CN104493836A - Robot joint structure based on magnetorheological fluid clutch - Google Patents

Abstract

The invention provides a robot joint structure based on a magneto-rheological fluid clutch, which includes a shell, and the inside of the shell is sequentially connected with a servo motor driver, a motor encoder, a disc servo motor, a harmonic reducer, a magnetic flow fluid clutch, terminal output shaft; the output end of the disc servo motor is connected to the harmonic reducer through a first coupling, and the harmonic reducer is connected to the terminal output shaft through a second coupling. The present invention can control larger transfer power with smaller excitation current, is easy to realize automatic control, can ensure the stability of joining and separating process, and has stable and balanced transmission, simple and compact structure, easy operation, low energy consumption and long service life long advantage.

Description

A robot joint structure based on magneto-rheological fluid clutch

technical field

The present invention belongs to the technical field of robots, and in particular relates to a robot joint structure based on a magneto-rheological fluid clutch.

Background technique

In recent years, with the development of robot technology, the application fields of robots are becoming more and more extensive. The joint design as the core component that determines the performance of robots is particularly important. At present, the traditional joint clutches include mechanical, hydraulic, pneumatic, electromagnetic, etc., but the mechanical The hydraulic clutch has the disadvantages of short service life, high noise, large inertia, and inconvenient control. The hydraulic clutch has the disadvantages of large moment of inertia and complicated oil feeding. The electromagnetic clutch has the disadvantage of high wear.

Contents of the invention

Aiming at the deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a simple structure, compact, easy to operate, low energy consumption, long life, easy to realize automatic control, and can ensure the smoothness of the engagement and separation process robot joint structure.

In order to solve the above technical problems, the technical solution adopted by the present invention is: a robot joint structure based on a magneto-rheological fluid clutch, including a casing, and the inside of the casing is sequentially connected with a servo motor driver and a motor encoder from right to left , disc servo motor, harmonic reducer, magneto-rheological fluid clutch, terminal output shaft; the output end of the disc servo motor is connected to the harmonic reducer through a first coupling, and the harmonic reducer is connected to the terminal The output shaft is connected by a second coupling.

The magneto-rheological fluid clutch includes an inner cylinder fixed to the input shaft, the inner cylinder is connected to the driving shaft, the outer cylinder is connected to the driven shaft, the steel sheets of the inner cylinder and the steel sheets of the outer cylinder are distributed in a multi-piece interlaced manner, and the magnetic flow The variable fluid is used as a transmission medium and is filled between the steel sheets of the inner cylinder and the steel sheets of the outer cylinder.

The servo motor driver uses the speed loop to adjust the joint speed through the feedback of the motor encoder, and uses the current loop to control the output current of the motor, so as to control the magnetic field strength inside the magneto-rheological fluid clutch.

The beneficial effects of the present invention are: compared with the prior art, due to the adoption of the above-mentioned technical scheme, through the magnetorheological fluid clutch in the joint structure of the robot, relying on the magnetorheological fluid as the transmission medium, it can generate magnetic Rheological effect, by changing the strength of the external magnetic field, the viscosity and yield stress of the magnetorheological fluid will change, so as to realize the stepless change of torque or speed, and the relatively large transmission power can be controlled with a small excitation current, which is easy to realize Automatic control can ensure the smoothness of the engagement and separation process. The invention has the advantages of stable and balanced transmission, simple and compact structure, easy operation, low energy consumption and long service life.

Description of drawings

The advantages and implementation methods of the present invention will be more obvious by referring to the accompanying drawings and describing the present invention in conjunction with examples, wherein the content shown in the accompanying drawings is only used for explaining the present invention, and does not constitute any sense of the present invention The constraints, in the attached image:

Fig. 1 is the schematic diagram of the robot joint structure based on the magneto-rheological fluid clutch of the present invention;

Fig. 2 is the axial sectional view of the robot joint structure based on the magneto-rheological fluid clutch of the present invention;

In the picture:

1. Servo motor driver 2. Motor encoder 3. Disk servo motor 4. The first coupling 5. Harmonic reducer 6. The first coupling 7. Magneto-rheological fluid clutch 8. Terminal output shaft 9. Shell

Detailed ways

Further describe the present invention below in conjunction with embodiment and accompanying drawing thereof:

As shown in Figures 1 to 2, a robot joint structure based on a magneto-rheological fluid clutch in the present invention includes a casing 9, and the inside of the casing 9 is sequentially connected with a servo motor driver 1 and a motor encoder 2 from right to left. , disc servo motor 3, harmonic reducer 5, magneto-rheological fluid clutch 7 and terminal output shaft 8; the output end of the disc servo motor 3 is connected to the harmonic reducer 5 through the first coupling 4, The harmonic reducer 5 is connected with the terminal output shaft 8 through the second coupling 6 .

The inner cylinder steel sheets and the outer cylinder steel sheets of the magneto-rheological fluid clutch 7 are multi-sheet interlacedly distributed, and the magnetorheological fluid is filled between the inner cylinder steel sheets and the outer cylinder steel sheets as a transmission medium.

The servo motor driver 1 uses the speed loop to adjust the joint speed through the motor encoder 2 feedback, and uses the current loop to control the output current of the motor, so as to control the magnetic field strength inside the magneto-rheological fluid clutch 7 .

The working process of the present invention is: the servo drive 1 receives pulses to control the rotation of the disc servo motor 3, the disc servo motor 3 transmits the power to the harmonic reducer 5 through the first shaft coupling 4, and the harmonic reducer 5 transfers the power The magneto-rheological fluid clutch 7 is transmitted to the magneto-rheological fluid clutch 7 through the second coupling 6. The working principle of the magneto-rheological fluid clutch 7 is: when the electromagnetic coil has no current, the magneto-rheological fluid is Newton fluid. At this time, the fluid is transmitted by the viscosity of the fluid The torque is very small, and the loose sand-like suspended particles in the fluid cannot hinder the relative rotation between the driving part and the driven part, the magneto-rheological fluid clutch 7 and the terminal output shaft 8 are in a separated state, and the power transmission is terminated; when After the electromagnetic coil is fed with current, the suspended particles in the magnetorheological fluid are magnetized under the action of the magnetic field, and attract each other along the direction of the magnetic field to form a chain. This chain structure increases the shear stress of the magnetorheological fluid. A kind of shear stress is used to transmit torque, so that the inner cylinder steel sheet of the magneto-rheological fluid clutch 7 is joined with the outer cylinder steel sheet, the magneto-rheological fluid clutch 7 is in the joint state with the terminal output shaft 8, and the power will flow from the connection end After the coil is powered off again, the magneto-rheological fluid is quickly transformed into Newton fluid, and the magneto-rheological fluid clutch 7 is disengaged from the terminal output shaft 8 .

Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.

Claims (2)

1. the robot joint structure based on clutch with magnetic rheologic liquid, it is characterized in that, comprise shell, described enclosure is connected with motor servo driver, motor encoder, disc type servomotor, harmonic speed reducer, clutch with magnetic rheologic liquid, end output shaft from right to left successively; Described disc type servomotor output is connected by the first shaft coupling with harmonic speed reducer, and described harmonic speed reducer is connected by the second shaft coupling with end output shaft.

2. the robot joint structure based on clutch with magnetic rheologic liquid according to claim 1, it is characterized in that, the inner core steel disc of described clutch with magnetic rheologic liquid and urceolus steel disc are that multiple-piece is interspersed, and magnetic flow liquid is filled between inner core steel disc and urceolus steel disc as driving medium.