CN215202051U - Hybrid electromagnet-based variable-stiffness joint for flexible robot - Google Patents
Hybrid electromagnet-based variable-stiffness joint for flexible robot Download PDFInfo
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- CN215202051U CN215202051U CN202120409167.9U CN202120409167U CN215202051U CN 215202051 U CN215202051 U CN 215202051U CN 202120409167 U CN202120409167 U CN 202120409167U CN 215202051 U CN215202051 U CN 215202051U
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Abstract
A variable-stiffness joint for a flexible robot based on a hybrid electromagnet comprises a motor, a hybrid electromagnet fixing shaft sleeve, a hybrid electromagnet, a joint shell, electrician pure iron and a motor support frame; the hybrid electromagnet fixing shaft sleeve, the hybrid electromagnet and the electrician pure iron are positioned in the joint shell; the joint rigidity adjusting part adopts the combined action of the hybrid electromagnet and the spring piece, and has the advantages of high rigidity adjusting response speed, no delay, no lag and the like. The magnetic force and the rigidity are kept under the non-electrified state, and the energy-saving characteristic is achieved. Meanwhile, the device has the characteristics of simple movement form, simple and convenient manufacture, simple operation and the like. The magnetic flux in the joint magnetic circuit system is determined by the currents in the permanent magnet and the magnet exciting coil (copper coil), so that the magnetic flux in the magnetic circuit system can be increased and decreased by changing the magnitude and the direction of the current in the magnet exciting coil, namely the joint rigidity is increased and decreased, and the change of the joint rigidity is nonlinear.
Description
Technical Field
The utility model belongs to the technical field of flexible robot, in particular to flexible robot is with becoming rigidity joint based on hybrid electromagnet, the construction that is particularly suitable for flexible serial-type becomes rigidity robot.
Background
The robot technology is widely applied in the directions of industrial production, medical service, human entertainment and the like, and the contact with human is frequently and closely carried out, so that the safety problem in human-computer interaction is a hot spot of people's attention. The flexible variable-stiffness robot is a flexible robot with adjustable stiffness, which is different from the traditional rigid robot, and the self stiffness is adjustable, so that the man-machine safety and the environmental adaptability can be improved to a great extent. The flexible rigidity-variable robot relates to the disciplines of bionics, robotics, materials science, control science and the like, and becomes an important direction for the development of the robot in the future. The method has practical application value and research value in the consideration of safety when a human and a robot interact and flexibility of operation when the human and the robot cooperate to research the variable stiffness joint for the flexible robot.
The variable stiffness capability of the variable stiffness joint for the flexible robot based on the hybrid electromagnet mainly depends on the variable stiffness performance under the combined action of the hybrid electromagnet and the spring piece. Therefore, the design of the variable stiffness joint with small volume, light weight and quick joint stiffness adjustment response has important significance for solving the key problems of man-machine safety, dynamic characteristic improvement, trajectory tracking and the like of a new generation of robot. In recent years, the performance of the permanent magnet material is greatly improved, and particularly, the rare earth permanent magnet material has high unit volume magnetic energy and excellent performance. Therefore, the variable stiffness joint is directly constructed by utilizing the mechanical and stiffness change nonlinear characteristics between permanent magnets and is becoming a hot point of attention. However, such reports have not been made.
SUMMERY OF THE UTILITY MODEL
Utility model purpose:
the utility model provides a flexible robot is with becoming rigidity joint based on hybrid electromagnet, its purpose provides a motion form succinct, make simple and convenient, easy operation, joint rigidity adjust response rapid become rigidity joint to solve the problem that exists in the past.
