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CN-121989286-A - Multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendon anthropomorphic abrasion-free joint system

CN121989286ACN 121989286 ACN121989286 ACN 121989286ACN-121989286-A

Abstract

The invention discloses a multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendon anthropomorphic joint system and a control method, and belongs to the technical fields of bionic robots, intelligent mechanical joints and electromagnetic control. The invention solves the technical problems of serious mechanical abrasion, hard movement, poor stability, low bionic degree, rough force control effect and the like of the existing robot joint. The system comprises a multi-dimensional magnetic suspension normal stable support module, a telescopic bionic muscle tendon module, a multi-unit vector electromagnetic cooperative driving module, an electromagnetic polarity smooth switching and bidirectional driving module and a bionic self-learning gradual force control module. The non-contact and abrasion-free operation of the joints is realized through multi-dimensional magnetic suspension, the personification motion is realized through the telescopic bionic muscle tendons, and the precise and flexible control is realized through vector electromagnetism and gradual force control. The invention has the advantages of zero abrasion, long service life, multidimensional stability, high anthropomorphic degree, soft force control, simple structure and the like, and is suitable for the fields of humanoid robots, medical rehabilitation robots, intelligent artificial limbs, anthropomorphic interaction equipment and the like.

Inventors

  • CHEN HONGYIN
  • CHEN QINGLIAN
  • CHEN HONGZHEN

Assignees

  • 新疆顺安众达交通技术服务有限公司

Dates

Publication Date
20260508
Application Date
20260305

Claims (7)

  1. 1. The anthropomorphic joint system is characterized by comprising a multi-dimensional magnetic suspension normal state stable support module, a telescopic bionic muscle tendon module, a multi-unit vector electromagnetic cooperative driving module, an electromagnetic polarity smooth switching and bidirectional driving module and a bionic self-learning gradual change type force control module; The multi-dimensional magnetic suspension normal state stable support module is internally provided with a plurality of groups of force polarity controllable electromagnets (3) in an axial direction, a lateral direction and an oblique direction along the joint, and is used for supporting an upper movable bone (1) and a lower movable bone (4) of the joint, and a traction limiting stable high-strength rib (2) is arranged to limit a joint movable displacement boundary, so that the upper movable bone (1) and the lower movable bone (4) keep a non-contact suspension gap in a working state; The telescopic bionic muscle tendon module adopts a semi-rigid push-pull cable (6) and flexible tendon composite structure, and is matched with an electromagnet (7), a fixed electromagnet (8), a force anchoring point (9) and a traction stable movable cavity (10) to realize contraction, extension and dynamic relaxation; The multi-unit vector electromagnetic cooperative driving module is characterized in that a plurality of groups of independent micro electromagnets are annularly arranged on the periphery of the joint, and a target vector force is synthesized according to movement requirements to realize joint steering, lifting, balancing and gait adjustment; The electromagnetic polarity smooth switching and bidirectional driving module realizes bidirectional gradual change driving of the telescopic bionic muscle tendon module through polarity switching of an electromagnetic unit; The bionic self-learning gradual change type force control module is internally provided with a force feedback sensor, a data storage unit and a self-learning algorithm unit, so that smooth gradual change and self-adaptive adjustment of force output are realized.
  2. 2. The anthropomorphic joint system according to claim 1, wherein the multi-dimensional magnetic levitation normal stable support module continuously outputs the electromagnetic repulsion force with controllable polarity by each electromagnet (3) with controllable force polarity when the joint is electrified to operate, so as to form a levitation support, and the upper movable bone (1) and the lower movable bone (4) keep a non-contact gap.
  3. 3. The anthropomorphic joint system according to claim 1, wherein in the telescopic bionic muscle tendon module, when the electromagnet (7) and the fixed electromagnet (8) are in different polarities, adsorption is generated, the semi-rigid push-pull cable (6) is pulled to shrink, the flexible tendon is synchronously tightened, joint bending and power generation are realized, when the electromagnet (7) and the fixed electromagnet (8) are in the same polarity, repulsion is generated, the semi-rigid push-pull cable (6) is pushed to stretch, and the flexible tendon is synchronously stretched, so that joint straightening and resetting are realized.
  4. 4. The anthropomorphic joint system of claim 1, wherein the multi-unit vector electromagnetic co-drive module directly acts on the articulating bone and scalable bionic muscle tendon module by partitioning, time sharing, and staged power to electromagnets of different orientations to synthesize a target vector force.
  5. 5. The anthropomorphic wear-free joint system according to claim 1, wherein the electromagnetic polarity smoothing switching and bi-directional driving module achieves bi-directional driving of the bionic muscle tendons by polarity smoothing switching.
  6. 6. The anthropomorphic, non-wearing joint system of claim 1, wherein the control flow of the bionic self-learning gradual force control module comprises soft fitting during the grasping phase, constant tension during the holding phase, steady and non-impact during the placement phase, and non-contact disengagement during the disengagement phase.
  7. 7. A control method applied to the system according to any one of claims 1 to 6, characterized by comprising the steps of: the joint is started, and the multi-dimensional magnetic suspension normal stable support module is electrified to form a non-contact suspension support; According to the motion requirement, the multi-unit vector electromagnetic cooperative driving module outputs corresponding vector force; The scalable bionic muscle tendon module completes contraction, extension or dynamic relaxation under the control of the electromagnetic polarity smooth switching and bidirectional driving module; The bionic self-learning gradual force control module adjusts driving parameters in real time according to force feedback to realize flexible action control; the magnetic suspension support module is powered off, and the joint is restored to a natural loose state.

