A robot cervical vertebra joint speed control device and control method

Abstract

The present application relates to a robot cervical joint speed control device and control method, which includes a rotating shaft, a protective cylinder, a reduction assembly, a power supply coil and a connecting column, wherein the rotating shaft is connected to the output shaft of a driving motor, and a plurality of reduction assemblies are arranged in the protective cylinder, each reduction assembly includes a first electromagnet sheet and a first magnetic sheet, the first magnetic sheet is connected to the inner wall of the protective cylinder through a flexible sheet, and is suspended inside the protective cylinder, a magnetic isolation sheet is provided on the side of the first magnetic sheet close to the rotating shaft, and a friction block is provided on the electromagnetic isolation sheet; the power supply coil is connected to the plurality of reduction assemblies through a connecting column with an electric wire inside; when the rotation speed of the rotating shaft needs to be quickly reduced to the required rotation speed, the power supply coil is controlled to energize the first electromagnet sheet so that the friction block of the first magnetic sheet moves toward the rotating shaft, and the above arrangement utilizes magnetic force to push the friction block to generate resistance, avoiding the influence of inertia, thereby accurately and quickly controlling the rotation speed, and the structure is simple and the manufacturing cost is low.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot cervical vertebrae joint speed control device and control method. Background Art

[0002] A robot is an automatic device that can imitate certain movements of human hands and arms and is used to grasp, carry objects or operate tools according to a fixed program. The robot includes a hand, an arm and a robot joint. The robot joint is used to connect the hand and the arm to each other so that the hand can achieve multi-degree-of-freedom movement relative to the arm. In particular, the control of the rotation speed of the cervical vertebrae joint of some humanoid robots is particularly important, which is generally controlled by a reducer.

[0003] In the prior art, general reducers mainly include cycloidal pinwheel gearboxes, ordinary planetary gearboxes, worm gearboxes and harmonic gearboxes. The reduction ratio range of ordinary single-stage and double-stage planetary gearboxes is relatively small, while the reduction ratio of worm gearboxes is relatively large, but the input speed is low and the application range is limited. The most critical application at present is that the cycloidal pinwheel reducer is crankshaft driven, with high transmission accuracy, complex mechanism and extremely high processing technology requirements; the harmonic reducer is a surface contact multi-tooth meshing, with a tight structure, but the output is an elastic disc cup ring, the meshing position and the output part must be elastically deformed, and the impact resistance of the structure is crossed. Therefore, with the development and application of new technologies, the requirements for gearboxes and joints continue to increase. In addition, there is a transmission structure that drives a double thick planetary gear ring through a double thick planetary gear, but the output of this structure has a large gap and return difference. At the same time, the processing technology of the double thick gear is relatively complicated and needs to be connected through a spline or non-circular structure, which makes the gap adjustment more difficult.

[0004] The deceleration structure introduced above is complex and has a low manufacturing cost. Therefore, there is an urgent need for a deceleration structure with a simple structure and low manufacturing cost to control the rotation speed of the cervical vertebrae joint. Summary of the invention

[0005] The embodiments of the present application provide a robot cervical joint speed control device and control method to solve the problems of complex reducer structure and high manufacturing cost of the cervical joint in the related art.

[0006] In a first aspect, a robot cervical vertebra joint speed control device is provided, comprising:

[0007] A protective tube, one end of which is coaxially connected to the driving motor, and a rotating shaft is arranged inside the protective tube, one end of which is connected to the output shaft of the driving motor, and the other end of which is passed through the protective tube and is used to be connected to the load;

[0008] A plurality of deceleration components are arranged in the protective tube and are distributed in a circle with the central axis of the protective tube as the center; each deceleration component comprises a first electromagnet sheet and a first magnetic sheet, the first electromagnet sheet is connected to the inner wall of the protective tube, the first magnetic sheet is connected to the inner wall of the protective tube through a flexible sheet, and is suspended inside the protective tube, wherein the first magnetic sheet and the corresponding first electromagnet sheet are located on the same radius; a magnetic isolation sheet is provided on the side of the first magnetic sheet close to the rotating shaft, and a friction block is provided on the electromagnetic isolation sheet;

[0009] The power supply coil is arranged on the outside of the protection tube and is connected to the plurality of deceleration components through a connecting column with wires inside; a wire interface is provided on the power supply coil.

