CN108023449B - Translational and rotational integrated drive cylinder, robot and driving method - Google Patents
Translational and rotational integrated drive cylinder, robot and driving method Download PDFInfo
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- CN108023449B CN108023449B CN201610956377.3A CN201610956377A CN108023449B CN 108023449 B CN108023449 B CN 108023449B CN 201610956377 A CN201610956377 A CN 201610956377A CN 108023449 B CN108023449 B CN 108023449B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02K16/00—Machines with more than one rotor or stator
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Abstract
本发明提供了一种平转动集成一体化驱动筒及机器人和驱动方法，包括套筒(1)、主轴、转子、转动驱动线圈(4)、平动驱动线圈(5)、第一定位机构(6)、第二定位机构(7)、弹性复位机构(9)。本发明通过主轴输出平动与转动复合的运动方式，形状为细长形，能够伸入缝隙等处进行工作，驱动结构方式不需要电机，也不需要减速器，通过对套筒和平转动轴的有机锁定、释放，能够实现尺蠖运动，进而可实现平动累加而使得平动位移可以为大行程，其中驱动线圈可以不动或基于尺蠖运动动作而跟动。
The present invention provides a translation and rotation integrated drive cylinder and a robot and a driving method, comprising a sleeve (1), a main shaft, a rotor, a rotation drive coil (4), a translation drive coil (5), a first positioning mechanism (6), a second positioning mechanism (7), and an elastic reset mechanism (9). The present invention outputs a translation and rotation combined motion mode through the main shaft, and has a slender shape, which can be inserted into gaps and the like to work. The driving structure does not require a motor or a reducer, and can achieve inchworm motion by organically locking and releasing the sleeve and the translation shaft, thereby achieving translation accumulation so that the translation displacement can be a large stroke, wherein the drive coil can be stationary or follow the inchworm motion action.
Description
Technical Field
The invention relates to a flat rotation integrated driving technology, in particular to a flat rotation integrated driving cylinder and a robot.
Background
In the prior art, a mode of combining a motor with a speed reducer is adopted for rotation driving, but redundancy exists in control of the mode, the mode has higher requirements on the performance of the speed reducer and depends on the imported speed reducer, so that the cost is increased, and the motor has wider volume and shape and is difficult to be applied to application scenes such as slender gaps. In addition, the actual integration of rotation and translation is difficult in the prior art.
The present invention may be applied to the clamping mechanism in the patent filed by the inventor, for example, a person skilled in the art may refer to an electromagnetic clamping mechanism and a linear driving device and combination thereof (application No. 201410387626.2, publication No. CN104167957 a), which discloses an electromagnetic clamping mechanism, including an electromagnet, a permanent magnet and a deformation body, wherein the magnetic pole of the permanent magnet is in direct contact with or close to the magnetic pole of the electromagnet to form a control magnetic circuit, and the deformation body is rigidly connected with the permanent magnet; the permanent magnet moves relative to the electromagnet under the drive of the magnetic field of the control magnetic circuit and drives the deformation body to deform, so that clamping, locking and releasing are realized. The person skilled in the art can also refer to patent documents such as an electromagnetic-permanent magnet clamping mechanism for a linear motor (application number 201020603794.8, publication number CN 201869079U), an electromagnetic clamping mechanism and inchworm moving linear motor thereof (application number 201020603955.3, publication number CN 201887641U), an electromagnetic adaptive clamping device and a combined clamping device (application number 201610038564.3, publication number CN105527840 a). For example, based on the "electromagnetic clamping mechanism and the linear driving device and combination thereof", the deformation body in the clamping mechanism can be tightly locked against the locked object as the output piece, based on the "electromagnetic-permanent magnet clamping mechanism for the linear motor", the output rod in the clamping mechanism can be tightly locked against the locked object as the output piece, based on the "electromagnetic clamping mechanism and the inchworm motion linear motor thereof", the output shaft in the clamping mechanism can be tightly locked against the locked object as the output piece, based on the "electromagnetic adaptive clamping device and combination clamping device", the clamping component in the clamping mechanism can be tightened and loosened to be tightly clamped and tightly locked against the locked object as the output piece.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a flat rotation integrated driving cylinder and a robot.
