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Electromagnetic type rigidity-variable flexible rotating joint

A technology of flexible rotation and variable stiffness, applied in the field of robotics, can solve problems such as delaying the response of joint stiffness changes, increasing joint volume and weight, and increasing joint manufacturing costs, achieving fast response, simple internal structure, and compact volume.

Inactive Publication Date: 2017-05-31
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

And this kind of mechanical structure change needs to be realized by setting a special adjustment motor and adjustment mechanism inside the joint, so that the internal structure of the joint is more complicated, the response of the joint stiffness change is delayed, and the volume of the joint is increased. and weight, increasing the manufacturing cost of the joint

Method used

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  • Electromagnetic type rigidity-variable flexible rotating joint
  • Electromagnetic type rigidity-variable flexible rotating joint
  • Electromagnetic type rigidity-variable flexible rotating joint

Examples

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Effect test

Embodiment 1

[0024] Such as figure 1 , figure 2 and image 3 As shown, this embodiment includes: an electromagnetic variable stiffness unit provided with an output shaft 5, a joint housing 1 and a base 2, wherein: the joint housing 1, the base 2 and the output shaft 5 are coaxially arranged, and the two ends of the output shaft 5 are respectively fixed with The first ball bearing 9 and the second ball bearing 10, the first ball bearing 9 is arranged in the joint housing 1, and the second ball bearing 10 is arranged in the base 2;

[0025] The electromagnetic variable stiffness unit includes a stator 3 and a rotor 4 coaxially arranged with the output shaft 5, wherein: the inner circumference of the stator 3 is uniformly distributed with four stator cores 301, and the stator core 301 is wound with a stator coil 302, and the rotor 4 Set in the stator 3, the four rotor cores 401 in the rotor 4 are arranged opposite to the stator core 301, the output shaft 5 and the rotor 4 are fixedly conne...

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Abstract

The invention provides an electromagnetic type rigidity-variable flexible rotating joint of the technical field of robots. The electromagnetic type rigidity-variable flexible rotating joint comprises an electromagnetic rigidity variable unit provided with an output shaft, a joint outer shell and a base, wherein the joint outer shell, the base and the electromagnetic rigidity variable unit are coaxially arranged. A first ball bearing and a second ball bearing are fixed the two ends of the output end, the first ball bearing is arranged in the joint outer shell, and the second ball bearing is arranged in the base. The electromagnetic rigidity variable unit comprises a stator and a rotor which are coaxially arranged with the output shaft. A plurality of stator iron cores are evenly distributed in the stator in the circumferential direction and wound with stator coils, the rotor is arranged in the stator, and the rotor and the stator iron cores are oppositely arranged. The output shaft is fixedly connected with the rotor through a key groove structure, and a check ring is arranged on the upper end face of the rotor and connected with the first ball bearing. According to the electromagnetic type rigidity-variable flexible rotating joint, torsion rigidity of the rotating joint is controlled and adjusted through electric current; and the electromagnetic type rigidity-variable flexible rotating joint has the characteristics that the mechanical structure is simple, weight is light, the size is small, and rigidity adjustment is quick and convenient.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to an electromagnetic variable stiffness flexible rotary joint. Background technique [0002] With the continuous development of robot technology, robots are gradually entering the industry and people's daily life, and more and more occasions require robot-environment and robot-human interaction. Traditional rigid actuators cannot directly adapt to changing forces during interaction. In order to alleviate the impact caused by the collision during robot interaction, protect the safety of operators, robots and environmental equipment, and adapt to the needs of different working conditions, in recent years, flexible joints / drivers with variable output stiffness have been designed. more and more research attention. [0003] At present, the design of variable stiffness flexible joints is mainly based on: 1. Adjusting the position of the slider, changing the effective length of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 余觉赵勇王皓余海东来新民
Owner SHANGHAI JIAO TONG UNIV
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