An electric motor powered by the magnetic field force of a magnetic fluid

Abstract

The application belongs to the field of robot bionics, and discloses a motor applied to mechanical movement by magnetic field gravity generated in a magnetic fluid, which comprises an M-shaped electromagnetic block composed of soft magnetic material and material capable of generating a magnetic field, a cylindrical film bag filled with the magnetic fluid, and a cylindrical film bag filled with the magnetic fluid. The application solves the problems of slow mechanical movement, insufficient strength and joint linkage of robots.

Description

Technical Field

[0001] This invention discloses an electric motor that uses the magnetic field attraction generated inside a magnetofluid to apply to mechanical motion, belonging to the field of biomimetic robotics technology. Background Technology

[0002] Currently, the main driving methods for robots are to install motors at the joints or use hydraulics. Both of these methods have problems such as complex and slow mechanical movement, insufficient strength, and inability to coordinate multiple joints. Therefore, a completely new way to drive the machinery is needed. Summary of the Invention

[0003] To address the aforementioned problems or one of the problems, one objective of this invention is to provide a mechanical structure that uses the current movement of an energized coil to generate a magnetic field, which in turn causes an electromagnet to generate a magnetic field. The magnetic fields of the coil and the electromagnet then cause the particles inside the magnetofluid to also generate a magnetic field. This mechanical structure uses the aforementioned magnetic field and the attraction between the particles inside the magnetofluid as its driving force, thus solving the problem of complex and slow mechanical motion.

[0004] In response to the above-mentioned problems or one of the problems, the second objective of this invention is that the magnetohydrodynamic fluid can generate a rapid and powerful contraction force, enabling the electromagnetic blocks at both ends to immediately perform relative motion that attracts each other, thus solving the problem of insufficient power strength of existing ordinary motors.

[0005] To address the aforementioned problems or one of the problems, a third objective of this invention is that the electromagnetic blocks at both ends can directly pull external tendons, enabling the linkage between multiple joints in the robot's hand, mimicking the limb movements of humans or animals, and solving the problem of robot dexterity.

[0006] To achieve the above objectives, one technical solution of the present invention is as follows:

[0007] An electric motor powered by the magnetic field attraction of a magnetofluid includes an M-shaped electromagnetic block made of soft magnetic material and a material capable of generating a magnetic field, a cylindrical thin film bag filled with magnetofluid, and a tubular thin film bag filled with magnetofluid.

[0008] Two M-shaped electromagnetic blocks generate a magnetic field when energized, and the magnetic field disappears when the power is turned off. The M-shaped electromagnetic blocks include, but are not limited to, those composed of coils and M-shaped soft magnetic materials.

[0009] When the coil is energized, it generates a magnetic field, which in turn causes the M-shaped electromagnet to generate its own magnetic field. When the M-shaped electromagnet forms a magnetic field, the magnetic poles at its center end and outer diameter end are opposite. With two M-shaped electromagnets, where one has a north (N) pole at its center end and a south (S) pole at its outer diameter end, the other M-shaped electromagnet will have a south (S) pole at its center end and a north (N) pole at its outer diameter end; the corresponding magnetic poles of the two M-shaped electromagnets will be opposite. When the coil is de-energized, the magnetic field disappears.

[0010] Soft magnetic materials are materials that are magnetic when placed in a magnetic field and lose their magnetism when removed from the magnetic field. Soft magnetic materials include, but are not limited to, electromagnets.

[0011] Magnetofluids are fluids composed of soft magnetic material particles, surfactants, and solutions. Under the influence of an external magnetic field, they become shape-changing magnetic fluids with their own magnetic field. Magnetofluids packaged in thin film bags will change shape under the influence of external forces or external magnetic fields.

[0012] The cylindrical film bag is filled with a magnetofluid. Under the influence of a magnetic field between its center ends, the magnetofluid itself forms a magnetic field from its S pole to its N pole, and magnetic field lines pass through the magnetofluid inside the cylindrical film bag. Two M-shaped electromagnetic blocks attract each other and move relative to each other under the influence of their own magnetic fields and the magnetic field of the magnetofluid. During the relative motion of the two M-shaped electromagnetic blocks, the magnetofluid inside the cylindrical film bag is compressed, and the magnetofluid flows into the drain cavity. After the coil is de-energized, the magnetic field in the M-shaped electromagnetic blocks and the magnetofluid disappears. During the reset motion of the M-shaped electromagnetic blocks towards both ends, the cylindrical film bag is stretched, and the magnetofluid flows back from the drain cavity into the cylindrical film bag.

[0013] The cylindrical film bag is filled with a magnetofluid. Under the influence of a magnetic field extending from the outer diameter end to the inner diameter end, the magnetofluid itself forms a north-to-south magnetic field. Magnetic field lines pass through the magnetofluid inside the cylindrical film bag. Two M-shaped electromagnetic blocks attract each other and move relative to each other under the influence of their own magnetic fields and the magnetic field of the magnetofluid. The outer wall of the cylindrical film bag is elastic and expandable. During the relative movement, the two M-shaped electromagnetic blocks compress the magnetofluid inside the cylindrical film bag, and the magnetofluid compresses the outer wall of the cylindrical film bag outward, causing the outer wall of the cylindrical film bag to expand outward. The magnetofluid deforms, and the two M-shaped electromagnetic blocks are not hindered during their relative contraction movement. After the coil is de-energized, the magnetic field in the M-shaped electromagnetic blocks and the magnetofluid disappears. During the reset movement of the M-shaped electromagnetic blocks towards both ends, the outer wall of the cylindrical film bag returns to a relaxed state.

