CN106379119B - The amphibious propulsion device of variation rigidity based on magnetorheological materials - Google Patents
The amphibious propulsion device of variation rigidity based on magnetorheological materials Download PDFInfo
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- CN106379119B CN106379119B CN201611028348.7A CN201611028348A CN106379119B CN 106379119 B CN106379119 B CN 106379119B CN 201611028348 A CN201611028348 A CN 201611028348A CN 106379119 B CN106379119 B CN 106379119B
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- skeleton
- fin
- propulsion device
- electromagnet
- rigidity
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention is based on the amphibious propulsion device of the variation rigidity of magnetorheological materials, including fin, the fin includes skeleton and covering, and the covering covers outside the skeleton, and the skeleton is made of magnetorheological materials；Including electromagnet, the electromagnet is installed on the fin side, provides externally-applied magnetic field for the skeleton；Including motor, the motor is installed on the fin side, and the motor and the fin are sequentially connected.Magnetic field can be provided to skeleton using electromagnet, by changing the exciting current in electromagnet, thus it is possible to vary the magnetic field of skeleton changes the rigidity of skeleton, and then change the rigidity of entire fin structure to change the mechanical property of magnetorheological materials in skeleton.The present invention can be used as the propulsion device of robot, can change in real time the rigidity of push structure by changing exciting current, so that robot only needs a set of propulsion device just to adapt to a variety of environmental conditions such as water, land, have the characteristics that structure is simple, control is rapid.
Description
Technical field
The invention belongs to the dynamic structure fields of robot, and in particular to a kind of variation rigidity based on magnetorheological materials is amphibious
Propulsion device.
Background technique
Magnetorheological materials (magnetorheological materials) are the general names of a kind of intellectual material.It is to pass through
Micron-sized ferromagnetic particle is dispersed in and is prepared in non-magnetic matrix.Its typical characteristics are can be outer by controlling
Magnetic field is added to change the mechanical property of magnetorheological materials, such as elasticity modulus, damping, viscosity in real time, and this control is quick
It is (millisecond magnitude), continuous and reversible.According to the difference of matrix, magnetorheological materials can be divided into magnetic rheology elastic body
(magnetorheological elastomer, MRE), magnetorheological fluid (magnetorheological fluid, MRF), magnetic
Rheology foam (magnetorheological foam), magnetorheological glue (magnetorheological gel), magnetorheological plasticity
Body (magnetorheological plastomer) etc..Due to the characteristic with mechanical property field controllable, magnetorheological materials
It is used in the vibration control instrument of a variety of variation rigidities, variable damping, such as domestic patent (application number CN200920187554.1) benefit
With the characteristic of magnetorheological materials viscosity field controllable devise can in real time variable damping damper, domestic patent (application number
CN200710022495.8) using the characteristic of magnetorheological materials modulus field controllable devise can in real time variation rigidity dynamic absorber
Device.In view of this excellent mechanical property field controllable, magnetorheological materials have very huge potential application in engineering
Value.
With the development of science and technology, robot it is military, in terms of using increasing.Traditional robot is usual
Using propulsion devices such as wheeled, leg formulas, such robot has preferable in single environment (in land or water)
Passability.But with the increasingly extension of robot application, the task type of robot becomes multiplicity, the environment faced
Also become more complicated, be even more in passability require its adapt to land, in water, a variety of environment such as beach.In order to reach this
Kind requires, and the current practice is to cover propulsion device to Robot Design more, is reached by the switching of propulsion device under varying environment
To the passability requirement of varying environment.Although this practice make to a certain extent robot in water, land, the rings such as beach
All there is certain passability in border, but due to needing more set propulsion devices, while needing between different propulsion devices
Switching, the structure of robot will become complicated, and also reduce the reliability of its propulsion device to a certain extent.Therefore, how
Design structure is simple, and the propulsion device for adapting to a variety of environment just seems very necessary.
Summary of the invention
The object of the invention is that providing a kind of variation rigidity two based on magnetorheological materials to solve the above-mentioned problems
It dwells propulsion device.
