Bistable attaching foot with electromagnetic lock

Abstract

The invention relates to a bistable attachment foot with an electromagnetic lock, which belongs to the technical field of robot actuating mechanisms, and comprises a shell, a central sliding block, an electromagnetic lock and an electromagnetic lock, a plurality of cranks which penetrate through the sleeve and can swing in the sliding direction of the center sliding block relative to the sleeve are hinged to the center sliding block in a circumferential array mode, and the tail ends of the cranks are fixedly connected with adhesive materials; an electromagnetic coil is wound at the top end of the shell; a magnet capable of adsorbing the electromagnetic coil is distributed at the top end of the central sliding block; in the working state, the center sliding block moves towards the electromagnetic coil and synchronously drives the crank to swing towards the target object, the adhesive material is attached to the target object, and the magnet and the electromagnetic coil are attracted and lock the crank. The electromagnetic coil is wound around the top end of the shell, the magnet capable of being attracted to the electromagnetic coil is arranged at the top end of the center sliding block to form an electromagnetic lock, the attachment foot can have better attachment stability, and the attachment firmness and the movement efficiency are effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of robot actuators, and in particular to a bistable attachment foot with an electromagnetic lock for realizing adhesion and grasping actions of a robot end actuator. Background Art

[0002] The rapid development of robotics technology has put forward more requirements for the design of end-effectors. For robot end-effectors whose main functions are adhesion and autonomous detachment, it is necessary to ensure the pressing position of the adhesion material and a certain out-of-plane preload during the adhesion process. The adhesion foot needs to have a certain adhesion position locking ability during the adhesion process, and ensure that the adhesion material can be quickly detached during the detachment process. In order to meet the above requirements, the position control of the end of the attachment foot is particularly important. Electromagnetic locks are based on the principle of electromagnetic induction. By adjusting the current parameters in the electromagnetic coil, a stable and controllable magnetic field can be generated. They are often used in the field of non-contact control. The magnetic field generated by the current in the electromagnetic lock can decay rapidly after power failure, and can be quickly generated again after power is on. By combining with the ferromagnetic material structure, the rapid response of the structure can be achieved.

[0003] Therefore, based on the above problems, how to provide a bistable attachment foot with an electromagnetic lock has become an important technical issue that technical personnel in this field need to solve urgently. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a bistable attachment foot with an electromagnetic lock, which can make the attachment foot have better attachment stability, improve attachment firmness and movement efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a bistable attachment foot with an electromagnetic lock, comprising: a housing, a central slider that performs reciprocating sliding motion with a sleeve formed on the target surface side of the housing, a plurality of cranks that penetrate the sleeve and can swing relative to the sleeve along the sliding direction of the central slider are hingedly connected in a circumferential array of the central slider, and an adhesive material is fixedly connected to the end of the crank;

[0006] Wherein, an electromagnetic coil capable of generating an electromagnetic field is wound around the top of the shell, and a magnet capable of being attracted to the electromagnetic coil is arranged on the top of the central slider;

[0007] In the working state, the central slider moves toward the electromagnetic coil and synchronously drives the crank to swing toward the target object, the adhesive material adheres to the target object, and the magnet and the electromagnetic coil absorb and lock the crank.

[0008] Furthermore, a platform is formed at the top of the sleeve of the shell, the central mounting hole in the middle of the platform is threadedly connected to the main shaft, the central slider with a circular tube structure is mounted on the outside of the main shaft, a groove is formed on the outer diameter of the platform, and the electromagnetic coil is wound in the groove.

[0009] Furthermore, the top of the platform has a mating surface, the mating surface is provided with a mounting hole, and the mounting hole is connected to the robot arm through bolts.

