CN114709041B - Rotary magnetic field generating device based on halbach annular array - Google Patents
Rotary magnetic field generating device based on halbach annular array Download PDFInfo
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- CN114709041B CN114709041B CN202210151480.6A CN202210151480A CN114709041B CN 114709041 B CN114709041 B CN 114709041B CN 202210151480 A CN202210151480 A CN 202210151480A CN 114709041 B CN114709041 B CN 114709041B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000010146 3D printing Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 3
- 239000011347 resin Substances 0.000 abstract description 3
- 229920005989 resin Polymers 0.000 abstract description 3
- 230000006698 induction Effects 0.000 abstract description 2
- 229920002595 Dielectric elastomer Polymers 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 229920000431 shape-memory polymer Polymers 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
- H01F7/0273—Magnetic circuits with PM for magnetic field generation
Abstract
The invention discloses a rotating magnetic field generating device based on a halbach annular array, which comprises a base, a supporting mechanism, a transmission mechanism, a rotating magnetic field mechanism and a lifting platform, wherein the rotating magnetic field generating device comprises a rotating magnetic field generator, a rotating magnetic field generator and a lifting platform; the supporting mechanism comprises a first supporting frame and a third supporting frame, and the first supporting frame and the third supporting frame are fixedly arranged on the base through bolts; the transmission mechanism comprises a first rotating shaft, a driving motor, a driving gear and a transmission gear, the rotating magnetic field mechanism comprises a turntable, a rotary drum and a plurality of connecting shafts, the lifting platform comprises a height adjusting mechanism and a platform body, one end of the platform body is connected to a third supporting frame in a vertical sliding mode through the height adjusting mechanism, and a magnetic field with magnetic induction lines distributed in parallel and constant magnetic field intensity is obtained. Because the permanent magnet is used, the energy is saved; the strongest magnetic field can be generated with the fewest magnets; based on 3D printing manufacture, the main material is resin, so that the interference of the outside on the generated magnetic field is effectively reduced.
Description
Technical Field
The invention relates to the technical field of unbound magnetic driving of soft robots, in particular to a rotating magnetic field generating device based on a halbach annular array.
Background
The soft robot is a new field, and along with the continuous deep research of the soft robot, the driving mode of the soft robot is also enriched, and mainly depends on the intelligent materials used; generally, there are Dielectric Elastomers (DE), ionic Polymer Metal Composites (IPMC), shape Memory Alloys (SMA), shape Memory Polymers (SMP), and the like, and from the physical quantities of response, there are several categories: electric fields, pressure, chemical reactions, light, temperature, magnetic fields, and the like. Some of these drive modes are tethered, the soft robot is provided with wires or catheters to enable electrical or fluid drive through the outside world, and some are free, which has many advantages over tethered drives. The magnetic drive is one of the unbound drives. The permanent magnets are used in a wide variety of applications including televisions, speakers, audio speakers, radios, leather bags, data wire magnetic rings, computer hard disks, cell phone shakers, and the like. In a word, the permanent magnet is ubiquitous in life of people, and is convenient for production and life of people. In the field of soft robotics, magnetic actuation is also important. The halbach ring array is capable of generating the strongest magnetic field with the fewest magnets.
The existing magnetic field driving device has the defects that firstly, the device and required external equipment are complex, and the driving needs complex operation, and secondly, the equipment is expensive, for example, compared with the device, a Helmholtz coil generating a parallel magnetic field also generates the parallel magnetic field, but the cost for generating the Helmholtz coil group with the same magnetic field strength is hundreds of thousands.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a rotating magnetic field generating device based on a halbach annular array.
