CN206598302U - Security activity bindiny mechanism and robot - Google Patents
Security activity bindiny mechanism and robot Download PDFInfo
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- CN206598302U CN206598302U CN201720472968.3U CN201720472968U CN206598302U CN 206598302 U CN206598302 U CN 206598302U CN 201720472968 U CN201720472968 U CN 201720472968U CN 206598302 U CN206598302 U CN 206598302U
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Abstract
The utility model provides a kind of security activity bindiny mechanism and robot, is related to Machinery Safety Technology field, can prevent that people from being crushed in time, improves security.The security activity bindiny mechanism includes：Through hole is provided with body, body；Movable part, movable part includes enforcement division and first connecting portion, enforcement division is connected with first connecting portion by the connector through through hole, and is located at respectively between two sides of through hole, two side walls of the body of enforcement division and first connecting portion respectively corresponding thereto with gap；Drive device, drive device includes drive division and the second connecting portion being connected, and drive division is used to drive second connecting portion activity, and second connecting portion is connected with first connecting portion by magnet.Robot includes above-mentioned security activity bindiny mechanism.The security activity bindiny mechanism is mainly used in the course of work improving security.
Description
Technical field
The utility model is related to Machinery Safety Technology field, more particularly to a kind of security activity bindiny mechanism and robot.
Background technology
Occur to happen occasionally to the contingency that personnel cause during machine work, therefore the security function of machinery is set
Meter is increasingly taken seriously.
Exemplified by servicing humanoid robot, the robot is mainly used for serving the people, interactive more between people, the machine
The head for being movably connected on fuselage, four limbs etc. are provided with device people mostly, in order that the head of robot, four limbs etc. are in activity
Do not interfered with robot fuselage in journey, it will usually gap, people and robot are provided between fuselage in head, four limbs etc.
Between in interactive process, especially child, it may occur that human hand is stuck in gap, and head, four limbs of robot etc. are in work
Hand can be crushed when dynamic, currently for this problem, the mode used detects its torsion to add sensor in head, four limbs etc.
Power, when larger to the torsion of the generations such as head, four limbs when human hand is stuck in gap, stops head, the activity of four limbs immediately.
However, when using above-mentioned design method, inventor has found that at least there are the following problems in the prior art：Work as human hand
Head, four limbs etc. are stopped action when being stuck in gap, and human hand is still stuck in gap, during human hand is extracted, easily to people
Hand is damaged, or even needs to pull down with the slaves such as head, four limbs, it is impossible in time go out hand-lifting, increases the wound to human hand
Evil.
Utility model content
In view of this, the utility model embodiment provides a kind of security activity bindiny mechanism and robot, can prevent in time
Only people is crushed, and improves security.
To reach above-mentioned purpose, the utility model mainly provides following technical scheme：
On the one hand, the utility model embodiment provides a kind of security activity bindiny mechanism, including：
Through hole is provided with body, the body；
Movable part, the movable part includes enforcement division and first connecting portion, and the enforcement division is connected with described first
Portion is connected by the connector through the through hole, and is located at two sides of the through hole, the enforcement division and described respectively
There is gap between two side walls of the body of first connecting portion respectively corresponding thereto；
Drive device, the drive device includes drive division and the second connecting portion being connected, and the drive division is used to drive
The second connecting portion activity is moved, the second connecting portion is connected with the first connecting portion by magnet.
Specifically, the first connecting portion surface relative with the second connecting portion is rounded face, the magnet position
Other regions adjacent to position set by the magnet in the position for deviateing the rounded face center of circle, the rounded face are used
Non- magnetically attractive material.
Specifically, the magnet includes being arranged at the first magnet of the first connecting portion and being arranged at described second connecting
The second magnet in socket part, the first connecting portion passes through first magnet and second magnet with the second connecting portion
Attracting docking.
Specifically, first magnet and second magnet are electromagnet；
The coil of second magnet, which is connected with power supply, the first connecting portion part, is provided with the first energization contact, institute
State and the second energization contact is provided with second connecting portion part, the second energization contact is electrically connected to the power supply, described first
Energization contact is electrically connected to the coil of first magnet；Or, the coil of first magnet is connected with power supply, described first
It is provided with connection member on the first energization contact, the second connecting portion part and is provided with the second energization contact, described first leads to
Electric contact is electrically connected to the power supply, and the second energization contact is electrically connected to the coil of second magnet；
When the first connecting portion is relative with the second connecting portion to be connect, the first energization contact leads to described second
Electric contact is turned on, and first magnet and second magnet are attracting.
Specifically, first magnet is electromagnet, and second magnet is permanent magnet, and the coil of first magnet leads to
Control circuit connection power supply is crossed, the control circuit moves towards circuit and second including first and moves towards circuit, and described first moves towards electricity
Move towards circuit interlock in road and described second；
Sensor is provided with the first connecting portion part, the sensor is used for the torsion for measuring the first connecting portion
Power, the sensor second moves towards circuit by what controller was connected to the control circuit；
When the first connecting portion is relative with the second connecting portion to be connect, described first moves towards circuit turn-on, described
The outer surface of one magnet has the first magnetic pole, and the outer surface magnetic pole of first magnetic pole and second magnet is different, when described
When the torsion that sensor measures the first connecting portion is more than preset value, triggers the controller and make described second to move towards circuit and lead
Logical, the outer surface of first magnet has the second magnetic pole, the outer surface magnetic pole phase of second magnetic pole and second magnet
Together.
