Motor applied to power structure in robot field

Abstract

The invention belongs to the technical field of robot bionics, and discloses a motor applied to a power structure in the field of robots, which comprises a coil, two rotors arranged in the coil, a guide rod I used for keeping the rotors to slide stably, a hole plate used for stopping the rotors from moving reversely, and two floaters used for pushing the hole plate to be close to the rotors, the one-way motor is used for moving the floater, and the second guide rod is used for connecting the contraction spring, the floater and the one-way motor. The problems that the mechanical movement of a robot is slow, the strength is not enough, and multiple joints cannot be linked are well solved.

Description

Technical Field

[0001] The invention discloses a structure that uses a magnetic field generated by an electric current for mechanical motion, and belongs to the technical field of robot bionics. Background Art

[0002] At present, the main driving methods of robots are to install motors at the joints or use hydraulic methods. Both methods have problems such as slow mechanical movement, insufficient strength and inability to link multiple joints. Therefore, a completely new way to drive the machine is needed. Summary of the invention

[0003] In view of the above problem or one of the problems, one of the objects of the present invention is to provide a mechanical structure that directly uses the magnetic force generated by the magnetic field as power to solve the problem of slow mechanical movement.

[0004] In response to the above problem or one of the problems, the second object of the present invention is to provide a locking structure to stop the motor's mover at an appropriate position, so that the machine can stop at a required angle and solve the problem of insufficient motor strength.

[0005] In response to the above problem or one of the problems, the third object of the present invention is to realize the linkage between multiple joints of the robot's palm by directly pulling the tendon of the motor, thereby solving the flexibility problem of the robot.

[0006] To achieve the above object, a technical solution of the present invention is:

[0007] A motor used in a power structure in the field of robots, comprising a coil and two movers arranged inside the coil, a guide rod for keeping the movers sliding smoothly, a hole plate for blocking the reverse movement of the movers, two floats for pushing the hole plate close to the movers, a unidirectional motor for moving the floats, and a guide rod for connecting a contraction spring, the floats, and the unidirectional motor.

[0008] Coil, including but not limited to copper wire, generates a magnetic field inside the coil when the wire is energized, and disappears when the power is off.

[0009] Guide rod 1 is a device that keeps the mover sliding smoothly inside the coil.

[0010] The guide rod 2 is fixed inside the coil, connected to the contraction spring, connected to the unidirectional motor, and keeps the slider sliding on its surface.

[0011] The two movers generate their own magnetic field under the action of the coil magnetic field, and move from the two ends of the coil to the middle position of the coil under the action of the magnetic field; when the coil magnetic field weakens or disappears, the magnetic field of the movers also weakens or disappears. The movers referred to in the present invention are made of soft magnetic material, which refers to a material that generates a magnetic field when placed in a magnetic field and disappears when leaving the magnetic field. There is a protruding foot at the lower end of each mover. One end of each mover is connected to a tendon.

[0012] The hole plate is arranged with a series of holes. When the hole plate is close to the mover, the holes clamp the clamping feet, so that the two movers cannot move in the opposite direction toward the two ends of the coil. In this way, the tension of the tendon is kept stable. A contraction spring is set on one side of the hole plate to fix the two surfaces of the connecting rod.

[0013] Two floats, made of soft magnetic material, are used to push the hole plate close to the mover. When the coil is energized to generate a magnetic field, the float generates its own magnetic field and moves from the two ends of the coil to the middle of the coil under the action of the magnetic field, pushing the hole plate close to the mover during the movement. The float is connected to the slider through the supporting spring column, and the slider slides on the two surfaces of the guide rod.

[0014] The unidirectional motor is connected to the float through the connecting rod 1. When the unidirectional motor is powered on, it generates a magnetic field, which drives the connecting rod 1 to move, and the connecting rod 1 drives the float to move to the two ends of the coil. The hole plate leaves the clamping foot under the action of the contraction spring, and the mover can freely reset to the two ends of the coil. The unidirectional motor is fixed on the surface of the guide rod 2 through the fixing foot. The small coil is wrapped in the unidirectional motor shell.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The mover of the present invention is not a permanent magnet but is made of soft magnetic material. When the coil is powered off, the mover and the tendon are in a relaxed state; when the coil is powered on, the mover pulls the tendon to directly perform a linear contraction movement, and does not need to perform rotational movement like a permanent magnet motor, thus solving the problem of slow mechanical movement.