The technical scheme for solving the problems is as follows: a rotating magnetic field generating device based on halbach annular array comprises a base, a supporting mechanism, a transmission mechanism, a rotating magnetic field mechanism and a lifting platform;
the supporting mechanism comprises a first supporting frame and a third supporting frame, and the first supporting frame and the third supporting frame are fixedly arranged on the base through bolts;
the transmission mechanism comprises a first rotating shaft, a driving motor, a driving gear and a transmission gear, wherein the driving motor is arranged on a first supporting frame through a rack, one end of the first rotating shaft is rotatably connected to the first supporting frame through a bearing, the driving gear is connected to an output shaft of the driving motor, and the transmission gear is coaxially connected to the outer wall of the first rotating shaft;
the rotating magnetic field mechanism comprises a rotary table, a rotary drum and a plurality of connecting shafts, the rotary table is connected to the other end of the first rotary shaft, the rotary drum is connected with the rotary table through the plurality of connecting shafts, the rotary drum is of a columnar structure, a plurality of strip-shaped permanent magnets are arranged on the inner wall of the outer wall of the column, and the plurality of strip-shaped permanent magnets are uniformly arranged around the rotary drum at equal intervals;
the lifting platform comprises a height adjusting mechanism and a platform body, one end of the platform body is connected to the third supporting frame in a vertical sliding mode through the height adjusting mechanism, and the platform body is arranged in the rotary drum.
Further, 16 strip permanent magnets are arranged, and the strip permanent magnets rotate around the center by 45 degrees clockwise along the clockwise direction of the rotary drum.
Further, the rotary drum comprises a second supporting frame, wherein the second supporting frame comprises two groups of supporting components, and the two groups of supporting components are respectively arranged on two sides of the rotary drum.
Further, every group supporting component includes first supporting leg, second supporting leg, first gyro wheel both ends rotatable connection respectively is in first supporting leg and second supporting leg upper end, be equipped with the ring on the outer wall of rotary drum, two first gyro wheels set up in the rotary drum both sides respectively to two first gyro wheels contact with the ring respectively.
Further, be equipped with first spout, second spout on the base, first supporting leg lower extreme slides and sets up in first spout to it is spacing through first locating part, second supporting leg lower extreme slides and sets up in the second spout, and it is spacing through the second locating part.
Further, the first supporting leg and the second supporting leg are connected through the first limiting rod, the first supporting leg and the second supporting leg are respectively provided with a connecting groove, two ends of the first limiting rod respectively penetrate through the two connecting grooves, and the outer end of the first limiting rod is provided with a limiting bolt.
Further, a second limiting rod is arranged between the two first supporting legs and between the two second supporting legs, and the second limiting rod is fixedly connected with the first supporting legs and the second supporting legs through bolts.
Further, the height adjusting mechanism comprises a lifting adjusting gear and a rack, the lifting adjusting gear is rotationally connected to the third supporting frame, the lifting adjusting gear is coaxially connected with an adjusting knob, one end of the platform body is connected to the third supporting frame in a vertically sliding mode, the rack is connected with the platform body, and the lifting adjusting gear is meshed with the rack.
The invention has the beneficial effects that:
the invention provides a rotating magnetic field generating device based on a halbach annular array, which adopts a permanent magnet arrangement mode to form the halbach annular array so as to obtain a magnetic field with magnetic induction lines distributed in parallel and constant magnetic field intensity. Because the permanent magnet is used, the energy is saved; the halbach ring array is capable of generating the strongest magnetic field with the fewest magnets; based on 3D printing manufacture, the main material is resin, so that the interference of the outside on the generated magnetic field is effectively reduced.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is a schematic view of the structure of an adjusting knob;
in the figure: 1-a base, 2-a first supporting frame, 3-a second supporting frame, 4-a third supporting frame, 5-a first supporting leg, 6-a second supporting leg, 7-a first roller, 8-a first limiting rod, 9-a second limiting rod, 10-a first sliding groove, 11-a second sliding groove and 12-a first limiting piece, 13-second limiting parts, 14-first rotating shafts, 15-driving motors, 16-driving gears, 17-transmission gears, 18-turntables, 19-rotating drums, 20-connecting shafts, 21-strip permanent magnets, 22-lifting adjusting gears, 23-racks, 24-platform bodies and 25-adjusting knobs.
