CN103612734B - A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit - Google Patents

A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit Download PDF

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Publication number
CN103612734B
CN103612734B CN201310585056.3A CN201310585056A CN103612734B CN 103612734 B CN103612734 B CN 103612734B CN 201310585056 A CN201310585056 A CN 201310585056A CN 103612734 B CN103612734 B CN 103612734B
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China
Prior art keywords
armature
electromagnetic
moving cell
flexible spine
pendulum moving
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CN201310585056.3A
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CN103612734A (en
Inventor
崔祚
姜洪洲
何景峰
佟志忠
黄群
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H23/00—Toy boats; Floating toys; Other aquatic toy devices
    • A63H23/08—Cartesian or other divers
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H29/00—Drive mechanisms for toys in general
    • A63H29/22—Electric drives
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H33/00—Other toys
    • A63H33/26—Magnetic or electric toys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/30—Propulsive elements directly acting on water of non-rotary type
    • B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type

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  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit, comprise bearing, the two above electromagnetic pendulum moving cell of joint and tail fins, all fish body profile sealed by fish body covering, first economize on electricity magnetic pendulum moving cell is connected with fish body head, other electromagnetic pendulum moving cell at different levels is all connected with Flexible spine, final section single-unit electromagnetic pendulum moving cell is then connected with tail fin, described electromagnetic pendulum moving cell comprises magnetizer, lower magnetizer, control coil, Flexible spine and armature, described Flexible spine is hollow form, inside is embedded with the coil controlling electric current, on, lower magnetizer is separately fixed in Flexible spine, armature is fixed on, the midway location of lower magnetizer, the midway location of armature is fixedly connected with Flexible spine, armature two ends cover has control coil, Flexible spine is driven to bend by the electromagnetic torque produced, advance to drive the swing of fish body, it is little that the present invention has volume, lightweight, and action is continuous, easily realization, the feature that noise is low, mechanical wear is little.

