Anthropomorphic wear-free joint system of multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendon

Abstract

The invention discloses an anthropomorphic joint system of multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendons and a control method, and belongs to the technical field of bionic robots, intelligent mechanical joints and electromagnetic control. The technical problems that an existing robot joint is serious in mechanical abrasion, stiff in movement, poor in stability, low in bionic degree, rough in force control effect and the like are solved. The system comprises a multi-dimensional magnetic suspension normal-state stable supporting module, a telescopic bionic muscle tendon module, a multi-unit vector electromagnetic cooperative driving module, an electromagnetic polarity smooth switching and bidirectional driving module and a bionic self-learning gradual change type force control module. Non-contact and wear-free operation of the joints is achieved through multi-dimensional magnetic suspension, anthropomorphic movement is achieved through telescopic bionic muscle tendons, and precise and flexible control is achieved through vector electromagnetism and gradual change force control. The invention has the advantages of zero wear, long service life, multidimensional stability, high humanoid degree, soft force control, simple structure and the like, and is suitable for the fields of humanoid robots, medical rehabilitation robots, intelligent prostheses, humanoid interaction equipment and the like.

Description

[0001] This invention relates to the fields of bionic robots, intelligent mechanical joints, and electromagnetic control technology, specifically to an anthropomorphic wear-free joint system and control method that features multi-dimensional magnetic levitation support, stretchable bionic muscle and tendon drive, multi-unit vector electromagnetic coordination, and bionic self-learning gradual force control. Background Technology

[0002] Currently, robot joints generally adopt mechanical transmission structures such as motors, reducers, gears, lead screws, and bearings, which have the following technical defects in practical use: 1. Mechanical contact transmission suffers from severe wear. Long-term operation of components such as bearings and gears can easily lead to problems such as decreased precision, shortened lifespan, increased noise, and frequent maintenance, making it difficult to meet the requirements for long-term, high-reliability use.

[0003] 2. The movement is stiff. Traditional drive methods are mainly rigid transmission, which cannot simulate the smooth characteristics of human muscle contraction and relaxation. The movements are stiff and lack anthropomorphic expressiveness.

[0004] 3. Existing magnetic levitation joints are mostly levitated along a single axis and lack multi-dimensional stable support structures such as lateral and oblique directions. They are prone to displacement, swaying or even instability when subjected to load, impact or attitude changes.

[0005] 4. Conventional flexible tendons only serve as passive limiting components and cannot achieve active extension and contraction, dynamic tension and relaxation, and force control adjustment. They do not possess the biomimetic driving function of human muscles.

[0006] 5. Force control methods are mostly step-type switch control, lacking smooth gradual adjustment and self-learning ability, making it difficult to achieve delicate movements such as gentle grasping and impact-free operation.

[0007] To address the above problems, this invention provides an integrated joint system with a novel structure, wear-free operation, anthropomorphic motion, and compliant adaptive control.

[0008] Purpose of the invention: The purpose of this invention is to overcome the shortcomings of existing robot joint technologies, such as mechanical wear, stiff movement, poor stability, low biomimicry, and coarse force control. It provides a humanoid, wear-free joint system with multi-dimensional magnetic levitation and electromagnetic gradual force control, and stretchable biomimetic muscles and tendons. This system achieves non-contact, zero-wear, and long-life operation, while possessing highly humanoid motion patterns, multi-dimensional stable support, and adaptive gradual force control capabilities, thus improving the safety, compliance, and lifespan of robot joints. Summary of the Invention

[0009] A multi-dimensional magnetic levitation and electromagnetic gradual force control, stretchable bionic muscle and tendon anthropomorphic wear-free joint system includes a multi-dimensional magnetic levitation normal stable support module, a stretchable bionic muscle and tendon module, a multi-unit vector electromagnetic cooperative drive module, an electromagnetic polarity smooth switching and bidirectional drive module, and a bionic self-learning gradual force control module.

