Magneto-rheological compliant controller for robot joints

A robot joint and magneto-rheological technology, applied in the field of robotics, can solve the problems of not being able to have rigidity and passive flexibility at the same time

Active Publication Date: 2017-01-04
新宝机器人科技(南通)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing robot joints that cannot simultaneously have rigidity, passive flexibility, and active flexibility, the present invention provides a magneto-rheological compliance of an adaptive robot joint that has rigidity, passive flexibility, and active flexibility that are rigidly driven and compliant. controller

Method used

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  • Magneto-rheological compliant controller for robot joints
  • Magneto-rheological compliant controller for robot joints
  • Magneto-rheological compliant controller for robot joints

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Embodiment Construction

[0012] The present invention will be further described below in conjunction with the accompanying drawings.

[0013] refer to Figure 1 ~ Figure 3 , a magneto-rheological compliance controller for robot joints, a sealed cavity 3, a first gear 4, a second gear 5 and an electromagnetic coil 6, the sealed cavity 3 is filled with magnetorheological fluid 7, the sealed cavity The body 1 is provided with a first gear 4 and a second gear 5, the first gear 4 and the second gear 5 mesh, the first gear shaft 8 of the first gear 4, the second gear shaft 9 of the second gear 5 They all protrude from the sealed cavity respectively, and the electromagnetic coil 6 used to change the magnetic field strength in the sealed cavity is installed on the side of the sealed cavity 3, and the first gear shaft 8 or the second gear shaft 9 is used to drive The driving mechanism that the first gear or the second gear rotates is connected.

[0014] Further, the first gear shaft 8 is fixedly installed on...

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PUM

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Abstract

The invention provides a magneto-rheological smooth controller for a robot joint. The magneto-rheological smooth controller for the robot joint comprises a closed cavity, a first gear, a second gear and an electromagnetic coil; magneto-rheological liquid fills in the closed cavity; the first gear and the second gear are arranged in the closed cavity, wherein the first gear engages with the second gear; a first gear shaft of the first gear and a second gear of the second gear both extend out from the closed cavity; the electromagnetic coil for changing the magnetic field intensity in the closed cavity is mounted at the side edge of the closed cavity; the first gear shaft or the second gear shaft is connected with a driving mechanism which drives the first gear or the second gear to rotate. The magneto-rheological smooth controller for the robot joint integrates rigid, passive smooth, active smooth and rigid driving and smooth controlling, and is self-adaptive to the robot joint.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot joint. Background technique [0002] At present, the driving principles of the rotary joints of the robot mainly include two types. One type is driven by a motor and transmitted through gears, ropes, pulleys, etc. This type of joint has good rigidity and passive flexibility, but does not have active flexibility; the other type is driven by fluid, and this type of joint has good active flexibility. Flexible, but not rigid enough. However, when a robot, especially a robot dexterous hand, needs to maintain sufficient gripping force according to the different grasping and gripping objects, and adjust the gripping force in real time as needed; on the other hand, it needs to have Better active flexibility to ensure its intrinsic safety, but also to ensure the safety and comfort of the object being grasped and held. This requires that the robot's humanoid dexterous hand needs to have th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00B25J17/00
Inventor 蔡世波李昆钱振鲍官军胥芳杨庆华张立彬
Owner 新宝机器人科技(南通)有限公司
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