Flexible magnetic suspension variable stiffness joint and robot system

Abstract

The invention relates to a flexible magnetic suspension variable stiffness joint and a robot system. The flexible magnetic suspension variable-stiffness joint comprises a support, the upper portion of the support is provided with a rotating arm, the middle of the support is provided with a magnetic suspension variable-stiffness assembly, and the lower portion of the support is provided with a driving assembly; the two magnetic suspension variable stiffness assemblies are symmetrically arranged on the two side edges of the middle of the support, and pulley assemblies are arranged at the ends, facing the rotating arms, of the magnetic suspension variable stiffness assemblies. First fixed pulleys are respectively arranged at two ends of the rotating arm; the two driving assemblies are connected to the two ends of the rotating arm through ropes passing through the pulley assemblies and the first fixed pulleys on the same side. The magnetic suspension variable stiffness assembly is driven to rotate through the driving assembly, so that the rotating arm is driven to move. Rigidity adjustment is achieved through magnetic field coupling, magnetic field changes take effect instantly, the actual measurement response time is short, flexibility is high, the movement angle and speed of the rotating arm can be accurately controlled, and diversified movement of joints is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a flexible magnetic levitation variable stiffness joint and a robot system. Background Art

[0002] In the fields of modern robotics and automation, the flexibility and adaptability of joints are the key to design. Traditional robot joints usually adopt fixed stiffness or mechanical variable stiffness design within a limited range. Although these designs meet the basic requirements to a certain extent, they still have obvious deficiencies in application scenarios that require fine control and high adaptability, such as human-robot interaction, flexible grasping, and rehabilitation robots. Traditional mechanical variable stiffness joints usually rely on gear sets, springs, or hydraulic systems to achieve stiffness adjustment. These methods have problems such as slow response speed, complex structure, high energy consumption, and high maintenance costs. To overcome these limitations, in recent years, researchers have proposed variable stiffness joints based on magnetic force. Among them, magnetic levitation variable stiffness joints, as an emerging technology, have received extensive attention due to their advantages such as non-contact transmission, compact structure, and fast response.

[0003] The existing research on magnetic levitation variable stiffness joints mainly focuses on the following two aspects: One is the modeling and optimization of the magnetic field. By analyzing the distribution, size, and shape of permanent magnets, the intensity and distribution characteristics of the magnetic field are optimized to achieve more efficient stiffness adjustment. However, during the model construction process, the actual working conditions are usually simplified, ignoring the changes in the material properties of permanent magnets with working conditions, edge effects, and magnetic leakage phenomena, resulting in a deviation between the model and the actual magnetic field and affecting the accuracy of stiffness adjustment. The other is the drive design and control strategy, which studies how to achieve dynamic adjustment of the magnetic field through electromagnetic drive devices and, combined with sensors and feedback control algorithms, achieve real-time adjustment of the joint stiffness. However, the output force and response speed of electromagnetic drive devices are limited and difficult to meet the requirements of rapid and large-scale stiffness adjustment. Summary of the Invention

[0004] Based on this, it is necessary to provide a flexible magnetic levitation variable stiffness joint and a robot system with a simple structure, flexible control, and high accuracy for the above technical problems.

[0005] A flexible magnetic levitation variable stiffness joint includes: a support, a rotating arm is arranged on the upper part of the support, a magnetic levitation variable stiffness component is arranged in the middle, and a drive component is arranged at the lower part; there are two magnetic levitation variable stiffness components, symmetrically arranged on both sides of the middle of the support, and a pulley component is arranged at one end thereof facing the rotating arm; first fixed pulleys are respectively arranged at both ends of the rotating arm; there are two drive components, which are respectively connected to both ends of the rotating arm through ropes passing through the pulley components and the first fixed pulleys on the same side; the magnetic levitation variable stiffness components are driven to rotate by the drive components, thereby driving the rotating arm to move.

