CN214315087U - Robot joint structure based on giant magnetostrictive material - Google Patents
Robot joint structure based on giant magnetostrictive material Download PDFInfo
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- CN214315087U CN214315087U CN202120456827.9U CN202120456827U CN214315087U CN 214315087 U CN214315087 U CN 214315087U CN 202120456827 U CN202120456827 U CN 202120456827U CN 214315087 U CN214315087 U CN 214315087U
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- 239000000463 material Substances 0.000 title claims abstract description 34
- 230000005284 excitation Effects 0.000 claims abstract description 8
- 230000035699 permeability Effects 0.000 claims description 7
- 239000007769 metal material Substances 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000005426 magnetic field effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model relates to a robot joint structure based on giant magnetostrictive material, including joint one, joint two and giant magnetostrictive driver, giant magnetostrictive driver includes shell, coil skeleton, excitation coil, giant magnetostrictive rod and slider, coil skeleton fixes in the shell, excitation coil twines on the coil skeleton; the sliding block is movably arranged in the shell and is positioned above the coil framework; the lower end of the giant magnetostrictive rod extends into and is fixed in the coil framework, and the upper end of the giant magnetostrictive rod is fixedly connected with the sliding block; the lower end of the second joint is rotatably connected with the sliding block, and the upper end of the second joint is rotatably connected with the first joint. The utility model discloses the drive of the super magnetostrictive actuator who makes with super magnetostrictive material as robot joint can reach control accuracy, and response speed is fast, sees the good reliability, effects such as simple structure.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to robot joint structure based on giant magnetostrictive material.
Background
The robot technology is increasingly developed into an indispensable scientific technology in daily life, the application of the robot is wide, and the research on the robot becomes a current hotspot from the traditional automatic manufacturing field, the daily life of human beings and the exploration of the vast star system.
The robot joint is a basic component of the robot, and the performance of the robot joint directly influences the performance of the robot. The types of joints of robots are various, and the configurations of the joints and the forms of motion systems are different according to the functions of the robots. The joints of the industrial robot are divided into a moving joint and a rotating joint according to different output motion forms; the transmission mechanism can be divided into gear transmission, connecting rod transmission and cycloidal pin gear speed reduction transmission according to different transmission mechanisms; according to different driver forms, the driving device can be divided into an electric driving joint, a pneumatic driving joint, a hydraulic driving joint, a special driving joint and the like. The robot joint shows the trends and the developments of large moment, high precision, sensitive response, miniaturization, standardization and modularization in general.
The length of the giant magnetostrictive material is changed under the action of a magnetic field, the giant magnetostrictive material can displace to do work or can repeatedly stretch and shorten under the action of an alternating magnetic field, and the material has high heat-resistant temperature and strong magnetostrictive performance. At room temperature, the conversion rate between mechanical energy and electric energy is high, the energy density is high, the response speed is high, the reliability is good, and the driving mode is simple. If the giant magnetostrictive actuator made of giant magnetostrictive materials is used as the drive of the robot joint, the effects of accurate control, high response speed, good reliability, simple structure and the like can be achieved. However, no such giant magnetostrictive actuator made of a giant magnetostrictive material has emerged as a robot joint drive, and therefore, it is urgently required to design a giant magnetostrictive actuator made of a giant magnetostrictive material as a robot joint drive.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot joint structure based on giant magnetostrictive material to giant magnetostrictive driver that giant magnetostrictive material made can reach control accuracy as robot joint's drive, and response speed is fast, sees the good reliability, effects such as simple structure.
In order to solve the problems, the utility model provides a robot joint structure based on giant magnetostrictive material, including joint one, joint two and giant magnetostrictive actuator, giant magnetostrictive actuator includes shell, coil skeleton, excitation coil, giant magnetostrictive rod and slider, coil skeleton is fixed in the shell, excitation coil twines on coil skeleton; the sliding block is movably arranged in the shell and is positioned above the coil framework; the lower end of the giant magnetostrictive rod extends into and is fixed in the coil framework, and the upper end of the giant magnetostrictive rod is fixedly connected with the sliding block; the lower end of the second joint is rotatably connected with the sliding block, and the upper end of the second joint is rotatably connected with the first joint.
Preferably, the housing is a case with a bottom at the lower end and no bottom at the upper end, and the bobbin is fixed at the bottom of the housing;
the first joint is rotationally connected with the front side wall and the rear side wall at the upper end of the shell through a first positioning pin; the left side wall and the right side wall of the upper end of the shell are provided with openings capable of limiting the rotation amplitude of the first joint.