The invention provides a flat rotation integrated driving cylinder, which comprises a sleeve, a main shaft, a rotor, a rotation driving coil, a translation driving coil, a first positioning mechanism, a second positioning mechanism and an elastic reset mechanism, wherein the sleeve is arranged on the main shaft;
The main shaft is arranged at the inner side of the sleeve;
The main shaft is provided with a slideway extending along the axial direction;
The rotor rotating shaft of the rotor can translate along the slideway and can rotate in the slideway;
in the axial direction, all or part of the rotor is positioned between the first positioning mechanism and the second positioning mechanism;
All or part of the rotor positioned between the first positioning mechanism and the second positioning mechanism has a first width and a second width, wherein the first width is larger than or slightly larger than the second width;
The first positioning mechanism and the second positioning mechanism can lock or release the main shaft respectively;
The first positioning mechanism and the second positioning mechanism can lock or release the sleeve respectively;
The elastic reset mechanism is connected between the first positioning mechanism and the second positioning mechanism or between adjacent or non-adjacent rotors;
the rotor includes a magnetic body.
Preferably, a rotor which is positioned between the first positioning mechanism and the second positioning mechanism and has a first width and a second width is denoted as an intermediate rotor;
When all the intermediate rotors are extruded to the minimum axial length by the first positioning mechanism and the second positioning mechanism, an included angle larger than 90 degrees exists in the included angles of the magnetic field directions of the two intermediate rotors, or an included angle smaller than 90 degrees exists in the included angles; the magnetic field direction refers to the direction that the S pole points to the N pole.
Preferably, the rotor comprises a rotation driving rotor;
the projection length of the rotation driving rotor in the axial direction of the main shaft is unchanged, or the projection total length of all rotation driving rotors in the axial direction of the main shaft is unchanged;
The rotation driving rotor is positioned between the first positioning mechanism and the second positioning mechanism or on the same side of the first positioning mechanism and the second positioning mechanism.
Preferably, the slideway is a bar-shaped hole;
One end of the main shaft extending out of the sleeve is fixedly connected or axially sleeved with a transmission mechanism in a sliding manner;
the elastic reset mechanism is a spring, and the spring is a mechanical spring or a magnetic spring;
the magnetic body is a permanent magnet and/or an electromagnet; the rotor rotating shafts of the rotors are parallel, staggered or vertical to each other;
The first positioning mechanism, the second positioning mechanism and the rotor arranged between the first positioning mechanism and the second positioning mechanism form a plurality of moving units, wherein the moving units are arranged along the axial direction, and the adjacent moving units share one first positioning mechanism or one second positioning mechanism;
the outer edge profile of the rotor is a smooth curved surface.
Preferably, the first positioning mechanism comprises a first inner positioning mechanism and a first outer positioning mechanism;
The second positioning mechanism comprises a second inner positioning mechanism and a second outer positioning mechanism;
The first positioning mechanism and the second positioning mechanism can lock or release the flat rotating shaft;
the first outer positioning mechanism and the second outer positioning mechanism can lock or release the sleeve;
the first inner positioning mechanism, the first outer positioning mechanism, the second inner positioning mechanism and the second outer positioning mechanism all comprise clamping mechanisms or electromagnetic clamping mechanisms;
the electromagnetic clamping mechanism comprises a magnetic clamping piece, an electromagnetic driving coil and an elastic medium; one end of the magnetic clamping piece is connected with an elastic medium, the elastic medium applies restoring force to the magnetic clamping piece, and the electromagnetic driving coil can drive the magnetic clamping piece to move between a locking state and a releasing state; in the locked state, the other end of the magnetic clamping piece is tightly abutted against the inner wall of the flat rotating shaft or the sleeve.
Preferably, the device further comprises an outer frame;
The sleeve is arranged in the outer frame through a bearing;
The rotary driving coil and the translational driving coil are positioned between the sleeve and the outer frame;
the rotation driving coil is fastened with a connecting sleeve or an outer frame, and the translation driving coil is fastened with the connecting sleeve or the outer frame; or a sliding channel which allows the rotation driving coil and/or the translation driving coil to slide is formed in the space between the sleeve and the outer frame;
In the first outer positioning mechanism and the second outer positioning mechanism: the free end of the output piece of the clamping mechanism or the free end of the electromagnetic clamping piece of the electromagnetic clamping mechanism is a frustum body, and the smaller end face of the frustum body faces the outer side of the sleeve;
The sleeve wall is provided with a strip-shaped hole extending along the axial direction, and the size of the strip-shaped hole only allows a part of the frustum body to extend into the sliding channel, wherein the part of the frustum body comprises the smaller end face;
and one part of the frustum body can push the rotary driving coil and/or the translational driving coil to slide in the sliding channel.
