Variable-rigidity flexible mechanical arm

Abstract

The invention discloses a variable-rigidity flexible mechanical arm, and relates to the technical field of robot mechanical arms. Comprising a base, a flexible foundation assembly is installed at the top of the base, a top seat is fixedly installed on the top wall of the flexible foundation assembly, an adjusting supporting assembly is installed on the top wall of the top seat, a mechanical arm body is installed on the top wall of the adjusting supporting assembly through a variable-rigidity assembly, and the mechanical arm body is of a flexible cylinder structure made of a flexible material. According to the variable-rigidity flexible mechanical arm, through mutual cooperation of all parts in the variable-rigidity assembly, the mechanical arm has good dexterity and rigidity, the concurrence result of the dexterity and the rigidity is achieved, and the rigidity of the mechanical arm can be improved through the mode that the rigidity of the interior and the exterior of the mechanical arm is synchronously increased. And the overall strength and the loading capacity of the mechanical arm are higher, and the mechanical arm is more stable and safer when bearing heavy objects in follow-up work.

Description

Technical Field

[0001] The invention relates to the technical field of robot mechanical arms, in particular to a variable-rigidity flexible mechanical arm. Background Art

[0002] A variable stiffness flexible robotic arm is a robotic arm that can adjust its stiffness in real time according to changes in load or spatial position. It introduces a variable stiffness mechanism, that is, when the robotic arm needs to change direction, the overall stiffness of the robotic arm is changed to make it softer, and when the robotic arm needs to move in a straight line or needs to carry heavy objects, its stiffness and load force are increased. This overcomes the defect of insufficient rigidity of traditional flexible robotic arms and improves the load capacity and motion accuracy of the robotic arms. With the continuous development of robotic technology, the application of robotic arms has gradually expanded. Due to factors such as narrow space and the presence of numerous obstacles, traditional discrete joint rigid robotic arms can no longer meet the use requirements. Unlike discrete joint rigid robotic arms, continuous flexible robotic arms have stronger adaptability to the environment and their unlimited degrees of freedom can meet more working conditions.

[0003] With regard to the above-mentioned related technologies, it is believed that: the flexible robotic arm has incomparable advantages over the traditional rigid robotic arm, but it has not been widely used due to its immature technology. The main reason limiting its scope of use is that the flexible robotic arm uses flexible soft materials for support, resulting in a decrease in overall stiffness. In structural design, the stiffness and the dexterity and super-redundant degrees of freedom of the robotic arm are contradictory in mechanism. The flexible robotic arm of the present invention changes the overall stiffness of the flexible robotic arm by changing the stiffness, and at the same time enables it to flexibly change the working space of the robotic arm. When the robotic arm needs to change direction, the overall stiffness of the robotic arm is changed to make it softer. When the robotic arm needs to move in a straight line or needs to carry heavy objects, its stiffness is increased and its load force is increased. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a variable-rigidity flexible robotic arm, which solves the problem that the rigidity and dexterity of the flexible robotic arm cannot coexist.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a variable stiffness flexible mechanical arm, comprising a base, a flexible base component is installed on the top of the base, a top seat is fixedly installed on the top wall of the flexible base component, an adjustable support component is installed on the top wall of the top seat, a mechanical arm body is installed on the top wall of the adjustable support component through a variable stiffness component, the mechanical arm body is a flexible cylindrical structure made of flexible material, and the bottom wall of the mechanical arm body is fixedly installed with the top wall of the adjustable support component;

[0006] The variable stiffness component includes a driving device, the bottom wall of the driving device is fixedly installed on the top wall of the adjusting support component, a reinforcing ring 1 is fixedly installed on the top of the outer wall of the robot body, a reinforcing ring 2 is fixedly installed on the middle of the outer wall of the robot body, and a reinforcing ring 3 is fixedly installed on the bottom of the outer wall of the robot body. The top wall of the reinforcing ring 1 is evenly provided with a plurality of wire passing holes 1, and the top walls of the reinforcing rings 2 and 3 are evenly provided with a plurality of wire passing holes 2. Positioning holes are provided on the top walls of the reinforcing rings 2 and 3 corresponding to the positions of the wire passing holes 1 and 2. The same winding steel rope is inserted into several of the wire passing holes 2 and 1 located at the same position, and limiting seats are fixedly installed on the tops of several of the winding steel ropes, and positioning seats are fixedly installed on the outer walls of several of the winding steel ropes corresponding to the positions of the positioning holes.

