CN104493836A - Robot joint structure based on magnetorheological fluid clutch - Google Patents
Robot joint structure based on magnetorheological fluid clutch Download PDFInfo
- Publication number
- CN104493836A CN104493836A CN201510005481.XA CN201510005481A CN104493836A CN 104493836 A CN104493836 A CN 104493836A CN 201510005481 A CN201510005481 A CN 201510005481A CN 104493836 A CN104493836 A CN 104493836A
- Authority
- CN
- China
- Prior art keywords
- clutch
- joint structure
- robot joint
- magnetic
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Soft Magnetic Materials (AREA)
Abstract
The invention provides a robot joint structure based on a magnetorheological fluid clutch. The robot joint structure comprises a shell, a servo motor driver, a motor encoder, a disk servo motor, a harmonic reducer, the magnetorheological fluid clutch and a tail end output shaft are sequentially connected inside the shell from right to left, an output end of the disk servo motor is connected with the harmonic reducer through a first coupling, and the harmonic reducer is connected with the tail end output shaft through a second coupling. Low exciting current can be used for controlling high transmitted power, automatic control is easily realized, stability of the engaging and separating process can be ensured, and the robot joint structure has the advantages of transmission stability and balance, simple and compact structure, simplicity and convenience in operation, low energy consumption and long service life.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of robot joint structure based on clutch with magnetic rheologic liquid.
Background technology
In recent years, along with the development of Robotics, robot application field is increasingly extensive, joint designs as the core component determining robot performance is particularly important, joint clutch traditional at present has mechanical type, fluid pressure type, pneumatic type, electromagnetic type etc., but mechanical clutch exists short, the shortcoming such as noise is large, inertia is large, control is inconvenient in service life, and it is large that hydraulic clutch exists rotary inertia, the shortcomings such as oil-feed is complicated, there is the larger shortcoming of wearing and tearing in electromagnetic clutch.
Summary of the invention
For the deficiencies in the prior art, the technical problem to be solved in the present invention is: provide that a kind of structure is simple, compact, easy and simple to handle, energy consumption is low, the life-span is long, be easy to realize automatic control and can ensure to engage and the robot joint structure of separation process stationarity.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of robot joint structure based on clutch with magnetic rheologic liquid, comprise shell, described enclosure is connected with motor servo driver, motor encoder, disc type servomotor, harmonic speed reducer, clutch with magnetic rheologic liquid, end output shaft from right to left successively; Described disc type servomotor output is connected by the first shaft coupling with harmonic speed reducer, and described harmonic speed reducer is connected by the second shaft coupling with end output shaft.
Described clutch with magnetic rheologic liquid comprises the inner core fixed with power shaft, inner core is connected with driving shaft, urceolus is connected with driven shaft, and inner core steel disc and urceolus steel disc are that multiple-piece is interspersed, and magnetic flow liquid is filled between inner core steel disc and urceolus steel disc as driving medium.
Described motor servo driver utilizes speed ring adjusting joint speed by motor encoder feedback, and utilizes current loop control motor output current, thus controls the magnetic field intensity of clutch with magnetic rheologic liquid inside.
The invention has the beneficial effects as follows: compared with prior art, owing to adopting technique scheme, by the clutch with magnetic rheologic liquid in robot joint structure, rely on magnetic flow liquid as driving medium, magnetic rheology effect can be produced under the effect of externally-applied magnetic field, by changing applied field strengths, change with the viscosity and yield stress that make magnetic flow liquid, thus realize the stepless change of torque or rotating speed, available less exciting current controls larger transmitted power, be easy to realize automatic control, the stationarity of joint and separation process can be ensured.The present invention has stable drive, equilibrium, structure is simple, compact, easy and simple to handle, energy consumption is low, the advantage of long service life.
Accompanying drawing explanation
Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the schematic diagram of the robot joint structure that the present invention is based on clutch with magnetic rheologic liquid;
Fig. 2 is the axial section of the robot joint structure that the present invention is based on clutch with magnetic rheologic liquid;
In figure:
| 1, motor servo driver | 2, motor encoder | 3, disc type servomotor |
| 4, the first shaft coupling | 5, harmonic speed reducer | 6, the first shaft coupling |
| 7, clutch with magnetic rheologic liquid | 8, end output shaft | 9, shell |
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof:
As shown in Figure 1 to Figure 2, a kind of robot joint structure based on clutch with magnetic rheologic liquid of the present invention, comprise shell 9, described shell 9 inside is connected with motor servo driver 1, motor encoder 2, disc type servomotor 3, harmonic speed reducer 5, clutch with magnetic rheologic liquid 7 and end output shaft 8 from right to left successively; The output of described disc type servomotor 3 is connected by the first shaft coupling 4 with harmonic speed reducer 5, and described harmonic speed reducer 5 is connected by the second shaft coupling 6 with end output shaft 8.
