Electromagnetic tendon for a robot

Abstract

The utility model relates to robot technical field, and disclose a kind of electromagnetic tendon for robot, including two bionic skeletons, two bionic skeletons are connected by rotating joint, and electromagnetic muscle is uniformly provided between two bionic skeletons and outside, the electromagnetic muscle includes two protective cover, the inside of two protective cover is provided with flexible wrapping cover, the both sides of the flexible wrapping cover are provided with first fixed ring, it is connected by pull cord between the first fixed ring and flexible wrapping cover, it directly generates powerful linear tension using the principle that electromagnet coil heteromagnetic pole is attracted, imitates the contraction mode of biological muscle, reduces energy loss, improves driving efficiency, can provide greater instantaneous output force for robot joint, entire drive unit is made of flexible coil, without the rigid shell and complex internal structure of traditional motor, simultaneously make that tendon's contraction and diastolic state switching speed is fast, delay is low, increase the contraction force and diastolic force of muscle.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to an electromagnetic tendon for robots. Background Technology

[0002] In today's era, robotics technology is developing rapidly, especially in the field of bionic robots, where a series of remarkable achievements have emerged, such as highly flexible humanoid robots, bionic birds capable of autonomous flight, and bionic fish that can precisely navigate underwater. These systems, relying on sensing, control, and actuation technologies, are gradually being integrated into many important scenarios, including industrial manufacturing, environmental monitoring, disaster relief, and even daily life services.

[0003] Existing bionic muscle actuators are typically driven by electric motors. However, electric motor drives are large in size and lack flexibility, while pneumatic drives are difficult to control accurately in terms of speed and position, have low output, and are noisy. Furthermore, hydraulic drives require hydraulic equipment, and oil leaks and oil temperature can affect the driving characteristics and stability. As a result, traditional rotary drive mechanisms such as electric motors are limited by size and other constraints, which restricts their use in some application scenarios. In view of this, we propose an electromagnetic tendon for robots to solve the above problems. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention provides an electromagnetic tendon for robots, which solves the problem that some existing bionic muscles are limited in their use in certain application scenarios.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an electromagnetic tendon for robots, comprising two bionic skeletons connected by a rotating joint, with electromagnetic muscles provided between and outside the two bionic skeletons, each electromagnetic muscle including two protective covers, with a flexible wrapping cover inside each of the two protective covers, and a first fixing ring on each side of the flexible wrapping cover, the first fixing ring and the flexible wrapping cover being connected by a pull rope, a connecting plate inside the protective cover, the first fixing ring and the connecting plate being connected by a pull rope, a second fixing ring outside the connecting plate, the second fixing ring and the connecting plate being connected by a pull rope, and the protective cover being located outside the second fixing ring.

[0006] Preferably, the flexible cover has an electromagnetic shielding shell inside, the electromagnetic shielding shell has a battery cell spiral wrapping shell inside, the battery cell spiral wrapping shell has a first line and a second line outside, the flexible cover has a ground wire inside, and the battery cell has a battery cell inside the battery cell spiral wrapping shell.

[0007] Preferably, two mounting plates are fixedly connected to the surfaces of both protective covers. The interiors of the two mounting plates on the left are hollow, and L-shaped movable plates are slidably connected to the interiors of the two mounting plates on the left. A horizontal plate is fixedly connected to the surface of the L-shaped movable plate.

[0008] Preferably, a fixing block is fixedly connected to the lower surface of the cross plate, a locking block is slidably sleeved inside the fixing block, and a first spring is fixedly connected between the locking block and the inner wall of the fixing block.

[0009] Preferably, the left side surfaces of the two right mounting plates are fixedly connected with plug-in plates, and the right side surfaces of the two left mounting plates are provided with plug-in slots that communicate with the interior. The plug-in plates and plug-in slots are adapted to each other. The upper surface of the plug-in plates is provided with a card slot, and the card slot is adapted to a card block.

[0010] Preferably, the plug plate has a pulley rotatably connected inside via a shaft.

[0011] Preferably, a prompting plate is slidably fitted inside the upper horizontal plate, and a second spring is fixedly connected between the prompting plate and the inner wall of the upper horizontal plate. Two through slots communicating with the inside of the mounting plate are opened on the surface of the left mounting plate, and the through slots are adapted to the prompting plate.

[0012] Preferably, the L-shaped movable plate has a drive screw threaded inside, and the upper end of the drive screw rotates through the interior of the left mounting plate.