[0007] Furthermore, the reinforcement ring 1, reinforcement ring 2 and reinforcement ring 3 are mainly used to improve the overall connection stiffness of the robotic arm body, several of the wire passing holes 1 correspond one to one with the corresponding wire passing holes 2, several of the bottom walls of the limit seats are fitted with the top wall of the reinforcement ring 1, several of the outer walls of the positioning seats are fitted with the corresponding inner walls of the positioning holes, several bottom ends of the winding steel ropes are fixedly connected to the internal driving components of the driving device, and the driving device is mainly used for retracting and releasing the winding steel rope, and several of the wire passing holes 1, wire passing holes 2 and the inner walls of the positioning holes are provided with rounded corners to reduce the wear of the winding steel rope.

[0008] Furthermore, a reinforcing cylinder for improving the bottom support strength of the robotic arm body is installed at the bottom of the outer wall of the robotic arm body, a hydraulic thruster is fixedly installed on the inner bottom wall of the robotic arm body, and a movable seat is fixedly installed on the movable end of the hydraulic thruster. The movable seat is circular and the outer wall is slidably connected to the inner wall of the robotic arm body. A number of reinforcing support blocks 1 are evenly installed on the inner wall of the robotic arm body and between reinforcing ring 1 and reinforcing ring 2, and a number of reinforcing support blocks 1 are each provided with a support groove 1 on the top wall, a number of reinforcing support blocks 2 are evenly installed on the inner wall of the robotic arm body and between reinforcing ring 2 and reinforcing ring 3, and a number of reinforcing support blocks 2 are each provided with a support groove 2 on the top wall, a number of reinforcing support blocks 1 and a number of reinforcing support blocks 2 are arranged in a circular straight line, and a number of reinforcing support blocks 1 and a number of reinforcing support blocks 2 are arranged in a staggered position with the winding steel rope.

[0009] Furthermore, the top wall of the movable seat and the corresponding support grooves 1 and 2 are fixedly installed with synchronous telescopic reinforcement plates, which are sequentially connected up and down through a number of reinforcement plates and fixed through a synchronous telescopic structure. The specifications of the reinforcement plate located in the middle match the specifications of the support groove 2, and the specifications of the reinforcement plate located at the top match the specifications of the support groove 1.

[0010] Furthermore, the adjustment support assembly includes a support platform, the top wall of the support platform is fixedly connected to the bottom wall of the lifting robot arm body and the driving device, support seats are fixedly installed on the left and right sides of the bottom wall of the support platform, hydraulic rods are fixedly installed on the left and right sides of the top wall of the top seat and at the positions corresponding to the support seats, and the movable ends of the two hydraulic rods are hingedly installed on the corresponding bottom walls of the support seats.

[0011] Furthermore, a base is fixedly installed on the top wall of the top seat, a U-shaped seat is fixedly installed on the top wall of the base, a rotating shaft is rotatably installed on the inner wall of the U-shaped seat, a high-power reduction motor is fixedly installed on the front wall of the U-shaped seat, a power shaft of the high-power reduction motor passes through the U-shaped seat and is fixedly connected to the front end of the rotating shaft through a bearing, a connecting body is fixedly installed on the outer wall of the rotating shaft, and the top wall of the connecting body is fixedly connected to the bottom wall of the support platform.

[0012] Furthermore, the flexible base component includes a base frame, the top wall of the base frame is fixedly connected to the bottom wall of the base, the top wall of the base is equipped with a ball joint, the outer wall of the ball joint is fixedly equipped with a support column, the top of the support column is fixedly equipped with a connecting plate, and the top wall of the connecting plate is fixedly connected to the bottom wall of the top seat.

[0013] Furthermore, inflatable flexible support tubes are fixedly installed at the four corners of the bottom wall of the connecting plate, air pressure sensors are evenly installed on the inner bottom walls of several inflatable flexible support tubes, and the bottom walls of several inflatable flexible support tubes are fixedly connected to the top wall of the base.

[0014] Furthermore, the bottom walls of several of the inflatable flexible support tubes are connected to an air intake pipe, the outer walls of several of the air intake pipes are installed with pneumatic solenoid valves, the bottom ends of several of the air intake pipes are connected to the same connecting pipe, the connecting pipe is in a "mouth" shape, the front part of the outer wall of the connecting pipe is connected to a delivery pipe, a through groove is opened on the front wall of the base frame at a position corresponding to the delivery pipe, and the front end of the delivery pipe is connected to an external inflator.