[0006] In one embodiment, the support includes a left side plate, a right side plate and a bottom plate; the left side plate and the right side plate have the same structure and are symmetrically arranged at both ends of the bottom plate. A first mounting portion is provided at the upper part thereof for mounting a rotating arm; a second mounting portion is provided in the middle for mounting a magnetic levitation variable stiffness component.

[0007] In one embodiment, a flange is provided on the bottom plate and is connected to other components through the flange.

[0008] In one embodiment, the magnetic levitation variable stiffness component includes a support member. On the support member, a bearing assembly, an inner magnetic ring and an outer magnetic ring are sequentially arranged from inside to outside; the bearing assembly and the support member are in clearance fit, the inner magnetic ring is fixed on the bearing assembly, and the outer magnetic ring is arranged at an interval from the inner magnetic ring.

[0009] In one embodiment, a fixing cover is further provided on the inner magnetic ring; the fixing cover is in interference fit with the inner magnetic ring and in clearance fit with the outer magnetic ring.

[0010] In one embodiment, the pulley assembly includes a fixed pulley set and a movable pulley set. The fixed pulley set is arranged on the support member, and the movable pulley set is arranged on the fixing cover, and both the fixed pulley set and the movable pulley set are arranged radially.

[0011] In one embodiment, the rotating arm is rotatably fixed on the support by means of cooperation between a transfer disk and a bearing.

[0012] In one embodiment, the driving assembly includes a motor. A winch is fixed on the output shaft of the motor, and a rope is wound and unwound through the winch; an encoder is detachably fixed on the body of the motor, and the encoder is electrically connected to the motor.

[0013] In one embodiment, a baffle is further provided, and the baffle is detachably fixed on the front side and / or the rear side of the support.

[0014] A robot system, characterized in that the flexible magnetic levitation variable stiffness joint as described above is adopted.

[0015] Compared with the prior art, the flexible magnetic levitation variable stiffness joint and the robot system provided by the present invention have the following effects: 1. Through the expansion and contraction of the rope and the change of tension, the relative position of the magnetic suspension variable stiffness component can be accurately adjusted, thereby changing the magnetic field coupling state, realizing stepless stiffness adjustment, high adjustment accuracy, and no need for complex control algorithms, and can adapt to higher and more complex task requirements. Stiffness adjustment is achieved through magnetic field coupling, and magnetic field changes take effect instantly, with a short measured response time and high flexibility. It can accurately control the movement angle and speed of the rotating arm and realize diversified joint movements.

[0016] 2. Modular design is adopted, the core components are compact and easy to assemble, without the need for complex hydraulic or pneumatic systems, which significantly reduces the difficulty of manufacturing and maintenance.

[0017] 3. Magnetic levitation technology can reduce the friction caused by mechanical contact during joint movement, which not only reduces energy loss and improves joint efficiency, but also reduces wear and tear and extends the service life of the joints.

[0018] 4. The symmetrical setting of the magnetic levitation variable stiffness components can effectively avoid joint deformation, wear and other problems caused by uneven force, improve the reliability and stability of the joints, help to achieve smooth movement of the rotating arm, thereby better controlling the movement posture of the rotating arm, reducing vibration and shaking during movement, and improving the movement quality of the joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0020] Figure 1 An exploded view of a flexible magnetic suspension variable stiffness joint provided in one embodiment; Figure 2 is an axonometric view of a support provided in one embodiment; Figure 3 An exploded view of a rotating arm provided in one embodiment; Figure 4 An exploded view of a magnetic suspension variable stiffness assembly provided in one embodiment; Figure 5 A schematic diagram of the magnetic directions of an inner magnetic ring and an outer magnetic ring provided in an embodiment; Figure 6 An exploded view of a drive assembly provided in one embodiment; Figure 7 A front view of a flexible magnetic suspension variable stiffness joint provided in one embodiment; Figure 8 as Figure 7 the schematic view of the A-A section shown in Figure 9 the combined drawing of the flexible magnetic levitation variable stiffness joint provided in an embodiment; Figure 10 the schematic view of the working principle of the cable drive provided in an embodiment; wherein, Figure 10 (a) is the schematic view of the movement, Figure 10 (b) is the schematic view of the calculation principle.

