Magnetic force assembling balance system with stable moving performance

Abstract

The application provides a magnetic force assembling balance system with stable moving performance, relates to the technical field of magnetic force splicing, and comprises a magnetic force stabilizing platform, a magnetic force assembling unit, an acceleration response module and a connecting module. The magnetic force stabilizing platform is composed of a magnetic conducting platform and a surface texture layer and is used for bearing the magnetic force assembling unit. The magnetic force assembling unit is a splicable execution unit of the system and contains three kinds of geometric configuration magnetic monomers, specifically, A type square magnetic sheet, B type isosceles triangle magnetic sheet and C type equilateral triangle magnetic sheet. The acceleration response module is used for controlling the stability of the system and specifically comprises a sensor and a magnetic force compensation unit. A dynamic magnetic force regulation mechanism is adopted, and the closed loop regulation of the acceleration response module and the magnetic force compensation unit can adjust the magnetic attraction force in real time according to dynamic parameters such as inclination angle and acceleration, so that the problem of insufficient stability caused by the unadjustable magnetic force of the traditional system is solved, and the risk of slippage and overturning in complex scenes such as inclination and acceleration is avoided.

Description

Technical Field

[0001] This invention relates to the field of magnetic splicing technology, specifically to a magnetic splicing balancing system with stable movement performance. Background Technology

[0002] Magnetic assembly systems, as a modular assembly technology that combines structural integrity and flexibility, are widely used in fields such as robot research and development, educational toys, and industrial automation. In existing technologies, the splicing stability of magnetic modules largely depends on the inherent magnetic attraction of permanent magnets. The adsorption strength between the magnetic modules and the substrate, as well as the connection strength between modules, are difficult to adaptively adjust according to dynamic scenarios. Under complex working conditions such as tilting and acceleration, problems such as slippage and disintegration are prone to occur.

[0003] Meanwhile, the magnetic force distribution of traditional systems lacks quantitative constraints, and the spatial component distribution of magnetic flux density is unreasonable, resulting in insufficient matching between anti-slip capability and friction coefficient. This makes it difficult to meet the stability requirements of diverse mobile scenarios and cannot balance portability and temporary assembly needs. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a magnetic assembly and balancing system with stable movement performance.

[0005] A magnetic assembly and balancing system with stable movement performance includes a magnetic stabilization platform and a magnetic assembly unit;

[0006] The magnetic stabilization platform consists of a magnetically conductive platform and a surface texture layer, and is used to support the magnetic assembly unit.

[0007] The magnetic assembly unit is the system's connectable execution unit, containing three types of magnetic units with different geometric configurations: type A square magnetic sheet (magnetic unit A), type B isosceles triangular magnetic sheet (magnetic unit B), and type C equilateral triangular magnetic sheet (magnetic unit C).

[0008] The coefficient of friction of the surface texture layer is U, that is ;

[0009] For the magnetic unit of the magnetic assembly unit, it is required that the magnetic unit will not slip when placed on the magnetic stabilizing platform at an angle of 30° or less.

[0010] The specific mechanical constraints are as follows:

[0011] ;

[0012] in The magnetic attraction force of the magnetic platform on the magnetic unit is perpendicular to the surface of the magnetic platform and points towards the platform.

[0013] The force is the gravity of the magnetic unit, directed vertically downwards;

[0014] The component of the gravity of the magnetic monomer along the oblique downward direction of the magnetic conducting platform is marked as Fg, which is the force that makes the magnetic monomer have a downward sliding trend, equal to one half ;

[0015] The component of the gravity of the magnetic monomer along the direction perpendicular to the magnetic conducting platform is marked as Fg, which is the force that makes the magnetic monomer vertically press the magnetic conducting platform, equal to .

