Flexible manipulator joint device with controllable damping and stiffness

Abstract

The invention discloses a flexible manipulator joint device with controllable damping force and rigidity. The flexible manipulator joint device comprises a rotary input component, an intermediate component and a rotary output component which are in transmission connection, wherein the rotary input component comprises an input shaft and an input barrel; the rotary output component comprises an output shaft and an output barrel arranged in the input barrel; the intermediate component comprises an intermediate shaft, as well as a first radial disc and a second radial disc which are connected with the intermediate shaft and can rotate synchronously, and the intermediate shaft, the first radial disc and the second radial disc are all arranged in the output barrel; the first radial disc is close to the input shaft, and the input barrel drives the first radial disc to rotate through a first elastic element; the second radial disc is close to the output shaft, and the second radial disc drives the output barrel to rotate through a second elastic element; and a cavity I is formed between the first radial disc and the second radial disc, an excitation coil is arranged in the cavity I, and the part, in the cavity I, of the intermediate shaft is immersed in a magnetorheological fluid. The flexible manipulator joint device is wide in damping force and rigidity adjustment range and compact in structure, and the requirements of a flexible manipulator can be satisfied.

Description

technical field [0001] The invention relates to a joint device, in particular to a flexible mechanical arm joint device with controllable damping and stiffness. Background technique [0002] With the continuous development of robot technology, there are more and more types of robots, and the application range is more and more extensive. For example, service robots, space robots, and industrial robots are widely used in the service industry, space exploration, and industrial operations. This makes There will be more and more opportunities for robots to come into contact with people while working. At this time, there is an urgent need for a safe robot system to ensure the safety of the operator and reduce damage to the surrounding environment. It can be widely used in the case of robots and humans working together to ensure the safety of workers or surrounding equipment. [0003] In the traditional industrial manufacturing environment, the external environment is known, and t...

AI Technical Summary

Problems solved by technology

For this kind of industrial robot, the focus is on the control of the position of its end effector or the trajectory of each degree of freedom, that is, the control of precise point motion, so the drive used is a rigid drive, which lacks human or environmental protection. security protection

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