A robot flexible drive rotary joint with adjustable mechanical impedance parameters

A technology of mechanical impedance and rotating joints, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problem of limited vibration reduction effect, and achieve the effect of convenient installation, strong vibration reduction ability, and reduction of vibration force amplitude.

Active Publication Date: 2016-08-17
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

However, most of the joints commonly used in robots are rotary joints, and passive rotary joints also use series springs to achieve buffering effects, and springs are energy storage components, and the simple use of springs has limited vibration reduction effect

Method used

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  • A robot flexible drive rotary joint with adjustable mechanical impedance parameters
  • A robot flexible drive rotary joint with adjustable mechanical impedance parameters
  • A robot flexible drive rotary joint with adjustable mechanical impedance parameters

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Embodiment Construction

[0013] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0014] Such as figure 1 As shown, the present invention comprises magneto-rheological clutch 15, motor 13, transmission mechanism, first rod 20, second rod 14, torsion spring 17 and joint shaft end cover 18, wherein magnetorheological clutch 15 and motor 13 are respectively installed on 14 on the second pole.

[0015] Such as figure 2 As shown, the magneto-rheological clutch 15 includes a magneto-rheological clutch input shaft 1, a coil 21, a magneto-rheological fluid 22, a magneto-rheological clutch output shaft 19 and a housing, one side of the housing and one side of the second rod 14 The magneto-rheological clutch connecting end cover 16 is fixedly connected to the other side of the housing by screws, and the magneto-rheological clutch connecting end cover 16 is fixed to the other side of the second rod 14 by screws. The magneto-rheological clutch inp...

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Abstract

The invention belongs to the field of flexible drive of robots, and particularly relates to a mechanical impedance parameter adjustable flexible-drive rotary joint of a robot. The mechanical impedance parameter adjustable flexible-drive rotary joint comprises a magnetorheological clutch, a motor, a first rod, a second rod, torsion springs and joint shaft end covers; the motor and the magnetorheological clutch are respectively mounted on the second rod, a magnetorheological clutch input shaft and a magnetorheological clutch output shaft are respectively mounted on two sides of the magnetorehological clutch, the magnetorheological clutch input shaft is connected with the output shaft of the motor through a driving mechanism, and the magnetorehological clutch output shaft is connected with the first rod; two ends of the torsion springs are respectively connected on the magnetorheological clutch and the joint shaft end covers. By the arrangement, the rotary joint can be transformed between the active and passive states with damp adjustable, and the damp and the torsion springs feature in a buffering function; under the passive state, the joint can be rotated passively along with rod pieces, impact energy is stored, energy efficiency is improved, and the flexible-drive rotary joint is used for flexible operations, requirements of active and passive adjustment or occasions where impact exists.

Description

technical field [0001] The invention belongs to a robot rotary joint in the field of robot flexible drive, in particular to a robot flexible drive rotary joint with adjustable mechanical impedance parameters. Background technique [0002] In the field of robotics, many occasions require robot joints to switch between active and passive motion states. Active motion means that the joints move under the drive of the driver, and passive motion means that the joints rotate without being driven by external forces; passive motion is widely used in the motion of humans and animals, which can effectively reduce energy consumption, improve motion efficiency, and reduce ground impact . In practical applications, the robot joints need to switch between the two states of active motion and passive motion to meet the needs of the end of the robot applying force to the outside world and using the passive shock absorbing buffer protection mechanism under the action of external force. In th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 李志海韩建达吴镇炜赵忆文卜春光
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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