CN208428262U - A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid - Google Patents
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid Download PDFInfo
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- CN208428262U CN208428262U CN201820902744.6U CN201820902744U CN208428262U CN 208428262 U CN208428262 U CN 208428262U CN 201820902744 U CN201820902744 U CN 201820902744U CN 208428262 U CN208428262 U CN 208428262U
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- end cap
- composite excitation
- magnetorheological fluid
- disc
- left end
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Abstract
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, including power input mechanism, composite excitation coupling device and power take-off mechanism, the output shaft of power input mechanism and the input axis connection of composite excitation coupling device, power input mechanism is fixedly connected with rear bar, the output shaft of composite excitation coupling device is connect with power take-off mechanism, power take-off mechanism is fixedly connected with front bar, composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output shaft, magnetic yoke, magnetorheological fluid, left end cap and right end cap, magnetic yoke and magnetism-isolating loop are set between left end cap and right end cap, magnetism-isolating loop, left end cap and right end cap form rotor cavity, driving disc spacing pressing, driven disc is respectively positioned in rotor cavity, magnet exciting coil to change magnetic field strength in rotor cavity is installed between magnetism-isolating loop and magnetic yoke；Permanent magnet is separately mounted on left end cap and right end cap.The utility model improves the safety of flexible robot.
Description
Technical field
The utility model relates to robot fields, specifically, being a kind of composite excitation formula machine based on magnetorheological fluid
The submissive joint of people.
Background technique
With the continuous development of intelligent robot perception and control technology, intelligent robot is increasingly becoming the work partner of the mankind
Companion is widely used in fields such as industrial production, human lives' service, medical operating, rehabilitation auxiliary, agricultural pickings.
Especially joint type serial manipulator largely completes instead of the mankind and much may be used since it possesses significant advantage
The work of process is fixed in structured environment, especially under severe dangerous environment, robot can replace the mankind and complete greatly
Part danger and scissors and paste, alleviate the labor intensity of the mankind, improve the operating condition of the mankind.
In recent years, researcher, which has been no longer satisfied with, the fixation process of joint type serial manipulator to make in structured environment
Industry application continuously attempts to joint type serial manipulator to be applied to multi-machine collaborative, man-machine collaboration etc., this is to environment sensing, intelligence
The technologies such as can control, more stringent requirements are proposed, and especially to the intrinsic safety design of robot, more stringent requirements are proposed.
The joint of traditional joint type serial manipulator is mainly made of motor, speed reducer, rigid transmission parts be efficiently,
Accurate position control provides good condition, but has obvious deficiency in terms of safety and adaptability, rigid due to existing
Property impact, thus be unable to fully ensure manipulator multi-machine collaborative, man-machine collaboration application when touch-safe, designing and developing has
The submissive joint of the robot of transmission stiffness adaptive ability, and it is this as making up based on this joint Integrated Development flexible robot
One of insufficient effective means.
Magnetorheological fluid is a kind of intellectual material, has good mangneto phase-change characteristic.When no externally-applied magnetic field acts on, show as
Newtonian fluid；And under the action of an external magnetic field, moment becomes the solid viscoplasticity body of class from the Newtonian fluid flowed freely, presents
Controllable shear yield strength, and this transition process is controllable, reversible, transient response.Magnetorheological fluid is applied to machine
The driving joint of device people makes the driving joint of robot have flexibility, can be realized soft by changing the intensity of externally-applied magnetic field
Property with rigidity flexible conversion, to make the robot product based on this joint in multi-machine collaborative, man-machine collaboration and rapid wear pair
As there is better safety when operation.