Description

Multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendon anthropomorphic abrasion-free joint system The invention relates to the technical fields of bionic robots, intelligent mechanical joints and electromagnetic control, in particular to a multi-dimensional magnetic suspension support, telescopic bionic muscle tendon driving, multi-unit vector electromagnetic cooperation and bionic self-learning gradual change force control anthropomorphic abrasion-free joint system and a control method. Background At present, the robot joint generally adopts mechanical transmission structures such as a motor, a speed reducer, a gear, a screw rod, a bearing and the like, and has the following technical defects in actual use: 1. the mechanical contact type transmission is seriously worn, and the problems of precision reduction, service life shortening, noise increase, frequent maintenance and the like easily occur when parts such as a bearing, a gear and the like are operated for a long time, so that the use requirements of long period and high reliability are difficult to meet. 2. The exercise form is hard, the traditional driving mode mainly adopts rigid transmission, the flexible characteristic of human muscle contraction and relaxation cannot be simulated, the exercise is stiff, and the anthropomorphic expressive force is lacked. 3. Most of the existing magnetic suspension joints are suspended in a single axial direction, lack of multi-dimensional stable supporting structures such as lateral and oblique directions, and are easy to deviate, shake and even unstably when the load, the impact and the gesture change. 4. The conventional flexible tendon is only used as a passive limiting piece, and cannot realize active expansion, dynamic relaxation and force control adjustment, and does not have the bionic driving function of human muscle. 5. The force control mode is mainly step-type switch control, and smooth gradual change adjustment and self-learning capability are lacked, so that fine actions such as soft grabbing and no-impact operation are difficult to realize. Aiming at the problems, the invention provides an integrated joint system which has novel structure, no abrasion in operation, motion personification and flexible control and self-adaption. The invention aims to: The invention aims to overcome the defects of mechanical abrasion, hard movement, poor stability, low bionic degree, rough force control effect and the like of the existing robot joint technology, provides a multi-dimensional magnetic suspension and electromagnetic gradual change force control and telescopic bionic muscle tendon anthropomorphic non-abrasion joint system, realizes non-contact, zero abrasion and long-service-life operation of joints, simultaneously has a highly anthropomorphic movement form, multi-dimensional stable support and self-adaptive gradual change force control capability, and improves the safety, flexibility and service life of the robot joint. . Disclosure of Invention The anthropomorphic wear-free joint system comprises a multi-dimensional magnetic suspension normal state stable support module, a telescopic bionic muscle tendon module, a multi-unit vector electromagnetic cooperative driving module, an electromagnetic polarity smooth switching and bidirectional driving module and a bionic self-learning gradual change type force control module. 1. Multidimensional magnetic suspension normal stable support module: The joint comprises a core structure, wherein an upper movable bone (1) and a lower movable bone (4) are arranged in a joint inner cavity, a plurality of groups of force polarity controllable electromagnets (3) are distributed along the axial direction, the lateral direction and the oblique direction, a traction limiting stable high-strength rib (2) is arranged at the same time to connect the upper movable bone (1) and the lower movable bone (4) to limit the joint movable displacement boundary, and a zero-contact low-abrasion joint cavity (5) is formed between the upper movable bone (1) and the lower movable bone (4). The working principle is that when the joint is electrified and operated, each group of electromagnet (3) with controllable force polarity continuously outputs electromagnetic repulsion force with controllable polarity to form multi-dimensional suspension support, so that a non-contact gap is kept between the upper movable bone (1) and the lower movable bone (4) in a zero-contact low-abrasion joint cavity (5), the larger the load is, the self-adaption of the repulsion force is enhanced, the friction-free state is kept all the time, the electromagnetic support disappears when the joint is powered off, and the upper movable bone (1) and the lower movable bone (4) are in loose connection through traction limiting stable high-strength ribs (2). 2. Scalable bionical muscle tendon module: The semi-rigid push-pull cable (6) and flexible tendons a