Sliding type follow-up switch
By adopting sliding design and movable connection in the follower switch, the disturbance and vibration problems caused by the large size of the follower switch are solved, and the accuracy and shock resistance are improved. They are suitable for applications such as humanoid robots.
Patent Information
- Application Number
- CN202411318572.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-20
- Publication Date
- 2024-12-27
AI Technical Summary
The existing follower switches are large in size, resulting in external disturbances and vibrations during movement, affecting accuracy, especially in humanoid robots, which require improved accuracy and shock resistance.
Using a sliding type follower switch, through the movable connection between the male and female head of the follower switch, it is connected by sliding connection, rolling connection or rotating connection, such as bearings, rails, slide rails, gears, etc., to reduce the overall volume And improves movement stability.
A more compact follow-up switch design is achieved, reducing disturbances and vibrations during movement, improving accuracy and shock resistance, making it more suitable for rapid integration in applications such as humanoid robots.
Smart Images
Figure CN119210039A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of electromechanical technology, in particular to a sliding follower switch. Background Art
[0002] Reference is made to the inventor's pioneering invention of a follow-up motor (motor) related technology patent (CN2023111868943) and a proximity follow-up motor (CN2023111870801) disclosed as a large motor (large motor) (0.1) and a pioneering invention of a forward and reverse (forward and backward) motor (motor) control method and structure (CN2023112763667) and a general control method for a follow-up motor (motor) (CN2023115574385), as well as the pioneering invention of a circuit structure of a series-excited or series-excited follow-up motor (CN2023116381820) and a new follow-up switch and related patents (CN202311654224X) and related patents (CN202311678 8269 and CN2024102683764 and 2024104788313 and 2024101989109), it is not difficult to find that in the content of the above-mentioned pioneering patents, a clear and easy-to-understand specific definition has been given for this new type of motor. We all know that pioneering inventions must be creative, but in this new type of motor, the volume of the follow-up switch is not very compact, especially when using ready-made switches on the market such as photoelectric switches, Hall switches, etc., the volume is obviously larger, especially in the patent for follow-up motor (motor) related technology (CN2023111868943) can only be regarded as a follow-up switch using a mechanical proximity switch, so the volume of the follow-up switch accounts for a large proportion of the overall volume.
[0003] When designing a follow-up switch, readily available electronic switch components are often used, which have a large overall size. The large size will cause the follow-up switch to generate disturbances and vibrations caused by the external environment when moving, thereby affecting the accuracy. In order to facilitate the rapid integration of technology into robots, especially humanoid robots, it is particularly necessary to improve the accuracy and seismic resistance of the follow-up switch.
[0004] To this end, a slide type follow-up switch (10) is proposed. Summary of the invention
[0005] The object of the present invention is to provide a slide-type follow-up switch (10) to solve the problems raised in the above-mentioned background technology.
[0006] To achieve the above object, the present invention provides the following technical solutions:
[0007] A sliding follow-up switch, characterized in that it mainly includes the following contents:
[0008] It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection mode between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
[0009] Wherein, the movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
[0010] Among them, the movable connection is mainly composed of a bearing connection, a track connection, a slide rail connection, a gear connection, a connecting rod connection, a threaded connection, a cam connection, a spring connection, a universal joint connection, a ball and socket connection, a magnetic connection, a flexible connection, a pin connection, a pivot connection, a spiral spring connection, a chain connection, a belt connection, a rope connection, a magnetic suspension connection, a pneumatic connection, a hydraulic connection, an electric drive connection, an electromagnetic connection, an optical connection, a thermal expansion connection, a flexible tube connection, a diaphragm connection, a flexible coupling connection, a spherical coupling connection, a sliding bearing connection, a magnetic coupling connection, an electric control connection, a liquid metal connection, or a micro switch connection.
[0011] A follower motor, characterized by mainly comprising the following contents:
[0012] The invention mainly consists of a sliding follow-up switch as described in any one of claims 1, 2 or 3.
[0013] A method for manufacturing a sliding follow-up switch, characterized in that it mainly includes the following contents:
[0014] It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
[0015] The movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
[0016] Among them, the movable connection is mainly composed of bearing connection, track connection, slide rail connection, rope connection, gear connection, connecting rod connection, threaded connection, cam connection, spring connection, universal joint connection, ball and socket connection, magnetic connection, flexible connection, pin connection, pivot connection, spiral spring connection, chain connection, belt connection, rope connection, magnetic levitation connection, pneumatic connection, hydraulic connection, electric drive connection, electromagnetic connection, optical connection, thermal expansion connection, flexible tube connection, diaphragm connection, flexible coupling connection, spherical coupling connection, sliding bearing connection, magnetic coupling connection, electric control connection, liquid metal connection or micro switch connection.
