CN105666522B - The translation joint of electromagnetic type stiffness variable - Google Patents
The translation joint of electromagnetic type stiffness variable Download PDFInfo
- Publication number
- CN105666522B CN105666522B CN201610236379.5A CN201610236379A CN105666522B CN 105666522 B CN105666522 B CN 105666522B CN 201610236379 A CN201610236379 A CN 201610236379A CN 105666522 B CN105666522 B CN 105666522B
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- China
- Prior art keywords
- coil
- permanent magnet
- joint
- output shaft
- electromagnetic type
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
A kind of translation joint of the electromagnetic type stiffness variable of robot field, including：Coil mechanism, permanent magnet in the inner and the output shaft with resetting-mechanism for the permanent magnet both sides that are placed in are set；The permanent magnet is loop configuration, and its outer radii is slightly less than the inner radii of loop coil, and is placed in Coil Coaxial in coil inner ring, so as to which two-way skew occurs vertically.Joint only needs the electrical current of control coil when carrying out variation rigidity, and then changes the interaction force between coil and annular permanent magnet, realizes that joint exports the change of rigidity.The features such as present invention has simple mechanical structure, light quality, compact dimensions, implementation cost is low, stiffness tuning is sensitive, hesitation is small.
Description
Technical field
The present invention relates to a kind of technology of robot field, the translation of specifically a kind of electromagnetic type stiffness variable is closed
Section.
Background technology
With continuing to develop for scientific and technological level, application of the robot technology in daily life and industrial production is increasingly
Extensively.To ensure precise motion positioning and the track following of robot device, traditional robot is typically designed to rigid machine people.
However, being that buffer robot collides with people or barrier as the interpersonal reciprocation of machine is more and more universal
When the impact that produces, the safety of protection people and equipment, the robot technology just progressively development to flexibility in terms of.In this context, if
Count out with compared with strong adaptability, the joint of robot of output rigidity can be changed at any time according to working condition, it has also become machine in recent years
One study hotspot of device people's design field.
On the whole, current variation rigidity joint designs are mainly Purely mechanical, when carrying out variation rigidity, it usually needs
Extra regulation motor changes some mechanical structure in joint；Generally by the pre- of spring (spring leaf) built in change joint
Load, effective length or other structures parameter export the regulation of rigidity to realize to joint.Therefore, these joints inside often
Need to design complex accurate transmission mechanism, so that the volume and quality in joint are added, while also improving joint
Implementation cost；In addition, complicated mechanical structure, which also can result in joint, has more serious sluggish effect when carrying out stiffness tuning
Should, it is unfavorable for the practical application in variation rigidity joint.
The content of the invention
The present invention proposes that a kind of electromagnetic type can for some shortcomings present in existing Purely mechanical variation rigidity joint designs
The translation joint of variation rigidity, with mechanical structure is simple, light quality, compact dimensions, hesitation is small, stiffness variation is sensitive etc.
Feature.
The present invention is achieved by the following technical solutions：
The present invention includes：Coil mechanism, the permanent magnet positioned at coil inside and carrying for the permanent magnet both sides that are placed in are answered
Two output shafts of position mechanism.
Described coil mechanism includes：Coil rack and the loop coil being fixed on coil rack.
Described coil rack is preferably made up of fire-retardant nylon plastics.
Described permanent magnet is loop configuration, and its outer radii is slightly less than the inner radii of coil rack, so as to
With Coil Coaxial and being placed in coil inner ring, and two-way skew can occur vertically.
The half-shell of two mutually symmetrical structures is cased with outside described translation joint, the half-shell is bolted, is formed
Complete articular shell.
Described shell front and back ends are preferably provided with linear bearing, and described output shaft is each passed through linear bearing, and and ring
Shape permanent magnet is connected.
Described resetting-mechanism is preferably but not limited to realize by spring, and the spring one end is fixedly connected with output shaft, separately
One end is fixedly connected with half-shell inwall.
Described output shaft, half-shell and linear bearing is preferably all aluminium alloy and is made.
Technique effect
Compared with prior art, the present invention does not need additive regulating motor；But by galvanomagnetic-effect, control the defeated of joint
Enter the change that electric current carries out joint stiffness, so as to preferably ensure that the sensitivity of stiffness tuning.
The technology of the present invention effect further comprises：
1) it is different from common variation rigidity cradle head, the present invention is translation joint, and with two output ends, is often held equal
It can axially be produced along joint and draw, press and move；
2) present invention is when carrying out variation rigidity, it is not necessary to which extra regulation motor changes the mechanical structure in joint, but
By changing the input current in joint, the interaction force between regulation hot-wire coil and permanent magnet realizes the change of output rigidity.
Brief description of the drawings
Fig. 1 is that the present invention goes internal dimensional structure diagram after half-shell；
Sectional views of the Fig. 2 for the present invention along shell interface；
Fig. 3 is three-dimensional appearance schematic diagram of the present invention；
Fig. 4 is structure principle chart of the present invention；
Fig. 5 is the Magnetic Induction Density Distribution figure of each point on axis inside loop coil；
Fig. 6 is the graph of a relation between permanent magnet axial dipole field and outer active force.
