CN207096728U - A kind of magnetic suspension robot - Google Patents
A kind of magnetic suspension robot Download PDFInfo
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- CN207096728U CN207096728U CN201720472278.8U CN201720472278U CN207096728U CN 207096728 U CN207096728 U CN 207096728U CN 201720472278 U CN201720472278 U CN 201720472278U CN 207096728 U CN207096728 U CN 207096728U
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Abstract
The utility model discloses a kind of magnetic suspension robot, the magnetic suspension robot includes：Audio playing module is provided with robot body and base, robot body or base；Robot body is provided with suspension permanent magnet body, and base is provided with suspension magnet coil and suspension controller；Suspension controller, magnetic field is produced for controlling suspension magnet coil to be powered, repulsion is produced to suspension permanent magnet body, robot body is suspended in above base；And audio volume and/or frequency for being played according to audio playing module, control flow through the electric current of suspension magnet coil, make robot body with regular movements above and below the audio of broadcasting.This programme by using base suspension controller, the volume and/or frequency of the audio played according to magnetic suspension robot, the electric current of suspension magnet coil is flowed through in control, make robot body with regular movements above and below the audio of broadcasting, with extremely strong dynamic sense and substitute into sense, it is possible to increase the usage experience of user.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of magnetic suspension machine with music playback function
People.
Background technology
With the development of science and technology robot field has also obtained swift and violent development, robot beautiful jade on the market at present is expired
Mesh different sizes, but most of is all humanoid or wheeled robot, and motion mode is routinely common, lacks scientific and technological mystique and dynamic
Aesthetic feeling, and magnetic levitation technology is applied in robot, is usually only limitted to commercial Application and family sweeps, function is dull；At present
Some audio amplifiers for using magnetic levitation technology are have also appeared on the market, but it is mainly simply sent out audio amplifier by magnetic levitation technology
Sound body is isolated with outer material, causes resonance to produce different noise effects so as to avoid contacting with other materials, for example, existing special
In sharp technology, Chinese utility model patent (publication number CN204145716U) discloses a kind of magnetic suspension Baffle Box of Bluetooth, and it is also
Pay attention to the separation of audio amplifier sounding body and other objects, realize static suspension, the same dynamic that lacks is felt, and is placed with conventional dead
The same visual experience of audio amplifier is poor.
Existing robot is biped or wheeled mostly, and function is single, and existing magnetic suspension sound box typically can only be real
Existing static suspension, dynamic vision experience is poor, accordingly, it is desirable to provide a kind of more technology sense and the robot of dynamic sense.
Utility model content
In view of robot motion's mode is conventional in the prior art, function is single, and magnetic suspension Baffle Box of Bluetooth lacks innervation
The problem of, it is proposed that a kind of magnetic suspension robot of the present utility model, to overcome above mentioned problem or to solve at least in part
Above mentioned problem.
To achieve these goals, the utility model employs following technical scheme：
A kind of magnetic suspension robot, the magnetic suspension robot include：Robot body and base, the robot body or
Audio playing module is provided with the base；The robot body is provided with suspension permanent magnet body, and the base is provided with outstanding
Floating magnet coil and suspension controller；
The suspension controller, magnetic field is produced for controlling the suspension magnet coil to be powered, to the suspension permanent magnet body
Repulsion is produced, the robot body is suspended in above the base；And for being played according to the audio playing module
Audio volume and/or frequency, control flows through the electric current of the suspension magnet coil, makes sound of the robot body with broadcasting
Frequency regular movements up and down.
Alternatively, annular permanent magnet is additionally provided with the base, the annular permanent magnet surrounds the suspension electromagnetic wire
Circle is set, and the annular permanent magnet produces suction to the suspension permanent magnet body, controls the robot body only in the base
Suspended in the range of top.
Alternatively, some steering magnet coils are circumferentially provided with the base；
The suspension controller, it is further used for the electric current that the steering magnet coil is flowed through in control, makes the steering electricity
Magnetic coil produces magnetic field, drives the robot body to rotate.
