CN206537092U - The amphibious propulsion plant of variation rigidity based on magnetorheological materials - Google Patents
The amphibious propulsion plant of variation rigidity based on magnetorheological materials Download PDFInfo
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- CN206537092U CN206537092U CN201621235196.3U CN201621235196U CN206537092U CN 206537092 U CN206537092 U CN 206537092U CN 201621235196 U CN201621235196 U CN 201621235196U CN 206537092 U CN206537092 U CN 206537092U
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- skeleton
- fin
- propulsion plant
- magnetorheological materials
- electromagnet
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Abstract
The utility model is related to a kind of amphibious propulsion plant of the variation rigidity based on magnetorheological materials, including fin, and the fin includes skeleton and covering, and the covering is enclosed on outside the skeleton, and the skeleton is made up of magnetorheological materials；Including electromagnet, the electromagnet is installed on the fin side, and externally-applied magnetic field is provided for the skeleton；Including motor, the motor is installed on the fin side, and the motor is connected with the fin.Magnetic field can be provided to skeleton using electromagnet, by changing the exciting current in electromagnet, thus it is possible to vary the magnetic field of skeleton, so as to change the mechanical property of magnetorheological materials in skeleton, change the rigidity of skeleton, and then change the rigidity of whole fin structure.The utility model can be used as the propulsion plant of robot, the rigidity of push structure can be changed in real time by changing exciting current, so that robot only needs a set of propulsion plant just to adapt to a variety of environmental conditions such as water, land, with it is simple in construction, control rapid the features such as.
Description
Technical field
The utility model belongs to the dynamic structure field of robot, and in particular to a kind of variation rigidity based on magnetorheological materials
Amphibious propulsion plant.
Background technology
Magnetorheological materials (magnetorheological materials) are the general names of a class intellectual material.It is to pass through
Micron-sized ferromagnetic particle is dispersed in what is be prepared from non-magnetic matrix.It is outer that its typical characteristics can be by control
Plus magnetic field changes the mechanical property of magnetorheological materials, such as modulus of elasticity, damping, viscosity in real time, and this control is quick
It is (millisecond magnitude), continuous and reversible.According to the difference of matrix, magnetorheological materials can be divided into magnetic rheology elastic body
(magnetorheological elastomer, MRE), magnetic flow liquid (magnetorheological fluid, MRF), magnetic
Rheology foam (magnetorheological foam), magnetorheological glue (magnetorheological gel), magnetorheological plasticity
Body (magnetorheological plastomer) etc..Due to the characteristic with mechanical property field controllable, magnetorheological materials
In the vibration control apparatus for being used for a variety of variation rigidities, mutative damp, such as domestic patent (application number CN200920187554.1) profit
Devised with the characteristic of magnetorheological materials viscosity field controllable can mutative damp in real time damper, domestic patent (application number
CN200710022495.8) using the characteristic of magnetorheological materials modulus field controllable devise can variation rigidity in real time dynamic absorber
Device.In view of this excellent mechanical property field controllable, magnetorheological materials have very huge potential application in engineering
Value.
With the development of science and technology, application of the robot in terms of the military, disaster relief is increasing.Traditional robot is usual
Using propulsion plants such as wheeled, leg formulas, such robot has preferable in single environment (in land or water)
By property.But, with the increasingly extension of robot application, the task type of robot becomes various, its environment faced
Also become more complicated, be even more on by property require its adapt in land, water, a variety of environment such as beach.In order to reach this
Plant and require, the current practice is to cover propulsion plant to Robot Design, is reached by the switching of propulsion plant under varying environment more
Required to varying environment by property.Although rings such as this practice causes robot in water to a certain extent, land, beach
All with certain by property in border, but it is due to need many set propulsion plants, while needs are between different propulsion plants
Switching, the structure of robot will become complicated, and the reliability of its propulsion plant is also reduced to a certain extent.Therefore, how
Design structure is simple, and adapts to the propulsion plant of a variety of environment and just seem very necessary.
Utility model content
The purpose of this utility model is that to provide a kind of change based on magnetorheological materials to solve the above problems firm
Spend amphibious propulsion plant.
The utility model is achieved through the following technical solutions above-mentioned purpose：
The amphibious propulsion plant of variation rigidity based on magnetorheological materials,
Including fin, the fin includes skeleton and covering, and the covering is enclosed on outside the skeleton, and the skeleton is magnetic
Rheo-material is made；
Including electromagnet, the electromagnet is installed on the fin side, and externally-applied magnetic field is provided for the skeleton；
Including motor, the motor is installed on the fin side, and the motor is connected with the fin.
Magnetic field can be provided to skeleton using electromagnet, by changing the exciting current in electromagnet, thus it is possible to vary skeleton
Magnetic field, so as to change the mechanical property of magnetorheological materials in skeleton, change the rigidity of skeleton, and then change whole fin structure
Rigidity.
Further, the skeleton is made up of magnetorheological materials.
Further, the rigidity of the fin is by external magnetic field control.
Further, the covering is made up of high polymer material.
The beneficial effects of the utility model are：
The utility model can be used as the propulsion plant of robot, can change push structure in real time by changing exciting current
Rigidity, so that robot only needs a set of propulsion plant just to adapt to a variety of environmental conditions such as water, land, with structure letter
The features such as list, rapid control.
Brief description of the drawings
Fig. 1 is mounting structure schematic diagram of the present utility model；
Fig. 2 is structural representation of the present utility model.
In figure：1st, robot body；2nd, propulsion plant；3rd, skeleton；4th, covering；5th, electromagnet；6th, motor.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings：
As shown in Fig. 2 the amphibious propulsion plant 2 of variation rigidity based on magnetorheological materials, including fin, fin includes skeleton 3
With covering 4, covering 4 is enclosed on outside skeleton 3, and skeleton 3 is made up of magnetorheological materials；Including electromagnet 5, electromagnet 5 is installed on fin
Piece side, is that skeleton 3 provides externally-applied magnetic field；Including motor 6, motor 6 is installed on fin side, and motor 6 is connected with fin.
