CN102691855A - Semi-closed vibrating micro pipeline robot - Google Patents
Semi-closed vibrating micro pipeline robot Download PDFInfo
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- CN102691855A CN102691855A CN2012101747056A CN201210174705A CN102691855A CN 102691855 A CN102691855 A CN 102691855A CN 2012101747056 A CN2012101747056 A CN 2012101747056A CN 201210174705 A CN201210174705 A CN 201210174705A CN 102691855 A CN102691855 A CN 102691855A
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- giant magnetostrictive
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- crawling
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Abstract
The invention discloses a semi-closed vibrating micro pipeline robot. The system is based on the characteristic that accurate conversion can be realized between electromagnetic parameters and mechanical parameters of a giant magnetostrictive material. When an excitation power source supplies AC power at a certain frequency to an excitation coil, the giant magnetostrictive material elongates or shortens in the magnetic field of the excitation coil at the change frequency two times larger than that of the magnetic field, thus the robot can crawl forward continuously in a crawling pipeline by virtue of the friction force between crawling feet and the pipeline wall. Through the semi-closed vibrating micro pipeline robot, the frequency of magnetic field change can be changed to regulate acting times of the micro pipeline robot per unit time, so that the crawling speed can be controlled. Meanwhile, a design of semi-closed magnetic circuit can facilitate focus of the magnetic field and reduce whole weight of the robot. The micro pipeline robot has the characteristics of simple structure, stable working, flexible operation and controllable speed. The micro pipeline robot mainly includes the excitation power supply (1), the excitation coil (2), a giant magnetostrictive rod (3), connecting blocks (4), the crawling feet (5), and the crawling pipeline (6).
Description
Technical field
The present invention relates to a kind of semi-closed oscillatory type micro-tube robot; This system is based on the characteristics that can realize accurate transformation between super magnetostriction material electromagnetic parameter and mechanical parameter; When excitation power supply when drive coil passes to the AC power of certain frequency; Elongation will take place and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material, thereby in the pipeline of creeping, constantly creep forward by the frictional force of crawling foot and tube wall.Thereby the present invention can change the number of times control crawling speed that the frequency of changes of magnetic field is done work in the unit time to regulate the micro-tube robot; Reduce the robot overall weight when simultaneously the design of semi-closed magnetic circuit can make magnetic field concentration, have the characteristics of simple in structure, working stability, flexible operation and speed-controllable.
Background technique
Magnetostriction is meant that under the effect of alternating magnetic field object produces the mechanical vibration identical with the alternating magnetic field frequency; Perhaps opposite, under stretching, compression force,, the material internal Magnetic flux density is correspondingly changed because the length of material changes, induction current in coil, mechanical energy converts electric energy into.Utilize this characteristic to realize the mutual conversion between electric energy and the mechanical energy on the engineering.Characteristics such as the micro-tube robot has that inertia is little, resonant frequency is high, the response time is short, intensive high technology achievement and added value height have a extensive future in nuclear industry, Aero-Space and military application of aspects.Adopt super magnetostriction material as the actuation device of robot significantly design processes simplified, reduce volume and weight, increase work efficiency.
The present invention mainly utilizes super magnetostriction material self can realize electromagnetic energy and the efficient characteristics of conversion each other of mechanical energy; When excitation power supply when drive coil passes to the AC power of certain frequency; Elongation will take place and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material; Thereby in the pipeline of creeping, constantly creep forward, have the characteristics of simple in structure, working stability, flexible operation and speed-controllable by the frictional force of crawling foot and tube wall.
Summary of the invention
Technical problem to be solved by this invention is; Thereby the frequency through changing changes of magnetic field is controlled crawling speed with the number of times that adjusting micro-tube robot did work in the unit time; Adopt the form one side increasing magnetic field of semi-closed magnetic circuit simultaneously; Reduce the robot overall weight on the other hand, thereby improve the overall performance of system.
The technological scheme that the present invention adopted is: semi-closed oscillatory type micro-tube robot includes: excitation power supply (1); Drive coil (2); Giant magnetostrictive rod (3); Coupling block (4); Crawling foot (5); The pipeline (6) of creeping.
Described excitation power supply (1) is the adjustable self oscillations linear amplification power supply of output power, at thyristor V
TAfter obtaining VDC, arrive C through the voltage-limiting protection module loading
1With C
2And L
SThe frequency-selective network two ends of forming, and be connected to the thyristor base stage by feedback loop.When excitation power supply (1) was worked, its output frequency was determined comprehensively that by the electric capacity and the inductance of frequency-selective network waveform is a single-frequency trigonometric function waveform.