Preferably, the tail end of the first joint is an arc end, and a central hole through which the first positioning pin can pass is formed in the arc end;
a notch is formed in the circumferential surface of the arc end of the first joint and is arranged along the circumferential direction of the arc end; the upper end of the second joint extends into the notch and is in shaft rotating connection with the two groove walls of the notch through the second positioning pin.
Preferably, two slot walls of the slot opening are respectively provided with an eccentric hole, the eccentric hole deviates from the circle center of the arc end and is parallel to the circular hole, and two ends of the second positioning pin are respectively inserted into the two eccentric holes.
Preferably, a permanent magnet is further arranged in the coil framework.
Preferably, the permanent magnet is located at the bottom of the shaft hole of the coil skeleton, and the giant magnetostrictive rod is located above the permanent magnet.
Preferably, the housing and the coil framework are made of metal materials with low magnetic permeability, and the permanent magnet is a permanent magnet with high magnetic permeability.
Preferably, two ends of the giant magnetostrictive rod are respectively in threaded connection with the coil framework and the sliding block.
Preferably, the upper end of the sliding block is of a sleeve structure, and the lower end of the second joint extends into the sleeve structure and is in shaft rotation connection with the sleeve structure through a third positioning pin.
Compared with the prior art, the utility model discloses there are following technological effect:
1. the utility model discloses the super magnetostrictive actuator who makes with super magnetostrictive material is as the drive of joint structure, because magnetostrictive material under magnetic field effect, its length changes, can take place the displacement and do work or can take place to stretch repeatedly and shorten in alternating magnetic field effect, and the material has very high heat-resisting temperature, and magnetostrictive performance is strong. At room temperature, the conversion rate between mechanical energy and electric energy is high, the energy density is high, the response speed is high, the reliability is good, and the driving mode is simple.
2. The utility model discloses a fix the one end of giant magnetostrictive rod at the coil skeleton lower extreme, the other end is fixed on the slider as the output, effectively utilizes its flexible effect under the magnetic field change to produce the displacement.
3. The permanent magnet with high magnetic conductivity is arranged in the coil framework, so that an internal magnetic field can be enhanced, and the magnetic attenuation of the giant magnetostrictive material under the condition of no energization is prevented.
4. The utility model discloses in, joint one, joint two and slider constitute slider-crank mechanism, and the giant magnetostrictive rod stretches out and draws back under the magnetic field effect to drive the slider and carry out the rectilinear sliding, the rectilinear displacement transmission of slider passes through joint two and transmits for joint one, and then drive joint one produces rotary motion.
5. The utility model discloses in, coil skeleton and shell adopt the lower metal material of magnetic conductivity relatively, reach the effect in shielding magnetic field, guarantee that internal magnetic field is stable, and prevent to take place the magnetism and leak.
6. The utility model discloses in, the joint shell is equipped with the opening, and the rotation range of a joint is injectd when the joint structure of being convenient for moves, avoids the rotation range of a joint too big formation motion dead point.
7. In the utility model, the tail end of the first joint is an arc end, and a central hole for the first positioning pin to pass through is arranged on the arc end; a notch is formed in the circumferential surface of the arc end of the first joint and is arranged along the circumferential direction of the arc end; the upper end of the second joint extends into the notch and is in shaft rotating connection with the two groove walls of the notch through the second positioning pin. The second joint takes the second positioning pin as a rotation center and can rotate in the groove along the circumferential direction of the arc end, and the purpose of the structure is to facilitate the transmission of motion and ensure the reliability of connection.
8. The utility model discloses in, relative pivoted range has been injectd to the shape of notch, and the tie point load is overweight when avoiding the rotation range too big.
9. The utility model has the advantages of can the accurate control machine joint motion, response speed is fast, the good reliability, and the power consumption is low, compact structure.
Of course, it is not necessary for any particular product to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts. In the drawings:
fig. 1 is a schematic structural diagram of a robot joint structure based on giant magnetostrictive materials according to a preferred embodiment of the present invention;
fig. 2 is a cross-sectional view of a robot joint structure based on giant magnetostrictive materials according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a giant magnetostrictive rod according to a preferred embodiment of the present invention;
fig. 4 is a schematic structural diagram of a housing according to a preferred embodiment of the present invention;
fig. 5 is a schematic structural diagram of a first joint according to a preferred embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second joint according to a preferred embodiment of the present invention;
fig. 7 is a schematic structural diagram of a slider according to a preferred embodiment of the present invention.