Specifically, the size of the first connecting portion is more than the size of the through hole.
On the other hand, the utility model embodiment provides a kind of robot, including performs operating system, detecting system and control
System processed, the control system is used for the action for receiving the execution operating system of the detecting system detection, to control
State execution operating system and perform deliberate action, the execution operating system includes：Security activity bindiny mechanism；The security activity
Bindiny mechanism includes：
Body, the body is to be provided with through hole on the fuselage of the robot, the body；
Movable part, the movable part includes enforcement division and first connecting portion, and the enforcement division is connected with described first
Portion is connected by the connector through the through hole, and is located at two sides of the through hole respectively, and the enforcement division is located at institute
State outside body, the first connecting portion is located in the body, the enforcement division and first connecting portion difference are corresponding thereto
The body two side walls between have gap；
Drive device, the drive device is arranged in the body, and the drive device includes the drive division being connected
And second connecting portion, the drive division is for driving the second connecting portion activity, and the second connecting portion connects with described first
Socket part is connected by magnet.
Specifically, the first connecting portion surface relative with the second connecting portion is rounded face, the magnet position
Other regions adjacent to position set by the magnet in the position for deviateing the rounded face center of circle, the rounded face are used
Non- magnetically attractive material.
Specifically, the magnet includes being arranged at the first magnet of the first connecting portion and being arranged at described second connecting
The second magnet in socket part, the first connecting portion passes through first magnet and second magnet with the second connecting portion
Attracting docking.
Specifically, first magnet and second magnet are electromagnet；
The coil of second magnet, which is connected with power supply, the first connecting portion part, is provided with the first energization contact, institute
State and the second energization contact is provided with second connecting portion part, the second energization contact is electrically connected to the power supply, described first
Energization contact is electrically connected to the coil of first magnet；Or, the coil of first magnet is connected with power supply, described first
It is provided with connection member on the first energization contact, the second connecting portion part and is provided with the second energization contact, described first leads to
Electric contact is electrically connected to the power supply, and the second energization contact is electrically connected to the coil of second magnet；
When the first connecting portion is relative with the second connecting portion to be connect, the first energization contact leads to described second
Electric contact is turned on, and first magnet and second magnet are attracting.
Specifically, first magnet is electromagnet, and second magnet is permanent magnet, and the coil of first magnet leads to
Control circuit connection power supply is crossed, the control circuit moves towards circuit and second including first and moves towards circuit, and described first moves towards electricity
Move towards circuit interlock in road and described second；
Sensor is provided with the first connecting portion part, the sensor is used for the torsion for measuring the first connecting portion
Power, the sensor second moves towards circuit by what controller was connected to the control circuit；
When the first connecting portion is relative with the second connecting portion to be connect, described first moves towards circuit turn-on, described
The outer surface of one magnet has the first magnetic pole, and the outer surface magnetic pole of first magnetic pole and second magnet is different, when described
When the torsion that sensor measures the first connecting portion is more than preset value, triggers the controller and make described second to move towards circuit and lead
Logical, the outer surface of first magnet has the second magnetic pole, the outer surface magnetic pole phase of second magnetic pole and second magnet
Together.
Specifically, the size of first connecting portion is more than the size of the through hole.
A kind of security activity bindiny mechanism and robot that the utility model embodiment is provided, when working properly, driving
Device drives movable part relative to body normal activity, when the position such as human hand or arm is clipped in the enforcement division and machine of movable part
When between body, the position such as human hand or arm acts power to enforcement division, and the active force is connected more than first connecting portion with second
During the magnetic attraction in portion, then first connecting portion is set to depart from second connecting portion, due to the side wall of the body of first connecting portion corresponding thereto
There is gap between face, therefore first connecting portion is after second connecting portion is pulled down, in the work of the site forces such as human hand or arm
Moved with lower to the side wall so that the gap increase between the side wall of the body of enforcement division corresponding thereto, human hand or arm
Take advantage of a situation extraction, extracted in time, smoothly Deng position, it is to avoid the position such as human hand or arm present in prior art is stuck in gap
The problem of not being drawn out easily, prevents that people from being crushed in time, improves security.
Brief description of the drawings
A kind of structural representation for security activity bindiny mechanism that Fig. 1 provides for the utility model embodiment；
Fig. 2 is the sectional view of Tu1Zhong security activities bindiny mechanism；
A kind of structural representation for security activity bindiny mechanism that Fig. 3 provides for the utility model embodiment；
Fig. 4 is the first magnet and the composition frame chart of the second magnet annexation in Fig. 3；
A kind of structural representation for robot that Fig. 5 provides for the utility model embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
As depicted in figs. 1 and 2, the utility model embodiment provides a kind of security activity bindiny mechanism, including：Body 1, machine
Through hole 11 is provided with body 1；Movable part 2, movable part 2 includes enforcement division 21 and first connecting portion 22, enforcement division 21 and the
One connecting portion 22 is connected by the connector 23 through through hole 11, and is located at two sides of through hole 11, the He of enforcement division 21 respectively
There is gap 24 between two side walls of the body 11 of first connecting portion 22 respectively corresponding thereto；Drive device 3, drive device
3 include the drive division 31 being connected and second connecting portion 32, and drive division 31 is used to drive the activity of second connecting portion 32, the second connection
Portion 32 is connected with first connecting portion 22 by magnet 4.
