阅读说明：本技术 一种挠性机械脊柱 (Flexible mechanical spine ) 是由 陈晓 于 2019-10-22 设计创作，主要内容包括：本发明公开了一种挠性机械脊柱,包括关节组件、挠性组件和连接电线,所述关节组件包括第一方形连接块和第二方形连接块,所述第一方形连接块和第二方形连接块的顶部分别安装有第一滚珠轴承和第二滚珠轴承,第一滚珠轴承的顶部与第二方形连接块的底部固定连接,所述第一方形连接块和第二方形连接块的表面均开设有四个通孔,涉及机械组件技术领域。该挠性机械脊柱,在通电后,通过控制螺纹线圈的正负极以及电流来改变磁铁两端的磁性以及磁场强度,从而能够灵活的控制机械脊柱每个关节的方位,且结构简单,使得脊柱占位空间小,能够灵活的应用在各种狭小的空间内进行作业,故障率低,很大程度上提高了机械脊柱的性能。(The invention discloses a flexible mechanical spine, which comprises a joint assembly, a flexible assembly and a connecting wire, wherein the joint assembly comprises a first square connecting block and a second square connecting block, the tops of the first square connecting block and the second square connecting block are respectively provided with a first ball bearing and a second ball bearing, the top of the first ball bearing is fixedly connected with the bottom of the second square connecting block, and the surfaces of the first square connecting block and the second square connecting block are respectively provided with four through holes. This flexible machinery backbone, after the circular telegram, the magnetism and the magnetic field intensity at magnet both ends are changed through positive negative pole and the electric current of control thread coil to every articular position of control machinery backbone that can be nimble, and simple structure makes the backbone occupation space little, and the application that can be nimble carries out the operation in various narrow and small spaces, and the fault rate is low, and to a great extent has improved the performance of machinery backbone.)

1. A flexible mechanical spine comprising a joint assembly (1), a flexible assembly (2) and connecting wires (3), characterized in that: the joint component (1) comprises a first square connecting block (101) and a second square connecting block (102), wherein a first ball bearing (103) and a second ball bearing (104) are respectively installed at the tops of the first square connecting block (101) and the second square connecting block (102), the top of the first ball bearing (103) is fixedly connected with the bottom of the second square connecting block (102), four through holes (105) are respectively formed in the surfaces of the first square connecting block (101) and the second square connecting block (102), a first thread coil (106) is fixedly installed on the inner wall of each through hole (105), and a cylindrical electromagnet (107) is fixedly installed inside each first thread coil (106).

2. A flexible mechanical spine according to claim 1, wherein: the flexible assembly (2) comprises two circular connecting blocks (201), and the two circular connecting blocks (201) are fixedly connected through a transverse plate (202).

3. A flexible mechanical spine according to claim 2, wherein: the top of one side of the circular connecting block (201) is fixedly connected with bearing connecting seats (203), and a third ball bearing (204) is fixedly arranged between the two bearing connecting seats (203).

4. A flexible mechanical spine according to claim 3, wherein: the top of the third ball bearing (204) is fixedly connected with the bottom of the transverse plate (202).

5. A flexible mechanical spine according to claim 2, wherein: the inside fixed mounting of circular connecting block (201) has bar circular telegram magnet (205), the surface winding of bar circular telegram magnet (205) has second thread coil (206).

6. A flexible mechanical spine according to claim 2, wherein: the top of the second ball bearing (104) is fixedly connected with the bottom of the transverse plate (202).

7. A flexible mechanical spine according to claim 3, wherein: the top of the third ball bearing (204) is fixedly connected with the bottom of the first square connecting block (101).

8. A flexible mechanical spine according to claim 1, wherein: one end of the connecting wire (3) penetrates through the flexible assembly (2) and the joint assembly (1) in sequence and extends to the outside of the flexible assembly (2).

Technical Field

The invention relates to the technical field of mechanical components, in particular to a flexible mechanical spine.

Background

Robots are the common name of automatic control machines, including all machines simulating human behaviors or ideas and other creatures, and there are many categories and disputes in the narrow definition of robots, and some computer programs are even called robots.

Mobile robots are mostly used in severe conditions such as disaster relief, and the purpose of research is to enhance the mobility of mobile systems. In nature, walking of most mammals on land is realized by legs and feet, and the walking robot is flexible and rapid and has strong adaptability to various complex terrains. The spine is used as a central element of a mammal body, can be used for increasing the motion range and absorbing impact force, and from the perspective of bionics, vertebrates containing vertebrates show good motion control capability in the evolution of hundreds of millions of years, the improvement direction of combining the multi-foot to few-foot and flexible spine is more in line with the idea of mechanism bionic evolution, and with the occurrence of flexible trunks containing the spine, the design of the robot feet becomes simple and the size becomes smaller.

In some special industries, it is necessary for a robot to be able to bend flexibly, so that a mechanical spine assembly needs to be installed on the robot to meet the operation requirement, a mechanical exoskeleton or a powered exoskeleton is a mechanical device which is composed of a steel frame and can be worn by a person, and the equipment can provide extra energy for four limbs to move, which is called as: reinforcement clothes, power armor, and an important component thereof is also a mechanical spine.

