CN209164888U

CN209164888U - Compound motion control and job platform and certainly carrying mobile platform

Info

Publication number: CN209164888U
Application number: CN201821692601.3U
Authority: CN
Inventors: 杨斌堂; 杨诣坤; 张茂胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2019-07-26
Anticipated expiration: 2028-10-18

Abstract

The utility model provides a kind of control of compound motion and job platform and from carrying mobile platform, comprising: pipeline (705), track implantation piece (703), climbing robot (704)；Climbing robot (704) are provided on the track implantation piece (703)；Climbing robot (704) can creep movement along track implantation piece (703)；The paragraph of track implantation piece (703) where climbing robot (704) is the mobile offer support force of climbing robot (704)；Climbing robot (704) includes linear motor, and the linear motor of climbing robot (704) is using track implantation piece (703) as movement support.The utility model is structurally reasonable, can be realized robot and moves in the duct.

Description

Compound motion control and job platform and certainly carrying mobile platform

Technical field

The utility model relates to motion control fields, and in particular, to compound motion control and job platform.

Background technique

Linear motor is a kind of electric energy to be directly changed into linear motion mechanical energy.A variety of pincers have been disclosed in the prior art Position mechanism such as those skilled in the art can refer to " Electromagnetic clamping mechanism and its linear drive apparatus, combination " [application number 201410387626.2, publication number CN104167957A], it discloses Electromagnetic clamping mechanisms, including electromagnet, permanent magnet and change The magnetic pole of body, the permanent magnet directly contacts or close with the magnetic pole of electromagnet, forms magnetic circuit, the deformable body with forever Magnet rigid connection；The permanent magnet opposite electromagnet under the driving in magnetic circuit magnetic field moves, and deformable body is driven to generate Deformation, and then realize clamp locking and release.Those skilled in the art can also refer to " the electromagnetic-permanent magnetic for linear motor Clamping institution " [application number 201020603794.8, publication number CN201869079U] and " Electromagnetic clamping mechanism and its stick-slip fortune The patent documents such as dynamic linear motor " [application number 201020603955.3, publication number CN201887641U] realize clamping institution, Can also with reference to " electromagnetism adaptively clamp clamping device and combined type clamp clamping device " [application number 201610038564.3, Publication number CN105527840A].For example, " Electromagnetic clamping mechanism and its linear drive apparatus, combination " is based on, in clamping institution Deformable body can be locked as output tight against locked object is lived, based on " electromagnetic-permanent magnetic for linear motor clamps Mechanism ", the output rod in clamping institution can be locked as output tight against locked object is lived, and be based on " Electromagnetic clamping Mechanism and its stick-slip linear motor ", output shaft in clamping institution as output can tight against live locked object into Row locking is based on " electromagnetism adaptively clamps clamping device and combined type clamp clamping device ", the Clamping elements in clamping institution It can be tightened as output, relax to live with lock ring, being locked tight against firmly locked object.Those skilled in the art can be with Referring to " swing type long stroke telecontrol equipment and multidimensional motor " [application number 201610351263.6, publication number CN 207321084 U] realize have by the wide clamping institution to narrow passage.

Utility model content

For the defects in the prior art, the purpose of the utility model is to provide a kind of control of compound motion and operation horizontals Platform.

According to provided by the utility model a kind of from carrying mobile platform, comprising: pipeline 705, is climbed at track implantation piece 703 Row robot 704；

Climbing robot 704 is provided on the track implantation piece 703；Climbing robot 704 can be implanted into along track Part 703 is creeped movement；

The paragraph of track implantation piece 703 where climbing robot 704 provides support for the movement of climbing robot 704 Power；

Climbing robot 704 includes linear motor, the linear motor of climbing robot 704 using track implantation piece 703 as Movement support.

Preferably, be provided in pipeline 705 be capable of fixing and discharge climbing robot 704 connect fastener；

The weight of track implantation piece 703 is greater than climbing robot 704.

According to a kind of compound motion control provided by the utility model and job platform, including it is spatial movement mechanism 700, straight Line motor；

The spatial movement mechanism 700 is the movement mechanism of one-dimensional movement mechanism either multidimensional；

Linear motor is mounted on the control movement mechanism；

The movement of spatial movement mechanism 700 and the movement of the linear motor form compound motion；

Wherein, the linear motor, comprising: movement parts 1, the first clamp element 91, driving assembly 900；First pincers Hyte part 91 includes clamping institution, wherein the clamping institution can be cut between two-way locked, one-way movement, bidirectional-movement State is changed, makes movement parts 1 in the straight direction relative to two-way locked, the only unidirectional free movement, two-way of clamping institution respectively Free movement；Wherein, the rectilinear direction is the axial direction of movement parts 1；Under the driving of driving assembly 900, the first clamp element 91 can linearly move back and forth.

Preferably, the spatial movement mechanism 700 includes serial kinematic system or parallel manipulator；

The serial kinematic system includes multi-joint robotic arm；

The parallel manipulator includes Stewart platform.

It preferably, further include power tool；Wherein, the power tool is mounted in the movement parts 1 of linear motor；Or peace Loaded on linear motor；

The power tool includes following any or appoints multiple types of tools:

Energy converting transmission power tool, wherein energy conversion be electric energy, magnetic energy, thermal energy, chemical energy, luminous energy or Conversion or mutually conversion between deformation and mechanical energy；

Detection instrument；

Machining tool；

Pipeline pump valve tool；

Spray painting tool；

Illumination tool；

Operation tool；

Needle pierces tool；

Drilling tool.

Preferably, movement parts 1 include track implantation piece 703；

The rigidity of track implantation piece 703 in the axial direction is higher, and the rigidity in the radial direction of track implantation piece 703 is lower；

Climbing robot 704 includes linear motor, the linear motor of climbing robot 704 using track implantation piece 703 as Movement parts.

Preferably, the compound motion control and job platform further include pipeline 705；

Track implantation piece 703 extends in pipeline 705 along pipeline 705, and climbing robot 704 is located in pipeline 705；

Pipeline 705 is hose, and the rigidity of pipeline 705 in the axial direction is higher, and the rigidity in the radial direction of pipeline 705 is lower；Or Person, pipeline 705 are hard tube.

Preferably, climbing robot 704 is through the middle control chamber on track implantation piece 703 or positioned at track implantation piece 703 In body.

In preference, linear motor, comprising: movement parts 1, the first clamp element 91, driving assembly 900；

First clamp element 91 includes clamping institution, wherein the clamping institution can be in two-way locked, unidirectional fortune Switching state between dynamic, bidirectional-movement makes movement parts 1 two-way locked, only relative to clamping institution in the straight direction respectively Unidirectional free movement, two-way free movement；Wherein, the rectilinear direction is the axial direction of movement parts 1；

Under the driving of driving assembly 900, the first clamp element 91 can be moved back and forth linearly.

It preferably, further include the second clamp element 92；Wherein, second clamp element 901 includes clamping institution, In, the clamping institution can between two-way locked, one-way movement, bidirectional-movement switching state, make movement parts 1 exist respectively Relative to two-way locked, the only unidirectional free movement, two-way free movement of clamping institution in rectilinear direction.

Preferably, driving assembly 900 includes the first magnetoelectricity body 901, the second magnetoelectricity body 902, connection elastic component 903；

Connection elastic component 903 is connected between the first magnetoelectricity body 901, the second magnetoelectricity body 902；

First magnetoelectricity body 901 is fixed relative to ground, and the second magnetoelectricity body 902 is fastenedly connected clamping institution；Alternatively, movement parts 1 fixes relative to ground；

Wherein, the first magnetoelectricity body 901, the second magnetoelectricity body 902 are respectively as follows:

Electromagnet, permanent magnet；

Permanent magnet, electromagnet；

Electromagnet, electromagnet.

Preferably, driving assembly 900 includes permanent magnet 904, elastic cushion 905, C-shaped coil 906, shaft 907, lever 908；

Permanent magnet 904 is connected in the notch of C-shaped coil 906 by elastic cushion 905；And permanent magnet 904 can be around the shaft 907 rotations；One end of permanent magnet 904 connects clamping institution by lever 908.

