High-performance joint module capable of achieving energy storage explosion and impact resistance

Abstract

The invention relates to a high-performance joint module capable of realizing energy storage explosion and impact resistance, which comprises a variable-stiffness joint module integrated on a traditional joint module, and the variable-stiffness joint module comprises a variable-stiffness module shell; a base, an inner-layer iron ring, an outer-layer iron ring, a coil, a magneto-rheological bearing set and a coil spring which are concentric with the variable-stiffness module shell are arranged in the variable-stiffness module shell. According to the technical scheme, according to the high-performance joint module provided by the invention, the traditional joint module and the variable-rigidity joint module are organically combined, so that the functions of instantaneous high-torque output, impact resistance and the like of the robot joint module are realized; therefore, the performance bottlenecks of a traditional joint module in the aspects of instantaneous high-torque output, heat management, a buffer mechanism and energy consumption are broken through.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a high-performance joint module capable of energy storage and bursting and impact resistance. Background Technology

[0002] With the rapid development of robotics technology, especially in the field of legged robots, the performance requirements for joint modules are increasing. Joint modules are the core components for robots to achieve complex movements and high-precision control, and their performance directly affects the robot's motion capabilities and stability.

[0003] Traditional joint modules typically consist of two core components: a motor and a reducer. However, with the increasing demands of applications, traditional joint modules are gradually showing some shortcomings in performance and functionality. For example, existing motor-driven quadruped mobile robots require instantaneous high torque output when crossing obstacles, and lack an effective cushioning mechanism when landing from a height, requiring the motor to output high torque briefly. This not only consumes a lot of energy but may also lead to motor overheating, burnout, and shortened lifespan, thus limiting their obstacle-crossing capabilities.

[0004] Traditional joint modules achieve structural compactness by integrating key components such as motors, reducers, encoders, and drivers into a single compact space. However, when delivering high instantaneous torque output, the sudden high load causes the motor to overheat rapidly, increasing the risk of motor damage. Furthermore, to provide high torque output, traditional joint modules continuously consume a large amount of electrical energy, increasing both system energy consumption and operating costs. In addition, traditional joint modules often lack effective buffering mechanisms when handling high impacts and high loads, which can easily lead to equipment damage and performance degradation, posing a challenge to the long-term reliability of the robot system. Summary of the Invention

[0005] The purpose of this invention is to provide a high-performance joint module that can achieve energy storage and burst and impact resistance. This module organically combines traditional joint modules and variable stiffness joint modules, and can realize instantaneous high torque output and impact resistance of robot joint modules, thus breaking through the performance bottleneck of traditional joint modules.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a variable stiffness joint module integrated into a traditional joint module, the variable stiffness joint module including a variable stiffness module shell, the variable stiffness module shell containing a base, an inner iron ring, an outer iron ring, a coil, a magnetorheological bearing assembly, and a coil spring arranged concentrically therewith, wherein: one end of the variable stiffness module shell is connected to an end cap, the inner side of the end cap is fixed with a motor control board, and the other end of the variable stiffness module shell is fixedly connected to the shell of the traditional joint module. The base is fixed to the rotor of the conventional joint module on the side away from the end cover. The inner iron ring is sleeved on the base and fixed to the base. A magnetorheological bearing assembly is provided between the inner iron ring and the outer iron ring to connect the two. The magnetorheological bearing assembly consists of a first magnetorheological bearing and a second magnetorheological bearing arranged in parallel. The coil is fixed on the inner iron ring and located between the first magnetorheological bearing and the second magnetorheological bearing. The inner end of the coil spring is fixed to the outer iron ring, and the outer end of the coil spring is fixed to the outer shell of the variable stiffness module.

[0007] The base is a hollow columnar body with a stepped structure, including a first column, a second column, and a third column with decreasing diameters. The first column is fixedly connected to the rotor, and the inner iron ring is fixed on the third column, with the outer diameter of the inner iron ring matching the outer diameter of the second column.

[0008] The inner ring of the magnetorheological bearing assembly is fixed to the outer wall of the inner iron ring, and the outer ring of the magnetorheological bearing assembly is fixed to the inner wall of the outer iron ring.

[0009] The beneficial effects of this invention are as follows: 1. This invention addresses the shortcomings of existing quadrupedal mobile exploration platforms in terms of obstacle-crossing ability, landing cushioning, and energy consumption by proposing a high-performance joint module that organically combines traditional joint modules and variable stiffness joint modules. This innovative design enables the robot to achieve stronger jumping and obstacle-crossing capabilities when facing complex terrain.

[0010] 2. The coil spring in this invention can effectively absorb and buffer impact energy when the robot lands from a height, significantly improving the protection capability of the equipment and enhancing the reliability and durability of the system.

