Soft magnetic motor applied to humanoid robot
Through the motor and hollow coil structure made of soft magnetic materials, the motor is driven by the magnetic field to drive the relative movement of the robot, which solves the problems of slow movement and insufficient strength of the robot, and realizes multi-joint linkage and flexible movement.
Patent Information
- Application Number
- CN202510608923.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-08
- Publication Date
- 2025-07-29
AI Technical Summary
The driving methods of existing robots have problems such as slow mechanical movement, insufficient strength and inability to link multiple joints.
The rotor and hollow coil structure made of soft magnetic materials use magnetic field to generate a magnetic field to drive the rotor to move relative to each other, and the tendons transmit mechanical energy to achieve joint linkage.
The robot's mechanical movement speed and strength are improved, the flexible linkage of multiple joints is achieved, and the motor volume is reduced.
Smart Images
Figure CN120389588A_ABST
Abstract
Description
[0001] This application is a divisional application. The filing date of the original application is January 8, 2025, the application number is 202510025669.4, and the invention title is: A Soft Magnetic Motor Applied to Humanoid Robots. Technical Field
[0002] The present invention discloses a structure that applies the magnetic field generated by an electric current to mechanical motion, belonging to the technical field of robot bionics. Background Art
[0003] At the present stage, the main driving methods of robots are to install motors at the joints or adopt hydraulic methods to achieve. Both of these methods have problems such as slow mechanical motion, insufficient force intensity, and inability to link multiple joints. Therefore, a new method is needed to drive machinery. Summary of the Invention
[0004] In view of the above problems or one of them, one of the purposes of the present invention is to provide a mechanical structure that directly uses the magnetic force generated by a magnetic field as power to solve the problem of slow mechanical motion.
[0005] In view of the above problems or one of them, the second purpose of the present invention is to be able to generate different forces by adjusting the magnitude of the current and voltage of the coil, so as to solve the problem of insufficient force intensity of ordinary motors.
[0006] In view of the above problems or one of them, the third purpose of the present invention is that the tendons directly pulled by the motor can achieve the linkage between multiple joints of the robot's palm, so as to solve the flexibility problem of the robot.
[0007] To achieve the above purpose, a technical solution of the present invention is as follows:
[0008] A soft magnetic motor applied to a humanoid robot, comprising: A hollow coil, which generates a magnetic field from the N pole to the S pole inside when energized, and the magnetic field disappears when de-energized; Two rotors, symmetrically arranged inside the coil, made of soft magnetic material, and the rotors make relative movements inside the coil under the action of the magnetic field; Tendons (31), connected to the other ends in the opposite moving direction of the rotors, for transmitting mechanical energy. Among them, the cross-section of the coil after winding can be circular, square or triangular, and the initial positions of the two rotors are respectively located at both ends inside the coil. The soft magnetic material mentioned in the present invention refers to a material that generates its own magnetic field when placed in a magnetic field and the magnetic field of itself disappears when leaving the magnetic field, including but not limited to pure iron, soft iron, silicon steel, nickel-iron alloy. The non-magnetic material mentioned in the present invention refers to a substance that hardly exhibits magnetism under the action of an external magnetic field.
[0009] A coil refers to a structure that generates a magnetic field from the N pole to the S pole inside when energized and the magnetic field disappears when de-energized. The coil includes, but is not limited to, being wound by copper wires. The coil can be wound into, but is not limited to, only a hollow cylinder, a cuboid, or a triangular prism.
[0010] Two rotors are respectively arranged at the symmetric two ends inside the hollow coil. When the coil is energized, a magnetic field from the N pole to the S pole is generated inside the coil, and at the same time, a magnetic field from the N pole to the S pole is also generated in the two rotors. Under the combined action of the coil magnetic field and the rotor magnetic field, the two rotors attract each other and move towards each other from both ends of the coil towards the middle position of the coil. When the coil magnetic field weakens or disappears, the magnetic field of the rotor weakens or disappears simultaneously, and the two rotors return to both ends of the coil respectively under the action of external forces in the opposite directions. The shape of the rotor includes, but is not limited to, a cylinder, a cuboid, or a cube.
[0011] The tendon is made of non-magnetic material and is used to transmit mechanical energy outward during the relative movement of the two rotors; it is used to pull the rotor back to its original position by an external force when the magnetic field disappears after the coil is de-energized.
