Hybrid excitation type robot compliant joint based on magnetorheological fluid

Abstract

A hybrid excitation type robot compliant joint based on magnetorheological fluid comprises a power inputting mechanism, a hybrid excitation coupler and a power outputting mechanism, wherein an outputting shaft of the power inputting mechanism is connected with an inputting shaft of the hybrid excitation coupler; the power inputting mechanism is fixedly connected with a rear rod; an outputting shaft of the hybrid excitation coupler is connected with the power outputting mechanism; the power outputting mechanism is fixedly connected with a front rod; the hybrid excitation coupler comprises an inputting shaft, an excitation coil, permanent magnets, a magnetism isolation ring, a driving plate, a driven plate, the outputting shaft, a magnet yoke, the magnetorheological fluid, a left end cap anda right end cap; the magnet yoke and the magnetism isolation ring are arranged between the left end cap and the right end cap; the magnetism isolation ring, the left end cap and the right end cap form a rotor containing cavity; the driving plate and the driven plate are positioned in the rotor containing cavity; the excitation coil for changing the magnetic field intensity in the rotor containingcavity is mounted between the magnetism isolation ring and the magnet yoke; and the permanent magnets are separately mounted on the left end cap and the right end cap. By the hybrid excitation type robot compliant joint based on the magnetorheological fluid, the safety of a flexible robot is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a hybrid excitation robot compliant joint based on magneto-rheological fluid. Background technique [0002] With the continuous development of robot intelligent perception and control technology, intelligent robots have gradually become human working partners, and have been widely used in industrial production, human life services, medical surgery, rehabilitation assistance, agricultural picking and other fields. Especially the articulated serial robot, due to its significant advantages, can replace humans to a large extent to complete a lot of fixed-process work in a structured environment, especially in harsh and dangerous environments, robots can replace humans to complete most of the work. Dangerous and boring work reduces the labor intensity of human beings and improves the working conditions of human beings. [0003] In recent years, researchers are no longer satisfied with the fixed...

AI Technical Summary

Problems solved by technology

[0004] The joints of traditional articulated series robots are mainly composed of motors and reducers. Rigid transmission parts provide good conditions for efficient and precise position control, but they have obvious shortcomings in terms of safety and adaptability. Due to the existence of rigid impact, thus It is impossible to fully guarantee the contact safety of manipulators in multi-machine collaboration and human-machine collaboration applications. Designing and developing robot compliant joints with the ability to adapt transmission stiffness, and integrating the development of flexible robots based on this joint is one of the effective ways to make up for this deficiency.

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