CN106130306A - Preferably class methane structure wind drives formula Electromagnetic generation ball shape robot - Google Patents
Preferably class methane structure wind drives formula Electromagnetic generation ball shape robot Download PDFInfo
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- CN106130306A CN106130306A CN201610532055.6A CN201610532055A CN106130306A CN 106130306 A CN106130306 A CN 106130306A CN 201610532055 A CN201610532055 A CN 201610532055A CN 106130306 A CN106130306 A CN 106130306A
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- spherical shell
- permanent magnet
- ball shape
- hook
- hollow pipe
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/02—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving magnets and stationary coil systems
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Abstract
The present invention relates to a kind of preferably class methane structure wind and drive formula Electromagnetic generation ball shape robot, including spherical shell, permanent magnet, coil, spring, hook, hollow pipe and attachment means；Described spherical shell, for sealing hard spherical shell, is fixed by four hemispherical Shell splicings and is formed；Four hollow pipes are uniformly distributed in spherical shell, and two ends are connected with attachment means and the spherical shell inwall at center respectively；Described permanent magnet, spring, hook are located in hollow pipe, and described spring is positioned at the both sides of permanent magnet, are connected with permanent magnet by hook, and described coil distribution is in the center of four hollow pipe outer walls.Present invention novel structure on the whole, the compactest, quality is little, inside need not the drive mechanism of complexity, have the most vacant space for detecting, the lift-launch of the instrument such as communication, and be adapted to extremely low adverse circumstances, it is achieved distance, on a large scale exploration and detection.
Description
Technical field
The present invention relates to a kind of preferably class methane structure wind and drive formula Electromagnetic generation ball shape robot, be that one can apply to
The ball shape robot of polar region scientific investigation detection, belongs to the field of novel robot exploitation.
Background technology
The South Pole is the continent that last block of the mankind is not developed, and it contains the freshwater resources of the earth 80%, maximum ferrum
Ore deposit and colliery and other mineral resources substantial amounts of.The mineral that the Antarctic Continent is contained have more than 220 to plant.The meanwhile gas of Antarctica
Waiting change and global climate produces tremendous influence, the mankind are understood ground by research antarctic climate and glacier variation history and trend
The geology of ball self and climate change tool of simultaneously making prediction change in future is of great significance.By the energy system of carrying
About, activity time of interior driving ball shape robot and being limited in scope, it is difficult to realize environment long-time, remote, large-scale and visit
Surveying, energy resource supply problem becomes a great problem of interior driving ball shape robot research.Design one South Pole ball shape robot from
Electric supply installation, can efficiently solve energy resource supply problem so that it is the carrying out being able in Members In Antarctic Environment not limited by the energy is visited
Survey.
The place that the world is the coldest is not only in the South Pole, is also the area that wind-force is maximum in the world.More than 8 grades every year on average, there
Strong wind have 300 days, annual mean wind speed 19.4 meter per second.Limit for improving the energy, and for this special natural ring of South Pole wind-force
Border, thus, designs the self-power supply device of a kind of wind-force effect, and its function that mainly should realize converts wind energy into electric energy exactly and enters
Row storage.For this problem, researcher is explored and is set up such as egg-whisk (Eggbeater), Herba Taraxaci (Dandelion), wind rolling
Outside grass (Tumbleweed), inflatable ball structure (Inflatable Tumbleweed) and box kite (Box-Kite) structure
The ball shape robot model of portion's wind drive.
Wind energy is cleaning, free of contamination regenerative resource, and the close friend that can realize man and nature environment coexists.Wind drive fills
Put with a long history, the sailing boat of such as ancient Egypt, the wind drive water elevator in three state's epoch, the windmill etc. of Song dynasty, until modern
Wind power plant.The concept source of wind drive ball shape robot a kind of natural plants " tumbleweed " on grassland (has another name called
Ji) motion mode, main purpose be for tellurian harsh and unforgiving environments detection and outer celestial body surface environment detection provide one low
The motor system of cost, high efficiency and high reliability.
From the beginning of 2000, the Langley Research Center (LaRC) of external NASA, JPL, Dezhou technology university (TTU), north card
Luo Laina state university (NCSU), technical college of Swiss Confederation etc. have started the research of wind drive ball shape robot in succession, its
Middle LaRC, NCSU and TTU are directed generally to the research of open design conceptual model, and JPL is directed generally to grinding of inflatable ball model
Studying carefully, technical college of Swiss Confederation is carrying out the research of folding intellectual material wind-force ball.The diameter 1.5 meters that JPL makes
Inflated type wind drive ball shape robot, has carried out Members In Antarctic Environment detection in 2004, has run 131 public on glacier, Greenland
In, wind speed was 28km/h at that time, and robot maximal rate reaches 17km/h, and average speed is about 7km/h, by according to star system,
The glacier environment information such as the temperature collected and air pressure have successfully been passed back to control centre.Within 2005, LaRC has made diameter 3 meters
The ground principle prototype of box kite structure.