The technical scheme is as follows:
a hybrid electromagnet based variable stiffness joint for a flexible robot comprises a motor (A), a hybrid electromagnet fixing shaft sleeve (6), a hybrid electromagnet, a joint shell (7), electrician pure iron (8) and a motor support frame (10); the hybrid electromagnet fixing shaft sleeve (6), the hybrid electromagnet and the electrician pure iron (8) are positioned in the joint shell (7);
the motor support frame (10) is sleeved outside the motor (A), the motor output shaft (1) penetrates through the front end of the motor support frame (10), the hybrid electromagnet is installed at the rear end of the hybrid electromagnet fixing shaft sleeve (6), the hybrid electromagnet is located between the hybrid electromagnet fixing shaft sleeve (6) and the electrician pure iron (8), and the hybrid electromagnet fixing shaft sleeve (6) is fixedly connected with the motor output shaft (1);
the front end of the motor support frame (10) extends into the joint shell (7), and the electrician pure iron (8) is sleeved on the part of the motor support frame (10) extending into the joint shell (7).
The joint further comprises a spring piece (5), the spring piece (5) is also positioned in the joint shell (7), the spring piece (5) is fixedly sleeved on the motor shaft (1) through a spring piece fixing shaft sleeve (14), and the outer end part of the spring piece (5) is embedded in a rotation stopping groove (7-1) in the inner wall of the joint shell (7).
The hybrid electromagnet comprises a plastic bobbin (19), a copper coil (20), a permanent magnet (22) and an iron core (25); iron core (25) are in permanent magnet (22) both sides symmetrical arrangement, and plastics spool (19) cover is on iron core (25) and concreties with iron core (25), and copper coil (20) cover is arranged with plastics spool (19) coaxial line on plastics spool (19), and plastics spool (19), copper coil (20), permanent magnet (22) and iron core (25) form wholly, and permanent magnet (22) and iron core (25) are connected on mixing fixed axle sleeve (6) of electro-magnet.
The two fixed baffles (23) are fixed with the iron core (25) and the permanent magnet (22) at the front and back sides of the bottom of the iron core (25) and the permanent magnet (22), and the iron core (25) and the permanent magnet (22) are fixed on the mixed electromagnet fixing shaft sleeve (6) by the fixed baffles (23).
The spring pieces (5) are two, the two spring pieces (5) are symmetrically arranged by taking the motor output shaft (1) as a symmetry axis, and the outer ends of the two spring pieces (5) are embedded in a rotation stopping groove (7-1) on the inner wall of the joint shell (7).
The front end of the joint shell (7) is provided with a joint end cover (4), the joint end cover (4) and the motor output shaft (1) are concentrically arranged through a small conical roller bearing (2), and the joint end cover (4) is fixed with the joint shell (7).
The hybrid electromagnets are concentrically fixed with the motor output shaft (1) through hybrid electromagnet fixing shaft sleeves (6), the number of the hybrid electromagnets is two, and the two groups of the hybrid electromagnets are symmetrically arranged on two sides of the motor output shaft (1) at equal intervals.
The end surface of the motor reducer (B) is fixed with the motor support frame (10) by 3 motor support frame fastening bolts (17).
The inner ring of the large tapered roller bearing (11) is matched with the outer wall of the motor support frame (10), and the outer ring of the large tapered roller bearing (11) is matched with the electrician pure iron (8).
The bottom surface of the electrician pure iron (8) is fixed with the bottom surface of the joint shell (7); the bottom surface of the motor (A) is matched with the encoder (9).
The advantages and effects are as follows:
the utility model discloses flexible robot based on hybrid electromagnet is with becoming rigidity joint by hybrid electromagnet and spring leaf combined action, has rigidity regulation response speed and advantage such as energy saving fast.
The utility model discloses it includes: the motor, little cone roller bearing, joint end cover fastening bolt subassembly, the joint end cover, the spring leaf, mixed electro-magnet fixed axle sleeve, the joint shell, electrician's pure iron, the encoder, the motor support frame, big cone roller bearing, electrician's pure iron fastening bolt subassembly, the spring leaf fastening nut, the spring leaf fixed axle sleeve, mixed electro-magnet axle sleeve bolt subassembly, mixed electro-magnet axle sleeve nut subassembly, motor support frame fastening bolt subassembly, the spring leaf fastening bolt, the plastics spool, the copper coil, mixed electro-magnet fastening bolt, the permanent magnet, fixed baffle, mixed electro-magnet fastening nut, subassembly such as iron core.
