Variable-rigidity continuum adjusting device

An adjustment device and continuum technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems that the continuum actuator is difficult to maintain the deformation state, affects the performance of the continuum actuator, and the flexibility of the continuum actuator is poor. Improve flexibility, improve the ability to resist external forces, and improve the effect of performance

Active Publication Date: 2021-02-19
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the existing continuum actuators realize the bending deformation adjustment of each mechanical joint through the driving mechanism. However, when this adjustment method is subjected to external force, it is difficult for the continuum actuator to maintain the original deformation state, which leads to the continuum actuator The flexibility of the actuator is poor, which affects the performance of the continuum actuator

Method used

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  • Variable-rigidity continuum adjusting device
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  • Variable-rigidity continuum adjusting device

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Embodiment Construction

[0028] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0029] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed a...

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Abstract

The invention relates to the technical field of variable-rigidity adjusting devices, in particular to a variable-rigidity continuum adjusting device. The variable-rigidity continuum adjusting device comprises a worm gear mechanism, a driving mechanism and two driving ropes. The worm gear mechanism comprises a worm and two turbines; the driving mechanism is connected with the worm; the worm is arranged between the two turbines; and the two turbines are in meshing connection with the worm. The ends of the two driving ropes are in winding connection with the power output ends of the two turbinescorrespondingly; and one driving rope is provided with an elastic component. By means of the variable-rigidity continuum adjusting device, the ability of a continuum actuator against external force can be improved; the effect of adjusting the rigidity is achieved; the flexibility of the continuum actuator is further improved; and the usability of the continuum actuator is improved.

Description

technical field [0001] The invention relates to the technical field of variable stiffness adjustment equipment, in particular to a continuum variable stiffness adjustment device. Background technique [0002] At present, the existing continuum actuators realize the bending deformation adjustment of each mechanical joint through the driving mechanism. However, when this adjustment method is subjected to external force, it is difficult for the continuum actuator to maintain the original deformation state, which leads to the continuum actuator The flexibility of the actuator is poor, which affects the performance of the continuum actuator. Contents of the invention [0003] The present invention aims to solve at least one of the technical problems existing in the prior art. [0004] For this reason, the present invention proposes a continuum variable stiffness adjusting device, which can improve the ability of the continuum actuator to resist external force and achieve the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 王豫闫亚东刘稷轩张佳楠
Owner BEIHANG UNIV
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