Summary of the invention
The utility model proposes a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, by magnetorheological fluid
It is filled in the sealed volume of the driving and driven disc cross arrangement composition of multilayer, using permanent magnet and electromagnetic coil as composite excitation
Module is installed on outside sealed volume, is collectively constituted composite excitation coupling device and is installed between input, output mechanism, passes through tune
It saves exciting current and generates controllable, adjustable externally-applied magnetic field, so that magnetorheological fluid is transformed into viscoplasticity body, obtain composite excitation coupling device
Transmission capacity must be sheared, to realize submissive joint to the input of forward and backward bar, effective transmission of output torque and there is submissive spy
Property.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, the joint are located at the front bar of robot with after
The junction of bar, the submissive joint include power input mechanism, composite excitation coupling device, power take-off mechanism, the power
The output shaft of input mechanism and the input axis connection of composite excitation coupling device, the power input mechanism are fixedly connected with rear bar,
The output shaft of the composite excitation coupling device is connect with power take-off mechanism, and the power take-off mechanism is fixedly connected with front bar,
The composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output shaft, magnetic
Yoke, magnetorheological fluid, left end cap and right end cap, the input shaft are mounted on left end cap, and the output shaft is mounted on right end cap,
Each active disc arranged radially interval of the driving disc spacing pressing is mounted on retaining ring, protrude into input shaft on the inside of the left end cap with
Active disc near left end cap is fixedly connected；Each passive disc radial of the driven disc is arranged side by side in output shaft
On, running clearance is arranged and is had between each other in dislocation between the active disc and passive disc, and magnetorheological fluid is located at described turn
Among dynamic gap, the cavity that the running clearance is formed carries out dynamic sealing using oil sealing；
Magnetic yoke and magnetism-isolating loop, the magnetism-isolating loop, left end cap and right end cap composition are set between the left end cap and right end cap
Rotor cavity, the driving disc spacing pressing, driven disc are respectively positioned in the rotor cavity, and installation is to change between the magnetism-isolating loop and magnetic yoke
Become the magnet exciting coil of magnetic field strength in rotor cavity；The permanent magnet is separately mounted on left end cap and right end cap.
Further, the driving disc spacing pressing includes 4 active discs, and the driven disc includes 3 passive discs.
Further, the output shaft and radial thrust bearing is installed between the active disc of right end cap.
The input shaft is connect with active disc by hexagon socket countersunk flat cap head screw, and the input shaft and left end cap pass through zanjon
Ball bearing connection.
The output shaft is connect with right end cap by duplex bearing, and the bearing is deep groove ball bearing.
It is sealed between the retaining ring and active disc using gasket, and is locked with stay bolt.
The passive disc is radially fixed on output shaft by key, and outermost passive disc carries out axis with shaft end ring
To fixation.
The magnetic yoke is installed between left end cap and right end cap by hexagon socket countersunk flat cap head screw.The magnetic yoke is that the magnetic line of force exists
Access outside electromagnetic coil.
The power input mechanism includes the driving motor with retarder and rear shaft coupling, the driving motor and retarder
Output shaft be connected by rear shaft coupling with the input shaft of composite excitation coupling device, the servo motor and speed reducer are mounted on
Rear bar is intracavitary.
The power take-off mechanism includes preceding shaft coupling, bearing block and tapered roller bearing, and front bar lower end is equipped with axle sleeve,
Tapered roller bearing is installed, for tapered roller bearing in bearing block, bearing block is fixed by screws in articular shell on axle sleeve
On, the tapered roller bearing is connect with preceding shaft coupling one end, and the preceding shaft coupling other end is defeated with composite excitation coupling device
Axis connection out.
The technical concept of the utility model are as follows: composite excitation coupling device by input shaft, left and right end cap, driving disc spacing pressing, driven disc,
The composition such as output shaft, bearing, magnetism-isolating loop, electromagnetic coil, permanent magnet, magnetic yoke, magnetorheological fluid.One end connection power of input shaft is defeated
Shaft coupling and retarder in mechanism out, the other end connects active disc, and the output of retarder is transferred to active disc.It is mixed
It closes excitation coupling device and uses multi-disc type structure, between active disc and passive disc and be not directly contacted with, gap portion is filled with magnetic
Electromagnetic coil is arranged in rheology liquid, magnetism-isolating loop outside.Passive disc is installed in driven axle one end, and the other end and the power of front bar lower end are defeated
Mechanism connects out.The external magnetic field for being applied to magnetorheological fluid is provided jointly by electromagnetic coil and permanent magnet, the magnetic flux of electromagnetic field with forever
The magnetic flux of magnet carries out vector calculus in the working environment of magnetorheological fluid, achievees the effect that composite excitation.Work as total magnetic intensity
When being zero, Newtonian fluid is presented in magnetorheological fluid, is disconnected between principal and subordinate's Moving plate piece, composite excitation coupling device cannot transmit torsion
Square；When total magnetic intensity is not zero, magnetorheological fluid is changed from Newtonian fluid to viscoplasticity body, is made to play shearing transmission
With.