Preferably, the structure of covering 4 is made up of high polymer material.It is highly preferred that the structure of covering 4 is made up of elastomeric material.Institute
The rigidity of fin is stated by external magnetic field control.
As shown in figure 1, when using the utility model, multiple present apparatus being arranged on robot body 1, made
With；Most preferably 2 present apparatus are respectively mounted in two sides of robot body 1.
When robot terrestrial environment by when, fin need play leg effect, now can be by increasing electromagnet 5
Exciting current, so as to increase the rigidity of skeleton 3, and then cause fin rigidity to become big, similar to the leg structure of traditional robot,
By the drive of motor 6 fin is moved again, so that robot can walk in terrestrial environment.When robot is in water
Middle environment by when, fin needs to play the effect of class assembling manch, now can by reducing the exciting current of electromagnet 5, from
And reducing the rigidity of skeleton 3 so that fin becomes soft, then make it that fin is swung as fin by the drive of motor 6, from
And enable robot in underwater exercise.Therefore, for different environment, it is only necessary to change the size of exciting current in electromagnet 5,
The transformation of robot propulsion plant 2 in different environments can be just realized, without being pre-designed many set propulsion plants 2.
But the utility model does not limit the concrete form of magnetorheological materials formation skeleton 3.Skeleton 3 is formed by magnetorheological materials
There can be diversified forms, it is compound that the sandwich such as formed by magnetic rheology elastic body and metal, magnetic flow liquid and conduit are formed
Structure.The structure of electromagnet 5 is designed in the side of fin, because the structure of electromagnet 5 is generally acknowledged mature technology, and not this reality
With new innovation, therefore the concrete form of electromagnet 5 is not provided, only give schematic diagram.Can be with using electromagnet 5
Magnetic field is provided to skeleton 3, by changing the exciting current in electromagnet 5, thus it is possible to vary the magnetic field of skeleton 3, so as to change skeleton 3
The mechanical property of middle magnetorheological materials, changes the rigidity of skeleton 3, and then change the rigidity of whole fin structure.Therefore, by changing
Become exciting current, it is possible to realize the control to fin structure rigidity.Fin is driven by motor 6 again, it is possible to realize fin
Motion.Generally acknowledged mature technology is fallen within because motor 6 drives fin to move, and not innovation of the present utility model
Place, therefore, the concrete form of the structure of motor 6 is not provided, schematic diagram is only gived.
Change to the rigidity of structure can be achieved with by the change exciting current of electromagnet 5, amphibious machine is used the apparatus as
The dynamic structure of people, when robot land by when, exciting current can be increased so that fin structure rigidity becomes big,
Be conducive to the motion of robot on land；When robot in water, the ground such as beach by when, electric current can be reduced, make fin
The rigidity of structure diminishes, the structure as class assembling manch, thus be conducive to robot in water, the ground such as beach it is travelling.
The mode that the utility model is installed on robot body 1 can be with varied, can be according to machine in practical application
Shape, the size of people makees corresponding adjustment.
General principle of the present utility model, principal character and advantage has been shown and described above.The technical staff of the industry
It should be appreciated that the utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally
The principle of utility model, on the premise of the utility model spirit and scope are not departed from, the utility model also has various change
And improvement, these changes and improvements are both fallen within the range of claimed the utility model.Scope is claimed in the utility model
Defined by appended claims and its effect thing.
Claims (4)
1. the amphibious propulsion plant of variation rigidity based on magnetorheological materials, it is characterised in that：
Including fin, the fin includes skeleton and covering, and the covering is enclosed on outside the skeleton, and the skeleton is magnetorheological
Material is made；
Including electromagnet, the electromagnet is installed on the fin side, and externally-applied magnetic field is provided for the skeleton；
Including motor, the motor is installed on the fin side, and the motor is connected with the fin.
2. the amphibious propulsion plant of the variation rigidity according to claim 1 based on magnetorheological materials, it is characterised in that：The bone
Frame is made up of magnetorheological materials.
3. the amphibious propulsion plant of the variation rigidity according to claim 1 based on magnetorheological materials, it is characterised in that：The fin
The rigidity of piece is by external magnetic field control.
4. the amphibious propulsion plant of the variation rigidity according to claim 1 based on magnetorheological materials, it is characterised in that：It is described to cover
Skin is made up of high polymer material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235196.3U CN206537092U (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion plant of variation rigidity based on magnetorheological materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235196.3U CN206537092U (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion plant of variation rigidity based on magnetorheological materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206537092U true CN206537092U (en) | 2017-10-03 |
Family
ID=59938198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621235196.3U Withdrawn - After Issue CN206537092U (en) | 2016-11-17 | 2016-11-17 | The amphibious propulsion plant of variation rigidity based on magnetorheological materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206537092U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379119A (en) * | 2016-11-17 | 2017-02-08 | 中国工程物理研究院总体工程研究所 | Rigidity-variable amphibious propelling device based on magnetorheological materials |
-
2016
- 2016-11-17 CN CN201621235196.3U patent/CN206537092U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379119A (en) * | 2016-11-17 | 2017-02-08 | 中国工程物理研究院总体工程研究所 | Rigidity-variable amphibious propelling device based on magnetorheological materials |
| CN106379119B (en) * | 2016-11-17 | 2019-10-25 | 中国工程物理研究院总体工程研究所 | The amphibious propulsion device of variation rigidity based on magnetorheological materials |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171003 Effective date of abandoning: 20191025 |