CN110454525A - Magneto-rheological grease brake for Robot elbow joint - Google Patents
Magneto-rheological grease brake for Robot elbow joint Download PDFInfo
- Publication number
- CN110454525A CN110454525A CN201910743185.8A CN201910743185A CN110454525A CN 110454525 A CN110454525 A CN 110454525A CN 201910743185 A CN201910743185 A CN 201910743185A CN 110454525 A CN110454525 A CN 110454525A
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- China
- Prior art keywords
- end cover
- rotor
- magneto
- shell
- rheological grease
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D57/00—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders
- F16D57/002—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders comprising a medium with electrically or magnetically controlled internal friction, e.g. electrorheological fluid, magnetic powder
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
Abstract
The invention discloses a kind of magneto-rheological grease brakes for Robot elbow joint, including the shell for tube-in-tube structure, it is embedded with rotor, and the both ends of rotor pass through bearing respectively and connect to form revolute pair with first end cover, second end cover, and rotor is connect by pin hole with external other component；First end cover, second end cover are connected with shell, and install magnetic partiting ring between first end cover, second end cover and shell；Shell, first end cover, second end cover constitute the stator of damper, fill magneto-rheological grease in the cavity between rotor and stator, and be respectively provided with sealing ring at the both ends of rotor between stator；One group of magnet exciting coil is wound in first end cover, in second end cover respectively, two groups of magnet exciting coils generate the magnetic field of opposite direction, and when magnet exciting coil is powered, rotor does cutting magnetic induction line movement.The present invention can efficiently use the outer surface of rotor in the case where not increasing rotor volume, increase the work area of rotor, and have the characteristics that compact-sized, component is simple, easy to process and assembly.
Description
Technical field
The invention belongs to robot power transmission device fields, and in particular to a kind of for the magnetorheological of Robot elbow joint
Rouge brake.
Background technique
Magneto-rheological grease is with its superior rheological property in multiple works such as vibration damping vibration suppression, machine driving, Precision Machining and sealing
Journey field has broad application prospects, wherein developing damper device using magneto-rheological grease is magneto-rheological grease application technical research
An important branch.
Currently, MR damper can be divided into linear MR damper by its working method and revolving type magnetic rheologic hinders
Buddhist nun's device.Linear MR damper research is more early, and structure design, the research of mechanical model are more mature.But some are answered
With occasion, such as healing robot, speed change and transmission system etc., it is desirable that damper is capable of providing the controllable damping force of continuous rotation
Square, therefore, the research of revolving type magnetic rheologic damper have important application value.
Revolving type magnetic rheologic damper is carried out by being filled in the controllable magneto-rheological grease of yield stress between shell and rotor
Work, and the work area of rotor is to influence one of the principal element of damper performance.Currently, revolving type magnetic rheologic damper is more
Using two end faces of rotor as working face, the damper of such structure usually has biggish radial dimension.There are some rotations
Formula MR damper is using the cylindrical surface of rotor as working face, although damping can be increased by increasing rotor axial and radial dimension
The output torque of device, but this kind of structure fails the end face using rotor.In order to obtain biggish damping torque, there is polydisc
Chip MR damper, such damper be equally using the end face of rotor as working face, when work multiple work discs
End face respectively with stator interact, to obtain larger damping torque, but this kind of structure is relatively complicated, and to machinery
Requirement on machining accuracy is relatively high.
Summary of the invention
The purpose of the present invention is to provide one kind in the case where not increasing rotor volume, can efficiently use the appearance of rotor
Face, increases the work area of rotor, and has the characteristics that compact-sized, component is simple, easy to process and assembly magnetorheological
Rouge brake.
The technical solution for realizing the aim of the invention is as follows: a kind of magneto-rheological grease brake for Robot elbow joint,
Including magnet exciting coil, magneto-rheological grease, first end cover, rotor, shell, magnetic partiting ring, second end cover；
The shell is tube-in-tube structure, is embedded with rotor, the both ends of rotor pass through bearing and first end cover, second respectively
End cap connects to form revolute pair, and rotor is connect by pin hole with external other component；First end cover, second end cover are solid with shell
Even, and magnetic partiting ring is installed between first end cover, second end cover and shell；Shell, first end cover, second end cover constitute brake
Stator, the interior filling magneto-rheological grease of cavity between rotor and stator, and sealing ring is respectively provided at the both ends of rotor between stator；
One group of magnet exciting coil is wound in first end cover, in second end cover respectively, two groups of magnet exciting coils generate the magnetic field of opposite direction, are powered
When, rotor does cutting magnetic induction line movement.
