Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a precise space pose positioning platform.
The invention provides a precise space pose positioning platform which comprises a moving piece 6, a first clamping lock part 1 and a first moving part driving mechanism 3;
the first latch 1 includes a lock mechanism 901;
the first latch 1 further comprises a translational movement member 902 and/or a rotational movement member 903;
the translational movement member 902 can move in a translational movement and the rotational movement member 903 can move in a rotational movement under the drive of the first movement member driving mechanism 3;
the moving part 6 is connected with a translational moving part 902 and/or a rotational moving part 903 through a locking mechanism 901; the lock mechanism 901 can lock or release the moving member 6.
Preferably, the device also comprises a second locking part 2 and a second moving part driving mechanism 4;
The second latch 2 includes a lock mechanism 901;
The second latch 2 further comprises a translational movement member 902;
The translational movement member 902 is capable of translational movement under the drive of the second movement member drive mechanism 4.
Preferably, the locking mechanism 901 comprises any one of the following structures:
-a clamping mechanism;
-a contact locking system;
the contact locking system comprises a moving contact body 911, a contacted body 912 and a moving contact body driving mechanism; the moving member 6 passes through the inner chamber of the contacted body 912, the gap between the moving member 6 and the wall of the inner chamber forms a whole or partial section along the axial direction of the moving member 6 from wide to narrow channel 913, and the moving contact body 911 is located in the channel 913.
Preferably, the first moving part driving mechanism 3 includes a subframe 904 and a first magnet;
A guide groove 906 is formed in the subframe 904, and the first latch 1 moves in the guide groove 906;
the first locking part 1 is provided with a second magnet, so that the first locking part 1 is driven to translate by repulsive force or attractive force between the first magnet and the second magnet;
The first magnet and the second magnet are electromagnets or one is an electromagnet and the other is a permanent magnet.
Preferably, further comprising a main frame 907, a resilient return member 908, a subframe driving member 909;
The sub-frame 904 of the first moving member driving mechanism 3 is fixed to the main frame 907, and the sub-frame 904 of the second moving member driving mechanism 4 is slidable along the main frame 907;
The elastic restoring member 908 is supported between the sub-frame 904 of the first moving member driving mechanism 3 and the sub-frame 904 of the second moving member driving mechanism 4;
the sub-frame driving part 909 is capable of driving the sub-frame 904 of the first moving part driving mechanism 3 to be close to and away from the sub-frame 904 of the second moving part driving mechanism 4 to compress and stretch the elastic restoring part 908.
Preferably, the blocking mechanism 901 comprises two contact blocking systems in which the channels 913 are opposite or opposite in the direction of the narrowing of the moving member 6 by the width.
Preferably, the contact locking system further includes an elastic capsule 915, the elastic capsule 915 being disposed between the mover 6 and the contacted body 912; the two elastic capsules 915 of the contact locking system are connected at the narrow ends; the elastic balloon 915 has particles 916 disposed therein as moving contacts.
Preferably, the stick-slip driving mechanism 5 is connected to the part of the moving piece 6, which is not connected with the locking mechanism 901;
the stick-slip driving mechanism 5 comprises a contact locking system, a contact locking system driving mechanism and a supporting body 919;
The contact locking system, the contact locking system driving mechanism, the supporting body 919, and the locking mechanism 901 are sequentially connected.
Preferably, the contact lock system drive mechanism comprises a magnetic spring;
the magnetic spring comprises a permanent magnet 914, a magnetic attraction body and a connecting piece 921; wherein the magnetic attraction body comprises a ferromagnetic body, an electromagnet or a permanent magnet;
The opposite surfaces of the pair of supporting bodies 919 constitute guide rails, and the pair of supporting bodies 919 are embedded with the ferromagnetic body 920; a pair of permanent magnets 914 are rigidly connected to the contact locking system by a connecting piece 921; the permanent magnet 914 is capable of sliding along the rail;
since the permanent magnet 914 and the ferromagnetic body 920 are always moved relatively to a position where the magnetic flux is maximized, a return mechanism is formed and a spring is provided.
