CN206066494U - Robot preventer - Google Patents
Robot preventer Download PDFInfo
- Publication number
- CN206066494U CN206066494U CN201621083838.2U CN201621083838U CN206066494U CN 206066494 U CN206066494 U CN 206066494U CN 201621083838 U CN201621083838 U CN 201621083838U CN 206066494 U CN206066494 U CN 206066494U
- Authority
- CN
- China
- Prior art keywords
- magnet steel
- driven
- robot
- active
- driving shaft
- 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.)
- Active
Links
Abstract
A kind of robot preventer, is provided with and inside and outside is arranged fixed driving shaft and driven shaft by concentric by axle sleeve mechanism.This utility model robot preventer also includes the active bracket being positioned on driving shaft, the driven carriage being positioned on driven shaft, the active magnet steel being fixedly arranged on active bracket and at least one driven magnet steel being fixedly arranged on driven carriage.Magnetic induction line inside the active magnet steel is arranged along the radial direction of driving shaft and driven shaft, and the magnetic induction line inside the driven magnet steel is arranged along the circumferencial direction of driving shaft and driven shaft.This utility model robot preventer can avoid the external force for artificially tearing robot podomere for the damage of the impacting property of frame for movement of robot interior, protect the frame for movement of robot interior.
Description
Technical field
This utility model is related to a kind of robot preventer, especially a kind of to prevent from artificially tearing the machine for causing to damage
People's preventer.
Background technology
Existing service robot podomere frame for movement system contacts connected mode, during robot motion, if be subject to environment and
It is artificial to interfere, generally it is obstructed information using sensor feedback, then by the stop motion of system control machine tool mechanism.Contact connection side
Formula cannot solve impact of the system inertia power to mechanism, and system tears robot podomere and in resting state, artificially to machine
Device is artificial to be damaged into passive impact.
Utility model content
In order to overcome drawbacks described above, this utility model to provide a kind of robot preventer, the robot preventer
It is prevented from artificially tearing robot podomere and damaging with causing robot passive impact.
This utility model in order to solve the technical scheme adopted by its technical problem is：A kind of robot preventer, if
Have by axle sleeve mechanism by it is concentric it is inside and outside be arranged fixed driving shaft and driven shaft, also including the active being positioned on driving shaft
Support, the driven carriage being positioned on driven shaft, the active magnet steel being fixedly arranged on active bracket and it is fixedly arranged on driven carriage
At least one driven magnet steel, the magnetic induction line inside the active magnet steel are arranged along the radial direction of driving shaft and driven shaft, described
Magnetic induction line inside driven magnet steel is arranged along the circumferencial direction of driving shaft and driven shaft.
Used as further improvement of the utility model, the active bracket and driven carriage are by non-magnet material system
Into.
Used as further improvement of the utility model, the active magnet steel and driven magnet steel are bar shaped.
As further improvement of the utility model, the active magnet steel have positioned at one end active magnet steel N poles and with
Active magnet steel N extremely contrary active magnet steel S poles, the driven magnet steel be provided with positioned at side driven magnet steel N poles and with driven magnetic
Steel N extremely contrary driven magnet steel S poles, active magnet steel N poles 4 are near driven shaft and active magnet steel S poles are arranged towards driving shaft,
The active magnet steel N poles are right against driven magnet steel N poles along radial direction.
Used as further improvement of the utility model, at least one driven magnet steel includes that relative two of polarity are driven
Magnet steel, described two driven magnet steel are along the circumferential direction intervally installed.
As further improvement of the utility model, the gap configuration between the active magnet steel and driven magnet steel be less than
The yardstick in driving and driven stressed magnetic steel face.
As further improvement of the utility model, magnet steel maximum tangential force at the magnet steel 1/2, according to Ampere force
Computing formula：F=BIL, then one side maximum tangential force be：F (Newton force)=(107*B2*L*((W/4)2π))/(8 π), magnet steel put down
Axle center of the stress point away from driving shaft 1 is Lz (rice), and total force area number is K, then the peak torque power that mechanism can bear is
Lz*F*K。
The beneficial effects of the utility model are：This utility model robot preventer, each force area have a master
Dynamic magnet steel and at least one driven magnet steel, are non-contacting flexible connection mode between active magnet steel and driven magnet steel, by choosing
The size set mechanism for selecting magnet steel bears torsional forces, when the external force for artificially tearing robot podomere can be born most less than mechanism
High pulling torque power, the power for artificially tearing robot podomere can not change；Work as people
To tear the external force of robot podomere more than the peak torque power that mechanism can bear, magnetic conduction passage stress surface produces phase with magnet steel
To motion, skid between active magnet steel and driven magnet steel, so as to the external force for artificially tearing robot podomere can not cause robot
The damage of internal frame for movement impact, protects the frame for movement of robot interior.
Description of the drawings
Top views of the Fig. 1 for this utility model robot preventer.
