Variable-rigidity flexible joint driving mechanical arm

Abstract

The invention discloses a variable-rigidity flexible joint driving mechanical arm. The variable-rigidity flexible joint driving mechanical arm comprises a manipulator, two flexible joint driving assemblies and two variable-rigidity support connection assemblies, wherein one end of one variable-rigidity support connection assembly is connected with the manipulator, and the other end is connected with one flexible joint driving assembly; one end of the other variable-rigidity support connection assembly is connected with one flexible joint driving assembly, and the other end is connected with the other flexible joint driving assembly; and the flexible joint driving assemblies and the variable-rigidity support connection assemblies are all connected with an air source. Through adoption of thevariable-rigidity flexible joint driving mechanical arm disclosed by the invention, variable rigidity can be realized, and the air pressure of each assembly can be adjusted flexibly according to theload, so that the rigidity of the entire mechanical arm is changed, and the load capacity of the flexible mechanical arm is greatly improved. At the same time, the variable-rigidity flexible joint driving mechanical arm can make a bending action imitating a pick-up action of a person, does not cause harm to the person in the human-machine interaction with the variable rigidity, is suitable for medical devices for transferring patients, and is wide in application prospect.

Description

technical field [0001] The invention relates to the field of medical devices, in particular to a flexible joint-driven mechanical arm with variable stiffness. Background technique [0002] Patient transfer, the lifting and moving of a bedridden patient from a bed to a wheelchair, is one of the most physically challenging tasks in nursing and places a significant burden on caregivers. The corresponding physical burden on care workers can be reduced by introducing robotics. [0003] The design of traditional robots uses a rigid structure based on position control to perform high-speed, high-precision activities. The rigid connection structure enables it to transmit large moments, but its end is very rigid, which poses a threat to human safety. Therefore, it is difficult to directly apply traditional robotic arms. It is used in robots that need to interact with people; while fully flexible robotic arms made of elastic materials can change their shape during work and adapt to t...

AI Technical Summary

Problems solved by technology

[0003] The design of traditional robots uses a rigid structure based on position control to perform high-speed, high-precision activities. The rigid connection structure enables it to transmit large moments, but its end is very rigid, which poses a threat to human safety. Therefore, it is difficult to directly apply traditional robotic arms. It is used in robots that need to interact with people; and although fully flexible manipulators composed of elastic materials can change their shape during work and adapt to the environment, the existing fully flexible manipulators cannot bear high loads

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