Amir Homayoun Javadi A. and Puyan Mojabi developed a kind of omni-bearing spherical motion in 2002
Robot, Javadi and Mojabi et al. is by its named " August " ".Robot carries out autonomous type and powers, logic control system
Uniform part is arranged on ball interior plate, and a part is arranged in spheroid external control template, is attached by radio,
August is to assemble with centrosymmetric principle, makes the barycenter of spheroid and the centre of form overlap.The drive system of August be by
Four screwed spokes are constituted, and they are arranged on the device of a tetrahedron structure, are mutually 109.47 each other
, each spoke carrying the counterweight of 1.125kg weight, it is possible to carry out oscilaltion, the motor controlling elevating movement is mounted directly
On spoke.
Chinese invention patent application number 200810231786.2, the spherical robot device that a kind of inside and outside driving is had both is open
The ball shape robot patent of Li Tuanjie application, this device is driven to main with wind, is inside driven to auxiliary to utilize outside wind energy driving
Ball shape robot carries out rolling movement, when running into barrier or getting into a difficult position, adjusts position by starting internal drive
Attitude, crossing/avoiding obstacles or extricate oneself from a predicament, improve the utilization rate to natural wind energy.
Jiang Jie etc. have developed the ball shape robot structure that a kind of inside and outside driving is had both for 2012, and kinergety is mainly derived from
Natural wind energy, spheroid freely can roll under wind drive；Type inflatable sphere structure can omnidirectional rolling, and have preferably elastic；
Internal structure design is based on the moment of momentum theorem, by the position of centre of gravity of the mobile change ball shape robot of balance weight body.Junichi
Asama etc. propose the wind drive ball shape robot of the six orthogonal pipelines of named Moball for 2015, make use of electromagnetism sense
Answer phenomenon to be then converted to electric energy by converting wind energy into mechanical energy, rotation and two kinds of situations of falling are tested by literary composition.
Ball shape robot till developing into now, the most domestic ball shape robot, due to the driving principle used
Being all to utilize gravitational moment to be driven, so internal structure is similar to mostly, component of machine used is the most similar, in lacking
The improvement of portion's structure and innovation.
Summary of the invention
It is an object of the invention on the basis of existing ball shape robot technology, design and a be adapted for use in polar region ring
The preferred class methane structure wind of the polar region scientific investigation in border drives formula Electromagnetic generation ball shape robot, it is provided that a kind of internal structure novelty,
Use that new frame for movement forms, can utilize wind energy as drive energy, not only simple in construction but also save the energy, again with
The function of electricity collection.
For reaching above-mentioned purpose, design of the present invention is: the ball shape robot of the new structure that the present invention provides,
It is made up of the duct type calutron of spherical shell and inside.Spherical shell periphery maximum gauge is 1 meter.Spherical shell is divided into pintongs, every lobe ball
Shared by shell circular arc, angle is 90 degree, is evenly distributed on driving means peripheral, just forms spheroid；Inside is by four positive tetrahedrons
The duct type calutron composition of distribution, this duct type calutron is made up of permanent magnet, coil, spring and hook.Pipeline
Formula calutron both sides are connected to spherical shell by threaded fastener respectively and are positioned in the attachment means of ball centre.
Conceiving according to foregoing invention, the present invention uses following technical proposals:
A kind of preferably class methane structure wind drives formula Electromagnetic generation ball shape robot, including spherical shell, permanent magnet, coil, spring, extension
Hook, hollow pipe and attachment means；Described spherical shell, for sealing hard spherical shell, is fixed by four hemispherical Shell splicings and is formed；Four skies
Heart pipeline is uniformly distributed in spherical shell, and two ends are connected with attachment means and the spherical shell inwall at center respectively；Described permanent magnet, bullet
Spring, hook are located in hollow pipe, and described spring is positioned at the both sides of permanent magnet, are connected with permanent magnet by hook, described coil
It is distributed in the center of four hollow pipe outer walls.