Fig. 2 is the sectional view of the line A-A along Fig. 1.
Fig. 3 be Fig. 1 in active magnet steel relative to two driven magnet steel tangential motions schematic diagram.
Fig. 4 is the active magnet steel in another embodiment of this utility model robot preventer relative to a driven magnetic
The schematic diagram of steel tangential motion.
Control the figures above, is supplemented as follows explanation：
1--- driving shaft 2--- driven shafts
3--- driven carriage 4--- active magnet steel N poles
The driven magnet steel N poles of 5--- active bracket 6---
The driven magnet steel S poles 8--- actives magnet steel S poles of 7---
The direction of the relatively driven magnet steel tangential motion of 9--- actives magnet steel
Gap between 10--- actives magnet steel and driven magnet steel
The driven magnet steel of 48--- active magnet steel 67---
Specific embodiment
A kind of robot preventer, is provided with and inside and outside is arranged fixed active by concentric by axle sleeve mechanism (not shown)
Axle 1 and driven shaft 2, also including the active bracket 5 being positioned on the driving shaft 1, driven carriage 3 being positioned on driven shaft 2, fixed
In active magnet steel 48 and at least one driven magnet steel 67 being fixedly arranged on driven carriage 3 on active bracket 5.The active magnet steel
Magnetic induction line inside 48 is arranged along the radial direction of driving shaft 1 and driven shaft 2, and the magnetic induction line inside the driven magnet steel 67 is along main
The circumferencial direction of moving axis 1 and driven shaft 2 is arranged.
, for being connected with robot body, driven shaft 2 is for robot limb (referring mainly to arm) even for the driving shaft 1
Connect；Or driving shaft 1 is for being connected, driven shaft with the major part of robot limb (referring mainly to arm) (the big arm of arm)
2 for being connected with the secondary part of robot limb (referring mainly to arm) (forearm of arm).In robot kinematics, machine
People's body drives robot limb, or the major part of robot limb to drive the secondary part of robot limb, realizes machine
The mechanical movement of tool people's arm.
The robot preventer enables to the torsional forces between robot podomere structure by magnet steel and realizes non-connecing
Touch is flexibly connected.When the external force for artificially tearing robot arm is less than the peak torque power that driving and driven magnet steel 67 can bear
When, robot limb can be pulled but the mechanical movement of robot limb is not interfered with；When artificially tearing robot arm
During the peak torque power that external force can be born more than driving and driven magnet steel 67, driven magnet steel 67 turns relative to active magnet steel 48 is tangential
Move without damaging to impacting property of master end, so as to protect the frame for movement in master end.
The active bracket 5 and driven carriage 3 are made up of non-magnet material.
The active magnet steel 48 and driven magnet steel 67 are bar shaped.
The active magnet steel 48 has active magnet steel N poles 4 and the active magnetic contrary with active magnet steel N poles 4 positioned at one end
Steel S poles 8, the driven magnet steel 67 are provided with driven magnet steel N poles 6 and the driven magnet steel contrary with driven magnet steel N poles 6 positioned at side
S poles 7, active magnet steel N poles 4 are near driven shaft 2 and active magnet steel S poles 8 are arranged towards driving shaft 1, the active magnet steel N poles
4 are right against driven magnet steel N poles 6 along radial direction.
At least one driven magnet steel 67 includes two relative driven magnet steel 67 of polarity, described two driven magnet steel 67
Along the circumferential direction it is intervally installed.
The tangential long W (rice) of master end magnet steel circumference, the long L (rice) in axial direction；Magnet steel magnetic field intensity B (tesla), then it is driving and driven
The radius for referring to the equivalent areas of a circle of W*L in stressed magnetic steel face, i.e. W/4.Between between the active magnet steel 48 and driven magnet steel 67
Gap 10 is configured with less than the yardstick in driving and driven stressed magnetic steel face.
Magnet steel maximum tangential force (9 directions shown in Fig. 3 and Fig. 4) at the magnet steel 1/2, calculates according to Ampere force
Formula：F=BIL, then one side maximum tangential force be：F (Newton force)=(107*B2*L* ((W/4) 2 π))/(8 π), magnet steel is average
Axle center of the stress point away from driving shaft 1 is Lz (rice), and total force area number is K, then the peak torque power that mechanism can bear is Lz*
F*K.When the external force of robot podomere artificially being torn less than Lz*F*K, will not produce impact to the frame for movement in master end；Work as people
When external force to tear robot podomere is more than Lz*F*K, skids between active magnet steel 48 and driven magnet steel 67 and (produce circumference side
Relative motion upwards, and axially upper without motion), even if so as to the very big external force for artificially tearing robot podomere can not also be made
Into the damage of the frame for movement impact in robot master end, so as to protect the frame for movement in master end.
