CN110978045A - Magnetic force joint rigidity-variable actuator - Google Patents
Magnetic force joint rigidity-variable actuator Download PDFInfo
- Publication number
- CN110978045A CN110978045A CN201911321906.2A CN201911321906A CN110978045A CN 110978045 A CN110978045 A CN 110978045A CN 201911321906 A CN201911321906 A CN 201911321906A CN 110978045 A CN110978045 A CN 110978045A
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- ring
- permanent magnet
- electromagnet
- stiffness
- magnetic force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robot joints, and particularly relates to a magnetic force joint variable stiffness actuator. The rotary rigidity adjusting device comprises a shell, a rotary shaft arranged in the shell, a rotor part, a stator part and a rotary rigidity adjusting part, wherein the stator part comprises an electromagnet ring which is sleeved on the rotary shaft and is fixedly connected with the shell; the rotor part comprises a permanent magnet ring, and the permanent magnet ring is sleeved on the rotating shaft and is fixedly connected with the rotating shaft; the electromagnet ring and the permanent magnet ring repel each other through magnetism, so that torque for blocking rotation is generated between the rotor part and the stator part; the rotary rigidity adjusting part and the permanent magnet ring are connected with an external power supply, so that a closed loop is formed; the rotational rigidity adjusting portion is provided between the rotor portion and the housing. The variable-rigidity magnetic force generator realizes variable rigidity through magnetic force, does not need a rigidity motor, and has a simple structure; the strength of the magnetic field of the electromagnet is changed by changing the access resistance and the access voltage, so that the active and passive rigidity changing is realized.
Description
Technical Field
The invention belongs to the technical field of robot joints, and particularly relates to a magnetic force joint variable stiffness actuator.
Background
Robots are increasingly used in a variety of applications, and it is highly desirable to ensure that human-to-robot contact is safe. There is an important direction of research, namely the flexibility of the robot. Researchers have therefore proposed replacing the traditional rigid joints with compliant joints to protect personnel from injury. However, a fully compliant joint is difficult to adapt to complex and heavy work due to its too low stiffness. In recent years, therefore, the concept of a variable stiffness joint has received much attention, which can maintain a large stiffness in operation by storing and releasing energy in passive elements, while reducing its own stiffness upon accidental contact with a person. A greater degree of human-machine co-fusion can be achieved in fields such as conventional industrial robots, rehabilitation robots, nursing companion robots, and the like. The variable stiffness principle of the existing variable stiffness joint mainly adopts antagonism, lever and variable curved surface modes, innovation is lacked on the variable stiffness principle, and the problems of overlarge occupied space of a stiffness motor, complex structure and the like of most of the variable stiffness joints
Disclosure of Invention
Aiming at the problems, the invention aims to provide a variable-stiffness actuator of a magnetic joint, so as to solve the problems of overlarge occupied space of a stiffness motor, complex structure and the like existing in most of the existing variable-stiffness joints.
In order to achieve the purpose, the invention adopts the following technical scheme:
a magnetic articulation stiffness actuator comprising: the rotary shaft, the rotor part, the stator part and the rotary rigidity adjusting part are arranged in the shell;
the stator part comprises an electromagnet ring which is sleeved on the rotating shaft and is fixedly connected with the shell;
the rotor part comprises a permanent magnet ring, and the permanent magnet ring is sleeved on the rotating shaft and is fixedly connected with the rotating shaft;
the electromagnet ring and the permanent magnet ring repel each other through magnetism, so that torque for blocking rotation is generated between the rotor part and the stator part;
the rotary rigidity adjusting part and the permanent magnet circular ring are connected with an external power supply, so that a closed loop is formed; the rotating rigidity adjusting part is arranged between the rotor part and the shell, and the rotating rigidity adjusting part can change the resistance of the circuit accessed by the rotating rigidity adjusting part through the rotation of the rotor part, so that the magnetic field intensity of the circular ring of the electromagnet is changed, and further the active rigidity changing is realized.
