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A wire-driven controller for a soft robot

A robot and controller technology, applied in the field of intelligent robots, can solve problems such as the inability to achieve synchronization of wire drives and cables

Active Publication Date: 2021-10-19
PHAROS (SHANGHAI) MEDICAL TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The wire drive control module of the existing soft robot generally adopts the motor deceleration drive module of the worm gear, which can only realize the pulling control of the wire drive cable in one rotation direction of the motor, and cannot realize the synchronization of the wire drive cable during the pushing process (cable moving at the same rate but in opposite directions)

Method used

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  • A wire-driven controller for a soft robot
  • A wire-driven controller for a soft robot
  • A wire-driven controller for a soft robot

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Embodiment Construction

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and labeled in the drawings can be arranged and designed in a variety of different configurations.

[0035] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative effort...

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Abstract

The invention provides a wire drive controller for a soft robot, which relates to the technical field of intelligent robots. The wire drive controller of the soft robot includes a base plate and a plurality of rotation modules; the plurality of rotation modules are distributed in rows and columns on one side of the base plate, and the rotation modules include a driving wheel and an idler wheel connected to each other, and the idler wheel is used to change the driving wheel The direction of rotation; the ring surface of the driving wheel is provided with two ring grooves, the two ring grooves are arranged around the circumference of the driving wheel, and a through hole is arranged between the two ring grooves, and the through hole is used to connect the two ring grooves on the line drive cable. The wire drive controller of the soft robot of the present invention utilizes the idler wheel that can change the rotation direction of the driving wheel and the two ring grooves that connect the same wire drive cable through the through hole, and can realize any rotation by only controlling the positive and negative rotation of the driving wheel. One finger pull and push on line drive cable.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a wire-driven controller of a soft robot. Background technique [0002] The wire drive control module of the existing soft robot generally adopts the motor deceleration drive module of the worm gear, which can only realize the pulling control of the wire drive cable in one rotation direction of the motor, and cannot realize the synchronization of the wire drive cable during the pushing process (cable moving at the same rate but in opposite directions). Contents of the invention [0003] The purpose of the present invention is to provide a wire drive controller for a soft robot, which helps to solve the above technical problems. [0004] The present invention is achieved like this: [0005] A wire-driven controller for a soft robot, which includes a base plate and a plurality of rotating modules; a plurality of the rotating modules are arranged in rows and columns o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/12
CPCB25J9/104B25J9/12
Inventor 刘永波杨国源郑豪杰李菁胡星星臧志
Owner PHAROS (SHANGHAI) MEDICAL TECH CO LTD