[0010] In some embodiments, a posture adjustment device is further included, which is connected to an end of the motor away from the output shaft thereof, so as to adjust the posture of the load.

[0011] In some embodiments, the posture adjustment device includes:

[0012] A base having a spherical space therein and an opening at one end thereof communicating with the spherical space;

[0013] A core column, one end of which is connected to an end of the drive motor away from the output shaft, and the other end of which is provided with a spherical portion having an opening therethrough and located in the spherical space; a plurality of second magnetic sheets are provided on the outer side of the spherical portion; the plurality of second magnetic sheets are distributed in a circle with the center of the sphere as the center;

[0014] A plurality of second electromagnet sheets, wherein the plurality of second magnetic sheets correspond to each other one by one and are installed on the base;

[0015] The rubber support portion is disposed between the spherical portion and the inner wall of the spherical space.

[0016] In some embodiments, the outer surface of the rubber support portion is coated with a lubricant.

[0017] In some embodiments, a mounting groove is formed on the outer surface of the spherical portion, and the second magnetic sheet is disposed in the mounting groove so that the outer surface of the second magnetic sheet and the outer surface of the spherical portion form a complete spherical surface.

[0018] In some embodiments, the base includes a rectangular shell with openings at both ends, one of the openings of the rectangular shell is sealedly connected to a sealing cover, and a mounting block is provided on the sealing cover.

[0019] In some embodiments, a mounting ring is provided on the driving motor, a threaded hole is provided on the end of the protective tube, and the mounting ring is connected to the threaded hole by a mounting screw.

[0020] In some embodiments, the flexible sheet is made of silicone material.

[0021] In some embodiments, the outer surface of the rotating shaft is provided with a wear-resistant layer in contact with the friction block; or,

[0022] An annular groove corresponding to the friction block is arranged on the outer surface of the rotating shaft, and a wear-resistant ring is arranged in the annular groove.

[0023] In a second aspect, a robot cervical vertebra joint speed control method is provided, comprising:

[0024] A robot cervical vertebra joint speed control device is provided and installed at the cervical vertebra joint of the robot;

[0025] Get control instructions and control as follows:

[0026] When the control instruction is to stop the rotation of the rotating shaft, the power supply of the driving motor is controlled to be turned off, and the power supply coil is controlled to energize the first electromagnet sheet and generate appropriate magnetic force to move the friction block of the first magnetic sheet toward the rotating shaft, and finally lock the rotating shaft;

[0027] When the control instruction is to quickly reduce the rotation speed of the rotating shaft to the required rotation speed, the power supply coil is controlled to energize the first electromagnet sheet and generate appropriate magnetic force while controlling the rotation speed of the drive motor, so as to move the friction block of the first magnetic sheet toward the rotating shaft, and finally exert appropriate resistance on the rotating shaft to offset the influence of inertia and quickly reach the required rotation speed;

[0028] When the control instruction does not require deceleration, the power supply coil is controlled to disconnect power from the first electromagnet segment.

[0029] The beneficial effects of the technical solution provided by this application include:

[0030] (1) The embodiment of the present application provides a robot cervical joint speed control device and control method, since one end of the rotating shaft is connected to the output shaft of the driving motor, and the other end is passed through the protective tube and is used to connect to the load; a plurality of deceleration components are arranged in the protective tube, and are distributed in a circle with the central axis of the protective tube as the center; each deceleration component includes a first electromagnet sheet and a first magnetic sheet, the first electromagnet sheet is connected to the inner wall of the protective tube, the first magnetic sheet is connected to the inner wall of the protective tube through a flexible sheet, and is suspended inside the protective tube, wherein the first magnetic sheet and the corresponding first electromagnet sheet are located on the same radius; a magnetic isolation sheet is provided on the side of the first magnetic sheet close to the rotating shaft, and a friction block is provided on the electromagnetic isolation sheet; a power supply coil is arranged on the outside of the protective tube, and is connected to the plurality of deceleration components through a connecting column with electric wires inside. connection; when in use, when the control instruction is to stop the rotation of the shaft, the power supply of the driving motor is controlled to be turned off, and the power supply coil is controlled to energize the first electromagnet sheet and generate a suitable magnetic force to move the friction block of the first magnetic sheet toward the shaft, and finally lock the shaft; when the control instruction is to quickly reduce the speed of the shaft to the required speed, the speed of the driving motor is controlled, and the power supply coil is controlled to energize the first electromagnet sheet and generate a suitable magnetic force to move the friction block of the first magnetic sheet toward the shaft, and finally apply a suitable resistance to the shaft to offset the influence of inertia and quickly reach the required speed; through the above setting, the magnetic force is used to push the friction block to generate resistance and avoid the influence of inertia, so as to accurately and quickly control the speed. It has a simple structure and low manufacturing cost, and only needs to control the generated magnetic force.