The invention provides a post-positioning detachable system, which comprises the precise space pose positioning platform, and further comprises a synchronous connecting rod 71, a synchronous moving rod 72, a fixed bracket 73 and a controllable locking mechanism 74;
The moving part of the precise space pose positioning platform is connected with one or more synchronous moving rods 72 through synchronous connecting rods 71, and a controllable locking mechanism 74 is arranged between the synchronous moving rods 72 and a fixed bracket 73;
the moving member is detachably connected with the synchronous connecting rod 71, or the synchronous connecting rod 71 is detachably connected with the synchronous moving rod 72.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can position the space pose by one or more modes of translational positioning mode, angle space pose positioning mode and movement function mode, and has flexible control and accurate positioning.
2. The translational positioning mode can realize a large range of movement, so that the moving part is quickly and basically in place.
3. The angle space pose positioning mode can realize the space angle adjustment of the moving part and realize the aiming positioning.
4. The motion function mode can realize the translation of the moving part in the axial direction, and the long-stroke motion of the moving part is realized by accumulating small strokes in a stick-slip motion mode.
5. The invention combines with the motion sensor, and can perform closed-loop control, thereby further improving the positioning accuracy.
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.
Example 1
As shown in fig. 1, the precise space pose positioning platform provided by the invention comprises a moving piece 6, a first clamping lock part 1 and a first moving part driving mechanism 3; the first latch 1 includes a lock mechanism 901; the first latch 1 further comprises a translational movement member 902; the translational movement member 902 is capable of translational movement under the drive of the first movement member driving mechanism 3; the moving part 6 is connected with a translational moving part 902 through a locking mechanism 901; the lock mechanism 901 can lock or release the moving member 6.
The precise space pose positioning platform comprises a second clamping lock part 2 and a second moving part driving mechanism 4; the second latch 2 includes a lock mechanism 901; the second latch 2 further comprises a translational movement member 902; the translational movement member 902 is capable of translational movement under the drive of the second movement member drive mechanism 4.
The locking mechanism 901 includes a clamping mechanism. The invention can utilize clamping mechanism in the prior art, for example, a person skilled in the art can refer to an electromagnetic clamping mechanism and a linear driving device and combination thereof [ application number 201410387626.2, publication number CN104167957A ], which discloses an electromagnetic clamping mechanism, comprising 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 ' electromagnetic-permanent magnet clamping mechanism for linear motor ', ' application number 201020603794.8, publication number CN201869079U ', electromagnetic clamping mechanism and its stick-slip linear motor ', ' application number 201020603955.3, publication number CN201887641U ', etc. to realize the clamping mechanism, and also refer to ' electromagnetic adaptive clamping device and combined clamping device ', ' application number 201610038564.3, publication number CN105527840a '. 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 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 locked against the locked object as the output piece, based on the "electromagnetic clamping mechanism and the linear motor for the stick-slip motion thereof", the output shaft in the clamping mechanism can be 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 tightened and tightened against the locked object as the output piece.
The first moving member driving mechanism 3 drives the first latch 1 by any one of the following: electromagnetic driving, pneumatic driving, thermal driving, physical phase change driving and intelligent material driving. For example smart material drives include SMA drives, piezoelectric drives, and the like.