Detailed Description
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
As shown in fig. 1-3, a rotating magnetic field generating device based on halbach annular array comprises a base 1, a supporting mechanism, a transmission mechanism, a rotating magnetic field mechanism and a lifting platform;
the supporting mechanism comprises a first supporting frame 2, a second supporting frame 3 and a third supporting frame 4, the first supporting frame 2 and the third supporting frame 4 are fixedly arranged on a base 1 through bolts, the second supporting frame 3 comprises two groups of supporting components, each group of supporting components comprises a first supporting leg 5, a second supporting leg 6 and a first roller 7, two ends of the first roller 7 are respectively and rotatably connected to the upper ends of the first supporting leg 5 and the second supporting leg 6, the first supporting leg 5 and the second supporting leg 6 are connected through a first limiting rod 8, connecting grooves are respectively formed in the first supporting leg 5 and the second supporting leg 6, two ends of the first limiting rod 8 respectively penetrate through the two connecting grooves, limiting bolts are arranged at the outer ends of the first limiting rod 8, a first sliding groove 10 and a second sliding groove 11 are formed in the base 1, the lower ends of the first supporting leg 5 are slidably arranged in the first sliding groove 10, the first limiting pieces 12 are limited through the first limiting pieces 12, two ends of the first limiting pieces 12 are connected to the base 1 through bolts, the first supporting legs 5 are prevented from being connected to the outer sides of the second supporting legs 6, and the second limiting pieces are connected to the second limiting pieces 13 through the second limiting pieces and the second limiting pieces 13. A second limiting rod 9 is arranged between the two first supporting legs 5 and between the two second supporting legs 6, and the second limiting rod 9 is fixedly connected with the first supporting legs 5 and the second supporting legs 6 through bolts.
The transmission mechanism comprises a first rotating shaft 14, a driving motor 15, a driving gear 16 and a transmission gear 17, wherein the driving motor 15 is arranged on the first supporting frame 2 through a rack, one end of the first rotating shaft 14 is rotationally connected to the first supporting frame 2 through a bearing, the driving gear 16 is connected to an output shaft of the driving motor 15, the transmission gear 17 is coaxially connected to the outer wall of the first rotating shaft 14, the driving gear 16 is meshed with the transmission gear 17, and the driving motor 15 rotates to drive the first rotating shaft 14 to rotate.
The rotating magnetic field mechanism comprises a rotary table 18, a rotary drum 19 and a plurality of connecting shafts 20, wherein the rotary table 18 is connected to the other end of the first rotary shaft 14, the rotary drum 19 is connected with the rotary table 18 through the plurality of connecting shafts 20, one end of each connecting shaft 20 is connected with the rotary table 18, the other end of each connecting shaft is connected with the outer wall of the rotary drum 19, the rotary magnetic field mechanism rotates to be of a columnar structure, 16 strip-shaped permanent magnets 21 are arranged on the inner wall of the outer wall of the columnar structure, the 16 strip-shaped permanent magnets 21 are evenly arranged around the rotary drum 19 at equal intervals, and the strip-shaped permanent magnets 21 rotate for 45 degrees clockwise around the center along the rotary drum 19. The outer wall of the rotary drum 19 is provided with a circular ring, the two first rollers 7 are respectively arranged on two sides of the rotary drum 19, the two first rollers 7 are respectively contacted with the circular ring, and when the rotary drum 19 rotates, the two first rollers 7 provide support and rotate along with the rotary drum.
The lifting platform comprises a lifting adjusting gear 22, a rack 23 and a platform body 24, wherein the lifting adjusting gear 22 is rotationally connected to the third supporting frame 4, the lifting adjusting gear 22 is coaxially connected with an adjusting knob 25, one end of the platform body 24 is connected to the third supporting frame 4 in a vertically sliding mode, the rack 23 is connected with the platform body 24, the lifting adjusting gear 22 is meshed with the rack 23, the soft robot is mounted on the platform body 24, the adjusting knob 25 is rotated, the height of the platform body 24 is adjusted, the spatial position of the soft robot on the soft robot is changed, and then the magnetic field acting force applied to the soft robot is changed, and the platform body 24 is partially arranged in the rotary drum 19.
