CN202647063U - Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) - Google Patents
Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) Download PDFInfo
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- CN202647063U CN202647063U CN 201220140212 CN201220140212U CN202647063U CN 202647063 U CN202647063 U CN 202647063U CN 201220140212 CN201220140212 CN 201220140212 CN 201220140212 U CN201220140212 U CN 201220140212U CN 202647063 U CN202647063 U CN 202647063U
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Abstract
The utility model discloses a mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance). The design is based on electromagnetic-mechanical synchronous resonance technology, firstly, electrical energy is wirelessly transmitted to a magnet exciting coil by a power radiating circuit, and then a magnetostriction rod is transformed under an alternating magnetic field to enable a machine to bend and stretch, so that the condition that the mini pipeline robot moves forwards and backwards is realized. The mini pipeline robot disclosed by the utility model is skillfully combined with radio electricity transmission technology and magnetostriction material features, and has the characteristics of simple structure, obvious effects, convenience in maintenance and flexible operation; and the mini pipeline robot mainly comprises a function signal generator (1), a power amplifier (2), the power radiating circuit (3), the magnet exciting coil (4), a metal working plane (5), a mini actuator (6) and a voltage monitoring link (7).
Description
Technical field
The present invention relates to a kind of robot based on EMSR, this design is based on electromagnetism-mechanical synchronization resonance (Electromagnetic﹠amp; Mechanical Synchronous Resonance, EMSR) technology, at first by the power emission circuit electric energy wireless transmission is arrived field coil, then giant magnetostrictive rod produces distortion under alternating magnetic field, make the machine foot produce bending and extensional deformation, thereby realize advanced person or the backward movement of robot.The present invention designs ingenious wireless power transmission technology and the super magnetostriction material characteristic of combining, and has the characteristics of simple in structure, successful, easy to maintenance and flexible operation
Background technique
Magnetostriction materials, shape-memory material and piezoelectric material not only can be to external world or inner physics, chemical change have perception, can respond for the variation that occurs simultaneously, have extensive use in the sensor and actuator field, therefore become the representative of new function material.Wherein utilize electricity-magnetic that Magnetostrictive effect makes-quick microdisplacement actuator of machine highi degree of accuracy to have and be easy to the advantages such as integrated, microminiaturized, intelligent, be widely used at present the fields such as modern precision processing, construction engineering, robot, medical science and Aero-Space.
The present invention mainly utilizes super magnetostriction material self can realize electromagnetic energy and the efficient mutually characteristics of conversion of mechanical energy, produce the magnetostriction distortion that doubles the alternating magnetic field frequency change when being positioned over it in outside alternating magnetic field, thereby be converted into efficiently mechanical energy after electricity-machine transducing head is absorbed, can be the needing only with design of robot of working under the specific condition effective solution is provided.
Summary of the invention
Technical problem to be solved by this invention is, wireless transmission basis at electric energy utilizes the super magnetostriction material own characteristic, make micro-actuator in alternating magnetic field repeatedly elongate or shorten variation, thereby with electromagnetic energy synchronous be converted to mechanical energy, realize advancing and backward movement of robot.
The technical solution adopted in the present invention is: based on the robot of EMSR, include function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7).
Described power amplifier (2) is main core by the high power valve that can be operated under high frequency, the high voltage, form high-power linear amplifier in conjunction with the peripheral electron device, when function signal generator (1) is exported a sinusoidal waveform according to power emission circuit (3) resonant frequency, power amplifier (2) is enlarged into a power signal with this sinusoidal signal, and changes output power by the adjusting pressuring knob of electron tube.
Described power emission circuit (3) is comprised of two-part: a part is to form the air core coil with certain inductance value on the coil rack by close being around in of high conductivity oxygen-free copper-wire; Another part is to choose electric metal thin film capacitor formation compensation circuit to be connected in parallel on the air core coil head and the tail, and the frequency of okperation of power emission circuit (3) is determined simultaneously by above two-part.
Described field coil (4) closely is wrapped on the micro-actuator (6) by the superfine high conductivity enameled cable of wire diameter and forms, himself have certain inductance value, and jointly determined the resonant frequency of field coil (4) with the distributed capacitor that working metal plane (5) provide.
The planar metal thin slice that described working metal plane (5) has certain electric conductivity is made, the surface scribbles insulation coating and thermal barrier coating, can be used as on the one hand the working plane of micro-actuator (6), the distributed capacitor total amount of field coil (4) is increased, thus the resonant frequency of regulating field coil (4).
Described micro-actuator (6) sticks on the elastic sheet metal surface by the super magnetostriction material film and is made.When micro-actuator (6) is in the alternating electromagnetic field, because giant magnetostrictive thin film is different from the elastic sheet metal amount of deflection, so that elastic sheet metal elongates or shortens variation under the drive of magneto-striction phenomenon.Simultaneously, owing to there not being bigoted magnetic field, the frequency that micro-actuator (6) produces deformation is the twice of external magnetic field frequency.
Robot based on EMSR of the present invention, on the basis of wireless power transmission, electromagnetic energy is sent to field coil and is provided electric energy to micro-actuator by the power emission circuit by wireless mode, then utilize the self-characteristic of super magnetostriction material to convert electrical energy into the mechanical energy of unified frequency, make the machine foot produce bending and extensional deformation, thereby realize advanced person or the backward movement of robot.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is power emission circuit and robot working platform schematic diagram;
Fig. 3 is the micro-actuator structure principle chart;
Fig. 4 is the robot schematic diagram that is on the working platform;
Fig. 5 is robot driving system structure graph of a relation;
Wherein:
(1): function signal generator; (2): power amplifier; (3): the power emission circuit; (4): the power receiving circuit; (5): electricity-machine transducing head; (6): the voltage monitoring link; (7): the vibration monitoring link; (8): giant magnetostrictive thin film; (9): tackiness agent; (10): elastic sheet metal; (11): field coil; (12): the working metal plane.
a
1: the power emission end; a
2: the power interface receiving end; V
1: transmitting terminal voltage; V
2: receiving-end voltage
Embodiment
Below in conjunction with example and accompanying drawing the robot based on EMSR of the present invention is made a detailed description.