[0017] A method for manufacturing a follower motor, characterized in that it mainly includes the following contents:
[0018] The invention is mainly composed of a sliding follower switch according to any one of claims 1, 2 or 3, or mainly composed of a follower motor according to claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch according to claim 5, 6 or 7.
[0019] A robot, characterized by mainly including the following contents:
[0020] It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8.
[0021] An exoskeleton robot, characterized by mainly including the following contents:
[0022] It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8, or mainly composed of a robot as described in claim 9. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a schematic diagram of the overall structure of the sliding follow-up switch (10) of the present invention;
[0024] Figure 2 It is a structural schematic diagram of a follow-up switch male connector (1) of a sliding follow-up switch (10) of the present invention;
[0025] Figure 3 It is a structural schematic diagram of a follow-up switch female connector (0) of a sliding follow-up switch (10) of the present invention; DETAILED DESCRIPTION
[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0027] It should be noted that:
[0028] The text mainly uses "or", " / " and similar names added after the name, such as "motor (electric machine)", etc., which all indicate that in addition to the above, a combination of one of the two is also included and the corresponding items in the context are one-to-one corresponding.
[0029] Similar numbers and letters represent similar items in the drawings to the west, so once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings. In the specification and claims of the present invention, if the terms "reduction device", "stepping motor", "servo", "direct drive motor", "servo motor", "DC motor", "AC motor", "universal (series-excited) motor", "mechanical proximity switch", "inductive proximity switch", "proximity switch", "rated power", "output shaft", "motion reversing", "forward motion", "reverse motion", "inductive plate or trigger plate", "trigger range", "trigger", "contact" and other words indicating the type and properties of the motor and the motion state of the motor and words related to switches are involved, it is only for the convenience of describing the present invention and simplifying the description, and the means should be understandable to technicians in the field at a glance; if the terms "variation range", "overall", "arrangement", "center", "longitudinal", "lateral", "length", "width", "thickness", "inner wall", "outer wall", "inner side", The orientations or positional relationships indicated by “outside”, “middle”, “all around”, “up”, “down”, “left”, “right”, “front”, “back”, “starting”, “end”, “front section”, “last section”, “middle section”, “front end”, “end”, “middle”, “vertical”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “axis”, “radial”, “circumferential”, “close”, “arrangement”, “integrated”, “integrated”, “interference”, “non-interference”, “next to”, “coaxial”, “similar”, “isomorphic”, “relative stillness”, “relative motion”, etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or component must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the present invention. It should be noted that the terms "offset", "array", "mirror", "sweep", "zoom", "converge", "intersect", "difference", "projection", "copy", "paste", "chamfer", "stretch", "axis", "rotate", "shell", "bend", "weld" and the like, especially in the mainstream drawing software, should be understood in a broad sense and their specific interpretations should follow the literal interpretations and specific implementations of mainstream drawing software such as UG, CAD, SolidWorks, etc., and these terms are well known to ordinary technicians in the field and do not need to be over-explained. Therefore, they cannot be understood as limitations on the present invention. They are only for the convenience of simplified description of the present invention, and do not indicate or imply that the device or component referred to must have a specific structure or a specific orientation structure and operation.
[0030] It should be noted that "installation", "connection", "hard connection or soft connection", "power supply", "forward rotation", "reverse rotation", "composition", "circuit", "matching", "electrical control", "structural part", "movable hard connection or soft connection", "connection", "conduction" and the like should also be understood in a broad sense. For example, it can be a fixed hard connection or soft connection, or a detachable hard connection or soft connection or an integral hard connection or soft connection, or an indirect hard connection or soft connection through an intermediate medium, or the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, terms such as "wire", "conductivity", "power supply", "sensing sheet", "contact sheet", "sensing end", "contact end", "conductive contact terminal group" and the like in the circuit are not the only ones indicating the same thing. For example, this wire and that wire are not the same wire. The specific semantics in the context shall prevail. More generally, "rigid hard connection or soft connection", "soft hard connection or soft connection" and the like are mainly used to emphasize the hard connection or soft connection method to emphasize the stability requirements of the structure here. For example, a structural part is a mechanical part with a specific shape and function, which is usually used to support and install various components on it to achieve predetermined functions, etc.