The electromagnet ring is formed by welding an electromagnet semi-ring and an aluminum alloy semi-ring.
And boss structures are arranged on two sides of the aluminum alloy semi-ring and are connected with the shell through fastening screws.
The number of the permanent magnet rings is two, and the two permanent magnet rings are respectively arranged on two sides of the electromagnet ring.
The distance between the electromagnet circular ring and the permanent magnet circular rings on the two sides is 1 mm.
The permanent magnet ring is formed by welding a permanent magnet semi-ring and an aluminum alloy semi-ring.
The N pole of one side of the circular ring of the electromagnet corresponds to the N pole of a permanent magnet circular ring on the same side; and the S pole of the other side of the electromagnet ring corresponds to the S pole of the other permanent magnet ring on the same side.
The rotating rigidity adjusting part comprises a connector, graphite balls and an arc rheostat, wherein the arc rheostat is arranged on the inner wall of the shell, the graphite balls are arranged on the connector and are in sliding connection with the arc rheostat, and the connector is in contact with the permanent magnet circular ring.
The arc rheostat is provided with an arc groove body, the graphite balls are connected with the arc groove body in a sliding mode, and the arc rheostat changes the resistance of the access circuit through the sliding of the graphite balls in the arc groove body.
The closed loop is connected with a voltage transformation device, and the voltage transformation device is used for adjusting the connected voltage, so that the magnetic field intensity of the electromagnet ring is changed, and the passive rigidity changing is realized.
The invention has the advantages and beneficial effects that: the invention realizes rigidity change through magnetic force, does not need a rigidity motor and has simple structure. The electromagnet ring and the permanent magnet ring are used as variable stiffness units, and the strength of the electromagnet magnetic field is changed through the change of the access resistance and the change of the access voltage, so that active and passive variable stiffness is realized. And a position motor is not needed any more, so that the space is saved.
Drawings
FIG. 1 is a schematic structural diagram of a variable-stiffness actuator of a magnetic joint according to the present invention;
FIG. 2 is a partial cross-sectional view of the present invention;
FIG. 3 is an isometric view of the invention with the outer housing portion removed;
FIG. 4 is an external structural view of the present invention;
FIG. 5 is a schematic diagram of an external circuit according to the present invention.
In the figure: 1. the permanent magnet type variable-voltage generator comprises a permanent magnet circular ring, 2 a permanent magnet circular ring fixing ring, 3 a shaft upper retainer ring, 4 an electromagnet circular ring, 5 fastening screws, 6 bearings I, 7 a rotating shaft, 8 a shell, 9 bearings II, 10 a flat key, 11 a connector, 12 a graphite ball, 13 an arc-shaped rheostat and 14 an external variable-voltage device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, the present invention provides a magnetic force articulation stiffness actuator, comprising: the rotary rigidity adjusting device comprises a shell 8, a rotary shaft 7 arranged in the shell 8, a rotor part, a stator part and a rotary rigidity adjusting part, wherein the stator part comprises an electromagnet ring 4, and the electromagnet ring 4 is sleeved on the rotary shaft 7 and is fixedly connected with the shell 8; the rotor part comprises a permanent magnet ring 1, and the permanent magnet ring 1 is sleeved on the rotating shaft 7 and is fixedly connected with the rotating shaft 7; the electromagnet ring 4 and the permanent magnet ring 1 repel each other through magnetism, so that torque for blocking rotation is generated between the rotor part and the stator part; the rotating rigidity adjusting part and the permanent magnet ring 1 are connected with an external power supply, so that a closed loop is formed; the rotating rigidity adjusting part is arranged between the rotor part and the shell 8, and the resistance of the rotating rigidity adjusting part connected to a circuit can be changed through the rotation of the rotor part, so that the magnetic field intensity of the electromagnet ring 4 is changed, and further the active rigidity changing is realized.