[0013] Compared with the prior art, this utility model provides an electromagnetic tendon for robots, which has the following beneficial effects:

[0014] 1. This robot uses electromagnetic tendons, which directly generate strong linear tension by utilizing the principle of attraction between opposite magnetic poles of electromagnetic coils. It mimics the contraction pattern of biological muscles, reduces energy loss, improves drive efficiency, and can provide greater instantaneous output force for robot joints. The entire drive unit is composed of flexible coils, eliminating the need for the rigid shell and complex internal structure of traditional motors. At the same time, it enables the tendon to switch between contraction and relaxation states quickly with low delay, increasing the contraction and relaxation force of muscles.

[0015] 2. This robot uses electromagnetic tendons, and through the cooperation of structures such as protective covers, mounting plates, plug-in plates, locking blocks, drive screws, and L-shaped movable plates, it achieves protection for the internal electromagnetic tendons. At the same time, it facilitates the quick installation and removal of the protective cover, saving the time of the staff and eliminating the need for complicated operating procedures. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an electromagnetic tendon for a robot according to the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the flexible wrapping cover of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the first fixing ring of this utility model;

[0019] Figure 4 This is a planar schematic diagram of the internal structure of the single-beam electromagnetic tendon of this utility model;

[0020] Figure 5 This is a plan view of the interior of the flexible cover of this utility model;

[0021] Figure 6 This is a cross-sectional view of the mounting plate of this utility model;

[0022] Figure 7 This is a cross-sectional view of the horizontal plate of this utility model;

[0023] Figure 8 This is a schematic diagram of the plug-in board of this utility model.

[0024] In the diagram: 1. Bionic skeleton; 2. Electromagnetic muscle; 3. Flexible wrapping cover; 4. Electromagnetic shielding shell; 5. Spiral wrapping shell of battery cell; 6. First circuit; 7. Second circuit; 8. Ground wire; 9. Battery cell; 10. First fixing ring; 11. Connecting plate; 12. Second fixing ring; 13. Mounting plate; 14. L-shaped movable plate; 15. Horizontal plate; 16. Fixing block; 17. Locking block; 18. First spring; 19. Plug-in plate; 20. Plug-in slot; 21. Locking slot; 22. Pulley; 23. Indicator plate; 24. Second spring; 25. Through slot; 26. Drive screw; 27. Protective cover. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figures 1-8This utility model provides a technical solution: an electromagnetic tendon for robots, including two bionic skeletons 1 connected by a rotating joint. Electromagnetic muscles 2 are provided between and outside the two bionic skeletons 1. The electromagnetic muscles 2 include two protective covers 27. Several flexible wrapping covers 3 are provided inside the two protective covers 27. First fixing rings 10 are provided on both sides of the flexible wrapping covers 3. The first fixing rings 10 and the flexible wrapping covers 3 are connected by pull ropes. A connecting plate 11 is provided inside the protective cover 27. Several first fixing rings 10 and the connecting plate 11 are connected by pull ropes. A second fixing ring 12 is provided outside the connecting plate 11. The second fixing ring 12 and the connecting plate 11 are connected by pull ropes. The setting of the connecting plate 11 facilitates the connection of multiple flexible wrapping covers 3. The electromagnetic muscles 2 are connected to the bionic skeletons 1 through the second fixing rings 12. The protective covers 27 are located outside the second fixing rings 12.

[0027] The flexible enclosure 3 contains an electromagnetic shielding shell 4, which is a cylindrical metal mesh with open sides. Inside the electromagnetic shielding shell 4 is a spiral-wrapped outer shell 5 containing a battery core. The outer side of the spiral-wrapped outer shell 5 contains a first circuit 6 and a second circuit 7. The flexible enclosure 3 contains a ground wire 8, and the electromagnetic shielding shell 4 is connected to the ground wire 8. Therefore, it can shield part of the electromagnetic wires on the outside, preventing interference with other electromagnetic muscles 2. Inside the spiral-wrapped outer shell 5 is a battery core 9. Multiple flexible enclosures 3 are arranged in a circular array to form a cylindrical shape to form an electromagnetic tendon. At the same time, the flexible enclosures 3 are used to constrain and fix the internal circuits and devices. The spiral-wrapped outer shell 5 has a spiral flexible structure that can adapt to the deformation caused by tendon stretching and contraction. The battery core 9 is made of highly conductive materials such as iron and is fixed to the inner wall of adjacent spiral-wrapped outer shells 5. The first circuit 6 and the second circuit 7 are connected to the port of the current controller.