The inner core steel disc of described clutch with magnetic rheologic liquid 7 and urceolus steel disc are that multiple-piece is interspersed, and magnetic flow liquid is filled between inner core steel disc and urceolus steel disc as driving medium.
Described motor servo driver 1 utilizes speed ring adjusting joint speed by motor encoder 2 feedback, and utilizes current loop control motor output current, thus controls the magnetic field intensity of clutch with magnetic rheologic liquid 7 inside.
The course of work of the present invention is: servo-driver 1 accepts Pulse Width Control disc type servomotor 3 and rotates, disc type servomotor 3 passes through the first shaft coupling 4 by power transmission to harmonic speed reducer 5, power is passed to clutch with magnetic rheologic liquid 7 by the second shaft coupling 6 by harmonic speed reducer 5 again, the operation principle of clutch with magnetic rheologic liquid 7 is: when solenoid no current, magnetic flow liquid is Newton fluid, the torque of now being transmitted by the viscosity of fluid is very little, and the suspended particles of loose sand formula in fluid can not hinder relatively rotating between driving link and driven member, clutch with magnetic rheologic liquid 7 and end output shaft 8 are in released state, power transmission stops, after solenoid passes into electric current, suspended particles in magnetic flow liquid produce magnetization under magnetic fields, to attract each other formation chain along magnetic direction, this chain structure increases the shear stress of magnetic flow liquid, this shear stress is relied on to carry out transmitting torque, thus the inner core steel disc of clutch with magnetic rheologic liquid 7 and urceolus steel disc are joined together, clutch with magnetic rheologic liquid 7 and end output shaft 8 are in engagement state, and power will be passed to output from link, when after coil again power-off, magnetic flow liquid changes rapidly Newton fluid into again, and clutch with magnetic rheologic liquid 7 and end output shaft 8 are thrown off.
Although invention has been described by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.
Claims (2)
1. the robot joint structure based on clutch with magnetic rheologic liquid, it is characterized in that, comprise shell, described enclosure is connected with motor servo driver, motor encoder, disc type servomotor, harmonic speed reducer, clutch with magnetic rheologic liquid, end output shaft from right to left successively; Described disc type servomotor output is connected by the first shaft coupling with harmonic speed reducer, and described harmonic speed reducer is connected by the second shaft coupling with end output shaft.
2. the robot joint structure based on clutch with magnetic rheologic liquid according to claim 1, it is characterized in that, the inner core steel disc of described clutch with magnetic rheologic liquid and urceolus steel disc are that multiple-piece is interspersed, and magnetic flow liquid is filled between inner core steel disc and urceolus steel disc as driving medium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005481.XA CN104493836A (en) | 2015-01-07 | 2015-01-07 | Robot joint structure based on magnetorheological fluid clutch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510005481.XA CN104493836A (en) | 2015-01-07 | 2015-01-07 | Robot joint structure based on magnetorheological fluid clutch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104493836A true CN104493836A (en) | 2015-04-08 |
Family
ID=52935336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510005481.XA Pending CN104493836A (en) | 2015-01-07 | 2015-01-07 | Robot joint structure based on magnetorheological fluid clutch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104493836A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN108527435A (en) * | 2018-03-26 | 2018-09-14 | 哈尔滨工业大学深圳研究生院 | A kind of continuous controllable submissive joint of variation rigidity robot based on magnetorheological fluid |
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| WO2019076146A1 (en) * | 2017-10-20 | 2019-04-25 | 广东奥马迪机器人有限公司 | Joint mechanism, method for controlling same, multi-arm device, and robot |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1563966A1 (en) * | 2004-02-13 | 2005-08-17 | Fanuc Ltd | Joint structure with splined motor shaft for industrial robot |
| CN1928381A (en) * | 2006-09-29 | 2007-03-14 | 石家庄铁道学院 | Magnetic rheopectic solution fan clutch |