The described permanent magnet in hollow pipe can roll under wind-force effect with spheroid and do at pipe interior random
Reciprocating motion, because of centrifugal force effect can in pipe ends position, in order to make its have cutting magnetic induction line produce induction electromotive force
Effect, be connected to two springs at permanent magnet two ends by hook connecting, spring can provide permanent magnet to overcome centrifugal action to make it
Return to pipeline center position, coil knowable to faraday electromagnetic induction phenomenon can produce induction electromotive force because of magnetic flux change,
Permanent magnet does the motion of cutting magnetic induction line in pipeline, and then produces induction electromotive force, thus realizes the most first turning wind energy
Turning to spheroid mechanical energy, changes mechanical energy is electric energy.
The present invention, compared with the technology that existing wind drives ball shape robot, has carried out changing of unique innovation on its basis
Enter, simplify structure.Its advantage and innovative point are:
(1) this robot interior overall structure is symmetrical, type of drive simple possible, and its each mechanical part is all uniformly distributed,
So kinetic stability is good.
(2) the invention belongs to the electromagnetic type ball shape robot of wind drive, its 26S Proteasome Structure and Function is mainly for South Pole wind-force
This special geological surrounding relatively big and design, main application is the data acquisition during scientific investigation of the South Pole.Its main type of drive
It is dependent on wind energy, substantial amounts of energy can be saved, and there is self-energy collection device, can improve continuous to the full extent
Boat ability.
(3) on the whole novel structure, the compactest, quality is little, the internal drive mechanism not needing complexity, has a large amount of sky
The lift-launch of the instruments such as remaining space can be used for detecting, communication, and be adapted to extremely low adverse circumstances, it is achieved distance, big
The exploration of scope and detection.
Accompanying drawing explanation
The tomograph of the ball shape robot that Fig. 1 provides for the present invention.
The cut-away view of the ball shape robot that Fig. 2 provides for the present invention.
The pipe interior structural representation of the ball shape robot that Fig. 3 provides for the present invention.
The structure Section line block diagram of the ball shape robot that Fig. 4 provides for the present invention.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
Such as Fig. 1, shown in Fig. 2, Fig. 3, Fig. 4, a kind of preferably class methane structure wind drives formula Electromagnetic generation ball shape robot, including spherical shell
1, permanent magnet 2, coil 3, spring 4, hook 5, hollow pipe 6 and attachment means 7；Described spherical shell 1 is for sealing hard spherical shell, by four
The splicing of individual hemispherical Shell is fixing to be formed；Four hollow pipes 6 are uniformly distributed in spherical shell 1, two ends respectively with the attachment means 7 at center
It is connected with spherical shell 1 inwall；Described permanent magnet 2, spring 4, hook 5 are located in hollow pipe 6；Described spring 4 is positioned at permanent magnet 2
Both sides, 5 be connected with permanent magnet 2 by hook；Described coil 3 is distributed in the center of four hollow pipe 6 outer walls.
The operation principle of the present invention is as follows:
When calm, ball shape robot is positioned in hollow pipe 6 generally in a kind of static poised state, permanent magnet 2
Heart position, without motion, so the i.e. influence electricity kinetic potential of motion without cutting magnetic induction line produces.The external world when ball shape robot place
When environment has wind, permanent magnet 2 in described hollow pipe 6 can roll under wind-force effect with spherical shell 1 and in hollow pipe 6
Random reciprocating motion is done in portion, because the effect of centrifugal force can be in hollow pipe 6 end positions, in order to make it have cutting magnetic induction line
Producing the effect of induction electromotive force, have two springs 4 at permanent magnet 2 two ends by hook 5 connection, spring 4 can provide permanent magnet 2
Centrifugal action is overcome to make it produce the active force returning to hollow pipe 6 initial motion state trend.By Faradic electricity magnetic strength
Answering phenomenon to understand, coil 3 can produce induction electromotive force because of magnetic flux change, and permanent magnet 2 does cutting magnetic induction line in hollow pipe 6
Motion, and then produce induction electromotive force.Collect the electromotive force produced, be used in communication and inspection that ball shape robot carries
Survey device, and then realize exploring work.
Claims (1)
1. a preferred class methane structure wind drives formula Electromagnetic generation ball shape robot, it is characterised in that: include spherical shell (1), permanent magnetism
Ferrum (2), coil (3), spring (4), hook (5), hollow pipe (6) and attachment means (7)；Described spherical shell (1) is for sealing hard
Spherical shell, is fixed by four hemispherical Shell splicings and forms；Four hollow pipes (6) are uniformly distributed in spherical shell (1), two ends respectively with in
The attachment means (7) of the heart is connected with spherical shell (1) inwall；Described permanent magnet (2), spring (4), hook (5) are located at hollow pipe
(6) in；Described spring (4) is positioned at the both sides of permanent magnet (2), is connected with permanent magnet (2) by hook (5)；Described coil (3) point
Cloth is in the center of four hollow pipe (6) outer walls.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610532055.6A CN106130306A (en) | 2016-07-08 | 2016-07-08 | Preferably class methane structure wind drives formula Electromagnetic generation ball shape robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610532055.6A CN106130306A (en) | 2016-07-08 | 2016-07-08 | Preferably class methane structure wind drives formula Electromagnetic generation ball shape robot |
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| CN106130306A true CN106130306A (en) | 2016-11-16 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107834901A (en) * | 2017-11-08 | 2018-03-23 | 上海大学 | A kind of wind drives cogeneration spherical detector |
| CN109755007A (en) * | 2018-12-03 | 2019-05-14 | 北京航空航天大学 | Four coil system of space and mini octopus robot |
| CN110242483A (en) * | 2019-06-24 | 2019-09-17 | 郑州工业应用技术学院 | Sandstorm energy conversion device |
| CN111853144A (en) * | 2020-07-20 | 2020-10-30 | 长沙理工大学 | Working method of air-liquid-solid coupled air-drop cargo combined buffer device |
| CN111853143A (en) * | 2020-07-20 | 2020-10-30 | 长沙理工大学 | Gas-liquid-solid coupled air-drop carrier combined buffer device |
| CN113433343A (en) * | 2021-06-23 | 2021-09-24 | 上海大学 | Triboelectricity-electromagnetism composite flow velocity detection device for environment perception |
| CN113442014A (en) * | 2021-09-01 | 2021-09-28 | 南通铭泰机床有限公司 | Full-automatic intelligent plate rolling machine with side guide stop mechanism |
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| US6289263B1 (en) * | 1997-12-16 | 2001-09-11 | Board Of Trustees Operating Michigan State University | Spherical mobile robot |
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| CN202927729U (en) * | 2012-12-12 | 2013-05-08 | 林树凡 | A light-emitting ball |
| US20130222115A1 (en) * | 2012-02-23 | 2013-08-29 | California Institute Of Technology | Autonomous and controllable systems of sensors and methods of using such systems |
| CN203251210U (en) * | 2013-05-22 | 2013-10-23 | 湛江师范学院 | A floating ball wave power generation apparatus |
| RU2563979C2 (en) * | 2013-09-19 | 2015-09-27 | Частное образовательное учреждение высшего образования "ЮЖНЫЙ УНИВЕРСИТЕТ (ИУБиП") | Inertial pendulum oscillator |
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| US6289263B1 (en) * | 1997-12-16 | 2001-09-11 | Board Of Trustees Operating Michigan State University | Spherical mobile robot |
| CN102255468A (en) * | 2011-07-25 | 2011-11-23 | 郑福禄 | Vibration generator and generation method |
| US20130222115A1 (en) * | 2012-02-23 | 2013-08-29 | California Institute Of Technology | Autonomous and controllable systems of sensors and methods of using such systems |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107834901A (en) * | 2017-11-08 | 2018-03-23 | 上海大学 | A kind of wind drives cogeneration spherical detector |
| CN107834901B (en) * | 2017-11-08 | 2019-08-06 | 上海大学 | A kind of wind driving cogeneration spherical detector |
| CN109755007A (en) * | 2018-12-03 | 2019-05-14 | 北京航空航天大学 | Four coil system of space and mini octopus robot |
| CN110242483A (en) * | 2019-06-24 | 2019-09-17 | 郑州工业应用技术学院 | Sandstorm energy conversion device |
| CN111853144A (en) * | 2020-07-20 | 2020-10-30 | 长沙理工大学 | Working method of air-liquid-solid coupled air-drop cargo combined buffer device |
| CN111853143A (en) * | 2020-07-20 | 2020-10-30 | 长沙理工大学 | Gas-liquid-solid coupled air-drop carrier combined buffer device |
| CN113433343A (en) * | 2021-06-23 | 2021-09-24 | 上海大学 | Triboelectricity-electromagnetism composite flow velocity detection device for environment perception |
| CN113442014A (en) * | 2021-09-01 | 2021-09-28 | 南通铭泰机床有限公司 | Full-automatic intelligent plate rolling machine with side guide stop mechanism |
| CN113442014B (en) * | 2021-09-01 | 2021-10-29 | 南通铭泰机床有限公司 | Full-automatic intelligent plate rolling machine with side guide stop mechanism |
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Application publication date: 20161116 |