The beneficial effects of the utility model are mainly manifested in: the submissive joint composite excitation of robot based on magnetorheological fluid is even
Variation rigidity transmission may be implemented in clutch, so that the flexible robot for being integrated with the submissive joint is had good compliant characteristic, is more
The safety of machine collaboration, man-machine collaboration and rapid wear object provides sufficient guarantee.Meanwhile the mixing that electromagnetism is combined with permanent magnetism
Excitation mode is compared to the single excitation mode of electromagnetic coil, so that power consumption is lower at work for coupling device, so that coupling device is not
Suitable static pose can also be kept when work, further improve the safety of flexible robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model.
Fig. 2 is the composite excitation controller schematic diagram of the utility model.
Fig. 3 is the permanent magnet schematic diagram of the utility model.
In figure: 1-front bar, 2-bearing blocks, 3-tapered roller bearings, 4-preceding shaft couplings, 5-rear bars, 6-mixing are encouraged
Magnetic coupling, 7-rear shaft couplings, 8-retarders, 9-servo motors, 10-end caps, 11-input shafts, 12-shaft end rings,
13-deep groove ball bearings, 14-shaft end rings, 15-active discs, 16-permanent magnets, 17-passive discs, 18-left end caps,
19-magnetism-isolating loops, 20-retaining rings, 21-active discs, 22-magnetic yokes, 23-magnet exciting coils, 24-right end caps, 25-gaskets,
26-active discs, 27-oil sealings, 28-radial thrust bearings, 29-deep groove ball bearings, 30-output shafts, 31-driving disc spacing pressings
Piece, 32-passive discs, 33-passive discs, 34-permanent magnets.
Specific embodiment
The utility model is further described with reference to the accompanying drawing.
Referring to Fig.1~Fig. 3, a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, which is located at machine
The front bar 1 of device people and the junction of rear bar 5, the joint include power input mechanism, composite excitation coupling device 6, power output
Mechanism.
The power input mechanism includes the driving motor 9 with retarder 8, rear shaft coupling 7.Servo motor 9 and retarder 8
Output shaft be connected by rear shaft coupling 7 with the input shaft 11 of composite excitation coupling device 6.
The composite excitation coupling device includes input shaft 11, magnet exciting coil 23, magnetism-isolating loop 19, driving disc spacing pressing (including driving disc spacing pressing
Piece 15,21,26,31), driven disc (including passive disc 17,32,33), retaining ring 20, bearing (13,28,29), output shaft 30, magnetic
Yoke 22, magnetorheological fluid, left end cap 18 and right end cap 24, the rear bar 5 is interior to be installed driving motor 9 (preferably servo motor) and subtracts
Fast device 8, the output shaft of the retarder 8 are connect with the input shaft 11 of the composite excitation coupling device 6 by rear shaft coupling 7, quilt
Moving plate piece and active disc have running clearance between each other, and magnetorheological fluid works at the running clearance, and transmitting torque drives
The rotation of passive disc, therefore dynamic sealing is carried out using oil sealing 27 in the cavity.The input shaft 11 passes through interior six with driving disc spacing pressing
The connection of angle sunk screw, the active disc (15,21,26,31) are spaced constant spacing, the retaining ring 20 and master by retaining ring 20
Gasket 25 is used between Moving plate piece (15,21,26,31) to be sealed, and is locked with stay bolt.The passive disc (17,
32,33) radially fixed on output shaft 30 by key, spacing, outermost passive disc shaft end are guaranteed by aluminum retaining ring
Retaining ring 14 carries out axial restraint.In order to reduce sliding friction, it is mounted with that one centripetal pushes away between the output shaft 30 and driving disc spacing pressing
Power bearing 28, carry out axial spacing fix, on the output shaft 30 use duplex bearing 29 arrange, improve device to neutrality
Energy.The permanent magnet (16,34) is mounted in left end cap 18 and right end cap 24 by hexagon socket countersunk flat cap head screw respectively, works as excitation wire
When circle power-off, joint can be made to keep static pose.The passive disc (17,32,33) and active disc (15,21,26,31)
It is respectively positioned in magnetism-isolating loop 19, the magnet exciting coil 23 to change magnetic field strength in rotor cavity, institute is installed on the magnetism-isolating loop 19
It states permanent magnet (16,34) and electromagnetic coil 23 and cooperatively forms magnetorheological fluid composite excitation module, the magnetic yoke 22 passes through interior
Hexagonal sunk screw is installed between left end cap 18 and right end cap 24, and the output shaft 30 of the composite excitation coupling device passes through preceding
Axis device 4 is connect with 1 lower end of front bar.
