Flexible Magnetic Levitation Variable Stiffness Joint, Robot System

Abstract

The present invention relates to a flexible magnetic levitation variable stiffness joint and a robot system. The 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 part, and a driving component is arranged in the lower part; there are two magnetic levitation variable stiffness components, which are symmetrically arranged on both sides of the middle part 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 driving 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 driving components drive the magnetic levitation variable stiffness components to rotate, thereby driving the rotating arm to move. The present invention realizes stiffness adjustment through magnetic field coupling, the magnetic field change takes effect instantaneously, the measured response time is short, and the flexibility is high. It can accurately control the movement angle and speed of the rotating arm, and realize the diversified movement of the joint.

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, there are still 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 a new 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 phenomena such as the change of permanent magnet material properties with working conditions, edge effects, and magnetic leakage. As a result, there is a deviation between the model and the actual magnetic field, 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, making it 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 part, and a drive component is arranged in the lower part; there are two magnetic levitation variable stiffness components, symmetrically arranged on both sides of the middle part 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 drive components drive the magnetic levitation variable stiffness components to rotate, 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 the inside to the 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 through a way of cooperating with a bearing through an adapter plate.

[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 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:

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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

[0020] 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.

[0021] Figure 1 An exploded view of a flexible magnetic suspension variable stiffness joint provided in one embodiment;

[0022] Figure 2 is an axonometric view of a support provided in one embodiment;

[0023] Figure 3 An exploded view of a rotating arm provided in one embodiment;

[0024] Figure 4 An exploded view of a magnetic suspension variable stiffness assembly provided in one embodiment;

[0025] Figure 5 A schematic diagram of the magnetic directions of an inner magnetic ring and an outer magnetic ring provided in an embodiment;

[0026] Figure 6 An exploded view of a drive assembly provided in one embodiment;

[0027] Figure 7 The front view of the flexible magnetic levitation variable stiffness joint provided in an embodiment;

[0028] Figure 8 is Figure 7 The schematic diagram of the A-A section shown in;

[0029] Figure 9 The combined drawing of the flexible magnetic levitation variable stiffness joint provided in an embodiment;

[0030] Figure 10 The schematic diagram of the working principle of the cable drive provided in an embodiment; wherein, Figure 10 (a) is the schematic diagram of the movement, Figure 10 (b) is the schematic diagram of the calculation principle.

[0031] Explanation of the reference numerals:

[0032] 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;

[0033] Rotating arm 2, rotating shaft 201, mounting seat 202, first fixed pulley 21, adapter plate 22, embedding shaft 221, connecting portion 222, limiting portion 223, first bearing 23;

[0034] 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;

[0035] Drive assembly 4, motor 41, winch 42, encoder 43;

[0036] Rope 5, baffle 6, pulley fixing shaft 7.

[0037] The realization of the object, functional characteristics and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to 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 creative efforts shall fall within the protection scope of the present invention.

[0039] 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, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0040] 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, the 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.

[0041] 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 internal connection of two components or the interaction relationship between two components, unless otherwise clearly defined. 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.

[0042] 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 ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0043] Hereinafter, the embodiments of the present invention will be described in detail in conjunction with the accompanying drawings in the embodiments of the present invention.

[0044] Embodiment 1

[0045] 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 part of the support 1, and a pulley component is arranged at one end thereof 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.

[0046] AsFigure 2 As shown in the figure, 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.

[0047] Specifically, as the main body of the entire joint, the support 1 needs to ensure sufficient stiffness. Therefore, the left side plate 11, the right side plate 12 and the bottom plate 13 can be integrally formed, or can be 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.

[0048] First mounting portions 14 are respectively provided on the upper parts of the left side plate 11 and the right side plate 12 for mounting the rotating arm 2; second mounting portions 15 are respectively provided in the middle parts for mounting two magnetically levitated variable stiffness components 3. A flange mounting portion is provided on the bottom plate 13 for mounting a flange 16, and the other components of the flexible magnetically levitated variable stiffness joint provided in this embodiment are connected through the flange 16; a third mounting portion 18 is also provided, which is mainly used for mounting an encoder 43. Further, a baffle 6 is provided, and 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 not affected by 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 add 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. Threaded connection is preferably used in this embodiment. In addition, the detachable connection method that appears later in this embodiment has the same meaning and will not be elaborated again.