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102157417A (en) * | 2011-03-16 | 2011-08-17 | 哈尔滨工业大学 | Silicon slice transmission robot |
| CN102628762A (en) * | 2012-04-18 | 2012-08-08 | 哈尔滨工业大学 | Hanging rammer type lunar soil section simulated preparation device |
| CN103161846A (en) * | 2013-03-27 | 2013-06-19 | 徐州五洋科技股份有限公司 | Laminated type high-power magneto-rheological fluid clutch |
| CN103434911A (en) * | 2013-09-16 | 2013-12-11 | 福州大学 | Elevator dragging clutch brake system and method and device based on magneto-rheological effect |
-
2015
- 2015-01-07 CN CN201510005481.XA patent/CN104493836A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1563966A1 (en) * | 2004-02-13 | 2005-08-17 | Fanuc Ltd | Joint structure with splined motor shaft for industrial robot |
| CN1928381A (en) * | 2006-09-29 | 2007-03-14 | 石家庄铁道学院 | Magnetic rheopectic solution fan clutch |
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101587016A (en) * | 2009-07-07 | 2009-11-25 | 西安交通大学 | Dynamic performance comprehensive detection system of harmonic speed reducer |
| CN102157417A (en) * | 2011-03-16 | 2011-08-17 | 哈尔滨工业大学 | Silicon slice transmission robot |
| CN102628762A (en) * | 2012-04-18 | 2012-08-08 | 哈尔滨工业大学 | Hanging rammer type lunar soil section simulated preparation device |
| CN103161846A (en) * | 2013-03-27 | 2013-06-19 | 徐州五洋科技股份有限公司 | Laminated type high-power magneto-rheological fluid clutch |
| CN103434911A (en) * | 2013-09-16 | 2013-12-11 | 福州大学 | Elevator dragging clutch brake system and method and device based on magneto-rheological effect |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| WO2019076146A1 (en) * | 2017-10-20 | 2019-04-25 | 广东奥马迪机器人有限公司 | Joint mechanism, method for controlling same, multi-arm device, and robot |
| CN107571255B (en) * | 2017-10-20 | 2019-11-05 | 杭州电子科技大学 | A kind of submissive driver of the controllable damping for joint of robot |
| US11254016B2 (en) | 2017-10-20 | 2022-02-22 | Guangdong O-Matic Intelligent Robot Limited | Joint mechanism, method for controlling the same, multi-arm device, and robot |
| CN108527435A (en) * | 2018-03-26 | 2018-09-14 | 哈尔滨工业大学深圳研究生院 | A kind of continuous controllable submissive joint of variation rigidity robot based on magnetorheological fluid |
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| CN110454526A (en) * | 2019-08-21 | 2019-11-15 | 东北大学 | Magnetic current changing brake device and magnetorheological braking system based on wearable ectoskeleton |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104493836A (en) | Robot joint structure based on magnetorheological fluid clutch | |
| CN202560878U (en) | Ball type magnetorheological coupling | |
| CN103326538B (en) | Permanent magnet intelligent speed-regulating energy-saving device | |
| CN101814820B (en) | Permanent-magnetic drive speed adjustor | |
| CN103953667B (en) | Efficiently magnetic current changing brake device | |
| CN101907138B (en) | Power consumption-free permanent magnet-excited magnetorheological clutch | |
| CN208719183U (en) | A kind of magnetic rheological clutch with snakelike fluid course using double magnetic fields | |
| CN201412460Y (en) | Drive device based on magnetorheological fluid | |
| CN102829101B (en) | Magnetic powder clutch applying permanent magnet material | |
| CN106499747A (en) | The magnetorheological shaft coupling of close-coupled Cycloidal Wheel | |
| CN106884898B (en) | A kind of squash type torque magnetic rheological clutch | |
| CN202625690U (en) | Magneto rheological clutch electric | |
| CN203836032U (en) | High-efficient magneto-rheological braking device | |
| CN105090280B (en) | Can mechanical locking magnetic powder cluth | |
| CN104565276A (en) | Planet-gear-type static pressure coupling transmission mechanism | |
| CN208619552U (en) | A kind of novel magnetic rheological clutch with annular gap | |
| CN205479006U (en) | It becomes shaft coupling to mix bellows type magnetic current | |
| CN101592195B (en) | Transmission device based on magneto-rheological fluid | |
| CN105715699A (en) | Coupler | |
| CN204852081U (en) | Magnetic particle clutch that can mechanical locking | |
| JP2013542384A5 (en) | ||
| CN103161845B (en) | Magneto-rheological clutch transmission device | |
| CN105179623A (en) | Antagonistic type magnetorheological fluid coupler | |
| CN103307242B (en) | A kind of magnetorheological step-less moment variator | |
| CN105429426A (en) | Concentrating magnetic coupler |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150408 |