CN116691868A - Magnetic driving robot imitating mexico jumping bean - Google Patents
Magnetic driving robot imitating mexico jumping bean Download PDFInfo
- Publication number
- CN116691868A CN116691868A CN202310987441.4A CN202310987441A CN116691868A CN 116691868 A CN116691868 A CN 116691868A CN 202310987441 A CN202310987441 A CN 202310987441A CN 116691868 A CN116691868 A CN 116691868A
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- jumping
- inner shell
- module
- shell
- electromagnet
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- 241001476363 Centropyge acanthops Species 0.000 title claims description 6
- 230000009191 jumping Effects 0.000 claims abstract description 45
- 239000011553 magnetic fluid Substances 0.000 claims abstract description 21
- 235000010627 Phaseolus vulgaris Nutrition 0.000 claims abstract description 12
- 244000046052 Phaseolus vulgaris Species 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 claims abstract description 12
- 230000036544 posture Effects 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 7
- 230000007704 transition Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229940034610 toothpaste Drugs 0.000 description 1
- 239000000606 toothpaste Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K8/00—Arrangement or mounting of propulsion units not provided for in one of the preceding main groups
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a magnetic driving robot imitating mexico bean jumping, which is of a double-layer shell structure and comprises an outer shell, an inner shell, a supporting piece, magnetic fluid, an attitude adjusting electromagnet, a jumping module, a functional module and a control module, wherein the magnetic driving robot comprises a magnetic body and a magnetic body; the outer shell imitates the shape of the mexico bean, the inner shell is spherical, the gravity center is below the sphere center, the outer shell supports the inner shell through the supporting piece, and the inner shell has three degrees of freedom; the three gesture adjusting electromagnets are uniformly distributed on the inner wall of the lower hemisphere of the inner shell and are positioned on the same horizontal plane; the magnetic fluid is arranged between the outer shell and the inner shell, and two ends of the jumping module are fixed in the inner shell and pass through the sphere center of the inner shell; the function module is arranged on the outer layer, the control module is arranged in the inner shell, the gesture adjusting electromagnet is controlled by receiving the signals of the function module, and the jump module is electrified to respectively realize gesture adjustment and jump of the magnetic driving robot, and after the power is off, the inner shell returns to the initial state. The invention has more flexible and controllable jumping and good gesture stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic driving robot imitating Mexico bean jumping.
Background
The principle of the movement of the mexico jumped beans is that the larvae in the beans roll continuously to change the mass center of the whole body, so that plane rolling is realized; the larvae strike the inner walls of the beans to generate impact so as to jump the beans. Against this background, the idea of developing a jumping robot is proposed that enables jumping movements like beans by simulating the principle of jumping beans in mexico.
The existing bean-jumping robot has the defects that the jumping direction and the jumping height are not easy to control because the existing bean-jumping robot is connected with the eccentric block on the output shaft of the motor, the motor drives the eccentric block to rotate and the body is jumped by the inertia of the eccentric block when the eccentric block rotates.
Disclosure of Invention
In view of the above, the invention provides a magnetic driving robot imitating mexico jumping beans, which has jumping capability, and the jumping is more flexible, controllable and good in gesture stability.
The technical scheme adopted by the invention is as follows:
the magnetic driving robot imitating the mexico bean jump is of a double-layer shell structure and comprises an outer shell, an inner shell, a supporting piece, magnetic fluid, an attitude adjusting electromagnet, a jumping module, a functional module and a control module;
the outer shell imitates the shape of a mexico jumping bean, the inner shell is spherical, the gravity center of the inner shell is below the sphere center, the outer shell supports the inner shell through the supporting piece, and the inner shell has three degrees of freedom; the three gesture adjusting electromagnets are uniformly distributed on the inner wall of the lower hemisphere of the inner shell and are positioned on the same horizontal plane; the magnetic fluid is arranged between the outer shell and the inner shell, and two ends of the jumping module are fixed in the inner shell and pass through the sphere center of the inner shell; the control module is arranged in the inner shell, the gesture adjusting electromagnet is controlled by receiving signals of the functional module, and the jumping module is electrified to respectively realize gesture adjustment and jumping of the magnetic driving robot, and the inner shell returns to an initial state after power failure.
Further, the shell comprises a part spherical surface and a flat tube body structure formed by straight grain surfaces; and one end of the flat tube body structure is horizontally closed, the other end of the flat tube body structure is open, and the open end of the flat tube body structure and a part of spherical surface are in smooth transition.
Further, the jumping module comprises a guide post, a soft magnet impact block and a jumping electromagnet;
the soft magnet impact block and the jump electromagnet are positioned at the two ends of the guide post, the jump electromagnet is fixed on the inner wall of the upper hemisphere of the inner shell, and the soft magnet impact block attracts the jump electromagnet under the action of a magnetic field to impact the inner shell to finish jumping.
Further, the magnetic field of the jumping module is changed to enable the magnetically driven robot to generate jumps with different heights.
Further, the current intensity of the electromagnet is adjusted by controlling the three postures, and the jumping direction and the angle are adjusted.
Further, the support piece is a spherical hinge.
