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Magnetic moving type mechanical vertebra

A spine and mechanical technology, applied in the field of mechanical spine, can solve the problems of inability to achieve bending, unnatural, rigid, etc., and achieve the effect of easy operation, simple operation and easy control

Pending Publication Date: 2020-09-11
黄琬婷
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such as inability to bend and twist from any part of the body; inability to bend at any angle; monotonous, rigid and unnatural combination of bending, twisting and stretching movements, etc.
Affect the work and performance of the robot

Method used

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  • Magnetic moving type mechanical vertebra
  • Magnetic moving type mechanical vertebra
  • Magnetic moving type mechanical vertebra

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] Example 1: Basic Components

[0028] see figure 1 , figure 2 , image 3 , Schematic diagram of the basic components of the magnetic mechanical spine. The basic elements include a vertebral section 1, a magnet 2, a "V"-shaped spring 3, an accessory element 4, a controller 5, a jacket 6, and a wire 7, etc. figure 1 Part (1) in the figure is a front view of the structure of vertebral segment 1, and part (2) in the figure is a side view of vertebral segment 1. Indicated in the figure: 1. Vertebral segment 1: Vertebral segment 1 is composed of a cylindrical vertebral body 11 (or a polygonal prism, if it can be designed to be hollow according to needs in order to reduce its own weight), the upper and lower bottom surfaces of the vertebral body 11 are respectively There is a round platform protrusion, and there is a small ball in the center of the round platform on one side as the used joint head 12 for connection, and a spherical joint socket 13 is arranged on the other ...

Embodiment 2

[0029] Embodiment 2: basic structure

[0030] see Figure 4 , Figure 5 . Figure 4 , Figure 5 It is a three-dimensional view and a section view of the basic structural model. The center of the magnetic mechanical spine is to insert the joint head 12 on one vertebral segment 1 into the joint socket 13 of the other vertebral segment 1 (the joint head 12 is stuck in the joint socket 13 and can rotate freely but cannot fall off). The vertebral segments 1 are connected in sequence to form a vertebral structure; there are several vertebral protrusions 14 around each vertebral segment 1, and the magnet 2 (electromagnet 21 or permanent magnet 22) is firmly stuck on the vertebral protrusion 14 through the chuck 23 Each vertebral protrusion 14 has a spring locking groove 15, and the two hooks 31 on the "V"-shaped spring 3 are respectively stuck in the spring clamps of the vertebral protrusions 14 of two adjacent vertebral segments 1. In the groove 15; between the vertebral protru...

Embodiment 3

[0031] Embodiment 3: Combination of main body components and working principle

[0032] see Figure 6 , Figure 7 , Figure 8 . Figure 6It is a schematic diagram of the combination mode of the vertebral segment and the magnet and the working principle of the electromagnet. As shown in the figure: the magnet 2 is firmly clamped on the magnet clamping groove 17 on the vertebral protrusion 14 of the vertebral segment 1 through the clamping head 23 . (1) in the figure is a front view, and (2) is a side view. (3) is a schematic diagram of the working principle of the electromagnet. As shown in (1) of (3) in the figure, it is shown at a: when there is no current passing through the coil of an electromagnet, there is no magnetic field around the electromagnet; as shown at b: when the coil of the electromagnet is energized, Assuming that the terminal p is connected to the positive pole "+" of the power supply, and the terminal q is connected to the negative pole "-" of the powe...

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PUM

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Abstract

The invention relates to a magnetic moving type mechanical vertebra. The magnetic moving type mechanical vertebra comprises a plurality of vertebra sections, magnets, a control chip, V-shaped springs,an outer sleeving housing and the like, wherein the outer sleeving housing is wrapped on the outer wall of a body bracket; a plug of the body bracket is inserted in a jack in a vertebra section; an electromagnet is fixed to the outer end of a vertebra protrusion of each vertebra section; a wire of each electromagnet is connected with the controller; the multiple vertebra sections are sequentiallyconnected to form a vertebra; each V-shaped spring is arranged between the vertebra protrusions of every two adjacent vertebra sections; and the controller is fixed on the skeleton. According to themagnetic moving type mechanical vertebra disclosed by the invention, through controlling existence, direction and magnitude of electric currents of the electromagnets by the control chip, existence, direction and magnitude of a magnetic field of the electromagnets are controlled, so that the magnets are mutually attracted (excluded), the distance between the magnets is reduced (enlarged) to pull (push) the vertebra sections to rotate (change the distance ), and bending, twisting, and expanding and contracting of the vertebra are realized; through the moment equilibrium between the V-shaped springs and magnetic force, the movement degree and the arriving positions of movements are controlled; and through diversified combinations of bending, twisting, and expanding and contracting, daedal movement modes are realized.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical spine that can be bent, twisted and stretched arbitrarily. Background technique [0002] Existing robots have great limitations in bending, twisting, stretching and the like of the body. Such as inability to bend and twist from any part of the body; inability to bend at any angle; monotonous, rigid and unnatural combination of bending, twisting and stretching movements. Affect the work and performance of the robot. [0003] The present invention can well solve the above deficiencies. It can be bent, twisted or stretched arbitrarily to form a variety of different and various action forms, such as bending, curling, stretching, swinging, shaking, undulating, twisting, wriggling, crawling, etc. The combination of various single sports forms completes the ever-changing sports forms. Not only the operation is very simple, but also the flexibility is greatly improved. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10
CPCB25J9/00B25J9/10
Inventor 黄琬婷
Owner 黄琬婷