The present invention through the following technical solutions to achieve the above objectives:
The amphibious propulsion device of variation rigidity based on magnetorheological materials,
Including fin, the fin includes skeleton and covering, and the covering covers outside the skeleton, and the skeleton is magnetic
Rheo-material is made；
Including electromagnet, the electromagnet is installed on the fin side, provides externally-applied magnetic field for the skeleton；
Including motor, the motor is installed on the fin side, and the motor and the fin are sequentially connected.
Magnetic field can be provided to skeleton using electromagnet, by changing the exciting current in electromagnet, thus it is possible to vary skeleton
Magnetic field change the rigidity of skeleton, and then change entire fin structure to change the mechanical property of magnetorheological materials in skeleton
Rigidity.
Further, the skeleton is made of magnetorheological materials.
Further, the rigidity of the fin is controlled by external magnetic field.
Further, the covering is made of high molecular material.
The beneficial effects of the present invention are:
The present invention can be used as the propulsion device of robot, can change in real time the rigid of push structure by changing exciting current
Degree, so that robot only needs a set of propulsion device just to adapt to a variety of environmental conditions such as water, land, simple with structure,
Control the features such as rapid.
Detailed description of the invention
Fig. 1 is mounting structure schematic diagram of the invention；
Fig. 2 is structural schematic diagram of the invention.
In figure: 1, robot body；2, propulsion device；3, skeleton；4, covering；5, electromagnet；6, motor.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Fig. 2, the amphibious propulsion device 2 of variation rigidity based on magnetorheological materials, including fin, fin include skeleton 3
With covering 4,4 sets of covering outside skeleton 3, skeleton 3 is made of magnetorheological materials；Including electromagnet 5, electromagnet 5 is installed on fin
Piece side provides externally-applied magnetic field for skeleton 3；Including motor 6, motor 6 is installed on fin side, and motor 6 and fin are sequentially connected.
Preferably, 4 structure of covering is made of high molecular material.It is highly preferred that 4 structure of covering is made of rubber material.Institute
The rigidity for stating fin is controlled by external magnetic field.
As shown in Figure 1, multiple present apparatus are mounted on robot body 1 when using the present invention, use；Most
2 present apparatus are preferably installed respectively in the two sides of robot body 1.
When robot is when terrestrial environment passes through, fin needs to play the effect of leg, at this time can be by increasing electromagnet 5
Exciting current, to increase the rigidity of skeleton 3 so that fin rigidity becomes larger, similar to the leg structure of traditional robot,
Again by the drive of motor 6 so that fin moves, so that robot can walk in terrestrial environment.When robot is in water
When middle environment passes through, fin needs to play the effect of similar fin, at this time can by reducing the exciting current of electromagnet 5, from
And reduce the rigidity of skeleton 3, so that fin becomes soft, then by the drive of motor 6 so that fin is swung as fin, from
And robot is moved in water.Therefore, for different environment, it is only necessary to change the size of exciting current in electromagnet 5,
The transformation that can realize robot propulsion device 2 in different environments covers propulsion devices 2 without being pre-designed more.
But the present invention does not limit the concrete form that magnetorheological materials form skeleton 3.Forming skeleton 3 by magnetorheological materials can be with
There are many form, the composite construction that the sandwich such as formed by magnetic rheology elastic body and metal, magnetorheological fluid and conduit are formed.
5 structure of electromagnet is designed in the side of fin, since 5 structure of electromagnet is generally acknowledged mature technology, and not it is of the invention
Innovation, therefore the concrete form of electromagnet 5 is not provided, only give schematic diagram.Skeleton 3 can be given using electromagnet 5
Magnetic field is provided, by changing the exciting current in electromagnet 5, thus it is possible to vary the magnetic field of skeleton 3, to change magnetic current in skeleton 3
Become the mechanical property of material, changes the rigidity of skeleton 3, and then change the rigidity of entire fin structure.Therefore, by changing excitation
Electric current, so that it may realize the control to fin structure rigidity.Fin passes through motor 6 again and drives, so that it may realize the movement of fin.
Since motor 6 drives fin movement to also belong to generally acknowledged mature technology, and not innovation of the invention, therefore, not
The concrete form for providing 6 structure of motor, only gives schematic diagram.
