CN209579607U - A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid - Google Patents
A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid Download PDFInfo
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- CN209579607U CN209579607U CN201821680034.XU CN201821680034U CN209579607U CN 209579607 U CN209579607 U CN 209579607U CN 201821680034 U CN201821680034 U CN 201821680034U CN 209579607 U CN209579607 U CN 209579607U
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- Braking Arrangements (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Fluid-Damping Devices (AREA)
Abstract
A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid, input shaft is mounted on left end cap, output shaft is mounted on right end cap, each active disc arranged radially interval of driving disc spacing pressing is mounted on retaining ring, and the input shaft protruded on the inside of left end cap is fixedly connected with the active disc near left end cap；Each passive disc radial of driven disc is arranged side by side on output shaft, and dislocation arranges and has running clearance between each other between active disc and passive disc, and magnetorheological fluid is located among running clearance, and the cavity that running clearance is formed carries out dynamic sealing using oil sealing；Magnetic yoke and magnetism-isolating loop are set between left end cap and right end cap, and magnetism-isolating loop, left end cap and right end cap form rotor cavity, and driving disc spacing pressing, driven disc are respectively positioned in rotor cavity, and the 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 submissive joint of the robot based on magnetorheological fluid
Composite excitation coupling device.
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 composite excitation coupling devices of robot based on magnetorheological fluid, by magnetic current
Become liquid to be filled in the sealed volume of the driving and driven disc cross arrangement composition of multilayer, be made up of permanent magnet and electromagnetic coil
Composite excitation module generates controllable, adjustable externally-applied magnetic field, realizes the submissive coupling effect of the master and slave transmission parts of coupling device.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid, the composite excitation coupling device include
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
Lid, the input shaft are mounted on left end cap, and the output shaft is mounted on right end cap, each active disc of the driving disc spacing pressing
Arranged radially interval is mounted on retaining ring, protrudes into the input shaft on the inside of the left end cap and the active disc near left end cap is solid
Fixed connection；Each passive disc radial of the driven disc is arranged side by side on output shaft, the active disc and passive disc
Between dislocation arrangement and have running clearance between each other, magnetorheological fluid is located among the running clearance, the running clearance shape
At cavity using oil sealing carry out dynamic 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 rotor cavity, and installation turns to change between the magnetism-isolating loop and magnetic yoke
The magnet exciting coil of magnetic field strength in sub- cavity, the permanent magnet are 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 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: variation rigidity transmission may be implemented in mixed liquor excitation controller, makes
The flexible robot for being integrated with the submissive joint has good compliant characteristic, is multi-machine collaborative, man-machine collaboration and rapid wear pair
The safety of elephant provides sufficient guarantee.Meanwhile the composite excitation mode that electromagnetism is combined with permanent magnetism is compared to electromagnetic coil list
One excitation mode, so that power consumption is lower at work for coupling device, so that coupling device can also keep suitable quiet when not working
State pose further improves the safety of flexible robot.
Detailed description of the invention
Fig. 1 is the submissive joint composite excitation coupling device schematic diagram of the robot based on magnetorheological fluid of the utility model.