The two spring pieces are symmetrically arranged in the matched joint shell, the outer ends of the spring pieces are embedded in a rotation stopping groove (7-1) in the inner wall of the joint shell (7), and the spring pieces are fixed with the motor shaft through spring piece fixing shaft sleeves and spring piece fastening bolts and spring piece fastening nuts. The spring leaf fixing shaft sleeve is matched and fixed with the motor shaft.
Electrician pure iron is fixed on the bottom surface of the joint shell by 4 fastening bolts, and an air gap left between the electrician pure iron and the hybrid electromagnet is 1 mm.
The hybrid electromagnet is symmetrically arranged on two sides of a motor shaft in an equidistance mode, and consists of a permanent magnet, an iron core, a plastic bobbin, a copper coil, a fixed baffle plate, a hybrid electromagnet fastening bolt, a hybrid electromagnet fastening nut, a hybrid electromagnet fixed shaft sleeve, a hybrid electromagnet shaft sleeve bolt assembly, a hybrid electromagnet shaft sleeve nut assembly and the like.
The iron core is symmetrically arranged on two sides of the permanent magnet, the plastic bobbin is fixedly connected with the iron core, the copper coil and the plastic bobbin are coaxially arranged, and the front fixed baffle plate and the rear fixed baffle plate are fixed at the bottoms of the iron core and the permanent magnet by a hybrid electromagnet fastening bolt and a hybrid electromagnet fastening nut.
Compared with the prior art, the utility model has the advantages of as follows:
1. the hybrid electromagnet based variable stiffness joint for the flexible robot is designed, wherein the joint stiffness adjusting part adopts the combined action of the hybrid electromagnet and the spring piece, and the hybrid electromagnet is adopted to adjust the joint stiffness, so that the hybrid electromagnet based variable stiffness joint has the advantages of high stiffness adjusting response speed, no delay, no hysteresis and the like.
2. Because the hybrid electromagnet and the spring piece jointly act to control the joint rigidity, the maintenance of the magnetic force and the rigidity under the non-electrified state can be realized, and the hybrid electromagnet has the characteristic of energy conservation. The utility model discloses also have simultaneously concurrently that the motion form is succinct, make characteristics such as simple and convenient, easy operation.
3. The magnetic flux in the joint magnetic circuit system (hybrid electromagnet) is jointly determined by the currents in the permanent magnet and the magnet exciting coil (copper coil), so that the increase and the decrease of the magnetic flux in the magnetic circuit system can be realized by changing the magnitude and the direction of the current in the magnet exciting coil, namely the increase and the decrease of the joint rigidity are realized, and the change of the joint rigidity is nonlinear.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic cross-sectional view of a variable-stiffness joint structure for a flexible robot based on a hybrid electromagnet;
FIG. 2 is an explosion schematic diagram of a variable-stiffness joint structure for a flexible robot based on a hybrid electromagnet;
FIG. 3 is a schematic illustration of a variable stiffness portion;
FIG. 4 is a schematic diagram of a hybrid electromagnet;
FIG. 5 is a schematic cross-sectional view of a hybrid electromagnet;
1. in the figure, 1-motor output shaft, 2-small cone roller bearing, 3-joint end cover fastening bolt component, 4-joint end cover, 5-spring plate, 6-mixed electromagnet fixed shaft sleeve, 7-joint shell, 8-electrician pure iron, 9-encoder, 10-motor supporting frame, 11-large cone roller bearing, 12-electrician pure iron fastening bolt component, 13-spring plate fastening nut, 14-spring plate fixed shaft sleeve, 15-mixed electromagnet shaft sleeve bolt component, 16-mixed electromagnet shaft sleeve nut component, 17-motor supporting frame fastening bolt component, 18-spring plate fastening bolt, 19-plastic bobbin, 20-copper coil, 21-mixed electromagnet fastening bolt, 22-permanent magnet, 23-fixed baffle, 24-mixed electromagnet fastening nut and 25-iron core.