The power take-off mechanism includes preceding shaft coupling 4, bearing block 2, tapered roller bearing 3, and 1 lower end of front bar is equipped with axis
It covers, tapered roller bearing 3 is installed on axle sleeve, tapered roller bearing 3 is mounted in bearing block 2, and bearing block 2 is fixed by screws in
On articular shell, the tapered roller bearing 3 is connect with preceding 4 one end of shaft coupling, and the other end and composite excitation of preceding shaft coupling 4 are even
The output axis connection of clutch 6 transmits torque to front bar 1, drives the rotary motion of front bar 1.
In the present embodiment, magnetorheological fluid is filled in the running clearance, and the electromagnetic coil energization moment generates electromagnetic field, forever
Magnet has the magnetic field of fixing intensity, and the two vector addition is up to the total magnetic field applied to magnetorheological fluid, when total magnetic intensity is
When zero, Newtonian fluid is presented in magnetorheological fluid, and composite excitation coupling device cannot transmit torque；When total magnetic intensity is not zero, magnetic
Viscoplasticity body is presented in rheology liquid, changes the adjustable total magnetic intensity of size of magnetic excitation coil electric current, keeps composite excitation even
Clutch obtains controllable, adjustable transmission stiffness, thus make the submissive joint of robot based on this coupling device have transmission capacity and
Compliant characteristic makes the flexible robot based on this submissive joint have higher safety.
The submissive joint of composite excitation formula robot based on magnetorheological fluid of the present embodiment by composite excitation coupling device, after
Bar, front bar composition, with composite excitation coupling device for main transmission device, motor and retarder are fixed on inside rear bar, by mixing
It closes excitation coupling device and the rotary motion of motor and retarder is transferred to front bar, front bar is made to do swing arm motion.Motion Control Strategies
It is analyzed as follows:
(1) permanent magnet of composite excitation coupling device generates fixed magnetic field, and electromagnetic coil then generates controllable, adjustable electromagnetism
, magnetorheological fluid that the sum of the two vector acts on inside coupling device simultaneously brings it about phase transformation.
(2) when electromagnetic coil powers off, electromagnetic coil is there is no excitation effect, and magnetorheological fluid is by permanent magnet at this time
Effect, remains viscoplasticity body characteristics, can play certain transmission effect, transmission stiffness is determined by the design parameter of permanent magnet.
(3) after electromagnetic coil is powered, excitation effect occurs for electromagnetic coil, if electromagnetic field is identical as permanent magnetism field direction,
The size of magnetic field strength is the sum of the field strength value of the two, and transmission stiffness further increases.If electromagnetic field and permanent magnetic field side
To on the contrary, then the size of magnetic field strength is the difference of the field strength value of the two, when difference is zero, magnetorheological fluid is changed into ox
Pause fluid, and when the two numerical value is unequal, magnetorheological fluid shows as viscoplasticity body, and transmission stiffness is determined by the size of the two difference
It is fixed.
(4) when the total magnetic intensity numerical value of composite excitation coupling device is equal to zero, magnetorheological fluid shows as Newtonian fluid, at this time
The submissive joint cannot play transmission effect.When total magnetic intensity numerical value is greater than zero, magnetorheological fluid shows as viscoplasticity body, passes through
The size of control exciting current realizes the regulation to total magnetic intensity numerical value to change the shear modulus of viscoplasticity body, further
By control motor output, front bar can be driven to do swing arm motion, load capacity and transmission stiffness by output power of motor and total
The size of magnetic field strength determines.
(5) after submissive joint motions reach object pose, motor stops output, and submissive joint is in magnetorheological fluid viscoplasticity
Pose is kept under the action of body, can adjust the size of current of magnet exciting coil according to loading condition at this time, to realize in minimum function
Consume the edge operation under target.
(6) in man-machine collaboration or operation rapid wear object, corresponding exciting current can be set according to the requirement of safety coefficient
Input, to obtain corresponding transmission stiffness and load capacity.
(7) when prominent chance risk of collision, transmission stiffness can be changed by changing the magnetic field strength of magnet exciting coil in real time,
To based on this joint flexible machine human body and contact object play a protective role.