Except for the driving motor 15, the bearings and the bolts, the other parts are manufactured by resin 3D printing.
The device is simple to drive and can be driven by only one driving motor 15. The overall cost of the device is only about two thousand yuan.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.
Claims (10)
1. A rotating magnetic field generating device based on halbach annular array is characterized in that: comprises a base, a supporting mechanism, a transmission mechanism, a rotating magnetic field mechanism and a lifting platform;
the supporting mechanism comprises a first supporting frame and a third supporting frame, and the first supporting frame and the third supporting frame are fixedly arranged on the base through bolts;
the transmission mechanism comprises a first rotating shaft, a driving motor, a driving gear and a transmission gear, wherein the driving motor is arranged on a first supporting frame through a rack, one end of the first rotating shaft is rotatably connected to the first supporting frame through a bearing, the driving gear is connected to an output shaft of the driving motor, and the transmission gear is coaxially connected to the outer wall of the first rotating shaft;
the rotating magnetic field mechanism comprises a rotary table, a rotary drum and a plurality of connecting shafts, the rotary table is connected to the other end of the first rotary shaft, the rotary drum is connected with the rotary table through the plurality of connecting shafts, the rotary drum is of a columnar structure, a plurality of strip-shaped permanent magnets are arranged on the inner wall of the outer wall of the column, and the plurality of strip-shaped permanent magnets are uniformly arranged around the rotary drum at equal intervals;
the lifting platform comprises a height adjusting mechanism and a platform body, one end of the platform body is connected to the third supporting frame in a vertical sliding mode through the height adjusting mechanism, and the platform body is arranged in the rotary drum.
2. A rotating magnetic field generating device based on halbach annular array as claimed in claim 1, wherein: the number of the strip-shaped permanent magnets is 16, and the strip-shaped permanent magnets rotate around the center by 45 degrees clockwise along the clockwise direction of the rotary drum.
3. A rotating magnetic field generating device based on halbach annular array as claimed in claim 1 or 2, wherein: the rotary drum is characterized by further comprising a second supporting frame, wherein the second supporting frame comprises two groups of supporting components, and the two groups of supporting components are respectively arranged on two sides of the rotary drum.
4. A rotating magnetic field generating device based on halbach annular array as claimed in claim 3, wherein: each group of supporting components comprises a first supporting leg, a second supporting leg and a first roller, two ends of the first roller are respectively and rotatably connected to the upper ends of the first supporting leg and the second supporting leg, a circular ring is arranged on the outer wall of the rotary drum, two first rollers are respectively arranged on two sides of the rotary drum, and the two first rollers are respectively in contact with the circular ring.
5. The rotating magnetic field generating device based on halbach annular array as claimed in claim 4, wherein: the base is provided with a first chute and a second chute, the lower end of the first supporting leg is arranged in the first chute in a sliding manner and limited by a first limiting part, and the lower end of the second supporting leg is arranged in the second chute in a sliding manner and limited by a second limiting part.
6. A rotating magnetic field generating device based on halbach annular array as claimed in claim 3, wherein: the first supporting leg and the second supporting leg are connected through a first limiting rod, connecting grooves are formed in the first supporting leg and the second supporting leg respectively, two ends of the first limiting rod penetrate through the two connecting grooves respectively, and a limiting bolt is arranged at the outer end of the first limiting rod.
7. The rotating magnetic field generating device based on halbach annular array as claimed in claim 4, wherein: the first supporting leg and the second supporting leg are connected through a first limiting rod, connecting grooves are formed in the first supporting leg and the second supporting leg respectively, two ends of the first limiting rod penetrate through the two connecting grooves respectively, and a limiting bolt is arranged at the outer end of the first limiting rod.
8. A rotating magnetic field generating device based on halbach annular array as claimed in claim 3, wherein: and a second limiting rod is arranged between the two first supporting legs and between the two second supporting legs, and the second limiting rod is fixedly connected with the first supporting legs and the second supporting legs through bolts.