As shown in fig. 1, the electromagnet ring 1 is formed by welding an electromagnet half ring and an aluminum alloy half ring with the same diameter and the same thickness, boss structures used for being connected with the shell 8 are arranged on two sides of the aluminum alloy half ring, threaded holes are formed in the boss structures, and the shell 8 is connected with the threaded holes in the boss structures through fastening screws 5.
As shown in fig. 2, the rotor portion includes two permanent magnet rings 1 respectively disposed at both sides of the stator portion, and the permanent magnet rings 1 are connected to the rotating shaft 7 by flat keys 10.
Specifically, permanent magnet ring 1 is fixed at axis of rotation 7 through permanent magnet ring retainer plate 2, and axis of rotation 7 contacts with shell 8 through bearing I6, and bearing II 9 leans on the shaft shoulder on axis of rotation 7 and epaxial retainer ring 3 to realize the location.
The permanent magnet ring 1 is formed by welding permanent magnet semi-rings with the same diameter and the same thickness with aluminum alloy semi-rings. The distance between the electromagnet ring 4 and the permanent magnet rings 1 on the two sides is 1 mm. The N pole on one side of the electromagnet ring 4 corresponds to the N pole of a permanent magnet ring 1 on the same side; the S pole of the other side of the electromagnet ring 4 corresponds to the S pole of the other permanent magnet ring 1 on the same side. Before external load is applied, the S pole and the S pole, and the N pole are partially overlapped and staggered between the electromagnet ring 4 and the permanent magnet rings 1 on the two sides; when the permanent magnet ring 1 rotates under an external load, the permanent magnet ring 1 rotates relative to the electromagnet ring 4, so that the S pole and the S pole are partially overlapped, and the N pole are partially overlapped, and the repulsive force generated when the S pole and the N pole are overlapped becomes the resistance of rotation, thereby generating the anti-rotation rigidity.
As shown in fig. 2 and 3, the rotational stiffness adjusting part comprises a connector 11, graphite balls 12 and arc varistors 13, wherein the arc varistors 13 are arranged on the inner wall of the shell 8, the graphite balls 12 are arranged on the connector 11 and are in sliding connection with the arc varistors 13, and the connector 11 is in contact with the permanent magnet ring 1. The graphite ball 12 is similar to a sliding sheet contacting with a slide rheostat, and the connector 11 ensures that the graphite ball 12 does not fall off when sliding in the groove body of the arc rheostat 13.
The arc rheostat 13 is provided with an arc groove body, the graphite balls 12 are connected with the arc groove body in a sliding mode, and the resistance of the access circuit is changed through the sliding of the graphite balls 12 in the arc groove body. When the magnetic force joint variable-stiffness actuator rotates under the action of external load, the permanent magnet ring 1 drives the connector 11 and the graphite balls 12 to slide in the groove body of the arc rheostat 13, so that the access resistance is changed, the magnetic field intensity of the electromagnet is further changed, and the stiffness of the variable-stiffness joint actuator is changed at the moment, namely the stiffness is actively changed.
As shown in fig. 5, a voltage transformation device is connected to the closed circuit, and the voltage transformation device adjusts the connected voltage, so as to change the magnetic field strength of the electromagnet ring 4, thereby realizing passive stiffness transformation.
According to the variable-stiffness actuator for the magnetic joint, when an external transformer is used for active adjustment, the input voltage is changed, the magnetic field intensity of an electromagnet is changed, and the stiffness of the variable-stiffness actuator is changed at the moment, namely the stiffness is passively changed.
The working principle of the invention is as follows:
the distance between the left surface (S pole) of the electromagnet ring 4 and the right surface (S pole) of the permanent magnet ring 1 is 1 mm; the distance between the right surface N pole of the electromagnet ring 4 and the left surface (N pole) of the permanent magnet ring 1 is 1 mm. In the rest state, the electromagnet part of the electromagnet ring 4 is completely spatially offset from the permanent magnet part of the permanent magnet ring 1. When the permanent magnet ring 1 is driven to rotate around the electromagnet ring 4 by external load, the S pole and the S pole, and the N pole between the permanent magnet ring 1 and the electromagnet ring 4 are superposed, torque for blocking rotation is generated between the rotor and the stator according to the principle that like poles repel and opposite poles attract, and rigidity for blocking joint rotation is generated macroscopically.