[0014] The deformation gap refers to the interval between the cylindrical and tubular film bags, preventing them from contacting each other and making it difficult for magnetic field lines to pass through. Magnetic field lines can only pass through the magnetic fluid from the inner center end to the inner center end and from the outer diameter end to the outer diameter end, forming a closed loop of magnetic field lines.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The main mode of motion in this invention is that the magnetic field drives the magnetofluid to perform a contraction movement similar to animal muscles. The contraction of the magnetofluid drives the tendons connected to the two electromagnetic blocks to move, thus solving the problem of slow movement of humanoid robots.

[0017] The magnetofluid of this invention can provide rapid and powerful contraction force under the action of the magnetic field of the electromagnetic block, thus solving the problem of insufficient strength of humanoid robot arms.

[0018] The size of the motor in this invention depends primarily on the volume of the magnetofluid, and the force generated by the motor depends primarily on the voltage and current of the power supply. This motor can be mounted on the artificial skeleton of a robot, enabling the humanoid robot to truly mimic human movement and making it suitable for everyday life scenarios. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention at a 90° right angle.

[0020] Figure 2 This is a schematic diagram of a right-angled 90° cross-section of the M-type electromagnetic block structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the cylindrical film bag and the draining chamber structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the cylindrical film bag and the outer wall structure of the cylindrical film bag of the present invention; Figure Labels

[0023] 1. M-shaped electromagnetic block; 2. Coil; 3. Magnetohydrodynamic fluid; 4. Drainage chamber; 5. Center end; 6. Outer diameter end. 7. Cylindrical film bag; 8. Tubular film bag; 9. Outer wall of tubular film bag; 10. Deformation gap. Detailed Implementation

[0024] The following will refer to the appendices in the embodiments of the present invention. Figure 1-4 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] Example

[0026] Figure 1 The overall structural schematic diagram shown is broken down into components as follows: Figure 2 , Figure 3 , Figure 4 .

[0027] Figure 1 The motor shown includes an M-shaped electromagnetic block made of soft magnetic material and a material capable of generating a magnetic field, a cylindrical thin film bag filled with magnetic fluid, and a tubular thin film bag filled with magnetic fluid.

[0028] Figure 1The deformation interval shown refers to the gap between the cylindrical and tubular film bags, preventing them from contacting each other and making it difficult for magnetic field lines to pass through. Magnetic field lines can only pass through the magnetic fluid from the inner center end to the inner center end and from the outer diameter end to the outer diameter end, forming a closed loop of magnetic field lines.

[0029] Figure 1 The soft magnetic material shown refers to a material that is magnetic when placed in a magnetic field and loses its magnetism when removed from the magnetic field. Soft magnetic materials include, but are not limited to, electromagnets.

[0030] Figure 1 The magnetorheological fluid shown refers to a fluid composed of soft magnetic material particles, surfactants, and solutions, which becomes a shape-changing fluid with its own magnetic field under the influence of an external magnetic field. The magnetorheological fluid contained in a thin film bag can change shape under the influence of external force or an external magnetic field.

[0031] Figure 2 The M-shaped electromagnetic block shown generates a magnetic field when energized, and the magnetic field disappears when the power is turned off. The M-shaped electromagnetic block is, but is not limited to, a coil and an M-shaped soft magnetic material.

[0032] Figure 2 When the coil is energized, it generates a magnetic field, which in turn causes the M-shaped electromagnet to generate its own magnetic field. When the M-shaped electromagnet forms a magnetic field, the magnetic poles at its center and outer diameter ends are opposite. With two M-shaped electromagnets, where one has a north pole (N) at its center and a south pole (S) at its outer diameter, the other M-shaped electromagnet has a south pole (S) at its center and a north pole (N) at its outer diameter; the two M-shaped electromagnets have opposite magnetic poles. The magnetic field disappears when the coil is de-energized.

[0033] Figure 3 The cylindrical film bag shown is filled with a magnetorheological fluid. Under the influence of a magnetic field between its center ends, the magnetorheological fluid itself forms a magnetic field from its S pole to its N pole, and magnetic field lines pass through the magnetorheological fluid inside the cylindrical film bag. Two M-shaped electromagnetic blocks attract each other and move relative to each other under the influence of their own magnetic fields and the magnetic field of the magnetorheological fluid. During the relative motion of the two M-shaped electromagnetic blocks, the magnetorheological fluid inside the cylindrical film bag is compressed, and the magnetorheological fluid flows into the drain chamber. After the coil is de-energized, the magnetic field in the M-shaped electromagnetic blocks and the magnetorheological fluid disappears. During the reset motion of the M-shaped electromagnetic blocks towards both ends, the cylindrical film bag is stretched, and the magnetorheological fluid flows back from the drain chamber into the cylindrical film bag.

