CN116853377A - Ellipsoid robot imitating mexico jumping bean - Google Patents
Ellipsoid robot imitating mexico jumping bean Download PDFInfo
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- CN116853377A CN116853377A CN202311001103.5A CN202311001103A CN116853377A CN 116853377 A CN116853377 A CN 116853377A CN 202311001103 A CN202311001103 A CN 202311001103A CN 116853377 A CN116853377 A CN 116853377A
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- ellipsoidal
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- mexico
- electromagnet
- magnetic field
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- 241001476363 Centropyge acanthops Species 0.000 title description 5
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 244000046052 Phaseolus vulgaris Species 0.000 claims abstract description 13
- 235000010627 Phaseolus vulgaris Nutrition 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 9
- 230000009191 jumping Effects 0.000 abstract description 7
- 241000282414 Homo sapiens Species 0.000 abstract description 4
- 238000007599 discharging Methods 0.000 abstract description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 239000003129 oil well Substances 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000011553 magnetic fluid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000007306 turnover Effects 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention belongs to the technical field of robots, in particular to an ellipsoidal robot imitating mexico bean jumping, which enables permanent magnets to impact the electromagnets to finish jumping and/or posture adjustment by controlling the charging and discharging of the electromagnets of different power magnets; the ellipsoidal robot has excellent flexibility and maneuverability, the design of the flat ellipsoidal shell can reduce the distance of the forward motion after the forward motion is finished because of inertial swinging, the problems of movement and operation in complex environments which the traditional robot cannot adapt to are solved, various tasks can be executed in the environments which cannot be reached or dangerous, the risk exposure of human beings is reduced, and the efficiency and the reliability of the tasks are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an ellipsoidal robot imitating the jumping beans of mexico.
Background
The conventional robot uses walking or crawling as a movement mode, has a great problem in crossing an obstacle, is difficult to cross the obstacle with a size larger than the crawling robot, and faces complicated operations of re-adjusting the posture of the walking robot due to the fact that the walking robot crosses the obstacle with the size, and the obstacle crossing operation is complicated and needs a plurality of functional modules to be matched. The unmanned aerial vehicle continuously flies in the air and can continuously consume energy and the unmanned aerial vehicle also has noise in the flight process. Most of the ball robot motion principles are based on eccentricity and trolley driving. The eccentric weight-swing type spherical robot has good flexibility, but has poor balance performance, so that the internal structure of the sphere needs to be reasonably arranged. The obstacle surmounting capability and the self-swing angle design relationship are close, and high requirements are also put forward on the design of the robot. The trolley driving type spherical robot takes friction as a main power source, and can generate a slipping phenomenon in movement to limit the movement efficiency. Therefore, the existing traditional robots cannot adapt to the moving and operating problems in complex environments.
Disclosure of Invention
In order to solve the problems in the prior art, the main purpose of the invention is to provide an ellipsoidal robot imitating the bean jump of mexico, which solves the moving and operating problems in a complex environment which the traditional robot cannot adapt to.
In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided:
an ellipsoidal robot simulating mexico jumpers, comprising:
an ellipsoidal shell and a power magnet;
the power magnet comprises a guide post, an electromagnet and a permanent magnet;
two ends of the guide post are fixed on the inner wall of the ellipsoidal shell, the electromagnets are fixed at the two ends in the guide post, and the permanent magnet is arranged at one end in the guide post.
As a preferable scheme of the ellipsoidal robot imitating the Mexico jumpers, the invention comprises the following steps: the ellipsoidal shell is a flat ellipsoidal shell.
As a preferable scheme of the ellipsoidal robot imitating the Mexico jumpers, the invention comprises the following steps: the power magnets are N groups, and N is an even number which is more than or equal to 2.
As a preferable scheme of the ellipsoidal robot imitating the Mexico jumpers, the invention comprises the following steps: the power magnets are distributed in an ellipsoidal shell in a mirror image mode.
As a preferable scheme of the ellipsoidal robot imitating the Mexico jumpers, the invention comprises the following steps: adjacent power magnets are staggered in space.
As a preferable scheme of the ellipsoidal robot imitating the Mexico jumpers, the invention comprises the following steps: the robot also comprises a control module arranged in the ellipsoidal shell, so as to realize the action control of the power magnet.