Compared with prior art, the present invention its remarkable advantage are as follows: 1), can be effectively sharp in the case where not increasing rotor volume
With the outer surface of rotor, increase the work area of rotor；2) whole device is compact-sized, and component is simple, easy to process and assembly；
3) device can be according to the size of rotor torque, by changing the size of current for flowing through magnet exciting coil come the damping of regulating brake
Power provides the controllable damping torque of continuous rotation.
The present invention is described in more detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is schematic diagram of internal structure of the present invention for the magneto-rheological grease brake of Robot elbow joint.
Fig. 2 is the present invention for magneto-rheological grease yield stress and magnetic induction in the magneto-rheological grease brake of Robot elbow joint
The relational graph of intensity.
Fig. 3 is the present invention for magneto-rheological grease B-H performance plot in the magneto-rheological grease brake of Robot elbow joint.
Specific embodiment
In conjunction with Fig. 1, the present invention is used for the magneto-rheological grease brake of Robot elbow joint, including magnet exciting coil 1, magneto-rheological grease
2, first end cover 3, rotor 4, shell 5, magnetic partiting ring 6, second end cover 11；
Shell 5 is tube-in-tube structure, is embedded with rotor 4, and the both ends of rotor 4 pass through bearing 9 and first end cover 3, the respectively
The connection of two end caps 11 forms revolute pair, and rotor 4 is connect by pin hole with external other component；First end cover 3, second end cover 11 are equal
It is connected with shell 5, and magnetic partiting ring 6 is installed between first end cover 3, second end cover 11 and shell 5；Shell 5, first end cover 3, second
End cap 11 constitutes the stator of brake, fills magneto-rheological grease 2 in cavity between rotor 4 and stator, and at the both ends of rotor 4 with
Sealing ring 8 is respectively provided between stator；One group of magnet exciting coil 1, two groups of excitations are wound respectively in first end cover 3, in second end cover 11
Coil 1 generates the magnetic field 12 of opposite direction, and when magnet exciting coil 1 is powered, rotor does cutting magnetic induction line movement.Magneto-rheological grease 2 is in magnetic
Be magnetized under 12 effects (magnetization rule is as shown in Figure 3), so magneto-rheological grease 12 generate certain shear yield stress (stress with
The relation curve in magnetic field is as shown in Figure 2).
Further, the surface on rotor 4 filled with magneto-rheological grease 2 is used as working face.
It is further preferred that first end cover 3, shell 5, second end cover 11 are high using magnetic conductivity, coercivity is low, demagnetization performance
Good DT4E type electromagnetic pure iron.
Illustratively, first end cover 3, second end cover 11 are connected by screw 7 and shell 5.
It is further preferred that magneto-rheological grease 2 is used using No. 0 lubricating oil as matrix, and soft magnetic particles mass fraction is
70% magneto-rheological grease.
When magnet exciting coil 1 is powered, magnetic circuit 12 is generated in rotor 4, stator and the gap between them, thus magnetorheological
2 surrounding of rouge generates magnetic field, and 2 moment of magneto-rheological grease is magnetized, make magneto-rheological grease 2 by original Newtonian fluid be changed into high viscosity,
The Bingham fluid of low-flow, while the shearing for hindering rotor 4 to rotate is generated on the cylindrical surface of rotor 4 and two end faces
Torque.The size of current for passing through magnet exciting coil 1 is adjusted, so that cutting torsion caused by magneto-rheological grease 2 is enough that rotor is overcome to turn round
When square, rotor 4 stops operating.
Embodiment 1
The present invention is used for the magneto-rheological grease brake of Robot elbow joint, including magnet exciting coil 1, magneto-rheological grease 2, first end
Lid 3, rotor 4, shell 5, magnetic partiting ring 6, second end cover 11；
Shell 5 is tube-in-tube structure, is embedded with rotor 4, and the both ends of rotor 4 pass through bearing 9 and first end cover 3, the respectively
The connection of two end caps 11 forms revolute pair, and rotor 4 is connect by pin hole with external other component；First end cover 3, second end cover 11 are equal
It is connected with shell 5, and magnetic partiting ring 6 is installed between first end cover 3, second end cover 11 and shell 5；Shell 5, first end cover 3, second
End cap 11 constitutes the stator of damper, fills magneto-rheological grease 2 in cavity between rotor 4 and stator, and at the both ends of rotor 4 with
Sealing ring 8 is respectively provided between stator；One group of magnet exciting coil 1, two groups of excitations are wound respectively in first end cover 3, in second end cover 11
Coil 1 generates the magnetic field 12 of opposite direction, and when magnet exciting coil 1 is powered, rotor does cutting magnetic induction line movement.
Embodiment 2
On the basis of embodiment 1, the surface on rotor 4 filled with magneto-rheological grease 2 is used as working face.
Embodiment 3
On the basis of any one above-mentioned embodiment, first end cover 3, shell 5, second end cover 11 be high using magnetic conductivity,
The DT4E type electromagnetic pure iron that coercivity is low, demagnetization performance is good.