Alternatively, auditory localization module, the auditory localization mould are provided with the robot body or the base
Block is used for the orientation for determining sound source, and the orientation of the sound source is sent into the suspension controller；
The suspension controller, it is further used for flowing through the steering magnet coil according to the control of the orientation of the sound source
Electric current, the steering magnet coil is set to produce magnetic field, drive the robot body obverts the sound source.
Alternatively, the front of the robot body is additionally provided with camera, and the camera is used in the robot
Body obvert the sound source after, filmed image.
Alternatively, projecting apparatus is additionally provided with the robot body, the projecting apparatus is used in the robot body
Projection is realized when going to assigned direction.
Alternatively, LED is additionally provided with the robot body, the LED is used for the audio playing module
The audio turn colors and flicker frequency of broadcasting, and/or the information about power of the instruction robot body.
Alternatively, the robot body is spherical form, is provided with wireless charging receiving coil；On the base
Set fluted, be provided with wireless charging transmitting coil in it；During the magnetic suspension periods of robot operation stop, the robot sheet
Body, which is fallen into, carries out wireless charging in the groove of the base.
Alternatively, voice interaction module, the interactive voice mould are additionally provided with the robot body or the base
Block is used to identify phonetic order, and according to the phonetic order, controls the magnetic suspension robot to work.
Alternatively, bluetooth or WiFi communication are passed through between the robot body and the base.
In summary, the technical solution of the utility model by using base suspension controller, according to magnetic suspension machine
The volume and/or frequency for the audio that people plays, control flow through the electric current of suspension magnet coil, make sound of the robot body with broadcasting
Frequency regular movements up and down, there is extremely strong dynamic sense and substitute into sense, it is possible to increase the usage experience of user.
Brief description of the drawings
Fig. 1 is a kind of structural representation for magnetic suspension robot that the utility model embodiment 1 provides；
Fig. 2 is a kind of base schematic top plan view for magnetic suspension robot that the utility model embodiment 1 provides；
Fig. 3 is a kind of high-level schematic functional block diagram for magnetic suspension robot that the utility model embodiment 2 provides；
Fig. 4 is a kind of workflow schematic diagram for magnetic suspension robot that the utility model embodiment 2 provides；
In figure, 1, robot body；11st, loudspeaker；12nd, camera；13rd, LED；14th, suspension permanent magnet body；15th, it is wireless
Charge receiving coil；16th, projecting apparatus；2nd, base；21st, suspension magnet coil；22nd, annular permanent magnet；23rd, magnet coil is turned to；
24th, groove；25th, microphone.
Embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Type embodiment is described in further detail.
Embodiment 1
Fig. 1 is a kind of structural representation for magnetic suspension robot that the utility model one embodiment 1 provides, each portion in figure
It is only schematic illustration to divide, and does not represent full-size(d) and shape.As shown in the figure, the magnetic suspension robot includes：Robot body 1
With base 2, audio playing module is provided with robot body 1 or base 2, specifically in this embodiment illustrated in fig. 1, audio is broadcast
The loudspeaker 11 of amplification module is arranged on robot body 1；Robot body 1 is provided with suspension permanent magnet body 14, and base 2 is provided with
Suspension magnet coil 21 and suspension controller.
Suspension controller, magnetic field is produced for controlling suspension magnet coil 21 to be powered, repulsion is produced to suspension permanent magnet body 14,
Robot body 1 is set to be suspended in the top of base 2；And audio volume and/or frequency for being played according to audio playing module,
The electric current of suspension magnet coil 21 is flowed through in control, makes robot body 1 with regular movements above and below the audio of broadcasting.
By using the suspension controller of base 2, the volume and/or frequency of the audio played according to magnetic suspension robot,
The electric current of suspension magnet coil 21 is flowed through in control, robot body 1 is had extremely strong dynamic with regular movements above and below the audio of broadcasting
Sense and substitution sense, visual effect is stronger, it is full extremely to dazzle sense, it is possible to increase the usage experience of user.