In order to solve the above technical problems, according to another aspect of the present invention, the following technical solutions are provided:
an action method of an ellipsoidal robot imitating the jumping beans of mexico comprises the following steps:
the jump method of the robot comprises the following steps: the electromagnet of a certain power magnet is electrified to generate a magnetic field, the electromagnet positioned at one end in the guide post generates an attracting magnetic field, the electromagnet positioned at the other end in the guide post generates a repulsive magnetic field, and the permanent magnet is pushed out under the action of the magnetic field to be bonded with the electromagnet generating the attracting magnetic field, so that the impact on the inner wall of the ellipsoidal shell is realized, and the jump of the ellipsoidal robot is realized.
As a preferable scheme of the action method of the ellipsoid robot imitating the mexico jumpers, the invention comprises the following steps: also included is a method of manufacturing a semiconductor device,
the attitude adjustment method of the robot comprises the following steps: and (3) current is introduced into the electromagnet of at least one power magnet to generate a magnetic field so as to realize the posture adjustment of the robot.
In order to solve the above technical problems, according to another aspect of the present invention, the following technical solutions are provided:
an ellipsoidal robot imitating mexico jumped beans is applied to the fields of industry, rescue, exploration and the like (such as in pipelines, high-pressure (such as underwater, oil wells and the like) and the like.
The beneficial effects of the invention are as follows:
the invention provides an ellipsoidal robot imitating mexico jumping beans, which controls the charging and discharging of electromagnets of different power magnets to enable permanent magnets to impact the electromagnets to complete jumping and/or posture adjustment; the ellipsoidal robot has excellent flexibility and maneuverability, the design of the flat ellipsoidal shell can reduce the distance of the forward movement after the forward movement is finished because of inertial swinging, the jump function solves the problems of movement and operation which cannot be performed under the condition of a plurality of obstacle road conditions of the traditional robot, various tasks can be performed in an unreachable or dangerous environment, the risk exposure of human beings can be reduced, and the efficiency and the reliability of the tasks are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a front view of an ellipsoidal robot according to an embodiment of the present invention;
FIG. 2 is a side view of an ellipsoidal robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a power magnet according to an embodiment of the present invention;
FIG. 4 is a section A-A of FIG. 3;
FIG. 5 is a diagram showing a distribution of a power magnet according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the impact state of a power magnet according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating a posture adjustment state of a power magnet according to an embodiment of the present invention.
1-flat elliptic shell, 2-electromagnet, 3-guide column, 4-permanent magnet, 5-forward power magnet I, 6-backward power magnet I, 7-backward power magnet II and 8-forward power magnet II.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description will be made clearly and fully with reference to the technical solutions in the embodiments, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention mainly aims to provide an ellipsoidal robot imitating Mexico jumpers, which has the following advantages:
(1) High efficiency: the ellipsoidal robot utilizes magnetic force impact to realize jumping and movement. The robot can generate thrust through the action of a magnetic field to drive the robot to advance. The energy loss is reduced and the efficiency is improved without external force.
(2) Flexibility and mobility: the ellipsoidal robot has excellent flexibility and maneuverability, and the robot can continuously move by controlling the on-off of the electromagnet. The free rotation is realized by controlling the power-on size rotation of the electromagnet, and the free rotation is not limited by the steering angle of the traditional robot, so that the robot can flexibly navigate and operate in a complex environment. In addition, the ellipsoidal robot generates jumps of different heights by changing the magnitude of the magnetic field of the magnetic impact structure. Therefore, the ellipsoidal robot can freely move on uneven ground, overcomes obstacles and is suitable for various working scenes.
(3) Environmental suitability: the ellipsoidal robot can adapt to various environments. The ellipsoidal robot does not need mechanical connection or transmission parts and realizes movement through magnetic force driving. The ellipsoidal magnetic fluid robot has the advantages that the robot can realize non-contact movement, friction and abrasion are avoided, the risk of mechanical faults is reduced, the ellipsoidal structure has high compressive strength and can freely move in complex environments such as underwater, oil wells, pipelines and the like, and the environmental adaptability enables the ellipsoidal magnetic fluid robot to have wide application prospects in the fields of industry, rescue, exploration and the like.