Detailed Description
The robot joint structure based on giant magnetostrictive material provided by the present invention will be described in detail with reference to fig. 1 to 7, and this embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and color-complement the robot joint structure without changing the spirit and content of the present invention.
Referring to fig. 1 to 7, a robot joint structure based on giant magnetostrictive materials includes a joint i 1, a joint ii 4 and a giant magnetostrictive driver 5, where the giant magnetostrictive driver 5 includes a housing 51, a coil frame 55, an excitation coil 54, a giant magnetostrictive rod 55 and a slider 52, the coil frame 55 is fixed in the housing 51, and the excitation coil 54 is wound on the coil frame 55; the slide block 52 is movably arranged in the shell 51 (the slide block 52 can slide up and down along the inner wall of the shell 51) and is positioned above the coil framework 55; the lower end of the giant magnetostrictive rod 55 extends into and is fixed in the coil framework 55, and the upper end of the giant magnetostrictive rod is fixedly connected with the sliding block 52; the lower end of the second joint 4 is rotatably connected with the sliding block 52, and the upper end of the second joint is rotatably connected with the first joint 1. In this embodiment, the first joint 1, the second joint 4 and the slider 52 form a crank-slider mechanism, the super magnetostrictive rod 55 stretches under the action of a magnetic field and drives the slider 2 to linearly slide, and the linear displacement of the slider 52 is transmitted to the first joint 1 through the second joint 4, so as to drive the first joint 1 to rotate.
In this embodiment, the super magnetostrictive rod 55 has external threads 551 at both upper and lower ends. The coil framework 55 is provided with a shaft hole along the axial direction, the lower end of the giant magnetostrictive rod 55 is inserted into the lower end of the shaft hole from the upper end of the shaft hole, the lower end of the shaft hole is provided with an internal thread, and the lower end of the giant magnetostrictive rod 55 is fastened and connected with the shaft hole through the thread. The giant magnetostrictive rod 55 effectively utilizes its expansion effect under a change in magnetic field to generate displacement.
The housing 51 is a case having a bottom at the lower end and no bottom at the upper end, and the bobbin 55 is fixed to the bottom of the housing 51 by a screw fastener (e.g., a bolt, a screw, etc.).
The bottom of the shaft hole of the coil framework 55 is provided with a permanent magnet 56, and the giant magnetostrictive rod 55 is positioned above the permanent magnet 56.
The magnetic permeability of the shell 51 and the coil skeleton 55 is smaller than that of the permanent magnet 56, and in this embodiment, the shell 51 and the coil skeleton 55 are both made of metal materials with relatively low magnetic permeability, so that the effect of shielding a magnetic field is achieved, the stability of an internal magnetic field is ensured, and magnetic leakage is prevented. The permanent magnet 56 is a permanent magnet 56 having a relatively high magnetic permeability, and can enhance the internal magnetic field and prevent magnetic decay of the giant magnetostrictive rod 55 when the power is not supplied.
The first joint 1 is rotatably connected with the front side wall and the rear side wall at the upper end of the shell 51 through a first positioning pin 2; the left side wall and the right side wall at the upper end of the shell 51 are provided with openings 511, so that the rotation amplitude of the first joint 1 is limited while the joint structure moves, and the motion dead point formed by overlarge rotation amplitude is avoided.
The tail end of the first joint 1 is an arc end, and a central hole 11 through which the first positioning pin 2 can pass is formed in the arc end;
a notch 13 is formed in the circumferential surface of the arc end of the first joint 1, and the notch 13 is formed along the circumferential direction of the arc end; the upper end of the second joint 4 extends into the notch 13 and is in shaft rotation connection with the two groove walls of the notch 13 through a second positioning pin 3. In this embodiment, the second joint 4 rotates in the notch 13 along the circumferential direction of the arc end with the second positioning pin 3 as the rotation center, and the purpose of the above structure is to facilitate the transmission of motion and ensure the reliability of connection. The shape of the notch 13 defines the amplitude of the relative rotation, avoiding overloading the connection point when the amplitude of rotation is too great.
Specifically, two groove walls of the notch 13 are respectively provided with an eccentric hole 12, the eccentric hole 12 deviates from the center of the circular arc end and is parallel to the central hole 11, and two ends of the second positioning pin 3 are respectively inserted into the two eccentric holes 12.
In this embodiment, a threaded hole 521 is formed in the lower end of the slider 52, and the upper end of the super magnetostrictive rod 55 is inserted into the threaded hole 521 to be screwed with the slider 52.