Wherein, movable part 2 is connected to the through hole 11 on body 1, and movable part 2 can be relative to the activity of body 1, through hole
11 can be circular hole or strip hole etc., and movable part 2 can be rotated or slided relative to body 1, the first of movable part 2
Connecting portion 22 and enforcement division 21 are located at two sides of through hole 11 respectively, and first connecting portion 22 is connected with enforcement division 21 by connector 23
Connect, connector 23 is through through hole 11, and drive device 3 is used to drive the activity of movable part 2, and the drive division 31 of drive device 3 can
Think motor, cylinder etc., drive division 31 can be fixed by fixed seat 5, the second connecting portion 32 of drive device 3 by magnet 4 with
The magnetic of first connecting portion 22 is connected.
When the drive division 31 of drive device 3 drives the activity of second connecting portion 32, first be connected with second connecting portion 32
Connecting portion 22 is movable therewith, and first connecting portion 22 drives enforcement division 21 relative to the activity of body 1, when people is accidentally by hand or arm
When being clipped in Deng position between the enforcement division 21 of activity and body 1, human hand or arm etc. act power to enforcement division 21, hinder to hold
Row portion 21 continues normal activity, and when the active force is more than the suction of magnet 4, first connecting portion 22 can be torn open from second connecting portion 32
Under, due to having gap 24 between the side wall of the body 1 of first connecting portion 22 corresponding thereto, therefore first connecting portion 22 is from the
After two connecting portions 32 are pulled down, moved in the presence of the active force such as human hand or arm to side wall so that enforcement division 21 and its
Gap 24 between the side wall of relative body 1 increases, so that human hand or arm etc. can be extracted smoothly, in time；Work as people
After hand or arm etc. are extracted, movable part 2 can be installed back to the second connecting portion 32 of drive device 3 again through the suction of magnet 4
On.
The security activity bindiny mechanism that the utility model embodiment is provided, when working properly, drive device driving activity
Part is relative to body normal activity, when the position such as human hand or arm is clipped between the enforcement division of movable part and body, people
The position such as hand or arm acts power to enforcement division, and the active force is more than the magnetic attraction of first connecting portion and second connecting portion
When, then first connecting portion is departed from second connecting portion, due to having between the side wall of the body of first connecting portion corresponding thereto
Gap, therefore first connecting portion is after second connecting portion is pulled down, to the side in the presence of the site forces such as human hand or arm
Wall is moved so that the gap increase between the side wall of the body of enforcement division corresponding thereto, the position such as human hand or arm is taken advantage of a situation
Extract, extract in time, smoothly, it is to avoid the position such as human hand or arm present in prior art is stuck in what is be not drawn out easily in gap
Problem, prevents that people from being crushed in time, improves security.
Specifically, the surface relative with second connecting portion 32 of first connecting portion 22 is rounded face, and magnet 4 is located off circle
Other regions in the position in the shape face center of circle, rounded face adjacent to position set by magnet 4 use non-magnetically attractive material.Wherein, magnetic
Iron 4 can design following three kinds of situations：Magnet is fixed on first connecting portion 22, and the relevant position of second connecting portion 32 sets magnetically attractive material
Material；Or, magnet is fixed on second connecting portion 32, and the relevant position of first connecting portion 22 sets magnetically attractive material；Or, magnet includes
The first magnet and the second magnet attracted each other, the first magnet is arranged at first connecting portion 22, and the second magnet is arranged at the second company
Socket part 32.
The rounded face of the rounded face of first connecting portion 22 and second connecting portion 32 connects by the way that magnet 4 is relative, and magnet 4 is located at circle
Magnet, for held stationary, can be embedded in first connecting portion 22 and/or second connecting portion 32 by the eccentric position in shape face so that
The rounded face of first connecting portion 22 is relative with the rounded face of second connecting portion 32 to be completely attached to when connecing, when drive division 31 drives second
During 32 normal activity of connecting portion, second connecting portion 32 firmly drives the activity of first connecting portion 22, enforcement division 21 therewith relative to
The activity of body 1, when the position such as human hand or arm is clipped between enforcement division 21 and body 1, human hand or arm etc. are to enforcement division 21
Power is acted, the suction of magnet 4 is overcome, first connecting portion 22 is pulled down from second connecting portion 32, when the portion such as human hand or arm
After position is smoothly extracted, first connecting portion 22 can be arranged in second connecting portion 32 again through the suction of magnet 4, due to magnet 4
It is arranged on the eccentric position of rounded face, and other regions in rounded face adjacent to position set by magnet 4 use non-magnetically attractive material
Material, therefore first connecting portion 22 with second connecting portion 32 when being docked, and first connecting portion 22 need to be made to be directed at energy with second connecting portion 32
The position of enough magnetic, being capable of rapid alignment so as to reconnect position.In addition, being filled when drive division 31 rotates driving for such as motor
When putting, the driving of drive division 31 second connecting portion 32 is rotated, to drive first connecting portion 22 and enforcement division 21 to rotate, when human hand or arm
When the positions such as arm are clipped between enforcement division 21 and body 1, human hand or arm etc. have resistance to enforcement division 21, now drive division 31
When driving second connecting portion 32 is rotated further, first connecting portion 22 deviates normal rotational position under drag effect so that first
The position of connecting portion 22 and the phase magnetic of second connecting portion 32 is staggered, and helps to make first connecting portion 22 and second connecting portion 32 quick
Disconnect.
