Flexible driver with controllable damping and used for robot joint

A robot joint and driver technology, applied in the field of robots, can solve the problems of uncontrollable compliance, delayed driving response, etc., and achieve the effects of simple structure, reduction of fluid impact, and prevention of damage

Active Publication Date: 2018-01-12
HANGZHOU DIANZI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the problems of driving response lag and uncontrollable compliance in the above-mentioned compliant driver, and provides a compliant driver for controllable damping of robot joints

Method used

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  • Flexible driver with controllable damping and used for robot joint
  • Flexible driver with controllable damping and used for robot joint
  • Flexible driver with controllable damping and used for robot joint

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Embodiment Construction

[0034] Further illustrate the present invention below in conjunction with accompanying drawing.

[0035] Such as figure 1 , 2 , 3, 4, 5, 6, 7 and 8, a compliant driver for controllable damping of robot joints, including a drive system and variable damping and variable stiffness structures. The driving system includes a stepping motor 1 and a hollow rotary platform; the base of the stepping motor 1 is fixed on one side of the outer ring 2 of the hollow rotating platform, and the outer ring 2 and the inner ring 3 of the hollow rotating platform form a revolving pair; the stepping motor 1 drives The inner ring 3 of the hollow rotating platform rotates; the variable damping and variable stiffness structure includes an output disc 4, an inner disc 8, an outer disc 18, a sealing ring 22, a plane torsion spring 5, a cross support frame 6, a first deep groove ball bearing 7, a second Two deep groove ball bearings 16, washers 17, nuts 20 and electric brushes; the brush stator 26 of t...

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PUM

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Abstract

The invention discloses a flexible driver with controllable damping and used for a robot joint. The existing flexible driver is lag in drive response, and uncontrollable in flexibility. The inner ringof a hollow rotary platform of the flexible driver disclosed by the invention is driven by an external force, and drives an electric brush rotor and an output disc to rotate; an inner rotary disc comprises a disc body and a central stud; the inner ring of a planar torsional spring is fixed to an output disc, and the outer ring of the planar torsional spring is fixed to a cross support frame and the disc body; an outer rotary disc is born on the central stud, and compressed with an end surface opposite to the disc body, and a compression force is adjusted by an adjustment device; 2-4 grooves are formed in a part close to the edge, of the disc body; a magnetorheological fluid is injected into each groove; two fluid through holes are formed in the bottom of each groove, and the outer ends ofthe two fluid through holes are communicated by a pipeline; each pipeline is wound with a coil; and cylindrical bodies as many as the grooves are arranged on the inner end surface of the outer rotarydisc, and each cylindrical body is embedded in the corresponding groove and divides the groove into two cavities. The flexibility of the flexible driver disclosed by the invention is effectively improved, and a controllable movement flexibility degree is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a compliant driver for controllable damping of robot joints made of magneto-rheological fluid materials. Background technique [0002] Robots are born along with the needs of humans to improve production efficiency and reduce labor burdens. With the improvement of human living standards, robots play an increasingly prominent role in people's lives, and their relationship with humans is getting closer and closer. The safe interaction between robots, humans and the environment has become the focus of attention. [0003] At present, most robots are designed with a single rigid structure. Although the position and accuracy requirements can be guaranteed, there are great safety hazards in the process of interacting with humans. In recent years, scholars have conducted a lot of research on the compliant joint drive of robots, and proposed methods such as building a complian...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J17/02
Inventor 周建军周鑫源朱秋国傅泽茂留云
Owner HANGZHOU DIANZI UNIV
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