arm again after the original load is removed, so that the flexible robot works normally.

Furthermore, be connected with between digging arm and the outer capsule and strengthen the ring, strengthen the ring and select magnet to make for use, outer capsule selects for use magnetic rubber to make, increases the joint strength between strengthening ring and the outer capsule.

Furthermore, be connected with the sealing ring between adapter sleeve and the movable tube, sealing ring and adapter sleeve fixed connection reduce the wearing and tearing between adapter sleeve and the movable tube, be difficult for influencing the leakproofness between adapter sleeve and the movable tube.

Further, fixed connection bellows between work end and the digging arm, the bellows chooses for use transparent rubber to make, under the prerequisite that does not influence technical staff and survey the interior structure of bellows for the interior structure of bellows is difficult for being polluted by external dust etc. is difficult for influencing the normal use of digging arm and work end.

Furthermore, the broken reinforcement net matched with the broken reinforcement net is embedded in the corrugated pipe, the broken reinforcement net is formed by weaving a plurality of high-toughness elastic fibers, the strength of the corrugated pipe is increased, and when the movable arm is separated from the working end, the corrugated pipe is not easy to break due to the load carried by the working end, the movable arm is not easy to be completely separated from the working end, and the working end is not easy to fall and damage.

Furthermore, the anti-breaking reinforcing net matched with the outer capsule is embedded in the outer capsule, so that the strength of the outer capsule is increased, the outer capsule is not easy to break due to decompression of the filling ball, and the outer capsule is not easy to leak.

Further, the one end that the filling tube is close to outer capsule inner wall runs through outer capsule and extends to the fixed slot in, the fixed slot inner wall is dug there is anti-skidding line, increases the frictional force between digging arm and the outer capsule for outer capsule is difficult to be deviate from in the fixed slot along with interior capsule together.

Furthermore, the one end that the filling tube is located the fixed slot is three-dimensional heliciform, the one end that the filling tube is located the fixed slot includes the gum cover main part, increases the frictional force between digging arm and the outer capsule.

Furthermore, it has the chamber of filling to open in the gum cover main part, it has to fill the lubrication in the intracavity, the outside of gum cover main part is excavated there are a plurality of capillary micropores, the capillary micropore runs through the gum cover main part, and chamber and outside are filled in the intercommunication, when needs take out outer capsule from the fixed slot, can form the extrusion to the one end that the filling tube is located the fixed slot through the outer capsule of extrusion for it is excessive to fill the lubricating oil that the intracavity was deposited, reduces the frictional force between fixed slot and the outer capsule, reduces the wearing and tearing that cause when the digging arm separates with outer capsule.

Furthermore, the filling cavity is filled with filling fibers, the filling fibers are interwoven into a three-dimensional space structure, and the filling fibers can store lubricating oil, so that the lubricating oil is not easy to overflow under the action of small external force, and the adjustment of maintenance personnel is facilitated.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

this scheme is when the work end bearing received excessive load, and load can stimulate the work end and drive the movable tube towards the direction motion of keeping away from the digging arm, and spacing wing limit can compress compression spring this moment, moves to the left side of adapter sleeve until the air vent, and at this moment, high-pressure gas in the interior capsule can spill over through the air vent fast, and interior capsule and outer capsule are flat with quick the becoming, and the digging arm is relieved fixedly with the work end, and the load of work end is difficult for influencing the digging arm.

In the process of separating the movable arm from the working end, the working end is not easy to directly fall to the ground and damage or casualties are not easy to cause due to the existence of the corrugated pipe and the breakage-proof reinforcing net.

Later, maintainer can detect the maintenance to digging arm and work end, after confirming there is not the trouble, can will realize installing through inserting outer capsule and interior capsule back again in the fixed slot, after safe completion, can pass through the pulling work end, make the air vent remove the left side of adapter sleeve, inject high-pressure nitrogen gas again in the capsule through the air vent in to interior, realize installing again and fixing, can realize when flexible robot load is too big, can break off the connection between digging arm and the work end very first time, be difficult for causing excessive injury to flexible robot main part, and after maintainer inspection maintenance, after getting rid of the load originally, can assemble with the digging arm again with the work end, make flexible robot normal work.

Drawings

FIG. 1 is a schematic diagram of the main structure of the flexible robot of the present invention;

FIG. 2 is a schematic structural view of the working end of the flexible robot of the present invention;

FIG. 3 is a schematic cross-sectional view of the joint between the working end of the flexible robot and the multi-degree-of-freedom mechanical arm according to the present invention;

FIG. 4 is a schematic view of the structure at A in FIG. 3;

FIG. 5 is a schematic cross-sectional view of a filled fiber tube of the present invention.