Description

A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit
Technical field
The present invention is mainly concerned with bionic underwater robot field, and the variable rigidity bionic being specifically related to a kind of Electromagnetic Drive swings propelling unit.
Background technology
Unique travelling performances such as fish are quick with it, efficient, high maneuverability have attracted the concern of numerous scholar, and the travelling mechanism of fish also becomes bionic study hotspot simultaneously.Biological study shows that the physiological tissue such as vertebra, muscle, skin, bone of fish constitutes a kind of serial parallel mechanism of complexity jointly, has the motion of pitching, driftage and torsion three degree of freedom.On the other hand, fish can change health rigidity on one's own initiative, make the natural frequency of fish body consistent with the hunting frequency of tail fin, thus obtain travelling performance rapidly and efficiently.At present, some bionical scholars have been noted that these achievements in research and apply it in the design of Biomimetic Fish.Such as, Harbin Institute of Technology professor Jiang Hongzhou etc. proposes the variation rigidity flexible bionic fish based on serial parallel mechanism, this mechanism intends adopting marmem (SMA) to drive, solve and adopt drive and control of electric machine complexity, bulky shortcoming traditionally, but because SMA material itself has temperature influence greatly, be out of shape the defects such as little.
In fact, the propulsive effort needed for swing of the fish body propelling is mainly derived from the symmetric shrinkage of fish body antagonistic muscle group.According to electromagnet two like magnetic poles repel each other, the character that there is a natural attraction between the sexes, the variation rigidity that this patent proposes a kind of Electromagnetic Drive be made up of permanent magnet, magnetizer, armature and Flexible spine etc. swings propelling unit.By the control to electromagnet exciting current size and Orientation, realize the control to drive torque direction and size, to have reappeared true fish swimming variation rigidity Energy saving mechanism, there is the advantages such as drive torque is adjustable, response is fast, thrust is large, compliance is good.
Summary of the invention
For reproduction fish travelling performance rapidly and efficiently, the invention provides a kind of variable rigidity bionic device of Electromagnetic Drive, be specifically achieved by the following technical solutions:
A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit, comprise bearing, the two above electromagnetic pendulum moving cell of joint and tail fins, all fish body profile sealed by fish body covering, first economize on electricity magnetic pendulum moving cell is connected with fish body head, other electromagnetic pendulum moving cell at different levels is all connected with Flexible spine, final section single-unit electromagnetic pendulum moving cell is then connected with tail fin, described electromagnetic pendulum moving cell comprises magnetizer, lower magnetizer, control coil, Flexible spine and armature, described Flexible spine is hollow form, inside is embedded with the coil controlling electric current, on, lower magnetizer is separately fixed in Flexible spine, armature is fixed on, the midway location of lower magnetizer, the midway location of armature is fixedly connected with Flexible spine, armature two ends cover has control coil, armature two ends are respectively with upper, the magnetic pole of lower magnetizer forms four working gas gaps, by the N of current control armature, S magnetic pole, produce corresponding electromagnetic torque, Flexible spine is driven to bend by the electromagnetic torque produced, advance to drive the swing of fish body, according to the propelling attitude required by flexible swing of the fish body propelling unit, by the control coil energising on armature, produce the required driving excitation swung, ACTIVE CONTROL is carried out to the electromagnetic pendulum moving cell of each joint propelling unit, by controlling the size of each joint armature upper control line circle electrical current, direction, size of gaps and the control coil number of turn, control that Flexible spine occurs and bend corresponding electromagnetic torque, namely the rigidity of electromagnetic pendulum moving cell at different levels is changed by producing different internal force, in the travelling process of fish body, the energising distribution condition of armature hot-wire coil is optimized according to detected travelling speed etc., electromagnetic pendulum moving cell at different levels is made to produce fish height effect travelling required continuous fish bulk wave fast, when the counter torque that Flexible spine elastic deformation produces and electromagnetic torque balance each other, armature stops operating.
Advantage of the present invention is:
Compared with prior art, the invention has the advantages that: (1) utilizes fixed current and sets up polarizing magnetic field by exciting coil, larger polar flux can be obtained, enough output torques can be produced, and dynamic property is good, fast response time.Meanwhile, there is volume little, lightweight, the feature such as not influenced by ambient temperature.(2) electromagnetic principle is used to change the size and Orientation of drive torque by changing control signal, and the change of fish body rigidity is realized further by design Compound Control Strategy, the variable rigidity control in fish swimming process can be realized, there is the features such as easy realization, noise is low, mechanical wear is little.(3) design form using continuous flexible vertebra in parallel with electromagnetic pendulum moving cell, simulates the multi-joint serial parallel mechanism mated with true fish body streamlined contour, has thrust large, and action is continuous, the feature that compliance is good.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is single electromagnetic pendulum moving cell schematic diagram of the present invention;
Fig. 3 is the magnetic circuit schematic diagram of electromagnetic pendulum moving cell of the present invention.
Wherein, 1, bearing, 2, magnetizer, 3, Flexible spine, 4, armature, 5, tail fin, 6, control coil, 7, upper magnetizer, 8, lower magnetizer, 9, air gap 1., 10, air gap 2., 11, air gap 3., 12, air gap 4..
Detailed description of the invention
Below with reference to the drawings and specific embodiments, the present invention is further illustrated.
Embodiment 1
As shown in accompanying drawing 1-2, the variable rigidity bionic that the invention provides a kind of Electromagnetic Drive swings propelling unit, comprise bearing 1, the two above electromagnetic pendulum moving cell of joint and tail fins 5, all fish body profile sealed by fish body covering, first economize on electricity magnetic pendulum moving cell is connected with fish body head, other electromagnetic pendulum moving cell at different levels is all connected with Flexible spine 3, final section single-unit electromagnetic pendulum moving cell is then connected with tail fin 5, described pendulum electromagnetic driven unit comprises magnetizer 7, lower magnetizer 8, control coil 6, Flexible spine 3 and armature 4, described Flexible spine 3 is in hollow form, inside is embedded with the coil controlling electric current, on, lower magnetizer 7, 8 are separately fixed in Flexible spine 3, armature 4 is fixed on, lower magnetizer 7, the midway location of 8, the midway location of armature 4 is fixedly connected with Flexible spine 3, armature 4 two ends cover has control coil 6, armature 4 two ends are respectively with upper, lower magnetizer 7, the magnetic pole of 8 forms four working gas gaps, by the N of current