When the electromagnet ring 4 and the permanent magnet ring 1 rotate relatively, the S pole and the S pole coincide, the N pole and the N pole coincide, the generated repulsion force determines the rotation rigidity at the moment, and the variable rigidity of the joint actuator can be realized by only adjusting the size of the repulsion force.
According to the variable-rigidity actuator of the magnetic joint, the external load drives the transmission shaft to rotate, so that the rotor rotates around the stator, and meanwhile, the access voltage is actively changed or the access resistance is passively changed, and the variable rigidity is realized.
Further, in the variable stiffness actuator of the magnetic joint, an external voltage regulating device is connected in series with a power supply in the stiffness regulating part, and external voltage is regulated when necessary to realize active stiffness variation; the arc rheostat is fixed in the shell and is in contact with the permanent magnet ring through the graphite balls and the connector, and the position of the graphite balls on the arc rheostat is changed along with the rotation of the permanent magnet ring, so that the resistance of an access circuit is changed, and passive rigidity changing is achieved.
The active variable stiffness is realized by changing voltage without adjusting a stiffness motor, so that the space is saved compared with the traditional variable stiffness joint actuator. Meanwhile, the passive variable stiffness is realized by adjusting the size of the access resistor, and compared with the traditional variable stiffness joint actuator, the adjustable range of the design has more advantages.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. A magnetic articulation stiffness-changing actuator, comprising: the device comprises a shell (8), a rotating shaft (7) arranged in the shell (8), a rotor part, a stator part and a rotating rigidity adjusting part;
the stator part comprises an electromagnet ring (4), and the electromagnet ring (4) is sleeved on the rotating shaft (7) and is fixedly connected with the shell (8);
the rotor part comprises a permanent magnet ring (1), and the permanent magnet ring (1) is sleeved on the rotating shaft (7) and is fixedly connected with the rotating shaft (7);
the electromagnet ring (4) and the permanent magnet ring (1) repel each other through magnetism, so that torque for blocking rotation is generated between the rotor part and the stator part;
the rotational stiffness adjusting part and the permanent magnet ring (1) are connected with an external power supply, so that a closed loop is formed; the rotating rigidity adjusting part is arranged between the rotor part and the shell (8), and the resistance of the rotating rigidity adjusting part connected to a circuit can be changed through the rotation of the rotor part, so that the magnetic field intensity of the electromagnet ring (4) is changed, and further the active rigidity changing is realized.
2. The magnetic force articulation stiffness changing actuator according to claim 1, wherein the electromagnet ring (1) is formed by welding an electromagnet half ring and an aluminum alloy half ring.
3. The magnetic force articulation stiffness actuator according to claim 2, characterized in that the aluminum alloy half ring is provided with a boss structure on both sides, and the boss structure is connected with the housing (8) through a fastening screw (5).
4. The magnetic force articulation stiffness actuator according to claim 1, characterized in that the permanent magnet rings (1) are two and are respectively disposed on both sides of the electromagnet ring (4).
5. The magnetic force articulation stiffness actuator according to claim 4, characterized in that the distance between the electromagnet ring (4) and the permanent magnet rings (1) on both sides is 1 mm.
6. The magnetic variable stiffness actuator of claim 1, wherein the permanent magnet ring (1) is formed by welding permanent magnet half rings and aluminum alloy half rings.
7. The magnetic force joint stiffness-changing actuator according to claim 1, wherein the N pole of one side of the electromagnet ring (4) corresponds to the N pole of a permanent magnet ring (1) on the same side; and the S pole of the other side of the electromagnet ring (4) corresponds to the S pole of the other permanent magnet ring (1) on the same side.
