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Controllable variable stiffness leg based on magnetorheology

A variable stiffness, magnetorheological technology, applied in the field of intelligent robots, can solve problems such as complex mechanical structure, and achieve the effect of simplifying mechanical structure, easy replacement, and simple control strategy

Active Publication Date: 2016-01-06
中科博特智能科技(安徽)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In recent years, the research on variable stiffness legs has also attracted many scholars at home and abroad. In the design of these variable stiffness legs, mechanical structures are simply used to achieve stiffness changes. The mechanical structures are complex and additional power is required to achieve variable stiffness function

Method used

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  • Controllable variable stiffness leg based on magnetorheology
  • Controllable variable stiffness leg based on magnetorheology
  • Controllable variable stiffness leg based on magnetorheology

Examples

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Embodiment Construction

[0028] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0029] Such as Figure 1a As shown, a kind of controllable variable stiffness leg based on magnetorheological fluid of the present invention is composed of magnetorheological damping module (such as figure 2 Sectional view), left and right two torsion springs 3, leg support rod 5, foot support rod 7, central rod 6, connecting rod 8, connecting band 2 and some gaskets, nuts (not drawn) form. Such as image 3 As shown in the sectional view, the magneto-rheological damping module consists of an internal valve core 15, an external sleeve 1, sealing end caps 9 at both ends, an excitation coil 13, a right support rod 4, a left support rod 10, an o-ring 11, and a shaft The sealing ring 14 and the magnetorheological fluid 12 are composed. The spool 15 is threadedly connected with the right support rod 4, and is positioned between the right support rod shafts. The ...

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Abstract

The invention discloses a controllable variable stiffness leg based on magnetorheology. The controllable variable stiffness leg comprises a magnetorheology damping module, a connecting belt, a pair of leg supporting rods, a pair of foot supporting rods and a plurality of connecting and fastening parts. The magnetorheology damping module is connected with the two leg supporting rods in a bilateral symmetry manner, and two torsional springs are mounted between the magnetorheology damping module and the leg supporting rods in a bilateral symmetry manner; two ends of the torsional springs are connected with a magnetorheology damping module end cover and the leg supporting rods, and the two foot supporting rods are connected with the two leg supporting rods through central rods; and the foot supporting rods can rotate relative to the leg supporting rods. One end of the connecting belt is wound on the magnetorheology damping module, and the other end of the connecting belt is connected with one ends of the foot supporting rods. The problems that a leg device is single in stiffness in the advancing process, and the ground adaptation range is narrow are solved; and the mechanism is simple, the control strategy is simple, the response speed is high, and continuous effective changes of rigidity can be achieved.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a variable stiffness leg based on magneto-rheological fluid. Background technique [0002] In nature, when animals are running, the stiffness of the legs can be automatically adjusted according to the stiffness of the ground, so that the legs can maintain similar mechanical properties on different grounds. This advantage also allows animals in the real world to move on a wider range of ground. In recent years, the research on variable stiffness legs has also attracted many scholars at home and abroad. In the design of these variable stiffness legs, mechanical structures are simply used to achieve stiffness changes. The mechanical structures are complex and additional power is required to achieve Variable stiffness function. Magneto-rheological fluid is a kind of smart material, which can quickly and effectively respond to the magnetic field by applying magnetic field...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 张世武蒋楠
Owner 中科博特智能科技(安徽)有限公司
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