[0028] In this process, on the outer casing 5, the first line 6 and the second line 7 are spirally wound at intervals, and the winding direction is the same.

[0029] In the above embodiment, the electromagnetic muscle 2 is controlled by a current controller. The external port controls the magnitude and direction of the current in the first line 6 and the second line 7. When the current in the first line 6 and the second line 7 both flow from one external port to the other, the adjacent coils are in a state where the same magnetic poles face each other, so the tendon is in a relaxed state. In other cases, the adjacent coils are in a state where opposite magnetic poles face each other, so the tendon is in a contracted state. Therefore, in actual use, the contraction and relaxation of a single tendon can be achieved by changing the direction of the current. This realizes the direct generation of a strong linear tension by utilizing the principle of attraction between opposite magnetic poles of electromagnetic coils, mimicking the contraction mode of biological muscles, reducing energy loss, improving driving efficiency, and providing greater instantaneous output force for robot joints. The entire drive unit is composed of flexible coils, eliminating the need for the rigid shell and complex internal structure of traditional motors. At the same time, it makes the switching speed between the contraction and relaxation states of the tendon fast and the delay low, increasing the contraction force and relaxation tension of the muscle.

[0030] Two mounting plates 13 are fixedly connected to the surfaces of the two protective covers 27. The interiors of the two mounting plates 13 on the left are hollow, and L-shaped movable plates 14 are slidably connected to the interiors of the two mounting plates 13 on the left. Several horizontal plates 15 are fixedly connected to the surface of the L-shaped movable plates 14.

[0031] A fixing block 16 is fixedly connected to the lower surface of the horizontal plate 15. A locking block 17 is slidably sleeved inside the fixing block 16. A first spring 18 is fixedly connected between the locking block 17 and the inner wall of the fixing block 16.

[0032] The left surfaces of the two right mounting plates 13 are fixedly connected with plug-in plates 19, and the right surfaces of the two left mounting plates 13 are provided with plug-in slots 20 that communicate with the interior. The number of plug-in slots 20, plug-in plates 19 and horizontal plates 15 are matched. The plug-in plates 19 and plug-in slots 20 are matched. The upper surface of the plug-in plate 19 is provided with a slot 21, which is matched with a locking block 17. When assembling the two protective covers 27, the two protective covers 27 are first guided by the cooperation of the plug-in plates 19 and plug-in slots 20. After the plug-in plate 19 enters the interior of the plug-in slot 20, the plug-in plate 19 will contact the inclined surface of the locking block 17, thereby forcing the locking block 17 to slide inside the fixed block 16. At this time, the first spring 18 generates elastic deformation. After the locking block 17 moves to the outside of the slot 21, the setting of the first spring 18 will push the locking block 17 into the interior of the slot 21, thereby realizing the rapid assembly of the two protective covers 27.

[0033] The plug plate 19 is internally connected to a pulley 22 via a shaft. The pulley 22 further ensures the smoothness of the plug plate 19 pushing the locking block 17 and avoids jamming.

[0034] A prompting plate 23 is slidably fitted inside the upper horizontal plate 15. A second spring 24 is fixedly connected between the prompting plate 23 and the inner wall of the upper horizontal plate 15. Two through slots 25 are opened on the surface of the left mounting plate 13 and communicate with the inside of the mounting plate 13. The through slots 25 are adapted to the prompting plate 23.

[0035] The L-shaped movable plate 14 is internally threaded with a drive screw 26. The upper end of the drive screw 26 rotates through the interior of the left mounting plate 13. By rotating the drive screw 26, the L-shaped movable plate 14 can be moved. The movement of the L-shaped movable plate 14 can move the horizontal plate 15. When the indicator plate 23 inside the upper horizontal plate 15 is inserted into the lower through groove 25, it is in a quick assembly state. Pushing the two protective covers 27 will cause the locking block 17 to automatically lock into the slot 21. When the indicator plate 23 is inserted into the upper through groove 25, it is in an unlocked state. That is, the locking block 17 is disengaged from the slot 21, and the protective cover 27 can be disassembled.

[0036] Working principle:

[0037] When the robot is in use, the movement of the bones at the joints is achieved through the coordinated stretching and relaxation of two electromagnetic muscles 2 on the outside of the bionic skeleton 1. The contraction of the inner electromagnetic muscle 2 and the relaxation of the outer electromagnetic muscle 2 can reduce the angle between the two links at the joint; the relaxation of the inner electromagnetic muscle 2 and the contraction of the outer electromagnetic muscle 2 can reduce the angle between the two links at the joint.