(4) The design of the flat elliptic shell can reduce the distance of inertial swing after the forward movement is finished, and the front end and the rear end of the power magnet are provided with electromagnets, so that the situation that the overturning condition in the ellipsoidal movement cannot continue the movement can be prevented.
The present invention is directed to addressing task demands in complex and harsh environments, such as mine exploration, pipeline exploration, and the like. The magnetic impact structure enables the ellipsoidal robot to have jumping capability and perform various tasks in unreachable or dangerous environments. The method can reduce human risk exposure and improve task efficiency and reliability.
The invention is based on the bionic theory, and mainly refers to the principle of movement of the Mexico jumpers, namely, the larvae in the mexico jumpers continuously roll to change the integral mass center, so that plane rolling is realized; the larvae strike the inner walls of the beans to generate impact so as to jump the beans.
As shown in fig. 1-7, one embodiment of the present invention provides an ellipsoidal robot imitating a mexico jumped bean, comprising:
an ellipsoidal shell and a power magnet;
the power magnet comprises a guide post 3, an electromagnet 2 and a permanent magnet 4;
two ends of the guide post 3 are fixed on the inner wall of the ellipsoidal shell, two ends in the guide post 3 are both fixed with electromagnets 2, and a permanent magnet 4 is arranged at one end in the guide post. The electromagnets 2 are arranged at the two ends of the power magnet, so that the situation that the ellipsoidal robot can turn over in the motion and can not continue to move can be prevented.
In one embodiment of the present invention, the ellipsoidal housing is a flat ellipsoidal housing 1, and the flat ellipsoidal housing 1 is designed to reduce the distance due to inertial swing after the forward motion is completed.
In one embodiment of the invention, the powered magnets are in N groups, N being an even number greater than or equal to 2.
In one embodiment of the invention, the power magnets are 4 groups, 2 groups provide forward jumping and 2 groups provide backward power, and the power magnets are distributed in an ellipsoidal shell in a mirror image manner so as not to generate deflection power in jumping; adjacent power magnets are staggered in space.
In one embodiment of the invention, the robot further comprises a control module arranged in the ellipsoidal shell, so as to realize the action control of the power magnet.
As shown in fig. 1-7, another embodiment of the present invention provides an action method of an ellipsoidal robot imitating a mexico jumped bean, including:
the jump method of the robot comprises the following steps: the electromagnet 2 of a certain power magnet is electrified to generate a magnetic field, the electromagnet 2 positioned at one end in the guide post 3 generates an attracting magnetic field, the electromagnet 2 positioned at the other end in the guide post 3 generates a repulsive magnetic field, the permanent magnet 4 is pushed out to be bonded with the electromagnet 2 generating the attracting magnetic field under the action of the magnetic field, according to the principle of conservation of momentum,
mv＝mv 1 +Mv 1
wherein M is the mass of the permanent magnet 4, M is the mass of the ellipsoidal robot, v is the speed of the permanent magnet 4 before collision, v 1 The collision of the inner wall of the ellipsoidal shell is realized for the movement speed of the ellipsoidal robot after collision, so that the jump of the ellipsoidal robot is realized; after that, when the control current is slowly reduced after one jump is completed, the permanent magnet 4 can be used for a second jump by adopting the certain power magnet after falling back to the bottom at a smaller speed, or other power magnets are called to realize the jump.
In one embodiment of the invention, a method for adjusting the attitude of a robot comprises: and current is supplied to the electromagnet 2 of at least one power magnet, and a magnetic field is generated to realize the posture adjustment of the robot.