[0016] It should be noted that the core that the magnetic monomer does not slide off the magnetic conducting platform is that the maximum static friction force borne by the magnetic monomer is not less than the component force that makes it have a downward sliding trend:

[0017] The total pressure perpendicular to the surface of the magnetic conducting platform is provided by two parts, one is the attractive force of the magnetic conducting platform to the magnetic monomer, and the other is the component of the gravity of the magnetic monomer along the direction perpendicular to the magnetic conducting platform (the component is the product of the gravity of the magnetic monomer and the cosine value of the 30° magnetic monomer angle of the magnetic monomer);

[0018] The friction coefficient between the contact surface of the monomer and the magnetic conducting platform is multiplied by the total pressure in the above-mentioned perpendicular direction to obtain the size of the maximum static friction force;

[0019] And the component force that promotes the magnetic monomer to slide downward along the platform is the component of the gravity of the magnetic monomer along the oblique downward direction of the magnetic conducting platform (the component is the product of the gravity of the magnetic monomer and the sine value of the 30° magnetic monomer angle of the magnetic monomer);

[0020] When the size of the maximum static friction force is greater than or equal to the component force that promotes the downward sliding, the magnetic monomer does not slide off the magnetic conducting platform.

[0021] Preferably, the combination assembled by the magnetic monomers satisfies the mechanical condition when the combination is placed on the magnetic conducting platform at an inclination angle of 45°.

[0022] ;

[0023] The gravity of the magnetic monomer is vertically downward;

[0024] The component of the gravity of the magnetic monomer along the oblique downward direction of the magnetic conducting platform is marked as Fg, which is the force that makes the magnetic monomer have a downward sliding trend, equal to ;

[0025] ​​​ is the component of the gravity of the magnetic monomer along the direction perpendicular to the magnetic conducting platform, denoted as is the force that makes the magnetic monomer vertically press the magnetic conducting platform, is equal to ;

[0026] The combination is composed of A-type square magnetic sheets, and a combination of a cube arrangement is composed of 6 sheets.

[0027] Preferably, the connection stability between the magnetic force assembly units is quantitatively described by the magnetic dipole interaction equation, specifically as follows:

[0028] The force between the magnetic poles of adjacent modules is determined in the following manner: the force is based on the magnetic dipole model, which is the interaction force of two magnetic moments at a predetermined distance, and the calculation process is: take 3 times the vacuum permeability, divide by the product of 4π and the 5th power of the pole distance, and then multiply the result by a complex vector expression;

[0029] The complex vector expression contains five terms, which are the dot product of the first magnetic moment and the pole distance vector multiplied by the second magnetic moment, the dot product of the second magnetic moment and the pole distance vector multiplied by the first magnetic moment, the dot product of the first magnetic moment and the second magnetic moment multiplied by the pole distance vector, 5 times the dot product of the first magnetic moment and the pole distance vector, the dot product of the second magnetic moment and the pole distance vector, and then divided by the square of the pole distance and multiplied by the pole distance vector, and finally the sum of the first three terms minus the product of the last two terms;

[0030] The energy stability of module splicing is guaranteed by the minimum energy condition, that is, the system after splicing is in the lowest energy state and has no spontaneous separation tendency;

[0031] The calculation process of the minimum energy is: take the negative value of the vacuum permeability, divide by the product of 4π and the 3rd power of the pole distance, and then multiply the result by a vector expression; the vector expression is the dot product of the first magnetic moment and the second magnetic moment minus 3 times the dot product of the first magnetic moment and the unit vector along the magnetic pole line, and the dot product of the second magnetic moment and the unit vector along the magnetic pole line;

[0032] To avoid disintegration of the splicing body when moving or tilting, the action force of single group connection needs to meet: the absolute value of the action force is not less than twice the gravity of the single module.

[0033] Preferably, the magnetic force assembly unit comprises three types of core configurations, and each type of configuration adopts a composite structure combining permanent magnets and magnetic conducting skeletons to ensure magnetic force concentration and structural strength, specifically as follows:

[0034] Type A is a square magnetic sheet, that is, the magnetic poles are arranged in a clockwise direction, forming four effective magnetic pole surfaces, and the magnetic moment direction is arranged along the diagonal line;

[0035] B type is an isosceles right triangle magnetic sheet.

[0036] C type is a regular triangle magnetic sheet.