Detailed Description
A hybrid electromagnet based variable stiffness joint for a flexible robot comprises a motor A, a hybrid electromagnet fixing shaft sleeve (6), a hybrid electromagnet, a joint shell (7), electrician pure iron (8) and a motor support frame (10); the hybrid electromagnet fixing shaft sleeve (6), the hybrid electromagnet and the electrician pure iron (8) are positioned in the joint shell (7);
the motor support frame (10) is sleeved outside the motor (A), the motor output shaft (1) penetrates through the front end (namely the upper end in the figure 1) of the motor support frame (10), the hybrid electromagnet is installed at the rear end (namely the lower end of the hybrid electromagnet fixing shaft sleeve (6) shown in the figure 1) of the hybrid electromagnet fixing shaft sleeve (6), and the hybrid electromagnet is located between the hybrid electromagnet fixing shaft sleeve (6) and the electrician pure iron (8); the hybrid electromagnet fixing shaft sleeve (6) is fixedly connected with the motor output shaft (1).
The front end of the motor support frame (10) extends into the joint shell (7), and the electrician pure iron (8) is sleeved on the part of the motor support frame (10) extending into the joint shell (7).
The joint further comprises a spring piece (5), the spring piece (5) is also positioned in the joint shell (7), the spring piece (5) is fixedly sleeved on the motor output shaft (1) through a spring piece fixing shaft sleeve (14), and the outer end of the spring piece (5) extends into a rotation stopping groove (7-1) in the inner wall of the joint shell (7). (positioning the outer end of the spring piece (5))
The hybrid electromagnet comprises a plastic bobbin (19), a copper coil (20), a permanent magnet (22) and an iron core (25); iron core (25) are in permanent magnet (22) both sides symmetrical arrangement, and plastics spool (19) cover is on iron core (25) and concreties with iron core (25), and copper coil (20) cover is arranged with plastics spool (19) coaxial line on plastics spool (19), and plastics spool (19), copper coil (20), permanent magnet (22) and iron core (25) form wholly, and permanent magnet (22) and iron core (25) are connected on mixing fixed axle sleeve (6) of electro-magnet.
The two fixed baffles (23) are fixed with the iron core (25) and the permanent magnet (22) by a hybrid electromagnet fastening bolt (21) and a hybrid electromagnet fastening nut (24) at the front side and the rear side of the bottom of the iron core (25) and the permanent magnet (22) (the bottom is the lower part shown in figure 4), and then the iron core (25) and the permanent magnet (22) are fixed on the hybrid electromagnet fixing shaft sleeve (6) by the fixed baffles (23).
The spring pieces (5) are two, the two spring pieces (5) are symmetrically arranged by taking the motor output shaft (1) as a symmetry axis, and the outer ends of the two spring pieces (5) are embedded in a rotation stopping groove (7-1) on the inner wall of the joint shell (7).
A joint end cover (4) is arranged at the front end (the upper end in figure 4) of the joint shell (7);
specifically, the method comprises the following steps: joint end cover (4), small circle tapered roller bearing (2), spring leaf (5), spring leaf fixed shaft cover (14), hybrid electromagnet fixed shaft cover (6), hybrid electromagnet, joint shell (7), motor support frame (10), electrician's pure iron (8), big tapered roller bearing (11), encoder (9) have been arranged in proper order to this application. The joint end cover (4) and the motor output shaft (1) are concentrically arranged through a small conical roller bearing (2), and the joint end cover (4) and the joint shell (7) are fixed through 4 joint end cover fastening bolts (2); the inner ring of the small conical roller bearing (2) is concentrically arranged with the motor output shaft (1), and the outer ring of the small conical roller bearing (2) is matched with the joint end cover (4).
The hybrid electromagnets are concentrically fixedly connected with the motor output shaft (1) through hybrid electromagnet fixing shaft sleeves (6), the number of the hybrid electromagnets is two, and the two groups of the hybrid electromagnets are symmetrically arranged on two sides of the motor output shaft (1) at equal intervals (namely the motor output shaft (1) is used as a symmetry axis).