[0010] Furthermore, the sleeve of the housing and the cylindrical surface of the central slider are provided with rectangular mounting holes for the crank to pass through;

[0011] A first mounting hole is provided at the root of the crank, and a sliding groove is provided near the root end of the crank, wherein the first mounting hole is coaxial with a second through hole provided on the side wall of the rectangular mounting hole of the central slider and is provided with a first bolt, and the first bolt is rotatably connected to the crank;

[0012] A first through hole is formed on a side wall of the rectangular mounting hole of the housing, a second bolt is mounted on the first through hole, and the second bolt passes through the slide groove of the crank.

[0013] Furthermore, the crank is an arc-shaped rod-shaped structure, and the end surface of the crank is fixedly connected with the adhesive material by bolts.

[0014] Furthermore, a return spring is included, one end of which is connected to the central slider and the other end is connected to the sleeve, and provides a pulling force to drive the central slider to return to its original position and drive the crank away from the target surface.

[0015] Furthermore, a spring bolt is threadedly connected to the bottom of the sleeve of the shell through a threaded hole, a boss is formed in the middle of the central slider, and a spring mounting hole is opened on the boss. One end of the return spring is connected to the spring bolt, and the other end is connected to the spring mounting hole.

[0016] Furthermore, a mounting surface is formed on the top of the central slider, and a magnet mounting hole is opened on the mounting surface along the circumference of the central slider.

[0017] Furthermore, the shell is made of magnetic conductive material.

[0018] Furthermore, the central slider is made of non-magnetic material.

[0019] In the above technical solution, the present invention provides a bistable attachment foot with an electromagnetic lock, which has the following beneficial effects:

[0020] The bistable attachment foot with electromagnetic lock designed by the present invention has a central slider installed inside the shell and can make reciprocating sliding motion with the sleeve formed by the shell on the target surface side. The crank hinged in the circumferential array of the central slider penetrates the shell sleeve and can swing relative to the sleeve along the sliding direction of the central slider, and an electromagnetic coil is wound on the top of the shell, and a magnet is arranged on the top of the central slider. When the central slider moves toward the electromagnetic coil and synchronously drives the crank to swing toward the target object, when the attachment foot contacts the attachment surface, the electromagnetic coil generates a magnetic field, which is attracted to the magnet to complete the movement locking of the attachment foot crank. When the attachment foot is separated from the attachment surface, the electromagnetic field under the electromagnetic coil disappears, and the reset spring in the shell drives the central slider downward, which drives the attachment foot crank to separate the adhesion material while assisting the attachment foot to lift. In this structure, the purpose of adding electromagnetic lock is achieved by arranging electromagnetic coils and magnets on the attachment foot, which effectively improves the stability, strength and reliability of the attachment foot. In addition, the bistable attachment foot has good applicability and can also be used in the field of clamping and unfolding of space film structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the attachment state of the bistable attachment foot with electromagnetic lock disclosed in the present invention;

[0023] Figure 2 It is a schematic diagram of the bistable attachment foot with electromagnetic lock disclosed in the present invention in the detached state;

[0024] Figure 3 It is a cross-sectional schematic diagram of the bistable attachment foot with electromagnetic lock disclosed in the present invention in an attachment state;

[0025] Figure 4 It is a schematic diagram of the structure of the bistable attachment foot center slider with electromagnetic lock disclosed in the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of a bistable attachment foot crank with an electromagnetic lock disclosed in the present invention.

[0027] Description of reference numerals:

[0028] 1. Shell; 2. Electromagnetic coil; 3. Center slider; 4. Spindle; 5. Crank; 6. Adhesive material; 7. Return spring; 8. Magnet; 9. Spring bolt;

[0029] 101, mounting hole; 102, first rectangular mounting hole; 103, first through hole;

[0030] 301, magnet mounting hole; 302, spring mounting hole; 303, second rectangular mounting hole; 304, second through hole;

[0031] 501, first mounting hole; 502, slide groove. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the implementation of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0033] Figure 1 It is a schematic diagram of the attachment state of the bistable attachment foot with electromagnetic lock;

[0034] Figure 2 Schematic diagram of the bistable attachment foot detachment state with electromagnetic lock;

[0035] The present invention provides a bistable attachment foot with an electromagnetic lock, comprising:

[0036] A housing 1 and a central slider 3. The central slider 3 is installed inside the housing 1 and can slide back and forth with the sleeve formed by the housing 1 on the target surface side. The central slider 3 is hinged with a plurality of cranks 5 in a circumferential array. The cranks 5 penetrate the sleeve of the housing 1 and can swing relative to the sleeve along the sliding direction of the central slider 3. An adhesive material 6 is fixed to the end of the crank 5.