[0011] 3. The rapid locking and unlocking function of the magnetorheological bearing assembly in this invention enables the joint module to maintain torque output for a long time with lower energy consumption, thereby reducing energy consumption and effectively improving the robot's endurance.

[0012] 4. The high-performance joint module of this invention features a compact design and high integration, which not only improves the robot's mobility and stability but also reduces energy consumption and operating costs, making it suitable for various complex application environments. This joint module not only demonstrates superior performance in quadrupedal mobile exploration robots but also, due to its flexibility and efficiency, can be widely applied to various robot types such as exoskeletons, bipedal robots, and humanoid robots, possessing broad application prospects and market potential. Especially in application scenarios requiring rapid response and high torque output, it provides a new solution for the development of robot technology, exhibiting significant practical value and market competitiveness. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 .

[0014] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 .

[0015] Figure 3 This is a cross-sectional schematic diagram of the variable stiffness module in this invention.

[0016] Figure 4 This is an exploded structural diagram of the variable stiffness module in this invention.

[0017] The labels in the above figures are as follows: conventional joint module 1, housing 11, rotor 12, variable stiffness joint module 2, variable stiffness module outer shell 21, base 22, inner iron ring 23, outer iron ring 24, coil 25, coil spring 26, end cap 27, motor control board 28, first magnetorheological bearing 29A, second magnetorheological bearing 29B, first internal hexagon socket head cap screw 3, flat head internal hexagon screw 4. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings: like Figure 1 , Figure 2 The diagram illustrates a high-performance joint module capable of energy storage and explosive release, as well as shock resistance. It includes a variable stiffness joint module 2 integrated onto a conventional joint module 1. The conventional joint module in this embodiment uses a Yushu GO-M8010-6 motor; its specific structure will not be detailed here but can be found in existing technology.

[0019] like Figure 3 , Figure 4 As shown, the variable stiffness joint module 2 includes a variable stiffness module housing 21. Inside the housing 21, there is a base 22, an inner iron ring 23, an outer iron ring 24, a coil 25, a magnetorheological bearing assembly, and a coil spring 26, all concentrically arranged with the housing. To facilitate viewing the internal structure, Figure 2 , Figure 3The conventional joint module 1 in the diagram only shows the housing 11 and the rotor 12; the rest of the structure is not shown.

[0020] Furthermore, one end of the variable stiffness module housing 21 is connected to an end cap 27, and a motor control board 28 is fixed on the inner side of the end cap 27. The other end of the variable stiffness module housing 21 is fixedly connected to the housing 11 of the conventional joint module 1. The end cap 27, the variable stiffness module housing 21 and the housing 11 of the conventional joint module 1 are connected and fixed by a first internal hexagonal head screw 3.

[0021] Furthermore, the side of the base 22 furthest from the end cap 27 is fixed to the rotor 12 of the conventional joint module 1 via flat-head hexagonal screws 4. An inner iron ring 23 is fitted onto and fixed to the base 22. A magnetorheological bearing assembly connects the inner iron ring 23 and the outer iron ring 24. The inner ring of the magnetorheological bearing assembly is fixed to the outer wall of the inner iron ring 23, and the outer ring is fixed to the inner wall of the outer iron ring 24. The inner end of the coil spring 26 is fixed to the outer iron ring 24, and the outer end of the coil spring 26 is fixed to the variable stiffness module housing 21. Hooks are provided at the ends of the inner and outer rings of the coil spring 26, and these hooks engage with slots on the outer iron ring 24 and the variable stiffness module housing 21 for fixation. The base 22 and the inner iron ring 23 are connected by an interference fit to form a whole. The inner iron ring 23 and the inner ring of the magnetorheological bearing assembly are fixed by a flat key connection to maintain synchronous rotation. The outer ring of the magnetorheological bearing assembly is fixed to the outer iron ring 24, and the outer iron ring is fixed to the inner ring of the coil spring 26 to maintain synchronous rotation. The outer ring of the coil spring 26 is fixed to the outer shell 21 of the variable stiffness module.

[0022] Furthermore, the coil 25 is fixed on the inner iron ring 23 and located between the first magnetorheological bearing 29A and the second magnetorheological bearing 29B, i.e., the coil 25 and the inner iron ring 23 are interference-fitted. The coil 23 is wired through the small holes in the base 22 and the inner iron ring 23, and finally exits through the hollow shaft of the conventional joint module 1 and is connected to an external power supply. The locking and unlocking of the magnetorheological bearing assembly is controlled by controlling the energization and de-energization of the coil 25, and the damping of the magnetorheological bearing assembly is controlled by controlling the magnitude of the power supply of the coil 25.

[0023] In this embodiment, the base 22 is a hollow columnar body with a stepped structure, including a first column, a second column and a third column with decreasing diameters in sequence. The first column is fixedly connected to the rotor 12, and the inner iron ring 23 is fixed on the third column, and the outer diameter of the inner iron ring 23 matches the outer diameter of the second column.

