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Continuous variable stiffness spine joint based on pneumatics

A spine and stiffness technology, applied in the field of continuously variable stiffness spine joints, can solve problems such as poor bearing capacity and low stiffness of spine joints, and achieve the effects of high stiffness and bearing capacity, and strong external force resistance.

Active Publication Date: 2021-04-23
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention aims to solve the problems of low rigidity and poor bearing capacity of the spine joints of existing flexible robots, and further provides a continuously variable stiffness spine joint based on pneumatic

Method used

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  • Continuous variable stiffness spine joint based on pneumatics
  • Continuous variable stiffness spine joint based on pneumatics
  • Continuous variable stiffness spine joint based on pneumatics

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specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1~3 Describe this embodiment, a continuously variable stiffness spinal joint based on pneumatics, which includes a first spine 1 and a second spine 2 with the same structure, wherein the first spine 1 and the second spine 2 are connected end-to-end by several air cylinders 3 , several cylinders 3 are arranged parallel to each other, and one end of the cylinder body 31 of each cylinder 3 is hinged with the end of the first spine 1, and one end of the piston rod 32 of each cylinder 3 is hinged with the end of the second spine 2 , the chambers located on both sides of the piston 33 in the cylinder 3 are respectively connected with the external air source 5 through the air pipe 4 .

[0023] The first spine 1 and the second spine 2 constitute the main part of the joint, the external air source 5 and the air pipe 4 constitute the power transmission part of the joint, and the cylinder 31, piston 33 and piston rod 32 in the cyli...

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Abstract

The invention discloses a continuous variable stiffness spine joint based on pneumatics, and belongs to the technical field of robots. The problems that an existing flexible robot is smaller in spine joint rigidity and poor in bearing capacity are solved. A first spine and a second spine are in end-to-end butt joint through a plurality of air cylinders, the air cylinders are arranged in parallel, one end of a cylinder body of each air cylinder is hinged to the end of the first spine, and one end of a piston rod of each air cylinder is hinged to the end of the second spine. Cavities at the two sides of the piston in each air cylinder are respectively connected with an external air source through air pipes. According to the continuous variable stiffness spine joint, switching between a free rotation state and a rigidity locking state can be realized. Locking of the joint is achieved by adjusting the air pressure on the two sides of each piston rod. Due to the fact that the axial force borne by the pistons of the air cylinders is in direct proportion to the pressure of air introduced into cylinder bodies of the air cylinders, continuous adjustment of rigidity can be achieved. The spine joint provided by the invention can realize very high rigidity and bearing capacity.

Description

technical field [0001] The invention relates to a pneumatic-based continuously variable stiffness spinal joint, which belongs to the technical field of robots. Background technique [0002] Due to its good compliant structure, flexible and continuous deformation characteristics, high safety and environmental adaptability, soft robots have great application potential in medical rehabilitation, emergency rescue, resource survey, pipeline inspection and military investigation. . However, due to problems such as low rigidity and poor carrying capacity of soft robots, its application has great limitations. In order to improve the stiffness and carrying capacity of soft robots and expand their application range, the variable stiffness of soft robots has become a research hotspot for a time. Contents of the invention [0003] The invention aims to solve the problems of low rigidity and poor bearing capacity of the spine joints of the existing flexible robots, and further provid...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/06
CPCB25J18/06
Inventor 岳洪浩杨飞阮琪李前程
Owner HARBIN INST OF TECH
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