Take the electromagnetic driving method in fig. 1 as an example. The first moving part driving mechanism 3 includes a sub-frame 904 and a solenoid 905, a guide groove 906 is provided in the sub-frame 904, and the first latch 1 moves in the guide groove 906; the first latch part 1 is also provided with electromagnetic coils 905, so that the first latch part 1 is driven to translate by repulsive force or attractive force between the electromagnetic coils 905, and the translation direction can be parallel to the paper surface or perpendicular to the paper surface. The second moving part driving mechanism 4 and the first moving part driving mechanism 3 may have the same structure, the second moving part driving mechanism 4 includes a subframe 904 and an electromagnetic coil 905, a guide groove 906 is provided in the subframe 904, and the second latch 2 moves in the guide groove 906; the second latch part 2 is also provided with electromagnetic coils 905, so that the second latch part 2 is driven to translate by repulsive force or attractive force between the electromagnetic coils 905, and the translation direction can be parallel to the paper surface or perpendicular to the paper surface.
Springs are connected between the subframe 904 and the translatory motion member 902. The guide slot 906 may be filled with a damping friction medium or a lubrication medium.
The precise space pose positioning platform comprises a main frame 907, an elastic reset component 908 and a subframe driving component 909; the sub-frame 904 of the first moving member driving mechanism 3 is fixed to the main frame 907, and the sub-frame 904 of the second moving member driving mechanism 4 is slidable along the main frame 907; the elastic restoring member 908 is supported between the sub-frame 904 of the first moving member driving mechanism 3 and the sub-frame 904 of the second moving member driving mechanism 4; the sub-frame driving part 909 is capable of driving the sub-frame 904 of the first moving part driving mechanism 3 to be close to and away from the sub-frame 904 of the second moving part driving mechanism 4 to compress and stretch the elastic restoring part 908.
The sub-frame driving section 909 drives the sub-frame 904 by any one of the following means: electromagnetic driving, pneumatic driving, thermal driving, physical phase change driving and intelligent material driving. For example smart material drives include SMA drives, piezoelectric drives, and the like. Take the electromagnetic driving method in fig. 1 as an example. A set of solenoids are provided on opposite sides of the two subframes 904 in the drawing, respectively, and a repulsive force or attractive force can be generated between the two solenoids by controlling a change in current of the solenoids, thereby driving the two subframes 904 to be able to move relatively.
The control method of the precise space pose positioning platform comprises the following steps: translational positioning mode, angular space pose positioning mode and movement function mode. The angular space pose positioning mode is to perform space pose positioning on the moving part, and when the moving part is in a strip shape, the space pose positioning in the axial direction can be visually understood as a 'aiming' action.
In the translational positioning mode, the upper and lower translational movement members 902 in fig. 1 move synchronously, and the clamping mechanisms lock the moving member 6; for example, the two translational motion members 902 can synchronously move in the direction vertical to the paper surface outwards, or can move in the direction vertical to the paper surface to the right, so as to drive the motion member 6 to translate in a relatively large range, and realize translational positioning.
In the angular spatial pose positioning mode, the clamping mechanism and the translational motion member 902 can move relatively within a certain range, and the movement range of the clamping mechanism and the translational motion member 902 is relatively smaller than that of the larger-range translational motion, so that the translational motion member 902 in fig. 1 can rotate when the translational motion member 902 moves out of synchronization, for example, the clamping mechanism is connected with the translational motion member 902 through a ball hinge, a flexible material member or an elastic material member. In addition, the degree of clamping between the clamping mechanism and the moving member 6 may be controlled such that when the clamping mechanism is in a locked state, the moving member 6 is able to rotate relative to the clamping mechanism under the urging of an external force, but the moving member 6 is not able to move in the axial direction.
For example, the clamping mechanism and the translational motion member 902 may be coupled by an elastic member or hinge. Further, by controlling the relative movement between the two translational movement members 902 in the left-right direction of the paper surface, the movement member 6 can be made to rotate in the plane of the paper surface; by controlling the relative movement between the two translational movement members 902 in the direction perpendicular to the paper surface, the movement member 6 can be made to rotate in the plane perpendicular to the paper surface; further, by the compound motion between the two translational motion components 902, the motion component 6 can also perform compound motion to adjust the space pose positioning angle.
In the sport function mode, the mover 6 moves in a Stick-slip (Stick-slip) manner.