[0024] The magnetorheological bearing assembly in this embodiment consists of a first magnetorheological bearing 29A and a second magnetorheological bearing 29B arranged in parallel. The bearings are filled with a high-concentration magnetorheological fluid, a smart liquid material whose damping and shear modulus can be continuously controlled according to changes in the external magnetic field, exhibiting millisecond-level fast response and high power density. This smart material enables the magnetorheological bearing assembly to achieve rapid locking and unlocking under magnetic field control. In this embodiment, the base 22 is made of high-strength aluminum alloy, and the inner iron ring 23 is made of 45# steel.

[0025] The joint module of this invention has the ability to store and release energy, enabling instantaneous high torque output. Specifically, when coil 25 is energized, the inner and outer rings of the magnetorheological bearing assembly are locked. The rotor 12 of the conventional joint module 1 rotates forward, driving the base 22, inner iron ring 23, magnetorheological bearing assembly, and outer iron ring 24 to rotate synchronously. At this time, the inner ring of the coil spring 26 rotates, realizing energy storage in the coil spring 26. Then, the rotor 12 of the conventional joint module 1 rotates in reverse. Simultaneously, the rotor 12 and the coil spring 26 of the conventional joint module 1 rotate in reverse, achieving instantaneous high torque output.

[0026] The joint module of this invention has shock-absorbing capabilities, capable of absorbing large external load impacts and reducing and preventing damage to internal components caused by external impacts. Specifically, when the conventional joint module 1 is not in operation, the damping of the magnetorheological bearing assembly can be freely controlled by controlling the current flowing through the coil 25, thereby further controlling the torsional angle of the coil spring 26. At this time, the coil spring 26 and the magnetorheological bearing assembly can absorb the energy of the impact, achieving a large impact buffering mechanism and protecting internal components; moreover, the energy consumption is only the energization of the coil 25, effectively reducing energy consumption.

[0027] When the conventional joint module 1 maintains a constant torque output, the coil spring 26 can absorb the energy of a large impact when subjected to an impact load. Subsequently, the coil 25 is de-energized, and the energy of the coil spring 26 rotates together with the outer ring of the magnetorheological bearing assembly, releasing the energy and achieving impact buffering protection.

[0028] In summary, the high-performance joint module proposed in this invention achieves instantaneous high torque output and shock resistance by organically combining traditional joint modules and variable stiffness joint modules, thereby breaking through the performance bottlenecks of traditional joint modules in terms of instantaneous high torque output, thermal management, buffering mechanism and energy consumption.

[0029] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A high-performance joint module capable of energy storage and explosive release and shock resistance, characterized in that: The variable stiffness joint module (2) is integrated on the conventional joint module (1). The variable stiffness joint module (2) includes a variable stiffness module shell (21). The variable stiffness module shell (21) is provided with a base (22), an inner iron ring (23), an outer iron ring (24), a coil (25), a magnetorheological bearing assembly, and a coil spring (26) arranged concentrically therewith. One end of the variable stiffness module shell (21) is connected to an end cap (27). A motor control board (28) is fixed on the inner side of the end cap (27). The other end of the variable stiffness module shell (21) is fixed to the shell (11) of the conventional joint module (1). The side of the base (22) away from the end cap (27) The inner iron ring (23) is fixedly connected to the rotor (12) of the conventional joint module (1). The inner iron ring (23) is sleeved on the base (22) and fixedly connected to the base (22). A magnetorheological bearing assembly is provided between the inner iron ring (23) and the outer iron ring (24) to connect the two. The magnetorheological bearing assembly consists of a first magnetorheological bearing (29A) and a second magnetorheological bearing (29B) arranged in parallel. The coil (25) is fixed on the inner iron ring (23) and located between the first magnetorheological bearing (29A) and the second magnetorheological bearing (29B). The inner end of the coil spring (26) is fixedly connected to the outer iron ring (24), and the outer end of the coil spring (26) is fixedly connected to the outer shell (21) of the variable stiffness module.

2. The high-performance joint module capable of energy storage and explosive release and impact resistance according to claim 1, characterized in that: The base (22) is a hollow column with a stepped structure, including a first column (221), a second column (222) and a third column (223) with decreasing diameters in sequence. The first column (221) is fixedly connected to the rotor (12), and the inner iron ring (23) is fixed on the third column (223), and the outer diameter of the inner iron ring (23) matches the outer diameter of the second column (222).

3. The high-performance joint module capable of energy storage and explosive release and impact resistance according to claim 1, characterized in that: The inner ring of the magnetorheological bearing assembly is fixed to the outer wall of the inner iron ring (23), and the outer ring of the magnetorheological bearing assembly is fixed to the inner wall of the outer iron ring (24).

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