Specifically, two pairs of power magnets exist, different motion effects can be generated by exciting different power magnets, a large current permanent magnet 4 is introduced into a first forward power magnet 5 to generate a large collision force, a small current is introduced into a second backward power magnet 7 to generate a small collision force, as shown in fig. 7, a large deflection of the model can be realized due to the fact that the distances from two acting forces to the center of the ellipsoidal robot are unequal and the magnitudes of the two forces are also unequal, and if the power magnets want to generate reverse rotation, a large current can be introduced into the second backward power magnet 7, and a small current is introduced into the first forward power magnet 5; if the small-amplitude deflection of the model is required to be realized, any one of the four power magnets can be scheduled, so that the gesture rotation can be realized; when the electromagnets 4 on the same side are excited by the same current, small deflection is generated, namely the forward power magnet 8 and the backward power magnet 7 are excited simultaneously or the forward power magnet 5 and the backward power magnet 6 are excited simultaneously, the deflection movement of ellipsoids is generated due to the difference of the distances from the two power magnets to the center of gravity
In one embodiment of the invention, the ellipsoidal robot imitating the mexico bean jump is applied to the fields of industry, rescue, exploration and the like (such as in a pipeline, high pressure (such as underwater, oil well and the like) and the like, and the ellipsoidal robot has high compressive strength and can freely move in a complex environment.
According to the invention, the electromagnet of different power magnets is controlled to charge and discharge, so that the permanent magnet impacts the electromagnet to complete jump and/or posture adjustment; the ellipsoidal robot has excellent flexibility and maneuverability, the design of the flat ellipsoidal shell can reduce the distance of the forward movement after the forward movement is completed because of inertial swinging, the problems of movement and operation in complex environments which the traditional robot cannot adapt to are solved, various tasks can be executed in the environments which cannot be reached or dangerous, the risk exposure of human beings can be reduced, and the efficiency and the reliability of the tasks are improved.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the content of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (9)
1. An ellipsoidal robot simulating mexico jumped beans, comprising:
an ellipsoidal shell and a power magnet;
the power magnet comprises a guide post, an electromagnet and a permanent magnet;
two ends of the guide post are fixed on the inner wall of the ellipsoidal shell, the electromagnets are fixed at the two ends in the guide post, and the permanent magnet is arranged at one end in the guide post.
2. The mexico bean-jumping-imitated ellipsoidal robot of claim 1, wherein the ellipsoidal housing is a flat ellipsoidal housing.
3. The ellipsoidal robot simulating mexico bean of claim 1, wherein the powered magnets are N groups, N being an even number greater than or equal to 2.
4. The mexico bean-jumping imitation ellipsoidal robot of claim 1, wherein the powered magnets are mirror-image distributed within the ellipsoidal shell.
5. The mexico bean-jumping imitation ellipsoidal robot of claim 1, wherein adjacent powered magnets are staggered in space.
6. The mexico bean-jumping imitation ellipsoidal robot of claim 1, wherein the robot further comprises a control module disposed in the ellipsoidal housing to control the motion of the powered magnet.
7. A method of operating an ellipsoidal robot simulating mexico bean of any one of claims 1-6, comprising:
the jump method of the robot comprises the following steps: the electromagnet of a certain power magnet is electrified to generate a magnetic field, the electromagnet positioned at one end in the guide post generates an attracting magnetic field, the electromagnet positioned at the other end in the guide post generates a repulsive magnetic field, and the permanent magnet is pushed out under the action of the magnetic field to be bonded with the electromagnet generating the attracting magnetic field, so that the impact on the inner wall of the ellipsoidal shell is realized, and the jump of the ellipsoidal robot is realized.
8. The method for moving an ellipsoidal robot imitating a kidney bean according to claim 7, further comprising,
the attitude adjustment method of the robot comprises the following steps: and (3) current is introduced into the electromagnet of at least one power magnet to generate a magnetic field so as to realize the posture adjustment of the robot.
9. Use of an ellipsoidal robot of the simulated mexico jumbo beans of any one of claims 1-6 in the field of industry, rescue, exploration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311001103.5A CN116853377A (en) | 2023-08-10 | 2023-08-10 | Ellipsoid robot imitating mexico jumping bean |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311001103.5A CN116853377A (en) | 2023-08-10 | 2023-08-10 | Ellipsoid robot imitating mexico jumping bean |
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| Publication Number | Publication Date |
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| CN116853377A true CN116853377A (en) | 2023-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311001103.5A Pending CN116853377A (en) | 2023-08-10 | 2023-08-10 | Ellipsoid robot imitating mexico jumping bean |
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| Country | Link |
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| CN (1) | CN116853377A (en) |
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- 2023-08-10 CN CN202311001103.5A patent/CN116853377A/en active Pending
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