Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot

A snake-like robot and electromagnetic force technology, applied in manipulators, manufacturing tools, joints, etc., can solve problems such as low wear life, complex mechanical structure, and inflexible movements, and achieve low cost, simplified mechanical structure, flipping and climbing simple effect

Inactive Publication Date: 2013-06-26
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0007] In order to solve the problems of traditional snake-shaped robot joints, such as complex mechanical structure, too many motors, inflexible movements, and low wear and tear life, this invention

Method used

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  • Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot
  • Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot
  • Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot

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Embodiment Construction

[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0068] see figure 1 , Figure 1A , Figure 1B , Figure 1C , Figure 1D As shown, a three-degree-of-freedom snake robot joint driven by electromagnetic force of the present invention includes an electromagnet group 1, a permanent magnet group 2, a tactile detection ring 3, a thrust spring 4, a spring support seat 5, a contact type Switch mounting plate 6 and bracket 7. The thrust spring 4 is placed in the spring supporting seat 5, the electromagnet group 1 and the spring supporting seat 5 are installed on the contact switch mounting plate 6, the tactile detection ring 3 is installed on the outside of the contact switch mounting plate 6, and the permanent magnet group 2 is installed on bracket 7. The rolling motion of the joint mechanism designed in the present invention around the Y axis is called the first degree of freedom motion, the elongation or co...

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Abstract

The invention discloses a three-degree of freedom joint driven by electromagnetic force applied to a snake-shaped robot. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot comprises electromagnet sets, permanent magnet sets, a touch sense detection ring, a pushing force spring, a spring supporting seat, a touch switch installing plate and a support. The pushing force spring is arranged inside the spring supporting seat. The electromagnet sets and the spring supporting seat are installed on the touch switch installing plate. The touch sense detection ring is arranged outside the touch switch installing plate. The permanent magnet sets are arranged on the support. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot applies to single joints of the snake-shaped robot, the electromagnet sets can attract or repel the oppositely arranged permanent magnet sets when respectively loading pulse large current, and deflection motion of the joints can be achieved. When the electromagnet sets simultaneously load homodromous pulse current, extension or contraction of the joints can be achieved. The three-degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot can connect the joints in series to form the snake-shaped robot capable of imitating snakes to move in a winding, telescopic and side-directional mode, and has the advantages that structure is compact, movement is flexible, mechanical wear is small, and electric spark is not generated.

Description

technical field [0001] The present invention relates to a joint mechanism, more particularly, refers to a joint mechanism that adopts electromagnetic drive, can realize three-degree-of-freedom movement in space, and is suitable for making snake-like robots. Background technique [0002] Snake robot is a new type of bionic robot that can imitate the movement of biological snakes. Because it can realize "limbless movement" like a living thing, it is called "the most realistic robot" by the international robotics industry. The limbless movement of snakes is a major supplement to the movement of robots. It has great application potential in search and rescue of earthquakes, mine accidents, floods and other disasters, as well as field investigation; at the same time, due to its unique flexible movement, It is also extremely important in the maintenance of industrial automation, medical equipment and space stations. In recent years, the government and researchers of many countri...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 严亮刘天龙姚楠张磊焦宗夏
Owner BEIHANG UNIV
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