Preferably, annular permanent magnet 22 is additionally provided with base 2, annular permanent magnet 22 is set around suspension magnet coil 21
Put, annular permanent magnet 22 produces suction to suspension permanent magnet body 14, control machine human body 1 only above the base 2 in the range of suspend,
The position for preventing robot body 1 to be suspended to beyond the top of base 2, causes to drop and causes to damage.
When without music, suspension controller control suspension magnet coil 21 produces constant repulsive force, to offset ring
Shape permanent magnet 22 enables robot body 1 flat attraction caused by suspension permanent magnet body 14 and robot body 1 gravity of itself
Weighing apparatus is in a certain opening position；When there is foreign object to touch the robot body 1, when the robot body 1 is deviateed original position, robot
Body 1 can return to original position in the presence of galvanomagnetic-effect negative-feedback.
When there is music, by the way that the volume and frequency of music can be obtained with audio sensor, according to collecting
Signal, suspension controller produces control signal, and is converted into controllable current by power amplifier, and then controls suspension electromagnetism
The size of repulsive force caused by coil 21, make robot body 1 with regular movements above and below music beat.
Preferably, some steering magnet coils 23 are circumferentially provided with base 2.
Suspension controller, it is further used for control and flows through the electric current for turning to magnet coil 23, produce steering magnet coil 23
Magnetisation field, driving robot body 1 rotate.
By turning to the setting of magnet coil 23, horizontally rotating for robot body 1 can be realized, enriches robot body
1 motion mode, there is provided more preferable visual experience, meanwhile, control the robot body 1 to realize and rotate, also can easily realize
The orientating function of robot body 1.
The set location for turning to magnet coil 23 refers to schematic top plan view shown in Fig. 2, in fig. 2, turns to magnet coil
23 for being provided with 4, four sides of base 2 of living apart, and the lower section of robot body 1 is arranged on around robot body 1, to pass through production
Magnetisation field driving robot body 1 rotates.
Preferably, auditory localization module is provided with robot body 1 or base 2, auditory localization module is used to determine
The orientation of sound source, and the orientation of sound source is sent to suspension controller.
Suspension controller, it is further used for flowing through the electric current for turning to magnet coil 23 according to the control of the orientation of sound source, makes to turn
Magnetic field is produced to magnet coil 23, driving robot body 1 obverts sound source.
Referring again to Fig. 2, multiple microphones 25 of auditory localization module are arranged on the both sides of base 2, and purpose gathers sound source,
Used for robot localization.
Preferably, the front of robot body 1 is additionally provided with camera 12, sees Fig. 1, and camera 12 is used in robot sheet
Body 1 obvert sound source after, filmed image.Further, the magnetic suspension robot also has Face detection tracking function, leads to
Cross the image for shooting the camera 12 to handle, identify face, and then controlled by suspension controller and turn to electromagnetic wire
Circle 23, realizes Face detection tracking function, can be used for preferably shooting target, such as video calling or self-timer
Deng.
Preferably, projecting apparatus 16 is additionally provided with robot body 1, sees Fig. 1, projecting apparatus 16 may be provided at robot body
1 back side, for realizing projection when robot body 1 goes to assigned direction.For example, used when control machine human body 1 turns to
Projected during family, or, projected after control machine human body 1 turns to the curtain of specified location.
Specifically, the magnetic suspension robot of the present embodiment 1 can work as follows：First, when user sends phonetic order,
The position of user is determined by auditory localization module, and the positional information, such as coordinate information are sent to suspension controller, so
Afterwards suspension controller by the positional information adjust 4 steering magnet coil 23 current values, produce different magneticactions in
Robot body 1, which is realized, to be turned to, and robot body 1 will obvert user side backward with camera 12, and face is carried out
Identification, so as to start to realize user that tracing and positioning is shot.