Preferably, the spindle comprises a flat rotation axis; within one cycle:
the rotor drives the flat rotating shaft to rotate under the drive of the rotating driving coil; and
The first positioning mechanism locks the sleeve and releases the flat rotating shaft, the second positioning mechanism releases the sleeve and locks the flat rotating shaft, the intermediate rotor rotates around the rotating shaft of the rotor in a first form under the drive of the translational driving coil so as to directly push the adjacent intermediate rotor in the axial direction or indirectly push the second positioning mechanism through the adjacent intermediate rotor, and the second positioning mechanism drives the flat rotating shaft to translate; then, the second positioning mechanism locks the sleeve and locks the flat rotating shaft, the first positioning mechanism releases the sleeve and releases the flat rotating shaft, the first positioning mechanism is closed to the second positioning mechanism under the tensile force of the elastic resetting mechanism, and the intermediate rotor is pushed to rotate in a second form in the closing process;
The first form of rotation refers to: the intermediate rotor rotates from a position where the second width direction is parallel to the axial direction to a position where the first width direction is parallel to the axial direction; the second form of rotation refers to: the intermediate rotor rotates from a position where the first width direction is parallel to the axial direction to a position where the second width direction is parallel to the axial direction;
the cycle can be performed a single time or multiple times to achieve athletic performance accumulation.
Preferably, the spindle comprises a rotation shaft; within one cycle:
the rotary driving rotor drives the rotary shaft to rotate under the driving of the rotary driving coil; and
The first positioning mechanism locks the sleeve and locks the rotating shaft, the second positioning mechanism releases the sleeve and releases the rotating shaft, the intermediate rotor rotates around the rotating shaft in a first form under the drive of the translational driving coil so as to directly push the adjacent intermediate rotor in the axial direction or indirectly push the second positioning mechanism through the adjacent intermediate rotor, the second positioning mechanism pushes one side of the rotary driving rotor, and the one side of the rotary driving rotor drives the transmission mechanism to translate; then, the second positioning mechanism locks the sleeve and locks the rotating shaft, the first positioning mechanism releases the sleeve and releases the rotating shaft, the rotating driving rotor at the other side of the first positioning mechanism pushes the first positioning mechanism to be close to the second positioning mechanism under the tensile force of the elastic resetting mechanism, and the first positioning mechanism pushes the middle rotor to rotate in a second form in the closing process;
The first form of rotation refers to: the intermediate rotor rotates from a position where the second width direction is parallel to the axial direction to a position where the first width direction is parallel to the axial direction; the second form of rotation refers to: the intermediate rotor rotates from a position where the first width direction is parallel to the axial direction to a position where the second width direction is parallel to the axial direction;
the cycle can be performed a single time or multiple times to achieve athletic performance accumulation.
According to one type of robot provided by the present invention, the flat rotation integrated driving cylinder comprises the flat rotation integrated driving cylinder.
According to the invention, the driving method for the flat rotation integrated driving cylinder comprises the following steps: under the drive of electromagnetic force, on one hand, the projection length of the rotor in the axial direction of the main shaft is changed by driving the rotor to rotate around the rotating shaft of the rotor, so that the rotor can directly or indirectly drive the main shaft or an axial moving part matched with the main shaft to translate, and on the other hand, the rotor is driven to axially rotate around the main shaft, so that the main shaft or the part around the rotating direction of the main shaft is driven to rotate.
Compared with the prior art, the invention has the following beneficial effects:
1. The rotation driving and the translation driving can be realized simultaneously through the same rotor or the same batch of rotors, so that a translation and rotation combined motion mode is output through the flat rotating shaft.
2. The rotors are axially arranged, and the number of the rotors can be set according to the torque requirement, so that the cylinder provided by the invention is of an elongated shape and can extend into a gap and the like to work. The number of the rotors forming the magnetic particles can be increased according to the length increase of the sleeve, and the driving force and the moment are resultant force/moment, so that the effect of compact structure and large moment output is realized, and the output end of the flat rotating shaft can amplify the rotating angle or amplify the output force through the gear pair.
