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

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, and more particularly, to a joint mechanism that adopts electromagnetic drive and can realize three-degree-of-freedom movement in space, and is suitable for making snake-shaped 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 robot industry. The limbless motion of snake creatures is a major supplement to the robot motion form. It has huge application potential in the search and rescue work of earthquakes, mining disasters, floods and other disasters, as well as in field investigation. At the same time, due to its unique flexible motion mode, It is also extremely important in the maintenance of industrial automation, medical equipment, and space stations. In recent years, the serpentine robot has been...

AI Technical Summary

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 adopts the driving principle of electromagnet and permanent magnet to design a joint that is suitable for snake-shaped robots. A compact three-degree-of-freedom joint driven by electromagnetic force

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