The reference numbers in the figures illustrate:

1 base, 2 movable arms, 3 working ends, 4 corrugated pipes, 5 anti-breaking reinforcing nets, 6 fixing grooves, 7 reinforcing rings, 8 outer capsules, 9 filling balls, 10 filling pipes, 1001 rubber sleeve main bodies, 1001 filling cavities, 1003 filling fibers, 1004 capillary micropores, 11 anti-breaking reinforcing nets, 12 connecting sleeves, 13 inner capsules, 14 movable grooves, 15 movable pipes, 16 vent holes, 17 compression springs, 18 sealing rings

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection can be direct connection or indirect connection through an intermediate medium, and can be communication inside the model adapting element. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-4, a flexible robot with an overload protection device includes a base 1, a plurality of movable arms 2 and a working end 3, the plurality of movable arms 2 are sequentially connected to form a robot main body capable of moving in multiple degrees of freedom, two ends of the robot main body are respectively connected to the movable arms 2 and the working end 3, a fixing groove 6 is drilled in the movable arms 2, an outer capsule 8 matched with the movable arms is placed in the fixing groove 6, an inner capsule 13 is placed in the outer capsule 8, a connecting sleeve 12 is fixedly connected to the inner capsule 13, one end of the connecting sleeve 12 far away from the inner capsule 13 penetrates through the outer capsule 8 and extends to the outer side of the movable arms 2, the connecting sleeve 12 is communicated with the outside of the inner capsule 13, one end of the working end 3 near the movable arms 2 is fixedly connected with a movable tube 15, one end of the movable tube 15 far away from the working end 3 penetrates through the connecting sleeve 12, a movable groove, one end of the movable tube 15, which is far away from the working end 3, is fixedly connected with a limiting wing edge matched with the movable groove 14, a compression spring 17 is fixedly connected between the limiting wing edge and the inner wall of the connecting sleeve 12, the compression spring 17 is sleeved outside the movable tube 15, a plurality of vent holes 16 are cut on the side wall of the movable tube 15, the vent holes 16 are all positioned on one side of the connecting sleeve 12, which is close to the limiting wing edge, a plurality of filling balls 9 are filled between the outer capsule 8 and the inner capsule 13, a plurality of filling tubes 10 are fixedly connected on the outer walls of the filling balls 9, the filling tubes 10 are all in a spatial three-dimensional structure, the adjacent filling tubes 10 are wound together, one ends of the filling tubes 10, which are close to the inner wall of the outer capsule 8 and the outer wall of the inner capsule 13, are respectively fixedly connected with the inner wall of the outer capsule 8 and the outer wall of the inner capsule 13, high-pressure gas is filled in the inner, the high pressure gas is nitrogen, and the pressure is 1.2 standard atmospheres.

In this scheme, when the activity arm 2 and the normal during operation of work end 3, realize fixed connection through being connected between fixed slot 6 and outer capsule 8 and the interior capsule 13 between activity arm 2 and the work end 3, wherein the high-pressure gas who fills in interior capsule 13 can make interior capsule 13 swell, and with the packing ball 9 and the filling tube 10 of outer capsule 8 intussuseption retreat to fixed slot 6 inner wall, frictional force through outer capsule 8 surface and fixed slot 6 inner wall and the cooperation between size and the fixed slot 6 after outer capsule 8 and the inflation of interior capsule 13 realize the relative stability between activity arm 2 and the work end 3, wherein, realize spatial position's relative stability through filling tube 10 between a plurality of packing balls 9, be difficult for influencing the fixed effect of outer capsule 8.

When the work end 3 bears excessive load, the load can stimulate the work end 3 to drive the movable tube 15 to move towards the direction of keeping away from the movable arm 2, the limiting wing edge can compress the compression spring 17 at the moment, until the air vent 16 moves to the left side of the connecting sleeve 12, at the moment, high-pressure gas in the inner capsule 13 can overflow through the air vent 16 quickly, the inner capsule 13 and the outer capsule 8 become flat quickly, the movable arm 2 is released from being fixed with the work end 3, and the load of the work end 3 is not easy to influence the movable arm 2.

After the movable arm 2 is separated from the working end 3, a maintainer can detect and maintain the movable arm 2 and the working end 3, after no fault is confirmed, the outer capsule 8 and the inner capsule 13 can be inserted back into the fixing groove 6 again to achieve installation, after safety is completed, the working end 3 can be pulled, so that the vent hole 16 moves to the left side of the connecting sleeve 12, high-pressure nitrogen is injected into the inner capsule 13 again through the vent hole 16, and reinstallation and fixation are achieved.

Can realize when flexible robot load is too big, can break off the connection between digging arm 2 and the work end 3 the very first time, be difficult for causing excessive injury to flexible robot main part, and through the maintainer inspection maintenance back, after getting rid of original load, can assemble with digging arm 2 again with work end 3 for flexible robot normally works.