[0010] 1. Multi-dimensional magnetic levitation normal-state stability support module: Core structure: The internal cavity of the joint is provided with an upper movable bone (1) and a lower movable bone (4), and multiple sets of force polarity controllable electromagnets (3) are distributed along the axial, lateral and oblique directions; at the same time, a high-strength traction limiting and stabilizing rib (2) is set to connect the upper movable bone (1) and the lower movable bone (4) to limit the joint movement displacement boundary; a zero-contact low-wear joint cavity (5) is formed between the upper movable bone (1) and the lower movable bone (4).

[0011] Working principle: When the joint is powered on, each group of electromagnets (3) with controllable polarity continuously outputs electromagnetic repulsion with controllable polarity, forming a multi-dimensional suspension support, so that the upper movable bone (1) and the lower movable bone (4) maintain a non-contact gap in the zero-contact low-wear joint cavity (5); the greater the load, the stronger the repulsion adaptively, and always maintain a frictionless state; when the power is cut off, the electromagnetic support disappears, and the upper movable bone (1) and the lower movable bone (4) are loosely connected by the traction limit stabilizing high-strength ligament (2).

[0012] 2. Stretchable bionic muscle and tendon module: Core structure: This module includes a semi-rigid push-pull cable (6), a moving electromagnet (7), a fixed electromagnet (8), a force anchor point (9), and a traction stabilization cavity (10). The semi-rigid push-pull cable (6) is integrated with the flexible tendon. The semi-rigid push-pull cable (6) is inserted into the traction stabilization cavity (10), and its two ends are connected to the moving electromagnet (7) and the force anchor point (9) respectively. The fixed electromagnet (8) is fixed at the corresponding position on the inner side of the joint.

[0013] Working principle: When the moving electromagnet (7) and the fixed electromagnet (8) are of opposite polarity, they attract each other, pulling the semi-rigid push-pull cable (6) to contract, and the flexible tendon tightens synchronously, realizing joint bending, grasping and force exertion; when the moving electromagnet (7) and the fixed electromagnet (8) switch to the same polarity, they generate repulsion, pushing the semi-rigid push-pull cable (6) to extend, and the flexible tendon stretches synchronously, realizing joint extension and repositioning; the traction limiting stabilizing high-strength tendon (2) cooperates to limit the range of motion of the joint.

[0014] 3. Multi-unit vector electromagnetic cooperative drive module: Core structure: Multiple sets of independently controllable miniature electromagnets are arranged in a ring around the outer periphery of the joint to form a vector drive array.

[0015] Working principle: Based on the joint movement requirements, the electromagnets in different directions are powered in zones, times and levels to synthesize the required vector force and realize joint turning, lifting, balance and gait adjustment.

[0016] 4. Electromagnetic polarity smooth switching and bidirectional drive module: Core structure: It adopts a single electromagnetic unit to integrate the polarity switching control circuit.

[0017] Working principle: By smoothly changing the polarity of the electromagnet, the contraction and extension of the stretchable bionic muscle and tendon module can be bidirectionally driven.

[0018] 5. Bionic self-learning gradual force control module: Core structure: Built-in force feedback sensor, data storage unit and self-learning algorithm unit.

[0019] Working principle: It operates in a closed loop of "trial and error - feedback - calibration - memory" to achieve gradual force control throughout the entire process of grasping, holding, placing and releasing, with gentle and impact-free movements. Beneficial effects

[0020] Compared with the prior art, the present invention has the following advantages: 1. Long lifespan: Utilizing multi-dimensional magnetic levitation non-contact support, there is no mechanical friction or component wear inside the joint, enabling long-term stable operation, significantly extending service life and reducing maintenance costs.

[0021] 2. Multidimensional and global stability and reliability: Multiple sets of electromagnets work together in the axial, lateral and oblique directions, combined with high-strength ribs for tension and limiting stability, so that the joints do not deviate, shake or become unstable under load, impact or posture changes.

[0022] 3. Highly anthropomorphic movement: The stretchable bionic muscles and tendons can actively contract and relax, simulating the tension and relaxation characteristics of human muscles, resulting in smooth and natural movements that are closer to the movement state of human limbs.