Specifically, magnet 4 includes being arranged at the first magnet 41 of first connecting portion 22 and is arranged at second connecting portion 32
On the second magnet 42, first connecting portion 22 and second connecting portion 32 by the first magnet 41 with the second magnet 42 is attracting docks.
First connecting portion 22 and second connecting portion 32 are respectively arranged with the first magnet 41 and the second magnet 42 so that first connecting portion 22 with
Connection is relatively consolidated when the magnetic of second connecting portion 32 is connected, and easily facilitates the first magnet 41 and the multiple design shape of the second magnet 42
Formula, wherein, the first magnet 41 and the second magnet 42 can be using the designs of following two ways：
Specifically, the first magnet 41 and the second magnet 42 are electromagnet；The coil of second magnet 42 is connected with power supply (figure
Not shown in), it is provided with the first energization contact 221, second connecting portion 32 in first connecting portion 22 and is provided with second and leads to
Electric contact 321, the second energization contact 321 is electrically connected to power supply, and the first energization contact 221 is electrically connected to the line of the first magnet 41
Circle；Or, the coil of the first magnet 41, which is connected with power supply, first connecting portion 22, is provided with the first energization contact 221, second
The second energization contact 321 is provided with connecting portion 32, the first energization contact 221 is electrically connected to power supply, the second energization contact 321
It is electrically connected to the coil of the second magnet 42；When first connecting portion 22 and second connecting portion 32 connect relatively, the first energization contact 221
Turned on the second energization contact 321, the first magnet 41 and the second magnet 42 are attracting.
In above-mentioned, position, i.e. the first energization contact 221 and second are connected to when first connecting portion 22 and second connecting portion 32 are relative
When energization contact 321 is turned on, the coil of the first magnet 41 and the second magnet 42 has electric current to pass through, and makes the first magnet 41 and second
The relative surface of magnet 42 is attracting with opposite pole；When first connecting portion 22 is separated under manpower effect with second connecting portion 32
When, the first energization contact 221 disconnects with the second energization contact 321, and one of magnet spool power-off, the electromagnet loses
Magnetic.Wherein, the magnetic attraction of electromagnet is larger, contributes between first connecting portion 22 and second connecting portion 32 to connect more steady
Gu, one of them in two electromagnet is connected with power supply all the time, and another electromagnet is connected in first connecting portion 22 with second
Being powered when portion 32 is docked in place has magnetic, powers off and loses magnetism when first connecting portion 22 disconnects with second connecting portion 32, makes
First connecting portion 22 when being connected with second connecting portion 32 suction it is larger, suction is reduced rapidly when separated, contributes to the two quick
Smoothly separate, and two electromagnet only set a power supply, simplify design, save cost.
Or, the first magnet 41 and the second magnet 42 can use following design methods：
Specifically, as shown in Figure 3 and Figure 4, the first magnet 41 is electromagnet, and the second magnet 42 is permanent magnet, the first magnet
41 coil is by controlling circuit 43 to connect power supply 44, and control circuit 43 moves towards circuit 431 and second including first and moves towards circuit
432, first, which moves towards circuit 431 and second, moves towards circuit 432 and interlocks；Sensor 25 is provided with first connecting portion 22, is sensed
Device 25 is used for the torsion for measuring first connecting portion 22, and sensor 25 is connected to the second trend of control circuit 43 by controller 45
Circuit 432；When first connecting portion 22 and second connecting portion 32 connect relatively, first, which moves towards circuit 431, turns on, the first magnet 41
Outer surface has the first magnetic pole, and the outer surface magnetic pole of the first magnetic pole and the second magnet 42 is different, when sensor 25 measures the first company
When the torsion of socket part 22 is more than preset value, trigger controller 45 makes second to move towards circuit 432 to turn on, the outer surface of the first magnet 41
With the second magnetic pole, the second magnetic pole is identical with the outer surface magnetic pole of the second magnet 42.
In normal operation, first move towards circuit 431 and turn on, move towards circuit 431 and second and move towards electricity due to first
Road 432 is interlocked, therefore now second moves towards the open circuit of circuit 432, and electric current moves towards circuit 431 along first and passes through the first magnet 41
Coil, making the outer surface of the first magnet 41 has the first magnetic pole, and the outer surface magnetic pole of the first magnetic pole and the second magnet 42 is different, because
This first magnet 41 and the second magnet 42 are attracting；When the position such as human hand or arm is clipped between enforcement division 21 and body 1, human hand
Or arm etc. acts power to enforcement division 21, the normal activity of enforcement division 21 is prevented, then certain torsion is produced to enforcement division 21,
When sensor 25 monitors the torsion and is more than preset value, then judge enforcement division 21 it is movable it is improper be obstructed, then controller 45
Make second to move towards circuit 432 to turn on, electric current moves towards coil of the circuit 432 by the first magnet 41 along second, makes the first magnet
41 outer surface has the second magnetic pole, and the second magnetic pole is identical with the outer surface magnetic pole of the second magnet 42, thus the first magnet 41 and
Second magnet 42 is mutually exclusive, so that first connecting portion 22 disconnects rapidly for 32 with second connecting portion, when hand or arm etc. are fast
After speed is extracted, when reinstalling movable part, the upper no active force of first connecting portion 22, the coil of the first magnet 41 it is logical
Electric current is reverted to moves towards circuit 431 by first, and the first magnet 41 is adsorbed again with the second magnet 42.Above-mentioned design method is more
Plus it is intelligent, the disconnection of first connecting portion 22 and second connecting portion 32 and it is connected rapider.