In figure：1- front output shafts, 2- balancing springs, 3- annular permanent magnets, 4- half-shells, 5- rear output shafts, 6- linear bearings,
7- coil racks, 8- loop coils.
Embodiment
As illustrated in fig. 1 and 2, the present embodiment includes：Front output shaft 1, balancing spring 2, half-shell 4, rear output shaft 5, linear axis
6, annular permanent magnet 3, coil rack 7 and loop coil 8 are held, wherein：Annular permanent magnet is coaxial with loop coil, is installed on coil
In inner ring, and two-way sliding can occur vertically.
Two described valve half-shells 4 are bolted, and form complete articular shell, so that by whole electromagnetism variation rigidity portion
Subpackage is wrapped in wherein：Shell two ends are separately installed with linear bearing 6.
Described front output shaft 1 and be threadedly connected to one of the rear output shaft 5 by end, form complete output shaft.
The shaft shoulder of the both ends of the surface of annular permanent magnet 3 respectively with two output shafts aligns, so as to be fixed on output shaft middle.Output shaft passes through
Linear bearing 6 is installed together with articular shell, and can produce bilateral skew vertically.
Described balancing spring 2 is respectively sleeved on forward and backward output shaft, and spring one end is fixed on the end of correspondence output shaft
End, the other end is fixed on half-shell inwall；It, which is acted on, is avoided after the power-off of joint, and permanent magnet deviates it under gravity or external force effect
Equilbrium position, in complete free movement state；Increase the output rigidity in the joint to a certain extent simultaneously.
When coil is passed through electric current, electromagnetic field can be formed in its inner ring.Magnetic of the hot-wire coil in its magnetic field being internally formed
Line of induction direction should be consistent with the magnetic direction that permanent magnet is produced.Now, two pole-faces of permanent magnet can be respectively by FNAnd FSTwo
The effect of individual magnetic field force, and FNAnd FSIt is in opposite direction, as shown in Figure 4.
With reference to the correlation theory of electromagnetism, by theory deduction, each point magnetic strength on coil inside axis can be energized
The theoretical formula for answering intensity distribution is：
Wherein：B
(x) magnetic induction intensity value on coil axis at off-center x is represented；N is the number of turn of coil；R1And R2Toroid is represented respectively
The inside radius and outer radius values of circle；L is the half of coil overall length；μ0For space permeability, μ0=4 π × 10-7；I is to be passed through coil
In current value.Obviously, as electric current increases, the magnetic field intensity in coil inner ring increases therewith.
According to each point magnetic induction intensity theoretical distribution formula on described hot-wire coil axis, it can draw each on coil axis
The Magnetic Induction Density Distribution curve of point, as shown in Figure 5.As can be seen that inside hot-wire coil in the axial direction on magnetic field, online
Enclose centre position intensity most strong, and progressively successively decrease to both sides.Therefore, in the case where being acted on without external force, after loop coil is powered, forever
Magnet will be still in the middle position of coil, now FNWith FSIt is equal in magnitude, in the opposite direction.When permanent magnet is by external force effect edge
Axially produce skew, its F bornNWith FSThe magnetic field force formed points to the direction of coil center all the time with joint efforts.Therefore, when
External force is discharged, and the position of coil middle, i.e. equilbrium position are automatically reverted under the force action of permanent magnet meeting magnetic field force.
Assuming that the magnetic strength of coil Magnetic Induction Density Distribution of each point on the section of axis point corresponding with axis
Answer intensity distribution consistent.According to the viewpoint of magnetic charge, equivalent contrary sign magnetic charge is distributed with depending on two pole-faces of permanent magnet.It can calculate forever
The magnetic field force size that each pole-face of magnet is born in theory is：F (x)=∫SH (x) dq, wherein：H ∝ B, H (x) represent inclined
Magnetic field intensity in the middle of offline circle at x, dq represents first magnetic charge, and S is the area of permanent magnet pole-face.
According to described permanent magnet pole-face in the magnetic field force theoretical calculation formula born under coil magnetic field, ring can be drawn
The theory relation schematic diagram that shape permanent magnet is made a concerted effort between its axial dipole field in the magnetic field force suffered by coil inside, as shown in Figure 6.
It can be seen that, as permanent magnet is bigger relative to the skew of equilbrium position in coil inside, its magnetic field force born is made a concerted effort
It is bigger.Further, change the electrical current of coil, thus it is possible to vary the magnetic induction intensity of coil inside, and then adjust permanent magnet
The magnetic field force born when shifting is made a concerted effort, so as to change the output rigidity in the translation joint.
Above-mentioned specific implementation can by those skilled in the art on the premise of without departing substantially from the principle of the invention and objective with difference
Mode local directed complete set is carried out to it, protection scope of the present invention is defined by claims and not by above-mentioned specific implementation institute
Limit, each implementation in the range of it is by the constraint of the present invention.
