Intelligent robot joint based on magnetorheological fluid

Abstract

The invention relates to an intelligent robot joint based on magnetorheological fluid; the robot joint comprises a driving shaft and a driven shaft, one end of the driving shaft is located in a mechanical big arm, the other end of the driving shaft extends out of the mechanical big arm, one end of the driven shaft is located in the mechanical big arm, the other end of the driven shaft is located in a small mechanical arm and used for driving the small mechanical arm to act, the driving shaft and the driven shaft are connected through meshing mechanisms, and a gap is formed between the meshing mechanisms; a first closed cavity is formed in the outer layer of the connecting position of the driving shaft and the driven shaft, the first closed cavity is filled with first magnetorheological fluid, and a first magnet exciting coil used for controlling the first magnetorheological fluid is further arranged in the first closed cavity. The joint stiffness is adaptively controlled, and the robot can be quickly braked to prevent further damage.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a robot intelligent joint based on magneto-rheological fluid. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. [0003] At present, industrial robots are widely used in 3C, automobile and motorcycle, aerospace and other fields. With the deepening of applications, there are higher requirements for robot performance; mainly including precision performance and safety performance; at present, robots can achieve high repeatability accuracy. However, there is still a lot of room for improv...

AI Technical Summary

Problems solved by technology

[0003] At present, industrial robots are widely used in 3C, automobile and motorcycle, aerospace and other fields. With the deepening of applications, there are higher requirements for robot performance; mainly including precision performance and safety performance; at present, robots can achieve high repeatability accuracy. However, there is still a lot of room for improvement in trajectory accuracy, end jitter, and noise. At the same time, with more and more human-computer interactions, the requirements for robot safety attributes are higher. However, at present, industrial robots rarely have the function of realizing human-computer interaction. At the same time, the technical level of workers is limited, which leads to many safety accidents, especially the joint joints of the mechanical arm are mostly in hard contact, and they cannot brake in time when they collide with the machine, which limits the application and promotion of robots.

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