Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Permanent magnetic rigidity variable drive module for flexible robot

A driving module and robot technology, which is applied in the field of flexible robots, can solve the problems of insufficient rigidity change ability of flexible robots, reduce the mass and inertia of the operating arm, etc., and achieve the effect of light weight, reduced mass and inertia, and a wide range of applications

Inactive Publication Date: 2017-09-19
NORTHEASTERN UNIV
View PDF7 Cites 9 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a permanent magnet variable stiffness drive module for flexible robots, which can achieve a larger stiffness adjustment range without increasing the torque of the drive motor. When building a flexible robot, the drive unit and the variable stiffness module can be combined Rear position, especially when constructing a multi-degree-of-freedom flexible robot, can greatly reduce the mass and inertia of the manipulator arm, thereby solving the shortcomings of the traditional series mode, due to the gradual increase in mass and inertia of the flexible robot. ;

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Permanent magnetic rigidity variable drive module for flexible robot
  • Permanent magnetic rigidity variable drive module for flexible robot
  • Permanent magnetic rigidity variable drive module for flexible robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0022] combine figure 1 , figure 2 and image 3 Describe this embodiment, this embodiment comprises: rope winch 2, fixed pulley A9, movable pulley 10, rope 16, fixed pulley B17, and described rope 16 one end is fixed on rope winch 2 and then passes through fixed pulley A9, movable pulley 19, fixed pulley successively. Pulley B17, described rope winch 2, fixed pulley A9, fixed pulley B17 are circumscribed on the same straight line, and described movable pulley 10 is clamped on the symmetrical axis of fixed pulley A9 and fixed pulley B17.

[0023] The rope 16 in the present invention is a rope made of a soft steel wire rope or other soft materials that can only be bent but cannot be stretched axially;

[0024] The invention is a permanent magnet variable stiffness flexible robot driving module with simple motion form, simple manufacture and simple operation;

[0025] This embodiment is a further limitation of Embodiment 1. In this embodiment, the rope winch 2 is a winch shaf...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

A permanent magnetic rigidity variable drive module for a flexible robot is suitable for establishing an antagonistic type flexible rigidity variable robot, especially a multi-freedom-degree flexible parallel rigidity variable robot. Compared with the prior art, the permanent magnetic rigidity variable drive module has the beneficial effect that under the situation that no motor torque is increased, the rigidity adjusting range is enlarged. When the multi-freedom-degree flexible robot is established, a drive unit and a rigidity variable module can be arranged on the rear part, the mass and the inertia of an operation arm are greatly reduced, and therefore the problem that in a traditional series manner, the rigidity change capacity is insufficient as the mass and the inertia are gradually increased is solved. According to the permanent magnetic rigidity variable drive module, one end of a rope is fixed to a rope winch, the rope sequentially penetrates through fixed pulleys, a movable pulley and a rope winch, the rope winch and the fixed pulleys are externally tangent to the same straight line, and the movable pulley is clamped to a symmetrical axis of the two fixed pulleys. The air gap interval between annular permanent magnets is reduced as the distance between a movable sliding base and a fixed base is reduced, and the rope tensile force and the rigidity are improved. The permanent magnetic rigidity variable drive module for the flexible robot is concise in movement type, easy and convenient to manufacture and easy to operate.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a permanent magnet variable stiffness drive module for flexible robots, which is used to construct antagonistic flexible variable stiffness robots, and is especially suitable for the construction of multi-degree-of-freedom parallel flexible variable stiffness robots. Background technique [0002] Flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness that is different from traditional rigid robots. Due to its adjustable stiffness, it can greatly improve human-machine safety and environmental adaptability. It involves bionics, robotics, and materials science. And control and other disciplines have become an important direction for the future development of robots. [0003] The variable-stiffness robot joints based on parallel rope resistance drive are the closest to human joints in the driving mode, and most of them change the j...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J17/02
Inventor 房立金张明
Owner NORTHEASTERN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products