[0017] The present invention provides a locking structure, which enables the mover of the motor to be fixed at an appropriate position. When the coil is powered off, the machine can stop at a required angle, thus solving the problem of insufficient mechanical strength.

[0018] The motor of the present invention is smaller in size and can provide tendons with different strengths of force traction. It can be placed at the distal end of a robot joint, and the linkage between multiple joints of the robot palm can be achieved through the tendons, making the robot palm smaller and more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the coil and guide rod structure of the present invention; Figure 3 It is a schematic diagram of the structure of the mover of the present invention; Figure 4 It is a schematic diagram of the hole plate structure of the present invention; Figure 5 It is a schematic diagram of the float structure of the present invention; Figure 6 It is a schematic diagram of the structure of the unidirectional motor of the present invention; Figure 7 This is a schematic diagram of the overall structure of the second embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a unidirectional motor according to the second embodiment of the present invention.

[0020] Reference numerals: 1. Coil, 21. Guide rod one, 22. Guide rod two, 3. mover, 31. muscle tendon, 32. foot, 4. hole plate, 41. contraction spring, 42. hole, 5. float, 51 supporting spring column, 52. slider, 6. One-way motor, 61. Fixed foot, 62. Small coil, 71. Connecting rod one, 72. Connecting rod two, 73. Connecting rod three, 74. Connecting rod four, 221. Connecting rod five, 75 Rotating shaft one, 76 Rotating shaft two, 77. Rotating shaft three. DETAILED DESCRIPTION

[0021] The following will be combined with the attached embodiment of the present invention Figure 1-8 , 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 making creative work are within the scope of protection of the present invention.

[0022] Example 1

[0023] Figure 1 The parts shown are broken down into Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 .

[0024] Figure 2 After the coil (1) is energized, a magnetic field is generated inside and outside the coil (1) according to Ampere's law, the guide rod 1 (21) keeps the mover (3) sliding in a balanced manner, and the guide rod 2 (22) is connected to the contraction spring (41), connected to the unidirectional motor (62), and keeps the slider (52) sliding on its surface.

[0025] Figure 3 The two movers (3) shown as being located inside the coil (1) are affected by the magnetic field and form a magnetic field themselves. Under the action of the magnetic field of the coil (1) and its own magnetic field, the two movers (3) each move from the two ends of the coil (1) to the middle of the coil (1). The moving movers (3) drive the tendon (31) to move inward, providing the power required for the movement of the machine in the form of contraction. The movers (3) referred to in the present invention are made of soft magnetic material, which refers to a material that generates a magnetic field when placed in a magnetic field and whose magnetic field disappears when leaving the magnetic field. The movers (3) referred to in this embodiment are made of soft iron material, which is a type of soft magnetic material. The lower end of the movers (3) each has a protruding triangular clamping foot (32). One end of each mover (3) is connected to the tendon (31).

[0026] Figure 4 The hole plate (4) is located below the mover clamping foot (32). When the coil (1) is energized, the floats (5) are affected by the magnetic field and move toward the middle of the coil (1), thereby lifting the hole plate (4) upward. When the coil (1) is powered off and the magnetic field disappears, the mover clamping foot (32) is stuck in the hole (42), thereby achieving a stable tension of the tendon (31). A contraction spring (41) is arranged on one side of the hole plate and fixed on the surface of the second guide rod (22).

[0027] Figure 5 The two floats (5) shown are made of soft magnetic material and are used to push the hole plate (4) close to the mover (3). When the coil (1) is energized to generate a magnetic field, the float (5) itself generates a magnetic field and moves from the two ends of the coil (1) to the middle of the coil (1) under the action of the magnetic field, pushing the hole plate (4) close to the mover (3) during the movement. The float (5) is connected to the slider (52) through the supporting spring column (51), and the slider (52) slides on the surface of the second guide rod (22).

[0028] Figure 6 The one-way motor (6) is connected to the float (5) through the connecting rod (71). When the one-way motor (6) is powered, the float (5) is driven to move toward the two ends of the coil (1). The hole plate (4) leaves the clamping foot (42) under the action of the contraction spring (41), and the mover can freely move to the two ends of the coil (1) for reset. The one-way motor (6) is fixed to the surface of the guide rod (22) through the fixing foot (61). The small coil (62) is wrapped inside by the one-way motor (6) shell.

