CN106142069A - Rescue robot variable torque generator - Google Patents
Rescue robot variable torque generator Download PDFInfo
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- CN106142069A CN106142069A CN201510178340.8A CN201510178340A CN106142069A CN 106142069 A CN106142069 A CN 106142069A CN 201510178340 A CN201510178340 A CN 201510178340A CN 106142069 A CN106142069 A CN 106142069A
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- clutch
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- motor
- friction plate
- rescue robot
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Abstract
Rescue robot variable torque generator, it relate to a kind of device producing different size rotating torque.The present invention is to solve the shortcomings such as existing rescue robot system is complicated, structure is too fat to move, expensive, difficult in maintenance, wrist joint detection driving equipment has been done brand-new design, testing agency and drive mechanism are integrated in one, simplify system structure, the wrist joint making robot can keep the most flexibly, the state of joint motions can be accurately detected, and the moment of output also can accurately act on wrist joint.
Description
Technical field
The present invention relates to a kind of device producing different size rotating torque, the wrist joint for rescue robot drives.
Background technology
Due to the development of science and technology, rescue robot is gradually used in increasing scope, from the nineties in 20th century
Rising, international sophisticated machine people plan (IARP) has held too much robot symposium, rescuing machine has occurred in developed country
Device people's marketable product.At present, advanced rescue robot technology speedily carrying out rescue work, the disaster relief, the aspect such as anti-terrorism be widely used.
Rescue robot also has good application prospect in terms of the rescue of battlefield, by the extensive attention of foreign military.Public according to the Pentagon
The latest data of cloth, U.S. army has fallen in battle in Iraq battlefield people more than 4200, and number of injured people is then more than 31000 people, and a large amount of wounded are
It is that medical care soldier emits considerable risk and rescues back from battlefield.But, due to importance and the obvious Red Cross mark of medical care soldier,
Shuttle afield they can become the target of enemy equally.According to conventional battlefield experience, if soldier can be injured
Obtain treatment in later hour, the survival probability of soldier will be greatly improved.The most afield, the Medical treatment device that aid-man carries
Material is fairly limited, and rescue robot can complete temporary rescue task, strives for the rescue time of preciousness for patient more.The mankind cure
Life can remotely control these robots by satellite, it can within officers and men's injured a few minutes the immediate stability condition of the injury, and
Wounded's internal medicine or surgical nursing is given when withdrawing.Gao Deng Plan Bureau of U.S. Department of Defense (DARPA) is AUS future battlefield
Sick and wounded's rescue and medical treatment devise Highgrade integration, robotization and intelligentized medical system.Rescue robot technology is collection
Medical science, biomechanics, mechanics, Mechanics of Machinery, materialogy, computer graphics, computer vision, mathematical analysis, machine
The novel crossed research field that the subjects such as device people are integrated, has important researching value, has wide on dual-use
General application prospect, is a study hotspot of current robot field.This type of robot is guided by Remote, thus really
Guarantor passes through complicated landform, the wounded is transported to base hospital, its appearance in time, will significantly reduce the injures and deaths of battlefield medical personnel
Probability.In addition to military first aid, this robot can be used for a lot of occasion, particularly occur earthquake, core biological and chemical attack or
In the hazardous environment that harmful substance is revealed, rescue robot can be by outstanding lifting capacity and toughness one exrending boxing foot.
Summary of the invention
It is an object of the invention to complicated for existing rescue robot system, structure is too fat to move, expensive, difficult in maintenance etc. lacks
Point, has done brand-new design to each articulated driving equipment of rescue robot, detection of joints mechanism and drive mechanism has been integrated in
Integrally, simplifying system structure, and add arrangement of clutch, when system moment output signal, electric machine rotation, clutch fills
Putting connection motor and train of reduction gears, motor drives the joint specified by train of reduction gears, to the motion applying power in this joint
Effect, when system does not has moment output signal, motor stalls, arrangement of clutch disconnects the connection of motor and train of reduction gears,
Reducing and reduce the resistance of joint motions, the motion making joint is more smooth and easy.The present invention is to examine for the joint of rescue robot
The equipment surveyed and drive, is made up of shell, motor, arrangement of clutch, potentiometer, gear, power transmission shaft, motor and arrangement of clutch
Connecting, arrangement of clutch drives power transmission shaft by the cooperation of train of reduction gears, and power transmission shaft drives potentiometer, outward by another group gear
Drive disk assembly is provided and supports and protective effect by shell.The present invention makes rescue robot movable joint position can keep farthest spirit
Living, this installation cost is low, uses simple, safeguards easily.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is motor 1 and the structural representation of arrangement of clutch 100.
