CN212195685U

CN212195685U - Mini bounce mechanism based on voice coil motor

Info

Publication number: CN212195685U
Application number: CN202020944314.8U
Authority: CN
Inventors: 常博; 郭林峻; 周权
Original assignee: Shaanxi University of Science and Technology
Current assignee: Shaanxi University of Science and Technology
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2020-12-22
Anticipated expiration: 2030-05-29

Abstract

The utility model discloses a mini spring mechanism based on voice coil motor belongs to the robotechnology field, including bottom plate, permanent magnet and core, bottom plate and permanent magnet are hollow structure, can make coil former up-and-down motion in hollow structure, and simultaneously, the both ends diameter of coil former is different for the coil former can not break away from to outside the bottom plate, and the outside winding of coil former has the coil, is provided with the core in the hollow structure of coil former. The utility model is easy to be miniaturized and assembled into a compact structure; easily control, the jump height is adjusted to accessible control voltage's size, the utility model discloses a bounce method response speed is fast, easily realizes.

Description

Mini bounce mechanism based on voice coil motor

Technical Field

The utility model belongs to the technical field of the robot, a mini spring mechanism based on voice coil motor is related to.

Background

Most of the conventional mobile robots are driven by multiple wheels or crawler belts, and perform bionic crawling or walking, so that the robots are difficult to cross large obstacles or ditches at one time, and jumping is a very effective motion mode of the robots under the condition of complex terrain. Through the motion mode of jumping, the robot can easily cross the obstacle several times higher than itself. Therefore, jumping robots have been developed, the earliest of which was a single-leg jumping robot developed in 1980 by MarcRaibert of the massachusetts institute of technology, which has since become a research focus in the field of robots at home and abroad, and recently researchers have found that in applications such as space exploration, safety monitoring or reconnaissance, it is relatively easy to accomplish tasks due to the small size and light weight of miniature jumping robots. However, the existing bounce robot design generally needs a complex transmission mechanism, so that the volume and the mass of the robot are too large, and microminiaturization is difficult. Therefore, there is a need to develop a bouncing mechanism with smaller volume and simpler structure to realize the miniaturization of a bouncing robot.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the utility model aims to provide a mini bouncing mechanism based on a voice coil motor to solve the problem that the existing bouncing mechanism is difficult to miniaturize due to the fact that the transmission structure is complex and the volume and the mass are overlarge.

In order to achieve the above purpose, the utility model adopts the following technical scheme to realize:

a mini bouncing mechanism based on a voice coil motor comprises a bottom plate, a permanent magnet and a core, wherein the permanent magnet is arranged on the bottom plate, the bottom plate and the permanent magnet are both of hollow structures with upper and lower openings, a coil frame is arranged at the hollow part of the permanent magnet, the coil frame is of a hollow structure, the core is arranged at the hollow part of the coil frame, a coil is fixed at the outer side of the coil frame, and the coil is electrically connected with an external power supply; the two ends of the coil rack are respectively a big end and a small end, one end close to the bottom plate is the small end, the diameter of the small end is smaller than the inner diameter of the hollow part of the bottom plate, and the diameter of the big end is larger than the inner diameter of the hollow part of the bottom plate.

Preferably, the outer side of the permanent magnet is an S pole, and the inner side of the permanent magnet is an N pole.

Preferably, the core is T-shaped, a lower diameter of the core is smaller than an inner diameter of the hollow structure of the bobbin, and a top diameter of the core is larger than a top diameter of the permanent magnet.

Further preferably, the lower part of the core is sleeved inside the hollow structure of the permanent magnet, and the top of the core is bonded to the top of the permanent magnet through structural adhesive.

Preferably, the permanent magnet is a hollow cylinder, and the diameter of the hollow part is larger than that of the large end of the coil frame.

Preferably, the bobbin is i-shaped; the bottom plate is a flat thin circular ring.

Preferably, the coil is composed of a conductor and an insulating layer outside the conductor.

Preferably, the core and the bottom plate are made of soft iron; the coil rack is prepared by adopting an epoxy plate.

Preferably, the top of the core is provided with a through hole, the coil is electrically connected with an external power supply through a wire, and the wire can penetrate through the through hole to be connected with the coil.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses a mini spring mechanism based on voice coil motor, including bottom plate, permanent magnet and core, bottom plate and permanent magnet are hollow structure, can make coil former up-and-down motion in hollow structure, and simultaneously, the both ends diameter of coil former is different for the coil former can not break away from outside the bottom plate, and the outside winding of coil former has the coil, is provided with the core in the hollow structure of coil former. The power is connected with the coil and is provided the electric current for the coil, according to the electromagnetic induction principle, the coil after the circular telegram can produce the electromagnetic force in the magnetic field of permanent magnet, and the direction of this electromagnetic force is decided by the direction of electric current in the coil, electric current size and direction in the control input coil promptly, can control the size and the direction of electromagnetic force, and then the inside core of control coil and outside permanent magnet and the equal upward movement of bottom plate of bottom, when the bottom plate moves to wanting to contact with the big end of coil former, under the effect of inertial force, the bottom plate will drive coil former and coil former winding coil upward movement together on the coil former, thereby realize the bounce action, finally steadily fall to the ground under the effect of gravity, get back to initial condition. The device of the utility model is easy to be miniaturized, has fewer components, and is easy to be manufactured and assembled into a compact structure with small volume; according to the size effect, the rate of the ampere force is L²Gravity forceHas a scale ratio of L³At a small scale, the favorable amperage for bounce will dominate. Thus, the jumping performance of the device of the present invention can be increased as the size of the device is reduced; the utility model discloses the device is easily controlled, because the size of electromagnetic force is proportional with the electric current on the coil, the jump height is adjusted to the size of voltage in the event accessible control external power supply. Will the utility model discloses the device is arranged in mini robot, and the spring response speed is fast, easily realizes.