3. The driving structure mode of the invention does not need a motor or a speed reducer, thereby greatly improving the reliability and reducing the cost.
4. According to the invention, through the organic locking and releasing of the sleeve and the flat rotating shaft, inchworm movement can be realized, and further translational accumulation can be realized, so that translational displacement can be a large stroke, wherein the driving coil can be motionless or follow based on inchworm movement.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a schematic structural view of a flat rotation integrated driving cylinder provided by the invention.
Fig. 2 is a schematic structural diagram of a rotor and a driving coil in a flat rotation integrated driving cylinder provided by the invention.
Fig. 3, 4 and 5 are schematic diagrams of the principle that the rotor is driven to rotate.
Fig. 6 is a schematic structural view of a robot with a flat rotation integrated driving cylinder provided by the invention.
Fig. 7 and 8 are schematic diagrams showing the positional relationship between the rotor and the rotor before and after being driven by the rotary driving coil.
Fig. 9 is a schematic diagram showing a comparison of a translational distance Δd in one cycle of a flat-rotating integrated driving cylinder according to the present invention.
Fig. 10 is a schematic diagram of a translational driving coil follow-up structure in a flat rotation integrated driving cylinder provided by the invention.
Fig. 11 and fig. 12 are schematic structural diagrams of the flat rotation integrated driving cylinder provided by the invention, and are schematic translational diagrams.
Fig. 13 is a schematic structural view of a flat rotation integrated driving cylinder provided by the invention.
In the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The invention provides a flat rotation integrated driving cylinder which comprises a sleeve 1, a main shaft, a rotor, a rotation driving coil 4, a translation driving coil 5, a first positioning mechanism 6, a second positioning mechanism 7 and an elastic reset mechanism 9;
the main shaft is arranged on the inner side of the sleeve 1;
the main shaft is provided with a slideway 10 extending along the axial direction;
The rotor shaft of the rotor can translate along the slideway 10 and can rotate in the slideway 10;
in the axial direction, all or part of the rotor is located between the first positioning mechanism 6 and the second positioning mechanism 7;
All or part of the rotor between the first positioning mechanism 6 and the second positioning mechanism 7 has a first width and a second width, wherein the first width is larger than or slightly larger than the second width;
The first positioning mechanism and the second positioning mechanism can lock or release the main shaft respectively;
the first positioning mechanism and the second positioning mechanism can lock or release the sleeve 1 respectively;
The elastic reset mechanism 9 is connected between the first positioning mechanism 6 and the second positioning mechanism 7 or between adjacent or non-adjacent rotors;
the rotor includes a magnetic body.
The rotor which is positioned between the first positioning mechanism 6 and the second positioning mechanism 7 and has a first width and a second width is named as an intermediate rotor;
When all the intermediate rotors are extruded to the minimum axial length by the first positioning mechanism 6 and the second positioning mechanism 7, an included angle larger than 90 degrees exists in the included angles of the magnetic field directions of the two intermediate rotors, or an included angle smaller than 90 degrees exists in the included angles; the magnetic field direction refers to the direction that the S pole points to the N pole;
Preferably, the rotor includes a rotation driving rotor 19; the length of the projection of the rotation driving rotor 19 in the axial direction is unchanged, or the total length of the projection of all rotation driving rotors in the axial direction is unchanged; the rotation driving rotor 19 is located between the first positioning mechanism 6 and the second positioning mechanism 7 or on the same side of the first positioning mechanism 6 and the second positioning mechanism 7.
