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Variable stiffness joint for flexible robot based on hybrid electromagnet

A hybrid electromagnetic and robot technology, applied in the field of flexible robots

Pending Publication Date: 2021-05-18
SHENYANG POLYTECHNIC UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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  • Variable stiffness joint for flexible robot based on hybrid electromagnet
  • Variable stiffness joint for flexible robot based on hybrid electromagnet
  • Variable stiffness joint for flexible robot based on hybrid electromagnet

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Embodiment Construction

[0037] A variable stiffness joint for a flexible robot based on a hybrid electromagnet, including a motor A, a hybrid electromagnet fixed bushing (6), a hybrid electromagnet, a joint casing (7), electrical pure iron (8) and a motor support frame (10); the hybrid electromagnet fixed shaft sleeve (6), the hybrid electromagnet and electrician pure iron (8) are located in the joint shell (7);

[0038] The motor support frame (10) is enclosed within the motor (A), and the motor output shaft (1) passes through the front end of the motor support frame (10) (i.e. figure 1 middle), the hybrid electromagnet is installed on the rear end of the hybrid electromagnet fixed bushing (6) (ie figure 1 The lower end of the hybrid electromagnet fixed shaft sleeve (6) shown), the hybrid electromagnet is located between the hybrid electromagnet fixed shaft sleeve (6) and the electric pure iron (8); the hybrid electromagnet fixed shaft sleeve (6) and the motor The output shaft (1) is fixedly connec...

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Abstract

The invention relates to a variable stiffness joint for a flexible robot based on a hybrid electromagnet. The variable stiffness joint comprises a motor, a hybrid electromagnet fixing shaft sleeve, the hybrid electromagnet, a joint shell, electrical pure iron and a motor supporting frame, wherein the hybrid electromagnet fixing shaft sleeve, the hybrid electromagnet and the electrical pure iron are located in the joint shell; and a joint stiffness adjusting portion adopts the combined action of the hybrid electromagnet and a spring piece, and has the advantages of being high in stiffness adjusting response speed, free of delay, free of lag and the like. The magnetic force and the stiffness are kept in a non-electrified state, and the energy-saving characteristic is achieved. Meanwhile, the characteristics of being simple in motion form, easy and convenient to manufacture, easy to operate and the like are achieved. The magnetic flux in a joint magnetic circuit system is jointly determined by currents in a permanent magnet and a magnet exciting coil (copper coil), so that the magnetic flux in the magnetic circuit system can be increased and decreased by changing the magnitude and the direction of the currents in the magnet exciting coil, that is, the joint stiffness is increased and decreased, and the joint stiffness change is nonlinear.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, and in particular relates to a variable stiffness joint for a flexible robot based on a hybrid electromagnet, which is especially suitable for the construction of a flexible serial variable stiffness robot. Background technique [0002] Robot technology has been widely used in industrial production, medical services, cultural entertainment, etc., and the contact with people has become frequent and close. Therefore, the safety issue of human-computer interaction is becoming a hot spot of concern. The flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness that is different from the traditional rigid robot. Because of its adjustable stiffness, it can greatly improve the safety and environmental adaptability of man-machine. Flexible and variable stiffness robots involve bionics, robotics, materials science and control science, and have become an important dire...

Claims

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Application Information

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IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 张明王传阳孙凤徐方超李强马鹏菲
Owner SHENYANG POLYTECHNIC UNIV
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