Claims (7)
1. a kind of robot preventer, is provided with by axle sleeve mechanism by the concentric inside and outside fixed driving shaft and driven of being arranged
Axle, is characterized in that：Also include the active bracket being positioned on driving shaft, the driven carriage being positioned on driven shaft, be fixedly arranged on master
Active magnet steel and at least one driven magnet steel being fixedly arranged on driven carriage on dynamic support, the magnetic strength inside the active magnet steel
Line is arranged along the radial direction of driving shaft and driven shaft, and the magnetic induction line inside the driven magnet steel is along driving shaft and the circle of driven shaft
Circumferential direction is arranged.
2. robot preventer according to claim 1, is characterized in that：The active bracket and driven carriage be by
Non-magnet material is made.
3. robot preventer according to claim 1, is characterized in that：The active magnet steel and driven magnet steel are bar
Shape.
4. robot preventer according to claim 3, is characterized in that：The active magnet steel has the master positioned at one end
Dynamic magnet steel N poles and the active magnet steel S pole extremely contrary with active magnet steel N, the driven magnet steel are provided with the driven magnet steel N positioned at side
Pole and the driven magnet steel S pole extremely contrary with driven magnet steel N, active magnet steel N poles 4 are near driven shaft and active magnet steel S poles court
Arrange to driving shaft, the active magnet steel N poles are right against driven magnet steel N poles along radial direction.
5. robot preventer according to claim 4, is characterized in that：At least one driven magnet steel includes polarity
Two relative driven magnet steel, described two driven magnet steel are along the circumferential direction intervally installed.
6. robot preventer according to claim 1, is characterized in that：Between the active magnet steel and driven magnet steel
Gap configuration is less than the yardstick in driving and driven stressed magnetic steel face.
7. robot preventer according to claim 1, is characterized in that：The magnet steel maximum tangential force is in the magnet steel 1/
At 2, according to Ampere force computing formula：F=BIL, then one side maximum tangential force be：F (Newton force)=(107*B2*L*((W/4)2
π))/(8 π), it is Lz (rice) that magnet steel average force selects the axle center away from driving shaft 1, and total force area number is K, then mechanism can bear
Peak torque power be Lz*F*K.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083838.2U CN206066494U (en) | 2016-09-27 | 2016-09-27 | Robot preventer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621083838.2U CN206066494U (en) | 2016-09-27 | 2016-09-27 | Robot preventer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066494U true CN206066494U (en) | 2017-04-05 |
Family
ID=58441121
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621083838.2U Active CN206066494U (en) | 2016-09-27 | 2016-09-27 | Robot preventer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066494U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272565A (en) * | 2016-09-27 | 2017-01-04 | 昆山穿山甲机器人有限公司 | Robot preventer |
-
2016
- 2016-09-27 CN CN201621083838.2U patent/CN206066494U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272565A (en) * | 2016-09-27 | 2017-01-04 | 昆山穿山甲机器人有限公司 | Robot preventer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108839725A (en) | A kind of suspension and full backpack mobile robot | |
| CN207329756U (en) | A kind of swing-arm type lifting moves trigger | |
| CN105059416A (en) | Pole-climbing robot with stabilizing device | |
| CN203154230U (en) | Electric weight-reduction training frame | |
| CN201358127Y (en) | Braker of gantry crane wheels | |
| CN206066494U (en) | Robot preventer | |
| CN204297927U (en) | A kind of electric rotary locating hook and use the hoisting crane of this suspension hook | |
| CN107690375A (en) | Portable power joint arrangement and lower limb assistance exoskeleton equipment and its control method | |
| CN106194219A (en) | One is applied to large section shape of a hoof shield pipe sheet assembling machine snatch device | |
| CN100367042C (en) | High voltage electric transmission line automatic survey inspection robot monobody | |
| CN106272565A (en) | Robot preventer | |
| CN207540757U (en) | The medium-sized shock machine swing arm promotion of pendulum and brake gear | |
| CN207381204U (en) | A kind of electromagnet | |
| CN205969029U (en) | Fixed point aversion robotic arm mechanism | |
| CN207218476U (en) | The climbing robot being oriented to based on guide | |
| CN203176294U (en) | Ball screw rod lifting device | |
| CN207021855U (en) | A kind of stator dismounting tool | |
| CN206023515U (en) | The stator centering detent mechanism of stator cage pressing machine | |
| CN201769344U (en) | Special manipulator for injection molding machine | |
| CN107639266A (en) | A kind of Steel Bridge plate fixed mount drilling equipment | |
| CN204312575U (en) | A kind of clutch | |
| CN103401396A (en) | Inner mushroomed type permanently-magnetic shaft joint | |
| CN202852394U (en) | Automatic protection device for wire collecting machine lifting transmission mechanism | |
| CN206316682U (en) | The flower tooth axle pallet fetching device of hay mover head section kludge | |
| CN206616496U (en) | Removable Anti-collision barrel with display screen |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |