CN102620109B - Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot - Google Patents
Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot Download PDFInfo
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- CN102620109B CN102620109B CN201210097788.3A CN201210097788A CN102620109B CN 102620109 B CN102620109 B CN 102620109B CN 201210097788 A CN201210097788 A CN 201210097788A CN 102620109 B CN102620109 B CN 102620109B
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Abstract
The invention discloses an electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot, which is based on an EMSR technology. Electric energy is wirelessly transmitted to an excitation coil through a power transmission circuit, and a giant magnetostrictive rod is deformed in an alternating magnetic field to bend and stretch robot feet, so that the advancement or retreat of the miniature pipeline robot is realized. By the design, a wireless electric energy transmission technology and the characteristics of a giant magnetostrictive material are ingeniously combined, and the EMSR-based miniature pipeline robot has the characteristics of simple structure, remarkable effect, convenience for maintenance and flexibility in operation. The EMSR-based miniature pipeline robot mainly comprises a function signal generator (1), a power amplifier (2), the power transmission circuit (3), the excitation coil (4), a metal working plane (5), a miniature actuator (6) and a voltage monitoring link (7).
Description
Technical field
The present invention relates to a kind of robot based on EMSR, this design is based on electromagnetism-mechanical synchronization resonance (Electromagnetic & Mechanical Synchronous Resonance, EMSR) technology, first by power emission circuit, electric energy wireless transmission is arrived to field coil, then giant magnetostrictive rod produces distortion under alternating magnetic field, make machine foot produce bending and extensional deformation, thereby realize advanced person or the backward movement of robot.The present invention designs ingenious wireless power transmission technology and the super magnetostriction material characteristic of combining, and has the feature of simple in structure, successful, easy to maintenance and flexible operation
Background technique
Magnetostriction materials, shape-memory material and piezoelectric material not only can be to external world or inner physics, chemical change there is perception, can respond for the variation occurring simultaneously, in sensor and actuator field, there is extensive use, therefore become the representative of new function material.Wherein utilize the quick microdisplacement actuator of electricity-magnetic-machine highi degree of accuracy that Magnetostrictive effect is made to have and be easy to the advantages such as integrated, microminiaturized, intelligent, be widely used at present the fields such as modern precision processing, construction engineering, robot, medical science and Aero-Space.
The present invention mainly utilizes super magnetostriction material self can realize electromagnetic energy and the efficient feature of conversion mutually of mechanical energy, while being positioned in outside alternating magnetic field, produce the magnetostriction distortion that doubles alternating magnetic field frequency change, thereby after electricity-machine transducing head is absorbed, be converted into efficiently mechanical energy, can be the needing only with design of robot of working under specific condition effective solution is provided.
Summary of the invention
Technical problem to be solved by this invention is, on the wireless transmission basis of electric energy, utilize super magnetostriction material own characteristic, make micro-actuator in alternating magnetic field repeatedly elongate or shorten variation, thereby by the mechanical energy that is converted to synchronous electromagnetic energy, realize advancing and backward movement of robot.
The technical solution adopted in the present invention is: based on the robot of EMSR, include function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7).
Described power amplifier (2) is main core by the high power valve that can be operated under high frequency, high voltage, in conjunction with peripheral electron device, form high-power linear amplifier, when function signal generator (1) is exported a sinusoidal waveform according to power emission circuit (3) resonant frequency, power amplifier (2) is enlarged into a power signal by this sinusoidal signal, and changes output power by the adjusting pressuring knob of electron tube.
Described power emission circuit (3) is comprised of two-part: a part is on coil rack, to form the air core coil with certain inductance value by close being around in of high conductivity oxygen-free copper-wire; Another part is to choose electric metal thin film capacitor formation compensation circuit to be connected in parallel on air core coil head and the tail, and the frequency of okperation of power emission circuit (3) is determined by above two-part simultaneously.
Described field coil (4) is closely wrapped on micro-actuator (6) and is formed by the superfine high conductivity enameled cable of wire diameter, himself there is certain inductance value, and jointly determined the resonant frequency of field coil (4) with the distributed capacitor that working metal plane (5) provides.
The planar metal thin slice that described working metal plane (5) has certain electric conductivity is made, surface scribbles insulation coating and thermal barrier coating, can be used as on the one hand the working plane of micro-actuator (6), make on the other hand the distributed capacitor total amount of field coil (4) increase, thereby regulate the resonant frequency of field coil (4).
Described micro-actuator (6) sticks on elastic sheet metal surface by super magnetostriction material film and is made.When micro-actuator (6) is in alternating electromagnetic field, because giant magnetostrictive thin film is different from elastic sheet metal amount of deflection, make elastic sheet metal elongate or shorten variation under the drive of magneto-striction phenomenon.Meanwhile, owing to there not being bigoted magnetic field, the frequency that micro-actuator (6) produces deformation is the twice of external magnetic field frequency.
Robot based on EMSR of the present invention, on the basis of wireless power transmission, electromagnetic energy is sent to field coil and is provided electric energy to micro-actuator by power emission circuit by wireless mode, then utilize the self-characteristic of super magnetostriction material to convert electrical energy into the mechanical energy of unified frequency, make machine foot produce bending and extensional deformation, thereby realize advanced person or the backward movement of robot.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is power emission circuit and robot working platform schematic diagram;
Fig. 3 is micro-actuator structure principle chart;
Fig. 4 is the robot schematic diagram on working platform;
Fig. 5 is robot driving system structure graph of a relation;
Wherein:
(1): function signal generator; (2): power amplifier; (3): power emission circuit; (4): power receiving circuit; (5): electricity-machine transducing head; (6): voltage monitoring link; (7): vibration monitoring link.
