CN103170985B - Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot - Google Patents
Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot Download PDFInfo
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- CN103170985B CN103170985B CN201310062454.7A CN201310062454A CN103170985B CN 103170985 B CN103170985 B CN 103170985B CN 201310062454 A CN201310062454 A CN 201310062454A CN 103170985 B CN103170985 B CN 103170985B
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Abstract
The invention discloses a three-degree of freedom joint driven by electromagnetic force applied to a snake-shaped robot. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot comprises electromagnet sets, permanent magnet sets, a touch sense detection ring, a pushing force spring, a spring supporting seat, a touch switch installing plate and a support. The pushing force spring is arranged inside the spring supporting seat. The electromagnet sets and the spring supporting seat are installed on the touch switch installing plate. The touch sense detection ring is arranged outside the touch switch installing plate. The permanent magnet sets are arranged on the support. The three degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot applies to single joints of the snake-shaped robot, the electromagnet sets can attract or repel the oppositely arranged permanent magnet sets when respectively loading pulse large current, and deflection motion of the joints can be achieved. When the electromagnet sets simultaneously load homodromous pulse current, extension or contraction of the joints can be achieved. The three-degree of freedom joint driven by the electromagnetic force applied to the snake-shaped robot can connect the joints in series to form the snake-shaped robot capable of imitating snakes to move in a winding, telescopic and side-directional mode, and has the advantages that structure is compact, movement is flexible, mechanical wear is small, and electric spark is not generated.
Description
Technical field
The present invention relates to a kind of articulation mechanism, more particularly, refer to a kind of adopt Electromagnetic Drive, can implementation space three-degree-of-freedom motion, be applicable to make the articulation mechanism of snake-shaped robot.
Background technology
Snake-shaped robot be a kind of can mimic biology snake motion Novel bionic robot.Because it can realize " without limb motion " as biology, be thus called " robot being imbued with presence most " by international robot industry.Snake class biology is this is great supplementary to of robot motion's form without limb motion, at the search-and-rescue work of the disasters such as earthquake, mine disaster, flood, and has huge application potential in the investigation of field; Meanwhile, due to the compliant motion mode of its uniqueness, in the maintenance of industrial automation, medicine equipment and space station, also seem very important.In recent years, snake-shaped robot obtains the government of multiple countries and the great attention of researcher that comprise Japan and the U.S., and has carried out preliminary application.Tokyo University of Science and Technology developed Article 1 snake-shaped robot in the world in 1972, and its speed can reach 40 cels.The snake-shaped robot research of the U.S. then represents the advanced level of the world today.In October, 2000, NASA illustrates a kind of snake-shaped robot of exploring for the outer space at the sub-equipment preparation center of markon's welfare, it can be as though walking upon flat ground when some complicated landform walkings, and motion is very flexible, and has the several functions such as detection, detective.
General snake-shaped robot includes mechanical structure portion and control section, and mechanical structure portion can be divided into snakehead, snake body and ophiruid, and the joint number of snake body can set according to environment for use.Control section can be divided into host computer, Signal reception handling part grades.Volume the 3rd phase February the 30th in 2011 discloses " design of snake-shaped robot motion " one literary composition in " enterprise's technology development " periodical, and author Yang Wen Jing devises new for switching mechanism and climbing device.
The articulation mechanism of current snake-shaped robot often adopts multiple motor to add, and complicated gear, worm gear, worm screw, leading screw or serial parallel mechanism realize multifreedom motion, this many design of electrical motor mode makes articulation structure complexity, inefficiency, and cause snake-shaped robot system acting underaction, easy to wear between frame for movement, the defects such as service life is short.
Electromagnet (electromagnet), is made up of magnetic core and coil, can produce the device in magnetic field when there being electric current to flow through in coil.
Permanent magnet (Permanent Magnet), can keep the magnet of its magnetic for a long time.As natural magnetite (magnetic iron ore) and artificial magnet steel (iron nickel cobalt magnet steel) etc.Permanent magnet is also hard magnetic body, not easily loss of excitation, is also not easily magnetized.
Summary of the invention
In order to solve traditional snake-shaped robot joint mechanism complicated, adopt motor too much, the problem such as action underaction, life-span easy to wear be low, the driving principle that the present invention adopts electromagnet to coordinate with permanent magnet, design a kind of be applicable to snake-shaped robot and adopt electromagnetism power-actuated compact Three Degree Of Freedom joint.This closing energy-saving realizes the motion of multiple free degree and under the condition of magnetic polarity direction change, realizes elongation, the contractile motion in joint between joint and joint.The head and the tail in multiple joint connect and compose a snake-shaped robot, on each joint action of guarantee snake-shaped robot flexibly basis, simplify the frame for movement of snake-shaped robot entirety, overturning and climbing controls simply, the wearing and tearing that gearless connecting rod brings, reduce production cost, improve service life.
The power-actuated snake-shaped robot joint of a kind of electromagnetism of the present invention, this joint includes groups of electromagnets (1), set of permanent magnets (2), sense of touch detection ring (3), thrust spring (4), spring supporting seat (5), touch switch installing plate (6) and support (7);
Groups of electromagnets (1) includes the identical coil of four structures coil rack identical with four structures;
The coil that described four structures are identical refers to coil groups one, coil groups two, coil groups three and coil groups four;
Coil groups one adopts copper cash winding at upper formation first coil (11A) of First Line loop pillar (113) and the second coil (11B); Copper cash between first coil (11A) and the second coil (11B) is continuous print;
Coil groups two adopts copper cash winding in the second coil column (123), form tertiary coil (12A) and the 4th coil (12B); Copper cash between tertiary coil (12A) and the 4th coil (12B) is continuous print;
Coil groups three adopts copper cash winding at the upper formation the 5th coil (13A) of tertiary coil post (133) and the 6th coil (13B); Copper cash between 5th coil (13A) and the 6th coil (13B) is continuous print;
Coil groups four adopts copper cash winding at the upper formation the 7th coil (14A) of the 4th coil column (143) and the 8th coil (14B); Copper cash between 7th coil (14A) and the 8th coil (14B) is continuous print.
The coil rack that described four structures are identical refers to First Line ring framework (11), the second coil rack (12), tertiary coil skeleton (13) and the 4th coil rack (14);
First Line ring framework (11) includes the first surface thereof disk (111), first and to have a down dip disk (112) and First Line loop pillar (113), the center of described first surface thereof disk (111) is provided with A centre bore (111B), and the upper end of described first surface thereof disk (111) is updip swash plate face (111A), downward-sloping 5 degree of this updip swash plate face (111A), described first center having a down dip disk (112) is provided with B centre bore (112B), and the described first lower end having a down dip disk (112) is the swash plate face (112A) that has a down dip, and this swash plate face (112A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (113A) of First Line loop pillar (113) is through after the first through hole (61) on touch switch installing plate (6), and form the first coil (11A) and the second coil (11B) at the upper copper cash that is wound around of First Line loop pillar (113), first coil (11A) is continuous print with the copper cash of the second coil (11B), the upper joint pin (113A) of First Line loop pillar (113) is bonded in the A centre bore (111B) of the first surface thereof disk (111), the lower joint pin (113B) of First Line loop pillar (113) is bonded in first and has a down dip in the B centre bore (112B) of disk (112).
