An electromagnetic controllable flexible driving device and its control method

Abstract

The invention discloses an electromagnetically controllable flexible driving device and a control method thereof, which belong to the technical field of robot flexible driving and include: a driving mechanism, a reciprocating mechanism, an electromagnetic flexible mechanism, a power supply and a central controller; the driving mechanism is mainly composed of Composed of a motor and a reducer, the reciprocating mechanism includes: a support frame, a sliding sleeve and a screw; the electromagnetic flexible mechanism includes: a shell, a magnetic core push rod, a coil, a pressure sensor and a base, and the power supply is connected to the central control The device, coil, pressure sensor and drive motor are electrically connected. The invention discloses an electromagnetically controllable flexible driving device and a control method thereof. The magnetic core push rod is forced to provide elastic force in the induced magnetic field generated by the energized coil, and the coil current is adjusted by a controller to realize the elasticity of the electromagnetic flexible mechanism. Real-time control of coefficients. Compared with the known flexible drive, it has the characteristics of compact and reliable structure, wide adjustable range, flexible adjustment mode and the like.

Description

technical field [0001] The invention discloses an electromagnetic controllable flexible driving device and a control method thereof, belonging to the technical field of flexible driving of robots. Background technique [0002] In today's world, the number of patients with motor dysfunction due to traumatic brain injury, spinal cord injury, and stroke is gradually increasing. These patients cannot perform daily activities such as standing, walking, and squatting like normal people, and can only stay in bed or sit in a wheelchair for a long time. If things go on like this, patients are prone to muscle atrophy, limb pressure sores and other diseases. Traditional rehabilitation treatment methods have problems such as high personnel consumption and long rehabilitation period. Therefore, the rehabilitation robot system has become a research hotspot in the field of robotics at home and abroad. With the continuous development of robot technology, people have higher and higher req...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the existing driving method has complex structure, difficult maintenance, limited adjustment range and uncontrollable flexibility, and cannot adjust the elastic coefficient in real time according to the situation, and proposes a compact and reliable structure, wide adjustable range and flexible adjustment method. Novel electromagnetic controllable flexible driving device and its control method

Images