Spherical joint and robot

Abstract

This invention belongs to the field of automatic locking technology and discloses a ball joint and a robot. The ball joint includes an outer cylinder, a drive assembly, a ball head, a moving shaft pusher, and permanent magnets. The drive assembly is installed inside the outer cylinder, and the ball head is rotatably embedded in one end of the outer cylinder. The moving shaft pusher is located inside the outer cylinder, and the drive assembly can intermittently drive the moving shaft pusher to press against or move away from the ball head. The moving shaft pusher includes a shaft portion extending axially along the outer cylinder and a flange portion perpendicularly connected to the shaft portion. Permanent magnets are provided on both sides of the flange portion along the axial direction. The moving shaft pusher and the outer cylinder are both magnetically conductive. The above-mentioned ball joint and robot can achieve self-holding of locked and unlocked states in the event of a power failure, preventing the ball joint from failing due to power failure and improving the safety performance of the robot.

Description

Technical Field

[0001] This invention relates to the field of automatic locking technology, and more particularly to a ball joint and a robot. Background Technology

[0002] Currently, robot joint design faces requirements such as real-time locking, passive locking and self-holding, and rapid unlocking. This invention addresses these technical challenges by proposing a multistable magnetic passive self-holding ball joint locking method and providing a corresponding device design scheme.

[0003] In the prior art, patent application number 200810055836.6 discloses an electric joint locking device, in which a motor threaded shaft pushes and presses the ball bearing to lock the ball head pressure. While this device can lock normally, the motor drive force / hydraulic pressure should be energized / continuous during locking. If power is cut off / hydraulic pressure disappears, the locking force disappears, the ball head unlocks, and the device fails, creating a safety risk.

[0004] Therefore, there is an urgent need to design a ball joint shut-off mechanism and a robot to solve the above problems. Summary of the Invention

[0005] One object of the present invention is to provide a ball joint that can maintain a locked state and an unlocked state in the event of a power failure, thereby preventing the ball joint from failing due to a power failure.

[0006] Another objective of this invention is to provide a robot that can maintain its locked and unlocked states in the event of a power outage, preventing ball joint failure due to power failure and improving the robot's safety performance.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] Ball joints, including:

[0009] The outer cylinder, the drive assembly, and the ball head are provided, wherein the drive assembly is installed inside the outer cylinder and the ball head is rotatably embedded in one end of the outer cylinder.

[0010] The moving shaft pusher is located inside the outer cylinder, and the driving assembly can intermittently drive the moving shaft pusher to press against or move away from the ball head;

[0011] The permanent magnet component, the aforementioned moving shaft pusher includes a shaft portion extending along the axial direction of the aforementioned outer cylinder and a flange portion perpendicularly connected to the aforementioned shaft portion. The aforementioned permanent magnet component is provided on both sides of the aforementioned flange portion along the axial direction. The aforementioned moving shaft pusher and the aforementioned outer cylinder are both magnetic conductive components.

[0012] As an alternative, the drive assembly includes two excitation coils nested inside the outer cylinder and spaced apart axially from each other. The flange is located between the two excitation coils, and the excitation coils can be energized in either the forward or reverse direction to apply magnetic forces in opposite directions to the flange.

[0013] As an alternative, the two excitation coils described above have the same helical direction.

[0014] As an alternative, the ball joint further includes an upper cover plate and a lower support plate. The upper cover plate abuts against the permanent magnet at the top and is connected to the outer cylinder. The lower support plate is installed on the outer cylinder and is used to support the permanent magnet at the bottom. Both the upper cover plate and the lower support plate are magnetic conductive components.

[0015] As an alternative, the aforementioned shaft portion is located on the aforementioned upper cover plate when it is far away from the aforementioned ball head.

[0016] As an alternative, the permanent magnets are nested one-to-one within the excitation coils, with the upper cover plate simultaneously abutting against the top excitation coil and the lower support plate simultaneously supporting the bottom excitation coil.

[0017] As an alternative, the output end of the drive assembly is connected to the moving shaft pusher, the flange is slidably fitted with the inner wall of the outer cylinder, and both permanent magnets are fitted against the inner wall of the outer cylinder.