[0037] Preferably, the specific weight of the magnetic monomer is limited as follows:

[0038] ;

[0039] ;

[0040] ;

[0041] GA magnetic monomer is the weight of magnetic monomer A, GB magnetic monomer is the weight of magnetic monomer B, and GC magnetic monomer is the weight of magnetic monomer C.

[0042] Specifically, the value range of GA magnetic monomer is greater than or equal to 9.0 grams and less than or equal to 38.8 grams; the value range of GB magnetic monomer is greater than or equal to 5.6 grams and less than or equal to 24.2 grams; and the value range of GC magnetic monomer is greater than or equal to 4.9 grams and less than or equal to 21.6 grams.

[0043] Preferably, in the tilt and acceleration combined scenario, when the magnetic stabilized platform is in a state of a tilt angle greater than a critical tilt angle and a critical instability acceleration, based on the mobile state balance equation, the total required magnetic attraction force is distributed according to the module configuration difference:

[0044] Magnetic monomer A bears 50% to 60% of the total magnetic attraction force, as it has a large area of contact to provide stable normal force, and its magnetic attraction force needs to meet the following requirements:

[0045] The magnetic attraction force is greater than or equal to 0.5 times the product of the total weight of the magnetic stabilized platform and the magnetic assembly unit and the sine value of the tilt angle of the magnetic stabilized platform, the product of the total mass and the acceleration a, and the product of the friction coefficient, the total weight, and the cosine value of the tilt angle of the magnetic stabilized platform.

[0046] Magnetic monomer B bears 25% to 30% of the total magnetic attraction force, and by adjusting the top angle direction, the magnetic flux density component along the inclined surface is improved to resist the sliding force.

[0047] Magnetic monomer C bears 10% to 15% of the total magnetic attraction force, and by using its three-way balanced magnetic attraction force characteristics, the lateral moment is offset by the vertex magnetic pole distribution, and the vertical inclined surface magnetic flux density component By needs to meet the following requirements:

[0048] By is not less than 1.1 times the product of the vacuum permeability, the magnetic pole surface density, and the equivalent magnetization current divided by 2, and then multiplied by the cosine value of the tilt angle of the magnetic stabilized platform.

[0049] Preferably, when a magnetic monomer attracts a magnetic monomer with a mass of one-half of itself in the left and right directions, the following conditions are met:

[0050] The friction between the magnetic monomer and the contact surface of the 1 / 2 magnetic monomer is greater than or equal to the gravity of the 1 / 2 magnetic monomer;

[0051] The gravity of the 1 / 2 magnetic monomer is one-half of the gravity of a single magnetic monomer, and the magnetic force between the magnetic monomer and the 1 / 2 magnetic monomer must be large enough to provide a normal pressure that satisfies the above requirement, i.e., it satisfies the corresponding mechanical condition.

[0052] Preferably, when a magnetic monomer attracts another magnetic monomer in the downward direction, the attractive force between the two magnetic monomers generated by magnetic interaction is greater than the vertical downward gravity of the attracted magnetic monomer.

[0053] Preferably, the friction between magnetic monomer A and magnetic monomer A is greater than the gravity of magnetic monomer A; the friction between magnetic monomer B and magnetic monomer B is greater than the gravity of magnetic monomer B; and the friction between magnetic monomer C and magnetic monomer C is greater than the gravity of magnetic monomer C.

[0054] Preferably, the magnetic force assembly balance system with stable movement performance further comprises a portable magnetic toy box for storing and temporarily assembling the magnetic stable platform and the magnetic assembly unit, and has the following structural features:

[0055] The magnetic toy box comprises an upper shell and a lower shell connected by a hinge, and the rotation angle after connection ranges from 0 degrees to 180 degrees.

[0056] The inner side wall of the upper shell is provided with a groove or a protrusion, the outer side wall of the lower shell is provided with a protrusion or a groove, the protrusion or the groove of the outer side wall of the lower shell is embedded in the groove or the protrusion of the inner side wall of the upper shell, and the upper shell is butt-jointed and buckled on the lower shell.

[0057] The present application provides a magnetic force assembly balance system with stable movement performance, which has the following beneficial effects:

[0058] By using a dynamic magnetic force regulation mechanism and through closed-loop adjustment of the acceleration response module and the magnetic force compensation unit, the magnetic attraction force can be adjusted in real time according to dynamic parameters such as inclination angle and acceleration, thereby solving the problem of insufficient stability caused by the unadjustable magnetic force of traditional systems and ensuring no sliding or overturning risk in complex scenarios such as inclination and acceleration.

[0059] By quantitatively constraining the interaction of magnetic dipole moments and the distribution of magnetic flux density components, the matching relationship between the module assembly strength and the magnetic force distribution is determined, which not only ensures the reliability of assembly, but also avoids the drawbacks of too tight or too loose assembly, thereby improving the stability and flexibility of the overall structure of the system.

[0060] The adaptive combination scheme of the multi-configuration module is designed, the accurate adaptation of different moving scenes is realized based on the ratio of magnetic attraction force and gravity, the magnetic attraction and temporary assembly functions of the portable magnetic toy box are matched, and the functionality and portability of the system are considered. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 It is a force diagram of the present application;

[0062] Figure 2 It is a force diagram of another case of the present application;

[0063] Figure 3 It is a flowchart of the present application. DETAILED DESCRIPTION

[0064] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0065] As Figure 1 shown, the present application provides a magnetic assembly balancing system with stable moving performance, comprising a magnetic stable platform and a magnetic assembly unit.

[0066] The magnetic stable platform is composed of a magnetic guide platform and a surface texture layer, and is used for carrying the magnetic assembly unit.

[0067] The magnetic assembly unit is a connectable execution unit of the system, and contains three geometric configuration magnetic monomers, specifically, an A-shaped square magnetic sheet, i.e., magnetic monomer A, a B-shaped isosceles triangle magnetic sheet, i.e., magnetic monomer B, and a C-shaped equilateral triangle magnetic sheet, i.e., magnetic monomer C.

[0068] The friction coefficient of the surface texture layer is U, i.e. ;

[0069] For the magnetic monomers of the magnetic assembly unit, the inclination of 30° and below placed on the magnetic stable platform will not slide off.

[0070] The specific mechanical constraint is:

[0071] ;

[0072] Wherein is the attractive force of the magnetic guide platform to the magnetic monomer, the direction is perpendicular to the surface of the magnetic guide platform and points to the platform.

[0073] The gravity of the magnetic monomer is vertically downward;

[0074] The component force of the gravity of the magnetic monomer along the oblique downward direction of the magnetic conducting platform is marked as Fg,cos30° Fg,cos30° is the force that makes the magnetic monomer slide downward, equal to one half ;

[0075] The component force of the gravity of the magnetic monomer along the direction perpendicular to the magnetic conducting platform is marked as Fg,sin30° Fg,sin30° is the force that makes the magnetic monomer press the magnetic conducting platform vertically, equal to .

[0076] It should be noted that the core that the magnetic monomer does not slide off the magnetic conducting platform is that the maximum static friction force of the magnetic monomer is not less than the component force that makes it slide downward:

[0077] The total pressure perpendicular to the surface of the magnetic conducting platform is provided by two parts, one is the attractive force of the magnetic conducting platform to the magnetic monomer, and the other is the component force of the gravity of the magnetic monomer along the direction perpendicular to the magnetic conducting platform (the component force is the product of the gravity of the magnetic monomer and the cosine value of the 30° magnetic monomer angle) ;

[0078] The friction coefficient between the contact surface of the monomer and the magnetic conducting platform is multiplied by the total pressure in the above-mentioned vertical direction to obtain the size of the maximum static friction force;

[0079] And the component force that promotes the magnetic monomer to slide downward along the platform is the component force of the gravity of the magnetic monomer along the oblique downward direction of the magnetic conducting platform (the component force is the product of the gravity of the magnetic monomer and the sine value of the 30° magnetic monomer angle) ;

[0080] When the size of the maximum static friction force is greater than or equal to the component force that promotes the downward sliding, the magnetic monomer does not slide off the magnetic conducting platform.

