Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch

A magnetorheological fluid and mechanical joint technology, applied in the field of robotics, can solve the problem of inability to achieve precise and controllable stiffness, and achieve the effect of ensuring motion accuracy and achieving safety.

Inactive Publication Date: 2008-10-29
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this kind of mechanical arm with variable stiffness only has different stiffnesses in the two states of power on

Method used

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  • Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch
  • Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch

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Example Embodiment

[0018] The embodiments of the present invention will be described in detail below with reference to the drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation modes and specific operation procedures are given, but the protection scope of the present invention is not limited to the following Mentioned examples.

[0019] Such as figure 1 As shown, this embodiment includes: a power mechanism, a variable stiffness mechanism, a transmission mechanism, an output mechanism, and a drive sensing component.

[0020] The power mechanism includes a DC servo motor with a reducer 2, a motor flange 3, and a first coupling 5. The servo motor 2 is fixed on the motor flange 3 by screws 18, and the motor flange 3 is fixed on the joint housing 1 by screws 4. The first coupling 5 is used to connect the DC servo motor 2 and the variable stiffness mechanism in the power mechanism.

[0021] The variable stiffness mechanism,...

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Abstract

The invention relates to a safe type adjustable rigidness mechanical joint of a magnetic rheologic fluid clutch in the technical field of machinery, which includes a power mechanism, a transmission mechanism, an output mechanism, a drive sensing part and a changeable rigidness mechanism; the transmission mechanism is connected with the output mechanism; the changeable rigidness mechanism is just the magnetic rheologic fluid clutch; the magnetic rheologic fluid clutch is connected with the power mechanism and the transmission mechanism; the drive sensing part relates to a servo motor driver and a motor sensor. The motor driver realizes to adjust a joint speed by a speed ring by the feedback of a coder and a self-current ring is used for controlling the motor to output current; thereby controlling the magnetic field intensity in the clutch and then controlling the joint rigidness and the transferring moment of the clutch. Both the rigidness and the speed of the invention have controllability, which can realize the safety of the joint simultaneously when maintaining the property of the joint. The safe type adjustable rigidness mechanical joint of the invention can protect the safety of the motor, a mechanical arm and a person once a collision happens, which can realize the conversion between rigidness and flexibility of the joint and ensure the moving precision of the tail end.

Description

technical field [0001] The invention relates to a robot in the technical field of machinery, in particular to a safety-type mechanical joint with adjustable stiffness of a magneto-rheological fluid clutch. Background technique [0002] Robots are coming into human life, providing people with various services. Safety should be a priority when it comes to human-robot interactions. If a robotic arm with adjustable joint stiffness can be achieved to achieve compliant control, the robot will become safer. In the event of a collision, it can absorb the energy of the collision and reduce the risk of collision. The magnetorheological fluid clutch uses magnetorheological fluid as the working medium to transmit power. Magnetorheological fluid is a new type of intelligent liquid, which can produce magnetorheological effect under the action of an external magnetic field, and can be controlled by a current controller. Rheological fluid is used to adjust structural stiffness and output...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J13/00B25J19/00F16D37/02
Inventor 顿向明顿向勇平伟赵霞王松海
Owner SHANGHAI JIAO TONG UNIV
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