[0037] The attachment foot further comprises an electromagnetic coil 2 capable of generating an electromagnetic field, the electromagnetic coil 2 is wound around the top of the housing 1, a magnet 8 capable of adsorbing the electromagnetic coil 2 is arranged on the top of the central slider 3, and in a working state, the central slider 3 moves toward the electromagnetic coil 2 and synchronously drives the crank 5 to swing toward the target object, the adhesive material 6 is attached to the target object, and the magnet 8 adsorbs and locks the crank 5 with the electromagnetic coil 2;

[0038] The attachment foot realizes that when the attachment foot contacts the attachment surface, the electromagnetic coil 2 generates a magnetic field, which is attracted to the magnet 8 to complete the movement locking of the attachment foot crank 5; when the attachment foot is separated from the attachment surface, the electromagnetic field under the electromagnetic coil 2 disappears, and the reset spring 7 in the shell 1 drives the center slider 3 to move downward, thereby driving the attachment foot crank 5 to separate the adhesion material 6 while assisting the attachment foot to lift. In this structure, the purpose of adding an electromagnetic lock is achieved by arranging the electromagnetic coil 2 and the magnet 8 on the attachment foot, which effectively improves the stability, strength and reliability of the attachment foot.

[0039] Figure 3 It is a cross-sectional schematic diagram of the bistable attachment foot with electromagnetic lock in the attachment state;

[0040] Figure 4It is a schematic diagram of the structure of the bistable attachment foot center slider with electromagnetic lock;

[0041] Preferably, the shell 1 is made of magnetic conductive material, and the shell 1 is fixedly connected to a platform at the top of the sleeve. The top of the platform has a mating surface, and the mating surface is provided with a mounting hole 101. The mounting hole 101 is connected to the robot arm through bolts. The central mounting hole in the middle of the platform is threadedly connected to the main shaft 4. The outside of the main shaft 4 is provided with a central slider 3 with a circular tube structure. The outer diameter of the platform is formed with a groove, and an electromagnetic coil 2 is wound in the groove, which together with the shell 1 constitutes an electromagnet.

[0042] See also Figure 2 , 4 As shown, preferably, the center slider 3 is made of a material that is not magnetically conductive, a mounting surface is formed on the top of the center slider 3, and a magnet mounting hole 301 is opened on the mounting surface along the circumference of the center slider 3. The magnet 8 is bonded in the magnet mounting hole 301 using epoxy resin, and the lower end of the center slider 3 extends out of the shell 1 when the attachment foot is in a detached state, serving as a trigger structure for the attachment action. When the attachment foot is in an attached state, the upper end of the center slider 3 is just in contact with the shell 1 or is in the magnetic field range of the electromagnet formed by the shell 1 and the electromagnetic coil 2. At this time, the axial extension length of the lower end of the center slider 3 does not exceed the end of the crank 5.

[0043] The main shaft 4 is connected to the central mounting hole of the housing 1 through a thread, the central slider 3 is installed on the housing 1 through the main shaft 4, and the crank 5 is installed on the central slider 3 through bolts and can rotate around the mounting hole of the central slider 3.

[0044] The sleeve of the housing 1 is provided with a first rectangular mounting hole 102, and the cylindrical surface of the central slider 3 is provided with a second rectangular mounting hole 303 at a position corresponding to the first rectangular mounting hole 102. The rectangular mounting holes are used for the crank 5 to pass through and be installed on the attachment foot housing 1 and the central slider 3. The crank 5 is installed in a uniform array along the circumference of the central slider 3.