[0023] 4. Gradual force control, gentle and safe: Through smooth switching of electromagnetic polarity and self-learning algorithm, it realizes gradual force control throughout the entire process of grasping, holding, placing and releasing, and can complete the impact-free operation of fragile and soft objects.

[0024] 5. Simple structure and direct drive: It reduces the traditional transmission structure such as reducers, gears, and lead screws, and adopts electromagnetic direct drive, which is small in size, light in weight, fast in response and low in noise.

[0025] 6. High versatility and wide application: It can be used in many fields such as humanoid robot joints, medical rehabilitation robots, intelligent prostheses, service robots, and humanoid interactive devices. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the anthropomorphic, wear-free joint system of multi-dimensional magnetic levitation and electromagnetic gradual force control, stretchable biomimetic muscles and tendons, as described in this invention. The markings in the diagram are: 1. Upper movable bone; 2. Traction limiting and stabilizing high-strength tendon; 3. Force polarity controllable electromagnet; 4. Lower movable bone; 5. Zero-contact, low-wear joint cavity; 6. Semi-rigid push-pull cable; 7. Moving electromagnet; 8. Fixed electromagnet; 9. Force anchor point; 10. Traction stabilizing movable cavity. Detailed Implementation The present invention will now be described in further detail with reference to the accompanying drawings.

[0027] Example 1: Humanoid Robot Knee Joint System This embodiment uses the anthropomorphic joint system described in this invention, applied to the knee joint of a humanoid robot.

[0028] Structural assembly: Multiple sets of force polarity controllable electromagnets (3) are arranged axially, laterally, and obliquely inside the knee joint, corresponding to the upper movable bone (1) and the lower movable bone (4), forming a zero-contact, low-wear joint cavity (5) between them; the upper and lower bones are connected by traction limiting and stabilizing high-strength tendons (2) to limit the range of motion; multiple sets of stretchable bionic muscle and tendon modules are arranged inside and outside the joint, consisting of semi-rigid push-pull cables (6), moving electromagnets (7), fixed electromagnets (8), force anchoring points (9), and traction stabilizing movable cavities (10); multiple sets of independent micro electromagnets are arranged in a ring around the outer periphery of the joint to form a multi-unit vector electromagnetic collaborative drive module; the whole system is connected to a bionic self-learning gradual force control module.

[0029] Working process: 1. Standing stable When the joint is energized, the multi-dimensional magnetic levitation normal stability support module works, and the electromagnet generates electromagnetic repulsion, so that the upper movable bone (1) and the lower movable bone (4) remain in a non-contact levitation state, achieving zero friction support; the traction limit stabilizing high-strength rib (2) limits the joint displacement boundary, and the peripheral vector electromagnets work together to output a balancing force, ensuring that the standing is stable and does not shake.

[0030] 2. Walking drive The biomimetic self-learning gradual force control module controls the peripheral vector electromagnets to supply power in stages and times according to gait instructions, and synthesizes the vector force required for walking; at the same time, it controls the polarity switching of the electromagnets in the stretchable biomimetic muscle and tendon module to realize the contraction and extension of the semi-rigid push-pull cable (6), which drives the knee joint to bend and extend, simulating the human walking gait; the force feedback sensor collects data in real time, and the system automatically adjusts the driving intensity to ensure that the movement is smooth, stable and impact-free.

[0031] 3. Braking and Reset When movement stops, the vector electromagnetic drive is gradually de-energized, and the electromagnetic force slowly weakens; the stretchable bionic muscle and tendon module switches polarity to achieve smooth reset; finally, the magnetic levitation support is de-energized, and the joint returns to a natural and relaxed state.

[0032] This embodiment achieves wear-free, highly human-like, long-life, and highly stable operation of the knee joint, and can be widely applied to the lower limb joint system of humanoid robots.