[0015] Furthermore, high-strength fastening bolts are threadedly installed at the four corners of the top wall of the base, and the bottom ends of several of the high-strength fastening bolts are threadedly connected to penetrate the base and extend to the outside.

[0016] The present invention has the following beneficial effects:

[0017] (1) The variable stiffness flexible robotic arm has good dexterity and stiffness through the mutual cooperation of various components in the variable stiffness assembly, and can increase the overall strength and load capacity of the robotic arm by synchronously increasing the stiffness inside and outside the robotic arm, making it more stable and safer when carrying heavy objects in subsequent work.

[0018] (2) The variable stiffness flexible robotic arm can flexibly adjust the support strength of the bottom of the robotic arm through the mutual cooperation of various components in the flexible basic assembly. When working in special environments, it can adapt to more complex working environments by changing the tilt position of the top seat, thereby improving the working adaptability of the robotic arm and expanding the overall application range, and further enhancing the functionality of the robotic arm.

[0019] (3) The variable stiffness flexible robotic arm can quickly complete the adjustment functionality when it is necessary to change the working angle of the robotic arm by adjusting the coordination of the various components in the support assembly, and can lift and support the support platform after adjustment, thereby improving the stability of the support platform after adjustment and preventing shaking when the robotic arm is working.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a front view of the external structure of the present invention;

[0022] Figure 2 A front view of the external structure of the adjustment support assembly of the present invention;

[0023] Figure 3 The right side view of the external structure of the adjusting support assembly of the present invention;

[0024] Figure 4 It is a cross-sectional view of the internal structure of the flexible basic assembly of the present invention;

[0025] Figure 5 It is a schematic diagram of the external structure of the variable stiffness assembly and the mechanical arm body of the present invention;

[0026] Figure 6 An exploded view of the internal structure of the variable stiffness assembly of the present invention;

[0027] Figure 7 It is an external structure diagram of the mechanical arm body, reinforcing ring 1, reinforcing ring 2 and reinforcing ring 3 of the present invention;

[0028] Figure 8 It is a front view of the internal structure of the variable stiffness component of the present invention;

[0029] Fig. 9 This is a cross-sectional view of the internal structure of the robot arm body of the present invention;

[0030] Fig.10 This is a schematic diagram of the external structure of the reinforced support block 1 and the reinforced support block 2 of the present invention;

[0031] Fig.11 For the present invention Figure 6 A magnified view of the structure at A.

[0032] In the figure, 1, base; 2, high-strength fastening bolts; 3, flexible basic assembly; 31, inflatable flexible support tube; 32, support column; 33, ball joint; 34, bottom frame; 35, through slot; 36, delivery pipe; 37, connecting pipe; 38, air intake pipe; 39, pneumatic solenoid valve; 310, connecting plate; 311, air pressure sensor; 4, top seat; 5, adjustable support assembly; 51, base; 52, U-shaped seat; 53, high-power reduction motor; 54, connector; 55, support platform; 56, support seat; 57, hydraulic rod; 58. Rotating shaft; 6. Variable stiffness component; 61. Driving device; 62. Reinforcement ring one; 63. Reinforcement ring two; 64. Reinforcement ring three; 65. Reinforcement cylinder; 66. Winding rope; 67. Limit seat; 68. Wire hole one; 69. Positioning seat; 610. Wire hole two; 611. Positioning hole; 612. Reinforced support block one; 613. Support slot one; 614. Reinforced support block two; 615. Support slot two; 616. Synchronous telescopic reinforcement plate; 617. Moving seat; 618. Hydraulic thruster; 7. Robot arm body. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] See also Figure 1-Figure 11 The embodiment of the present invention provides a technical solution: a variable stiffness flexible mechanical arm, comprising a base 1, a flexible base component 3 is installed on the top of the base 1, a top seat 4 is fixedly installed on the top wall of the flexible base component 3, an adjustable support component 5 is installed on the top wall of the top seat 4, a mechanical arm body 7 is installed on the top wall of the adjustable support component 5 through a variable stiffness component 6, the mechanical arm body 7 is a flexible cylinder structure made of flexible material, and the bottom wall of the mechanical arm body 7 is fixedly installed with the top wall of the adjustable support component 5;

