CN205734997U - A kind of electromagnetic bracing wire power set - Google Patents
A kind of electromagnetic bracing wire power set Download PDFInfo
- Publication number
- CN205734997U CN205734997U CN201620300360.8U CN201620300360U CN205734997U CN 205734997 U CN205734997 U CN 205734997U CN 201620300360 U CN201620300360 U CN 201620300360U CN 205734997 U CN205734997 U CN 205734997U
- Authority
- CN
- China
- Prior art keywords
- bracing wire
- power set
- swing arm
- permanent magnet
- electromagnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
This utility model relates to a kind of robot power set, especially a kind of electromagnetism bracing wire power set.Electromagnetic bracing wire power set, are to use suction between electric magnet and permanent magnet, scold dual force, tractive and loosen a pair antagonism bracing wire, replace the Antagonistic muscle of robot, make joint motions.Power set are made up of swing arm, axle, electric magnet, wiring point, right part permanent magnet, left part permanent magnet, bracing wire, arc sliding groove, and brake gear is positioned at sliding tray, and control unit is connected with electric magnet and brake gear.This powerplant configuration is simple, and electronics can be used well to manipulate the joint motions of robot.
Description
Technical field
This utility model relates to a kind of robot power set, especially a kind of electromagnetism bracing wire power set.
Background technology
Robot power, i.e. drive system, be usually and use motor driving, hydraulic-driven, air pressure driving etc., be by electricity,
The various source energy such as liquid, gas changes into linear motion or the rotary motion in joint.Actuating device is usually with gear drive, tooth
Wheel rack gear, turbine worm transmission or link transmission etc., its structure is complicated, makes the thick clumsiness of robot limb dumb.Electricity
Magnetic bracing wire power set are the most different from the vacuum bracing wire power set of highly emulated robot (ZL2015 2 0340342.8), Gao Fang
The vacuum bracing wire that true robot uses needs bigger vacuum equipment and multiple cylindrical shell to coordinate with the sealing of housing inner carrier,
Need to control this plunger shaft rate of air sucked in required, the suitable air inflow of offside tube chamber to be controlled, make offside piston gradually loosen short of money
The pulling force of tensile cord just can complete, so the process of control is complicated and loaded down with trivial details, is not easy to use electronic control.Electricity of the present utility model
Magnetic bracing wire power set are with electromagnetic power direct tractive bracing wire, make joint of robot move, and eliminate many transmission links, energy
Amount consumes few, also reduces the weight of robot.
Summary of the invention
Structure is complicated, be difficult to manipulation, inflexible problem provides a kind of simple in construction, operation side in order to solve for this utility model
Just, shrink tractive skeleton closer to human muscle and make the electromagnetism bracing wire power set of joint of robot activity.
The technical scheme that this utility model is used by solving technical problem is as follows:
A kind of electromagnetic bracing wire power set, including power set, control unit and brake gear, power set are
It is made up of swing arm 1, axle 2, electric magnet 3, wiring point 4, right part permanent magnet 5, left part permanent magnet 6, bracing wire 7, arc sliding groove 8,
Swing arm 1 lower end is connected to axle 2, has electric magnet 3 to be fixed on swing arm near the position of axle, electric magnet 3 and control unit phase
Connecting, right part permanent magnet 5 and left part permanent magnet 6 lay respectively at swing arm both sides the most corresponding with the position of electric magnet, swing
Sliding in arc sliding groove 8 in bar 1 upper end, has wiring point 4 to be positioned on swing arm near the position of sliding tray, bracing wire 7 and swing
Bar 1 is connected to wiring point 4, and bracing wire terminal connects joint of robot device 11, brake gear be positioned at sliding tray 8 and with control singly
Unit is connected.
Further, bracing wire is connected with buffer spring 9.
Further, there is sleeve pipe 10 outside bracing wire.
Further, sliding tray having scale, rest point is midpoint, and midpoint is " 0 ", and both sides have positive and negative identical numerical value respectively
Scale.
This invention provides the benefit that and simulates the method that human muscle shrinks tractive skeleton, makes robot movable more flexible,
The most inflexible, simple in construction and easily manipulating.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
With embodiment the present invention made further elaboration below in conjunction with the accompanying drawings.