[0031] (2) The magnetic isolation sheet can prevent the first magnetic sheet and the rotating shaft from being close to each other under normal conditions, because what we need is the magnetic force between the first magnetic sheet and the first electromagnet sheet, not the magnetic force between the first magnetic sheet and the rotating shaft.

[0032] (3) The posture adjustment device includes a base, which is provided with a spherical space and has an opening at one end connected to the spherical space; a core column, which is connected to the motor at one end and has an opening at the other end, and is located in the spherical space; a plurality of second magnetic sheets are provided on the outside of the spherical portion; the plurality of second magnetic sheets are distributed in a circle with the center of the sphere as the center; a plurality of second electromagnet sheets, wherein the plurality of second magnetic sheets correspond to each other and are installed on the base; a rubber support portion, which is arranged between the spherical portion and the inner wall of the spherical space; through the above structural arrangement, under normal conditions, all the second electromagnet sheets are energized, and the magnetic forces generated between them and the second magnetic sheets offset each other, so that the posture of the spherical portion can be stabilized. When the spherical portion needs to be biased, the current of the second magnetic sheet on the corresponding side is controlled to decrease, and the current of the remaining second magnetic sheets is increased, so as to achieve adjustment. The rubber support portion is arranged to provide a certain supporting force to maintain a stable posture, and to use its elastic characteristics to give the spherical portion some reset functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 An exploded schematic diagram of a first-perspective view of a robot cervical vertebra joint speed control device provided in an embodiment of the present application;

[0035] Figure 2 An exploded schematic diagram of a second perspective of the robot cervical vertebra joint speed control device provided in an embodiment of the present application;

[0036] Figure 3 A first-view structural diagram of the rotating shaft, protective cylinder and reduction assembly provided in an embodiment of the present application;

[0037] Figure 4 A second perspective structural diagram of the rotating shaft, protective cylinder and reduction assembly provided in an embodiment of the present application;

[0038] Figure 5 A third-view structural diagram of the rotating shaft, protective cylinder and deceleration assembly provided in an embodiment of the present application;

[0039] Figure 6 A fourth perspective structural diagram of the rotating shaft, protective cylinder and deceleration assembly provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of the connection between the drive motor and the posture adjustment device provided in an embodiment of the present application;

[0041] Figure 8 A schematic diagram of the connection between the base and the second electromagnet sheet provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of the connection between the spherical part and the drive motor provided in an embodiment of the present application;

[0043] Fig.10 A schematic diagram of the structure of the sealing cover provided in an embodiment of the present application.

[0044] In the figure: 1. protective tube; 2. driving motor; 3. rotating shaft; 4. first electromagnet sheet; 5. first magnetic sheet; 6. friction block; 7. flexible sheet; 8. power supply coil; 9. connecting column; 10. wire interface; 11. posture adjustment device; 1100. base; 1101. spherical part; 1102. second magnetic sheet; 1103. second electromagnet sheet; 1104. rubber supporting part; 1105. sealing cover; 1106. mounting block; 12. mounting ring. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0046] Since the rotation of the cervical vertebra joint does not require a large torque, compared with the rotation of the hand and leg joints, the torque required is relatively small, so the robot cervical vertebra joint speed control device of the present application is proposed. In addition, in order to achieve accurate and rapid control of the movement speed of the joint, the influence of its inertia needs to be considered.

[0047] The embodiments of the present application provide a robot cervical joint speed control device and control method to solve the problems of complex reducer structure and high manufacturing cost of the cervical joint in the related art.