Further, the core and the base plate are made of soft iron with high magnetic permeability and high saturation induction, which can concentrate the radial magnetic flux in a narrow gap where the coil moves.

Furthermore, the coil rack is I-shaped, so that the coil can be stably wound on the outer side wall of the coil rack and is not easy to drop, the current direction and the current magnitude generated by the coil can be kept stable, and the stable bouncing of the mini bouncing mechanism is ensured.

Further, the core part is T-shaped, the diameter of the lower part of the core part is smaller than the inner diameter of the hollow structure of the coil rack, and the diameter of the upper part of the T-shaped core part is larger than the diameter of the top part of the permanent magnet, so that the core part can be fixed above the permanent magnet, and the bouncing process can be realized along with the permanent magnet.

Further, the coil frame is made of epoxy plates, and the epoxy plates have high dielectric property and can resist surface electric leakage; the adhesive force is strong, and the coil wound outside the adhesive force can be prevented from falling off.

Drawings

FIG. 1 is a schematic view of the magnetic pole distribution and stress of the mini bouncing mechanism of the present invention;

FIG. 2 is a schematic view of the explosion structure of the mini bouncing mechanism of the present invention;

FIG. 3A is a diagram illustrating a bouncing process of the apparatus of the present invention;

FIG. 3B is a diagram illustrating a bouncing process of the apparatus of the present invention;

FIG. 3C is a diagram illustrating a bounce process of the apparatus of the present invention;

fig. 3D is a diagram illustrating the bouncing process of the device of the present invention.

In the figure: 1-a permanent magnet; 2-a bottom plate; 3-a coil; 4-a coil former; 5-a core; 6-magnetic field; 7-electromagnetic force; 8-current; 9-external power supply.

Detailed Description

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The present invention will be described in further detail with reference to the accompanying drawings:

as shown in fig. 2, the mini bouncing mechanism based on the voice coil motor includes a permanent magnet 1, a base plate 2, a coil 3, a bobbin 4, and a core 5. 2 upper portion installation permanent magnet 1 of bottom plate, permanent magnet 1 and bottom plate 2 are hollow structure, and the cavity position of permanent magnet 1 is provided with coil former 4, and the winding has coil 3 on the lateral wall of coil former 4, and coil 3 passes through wire and external power supply 9 electric connection, and one in the both ends of coil former 4 is the main aspects, and another is the tip. Wherein the diameter of the large end is larger than the inner diameter of the base plate 2 to prevent the bobbin 4 from falling off from the inner cavity formed by the core 5, the permanent magnet 1 and the base plate 2, while the small end can freely pass through the inner diameter of the base plate 2.

The permanent magnet 1 and the bottom plate 2 are bonded by structural adhesive; the core 5 is T-shaped, the diameter of the lower part of the core 5 is smaller than the inner diameter of the hollow structure of the coil frame 4, and the diameter of the top of the core 5 is larger than that of the permanent magnet 1. The lower part of the core part 5 is sleeved in the hollow structure of the permanent magnet 1, and the top of the core part 5 is bonded with the top of the permanent magnet 1 through structural adhesive.

The utility model discloses a mini bounce mechanism's theory of operation does:

according to the principle of electromagnetic induction, as shown in fig. 1, when the coil 3 is energized, an electromagnetic force 7 is generated in the magnetic field 6 of the permanent magnet 1 by the energized coil 3, because the direction of the electromagnetic force 7 is determined by the direction of the current 8 in the coil 3. In order to make the mini-bouncing mechanism achieve bouncing movement, the direction of the current 8 in the middle coil 3 should be left-in and right-out (as shown in fig. 1). According to the left-hand rule in the electromagnetic induction principle, the generated axial electromagnetic force 7 is vertically downward, and since the mini bouncing mechanism is placed on a horizontal plane, the downward relative motion of the coil 3 and the coil rack 4 is converted into the upward motion of the core 5, the permanent magnet 1 and the bottom plate 2. When the bottom plate 2 moves to be in contact with the large end of the coil rack 4, the bottom plate 2 drives the coil 3 and the coil rack 4 to move upwards together under the action of large inertia force, so that the bouncing action is realized, and finally, the bottom plate falls on the ground stably under the action of gravity and returns to the initial state to prepare for the next bouncing.