The beneficial effects are that:
1. the robot has jumping capability and can overcome obstacles on the ground, such as small-sized obstacles, irregular terrains and the like. This enables the robot to move in complex environments, for example into a narrow area or over a raised obstacle during a search and rescue task.
And secondly, the magnetic driving robot uses magnetic fluid as a driving force source, and compared with the traditional battery or fuel cell driving, the magnetic driving robot is flexible and controllable in magnetic driving, and the magnetic fluid driving system has higher energy utilization efficiency and longer working time. The introduction of the magnetic fluid driving technology enables the robot to more efficiently utilize energy during jumping and stopping.
Moreover, the shape of the shell enables the robot to be suitable for various terrains, the mexico bean-jumping shape comprises a flat surface and a part of spherical surface, the flat surface is convenient for maintaining the posture on the flat ground, the stability is good, and the spherical surface is beneficial to increasing a rolling amount when falling down, so that the movement efficiency is improved.
2. The magnetic field of the jumping module is changed to enable the robot to jump at different heights, so that the magnetic driving robot can freely move on uneven ground, overcome obstacles and adapt to various working scenes.
3. The current intensity of the electromagnet can be adjusted by controlling the three postures, the jumping direction and the angle can be adjusted, the jumping force and the angle of the electromagnet can be adjusted according to the change of the external environment, so that stable movement and landing can be kept, and the self-adaptive characteristic is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the posture adjustment of the present invention.
Fig. 3 is a diagram showing the jumping posture of the present invention.
Fig. 4 is a schematic view of another view (perpendicular to the view direction of fig. 1) structure according to the present invention.
The device comprises a 1-outer shell, a 2-inner shell, 3-magnetic fluid, 4-attitude adjusting electromagnets, 5-guide posts, 6-soft magnet impact blocks and 7-jumping electromagnets.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
The invention provides a magnetic driving robot imitating mexico bean jump, which is shown in fig. 1 and is of a double-layer shell structure, and comprises an outer shell 1, an inner shell 2, a supporting piece, magnetic fluid 3, an attitude adjusting electromagnet 4, a jump module, a functional module and a control module.
As shown in fig. 4, the shell 1 is shaped like a mexico bean, and the shell 1 comprises a part spherical surface and a flat tube body structure formed by straight lines; one end of the flat tube body structure is horizontally closed, the other end of the flat tube body structure is open, the open end of the flat tube body structure and a part of spherical surface are in smooth transition, and the flat tube body structure is similar to the structure shape of the tail end of the toothpaste tube.
The inner shell 2 is spherical, the center of gravity is located below the center of sphere, the outer shell 1 supports the inner shell 2 through the supporting piece, and the inner shell 2 has three degrees of freedom, namely, the inner shell 2 and the outer shell 1 do not relatively displace but can relatively rotate in three degrees of freedom. In this embodiment, the supporting member adopts a spherical hinge.
The three gesture adjusting electromagnets 4 are uniformly distributed on the inner wall of the lower hemisphere of the inner shell 2, and the three gesture adjusting electromagnets 4 are arranged on the same horizontal plane at intervals of 120 degrees; a quantity of magnetic fluid 3 is arranged between the outer shell 1 and the inner shell 2.
The jumping module comprises a guide post 5, a soft magnet impact block 6 and a jumping electromagnet 7; the two ends of the guide post 5 are fixed in the inner shell 2 and pass through the sphere center of the inner shell 2, the soft magnet impact block 6 and the jump electromagnet 7 are positioned at the two ends of the guide post 5, the jump electromagnet 7 is fixed on the inner wall of the upper hemisphere of the inner shell 2, and the soft magnet impact block 6 is attracted with the jump electromagnet 7 under the action of a magnetic field to impact the inner shell 2 to finish jumping.
The functional module is arranged on the outer layer, and various sensors or executing mechanisms and the like can be placed according to task requirements.
The control module is arranged in the inner shell 2, the gesture adjusting electromagnet 4 is controlled by a signal of the receiving functional module (sensor), and the jumping module is electrified to respectively realize gesture adjustment and jumping of the magnetic driving robot, and the inner shell 2 returns to an initial state after power failure. The control module may also control the operation of the functional module (actuator) to control the robot to perform tasks.
Posture adjustment principle:
the magnetic fluid 3 flows and deviates to the position with the strongest magnetic field under the attraction of the magnetic force, and the gravity center of the robot is changed based on the principle, so that the aim of posture adjustment is fulfilled. When the robot is stationary on the ground, the magnetic fluid 3 is stationary, and the gravity center of the magnetic fluid 3 and the gravity center of the inner sphere are all right below the sphere center of the inner shell 2.
When a certain posture adjusting electromagnet 4 is electrified, the magnetic field at the position is strongest, the magnetic fluid 3 tends to gather in the direction, and the opposite inner guide posts 5 deflect in the opposite direction. By controlling the relative intensity of the currents of the three gesture adjusting electromagnets 4, different magnetic fields can be generated, so that the magnetic field is strongest in any direction, and the jumping direction is adjusted; the magnitude of the deflection angle beta of the guide post 5 can be controlled by controlling the absolute intensity of the current of the gesture adjusting electromagnet 4, thereby adjusting the magnitude of the jump angle. When the posture adjusting electromagnet 4 is powered off, the magnetic fluid 3 flows back to the bottom, and the inner sphere also rotates to an initial state like a tumbler, namely the inner shell 2 returns to the initial state.
