Modularized variable-rigidity joint mechanism of S-shaped robot

A snake-like robot and variable stiffness technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of collision damage, poor flexibility, insufficient adaptability, etc., and achieve the effect of reducing damage, preventing damage, and controlling methods quickly.

Inactive Publication Date: 2017-12-08
BEIJING UNIV OF CHEM TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above problems, the purpose of the present invention is to provide a modularized variable stiffness joint mechanism for snake-like robots, which can solve the problems of current

Method used

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  • Modularized variable-rigidity joint mechanism of S-shaped robot
  • Modularized variable-rigidity joint mechanism of S-shaped robot
  • Modularized variable-rigidity joint mechanism of S-shaped robot

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[0032] The following figure further illustrates the present invention in conjunction with the accompanying drawings.

[0033] See figure 1 The variable stiffness joint mechanism of the snake-shaped robot provided by the present invention includes an upper omnidirectional wheel 1, a lower omnidirectional wheel 2, an upper platform 3, a lower platform 4, and variable stiffness branch chains A, B, and C. The upper omnidirectional wheel and the lower omnidirectional wheel are respectively connected with the upper platform and the lower platform, and the upper platform and the lower platform are connected together by three variable stiffness branch chains.

[0034] See figure 2 , The omnidirectional wheel is composed of a wheel frame 6 and 12 passive wheels 7, and the first rotating pair R1 on the passive wheel is connected with the wheel frame. The omnidirectional wheel rotates through the second rotating pair R2 to realize the rolling of the joint. When the joint is deflected, the p...

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Abstract

The invention discloses a modularized variable-rigidity joint mechanism of an S-shaped robot and belongs to the field of robot research and engineering. When universal wheels rotate around the central axis of a module, the S-shaped robot can achieve wheel type motion; when parallel linear drivers in the joint telescope, small passive wheels in the universal wheels contact with the ground to generate anisotropy friction force to achieve S-shaped motion, and lateral covers arranged on two sides of the wheels can have a certain protection effect on the wheels. The damping force control of a magneto-rheological damping link is separated from branch chain motion control, current magnitude in the coil of a piston head can be controlled according to needs to change the magnetic field intensity in a magneto-rheological sleeve so as to change the state of magneto-rheological liquid, and accordingly damping force can be controlled, and variable rigidity is achieved. The link does not affect the various motion gaits of the S-shaped robot, the joint self-locking and self-protection ability of the S-shaped robot can be increased, and the environment adaptability of the S-shaped robot is increased greatly.

Description

technical field [0001] The invention relates to the field of robot research and engineering, in particular to a variable stiffness joint mechanism of a snake-like robot with variable stiffness and capable of adapting to complex terrain. Background technique [0002] In recent years, chemical plants and earthquake disasters have occurred more and more frequently, causing a large number of casualties and huge economic losses. Immediate on-site rescue after a disaster is very important. However, the environment of the disaster site is complex, and rescuers cannot enter the disaster site immediately, which brings huge challenges to the rescue work. Scientific and technological workers have developed snake-shaped robots inspired by biological snakes. Snake-shaped robots can move in various environments by imitating the movement of biological snakes, and can adapt to environments with complex terrain and small spaces. These characteristics make them suitable for disaster rescue, ...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/06
CPCB25J9/065B25J17/00
Inventor 曹政才李俊宽肖清张东赵利美李清林耿鹏黄冉
Owner BEIJING UNIV OF CHEM TECH
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