A magnetic drive robot imitating Mexican jumping beans

Abstract

The application discloses a kind of magnetic drive robots of imitation Mexican jumping beans, which is double-shell structure, including shell, inner shell, support, magnetic fluid, attitude adjustment electromagnet, jumping module, functional module and control module;The shell imitates the shape of Mexican jumping beans, the inner shell is spherical, the center of gravity is below the ball center, the shell supports the inner shell through the support, and the inner shell has three degrees of freedom;Three attitude adjustment electromagnets are evenly distributed on the inner wall of the lower hemisphere of the inner shell, and the three attitude adjustment electromagnets are on the same horizontal plane;Magnetic fluid is arranged between the shell and the inner shell, the jumping module is fixed at both ends in the inner shell and passes through the ball center of the inner shell;The functional module is arranged on the outer layer, and the control module is arranged in the inner shell, and the attitude adjustment electromagnet and the jumping module are controlled by receiving the functional module signal to realize the attitude adjustment and jumping of the magnetic drive robot respectively, and after power off, the inner shell returns to the initial state.The invention jumps more flexible, controllable and has good attitude stability.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a magnetic drive robot simulating Mexican jumping beans. BACKGROUND

[0002] The movement principle of Mexican jumping beans is that the whole center of mass changes due to the continuous rolling of the larvae inside the beans, realizing planar rolling; the larvae hit the inner wall of the beans to produce impact, making the beans jump. In this background, the idea of developing a jumping robot is proposed, which can jump like a bean by simulating the jumping principle of Mexican jumping beans.

[0003] The existing jumping bean robot connects an eccentric block to the output shaft of the motor, and the motor drives the eccentric block to rotate, relying on the inertia of the eccentric block during rotation to realize the jumping of the body. The disadvantage is that the jumping direction and height are not easy to control. SUMMARY

[0004] Therefore, the present application provides a magnetic drive robot simulating Mexican jumping beans, which has jumping ability, and the jumping is more flexible, controllable and stable in posture.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A magnetic drive robot simulating Mexican jumping beans, the magnetic drive robot is a double-layer shell structure, including an outer shell, an inner shell, a support, a magnetic fluid, a posture adjusting electromagnet, a jumping module, a function module and a control module;

[0007] The outer shell simulates the shape of Mexican jumping beans, the inner shell is spherical, the center of gravity is below the center of the sphere, the outer shell supports the inner shell through the support, and the inner shell has three degrees of freedom; three posture adjusting electromagnets are evenly distributed on the inner wall of the lower hemisphere of the inner shell, and the three posture adjusting electromagnets are on the same horizontal plane; the magnetic fluid is arranged between the outer shell and the inner shell, the jumping module is fixed at both ends of the inner shell and passes through the center of the inner shell; the function module is arranged on the outer layer, and the control module is arranged in the inner shell, and the posture adjusting electromagnet and the jumping module are controlled by receiving the function module signal to realize the posture adjustment and jumping of the magnetic drive robot respectively, and after power off, the inner shell returns to the initial state.

[0008] Further, the outer shell includes a part of a spherical surface and a flat tube structure composed of straight surfaces; one end of the flat tube structure is horizontally closed, the other end is open, and the open end of the flat tube structure is smoothly transitioned with the part of the spherical surface.

[0009] Further, the jumping module includes a guide column, a soft magnet impact block and a jumping electromagnet.

[0010] The guide post is fixed at both ends inside the inner shell and passes through the center of the inner shell sphere. The soft magnetic impact block and the jumping electromagnet are located at both ends of the guide post. The jumping electromagnet is fixed on the inner wall of the upper hemisphere of the inner shell. Under the action of the magnetic field, the soft magnetic impact block is attracted to the jumping electromagnet and impacts the inner shell to complete the jump.

[0011] Furthermore, by changing the magnetic field strength of the jumping module, the magnetically driven robot can jump to different heights.

[0012] Furthermore, by controlling the three attitudes of the electromagnet, the strength of the current can be adjusted, thereby adjusting the jumping direction and angle.

[0013] Furthermore, the support member is a ball joint.

[0014] Beneficial effects:

[0015] 1. The robot of this invention has jumping ability and can overcome obstacles on the ground, such as small obstacles and irregular terrain. This enables the robot to move in complex environments, such as entering narrow areas or crossing raised obstacles in search and rescue missions.

[0016] Secondly, the magnetically driven robot of this invention utilizes magnetohydrodynamics as a propulsion source. Compared with traditional battery or fuel cell drives, magnetic drive is more flexible and controllable, and the magnetohydrodynamic drive system has higher energy efficiency and longer operating time. The introduction of magnetohydrodynamic drive technology enables the robot to utilize energy more efficiently during jumping and stopping.