Taking the left posture adjustment as an example, when the left posture adjustment electromagnet 4 is energized, a magnetic field is generated so that the magnetic fluid 3 and the posture adjustment electromagnet 4 are attracted to each other. The original stress condition of the magnetic fluid 3 at the bottom is changed, at the moment, the magnetic fluid 3 is subjected to the self gravity and the supporting force of the inner wall of the shell 1, and also subjected to the attractive force of a magnetic field, the magnetic fluid 3 flows towards the position of the left posture adjusting electromagnet 4, the gravity center reaches G2, meanwhile, the inner sphere deflects towards the opposite direction, and the gravity center is G1, so that the posture of the guide post 5 is adjusted. The state of the whole robot at this time is shown in fig. 2.
Principle of jumping:
the jump module realizes the jump function of the robot, and the soft magnet impact block 6 is made of soft magnetic materials, can be magnetized in a magnetic field and is subjected to the action of the magnetic field.
The principle of jumping is as follows: first, the posture adjustment electromagnet 4 is controlled to be energized, and the jump posture is adjusted. Then, the jumping electromagnet 7 is controlled to be electrified to form a magnetic field, and the soft magnet impact block 6 is magnetized under the action of the magnetic field and attracted by the jumping electromagnet 7, as shown in fig. 3. The soft-magnetic impact block 6 accelerates upward in the guide column 5 along the guide column 5 and impacts the jumping electromagnet 7. At this time, in the robot system, the momentum is conserved and the whole jumps. Then the jump electromagnet 7 and the gesture adjusting electromagnet 4 are controlled to be powered off, the soft magnet impact block 6 returns to the bottom of the guide post 5 under the action of gravity, and the gesture of the inner sphere is corrected under the action of gravity. Finally, the robot lands. At the time of landing, the robot may stop immediately or may continue to roll forward due to the mexico bean-jumping-like shape of the housing 1.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The magnetic driving robot imitating the mexico bean jump is characterized by being of a double-layer shell structure and comprising an outer shell, an inner shell, a supporting piece, magnetic fluid, an attitude adjusting electromagnet, a jumping module, a functional module and a control module;
the outer shell imitates the shape of a mexico jumping bean, the inner shell is spherical, the gravity center of the inner shell is below the sphere center, the outer shell supports the inner shell through the supporting piece, and the inner shell has three degrees of freedom; the three gesture adjusting electromagnets are uniformly distributed on the inner wall of the lower hemisphere of the inner shell and are positioned on the same horizontal plane; the magnetic fluid is arranged between the outer shell and the inner shell, and two ends of the jumping module are fixed in the inner shell and pass through the sphere center of the inner shell; the control module is arranged in the inner shell, the gesture adjusting electromagnet is controlled by receiving signals of the functional module, and the jumping module is electrified to respectively realize gesture adjustment and jumping of the magnetic driving robot, and the inner shell returns to an initial state after power failure.
2. The mexico bean-jumping imitation magnetically driven robot of claim 1, wherein the housing includes a partially spherical surface and a flat tube structure constituted by a straight grain surface; and one end of the flat tube body structure is horizontally closed, the other end of the flat tube body structure is open, and the open end of the flat tube body structure and a part of spherical surface are in smooth transition.
3. The mexico bean-jumping-imitation magnetically driven robot of claim 1, wherein the jumping module comprises a guide post, a soft magnet impact block, and a jumping electromagnet;
the soft magnet impact block and the jump electromagnet are positioned at the two ends of the guide post, the jump electromagnet is fixed on the inner wall of the upper hemisphere of the inner shell, and the soft magnet impact block attracts the jump electromagnet under the action of a magnetic field to impact the inner shell to finish jumping.
4. The mexico bean-jumping-imitation magnetically driven robot of claim 1, wherein the magnetically driven robot generates jumps of different heights by varying the magnitude of the magnetic field of the jump module.
5. The mexico bean-jumping-imitated magnetic driving robot of claim 1, wherein the current intensity of the electromagnet is adjusted by controlling three postures, and the jumping direction and the angle are adjusted.
6. The magnetically driven robot of claim 1-5, wherein the support is a spherical hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310987441.4A CN116691868A (en) | 2023-08-08 | 2023-08-08 | Magnetic driving robot imitating mexico jumping bean |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310987441.4A CN116691868A (en) | 2023-08-08 | 2023-08-08 | Magnetic driving robot imitating mexico jumping bean |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116691868A true CN116691868A (en) | 2023-09-05 |
Family
ID=87834283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310987441.4A Pending CN116691868A (en) | 2023-08-08 | 2023-08-08 | Magnetic driving robot imitating mexico jumping bean |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116691868A (en) |
-
2023
- 2023-08-08 CN CN202310987441.4A patent/CN116691868A/en active Pending
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