Embodiment 4
On the basis of any one above-mentioned embodiment, magneto-rheological grease 2 is used using No. 0 lubricating oil as matrix, and soft magnetism
Property granular mass score be 70% magneto-rheological grease.
The present invention can efficiently use the outer surface of rotor in the case where not increasing rotor volume, increase the work of rotor
Area, and have the characteristics that compact-sized, component is simple, easy to process and assembly.In addition, the present invention is according to rotor torque
Size flows through the size of current of magnet exciting coil by change to adjust the damping force of damper, provides the controllable resistance of continuous rotation
Buddhist nun's torque.
Claims (5)
1. a kind of magneto-rheological grease brake for Robot elbow joint, which is characterized in that including magnet exciting coil (1), magnetorheological
Rouge (2), first end cover (3), rotor (4), shell (5), magnetic partiting ring (6), second end cover (11)；
The shell (5) is tube-in-tube structure, is embedded with rotor (4), the both ends of rotor (4) pass through bearing (9) and first respectively
End cap (3), second end cover (11) connection form revolute pair, and rotor (4) is connect by pin hole with external other component；First end cover
(3), second end cover (11) with shell (5) be connected, and between first end cover (3), second end cover (11) and shell (5) install every
Magnetosphere (6)；Shell (5), first end cover (3), second end cover (11) constitute the stator of brake, between rotor (4) and stator
Magneto-rheological grease (2) are filled in cavity, and are respectively provided with sealing ring (8) at the both ends of rotor (4) between stator；First end cover (3)
One group of magnet exciting coil (1) is wound in interior, second end cover (11) respectively, two groups of magnet exciting coils (1) generate the magnetic field of opposite direction
(12), when magnet exciting coil (1) is powered, rotor does cutting magnetic induction line movement.
2. the magneto-rheological grease brake according to claim 1 for Robot elbow joint, which is characterized in that the rotor
(4) surface on filled with magneto-rheological grease (2) is used as working face.
3. the magneto-rheological grease brake according to claim 1 for Robot elbow joint, which is characterized in that described first
End cap (3), shell (5), second end cover (11) use DT4E type electromagnetic pure iron.
4. the magneto-rheological grease brake according to claim 1 for Robot elbow joint, which is characterized in that described first
End cap (3), second end cover (11) are connected by screw (7) and shell (5).
5. the magneto-rheological grease brake according to claim 1 for Robot elbow joint, which is characterized in that the magnetic current
Become rouge (2) to use using No. 0 lubricating oil as matrix, and the magneto-rheological grease that soft magnetic particles mass fraction is 70%.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910743185.8A CN110454525A (en) | 2019-08-12 | 2019-08-12 | Magneto-rheological grease brake for Robot elbow joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910743185.8A CN110454525A (en) | 2019-08-12 | 2019-08-12 | Magneto-rheological grease brake for Robot elbow joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110454525A true CN110454525A (en) | 2019-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910743185.8A Pending CN110454525A (en) | 2019-08-12 | 2019-08-12 | Magneto-rheological grease brake for Robot elbow joint |
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| Country | Link |
|---|---|
| CN (1) | CN110454525A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842547A (en) * | 1996-07-02 | 1998-12-01 | Lord Corporation | Controllable brake |
| CN102658553A (en) * | 2012-05-14 | 2012-09-12 | 重庆绿色智能技术研究院 | Robot and robot arm vibration control and accurate positioning mechanism |
| CN102979847A (en) * | 2012-12-03 | 2013-03-20 | 河北工业大学 | Rotary type magneto-rheological damper |
| CN104389942A (en) * | 2014-10-01 | 2015-03-04 | 浙江师范大学 | Three-working surface rotary type damper based on magnetorheological fluid |
| CN104779774A (en) * | 2015-04-19 | 2015-07-15 | 孙美娜 | Magnetic liquid micro torque difference buffering device |
-
2019
- 2019-08-12 CN CN201910743185.8A patent/CN110454525A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5842547A (en) * | 1996-07-02 | 1998-12-01 | Lord Corporation | Controllable brake |
| CN102658553A (en) * | 2012-05-14 | 2012-09-12 | 重庆绿色智能技术研究院 | Robot and robot arm vibration control and accurate positioning mechanism |
| CN102979847A (en) * | 2012-12-03 | 2013-03-20 | 河北工业大学 | Rotary type magneto-rheological damper |
| CN104389942A (en) * | 2014-10-01 | 2015-03-04 | 浙江师范大学 | Three-working surface rotary type damper based on magnetorheological fluid |
| CN104779774A (en) * | 2015-04-19 | 2015-07-15 | 孙美娜 | Magnetic liquid micro torque difference buffering device |
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Application publication date: 20191115 |