The upper end of the sliding block 52 is of a sleeve structure, and the lower end of the second joint 4 extends into the sleeve structure and is in shaft rotation connection with the sleeve structure through a third positioning pin 6.
In this embodiment, the giant magnetostrictive rod 55 is made of a giant magnetostrictive material, so the giant magnetostrictive actuator 5 made of a giant magnetostrictive material is used as a drive for the joint structure, and the length of the giant magnetostrictive rod 55 changes under the action of a magnetic field, so that the giant magnetostrictive rod can displace to work or can repeatedly stretch and shorten under the action of an alternating magnetic field, and the giant magnetostrictive material has a high heat-resistant temperature and strong magnetostrictive performance. At room temperature, the conversion rate between mechanical energy and electric energy is high, the energy density is high, the response speed is high, the reliability is good, and the driving mode is simple.
Claims (9)
1. A robot joint structure based on giant magnetostrictive materials is characterized by comprising a first joint, a second joint and a giant magnetostrictive driver, wherein the giant magnetostrictive driver comprises a shell, a coil framework, an excitation coil, a giant magnetostrictive rod and a sliding block, the coil framework is fixed in the shell, and the excitation coil is wound on the coil framework; the sliding block is movably arranged in the shell and is positioned above the coil framework; the lower end of the giant magnetostrictive rod extends into and is fixed in the coil framework, and the upper end of the giant magnetostrictive rod is fixedly connected with the sliding block; the lower end of the second joint is rotatably connected with the sliding block, and the upper end of the second joint is rotatably connected with the first joint.
2. A robot joint structure based on giant magnetostrictive materials according to claim 1, wherein the shell is a shell with a bottom at the lower end and no bottom at the upper end, and the bobbin is fixed at the bottom of the shell;
the first joint is rotationally connected with the front side wall and the rear side wall at the upper end of the shell through a first positioning pin; the left side wall and the right side wall of the upper end of the shell are provided with openings capable of limiting the rotation amplitude of the first joint.
3. A robot joint structure based on giant magnetostrictive materials according to claim 2, characterized in that the tail end of the first joint is a circular arc end, and a central hole for the first positioning pin to pass through is arranged on the circular arc end;
a notch is formed in the circumferential surface of the arc end of the first joint and is arranged along the circumferential direction of the arc end; the upper end of the second joint extends into the notch and is in shaft rotating connection with the two groove walls of the notch through the second positioning pin.
4. A robot joint structure based on giant magnetostrictive materials according to claim 3, wherein an eccentric hole is respectively arranged on two groove walls of the notch, the eccentric hole deviates from the center of the circular arc end and is parallel to the central hole, and two ends of the second positioning pin are respectively inserted into the two eccentric holes.
5. A robot joint structure based on giant magnetostrictive materials according to claim 1, characterized in that permanent magnets are further arranged in the coil bobbin.
6. A robot joint structure based on giant magnetostrictive materials according to claim 5, characterized in that the permanent magnet is located at the bottom of the shaft hole of the coil bobbin, and the giant magnetostrictive rod is located above the permanent magnet.
7. The robot joint structure based on giant magnetostrictive materials according to claim 5, wherein the shell and the coil skeleton are both made of metal materials with low magnetic permeability, and the permanent magnet is a permanent magnet with high magnetic permeability.
8. A robot joint structure based on giant magnetostrictive materials according to claim 1, wherein both ends of the giant magnetostrictive rod are respectively in threaded connection with the coil bobbin and the slider.
9. The robot joint structure based on the giant magnetostrictive material according to claim 1, wherein the upper end of the sliding block is of a sleeve structure, and the lower end of the second joint extends into the sleeve structure and is in pivot connection with the sleeve structure through a third positioning pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120456827.9U CN214315087U (en) | 2021-03-02 | 2021-03-02 | Robot joint structure based on giant magnetostrictive material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120456827.9U CN214315087U (en) | 2021-03-02 | 2021-03-02 | Robot joint structure based on giant magnetostrictive material |
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| Publication Number | Publication Date |
|---|---|
| CN214315087U true CN214315087U (en) | 2021-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120456827.9U Expired - Fee Related CN214315087U (en) | 2021-03-02 | 2021-03-02 | Robot joint structure based on giant magnetostrictive material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214315087U (en) |
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2021
- 2021-03-02 CN CN202120456827.9U patent/CN214315087U/en not_active Expired - Fee Related
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Granted publication date: 20210928 |