CN208289931U - A kind of Magnetic driving flexible mechanical arm - Google Patents
A kind of Magnetic driving flexible mechanical arm Download PDFInfo
- Publication number
- CN208289931U CN208289931U CN201820864965.9U CN201820864965U CN208289931U CN 208289931 U CN208289931 U CN 208289931U CN 201820864965 U CN201820864965 U CN 201820864965U CN 208289931 U CN208289931 U CN 208289931U
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- China
- Prior art keywords
- gear
- electromagnet
- main nacelle
- rack
- rack gear
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Abstract
A kind of flexibility is good, the Magnetic driving flexible mechanical arm to occupy little space, the upper left-hand of main nacelle is provided with the first rack bore, the upper right of main nacelle is provided with the second rack bore, motor is installed in main nacelle, actively public gear is connected on the output shaft of motor, actively the first electromagnetism group is connected on public gear, first electromagnetism group includes the female gear of active, actively rack gear one is engaged on the upside of female gear, the left end of rack gear one is fixedly connected with electromagnet one, second battery pack includes driven female gear, rack gear two is engaged on driven mother's gear, the right end of rack gear two is fixedly connected with electromagnet two, actively female gear is meshed with driven female gear, main nacelle outer surface is equipped with switch, switch is electrically connected with the electromagnet one and electromagnet two, design has permanent magnet on the flexible arm, permanent magnet on the same side of flexible arm Magnetic pole it is identical.
Description
Technical field
The utility model relates to a kind of mechanical arm more particularly to a kind of Magnetic driving flexible mechanical arms.
Background technique
Mechanical arm is a kind of automated machine device being most widely used in robotic technology field, industry manufacture,
The fields such as therapeutic treatment, entertainment service, military affairs can see its figure.Although its form is had nothing in common with each other, there is one to be total to
It is same, it is to receive instruction, accurately navigates to the certain point in space and carry out operation.Mechanical arm common at present is most
It is using motor or hydraulic cylinder as power drive unit, not only occupied space is big for this structure, and flexibility is poor, for one
Operation too energetically is not needed a bit, and this mechanical arm just seems unsuitable.
Summary of the invention
The Magnetic driving flexible mechanical arm that the purpose of the utility model is to provide a kind of flexibilities is good, occupies little space.
To achieve the above object, the technical solution adopted in the utility model are as follows:
A kind of Magnetic driving flexible mechanical arm, including main nacelle and flexible arm, it is characterized in that: the upper left-hand of main nacelle is provided with
First rack bore, the upper right of main nacelle are provided with the second rack bore, and motor is equipped in main nacelle, is connected on the output shaft of motor
It is connected to actively public gear, the first electromagnetism group is actively connected on public gear, the first electromagnetism group is connected with the second battery pack, the first electricity
Magnetic group includes the female gear of active, is actively engaged with rack gear one on the upside of female gear, and the left end of rack gear one is fixedly connected with electromagnet one,
Rack gear one passes through the first rack bore, and electromagnet one is located at the outside of main nacelle, and second battery pack includes driven female gear, from
Rack gear two is engaged on dynamic mother's gear, the right end of rack gear two is fixedly connected with electromagnet two, and rack gear two passes through the second rack bore, electricity
Magnet two is located at outside main nacelle, and actively female gear is meshed with driven female gear, and main nacelle outer surface is equipped with switch, switch
It is electrically connected with the electromagnet one and electromagnet two, design has permanent magnet on the flexible arm, positioned at the same side of flexible arm
The magnetic pole of permanent magnet on face is identical.
In this structure, the outer surface design of the flexible arm has layer of silica gel, and the permanent magnet is embedded in the surface of layer of silica gel,
The permanent magnet is permanent magnet particle.
In this structure, the permanent magnet distribution of particles mode on the flexible arm is to be gradually reduced from top to lower part in density
Formula distribution.
In this structure, the switch includes the slide key positioned at main nacelle outer surface, and slide key is connected with connection frame, is connected
Frame is lateral " mountain " character form structure, and centre connection is extremely positive, both ends connection extremely cathode.
In this structure, the boss of " recessed " shape structure is equipped at the center of the upper surface of the main nacelle, the flexible arm
Lower end design has connector, and connector is connected with the boss.
In this structure, the cross section of the flexible arm is rectangle, the big side of area respectively with the electromagnet one and electricity
Magnet two is corresponding.
In this structure, the rack gear one and rack gear two are hollow structure, and inside is equipped with conducting wire, and conducting wire is connected to the first battery
Between iron, the second battery iron and switch.
The utility model has the advantages of be: due to this structure of the utility model, using electromagnet and permanent magnet
Between magneticaction, driving flexible arm carry out it is free change own shape, and then realize and the operation such as grab, encircle, flexibility
Good, light weight, strong flexibility, and eliminate traditional motor and hydraulic system etc. equipment, size greatly reduce, it can satisfy spy
Demand under different environment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of flexible arm in the utility model.