Specifically, the size of first connecting portion 22 is more than the size of through hole.That is, first connecting portion 22 can not be direct
Pass through through hole 11 so that when first connecting portion 22 is separated with second connecting portion 32, first connecting portion 22 is moved towards through hole 11,
Through hole 11 is not passed through so that movable part 2 will not come off from body 1, to prevent situations such as movable part 2 is broken.
The security activity bindiny mechanism that the utility model embodiment is provided, first connecting portion and driving by movable part
The second connecting portion magnetic of device connects, and when the position such as human hand or arm acts power to enforcement division, the active force is more than magnetic
During suction, so that first connecting portion is separated with second connecting portion, first connecting portion is moved towards the side wall of body corresponding thereto
It is dynamic so that the gap increase between enforcement division and body, the position such as human hand or arm can in time, successfully be extracted, anti-in time
Only people is crushed, and improves security.
As shown in figure 5, the utility model embodiment provides a kind of robot, including perform operating system, detecting system and
Control system, control system is used for the action for receiving the execution operating system of detecting system detection, to control to perform operating system
Deliberate action is performed, performing operating system includes：Security activity bindiny mechanism；Referring to Fig. 2, security activity bindiny mechanism includes：
Body 1, body 1 is to be provided with through hole 11 on the fuselage of robot, body 1；Movable part 2, movable part 2 includes enforcement division 21
With first connecting portion 22, enforcement division 21 is connected with first connecting portion 22 by the connector 23 through through hole 11, and position respectively
In two sides of through hole 11, enforcement division 21 is located at outside body 1, and first connecting portion 22 is located in body 1, and enforcement division 21 and first connects
There is gap 24 between two side walls of the body 1 of socket part 22 respectively corresponding thereto；Drive device 3, drive device 3 is arranged at
In body 1, drive device 3 includes drive division 31 and the second connecting portion 32 being connected, and drive division 31 is used to drive second to connect
The activity of portion 32, second connecting portion 32 is connected with first connecting portion 22 by magnet 4.
Wherein, the enforcement division 21 of movable part 2 can be head, four limbs of robot etc., belong in execution operating system
Part, detecting system detection perform operating system action, measured information is delivered into control system as feedback signal,
Control system adjusts the action that control performs operating system according to feedback signal, so that performing operating system performs deliberate action.
Performing operating system includes security activity bindiny mechanism, the movable part 2 of security activity bindiny mechanism include robot head,
Four limbs etc. can relative to the activity of robot fuselage part, the structure and working principle of security activity bindiny mechanism and above-mentioned implementation
Example is identical, and here is omitted.
The utility model embodiment provide robot, when working properly, drive device drive movable part relative to
Body normal activity, when the position such as human hand or arm is clipped between the enforcement division of movable part and body, human hand or arm etc.
Position acts power to enforcement division, when the active force is more than the magnetic attraction of first connecting portion and second connecting portion, then makes first
Connecting portion departs from second connecting portion, due to having gap, therefore the between the side wall of the body of first connecting portion corresponding thereto
One connecting portion is moved to the side wall in the presence of the site forces such as human hand or arm, made after second connecting portion is pulled down
Gap increase between the side wall of the body of enforcement division corresponding thereto, the position such as human hand or arm takes advantage of a situation extractions, extraction and
When, smoothly, it is to avoid the position such as human hand or arm present in prior art is stuck in the problem of not being drawn out easily in gap, anti-in time
Only people is crushed, and improves security.
