CN101817183A - Electromagnetic type connecting device - Google Patents
Electromagnetic type connecting device Download PDFInfo
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- CN101817183A CN101817183A CN 201010152387 CN201010152387A CN101817183A CN 101817183 A CN101817183 A CN 101817183A CN 201010152387 CN201010152387 CN 201010152387 CN 201010152387 A CN201010152387 A CN 201010152387A CN 101817183 A CN101817183 A CN 101817183A
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Abstract
The invention relates to an electromagnetic type connecting device in the technical field of robots, which comprises a joint, an aligning hole, an active electrode, an electromagnet, an active base, an aligning head, a passive electrode, a plug, a permanent magnet and a passive base, wherein the joint is arranged on the active base; the aligning hole and the active electrode are respectively fixed on the joint; one end of the electromagnet is fixedly arranged at the center of the joint, and a coil is arranged on the other end; the plug is arranged on the passive base; the aligning head and the passive electrode are respectively fixed to the plug; the aligning head corresponds to the aligning hole, and the active electrode corresponds to the passive electrode; the permanent magnet is fixed to the center of the plug; and the sizes of the plug and the joint are equal. An electric interface of a passage is additionally provided, reconfigurable microrobots can be mutually communicated, and energy sources of the reconfigurable microrobots need to be consumed just during separation; on one hand, the aligning structure can reduce the precision needed by connection, on the other hand, the torque resistant capability after connection can be effectively improved; and the structure is simpler, and the processing cost is low.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, in particular a kind of electromagnetic type connecting device.
Background technology
In the reconstruction robot system, some robots individuality can form new configuration by specific jockey, thereby strengthens its whole performance, to adapt to new environment and mission requirements.Therefore, jockey is an of paramount importance part in the reconstruction robot design, directly influences the overall performance of reconstruction robot.At present, the jockey that is applied to the reconstruction robot field mainly contains bolt-type bindiny mechanism, permanent-magnet type bindiny mechanism, mechanical connection mechanism and the electromagnetic type bindiny mechanism that utilizes marmem.But because the restriction of these bindiny mechanism's sizes is difficult to be applied to the reconfigurable miniature robot field.
Find through retrieval prior art, Chinese invention patent application number: 200910049401.5, name is called: miniature universal connection device, in this device, the base of connector and spherical end cap front end are docking together up and down and form the ball hole greater than hemisphere, and spherical connecting rod inserts wherein forms a universal ball joint flexibly, and end cap can rotate around base, by the control retaining mechanism, realize being dynamically connected certainly/breaking away from of this device.The a plurality of microrobots that carry this device can link together automatically, move on the curved surface of any curvature.This device can only carry out mechanical connection, can't realize being electrically connected between the restructural Micro-Robot.
Further retrieval is found, T.Haga etc. delivered in " Microsystem Technologies " (microsystems technology) in April, 2000: Development of microconnector with an automatic connecting/disconnectingmechanism (a kind of miniature jockey that can be dynamically connected certainly/break away from), this technology discloses the miniature jockey of a kind of machinery and electric one, its diameter and thickness are respectively 2.5mm and 2mm, the retaining mechanism of realizing connection/disengaging is by electromagnet, permanent magnet and helical spring are formed, and are used for flexibly connecting of chain type miniature mobile robot.The advantage of this jockey is that overall volume is less, can realize machinery and electric connection simultaneously, but the structure more complicated needs to adopt the X-ray lithography Micrometer-Nanometer Processing Technology that involves great expense to make.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of electromagnetic type connecting device is provided, realize being connected and disengaging of driving link and Passive part by the attraction that produces between control electromagnet and the permanent magnet and repulsion, not only realize the mechanical connection between the Micro-Robot, and also realized being electrically connected between them simultaneously.
The present invention is achieved by the following technical solutions, the present invention includes: joint, mating holes, active electrode, electromagnet, the active base, alignment head, by moving electrode, plug, permanent magnet and passive base, wherein: joint is arranged on the active base, mating holes and active electrode are separately fixed on the joint, one end of electromagnet is fixed at the central authorities of joint, the other end is provided with coil, plug is located on the passive base, alignment head and be separately fixed on the plug by moving electrode, the position of alignment head and mating holes is corresponding, active electrode is with corresponding by the position of moving electrode, and permanent magnet is fixed on the central authorities of plug, plug and joint equal and opposite in direction.