Preferably, driving assembly 900 includes:

Pneumatic assembly 909；

Surge component；

Thermal expansion material component 910；

Electromagnetic assembly；

Electrostatic component；

Intellectual material component；

Shape memory alloy material component；Or

Line motor 911.

Preferably, the clamping institution includes controllable polymorphic clamp structure；

The controllable polymorphic clamp structure, comprising: movement parts 1, guide sleeve 2, fastener 3, movement set 4；

Nested encryptions between guide sleeve 2 and movement set 4, form in guide sleeve 2 and adjust chamber 201；Movement parts 1 are passed through and are led To the pilot hole 202 and adjusting chamber 201 of set 2, fastener 3, which is located at, to be adjusted in chamber 201；

It adjusts width of the chamber 201 on the axial direction of guide sleeve 2 to narrow from the width, forms wide end 2011, narrow end 2012； Movement set 4 is located at 2011 side of wide end for adjusting chamber 201；

By the relative motion of guide sleeve 2 and movement set 4 in the axial direction, so that the structure for adjusting chamber 201 It can change between two-way locking state, one-way movement state, bidirectional-movement state；

Two-way locking state: fastener 3 is locked movement parts 1 by movement parts 1, the extruding for adjusting chamber 201, moving set 4 Die of guide sleeve 2；

Bidirectional-movement state: movement parts 1, the cavity wall for adjusting chamber 201, movement cover at least one component and fastener in 4 3 are detached from, and movement parts 1 can be towards 2011 direction free movement of wide end, and can be towards 2012 direction free movement of narrow end；

One-way movement state: one-way movement state be change between two-way locking state and bidirectional-movement state it is critical State, under one-way movement state, movement parts 1 can be locked towards 2011 direction free movement of wide end, and towards 2012 direction of narrow end Extremely.

Preferably, it is threadedly coupled between guide sleeve 2 and movement set 4, movement set 4 is by rotation relative to guide sleeve 2 in axis The relative motion on direction.

Preferably, controllable polymorphic clamp structure further include: retainer 5；

It is locked by retainer 5 between guide sleeve 2 and movement set 4.

Preferably, controllable polymorphic clamp structure further include: driving mechanism 6；

The movement set 4 includes: sequentially connected external member 401, movement flexible part 402, limited block 403；External member 401 with lead It is relatively fixed to set 2；

Under two-way locking state: fastener 3 will be moved by movement parts 1, the extruding of adjusting chamber 201, limited block 403 Part 1 is locked in guide sleeve 2, and movement flexible part 402 is squeezed by external member 401 and limited block 403 to most compressed state in the axial direction；

Under one-way movement state: under the drive of movement parts 1, fastener 3 can push limited block 403 to lean on towards external member 401 Closely with compression movement elastic component 402, thus movement parts 1 can overcome the elastic force of movement flexible part 402 towards 2011 direction of wide end from By moving.

Under the magnetic force, electric power or mechanical force that driving mechanism 6 applies, limited block 403 can overcome movement flexible part 402 Elastic force is close to external member 401, so that one-way movement state change is to bidirectional-movement state.

Preferably, driving mechanism 6 is arranged in guide sleeve 2, is arranged in external member 401 or is connected to external member 401 and fortune Between dynamic elasticity part 402.

Preferably, thrust elastic component 203 is connected between fastener 3 and narrow end 2012；Thrust elastic component 203 is mentioned to fastener 3 The elastic force of chamber 201 is adjusted for being detached from；

Movement parts 1 are axially moved relative to guide sleeve 2 or circumferential movement.

In preference, linear motor, including movement parts 1, magnetoelectricity field position shape variant, the first magnetoelectricity body are to 602, second Magnetoelectricity body is to 603；

On 1 axial direction of movement parts, the first magnetoelectricity body is adjacent to elongated rotation to 603 to the 602, second magnetoelectricity body respectively The two sides of body 601；

Elongated rotor 601 can change the length on 1 axial direction of movement parts by rotation, to change the first magnetic Electric body to 602 and second magnetoelectricity body to the spacing between 603；

When elongated rotor 601 turns to first position, the first magnetoelectricity body is to 602 released movement parts 1, the second magnetoelectricity body To 603 released movement parts 1；

When elongated rotor 601 turns to the second position, the magnet of elongated 601 one end of rotor drives the first magnetoelectricity body To 602 released movement parts 1, the magnet of elongated 601 other end of rotor drives the second magnetoelectricity body to 603 locked movement parts 1.

Preferably, magnetoelectricity field position shape variant includes elongated rotor 601；

First magnetoelectricity body includes that homopolarity is opposite or heteropolar opposite magnetoelectricity body pair to 603 to the 602, second magnetoelectricity body, Wherein, the opposite magnetoelectricity body is by reprimand to can be opened with released movement part 1, and opposite magnetoelectricity body is to can be attracted to lock Movement parts 1.

Preferably, the linear motor further include: elastic shell 604；

Elongated rotor 601, the first magnetoelectricity body are respectively positioned in elastic shell 604 602, second magnetoelectricity body to 603；In bullet Under the constraint of property shell 604, the first magnetoelectricity body is adjacent to the two of elongated rotor 601 to 603 to the 602, second magnetoelectricity body respectively Side.

Preferably, the first magnetoelectricity body includes ferromagnetic connector 605 to 603 to the 602, second magnetoelectricity body；Homopolarity is opposite Magnetoelectricity body is to being slidably arranged on ferromagnetic connector 605；Ferromagnetic connector 605 is attracted by the magnet at elongated 601 both ends of rotor, So that the two sides that the first magnetoelectricity body is adjacent to elongated rotor 601 to 603 to the 602, second magnetoelectricity body respectively.

Preferably, the linear motor further include: driving device 606；

Elongated rotor 601 rotates under the driving of driving device 606；

The driving device 606 includes:

It can be close to and far from the permanent magnet of elongated rotor 601；

Electromagnet.

Preferably, under the driving of driving device 606,

When elongated rotor 601 turns to the third place, the first magnetoelectricity body is to 602 released movement parts 1, the second magnetoelectricity body To 603 released movement parts 1；Between first position and the third place, elongated 601 posture of rotor is unanimously and the position at both ends is mutual It changes；

When elongated rotor 601 turns to four positions, the magnet of elongated 601 one end of rotor drives the first magnetoelectricity body To 602 locked movement parts 1, the magnet of elongated 601 other end of rotor drives the second magnetoelectricity body to 603 released movement parts 1；Second Between position and the 4th position, elongated 601 posture of rotor is consistent and the location swap at both ends.

Preferably, between magnetoelectricity body pair in a manner of thermally expanding close to locked movement parts, far from released movement part.

In preference, linear motor, comprising: movement parts 1, field energy position shape variant, the first locking mechanism 802, second Locking mechanism 803；

On 1 axial direction of movement parts, the first locking mechanism 802, the second locking mechanism 803 are adjacent to field energy position shape respectively The two sides of variant；

Field energy position shape variant can change the length on 1 axial direction of movement parts by rotation, to change first Spacing between locking mechanism 802, the second locking mechanism 803；

When field energy position, shape variant turns to first position, 802 released movement part 1 of the first locking mechanism, the second clamping lock 803 released movement part 1 of mechanism；

When field energy position, shape variant turns to the second position, first card of field energy body driving of field energy position shape variant one end 802 released movement part 1 of latch mechanism, the field energy body of the field energy position shape variant other end drive the locked movement of the second locking mechanism 803 Part 1.

Preferably, field energy position shape variant includes elongated rotor 601；

First locking mechanism 802, the second locking mechanism 803 include channel chamber 8041；Movement parts 1 pass through channel chamber 8041；Width of the channel chamber 8041 on the axial direction of movement parts 1 narrows from the width, and forms wide diameter end 80411, narrow diameter end 80412；Sliding field energy body 8043 is located in channel chamber 8041, and slides and be arranged between field energy body 8043 and narrow diameter end 80412 There is latch piece 8042；

When latch piece 8042 moves to narrow diameter end 80412 with sliding field energy body 8043, movement parts 1 are by sliding field energy body 8043 and channel chamber 8041 extruding and locked；

When latch piece 8042 is detached from narrow diameter end 80412 with the sliding movement of field energy body 8043, movement parts 1 are released；

First locking mechanism 802, the second locking mechanism 803 wide diameter end 80411 or narrow diameter end 80412 between opposite set It sets.