[0018] As an optional solution, the outer cylinder mentioned above includes:

[0019] The main body, the aforementioned drive assembly, the aforementioned moving shaft pusher, and the aforementioned permanent magnet are all located within the main body, and less than half of the aforementioned ball heads are located within the main body;

[0020] The limiting part is detachably connected to the main body, and the limiting part and the main body together accommodate more than half of the ball head.

[0021] As an alternative, a guide member is provided inside the outer cylinder, the guide member forming a guide groove, and the guide groove slidingly engaging with the shaft.

[0022] Robots, including the aforementioned ball joints.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention provides a ball joint. By placing two permanent magnets on both sides of the flange, when the drive assembly drives the moving shaft pusher towards the ball head until it abuts against the ball head, one end of the shaft locks the ball head, achieving a locking effect. Since both the outer cylinder and the moving shaft pusher are magnetically conductive, even if the drive assembly no longer applies a clamping force, the locking and holding magnetic circuit formed by the outer cylinder, the flange, and the permanent magnets below locks the moving shaft pusher in this position, and the drive assembly does not need to provide a holding force. Similarly, if a state needs to be switched, the drive assembly overcomes the magnetic force of the locking and holding magnetic circuit and drives the flange upward to move the shaft away from the ball head, achieving an unlocked state. At this time, the outer cylinder, the flange, and the permanent magnets above form an unlocking and holding magnetic circuit, and the drive assembly does not need to provide a holding force. Therefore, this ball joint can self-hold in the locked and unlocked states under power failure, preventing the ball joint from failing due to power failure.

[0025] The present invention also provides a robot that employs the aforementioned ball joint. By employing the ball joint, the robot can maintain its locked and unlocked states in the event of a power outage, preventing the ball joint from failing due to power failure and improving the robot's safety performance. Attached Figure Description

[0026] Figure 1 This is a cross-sectional view of a ball joint provided in one of the optional embodiments of the present invention;

[0027] Figure 2 This is a cross-sectional view of a ball joint provided in another optional embodiment of the present invention.

[0028] In the picture:

[0029] 10. Outer cylinder; 11. Body; 12. Limiting part; 13. Guide component; 131. Guide groove;

[0030] 20. Drive assembly; 21. Excitation coil; 30. Ball head; 40. Drive shaft pusher; 41. Shaft; 42. Flange;

[0031] 50. Permanent magnet; 60. Upper cover plate; 70. Lower support plate; 80. Unlocking and retaining magnetic circuit; 90. Locking and retaining magnetic circuit. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0033] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0036] This embodiment provides a ball joint that can self-hold locked and unlocked states in the event of a power outage, preventing the ball joint from failing due to power failure. Figure 1 As shown, the ball joint includes an outer cylinder 10, a drive assembly 20, a ball head 30, a moving shaft pusher 40, and a permanent magnet 50. The drive assembly 20 is installed inside the outer cylinder 10, and the ball head 30 is rotatably embedded in one end of the outer cylinder 10. The moving shaft pusher 40 is located inside the outer cylinder 10, and the drive assembly 20 can intermittently drive the moving shaft pusher 40 to press against or move away from the ball head 30. The moving shaft pusher 40 includes a shaft portion 41 extending along the axial direction of the outer cylinder 10 and a flange portion 42 perpendicularly connected to the shaft portion 41. Permanent magnets 50 are provided on both sides of the flange portion 42 along the axial direction. Both the moving shaft pusher 40 and the outer cylinder 10 are magnetically conductive.

[0037] The aforementioned ball joint, by placing two permanent magnets 50 on both sides of the flange 42, when the drive assembly 20 drives the moving shaft pusher 40 to move toward the ball head 30 until it abuts against the ball head 30, one end of the shaft 41 locks the ball head 30, achieving the effect of locking the ball head 30. Since both the outer cylinder 10 and the moving shaft pusher 40 are magnetically conductive, even if the drive assembly 20 no longer applies a clamping force, the locking and retaining magnetic circuit 90 formed by the outer cylinder 10, the flange 42, and the permanent magnets 50 below will lock the moving shaft pusher 40 in place. In this case, the drive assembly 20 does not need to provide a holding force. Similarly, if a state needs to be switched, the drive assembly 20 overcomes the magnetic force of the locking and holding magnetic circuit 90 and drives the flange 42 upward so that the shaft 41 moves away from the ball head 30, thus achieving the unlocked state. At this time, the outer cylinder 10, the flange 42, and the permanent magnet 50 above form the unlocking and holding magnetic circuit 80. The drive assembly 20 does not need to provide a holding force. Therefore, the ball joint can achieve self-holding in the locked and unlocked states when the power is off, preventing the ball joint from failing due to power failure.