[0049] 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 transfer the output torque and working state of the variable stiffness joint to the next joint.

[0050] Specifically, the first mounting portion 14 is in the form of a groove, and its size is preferably such that it can accommodate the first bearing 23. Then, the first bearing 23 is embedded in the first mounting portion 14. The first bearing 23 and the first mounting portion 14 are fixedly connected, and the fixed connection methods include but are not limited to interference fit, key connection, adapter sleeve connection, dowel pin connection, adhesive connection, etc., which can be adaptively selected according to the situation. In this embodiment, interference fit is preferably used. Additionally, the fixed connection methods that appear subsequently in this embodiment have the same meaning and will not be elaborated further. Further, as shown in this embodiment, a through hole can be opened at the bottom of the groove, and the diameter of the through hole is smaller than the diameter of the first bearing 23. When the first bearing 23 is installed in the first mounting portion 14, it can limit the first bearing 23 so that the first bearing 23 will not slide out from the through hole.

[0051] At both ends of the rotating arm 2, adapter plates 22 are detachably fixed. The adapter plate 22 includes an insertion shaft 221 and a connection portion 222. At the junction of the insertion shaft 221 and the connection portion 222, a protruding limiting portion 223 is provided. When the insertion 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 opened on the connection portion 222, and a plurality of mounting holes are also opened at both ends of the rotating arm 2. Align the mounting holes at both ends of the rotating arm 2 with the mounting holes on the connection portion 222 of the left and right adapter plates 22 respectively, and then install the rotating arm 2 on the adapter plate 22 by a detachable connection method.

[0052] On the connection portion 222, a pulley fixed shaft 7 is further provided on the side facing the first bearing 23, and the pulley fixed shaft 7 is used to install the first fixed pulley 21.

[0053] 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 adapter plate 22 is precisely machined to ensure the connection accuracy with the first bearing 23 and the rope 5, thereby improving the movement efficiency and stability of the joint. The connection method of the two sides of the rotating arm 2 through the adapter plate 22 and the first bearing 23 ensures the smoothness and low friction of the rotational movement.

[0054] 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 sequentially arranged 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.

[0055] Specifically, the support member 31 includes an installation ring 311, first installation columns 312 radially arranged on both sides of the installation ring 311, and a second installation column 313 arranged at the center of the installation ring 311. At the bottom of the installation ring 311, a connecting member 314 is radially arranged, and the installation ring 311, the first installation columns 312 and the second installation column 313 are connected into a whole through the connecting member 314. It should be noted that the shape and size of the second installation part 15 are adapted to the support member 31, and the support member 31 is installed in the second installation part 15 by a fixed connection method.

[0056] 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 installation column 313, then the bearing fixing ring 392 is aligned and fixed, and then the second second bearing 391 is continuously sleeved on the second installation column 313. The two second bearings 391, the bearing fixing ring 392 and the second installation column 313 are all in clearance fit, so that the two second bearings 391 and the bearing fixing ring 392 can rotate after being stressed.

[0057] 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.

[0058] The installation ring 311 is of a ring structure, and a groove is opened 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.

[0059] 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 arranged. The cross-sectional shape of the fixing groove is adapted to the cross-sectional shape of the inner magnetic ring 32, and the diameter is slightly smaller than the diameter 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 it is in clearance fit with the outer magnetic ring 33.

[0060] 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.