[0021] Explanation of the reference numerals: support 1, left side plate 11, right side plate 12, bottom plate 13, first mounting portion 14, second mounting portion 15, flange 16, third mounting portion 18; rotating arm 2, rotating shaft 201, mounting seat 202, first fixed pulley 21, adapter plate 22, embedded shaft 221, connecting portion 222, limiting portion 223, first bearing 23; magnetic levitation variable stiffness component 3, support member 31, mounting ring 311, first mounting post 312, second mounting post 313, connecting member 314, inner magnetic ring 32, outer magnetic ring 33, fixed cover 34, first movable pulley 35, second movable pulley 36, second fixed pulley 37, third fixed pulley 38, second bearing 391, bearing fixing ring 392; drive component 4, motor 41, winch 42, encoder 43; rope 5, baffle 6, pulley fixed shaft 7.

[0022] The realization of the object, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0024] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0025] In addition, in the present invention, descriptions such as "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection or a wireless communication connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] It can be understood that the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0028] The following will describe the embodiments of the present invention in detail with reference to the accompanying drawings in the embodiments of the present invention.

[0029] Embodiment 1 As Figures 1 to 8 shown, the flexible magnetic levitation variable stiffness joint provided in this embodiment includes: a support 1, a rotating arm 2 is arranged on the upper part of the support 1, a magnetic levitation variable stiffness component 3 is arranged in the middle, and a driving component 4 is arranged at the lower part; there are two magnetic levitation variable stiffness components 3, symmetrically arranged on both sides of the middle of the support 1, and a pulley component is arranged at one end facing the rotating arm 2; first fixed pulleys 21 are respectively arranged at both ends of the rotating arm 2; there are two driving components 4, which are respectively connected to both ends of the rotating arm 2 through ropes 5 passing through the pulley components and the first fixed pulleys 21 on the same side; the driving component 4 drives the magnetic levitation variable stiffness component 3 to rotate, thereby driving the rotating arm 2 to move.

[0030] As Figure 2 shown, the support 1 has a left - right symmetric structure, which includes a left side plate 11, a right side plate 12 and a bottom plate 13; the left side plate 11 and the right side plate 12 have the same structure and are symmetrically arranged at the left and right ends of the bottom plate 13.

[0031] Specifically, as the main body of the entire joint, the support 1 needs to ensure sufficient stiffness. Therefore, the left plate 11, the right plate 12, and the bottom plate 13 can be integrally formed or separately prepared and then fixed by welding to ensure the structural stability. In this embodiment, integral forming is preferably used for preparation. The support 1 is preferably made of high-strength aluminum alloy material, which not only ensures the structural stability but also reduces the overall weight.

[0032] On the upper parts of the left plate 11 and the right plate 12, first mounting parts 14 are respectively provided for mounting the rotating arm 2; on the middle parts, second mounting parts 15 are respectively provided for mounting two magnetically levitated variable stiffness components 3. On the bottom plate 13, a flange mounting part is provided for mounting the flange 16, and through the flange 16, other components of the flexible magnetically levitated variable stiffness joint provided in this embodiment are connected; a third mounting part 18 is also provided, mainly used for mounting the encoder 43. Further, a baffle 6 is also provided. The baffle 6 is detachably connected to the front side and / or the rear side of the support 1. The main function of the baffle 6 is to provide protection to ensure that the drive assembly 4 is free from external interference or physical obstruction during operation, thereby ensuring the normal operation and stability of the motor. The baffle 6 is made of a lightweight composite material, which not only ensures the protection effect but also does not increase too much weight. It should be noted that the detachable connection method includes but is not limited to snap connection, threaded connection, pin connection, magnetic connection, plug-in connection, etc., and can be adaptively selected according to the situation. In this embodiment, threaded connection is preferably used. In addition, the detachable connection method that appears subsequently in this embodiment has the same meaning and will not be elaborated again.

