Large-span variable stiffness drive unit

Abstract

A large-span variable-stiffness drive unit with flexible adjustment of elongation, including: a winding mechanism and a pneumatic eversion mechanism connected thereto, the winding mechanism is set on the installation platform through a fixed bottom plate; the winding mechanism includes: a motor, a fixed frame , winding shaft and pressure roller shaft, wherein: the motor is located outside the fixed frame, the winding shaft is connected with the output shaft of the motor, the winding shaft is set in the fixed frame through bearings, and the pressure roller shaft is set in the fixed frame through bearing rotation upper side. In the present invention, the originally folded end effector is opened by inflating, and after the work task is completed, the cavity of the actuator is folded back, which simplifies the volume of the drive unit, and ensures a large-span distance output, through the signal feedback of the sensor , to achieve controllable output distance, reduce installation costs and improve work efficiency.

Description

Technical field [0001] The present invention relates to a technique of mechanical engineering, in particular, a variable stiffness drive unit capable of flexible adjustment of elongation and span reaching 1 m or more. Background technique [0002] Existing drive units achieve power output, need to configure appropriate power, butt, there is also a pre-laying of the corresponding motion tracks, which undoubtedly adds the weight and inertia of the drive unit, which is not conducive to improving the flexibility and lightness of the mechanical system. Sex; in a hydraulic or air pressure method, the effective travel of the output is generally less than or equal to the length of the cylinder head rod, and so that the distance output of the large stroke is required, a larger mechanical body is required; the linear drive mechanism is generally unable to Control the size of the end output force, to achieve the stiffness adjustment, you need to install the corresponding force sensor on the...

AI Technical Summary

Problems solved by technology

[0002] The existing drive unit needs to be equipped with a suitable power motor and screw to achieve force output, and the corresponding motion track needs to be laid in advance, which undoubtedly increases the weight and inertia of the drive unit, which is not conducive to improving the flexibility and lightness of the mechanical system. The effective stroke of the hydraulic or pneumatic cylinder is generally less than or equal to the length of the cylinder ejector rod. In this way, to achieve the distance output of the large stroke, a larger mechanical body needs to be installed; the linear drive mechanism generally cannot To control the magnitude of the output force at the end, to achieve stiffness adjustment, it is necessary to install a corresponding force sensor on the end effector to monitor the magnitude of the force, and to change the magnitude of the applied force by adjusting the relative distance. Additional sensors occupy the working space while also increases the complexity of the system

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