Claims (6)
1. a kind of translation joint of electromagnetic type stiffness variable, it is characterised in that including：Coil mechanism, on its interior one
Permanent magnet and the output shaft with resetting-mechanism for the permanent magnet both sides that are placed in；
Described coil mechanism includes：Coil rack and a loop coil being fixed on coil rack；
Described permanent magnet is loop configuration, and the annular permanent magnet outer radii is slightly less than the inner radii of loop coil, and with
Coil Coaxial is placed in coil inner ring；
When coil is passed through electric current, electromagnetic field, magnetic induction of the hot-wire coil in its magnetic field being internally formed can be formed in its inner ring
Line direction should be consistent with the magnetic direction that permanent magnet is produced；Now, two pole-faces of permanent magnet can be respectively by opposite direction
Magnetic field force is acted on, and in the case where being acted on without external force, permanent magnet will be still in the middle position of coil；When permanent magnet is by external force effect edge
Skew is axially produced, its magnetic field force born points to the direction of coil center all the time with joint efforts, and when external force release, permanent magnet is in magnetic
The position of coil middle, i.e. equilbrium position are automatically reverted under field force force action；
By the electrical current for changing coil, thus it is possible to vary the magnetic induction intensity of coil inside, and then it is inclined to adjust permanent magnet generation
The magnetic field force born during shifting is made a concerted effort, so as to change the output rigidity in the translation joint.
2. the translation joint of electromagnetic type stiffness variable according to claim 1, it is characterized in that, outside described translation joint
Half-shell provided with two mutually symmetrical structures, the half-shell is bolted, and forms complete articular shell.
3. the translation joint of electromagnetic type stiffness variable according to claim 2, it is characterized in that, described shell front and back ends
Provided with linear bearing, described output shaft passes through linear bearing, and is connected with annular permanent magnet and can to produce bilateral vertically inclined
Move.
4. the translation joint of electromagnetic type stiffness variable according to claim 1, it is characterized in that, described resetting-mechanism passes through
Balancing spring realizes that the spring one end is fixedly connected with output shaft, and the other end is fixedly connected with half-shell inwall.
5. the translation joint of electromagnetic type stiffness variable according to claim 1, it is characterized in that, be placed in permanent magnet both sides
Output shaft is by the one that is threadedly connected to of respective end, the shaft shoulder pair of described permanent magnet both ends of the surface respectively with two output shafts
Together, so as to be fixed on output shaft middle.
6. the translation joint of electromagnetic type stiffness variable according to claim 4, it is characterized in that, described balancing spring difference
It is placed on forward and backward output shaft, and spring one end is fixed on correspondence output the tip of the axis, the other end is fixed on half-shell inwall, works as pass
Cause permanent magnet under gravity or external force effect without departing from its equilbrium position during section power-off and increase the output rigidity in the joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236379.5A CN105666522B (en) | 2016-04-15 | 2016-04-15 | The translation joint of electromagnetic type stiffness variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236379.5A CN105666522B (en) | 2016-04-15 | 2016-04-15 | The translation joint of electromagnetic type stiffness variable |
Publications (2)
| Publication Number | Publication Date |
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| CN105666522A CN105666522A (en) | 2016-06-15 |
| CN105666522B true CN105666522B (en) | 2017-08-15 |
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| CN201610236379.5A Expired - Fee Related CN105666522B (en) | 2016-04-15 | 2016-04-15 | The translation joint of electromagnetic type stiffness variable |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078793B (en) * | 2016-08-11 | 2018-04-17 | 湖南瑞森可机器人科技有限公司 | A kind of rigidity adjustable general module, mechanical arm and method of work |
| CN109968399B (en) * | 2017-12-28 | 2021-05-11 | 中国科学院沈阳自动化研究所 | Single-motor variable-rigidity joint |
| CN108258843B (en) * | 2018-03-22 | 2023-05-19 | 天津大学 | Variable-rigidity linear driver based on electromagnetic repulsion balance |
| CN108827137B (en) * | 2018-07-31 | 2020-09-29 | 安徽理工大学 | Electromagnetic control contact type variable-rigidity micro-nano measuring head |
| CN113294496B (en) * | 2021-07-01 | 2022-05-20 | 上海交通大学 | Magnetic auxiliary transmission cycloidal pin wheel speed reducer |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007034195A1 (en) * | 2005-09-21 | 2007-03-29 | Ricardo Uk Ltd. | Linear actuator |
| CN201229906Y (en) * | 2008-05-08 | 2009-04-29 | 中国电力科学研究院 | Permanent magnet mechanism for enhancing reaction capability of coil magnetic field to dynamic response of iron core |
| JP5248982B2 (en) * | 2008-10-29 | 2013-07-31 | 三菱電機株式会社 | Release-type electromagnet device |
| CN101877523A (en) * | 2009-04-28 | 2010-11-03 | 应德贵 | Shield device for annular permanent magnet |
| CN103296934B (en) * | 2012-02-24 | 2017-09-08 | 张玉宝 | A kind of magnetic suspension motor and rotor magnetic bias weight losing method |
| CN103470481B (en) * | 2013-09-24 | 2015-08-05 | 江苏大学 | A kind of bidirectional electromagnetic diaphragm pump |
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| CN105666522A (en) | 2016-06-15 |
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