Step A: initially, the subframe driving members 909 are unpowered, the resilient return members 908 cause one subframe 904 to move relatively away from the other subframe 904, and the locking mechanisms 901 in both subframes 904 lock the moving member 6, wherein one subframe 904 is above the other subframe 904 in fig. 1;
And (B) step (B): the locking mechanism 901 in one subframe 904 releases the mover 6, and the subframe driving member 909 is energized so that the other subframe 904 moves toward the one subframe 904 against the elastic force of the elastic restoring member 908, and the mover 6 will move with the other subframe 904 because the locking mechanism 901 in the other subframe 904 holds the locked mover 6;
Step C: the locking mechanism 901 in one subframe 904 locks the moving piece 6, the locking mechanism 901 in the other subframe 904 releases the moving piece 6, the subframe driving component 909 is powered off, and the elastic force of the elastic reset component 908 drives the other subframe 904 to be far away from the one subframe 904;
step D: the locking mechanism 901 in one subframe 904 releases the mover 6, and the locking mechanism 901 in the other subframe 904 locks the mover 6;
and (3) repeating the step B, the step C and the step D to realize multiple stick-slip movements, so that the moving part 6 can move upwards in the figure. In the same way, the movement member 6 can be moved in the downward direction in the drawing by the stick-slip movement.
Example 2
As shown in fig. 2 and 3, in a modification of embodiment 1, the locking mechanism 901 includes a knuckle bearing 910 and a contact locking system, and the knuckle bearing 910 is rigidly connected to the contact locking system. In a variation of embodiment 2, the locking mechanism 901 may not include the knuckle bearing 910. In a variation of embodiment 2, the knuckle bearing may be replaced with a ball hinge or a flexible hinge.
As shown in fig. 3, the contact lock system includes a moving contact body 911, a contacted body 912, and a moving contact body driving mechanism. The moving member 6 passes through the inner chamber of the contacted body 912, the gap between the moving member 6 and the wall of the inner chamber forms a whole or partial section along the axial direction of the moving member 6 from wide to narrow channel 913, and the moving contact body 911 is located in the channel 913.
The contact locking system can lock the moving member 6, specifically, under the driving of the moving contact body driving mechanism, the moving contact body 911 can move towards the narrow end of the channel 913, and the moving contact body 911 is limited by the cavity of the channel 913 and friction force between the moving member 6 and the contacted body 912, so that the moving contact body 911 constrains the moving member 6 to translate relative to the channel 913. The locking of the contact locking system to the moving part 6 is one-way locking, which is different from the two-way locking of the clamping mechanism, so that the locking can be respectively controlled in two opposite directions through the combined use of the two contact locking systems.
The contact locking system can release the moving member 6, specifically, under the drive of the moving contact body driving mechanism, the moving contact body 911 can move towards the wide end of the channel 913, and the moving contact body 911 is not limited by the cavity of the channel 913 and friction force between the moving member 6 and the contacted body 912, so that the moving contact body 911 does not restrict the moving member 6 to translate in the axial direction relative to the channel 913.
If the cross-sectional profile of the moving part 6 is circular, the moving part 6 can rotate relative to the locking mechanism, and if the cross-sectional profile of the moving part 6 has corners, for example, a polygon, the moving part 6 cannot rotate relative to the locking mechanism.
Taking the contact locking system located above in fig. 3 as an example, when the power is normally off, the moving contact 911 is attracted to the narrow end of the channel 913 by the permanent magnet 914, so as to realize downward locking; when the electromagnetic coil 905 is energized, the moving contact body 911 is attracted to the wide end of the channel 913 against the attraction of the permanent magnet 914, as shown in fig. 4, thereby achieving bi-directional release.
The locking mechanism 901 includes two contact locking systems in which the passages 913 are opposed in a direction in which the moving member 6 is narrowed by a width.
