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A permanent magnet variable stiffness flexible joint for robots

A flexible joint and variable stiffness technology, applied in the field of flexible robots, can solve problems such as low safety and poor environmental adaptability, and achieve the effects of simple manufacturing, simple operation, and simple movement form.

Active Publication Date: 2020-07-24
NORTHEASTERN UNIV LIAONING
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the present invention provides a permanent magnet variable stiffness flexible joint assembly for robots, which can simulate joints with nonlinear variable stiffness muscle characteristics, and can effectively improve the safety of traditional robots with low human-computer interaction and poor environmental adaptability Shortcomings;

Method used

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  • A permanent magnet variable stiffness flexible joint for robots
  • A permanent magnet variable stiffness flexible joint for robots
  • A permanent magnet variable stiffness flexible joint for robots

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Embodiment 1

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. In this way, how to apply technical means to solve technical problems in the present invention, and achieve the technical process of achieving the effect can be fully understood and implemented accordingly. It should be noted that, as long as there is no conflict, each embodiment of the present invention and each embodiment Each feature can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

[0020] combine figure 1 , figure 2 and image 3 To illustrate this embodiment, a permanent magnet variable stiffness flexible joint for a robot includes: an operating arm 1, a rope A2, a wire pulley A3, a permanent magnet variable stiffness module A4, a rope winch A5, a servo motor 6, a boom fixing frame 7, a harmonic Wave reducer 8, boom 9, encoder 10, wire pulley B11, ...

Embodiment 2

[0030] like Figure 4 As shown, it is a schematic diagram of a two-degree-of-freedom parallel variable-stiffness robot joint mechanism of the present invention, and two permanent-magnet variable-stiffness modules are symmetrically arranged in each rotational degree of freedom direction. The rotation axis of each operating arm is perpendicular to the direction of the rope pulling force of the rotation direction, thus ensuring the stiffness independence of the two rotation directions. All permanent magnet variable stiffness modules are placed behind, which reduces the mass and inertia of the operating arm.

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Abstract

The invention belongs to the technical field of flexible robots and proposes a permanent magnet variable stiffness flexible joint for robots, which can simulate the nonlinear variable stiffness muscle characteristics of bionic joints. The invention uses a permanent magnet variable stiffness mechanism as the stiffness adjustment component, and the rope as a force and motion transmission component. Its stiffness will change according to the change in the air gap between the permanent magnets. Through the action of the motor, rope winch and guide pulley, the control on both sides of the operator is realized. The decoupling of the force and position of the rope can achieve unchanged joint stiffness, only changing the joint angle, that is, adjusting the joint position under the condition of equal stiffness; it can also be achieved without changing the joint position, only changing the joint stiffness, according to different According to the working conditions, it can work under the corresponding set stiffness conditions. The invention is a permanent magnet variable stiffness flexible robot joint structure with simple motion form, simple manufacturing and simple operation.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to a permanent magnet variable stiffness flexible joint for robots, which is used to construct antagonistic flexible variable stiffness robots, and is especially suitable for the construction of bionic robot joints. Background technique [0002] The flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness which is different from the traditional rigid robot. The self-adjustable stiffness can greatly improve human-machine safety and environmental adaptability, and has become an important direction for the future development of robots. [0003] From the perspective of sports biomechanics, muscles are the source of dynamics of the human motion system, and they maintain or complete actions through muscle scaling. There are two scaling forms of skeletal muscles. During the scaling process, the muscle tension does not change, and the length changes, c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J19/06
Inventor 房立金张明
Owner NORTHEASTERN UNIV LIAONING
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