Specifically, the surface relative with second connecting portion 32 of first connecting portion 22 is rounded face, and magnet 4 is located off circle
Other regions in the position in the shape face center of circle, rounded face adjacent to position set by magnet 4 use non-magnetically attractive material.Wherein, magnetic
Iron 4 can design following three kinds of situations：Magnet is fixed on first connecting portion 22, and the relevant position of second connecting portion 32 sets magnetically attractive material
Material；Or, magnet is fixed on second connecting portion 32, and the relevant position of first connecting portion 22 sets magnetically attractive material；Or, magnet includes
The first magnet and the second magnet attracted each other, the first magnet is arranged at first connecting portion 22, and the second magnet is arranged at the second company
Socket part 32.The rounded face of the rounded face of first connecting portion 22 and second connecting portion 32 connects by the way that magnet 4 is relative, and magnet 4 is located at circle
Magnet, for held stationary, can be embedded in first connecting portion 22 and/or second connecting portion 32 by the eccentric position in shape face so that
The rounded face of first connecting portion 22 is relative with the rounded face of second connecting portion 32 to be completely attached to when connecing, when drive division 31 drives second
During 32 normal activity of connecting portion, second connecting portion 32 firmly drives the activity of first connecting portion 22, enforcement division 21 therewith relative to
The activity of body 1, when the position such as human hand or arm is clipped between enforcement division 21 and body 1, human hand or arm etc. are to enforcement division 21
Power is acted, the suction of magnet 4 is overcome, first connecting portion 22 is pulled down from second connecting portion 32, when the portion such as human hand or arm
After position is smoothly extracted, first connecting portion 22 can be arranged in second connecting portion 32 again through the suction of magnet 4, due to magnet 4
It is arranged on the eccentric position of rounded face, and other regions in rounded face adjacent to position set by magnet 4 use non-magnetically attractive material
Material, therefore first connecting portion 22 with second connecting portion 32 when being docked, and first connecting portion 22 need to be made to be directed at energy with second connecting portion 32
The position of enough magnetic, being capable of rapid alignment so as to reconnect position.In addition, being filled when drive division 31 rotates driving for such as motor
When putting, the driving of drive division 31 second connecting portion 32 is rotated, to drive first connecting portion 22 and enforcement division 21 to rotate, when human hand or arm
When the positions such as arm are clipped between enforcement division 21 and body 1, human hand or arm etc. have resistance to enforcement division 21, now drive division 31
When driving second connecting portion 32 is rotated further, first connecting portion 22 deviates normal rotational position under drag effect so that first
The position of connecting portion 22 and the phase magnetic of second connecting portion 32 is staggered, and helps to make first connecting portion 22 and second connecting portion 32 quick
Disconnect.
Specifically, magnet 4 includes being arranged at the first magnet 41 of first connecting portion 22 and is arranged at second connecting portion 32
On the second magnet 42, first connecting portion 22 and second connecting portion 32 by the first magnet 41 with the second magnet 42 is attracting docks.
First connecting portion 22 and second connecting portion 32 are respectively arranged with the first magnet 41 and the second magnet 42 so that first connecting portion 22 with
Connection is relatively consolidated when the magnetic of second connecting portion 32 is connected, and easily facilitates the first magnet 41 and the multiple design shape of the second magnet 42
Formula, wherein, the first magnet 41 and the second magnet 42 can be using the designs of following two ways：
Specifically, the first magnet 41 and the second magnet 42 are electromagnet；The coil of second magnet 42 is connected with power supply (figure
Not shown in), it is provided with the first energization contact 221, second connecting portion 32 in first connecting portion 22 and is provided with second and leads to
Electric contact 321, the second energization contact 321 is electrically connected to power supply, and the first energization contact 221 is electrically connected to the line of the first magnet 41
Circle；Or, the coil of the first magnet 41, which is connected with power supply, first connecting portion 22, is provided with the first energization contact 221, second
The second energization contact 321 is provided with connecting portion 32, the first energization contact 221 is electrically connected to power supply, the second energization contact 321
It is electrically connected to the coil of the second magnet 42；When first connecting portion 22 and second connecting portion 32 connect relatively, the first energization contact 221
Turned on the second energization contact 321, the first magnet 41 and the second magnet 42 are attracting.When first connecting portion 22 and second connecting portion 32
It is relative when being connected to position, i.e. the first energization contact 221 and being turned on the second energization contact 321, the first magnet 41 and the second magnet 42
Coil has electric current to pass through, and makes the first magnet 41 surface relative with the second magnet 42 attracting with opposite pole；When the first company
When socket part 22 is separated under manpower effect with second connecting portion 32, the first energization contact 221 disconnects with the second energization contact 321,
One of magnet spool power-off, the electromagnet loses magnetism.Wherein, the magnetic attraction of electromagnet is larger, contributes to first
Connect and more consolidate between connecting portion 22 and second connecting portion 32, one of them in two electromagnet is connected with power supply all the time,
Another electromagnet is powered when first connecting portion 22 is docked in place with second connecting portion 32 with magnetic, in first connecting portion 22
When being disconnected with second connecting portion 32 power-off lose magnetism so that when first connecting portion 22 is connected with second connecting portion 32 suction compared with
Greatly, suction is reduced rapidly when separating, and is contributed to the two quick smoothly separately, and two electromagnet only set a power supply, is simplified
Design, saves cost.