[0081] As an optional embodiment, the combination assembled by the magnetic monomers satisfies the mechanical condition when the combination is placed on the magnetic conducting platform at an inclination angle of 45°;

[0082] The combination assembled by the magnetic monomers satisfies the mechanical condition when the combination is placed on the magnetic conducting platform at an inclination angle of 45°;

[0083] ;

[0084] The gravity of the magnetic monomer is vertically downward;

[0085] The component of the gravity of the magnetic unit along the downward tilt of the magnetically conductive platform is denoted as... It is the force that causes the magnetic monomer to slide downwards. equal ;

[0086] The component of the gravity of the magnetic unit along the direction perpendicular to the magnetically conductive platform is denoted as... It is the force that causes the magnetic element to exert a vertical pressing effect on the magnetically conductive platform. equal ;

[0087] The assembly consists of A-shaped square magnetic pieces, and the assembly is composed of 6 pieces arranged in a cube.

[0088] As an optional embodiment: the connection stability between the magnetic assembly units is quantitatively described by the magnetic dipole moment interaction equation, as follows:

[0089] The interaction force between the magnetic poles of adjacent modules is determined as follows: This interaction force is based on the magnetic dipole model and is the interaction force between two magnetic moments at a preset distance. The calculation process is as follows: take 3 times the vacuum permeability, divide it by the product of 4π and the fifth power of the magnetic pole distance, and then multiply the result by a composite vector expression.

[0090] The composite vector expression contains five terms: the dot product of the first magnetic moment and the magnetic pole distance vector multiplied by the second magnetic moment; the dot product of the second magnetic moment and the magnetic pole distance vector multiplied by the first magnetic moment; the dot product of the first magnetic moment and the second magnetic moment multiplied by the magnetic pole distance vector; 5 times the dot product of the first magnetic moment and the magnetic pole distance vector; the dot product of the second magnetic moment and the magnetic pole distance vector; then divided by the square of the magnetic pole distance and multiplied by the magnetic pole distance vector; finally, the sum of the first three terms is subtracted from the product of the last two terms.

[0091] The energy stability of the modular assembly is guaranteed by the minimum energy condition, that is, the system is in the lowest energy state after assembly and there is no tendency for spontaneous separation.

[0092] The calculation process for the minimum energy is as follows: take the negative value of the vacuum permeability, divide it by the product of 4π and the cube of the distance between the magnetic poles, and then multiply the result by a vector expression; the vector expression is the dot product of the first magnetic moment and the second magnetic moment minus 3 times the dot product of the first magnetic moment and the unit vector along the line connecting the magnetic poles, and the dot product of the second magnetic moment and the unit vector along the line connecting the magnetic poles.

[0093] To prevent the assembled unit from disintegrating when moved or tilted, the force exerted on a single connection must meet the following requirement: the absolute value of the force must be no less than twice the weight of a single module.

[0094] As an optional embodiment: the magnetic assembly unit comprises three types of core configurations, and each type of configuration adopts a composite structure of permanent magnet combined with a magnetic guide framework to ensure magnetic force concentration and structural strength, and the specific configurations are as follows:

[0095] Type A is a square magnetic sheet, that is, the magnetic poles are arranged in a clockwise direction, forming four effective magnetic pole surfaces, and the magnetic moment direction is arranged along the diagonal line;

[0096] Type B is an isosceles right triangle magnetic sheet;

[0097] Type C is a regular triangle magnetic sheet.

[0098] As an optional embodiment: the specific weight of the magnetic monomer is limited as follows:

[0099] ;

[0100] ;

[0101] ;

[0102] The weight of the magnetic monomer A is GA, the weight of the magnetic monomer B is GB, and the weight of the magnetic monomer C is GC.

[0103] Specifically, the value range of the magnetic monomer A is greater than or equal to 9.0 grams and less than or equal to 38.8 grams; the value range of the magnetic monomer B is greater than or equal to 5.6 grams and less than or equal to 24.2 grams; and the value range of the magnetic monomer C is greater than or equal to 4.9 grams and less than or equal to 21.6 grams.