The moving contact driving mechanism includes a permanent magnet 914 and an electromagnetic coil 905, the permanent magnet 914 always attracts the moving contact 911 to move toward the narrow end of the channel 913, and the electromagnetic coil 905 can drive the moving contact 911 to move toward the wide end of the channel 913 against the attraction of the permanent magnet 914.
The moving contact 911 may be one or more; the moving contact 911 includes any one or more of a contact ball, a contact ring, a rod-like shape, and a contact particle; the channel 913 is annular and circumferentially surrounds the axis of the mover 6. In a variant, the channels 913 may not be annular, for example, the number of channels 913 may be one, may be a part of an annular, and for example, the number of channels 913 may be a plurality, and the plurality of channels 913 may be distributed asymmetrically, such as symmetrically or at an oblique angle, so long as unidirectional locking is enabled.
As shown in fig. 3 to 6, the locking and releasing states of the moving member by the respective contact locking systems are as follows:
Thus, by means of the locking mechanism 901 comprising two contact locking systems, the moving part 6 can be locked or released independently in two opposite axial directions of the moving part 6, respectively.
Example 3
As shown in fig. 7, in the modification of embodiment 2, there are 2 or more contact balls having the same ball diameter and/or 2 or more contact balls having different ball diameters among the plurality of moving contact bodies 911. The contact body ball may be ferromagnetic or non-ferromagnetic; the contact balls may be composed of a ferromagnetic body, a non-ferromagnetic body, and a permanent magnet, respectively, wherein the non-ferromagnetic body may be a wear-resistant body or a lubricating body, which can help the moving contact driving mechanism flexibly drive the moving contact 911, so as to avoid the moving contact 911 from being able to retract to the wide end of the channel 913 after being locked.
Example 4
As shown in fig. 8 and 9, in the modification of embodiment 2, the contact locking system further includes an elastic capsule 915, and the elastic capsule 915 is disposed between the moving member 6 and the contacted body 912. The two elastic capsules 915 of the contact locking system are connected at the narrow ends; the moving contact 911 includes particles 916. The elastic capsule 915 may be filled with damping friction medium 917 or gas, and the elastic capsule 915 may be in a vacuum environment, and the particles 916 are distributed in the damping friction medium 917 or gas.
As shown in fig. 8, the particles 916 are concentrated at the narrow end by the driving of the moving contact body driving mechanism, so that the shearing pressing force between the elastic capsule 915 and the moving member 6 is increased to lock the moving member 6.
As shown in fig. 9, the particles 916 are concentrated at the wide end by the driving of the moving contact body driving mechanism, so that the shearing pressing force between the elastic capsule 915 and the moving member 6 is reduced to release the moving member 6.
The plurality of particles 916 may be made of ferromagnetic material, wear resistant material, or lubricating material, respectively. In particular, the particles 916 may be permanent magnetic particles, so that, as shown in fig. 8, when the power is normally turned off, the permanent magnetic particles and the permanent magnet 914 are attracted to each other in a small gap space between the permanent magnet and the moving member 6, and after the electromagnetic coil is powered on, according to different current directions, the electromagnetic coil may attract the permanent magnetic particles to move to the wide end of the channel, or the electromagnetic coil may apply a repulsive force to the permanent magnetic particles to push the permanent magnetic particles into the small gap space.
Example 5
As shown in fig. 10 and 11, in the modification of embodiment 1, the knuckle bearing 910 of one locking mechanism 901 is rigidly connected to the main frame 907, and the other locking mechanism 901 is connected to the translational motion member 902. The first moving member driving mechanism 3 drives the translational moving member 902 using the smart material piece 918, for example, the smart material piece 918 may be made of a thermally expansive material. The representation of the components shown in dashed lines in fig. 10 is optional.
Of course, the lock mechanism 901 in embodiment 5 may be implemented in the manner of the above-described embodiment.