[0061] 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. A pulley fixing shaft 7 is arranged at the upper end of the first mounting post 312, and the second fixed pulley 37 and the third fixed pulley 38 are respectively mounted on the pulley fixing shafts 7 of the two first mounting posts 312. Two pulley fixing shafts 7 are arranged radially on the fixed cover 34, and the first movable pulley 35 and the second movable pulley 36 are respectively mounted on the two pulley fixing 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, the outer magnetic ring 33 is fixed, and the misalignment of the magnetic poles of the two magnetic rings can achieve the variable stiffness effect. 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 achieved.

[0062] 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 in a detachable connection manner. 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 real-time feedback the position information of the motor 41 to ensure the movement accuracy of the rotating arm 2. Preferably, the motor 41 adopts 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, and the encoder 43 can be mounted on the third mounting portion 18 in a detachable connection manner or a fixed connection manner according to the situation.

[0063] 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 levitation variable stiffness assembly 3.

[0064] 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 on 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.

[0065] 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:

[0066] ;

[0067] ;

[0068] Therefore, the distance between the centers of the fixed pulley and the movable pulley is:

[0069] ;

[0070] Therefore, the length of the line on the two pulleys is:

[0071] ;

[0072] 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.

[0073] During operation, first combine all components. 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 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.

[0074] 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 robots, automation, rehabilitation medicine, etc., and has important practical value and market potential.

[0075] Embodiment 2

[0076] 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 damage during human-robot interaction, having high safety, and being friendly for human-robot interaction.

[0077] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise 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 to be within the scope described in this specification.

[0078] 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 levitation variable stiffness joint, characterized in that, Comprising: A support (1), with a rotating arm (2) provided at the upper part of the support (1), a magnetic levitation variable stiffness component (3) provided in the middle, and a driving component (4) provided at the lower part; There are two of the magnetic levitation variable stiffness components (3), symmetrically arranged on both sides of the middle of the support (1), and a pulley assembly is provided at one end thereof facing the rotating arm (2); first fixed pulleys (21) are respectively provided at both ends of the rotating arm (2); There are two of the driving components (4), which are respectively connected to both ends of the rotating arm (2) through a rope (5) passing through the pulley assembly and the first fixed pulley (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; The magnetic levitation variable stiffness component (3) includes a support member (31), on which a bearing assembly, an inner magnetic ring (32) and an outer magnetic ring (33) are sequentially arranged 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).

2. The flexible magnetic levitation variable stiffness joint according to claim 1, wherein The support (1) 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, are symmetrically arranged at both ends of the bottom plate (13), and a first installation part (14) is provided at the upper part thereof for installing the rotating arm (2); a second installation part (15) is provided in the middle for installing the magnetic levitation variable stiffness component (3).

3. The flexible magnetic levitation variable stiffness joint according to claim 2, wherein A flange plate (16) is provided on the bottom plate (13), and is connected to other components through the flange plate (16).

4. The flexible magnetic levitation variable stiffness joint according to claim 1, wherein A fixing cover (34) is further provided on the inner magnetic ring (32); the fixing cover (34) is in interference fit with the inner magnetic ring (32) and in clearance fit with the outer magnetic ring (33).

5. The flexible magnetic levitation variable stiffness joint according to claim 4, wherein The pulley assembly includes a fixed pulley group and a movable pulley group, the fixed pulley group is provided on the support member (31), the movable pulley group is provided on the fixing cover (34), and both the fixed pulley group and the movable pulley group are arranged radially.

6. The flexible magnetic levitation variable stiffness joint according to claim 1, wherein The rotating arm (2) is rotatably fixed on the support (1) by means of a connection with a bearing through an adapter plate (22).

7. The flexible magnetic levitation variable stiffness joint according to claim 1, characterized in that, The driving component (4) includes a motor (41), a winch (42) is fixed on the output shaft of the motor (41), and the rope (5) is wound and unwound through 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).

8. The flexible magnetic levitation variable stiffness joint according to any one of claims 1 to 7, characterized in that A baffle (6) is further provided, and the baffle (6) is detachably fixed on the front side and / or the rear side of the support (1).

9. A robot system, characterized in that, Adopt the flexible magnetic levitation variable stiffness joint according to any one of claims 1 to 8.

Images