A
1: power emission end a
2: power interface receiving end
V
1: transmitting terminal voltage V
2: receiving-end voltage
Embodiment
Below in conjunction with example and accompanying drawing, the robot based on EMSR of the present invention is described in detail.
As shown in Figure 1, the robot based on EMSR of the present invention, includes function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7).
As shown in Figure 2, described power emission circuit (3) works in self resonant frequency, and this frequency is determined with metal thin film capacitor in parallel by the close inductance forming around oxygen-free copper-wire simultaneously.Field coil (4) is placed in the upper and elect magnetic field in power emission circuit (3) of working metal plane (5), and its frequency of okperation is cooperatively interacted and regulated the resonant frequency of rear assurance and power emission circuit (3) consistent by oxygen-free copper-wire and working metal plane (5).
As shown in Figure 3, described micro-actuator (6) is to be sticked on elastic sheet metal and manufactured and form by giant magnetostrictive thin film.Elastic sheet metal is produced two 90 degree bent angles to form two machine foots of robot.And the amount of deflection of elastic sheet metal is less than giant magnetostrictive thin film, therefore when producing ultra-magnetic telescopic effect, thereby machine foot is realized advancing and retreating of robot by elongating or shortening variation.
As shown in Figure 4, described field coil (4) is closely wrapped in micro-actuator (6) surface, when field coil (4) obtains electromagnetic energy, thereby will produce an alternating electromagnetic field in the middle of densely packed coil, drive giant magnetostrictive thin film to produce deformation.Owing to there not being bias magnetic field, the deformation frequency of super magnetostriction material will be the twice of field frequency in field coil (4).
As shown in Figure 5, first described robot drive system sends sine wave signal by function signal generator (1) according to the predetermined frequency of okperation of power emission circuit (3), and this signal is set as 10kHz in native system.Then by power amplifier (2), this signal is enlarged into a power signal, after current-limiting protection link, to power emission circuit (3), powers.There is electromagnetic resonance in power emission circuit (3), and by wireless power transmission technology, electromagnetic energy is sent to field coil (4).Then in the middle of the densely packed coil of field coil (4), produce the external electromagnetic field of certain magnetic field intensity.Micro-actuator (6) produces Magnetostrictive effect at this elect magnetic field, electromagnetic energy is converted to the mechanical energy that doubles electromagnetic field frequency, thereby makes and foot produces and elongates or shortens variation, promotes advancing or retreating of robot.
Robot based on EMSR of the present invention, when system is started working, by function signal generator, exported the sine wave of a 10kHz, after power amplifier, form the power signal of a 10kHz, this power by power emission circuit wireless be sent to field coil, and at the close alternating electromagnetic field that forms the 10kHz of some strength in the middle of copper coil of field coil, make to produce without the micro-actuator of bias magnetic field the mechanical deformation of 20kHz, thereby driven machine foot to elongate or shorten variation, to realize robot, in working metal plane, advance or backward movement.
Claims (2)
1. the robot based on EMSR, is characterized in that, includes function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7); Described field coil (4) is closely wrapped on micro-actuator (6) and is formed by the superfine high conductivity enameled cable of wire diameter, himself there is certain inductance value, and jointly determined the resonant frequency of field coil (4) with the distributed capacitor that working metal plane (5) provides; Described working metal plane (5) is to be made by the planar metal thin slice with certain electric conductivity, surface scribbles insulation coating and thermal barrier coating, can be used as on the one hand the working plane of micro-actuator (6), make on the other hand the distributed capacitor total amount of field coil (4) increase, thereby regulate the resonant frequency of field coil (4).
2. the robot based on EMSR according to claim 1, be further characterized in that, described micro-actuator (6) sticks on elastic sheet metal surface by super magnetostriction material film and is made, when micro-actuator (6) is in alternating electromagnetic field, because giant magnetostrictive thin film is different from elastic sheet metal amount of deflection, make elastic sheet metal elongate or shorten variation under the drive of magneto-striction phenomenon; Meanwhile, owing to there not being bigoted magnetic field, the frequency that micro-actuator (6) produces deformation is the twice of external magnetic field frequency.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210097788.3A CN102620109B (en) | 2012-04-06 | 2012-04-06 | Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot |
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| CN201210097788.3A CN102620109B (en) | 2012-04-06 | 2012-04-06 | Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot |
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| CN102620109B true CN102620109B (en) | 2014-05-07 |
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| CN109079796A (en) * | 2018-09-20 | 2018-12-25 | 广东工业大学 | A kind of intelligent robot and intelligent robot system |
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| WO2009149519A1 (en) * | 2008-06-12 | 2009-12-17 | Winwick Business Solutions Pty Ltd | System for cultivation and processing of microorganisms and products therefrom |
| CN202647063U (en) * | 2012-04-06 | 2013-01-02 | 天津工业大学 | Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) |
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Patent Citations (2)
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| WO2009149519A1 (en) * | 2008-06-12 | 2009-12-17 | Winwick Business Solutions Pty Ltd | System for cultivation and processing of microorganisms and products therefrom |
| CN202647063U (en) * | 2012-04-06 | 2013-01-02 | 天津工业大学 | Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) |
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