[0036] The variable stiffness component 6 includes a driving device 61, the bottom wall of the driving device 61 is fixedly installed on the top wall of the adjustment support component 5, a reinforcing ring 1 62 is fixedly installed on the top of the outer wall of the mechanical arm body 7, a reinforcing ring 2 63 is fixedly installed on the middle of the outer wall of the mechanical arm body 7, and a reinforcing ring 3 64 is fixedly installed on the bottom of the outer wall of the mechanical arm body 7. A plurality of wire holes 1 68 are evenly opened on the top wall of the reinforcing ring 1 62, and a plurality of wire holes 2 610 are evenly opened on the top walls of the reinforcing ring 2 63 and the reinforcing ring 3 64. Positioning holes 611 are opened on the top walls of the reinforcing ring 2 63 and the reinforcing ring 3 64 at positions corresponding to the wire holes 1 68 and the wire holes 2 610, and a plurality of wire holes 2 610 and wire holes 1 68 at the same position are interspersed with the same winding steel rope 66, and a limiting seat 67 is fixedly installed on the top of a plurality of winding steel ropes 66, and a positioning seat 69 is fixedly installed on the outer walls of a plurality of winding steel ropes 66 at positions corresponding to the positioning holes 611.

[0037] In the present embodiment, the driving device 61 is used to gradually tighten the outside of the winding steel rope 66, thereby driving the reinforcing ring 1 62, the reinforcing ring 2 63 and the reinforcing ring 3 64 to start applying force to the robot arm body 7, thereby increasing the rigidity of the robot arm body 7 from the outside, and after the top end of the winding steel rope 66 is subjected to force, it drives the limit seat 67 to abut and fix against the top wall of the reinforcing ring 1 62, and drives the positioning seat 69 to enter the corresponding positioning hole 611 inner wall for positioning and abutting, thereby preventing the winding steel rope 66 from moving first.

[0038] Specifically, reinforcing ring 1 62, reinforcing ring 2 63 and reinforcing ring 3 64 are mainly used to improve the overall connection stiffness of the robot arm body 7, several wire passing holes 1 68 correspond one to one with the corresponding wire passing holes 2 610, several bottom walls of limit seats 67 fit with the top wall of reinforcing ring 1 62, several outer walls of positioning seats 69 fit with the corresponding inner walls of positioning holes 611, several bottom ends of winding steel ropes 66 are fixedly connected to the internal driving components of the driving device 61, and the driving device 61 is mainly used for retracting and releasing the winding steel rope 66, and several wire passing holes 1 68, wire passing holes 2 610 and the inner walls of the positioning holes 611 are provided with rounded corners to reduce the wear of the winding steel rope 66.

[0039] In the present embodiment, the winding steel rope 66 is tightened in the inner walls of the wire hole 1 68 and the wire hole 2 610. The reinforcing ring 1 62, the reinforcing ring 2 63 and the reinforcing ring 3 64 are mainly used to improve the overall connection stiffness of the robot arm body 7. The inner walls of the wire hole 1 68, the wire hole 2 610 and the positioning hole 611 are all provided with rounded corners to reduce the wear of the winding steel rope 66.

[0040] Specifically, a reinforcing cylinder 65 for improving the supporting strength of the bottom of the robotic arm body 7 is installed at the bottom of the outer wall of the robotic arm body 7, a hydraulic thruster 618 is fixedly installed on the inner bottom wall of the robotic arm body 7, and a movable seat 617 is fixedly installed on the movable end of the hydraulic thruster 618. The movable seat 617 is circular and the outer wall is slidably connected to the inner wall of the robotic arm body 7. A plurality of reinforcing support blocks 1 612 are evenly installed on the inner wall of the robotic arm body 7 and located between the reinforcing ring 1 62 and the reinforcing ring 2 63. A plurality of reinforcing support blocks 1 612 are each provided with a supporting groove 1 613 on the top walls. A plurality of reinforcing support blocks 2 614 are evenly installed on the inner wall of the robotic arm body 7 and located between the reinforcing ring 2 63 and the reinforcing ring 3 64. A plurality of reinforcing support blocks 2 614 are each provided with a supporting groove 2 615 on the top walls. A plurality of reinforcing support blocks 1 612 and a plurality of reinforcing support blocks 2 614 are arranged in a circular straight line. A plurality of reinforcing support blocks 1 612 and a plurality of reinforcing support blocks 2 614 are arranged in a staggered manner with respect to the winding steel rope 66.

[0041] In this embodiment, the reinforcing tube 65 is mainly used to increase the supporting strength of the bottom of the robot arm body 7. The hydraulic thruster 618 pushes the moving seat 617 to slide in the inner wall of the robot arm body 7, strengthens the installation of the support block 1 612 and the support block 2 614, and increases the connection strength through the subsequent synchronous telescopic reinforcing plate 616.