[0033] As Figure 3 shown, the rotating arm 2 includes a rotating shaft 201 and a mounting seat 202. The rotating shaft 201 is mainly fixed to the support 1 rotatably by means of a transfer disk 22 in cooperation with a bearing. Mounting holes are reserved on the mounting seat 202 for detachable connection with adjacent components, so as to effectively transmit the output torque and working state of the variable stiffness joint to the next joint.

[0034] Specifically, the first mounting part 14 is in the form of a groove, and the size is preferably such that it can accommodate the first bearing 23, and then the first bearing 23 is embedded in the first mounting part 14. The first bearing 23 and the first mounting part 14 are fixedly connected. The fixed connection method includes but is not limited to interference fit, key connection, adapter sleeve connection, dowel pin connection, adhesive connection, etc., and can be adaptively selected according to the situation. In this embodiment, interference fit is preferably used. In addition, the fixed connection method that appears subsequently in this embodiment has the same meaning and will not be elaborated again. Further, as shown in this embodiment, through holes can also be provided at the bottom of the groove. The diameter of the through holes is smaller than the diameter of the first bearing 23. When the first bearing 23 is installed in the first mounting part 14, the first bearing 23 can be limited so that the first bearing 23 will not slip out from the through holes.

[0035] At both ends of the rotating arm 2, a transfer disk 22 is detachably fixed. The transfer disk 22 includes an embedding shaft 221 and a connecting portion 222. At the junction of the embedding shaft 221 and the connecting portion 222, a protruding limiting portion 223 is provided. When the embedding shaft 221 is inserted into the inner ring of the first bearing 23, the limiting portion 223 abuts against the side surface of the inner ring of the first bearing 23, thereby completing the fixation of the first bearing 23. A plurality of mounting holes are provided on the connecting portion 222, and a plurality of mounting holes are also provided at both ends of the rotating arm 2. Align the mounting holes at both ends of the rotating arm 2 with the mounting holes of the connecting portion 222 on the left and right transfer disks 22 respectively, and then install the rotating arm 2 on the transfer disk 22 by a detachable connection method.

[0036] On the connecting portion 222, a pulley fixing shaft 7 is further provided on the side facing the first bearing 23, and the pulley fixing shaft 7 is used to install the first fixed pulley 21.

[0037] In terms of material, the rotating arm 2 is made of a high-strength lightweight material, such as aluminum alloy or carbon fiber composite material, which not only ensures the rigidity of the structure but also reduces the overall weight. The surface of the transfer disk 22 is precisely machined to ensure the connection accuracy with the first bearing 23 and the rope 5, thereby improving the motion efficiency and stability of the joint. The connection method of the two sides of the rotating arm 2 through the transfer disk 22 and the first bearing 23 ensures the smoothness and low friction of the rotational motion.

[0038] As Figure 4 shown, the magnetic levitation variable stiffness component 3 includes a support member 31. On the support member 31, a bearing assembly, an inner magnetic ring 32 and an outer magnetic ring 33 are arranged in sequence from the inside to the outside; the bearing assembly and the support member 31 are in clearance fit, the inner magnetic ring 32 is fixed on the bearing assembly, and the outer magnetic ring 33 is arranged at an interval from the inner magnetic ring 32.

[0039] Specifically, the support member 31 includes a mounting ring 311, first mounting columns 312 arranged radially on both sides of the mounting ring 311, and a second mounting column 313 arranged at the center of the mounting ring 311. At the bottom of the mounting ring 311, a connecting member 314 is arranged radially, and the mounting ring 311, the first mounting columns 312 and the second mounting column 313 are connected into a whole through the connecting member 314. It is worth noting that the shape and size of the second mounting portion 15 are adapted to the support member 31, and the support member 31 is installed in the second mounting portion 15 by a fixed connection method.

[0040] The bearing assembly includes two second bearings 391 and a bearing fixing ring 392. First, the first second bearing 391 is sleeved on the second mounting post 313, then aligned and fixed with the bearing fixing ring 392, and then the second second bearing 391 is continuously sleeved on the second mounting post 313. The two second bearings 391, the bearing fixing ring 392 and the second mounting post 313 are all in clearance fit, so that the two second bearings 391 and the bearing fixing ring 392 can rotate after being stressed.

