The invention discloses a variable-stiffness robot joint based on a magneto-rheological technology, and belongs to the technical field of variable-stiffness quadruped robots. The variable-stiffness robot joint comprises a flange, a coil baffle, an aluminum disc, a transmission shaft and an elastic unit. The aluminum disc is fixed to the outer side of the thigh of the quadruped robot, the flange is arranged at the other end of the aluminum disc, the flange is fixedly connected with the coil baffle, and the elastic unit is arranged between the aluminum disc and the flange; the transmission shaft is connected with the shank of the quadruped robot through a first common flat key. By the adoption of the structure, the magnetorheological fluid and the variable stiffness unit are subjected to integrated innovative design, and gravitational potential energy generated in the process that the quadruped robot jumps up and falls to the ground can be stored in the elastic unit and released when needed; the effect of buffering and vibration reduction can be achieved while it is guaranteed that the quadruped robot achieves outbreak jumping under the assistance of the variable-rigidity joints.

    本发明公开了一种基于磁流变技术的变刚度机器人关节,属于变刚度四足机器人技术领域。所述变刚度机器人关节包括凸缘法兰、线圈挡板、铝盘、传动轴及弹性单元;所述铝盘固定在所述四足机器人大腿的外侧,所述铝盘的另一端设置有所述凸缘法兰,所述凸缘法兰与所述线圈挡板固定连接,所述弹性单元设置在所述铝盘与所述凸缘法兰之间;所述传动轴通过第一普通平键与所述四足机器人小腿连接。本发明采用上述结构,将磁流变液和变刚度单元进行一体化创新设计,可以将四足机器人跳起落地过程中的重力势能储存在弹性单元中并在需要的时候释放,在保证四足机器人在可变刚度关节的辅助下实现爆发跳跃的同时还能实现缓冲减振的效果。


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    Title :

    Variable stiffness robot joint based on magneto-rheological technology


    Additional title:

    一种基于磁流变技术的变刚度机器人关节


    Contributors:
    YANG JIAN (author) / XU HAODONG (author)

    Publication date :

    2024-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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