Second coil rack (12) includes the second surface thereof disk (121), second and to have a down dip disk (122) and the second coil column (123), the center of described second surface thereof disk (121) is provided with C centre bore (121B), and the upper end of described second surface thereof disk (121) is updip swash plate face (121A), downward-sloping 5 degree of this updip swash plate face (121A), described second center having a down dip disk (122) is provided with D centre bore (122B), and the described second lower end having a down dip disk (122) is the swash plate face (122A) that has a down dip, and this swash plate face (122A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (123A) of the second coil column (123) is through after the second through hole (62) on touch switch installing plate (6), and form tertiary coil (12A) and the 4th coil (12B) at the upper copper cash that is wound around of the second coil column (123), tertiary coil (12A) is continuous print with the copper cash of the 4th coil (12B), the upper joint pin (123A) of the second coil column (123) is bonded in the C centre bore (121B) of the second surface thereof disk (121), the lower joint pin (123B) of the second coil column (123) is bonded in second and has a down dip in the D centre bore (122B) of disk (122).
Tertiary coil skeleton (13) includes the 3rd surface thereof disk (131), the 3rd and to have a down dip disk (132) and tertiary coil post (133), the center of described 3rd surface thereof disk (131) is provided with E centre bore (131B), and the upper end of described 3rd surface thereof disk (131) is updip swash plate face (131A), downward-sloping 5 degree of this updip swash plate face (131A), described 3rd center having a down dip disk (132) is provided with F centre bore (132B), and the described 3rd lower end having a down dip disk (132) is the swash plate face (132A) that has a down dip, and this swash plate face (132A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (133A) of tertiary coil post (133) is through after the third through-hole (63) on touch switch installing plate (6), and form the 5th coil (13A) and the 6th coil (13B) at the upper copper cash that is wound around of tertiary coil post (133), 5th coil (13A) is continuous print with the copper cash of the 6th coil (13B), the upper joint pin (133A) of the 5th coil column (133) is bonded in the E centre bore (131B) of the 3rd surface thereof disk (131), the lower joint pin (133B) of tertiary coil post (133) is bonded in the 3rd and has a down dip in the F centre bore (132B) of disk (132).
4th coil rack (14) includes the 4th surface thereof disk (141), the 4th and to have a down dip disk (142) and the 4th coil column (143), the center of described 4th surface thereof disk (141) is provided with G centre bore (141B), and the upper end of described 4th surface thereof disk (141) is updip swash plate face (141A), downward-sloping 5 degree of this updip swash plate face (141A), described 4th center having a down dip disk (142) is provided with H centre bore (142B), and the described 4th lower end having a down dip disk (142) is the swash plate face (142A) that has a down dip, and this swash plate face (142A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (143A) of the 4th coil column (143) is through after the fourth hole (64) on touch switch installing plate (6), and form the 4th coil (14A) and the second coil (14B) at the upper copper cash that is wound around of the 4th coil column (143), 4th coil (14A) is continuous print with the copper cash of the second coil (14B), the upper joint pin (143A) of the 4th coil column (143) is bonded in the G centre bore (141B) of the 4th surface thereof disk (141), the lower joint pin (143B) of the 4th coil column (143) is bonded in the 4th and has a down dip in the H centre bore (142B) of disk (142).
Set of permanent magnets (2) includes the identical permanent magnet of four structures, i.e. the first permanent magnet (21), the second permanent magnet (22), the 3rd permanent magnet (23) and the 4th permanent magnet (24);
First permanent magnet (21) is provided with the first groove (211), and the upper end of the first permanent magnet (21) is the first updip swash plate face (212), and the lower end of the first permanent magnet (21) is first to have a down dip swash plate face (213); Downward-sloping 5 degree of first updip swash plate face (212); First be inclined upwardly 5 degree having a down dip swash plate face (213);
Second permanent magnet (22) is provided with the second groove (221), and the upper end of the second permanent magnet (22) is the second updip swash plate face (222), and the lower end of the second permanent magnet (22) is second to have a down dip swash plate face (223); Downward-sloping 5 degree of second updip swash plate face (222); Second be inclined upwardly 5 degree having a down dip swash plate face (223);
3rd permanent magnet (23) is provided with the 3rd groove (231), and the upper end of the 3rd permanent magnet (23) is the 3rd updip swash plate face (232), and the lower end of the 3rd permanent magnet (23) is the 3rd to have a down dip swash plate face (233); Downward-sloping 5 degree of 3rd updip swash plate face (232); 3rd be inclined upwardly 5 degree having a down dip swash plate face (233);
4th permanent magnet (24) is provided with the 4th groove (241), and the upper end of the 4th permanent magnet (24) is the 4th updip swash plate face (242), and the lower end of the 4th permanent magnet (24) is the 4th to have a down dip swash plate face (243); Downward-sloping 5 degree of 4th updip swash plate face (242); 4th be inclined upwardly 5 degree having a down dip swash plate face (243).
The inner plate surface of sense of touch detection ring (3) is provided with inner groovy (31), and this inner groovy (31) moves in groove for the contact (6A1) of touch switch (6A);
One end of thrust spring (4) is called that the head end (41) of spring, the other end of thrust spring (4) are called the tail end (42) of spring; The cross section of thrust spring (4) is rectangle (43); The spring tail end (42) of the thrust spring (4) in a joint is bonded on the boss upper surface (77) of the inner convex platform (76) of the ladder hole (75) of support (7); The spring head end of the thrust spring in another joint is bonded on the boss lower surface (78) of the inner convex platform (76) of the ladder hole (75) of support (7).
The center of spring supporting seat (5) is fifth hole (51), and this fifth hole (51) passes for thrust spring (4); Spring supporting seat (5) is provided with the first hollow cylinder (52), the second hollow cylinder (53) and installed surface (54), described installed surface (54) is bonded on the lower face of touch switch installing plate (6), and described first hollow cylinder (52) is through the central through hole (65) of touch switch installing plate (6);
The center of touch switch installing plate (6) is provided with central through hole (65), and this central through hole (65) is for mounting spring supporting seat (5); The plate face of touch switch installing plate (6) is evenly provided with the first through hole (61), the second through hole (62), third through-hole (63) and fourth hole (64);
First through hole (61) passes for the cylinder (111A) on the first surface thereof disk (111) of First Line ring framework (11);
Second through hole (62) passes for the cylinder (121A) on the second surface thereof disk (121) of the second coil rack (12);
Third through-hole (63) passes for the cylinder (131A) on the 3rd surface thereof disk (131) of tertiary coil skeleton (13);
Fourth hole (64) passes for the cylinder (141A) on the 4th surface thereof disk (141) of the 4th coil rack (14);
The round edge of touch switch installing plate (6) is evenly provided with multiple touch switch (6A), the contact (6A1) of touch switch (6A) is placed in the inner groovy (31) of sense of touch detection ring (3);
The disc (7A) of support (7) is provided with the 6th through hole (71), the 7th through hole (72), the 8th through hole (73), the 9th through hole (74); In 6th through hole (71), the first permanent magnet (21) is installed; In 7th through hole (72), the second permanent magnet (22) is installed; 3rd permanent magnet (23) is installed in the 8th through hole (73); 4th permanent magnet (24) is installed in the 9th through hole (74); The center of the disc (7A) of support (7) is provided with ladder hole (75), is provided with inner convex platform (76) in ladder hole (75); The upper surface (77) of described inner convex platform (76) is bonding with the tail end of a thrust spring, and the lower surface (78) of described inner convex platform (76) is bonding with the head end of another thrust spring.