[0031] It is also important to note that when descriptors such as "or" and " / " are used, they not only represent their respective applications, but also include applications in which they are combined.
[0032] It is also necessary to explain that the "follow-up switch male head" or "follow-up switch female head" or "follow-up switch" mentioned in the article are all descriptive terms in the pioneering invention proposed by the inventor, and all represent the nouns defined by the relevant patents of the pioneering invention. Please refer to the relevant patents of the inventor:
[0033] The new follow-up switch male or female head is characterized by:
[0034] It mainly consists of 2 groups of proximity switch groups plus 2 groups of trigger (sensing) devices (medium) of proximity switch groups or 4 groups of proximity switch groups or 4 groups of trigger (sensing) devices (medium) of proximity switch groups or 2 groups of proximity switch groups or 2 groups of trigger (sensing) devices (medium) of proximity switch groups installed on the switch male (female) structure.
[0035] The proximity switch group is mainly composed of a passive proximity switch, an eddy current proximity switch, a capacitive proximity switch, a Hall proximity switch, a photoelectric proximity switch, an ultrasonic proximity switch, an inductive proximity switch, or a mechanical proximity switch.
[0036] The trigger (sensing) device (medium) is mainly composed of a conductive contact device (medium) or a conductive elastic device (medium) or a metal sensing device (medium) or a photoelectric sensing device (medium) or a passive switch sensing device (medium) or an eddy current sensing device (medium) or a capacitive sensing device (medium).
[0037] The switch male (female) structural component is provided with a power transmission device (structure), and the power transmission device (structure) is mainly composed of a carbon brush power transmission structure or wireless power transmission or brush power transmission or laser power transmission or microwave power transmission.
[0038] The switch male (female) structure is mainly provided with a distance sensor, a capacitive sensor, a photoelectric sensor, an ultrasonic sensor, a visual sensor, a temperature sensor, a current sensor, a voltage sensor, an angular velocity sensor, a speed sensor, a posture sensor, an angle sensor, or a torque sensor, which is used to obtain data information between the two to avoid interference and collision.
[0039] A new type of follow-up switch, characterized by mainly including the following contents:
[0040] It is mainly composed of the new follow-up switch male head and female head as described in any one of claims 1 to 4, wherein the new follow-up switch male head is mainly inserted into the new follow-up switch female head for relative movement, and the new follow-up switch male head and the new follow-up switch female head are movably connected.
[0041] The female head of the follow-up switch is provided with a space for the male head of the follow-up switch to make relative movement.
[0042] The proximity switch group or the trigger (sensing) device (medium) of the proximity switch group described in any one of claims 1, 2, 3 or 4 between the new follow-up switch male head and the new follow-up switch female head are installed on their respective male head structural parts or female head structural parts corresponding to each other.
[0043] The novel follow-up switch male head and the novel follow-up switch female head are mainly equipped with two switch circuits in total, namely, a circuit for controlling the proximity switch group for forward movement and a circuit for controlling the proximity switch group for reverse movement.
[0044] Next, specific embodiments are listed to describe specific embodiments of the present invention. The techniques, methods and devices known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technical inventions, method schemes and devices should be considered as part of the specification. In all examples implemented and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of exemplary implementations may have different values.
[0045] A sliding follow-up switch, characterized in that it mainly includes the following contents:
[0046] It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection mode between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
[0047] Furthermore, the movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
[0048] Further, the movable connection is mainly composed of a bearing connection, a track connection, a slide rail connection, a gear connection, a connecting rod connection, a threaded connection, a cam connection, a spring connection, a universal joint connection, a ball and socket connection, a magnetic connection, a flexible connection, a pin connection, a pivot connection, a spiral spring connection, a chain connection, a belt connection, a rope connection, a magnetic levitation connection, a pneumatic connection, a hydraulic connection, an electric drive connection, an electromagnetic connection, an optical connection, a thermal expansion connection, a flexible tube connection, a diaphragm connection, a flexible coupling connection, a spherical coupling connection, a sliding bearing connection, a magnetic coupling connection, an electric control connection, a liquid metal connection, or a micro switch connection.
[0049] A follower motor, characterized by mainly comprising the following contents:
[0050] The invention mainly consists of a sliding follow-up switch as described in any one of claims 1, 2 or 3.