Or, the first magnet 41 and the second magnet 42 can use following design methods：
Specifically, as shown in Figure 3 and Figure 4, the first magnet 41 is electromagnet, and the second magnet 42 is permanent magnet, the first magnet
41 coil is by controlling circuit 43 to connect power supply 44, and control circuit 43 moves towards circuit 431 and second including first and moves towards circuit
432, first, which moves towards circuit 431 and second, moves towards circuit 432 and interlocks；Sensor 25 is provided with first connecting portion 22, is sensed
Device 25 is used for the torsion for measuring first connecting portion 22, and sensor 25 is connected to the second trend of control circuit 43 by controller 45
Circuit 432；When first connecting portion 22 and second connecting portion 32 connect relatively, first, which moves towards circuit 431, turns on, the first magnet 41
Outer surface has the first magnetic pole, and the outer surface magnetic pole of the first magnetic pole and the second magnet 42 is different, when sensor 25 measures the first company
When the torsion of socket part 22 is more than preset value, trigger controller 45 makes second to move towards circuit 432 to turn on, the outer surface of the first magnet 41
With the second magnetic pole, the second magnetic pole is identical with the outer surface magnetic pole of the second magnet 42.In normal operation, first electricity is moved towards
Road 431 is turned on, and moves towards circuit 431 and move towards circuit 432 with second to interlock due to first, therefore now second is moved towards circuit 432 and broken
Road, electric current moves towards coil of the circuit 431 by the first magnet 41 along first, makes the outer surface of the first magnet 41 and has the first magnetic
Pole, the outer surface magnetic pole of the first magnetic pole and the second magnet 42 is different, therefore the first magnet 41 and the second magnet 42 are attracting；Work as human hand
Or the position such as arm, when being clipped between enforcement division 21 and body 1, human hand or arm etc. act power to enforcement division 21, prevent to hold
The normal activity of row portion 21, then produce certain torsion to enforcement division 21, when sensor 25 monitors the torsion more than preset value, then sentence
Break enforcement division 21 it is movable it is improper be obstructed, then controller 45 makes second to move towards circuit 432 to turn on, and electric current is walked along second
To coil of the circuit 432 by the first magnet 41, making the outer surface of the first magnet 41 has the second magnetic pole, the second magnetic pole and second
The outer surface magnetic pole of magnet 42 is identical, therefore the first magnet 41 and the second magnet 42 are mutually exclusive, so that first connecting portion 22
With 32 rapid disconnections of second connecting portion, after hand or arm etc. are extracted rapidly, when reinstalling movable part, first connects
The upper no active force in 22, portion, the electrical current of the coil of the first magnet 41 is reverted to moves towards circuit 431, the first magnetic by first
Iron 41 is adsorbed again with the second magnet 42.Above-mentioned design method is more intelligent, first connecting portion 22 and second connecting portion 32
Disconnect and connect rapider.
Specifically, the size of first connecting portion 22 is more than the size of through hole.That is, first connecting portion 22 can not be direct
Pass through through hole 11 so that when first connecting portion 22 is separated with second connecting portion 32, first connecting portion 22 is moved towards through hole 11,
Through hole 11 is not passed through so that movable part 2 will not come off from body 1, to prevent situations such as movable part 2 is broken.
The utility model embodiment provide robot, when working properly, drive device drive movable part relative to
Body normal activity, when the position such as human hand or arm is clipped between the enforcement division of movable part and body, human hand or arm etc.
Position acts power to enforcement division, when the active force is more than the magnetic attraction of first connecting portion and second connecting portion, then makes first
Connecting portion departs from second connecting portion, due to having gap, therefore the between the side wall of the body of first connecting portion corresponding thereto
One connecting portion is moved to the side wall in the presence of the site forces such as human hand or arm, made after second connecting portion is pulled down
Gap increase between the side wall of the body of enforcement division corresponding thereto, the position such as human hand or arm takes advantage of a situation extractions, extraction and
When, smoothly, it is to avoid the position such as human hand or arm present in prior art is stuck in the problem of not being drawn out easily in gap, anti-in time
Only people is crushed, and improves security.
It is described above, only it is preferred embodiment of the present utility model, not makees any formal to the utility model
Limitation, any simple modification, equivalent variations and the modification made according to technical spirit of the present utility model to above example,
In the range of still falling within technical solutions of the utility model.
Claims (10)
1. a kind of security activity bindiny mechanism, it is characterised in that including：
Through hole is provided with body, the body；
Movable part, the movable part includes enforcement division and first connecting portion, and the enforcement division is led to the first connecting portion
The connector connection through the through hole is crossed, and is located at two sides of the through hole, the enforcement division and described first respectively
There is gap between two side walls of the body of connecting portion respectively corresponding thereto；
Drive device, the drive device includes drive division and the second connecting portion being connected, and the drive division is used to drive institute
Second connecting portion activity is stated, the second connecting portion is connected with the first connecting portion by magnet.
2. security activity bindiny mechanism according to claim 1, it is characterised in that
The first connecting portion surface relative with the second connecting portion is rounded face, and the magnet is located off the circle
Other regions in the position in the shape face center of circle, the rounded face adjacent to position set by the magnet use non-magnetically attractive material.
3. security activity bindiny mechanism according to claim 1 or 2, it is characterised in that
The magnet includes for being arranged at the first magnet of the first connecting portion and being arranged in the second connecting portion
Two magnet, the first connecting portion and the second connecting portion by first magnet with second magnet is attracting docks.
4. security activity bindiny mechanism according to claim 3, it is characterised in that
First magnet and second magnet are electromagnet；
The coil of second magnet, which is connected with power supply, the first connecting portion part, is provided with the first energization contact, and described
The second energization contact is provided with two connection members, the second energization contact is electrically connected to the power supply, and described first is powered
Contact is electrically connected to the coil of first magnet；Or, the coil of first magnet is connected with power supply, first connection
It is provided with part on the first energization contact, the second connecting portion part and is provided with the second energization contact, described first, which is powered, touches
Point is electrically connected to the power supply, and the second energization contact is electrically connected to the coil of second magnet；
When the first connecting portion is relative with the second connecting portion to be connect, the first energization contact is powered with described second and touched
Point conducting, first magnet and second magnet are attracting.