The advantage in Electromagnetic Drive snake-shaped robot joint of the present invention is:
1. the present invention adopts 4 groups of electromagnet and permanent magnet as driving element, snake-shaped robot joint mechanism greatly to be simplified, and can three-degree-of-freedom motion be realized, adopt the present invention can not only realize advancing tortuously as the snake-shaped robot in joint, retreat, sidesway, rolling, climbing, multiple action such as obstacle detouring, the advance of lumbricoid wrigglings can also be realized.The features such as the present invention has compact conformation, control convenience, modular reconfigurable, wear-resistant, reliability high cost is low.
2. adopt thrust spring to connect between adjacent segment, make this joint have flexibility, strong shock resistance, not fragile.The snake-shaped robot be in series by this joint is particularly suitable for processing accident, the occasions such as such as scene of fire search and rescue, battle reconnaissance, air-drop detection.
3. due to can not electric spark be produced in the running of brushless Electromagnetic Drive snake-shaped robot joint, be therefore comparatively suitable for coal mine gas leakage accident and search and rescue.Can move about in water after the snake-shaped robot be composed in series by this joint of robot installs waterproof casings additional, be particularly suitable for colliery water leak accident and search and rescue.
Accompanying drawing explanation
Fig. 1 is the external structure in Electromagnetic Drive snake-shaped robot joint of the present invention.
Figure 1A is another visual angle external structure in Electromagnetic Drive snake-shaped robot joint of the present invention.
Figure 1B is the front view in Electromagnetic Drive snake-shaped robot joint of the present invention.
Fig. 1 C is the installation diagram of the spring supporting seat in Electromagnetic Drive snake-shaped robot joint of the present invention, groups of electromagnets and touch switch installing plate.
Fig. 1 D is the exploded view in Electromagnetic Drive snake-shaped robot joint of the present invention.
Fig. 2 is the structure chart of support of the present invention.
Fig. 2 A is the top view of support of the present invention.
Fig. 2 B is the A-A view of Fig. 2 A.
Fig. 3 is the front view of thrust spring of the present invention.
Fig. 3 A is the external structure of thrust spring of the present invention.
Fig. 4 is the cutting schematic diagram of surface thereof disk of the present invention.
Fig. 4 A is that the present invention has a down dip the cutting schematic diagram of disk.
Fig. 4 B is the front view of coil column of the present invention.
Fig. 4 C is the exploded view of First Line ring framework of the present invention.
Fig. 4 D is the exploded view of the present invention second coil rack.
Fig. 4 E is the exploded view of tertiary coil skeleton of the present invention.
Fig. 4 F is the exploded view of the present invention the 4th coil rack.
Fig. 5 is the cutting schematic diagram of permanent magnet of the present invention.
Fig. 5 A is the structure chart of the present invention first permanent magnet.
Fig. 5 B is the structure chart of the present invention second permanent magnet.
Fig. 5 C is the structure chart of the present invention the 3rd permanent magnet.
Fig. 5 D is the structure chart of the present invention the 4th permanent magnet.
Fig. 6 is the structural representation of a composition snake-shaped robot of being together in series in multiple snake-shaped robot joint of the present invention.
Fig. 7 is the installation diagram between the present invention's four electromagnets and four permanent magnets.
Joint motions gait schematic diagram when Fig. 7 A is loading reversing the current side, side loading forward current.
Fig. 7 B is the joint motions gait schematic diagrames of both sides when simultaneously loading reversing the current.
Fig. 7 C is the joint motions gait schematic diagrames of both sides when simultaneously loading forward current.
| 1. groups of electromagnets | The upper disk base material of 1A. | 1B. surface thereof disk | 1C. lower disc base material |
| 1D. has a down dip disk | 1E. coil column | 10A. first electromagnet | 10B. second electromagnet |
| 10C. the 3rd electromagnet | 10D. the 4th electromagnet | 11. First Line ring frameworks | 111. first surface thereof disks |
| 111A. updip swash plate face | 111B.A centre bore | 112. first have a down dip disk | 112A. has a down dip swash plate face |
| 112B.B centre bore | 113. First Line loop pillars | The upper joint pin of 113A. | Joint pin under 113B. |
| 12. second coil racks | 121. second surface thereof disks | 121A. updip swash plate face | 121B.C centre bore |
| 122. second have a down dip disk | 122A. has a down dip swash plate face | 122B.D centre bore | 123. second coil column |
| The upper joint pin of 123A. | Joint pin under 123B. | 13. tertiary coil skeletons | 131. the 3rd surface thereof disks |
| 131A. updip swash plate face | 131B.E centre bore | 132. the 3rd have a down dip disk | 132A. has a down dip swash plate face |
| 132B.F centre bore | 133. tertiary coil posts | The upper joint pin of 133A. | Joint pin under 133B. |
| 14. the 4th coil racks | 141. the 4th surface thereof disks | 141A. updip swash plate face | 141B.G centre bore |
| 142. the 4th have a down dip disk | 142A. has a down dip swash plate face | 142B.H centre bore | 143. the 4th coil column |
| The upper joint pin of 143A. | Joint pin under 143B. | 11A. first coil | 11B. second coil |
| 12A. tertiary coil | 12B. the 4th coil | 13A. the 5th coil | 13B. the 6th coil |
| 14A. the 7th coil | 14B. the 8th coil | 2. set of permanent magnets | 2A. base material |
| 2B. permanent magnet | 21. first permanent magnets | 211. first grooves | 212. first updip swash plate faces |
| 213. first have a down dip swash plate face | 22. second permanent magnets | 221. second grooves | 222. second updip swash plate faces |
| 223. second have a down dip swash plate face | 23. the 3rd permanent magnets | 231. the 3rd grooves | 232. the 3rd updip swash plate faces |
| 233. the 3rd have a down dip swash plate face | 24. the 4th permanent magnets | 241. the 4th grooves | 242. the 4th updip swash plate faces |
| 243. the 4th have a down dip swash plate face | 3. sense of touch detection ring | 31. inner groovies | 4. thrust spring |
| 41. spring head ends | 42. spring tail ends | 5. spring supporting seat | 51. fifth holes |
| 52. first hollow cylinders | 53. second hollow cylinders | 54. installed surfaces | 6. touch switch installing plate |
| 6A. touch switch | 6A1. touch switch contact | 61. first through holes | 62. second through holes |
| 63. third through-holes | 64. fourth holes | 65. central through holes | 7. support |
| 7A. disc | 71. the 6th through holes | 72. the 7th through holes | 73. the 8th through holes |
| 74. the 9th through holes | 75. ladder holes | 76. inner convex platforms | 77. boss upper surfaces |
| 78. boss lower surfaces | ? | ? | ? |
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, a kind of electromagnetism of the present invention power-actuated Three Degree Of Freedom snake-shaped robot joint, this joint includes groups of electromagnets 1, set of permanent magnets 2, sense of touch detection ring 3, thrust spring 4, spring supporting seat 5, touch switch installing plate 6 and support 7.Thrust spring 4 is placed in spring supporting seat 5, and groups of electromagnets 1 and spring supporting seat 5 are arranged on touch switch installing plate 6, and sense of touch detection ring 3 is arranged on the outside of touch switch installing plate 6, and set of permanent magnets 2 is arranged on support 7.The articulation mechanism of the present invention's design is called the first free degree motion around the rolling movement of Y-axis, be two degree-of-freedom motion along the elongation of Y-axis or contractile motion, be called three-degree-of-freedom motion in the motion of X-axis plane, therefore joint of the present invention can be applicable to make snake-shaped robot.
(1) groups of electromagnets 1
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 4, Fig. 4 A, Fig. 7, electromagnet is made up of coil and coil rack, groups of electromagnets 1 is made up of the electromagnet (the first electromagnet 10A, the second electromagnet 10B, the 3rd electromagnet 10C, the 4th electromagnet 10D) that four structures are identical, the coil rack that the coil that namely four structures are identical is identical with four structures.
The coil that described four structures are identical refers to coil groups one, coil groups two, coil groups three and coil groups four;
Coil groups one adopts copper cash winding on First Line loop pillar 113, form the first coil 11A and the second coil 11B; Copper cash between first coil 11A and the second coil 11B is continuous print;
Coil groups two adopts copper cash winding in the second coil column 123, form tertiary coil 12A and the 4th coil 12B; Copper cash between tertiary coil 12A and the 4th coil 12B is continuous print;
Coil groups three adopts copper cash winding on tertiary coil post 133, form the 5th coil 13A and the 6th coil 13B; Copper cash between 5th coil 13A and the 6th coil 13B is continuous print;
Coil groups four adopts copper cash winding to form the 7th coil 14A and the 8th coil 14B in the 4th coil column 143; Copper cash between 7th coil 14A and the 8th coil 14B is continuous print.
The coil rack that described four structures are identical refers to First Line ring framework 11, second coil rack 12, tertiary coil skeleton 13 and the 4th coil rack 14; Coil rack can adopt non-permeable material to make, as phenolic resins.
See the cutting processing of the coil rack shown in Fig. 4, Fig. 4 A, Fig. 4 B, coil rack is made up of surface thereof disk 1B, the disk 1D and coil column 1E that has a down dip;
Shown in Figure 4, described surface thereof disk 1B be columniform one on disk base material 1A(the upper end of disk base material 1A be upper surface 1A1, the lower end of upper disk base material 1A is lower surface 1A2) on, to adopt line cutting technology upper disk base material 1A to be processed into cross section be circular, vertical cross section, face is trapezoidal with a hypotenuse; The upper surface 1A1 of upper disk base material 1A is that 5 degree (i.e. second undercut angles θ=5 °) excise with undercut angles, obtain the updip swash plate face of surface thereof disk 1B, angle between described updip swash plate face and described upper surface 1A1 is also 5 degree, and namely described updip swash plate faces down inclination 5 degree;
Shown in Fig. 4 A, the described disk 1D that has a down dip is upper surface 1C1 in the upper end of a columniform lower disc base material 1C(lower disc base material 1C, the lower end of lower disc base material 1C is lower surface 1C2) on, to adopt line cutting technology lower disc base material 1C to be processed into cross section be circular, vertical cross section, face is trapezoidal with a hypotenuse; The above corner cut of lower surface 1C2 of lower disc base material 1C is 5 degree, and (namely second on corner cut γ=5 °) excises, obtain the swash plate face that has a down dip of lower disc 1B, the described angle had a down dip between swash plate face and described lower surface 1C2 is also 5 degree, and the swash plate that has a down dip is namely towards surface thereof 5 degree;
Shown in Fig. 4 B, described coil column 1E is for being wound around copper cash, and one end joint pin of coil column 1E is placed in the centre bore of surface thereof disk 1B, and the other end joint pin of coil column 1E is placed in and has a down dip in the centre bore of disk 1D.
Shown in Fig. 1 C, Fig. 1 D, Fig. 4 C, First Line ring framework 11 includes the first surface thereof disk 111, first and to have a down dip disk 112 and First Line loop pillar 113; The center of described first surface thereof disk 111 is provided with A centre bore 111B, and the upper end of described first surface thereof disk 111 is updip swash plate face 111A, downward-sloping 5 degree of this updip swash plate face 111A; Described first center having a down dip disk 112 is provided with B centre bore 112B, and the described first lower end having a down dip disk 112 is the swash plate face 112A that has a down dip, and this swash plate face 112A that has a down dip is inclined upwardly 5 degree; The upper joint pin 113A of First Line loop pillar 113 is through after the first through hole 61 on touch switch installing plate 6, and on First Line loop pillar 113, be wound around copper cash form the first coil 11A and the second coil 11B, the copper cash of the first coil 11A and the second coil 11B is continuous print, the upper joint pin 113A of First Line loop pillar 113 is bonded in the A centre bore 111B of the first surface thereof disk 111, and the lower joint pin 113B of First Line loop pillar 113 is bonded in first and has a down dip in the B centre bore 112B of disk 112.First Line ring framework 11 and coil groups one form the first electromagnet 10A.
Shown in Fig. 1 C, Fig. 1 D, Fig. 4 D, the second coil rack 12 includes the second surface thereof disk 121, second lower disc 122 and the second coil column 123; The center of described second surface thereof disk 121 is provided with C centre bore 121B, and the upper end of described second surface thereof disk 121 is updip swash plate face 121A, downward-sloping 5 degree of this updip swash plate face 121A; Described second center having a down dip disk 122 is provided with D centre bore 122B, and the described second lower end having a down dip disk 122 is the swash plate face 122A that has a down dip, and this swash plate face 122A that has a down dip is inclined upwardly 5 degree; The upper joint pin 123A of the second coil column 123 is through after the second through hole 62 on touch switch installing plate 6, and in the second coil column 123, be wound around copper cash formation tertiary coil 12A and the 4th coil 12B, the copper cash of tertiary coil 12A and the 4th coil 12B is continuous print, the upper joint pin 123A of the second coil column 123 is bonded in the C centre bore 121B of the second surface thereof disk 121, and the lower joint pin 123B of the second coil column 123 is bonded in second and has a down dip in the D centre bore 122B of disk 122.Second coil rack 12 forms the second electromagnet 10B with coil groups two.
Shown in Fig. 1 C, Fig. 1 D, Fig. 4 E, tertiary coil skeleton 13 includes the 3rd surface thereof disk 131, the 3rd and to have a down dip disk 132 and tertiary coil post 133; The center of described 3rd surface thereof disk 131 is provided with E centre bore 131B, and the upper end of described 3rd surface thereof disk 131 is updip swash plate face 131A, downward-sloping 5 degree of this updip swash plate face 131A; Described 3rd center having a down dip disk 132 is provided with F centre bore 132B, and the described 3rd lower end having a down dip disk 132 is the swash plate face 132A that has a down dip, and this swash plate face 132A that has a down dip is inclined upwardly 5 degree; The upper joint pin 133A of tertiary coil post 133 is through after the third through-hole 63 on touch switch installing plate 6, and on tertiary coil post 133, be wound around copper cash formation the 5th coil 13A and the 6th coil 13B, the copper cash of the 5th coil 13A and the 6th coil 13B is continuous print, the upper joint pin 133A of the 5th coil column 133 is bonded in the E centre bore 131B of the 3rd surface thereof disk 131, and the lower joint pin 133B of tertiary coil post 133 is bonded in the 3rd and has a down dip in the F centre bore 132B of disk 132.Tertiary coil skeleton 13 and coil groups three form the 3rd electromagnet 10C.
Shown in Fig. 1 C, Fig. 1 D, Fig. 4 F, the 4th coil rack 14 includes the 4th surface thereof disk 141, the 4th and to have a down dip disk 142 and the 4th coil column 143; The center of described 4th surface thereof disk 141 is provided with G centre bore 141B, and the upper end of described 4th surface thereof disk 141 is updip swash plate face 141A, downward-sloping 5 degree of this updip swash plate face 141A; Described 4th center having a down dip disk 142 is provided with H centre bore 142B, and the described 4th lower end having a down dip disk 142 is the swash plate face 142A that has a down dip, and this swash plate face 142A that has a down dip is inclined upwardly 5 degree; The upper joint pin 143A of the 4th coil column 143 is through after the fourth hole 64 on touch switch installing plate 6, and in the 4th coil column 143, be wound around copper cash formation the 4th coil 14A and the second coil 14B, the copper cash of the 4th coil 14A and the second coil 14B is continuous print, the upper joint pin 143A of the 4th coil column 143 is bonded in the G centre bore 141B of the 4th surface thereof disk 141, and the lower joint pin 143B of the 4th coil column 143 is bonded in the 4th and has a down dip in the H centre bore 142B of disk 142.4th coil rack 14 forms the 4th electromagnet 10D with coil groups four.
(2) set of permanent magnets 2
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 D, Fig. 5, Fig. 5 A, Fig. 5 B, Fig. 5 C, Fig. 5 D, set of permanent magnets 2 includes the identical permanent magnet of four structures, i.e. the first permanent magnet 21, second permanent magnet 22, the 3rd permanent magnet 23 and the 4th permanent magnet 24; Permanent magnet can adopt rare earth material to make, as neodymium iron boron, SmCo etc., to strengthen magnetic field intensity.
The cutting processing of permanent magnet shown in Figure 5, on a columniform base material 2A, to adopt line cutting technology base material 2A to be processed into cross section be circular, vertical cross section, face be trapezoidal permanent magnet 2B(as shown in Figure 1B).The upper surface of base material 2A is that 5 degree (i.e. first undercut angles α=5 °) excise with undercut angles, the updip swash plate face of the permanent magnet 2B obtained, and the angle between described updip swash plate face and described upper surface is also 5 degree, and namely described updip swash plate faces down inclination 5 degree; The above corner cut in lower surface of base material 2A is 5 degree (namely first on corner cut β=5 °) excises, the swash plate face that has a down dip of the permanent magnet 2B obtained, described in the angle that has a down dip between swash plate face and described lower surface be also 5 degree, the swash plate that has a down dip is namely towards surface thereof 5 degree.
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 5 A, to be the lower end of the first updip swash plate face 212, first permanent magnet 21 be in the upper end that the first permanent magnet 21 is provided with the first groove 211, first permanent magnet 21 first to have a down dip swash plate face 213; Downward-sloping 5 degree of first updip swash plate face 212; First be inclined upwardly 5 degree having a down dip swash plate face 213;
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 5 B, to be the lower end of the second updip swash plate face 222, second permanent magnet 22 be in the upper end that the second permanent magnet 22 is provided with the second groove 221, second permanent magnet 22 second to have a down dip swash plate face 223; Downward-sloping 5 degree of second updip swash plate face 222; Second be inclined upwardly 5 degree having a down dip swash plate face 223;
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 5 C, to be the lower end of the 3rd updip swash plate face the 232, three permanent magnet 23 be in the upper end that the 3rd permanent magnet 23 is provided with the 3rd groove the 231, three permanent magnet 23 the 3rd to have a down dip swash plate face 233; Downward-sloping 5 degree of 3rd updip swash plate face 232; 3rd be inclined upwardly 5 degree having a down dip swash plate face 233;
Shown in Figure 1A, Figure 1B, Fig. 1 D, Fig. 5 D, to be the lower end of the 4th updip swash plate face the 242, four permanent magnet 24 be in the upper end that the 4th permanent magnet 24 is provided with the 4th groove the 241, four permanent magnet 24 the 4th to have a down dip swash plate face 243; Downward-sloping 5 degree of 4th updip swash plate face 242; 4th be inclined upwardly 5 degree having a down dip swash plate face 243.
(3) sense of touch detection ring 3
Shown in Figure 1B, Fig. 1 D, the inner plate surface of sense of touch detection ring 3 is provided with inner groovy 31, and this inner groovy 31 moves in groove for the contact 6A1 of touch switch 6A.
In the present invention, sense of touch detection ring 3, by being placed in the contact 6A1 of the touch switch 6A of inner groovy 31, makes sense of touch detection ring 3 can not slide up and down relative to articulation center line.
In the present invention, sense of touch detection ring 3 selects plastic material to process.
(4) thrust spring 4
Shown in Fig. 1, Figure 1B, Fig. 1 C, Fig. 1 D, Fig. 3, Fig. 3 A, thrust spring 4 is the spring of flat structure.One end of thrust spring 4 is called that the head end 41 of spring, the other end of thrust spring 4 are called the tail end 42 of spring.
Shown in Figure 3, the cross section of thrust spring 4 is rectangle 43, and rotates with helical centre.
In the present invention, the spring tail end 42 of the thrust spring 4 in one of them joint is bonded on the boss upper surface 77 of the inner convex platform 76 of the ladder hole 75 of support 7.The spring head end of the thrust spring in another joint is bonded on the boss lower surface 78 of the inner convex platform 76 of the ladder hole 75 of support 7.Adopt the bonding of the inner convex platform of two thrust springs and the ladder hole of a support, achieve the connection in multiple Electromagnetic Drive snake-shaped robot joint, namely achieve multiple Electromagnetic Drive snake-shaped robot joint and form snake-shaped robot (shown in Figure 6).Specifically, the head end of a thrust spring is bonded on the boss upper surface of the inner convex platform of the ladder hole of support, and the tail end of another thrust spring is bonded on the boss lower surface of the inner convex platform of the ladder hole of support.
In the present invention, thrust spring 4 selects Steel material to process, as stainless steel 1Cr18Ni9Ti, 60Si2Mn, 75# steel.
(5) spring supporting seat 5
Shown in Figure 1B, Fig. 1 C, Fig. 1 D, spring supporting seat 5 is stepped hollow cylinder structure.
The center of spring supporting seat 5 is fifth hole 51, and this fifth hole 51 passes for thrust spring 4;
Spring supporting seat 5 is provided with the first hollow cylinder 52, second hollow cylinder 53 and installed surface 54, and described installed surface 54 is bonded on the lower face of touch switch installing plate 6, and described first hollow cylinder 52 is through the central through hole 65 of touch switch installing plate 6.
In the present invention, spring supporting seat 5 selects non-magnetic metal material processing, as aluminium Al1024 model.
(6) touch switch installing plate 6
Shown in Fig. 1, Fig. 1 C, Fig. 1 D, the center of touch switch installing plate 6 is provided with central through hole 65, and this central through hole 65 is for mounting spring supporting seat 5;
The plate face of touch switch installing plate 6 is evenly provided with the first through hole 61, second through hole 62, third through-hole 63 and fourth hole 64;
First through hole 61 passes for the cylinder 111A on the first surface thereof disk 111 of First Line ring framework 11;
Second through hole 62 passes for the cylinder 121A on the second surface thereof disk 121 of the second coil rack 12;
Third through-hole 63 passes for the cylinder 131A on the 3rd surface thereof disk 131 of tertiary coil skeleton 13;
Fourth hole 64 passes for the cylinder 141A on the 4th surface thereof disk 141 of the 4th coil rack 14;
The round edge of touch switch installing plate 6 is evenly provided with multiple touch switch 6A, the contact 6A1 of touch switch 6A is placed in the inner groovy 31 of sense of touch detection ring 3.The DZMC-01E model microswitch that touch switch 6A selects Omron Corp to produce.
In the present invention, touch switch installing plate 6 is also provided with the Signal reception treatment circuit plate (this circuit board can be the control section for realizing joint motions be made up of electronic devices and components such as singlechip chip, DSD processors, is also the motion gait control part of appellation in conventional snake-shaped robot) for carrying out motion control to single joint.The information of collection is exported on Signal reception treatment circuit plate by wire by touch switch 6A.Signal reception treatment circuit plate is for exporting loading level signal to groups of electromagnets 1, and groups of electromagnets 1 changes the polarity of self by the difference of loading level signal, thus forms attracting or state of repelling each other with set of permanent magnets 2, realizes contraction or the elongation in joint.
In the present invention, touch switch installing plate 6 selects plastic material to process, as polyvinyl resin.
(7) support 7
Shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 D, Fig. 2, Fig. 2 A, Fig. 2 B, the disc 7A of support 7 is provided with the 6th through hole 71, the 7th through hole 72, the 8th through hole 73, the 9th through hole 74;
In described 6th through hole 71, first permanent magnet 21 is installed;
In described 7th through hole 72, second permanent magnet 22 is installed;
In described 8th through hole 73, the 3rd permanent magnet 23 is installed;
In described 9th through hole 74, the 4th permanent magnet 24 is installed.
The center of the disc 7A of support 7 is provided with ladder hole 75, is provided with inner convex platform 76 in ladder hole 75; The upper surface 77 of described inner convex platform 76 is bonding with the tail end of a thrust spring, and the lower surface 78 of described inner convex platform 76 is bonding with the head end of another thrust spring.
In the present invention, support 7 selects plastic material to process, as polyvinyl resin.
(8) motion gait
In the present invention, haptic signal is delivered to control circuit board and is processed by 8 touch switch 6A; The series connection of multiple joints, carries out cooperative motion by serial communication between each section; The contact relation of sense of touch detection ring 3 and 8 touch switch 6A perception self and environment is passed through in each joint, obtains joint attitude information by the contact relation detected between groups of electromagnets 1 and set of permanent magnets 2; The snake-shaped robot of more piece joint of the present invention tandem compound adopts distributed AC servo system, for each joint, the comprehensive environmental information of himself perception and the movable information of attitude information and adjacent segment, control signal in conjunction with control circuit board controls 4 magnet switching electricity time, the senses of current, and avoid adopting Single Controller to control operand that snake-shaped robot brings is large, control the shortcoming such as not in time.
Shown in Figure 7, during assembling, upwards, S is extremely downward in the N pole of the first permanent magnet 21, second permanent magnet 22, the 3rd permanent magnet 23 and the 4th permanent magnet 24.Carry out symmetry with articulation center line to divide, the first electromagnet 10A and the second electromagnet 10B forms homonymy first groups of electromagnets; 3rd electromagnet 10C and the 4th electromagnet 10D forms homonymy second groups of electromagnets.First permanent magnet 21 and the second permanent magnet 22 form homonymy first set of permanent magnets; 3rd permanent magnet 23 and the 4th permanent magnet 24 form homonymy second set of permanent magnets.
Electromagnet, after loading current, has different polarity magnetic fields and produces, in the present invention, electromagnet during loading forward current is upwards designated as N pole, is designated as S pole downwards.Otherwise, electromagnet during loading reversing the current is upwards designated as S pole, is designated as N pole downwards.
Shown in Fig. 7 A, when loading forward current to homonymy first groups of electromagnets, upwards, S is extremely downward in the N pole of the first electromagnet 10A and the second electromagnet 10B; Now, homonymy first groups of electromagnets is different due to polarity from homonymy first set of permanent magnets, makes homonymy first groups of electromagnets and homonymy first set of permanent magnets produce gravitation; When loading reversing the current to homonymy second groups of electromagnets, upwards, N is extremely downward in the S pole of the 3rd electromagnet 10C and the 4th electromagnet 10D; Now, homonymy second groups of electromagnets is identical due to polarity with homonymy second set of permanent magnets, makes homonymy second groups of electromagnets and homonymy second set of permanent magnets produce repulsion; In same joint, side of repelling each other, side is attracting, just defines the side-sway motion in joint, just achieves yaw motion for the snake-shaped robot formed after the series connection of multiple joints.
Shown in Fig. 7 B, when loading reversing the current to homonymy first groups of electromagnets and homonymy second groups of electromagnets simultaneously, upwards, N is extremely downward in the S pole of the first electromagnet 10A and the second electromagnet 10B; Upwards, N is extremely downward in the S pole of the 3rd electromagnet 10C and the 4th electromagnet 10D; Now, homonymy first groups of electromagnets is identical due to polarity with homonymy first set of permanent magnets, makes homonymy first groups of electromagnets and homonymy first set of permanent magnets produce repulsion; Homonymy second groups of electromagnets is identical due to polarity with homonymy second set of permanent magnets, makes homonymy second groups of electromagnets and homonymy second set of permanent magnets produce repulsion; In same joint, repel each other in both sides simultaneously, just defines the stretching motion in joint, just achieves stretching motion for the snake-shaped robot formed after the series connection of multiple joints.
Shown in Fig. 7 C, when loading forward current to homonymy first groups of electromagnets and homonymy second groups of electromagnets simultaneously, upwards, S is extremely downward in the N pole of the first electromagnet 10A and the second electromagnet 10B; Upwards, S is extremely downward in the N pole of the 3rd electromagnet 10C and the 4th electromagnet 10D; Now, homonymy first groups of electromagnets is different due to polarity from homonymy first set of permanent magnets, makes homonymy first groups of electromagnets and homonymy first set of permanent magnets produce gravitation; Homonymy second groups of electromagnets is different due to polarity from homonymy second set of permanent magnets, makes homonymy second groups of electromagnets and homonymy second set of permanent magnets produce gravitation; In same joint, both sides are simultaneously attracting, just define the contractile motion in joint, just achieve contractile motion for the snake-shaped robot formed after the series connection of multiple joints.
