CN202691444U - Semi-closed vibrating type miniature pipeline robot - Google Patents
Semi-closed vibrating type miniature pipeline robot Download PDFInfo
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- CN202691444U CN202691444U CN 201220251259 CN201220251259U CN202691444U CN 202691444 U CN202691444 U CN 202691444U CN 201220251259 CN201220251259 CN 201220251259 CN 201220251259 U CN201220251259 U CN 201220251259U CN 202691444 U CN202691444 U CN 202691444U
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Abstract
The utility model discloses a semi-closed vibrating type miniature pipeline robot which is based on the characteristic that accurate conversion between giant magnetostrictive material electromagnetic parameters and mechanical parameters can be achieved. When an excitation power supply inputs alternating current power with certain frequency into an excitation coil, a giant magnetostrictive material has stretching and shortening changes in a magnetic field of the excitation coil with change frequency to be two times that of the magnetic field, and accordingly the robot can crawl forward in a crawling pipeline by aid of friction between crawling feet and the pipeline wall. The time of acting of the miniature pipeline robot in unit time can be adjusted by changing the change frequency of the magnetic field so as to control the crawling speed, and simultaneously the magnetic field is concentrated and the whole weight of the robot is reduced due to the semi-closed magnetic circuit design. The semi-closed vibrating type miniature pipeline robot has the advantages of being simple in structure, stable in work, flexible in operation and controllable in speed. The semi-closed vibrating type miniature pipeline robot mainly comprises the excitation power supply (1), the excitation coil (2), a giant magnetostrictive rod (3), a connection block (4), the crawling feet (5) and the crawling pipeline (6).
Description
Technical field
The present invention relates to a kind of semi-closed oscillatory type robot, this system is based on the characteristics that can realize accurate transformation between super magnetostriction material electromagnetic parameter and mechanical parameter, when excitation power supply passes to the AC power of certain frequency to drive coil, elongation will occur and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material, thereby constantly creep forward by the frictional force of crawling foot and tube wall in the pipeline of creeping.Thereby the present invention can change the number of times control crawling speed that the frequency of changes of magnetic field is done work in the unit time to regulate robot, reduce the robot overall weight when simultaneously the design of semi-closed magnetic circuit can make magnetic field concentration, have simple in structure, working stability, flexible operation and the controlled characteristics of speed.
Background technique
Magnetostriction refers to that under the effect of alternating magnetic field object produces the mechanical vibration identical with the alternating magnetic field frequency; Perhaps opposite, under stretching, compression force, because the length of material changes, the material internal Magnetic flux density is correspondingly changed, induction current in coil, mechanical energy is converted to electric energy.Utilize the mutual conversion between this characteristic realization electric energy and the mechanical energy on the engineering.Robot has that inertia is little, resonant frequency is high, the response time is short, intensive high technology achievement and added value high, has a extensive future in nuclear industry, Aero-Space and military application of aspects.Adopt super magnetostriction material as the actuation device of robot significantly design processes simplified, reduce volume and weight, increase work efficiency.
The present invention mainly utilizes super magnetostriction material self can realize electromagnetic energy and the efficient mutually characteristics of conversion of mechanical energy, when excitation power supply passes to the AC power of certain frequency to drive coil, elongation will occur and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material, thereby in the pipeline of creeping, constantly creep forward by the frictional force of crawling foot and tube wall, have simple in structure, working stability, flexible operation and the controlled characteristics of speed.
Summary of the invention
Technical problem to be solved by this invention is, thereby control crawling speed by the frequency that changes changes of magnetic field with the number of times that the adjusting robot did work in the unit time, adopt simultaneously the form one side increasing magnetic field of semi-closed magnetic circuit, reduce on the other hand the robot overall weight, thereby improve the overall performance of system.
The technical solution adopted in the present invention is: semi-closed oscillatory type robot, including excitation power supply (1) provides the alternating current of a certain frequency to drive coil (2), drive coil (2) induces the alternating electromagnetic field of same frequency at hub of a spool, giant magnetostrictive rod (3) is in this elect magnetic field and produces the axial elongation that doubles the electromagnetic field change frequency and shorten phenomenon, simultaneously by coupling block (4) and crawling foot (5) with creep pipeline (6) thus friction occurs makes the robot output displacement, realize the movement along inner-walls of duct.