control armature 4, S magnetic pole, produce corresponding electromagnetic torque, Flexible spine is driven to bend by the electromagnetic torque produced, advance to drive the swing of fish body, according to the propelling attitude required by flexible swing of the fish body propelling unit, by the control coil energising on armature, produce the required driving excitation swung, ACTIVE CONTROL is carried out to the electromagnetic pendulum moving cell of each joint propelling unit, by controlling the size of each joint armature upper control line circle electrical current, direction, size of gaps and control coil 6 number of turn, control the bending corresponding electromagnetic torque of Flexible spine 3 occurs, namely the rigidity of electromagnetic pendulum moving cell at different levels is changed by producing different internal force, in the travelling process of fish body, the energising distribution condition of armature hot-wire coil is optimized according to detected travelling speed etc., electromagnetic pendulum moving cell at different levels is made to produce fish height effect travelling required continuous fish bulk wave fast, when the counter torque that Flexible spine elastic deformation produces and electromagnetic torque balance each other, armature stops operating.
Embodiment 2
The concrete principle that electromagnetic pendulum moving cell realizes drived control is: upper and lower magnetizer magnetizes by permanent magnet, and one end is N pole, and the other end is S pole.During spacing current, armature is at the midway location of upper and lower magnetizer, and because electromagnetic pendulum moving cell structure is symmetrical, the polar flux that permanent magnet produces in the air gap at two ends is the same, make to be that electromagnetic attraction is identical suffered by armature two ends, export without drive torque.When signal current is by coil, control coil produces and controls magnetic flux, and its size and Orientation depends on the size and Orientation of signal current.When the counter torque that Flexible spine elastic deformation produces and electromagnetic torque balance each other, armature stops operating.According to designing requirement, by the control of the electrical current size and Orientation to control coil, realize the control to bionical swing propelling unit drive torque size and driving frequency.Progression is more, and the continuous compliance of action of swing is better.
For a certain electromagnetic pendulum moving cell, illustrate the principle changing drive torque by controlling electrical current, as shown in accompanying drawing 2 and Fig. 3.
If the control coil of driver element is powered by a push pull amplifier, the constant value voltage E in amplifier bthe constant value electric current I produced in each control coil 0equal and opposite in direction direction is contrary, therefore on armature, does not produce electromagnetic torque.When amplifier has input voltage U gtime, increased by the electric current made in a control coil, the electric current in another control coil reduces, and the electric current in two coils is respectively:
i 1＝I 0+i(1)
i 2＝I 0-i(2)
In formula, i 1, i 2---the electric current in each coil;
I 0---the constant value electric current in each coil;
I---the signal current in each coil.
Difference current in two coils is:
Δi＝i 1-i 2＝2i＝i c(3)
Difference current Δ i is the control current i of input torque motor c, the control magnetic flux produced in armature and consequent electromagnetic torque ratio are in difference current.
The computing formula of electromagnetic torque can be obtained, specifically as shown in Figure 3 by the Analysis of Magnetic Circuit of torque motor.Assuming that the magnetic resistance of magnetic material and non-working-gap is negligible, only consider the magnetic resistance of four working gas gaps, then the magnetic circuit of torque motor can represent with the equivalent magnetic circuit shown in accompanying drawing 3 (b).
When armature is in meta, the magnetic resistance of each working gas gap is:
R g = l g μ 0 A g - - - ( 4 )
In formula, l g---the length of armature each air gap when meta;
A g---the area of pole surface;
μ 0---air permeability, μ 0=4 π × 10 -7wb/mA.
Air-gap reluctance when armature departs from meta is:
R 1 = l g - x μ 0 A g = R g ( 1 - x l g ) - - - ( 5 )
R 2 = l g + x μ 0 A g = R g ( 1 + x l g ) - - - ( 6 )
In formula, R 1---the magnetic resistance of 9,11;
R 2---the magnetic resistance of 10,12;
X---armature end (pole surface center) departs from the displacement of meta.
Due to the bridge-type magnetic circuit that magnetic circuit is symmetrical, therefore be equal by the magnetic flux of diagonal angle air gap.To comprising 9,11, polarization magneto motive force M pwith control magneto motive force N cthe C/LOOP of Δ i, the resultant flux that the Kirchhoff's second law of application magnetic circuit can obtain 9,11 is:
Φ 1 = M p + N c Δ i 2 R 1 = M p + N c Δ i 2 R g ( 1 - x / l g ) - - - ( 7 )
Can obtain resultant flux to 10,12 is:
Φ 2 = M p - N c Δ i 2 R 2 = M p - N c Δ i 2 R g ( 1 + x / l g ) - - - ( 8 )
In formula: M p---the polarization magneto motive force that permanent magnet produces;
N cΔ i---control the control magneto motive force that electric current produces;
N c---the number of turn of each control coil;
Utilize the polar flux Φ of armature when meta gwith control magnetic flux Φ crepresent M pand N cΔ i is more convenient, now:
Φ 1 = Φ g + Φ c 1 - x / l g - - - ( 9 )
Φ 2 = Φ g - Φ c 1 + x / l g - - - ( 10 )
for the polar flux of armature air gap when meta;
for the control magnetic flux of armature air gap when meta;
Suffered electromagnetic attraction can by Maxwell formulae discovery in magnetic field for armature:
F = Φ 2 2 μ 0 A g - - - ( 11 )
In formula, F---electromagnetic attraction;
Φ---the magnetic flux in air gap;
A g---the area of pole surface.
By control magnetic flux and the polar flux electromagnetic torque produced on armature that interacts be:
T d＝2a(F 1-F 4)(12)
A is the distance of armature center of turn to pole surface center
F 1, F 4it is the electromagnetic attraction at 9,12 places.
Consider that 10,11 places also can produce identical electromagnetic attraction, so be multiplied by 2 times.
T d = a μ 0 A g ( Φ 1 2 - Φ 2 2 ) - - - ( 13 )
Consider that armature rotational angle theta is very little, therefore have x ≈ θ a, then above formula can be write as:
T d = ( 1 + x 2 l g 2 ) K t Δ i + ( 1 + Φ c 2 Φ g 2 ) K m θ ( 1 - x 2 l g 2 ) 2 - - - ( 14 )
In formula, ---the meta electromagnetic torque coefficient of torque motor,
---magnetic spring constant during torque motor meta.
In order to improve the linearity and prevent armature by permanent magnet adsorbing, the output of torque motor is generally all designed to then above formula can be reduced to:
T d＝K tΔi+K mθ(15)
In formula, K tΔ i be armature when meta, by the electromagnetic torque controlling electric current Δ i and produce, be called meta electromagnetic torque.K mθ be due to armature depart from meta time, the additional electromagnetic moment that air gap changes and produces, it makes the nearly step of armature depart from meta.This moment and corner proportional, similar in appearance to the characteristic of spring, be called electromagnetic spring moment.
By controlling the size direction of electric current, size of gaps, permanent magnet magnetism size and the control coil number of turn etc., thus control that Flexible spine occurs and bend corresponding electromagnetic torque.When the counter torque that Flexible spine elastic deformation produces and electromagnetic torque balance each other, armature stops operating.According to designing requirement, by the control of the electrical current size and Orientation to control coil, realize the control to bionical swing propelling unit drive torque size and driving frequency.