Can know by carrying out contrast to the motion gait of Fig. 7 A, Fig. 7 B and Fig. 7 C, the side-sway in joint, elongation, contraction are loading the cooperation under different current conditions by four electromagnets from four permanent magnets, the distance between touch switch installing plate 6 and support 7 is impelled to change, and then make thrust spring 4 stretch or compress, joint length is changed.Because thrust spring 4 is connected with touch switch installing plate 6 by spring supporting seat 5, one end of thrust spring 4 is connected in the ladder hole 75 of support 7, therefore, the distance between touch switch installing plate 6 and support 7 changes, and result in stretching or the compression of thrust spring 4.
The joint being applicable to snake-shaped robot of the present invention's design, when groups of electromagnets 1 difference load pulses big current, can attract or repel set of permanent magnets 2 staggered relatively, realize joint and carry out yaw motion.When groups of electromagnets 1 loads pulse current in the same way simultaneously, joint can be realized and extend or shrink.Getting up just forms snake-shaped robot in joint series connection (first monomer 10 as shown in Figure 6 and connecting between second monomer 20) multiple the present invention designed, and can simulate snake class and carry out wriggling movement, stretching motion, lateral movement.Joint of the present invention has the advantages that structure is simple, mechanical wear is little, do not produce electric spark.
The joint being applicable to snake-shaped robot of the present invention's design, be fixed on touch switch installing plate 6 by 4 electromagnets, 4 permanent magnets are fixed on support 7, and electromagnet and permanent magnet keep end face to coordinate.Air gap can be allowed when electromagnet contacts with permanent magnet to become very little, thus provide larger attitude holding torque for joint.Changing polarity of the magnetic field by loading forward and reverse electric current on 4 electromagnets, when joint deflects, can ensure that between electromagnet end face and support 7, contact area is maximum.
Claims (10)
1. the power-actuated snake-shaped robot joint of electromagnetism, is characterized in that: this joint includes groups of electromagnets (1), set of permanent magnets (2), sense of touch detection ring (3), thrust spring (4), spring supporting seat (5), touch switch installing plate (6) and support (7);
Groups of electromagnets (1) includes the identical coil of four structures coil rack identical with four structures;
The coil that described four structures are identical refers to coil groups one, coil groups two, coil groups three and coil groups four;
Coil groups one adopts copper cash winding at upper formation first coil (11A) of First Line loop pillar (113) and the second coil (11B); Copper cash between first coil (11A) and the second coil (11B) is continuous print;
Coil groups two adopts copper cash winding in the second coil column (123), form tertiary coil (12A) and the 4th coil (12B); Copper cash between tertiary coil (12A) and the 4th coil (12B) is continuous print;
Coil groups three adopts copper cash winding at the upper formation the 5th coil (13A) of tertiary coil post (133) and the 6th coil (13B); Copper cash between 5th coil (13A) and the 6th coil (13B) is continuous print;
Coil groups four adopts copper cash winding at the upper formation the 7th coil (14A) of the 4th coil column (143) and the 8th coil (14B); Copper cash between 7th coil (14A) and the 8th coil (14B) is continuous print;
The coil rack that described four structures are identical refers to First Line ring framework (11), the second coil rack (12), tertiary coil skeleton (13) and the 4th coil rack (14);
First Line ring framework (11) includes the first surface thereof disk (111), first and to have a down dip disk (112) and First Line loop pillar (113), the center of described first surface thereof disk (111) is provided with A centre bore (111B), the upper end of described first surface thereof disk (111) is the first updip swash plate face (111A), downward-sloping 5 degree of this first updip swash plate face (111A), described first center having a down dip disk (112) is provided with B centre bore (112B), described first lower end having a down dip disk (112) is first to have a down dip swash plate face (112A), and this first swash plate face (112A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (113A) of First Line loop pillar (113) is through after the first through hole (61) on touch switch installing plate (6), and form the first coil (11A) and the second coil (11B) at the upper copper cash that is wound around of First Line loop pillar (113), first coil (11A) is continuous print with the copper cash of the second coil (11B), the upper joint pin (113A) of First Line loop pillar (113) is bonded in the A centre bore (111B) of the first surface thereof disk (111), the lower joint pin (113B) of First Line loop pillar (113) is bonded in first and has a down dip in the B centre bore (112B) of disk (112),
Second coil rack (12) includes the second surface thereof disk (121), second and to have a down dip disk (122) and the second coil column (123), the center of described second surface thereof disk (121) is provided with C centre bore (121B), the upper end of described second surface thereof disk (121) is the second updip swash plate face (121A), downward-sloping 5 degree of this second updip swash plate face (121A), described second center having a down dip disk (122) is provided with D centre bore (122B), described second lower end having a down dip disk (122) is second to have a down dip swash plate face (122A), and this second swash plate face (122A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (123A) of the second coil column (123) is through after the second through hole (62) on touch switch installing plate (6), and form tertiary coil (12A) and the 4th coil (12B) at the upper copper cash that is wound around of the second coil column (123), tertiary coil (12A) is continuous print with the copper cash of the 4th coil (12B), the upper joint pin (123A) of the second coil column (123) is bonded in the C centre bore (121B) of the second surface thereof disk (121), the lower joint pin (123B) of the second coil column (123) is bonded in second and has a down dip in the D centre bore (122B) of disk (122),
Tertiary coil skeleton (13) includes the 3rd surface thereof disk (131), the 3rd and to have a down dip disk (132) and tertiary coil post (133), the center of described 3rd surface thereof disk (131) is provided with E centre bore (131B), the upper end of described 3rd surface thereof disk (131) is the 3rd updip swash plate face (131A), the 3rd downward-sloping 5 degree of updip swash plate face (131A), described 3rd center having a down dip disk (132) is provided with F centre bore (132B), described 3rd lower end having a down dip disk (132) is the 3rd to have a down dip swash plate face (132A), and the 3rd swash plate face (132A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (133A) of tertiary coil post (133) is through after the third through-hole (63) on touch switch installing plate (6), and form the 5th coil (13A) and the 6th coil (13B) at the upper copper cash that is wound around of tertiary coil post (133), 5th coil (13A) is continuous print with the copper cash of the 6th coil (13B), the upper joint pin (133A) of the 5th coil column (133) is bonded in the E centre bore (131B) of the 3rd surface thereof disk (131), the lower joint pin (133B) of tertiary coil post (133) is bonded in the 3rd and has a down dip in the F centre bore (132B) of disk (132),
4th coil rack (14) includes the 4th surface thereof disk (141), the 4th and to have a down dip disk (142) and the 4th coil column (143), the center of described 4th surface thereof disk (141) is provided with G centre bore (141B), the upper end of described 4th surface thereof disk (141) is the 4th updip swash plate face (141A), the 4th downward-sloping 5 degree of updip swash plate face (141A), described 4th center having a down dip disk (142) is provided with H centre bore (142B), described 4th lower end having a down dip disk (142) is the 4th to have a down dip swash plate face (142A), and the 4th swash plate face (142A) that has a down dip is inclined upwardly 5 degree, the upper joint pin (143A) of the 4th coil column (143) is through after the fourth hole (64) on touch switch installing plate (6), and form the 4th coil (14A) and the second coil (14B) at the upper copper cash that is wound around of the 4th coil column (143), 4th coil (14A) is continuous print with the copper cash of the second coil (14B), the upper joint pin (143A) of the 4th coil column (143) is bonded in the G centre bore (141B) of the 4th surface thereof disk (141), the lower joint pin (143B) of the 4th coil column (143) is bonded in the 4th and has a down dip in the H centre bore (142B) of disk (142),