[0041] On the outer periphery of the bearing assembly, an inner magnetic ring 32 is sleeved circumferentially. The inner magnetic ring 32 is fixedly connected to the bearing assembly, and preferably connected by an adhesive.

[0042] The mounting ring 311 is of a ring structure, and a groove is formed on its upper surface. The outer magnetic ring 33 is fixed in the groove by a fixed connection method, and there is a certain interval between the outer magnetic ring 33 and the inner magnetic ring 32. The outer magnetic ring 33 and the groove are preferably connected by an interference fit.

[0043] On the inner magnetic ring 32, a fixing cover 34 is also provided. On the lower surface of the fixing cover 34, an extended fixing groove is circumferentially provided. The cross-sectional shape of the fixing groove is adapted to the cross-sectional shape of the inner magnetic ring 32 and its diameter is slightly smaller than that of the inner magnetic ring 32. After the inner magnetic ring 32 and the bearing assembly are combined, they are embedded in the fixing groove to achieve an interference fit between the fixing cover 34 and the inner magnetic ring 32. The outer diameter of the fixing cover 34 is slightly smaller than the inner diameter of the outer magnetic ring 33, and they are in clearance fit.

[0044] As Figure 5 shown, both the inner magnetic ring 32 and the outer magnetic ring 33 are a ring composed of two arc-shaped permanent magnets with equal inner diameters. The difference is that the diameter of the arc-shaped permanent magnet used for the outer magnetic ring 33 is larger than that of the arc-shaped permanent magnet used for the inner magnetic ring 32. Among them, the two arc-shaped permanent magnets of the inner magnetic ring 32 are radially magnetized, and the inner ring of one arc-shaped permanent magnet is in the positive direction; the outer ring of the other arc-shaped permanent magnet is in the positive direction. The two arc-shaped permanent magnets of the outer magnetic ring 33 are radially magnetized, and the inner ring of one arc-shaped permanent magnet is in the positive direction; the outer ring of the other arc-shaped permanent magnet is in the positive direction. The inner magnetic ring 32 and the outer magnetic ring 33 are coaxially arranged and horizontally aligned.

[0045] The pulley assembly includes a fixed pulley set and a movable pulley set. The fixed pulley set is arranged on the support member 31, and the movable pulley set is arranged on the fixed cover 34. Both the fixed pulley set and the movable pulley set are arranged radially. Among them, the movable pulley set includes a first movable pulley 35 and a second movable pulley 36; the fixed pulley set includes a second fixed pulley 37 and a third fixed pulley 38. At the upper end of the first mounting post 312, a pulley fixed shaft 7 is provided, and the second fixed pulley 37 and the third fixed pulley 38 are respectively mounted on the pulley fixed shafts 7 of the two first mounting posts 312. On the fixed cover 34, two pulley fixed shafts 7 are arranged radially. The first movable pulley 35 and the second movable pulley 36 are respectively mounted on the two pulley fixed shafts 7 on the fixed cover 34 and move together with the rotation of the inner magnetic ring 32. During movement, the inner magnetic ring 32 rotates and the outer magnetic ring 33 is fixed. When the magnetic poles of the two magnetic rings are misaligned, the variable stiffness effect can be achieved. By changing the relative position of the inner magnetic ring 32 and the outer magnetic ring 33 to change the magnetic field coupling state, stepless adjustment of the joint stiffness can be realized.

[0046] The drive assembly 4 is mounted on the bottom plate 13 of the support 1 and is symmetrically arranged near the two baffles 6 along the short side direction of the bottom plate 13. As Figure 6 shown, the drive assembly 4 includes a motor 41. The motor 41 is fixed on the bottom plate 13 by a detachable connection. Preferably, a groove is provided on the bottom plate 13, and the motor 41 is fixed in the groove by a buckle. A winch 42 is fixed on the output shaft of the motor 41. A rope is tied to the winch 42, and the rope 5 is wound and unwound to drive the rotating arm 2 to move. On the body of the motor 41, an encoder 43 is detachably fixed. The encoder 43 is electrically connected to the motor 41 and is used to feedback the position information of the motor 41 in real time to ensure the movement accuracy of the rotating arm 2. Preferably, the motor 41 is a high-precision servo motor, which can achieve fast response and precise control. The encoder 43 is arranged at the tail of the motor 41, and the encoder 43 is mounted in the third mounting portion 18. The third mounting portion 18 is a through hole. The encoder 43 can be mounted on the third mounting portion 18 by a detachable connection or a fixed connection according to the situation.