[0038] In an optional embodiment, the drive assembly 20 includes two excitation coils 21 nested inside the outer cylinder 10 and spaced apart axially in the outer cylinder 10. The flange portion 42 is located between the two excitation coils 21. The excitation coils 21 can be energized in the forward or reverse direction to apply magnetic forces in opposite directions to the flange portion 42.

[0039] Understandably, under the positive and negative electric action of the excitation coil 21, it will move up and down. When the moving shaft pusher 40 moves downward, it can press the ball head 30 and lock the ball head 30. The magnitude of the pressing force depends on the excitation energy of the excitation coil 21, which is an external power supply. When it is locked in the lower position, it forms a locking magnetic circuit 90. At this time, it is in a self-holding position under the action of magnetic force and is in a locked state.

[0040] When the excitation coil 21 is energized in reverse, the moving shaft pusher 40 moves upward. When it is in the upper position, it forms the unlocking and holding magnetic circuit 80. At this time, it is in the self-holding position under the action of magnetic force, and is in the unlocking and holding state. That is, the switching between the upper and lower bistable states of the moving shaft pusher 40 is achieved by the forward and reverse power supply of the excitation coil 21.

[0041] During this process, the excitation coil 21 can be powered by positive and negative DC or positive and negative pulse signals. The power supply time is short, and the power supply can be cut off when the steady state is reached, thus achieving self-holding without human intervention.

[0042] Optionally, the two excitation coils 21 have the same helical direction. This arrangement ensures that the forces exerted on the flange 42 by the two coils after energization are in the same direction, achieving force superposition.

[0043] Optionally, the magnetization direction of the permanent magnet 50 is along the axial direction, and the relative magnetic poles of the upper and lower permanent magnets 50 are in a repulsive state. With the above arrangement, when the moving shaft pusher 40 is self-holding, the opposite permanent magnet 50 provides a repulsive force, which plays a certain supporting role in self-holding.

[0044] Optionally, the ball joint also includes an upper cover plate 60 and a lower support plate 70. The upper cover plate 60 abuts against the top permanent magnet 50 and is connected to the outer cylinder 10. The lower support plate 70 is installed on the outer cylinder 10 and supports the bottom permanent magnet 50. Both the upper cover plate 60 and the lower support plate 70 are magnetically conductive. With the above configuration, the upper cover plate 60 and the lower support plate 70 serve to position the excitation coil 21 and also increase magnetic conductivity. That is, the upper cover plate 60 also forms part of the unlocking and retaining magnetic circuit 80, and the lower support plate 70 also forms part of the locking and retaining magnetic circuit 90.

[0045] Optionally, the shaft portion 41 is positioned on the upper cover plate 60 when it is away from the ball head 30. With the above arrangement, the upper cover plate 60 restricts the upward movement of the shaft portion 41, preventing the shaft portion 41 from detaching from the outer cylinder 10.

[0046] Optionally, such as Figure 1 As shown, the permanent magnet components 50 are nested one-to-one within the excitation coil 21. The upper cover plate 60 simultaneously abuts against the top excitation coil 21, and the lower support plate 70 simultaneously supports the bottom excitation coil 21. That is, the upper cover plate 60 and the lower support plate 70 simultaneously serve to position the two permanent magnet components 50 during installation.

[0047] Optionally, such as Figure 1 As shown, the outer cylinder 10 includes a body 11 and a limiting part 12. The drive assembly 20, the moving shaft pusher 40, and the permanent magnet 50 are all located inside the body 11, and less than half of the ball head 30 is located inside the body 11. The limiting part 12 is detachably connected to the body 11, and the limiting part 12 and the body 11 together accommodate more than half of the ball head 30. With the above arrangement, the installation of the ball head 30 of the outer cylinder 10 is facilitated, and after the limiting part 12 and the body 11 are installed, since the outer cylinder 10 covers more than half of the ball head 30, the ball head 30 will not fall out of the outer cylinder 10.