Fig. 2 is the overall structure 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 composite excitation coupling device of robot based on magnetorheological fluid, the mixing
Excitation coupling device includes input shaft 11, magnet exciting coil 23, magnetism-isolating loop 19, driving disc spacing pressing (including active disc 15,21,26,31), quilt
Moving plate (including passive disc 17,32,33), retaining ring 20, bearing (13,28,29), output shaft 30, magnetic yoke 22, magnetorheological fluid, a left side
End cap 18 and right end cap 24, the passive disc and active disc have running clearance between each other, and magnetorheological fluid is in the rotation
Gap location work, transmitting torque drives the rotation of passive disc, therefore carries out dynamic sealing using oil sealing 27 in the cavity.It is described defeated
Enter axis 11 and connect with driving disc spacing pressing by hexagon socket countersunk flat cap head screw, the active disc (15,21,26,31) is spaced by retaining ring 20
Constant spacing uses gasket 25 between the retaining ring 20 and active disc (15,21,26,31) and is sealed, and uses stay bolt
Locking.The passive disc (17,32,33) is radially fixed on output shaft 30 by key, guarantees spacing by aluminum retaining ring, most
The passive disc of outer layer carries out axial restraint with shaft end ring 14.In order to reduce sliding friction, the output shaft 30 and driving disc spacing pressing
Between be mounted with a radial thrust bearing 28, carry out axial spacing and fix, 29 cloth of duplex bearing is used on the output shaft 30
It sets, improves the centring property of device.The permanent magnet (16,34) is mounted on left end cap 18 by hexagon socket countersunk flat cap head screw respectively
On right end cap 24, when magnet exciting coil power-off, joint can be made to keep static pose.The passive disc (17,32,33) and
Active disc (15,21,26,31) is respectively positioned in magnetism-isolating loop 19, and installation turns to change between the magnetism-isolating loop 19 and magnetic yoke 22
The magnet exciting coil 23 of magnetic field strength in sub- cavity, the permanent magnet (16,34) and electromagnetic coil 23 cooperatively form magnetorheological
Liquid composite excitation module, the magnetic yoke 22 are installed between left end cap 18 and right end cap 24 by hexagon socket countersunk flat cap head screw；It is described
Installation driving motor 9 and retarder 8, the input of the output shaft of the retarder 8 and the composite excitation coupling device 6 in rear bar 5
Axis 11 is connected by rear shaft coupling 7, and the output shaft 30 of the composite excitation coupling device is connected by preceding shaft coupling 4 with 1 lower end of front bar
It connects.
The submissive joint of composite excitation formula robot based on magnetorheological fluid of the present embodiment, referring to Fig. 2, which is located at machine
The front bar of device people and the junction of rear bar, the joint include power input mechanism, composite excitation coupling device, output machine
Structure.
The power input mechanism includes the servo 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.
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 (8)
1. a kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid, it is characterised in that: 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, a left side
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, the driving disc spacing pressing it is each
A active disc arranged radially interval is mounted on retaining ring, protrude into input shaft on the inside of the left end cap near left end cap
Active disc is fixedly connected；Each passive disc radial of the driven disc is arranged side by side on output shaft, the active disc
Dislocation arranges and has running clearance between each other between passive disc, and magnetorheological fluid is located among the running clearance, described
The cavity that 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 composite excitation coupling device of robot as described in claim 1 based on magnetorheological fluid, which is characterized in that
The driving disc spacing pressing includes 4 active discs, and the driven disc includes 3 passive discs.
3. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
Radial thrust bearing is installed in: the output shaft and between the active disc of right end cap.
4. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
In: 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 deep-groove ball axis
Hold connection.
5. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
In: the output shaft is connect with right end cap by duplex bearing, and the bearing is deep groove ball bearing.
6. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
In: it is sealed between the retaining ring and active disc using gasket, and is locked with stay bolt.
7. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
In: the passive disc is radially fixed on output shaft by key, and outermost passive disc is carried out axial solid with shaft end ring
It is fixed.
8. the submissive joint composite excitation coupling device of robot as claimed in claim 1 or 2 based on magnetorheological fluid, feature exist
In: the magnetic yoke is installed between left end cap and right end cap by hexagon socket countersunk flat cap head screw.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018209024772 | 2018-06-12 | ||
| CN201820902477 | 2018-06-12 |
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| CN209579607U true CN209579607U (en) | 2019-11-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227595A (en) * | 2018-06-12 | 2019-01-18 | 浙江工业大学 | A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid |
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- 2018-10-17 CN CN201821680034.XU patent/CN209579607U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227595A (en) * | 2018-06-12 | 2019-01-18 | 浙江工业大学 | A kind of submissive joint composite excitation coupling device of robot based on magnetorheological fluid |
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