Detailed description of the invention
Detailed description of the invention one: as depicted in figs. 1 and 2, described rescue robot variable torque generator includes motor 1, from
Locking device 100, power transmission shaft 2, potentiometer 3, shell 4,5.Described motor 1 is connected with arrangement of clutch 100, and described clutch fills
Putting 100 to have and switch on and off two kinds of duties that motor 1 and train of reduction gears connect, arrangement of clutch 100 passes through reduction gearing
The cooperation of group drives power transmission shaft 2, and power transmission shaft 2 directly drives potentiometer 3,4,5 pairs of drive disk assemblies of shell to provide and supports and protection
Effect.Action implementation process: when joint of robot moves and drives power transmission shaft 2 to rotate, power transmission shaft 2 directly drives potentiometer
3 rotate so that potentiometer 3 can detect angle and the state of joint motions, when control system non-moment output signal, and electricity
Machine 1 does not rotates, and arrangement of clutch 100 disconnects the connection of motor 1 and train of reduction gears, and joint motions are interference-free, when controlling system
During system moment output signal, motor 1 rotates, and arrangement of clutch 100 connects motor 1 and train of reduction gears, motor 1 by from
The cooperation group of locking device 100 and reduction gearing drives power transmission shaft 2 to rotate output power, applies one on the direction of joint motions
In the same direction or reverse driving force, the real-time change of the articulation angle that control system detects further according to potentiometer 3 simultaneously, fortune
Revise the size and Orientation of this driving force with corresponding mathematical algorithm constantly, promote or hinder the motion in this joint.
Detailed description of the invention two: as in figure 2 it is shown, described arrangement of clutch 100 includes friction plate slide bar 7, arrangement of clutch friction plate 8,
Returning pull-spring 9, arrangement of clutch lid 10.Described friction plate slide bar 7 is affixed with the axle of motor 1, two panels arrangement of clutch friction plate 8
It is inserted in friction plate slide bar 7 two ends respectively, for sliding contact between arrangement of clutch friction plate 8 and friction plate slide bar 7, two panels clutch
Connect between device friction plate 8 and have returning pull-spring 9, arrangement of clutch lid 10 to be inserted in the axle of motor 1, arrangement of clutch lid 10 and electricity
For sliding contact between the axle of machine 1, the axis of arrangement of clutch lid 10 and the dead in line of motor 1, arrangement of clutch lid 10 sets
Travelling gear is had to engage with reduction gearing.Action implementation process: when motor 1 rotates, two panels arrangement of clutch friction plate 8 overcomes
Clutch to the end slip of friction plate slide bar 7 contact internal walls with arrangement of clutch lid 10, is filled by the pulling force of returning pull-spring 9 respectively
Put lid 10 generation frictional force, drive arrangement of clutch lid 10 to rotate；When motor 1 stops operating, two panels arrangement of clutch friction plate
8 slide to axis direction under the effect of returning pull-spring 9, separate with the inwall of arrangement of clutch lid 10, cut off arrangement of clutch lid 10
Connection with motor 1.
Claims (2)
1. a rescue robot variable torque generator, for needing the equipment detecting joint motions and providing moment to export,
By motor (1), arrangement of clutch (100), power transmission shaft (2), potentiometer (3), shell (4,5) forms；
It is characterized in that:
Described motor (1) is connected with arrangement of clutch (100), and described arrangement of clutch (100) switches on and off motor (1)
The two kinds of duties connected with train of reduction gears, motor (1) passes through arrangement of clutch (100) and the cooperation of train of reduction gears
Driving power transmission shaft (2), power transmission shaft (2) drives potentiometer (3) by another group gear, and shell (4,5) is to drive disk assembly
There is provided and support and protective effect；
The detection of articulation angle and state is counted by corresponding by rescue robot variable torque generator by potentiometer (3)
Learn algorithm measurement.
Rescue robot variable torque generator the most according to claim 1, it is characterised in that: described arrangement of clutch (100)
Including friction plate slide bar (7), arrangement of clutch friction plate (8), returning pull-spring (9), arrangement of clutch lid (10), described friction
Sheet slide bar (7) is affixed with the axle of motor (1), and two panels arrangement of clutch friction plate (8) is inserted in friction plate slide bar (7) respectively
Two ends, for sliding contact between arrangement of clutch friction plate (8) and friction plate slide bar (7), two panels arrangement of clutch friction plate (8)
Between connect and have returning pull-spring (9), arrangement of clutch lid (10) to be inserted in the axle of motor (1), arrangement of clutch lid (10) and electricity
For sliding contact between the axle of machine (1), the axis of arrangement of clutch lid (10) and the dead in line of motor (1), clutch fills
Put lid (10) to be provided with travelling gear and engage with reduction gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510178340.8A CN106142069A (en) | 2015-04-16 | 2015-04-16 | Rescue robot variable torque generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510178340.8A CN106142069A (en) | 2015-04-16 | 2015-04-16 | Rescue robot variable torque generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106142069A true CN106142069A (en) | 2016-11-23 |
Family
ID=58057485
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510178340.8A Pending CN106142069A (en) | 2015-04-16 | 2015-04-16 | Rescue robot variable torque generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106142069A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN203236486U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Two-way force feedback detection driving device for data glove |
| CN203259969U (en) * | 2012-12-25 | 2013-10-30 | 苏茂 | Data glove wrist joint detecting device |
| CN103831832A (en) * | 2012-11-26 | 2014-06-04 | 苏茂 | Two-way force feedback slave manipulator arm control device |
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
-
2015
- 2015-04-16 CN CN201510178340.8A patent/CN106142069A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN103831832A (en) * | 2012-11-26 | 2014-06-04 | 苏茂 | Two-way force feedback slave manipulator arm control device |
| CN203236486U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Two-way force feedback detection driving device for data glove |
| CN203259969U (en) * | 2012-12-25 | 2013-10-30 | 苏茂 | Data glove wrist joint detecting device |
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161123 |