[0104] As an optional embodiment: in the combined scene of inclination and acceleration, when the magnetic force stabilization platform is in a state of an inclination angle greater than a critical inclination angle and a critical instability acceleration, based on the mobile state balance equation, the total required magnetic attraction is distributed according to the module configuration difference:

[0105] The magnetic monomer A bears 50% to 60% of the total magnetic attraction, because it has a large area of contact and can provide stable normal force, and its magnetic attraction needs to meet the following requirements:

[0106] The magnetic attraction is greater than or equal to 0.5 times the product of the total weight of the magnetic force stabilization platform and the magnetic assembly unit and the sine value of the inclination angle of the magnetic force stabilization platform, the product of the total mass and the acceleration a, and the product of the friction coefficient, the total weight, and the cosine value of the inclination angle of the magnetic force stabilization platform;

[0107] The magnetic monomer B bears 25% to 30% of the total magnetic attraction, and by adjusting the top angle direction, the magnetic flux density component along the inclined surface is improved to increase the anti-slip force.

[0108] The magnetic monomer C accounts for 10% to 15% of the total magnetic force, and uses its three-way balanced magnetic force characteristics to offset the lateral moment through the vertex magnetic pole distribution. The vertical slope magnetic flux density component By needs to meet the following requirements:

[0109] By is not less than 1.1 times the product of the vacuum permeability, the magnetic pole surface density, and the equivalent magnetizing current divided by 2, and then multiplied by the cosine value of the tilt angle of the magnetic force stable platform.

[0110] As an optional embodiment: when a magnetic monomer attracts a magnetic monomer with a mass of one-half of itself in the left and right directions, the following conditions need to be met:

[0111] The frictional force between the magnetic monomer and the 1 / 2 magnetic monomer contact surface is greater than or equal to the gravitational force of the 1 / 2 magnetic monomer;

[0112] Wherein, the gravitational force of the 1 / 2 magnetic monomer is one-half of the gravitational force of a single magnetic monomer, and the magnetic force between the magnetic monomer and the 1 / 2 magnetic monomer needs to be large enough to provide a normal pressure that meets the above requirements, i.e. meets the corresponding mechanical conditions.

[0113] As an optional embodiment: when a magnetic monomer attracts another magnetic monomer in the downward direction, the attractive force generated by the magnetic interaction between the two magnetic monomers is greater than the vertical downward gravitational force of the attracted magnetic monomer.

[0114] As an optional embodiment: the frictional force between magnetic monomer A and magnetic monomer A is greater than the gravitational force of magnetic monomer A; the frictional force between magnetic monomer B and magnetic monomer B is greater than the gravitational force of magnetic monomer B; the frictional force between magnetic monomer C and magnetic monomer C is greater than the gravitational force of magnetic monomer C.

[0115] As an optional embodiment: the magnetic force assembly balance system with stable movement performance further comprises a portable magnetic toy box for storing and temporarily assembling the magnetic force stable platform and the magnetic force assembly unit, and the structure features are as follows:

[0116] The magnetic toy box comprises an upper shell and a lower shell connected by a hinge, and the rotation angle range after connection is 0 to 180 degrees;

[0117] The inner side wall of the upper shell is provided with a groove or a protrusion, the outer side wall of the lower shell is provided with a protrusion or a groove, the protrusion or groove of the outer side wall of the lower shell is embedded in the groove or protrusion of the inner side wall of the upper shell, and the upper shell is butt jointed and buckled on the lower shell.