Example 6
As shown in fig. 12, in the modification of embodiment 5, a stick-slip driving mechanism 5 is connected to a portion of the mover 6 where the lock mechanism 901 is not connected. The stick-slip drive mechanism 5 shown in phantom is an alternative mounting location.
The stick-slip driving mechanism 5 comprises a contact locking system, a contact locking system driving mechanism and a supporting body 919; the contact locking system, the contact locking system driving mechanism, the supporting body 919, and the locking mechanism 901 are sequentially connected. The contact lock system drive mechanism includes a solenoid 905 and a permanent magnet 914, which are labeled with leads in fig. 12
Stick-slip motion driving process of the moving member 6:
step A: initially, as shown in fig. 12, the lock mechanism 901 locks the moving member 6;
And (B) step (B): in the stick-slip drive mechanism 5, a solenoid 905, identified by a lead in fig. 12, attracts a permanent magnet 914 so that the contact-lock system is relatively close to the support 919; the lock mechanism 901 allows only the moving member 6 to move upward, and the contact lock system in the stick-slip drive mechanism 5 locks the moving member 6 from moving downward; specifically, the contact locking system located above in the stick-slip driving mechanism 5 locks downwards in the figure, and reference can be made to fig. 5;
Step C: in the stick-slip driving mechanism 5, the contact locking system driving mechanism drives the contact locking system to be relatively far away from the supporting body 919, and then the contact locking system drives the moving piece 6 to move upwards;
Step D: the locking mechanism 901 locks the moving member 6 so as not to move downwards, and the stick-slip driving mechanism 5 allows the moving member 6 to move upwards;
and (3) repeating the steps B to D, so that multiple stick-slip movements can be realized to accumulate strokes, and the moving piece 6 can move upwards in the figure. In the same way, the movement member 6 can be moved in the downward direction in the drawing by the stick-slip movement.
Example 7
As shown in fig. 13, in the modification of embodiment 5, two locking mechanisms are provided on two translational movement members 902, respectively, so as to be movable with respect to a main frame 907.
In a preferred embodiment, the stick-slip drive mechanism 5 shown in fig. 12 may be mounted on the moving member 6, so that not only the translational positioning mode and the angular spatial pose positioning mode, but also a movement function mode of the moving member 6 in the axial direction may be realized.
Example 8
As shown in fig. 14, this embodiment can be understood as a variation of the embodiment shown in fig. 12. The invention provides a precise space pose positioning platform which comprises a moving piece 6, a first clamping lock part 1 and a first moving part driving mechanism 3; the first latch 1 includes a lock mechanism 901; the first latch 1 further includes a rotational movement member 903; the rotational movement member 903 is rotatably movable by the first movement member driving mechanism 3; the moving piece 6 is connected with a rotary moving part 903 through a locking mechanism 901; the lock mechanism 901 can lock or release the moving member 6.
The first moving part driving mechanism 3 comprises two pairs of electromagnetic driving mechanisms, each pair of electromagnetic driving mechanisms comprises an electromagnet and a permanent magnet which are connected through a spring, the two pairs of electromagnetic driving mechanisms act on different parts of the rotating moving part 903, and the permanent magnet and the electromagnet are respectively arranged on the rotating moving part 903 and the main frame 907; the rotation movement part 903 is driven to rotate by repulsive force or attractive force between the permanent magnet and the electromagnet.
The locking mechanism 901 comprises a knuckle bearing 910 and a contact locking system, wherein the knuckle bearing 910 is rigidly connected with the contact locking system. Wherein the contact locking system may be realized with reference to the above embodiments.
The stick-slip driving mechanism 5 is connected to the part of the moving member 6, which is not connected to the locking mechanism 901. Wherein the stick-slip drive mechanism 5 can be realized with reference to the above embodiments.