The front end of the motor (A) is connected with a motor output shaft (1) through a motor reducer B (as shown in figure 1, the motor (A) and the motor reducer B are both positioned in a motor support frame (10), and the end face of the motor reducer B is fixed with the motor support frame (10) through 3 motor support frame fastening bolts (17).
The inner ring of the large tapered roller bearing (11) is matched with the outer wall of the motor support frame (10), and the outer ring of the large tapered roller bearing (11) is matched with the electrician pure iron (8).
The bottom surface of the electrician pure iron (8) is fixed with the bottom surface of the joint shell (7) by 4 electrician pure iron fastening bolts (12); the bottom surface of the motor (A) is matched with the encoder (9).
When the electric motor is used, the front end (namely the upper end shown in figure 1) of the motor output shaft (1) is used as a joint output end, the motor (A) rotates to drive the output shaft (1) to rotate, the output shaft (1) drives the mixed electromagnet fixing shaft sleeve (6) to rotate, at the moment, the copper coil (20) in the mixed electromagnet is electrified to generate magnetism, and because the electrician pure iron (8) is fixed and does not rotate, a torsional force is generated between the mixed electromagnet and the electrician pure iron (8), the motion or the force is transmitted to the joint output end through the mixed electromagnet, in addition, if the form of the spring piece (5) is provided, at the moment, the spring piece (5) forms elastic deformation (two spring pieces generate deformation similar to S shape, namely two spring pieces both deform and form deformation similar to S shape) under the rotation drive of the motor output shaft (1), at the moment, the movement or force is transmitted to the joint output end by the hybrid electromagnet and the spring piece (5). Due to the nonlinear magnetic force of the hybrid electromagnet on the non-contact electrician pure iron (8) and the elastic deformation of the spring piece (5), the joint rigidity can be changed nonlinearly. When the robot collides with the surrounding environment or an operator to screw the joint output end, the protection functions of buffering, absorbing vibration and the like can be generated through the adjustment of the joint rigidity of the hybrid electromagnet and the spring piece (5).
By adjusting the magnitude and direction of the current in the copper coil (20), the increase and decrease of the magnetic flux in the magnetic circuit system can be realized, so that the magnetic adjustment of the hybrid electromagnet on the non-contact electrician pure iron (8) is realized, and the change of the joint rigidity is further realized.
Range of variation of joint stiffness: rigidity of hybrid electromagnet is KhThe magnetic force adjustment of the hybrid electromagnet to the non-contact electrician pure iron (8) is realized by changing the current in the copper coil (20), and the rigidity change range of the hybrid electromagnet is as follows: k is more than or equal to 0h≤K2. The joint rigidity generated by the spring piece (5) is K1. The total rigidity K change of the joint is determined by the spring piece (5) and the hybrid electromagnet together, so the total rigidity K change range is as follows: k1≤K≤K1+K2. K represents the stiffness of the entire joint, K1Is the spring leaf stiffness, KhThe rigidity of the hybrid electromagnet can be increased and decreased by adjusting the magnitude and direction of the current in the copper coil (20), and the rigidity K of the hybrid electromagnet can be increased and decreased when the reverse current is appliedhThe minimum can reach 0, and the rigidity K of the hybrid electromagnet is reached when the forward current is suppliedhCan reach K at maximum2(K2Only the rigidity K of the hybrid electromagnethOne extreme in the range of variation. In particular, the stiffness K of the hybrid electromagnet when a forward current is appliedhCan reach K at maximum2). Therefore, the rigidity of the whole joint is the rigidity of the spring piece plus the rigidity of the hybrid electromagnet:K1≤K≤K1+K2。
the present invention will be described in further detail with reference to the accompanying drawings. Therefore it is right how the utility model discloses how to use technical means to solve technical problem to reach the technical process that realizes the effect and can fully understand and according to in order to implement, it is explicated that, as long as do not constitute the conflict, the utility model discloses an each characteristic in each embodiment and each embodiment can mutually combine, and the technical scheme who forms is all within the protection scope of the utility model.