5. security activity bindiny mechanism according to claim 3, it is characterised in that
First magnet is electromagnet, and second magnet is permanent magnet, and the coil of first magnet is by controlling circuit
Power supply is connected, the control circuit moves towards circuit and second including first and moves towards circuit, described first moves towards circuit and described the
Two move towards circuit interlock；
Sensor is provided with the first connecting portion part, the sensor is used for the torsion for measuring the first connecting portion, institute
State sensor and second move towards circuit by what controller was connected to the control circuit；
When the first connecting portion is relative with the second connecting portion to be connect, described first moves towards circuit turn-on, first magnetic
The outer surface of iron has the first magnetic pole, and the outer surface magnetic pole of first magnetic pole and second magnet is different, when the sensing
When the torsion that device measures the first connecting portion is more than preset value, triggering the controller makes described second to move towards circuit turn-on,
The outer surface of first magnet has the second magnetic pole, and second magnetic pole is identical with the outer surface magnetic pole of second magnet.
6. a kind of robot, including operating system, detecting system and control system are performed, the control system is used to receive described
The action of the execution operating system of detecting system detection, to control the execution operating system to perform deliberate action, it is special
Levy and be, the execution operating system includes：Security activity bindiny mechanism；
The security activity bindiny mechanism includes：
Body, the body is to be provided with through hole on the fuselage of the robot, the body；
Movable part, the movable part includes enforcement division and first connecting portion, and the enforcement division is led to the first connecting portion
The connector connection through the through hole is crossed, and is located at two sides of the through hole respectively, the enforcement division is located at the machine
In vitro, the first connecting portion is located in the body, the institute of the enforcement division and the first connecting portion respectively corresponding thereto
Stating has gap between two side walls of body；
Drive device, the drive device is arranged in the body, and the drive device includes the drive division that is connected and the
Two connecting portions, the drive division is used to drive the second connecting portion activity, the second connecting portion and the first connecting portion
Connected by magnet.
7. robot according to claim 6, it is characterised in that
The first connecting portion surface relative with the second connecting portion is rounded face, and the magnet is located off the circle
Other regions in the position in the shape face center of circle, the rounded face adjacent to position set by the magnet use non-magnetically attractive material.
8. the robot according to claim 6 or 7, it is characterised in that
The magnet includes for being arranged at the first magnet of the first connecting portion and being arranged in the second connecting portion
Two magnet, the first connecting portion and the second connecting portion by first magnet with second magnet is attracting docks.
9. robot according to claim 8, it is characterised in that
First magnet and second magnet are electromagnet；
The coil of second magnet, which is connected with power supply, the first connecting portion part, is provided with the first energization contact, and described
The second energization contact is provided with two connection members, the second energization contact is electrically connected to the power supply, and described first is powered
Contact is electrically connected to the coil of first magnet；Or, the coil of first magnet is connected with power supply, first connection
It is provided with part on the first energization contact, the second connecting portion part and is provided with the second energization contact, described first, which is powered, touches
Point is electrically connected to the power supply, and the second energization contact is electrically connected to the coil of second magnet；
When the first connecting portion is relative with the second connecting portion to be connect, the first energization contact is powered with described second and touched
Point conducting, first magnet and second magnet are attracting.
10. robot according to claim 8, it is characterised in that
First magnet is electromagnet, and second magnet is permanent magnet, and the coil of first magnet is by controlling circuit
Power supply is connected, the control circuit moves towards circuit and second including first and moves towards circuit, described first moves towards circuit and described the
Two move towards circuit interlock；
Sensor is provided with the first connecting portion part, the sensor is used for the torsion for measuring the first connecting portion, institute
State sensor and second move towards circuit by what controller was connected to the control circuit；
When the first connecting portion is relative with the second connecting portion to be connect, described first moves towards circuit turn-on, first magnetic
The outer surface of iron has the first magnetic pole, and the outer surface magnetic pole of first magnetic pole and second magnet is different, when the sensing
When the torsion that device measures the first connecting portion is more than preset value, triggering the controller makes described second to move towards circuit turn-on,
The outer surface of first magnet has the second magnetic pole, and second magnetic pole is identical with the outer surface magnetic pole of second magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720472968.3U CN206598302U (en) | 2017-04-28 | 2017-04-28 | Security activity bindiny mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720472968.3U CN206598302U (en) | 2017-04-28 | 2017-04-28 | Security activity bindiny mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206598302U true CN206598302U (en) | 2017-10-31 |
Family
ID=60143871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720472968.3U Active CN206598302U (en) | 2017-04-28 | 2017-04-28 | Security activity bindiny mechanism and robot |
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| Country | Link |
|---|---|
| CN (1) | CN206598302U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
-
2017
- 2017-04-28 CN CN201720472968.3U patent/CN206598302U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623870A (en) * | 2019-02-22 | 2019-04-16 | 江苏钧微动力科技有限公司 | A kind of novel vector controlled rotary joint |
| CN109623870B (en) * | 2019-02-22 | 2024-04-12 | 江苏钧微动力科技有限公司 | Vector control rotary joint |
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