[0042] Specifically, the top wall of the movable seat 617 and the corresponding support slots 1 613 and 2 615 are fixedly installed with synchronous telescopic reinforcement plates 616. The synchronous telescopic reinforcement plates 616 are sequentially connected up and down through a number of reinforcement plates and fixed through a synchronous telescopic structure. The specifications of the reinforcement plate located in the middle match those of the support slot 2 615, and the specifications of the reinforcement plate located at the top match those of the support slot 1 613.

[0043] In this embodiment, after the synchronous telescopic reinforcement plate 616 enters the support groove 1 613 and the support groove 2 615 , its rigid support is increased from the inside of the robot arm body 7 .

[0044] Specifically, the adjustment support assembly 5 includes a support platform 55, the top wall of the support platform 55 is fixedly connected to the bottom wall of the lifting robot arm body 7 and the driving device 61, and support seats 56 are fixedly installed on the left and right sides of the bottom wall of the support platform 55. Hydraulic rods 57 are fixedly installed on the left and right sides of the top wall of the top seat 4 and at the positions corresponding to the support seats 56. The movable ends of the two hydraulic rods 57 are hingedly installed on the corresponding bottom walls of the support seats 56.

[0045] In this embodiment, the two hydraulic rods 57 are mainly used to support the support platform 55 and the support seat 56 to improve the overall stability of the robot arm body 7 during operation.

[0046] Specifically, a base 51 is fixedly installed on the top wall of the top seat 4, a U-shaped seat 52 is fixedly installed on the top wall of the base 51, a rotating shaft 58 is rotatably installed on the inner wall of the U-shaped seat 52, a high-power reduction motor 53 is fixedly installed on the front wall of the U-shaped seat 52, a power shaft of the high-power reduction motor 53 passes through the U-shaped seat 52 through a bearing and is fixedly connected to the front end of the rotating shaft 58, a connecting body 54 is fixedly installed on the outer wall of the rotating shaft 58, and the top wall of the connecting body 54 is fixedly connected to the bottom wall of the support platform 55.

[0047] In this embodiment, the high-power reduction motor 53 can adjust the working angle of the robot arm body 7 by driving the rotating shaft 58, the connecting body 54 and the supporting platform 55 to rotate slowly.

[0048] Specifically, the flexible base component 3 includes a base frame 34, the top wall of the base frame 34 is fixedly connected to the bottom wall of the base 1, a ball joint 33 is installed on the top wall of the base 1, a support column 32 is fixedly installed on the outer wall of the ball joint 33, a connecting plate 310 is fixedly installed on the top of the support column 32, and the top wall of the connecting plate 310 is fixedly connected to the bottom wall of the top seat 4.

[0049] In this embodiment, the bottom frame 34 supports the base 1 and protects the connecting pipe 37. At the same time, the support column 32 drives the ball joint 33 to freely adjust its supporting position and drives the connecting plate 310 and the top seat 4 to move.

[0050] Specifically, inflatable flexible support tubes 31 are fixedly installed at the four corners of the bottom wall of the connecting plate 310 , air pressure sensors 311 are evenly installed on the inner bottom walls of several inflatable flexible support tubes 31 , and the bottom walls of several inflatable flexible support tubes 31 are fixedly connected to the top wall of the base 1 .

[0051] In this embodiment, after the inflatable flexible support tube 31 is inflated, the internal pressure value is monitored in real time through the air pressure sensor 311, and the inflatable flexible support tube 31 has a good supporting effect on the connecting plate 310. By adjusting the inflation pressure inside the inflatable flexible support tube 31, the angle of the connecting plate 310 can be fine-tuned.

[0052] Specifically, the bottom walls of several inflatable flexible support tubes 31 are connected to the air intake pipes 38, the outer walls of several air intake pipes 38 are installed with pneumatic solenoid valves 39, the bottom ends of several air intake pipes 38 are connected to the same connecting pipe 37, the connecting pipe 37 is in the shape of a "mouth", the front part of the outer wall of the connecting pipe 37 is connected to the delivery pipe 36, and a through groove 35 is opened on the front wall of the base frame 34 and at the position corresponding to the delivery pipe 36, and the front end of the delivery pipe 36 is connected to the external inflator.