The present embodiment will be described with reference to fig. 1, 2, 3, and 4, and includes: the motor, little cone roller bearing, joint end cover fastening bolt subassembly, the joint end cover, the spring leaf, mixed electro-magnet fixed axle sleeve, the joint shell, electrician's pure iron, the encoder, the motor support frame, big cone roller bearing, electrician's pure iron fastening bolt subassembly, the spring leaf fastening nut, the spring leaf fixed axle sleeve, mixed electro-magnet axle sleeve bolt subassembly, mixed electro-magnet axle sleeve nut subassembly, motor support frame fastening bolt subassembly, the spring leaf fastening bolt, the plastics spool, the copper coil, mixed electro-magnet fastening bolt, the permanent magnet, fixed baffle, mixed electro-magnet fastening nut, the iron core.
The utility model discloses an elastic deformation of spring leaf carries out energy storage and release. The two ends of the spring leaf are symmetrically embedded in the inner wall of the matched joint shell, and the spring leaf is fixed by a spring leaf fixing shaft sleeve through a spring leaf fastening bolt and a spring leaf fastening nut. The spring leaf fixing shaft sleeve is matched and fixed with the motor shaft. The meshing point of the spring piece and the output shaft is the force application point of the load torque, and the length of the force arm is kept unchanged. The spring piece is driven to rotate by the motor, so that the spring piece generates deflection deformation of different degrees, and accordingly, a certain protection effect is achieved when the joint is overloaded.
The hybrid electromagnet is symmetrically arranged on two sides of a motor shaft in an equidistance mode, and consists of a permanent magnet, an iron core, a plastic bobbin, a copper coil, a fixed baffle plate, a hybrid electromagnet fastening bolt, a hybrid electromagnet fastening nut, a hybrid electromagnet fixed shaft sleeve, a hybrid electromagnet shaft sleeve bolt assembly and a hybrid electromagnet shaft sleeve nut assembly.
The iron core is symmetrically arranged on two sides of the permanent magnet, the plastic bobbin is fixedly connected with the iron core, the copper coil and the plastic bobbin are coaxially arranged, and the front support plate and the rear support plate are fixed at the bottoms of the iron core and the permanent magnet through hybrid electromagnet fastening bolts and hybrid electromagnet fastening nuts.
The electrician pure iron is fixed on the bottom surface of the joint shell by 4 electrician pure iron fastening bolts, and an air gap between the electrician pure iron and the hybrid electromagnet is 1 mm.
The magnetic flux in the joint magnetic circuit system is determined by the currents in the permanent magnet and the magnet exciting coil, so that the magnetic flux in the magnetic circuit system can be increased and decreased by changing the magnitude and the direction of the current in the magnet exciting coil, namely the joint rigidity is increased and decreased, and the change of the joint rigidity is nonlinear.
The utility model discloses a motion form is succinct, make simple and convenient, easy operation's flexible robot joint of permanent magnetism variable rigidity. The hybrid electromagnet is formed by combining the permanent magnet and the magnet exciting coil, the advantages of the permanent magnet and the electromagnet are combined, the permanent magnet can realize the maintenance of magnetic force and rigidity in the non-electrified state (due to the magnetic force of the permanent magnet (22), even if the hybrid electromagnet is not electrified, a certain magnetic force exists, and the joint has a certain rigidity), and the hybrid electromagnet has the energy-saving characteristic. The joint rigidity adjusting part adopts the combined action of the hybrid electromagnet and the spring piece, and the hybrid electromagnet is adopted to adjust the joint rigidity, so that the joint rigidity adjusting part has the advantages of high rigidity adjusting response speed, no delay, no hysteresis and the like.