[0118] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A magnetic assembly and balancing system with stable movement performance, characterized in that, Includes a magnetic stabilization platform and magnetic assembly units; The magnetic stabilization platform consists of a magnetically conductive platform and a surface texture layer, and is used to support the magnetic assembly unit. The magnetic assembly unit is the system's connectable execution unit, containing three types of magnetic units with different geometric configurations: Type A square magnetic sheet, i.e., magnetic unit A; Type B isosceles triangular magnetic sheet, i.e., magnetic unit B; and Type C equilateral triangular magnetic sheet, i.e., magnetic unit C. The coefficient of friction of the surface texture layer is U, that is ; For the magnetic unit of the magnetic assembly unit, it is required that the magnetic unit will not slip when placed on the magnetic stabilizing platform at an angle of 30° or less. The specific mechanical constraints are as follows: ； in The magnetic attraction force of the magnetic platform on the magnetic unit is perpendicular to the surface of the magnetic platform and points towards the platform. The force is the gravity of the magnetic unit, directed vertically downwards; The component of the gravity of the magnetic unit along the downward tilt of the magnetically conductive platform is denoted as... It is the force that causes the magnetic monomer to slide downwards. equal ; The component of the gravity of the magnetic unit along the direction perpendicular to the magnetically conductive platform is denoted as... It is the force that causes the magnetic unit to press vertically against the magnetically conductive platform. equal .

2. The magnetic assembly and balancing system with stable movement performance according to claim 1, characterized in that: The assembly of the magnetic units satisfies the mechanical conditions when the assembly is placed on the magnetically conductive platform at a 45° tilt angle. ； The force is the gravity of the magnetic unit, directed vertically downwards; The component of the gravity of the magnetic unit along the downward tilt of the magnetically conductive platform is denoted as... It is the force that causes the magnetic monomer to slide downwards. equal ; The component of the gravity of the magnetic unit along the direction perpendicular to the magnetically conductive platform is denoted as... It is the force that causes the magnetic element to exert a vertical pressing effect on the magnetically conductive platform. equal ; The assembly consists of A-shaped square magnetic pieces, and the assembly is composed of 6 pieces arranged in a cube.

3. A magnetic assembly and balancing system with stable movement performance according to claim 2, characterized in that: The connection stability between the magnetic assembly units is quantitatively described by the magnetic dipole moment interaction equation, as follows: The interaction force between the magnetic poles of adjacent modules is determined as follows: This interaction force is based on the magnetic dipole model and is the interaction force between two magnetic moments at a preset distance. The calculation process is as follows: take 3 times the vacuum permeability, divide it by the product of 4π and the fifth power of the magnetic pole distance, and then multiply the result by a composite vector expression. The composite vector expression contains five terms: the dot product of the first magnetic moment and the magnetic pole distance vector multiplied by the second magnetic moment; the dot product of the second magnetic moment and the magnetic pole distance vector multiplied by the first magnetic moment; the dot product of the first magnetic moment and the second magnetic moment multiplied by the magnetic pole distance vector; 5 times the dot product of the first magnetic moment and the magnetic pole distance vector; the dot product of the second magnetic moment and the magnetic pole distance vector; then divided by the square of the magnetic pole distance and multiplied by the magnetic pole distance vector; finally, the sum of the first three terms is subtracted from the product of the last two terms. The energy stability of the modular assembly is guaranteed by the minimum energy condition, that is, the system is in the lowest energy state after assembly and there is no tendency for spontaneous separation. The calculation process for the minimum energy is as follows: take the negative value of the vacuum permeability, divide it by the product of 4π and the cube of the distance between the magnetic poles, and then multiply the result by a vector expression; the vector expression is the dot product of the first magnetic moment and the second magnetic moment minus 3 times the dot product of the first magnetic moment and the unit vector along the line connecting the magnetic poles, and the dot product of the second magnetic moment and the unit vector along the line connecting the magnetic poles. To prevent the assembled unit from disintegrating when moved or tilted, the force exerted on a single connection must meet the following requirement: the absolute value of the force must be no less than twice the weight of a single module.

4. A magnetic assembly and balancing system with stable movement performance according to claim 3, characterized in that: The magnetic assembly unit comprises three core configurations, and each configuration adopts a composite structure combining permanent magnets and a magnetically conductive frame to ensure magnetic concentration and structural strength, as detailed below: Type A is a square magnetic sheet, meaning the magnetic poles are arranged clockwise to form 4 effective magnetic pole surfaces, and the magnetic moment direction is set along the diagonal; Type B is an isosceles right-angled triangular magnetic sheet; Type C is an equilateral triangular magnetic sheet.

