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A pneumatic-based continuously variable stiffness spinal joint

A spine and joint technology, applied in the field of continuously variable stiffness spine joints, can solve the problems of low rigidity of spine joints and poor bearing capacity, and achieve the effect of large stiffness, bearing capacity, and strong external force resistance

Active Publication Date: 2022-07-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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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  • A pneumatic-based continuously variable stiffness spinal joint
  • A pneumatic-based continuously variable stiffness spinal joint
  • A pneumatic-based continuously variable stiffness spinal joint

Examples

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specific Embodiment approach 1

[0022] Embodiment 1: Combining Figures 1 to 3 Describe this embodiment, a pneumatic-based continuous variable stiffness spine joint, 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 through several cylinders 3 , a plurality of the 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 to 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 cylinder 3 cons...

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Abstract

A pneumatic-based continuous variable stiffness spine joint belongs to the field of robotics technology. The invention solves the problems of low rigidity and poor bearing capacity of the spine joints of the existing flexible robot. The first spine and the second spine are butted end-to-end through a number of cylinders, the cylinders are arranged in parallel with each other, and one end of the cylinder body of each cylinder is hinged with the end of the first spine, and one end of the piston rod of each cylinder is connected to the end of the first spine. The ends of the second spine are hinged, and the chambers located on both sides of the piston in the cylinder are respectively connected with an external air source through air pipes. The present application can be switched between a free rotation state and a rigidity locked state. The locking of the joint is achieved by adjusting the air pressure on both sides of each piston rod. Since the axial force on the piston of the cylinder is proportional to the gas pressure introduced into the cylinder block of the cylinder, the continuous adjustment of the rigidity can be realized. The spinal joints of the present application can achieve very high stiffness and load-bearing capacity.

Description

technical field [0001] The invention relates to a pneumatic-based continuous variable stiffness spinal joint, which belongs to the technical field of robotics. Background technique [0002] Due to its good compliant structure, flexible and continuous deformation characteristics, and extremely high safety and environmental adaptability, flexible robots have great application potential in medical rehabilitation, emergency and disaster relief, resource surveys, pipeline inspections, and military reconnaissance. . However, due to the low rigidity and poor carrying capacity of flexible robots, their applications have great limitations. In order to improve the stiffness and carrying capacity of flexible robots and expand their application range, the variable stiffness problem of flexible robots once became a research hotspot. SUMMARY OF THE INVENTION [0003] The present invention is to solve the problems of low rigidity and poor bearing capacity of spine joints of existing fl...

Claims

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Application Information

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Patent Type & Authority Patents(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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