Preferably, the linear motor further include: driving device 606；

Elongated rotor 601 rotates under the driving of driving device 606；

The driving device 606 includes:

It can be close to and far from the permanent magnet of elongated rotor 601；And/or

Electromagnet.

Preferably, under the driving of driving device 606,

When elongated rotor 601 turns to the third place, 802 released movement part 1 of the first locking mechanism, the second clamping lock machine 803 released movement part 1 of structure；Between first position and the third place, elongated 601 posture of rotor is unanimously and the position at both ends is mutual It changes.

Preferably, when elongated rotor 601 turns to four positions, the field energy body of elongated 601 one end of rotor is driven First locking mechanism 802 locks movement parts 1, and the field energy body of elongated 601 other end of rotor drives the release of the second locking mechanism 803 Movement parts 1；Between the second position and the 4th position, elongated 601 posture of rotor is consistent and the location swap at both ends.

Preferably, including field energy position shape variant；

Under the action of field energy, the size of the field energy position shape variant at least in one direction change and/or The field energy applied also changes, wherein the field energy includes magnetic field, electric field or thermal field.

Preferably, the size changes, and then changes the output of mechanical drive；The field energy applied occurs Variation, and then change the output of field energy power.

Preferably, movement parts 1, field energy position shape variant, the first locking mechanism 802；

When field energy position, shape variant turns to first position, the first locking mechanism 802 unidirectionally locks movement parts 1 or two-way Locked movement parts 1；

When field energy position, shape variant turns to the second position, first card of field energy body driving of field energy position shape variant one end The two-way released movement part 1 of latch mechanism 802.

According to a kind of field energy power switch executive mechanism provided by the utility model, movement parts 1, field energy position shape variant, One locking mechanism 802；

When shape variant turns to different location when field energy position, the first locking mechanism 802 can be driven in reversible lock death situation State, unidirectional locking state switch between two-way release conditions.

In preference, deformation clamp linear motor, comprising: the first clamp body 501, extrusome 502, second clamp body 503, movement parts 1；

First clamp body 501, extrusome 502, second clamp body 503 and are sequentially connected；

It includes opening member that first clamp body 501, second, which clamps body 503,；

The opening member includes opening body 5041, deformable body 5042；Wherein, opening body 5041 is arranged in deformable body 5042 Between two perforated walls；Movement parts 1 run through the through-hole of perforated wall；

Deformable body 5042 can change between first shape and the second shape:

When deformable body 5042 is located at first shape, the relative pose between the through-hole of two perforated walls allows to move 1 free movement of part；

When deformable body 5042 is located at the second shape, the relative pose between the through-hole of two perforated walls makes locked movement Part 1.

Preferably, extrusome 502 is located at the side of movement parts 1 or extrusome 502 accommodates the through-hole that movement parts 1 pass through It is not contacted with movement parts 1.

Preferably, the opening body of the opening body of the first clamp body 501, the opening body of extrusome 502, the second clamp body 503 Between be sequentially connected.

Preferably, when deformable body 5042 is located at first shape, the first clamp body 501, second clamps the opening body of body 503 Outside through-hole wall be inclined, the i.e. axial direction of the axial direction and movement parts 1 of the outer side through hole of opening body both with respect to movement parts 1 Between form angle, and the inside through-hole wall of the first clamp body 501, second opening body for clamping body 503 is both with respect to movement parts 1 Parallel；

When deformable body 5042 is located at the second shape, the first clamp body 501, second clamps the outside of the opening body of body 503 Through-hole wall is inclined both with respect to movement parts 1, that is, shape between the axial direction of the outer side through hole for the body that is open and the axial direction of movement parts 1 At angle, and the first clamp body 501, second clamps the inside through-hole wall of the opening body of body 503 both with respect to movement parts 1 and inclines Oblique and gradient is less than the gradient of outside through-hole wall, i.e. the gradient of the inside through-hole wall of opening body allows movement parts 1 Free movement.

Preferably, the deflection of two perforated walls of opening member is asymmetric.

Preferably, the root or end of perforated wall is arranged in through-hole.

Preferably, the deformable body (5042) uses:

Pneumatic assembly；

Surge component；

Thermal expansion material component；

Electromagnetic assembly；

Electrostatic component；

Intellectual material component；

Shape memory alloy material component；Or

Line motor.

According to a kind of deformation clamp linear motor provided by the utility model, comprising: the first clamp body 501, movement parts 1；

First clamp body 501 includes opening member；

Deformable body 5042 can change between first shape and the second shape:

Preferably, it described first clamps the non-uniform mass of body 501 or is provided with mass block M.

Preferably, deformable body 5042 alternately quickly filled can, at a slow speed under exoergic, or alternately filled at a slow speed can, it is fast Under fast exoergic, driving opening body 5041 is moved.

Compared with prior art, the utility model have it is following the utility model has the advantages that

The utility model is structurally reasonable, can be realized robot and moves in the duct.

Detailed description of the invention

Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model Sign, objects and advantages will become more apparent upon:

Fig. 1 is the structural schematic diagram of the utility model.

Fig. 2 is the structural schematic diagram of the utility model.

Fig. 3 is the structural schematic diagram of the utility model.

Fig. 4 is the structural schematic diagram of the utility model.

Fig. 5 is the structural schematic diagram of the utility model.

Fig. 6 is the principles of the present invention schematic diagram.

Fig. 7 is the structural schematic diagram of the utility model.

Fig. 8 is the structural schematic diagram of the utility model.

Fig. 9 is the structural schematic diagram of the utility model.

Figure 10 is the structural schematic diagram of the utility model.

Figure 11 is the structural schematic diagram of the utility model.

Figure 12 is the structural schematic diagram of the utility model.

Figure 13 is the structural schematic diagram of the utility model.

Figure 14 is the structural schematic diagram of the utility model.

Figure 15 is the structural schematic diagram of the utility model.

Figure 16 is the structural schematic diagram of the utility model.

Figure 17 is the structural schematic diagram of the utility model.

Figure 18 is the structural schematic diagram of the utility model.

Figure 19 is the structural schematic diagram of the utility model.

Figure 20 is the structural schematic diagram of the utility model clamping institution.

Figure 21 is the structural schematic diagram that the utility model clamping institution is in two-way locking state.

Figure 22 is the structural schematic diagram that the utility model clamping institution is in critical state.

Figure 23 is the structural schematic diagram that the utility model clamping institution is in bidirectional-movement state.

Figure 24 is the structural schematic diagram of the utility model clamping institution.

Figure 25 is the structural schematic diagram of the utility model clamping institution.

Figure 26 is the structural schematic diagram of the utility model clamping institution.

Figure 27 is the structural schematic diagram of the utility model clamping institution.

Figure 28 is the structural schematic diagram of the rotatable one embodiment of the utility model clamping institution movement parts.

Figure 29 is the structural schematic diagram that the utility model clamping institution is in critical state.

Figure 30 is the structural schematic diagram of one embodiment of the utility model clamping institution combination.

Figure 31 is the structural schematic diagram of another embodiment of the utility model clamping institution combination.

Figure 32 is the structural schematic diagram of another embodiment of the utility model clamping institution combination.

Figure 33 is the structural schematic diagram of the further embodiment of the utility model clamping institution combination.

Figure 34 is the structural schematic diagram of the utility model.

Figure 35 is the structural schematic diagram of the utility model.

Figure 36 is the structural schematic diagram of the utility model.

Figure 37 is the structural schematic diagram of the utility model.

Figure 38 is the structural schematic diagram of the utility model.

Figure 39 is the structural schematic diagram of the utility model.

Figure 40 is the structural schematic diagram of the utility model.

Figure 41 is the structural schematic diagram of the utility model.

Figure 42 is the structural schematic diagram of the utility model.

Figure 43 is the structural schematic diagram of the utility model.

Figure 44 is the structural schematic diagram of the utility model.

Figure 45 is the structural schematic diagram of the utility model.

Figure 46 is the structural schematic diagram of the utility model.

Figure 47 is the structural schematic diagram of the utility model.