In attached drawing: 1, main nacelle；2, motor；3, it switchs；4, connection frame；5, conducting wire；6, driven female gear；7, electromagnet
Two；8, rack gear two；9, boss；10, flexible arm；11, rack gear one；12, electromagnet one；13, the female gear of active；14, the public tooth of active
Wheel；15, layer of silica gel；16, permanent magnet particle；17, connector.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments:
The utility model is as shown in Figure 1, 2, a kind of Magnetic driving flexible mechanical arm, including main nacelle 1 and flexible arm 10, special
Sign is: the upper left-hand of main nacelle 1 is provided with the first rack bore, and the upper right of main nacelle 1 is provided with the second rack bore, main nacelle 1
Motor 2 is inside installed, actively public gear 14 is connected on the output shaft of motor 2, is actively connected with the first electromagnetism on public gear 14
Group, the first electromagnetism group are connected with the second battery pack, and the first electromagnetism group includes the female gear 13 of active, actively engage on the upside of female gear 13
There is rack gear 1, the left end of rack gear 1 is fixedly connected with electromagnet 1, and rack gear 1 passes through the first rack bore, electromagnet one
12 are located at the outside of main nacelle 1, and second battery pack includes driven female gear 6, are engaged with rack gear 28 on driven mother's gear 6,
The right end of rack gear 28 is fixedly connected with electromagnet 27, and rack gear 28 passes through the second rack bore, and electromagnet 27 is located at outside main nacelle 1
Portion, actively female gear 13 is meshed with driven female gear 6, and 1 outer surface of main nacelle is equipped with switch 3, switch 3 and the electromagnetism
Iron 1 and electromagnet 27 are electrically connected, and design has permanent magnet on the flexible arm 10, on the same side of flexible arm 10
The magnetic pole of permanent magnet is identical.Heteropolar attracting, the original of inner end and permanent magnet homopolar-repulsion is carried out by electromagnet outer end and permanent magnet
Reason, so that flexible arm bends.
In the present embodiment, the outer surface design of the flexible arm 10 has layer of silica gel 15, and the permanent magnet is embedded in silica gel
The surface of layer 15, the permanent magnet are permanent magnet particle 16.
In the present embodiment, 16 distribution mode of permanent magnet particle on the flexible arm 10 is from top to lower part in density
It is gradually reduced formula distribution.This structure is suitble to be bent, and can guarantee that head position bending degree is maximum, forms it into circle
Warp architecture
In the present embodiment, the switch 3 includes the slide key positioned at 1 outer surface of main nacelle, and slide key is connected with connection
Frame 4, connection frame 4 are lateral " mountain " character form structure, and centre connection is extremely positive, both ends connection extremely cathode.
In the present embodiment, the boss 9 of " recessed " shape structure is equipped at the center of the upper surface of the main nacelle 1, it is described soft
Property arm 10 lower end design have connector 17, connector 17 is connected with the boss 9.
In the present embodiment, the cross section of the flexible arm 10 be rectangle, the big side of area respectively with the electromagnet
1 and electromagnet 27 it is corresponding.The rectangular cross-section structure of the flexible arm 10, the biggish side of area is towards electromagnet side
To the permanent magnet particle 16 in surface is rubidium iron boron material, and the magnetic pole on same surface is identical, and rectangular cross section structure can increase
Contact area when crawl between body surface, while the magnet structure design of single-direction magnetic section, can make flexible arm 10
Directional curvature is generated, and then avoids the problem that magnetic force disperses.
In the present embodiment, the rack gear 1 and rack gear 28 are hollow structure, and inside is equipped with conducting wire 5, and conducting wire 5 connects
Between the first battery iron, the second battery iron and switch 3.So that magnet spool conducting wire 5 is worn inside threading hole, it can
Conducting wire 5 is wound when guaranteeing that internal wiring is clean and tidy, and can prevent the moving links such as rack and pinion from moving.The electromagnet
One 12 is identical with the coil winding direction on electromagnet 27, after being passed through electric current, the magnetic of electromagnet 1 and the generation of electromagnet 27
Extreme direction is consistent, but permanent magnet particle 16 is in the pole orientation on two surfaces on the contrary, side therefore can be generated in flexible arm 10
Attract, the magneticaction that side is repelled, flexible arm 10 is promoted to generate directional curvature.
Working principle: by connection frame 4 in regulating switch 3 and 5 link position of conducting wire, change the electric current side in electromagnet
To, and then change the pole orientation of electromagnet, while size of current being adjusted by current controller, control electromagnet
Magnetic force size, and then change the dynamics of encircling of flexible arm 10, while passing through the driving of motor 2, change the position of electromagnet, in turn
Change operating radius, so that the bending radius of flexible arm 10 is precisely controlled.
Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this
Novel conception and scope of protection are defined, without departing from the design concept of the present utility model, common in this field
The all variations and modifications that engineers and technicians make the technical solution of the utility model should all fall into the guarantor of the utility model
Protect range.
Claims (7)
1. a kind of Magnetic driving flexible mechanical arm, including main nacelle (1) and flexible arm (10), it is characterized in that: the top of main nacelle (1)
Left side is provided with the first rack bore, and the upper right of main nacelle (1) is provided with the second rack bore, is equipped with motor in main nacelle (1)
(2), it is connected with actively public gear (14) on the output shaft of motor (2), is actively connected with the first electromagnetism group on public gear (14), the
One electromagnetism group is connected with the second battery pack, and the first electromagnetism group includes the female gear (13) of active, actively engages on the upside of female gear (13)
There is rack gear one (11), the left end of rack gear one (11) is fixedly connected with electromagnet one (12), and rack gear one (11) passes through the first rack bore,
Electromagnet one (12) is located at the outside of main nacelle (1), and second battery pack includes driven female gear (6), driven mother's gear (6)
On be engaged with rack gear two (8), the right end of rack gear two (8) is fixedly connected with electromagnet two (7), and rack gear two (8) passes through the second rack gear
Hole, electromagnet two (7) are located at main nacelle (1) outside, and actively female gear (13) is meshed with driven female gear (6), main nacelle (1)
Outer surface is equipped with switch (3), and switch (3) is electrically connected with the electromagnet one (12) and electromagnet two (7), the flexible arm
(10) design has permanent magnet on, and the magnetic pole for being located at the permanent magnet on the same side of flexible arm (10) is identical.
2. a kind of Magnetic driving flexible mechanical arm according to claim 1, it is characterised in that: the appearance of the flexible arm (10)
Face design has layer of silica gel (15), and the permanent magnet is embedded in the surface of layer of silica gel (15), and the permanent magnet is permanent magnet particle
(16).
3. a kind of Magnetic driving flexible mechanical arm according to claim 2, it is characterised in that: on the flexible arm (10) forever
Magnetic particles (16) distribution mode is to be gradually reduced formula distribution in density from top to lower part.
4. a kind of Magnetic driving flexible mechanical arm according to claim 3, it is characterised in that: the switch (3) includes being located at
The slide key of main nacelle (1) outer surface, slide key are connected with connection frame (4), and connection frame (4) is lateral " mountain " character form structure,
Centre connection is extremely positive, both ends connection extremely cathode.
5. a kind of Magnetic driving flexible mechanical arm according to claim 4, it is characterised in that: the upper end of the main nacelle (1)
The boss (9) of " recessed " shape structure is equipped at the center in face, the lower end design of the flexible arm (10) has connector (17), connector
(17) it is connected with the boss (9).
6. a kind of Magnetic driving flexible mechanical arm according to claim 5, it is characterised in that: the flexible arm (10) it is transversal
Face is rectangle, and the big side of area is corresponding with the electromagnet one (12) and electromagnet two (7) respectively.
7. a kind of Magnetic driving flexible mechanical arm according to claim 6, it is characterised in that: the rack gear one (11) and rack gear
Two (8) be hollow structure, inside be equipped with conducting wire (5), conducting wire (5) be connected to the first battery iron, the second battery iron and switch (3) it
Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820864965.9U CN208289931U (en) | 2018-06-06 | 2018-06-06 | A kind of Magnetic driving flexible mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820864965.9U CN208289931U (en) | 2018-06-06 | 2018-06-06 | A kind of Magnetic driving flexible mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208289931U true CN208289931U (en) | 2018-12-28 |
Family
ID=64722199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820864965.9U Expired - Fee Related CN208289931U (en) | 2018-06-06 | 2018-06-06 | A kind of Magnetic driving flexible mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208289931U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501040A (en) * | 2018-06-06 | 2018-09-07 | 枣庄学院 | A kind of Magnetic driving flexible mechanical arm |
| CN111645102A (en) * | 2020-06-17 | 2020-09-11 | 重庆邮电大学 | Bionic magnetic control flexible gripper device with self-sensing function |
-
2018
- 2018-06-06 CN CN201820864965.9U patent/CN208289931U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501040A (en) * | 2018-06-06 | 2018-09-07 | 枣庄学院 | A kind of Magnetic driving flexible mechanical arm |
| CN108501040B (en) * | 2018-06-06 | 2023-06-20 | 枣庄学院 | Magnetically-driven flexible mechanical arm |
| CN111645102A (en) * | 2020-06-17 | 2020-09-11 | 重庆邮电大学 | Bionic magnetic control flexible gripper device with self-sensing function |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20210606 |
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| CF01 | Termination of patent right due to non-payment of annual fee |