Described excitation power supply (1) is the linear power supply that amplifies of the adjustable self oscillations of output power, at thyristor V
TAfter obtaining VDC, arrive C through the voltage-limiting protection module loading
1With C
2And L
SThe frequency-selective network two ends that form, and be connected to the thyristor base stage by feedback loop.When excitation power supply (1) was worked, its output frequency was determined comprehensively that by electric capacity and the inductance of frequency-selective network waveform is single-frequency trigonometric function waveform.
Described drive coil (2) is that its equivalent electric sensibility reciprocal is L by the close air-core inductance that forms on the coil rack of the thinner oxygen free copper enameled cable of wire diameter
S, when excitation power supply (1) worked, self-oscillatory power was loaded into L
SOn, and at the central alternating magnetic field that forms some strength of inductance.Close around enameled cable can guarantee that formed magnetic field is uniform and stable, for the normal operation of giant magnetostrictive rod (3) provides condition.
Described giant magnetostrictive rod (3) is required to process according to actual working environment by super magnetostriction material, and its cross section is circular, requires simultaneously material to have certain tension, compressive strength.Coupling block (4) is divided in two parts, and is fixed in giant magnetostrictive rod (3) head and the tail two ends, and giant magnetostrictive rod (3) and crawling foot (5) are bonded together closely, plays the fixing effect of machinery.
Described crawling foot (5) is processed into film flaky by the high permeability ferromagnetic material, because permeability is higher, can play the effect of dredging Magnetic leakage flux on the one hand, and the work magnetic intensity of giant magnetostrictive rod (3) is improved; Crawling foot (5) is processed into film flaky on the other hand, when elongation deformation occurs in giant magnetostrictive rod (3), related crawling foot (5) thus shearing strain occurs to be increased robot to rub with the pipeline of creeping (6) in the axial direction to some extent, when giant magnetostrictive rod (3) occurs to shorten deformation, the Zi Ding of inclination angle type robot of crawling foot (5) frictional force travels forward, when the deformation of giant magnetostrictive rod (3) occurred repeatedly, robot can realize walking forward.
Semi-closed oscillatory type robot of the present invention, utilize super magnetostriction material self can realize electromagnetic energy and the efficient mutually characteristics of conversion of mechanical energy, when excitation power supply passes to the AC power of certain frequency to drive coil, elongation will occur and shorten to change with the change frequency that doubles magnetic field in the magnetic field of drive coil in super magnetostriction material, thereby constantly creep forward by the frictional force of crawling foot and tube wall in the pipeline of creeping.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention;
Circuit theory diagrams when Fig. 2 is excitation power supply (1);
Fig. 3 is that giant magnetostrictive rod is in the longitudinal cross-section view in the semi-closed magnetic circuit;
Fig. 4 is the schematic representation that elongation deformation occurs giant magnetostrictive rod;
Fig. 5 is the schematic representation that deformation occurs to shorten giant magnetostrictive rod;
Wherein:
(1): excitation power supply; (2): drive coil; (3): giant magnetostrictive rod; (4): coupling block; (5): crawling foot; (6): the pipeline of creeping.
C
1, C
2: the frequency-selecting capacitor C
3: filter capacitor L: filter inductance
L
s: drive coil equivalent inductance V
T: the power amplification thyristor
Embodiment
Below in conjunction with example and accompanying drawing semi-closed oscillatory type robot of the present invention is made a detailed description.
As shown in Figure 1, semi-closed oscillatory type robot of the present invention includes excitation power supply (1); Drive coil (2); Giant magnetostrictive rod (3); Coupling block (4); Crawling foot (5); The pipeline (6) of creeping.
As shown in Figure 2, described excitation power supply (1) is the linear power supply that amplifies of the adjustable self oscillations of output power, after direct current is by filter capacitor and filter inductance loop, and thyristor V
TConducting is loaded into C through the voltage-limiting protection modular power
1With C
2And L
SThe frequency-selective network two ends that form.C
1With C
2Connecting switch by sky connects and C
1Can realize that stepping regulates, the two and L
SForm the LC parallel resonance after in parallel, and determined to be loaded into L
SThe frequency of upper electromagnetic power.Exist simultaneously a feedback loop to take back thyristor V
TBase stage makes vibration continue to carry out.Need to change L
SDuring the frequency of upper electromagnetic power, rotatable empty connection switch is got C
1Different capacitances, C
1When capacitance was larger, the alternating magnetic field frequency was lower; C
1Capacitance more hour, the alternating magnetic field frequency is higher.
