Eureka AIR delivers breakthrough ideas for toughest innovation challenges, trusted by R&D personnel around the world.

A permanent magnet variable stiffness flexible joint for robots

A flexible joint and variable stiffness technology, applied in the field of flexible robots, can solve problems such as low safety and poor environmental adaptability, and achieve the effects of simple manufacturing, simple operation, and simple movement form.

Active Publication Date: 2020-07-24
NORTHEASTERN UNIV LIAONING
View PDF1 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems existing in the prior art, the present invention provides a permanent magnet variable stiffness flexible joint assembly for robots, which can simulate joints with nonlinear variable stiffness muscle characteristics, and can effectively improve the safety of traditional robots with low human-computer interaction and poor environmental adaptability Shortcomings;

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A permanent magnet variable stiffness flexible joint for robots
  • A permanent magnet variable stiffness flexible joint for robots
  • A permanent magnet variable stiffness flexible joint for robots

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. In this way, how to apply technical means to solve technical problems in the present invention, and achieve the technical process of achieving the effect can be fully understood and implemented accordingly. It should be noted that, as long as there is no conflict, each embodiment of the present invention and each embodiment Each feature can be combined with each other, and the formed technical solutions are all within the protection scope of the present invention.

[0020] combine figure 1 , figure 2 and image 3 To illustrate this embodiment, a permanent magnet variable stiffness flexible joint for a robot includes: an operating arm 1, a rope A2, a wire pulley A3, a permanent magnet variable stiffness module A4, a rope winch A5, a servo motor 6, a boom fixing frame 7, a harmonic Wave reducer 8, boom 9, encoder 10, wire pulley B11, ...

Embodiment 2

[0030] like Figure 4 As shown, it is a schematic diagram of a two-degree-of-freedom parallel variable-stiffness robot joint mechanism of the present invention, and two permanent-magnet variable-stiffness modules are symmetrically arranged in each rotational degree of freedom direction. The rotation axis of each operating arm is perpendicular to the direction of the rope pulling force of the rotation direction, thus ensuring the stiffness independence of the two rotation directions. All permanent magnet variable stiffness modules are placed behind, which reduces the mass and inertia of the operating arm.

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention belongs to the technical field of flexible robots, and provides a permanent magnet variable-stiffness flexible joint for a robot, wherein the permanent magnet variable-stiffness flexiblejoint is capable of simulating nolinear variable-stiffness muscle features of a bionic joint. A permanent magnet variable-stiffness mechanism is adopted as a stiffness adjusting component, a rope isused as force and motion transmission component, the stiffness changes along with change of air gaps between permanent magnets, by means of actions of a motor, a rope winch and a guide pulley, force and position decoupling of ropes at the two sides of a manipulator, so that only joint rotating angle instead of joint stiffness is changed, and namely the joint position is adjusted under the equal-stiffness condition; the effect of just changing joint stiffness instead of the joint position can be achieved, and work under corresponding stiffness condition is achieved according to different working conditions. The permanent magnet variable-stiffness flexible joint for the robot is concise in motion form, convenient to manufacture and easy to operate.

Description

technical field [0001] The invention belongs to the technical field of flexible robots, in particular to a permanent magnet variable stiffness flexible joint for robots, which is used to construct antagonistic flexible variable stiffness robots, and is especially suitable for the construction of bionic robot joints. Background technique [0002] The flexible variable stiffness robot is a kind of flexible robot with adjustable stiffness which is different from the traditional rigid robot. The self-adjustable stiffness can greatly improve human-machine safety and environmental adaptability, and has become an important direction for the future development of robots. [0003] From the perspective of sports biomechanics, muscles are the source of dynamics of the human motion system, and they maintain or complete actions through muscle scaling. There are two scaling forms of skeletal muscles. During the scaling process, the muscle tension does not change, and the length changes, c...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J19/06
Inventor 房立金张明
Owner NORTHEASTERN UNIV LIAONING
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Eureka Blog
Learn More
PatSnap group products