Particularly, the separation critical point of the movable arm 2 and the working end 3 is controlled by the elastic coefficient of the compression spring 17, and the compression spring 17 with a proper type can be selected by workers in the field after actual detection

Referring to fig. 1-4, a reinforcing ring 7 is connected between the movable arm 2 and the outer capsule 8, the reinforcing ring 7 is made of a magnet, the outer capsule 8 is made of a magnetic rubber, the connection strength between the reinforcing ring 7 and the outer capsule 8 is increased, a sealing ring 18 is connected between the connecting sleeve 12 and the movable tube 15, the sealing ring 18 is fixedly connected with the connecting sleeve 12, abrasion between the connecting sleeve 12 and the movable tube 15 is reduced, the sealing performance between the connecting sleeve 12 and the movable tube 15 is not easily affected, the bellows 4 is fixedly connected between the working end 3 and the movable arm 2, the bellows 4 is made of a transparent rubber, on the premise that the observation of the internal structure of the bellows 4 by technicians is not affected, the internal structure of the bellows 4 is not easily polluted by external dust and the like, the normal use of the movable arm 2 and the working end 3 is not easily affected, an anti-breaking reinforcing mesh 5 matched with the bellows 4, prevent disconnected reinforcing net 5 and have a plurality of high tenacity elastic fiber to weave and form, increase the intensity of bellows 4, when making digging arm 2 and work end 3 separation, be difficult for tearing bellows 4 apart because of the load that work end 3 carried on, be difficult for causing digging arm 2 and work end 3 complete separation, be difficult for causing work end 3 to fall the damage, bury underground in outer capsule 8 with self assorted prevent broken reinforcing net 11, increase the intensity of outer capsule 8, make outer capsule 8 be difficult for causing outer capsule 8 to break because of the decompression of packing ball 9, be difficult for causing outer capsule 8 to leak.

Referring to fig. 4-5, one end of the filling tube 10 near the inner wall of the outer capsule 8 penetrates through the outer capsule 8 and extends into the fixing groove 6, the inner wall of the fixing groove 6 is chiseled with anti-slip threads to increase the friction force between the movable arm 2 and the outer capsule 8, so that the outer capsule 8 is not easy to be pulled out from the fixing groove 6 along with the inner capsule 13, one end of the filling tube 10 located at the fixing groove 6 is in a three-dimensional spiral shape, one end of the filling tube 10 located at the fixing groove 6 includes a rubber sleeve main body 1001 to increase the friction force between the movable arm 2 and the outer capsule 8, a filling cavity 1002 is chiseled in the rubber sleeve main body 1001, the filling cavity 1002 is filled with lubrication, a plurality of capillary pores 1004 are chiseled outside the rubber sleeve main body 1001, the capillary pores 1004 penetrate through the rubber sleeve main body 1001 to communicate the filling cavity 1002 with the outside, when the outer capsule 8 needs to be taken out from the fixing groove 6, the outer capsule 8 can be squeezed, make the lubricating oil of depositing in the packing chamber 1002 excessive, reduce the frictional force between fixed slot 6 and the outer capsule 8, reduce the wearing and tearing that cause when the digging arm 2 separates with outer capsule 8, it is filled with packing fibre 1003 to fill the intracavity 1002, packing fibre 1003 interweaves into three-dimensional space configuration each other, packing fibre 1003 can save lubricating oil, it is too much to make lubricating oil be difficult for spilling over for a short time at less exogenic action, make things convenient for maintainer to adjust, the gum cover main part 1001 chooses for use lubricating oil affinity material to make, at the in-process of taking out outer capsule 8, can clear up the lubricating oil of lubricated usefulness, make things convenient for follow-up maintenance.