[0045] A first mounting hole 501 is provided at the root of the crank 5, and a slide groove 502 is provided near the root end of the crank 5, wherein the first mounting hole 501 is coaxial with the second through hole 304 provided on the side wall of the rectangular mounting hole of the center slider 3 and is installed with a first bolt, the first bolt is rotatably connected to the crank 5, a first through hole 103 is provided on the side wall of the rectangular mounting hole of the shell 1, the first through hole 103 is installed with a second bolt, the second bolt passes through the slide groove 502 of the crank 5, the crank 5 cooperates with the shell 1 through the slide groove 502 to limit the movement, and together with the center slider 3 and the shell 1, forms a double slider mechanism, the crank 5 slides up and down relative to the shell 1 with the center slider 3, and completes the action of flipping attachment and flipping detachment under the restriction of its own slide groove and the shell 1;

[0046] Figure 5 It is a schematic diagram of the structure of a bistable attachment foot crank with an electromagnetic lock;

[0047] The adhesive material 6 is installed at the end of the crank 5 by threaded connection or bonding. The crank 5 is an arc-shaped rod-shaped structure. The adhesive material 6 is turned with the crank 5 to complete the adhesion to the target surface. When the crank 5 is turned and lifted, the lever mechanism composed of the crank 5, the housing 1 and the central slider 3 ensures that the adhesive material 6 is debonded and lifted with the crank 5.

[0048] See also Figure 3 As shown,

[0049] The attachment foot also includes a reset spring 7, which is connected between the central slider 3 and the sleeve of the shell 1, and provides a pulling force to drive the central slider 3 to return and drive the crank 5 away from the target surface. Specifically, the bottom of the sleeve of the shell 1 is threadedly connected with a spring bolt 9 through a threaded hole, and a boss is formed in the middle of the central slider 3. The boss is provided with a spring mounting hole 302. One end of the reset spring 7 is connected to the spring bolt 9, and the other end is connected to the spring mounting hole 302. In this structure, the reset spring 7 is installed on the spring bolt 9 at the lower end of the shell 1 and in the spring mounting hole 302 of the central slider 3, so as to provide a force for the central slider 3 to move downward relative to the shell 1 and the crank 5 to flip upward to drive the adhesion material 6 to debond during the debonding process of the attachment foot.

[0050] In the above technical solution, the present invention discloses a bistable attachment foot with an electromagnetic lock, the working principle of which is:

[0051] See also Figure 1 , 2 As shown, when the attachment foot contacts the attachment surface, the downward movement of the foot end pushes the central slider 3 to move along the main axis 4 relative to the housing 1, and the crank 5 is driven by the central slider 3 to flip downward relative to the housing 1, so that the foot end adhesive material 6 adheres to the target surface, and at the same time, the electromagnetic coil 2 is electrically powered to generate a stable magnetic field, which adsorbs and fixes the central slider 3 installed with the magnet 8, completing the attachment process and state locking of the attachment foot;

[0052] When the adhesion foot needs to be separated from the target surface, the electromagnetic coil 2 electrically unlocks the central slider 3. Driven by the reset spring 7, the central slider 3 moves downward along the main shaft 4 relative to the outer shell 1, lifts the outer shell 1 and flips the crank 5 upward. At the same time, the crank 5 uses the lever principle to complete the desorption of the adhesion material 6, completing the desorption process of the adhesion foot.

[0053] The attachment foot is provided with an electromagnetic coil 2 on the housing 1 and a magnet 8 on the central slider 3, and an electromagnetic lock is formed by the electromagnetic coil 2 and the magnet 8, which effectively improves the stability, strength and reliability of the relevant equipment;

[0054] The above description is only an illustrative embodiment of the present application and is not intended to limit the scope of the present application. Any equivalent changes, modifications and combinations made by any technician in the field without departing from the concept and principle of the present application shall fall within the scope of protection of the present application.