Described joint is located in the circular groove of the upper surface of base initiatively, and described plug is located in the circular groove of upper surface of passive base.
Described mating holes and active electrode are equidistant respectively to be fixed on the joint, alignment head and be fixed on the plug by moving electrode is equidistant respectively.
Described joint, mating holes, active electrode, electromagnet and active base have constituted driving link.
Described alignment head, constituted Passive part by moving electrode, plug, permanent magnet and passive base.
The top of described active electrode is a cantilever beam structures, and the bottom extends to the edge of joint.
Described top by moving electrode is the cuboid projection, and the bottom extends to the edge of plug.
Described permanent magnet is that samarium-cobalt alloy is made.
Described active base, passive base, plug and joint are that silicon materials are made.
Described electromagnet is that iron-nickel alloy is made.
Described active electrode is that copper becomes with passive motor.
Active electrode be connected with outside in the lead-in wire mode by moving electrode.Realize being connected and disengaging of driving link and Passive part by the attraction that produces between control electromagnet and the permanent magnet and repulsion.When driving link is connected with Passive part, utilize the alignment head on the socket to aim at the mating holes on the joint; When driving link and Passive part disengaging, the coil on the electromagnet oppositely to be switched on, electromagnet just produces repulsion with permanent magnet, thus driving link and Passive part are realized breaking away from automatically.
The inventor has the following advantages compared to existing technology: under the situation that guarantees mechanical connection, increased the electric interfaces of passage, make between the restructural Micro-Robot can intercom mutually and the shared energy, and the Elastic Contact between the electrode can improve the stability that this device is electrically connected; Only when breaking away from, need consume the energy of restructural Micro-Robot; Align structures can reduce on the one hand it and connect required precision, the anti-twisting property after can improving it on the other hand effectively and connecting; Relatively simple for structure, can adopt the UV-LIGA fine process to make low processing cost.
Description of drawings
Fig. 1 is the structural representation of driving link of the present invention;
Fig. 2 is the structural representation of Passive part of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in Figure 2, present embodiment comprises: comprising: joint 1, mating holes 2, active electrode 3, electromagnet 4, active base 5, alignment head 6, by moving electrode 7, plug 8, permanent magnet 9 and passive base 10, wherein: joint 1 is arranged on the active base 5, mating holes 2 and active electrode 3 are separately fixed on the joint 1, one end of electromagnet 4 is fixed at the central authorities of joint 1, the other end is provided with the coil (not shown), plug 8 is located on the passive base 10, alignment head 6 and be separately fixed on the plug 8 by moving electrode 7, alignment head 6 is corresponding with the position of mating holes 2, active electrode 3 is with corresponding by the position of moving electrode 7, permanent magnet 9 is fixed on the central authorities of plug 8, plug 8 and joint 1 equal and opposite in direction.
Described joint 1 is located in the circular groove of the upper surface of base 5 initiatively, totally eight of active electrodes 3, and the angle of adjacent active electrode 3 is 45 °.Totally four of mating holes 2 are located at respectively between two active electrodes 3, and the angle in adjacent alignment hole 2 is 90 °.
Described plug 8 is located in the circular groove of upper surface of passive base 10, and by totally eight of moving electrodes 7, the adjacent angle by moving electrode 7 is 45 °.Totally four of alignment heads 6 are located at two respectively by between the moving electrode 7, and the angle of adjacent alignment 6 is 90 °.In other embodiments, also can or reduce active electrode 3 according to the practical communication increase in demand, by the number of moving electrode 7, mating holes 2 and alignment head 6
Described joint 1, mating holes 2, active electrode 3, electromagnet 4 and active base 5 have constituted driving link.
Described alignment head 6, constituted Passive part by moving electrode 7, plug 8, permanent magnet 9 and passive base 10.