[0047] During installation, the two drive assemblies 4 are symmetrically arranged in the reverse direction, that is, the output shafts of the motors 41 of the two drive assemblies 4 face the left side plate 11 and the right side plate 12 respectively, so as to correspond to the transfer disks 22 on the left and right sides and the pulley assemblies on the magnetic suspension variable stiffness assembly 3.

[0048] As Figure 8As shown in the figure, the connection method of the rope 5 on one side is shown. The driving component 4 and the magnetic levitation variable stiffness component 3 on the same side are connected to the adapter plate 22 at one end of the rotating arm 2 through the rope 5. Specifically, one end of the rope 5 is tied to the winch 42, and the other end winds around the third fixed pulley 38 more than one circle from top to bottom, then bypasses the right end of the second movable pulley 36, then bypasses the left end of the first movable pulley 35, then winds around the second fixed pulley 37 more than one circle from bottom to top, then winds to the left side of the first fixed pulley 21, and finally is fixed to the adapter plate 22 of the rotating arm 2. It should be noted that the number of turns of the rope 5 around the second fixed pulley 37 and the third fixed pulley 38 is determined according to the actual situation.

[0049] As Figure 10 shown, a schematic diagram of the working principle of the cable drive is provided. Among them, is the center of the movable pulley, is the center of the fixed pulley. When the rotation angle is , the relationship between the reduction of H and L is: ; ; Therefore, the distance between the centers of the fixed pulley and the movable pulley is: ; Therefore, the length of the line on the two pulleys is: ; Among them, H, , a, b, c, d, r, and o in the formula have been marked in Figure 10 . Through the above formula, the relationship between the line length change and the rotation angle can be obtained. Based on the relationship between the line length change and the rotation angle, the length of the rope is adjusted by the rotation angle of the motor 41, and then the rotation angle of the inner magnetic ring 32 is adjusted by taking in and releasing the rope, and finally the rotation angle control of the rotating arm 2 is realized.

[0050] During operation, all components are first assembled. When the rotating arm 2 needs to rotate, one of the left and right drive components 4 contracts the rope 5, and the other relaxes the rope 5. The lengths of contraction and relaxation of the rope 5 by the two drive components 4 should be the same. When the drive component 4 is damaged or external factors intervene to cause unequal contraction and relaxation lengths, the magnetic levitation variable stiffness component 3 starts to work. Under the action of the rope 5, the first movable pulley 35 and the second movable pulley 36 start to move under force, thereby driving the second bearing 391, the fixed cover 34 and the inner magnetic ring 32 to rotate synchronously. Since the outer magnetic ring 33 is fixed, such rotation changes the relative position of the inner magnetic ring 32 and the outer magnetic ring 33, changes the magnetic field coupling state, realizes the non-linear adjustment of stiffness, provides torque for the rotating arm, and enables the two ends of the rotating arm 2 to maintain balance for normal operation. At the same time, the magnetic levitation variable stiffness component 3 has the function of mode adjustment, including high stiffness mode and low stiffness mode; when the magnetic poles of the inner magnetic ring 32 and the outer magnetic ring 33 are aligned, the joint stiffness is the lowest, and this is the low stiffness mode at this time; when the inner magnetic ring rotates 90°, this is the high stiffness mode at this time.

[0051] The flexible magnetic levitation variable stiffness joint provided by the present invention provides a new technical path for improving the adaptability of adaptive robot systems. It has broad application prospects in the fields of robotics, automation, rehabilitation medicine, etc., and has important practical value and market potential.