The following explains the bouncing method of the mini bouncing mechanism of the utility model:

a jump-off stage: the mini-bouncing mechanism is placed on a horizontal surface, as shown in fig. 3A. When the external power supply 9 is turned on to supply power to the coil 3, the core 5, the permanent magnet 1 and the bottom plate 2 will move upward at a high speed due to the axial electromagnetic force 7 after the coil 3 passes through the current, and at this time, the coil 3 and the coil rack 4 are temporarily kept in a static state, as shown in fig. 3B.

A flight phase: when the base plate 2 moves into contact with the large end of the bobbin 4, as shown in fig. 3C, under the action of a large inertial force, the base plate 2 will drive the coil 3 and the bobbin 4 to move upward together, thereby realizing a bouncing action, as shown in fig. 3D.

And (3) a fallback stage: under the action of gravity, the mini bouncing mechanism lands smoothly and returns to the initial state, as shown in fig. 3A.

To sum up, in the device of the utility model, the electromagnetic force 7 for driving the mini bouncing mechanism to take off is only operated in the bouncing stage, that is, in the bouncing stage, the speed is increased, and the electric energy is converted into kinetic energy; in the flight phase, the speed is reduced and the kinetic energy is converted into gravitational potential energy. Therefore, during the flight phase, the coil 3 has already been disengaged from the magnetic field 6 generated by the permanent magnet 1, so that the electromagnetic force 7 is almost eliminated and bouncing is only possible by inertia. Therefore, utilize the utility model discloses when the device jumps, only need supply power for coil 3 when the take-off stage, when this mini bounce mechanism moves to the flight stage, the coil circular telegram or outage can not influence the motion of mini bounce mechanism.

In this embodiment, the external power source 9 is a capacitor.

The core 5 and the base plate 2 used are made of soft iron with high permeability and high saturation induction, which are able to concentrate the radial magnetic flux in the narrow gap in which the coil 3 moves. The core 5 is a revolving body with a T-shaped cross section, and the bottom plate 2 is a flat thin circular ring.

The permanent magnet 1 is a hollow cylinder and is a source of a magnetic field, the magnetic poles of the permanent magnet 1 are transversely distributed, the outer side is an S pole, and the inner side is an N pole.

The coil 3 is an enameled copper wire and consists of a conductor and an insulating layer outside the conductor.

The coil rack 4 is made of epoxy board and has an I-shaped structure for winding the coil 3.

The above contents are only for explaining the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention all fall within the protection scope of the claims of the present invention.

Claims

1. The mini bouncing mechanism based on the voice coil motor is characterized by comprising a bottom plate (2), a permanent magnet (1) and a core (5), wherein the permanent magnet (1) is installed on the bottom plate (2), the bottom plate (2) and the permanent magnet (1) are both of hollow structures with upper and lower openings, a coil rack (4) is arranged at the hollow part of the permanent magnet (1), the coil rack (4) is of a hollow structure, the core (5) is arranged at the hollow part of the coil rack (4), a coil (3) is fixed on the outer side of the coil rack (4), and the coil (3) is electrically connected with an external power supply; the two ends of the coil rack (4) are respectively a big end and a small end, one end close to the bottom plate (2) is the small end, the diameter of the small end is smaller than the inner diameter of the hollow part of the bottom plate (2), and the diameter of the big end is larger than the inner diameter of the hollow part of the bottom plate (2).

2. The mini bouncing mechanism based on the voice coil motor as claimed in claim 1, wherein the permanent magnet (1) has an S pole on the outside and an N pole on the inside.

3. Mini-bounce mechanism based on a voice coil motor, according to claim 1, characterized in that the core (5) is T-shaped, the lower diameter of the core (5) is smaller than the inner diameter of the hollow part of the coil former (4), and the top diameter of the core (5) is larger than the top diameter of the permanent magnet (1).

4. The mini bouncing mechanism based on the voice coil motor as claimed in claim 3, wherein the lower portion of the core (5) is sleeved inside the hollow structure of the permanent magnet (1), and the top portion is bonded on the top portion of the permanent magnet (1) through structural adhesive.

5. Mini bounce mechanism based on voice coil motor according to claim 1 characterized in that the permanent magnet (1) is a hollow cylinder with a diameter larger than the large end diameter of the coil frame (4).

6. Mini-bounce mechanism based on a voice coil motor according to claim 1, characterized in that the coil former (4) is I-shaped; the bottom plate (2) is a flat thin circular ring.

7. Mini-bounce mechanism based on a voice coil motor according to claim 1, characterized in that the coil (3) consists of a conductor and an insulating layer outside the conductor.

8. A voice coil motor based mini-bouncing mechanism according to claim 1, characterized in that the core (5) and the bottom plate (2) are made of soft iron; the coil rack (4) is prepared by adopting an epoxy plate.

9. The mini bouncing mechanism based on the voice coil motor as claimed in claim 1, wherein a through hole is formed at the top of the core (5), the coil (3) is electrically connected with an external power source through a wire, and the wire can pass through the through hole to be connected with the coil (3).