As shown in fig. 1, the flat rotation integrated driving cylinder provided by the invention comprises a sleeve 1, a flat rotation shaft 2, a rotor 3, a rotation driving coil 4, a translation driving coil 5, a first positioning mechanism 6, a second positioning mechanism 7, a ball mechanism 8 and an elastic reset mechanism 9. The flat rotation integrated driving cylinder further comprises an outer frame 13. The flat rotating shaft 2 is supported in a through hole of the end cover of the sleeve 1 through a ball mechanism 8; the flat rotating shaft 2 is provided with a slideway 10 extending along the axial direction; the flat rotating shaft 2 is provided with one or a plurality of rotors 3 which are sequentially arranged along the axial direction; the rotor shaft 11 of the rotor 3 is arranged in the slideway 10, and the rotor shaft 11 can slide along the slideway 10 in a translational motion and rotate in the slideway 10; the rotor 3 is positioned between the first positioning mechanism 6 and the second positioning mechanism 7; the first positioning mechanism 6 comprises a first inner positioning mechanism and a first outer positioning mechanism; the second positioning mechanism 7 comprises a second inner positioning mechanism and a second outer positioning mechanism; the first positioning mechanism and the second positioning mechanism can lock or release the flat rotating shaft 2; the first outer positioning mechanism and the second outer positioning mechanism can lock or release the sleeve 1; an elastic reset mechanism 9 is connected between the first positioning mechanism 6 and the second positioning mechanism 7; the rotor 3 includes a magnetic body. The slideway 10 is a strip-shaped hole; one end of the flat rotating shaft 2 extending out of the sleeve 1 is connected with a gear pair 12; the elastic reset mechanism 9 is a spring, the spring can be a mechanical spring or a magnetic spring, and two ends of the spring are respectively connected with the first positioning mechanism 6 and the second positioning mechanism 7; the magnetic body is a permanent magnet and/or an electromagnet.
Specifically, the width of the slideway 10 is equal to or slightly larger than the diameter of the rotor rotating shaft 11, so that the rotor rotating shaft 11 can flexibly rotate and translate, and a plurality of rotor rotating shafts 11 can be kept to be sequentially arranged in the axial direction. The flat rotating shaft is supported on the sleeve by a flat rotation support guide mechanism, wherein the flat rotation support guide mechanism comprises a ball mechanism or a magnetic suspension bearing, and the ball mechanism 8 comprises a ball, thereby reducing the friction force between the flat rotating shaft 2 and the sleeve 1. The translational driving coil 4 drives the rotor to rotate around an axis vertical to the paper surface, and the rotational driving coil 5 drives the rotor to rotate around a flat rotation axis.
The outer edge of the rotor 3 is a smooth curved surface; the rotor 3 has a first width and a second width; the first width is greater than the second width. For example, as shown in fig. 1, the outer edge of the rotor 3 is elliptical and cam-shaped, the long diameter of the rotor 3 is a first width, and the short diameter is a second width, when the rotor 3 is pressed by the first positioning mechanism and the second positioning mechanism, the rotor 3 rotates to a position where the second width is parallel to the axial direction of the flat rotation shaft, and of course, when the rotor 3 is driven to rotate to a position where the first width is parallel to the axial direction of the flat rotation shaft, the relative distance between the first positioning mechanism and the second positioning mechanism can be pushed away.
Further, the first inner positioning mechanism, the first outer positioning mechanism, the second inner positioning mechanism and the second outer positioning mechanism all comprise clamping mechanisms or electromagnetic clamping mechanisms; the electromagnetic clamping mechanism comprises a magnetic clamping piece, an electromagnetic driving coil and an elastic medium; one end of the magnetic clamping piece is connected with an elastic medium, the elastic medium applies restoring force to the magnetic clamping piece, and the electromagnetic driving coil can drive the magnetic clamping piece to move between a locking state and a releasing state; in the locked state, the other end of the magnetic clip is pressed against the flat rotation shaft 2 or the inner wall of the sleeve 1. The clamping mechanism comprises a deformation body and a shell; in the first positioning mechanism and the second positioning mechanism: one end of the deformation body is fixedly connected with the shell, and the other end of the deformation body faces to the flat rotating shaft 2; when the flat rotating shaft 2 is locked, the other end of the deformation body is tightly propped against the flat rotating shaft 2; when the flat rotation shaft 2 is released, the other end of the deformed body is separated from the flat rotation shaft 2; in the first outer positioning mechanism and the second outer positioning mechanism: one end of the deformation body is fixedly connected with the shell, and the other end of the deformation body faces the sleeve 1; when the sleeve 1 is locked, the other end of the deformation body is tightly propped against the inner wall of the sleeve 1; when the sleeve 1 is released, the other end of the deformation body is separated from the inner wall of the sleeve 1; the shell of the clamping mechanism of the first inner positioning mechanism is fixedly connected with the shell of the clamping mechanism of the first outer positioning mechanism; the housing of the clamping mechanism of the second inner positioning mechanism is fixedly connected with the housing of the clamping mechanism of the second outer positioning mechanism.