The top of described active electrode 3 is cantilever beam structures, and the edge that the bottom extends to joint 1 links to each other with outside with lead-in wire; By the top of moving electrode 7 are cuboid projectioies, and the edge that the bottom extends to plug 8 links to each other with outside with lead-in wire.Active electrode 3 and by the end of the contact position of moving electrode 7 near the cantilever beam of active electrode 3, so a certain amount of deformation can take place in cantilever beam when driving link contacts with Passive part, inhale together mutually with permanent magnet 9 until electromagnet 4; Because the cantilever beam structures of active electrode 3, all closely contacts of each electrode are guaranteed in the influence of mismachining tolerance to connecting that can cancellation element.
Described permanent magnet 9 is that samarium-cobalt alloy is made, and electromagnet 4 is that iron-nickel alloy is made, and active electrode 3 is that copper becomes with passive motor, and initiatively base 5, passive base 10, plug 8 and joint 1 are that silicon materials are made.
The size of present embodiment: driving link is the wide * height=5mm*5mm*2.5mm of long *; Passive part is the wide * height=5mm*5mm*2.5mm of long *.
When driving link was connected with Passive part, four alignment heads 6 carried out concentric alignment with corresponding mating holes 2 respectively, and inserted mating holes 2; Permanent magnet 9 attracts electromagnet 4 and is in contact with it, because the relation of physical dimension, active electrode 3 contact with electromagnet 4 prior to permanent magnet 9 with being understood by moving electrode 7, because the cantilever beam structures of active electrode 3, a certain amount of deformation can take place, the all closely contacts of each electrode are guaranteed in the influence of the mismachining tolerance of cancellation element to connecting; When driving link and Passive part break away from, to the coil electricity on the electromagnet 4, make the attraction between electromagnet 4 and the permanent magnet 9 become repulsion, thereby driving link and Passive part break away from.
Claims (8)
1. electromagnetic type connecting device, comprise: electromagnet and permanent magnet, it is characterized in that, also comprise: joint, mating holes, active electrode, the active base, alignment head, by moving electrode, plug and passive base, wherein: joint is arranged on the active base, mating holes and active electrode are separately fixed on the joint, one end of electromagnet is fixed at the central authorities of joint, the other end is provided with coil, and plug is located on the passive base, alignment head and be separately fixed on the plug by moving electrode, the position of alignment head and mating holes is corresponding, active electrode is with corresponding by the position of moving electrode, and permanent magnet is fixed on the central authorities of plug, plug and joint equal and opposite in direction.
2. electromagnetic type connecting device according to claim 1 is characterized in that, described joint is located in the circular groove of the upper surface of base initiatively, and plug is located in the circular groove of upper surface of passive base.
3. electromagnetic type connecting device according to claim 1 is characterized in that, described mating holes and active electrode are equidistant respectively to be fixed on the joint, alignment head and be fixed on the plug by moving electrode is equidistant respectively.
4. electromagnetic type connecting device according to claim 1 is characterized in that, described joint, mating holes, active electrode, electromagnet and initiatively base constituted driving link, alignment head, constituted Passive part by moving electrode, plug, permanent magnet and passive base.
5. electromagnetic type connecting device according to claim 4, it is characterized in that, when driving link is connected with Passive part, four alignment heads carry out concentric alignment with corresponding mating holes respectively, and insertion mating holes, permanent magnet attracts electromagnet also to be in contact with it, active electrode with can be contacted with electromagnet prior to permanent magnet by moving electrode.
6. electromagnetic type connecting device according to claim 4 is characterized in that, when driving link and Passive part break away from, to the coil electricity on the electromagnet, makes the attraction between electromagnet and the permanent magnet become repulsion, thereby driving link and Passive part break away from.
7. electromagnetic type connecting device according to claim 1 is characterized in that the top of described active electrode is a cantilever beam structures, and the bottom extends to the edge of joint.