Figure 48 is the structural schematic diagram of the utility model.

Figure 49 is the structural schematic diagram of the utility model.

Figure 50 is the structural schematic diagram of the utility model.

Figure 51 is the structural schematic diagram of the utility model.

Figure 52 is the structural schematic diagram of the utility model.

Figure 53 is the structural schematic diagram of the utility model.

Figure 54 is the structural schematic diagram of the utility model.

Figure 55 is the structural schematic diagram of the utility model.

Figure 56 is the structural schematic diagram of the utility model.It is shown in figure:

Specific embodiment

The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability For the those of ordinary skill in domain, without departing from the concept of the premise utility, several changes and improvements can also be made. These are all within the protection scope of the present invention.

Basic embodiment B

According to a kind of compound motion control provided by the utility model and job platform, including it is spatial movement mechanism 700, straight Line motor 701；

Linear motor 701 is mounted on the control movement mechanism；

The movement of spatial movement mechanism 700 and the movement of the linear motor 701 form compound motion；

Wherein, the linear motor 701, comprising: movement parts 1, the first clamp element 91, driving assembly 900；Described first Clamp element 91 includes clamping institution, wherein the clamping institution can be between two-way locked, one-way movement, bidirectional-movement Switching state makes movement parts 1 in the straight direction relative to two-way locked, the only unidirectional free movement, double of clamping institution respectively To free movement；Wherein, the rectilinear direction is the axial direction of movement parts 1；Under the driving of driving assembly 900, the first clamp group Part 91 can be moved back and forth linearly.

The spatial movement mechanism 700 includes serial kinematic system or parallel manipulator；The serial kinematic system packet Include multi-joint robotic arm；The parallel manipulator includes Stewart platform.

Below by the preference of basic embodiment B, more specific detail is carried out to the utility model.

Embodiment B1

As shown in Figure 1, the compound motion control and job platform, further include power tool 702；Wherein, the operation Tool 702 is mounted in the movement parts 1 of linear motor 701；

The power tool 702 includes following any or appoints multiple types of tools:

Energy converting transmission power tool, wherein the energy conversion is electric energy, magnetic energy, thermal energy, chemical energy or deformation The conversion of mechanical energy can be arrived；

Detection instrument；

Machining tool；

Pipe running tool；

Spray painting tool；

Needle pierces tool.

The spatial movement mechanism 700 provides x, y, z, α, the multi-dimensional movement in beta, gamma direction, and linear motor 701 provides lz, The two dimensional motion in the direction lr.According to the actual situation, the quantity of dimension can be changed.

Embodiment B2

As shown in Figure 2, Figure 3, Figure 4, movement parts 1 include track implantation piece 703；

The paragraph of track implantation piece 703 where climbing robot 704 provides support for the movement of climbing robot 704 Power.

Climbing robot 704 includes linear motor, the linear motor of climbing robot 704 using track implantation piece 703 as The movement support that movement parts, i.e. track implantation piece 703 are climbing robot 704.To which the track implantation piece 703 passes through One linear motor 701 moves, climbing robot 704 itself pass through another linear motor relative to track implantation piece 703 into Row movement.

The quantity of climbing robot 704 is one or more.

It is further preferred that the compound motion control and job platform further include pipeline 705；

Track implantation piece 703 extends in pipeline 705 along pipeline 705, and climbing robot 704 is located in pipeline 705.

Pipeline 705 is hose, and the rigidity of pipeline 705 in the axial direction is higher, and the rigidity in the radial direction of pipeline 705 is lower.Pipe Road 705 can also be hard tube.

As shown in figure 5, climbing robot 704, which is located in the middle control cavity of track implantation piece 703, creeps in preference.

It is illustrated below with reference to Fig. 6 to Figure 33.

Basic embodiment B2

As shown in fig. 6, according to a kind of linear motor provided by the utility model, comprising: movement parts 1, the first clamp element 91, driving assembly 900；

In preference, the linear motor further includes the second clamp element 92；Wherein, second clamp element 901 Including clamping institution, wherein the clamping institution can between two-way locked, one-way movement, bidirectional-movement switching state, point Do not make movement parts 1 in the straight direction relative to two-way locked, the only unidirectional free movement, two-way free movement of clamping institution.

The preference of basic embodiment B2 is illustrated below.

Embodiment B21

As shown in fig. 7, driving assembly 900 includes the first magnetoelectricity body 901, the second magnetoelectricity body 902, connection elastic component 903；

Second magnetoelectricity body 902 is fastenedly connected clamping institution；

First magnetoelectricity body 901 is fixed relative to ground.

Magnetoelectricity body includes magnet and/or electrical body, especially electrostatic body.

Embodiment B22

As shown in figure 8, Fig. 8 is the change case of Fig. 7.

Step A1: clamping institution is in one-way movement state, and movement parts 1 can only move right relative to clamping institution, and It cannot be moved to the left；First magnetoelectricity body 901 drives the second magnetoelectricity body 902 distally to move, and the second magnetoelectricity body 902 pushes clamp machine Structure, at this time since movement parts 1 can only move right, cannot be moved downward far from the first magnetoelectricity body 901, thus movement parts 1 also with With movement.

Step A2: then, the elastic force that the first magnetoelectricity body 901 attracts the second magnetoelectricity body 902 to overcome connection elastic component 903 is close Mobile, the second magnetoelectricity body 902 pulls clamping institution close to the first magnetoelectricity body 901, at this time since movement parts 1 can only move right, It cannot move downward, therefore movement parts 1 will remain stationary.

Above step A1, step A2 are repeated, can be realized the step motion to the right of movement parts 1.

Embodiment B23

As shown in figure 9, being the change case of Fig. 8.In Fig. 9, the movement parts 1 of the one-way movement state permission of clamping institution Moving direction has carried out reversely.

Step B1: clamping institution is in one-way movement state, and movement parts 1 can only be moved to the left relative to clamping institution, and It cannot move right；First magnetoelectricity body 901 drives the second magnetoelectricity body 902 distally to move, and the second magnetoelectricity body 902 pushes clamp machine Structure, at this time since movement parts 1 can only move downward, cannot be moved right far from the first magnetoelectricity body 901, therefore movement parts 1 will protect It holds motionless.

Step B2: then, the elastic force that the first magnetoelectricity body 901 attracts the second magnetoelectricity body 902 to overcome connection elastic component 903 is close Mobile, the second magnetoelectricity body 902 pulls clamping institution close to the first magnetoelectricity body 901, at this time since movement parts 1 can only move downward, It cannot move right, so that movement parts 1 also follow movement.

Above step B1, step B2 are repeated, can be realized the step motion to the left of movement parts 1.

Embodiment B24

As shown in Figure 10, Figure 10 is the preference of Fig. 7.Figure 10 has the first clamp element of symmetrical structure in the axial direction 91, the second clamp element 92.

First magnetoelectricity body 901 is fixed relative to ground.

The first magnetoelectricity body 901, the second magnetoelectricity body 902 are respectively electromagnet, permanent magnet.

Embodiment B25

As shown in figure 11, Figure 11 is the change case of Figure 10.

First magnetoelectricity body 901 is fixed relative to ground.

The first magnetoelectricity body 901, the second magnetoelectricity body 902 are respectively permanent magnet, electromagnet.

Embodiment B26

As shown in figure 12, Figure 12 is the change case of Figure 10.

Movement parts 1 are fixed relative to ground.

Embodiment B27

As shown in figure 13, Figure 13 is the change case of Figure 11.

Movement parts 1 are fixed relative to ground.

Embodiment B28

As shown in figure 14, Figure 14 is the change case of Figure 11.

First magnetoelectricity body 901 is fixed relative to ground.

The first magnetoelectricity body 901, the second magnetoelectricity body 902 are electromagnet.

Embodiment B29

As shown in figure 15, Figure 15 is the change case of Figure 14.

Movement parts 1 are fixed relative to ground.

Embodiment B210

As shown in figure 16, driving assembly 900 includes Pneumatic assembly 909.

Pneumatic assembly 909 drives clamping institution, realizes and moves back and forth.

In change case, Pneumatic assembly 909 can change as the component that surges.

Embodiment B211

As shown in figure 17, driving assembly 900 includes thermal expansion material component.