[0048] Optionally, the body 11 and the limiting part 12 are connected by screws.

[0049] Optionally, such as Figure 1 As shown, a guide member 13 is provided inside the outer cylinder 10, forming a guide groove 131, which slides with the shaft portion 41. This arrangement ensures the accuracy of the shaft portion 41's movement direction, guaranteeing precise contact between the shaft portion 41 and the ball head 30. The guide member 13 can be fitted inside the body 11 or integrally formed with it; this is not limited here.

[0050] In another optional embodiment, the output end of the drive assembly 20 is connected to the moving shaft pusher 40, the flange 42 is slidably fitted with the inner wall of the outer cylinder 10, and both permanent magnets 50 are fitted against the inner wall of the outer cylinder 10. It is understood that the drive assembly 20 is a drive element capable of outputting linear motion, such as a motor or hydraulic cylinder. In this case, the pusher ball can be designed as a magnetically conductive material, or it can form a locking magnetic circuit 90 and an unlocking magnetic circuit 80. In the bistable position, the drive device can be maintained without power supply.

[0051] This embodiment also provides a robot that employs the aforementioned ball joint. By using the ball joint, the robot can maintain its locked and unlocked states even in the event of a power outage, preventing the ball joint from failing due to power failure and improving the robot's safety performance.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A ball-and-socket joint, characterized in that, include: The outer cylinder (10), the drive assembly (20), and the ball head (30) are provided, wherein the drive assembly (20) is installed inside the outer cylinder (10), and the ball head (30) is rotatably embedded in one end of the outer cylinder (10). The moving shaft pusher (40) is located inside the outer cylinder (10), and the driving assembly (20) can intermittently drive the moving shaft pusher (40) to press against or move away from the ball head (30); The permanent magnet component (50) includes a shaft portion (41) extending axially along the outer cylinder (10) and a flange portion (42) perpendicularly connected to the shaft portion (41). The permanent magnet component (50) is provided on both sides of the flange portion (42) along the axial direction. Both the moving shaft pusher (40) and the outer cylinder (10) are magnetic conductive components. The drive assembly (20) includes two excitation coils (21), which are nested inside the outer cylinder (10) and spaced apart axially in the outer cylinder (10). The flange (42) is located between the two excitation coils (21). The excitation coils (21) can be energized in the forward or reverse direction to apply magnetic forces in opposite directions to the flange (42). The ball joint also includes an upper cover plate (60) and a lower support plate (70). The upper cover plate (60) abuts against the permanent magnet (50) at the top and is connected to the outer cylinder (10). The lower support plate (70) is installed on the outer cylinder (10) and is used to support the permanent magnet (50) at the bottom. Both the upper cover plate (60) and the lower support plate (70) are magnetic conductive components.

2. The ball joint according to claim 1, characterized in that, The two excitation coils (21) have the same helical direction.

3. The ball joint according to claim 1, characterized in that, The shaft portion (41) is located on the upper cover plate (60) when it is away from the ball head (30).

4. The ball joint according to claim 1, characterized in that, The permanent magnets (50) are nested one-to-one within the excitation coils (21), the upper cover plate (60) simultaneously abuts against the top of the excitation coils (21), and the lower support plate (70) simultaneously supports the bottom of the excitation coils (21).

5. The ball joint according to claim 1, characterized in that, The output end of the drive assembly (20) is connected to the moving shaft pusher (40), the flange (42) slides with the inner wall of the outer cylinder (10), and the two permanent magnets (50) are both attached to the inner wall of the outer cylinder (10).

6. The ball joint according to any one of claims 1-5, characterized in that, The outer cylinder (10) includes: The main body (11), the drive assembly (20), the moving shaft pusher (40) and the permanent magnet (50) are all located inside the main body (11), and less than half of the ball head (30) is located inside the main body (11); The limiting part (12) is detachably connected to the body (11), and the limiting part (12) and the body (11) together accommodate more than half of the ball head (30).

7. The ball joint according to any one of claims 1-5, characterized in that, The outer cylinder (10) is provided with a guide member (13), which forms a guide groove (131) and slides with the shaft (41).

8. A robot, characterized in that, Including the ball joint as described in any one of claims 1-7.

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