(8) when electromagnetic coil failure powers off or artificially actively has a power failure, permanent magnet can make the magnetorheological fluid in coupling device
Viscoplasticity volume morphing is kept, so as to so that based on the flexible robot in this joint in the case where Design of Permanent Magnet parameter allows
Continue to keep pose, or slowly adjust in the case where viscoplasticity body plays damping action to other poses, thus effective guarantee
The safety of flexible machine human body.
Claims (10)
1. a kind of submissive joint of composite excitation formula robot based on magnetorheological fluid, which is located at the front bar and rear bar of robot
Junction, it is characterised in that: the submissive joint includes power input mechanism, composite excitation coupling device, power take-off mechanism,
The output shaft of the power input mechanism and the input axis connection of composite excitation coupling device, the power input mechanism and rear bar are solid
Fixed connection, the output shaft of the composite excitation coupling device are connect with power take-off mechanism, and the power take-off mechanism and front bar are solid
Fixed connection, the composite excitation coupling device includes input shaft, magnet exciting coil, permanent magnet, magnetism-isolating loop, driving disc spacing pressing, driven disc, output
Axis, magnetic yoke, magnetorheological fluid, left end cap and right end cap, the input shaft are mounted on left end cap, and the output shaft is mounted on right end
It covers, each active disc arranged radially interval of the driving disc spacing pressing is mounted on retaining ring, is protruded into defeated on the inside of the left end cap
Enter axis to be fixedly connected with the active disc near left end cap；Each passive disc radial of the driven disc is arranged side by side in defeated
On shaft, dislocation arranges and has running clearance between each other between the active disc and passive disc, and magnetorheological fluid is located at institute
It states among running clearance, the cavity that the running clearance is formed carries out dynamic sealing using oil sealing；
Magnetic yoke and magnetism-isolating loop are set between the left end cap and right end cap, and the magnetism-isolating loop, left end cap and right end cap form rotor
Cavity, the driving disc spacing pressing, driven disc are respectively positioned in rotor cavity, and installation is held to change rotor between the magnetism-isolating loop and magnetic yoke
The magnet exciting coil of intracavitary magnetic field strength, the permanent magnet are separately mounted on left end cap and right end cap.
2. the submissive joint of composite excitation formula robot based on magnetorheological fluid as described in claim 1, which is characterized in that described
Driving disc spacing pressing includes 4 active discs, and the driven disc includes 3 passive discs.
3. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The output shaft and radial thrust bearing is installed between the active disc of right end cap.
4. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The input shaft is connect with active disc by hexagon socket countersunk flat cap head screw, and the input shaft and left end cap are connected by deep groove ball bearing
It connects.
5. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The output shaft is connect with right end cap by duplex bearing, and the bearing is deep groove ball bearing.
6. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
It is sealed between the retaining ring and active disc using gasket, and is locked with stay bolt.
7. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The passive disc is radially fixed on output shaft by key, and outermost passive disc carries out axial restraint with shaft end ring.
8. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The magnetic yoke is installed between left end cap and right end cap by hexagon socket countersunk flat cap head screw.
9. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The power input mechanism includes the driving motor with retarder and rear shaft coupling, the output shaft of the driving motor and retarder
It is connected by rear shaft coupling with the input shaft of composite excitation coupling device, the driving motor and speed reducer are mounted on rear rod cavity
It is interior.
10. the submissive joint of composite excitation formula robot based on magnetorheological fluid as claimed in claim 1 or 2, it is characterised in that:
The power take-off mechanism includes preceding shaft coupling, bearing block and tapered roller bearing, and front bar lower end is equipped with axle sleeve, pacifies on axle sleeve
Tapered roller bearing is filled, tapered roller bearing is in bearing block, and bearing block is fixed by screws on articular shell, the circle
Taper roller bearing is connect with preceding shaft coupling one end, the output axis connection of the preceding shaft coupling other end and composite excitation coupling device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902744.6U CN208428262U (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820902744.6U CN208428262U (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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| Publication Number | Publication Date |
|---|---|
| CN208428262U true CN208428262U (en) | 2019-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820902744.6U Expired - Fee Related CN208428262U (en) | 2018-06-12 | 2018-06-12 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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| CN (1) | CN208428262U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582150A (en) * | 2018-06-12 | 2018-09-28 | 浙江工业大学 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
-
2018
- 2018-06-12 CN CN201820902744.6U patent/CN208428262U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582150A (en) * | 2018-06-12 | 2018-09-28 | 浙江工业大学 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
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Granted publication date: 20190125 |