Preferably, LED 13 is additionally provided with robot body 1, sees Fig. 1, LED 13 can surround robot body
1 LED set, for the audio turn colors and flicker frequency played with audio playing module, and/or instruction robot
The information about power of body 1, visual effect is improved, and realize that electric current indicates.
Preferably, robot body 1 is spherical form, is provided with wireless charging receiving coil 15；Set on base 2
Fluted 24, wireless charging transmitting coil (not shown in Fig. 1) is provided with it；During magnetic suspension periods of robot operation stop, machine
Human body 1, which falls into, carries out wireless charging in the groove 24 of base 2.
Preferably, voice interaction module is additionally provided with robot body 1 or base 2, voice interaction module is used to identify
Phonetic order, and according to phonetic order, the work of control magnetic suspension robot.
Preferably, bluetooth or WiFi communication, certainly, other communications are passed through between robot body 1 and base 2
The utility model is equally applicable to, is no longer repeated one by one here.
Embodiment 2
Fig. 3 is a kind of high-level schematic functional block diagram for magnetic suspension robot that the utility model embodiment 2 provides；Such as Fig. 3 institutes
Show, MCU controllers are provided with robot body, under the control action of the MCU controllers, robot body can realize language
Sound interaction, auditory localization, wireless charging, filmed image, projection and LED lamplight such as show at the function.
Suspension controller is provided with base, under the control action of the suspension controller, is believed by gathering digital audio
Number, realize robot body with the control of regular movements up and down of audio and course changing control.
Specifically control flow is as shown in Figure 4：
First, after magnetic suspension robot starts, suspension controller work, control suspension magnet coil produces electric current so as to produce
Magnetisation power makes robot body suspend.
When user sends phonetic order, the microphone of base receives the voice messaging of user, passes through bluetooth or WiFi
Communication is sent to robot body, determines the position of user by the auditory localization module of robot body, and this position is believed
Breath sends suspension controller to, and suspension controller is by controlling the current values of multiple steering magnet coils on base, to machine
Human body applies the user that different power makes its steering speak.
After magnetic suspension robot receives the instruction for playing music, base or robot body commence play out music, now
Suspension controller can be converted into corresponding current signal, control suspension magnet coil production according to the rhythm and power of music
Raw magnetic field size, make robot body with music beat bob.
In addition, while music, the LED on robot body also can be with music transform color and frequency
Rate, the control principle of LED is close with the control principle to suspension magnet coil, will not be repeated here.If in addition, also need to throw
Shadow, then MCU, which is received, is transferred to suspension controller after phonetic order, and suspension controller control machine human body rotates, will
Projecting apparatus turns to user or assigned direction is projected.
When magnetic suspension robot does not work, robot body, which can be slowly fallen into the recessed grain of base, to be charged.
The utility model has the advantage of：
Magnetic suspension robot of the present utility model, robot body separates with base during work, and machine when playing music
Human body can be with music beat bob, it is highly preferred that the LED on robot body also can convert face with music beat
Color and flicker frequency, great dynamic sense and technology sense, visual enjoyment is also provided while music aesthetic feeling is provided the user with；This magnetic
Suspension robot can also identify that auto-steering is realized in the position of user, utilizes robot body by auditory localization module
Camera be tracked and take pictures, function is more abundant；This magnetic suspension robot also has speech identifying function, can pass through language
Sound instruction is controlled, and use is more convenient.
It is described above, only specific embodiment of the present utility model, under above-mentioned teaching of the present utility model, this area
Technical staff can carry out other improvement or deformation on the basis of above-described embodiment.It will be understood by those skilled in the art that
Above-mentioned specific descriptions simply preferably explain the purpose of this utility model, and the scope of protection of the utility model should be with claim
Protection domain be defined.