9. The rotating magnetic field generating device based on halbach annular array as claimed in claim 4, wherein: and a second limiting rod is arranged between the two first supporting legs and between the two second supporting legs, and the second limiting rod is fixedly connected with the first supporting legs and the second supporting legs through bolts.
10. A rotating magnetic field generating device based on halbach annular array as claimed in claim 1, wherein: the height adjusting mechanism comprises a lifting adjusting gear and a rack, the lifting adjusting gear is rotationally connected to the third supporting frame, the lifting adjusting gear is coaxially connected with an adjusting knob, one end of the platform body can be connected to the third supporting frame in a vertical sliding mode, the rack is connected with the platform body, and the lifting adjusting gear is meshed with the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210151480.6A CN114709041B (en) | 2022-02-18 | 2022-02-18 | Rotary magnetic field generating device based on halbach annular array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210151480.6A CN114709041B (en) | 2022-02-18 | 2022-02-18 | Rotary magnetic field generating device based on halbach annular array |
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| Publication Number | Publication Date |
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| CN114709041A CN114709041A (en) | 2022-07-05 |
| CN114709041B true CN114709041B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210151480.6A Active CN114709041B (en) | 2022-02-18 | 2022-02-18 | Rotary magnetic field generating device based on halbach annular array |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011018009A1 (en) * | 2009-08-11 | 2011-02-17 | Yu Yali | Barrel-type permanent-magnet coupler with adjustable permanent-magnetic torque |
| CN103693537A (en) * | 2013-12-25 | 2014-04-02 | 王大方 | Collimating Halbach array external-rotor permanent magnet synchronous gearless traction machine |
| JP2016150041A (en) * | 2015-02-16 | 2016-08-22 | オリンパス株式会社 | Magnetic field generating device |
| CN208694048U (en) * | 2018-03-19 | 2019-04-05 | 西北工业大学深圳研究院 | Medical permanent magnet therapeutic device |
| CN109842268A (en) * | 2019-01-25 | 2019-06-04 | 王之焕 | A kind of Halbach array type permanent-magnet driving gear |
| CN110308311A (en) * | 2019-07-16 | 2019-10-08 | 东北大学 | A kind of three-dimensional magnetic field generating device based on Two Dimensional Rotating machine control |
| CN112838739A (en) * | 2021-03-02 | 2021-05-25 | 西南交通大学 | Permanent magnet rotary excitation device based on high-temperature superconducting magnetic coupling transmission |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3877046A4 (en) * | 2018-11-05 | 2022-11-23 | Bionaut Labs Ltd. | Magnetic propulsion system for magnetic devices |
-
2022
- 2022-02-18 CN CN202210151480.6A patent/CN114709041B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011018009A1 (en) * | 2009-08-11 | 2011-02-17 | Yu Yali | Barrel-type permanent-magnet coupler with adjustable permanent-magnetic torque |
| CN103693537A (en) * | 2013-12-25 | 2014-04-02 | 王大方 | Collimating Halbach array external-rotor permanent magnet synchronous gearless traction machine |
| JP2016150041A (en) * | 2015-02-16 | 2016-08-22 | オリンパス株式会社 | Magnetic field generating device |
| CN208694048U (en) * | 2018-03-19 | 2019-04-05 | 西北工业大学深圳研究院 | Medical permanent magnet therapeutic device |
| CN109842268A (en) * | 2019-01-25 | 2019-06-04 | 王之焕 | A kind of Halbach array type permanent-magnet driving gear |
| CN110308311A (en) * | 2019-07-16 | 2019-10-08 | 东北大学 | A kind of three-dimensional magnetic field generating device based on Two Dimensional Rotating machine control |
| CN112838739A (en) * | 2021-03-02 | 2021-05-25 | 西南交通大学 | Permanent magnet rotary excitation device based on high-temperature superconducting magnetic coupling transmission |
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| CN114709041A (en) | 2022-07-05 |
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