In the scheme, when the working end 3 bears excessive load, the load can pull the working end 3 to drive the movable pipe 15 to move towards the direction far away from the movable arm 2, at the moment, the limit wing edge can compress the compression spring 17 until the vent hole 16 moves to the left side of the connecting sleeve 12, at the moment, high-pressure gas in the inner capsule 13 can quickly overflow through the vent hole 16, the inner capsule 13 and the outer capsule 8 quickly shrink, the movable arm 2 and the working end 3 are released from fixing, the load of the working end 3 is not easy to influence the movable arm 2, in the separation process of the movable arm 2 and the working end 3, due to the existence of the corrugated pipe 4 and the breakage-proof reinforcing net 5, the working end 3 is not easy to directly fall down, the working end 3 is not easy to damage or casualties, then, maintenance personnel can detect and maintain the movable arm 2 and the working end 3, after the fault is confirmed, the outer capsule 8 and the inner capsule 13 can be inserted back into the fixing groove 6 again to realize installation, after the safety is accomplished, can be through pulling work end 3, make air vent 16 remove the left side of adapter sleeve 12, reinject high-pressure nitrogen gas in 16 inside capsules 13 through the air vent, realize installing again and fixing, can realize when flexible robot load is too big, can break off the connection between activity arm 2 and the work end 3 the very first time, be difficult for causing excessive injury to flexible robot main part, and after the maintainer inspection maintenance, after getting rid of original load, can assemble activity arm 2 again with work end 3, make flexible robot normal work.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a flexible robot with overload protection device, includes base (1), a plurality of digging arm (2) and work end (3), and is a plurality of digging arm (2) connect gradually and form the arm main part that can realize the motion of a plurality of degrees of freedom, the both ends of arm main part are connected its characterized in that with digging arm (2) and work end (3) respectively: the inner opening of the movable arm (2) is provided with a fixed groove (6), an outer capsule (8) matched with the inner opening is placed in the fixed groove (6), an inner capsule (13) is placed in the outer capsule (8), a connecting sleeve (12) is fixedly connected to the inner capsule (13), one end, far away from the inner capsule (13), of the connecting sleeve (12) penetrates through the outer capsule (8) and extends to the outer side of the movable arm (2), the connecting sleeve (12) is communicated with the outer side of the inner capsule (13), one end, close to the movable arm (2), of the working end (3) is fixedly connected with a movable pipe (15), one end, far away from the working end (3), of the movable pipe (15) penetrates through the connecting sleeve (12), the inner opening of the connecting sleeve (12) is provided with a movable groove (14), one end, far away from the working end (3), of the movable pipe (15) is fixedly connected with a limiting wing edge, a compression spring (17) is fixedly connected between the limiting wing edge and the inner wall of the connecting sleeve (12), the compression spring (17) is sleeved on the outer side of the movable pipe (15), a plurality of vent holes (16) are drilled on the side wall of the movable pipe (15), the vent holes (16) are all positioned on one side of the connecting sleeve (12) close to the limiting wing edge, a plurality of filling balls (9) are filled between the outer capsule (8) and the inner capsule (13), a plurality of filling pipes (10) are fixedly connected to the outer walls of the plurality of filling balls (9), the plurality of filling pipes (10) are in a spatial three-dimensional structure, the adjacent filling pipes (10) are wound together, one end of the filling pipe (10) close to the inner wall of the outer capsule (8) and the outer wall of the inner capsule (13) is fixedly connected with the inner wall of the outer capsule (8) and the outer wall of the inner capsule (13) respectively, and the inner capsule (13) is filled with high-pressure gas.

2. A flexible robot having an overload protection apparatus according to claim 1, wherein: a strengthening ring (7) is connected between the movable arm (2) and the outer capsule (8), the strengthening ring (7) is made of magnet, and the outer capsule (8) is made of magnetic rubber.

3. A flexible robot having an overload protection apparatus according to claim 1, wherein: and a sealing ring (18) is connected between the connecting sleeve (12) and the movable pipe (15), and the sealing ring (18) is fixedly connected with the connecting sleeve (12).

4. A flexible robot having an overload protection apparatus according to claim 1, wherein: bellows (4) are fixedly connected between the working end (3) and the movable arm (2), and the bellows (4) are made of transparent rubber.

5. A flexible robot with overload protection device according to claim 4, characterized in that: the anti-breaking reinforced net (5) matched with the corrugated pipe (4) is embedded in the corrugated pipe, and the anti-breaking reinforced net (5) is formed by weaving a plurality of high-toughness elastic fibers.

6. A flexible robot having an overload protection apparatus according to claim 1, wherein: an anti-breaking strengthening net (11) matched with the outer capsule (8) is embedded in the outer capsule.

7. A flexible robot having an overload protection apparatus according to claim 1, wherein: the filling pipe (10) is close to one end of the inner wall of the outer capsule (8) and penetrates through the outer capsule (8) and extends into the fixing groove (6), and anti-skid grains are chiseled on the inner wall of the fixing groove (6).

8. A flexible robot having an overload protection apparatus according to claim 1, wherein: the one end that filling tube (10) is located fixed slot (6) is three-dimensional heliciform, the one end that filling tube (10) is located fixed slot (6) includes gum cover main part (1001).

9. A flexible robot having an overload protection apparatus according to claim 8, wherein: the rubber sleeve is characterized in that a filling cavity (1002) is formed in the rubber sleeve main body (1001) in a chiseled mode, the filling cavity (1002) is filled with lubricating oil, a plurality of capillary micropores (1004) are formed in the outer side of the rubber sleeve main body (1001), the capillary micropores (1004) penetrate through the rubber sleeve main body (1001) and are communicated with the filling cavity (1002) and the outer side.

10. A flexible robot having an overload protection apparatus according to claim 1, wherein: the connecting sleeve (12) is filled with filling fibers (1003), and the filling fibers (1003) are interwoven into a three-dimensional space configuration.