Set of permanent magnets (2) includes the identical permanent magnet of four structures, i.e. the first permanent magnet (21), the second permanent magnet (22), the 3rd permanent magnet (23) and the 4th permanent magnet (24);
First permanent magnet (21) is provided with the first groove (211), the upper end of the first permanent magnet (21) is the first updip swash plate face (212), and the lower end of the first permanent magnet (21) is first to have a down dip swash plate face (213); Downward-sloping 5 degree of first updip swash plate face (212); First be inclined upwardly 5 degree having a down dip swash plate face (213);
Second permanent magnet (22) is provided with the second groove (221), the upper end of the second permanent magnet (22) is the second updip swash plate face (222), and the lower end of the second permanent magnet (22) is second to have a down dip swash plate face (223); Downward-sloping 5 degree of second updip swash plate face (222); Second be inclined upwardly 5 degree having a down dip swash plate face (223);
3rd permanent magnet (23) is provided with the 3rd groove (231), the upper end of the 3rd permanent magnet (23) is the 3rd updip swash plate face (232), and the lower end of the 3rd permanent magnet (23) is the 3rd to have a down dip swash plate face (233); Downward-sloping 5 degree of 3rd updip swash plate face (232); 3rd be inclined upwardly 5 degree having a down dip swash plate face (233);
4th permanent magnet (24) is provided with the 4th groove (241), the upper end of the 4th permanent magnet (24) is the 4th updip swash plate face (242), and the lower end of the 4th permanent magnet (24) is the 4th to have a down dip swash plate face (243); Downward-sloping 5 degree of 4th updip swash plate face (242); 4th be inclined upwardly 5 degree having a down dip swash plate face (243);
The inner plate surface of sense of touch detection ring (3) is provided with inner groovy (31), and this inner groovy (31) moves in groove for the contact (6A1) of touch switch (6A);
One end of thrust spring (4) is called that the head end (41) of spring, the other end of thrust spring (4) are called the tail end (42) of spring; The cross section of thrust spring (4) is rectangle (43); The spring tail end (42) of the thrust spring (4) in a joint is bonded on the boss upper surface (77) of the inner convex platform (76) of the ladder hole (75) of support (7); The spring head end of the thrust spring in another joint is bonded on the boss lower surface (78) of the inner convex platform (76) of the ladder hole (75) of support (7);
The center of spring supporting seat (5) is fifth hole (51), and this fifth hole (51) passes for thrust spring (4); Spring supporting seat (5) is provided with the first hollow cylinder (52), the second hollow cylinder (53) and installed surface (54), described installed surface (54) is bonded on the lower face of touch switch installing plate (6), and described first hollow cylinder (52) is through the central through hole (65) of touch switch installing plate (6);
The center of touch switch installing plate (6) is provided with central through hole (65), and this central through hole (65) is for mounting spring supporting seat (5); The plate face of touch switch installing plate (6) is evenly provided with the first through hole (61), the second through hole (62), third through-hole (63) and fourth hole (64);
First through hole (61) passes for the First Line loop pillar (113) on the first surface thereof disk (111) of First Line ring framework (11);
Second through hole (62) passes for the second coil column (123) on the second surface thereof disk (121) of the second coil rack (12);
Third through-hole (63) passes for the tertiary coil post (133) on the 3rd surface thereof disk (131) of tertiary coil skeleton (13);
Fourth hole (64) passes for the 4th coil column (143) on the 4th surface thereof disk (141) of the 4th coil rack (14);
The round edge of touch switch installing plate (6) is evenly provided with multiple touch switch (6A), the contact (6A1) of touch switch (6A) is placed in the inner groovy (31) of sense of touch detection ring (3);
The disc (7A) of support (7) is provided with the 6th through hole (71), the 7th through hole (72), the 8th through hole (73), the 9th through hole (74); In 6th through hole (71), the first permanent magnet (21) is installed; In 7th through hole (72), the second permanent magnet (22) is installed; 3rd permanent magnet (23) is installed in the 8th through hole (73); 4th permanent magnet (24) is installed in the 9th through hole (74); The center of the disc (7A) of support (7) is provided with ladder hole (75), is provided with inner convex platform (76) in ladder hole (75); The upper surface (77) of described inner convex platform (76) is bonding with the tail end of a thrust spring, and the lower surface (78) of described inner convex platform (76) is bonding with the head end of another thrust spring.
2. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: coil rack is made up of surface thereof disk (1B), the disk that has a down dip (1D) and coil column (1E); Described surface thereof disk (1B) be columniform one on disk base material (1A), upper disk base material (1A) to be processed into cross section be circular, vertical cross section, face is trapezoidal with a hypotenuse; The upper surface (1A1) of upper disk base material (1A) is excised with undercut angles θ=5 °, obtains the updip swash plate face of surface thereof disk (1B); The described disk that has a down dip (1D) is on a columniform lower disc base material (1C), and lower disc base material (1C) to be processed into cross section be circular, vertical cross section, face is trapezoidal with a hypotenuse; Lower surface (1C2) above corner cut γ=5 ° of lower disc base material (1C) are excised, and obtain the swash plate face that has a down dip of lower disc (1B); Described coil column (1E) is for being wound around copper cash, one end joint pin of coil column (1E) is placed in the centre bore of surface thereof disk (1B), and the other end joint pin of coil column (1E) is placed in the centre bore of the disk that has a down dip (1D).
3. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, it is characterized in that: permanent magnet is on a columniform base material (2A), base material (2A) to be processed into cross section be circular, vertical cross section, face is trapezoidal permanent magnet (2B); The upper surface of base material (2A) is excised with undercut angles α=5 °, the updip swash plate face of the permanent magnet (2B) obtained; Above corner cut β=5 °, lower surface of base material (2A) are excised, the swash plate face that has a down dip of the permanent magnet (2B) obtained.
4. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: sense of touch detection ring (3) selects plastic material to process.
5. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: thrust spring (4) selects Steel material to process.
6. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: spring supporting seat (5) selects metal material processing.
7. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: touch switch installing plate (6) selects plastic material to process.
8. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: support (7) selects plastic material to process.
9. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, it is characterized in that: when groups of electromagnets (1) difference load pulses big current, can attract or repel set of permanent magnets (2) staggered relatively, achieve the yaw motion in joint.
10. the power-actuated snake-shaped robot joint of electromagnetism according to claim 1, is characterized in that: when groups of electromagnets (1) loads pulse current in the same way simultaneously, achieves joint and extends or shrink.
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