Wherein the number and positions of the electromagnetic driving mechanisms may be varied, for example, four electromagnetic driving mechanisms may be provided, wherein one pair of the electromagnetic driving mechanisms drives the rotation moving member 903 to rotate in the XOZ plane, and wherein the other pair of the electromagnetic driving mechanisms drives the rotation moving member 903 to rotate in the YOZ plane; of course, two electromagnetic driving mechanisms may be provided, one of which drives the rotation moving member 903 to rotate in the XOZ plane, and the other of which drives the rotation moving member 903 to rotate in the YOZ plane.
In a variation, the first moving part driving mechanism 3 may be driven by pneumatic, thermal, physical phase change, or intelligent materials. For example smart material drives include SMA drives, piezoelectric drives, and the like. Specifically, the motor may directly act on the displacement output end of the rotary motion member 903 in the vertical direction in the drawing to perform the swing driving, or the motor may drive the slider, and the up-down motion component generated by the movement of the slider along the inclined surface may perform the swing driving on the non-displacement output end of the rotary motion member 903. That is, in addition to the electromagnetic driving method, a mechanical method may be used to convert the translational driving force into the swinging driving force.
Example 9
As shown in fig. 15 and 16, a modification of the embodiment shown in fig. 12 is shown. The stick-slip drive mechanism 5 includes a contact lock system, a contact lock system drive mechanism, and a support body 919. The contact lock system drive mechanism includes a magnetic spring. The magnetic spring comprises a permanent magnet 914, a ferromagnetic body 920 and a connecting piece 921;
The opposite surfaces of the pair of supporting bodies 919 constitute guide rails, and the pair of supporting bodies 919 are embedded with the ferromagnetic body 920; a pair of permanent magnets 914 are rigidly connected to the contact locking system by a connecting piece 921; the permanent magnet 914 is capable of sliding along the rail. Since the permanent magnet 914 and the ferromagnetic body 920 are always moved relatively to a position where the magnetic flux is maximized, a return mechanism is formed and a spring is provided.
In a variation, the ferromagnetic body 920 may be replaced by a permanent magnet, so that opposite poles are arranged between the permanent magnet connected to the support body and the opposite surface of the permanent magnet connected to the contact locking system, and further, a rolling support body is additionally arranged between the two types of permanent magnets to reduce friction force, and the rolling support body may be a round ball as shown in fig. 15, or a round bar to ensure position repeatability.
Example 10
As shown in fig. 17, this is a preferred example of the above embodiment. The moving part 6 is connected with one or more synchronous moving rods 72 through synchronous connecting rods 71, and a controllable locking mechanism 74 is arranged between the synchronous moving rods 72 and a fixed bracket 73. After the moving member 6 moves for space position positioning, the synchronous moving rod 72 also realizes space position positioning, and then the synchronous moving rod 72 and the fixed bracket 73 are fixed through the controllable locking mechanism 74.
The moving member is detachably connected with the synchronous connecting rod 71, or the synchronous connecting rod 71 is detachably connected with the synchronous moving rod 72. Therefore, after the synchronous motion rod 72 realizes the space gesture positioning, the precise space gesture positioning platform can be detached, so that the influence on the electromagnetic environment is avoided.
Example 11
As shown in fig. 18, 19 and 20, the variations of fig. 3, 7 and 8 are modified in that the positions of the wide end and the narrow end of the channel are interchanged.
In the embodiments shown in fig. 3 and 7, the electromagnetic coil is kept in a locked state by a permanent magnet when the electromagnetic coil is de-energized; while in the embodiment shown in fig. 18, 19 the solenoid is kept in a released state by a permanent magnet when de-energized.
Both fig. 8 and 20 maintain a locked state by the permanent magnet when the electromagnetic coil is de-energized.
In addition, in fig. 18, in addition to the balls shown as the hatched circles, rings shown as hollow circles are shown as the moving contact bodies, and although the locking cannot be achieved by the smaller diameter of a single ball, the number of balls may be plural, and the number of rings may be plural, so that the same principle as in fig. 19 can also be achieved.
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.