Thermal expansion material component drives clamping institution, realizes and moves back and forth.

In change case, thermal expansion material component can change as shape memory alloy material component.

Embodiment B212

As shown in figure 18, driving assembly 900 includes motor, such as line motor 911, in another example rotation motor.

Line motor 911 drives clamping institution, realizes and moves back and forth.

Embodiment B213

As shown in figure 19, driving assembly 900 includes permanent magnet 904, elastic cushion 905, C-shaped coil 906, shaft 907, lever 908；

A block permanent magnet 904 is placed in 906 indentation, there of C-shaped coil, polarity is as shown in figure 19；In C-shaped coil 906 and permanent magnetism Elastic cushion 905 is placed between iron 904, when C-shaped coil 906 is powered, permanent magnet 904 is around the shaft under the action of electromagnetic force 907 rotations squeeze elastic cushion 905 and generate micro-displacement, generate biggish displacement, driving right side clamp by the amplification of lever 908 Mechanism kinematic realizes the movement of the movement parts 1 of such as axis by controlling the locking state of left and right clamping institution.

Below by preference, more specific detail is carried out to the clamping institution in the utility model.

Clamping institution basic embodiment

According to a kind of controllable polymorphic clamp structure provided by the utility model, comprising: movement parts 1, guide sleeve 2, fastener 3, Movement set 4；

The preference of basic embodiment is specifically described below.

Clamping institution embodimentB21

As shown in figure 20, it is threadedly coupled between guide sleeve 2 and movement set 4, movement set 4 is by rotation relative to guide sleeve 2 Relative motion in the axial direction.

The controllable polymorphic clamp structure, further includes: retainer 5；It is locked between guide sleeve 2 and movement set 4 by retainer 5 Extremely.

Movement parts 1 are axially moved relative to guide sleeve 2.

Rotation is sent perhaps remove retainer 5 after movement set 4 can screw in or select guide sleeve 2 by screw thread, adjusted with changing The length of chamber 201 in the axial direction is saved, so that the width of wide end 2011 becomes larger or becomes smaller.When screwing or install only After moving part 5, it is locked and relatively fixed between movement set 4 and guide sleeve 2.

There is locating piece 7 on movement set 4, wherein the locating piece 7 can be groove or raised line.It is positioned by observation Positional relationship between 2 end face of part 7 and guide sleeve, can identify current state be two-way locking state, one-way movement state, Bidirectional-movement state.

As shown in figure 21, groove is located at the inside of guide sleeve 2, and state is two-way locking state, and fastener 3 uses sphere, should Sphere does not have any activity space.As shown in figure 23, groove is located at the outside of guide sleeve 2, and state is bidirectional-movement state, should Sphere is not stuck, therefore movement parts 1 can be with bidirectional-movement；Wherein, sphere can pass through magnetic force or connector connection movement Set 4, to be disengaged with guide sleeve 2 and/or movement parts 1, certainly, as long as fastener 3 disengage movement parts 1, guide sleeve 2, Bidirectional-movement state can be realized in any one component in movement set 4.As shown in figure 22, be changed to by reversible lock death situation body it is double During motion state, and during being changed to two-way locking state by bidirectional-movement shape body, there is intermediate face Boundary's state.Under the critical state, movement parts 1 can only be moved to wide end 2011, and cannot be moved to narrow end 2012.It is preferred that Ground though movement parts 1, guide sleeve 2, movement set 4 are rigid member, still has after stress certain in practice under critical conditions Deformation, to realize critical state.

Clamping institution embodimentB22

Shown in Figure 24, Figure 24 is the change case of Figure 20.In this change case, locating piece 7 is sliding slot and buckle, is respectively set On movement set 4, guide sleeve 2, when snapping into sliding slot, state recognition is one-way movement state.

Clamping institution embodimentB23

As shown in figure 25, the controllable polymorphic clamp structure, further includes: driving mechanism 6；

Thrust elastic component 203 is connected between fastener 3 and narrow end 2012；Thrust elastic component 203 is provided to be detached to fastener 3 and be adjusted Save the elastic force of chamber 201.

As shown in figure 25, it is in one-way movement state.When movement parts 1 have movement tendency towards narrow end 2012, sphere is transported Moving part 1, guide sleeve 2, movement set 4 are stuck by sphere, and movement parts 1 cannot be moved to 2012 direction of narrow end.When movement parts 1 are towards wide end When 2011 movement, under the drive of movement parts 1, fastener 3 can push limited block 403 towards external member 401 close to compression movement bullet Property part 402, so that movement parts 1 can overcome the elastic force of movement flexible part 402 towards 2011 direction free movement of wide end.

When under driving of the limited block 403 in driving mechanism 6 towards 2011 direction of wide end move when, enable to sphere keep with It is disengaged between the cavity wall of the adjusting chamber 201 of movement parts 1 or guide sleeve 2, fades to bidirectional-movement state.Wherein, it drives The driving force of mechanism 6 is from magnetic force, or is also possible to mechanical force in change case.

When movement set 4 moves to highest distance position towards narrow end 2012, that is, enter two-way locking state.

Clamping institution embodimentB24

It as shown in figure 26, is the change case of Figure 25.In Figure 26, driving mechanism 6 is connected to external member 401 and movement flexible part Between 402.Sphere is Permanent Magnet and Electric body or ferromagnetic electric body.

Clamping institution embodimentB25

It as shown in figure 22, is the change case of Figure 21.In Figure 22, driving mechanism 6 includes two magnetoelectricity bodies, the two magnetoelectricities It attracts each other between body, enables to the magnetoelectricity body on right side in Figure 27 to be attracted and push sphere to move downward to the left.Sphere can be with It is non-magnetic material, such as plastics or ceramic material.

Clamping institution embodimentB26

As shown in figure 28, Figure 28 is the change case of Figure 20.In Figure 28, movement parts 1 are relative to 2 circumferential movement of guide sleeve. Movement set 4 is not shown in Figure 28.It is in one-way movement state as shown in figure 28, movement parts 1 are merely able to rotate clockwise, no It can rotate counterclockwise.As shown in figure 29, by one-way movement state change to bidirectional-movement state.

Clamping institution embodimentB27

The utility model provides a kind of combination unit of controllable polymorphic clamp structure, including multiple controllable polymorphic clamps Structure；In multiple controllable polymorphic clamp structures, at least there are two controllable polymorphic clamp structures in the movement side of movement parts 1 It is oppositely arranged upwards.

As shown in figure 30, shown in Figure 31, Figure 32, Figure 33, after combination, in addition to realizing two-way locking state, two-way fortune Except dynamic state, it can also realize to opposite both direction and be respectively at one-way movement state.Such as Figure 30 shown in, Figure 31, In Figure 32, one-way movement to the left or to the right one-way movement state may be implemented.In another example list clockwise may be implemented in Figure 33 To movement or one-way movement state counterclockwise.

Basic embodiment B4

According to a kind of linear motor provided by the utility model, comprising: movement parts 1, magnetoelectricity field position shape variant, the first magnetic Electric body is to the 602, second magnetoelectricity body to 603；Magnetoelectricity field position shape variant includes elongated rotor 601.

First magnetoelectricity body includes that homopolarity is opposite or heteropolar opposite magnetoelectricity body pair to 603 to the 602, second magnetoelectricity body, Wherein, the opposite magnetoelectricity body is by reprimand to can be opened with released movement part 1, and opposite magnetoelectricity body is to can be attracted to lock Movement parts 1；

Magnetoelectricity field position shape variant includes magnetic field configuration variant and/or electric field position shape variant, such as rest potential deformation Change body.

Magnetoelectricity body is to including magnet pair and/or electric body pair.

Working principle:

Under the action of magnetic energy, the size of magnetoelectricity field position shape variant at least in one direction change and/ Or the magnetic field applied also changes.The size changes, and then changes the output of mechanical drive；It is described to apply Magnetic field change, and then change magnetic force output.

As shown in figure 34, three Zhang Zitu of upper, middle and lower respectively illustrates elongated rotor 601 and is located at first position, second Set, first position when structural schematic diagram, wherein elongated rotor 601 is to be rotated clockwise to the second position by first position, Then first position is turned to by the second position counterclockwise.