[0017] Furthermore, the shape of the shell allows the robot to adapt to various terrains. The shape of the Mexican jumping bean includes flat surfaces and partial spherical surfaces. Flat surfaces facilitate posture maintenance and provide good stability on flat ground, while spherical surfaces help increase the amount of rolling during descent, thereby improving motion efficiency.

[0018] 2. By changing the magnetic field strength of the jumping module, the robot can jump to different heights. Therefore, the magnetically driven robot of this invention can move freely on uneven ground, overcome obstacles, and adapt to various working scenarios.

[0019] 3. By controlling the three attitude adjustment electromagnets to adjust the current strength, the jumping direction and angle can be adjusted. It can adjust its jumping force and angle according to changes in the external environment to maintain stable movement and landing, and has adaptive characteristics. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the attitude adjustment of the present invention.

[0022] Figure 3This is a schematic diagram of the jumping posture of the present invention.

[0023] Figure 4 From another perspective of the present invention (and) Figure 1 (Vertical viewpoint) Schematic diagram of the structure.

[0024] Among them, 1-outer shell, 2-inner shell, 3-magnetic fluid, 4-attitude adjustment electromagnet, 5-guide post, 6-soft magnetic impact block, 7-jumping electromagnet. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] This invention provides a magnetically driven robot that mimics the shape of a Mexican jumping bean, such as... Figure 1 As shown, the magnetically driven robot has a double-shell structure, including an outer shell 1, an inner shell 2, a support component, a magnetofluid 3, an attitude adjustment electromagnet 4, a jumping module, a functional module, and a control module.

[0027] like Figure 4 As shown, the outer shell 1 is shaped like a Mexican jumping bean. The outer shell 1 includes a partial spherical surface and a flat tube structure composed of ruled surfaces. One end of the flat tube structure is horizontally closed and the other end is open. The open end of the flat tube structure smoothly transitions to the partial spherical surface. The flat tube structure is similar to the shape of the tail end of a toothpaste tube.

[0028] The inner shell 2 is spherical, with its center of gravity located below the center of the sphere. The outer shell 1 supports the inner shell 2 via a support member. The inner shell 2 has three degrees of freedom, meaning that the inner shell 2 and the outer shell 1 have no relative displacement but can rotate relative to each other with three degrees of freedom. In this embodiment, the support member is a ball joint.

[0029] Three attitude adjustment electromagnets 4 are evenly distributed on the inner wall of the lower hemisphere of the inner shell 2, and the three attitude adjustment electromagnets 4 are arranged at 120° intervals on the same horizontal plane; a certain amount of magnetofluid 3 is placed between the outer shell 1 and the inner shell 2.

[0030] The jumping module includes a guide post 5, a soft magnetic impact block 6, and a jumping electromagnet 7. The two ends of the guide post 5 are fixed inside the inner shell 2 and pass through the center of the inner shell 2. The soft magnetic impact block 6 and the jumping electromagnet 7 are located at the two ends of the guide post 5. The jumping electromagnet 7 is fixed to the inner wall of the upper hemisphere of the inner shell 2. The soft magnetic impact block 6 is attracted to the jumping electromagnet 7 under the action of the magnetic field, and impacts the inner shell 2 to complete the jump.

[0031] The functional modules are located on the outer layer, where various sensors or actuators can be placed according to task requirements.

[0032] The control module is located in the inner shell 2. It receives signals from the functional modules (sensors) to control the posture adjustment electromagnet 4 and the jumping module to achieve posture adjustment and jumping of the magnetically driven robot, respectively. After power is cut off, the inner shell 2 returns to its initial state. The control module can also control the operation of the functional modules (actuators) to control the robot to perform tasks.

[0033] Attitude adjustment principle:

[0034] The magnetofluid 3 is attracted by the magnetic force in a magnetic field and flows towards the area with the strongest magnetic field. Based on this principle, the robot's center of gravity is changed, thus achieving the purpose of attitude adjustment. When the robot is stationary on the ground, the magnetofluid 3 is stationary, and the center of gravity of the magnetofluid 3 and the center of gravity of the inner sphere are both directly below the center of the inner shell 2.