8. electromagnetic type connecting device according to claim 1 is characterized in that, described top by moving electrode is the cuboid projection, and the bottom extends to the edge of plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010152387 CN101817183A (en) | 2010-04-21 | 2010-04-21 | Electromagnetic type connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010152387 CN101817183A (en) | 2010-04-21 | 2010-04-21 | Electromagnetic type connecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101817183A true CN101817183A (en) | 2010-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010152387 Pending CN101817183A (en) | 2010-04-21 | 2010-04-21 | Electromagnetic type connecting device |
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| CN (1) | CN101817183A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103789937A (en) * | 2014-03-04 | 2014-05-14 | 新杰克缝纫机股份有限公司 | Electromagnetic type rapid separation and attraction connector of clothes template |
| CN105523157A (en) * | 2015-12-25 | 2016-04-27 | 河北工业大学 | Throwing and loading module for underwater robot |
| CN106934978A (en) * | 2015-12-31 | 2017-07-07 | 上海防灾救灾研究所 | A kind of apparatus and method for extending alarm in scene of fire work limitation |
| CN112377116A (en) * | 2020-09-17 | 2021-02-19 | 广州市市政工程试验检测有限公司 | Joint structure |
| CN115723153A (en) * | 2022-11-23 | 2023-03-03 | 北京梦天门科技股份有限公司 | Public health law enforcement supervise intelligent robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2566195A1 (en) * | 1984-06-13 | 1985-12-20 | Jonathan Jean Pierre | Connector having contact attraction using electromagnetic force |
| US5010228A (en) * | 1987-12-28 | 1991-04-23 | Obara Corporation | Tool changer for welding robot |
| US6030229A (en) * | 1997-03-11 | 2000-02-29 | Sumitomo Electric Industries, Ltd | Electromagnetic detachable connector |
| JP2003068543A (en) * | 2001-08-22 | 2003-03-07 | Yazaki Corp | Electromagnetic induction type connector |
| CN101273499A (en) * | 2005-09-26 | 2008-09-24 | 苹果公司 | Electromagnetic connector for electronic device |
| CN101557058A (en) * | 2009-05-18 | 2009-10-14 | 上海大学 | Connector of automatic charging device used for robot |
-
2010
- 2010-04-21 CN CN 201010152387 patent/CN101817183A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2566195A1 (en) * | 1984-06-13 | 1985-12-20 | Jonathan Jean Pierre | Connector having contact attraction using electromagnetic force |
| US5010228A (en) * | 1987-12-28 | 1991-04-23 | Obara Corporation | Tool changer for welding robot |
| US6030229A (en) * | 1997-03-11 | 2000-02-29 | Sumitomo Electric Industries, Ltd | Electromagnetic detachable connector |
| JP2003068543A (en) * | 2001-08-22 | 2003-03-07 | Yazaki Corp | Electromagnetic induction type connector |
| CN101273499A (en) * | 2005-09-26 | 2008-09-24 | 苹果公司 | Electromagnetic connector for electronic device |
| CN101557058A (en) * | 2009-05-18 | 2009-10-14 | 上海大学 | Connector of automatic charging device used for robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103789937A (en) * | 2014-03-04 | 2014-05-14 | 新杰克缝纫机股份有限公司 | Electromagnetic type rapid separation and attraction connector of clothes template |
| CN105523157A (en) * | 2015-12-25 | 2016-04-27 | 河北工业大学 | Throwing and loading module for underwater robot |
| CN105523157B (en) * | 2015-12-25 | 2018-02-23 | 河北工业大学 | A kind of underwater robot, which is thrown, carries module |
| CN106934978A (en) * | 2015-12-31 | 2017-07-07 | 上海防灾救灾研究所 | A kind of apparatus and method for extending alarm in scene of fire work limitation |
| CN112377116A (en) * | 2020-09-17 | 2021-02-19 | 广州市市政工程试验检测有限公司 | Joint structure |
| CN115723153A (en) * | 2022-11-23 | 2023-03-03 | 北京梦天门科技股份有限公司 | Public health law enforcement supervise intelligent robot |
| CN115723153B (en) * | 2022-11-23 | 2023-11-10 | 北京梦天门科技股份有限公司 | Public health law enforcement supervision intelligent robot |
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Open date: 20100901 |