A rope-driven mechanical arm for assisting the disabled/elderly

Abstract

The invention relates to a cable-driven mechanical arm for assisting disabled / elderly people. The mechanical arm comprises a convolution joint, an up-and-down rotation joint, a horizontal rotation joint, a first joint connecting plate, a sliding block, a guide track, a base driving box, driving motors and a cable driving system. The driving motor of each rotation joint is mounted in the base driving box, the cable driving system is utilized for transferring the power of the driving motors to all the rotation joints, and then the driving of the rotation joints is realized. The cable-driven mechanical arm disclosed by the invention solves the problem that a cable can only be stretched but not be compressed during the cable driving process, and the cable driving system is utilized for transferring the power to all the joints, so that the mechanical structures at the joints are simplified, the dead weight of the mechanical arm is greatly reduced, and the load-dead weight ratio and dynamic performance of the mechanical arm are improved. The mechanical arm has the advantages of simple structure, high safety performance and large stroke range, and is particularly suitable for being mounted on wheelchairs, care beds and other equipment for assisting disabled / elderly people.

Description

technical field [0001] The invention relates to a structure of a rope-driven mechanical arm for assisting the disabled / elderly. Background technique [0002] Robotic arms have been widely used in daily production and life. The traditional mechanical arm installs the driving mechanism directly at the joint. In order to overcome the heavy weight of the driving mechanism, the power of the driving motor and the strength of the mechanical structure must be increased. This greatly increases the weight and moment of inertia of the robotic arm, reducing load capacity and motion performance. In order to reduce the weight of the mechanical arm and meet the requirements of high load-to-weight ratio and fast response in some occasions, a single motor drive and rope drive technology have been proposed. [0003] The single-motor drive technology reduces the number of power sources by changing the motion transmission mechanism of the robotic arm, so that there is only one power source fo...

AI Technical Summary

Problems solved by technology

Due to the nature of the rope can only bear one-way tension, the parallel mechanism can only realize the force closing of the mechanical arm by increasing the number of motors and ropes, which increases energy consumption and structural complexity; at the same time, the parallel mechanism has its inherent disadvantages, namely The working space is small, which cannot meet the requirements of large working space in some occasions

The existing rope-driven series mechanism cannot solve the problem of joint motion coupling and small driving range

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