Changing exciting current by electromagnet 5 can be achieved with the change to the rigidity of structure, use the apparatus as amphibious machine
The dynamic structure of people can increase exciting current when robot is when land passes through, so that fin structure rigidity becomes larger,
Be conducive to robot in the movement of land；When robot in water, the ground such as beach pass through when, can reduce electric current, make fin
The rigidity of structure becomes smaller, and becomes the structure of similar fin, thus be conducive to robot in water, the travelling on the ground such as beach.
The mode that the present invention is installed on robot body 1 can be varied, can be according to robot in practical application
Shape, size make corresponding adjustment.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and equivalents circle
It is fixed.
Claims (3)
1. the amphibious propulsion device of variation rigidity based on magnetorheological materials, it is characterised in that:
Including fin, the fin includes skeleton and covering, and the covering covers outside the skeleton, and the skeleton is magnetorheological
Material is made；
Including electromagnet, the electromagnet is installed on the fin side, provides externally-applied magnetic field for the skeleton；
Including motor, the motor is installed on the fin side, and the motor and the fin are sequentially connected.
2. the amphibious propulsion device of the variation rigidity according to claim 1 based on magnetorheological materials, it is characterised in that: the fin
The rigidity of piece is controlled by external magnetic field.
3. the amphibious propulsion device of the variation rigidity according to claim 1 based on magnetorheological materials, it is characterised in that: the illiteracy
Skin is made of high molecular material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611028348.7A CN106379119B (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion device of variation rigidity based on magnetorheological materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611028348.7A CN106379119B (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion device of variation rigidity based on magnetorheological materials |
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| Publication Number | Publication Date |
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| CN106379119A CN106379119A (en) | 2017-02-08 |
| CN106379119B true CN106379119B (en) | 2019-10-25 |
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| CN201611028348.7A Active CN106379119B (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion device of variation rigidity based on magnetorheological materials |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111824351B (en) * | 2020-07-29 | 2022-07-12 | 上海大学 | Deformable fin stabilizer |
| CN113232812B (en) * | 2021-04-30 | 2022-05-06 | 西安交通大学 | Magnetic field driven full-flexible fin and preparation method thereof |
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| CN102248995A (en) * | 2011-05-16 | 2011-11-23 | 淮海工学院 | Labriform mode under-actuated flexible pectoral fin bionic device |
| CN202499268U (en) * | 2012-03-09 | 2012-10-24 | 台州职业技术学院 | Bionic ray |
| CN103318394A (en) * | 2013-07-08 | 2013-09-25 | 淮海工学院 | Pharyngeal-jaw bionic pectoral fin with active fin face deformation function |
| CN104309789A (en) * | 2014-10-27 | 2015-01-28 | 哈尔滨工业大学 | Flexible bionic tail fin with embedded drive joints and multiple motion modes |
| CN206537092U (en) * | 2016-11-17 | 2017-10-03 | 中国工程物理研究院总体工程研究所 | The amphibious propulsion plant of variation rigidity based on magnetorheological materials |
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| US6974356B2 (en) * | 2003-05-19 | 2005-12-13 | Nekton Research Llc | Amphibious robot devices and related methods |
| CN102673759B (en) * | 2012-05-07 | 2014-10-08 | 哈尔滨工业大学 | Variable rigidity bionic swinging propulsion unit |
| CN102825593B (en) * | 2012-06-04 | 2014-10-15 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
| CN104057461A (en) * | 2014-06-19 | 2014-09-24 | 中国科学技术大学 | Universal gripper using magneto-rheological plastic body |
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| CN102248995A (en) * | 2011-05-16 | 2011-11-23 | 淮海工学院 | Labriform mode under-actuated flexible pectoral fin bionic device |
| CN202499268U (en) * | 2012-03-09 | 2012-10-24 | 台州职业技术学院 | Bionic ray |
| CN103318394A (en) * | 2013-07-08 | 2013-09-25 | 淮海工学院 | Pharyngeal-jaw bionic pectoral fin with active fin face deformation function |
| CN104309789A (en) * | 2014-10-27 | 2015-01-28 | 哈尔滨工业大学 | Flexible bionic tail fin with embedded drive joints and multiple motion modes |
| CN206537092U (en) * | 2016-11-17 | 2017-10-03 | 中国工程物理研究院总体工程研究所 | The amphibious propulsion plant of variation rigidity based on magnetorheological materials |
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| CN106379119A (en) | 2017-02-08 |
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