Claims (10)
1. a kind of magnetic suspension robot, it is characterised in that the magnetic suspension robot includes：Robot body and base, the machine
Audio playing module is provided with device human body or the base；The robot body is provided with suspension permanent magnet body, the bottom
Seat is provided with suspension magnet coil and suspension controller；
The suspension controller, magnetic field is produced for controlling the suspension magnet coil to be powered, the suspension permanent magnet body is produced
Repulsion, the robot body is set to be suspended in above the base；And the sound for being played according to the audio playing module
Frequency volume and/or frequency, control flow through the electric current of the suspension magnet coil, make the robot body with the audio of broadcasting
Lower regular movements.
2. magnetic suspension robot as claimed in claim 1, it is characterised in that annular permanent magnet is additionally provided with the base,
The annular permanent magnet is set around the suspension magnet coil, and the annular permanent magnet produces suction to the suspension permanent magnet body
Power, control the robot body only above the base in the range of suspend.
3. magnetic suspension robot as claimed in claim 1, it is characterised in that some steering electricity are circumferentially provided with the base
Magnetic coil；
The suspension controller, it is further used for the electric current that the steering magnet coil is flowed through in control, makes the steering electromagnetic wire
Circle produces magnetic field, drives the robot body to rotate.
4. magnetic suspension robot as claimed in claim 3, it is characterised in that set on the robot body or the base
Auditory localization module is equipped with, the auditory localization module is used for the orientation for determining sound source, and the orientation of the sound source is sent to
The suspension controller；
The suspension controller, it is further used for flowing through the electricity of the steering magnet coil according to the control of the orientation of the sound source
Stream, the steering magnet coil is set to produce magnetic field, drive the robot body obverts the sound source.
5. magnetic suspension robot as claimed in claim 4, it is characterised in that the front of the robot body, which is additionally provided with, to be taken the photograph
As head, the camera be used for the robot body obvert the sound source after, filmed image.
6. magnetic suspension robot as claimed in claim 3, it is characterised in that projection is additionally provided with the robot body
Instrument, the projecting apparatus are used to realize projection when the robot body goes to assigned direction.
7. magnetic suspension robot as claimed in claim 1, it is characterised in that LED is additionally provided with the robot body,
The LED is used for the audio turn colors and flicker frequency played with the audio playing module, and/or the instruction machine
The information about power of human body.
8. magnetic suspension robot as claimed in claim 1, it is characterised in that the robot body is spherical form, thereon
It is provided with wireless charging receiving coil；Set fluted on the base, be provided with wireless charging transmitting coil in it；The magnetic
During suspension periods of robot operation stop, the robot body, which is fallen into, carries out wireless charging in the groove of the base.
9. the magnetic suspension robot as any one of claim 1-8, it is characterised in that the robot body is described
Voice interaction module is additionally provided with base, the voice interaction module is used to identify phonetic order, and refers to according to the voice
Order, the magnetic suspension robot is controlled to work.
10. the magnetic suspension robot as any one of claim 1-8, it is characterised in that the robot body and institute
State between base by bluetooth or WiFi communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720472278.8U CN207096728U (en) | 2017-04-28 | 2017-04-28 | A kind of magnetic suspension robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720472278.8U CN207096728U (en) | 2017-04-28 | 2017-04-28 | A kind of magnetic suspension robot |
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| Publication Number | Publication Date |
|---|---|
| CN207096728U true CN207096728U (en) | 2018-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720472278.8U Active CN207096728U (en) | 2017-04-28 | 2017-04-28 | A kind of magnetic suspension robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024881A (en) * | 2017-04-28 | 2017-08-08 | 歌尔科技有限公司 | A kind of magnetic suspension robot |
| CN109151675A (en) * | 2018-09-04 | 2019-01-04 | 杭州奇谋网络科技有限公司 | A kind of floated holographic intelligent equipment |
-
2017
- 2017-04-28 CN CN201720472278.8U patent/CN207096728U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024881A (en) * | 2017-04-28 | 2017-08-08 | 歌尔科技有限公司 | A kind of magnetic suspension robot |
| CN109151675A (en) * | 2018-09-04 | 2019-01-04 | 杭州奇谋网络科技有限公司 | A kind of floated holographic intelligent equipment |
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