A kind of electromagnetic bracing wire power set described in the utility model, swing arm (1) lower end is connected to axle (2), leans on
Paraxial position has electric magnet (3) to be fixed on swing arm, and electric magnet (3) is connected with control unit, right part permanent magnet (5) and
Left part permanent magnet (6) lays respectively at swing arm both sides the most corresponding with the position of electric magnet, and swing arm (1) upper end is sliding at arc
Sliding in dynamic groove (8), have wiring point (4) to be positioned on swing arm near the position of sliding tray, two side guys have buffering extension spring (9),
The rigidity tractive that can make swing arm changes into flexible tractive, and in the way of application point is led in bracing wire, outside has sleeve pipe (10) to protect,
Bracing wire terminal connects joint of robot device (11), and brake gear is positioned at sliding tray (8) and is connected with control unit.
When solenoid is passed through certain unidirectional current, electric magnet produces magnetic, and two ends magnetic pole and relative permanent magnet, one scolds
One inhales, and makes electric magnet to attracting motion.When changing the sense of current, electromagnet pole changes, and electric magnet is again to another side
Motion.The motion of electric magnet drives swing arm motion, makes antagonism bracing wire one loosen, a tractive.Bracing wire terminal is fixed on pass
On the impetus of joint far-end, tractive skeleton makes this joint produce the motion bent or stretch.Brake gear is had to connect control unit effect
The speed and strength of bracing wire is controlled in fork.
Claims (4)
1. electromagnetic bracing wire power set, including power set, control unit and brake gear, it is characterised in that
Power set be by swing arm (1), axle (2), electric magnet (3), wiring point (4), right part permanent magnet (5), left part permanent magnet (6),
Bracing wire (7), arc sliding groove (8) composition, swing arm (1) lower end is connected to axle (2), has electric magnet (3) solid near the position of axle
On swing arm, electric magnet (3) is connected with control unit, and right part permanent magnet (5) and left part permanent magnet (6) lay respectively at pendulum
Lever both sides are the most corresponding with the position of electric magnet, slide in arc sliding groove (8) in swing arm (1) upper end, near sliding
The position of groove has wiring point (4) to be positioned on swing arm, and bracing wire (7) and swing arm (1) are connected to wiring point (4), and bracing wire terminal is even
Welding robot joint arrangement (11), brake gear is positioned at sliding tray (8) and is connected with control unit.
A kind of electromagnetic bracing wire power set the most according to claim 1, it is characterised in that bracing wire and buffer spring
(9) it is connected.
A kind of electromagnetic bracing wire power set the most according to claim 1, it is characterised in that have sleeve pipe outside bracing wire
(10)。
A kind of electromagnetic bracing wire power set the most according to claim 1, it is characterised in that have quarter on sliding tray
Degree, rest point is midpoint, and midpoint is " 0 ", and both sides have the scale of positive and negative identical numerical value respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620300360.8U CN205734997U (en) | 2016-04-11 | 2016-04-11 | A kind of electromagnetic bracing wire power set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620300360.8U CN205734997U (en) | 2016-04-11 | 2016-04-11 | A kind of electromagnetic bracing wire power set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734997U true CN205734997U (en) | 2016-11-30 |
Family
ID=57374769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620300360.8U Expired - Fee Related CN205734997U (en) | 2016-04-11 | 2016-04-11 | A kind of electromagnetic bracing wire power set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734997U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109121659A (en) * | 2018-08-31 | 2019-01-04 | 谢杰锋 | It is a kind of that based on magnetic force, alternately the hand-held grass trimmer cut is put in automatic left and right |
| CN109997547A (en) * | 2019-05-08 | 2019-07-12 | 湖南农业大学 | A kind of self-propelled tobacco leaf topping machine of human assistance |
-
2016
- 2016-04-11 CN CN201620300360.8U patent/CN205734997U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109121659A (en) * | 2018-08-31 | 2019-01-04 | 谢杰锋 | It is a kind of that based on magnetic force, alternately the hand-held grass trimmer cut is put in automatic left and right |
| CN109997547A (en) * | 2019-05-08 | 2019-07-12 | 湖南农业大学 | A kind of self-propelled tobacco leaf topping machine of human assistance |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20170411 |