[0048] See also Figure 1-Figure 10 , a robot cervical vertebra joint speed control device, comprising:

[0049] A protective tube 1, one end of which is coaxially connected to a driving motor 2, and a rotating shaft 3 is arranged inside the protective tube, one end of the rotating shaft 3 is connected to the output shaft of the driving motor 2, and the other end of the rotating shaft 3 is passed through the protective tube 1 and is used to be connected to a load;

[0050] A plurality of deceleration components are arranged in the protective tube 1 and are distributed in a circle with the central axis of the protective tube 1 as the center; each deceleration component includes a first electromagnet sheet 4 and a first magnetic sheet 5, the first electromagnet sheet 4 is connected to the inner wall of the protective tube 1, the first magnetic sheet 5 is connected to the inner wall of the protective tube 1 through a flexible sheet 7, and is suspended inside the protective tube 1, wherein the first magnetic sheet 5 and the corresponding first electromagnet sheet 4 are located on the same radius; a magnetic isolation sheet is provided on one side of the first magnetic sheet 5 close to the rotating shaft 3, and a friction block 6 is provided on the electromagnetic isolation sheet;

[0051] The power supply coil 8 is arranged on the outside of the protection tube 1 and is connected to a plurality of deceleration components via a connecting column 9 with wires inside; a wire interface 10 is provided on the power supply coil 8 .

[0052] During use, when the control instruction is to stop the rotation of the rotating shaft 3, the power supply of the driving motor 2 is controlled to be turned off, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate a suitable magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the rotating shaft 3, and finally lock the rotating shaft 3; when the control instruction is to quickly reduce the speed of the rotating shaft 3 to the required speed, the speed of the driving motor 2 is controlled, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate a suitable magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the rotating shaft 3, and finally apply a suitable resistance to the rotating shaft 3 to offset the influence of inertia and quickly reach the required speed; through the above setting, the magnetic force is used to push the friction block 6 to generate resistance, avoiding the influence of inertia, thereby accurately and quickly controlling the speed, and its structure is simple and the manufacturing cost is low, and it only needs to control the generated magnetic force.

[0053] The magnetic isolation sheet can prevent the first magnetic sheet 5 and the rotating shaft 3 from being close to each other under normal conditions, because what we need is the magnetic force between the first magnetic sheet 5 and the first electromagnet sheet 4, not the magnetic force between the first magnetic sheet 5 and the rotating shaft 3.

[0054] In some preferred embodiments, a posture adjustment device 11 is further included, and the posture adjustment device 11 is connected to the end of the driving motor 2 away from the output shaft thereof, so as to adjust the posture of the load. The posture adjustment device 11 is specifically described as follows:

[0055] The posture adjustment device 11 comprises:

[0056] A base 1100, which has a spherical space therein and an opening at one end thereof connected to the spherical space; a core column, which has one end connected to an end of the driving motor 2 away from the output shaft and has the other end provided with an opening therethrough, and a spherical portion 1101 located in the spherical space; a plurality of second magnetic sheets 1102 are provided on the outer side of the spherical portion 1101; the plurality of second magnetic sheets 1102 are distributed in a circle with the center of the sphere as the center; a plurality of second electromagnet sheets 1103, wherein the plurality of second magnetic sheets 1102 correspond to each other one by one and are installed on the base 1100; and a rubber support portion 1104, which is arranged between the spherical portion 1101 and the inner wall of the spherical space.

[0057] Through the above structural setting, under normal conditions, all second electromagnet pieces 1103 are energized, and the magnetic forces generated between them and the second magnetic pieces 1102 offset each other, so that the posture of the spherical part 1101 can be stabilized. When the spherical part 1101 needs to be biased, the current of the second magnetic piece 1102 on the corresponding side is controlled to decrease, and the current of the remaining second magnetic pieces 1102 is increased, thereby achieving adjustment. The rubber support part 1104 is set to provide a certain support force to maintain a stable posture, and use its elastic characteristics to give the spherical part 1101 some reset functions.

[0058] It should be understood that in order to achieve more precise posture control, the number of second magnetic sheets 1102 can be set as large as possible, so that the controlled angle is more accurate.