Described drive coil (2) is that its equivalent electric sensibility reciprocal is L by the close air-core inductance that forms on the coil rack of the thinner oxygen free copper enameled cable in line footpath
S, when excitation power supply (1) proper functioning, self-oscillatory power is loaded into L
SOn, and at the central alternating magnetic field that forms certain intensity of inductance.Close around enameled cable can guarantee that formed magnetic field is uniform and stable, for the proper functioning of giant magnetostrictive rod (3) provides condition.
Described giant magnetostrictive rod (3) is required to process according to actual working environment by super magnetostriction material, and its cross section is circular, requires material to have certain tension, compressive strength simultaneously.Coupling block (4) is divided in two parts, and is fixed in giant magnetostrictive rod (3) head and the tail two ends, and giant magnetostrictive rod (3) and crawling foot (5) are bonded together closely, plays the effect of mechanical fixation.
Described crawling foot (5) is processed into the film sheet by the high permeability ferromagnetic material, because permeability is higher, can play the effect of dredging Magnetic leakage flux on the one hand, and the work magnetic intensity of giant magnetostrictive rod (3) is improved; Crawling foot (5) is processed into the film sheet on the other hand; When elongation deformation takes place in giant magnetostrictive rod (3); Related crawling foot (5) thus shearing strain takes place to be increased robot to rub with the pipeline of creeping (6) to some extent on axial direction, when shortening deformation took place giant magnetostrictive rod (3), the Zi Ding of inclination angle type robot of crawling foot (5) frictional force travelled forward; When the deformation of giant magnetostrictive rod (3) occurred repeatedly, robot can realize walking forward.
Semi-closed oscillatory type micro-tube of the present invention robot; Utilize super magnetostriction material self can realize electromagnetic energy and the efficient characteristics of conversion each other of mechanical energy; When excitation power supply when drive coil passes to the AC power of certain frequency; Elongation will take place and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material, thereby in the pipeline of creeping, constantly creep forward by the frictional force of crawling foot and tube wall.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Circuit theory diagrams when Fig. 2 is excitation power supply (1);
Fig. 3 is that giant magnetostrictive rod is in the longitudinal cross-section view in the semi-closed magnetic circuit;
Fig. 4 is the schematic representation that elongation deformation takes place giant magnetostrictive rod;
Fig. 5 is the schematic representation that deformation takes place to shorten giant magnetostrictive rod;
Wherein:
(1): excitation power supply; (2): drive coil; (3): giant magnetostrictive rod; (4): coupling block; (5): crawling foot; (6): the pipeline of creeping.
C
1, C
2: the frequency-selecting capacitor C
3: filter capacitor L: filter inductance
L
s: drive coil equivalent inductance V
T: the power amplification thyristor
Embodiment
Below in conjunction with instance and accompanying drawing semi-closed oscillatory type micro-tube of the present invention robot is made detailed description.
As shown in Figure 1, semi-closed oscillatory type micro-tube of the present invention robot includes excitation power supply (1); Drive coil (2); Giant magnetostrictive rod (3); Coupling block (4); Crawling foot (5); The pipeline (6) of creeping.
As shown in Figure 2, described excitation power supply (1) is the adjustable self oscillations linear amplification power supply of output power, after direct current is through filter capacitor and filter inductance loop, and thyristor V
TConducting is loaded into C through the voltage-limiting protection modular power
1With C
2And L
SThe frequency-selective network two ends of forming.C
1With C
2Connecting switch through sky connects and C
1Can realize that stepping regulates, the two and L
SThe parallel connection back forms the LC parallel resonance, and has confirmed to be loaded into L
SThe frequency of last electromagnetic power.Exist a feedback loop to take back thyristor V simultaneously
TBase stage makes vibration continue to carry out.Need to change L
SDuring the frequency of last electromagnetic power, the rotatable empty switch that joins is got C
1Different capacitances, C
1When capacitance was big more, the alternating magnetic field frequency was low more; C
1Capacitance more hour, the alternating magnetic field frequency is high more.
As shown in Figure 3, described giant magnetostrictive rod (3) is in coupling block (4) and crawling foot (5) through the head and the tail two ends and realizes being fixedly connected mechanically.Giant magnetostrictive rod (3) is in the alternation excitation field at drive coil (2) center simultaneously, and elongation takes place and shorten deformation with the change frequency that doubles magnetic field.Because the degree of deformation that giant magnetostrictive rod (3) takes place is greater than crawling foot (5), and the two is to be fixedly connected, and robot will produce the variation that elongates or shortens in the axial direction like this.And, can dredge the magnetic flux in the space on the one hand because crawling foot (5) is to be formed by four film sheet metal magnetic conducting material manufacture, make it to concentrate on the work main magnetic circuit; On the other hand, crawling foot (5) is the semi-closed structure, has reduced the overall weight of micro-tube robot, bigger acceleration is arranged after making robot be activated power.