[0051] A method for manufacturing a sliding follow-up switch, characterized in that it mainly includes the following contents:
[0052] It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
[0053] Furthermore, the movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
[0054] Further, the movable connection is mainly composed of a bearing connection, a track connection, a slide rail connection, a rope connection, a gear connection, a connecting rod connection, a threaded connection, a cam connection, a spring connection, a universal joint connection, a ball and socket connection, a magnetic connection, a flexible connection, a pin connection, a pivot connection, a spiral spring connection, a chain connection, a belt connection, a rope connection, a magnetic levitation connection, a pneumatic connection, a hydraulic connection, an electric drive connection, an electromagnetic connection, an optical connection, a thermal expansion connection, a flexible tube connection, a diaphragm connection, a flexible coupling connection, a spherical coupling connection, a sliding bearing connection, a magnetic coupling connection, an electric control connection, a liquid metal connection, or a micro switch connection.
[0055] A method for manufacturing a follower motor, characterized in that it mainly includes the following contents:
[0056] The invention is mainly composed of a sliding follower switch according to any one of claims 1, 2 or 3, or mainly composed of a follower motor according to claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch according to claim 5, 6 or 7.
[0057] A robot, characterized by mainly including the following contents:
[0058] It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8.
[0059] An exoskeleton robot, characterized by mainly including the following contents:
[0060] It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8, or mainly composed of a robot as described in claim 9.
Claims
1. A sliding follow-up switch, characterized in that It mainly includes the following contents: It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection mode between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
2. A sliding follow-up switch according to claim 1, characterized in that It mainly includes the following contents: The movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
3. A sliding follow-up switch according to claim 1 or 2, characterized in that It mainly includes the following contents: The movable connection mainly consists of a bearing connection, a track connection, a slide rail connection, a gear connection, a connecting rod connection, a threaded connection, a cam connection, a spring connection, a universal joint connection, a ball and socket connection, a magnetic connection, a flexible connection, a pin connection, a pivot connection, a spiral spring connection, a chain connection, a belt connection, a rope connection, a magnetic suspension connection, a pneumatic connection, a hydraulic connection, an electric drive connection, an electromagnetic connection, an optical connection, a thermal expansion connection, a flexible tube connection, a diaphragm connection, a flexible coupling connection, a spherical coupling connection, a sliding bearing connection, a magnetic coupling connection, an electric control connection, a liquid metal connection, or a micro switch connection.
4. A follower motor, characterized in that It mainly includes the following contents: The invention mainly consists of a sliding follow-up switch as described in any one of claims 1, 2 or 3.
5. A method for manufacturing a sliding follow-up switch, characterized in that It mainly includes the following contents: It is mainly composed of a follow-up switch male head (1) and a follow-up switch female head (0), and the connection between the follow-up switch male head (1) and the follow-up switch female head (0) is mainly a movable connection.
6. The method for manufacturing a sliding follow-up switch according to claim 5, characterized in that It mainly includes the following contents: The movable connection is mainly composed of a sliding connection, a rolling connection or a rotating connection.
7. A method for manufacturing a sliding follow-up switch according to claim 5 or 6, characterized in that It mainly includes the following contents: The movable connection is mainly composed of bearing connection, track connection, slide rail connection, rope connection, gear connection, connecting rod connection, threaded connection, cam connection, spring connection, universal joint connection, ball and socket connection, magnetic connection, flexible connection, pin connection, pivot connection, spiral spring connection, chain connection, belt connection, rope connection, magnetic levitation connection, pneumatic connection, hydraulic connection, electric drive connection, electromagnetic connection, optical connection, thermal expansion connection, flexible tube connection, diaphragm connection, flexible coupling connection, spherical coupling connection, sliding bearing connection, magnetic coupling connection, electric control connection, liquid metal connection or micro switch connection.
8. A method for manufacturing a follower motor, characterized in that It mainly includes the following contents: The invention is mainly composed of a sliding follower switch according to any one of claims 1, 2 or 3, or mainly composed of a follower motor according to claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch according to claim 5, 6 or 7.
9. A robot, characterized in that It mainly includes the following contents: It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8.
10. An exoskeleton robot, characterized in that It mainly includes the following contents: It is mainly composed of a sliding follower switch as described in any one of claims 1, 2 or 3, or mainly composed of a follower motor as described in claim 4, or mainly composed of a follower switch manufactured by a manufacturing method of a sliding follower switch as described in claim 5, 6 or 7, or mainly composed of a follower motor manufactured by a manufacturing method of a follower motor as described in claim 8, or mainly composed of a robot as described in claim 9.