For more detailed structure of the clamping mechanism, reference may be made to the prior art for "electromagnetic clamping mechanism and its linear driving device, combination" (application No. 201410387626.2, publication No. CN104167957 a), "electromagnetic-permanent magnet clamping mechanism for linear motor" (application No. 201020603794.8, publication No. CN 201869079U), and "electromagnetic clamping mechanism and its inchworm moving linear motor" (application No. 201020603955.3, publication No. CN 201887641U) and other patent documents.
Further, the sleeve 1 is coaxially arranged inside the outer frame 13 through a bearing; the rotation driving coil 4 and the translation driving coil 5 are both positioned between the sleeve 1 and the outer frame 13. The space between the sleeve 1 and the outer frame 13 forms a sliding channel 14 allowing the rotation driving coil 4 and/or the translation driving coil 5 to slide; in the first outer positioning mechanism and the second outer positioning mechanism: the other end of the deformation body of the clamping mechanism or the other end of the electromagnetic clamping piece of the electromagnetic clamping mechanism is a frustum body, and the smaller end face of the frustum body faces the inner wall of the sleeve 1; the wall of the sleeve 1 is provided with a strip-shaped hole extending along the axial direction, and the size of the strip-shaped hole only allows a part of the frustum body to pass through and extend into the sliding channel 14, wherein the part of the frustum body comprises the smaller end surface; a portion of the frustum is capable of pushing the rotary drive coil 4 and/or the translational drive coil 5 to slide within the sliding channel 14. As shown in fig. 10, the translational drive coil and the rotational drive coil can follow the movement of the first positioning mechanism, the second positioning mechanism, the rotor and the spring, so that the translational drive coil and the rotational drive coil can control the rotor in a high-efficiency magnetic field driving manner. In an alternative variant, the rotary drive coil 4 is fastened to the connecting sleeve 1 or to the outer frame 13; the translational drive coil 5 is fastened to the connecting sleeve 1 or the outer frame 13.
Within one cycle: under the drive of the rotation driving coil 4, the rotor 3 drives the flat rotating shaft 2 to rotate, for example, the rotor 3 can drive the flat rotating shaft 2 to rotate through the rotor rotating shaft 11, and the rotors 3 for clamping the flat rotating shaft 2 can be distributed on two sides of the flat rotating shaft 2, so that the rotor 3 drives the flat rotating shaft 2 to rotate through clamping force, and the rotor 3 rotates around the x axis where the spindle shaft is located as shown in fig. 3 and 4, and can also be shown in fig. 7 and 8; as shown in fig. 9, the first positioning mechanism locks the sleeve 1 and releases the flat rotating shaft 2, the second positioning mechanism releases the sleeve 1 and locks the flat rotating shaft 2, and under the drive of the translational driving coil 5, the rotor 3 rotates around the rotor rotating shaft 11 in a first form so as to directly push the adjacent rotor 3 in the axial direction or indirectly push the second positioning mechanism through the adjacent rotor 3, and the second positioning mechanism drives the flat rotating shaft 2 to translate; then, the second positioning mechanism locks the sleeve 1 and locks the flat rotating shaft 2, the first positioning mechanism releases the sleeve 1 and releases the flat rotating shaft 2, the first positioning mechanism is closed to the second positioning mechanism under the tensile force of the elastic reset mechanism 9, and the rotor 3 is pushed to rotate in a second form in the closing process; wherein the first form of rotation refers to: the rotor 3 rotates from a position where the second width direction is parallel to the axial direction to a position where the first width direction is parallel to the axial direction; the second form of rotation refers to: the rotor 3 is rotated from a position where the first width direction is parallel to the axial direction to a position where the second width direction is parallel to the axial direction, and as shown in fig. 4 and 5, the rotor 3 is rotated around the y-axis perpendicular to the axial direction of the spindle.