8. The actuator according to claim 1, wherein the rotational stiffness adjustment part comprises a connector (11), graphite balls (12) and arc rheostat (13), wherein the arc rheostat (13) is arranged on the inner wall of the housing (8), the graphite balls (12) are arranged on the connector (11) and are in sliding connection with the arc rheostat (13), and the connector (11) is in contact with the permanent magnet ring (1).
9. The magnetic force joint stiffness changing actuator according to claim 8, wherein an arc groove is formed in the arc rheostat (13), the graphite balls (12) are slidably connected with the arc groove, and the arc rheostat (13) changes the resistance of an access circuit through sliding of the graphite balls (12) in the arc groove.
10. The magnetic force joint stiffness changing actuator according to claim 8, wherein a voltage transformation device is connected to the closed loop, and the voltage is adjusted by the voltage transformation device, so that the magnetic field intensity of the electromagnet ring (4) is changed, and the passive stiffness changing is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321906.2A CN110978045B (en) | 2019-12-20 | 2019-12-20 | Magnetic force joint rigidity-variable actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911321906.2A CN110978045B (en) | 2019-12-20 | 2019-12-20 | Magnetic force joint rigidity-variable actuator |
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| Publication Number | Publication Date |
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| CN110978045A true CN110978045A (en) | 2020-04-10 |
| CN110978045B CN110978045B (en) | 2022-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911321906.2A Active CN110978045B (en) | 2019-12-20 | 2019-12-20 | Magnetic force joint rigidity-variable actuator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11654584B2 (en) | 2021-06-18 | 2023-05-23 | Industrial Technology Research Institute | Actuator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6404097B1 (en) * | 1998-04-23 | 2002-06-11 | The Turbo Genset Company, Ltd. | Rotary electrical machines |
| CN201251980Y (en) * | 2008-08-05 | 2009-06-03 | 北京航空航天大学 | Driving smooth device capable of adopting magnetic force to realize adjustable rigidity |
| CN101820190A (en) * | 2010-01-22 | 2010-09-01 | 王铂仕 | Motor with strong weak air-gap field in alternative distribution |
| US20110273050A1 (en) * | 2010-05-06 | 2011-11-10 | Industrial Technology Research Institute | Adjustable axial-flux disc motor |
| US20120169167A1 (en) * | 2010-12-30 | 2012-07-05 | Chung Yuan Christian University | Axial Hybrid Magnetic Bearing, Method for Operation thereof, and Structure for Rotor thereof |
| CN106737824A (en) * | 2016-12-30 | 2017-05-31 | 上海交通大学 | The flexible rotational joint of electromagnetic type stiffness variable |
-
2019
- 2019-12-20 CN CN201911321906.2A patent/CN110978045B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6404097B1 (en) * | 1998-04-23 | 2002-06-11 | The Turbo Genset Company, Ltd. | Rotary electrical machines |
| CN201251980Y (en) * | 2008-08-05 | 2009-06-03 | 北京航空航天大学 | Driving smooth device capable of adopting magnetic force to realize adjustable rigidity |
| CN101820190A (en) * | 2010-01-22 | 2010-09-01 | 王铂仕 | Motor with strong weak air-gap field in alternative distribution |
| US20110273050A1 (en) * | 2010-05-06 | 2011-11-10 | Industrial Technology Research Institute | Adjustable axial-flux disc motor |
| US20120169167A1 (en) * | 2010-12-30 | 2012-07-05 | Chung Yuan Christian University | Axial Hybrid Magnetic Bearing, Method for Operation thereof, and Structure for Rotor thereof |
| CN106737824A (en) * | 2016-12-30 | 2017-05-31 | 上海交通大学 | The flexible rotational joint of electromagnetic type stiffness variable |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11654584B2 (en) | 2021-06-18 | 2023-05-23 | Industrial Technology Research Institute | Actuator |
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| CN110978045B (en) | 2022-09-13 |
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