[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0013] The rotor of the present invention is made of soft magnetic material instead of a permanent magnet. When the coil is de-energized, both the rotor and the tendon are in a relaxed state; when the coil is energized, the rotor directly drives the tendon to perform a linear contraction movement, without the need to perform a rotational movement like a permanent magnet motor, thus solving the problem of slow mechanical movement.
[0014] The present invention can adjust the current and voltage of the coil, thereby determining the magnitude of the output mechanical force, and solving the problem of insufficient mechanical force intensity.
[0015] The motor of the present invention is smaller in volume, can provide tendons with different intensities of force traction, can be arranged at the distal end of the robot joint, and realizes the linkage between multiple joints of the robot palm through the tendon, making the robot palm smaller and more flexible. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the coil structure of the present invention; Figure 3 It is a schematic diagram of the rotor structure of the present invention. REFERENCE SIGNS
[0017] 1. Coil, 3. Rotor, 31. Tendon. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0018] The following will combine the attached drawings in the embodiments of the present invention Figures 1-3, clearly and completely describe the technical solutions in the embodiments of the present invention; obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.
[0019] Embodiment 1.
[0020] Figure 1 The components shown are disassembled into Figure 2 , Figure 3 .
[0021] Figure 2 After the coil (1) shown is energized, according to the right-hand screw rule, a magnetic field is generated inside and outside the coil (1), and the magnetic field points from the N pole to the S pole in the coil (1).
[0022] Figure 3 The two rotors (3) located inside the coil (1) shown are affected by the magnetic field of the coil (1) and form their own magnetic fields. Under the combined action of the magnetic field of the coil (1) and their own magnetic fields, the two rotors (3) move from the symmetric two ends inside the coil (1) towards the middle of the coil (1) respectively. The moving rotors (3) drive the tendon (31) to move inward, providing the power required for the movement of the machine in a contracting form. After the coil is powered off, the magnetic fields of the coil (1) and the rotors (3) disappear, and the rotors (3) are in a relaxed state and are pulled back to the left and right ends inside the coil (1) by the tendon (31) under the action of an external force.
Claims
1. A soft magnetic motor applied to a humanoid robot, characterized in that, Comprising: A hollow coil (1) which generates a magnetic field from the N pole to the S pole inside when energized and the magnetic field disappears when de-energized; Two rotors (3), symmetrically arranged inside the coil (1), made of soft magnetic material, and the rotors (3) make relative movements inside the coil (1) under the action of the magnetic field; A tendon (31), connected to the other ends of the rotors (3) in the direction of their relative movement, for transmitting mechanical energy; Among them, the cross-section of the coil (1) after winding can be circular, square or triangular, and the initial positions of the two rotors (3) are respectively located at both ends inside the coil (1).
2. The soft magnetic motor applied to a humanoid robot according to claim 1, wherein: The coil (1) refers to a structure that generates a magnetic field from the N pole to the S pole inside when energized and the magnetic field disappears when de-energized. The coil (1) includes but is not limited to being wound by a copper wire. The coil (1) can be wound into but is not limited to only being wound into a hollow cylinder, cuboid, or triangular prism.
3. The soft magnetic motor applied to a humanoid robot according to claim 1, wherein: The two rotors (3) are respectively arranged at the symmetric two ends inside the hollow coil (1). When the coil (1) is energized, a magnetic field from the N pole to the S pole is generated inside the coil (1), and the two rotors (3) also generate a magnetic field from the N pole to the S pole at the same time. Under the combined action of the magnetic field of the coil (1) and the magnetic field of the rotors (3), the two rotors (3) attract each other and move towards the middle position of the coil (1) from both ends of the coil (1). When the magnetic field of the coil (1) weakens or disappears, the magnetic field of the rotors (3) weakens or disappears at the same time, and the two rotors (3) return to both ends of the coil (1) under the action of external forces in the opposite direction. The shape of the rotors (3) includes but is not limited to a cylinder, cuboid, or cube.
4. The soft magnetic motor applied to a humanoid robot according to claim 1, wherein: The tendon (31) is made of a non-magnetic material, for transmitting mechanical energy outward during the relative movement of the two rotors (3); for pulling the rotors (3) to reset by an external force when the magnetic field of the coil (1) disappears after power-off.