[0029] Example 2

[0030] like Figure 7 As shown, compared with implementation 1, this embodiment uses one less unidirectional motor (6), and the float (5) at the other end is connected by multiple connecting rods. When the unidirectional motor (6) moves, it will drive the two floats (5) to move towards each other, thereby completing the sinking of the hole plate.

[0031] like Figure 8 The connecting rod 2 (72) is connected to the connecting rod 1 (71) and passes through the small coil (62) of the unidirectional motor (6). When the small coil (62) is energized, the connecting rod 1 (71) and the connecting rod 2 (72) generate a magnetic field under the action of the magnetic field. Under the action of the two magnetic fields, the float (5) is pulled to move outward. The connecting rod 2 (72) is connected to the connecting rod 3 (73), the connecting rod (221) and the connecting rod 4 (74) through the rotating shaft 1 (75), the rotating shaft 2 (76) and the rotating shaft 3 (77). The connecting rod 4 (74) is connected to the float (5) at the other end, driving the two floats (5) to move in opposite directions at the same time.

Claims

1. A motor used in a power structure in the field of robotics, characterized in that: The invention comprises a coil (1) and two movers (3) arranged inside the coil (1), a guide rod (21) for keeping the movers (3) sliding smoothly, a hole plate (4) for blocking the movers (3) from moving in the opposite direction, two floats (5) for pushing the hole plate (4) close to the movers (3), a unidirectional motor (6) for moving the floats (5), and a guide rod (22) for connecting a contraction spring (41), the floats (5) and the unidirectional motor (6).

2. The motor used for the power structure in the field of robots according to claim 1, characterized in that: The coil (1) includes but is not limited to being wound with a copper wire. When the wire is energized, a magnetic field is generated inside the coil (1), and the magnetic field disappears when the power is off. The guide rod 1 (21) is a device for keeping the mover (3) sliding smoothly inside the coil (1). The guide rod 2 (22) is fixed inside the coil (1). The guide rod 2 (22) is connected to the contraction spring (41), connected to the unidirectional motor (6) through the fixed foot (61), and keeps the slider (52) sliding on its surface.

3. The motor for use in a power structure in the field of robotics according to claim 1, characterized in that: The two movers (3) generate their own magnetic fields under the action of the magnetic field of the coil (1). Under the action of the magnetic field, the two ends of the coil (1) move toward the middle position of the coil (1); when the magnetic field of the coil (1) weakens or disappears, the magnetic field of the movers (3) also weakens or disappears. The movers (3) referred to in the present invention are made of soft magnetic material, which refers to a material that generates its own magnetic field when placed in a magnetic field and disappears its own magnetic field when leaving the magnetic field. The lower end of each mover (3) has a protruding foot (32). One end of each mover (3) is connected to a tendon (31).

4. The motor for use in a power structure in the field of robotics according to claim 1, characterized in that: The hole plate (4) is arranged with a series of holes (42). When the hole plate (4) is close to the mover (3), the holes (42) clamp the clamping feet (32), so that the two movers (3) cannot move in the opposite direction toward the two ends of the coil (1), thereby achieving the tension of the tendon (31) to remain stable. A contraction spring (41) is arranged on one side of the hole plate (4) and fixed on the surface of the second connecting rod (22).

5. The motor for use in a power structure in the field of robotics according to claim 1, characterized in that: The two floats (5) are made of soft magnetic material and are used to push the hole plate (4) close to the mover (3). When the coil (1) is energized to generate a magnetic field, the float (5) itself generates a magnetic field and moves from the two ends of the coil (1) to the middle of the coil (1) under the action of the magnetic field, and pushes the hole plate (4) close to the mover (3) during the movement. The float (5) is connected to the slider (52) through the supporting spring column (51), and the slider (52) slides on the surface of the second guide rod (22).

6. The motor for use in a power structure in the field of robotics according to claim 1, characterized in that: The one-way motor (6) is connected to the float (5) through the connecting rod (71). When the one-way motor (6) is energized, a magnetic field is generated, and the magnetic field drives the connecting rod (71) to move. The connecting rod (71) drives the float (5) to move toward the two ends of the coil (1). Under the action of the contraction spring (41), the hole plate (4) leaves the clamping foot (32), and the mover (3) can freely move to the two ends of the coil (1) for reset. The one-way motor (6) is fixed to the surface of the guide rod (22) through the fixing foot (61). The small coil (62) is wrapped inside the shell of the one-way motor (6).

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