Step A: when elongated rotor 601 is located at first position, the first magnetoelectricity body is to 602 released movement parts 1, the second magnetic Electric body is to 603 released movement parts 1；Movement parts 1 being capable of relatively two-way released movement；

Step B: under the driving of magnetic energy or mechanical energy, elongated rotor 601 turns to the second position by first position When, the magnet of elongated 601 one end of rotor drives the first magnetoelectricity body to 602 released movement parts 1, elongated 601 other end of rotor Magnet drive the second magnetoelectricity body to 603 locked movement parts 1.It is synchronously that dimensionally, elongated rotor 601 is by with this When one position turns to the second position so that the first magnetoelectricity body to 602 and second magnetoelectricity body become larger to the spacing between 603, by Movement parts 1 have been locked to 603 in the second magnetoelectricity body, therefore in order to adapt to the change trend of spacing, the first magnetoelectricity body to 602 to Left side move distance X1 in Figure 34；

Step C: under the driving of magnetic energy or mechanical energy, elongated rotor 601 turns to first position by the second position When, the first magnetoelectricity body is to 602 released movement parts 1, and the second magnetoelectricity body is to 603 released movement parts 1, therefore, the first locking mechanism 802, it will mutually be drawn close between the second locking mechanism 803.

Successively execute step A, step B, step C, it will be able to make the first magnetoelectricity body to 602 forward travel distance X, X=1/2X1.

Step A, step B, step C are executed repeatedly, it will be able to realize that long stroke moves.

Below by preference, more specific detail is carried out to the utility model.

Embodiment B41

As described in Figure 34, the linear motor further include: elastic shell 604；

In further preference, the first magnetoelectricity body includes ferromagnetic connector to 603 to the 602, second magnetoelectricity body 605；The opposite magnetoelectricity body of homopolarity is to being slidably arranged on ferromagnetic connector 605；Ferromagnetic connector 605 is by elongated rotor 601 The magnet at both ends attracts, so that the first magnetoelectricity body is adjacent to the two of elongated rotor 601 to 603 to the 602, second magnetoelectricity body respectively Side.

In change case, elastic shell 604 or ferromagnetic connector 605 can be omitted.

In change case, movement parts 1 are fixed or elastic shell 604 is fixed.

It as shown in figure 35, is the change case of Figure 34, the direction of motion of elastic shell 604 is to move right in Figure 35.

As shown in Figure 36, Figure 37, the change case of Figure 35, Figure 34 are corresponded to respectively, and variation is that elastic shell 604 is consolidated Fixed, movement parts 1 are mobile.But the moving distance of single step is X.

Embodiment B42

As shown in figure 38, the linear motor further include: driving device 606；

Elongated rotor 601 rotates under the driving of driving device 606；

The driving device 606 includes:

It can be close to and far from the permanent magnet of elongated rotor 601；

Electromagnet.

Embodiment B43

Under the driving of driving device 606, when elongated rotor 601 turns to the third place, the first magnetoelectricity body is to 602 Released movement part 1, the second magnetoelectricity body is to 603 released movement parts 1.Between first position and the third place, elongated 601 appearance of rotor State is consistent and the location swap at both ends.

When elongated rotor 601 turns to four positions, the magnet of elongated 601 one end of rotor drives the first magnetoelectricity body To 602 locked movement parts 1, the magnet of elongated 601 other end of rotor drives the second magnetoelectricity body to 603 released movement parts 1.Second Between position and the 4th position, elongated 601 posture of rotor is consistent and the location swap at both ends.

In conjunction with shown in Figure 38, Figure 39, driving device 606 is movable, under the attraction of driving device 606, elongated rotor 601 pole S will be attracted to the position of the top from right side, and then driving device 606 is to left dislocation, then the pole S will continue to rotate Into left side, then the current direction of the electromagnet in driving device 606 changes, thus drive the pole S to move downward by repulsion, To realize 90 degree and the overturning greater than 90 degree of elongated rotor 601.In this way, from the point of view of in conjunction with Figure 34, elasticity shown in Figure 34 The moving direction of shell 805 is only moved to the left, and when 60190 degree of elongated rotor and is greater than 90 degree, such as the overturning of 180 degree Afterwards, moving direction can be changed into and is moved right.To which the utility model can switch movement between both direction.

Embodiment B44

As shown in Figure 40, Figure 41, magnet is to the inner wall that can shore pipeline far from after.Such as it directly shores or passes through Elastic shell is shored.

In more preferences:

Basic embodiment B5

As shown in figure 42, according to a kind of linear motor provided by the utility model, comprising: movement parts 1, the deformation of field energy position Body, the first locking mechanism 802, the second locking mechanism 803；Field energy position shape variant includes elongated rotor 601.

On 1 axial direction of movement parts, the first locking mechanism 802, the second locking mechanism 803 are adjacent to elongated rotation respectively The two sides of body 601；

Elongated rotor 601 can change the length on 1 axial direction of movement parts by rotation, to change the first card Spacing between latch mechanism 802, the second locking mechanism 803；

When latch piece 8042 is detached from narrow diameter end 80412 with the sliding movement of field energy body 8043, movement parts 1 are released.

When elongated rotor 601 turns to first position, the first locking mechanism 802 unidirectionally locks movement parts 1, the second card Latch mechanism 803 unidirectionally locks movement parts 1；

When elongated rotor 601 turns to the second position, the field energy body of elongated 601 one end of rotor drives the first clamping lock The second locking mechanism of field energy body driving 803 of the two-way released movement part 1 of mechanism 802, elongated 601 other end of rotor is two-way locked Movement parts 1.

Field energy body preferably includes magnet or electrical body, such as electrostatic body.

Sliding field energy body preferably includes sliding magnet or sliding electrical body, such as electrostatic body.

Working principle:

Under the action of field energy, the size of the field energy position shape variant at least in one direction change and/or The field energy applied also changes, wherein the field energy includes magnetic field, electric field or thermal field.The size changes, And then change the output of mechanical drive；The field energy applied changes, and then changes the output of field energy power.

As shown in figure 42, three Zhang Zitu of upper, middle and lower respectively illustrates elongated rotor 601 and is located at first position, second Set, first position when structural schematic diagram, wherein elongated rotor 601 is to rotate counterclockwise to the second position by first position, Then first position is turned to by the second position clockwise.

Step A: when elongated rotor 601 is located at first position, the first locking mechanism 802 unidirectionally locks movement parts 1, the Two locking mechanisms 803 unidirectionally lock movement parts 1；Due to the narrow diameter end 80412 of the first locking mechanism 802, the second locking mechanism 803 Between be oppositely arranged, therefore movement parts 1 are actually by two-way locked；

Step B: under the driving of magnetic energy or mechanical energy, elongated rotor 601 turns to the second position by first position When, the same polarity magnetic repulsion between sliding field energy body 8043 and elongated rotor 601 in the first locking mechanism 802 increases, the Latch piece 8042 in one locking mechanism 802 is detached from narrow diameter end 80412 with the sliding movement of field energy body 8043；Second locking mechanism Sliding field energy body 8043 in 803 and the heteropolarity magnetic attraction between elongated rotor 601 increase, and latch piece 8042 is with slip field Energy body 8043 moves to narrow diameter end 80412, and movement parts 1 are locked by the extruding for sliding field energy body 8043 and channel chamber 8041 Extremely；

It is synchronously with this, dimensionally, when elongated rotor 601 turns to the second position by first position, so that the Spacing between one locking mechanism 802 and the second locking mechanism 803 becomes larger, since the second locking mechanism 803 has locked movement parts 1 Extremely, therefore in order to adapt to the change trend of spacing, the first locking mechanism 802 left side move distance X1 into Figure 42；

Step C: under the driving of magnetic energy or mechanical energy, elongated rotor 601 turns to first position by the second position When, the same polarity magnetic repulsion between sliding field energy body 8043 and elongated rotor 601 in the first locking mechanism 802 reduces, the Sliding field energy body 8043 in two locking mechanisms 803 and the heteropolarity magnetic attraction between elongated rotor 601 reduce, the first clamping lock Mechanism 802, the second locking mechanism 803 become unidirectional locking state, therefore, the first locking mechanism 802, the second locking mechanism It will mutually be drawn close between 803.