Claims

1. A bistable attachment foot with an electromagnetic lock, characterized in that: include: A shell (1), a central slider (3) which performs reciprocating sliding motion with a sleeve formed on the target surface side by the shell (1), the central slider (3) being hingedly connected in a circumferential array with a plurality of cranks (5) which penetrate the sleeve and can swing relative to the sleeve along the sliding direction of the central slider (3), and an adhesive material (6) is fixedly connected to the end of the crank (5); The top of the housing (1) is wound with an electromagnetic coil (2) capable of generating an electromagnetic field, and the top of the central slider (3) is provided with a magnet (8) capable of being attracted to the electromagnetic coil (2); In a working state, the central slider (3) moves toward the electromagnetic coil (2) and simultaneously drives the crank (5) to swing toward the target object, the adhesive material (6) adheres to the target object, and the magnet (8) and the electromagnetic coil (2) adsorb and lock the crank (5).

2. A bistable attachment foot with an electromagnetic lock according to claim 1, characterized in that ； A platform is formed at the top end of the sleeve of the housing (1); a main shaft (4) is threadedly connected to a central mounting hole in the middle of the platform; a central slider (3) in a round tube structure is sleeved on the outside of the main shaft (4); a groove is formed on the outer diameter of the platform; and the electromagnetic coil (2) is wound in the groove.

3. A bistable attachment foot with an electromagnetic lock according to claim 2, characterized in that ； The top of the platform has a mating surface, the mating surface is provided with a mounting hole (101), and the mounting hole (101) is connected to the mechanical arm via bolts.

4. A bistable attachment foot with an electromagnetic lock according to claim 1, characterized in that ； The sleeve of the housing (1) and the cylindrical surface of the central slider (3) are provided with rectangular mounting holes for the crank (5) to pass through; A first mounting hole (501) is provided at the root of the crank (5), and a sliding groove (502) is provided near the root end of the crank (5), wherein the first mounting hole (501) is coaxial with a second through hole (304) provided on the side wall of the rectangular mounting hole of the central slider (3) and is provided with a first bolt, and the first bolt is rotatably connected to the crank (5); A first through hole (103) is provided on the side wall of the rectangular mounting hole of the housing (1), a second bolt is installed in the first through hole (103), and the second bolt passes through the slide groove (502) of the crank (5).

5. A bistable attachment foot with an electromagnetic lock according to claim 4, It is characterized by: The crank (5) is an arc-shaped rod-shaped structure, and the end surface of the crank (5) is fixedly connected to the adhesive material (6) by means of bolts.

6. A bistable attachment foot with an electromagnetic lock according to claim 1, characterized in that ； It also includes a return spring (7), one end of which is connected to the central slider (3) and the other end of which is connected to the sleeve, and provides a pulling force to drive the central slider (3) to return to its original position and drive the crank (5) away from the target surface.

7. A bistable attachment foot with an electromagnetic lock according to claim 6, characterized in that ； The bottom of the sleeve of the housing (1) is threadedly connected to a spring bolt (9) through a threaded hole, a boss is formed in the middle of the central slider (3), and a spring mounting hole (302) is formed on the boss, one end of the return spring (7) is connected to the spring bolt (9), and the other end is connected to the spring mounting hole (302).

8. A bistable attachment foot with an electromagnetic lock according to claim 1, characterized in that ； A mounting surface is formed on the top of the central slider (3), and a magnet mounting hole (301) is provided on the mounting surface along the circumference of the central slider (3).

9. A bistable attachment foot with an electromagnetic lock according to any one of claims 1 to 8, characterized in that ； The shell (11) is made of magnetic conductive material.

10. A bistable attachment foot with an electromagnetic lock according to any one of claims 1 to 8, characterized in that ； The central sliding block (3) is made of non-magnetic material.

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