[0052] Embodiment 2 This embodiment provides a robot system, which uses the flexible magnetic levitation variable stiffness joint in Embodiment 1 to be installed at the joint of the robot, especially applied in a flexible robot system. When performing human-robot interaction, the flexible magnetic levitation variable stiffness joint in Embodiment 1 can quickly switch to the low stiffness mode by quickly adjusting the stiffness when detecting human-robot contact, avoiding harm during human-robot interaction, having high safety, and being friendly for human-robot interaction.

[0053] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0054] The above-described embodiments only represent several implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A flexible magnetic suspension variable stiffness joint, characterized in that: include: A support (1), wherein a rotating arm (2) is arranged at the upper part of the support (1), a magnetic suspension variable stiffness component (3) is arranged at the middle part, and a driving component (4) is arranged at the lower part; There are two magnetic suspension variable stiffness components (3), which are symmetrically arranged on both sides of the middle of the support (1), and one end of which faces the rotating arm (2) is provided with a pulley component; and both ends of the rotating arm (2) are respectively provided with a first fixed pulley (21); There are two drive assemblies (4), which are connected to two ends of the rotating arm (2) through ropes (5) passing through the pulley assembly and the first fixed pulley (21) on the same side; The driving component (4) drives the magnetic suspension variable stiffness component (3) to rotate, thereby driving the rotating arm (2) to move.

2. The flexible magnetic suspension variable stiffness joint according to claim 1, characterized in that: The support (1) comprises a left side plate (11), a right side plate (12) and a bottom plate (13); The left side plate (11) and the right side plate (12) have the same structure and are symmetrically arranged at both ends of the bottom plate (13), with a first mounting portion (14) being provided at the top for mounting the rotating arm (2); and a second mounting portion (15) being provided at the middle for mounting the magnetic suspension variable stiffness component (3).

3. The flexible magnetic suspension variable stiffness joint according to claim 2, characterized in that: The bottom plate (13) is provided with a flange (16) and is connected to other components via the flange (16).

4. The flexible magnetic suspension variable stiffness joint according to claim 1, characterized in that: The magnetic suspension variable stiffness component (3) comprises a support member (31), on which a bearing component, an inner magnetic ring (32) and an outer magnetic ring (33) are arranged in sequence from the inside to the outside. The bearing assembly and the support member (31) are clearance-fitted, the inner magnetic ring (32) is fixed on the bearing assembly, and the outer magnetic ring (33) is spaced apart from the inner magnetic ring (32).

5. The flexible magnetic suspension variable stiffness joint according to claim 4, characterized in that: A fixing cover (34) is also provided on the inner magnetic ring (32); the fixing cover (34) is in an interference fit with the inner magnetic ring (32) and in a clearance fit with the outer magnetic ring (33).

6. The flexible magnetic suspension variable stiffness joint according to claim 5, characterized in that: The pulley assembly comprises a fixed pulley group and a movable pulley group, the fixed pulley group is arranged on the support member (31), the movable pulley group is arranged on the fixed cover (34), and the fixed pulley group and the movable pulley group are both arranged radially.

7. The flexible magnetic suspension variable stiffness joint according to claim 1, characterized in that: The rotating arm (2) is rotatably fixed on the support (1) by means of a matching adapter plate (22) and a bearing.

8. The flexible magnetic suspension variable stiffness joint according to claim 1, characterized in that: The driving assembly (4) comprises a motor (41), a winch (42) being fixed on an output shaft of the motor (41), and the rope (5) is retracted and released via the winch (42); An encoder (43) is detachably fixed on the body of the motor (41), and the encoder (43) is electrically connected to the motor (41).

9. The flexible magnetic suspension variable stiffness joint according to any one of claims 1 to 8, characterized in that: A baffle (6) is also provided, and the baffle (6) is detachably fixed to the front side and / or the rear side of the support (1).

10. A robot system, characterized in that: A flexible magnetic levitation variable stiffness joint as described in any one of claims 1 to 9 is adopted.

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