Successively execute step A, step B, step C, it will be able to make the first locking mechanism 802 forward travel distance X, X=1/2X1.

Below by preference, more specific detail is carried out to the utility model.

Embodiment B51

Alternatively, the utility model also provides a kind of field energy power switch executive mechanism, as shown in Figure 43, Figure 44, when When elongated rotor 601 rotates, the magnetic force applied to sliding field energy body 8043 will change, so that sliding field energy body 8043 drive latch pieces 8042 squeeze or are detached from narrow diameter end 80412, thus change the first locking mechanism 802 it is two-way it is locked, Switch between unidirectional locked and two-way release.

Embodiment B52

The linear motor further include: driving device；

Elongated rotor 601 rotates under the drive of the drive；

The driving device includes:

It can be close to and far from the permanent magnet of elongated rotor 601；

Electromagnet.

As shown in Figure 45, Figure 46, Figure 47, Figure 48, the first locking mechanism 802, the second locking mechanism 803, elongated rotor It can be set as same polarity or heteropolarity between 601 between corresponding magnetic pole according to the actual situation.And elastic shell

On 1 axial direction of movement parts, the first locking mechanism 802, the second locking mechanism 803 why can respectively close to In the two sides of elongated rotor 601, it can be the constraint realization by the elastic housing 805 in Figure 42, first can also be passed through Ferromagnet structure in locking mechanism 802, the second locking mechanism 803 is always by the permanent magnet or electromagnetism in elongated rotor 601 Body attraction is held close to contact to realize.

Embodiment B53

Under the drive of the drive, when elongated rotor 601 turns to the third place, the first locking mechanism 802 is single To locked movement parts 1, the second locking mechanism 803 unidirectionally locks movement parts 1.Between first position and the third place, elongated rotation 601 posture of body is consistent and the location swap at both ends.

When elongated rotor 601 turns to four positions, the field energy body of elongated 601 one end of rotor drives the first clamping lock The field energy body of the two-way locked movement parts 1 of mechanism 802, elongated 601 other end of rotor drives the two-way release of the second locking mechanism 803 Movement parts 1.Between the second position and the 4th position, elongated 601 posture of rotor is consistent and the location swap at both ends.

As shown in figure 49, the subgraph above arrow is original state, and driving device 606 is movable, in driving device 606 Under attraction, the pole S of elongated rotor 601 will be attracted to the position of the top from right side, and then driving device 606 is to left position It moves, then the pole S will continue to rotate entrance left side, and then the current direction of the electromagnet in driving device 606 changes, to pass through reprimand The pole power drive S moves downward, to realize 90 degree and the overturning greater than 90 degree of elongated rotor 601.In this way, in conjunction with Figure 42 From the point of view of, the moving direction of elastic housing 805 shown in Figure 42 is only moved to the left, when 60190 degree of elongated rotor and greater than 90 Degree, such as after the overturning of 180 degree, moving direction can be changed into and be moved right.To which the utility model can be two sides Switch movement between.

Basic embodiment C

As shown in figure 50, according to a kind of deformation clamp linear motor provided by the utility model, comprising: the first clamp body 501, extrusome 502, second clamps body 503, movement parts 1；

The opening member includes opening body 5041, deformable body 5042；Wherein, opening body 5041 is arranged in deformable body 5042 Between two perforated walls；Movement parts 1 run through the through-hole of perforated wall；Deformable body 5042 is preferably energy mutagens shape material bodies or energy Mutagens shape structural body is measured, so that the utility model, which can be one kind, a kind of cable motor either untethered motor.

Deformable body 5042 can change between first shape and the second shape:

Extrusome 502 is located at the side of movement parts 1 or extrusome 502 accommodates the through-hole and movement parts that movement parts 1 pass through 1 does not contact.

Working principle:

The deformable body 5042 that step A: the first clamps body 501 extends, so that the first clamp body 501 locks movement parts 1；Second It clamps body 503 and release conditions is kept to movement parts 1；

Step B: the deformable body 5042 of extrusome 502 extends, so that the second clamp body 503 is transported to the right relative to movement parts 1 It is dynamic；

The deformable body 5042 that step C: the second clamps body 503 extends, so that the second clamp body 503 locks movement parts 1；

The deformable body 5042 that step D: the first clamps body 501 shortens, so that the first clamp 501 released movement part 1 of body；

Step E: the deformable body 5042 of extrusome 502 shortens, so that the first clamp body 501 is transported to the right relative to movement parts 1 It is dynamic.

Step A to step E is successively executed, realizes that single step is mobile.It executes repeatedly and repeatedly realizes that long stroke is mobile.

Embodiment C1

Extrusome 502 includes one or more opening members being connected in series.

Embodiment C2

As shown in figure 51, the opening body of the first clamp body 501, the opening body of extrusome 502, second clamp opening for body 503 It is sequentially connected between mouth body.

When deformable body 5042 is located at first shape, the first clamp body 501, second clamps the outside of the opening body of body 503 Through-hole wall both with respect to movement parts 1 be it is inclined, i.e., formed between the axial direction of outer side through hole and the axial direction of movement parts 1 of opening body Angle, and the inside through-hole wall of the opening body of the first clamp clamp body 503 of body 501, second is parallel both with respect to movement parts 1 's.

When deformable body 5042 is located at the second shape, the first clamp body 501, second clamps the outside of the opening body of body 503 Through-hole wall is inclined both with respect to movement parts 1, that is, shape between the axial direction of the outer side through hole for the body that is open and the axial direction of movement parts 1 At angle, and the first clamp body 501, second clamps the inside through-hole wall of the opening body of body 503 both with respect to movement parts 1 and inclines Oblique and gradient is less than the gradient of outside through-hole wall, i.e. the gradient of the inside through-hole wall of opening body allows movement parts 1 Free movement.The deflection of two perforated walls of opening member is asymmetric.Shape amount is asymmetric, increases movement effects and increasing friction force.

Embodiment C3

As shown in figure 52, the opening body of the first clamp body 501, the opening body of extrusome 502, second clamp opening for body 503 Mass block is fastenedly connected on any one of mouth body three.

Alternatively, the opening body three of the opening body of the opening body of the first clamp body 501, extrusome 502, the second clamp body 503 The non-uniform mass of person.

In change case, extrusome 502, second clamps body 503 and can omit.

Working principle:

First then the first clamp body is made towards first direction moving mass block M with faster speed with more slow speed 501 and/or the second clamp 503 released movement part 1 of body, thus under inertia force, the first clamp body 501 and/or the second clamp body 503 can occur the biggish displacement towards first direction, meanwhile, backwards to first direction lesser displacement occurs for mass block M.

Embodiment C4

As shown in Figure 53, Figure 54, the body that is open has nonrigid connector 508, wherein nonrigid connector 508 includes elasticity Hinge arrangement or spring.

Between deformable body 5042, elastic hinge, be respectively positioned on opening body open side, be respectively positioned on opening body non-open side or Person is to be located at open side, non-open side.

Embodiment C5

A kind of deformation clamp linear motor, comprising: the first clamp body 501, movement parts 1；First clamp body 501 includes opening Part；The opening member includes opening body 5041, deformable body 5042；Wherein, two of opening body 5041 are arranged in deformable body 5042 Between perforated wall；Movement parts 1 run through the through-hole of perforated wall；Deformable body 5042 can become between first shape and the second shape Change: when deformable body 5042 is located at first shape, the relative pose between the through-hole of two perforated walls allows movement parts 1 certainly By moving；When deformable body 5042 is located at the second shape, the relative pose between the through-hole of two perforated walls makes locked movement The non-uniform mass of first clamp body 501 described in part 1 is provided with mass block M.Deformable body 5042 is by alternately quick It fills under energy, at a slow speed exoergic, or is alternately filled at a slow speed under energy, quick exoergic, the driving opening movement of body 5041.

By taking deformable body 5042 is electrostrictive material as an example:

As shown in figure 55, it is quickly filled when deformable body 5042 by alternating under energy, at a slow speed exoergic, i.e. it is upper left in input Figure 55 When signal Sign, S indicates amplitude, and due to the inertia effects of mass block M, the left side wall for the body 5041 that is open when quickly filling energy is substantially It is moved to the left, in exoergic at a slow speed, left side wall slightly moves right, to generally complete to be moved to the left a step.

