机械阻抗参数可调的机器人柔性驱动旋转关节

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	机械阻抗参数可调的机器人柔性驱动旋转关节
	李志海; 韩建达; 吴镇炜; 赵忆文; 卜春光
	2014-05-28
专利国别	中国
专利号	CN203611260U
专利类型	实用新型
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Robot flexible driving rotary joint with adjustable mechanical impedance parameter
中文摘要	本实用新型属于机器人柔性驱动领域的转动关节，具体地说是一种机械阻抗参数可调的机器人柔性驱动旋转关节，包括磁流变离合器、电机、第一、二杆、扭转弹簧及关节轴端盖，电机及磁流变离合器分别安装在第二杆上，磁流变离合器的两侧分别安装有磁流变离合器输入轴及磁流变离合器输出轴，磁流变离合器输入轴通过传动机构与电机输出轴连接，磁流变离合器输出轴与第一杆连接；扭转弹簧的两端分别连接在磁流变离合器及关节轴端盖上。本实用新型可使转动关节在主动和被动状态间转换，阻尼可调，阻尼、扭转弹簧起缓冲作用；被动状态下，关节可随杆件做被动旋转，并储存冲击能量，提高能源效率，用于具有柔性操作、主被动调整需要，或存在冲击的场合。
是否PCT专利	否
英文摘要	The utility model belongs to a rotary joint in the field of robot flexible driving and particularly relates to a robot flexible driving rotary joint with an adjustable mechanical impedance parameter. The robot flexible driving rotary joint comprises a magneto-rheological clutch, a motor, a first rod, a second rod, a torsion spring and a joint shaft end cover, wherein the motor and the magneto-rheological clutch are respectively arranged on the second rod; a magneto-rheological clutch input shaft and a magneto-rheological clutch output shaft are respectively arranged on two sides of the magneto-rheological clutch; the magneto-rheological clutch input shaft is connected with a motor output shaft through a transmission mechanism; the magneto-rheological clutch output shaft is connected with the first rod; two ends of the torsion spring are respectively connected to the magneto-rheological clutch and the joint shaft end cover. The robot flexible driving rotary joint with the adjustable mechanical impedance parameter can be switched between a driving state and a driven state; the damping is adjustable; the damping and torsion spring achieves a buffer effect; in the driven state, the joint can be driven to rotate along with a rod piece; furthermore, impact energy is stored, and the energy efficiency is improved; the robot flexible driving rotary joint is used in a place in which flexible operation is implemented, driving and driven adjustment is required, or impact exists.
公开日期	2014-05-28
申请日期	2013-12-20
语种	中文
专利申请号	CN201320856969.X
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.cn/handle/173321/15018]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	李志海,韩建达,吴镇炜,等. 机械阻抗参数可调的机器人柔性驱动旋转关节. CN203611260U. 2014-05-28.