[0059] Furthermore, in order to reduce the friction resistance between the spherical part 1101 and the rubber support part 1104, a lubricant is coated on the outer surface of the rubber support part 1104. In addition, a mounting groove is provided on the outer surface of the spherical part 1101, and the second magnetic sheet 1102 is arranged in the mounting groove, so that the outer surface of the second magnetic sheet 1102 and the outer surface of the spherical part 1101 form a complete spherical surface, so that the second magnetic sheet 1102 and the spherical part 1101 form a complete and smooth whole, which is easy to adjust.

[0060] Furthermore, the base 1100 includes a rectangular shell with openings at both ends, one of the openings of the rectangular shell is sealed and connected to a sealing cover 1105, and a mounting block 1106 is provided on the sealing cover 1105; such a configuration facilitates the installation of the spherical portion 1101 and the rubber support portion 1104, and the robot body is connected to the device through the mounting block 1106.

[0061] In some preferred embodiments, a mounting ring 12 is provided on the driving motor 2, and a threaded hole is provided on the end of the protective tube 1. The mounting ring 12 is connected to the threaded hole by a mounting screw, which realizes a detachable connection of the driving motor 2.

[0062] In addition, the flexible sheet 7 is made of silicone material, which is not only convenient for installation, but also convenient for movement of the friction block 6, thereby reducing the force that causes the flexible sheet 7 to deform;

[0063] Furthermore, a wear-resistant layer in contact with the friction block 6 is provided on the outer surface of the rotating shaft 3; or,

[0064] An annular groove corresponding to the friction block 6 is arranged on the outer surface of the rotating shaft 3, and a wear-resistant ring is arranged in the annular groove. Both of the above two methods can achieve the effect of extending the service life.

[0065] The present application also proposes a robot cervical vertebra joint speed control method, which includes:

[0066] Providing the above robot cervical vertebra joint speed control device and installing it at the cervical vertebra joint of the robot;

[0067] Get control instructions and control as follows:

[0068] When the control instruction is to stop the rotation of the shaft 3, the power of the driving motor 2 is controlled to be turned off, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate appropriate magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the shaft 3, and finally lock the shaft 3;

[0069] When the control instruction is to quickly reduce the speed of the rotating shaft 3 to the required speed, the speed of the driving motor 2 is controlled, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate a suitable magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the rotating shaft 3, and finally apply a suitable resistance to the rotating shaft 3 to offset the influence of inertia and quickly reach the required speed;

[0070] When the control instruction does not require deceleration, the power supply coil 8 is controlled to disconnect the power to the first electromagnet piece 4.

[0071] Principles of this application:

[0072] During use, when the control instruction is to stop the rotation of the rotating shaft 3, the power supply of the driving motor 2 is controlled to be turned off, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate a suitable magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the rotating shaft 3, and finally lock the rotating shaft 3; when the control instruction is to quickly reduce the speed of the rotating shaft 3 to the required speed, the speed of the driving motor 2 is controlled, and the power supply coil 8 is controlled to energize the first electromagnet sheet 4 and generate a suitable magnetic force to move the friction block 6 of the first magnetic sheet 5 toward the rotating shaft 3, and finally apply a suitable resistance to the rotating shaft 3 to offset the influence of inertia and quickly reach the required speed; through the above setting, the magnetic force is used to push the friction block 6 to generate resistance, avoiding the influence of inertia, thereby accurately and quickly controlling the speed, and its structure is simple and the manufacturing cost is low, and it only needs to control the generated magnetic force.

[0073] The magnetic isolation sheet can prevent the first magnetic sheet 5 and the rotating shaft 3 from approaching each other under normal conditions, because what we need is the magnetic force between the first magnetic sheet 5 and the first electromagnet sheet 4, not the magnetic force between the first magnetic sheet 5 and the rotating shaft 3.

[0074] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0075] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0076] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A robot cervical vertebra joint speed control device, characterized in that: It includes: A protective tube (1) is coaxially connected to a driving motor (2) at one end thereof and is provided with a rotating shaft (3) therein; one end of the rotating shaft (3) is connected to an output shaft of the driving motor (2) and the other end of the rotating shaft (3) is extended out of the protective tube (1) and is used to be connected to a load; A plurality of deceleration components are arranged in the protective tube (1) and are distributed in a circular shape with the central axis of the protective tube (1) as the center of the circle; each deceleration component comprises a first electromagnet sheet (4) and a first magnetic sheet (5); the first electromagnet sheet (4) is connected to the inner wall of the protective tube (1); the first magnetic sheet (5) is connected to the inner wall of the protective tube (1) via a flexible sheet (7) and is suspended inside the protective tube (1); the first magnetic sheet (5) and the corresponding first electromagnet sheet (4) are located on the same radius; a magnetic isolation sheet is provided on the side of the first magnetic sheet (5) close to the rotating shaft (3); a friction block (6) is provided on the electromagnetic isolation sheet; A power supply coil (8) is arranged outside the protective tube (1) and is connected to the plurality of deceleration components via a connecting column (9) with wires inside; a wire interface (10) is provided on the power supply coil (8).