As shown in fig. 11 and 12, the spindle includes a rotation shaft 17; within one cycle: the rotation driving rotor 19 drives the rotation shaft 17 to rotate under the driving of the rotation driving coil 4; the first positioning mechanism locks the sleeve 1 and locks the rotating shaft 17, the second positioning mechanism releases the sleeve 1 and releases the rotating shaft 17, the intermediate rotor rotates around the rotor rotating shaft 11 in a first form under the drive of the translational driving coil 5 so as to directly push the adjacent intermediate rotor in the axial direction or indirectly push the second positioning mechanism through the adjacent intermediate rotor, the second positioning mechanism pushes one side of the rotary driving rotor 19, and the one side of the rotary driving rotor 19 drives the transmission mechanism to translate; then, the second positioning mechanism locks the sleeve 1 and locks the rotating shaft 17, the first positioning mechanism releases the sleeve 1 and releases the rotating shaft 17, the rotating driving rotor 19 at the other side of the first positioning mechanism pushes the first positioning mechanism to be close to the second positioning mechanism under the pulling force of the elastic reset mechanism 9, and the first positioning mechanism pushes the middle rotor to rotate in a second form in the closing process; the first form of rotation refers to: the intermediate rotor rotates from a position where the second width direction is parallel to the axial direction to a position where the first width direction is parallel to the axial direction; the second form of rotation refers to: the intermediate rotor rotates from a position where the first width direction is parallel to the axial direction to a position where the second width direction is parallel to the axial direction.
The cycle can be performed a single time or multiple times to achieve athletic performance accumulation.
One skilled in the art can understand fig. 1, 11, and 13 as three preferred examples.
In fig. 1, the rotors are all rotors capable of driving the main shaft to rotate and translate simultaneously. In fig. 11 and 13, the oval rotors are present in pairs, so that the resultant force in the direction of rotation of the spindle is zero or substantially zero, so that the entire oval rotor as a whole can only drive the spindle to translate; the circular rotor obviously cannot drive the main shaft to translate by rotation, so the rotor can only drive the main shaft to rotate as a rotation driving rotor.
The rotor in fig. 1 is oval, and the long diameter and the short diameter are easy to distinguish, in a variation, the long diameter can be slightly longer than the short diameter, for example, 1 millimeter or 1 micrometer, so that the rotor is approximately disc-shaped or spherical, and when the rotor rotates 90 degrees around the rotor rotating shaft, the rotor only drives the spindle to translate by 1 millimeter or 1 micrometer, so that the translational distance of the spindle in the displacement (for example, 1 millimeter or 1 micrometer) with the span of the difference length range of the long diameter and the short diameter can be controlled easily and accurately by controlling the rotation angle of the rotor, and ultra-precise translational displacement controllable driving is realized.
In fig. 1 and 11, the first positioning mechanism is directly pulled by a spring or pushed to the second positioning mechanism by a rotation driving rotor, whereas in fig. 13, the first positioning mechanism includes a metal structure, so that the first positioning mechanism can be attracted by a magnetic body in the rotor to follow.
The broken lines in fig. 1 indicate the rotor and coils which are not visible, and as in fig. 2, a plurality of rotors are connected to a rotor shaft in a stepwise manner. The dashed lines in fig. 2 represent invisible C-shaped magnetically permeable frames. The coil is not visible in dashed lines in fig. 9. The relatively right dashed line in fig. 10 indicates where the coil can be moved. Arrows in fig. 8 and 12 each indicate a direction of a magnetic field generated by the coil.
The rotor has a first width and a second width, which means that: the rotor may have only the first width and the second width, and the rotor may have not only the first width and the second width but also other widths.
The direction of the magnetic field generated by the rotation driving coil is perpendicular to the axial direction of the main shaft, and the direction of the magnetic field generated by the translation driving coil is parallel to the axial direction of the main shaft.
The invention also provides a robot, as shown in fig. 6, comprising the flat rotation integrated driving cylinder.
The invention also provides a driving method for the integrated driving cylinder by utilizing the flat rotation, which comprises the following steps: under the drive of electromagnetic force, on one hand, the projection length of the rotor 3 in the axial direction of the main shaft is changed by driving the rotor 3 to rotate around the rotating shaft of the rotor, so that the rotor 3 can directly or indirectly drive the main shaft or an axial moving part matched with the main shaft to translate, and on the other hand, the rotor 3 is driven to axially rotate around the main shaft, so that the main shaft or the part around the rotating direction of the main shaft is driven to rotate.
The foregoing describes specific embodiments of the present application. It is to be understood that the application is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the application. The embodiments of the application and the features of the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956377.3A CN108023449B (en) | 2016-11-03 | 2016-11-03 | Translational and rotational integrated drive cylinder, robot and driving method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610956377.3A CN108023449B (en) | 2016-11-03 | 2016-11-03 | Translational and rotational integrated drive cylinder, robot and driving method |
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