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Robot arm with controllable damping and control system thereof

A robot arm and control system technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems that affect the efficiency and intelligence of collaborative robots, difficult to achieve human-robot collaboration, vibration control, and stability defects. , to achieve the effect of good technical application prospects, good operational stability, and strong environmental adaptability

Pending Publication Date: 2022-07-01
SHANGHAI INST OF TECH +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the addition of hydraulic balance cylinders and spring cylinders to this type of flexible robot, the response speed is slow and the controllability is poor. In the case of high positioning accuracy and complex and changeable use environment, it is difficult to meet the production requirements, which greatly affects collaborative robots. high work efficiency and intelligence, and there are certain defects in vibration control and stability, it is difficult to realize the human-machine cooperation of collaborative robots

Method used

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  • Robot arm with controllable damping and control system thereof
  • Robot arm with controllable damping and control system thereof
  • Robot arm with controllable damping and control system thereof

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Embodiment Construction

[0026] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the inventive concept. These all belong to the protection scope of the present invention.

[0027] In order to better illustrate the present invention, the present invention is described in detail below with reference to the accompanying drawings.

[0028] like figure 1 and figure 2 As shown, the operating device is a flexible joint arm, the flexible joint is composed of a shoulder joint, a wrist joint, an elbow joint and a wrist joint, the flexible joint arm is installed on the robot base, and the robot operating device is a magnetorheological The hydraulic damper is the technical basis, and utili...

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Abstract

The invention provides a robot arm capable of controlling damping. The robot arm capable of controlling damping comprises a base and a robot mechanical arm installed on the base. A magnetorheological fluid damper is arranged on the base, and the magnetorheological fluid damper is connected with the robot arm; a coil and a magnetic material are arranged in the magnetorheological fluid damper, after the coil is powered on, the shear yield strength of the magnetic material changes, and continuous adjustment of damping force is achieved. The output force of the collaborative robot is adjustable, response is fast, work is stable, and man-machine interaction collaboration is achieved.

Description

technical field [0001] The invention relates to the field of vibration control and automatic robots, in particular to a controllable damping robot arm and a control system thereof. Background technique [0002] With the advancement of industrial automation, the application scenarios of robotic arms are becoming wider and wider. However, due to the effects of joint flexibility and link flexibility, the robot will vibrate during and after the operation is stopped. This kind of vibration not only seriously affects the positioning accuracy and working stability of the robot, but also greatly reduces its working efficiency. Therefore, this undesirable vibration needs to be suppressed accordingly. [0003] Existing robots mainly adopt the design form of adding hydraulic balance bars or spring cylinders at the joints of the mechanical arms. However, due to the addition of hydraulic balance cylinder and spring cylinder to this type of flexible robot, the response speed is slow and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00
CPCB25J9/161B25J9/1633B25J13/00
Inventor 刘旭辉晏偏偏成玫宋浩然蒲美玲仪修琛王海英李芳付泽民
Owner SHANGHAI INST OF TECH