As shown in figure 55, when deformable body 5042 fills under energy by alternately quick exoergic, at a slow speed, i.e. upper right side in input Figure 55 When signal Sign, S indicates amplitude, and due to the inertia effects of mass block M, when filling energy at a slow speed, right side wall substantially moves right, The right side wall of opening body 5041 is slightly moved to the left when quick exoergic, to generally complete to move right to move a step.

As shown in figure 56, opening body 5041 is fixed, and is quickly filled under energy, at a slow speed exoergic when deformable body 5042 is replaced, real Existing movement parts 1 are moved to the left, and when deformable body 5042 is alternately filled at a slow speed under energy, quick exoergic, realization movement parts 1 move right.

In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower" Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.

Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office It is limited to above-mentioned particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, This has no effect on the substantive content of the utility model.In the absence of conflict, the spy in embodiments herein and embodiment Sign can be arbitrarily combined with each other.

Claims

1. a kind of from carrying mobile platform characterized by comprising pipeline (705), track implantation piece (703), climbing robot (704)；

Climbing robot (704) are provided on the track implantation piece (703)；Climbing robot (704) can be planted along track Enter part (703) to creep movement；

The paragraph of track implantation piece (703) where climbing robot (704) is the mobile offer branch of climbing robot (704) Support force；

Climbing robot (704) includes linear motor, and the linear motor of climbing robot (704) is with track implantation piece (703) work For movement support.

2. according to claim 1 from carrying mobile platform, which is characterized in that be provided with and be capable of fixing in pipeline (705) And release climbing robot (704) connects fastener；

The weight of track implantation piece (703) is greater than climbing robot (704).

3. a kind of compound motion control and job platform, which is characterized in that including spatial movement mechanism (700), linear motor；

The spatial movement mechanism (700) is the movement mechanism of one-dimensional movement mechanism either multidimensional；

Linear motor is mounted on the control movement mechanism；

The movement of spatial movement mechanism (700) and the movement of the linear motor form compound motion；

Wherein, the linear motor, comprising: movement parts (1), the first clamp element (91), driving assembly (900)；Described first Clamp element (91) includes clamping institution, wherein the clamping institution can two-way locked, one-way movement, bidirectional-movement it Between switching state, make respectively movement parts (1) in the straight direction relative to clamping institution it is two-way it is locked, only unidirectionally freely transport Dynamic, two-way free movement；Wherein, the rectilinear direction is the axial direction of movement parts (1)；Under the driving of driving assembly (900), the One clamp element (91) can be moved back and forth linearly.

4. compound motion control according to claim 3 and job platform, which is characterized in that the spatial movement mechanism It (700) include serial kinematic system or parallel manipulator；

The serial kinematic system includes multi-joint robotic arm；

The parallel manipulator includes Stewart platform.

5. compound motion control according to claim 3 and job platform, which is characterized in that further include power tool；Its In, the power tool is mounted in the movement parts (1) of linear motor；Or it is installed on linear motor；

The power tool includes following any or appoints multiple types of tools:

Energy converting transmission power tool, wherein the energy conversion is electric energy, magnetic energy, thermal energy, chemical energy, luminous energy or deformation Conversion or mutually conversion between mechanical energy；

Detection instrument；

Machining tool；

Pipeline pump valve tool；

Spray painting tool；

Illumination tool；

Operation tool；

Needle pierces tool；

Drilling tool.

6. compound motion control according to claim 3 and job platform, which is characterized in that movement parts (1) include track Implantation piece (703)；

The rigidity of track implantation piece (703) in the axial direction is higher, and track implantation piece (703) rigidity in the radial direction is lower；

Climbing robot (704) includes linear motor, and the linear motor of climbing robot (704) is with track implantation piece (703) work For movement parts.

7. compound motion according to claim 6 control and job platform, which is characterized in that the compound motion control and Job platform further includes pipeline (705)；

Track implantation piece (703) extends in pipeline (705) along pipeline (705), and climbing robot (704) is located at pipeline (705) It is interior；

Pipeline (705) is hose, and the rigidity of pipeline (705) in the axial direction is higher, and pipeline (705) rigidity in the radial direction is lower； Alternatively, pipeline (705) is hard tube.

8. according to claim 1 carry mobile platform or compound motion as claimed in claim 6 control and operation certainly Platform, which is characterized in that climbing robot (704) is through on track implantation piece (703) or is located at track implantation piece (703) In middle control cavity.

9. according to claim 1 carry mobile platform or compound motion as claimed in claim 3 control and operation certainly Platform, which is characterized in that the linear motor, comprising: movement parts (1), the first clamp element (91), driving assembly (900)；

First clamp element (91) includes clamping institution, wherein the clamping institution can be in two-way locked, unidirectional fortune Switching state between dynamic, bidirectional-movement, make respectively movement parts (1) in the straight direction relative to clamping institution it is two-way it is locked, Only unidirectional free movement, two-way free movement；Wherein, the rectilinear direction is the axial direction of movement parts (1)；

Under the driving of driving assembly (900), the first clamp element (91) can be moved back and forth linearly.

10. according to claim 1 carry mobile platform or compound motion as claimed in claim 3 control and operation certainly Platform, which is characterized in that linear motor, including movement parts (1), magnetoelectricity field position shape variant, the first magnetoelectricity body are to (602), the Two magnetoelectricity bodies are to (603)；

On movement parts (1) axial direction, the first magnetoelectricity body is adjacent to elongated turn to (603) to (602), the second magnetoelectricity body respectively The two sides of kinetoplast (601)；

Elongated rotor (601) can change the length on movement parts (1) axial direction by rotation, to change the first magnetic Electric body is to (602) and the second magnetoelectricity body to the spacing between (603)；

When elongated rotor (601) turns to first position, the first magnetoelectricity body is to (602) released movement part (1), the second magnetoelectricity Body is to (603) released movement part (1)；

When elongated rotor (601) turns to the second position, the magnet of elongated rotor (601) one end drives the first magnetoelectricity body To (602) released movement part (1), the magnet of elongated rotor (601) other end drives the second magnetoelectricity body to (603) locked movement Part (1).

11. according to claim 1 carry mobile platform or compound motion as claimed in claim 3 control and operation certainly Platform, which is characterized in that linear motor, comprising: movement parts (1), field energy position shape variant, the first locking mechanism (802), second Locking mechanism (803)；

On movement parts (1) axial direction, the first locking mechanism (802), the second locking mechanism (803) are adjacent to field energy position respectively The two sides of shape variant；

Field energy position shape variant can change the length on movement parts (1) axial direction by rotation, to change the first card Spacing between latch mechanism (802), the second locking mechanism (803)；

When field energy position, shape variant turns to first position, the first locking mechanism (802) unidirectionally locks movement parts (1), and second Locking mechanism (803) unidirectionally locks movement parts (1)；

When field energy position, shape variant turns to the second position, the field energy body of field energy position shape variant one end drives the first clamping lock machine Structure (802) released movement part (1), the locked fortune of the field energy body driving the second locking mechanism (803) of the field energy position shape variant other end Moving part (1).

12. according to claim 1 carry mobile platform or compound motion as claimed in claim 3 control and operation certainly Platform, which is characterized in that linear motor is using deformation clamp linear motor；

Deformation clamp linear motor, comprising: the first clamp body (501), extrusome (502), the second clamp body (503), movement parts (1)；

First clamp body (501), extrusome (502), the second clamp body (503) are sequentially connected；

First clamp body (501), the second clamp body (503) include opening member；

The opening member includes opening body (5041), deformable body (5042)；Wherein, deformable body (5042) setting is in opening body (5041) between two perforated walls；Movement parts (1) run through the through-hole of perforated wall；

Deformable body (5042) can change between first shape and the second shape:

When deformable body (5042) is located at first shape, the relative pose between the through-hole of two perforated walls allows movement parts (1) free movement；

When deformable body (5042) is located at the second shape, the relative pose between the through-hole of two perforated walls makes locked movement parts (1)。