Claims

1. A multi-dimensional magnetic levitation and electromagnetic gradual force control, stretchable biomimetic muscle and tendon anthropomorphic joint system, characterized in that, It includes a multi-dimensional magnetic levitation normal stability support module, a stretchable bionic muscle and tendon module, a multi-unit vector electromagnetic collaborative drive module, an electromagnetic polarity smooth switching and bidirectional drive module, and a bionic self-learning gradual force control module. The multi-dimensional magnetic levitation normal stability support module has multiple sets of force polarity controllable electromagnets (3) distributed along the axial, lateral and oblique directions inside the joint to support the upper movable bone (1) and the lower movable bone (4) of the joint, and sets traction limiting and stabilizing high-strength ribs (2) to limit the joint movement displacement boundary, so that the upper movable bone (1) and the lower movable bone (4) maintain a non-contact suspension gap in the working state. The retractable bionic muscle and tendon module adopts a composite structure of semi-rigid push-pull cable (6) and flexible tendon, and is combined with moving electromagnet (7), fixed electromagnet (8), force anchor point (9) and traction stabilizing active cavity (10) to realize contraction, extension and dynamic tension and relaxation; The multi-unit vector electromagnetic cooperative drive module has multiple sets of independent micro electromagnets arranged in a ring around the outer periphery of the joint. It synthesizes target vector force according to motion requirements to realize joint steering, lifting, balance and gait adjustment. The electromagnetic polarity smooth switching and bidirectional drive module achieves bidirectional gradual drive of the stretchable bionic muscle and tendon module through the polarity switching of the electromagnetic unit. The biomimetic self-learning gradual force control module incorporates a force feedback sensor, a data storage unit, and a self-learning algorithm unit to achieve smooth gradual change and adaptive adjustment of force output.

2. The anthropomorphic joint system according to claim 1, characterized in that, When the joint is powered on, the multi-dimensional magnetic levitation normal stability support module continuously outputs electromagnetic repulsion force with controllable polarity of each force-polarity electromagnet (3) to form a levitation support, so that the upper movable bone (1) and the lower movable bone (4) maintain a non-contact gap.

3. The anthropomorphic joint system according to claim 1, characterized in that, In the stretchable bionic muscle and tendon module, when the moving electromagnet (7) and the fixed electromagnet (8) are of opposite polarity, they attract each other, pulling the semi-rigid push-pull cable (6) to contract, and the flexible tendon tightens synchronously, realizing joint bending and force exertion; when the moving electromagnet (7) and the fixed electromagnet (8) are of the same polarity, they repel each other, pushing the semi-rigid push-pull cable (6) to extend, and the flexible tendon stretches synchronously, realizing joint straightening and repositioning.

4. The anthropomorphic joint system according to claim 1, characterized in that, The multi-unit vector electromagnetic cooperative drive module supplies power to electromagnets in different orientations in a zoned, time-divided, and graded manner, synthesizing target vector forces that directly act on the joint movable bones and the stretchable bionic muscle and tendon modules.

5. The anthropomorphic wear-free joint system according to claim 1, characterized in that, The electromagnetic polarity smooth switching and bidirectional drive module achieves bidirectional drive of the bionic muscle tendons through polarity smooth switching.

6. The anthropomorphic wear-free joint system according to claim 1, characterized in that, The control process of the biomimetic self-learning gradual force control module includes: gentle contact during the grasping stage, constant tension during the holding stage, stable and impact-free placement stage, and contactless release during the release stage.

7. A control method applied to the system according to any one of claims 1-6, characterized in that, Includes the following steps: When the joint is activated, the multi-dimensional magnetic levitation normal stability support module is powered on, forming a non-contact levitation support; Based on motion requirements, the multi-unit vector electromagnetic cooperative drive module outputs corresponding vector force; The stretchable bionic muscle and tendon module can contract, extend, or dynamically relax under the control of smooth switching of electromagnetic polarity and bidirectional drive module. The biomimetic self-learning gradual force control module adjusts the drive parameters in real time based on force feedback to achieve compliant motion control; When the magnetic levitation support module is powered off, the joints return to their natural, relaxed state.

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