Claims (1)

1. the variable rigidity bionic of an Electromagnetic Drive swings propelling unit, comprise bearing, the two above electromagnetic pendulum moving cell of joint and tail fins, all fish body profile sealed by fish body covering, it is characterized in that: first economize on electricity magnetic pendulum moving cell is connected with fish body head, other electromagnetic pendulum moving cell at different levels is all connected with Flexible spine, final section single-unit electromagnetic pendulum moving cell is then connected with tail fin, described electromagnetic pendulum moving cell comprises magnetizer, lower magnetizer, control coil, Flexible spine and armature, described Flexible spine is hollow form, inside is embedded with the coil controlling electric current, on, lower magnetizer is separately fixed in Flexible spine, armature is fixed on, the midway location of lower magnetizer, the midway location of armature is fixedly connected with Flexible spine, armature two ends cover has control coil, armature two ends are respectively with upper, the magnetic pole of lower magnetizer forms four working gas gaps, by the N of current control armature, S magnetic pole, produce corresponding electromagnetic torque, Flexible spine is driven to bend by the electromagnetic torque produced, advance to drive the swing of fish body, according to the propelling attitude required by flexible swing of the fish body propelling unit, by the control coil energising on armature, produce the required driving excitation swung, ACTIVE CONTROL is carried out to the electromagnetic pendulum moving cell of each joint propelling unit, by controlling the size of each joint armature upper control line circle electrical current, direction, size of gaps and the control coil number of turn, control that Flexible spine occurs and bend corresponding electromagnetic torque, namely the rigidity of electromagnetic pendulum moving cell at different levels is changed by producing different internal force, in the travelling process of fish body, according to the energising distribution condition of detected travelling speed-optimization armature hot-wire coil, electromagnetic pendulum moving cell at different levels is made to produce fish height effect travelling required continuous fish bulk wave fast, when the counter torque that Flexible spine elastic deformation produces and electromagnetic torque balance each other, armature stops operating.
CN201310585056.3A 2013-11-14 2013-11-14 A kind of variable rigidity bionic of Electromagnetic Drive swings propelling unit Expired - Fee Related CN103612734B (en)

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CN103950525A (en) * 2014-04-24 2014-07-30 苏州科技学院 Low-energy-consumption magnetomotive propelling mechanism of bionic robot fish
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CN105129062B (en) * 2015-09-29 2017-03-15 南安市腾龙专利应用服务有限公司 A kind of Biomimetic Fish and its method for work of fish tail
CN105186822B (en) * 2015-09-29 2017-07-25 南安市腾龙专利应用服务有限公司 A kind of magnetic dynamic device and its method of work
CN105292418B (en) * 2015-11-23 2017-12-12 南京信息工程大学 The skeleton structure of electromagnetic mechanical fish
CN106364648B (en) * 2016-09-26 2018-07-03 中国科学技术大学 A kind of controllable aquatic bio-propulsion device of rigidity
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CN107175657B (en) * 2017-05-11 2019-10-25 东北大学 A kind of permanent magnetism variation rigidity drive module for flexible robot
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