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Mechanical-locking-based wire traction variable stiffness mechanism

A technology of mechanical locking and traction mechanism, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc. It can solve the problems of insufficient response speed and insufficient stiffness of changes, and achieve simple design, realization of stiffness and movement, and simple driving

Active Publication Date: 2017-08-29
TIANJIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In recent years, people have invented a variety of variable stiffness continuous mechanisms by using negative pressure blocking mechanisms, low melting point alloy phase transformation, positive pressure locking, etc., but most of them show defects such as insufficient variable stiffness and insufficient response speed.

Method used

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  • Mechanical-locking-based wire traction variable stiffness mechanism
  • Mechanical-locking-based wire traction variable stiffness mechanism
  • Mechanical-locking-based wire traction variable stiffness mechanism

Examples

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] Such as Picture 1-1 and Figure 1-2 As shown, a wire traction variable stiffness mechanism based on mechanical locking includes the basic structure of a continuous robot, a variable stiffness locking mechanism and a variable stiffness traction mechanism. The basic structure of the continuous robot consists of a central wire 10 that connects all the connection plates in the joint in series, and the bending motion of the joint can be realized under the combined drive of the surrounding driving wire 2; Under the traction effect of 7, the driving wire 2 distributed around can be clamped, so that it is fixed relative to each connection plate, thereby changing the structural stiffness of the continuous robot, and playing a role in regulating the overall structural stiffness; the variable stiffness traction mechanism is used for conduction resistance The tension of t...

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Abstract

The invention discloses a mechanical-locking-based wire traction variable stiffness mechanism. The mechanism comprises a continuum robot basic structure, variable stiffness locking mechanisms and a variable stiffness traction mechanism. The continuum robot basic structure is composed of connection disks, a central wire and four driving wires distributed circumferentially. The connection disks include the middle connection disks and the tail end connection disk. The tail end connection disk is fixed to the tail end of the central wire and the tail ends of the driving wires through a wedge-shaped locking mouth. The middle connection disks are fixed to the central wire through wedge-shaped locking mouths. Each variable stiffness locking mechanism is a single-degree-of-freedom mechanism composed of sliding bevel wheels, springs, incomplete gears, connecting rods and inlaid metal sheets with each middle connection disk as a rack. The variable stiffness traction mechanism is composed of wire guide sheaths, a tensile metal wire and metal wire lock pieces. The wire guide sheaths and the central wire are concentric. The tensile metal wire penetrates through the wire guide sheaths and the wedge-shaped locking mouths of the central wire and is fixed to the sliding bevel gears through the metal wire lock pieces. The mechanical-locking-based wire traction variable stiffness mechanism is fast in rigid and flexible state switching and high in positioning rigidity.

Description

technical field [0001] The invention relates to the field of variable stiffness design of continuous mechanisms, in particular to a wire traction variable stiffness mechanism based on mechanical locking. Background technique [0002] Continuous mechanisms that imitate biological organs such as snakes and elephant trunks have high movement flexibility and strong adaptability in complex environments, especially in unstructured environments with many obstacles and narrow spaces. Change its shape flexibly. However, due to the high flexibility of the continuous mechanism, it also has the disadvantages of poor positioning rigidity and low control precision. In applications in medical and other fields, continuous mechanisms are often required to exhibit good flexibility and certain rigidity under certain conditions. For example, when a continuous mechanism is used for an endoscopic robot, its working process is divided into two stages. In the first stage, the robot needs to confo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10
CPCB25J9/065B25J9/1045
Inventor 康荣杰耿仕能杨铖浩
Owner TIANJIN UNIV
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