65results about How to "Wide range of stiffness adjustment" patented technology

The invention belongs to the pneumatic artificial technical field and in particular relates to a pneumatic artificial muscle with self-sensing and driving functions. The pneumatic artificial muscle comprises fibers, an elastic hose, a cylindrical sleeve pipe, a fiber collecting hoop, a fiber collecting hole, a piezoelectric body, an electrode, a sensing circuit, a drive circuit, a hoop and an air pipe joint. The pneumatic artificial muscle has the beneficial effects that via the direct piezoelectric effects of the piezoelectric body, the contractility of the fibers can be measured to obtain the external load driving force of the pneumatic muscle; meanwhile, collision of the pneumatic muscle can be self-sensed according to the real-time reading of a voltmeter; via the inverse piezoelectric effects of the piezoelectric body, the amount of contraction of the pneumatic muscle can be increased and the rigidity of the pneumatic muscle can be changed; compared with the same model of pneumatic muscle on the market, the pneumatic muscle provided by the invention can achieve the effects of detecting the external load driving force, self-sensing collision, increasing the amount of contraction of the pneumatic muscle and changing the rigidity of the pneumatic muscle; the properties of the pneumatic muscle are improved and enriched; and the pneumatic muscle has function innovation and extension and is worthy to be applied.

The invention discloses a shock insulating device resistant to pulling and twisting and belongs to the technical field of building shock resistance. The shock insulating device is mainly composed of a high-rise structure (1), an upper-portion rigid pedestal (2) with high rigidity and bearing capability, a base heat-insulating layer (3), viscous dampers (4), damping springs (5), springs, a damper supports (6), a lower-portion rigid pedestal (7) with high rigidity and bearing capability, horizontal limiting sliders (8), bottom horizontal shock-insulating linear guide rails (9), bottom longitudinal shock-insulating linear guide rails (10) and longitudinal limiting sliders (11). The shock insulating device is low in cost, simple in structure, convenient to construct, high in pulling resistance and twisting resistance and obvious in shock-insulating effect.

The invention provides a tension resisting and twisting resisting combined shock isolation device with the self-restoring function, and belongs to the technical field of shock absorbing and isolating technique of structural engineering. The device mainly comprises a high-flexibility device (1), a rigid supporting pedestal (2), a transverse limiting sliding block (3), a transverse shock isolation linear guide rail (4), a transverse shock absorbing tension spring (5), a transverse shock absorbing tension spring support (6), a layering separating plate (7), a longitudinal limiting sliding block (8), a longitudinal shock isolation linear guide rail (9), a longitudinal shock absorbing tension spring support (10) and a longitudinal shock absorbing tension spring (11). The combined shock isolation device has the advantages that the material performance of each part can be fully utilized; in addition, the shortcoming of poor tension resisting capacity and vertical bearing capacity of a rubber support seat is overcome; the advantages of high tension resisting capacity and twisting resisting capacity, and outstanding effect on shock isolation for bases of the high-flexibility device and a high-flexibility structure are brought.

The invention discloses a flexible manipulator joint device with controllable damping force and rigidity. The flexible manipulator joint device comprises a rotary input component, an intermediate component and a rotary output component which are in transmission connection, wherein the rotary input component comprises an input shaft and an input barrel; the rotary output component comprises an output shaft and an output barrel arranged in the input barrel; the intermediate component comprises an intermediate shaft, as well as a first radial disc and a second radial disc which are connected with the intermediate shaft and can rotate synchronously, and the intermediate shaft, the first radial disc and the second radial disc are all arranged in the output barrel; the first radial disc is close to the input shaft, and the input barrel drives the first radial disc to rotate through a first elastic element; the second radial disc is close to the output shaft, and the second radial disc drives the output barrel to rotate through a second elastic element; and a cavity I is formed between the first radial disc and the second radial disc, an excitation coil is arranged in the cavity I, and the part, in the cavity I, of the intermediate shaft is immersed in a magnetorheological fluid. The flexible manipulator joint device is wide in damping force and rigidity adjustment range and compact in structure, and the requirements of a flexible manipulator can be satisfied.

The invention provides an engine suspension with the adjustable rigidity and belongs to the technical field of machines. The engine suspension solves the problems that an existing engine suspension is limited in adjusting range, high in cost and poor in adaptability. The engine suspension with the adjustable rigidity comprises a connecting support and main suspension springs. The connecting support is provided with an installation cavity penetrating the two end faces of the connecting support. The two end faces of each main suspension spring are smooth planes. The main suspension springs can be arranged in the installation cavity and connected with the inner wall of the installation cavity in a tight fit manner. The axial depth of the installation cavity is larger than the thickness of the main suspension springs. By the adoption of the engine suspension, the rigidity of the suspension can be directly changed directly through the increase and reduction of the number of the main suspension springs, the rigidity is adjusted conveniently and rapidly, the rigidity adjusting range is wide, the rigidity adjusting accuracy is high, the adaptability to different vehicle models and different engines is good, manpower and material resources can be saved to a great extent, waste and cost are reduced, and a development period is shortened.

The invention relates to a cascadable variable-stiffness robot joint. High-precision adjustment of the stiffness of the joint is conducted by using flexible shaft disc mechanisms composed of sheaves, steel wires and bent leaf springs for providing variable torque and using a rotary supporting mechanism composed of a supporting frame, a gear worm and a servo motor for uniquely determining the positions of working end points of the arc-shaped bent leaf springs which are symmetrically distributed on the shaft disc mechanisms; the energy storage capacity of the joint can be adjusted by changing the cascade number of the flexible shaft disc mechanisms; and a differential gear set mechanism is used for achieving coupled motions including rotation of the robot joint, rotation of the joint motor and rotation of an elastic mechanism, so that the balance position and stiffness of the joint are changed at the same time, and forward-rotation stiffness and reversed-rotation stiffness are made adjustable.

A multi-degree-of-freedom variable-stiffness articulated manipulator, which includes a mounting base, a base joint, three end joints and four connecting rods; the input end of the base joint is connected to the mounting base, and the output end of the base joint is connected to the first Link connection, the first link is connected to the input end of the first end joint, the output end of the first end joint is connected to the second link, the third link is connected to the input end of the fourth end joint, and the third link is connected to the input end of the fourth end joint. The output ends of the four end joints are connected to the fourth connecting rod; the base joint includes the first joint housing, the main drive module, the elastic module and the stiffness adjustment module; the first joint housing is connected to the first connecting rod, and each end joint includes The second joint casing, the main driving mechanism, the elastic mechanism and the stiffness adjustment mechanism; the second connecting rod, the third connecting rod and the fourth connecting rod are respectively connected with the second joint casing corresponding to the end joint, and the rigidity adjustment range of the mechanical arm of the present invention is large , which can meet the requirements of safe interaction of collaborative manipulators.