5. A magnetic assembly and balancing system with stable movement performance according to claim 2, characterized in that: The specific weight of the magnetic unit is limited as follows: ； ； ； GA represents the weight of magnetic monomer A, GB represents the weight of magnetic monomer B, and GC represents the weight of magnetic monomer C.

6. A magnetic assembly and balancing system with stable movement performance according to claim 2, characterized in that: In a scenario involving both tilting and acceleration, when the magnetically stabilized platform is simultaneously in a tilt angle greater than the critical tilt angle and a critical instability acceleration state, the total required magnetic attraction force is allocated according to the differences in module configuration based on the motion state equilibrium equation: Magnetic unit A accounts for 50% to 60% of the total magnetic attraction force. Because it has a large contact area, it can provide a stable normal force. Its magnetic attraction force must meet the following requirements: The magnetic attraction force is greater than or equal to 0.5 multiplied by the product of the total weight of the magnetic stabilizing platform and the magnetic assembly unit and the sine of the tilt angle of the magnetic stabilizing platform, the product of the total mass of the system and the acceleration a, and the sum of the coefficient of friction and the product of the total weight and the cosine of the tilt angle of the magnetic stabilizing platform. The magnetic unit B accounts for 25% to 30% of the total magnetic attraction force. By adjusting the orientation of the apex, the magnetic flux density component along the inclined plane is increased to enhance the anti-slip force. The magnetic unit C bears 10% to 15% of the total magnetic attraction force. Utilizing its triaxial balanced magnetic attraction force characteristics, the lateral torque is counteracted through the distribution of magnetic poles at the apex. The magnetic flux density component By perpendicular to the inclined plane must meet the following requirements: By is not less than 1.1 multiplied by (the product of the vacuum permeability, the magnetic pole surface density, and the equivalent magnetization current, divided by 2, and then multiplied by the cosine of the tilt angle of the magnetically stable platform).

7. A magnetic assembly and balancing system with stable movement performance according to claim 2, characterized in that: When a magnetic element attracts a magnetic element with a mass half its own in the left / right lateral direction, the following condition must be met: The frictional force between the contact surfaces of the magnetic single unit and the 1 / 2 magnetic single unit is greater than or equal to the weight of the 1 / 2 magnetic single unit, where the 1 / 2 magnetic single unit is half the weight of the magnetic single unit. Wherein, the weight of the 1 / 2 magnetic unit is half the weight of a single magnetic unit, and the magnetic force between the magnetic unit and the 1 / 2 magnetic unit must be large enough to provide a normal pressure that makes the frictional force meet the above requirements, that is, to meet the corresponding mechanical conditions.

8. A magnetic assembly and balancing system with stable movement performance according to claim 2, characterized in that, When one magnetic element attracts another magnetic element from below, the attraction between the two magnetic elements generated by their magnetic interaction is greater than the downward gravity of the attracted magnetic element.

9. A magnetic assembly and balancing system with stable movement performance according to claim 8, characterized in that, The frictional force between magnetic monomer A and magnetic monomer A is greater than the weight of magnetic monomer A; the frictional force between magnetic monomer B and magnetic monomer B is greater than the weight of magnetic monomer B; the frictional force between magnetic monomer C and magnetic monomer C is greater than the weight of magnetic monomer C.

10. A magnetic assembly and balancing system with stable movement performance according to claim 1, characterized in that: The magnetic assembly and balancing system with stable mobility also includes a portable magnetic toy box. This toy box can be used as a magnetic stabilization platform and for storing and temporarily assembling magnetic assembly units. Its structural features are as follows: The magnetic toy box includes an upper shell and a lower shell, which are connected by a hinge, and the rotation angle range after connection is 0 degrees to 180 degrees. The surfaces of the upper and lower shells are covered with a surface texture layer, and the friction coefficient of the surface texture layer meets the corresponding mechanical conditions. The inner wall of the upper housing is provided with a groove or a protrusion, and the outer wall of the lower housing is provided with a protrusion or a groove. The protrusion or groove of the outer wall of the lower housing is embedded in the groove or protrusion of the inner wall of the upper housing, and the upper housing is mated and fastened to the lower housing.

Images