Claims (10)
1. The utility model provides a flexible robot is with becoming rigidity joint based on hybrid electromagnet which characterized in that: comprises a motor (A), a hybrid electromagnet fixing shaft sleeve (6), a hybrid electromagnet, a joint shell (7), electrician pure iron (8) and a motor support frame (10); the hybrid electromagnet fixing shaft sleeve (6), the hybrid electromagnet and the electrician pure iron (8) are positioned in the joint shell (7);
the motor support frame (10) is sleeved outside the motor (A), the motor output shaft (1) penetrates through the front end of the motor support frame (10), the hybrid electromagnet is installed at the rear end of the hybrid electromagnet fixing shaft sleeve (6), the hybrid electromagnet is located between the hybrid electromagnet fixing shaft sleeve (6) and the electrician pure iron (8), and the hybrid electromagnet fixing shaft sleeve (6) is fixedly connected with the motor output shaft (1);
the front end of the motor support frame (10) extends into the joint shell (7), and the electrician pure iron (8) is sleeved on the part of the motor support frame (10) extending into the joint shell (7).
2. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the joint further comprises a spring piece (5), the spring piece (5) is also positioned in the joint shell (7), the spring piece (5) is fixedly sleeved on the motor output shaft (1) through a spring piece fixing shaft sleeve (14), and the outer end part of the spring piece (5) extends into a rotation stopping groove (7-1) in the inner wall of the joint shell (7).
3. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the hybrid electromagnet comprises a plastic bobbin (19), a copper coil (20), a permanent magnet (22) and an iron core (25); iron core (25) are in permanent magnet (22) both sides symmetrical arrangement, and plastics spool (19) cover is on iron core (25) and concreties with iron core (25), and copper coil (20) cover is arranged with plastics spool (19) coaxial line on plastics spool (19), and plastics spool (19), copper coil (20), permanent magnet (22) and iron core (25) form wholly, and permanent magnet (22) and iron core (25) are connected on mixing fixed axle sleeve (6) of electro-magnet.
4. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that:
the two fixed baffles (23) are fixed with the iron core (25) and the permanent magnet (22) at the front and back sides of the bottom of the iron core (25) and the permanent magnet (22), and the iron core (25) and the permanent magnet (22) are fixed on the mixed electromagnet fixing shaft sleeve (6) by the fixed baffles (23).
5. The variable stiffness joint for the flexible robot based on the hybrid electromagnet as claimed in claim 2 or 4, wherein: the spring pieces (5) are two, the two spring pieces (5) are symmetrically arranged by taking the motor output shaft (1) as a symmetry axis, and the outer ends of the two spring pieces (5) are embedded in a rotation stopping groove (7-1) on the inner wall of the joint shell (7).
6. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the front end of the joint shell (7) is provided with a joint end cover (4), the joint end cover (4) and the motor output shaft (1) are concentrically arranged through a small conical roller bearing (2), and the joint end cover (4) is fixed with the joint shell (7).
7. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the hybrid electromagnets are concentrically fixed with the motor output shaft (1) through hybrid electromagnet fixing shaft sleeves (6), the number of the hybrid electromagnets is two, and the two groups of the hybrid electromagnets are symmetrically arranged on two sides of the motor output shaft (1) at equal intervals.
8. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the end surface of the motor reducer (B) is fixed with the motor support frame (10) by 3 motor support frame fastening bolts (17).
9. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that: the inner ring of the large tapered roller bearing (11) is matched with the outer wall of the motor support frame (10), and the outer ring of the large tapered roller bearing (11) is matched with the electrician pure iron (8).
10. The variable stiffness joint for the flexible robot based on the hybrid electromagnet is characterized in that:
the bottom surface of the electrician pure iron (8) is fixed with the bottom surface of the joint shell (7); the bottom surface of the motor (A) is matched with the encoder (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120409167.9U CN215202051U (en) | 2021-02-25 | 2021-02-25 | Hybrid electromagnet-based variable-stiffness joint for flexible robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120409167.9U CN215202051U (en) | 2021-02-25 | 2021-02-25 | Hybrid electromagnet-based variable-stiffness joint for flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215202051U true CN215202051U (en) | 2021-12-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120409167.9U Active CN215202051U (en) | 2021-02-25 | 2021-02-25 | Hybrid electromagnet-based variable-stiffness joint for flexible robot |
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| Country | Link |
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| CN (1) | CN215202051U (en) |
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2021
- 2021-02-25 CN CN202120409167.9U patent/CN215202051U/en active Active
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