2. The robot cervical vertebra joint speed control device according to claim 1, characterized in that: It also comprises a posture adjustment device (11), which is connected to one end of the drive motor (2) away from its output shaft, and is used to adjust the posture of the load.

3. The robot cervical vertebra joint speed control device according to claim 2, characterized in that: The posture adjustment device (11) comprises: A base (1100) having a spherical space therein and an opening at one end thereof communicating with the spherical space; A core column, one end of which is connected to an end of the drive motor (2) away from the output shaft, and the other end of which is provided with a spherical portion (1101) having an opening therethrough and located in the spherical space; a plurality of second magnetic sheets (1102) are provided on the outside of the spherical portion (1101); the plurality of second magnetic sheets (1102) are distributed in a circular shape with the center of the sphere as the center; A plurality of second electromagnet sheets (1103), each of which corresponds to the plurality of second magnetic sheets (1102) one by one and is mounted on the base (1100); A rubber supporting portion (1104) is arranged between the spherical portion (1101) and the inner wall of the spherical space.

4. The robot cervical vertebra joint speed control device according to claim 3, characterized in that: The outer surface of the rubber support part (1104) is coated with a lubricant.

5. The robot cervical vertebra joint speed control device according to claim 3, characterized in that: A mounting groove is provided on the outer surface of the spherical portion (1101), and the second magnetic sheet (1102) is arranged in the mounting groove, so that the outer surface of the second magnetic sheet (1102) and the outer surface of the spherical portion (1101) form a complete spherical surface.

6. The robot cervical vertebra joint speed control device according to claim 3, characterized in that: The base (1100) comprises a rectangular shell with openings at both ends, one of the openings of the rectangular shell is sealedly connected to a sealing cover (1105), and a mounting block (1106) is provided on the sealing cover (1105).

7. The robot cervical vertebra joint speed control device according to claim 1, characterized in that: The drive motor (2) is provided with a mounting ring (12), the end of the protection tube (1) is provided with a threaded hole, and the mounting ring (12) is connected to the threaded hole via a mounting screw.

8. The robot cervical vertebra joint speed control device according to claim 1, characterized in that: The flexible sheet (7) is made of silicone material.

9. The robot cervical vertebra joint speed control device according to claim 1, characterized in that: The outer surface of the rotating shaft (3) is provided with a wear-resistant layer in contact with the friction block (6); or, An annular groove corresponding to the friction block (6) is provided on the outer surface of the rotating shaft (3), and a wear-resistant ring is provided in the annular groove.

10. A robot cervical vertebra joint speed control method, characterized in that: It includes: A robot cervical vertebra joint speed control device as described in any one of claims 1 to 9 is provided and installed at the cervical vertebra joint of the robot; Get control instructions and control as follows: When the control instruction is to stop the rotation of the rotating shaft (3), the power supply of the driving motor (2) is controlled to be turned off, and the power supply coil (8) is controlled to energize the first electromagnet sheet (4) and generate a suitable magnetic force to move the friction block (6) of the first magnetic sheet (5) toward the rotating shaft (3), and finally lock the rotating shaft (3); When the control instruction is to quickly reduce the rotation speed of the rotating shaft (3) to a required rotation speed, the rotation speed of the driving motor (2) is controlled, and at the same time, the power supply coil (8) is controlled to energize the first electromagnet sheet (4) and generate a suitable magnetic force to move the friction block (6) of the first magnetic sheet (5) toward the rotating shaft (3), and finally exert a suitable resistance on the rotating shaft (3) to offset the influence of inertia and achieve the required rotation speed; When the control instruction does not require deceleration, the power supply coil (8) is controlled to disconnect the power to the first electromagnet sheet (4).

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