As shown in Figure 1, the robot based on EMSR of the present invention includes function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7).
As shown in Figure 2, described power emission circuit (3) works in self resonant frequency, and this frequency is determined with metal thin film capacitor in parallel simultaneously by the close inductance that consists of around oxygen-free copper-wire.Field coil (4) places working metal plane (5) upward and is in the elect magnetic field of power emission circuit (3), and its frequency of okperation is consistent with the resonant frequency of regulating rear assurance and power emission circuit (3) with cooperatively interacting of working metal plane (5) by oxygen-free copper-wire.
As shown in Figure 3, described micro-actuator (6) is to stick to make on the elastic sheet metal by giant magnetostrictive thin film to form.Elastic sheet metal is produced two 90 degree bent angles to form two machine foots of robot.And the amount of deflection of elastic sheet metal is less than giant magnetostrictive thin film, and therefore when producing the ultra-magnetic telescopic effect, thereby the machine foot changes advancing and retreating of realization robot with elongating or shortening.
As shown in Figure 4, described field coil (4) closely is wrapped in micro-actuator (6) surface, when field coil (4) obtains electromagnetic energy, drive giant magnetostrictive thin film generation deformation thereby will in the middle of densely packed coil, produce an alternating electromagnetic field.Because not having bias magnetic field, the deformation frequency of super magnetostriction material will be the twice of field frequency in the field coil (4).
As shown in Figure 5, described robot drive system is at first sent sine wave signal by the frequency of okperation that function signal generator (1) is scheduled to according to power emission circuit (3), and this signal is set as 10kHz in native system.Then by power amplifier (2) this signal is enlarged into a power signal, after the current-limiting protection link, powers to power emission circuit (3).Electromagnetic resonance occurs in power emission circuit (3), and by the wireless power transmission technology electromagnetic energy is sent to field coil (4).Then in the middle of the densely packed coil of field coil (4), produce the external electromagnetic field of certain magnetic field intensity.Micro-actuator (6) produces Magnetostrictive effect at this elect magnetic field, electromagnetic energy is converted to the mechanical energy that doubles electromagnetic field frequency, thereby makes and foot produces and elongates or shortens variation, promotes advancing or retreating of robot.
Robot based on EMSR of the present invention, when system starts working, exported the sine wave of a 10kHz by function signal generator, through forming the power signal of a 10kHz behind the power amplifier, this power by the power emission circuit wireless be sent to field coil, and at the close alternating electromagnetic field that in the middle of copper coil, forms the 10kHz of some strength of field coil, make the mechanical deformation that produces 20kHz without the micro-actuator of bias magnetic field, thereby driven the machine foot and elongated or shortened variation, to realize that robot advances or backward movement on the working metal plane.
Claims (3)
1. based on the robot of EMSR, it is characterized in that including function signal generator (1); Power amplifier (2); Power emission circuit (3); Field coil (4); Working metal plane (5); Micro-actuator (6); Voltage monitoring link (7).
2. the robot based on EMSR according to claim 1, be further characterized in that, described field coil (4) closely is wrapped on the micro-actuator (6) by the superfine high conductivity enameled cable of wire diameter and forms, himself have certain inductance value, and jointly determined the resonant frequency of field coil (4) with the distributed capacitor that working metal plane (5) provide.
3. the robot based on EMSR according to claim 1, be further characterized in that, described micro-actuator (6) sticks on the elastic sheet metal surface by the super magnetostriction material film and is made, when micro-actuator (6) is in the alternating electromagnetic field, because giant magnetostrictive thin film is different from the elastic sheet metal amount of deflection, so that elastic sheet metal elongates or shortens variation under the drive of magneto-striction phenomenon; Simultaneously, owing to there not being bigoted magnetic field, the frequency that micro-actuator (6) produces deformation is the twice of external magnetic field frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220140212 CN202647063U (en) | 2012-04-06 | 2012-04-06 | Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220140212 CN202647063U (en) | 2012-04-06 | 2012-04-06 | Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202647063U true CN202647063U (en) | 2013-01-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220140212 Expired - Fee Related CN202647063U (en) | 2012-04-06 | 2012-04-06 | Mini pipeline robot based on EMSR (Electromagnetic and Mechanical Synchronous Resonance) |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202647063U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620109A (en) * | 2012-04-06 | 2012-08-01 | 天津工业大学 | Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot |
| CN112583308A (en) * | 2020-11-30 | 2021-03-30 | 哈尔滨工业大学 | Synchronous motor brushless excitation system based on wireless power transmission |
-
2012
- 2012-04-06 CN CN 201220140212 patent/CN202647063U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620109A (en) * | 2012-04-06 | 2012-08-01 | 天津工业大学 | Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot |
| CN102620109B (en) * | 2012-04-06 | 2014-05-07 | 天津工业大学 | Electromagnetic and mechanical synchronous resonance (EMSR)-based miniature pipeline robot |
| CN112583308A (en) * | 2020-11-30 | 2021-03-30 | 哈尔滨工业大学 | Synchronous motor brushless excitation system based on wireless power transmission |
| CN112583308B (en) * | 2020-11-30 | 2021-07-16 | 哈尔滨工业大学 | Synchronous motor brushless excitation system based on wireless power transmission |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20130406 |