[0053] In this embodiment, the external inflator inflates air into the interior of the delivery pipe 36 and enters the corresponding inflatable flexible support tube 31 through the connecting pipe 37 and the air intake pipe 38. When the air pressure sensor 311 detects that the pressure value inside the corresponding inflatable flexible support tube 31 has been reached, the corresponding pneumatic solenoid valve 39 is quickly closed.

[0054] Specifically, high-strength fastening bolts 2 are threadedly installed at the four corners of the top wall of the base 1 , and the bottom ends of several high-strength fastening bolts 2 are threadedly installed through the base 1 and extend to the outside.

[0055] In this embodiment, the high-strength fastening bolts 2 and the base 1 cooperate with each other to achieve installation and fixation of the entire device.

[0056] During operation, the base 1 is placed on the installation table and fixed by screwing with high-strength fastening bolts 2. The bottom of the base frame 34 is fixed against the installation table to complete the installation and fixation of the entire device, and the delivery pipe 36 is connected through an external inflator. The pneumatic solenoid valve 39, air pressure sensor 311, high-power reduction motor 53, hydraulic rod 57, high-power reduction motor 53, drive device 61 and hydraulic thruster 618 are electrically connected through an external power supply and controller. The bottom flexible support degree of the top seat 4 can be adjusted through the flexible basic component 3. When the top seat 4 needs to be tilted backward at a certain angle, the internal air pressure of the two inflatable flexible support tubes 31 at the rear is less than the internal air pressure of the two inflatable flexible support tubes 31 at the front. When the top seat 4 is tilted forward at a certain angle, the air pressure inside the two inflatable flexible support tubes 31 at the rear is greater than the air pressure inside the two inflatable flexible support tubes 31 at the front. When the top seat 4 needs to be tilted to the left at a certain angle, the air pressure inside the two inflatable flexible support tubes 31 at the left is less than the air pressure inside the two inflatable flexible support tubes 31 at the right. When the top seat 4 needs to be tilted to the right at a certain angle, the air pressure inside the two inflatable flexible support tubes 31 at the left is greater than the air pressure inside the two inflatable flexible support tubes 31 at the right. When the top seat 4 needs to be kept balanced, the air pressure inside the inflatable flexible support tubes 31 at the four corners of the bottom of the top seat 4 is the same. The air is inflated into the delivery tube 36 through the external inflator and enters through the connecting tube 37 and the air inlet pipe 38. To the inside of the corresponding inflatable flexible support tube 31, and the air pressure intensity inside the inflatable flexible support tube 31 is monitored in real time through the air pressure sensor 311 inside the inflatable flexible support tube 31. When the air pressure intensity inside the inflatable flexible support tube 31 reaches the set value, the corresponding pneumatic solenoid valve 39 is closed synchronously, and the support column 32 can move inside the ball joint 33 and support the connecting plate 310 and the bottom of the top seat 4. When it is necessary to adjust the working angle of the robot arm body 7, when the power shaft of the high-power reduction motor 53 rotates to the right, the movable end of the hydraulic rod 57 on the right side is synchronously contracted and the movable end of the hydraulic rod 57 on the left side is synchronously pushed outward. Conversely, when the power shaft of the high-power reduction motor 53 rotates to the left, the hydraulic The movable end of the rod 57 is pushed outward synchronously, and the movable end of the hydraulic rod 57 on the left is contracted synchronously. When the power shaft of the high-power reduction motor 53 rotates to the right, it will drive the rotating shaft 58 and the connecting body 54 to rotate. When the connecting body 54 rotates, it will drive the support platform 55 and the mechanical arm body 7 to rotate slowly to the right. At the same time, the movable end of the hydraulic rod 57 on the right is contracted synchronously, and the movable end of the hydraulic rod 57 on the left is pushed outward synchronously, so that the arrangement of the two hydraulic rods 57 can support the overall stability of the support platform 55 and prevent the support platform 55 from offset and moving. When the support platform 55 moves, it will drive the variable stiffness component 6 and the mechanical arm body 7 to move, and can adjust the overall working angle of the mechanical arm body 7. The mechanical arm body 7 is a flexible cylindrical structure made of flexible material.When the rigidity of the robot body 7 needs to be increased, the corresponding winding rope 66 is first wound up through the driving component inside the driving device 61, and the winding rope 66 drives the corresponding limit seat 67 to slowly straighten from a relaxed state, and the bottom wall of the limit seat 67 abuts against the top wall of the reinforcing ring 1 62. At the same time, the winding rope 66 slides in the inner walls of the wire hole 1 68 and the wire hole 2 610, and drives the positioning seat 69 to enter the inner wall of the corresponding positioning hole 611 for positioning. At the same time, the reinforcing ring 1 62, the reinforcing ring 2 63 and the reinforcing ring 3 64 are gradually subjected to force to improve the overall rigidity of the robot body 7. The setting of the reinforcing tube 65 can increase the supporting strength of the bottom of the robot body 7. When the strength of the robot body 7 needs to be further increased, the hydraulic propeller 618 pushes the moving seat 617 to slide upward inside the robot body 7. When the moving seat 617 slides upward, the synchronous telescopic reinforcing plate 616 synchronously extends outward and enters the reinforcing support block 2 614 of the supporting groove 2 615, and the inner wall of the supporting groove 1 613 of the reinforcing support block 1 612, thereby improving the overall strength of the robot body 7 from the inside. When the rigidity of the robot body 7 is increased, the overall strength of the robot body 7 can be better improved through the dual coordination of the inside and outside, and the safety and stability are higher when the robot body 7 is used.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A variable stiffness flexible robotic arm, comprising a base (1), characterized in that: A flexible base component (3) is installed on the top of the base (1); a top seat (4) is fixedly installed on the top wall of the flexible base component (3); an adjustable support component (5) is installed on the top wall of the top seat (4); a mechanical arm body (7) is installed on the top wall of the adjustable support component (5) via a variable stiffness component (6); the mechanical arm body (7) is a flexible cylindrical structure made of flexible material; and the bottom wall of the mechanical arm body (7) is fixedly installed on the top wall of the adjustable support component (5); The variable stiffness component (6) comprises a driving device (61), the bottom wall of the driving device (61) is fixedly mounted on the top wall of the adjusting support component (5), a reinforcing ring 1 (62) is fixedly mounted on the top of the outer wall of the mechanical arm body (7), a reinforcing ring 2 (63) is fixedly mounted on the middle of the outer wall of the mechanical arm body (7), and a reinforcing ring 3 (64) is fixedly mounted on the bottom of the outer wall of the mechanical arm body (7), the top wall of the reinforcing ring 1 (62) is evenly provided with a plurality of wire holes 1 (68), and the top walls of the reinforcing rings 2 (63) and 3 (64) are evenly provided with a plurality of wire holes 1 (68). There are a plurality of wire-passing holes (610), the top walls of the reinforcement rings (63) and (64) are provided with positioning holes (611) at positions corresponding to the wire-passing holes (68) and (610), a plurality of the wire-passing holes (610) and (68) at the same position are interspersed with the same winding steel rope (66), a plurality of the top ends of the winding steel ropes (66) are fixedly provided with limiting seats (67), and a plurality of the outer walls of the winding steel ropes (66) are fixedly provided with positioning seats (69) at positions corresponding to the positioning holes (611).

