Bionic flexible drive robot based on magnetic repulsive force

Abstract

The invention relates to a bionic flexible drive robot based on magnetic repulsive force. The bionic flexible drive robot based on the magnetic repulsive force comprises three parts including an end effector, a spine-tendon and a drive mechanism. The spine-tendon comprises a plurality of base joints capable of being relatively expanded and compressed, the radial sizes of the base joints are different, and the base joints with the slightly small sizes are installed in the base joints with the slightly large sizes. Each base joint is provided with a plurality of guiding discs provided with circular permanent magnets. The permanent magnets are arranged in a pole corresponding manner and are used for providing the magnetic repulsive force, and therefore the guiding discs on the base joints different in length are evenly distributed in the axial direction. Flexible cables are evenly distributed around each base joint and used for driving the base joint to conduct the arc movement while the bending radius can be changed. The drive mechanism is used for controlling the expanding and compressing length of the base joints and controlling the bending movement. For every two adjacent base joints, the base joint at the far end of the drive mechanism can move along with the base joint at the near end of the drive mechanism. The robot has the beneficial effects of being large in flexibility, good in operability and high in passing ability and can enter limited and narrow space to conduct operation so as to finish tasks.

Description

technical field [0001] The invention relates to a flexible robot, in particular to a bionic flexible drive robot based on magnetic repulsion, belonging to the field of robots. Background technique [0002] The biomimetic flexible-actuated robot offers increased dexterity and maneuverability compared to traditional rigid-linkage robots. It can adapt to complex curves in 3D space. The biomimetic soft-driven robot is particularly effective in restricted and inaccessible environments. Its working space depends on the number of base segments, as well as the length of each base segment and the range of bending radius. The robot can expand along a tortuous path. . [0003] After searching, it was found that the patent named "Electromagnetic Muscle Power Device" with the application number 03124110.7 provides a simple power device similar to muscle contraction, suitable for robots to imitate human actions and orthopters to imitate birds flapping their wings. Abdominal muscles and ...

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Problems solved by technology

[0003] After searching, it was found that the patent named "Electromagnetic Muscle Power Device" with the application number 03124110.7 provides a simple power device similar to muscle contraction, suitable for robots to imitate human actions and orthopters to imitate birds flapping their wings. Abdominal muscles and the tendon bands connected to both ends of the multiple magnetic pole groups arranged in a certain order have the advantage of simple structure and easy control, but it does not have a spine and tendons similar to human muscles, and the device can only achieve stretching and contraction movements , cannot form a specific trajectory, which limits its application range

[0004] The patent application number CN201510141994.3 entitled "A Four-leaf Clover Shaped Rigidity Adjustable Compliant Spine for Quadruped Robots" uses elastic components, rigid components and ropes to design the rigid torso of the legged robot as The rigidity-adjustable and flexible spine with four-leaf clover shape improves the dynamic motion performance of the robot, but the degree of spine curvature it can achieve is limited, and it cannot operate in a wide range of workspaces, and cannot be used for operations in restricted and narrow spaces and monitoring

[0005] The patent application number CN201510030810.6 named "Bionic Spine Active Segment" uses pneumatic muscles to change the rigidity of the bionic spine, simulating the characteristics of biological spine active segments, but the lag of the pneumatic muscles is large, and its structure is large. Reduced ability to work in confined spaces

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