The existing mechanical spine assembly is generally composed of a plurality of connecting columns, motors are arranged at joints of the connecting columns, and the motors drive the motion of each joint, so that each joint needs a joint motor, the mounting structure is complex, the failure rate is high, multiple motors are controlled in a coordinated mode and are extremely complex, a plurality of motors can occupy large mounting positions when being mounted simultaneously, the size of a machine body is increased, and the operation is not very convenient.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a flexible mechanical spine, which solves the problems of high failure rate, complex structure and large occupied space of the conventional mechanical spine driven by a motor.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a flexible manipulator, includes joint subassembly, flexible assembly and connecting wire, the joint subassembly includes first square connecting block and the square connecting block of second, first ball bearing and second ball bearing are installed respectively to the top of first square connecting block and the square connecting block of second, the top of first ball bearing and the bottom fixed connection of the square connecting block of second, four through-holes have all been seted up on the surface of first square connecting block and the square connecting block of second, the inner wall fixed mounting of through-hole has first thread coil, the inside fixed mounting of first thread coil has cylindrical circular telegram magnet.

Preferably, the flexible assembly comprises two circular connecting blocks, and the two circular connecting blocks are fixedly connected through a transverse plate.

Preferably, the top of one side of the circular connecting block is fixedly connected with bearing connecting seats, and a third ball bearing is fixedly arranged between the two bearing connecting seats.

Preferably, the top of the third ball bearing is fixedly connected with the bottom of the transverse plate.

Preferably, a bar-shaped electromagnet is fixedly installed inside the circular connecting block, and a second threaded coil is wound on the surface of the bar-shaped electromagnet.

Preferably, the top of the second ball bearing is fixedly connected with the bottom of the transverse plate.

Preferably, the top of the third ball bearing is fixedly connected with the bottom of the first square connecting block.

Preferably, one end of the connecting wire penetrates through the flexible assembly and the joint assembly in sequence and extends to the outside of the flexible assembly.

(III) advantageous effects

The present invention provides a flexible mechanical spine. The method has the following beneficial effects:

(1) the flexible mechanical spine is fixedly connected with the bottom of the second square connecting block through the top of the first ball bearing, four through holes are formed in the surfaces of the first square connecting block and the second square connecting block, a first threaded coil is fixedly installed on the inner wall of each through hole, a cylindrical electromagnet is fixedly installed inside each first threaded coil, each flexible assembly comprises two circular connecting blocks, the two circular connecting blocks are fixedly connected through a transverse plate, a bearing connecting seat is fixedly connected with the top of one side of each circular connecting block, a third ball bearing is fixedly installed between the two bearing connecting seats, the top of each third ball bearing is fixedly connected with the bottom of the transverse plate, and after the flexible mechanical spine is electrified, the magnetism and the magnetic field intensity at the two ends of each magnet are changed by controlling the positive and negative poles of the threaded coils and the current, so that the orientation of each joint of the mechanical spine can be flexibly controlled, and simple structure for the backbone occupation space is little, and the application that can be nimble carries out the operation in various narrow and small spaces, and the fault rate is low, and to a great extent has improved the performance of mechanical backbone.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the construction of the joint assembly of the present invention;

FIG. 3 is a cross-sectional view of a circular connecting block structure of the present invention;

fig. 4 is a partial enlarged view of the invention at a in fig. 1.

In the figure, 1, a joint component; 2. a flexible member; 3. connecting an electric wire; 101. a first square connecting block; 102. a second square connecting block; 103. a first ball bearing; 104. a second ball bearing; 105. a through hole; 106. a first threaded coil; 107. a cylindrical energized magnet; 201. a circular connecting block; 202. a transverse plate; 203. a bearing connecting seat; 204. a third ball bearing; 205. a strip-shaped electrification magnet; 206. a second threaded coil.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-4, an embodiment of the present invention provides a technical solution: the utility model provides a flexible machinery backbone, including joint subassembly 1, flexible assembly 2 and connecting wire 3, joint subassembly 1 includes first square connecting block 101 and the square connecting block of second 102, first ball bearing 103 and second ball bearing 104 are installed respectively to the top of first square connecting block 101 and the square connecting block of second 102, the top of first ball bearing 103 and the bottom fixed connection of the square connecting block of second 102, four through-holes 105 have all been seted up on the surface of first square connecting block 101 and the square connecting block of second 102, the inner wall fixed mounting of through-hole 105 has first thread coil 106, the inside fixed mounting of first thread coil 106 has cylindrical circular telegram magnet 107.

In the invention, the flexible assembly 2 comprises two circular connecting blocks 201, and the two circular connecting blocks 201 are fixedly connected through a transverse plate 202.

In the invention, the top of one side of the circular connecting block 201 is fixedly connected with the bearing connecting seats 203, and the third ball bearing 204 is fixedly arranged between the two bearing connecting seats 203.

In the present invention, the top of the third ball bearing 204 is fixedly connected to the bottom of the cross plate 202.

In the invention, a bar-shaped electromagnet 205 is fixedly arranged in the circular connecting block 201, and a second thread coil 206 is wound on the surface of the bar-shaped electromagnet 205.

In the present invention, the top of the second ball bearing 104 is fixedly connected to the bottom of the cross plate 202.

In the present invention, the top of the third ball bearing 204 is fixedly connected to the bottom of the first square connecting block 101.

In the invention, one end of a connecting wire 3 sequentially penetrates through the flexible assembly 2 and the joint assembly 1 and extends to the outside of the flexible assembly 2, the connecting wire 3 is used for connecting a mechanical spine with a PLC control system, and the PLC control system controls a thread coil on the mechanical spine through the connecting wire 3.

When the manipulator works, the connecting wire 3 is used for electrifying, so that the first threaded coil 106 and the second threaded coil 206 are electrified, the cylindrical electrifying magnet 107 and the bar-shaped electrifying magnet 205 can generate magnetism, the S poles and the N poles at the two ends of the cylindrical electrifying magnet 107 and the bar-shaped electrifying magnet 205 are changed by switching the positive poles and the negative poles of the first threaded coil 106 and the second threaded coil 206, and the angle of the manipulator is flexibly adjusted by the principle that like poles repel each other and opposite poles attract each other.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.