[0035] When a certain attitude adjustment electromagnet 4 is energized, the magnetic field at that location is strongest, and the magnetofluid 3 tends to converge in that direction. Conversely, the inner guide post 5 deflects in the opposite direction. By controlling the relative strength of the currents in the three attitude adjustment electromagnets 4, different magnetic fields can be generated, making the magnetic field strongest in any direction, thereby adjusting the jump direction. By controlling the absolute strength of the currents in the attitude adjustment electromagnets 4, the deflection angle β of the guide post 5 can be controlled, thereby adjusting the jump angle. When the attitude adjustment electromagnets 4 are de-energized, the magnetofluid 3 flows back to the bottom, and the inner sphere also returns to its initial state like a "roly-poly toy," that is, the inner shell 2 returns to its initial state.

[0036] Taking leftward attitude adjustment as an example, when the left-side attitude adjustment electromagnet 4 is energized, a magnetic field is generated, causing the magnetofluid 3 and the attitude adjustment electromagnet 4 to attract each other. The force situation of the magnetofluid 3, originally at the bottom, changes. Now, in addition to its own weight and the supporting force of the inner wall of the outer shell 1, the magnetofluid 3 is also attracted by the magnetic field. The magnetofluid 3 will flow towards the location of the left-side attitude adjustment electromagnet 4, with its center of gravity reaching G2. Simultaneously, the inner sphere deflects in the opposite direction, with its center of gravity at G1, thereby adjusting the attitude of the guide post 5. At this time, the entire robot's state is as follows: Figure 2 As shown.

[0037] The principle of bouncing:

[0038] The jumping module enables the robot to jump. The soft magnetic impact block 6 is made of soft magnetic material and can be magnetized in a magnetic field and is affected by the magnetic field.

[0039] The jumping principle is as follows: First, the attitude adjustment electromagnet 4 is energized to adjust the jumping attitude. Then, the jumping electromagnet 7 is energized to form a magnetic field. The soft magnetic impact block 6 is magnetized under the action of the magnetic field and attracted by the jumping electromagnet 7, as shown below. Figure 3As shown. The soft magnetic impact block 6 accelerates upward along the guide post 5 and impacts the jumping electromagnet 7. At this moment, momentum is conserved in the robot system, and the whole system jumps. Then, the jumping electromagnet 7 and the attitude adjustment electromagnet 4 are de-energized, and the soft magnetic impact block 6 returns to the bottom of the guide post 5 under the action of gravity, while the inner sphere returns to its upright position under the action of gravity. Finally, the robot lands. Upon landing, due to the shape of the outer shell 1 resembling a Mexican jumping bean, the robot may stop immediately or continue rolling forward.

[0040] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magnetically driven robot that simulates Mexican jumping beans, characterized in that, The magnetic drive robot is a double-shell structure, comprising an outer shell, an inner shell, a support, a magnetic fluid, attitude adjustment electromagnets, a jumping module, a functional module, and a control module. The outer shell is shaped like a Mexican jumping bean, and the inner shell is spherical with a center of gravity below the center of the sphere. The outer shell supports the inner shell through the support, and the inner shell has three degrees of freedom. Three attitude adjustment electromagnets are evenly distributed on the inner wall of the lower hemisphere of the inner shell, and the three attitude adjustment electromagnets are on the same horizontal plane. The magnetic fluid is arranged between the outer shell and the inner shell. The jumping module is fixed at both ends of the inner shell and passes through the center of the inner shell. The functional module is arranged on the outer layer, and the control module is arranged in the inner shell. The attitude adjustment electromagnets and the jumping module are controlled by receiving signals from the functional module to realize the attitude adjustment and jumping of the magnetic drive robot, respectively. After power-off, the inner shell returns to the initial state. The jumping module comprises a guide column, a soft magnet impact block, and a jumping electromagnet. The guide column is fixed at both ends of the inner shell and passes through the center of the inner shell. The soft magnet impact block and the jumping electromagnet are located at both ends of the guide column. The jumping electromagnet is fixed on the inner wall of the upper hemisphere of the inner shell. The soft magnet impact block is attracted to the jumping electromagnet under the action of the magnetic field, and impacts the inner shell to complete the jumping.

2. The magnetically driven Mexican jumping bean robot of claim 1, wherein, The outer shell comprises a partial spherical surface and a flat tube structure composed of straight surfaces. One end of the flat tube structure is horizontally closed, and the other end is open. The open end of the flat tube structure is smoothly connected to the partial spherical surface.

3. The magnetic drive robot shaped like a Mexican jumping bean according to claim 1, wherein By changing the magnetic field size of the jumping module, the magnetic drive robot can jump to different heights.

4. The magnetic drive robot shaped like a Mexican jumping bean according to claim 1, wherein By controlling the current strength of the three attitude adjustment electromagnets, the jumping direction and angle size can be adjusted.

5. The magnetically driven Mexican jumping bean replica of any one of claims 1-4, wherein, The support is a spherical hinge.

Images