[0038] When assembling the two protective covers 27, the two protective covers 27 are first guided by the cooperation of the plug plate 19 and the plug slot 20. After the plug plate 19 enters the interior of the plug slot 20, the plug plate 19 will contact the inclined surface of the locking block 17, thereby forcing the locking block 17 to slide inside the fixing block 16. At this time, the first spring 18 will generate elastic deformation. After the locking block 17 moves to the outside of the slot 21, the setting of the first spring 18 will push the locking block 17 into the interior of the slot 21, thereby realizing the rapid assembly of the two protective covers 27.

[0039] Additionally, rotating the drive screw 26 moves the L-shaped movable plate 14, which in turn moves the horizontal plate 15. When the indicator plate 23 inside the upper horizontal plate 15 is engaged in the lower through groove 25, it is in a quick assembly state; pushing the two protective covers 27 will automatically engage the locking block 17 in the slot 21. When the indicator plate 23 is engaged in the upper through groove 25, it is in an unlocked state; the locking block 17 is disengaged from the slot 21, and the protective cover 27 can then be disassembled.

[0040] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An electromagnetic tendon for robots, comprising two bionic skeletons (1), characterized in that: The two bionic skeletons (1) are connected by a rotating joint. Electromagnetic muscles (2) are provided between and outside the two bionic skeletons (1). The electromagnetic muscles (2) include two protective covers (27). A flexible wrapping cover (3) is provided inside the two protective covers (27). A first fixing ring (10) is provided on both sides of the flexible wrapping cover (3). The first fixing ring (10) and the flexible wrapping cover (3) are connected by a pull rope. A connecting plate (11) is provided inside the protective cover (27). The first fixing ring (10) and the connecting plate (11) are connected by a pull rope. A second fixing ring (12) is provided outside the connecting plate (11). The second fixing ring (12) and the connecting plate (11) are connected by a pull rope. The protective cover (27) is located outside the second fixing ring (12).

2. The electromagnetic tendon for robots according to claim 1, characterized in that: The flexible cover (3) is provided with an electromagnetic shielding shell (4) inside, the electromagnetic shielding shell (4) is provided with a battery cell spiral wrapping shell (5) inside, the battery cell spiral wrapping shell (5) is provided with a first line (6) and a second line (7) outside, the flexible cover (3) is provided with a ground wire (8) inside, and the battery cell spiral wrapping shell (5) is provided with a battery cell (9) inside.

3. The electromagnetic tendon for robots according to claim 2, characterized in that: Two mounting plates (13) are fixedly connected to the surfaces of the two protective covers (27). The interiors of the two mounting plates (13) on the left are hollow. An L-shaped movable plate (14) is slidably connected to the interiors of the two mounting plates (13) on the left. A horizontal plate (15) is fixedly connected to the surface of the L-shaped movable plate (14).

4. The electromagnetic tendon for robots according to claim 3, characterized in that: A fixing block (16) is fixedly connected to the lower surface of the horizontal plate (15), and a locking block (17) is slidably sleeved inside the fixing block (16). A first spring (18) is fixedly connected between the locking block (17) and the inner wall of the fixing block (16).

5. The electromagnetic tendon for robots according to claim 4, characterized in that: The left side surfaces of the two mounting plates (13) on the right are fixedly connected with plug plates (19), and the right side surfaces of the two mounting plates (13) on the left are provided with plug slots (20) that communicate with the interior. The plug plates (19) and plug slots (20) are adapted to each other. The upper surface of the plug plates (19) is provided with a slot (21), and the slot (21) is adapted to the card block (17).

6. The electromagnetic tendon for robots according to claim 5, characterized in that: The plug plate (19) is internally connected to a pulley (22) via a shaft.

7. The electromagnetic tendon for robots according to claim 6, characterized in that: A prompting plate (23) is slidably fitted inside the upper horizontal plate (15). A second spring (24) is fixedly connected between the prompting plate (23) and the inner wall of the upper horizontal plate (15). Two through slots (25) communicating with the inside of the mounting plate (13) are opened on the surface of the left mounting plate (13). The through slots (25) are adapted to the prompting plate (23).

8. The electromagnetic tendon for robots according to claim 7, characterized in that: The L-shaped movable plate (14) is threaded with a drive screw (26), the upper end of which rotates through the interior of the left mounting plate (13).

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