2. The variable stiffness flexible mechanical arm according to claim 1, characterized in that: The reinforcing ring one (62), reinforcing ring two (63) and reinforcing ring three (64) are mainly used to improve the overall connection stiffness of the robot arm body (7); a plurality of the wire-passing holes one (68) correspond one to one with the corresponding wire-passing holes two (610); a plurality of the bottom walls of the limiting seats (67) are in contact with the top wall of the reinforcing ring one (62); a plurality of the outer walls of the positioning seats (69) are in contact with the inner walls of the corresponding positioning holes (611); a plurality of the bottom ends of the winding steel ropes (66) are fixedly connected to the internal driving components of the driving device (61); the driving device (61) is mainly used for retracting and releasing the winding steel ropes (66); a plurality of the inner walls of the wire-passing holes one (68), the wire-passing holes two (610) and the positioning holes (611) are provided with rounded corners to reduce the wear of the winding steel ropes (66).

3. The variable stiffness flexible robotic arm according to claim 1, characterized in that: A reinforcing cylinder (65) for improving the bottom support strength of the mechanical arm body (7) is installed at the bottom of the outer wall of the mechanical arm body (7); a hydraulic thruster (618) is fixedly installed on the inner bottom wall of the mechanical arm body (7); a movable seat (617) is fixedly installed on the movable end of the hydraulic thruster (618); the movable seat (617) is circular and the outer wall is slidably connected to the inner wall of the mechanical arm body (7); a plurality of reinforcing support blocks (612) are evenly installed on the inner wall of the mechanical arm body (7) and between the reinforcing ring 1 (62) and the reinforcing ring 2 (63); and a plurality of the reinforcing support blocks (612) are evenly installed on the inner wall of the mechanical arm body (7) and between the reinforcing ring 1 (62) and the reinforcing ring 2 (63). The top wall of the reinforcing support block one (612) is provided with a support groove one (613); a plurality of reinforcing support blocks two (614) are evenly installed on the inner wall of the robot arm body (7) and located between the reinforcing ring two (63) and the reinforcing ring three (64); a plurality of the top walls of the reinforcing support blocks two (614) are provided with a support groove two (615); a plurality of the reinforcing support blocks one (612) and the reinforcing support blocks two (614) are arranged in a circular straight line; and a plurality of the reinforcing support blocks one (612) and the reinforcing support blocks two (614) are arranged in a staggered manner with the winding steel rope (66).