As shown in Figure 4, described crawling foot (5), tail end is in the A position when elongation deformation takes place giant magnetostrictive rod (3), and the related generation elongation deformation of crawling foot (5) simultaneously also contacts with the pipeline of creeping (6) and to produce friction.
As shown in Figure 5, described crawling foot (5), when giant magnetostrictive rod (3) takes place to shorten deformation, because crawling foot (5) becomes certain inclination angle with the pipeline of creeping (6), robot will travel forward from the top under symmetrical function of friction, make tail end be in the B position.When giant magnetostrictive rod (3) when being in alternating magnetic field, crawling foot (5) will do work repeatedly, and robot is constantly advanced forward.
Semi-closed oscillatory type micro-tube of the present invention robot; When system starts working; Start excitation power supply (1) and produce excitation field by drive coil (2), giant magnetostrictive rod (3) produces magneto-striction phenomenon in magnetic field, crawling foot (5) is contacted with the pipeline of creeping (6) produce friction; The symmetrical frictional force that has certain inclination angle will be done work repeatedly, and robot is constantly advanced forward.
Claims (3)
1. semi-closed oscillatory type micro-tube robot is characterized in that including excitation power supply (1); Drive coil (2); Giant magnetostrictive rod (3); Coupling block (4); Crawling foot (5); The pipeline (6) of creeping.
2. semi-closed oscillatory type micro-tube according to claim 1 robot, its characteristic is that also described excitation power supply (1) is the adjustable self oscillations linear amplification power supply of output power, at thyristor V
TAfter obtaining VDC, arrive C through the voltage-limiting protection module loading
1With C
2And L
SThe frequency-selective network two ends of forming, and be connected to the thyristor base stage by feedback loop; When excitation power supply (1) was worked, its output frequency was determined comprehensively that by the electric capacity and the inductance of frequency-selective network waveform is a single-frequency trigonometric function waveform.
3. semi-closed oscillatory type micro-tube according to claim 1 robot; Its characteristic also is; Described crawling foot (5) is processed into the film sheet by the high permeability ferromagnetic material; Because permeability is higher, can play the effect of dredging Magnetic leakage flux on the one hand, the work magnetic intensity of giant magnetostrictive rod (3) is improved; Crawling foot (5) is processed into the film sheet on the other hand; When elongation deformation takes place in giant magnetostrictive rod (3); Related crawling foot (5) thus shearing strain takes place to be increased robot to rub with the pipeline of creeping (6) to some extent on axial direction, when shortening deformation took place giant magnetostrictive rod (3), the Zi Ding of inclination angle type robot of crawling foot (5) frictional force travelled forward; When the deformation of giant magnetostrictive rod (3) occurred repeatedly, robot can realize walking forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101747056A CN102691855A (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating micro pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101747056A CN102691855A (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating micro pipeline robot |
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|---|---|
| CN102691855A true CN102691855A (en) | 2012-09-26 |
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| CN2012101747056A Pending CN102691855A (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating micro pipeline robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104184361A (en) * | 2014-09-15 | 2014-12-03 | 河北工业大学 | Micro displacement drive system design based on giant magnetostrictive materials |
| CN110953440A (en) * | 2020-01-02 | 2020-04-03 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN111938554A (en) * | 2020-07-28 | 2020-11-17 | 北京科技大学 | Self-propelled wireless detection capsule endoscope system |
| CN114568129A (en) * | 2022-03-16 | 2022-06-03 | 中国农业科学院果树研究所 | Blueberry picking device |
-
2012
- 2012-05-30 CN CN2012101747056A patent/CN102691855A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104184361A (en) * | 2014-09-15 | 2014-12-03 | 河北工业大学 | Micro displacement drive system design based on giant magnetostrictive materials |
| CN110953440A (en) * | 2020-01-02 | 2020-04-03 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN110953440B (en) * | 2020-01-02 | 2022-04-05 | 刘廷馨 | Body section device of peristaltic pipeline robot |
| CN111938554A (en) * | 2020-07-28 | 2020-11-17 | 北京科技大学 | Self-propelled wireless detection capsule endoscope system |
| CN111938554B (en) * | 2020-07-28 | 2022-07-08 | 北京科技大学 | Self-propelled wireless detection capsule endoscope system |
| CN114568129A (en) * | 2022-03-16 | 2022-06-03 | 中国农业科学院果树研究所 | Blueberry picking device |
| CN114568129B (en) * | 2022-03-16 | 2024-04-02 | 中国农业科学院果树研究所 | Blueberry picking device |
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Application publication date: 20120926 |