As shown in Figure 3, described giant magnetostrictive rod (3) is in coupling block (4) and crawling foot (5) by the head and the tail two ends and realizes being fixedly connected with mechanically.Giant magnetostrictive rod (3) is in the alternation excitation field at drive coil (2) center simultaneously, and elongation occurs and shorten deformation with the change frequency that doubles magnetic field.Because the degree of deformation that giant magnetostrictive rod (3) occurs is greater than crawling foot (5), and the two is to be fixedly connected with, and robot will produce the variation that elongates or shortens in the axial direction like this.And because crawling foot (5) is to be formed by the manufacturing of four film flaky metal magnetic conducting materials, can dredge on the one hand the magnetic flux in the space, make it to concentrate on the work main magnetic circuit; On the other hand, crawling foot (5) is the semi-closed structure, has reduced the overall weight of robot, larger acceleration is arranged after making robot be activated power.
As shown in Figure 4, described crawling foot (5), tail end is in the A position when elongation deformation occurs giant magnetostrictive rod (3), and the simultaneously related generation elongation deformation of crawling foot (5) also contacts with the pipeline of creeping (6) and to produce friction.
As shown in Figure 5, described crawling foot (5) is when giant magnetostrictive rod (3) occurs to shorten deformation, because crawling foot (5) becomes certain inclination angle with the pipeline of creeping (6), robot will travel forward from the top under the effect of symmetrical frictional force, make tail end be in the B position.When giant magnetostrictive rod (3) when being in alternating magnetic field, crawling foot (5) will do work repeatedly, and robot is constantly advanced forward.
Semi-closed oscillatory type robot of the present invention, when system starts working, start excitation power supply (1) and produce excitation field by drive coil (2), giant magnetostrictive rod (3) produces magneto-striction phenomenon in magnetic field, crawling foot (5) is contacted with the pipeline of creeping (6) produce friction, symmetrical frictional force with certain inclination angle will be done work repeatedly, and robot is constantly advanced forward.
Claims (3)
1. semi-closed oscillatory type robot, it is characterized in that including excitation power supply (1) provides alternating current from a certain frequency to drive coil (2), drive coil (2) induces the alternating electromagnetic field of same frequency at hub of a spool, giant magnetostrictive rod (3) is in this elect magnetic field and produces the axial elongation that doubles the electromagnetic field change frequency and shorten phenomenon, simultaneously by coupling block (4) and crawling foot (5) with creep pipeline (6) thus friction occurs makes the robot output displacement, realize the movement along inner-walls of duct.
2. semi-closed oscillatory type robot according to claim 1 is further characterized in that, described excitation power supply (1) is the linear power supply that amplifies of the adjustable self oscillations of output power, at thyristor V
TAfter obtaining VDC, arrive C through the voltage-limiting protection module loading
1With C
2And L
SThe frequency-selective network two ends that form, and be connected to the thyristor base stage by feedback loop; When excitation power supply (1) was worked, its output frequency was determined comprehensively that by electric capacity and the inductance of frequency-selective network waveform is single-frequency trigonometric function waveform.
3. semi-closed oscillatory type robot according to claim 1 is further characterized in that, described crawling foot (5) is processed into film flaky by the high permeability ferromagnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220251259 CN202691444U (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating type miniature pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220251259 CN202691444U (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating type miniature pipeline robot |
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| Publication Number | Publication Date |
|---|---|
| CN202691444U true CN202691444U (en) | 2013-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220251259 Expired - Fee Related CN202691444U (en) | 2012-05-30 | 2012-05-30 | Semi-closed vibrating type miniature pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202691444U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104888340A (en) * | 2015-05-12 | 2015-09-09 | 太原科技大学 | Wireless passive drug targeting administration device |
| CN105905618A (en) * | 2016-04-28 | 2016-08-31 | 太原科技大学 | Magnetostrictive snakelike moving conveyer and conveying method thereof |
-
2012
- 2012-05-30 CN CN 201220251259 patent/CN202691444U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104888340A (en) * | 2015-05-12 | 2015-09-09 | 太原科技大学 | Wireless passive drug targeting administration device |
| CN104888340B (en) * | 2015-05-12 | 2016-05-25 | 太原科技大学 | A kind of wireless and passive drug targeting delivery device |
| CN105905618A (en) * | 2016-04-28 | 2016-08-31 | 太原科技大学 | Magnetostrictive snakelike moving conveyer and conveying method thereof |
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| 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: 20130123 Termination date: 20130530 |