4. The variable stiffness flexible mechanical arm according to claim 3, characterized in that: The top wall of the movable seat (617) and the corresponding support grooves 1 (613) and 2 (615) are fixedly installed with synchronous telescopic reinforcing plates (616). The synchronous telescopic reinforcing plates (616) are sequentially connected up and down through a plurality of reinforcing plates and fixed through a synchronous telescopic structure. The specifications of the reinforcing plate located in the middle match those of the support groove 2 (615), and the specifications of the reinforcing plate located at the top match those of the support groove 1 (613).

5. The variable stiffness flexible mechanical arm according to claim 1, characterized in that: The adjusting support assembly (5) comprises a support platform (55), the top wall of the support platform (55) is fixedly connected to the bottom wall of the lifting mechanical arm body (7) and the driving device (61), the left and right sides of the bottom wall of the support platform (55) are fixedly installed with support seats (56), the left and right sides of the top wall of the top seat (4) and the positions corresponding to the support seats (56) are fixedly installed with hydraulic rods (57), and the movable ends of the two hydraulic rods (57) are hingedly installed with the corresponding bottom walls of the support seats (56).

6. The variable stiffness flexible mechanical arm according to claim 1, characterized in that: A base (51) is fixedly mounted on the top wall of the top seat (4), a U-shaped seat (52) is fixedly mounted on the top wall of the base (51), a rotating shaft (58) is rotatably mounted on the inner wall of the U-shaped seat (52), a high-power reduction motor (53) is fixedly mounted on the front wall of the U-shaped seat (52), a power shaft of the high-power reduction motor (53) passes through the U-shaped seat (52) through a bearing and is fixedly connected to the front end of the rotating shaft (58), a connecting body (54) is fixedly mounted on the outer wall of the rotating shaft (58), and the top wall of the connecting body (54) is fixedly connected to the bottom wall of the support platform (55).

7. The variable stiffness flexible mechanical arm according to claim 1, characterized in that: The flexible base component (3) comprises a base frame (34), the top wall of the base frame (34) is fixedly connected to the bottom wall of the base (1), the top wall of the base (1) is installed with a ball joint (33), the outer wall of the ball joint (33) is fixedly installed with a support column (32), the top end of the support column (32) is fixedly installed with a connecting plate (310), and the top wall of the connecting plate (310) is fixedly connected to the bottom wall of the top seat (4).

8. The variable stiffness flexible mechanical arm according to claim 7, characterized in that: An inflatable flexible support tube (31) is fixedly mounted at the four corners of the bottom wall of the connecting plate (310), air pressure sensors (311) are evenly mounted on the inner bottom walls of a plurality of the inflatable flexible support tubes (31), and the bottom walls of a plurality of the inflatable flexible support tubes (31) are fixedly connected to the top wall of the base (1).

9. The variable stiffness flexible mechanical arm according to claim 8, characterized in that: The bottom walls of the plurality of inflatable flexible support tubes (31) are all connected to an air intake pipe (38), the outer walls of the plurality of inflatable flexible support tubes (31) are all installed with a pneumatic solenoid valve (39), the bottom ends of the plurality of inflatable flexible support tubes (31) are all connected to a same connecting tube (37), the connecting tube (37) is in the shape of a "mouth", the front part of the outer wall of the connecting tube (37) is connected to a delivery tube (36), a through groove (35) is provided on the front wall of the base frame (34) at a position corresponding to the delivery tube (36), and the front end of the delivery tube (36) is connected to an external inflator.

10. The variable stiffness flexible mechanical arm according to claim 1, characterized in that: High-strength fastening bolts (2) are threadedly installed at the four corners of the top wall of the base (1), and the bottom ends of a plurality of the high-strength fastening bolts (2) are threadedly connected to penetrate the base (1) and extend to the outside.

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