[0034] Figure 4The cylindrical thin-film bag shown is filled with a magnetofluid. Under the influence of a magnetic field from the outer diameter end to the inner diameter end, the magnetofluid itself forms a magnetic field from the N pole to the S pole. Magnetic field lines pass through the magnetofluid inside the cylindrical thin-film bag. Two M-shaped electromagnetic blocks attract each other and move relative to each other under the influence of their own magnetic fields and the magnetic field of the magnetofluid. The outer wall of the cylindrical thin-film bag is elastic and expandable. During the relative movement of the two M-shaped electromagnetic blocks, the magnetofluid inside the cylindrical thin-film bag is compressed, and the magnetofluid squeezes the outer wall of the cylindrical thin-film bag outward, causing the outer wall of the cylindrical thin-film bag to expand outward. The magnetofluid deforms, and the two M-shaped electromagnetic blocks are not hindered during the relative contraction movement. After the coil is de-energized, the magnetic field in the M-shaped electromagnetic blocks and the magnetofluid disappears. During the reset movement of the M-shaped electromagnetic blocks to both ends, the outer wall of the cylindrical thin-film bag returns to a relaxed state.

Claims

1. A motor powered by the magnetic field attraction of a magnetohydrodynamic fluid, characterized in that: The M-shaped electromagnetic block (1) consists of soft magnetic materials and materials that can generate magnetic fields, a cylindrical thin film bag (7) filled with magnetic fluid (3), and a cylindrical thin film bag (8) filled with magnetic fluid (3).

2. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The soft magnetic material refers to a material that is magnetic when placed in a magnetic field and loses its magnetism when removed from the magnetic field. Soft magnetic materials include, but are not limited to, electromagnets.

3. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The magnetofluid (3) refers to a fluid composed of soft magnetic material particles, surfactants, and a solution, which becomes a shape-changing fluid with its own magnetic field under the influence of an external magnetic field. The magnetofluid (3) can change shape under the influence of external force or an external magnetic field.

4. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The two M-shaped electromagnetic blocks (1) generate a magnetic field when energized, and the magnetic field disappears when the power is turned off. The M-shaped electromagnetic blocks (1) include, but are not limited to, those composed of coils (2) and M-shaped soft magnetic materials.

5. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: When the coil (2) is energized, it generates a magnetic field, which causes the M-shaped electromagnet (1) to generate a magnetic field. When the M-shaped electromagnet (1) forms a magnetic field, the magnetic poles of the center end (5) and the outer diameter end (6) are opposite. In the case of two M-shaped electromagnets (1), if the center end (5) of one M-shaped electromagnet (1) is the N pole and the outer diameter end (6) is the S pole, then the center end (5) of the other M-shaped electromagnet is the S pole and the outer diameter end (6) is the N pole, and the corresponding magnetic poles of the two M-shaped electromagnets (1) are opposite. When the coil (2) is de-energized, the magnetic field disappears.

6. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The cylindrical film bag (7) is filled with magnetic fluid (3). Under the action of the magnetic field between the center end (5) and the center end (5), the magnetic fluid (3) itself forms a magnetic field from the S pole to the N pole, and the magnetic field lines pass through the magnetic fluid (3) inside the cylindrical film bag (7). The two M-shaped electromagnetic blocks (1) attract each other and move relative to each other under the action of their own magnetic field and the magnetic field of the magnetic fluid (3). During the relative movement, the two M-shaped electromagnetic blocks (1) squeeze the magnetic fluid (3) inside the cylindrical film bag (7), and the magnetic fluid (3) flows into the drain chamber (4). After the coil (2) is de-energized, the magnetic field in the M-shaped electromagnetic blocks (1) and the magnetic fluid (3) disappears. During the reset movement of the M-shaped electromagnetic blocks (1) to both ends, the cylindrical film bag (7) is stretched, and the magnetic fluid (3) flows back from the drain chamber (4) to the cylindrical film bag (7).

7. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The cylindrical film bag (8) is filled with a magnetic fluid (3). Under the influence of a magnetic field from the outer diameter end (6) to the outer diameter end (6), the magnetic fluid itself forms a magnetic field from the N pole to the S pole. Magnetic field lines pass through the magnetic fluid (3) inside the cylindrical film bag (8). The two M-shaped electromagnetic blocks (1) attract each other and move relative to each other under the influence of their own magnetic field and the magnetic field of the magnetic fluid (3). The outer wall (9) of the cylindrical film bag is elastic and expandable. During the relative movement, the two M-shaped electromagnetic blocks (1) squeeze the magnetic fluid (3) inside the cylindrical film bag (8). The magnetic fluid (3) will squeeze the outer wall (9) of the cylindrical film bag outward. The outer wall (9) of the cylindrical film bag expands outward. The magnetic fluid (3) deforms. The two M-shaped electromagnetic blocks (1) are not hindered during the relative contraction movement. After the coil (2) is de-energized, the magnetic field in the M-shaped electromagnetic block (1) and the magnetofluid (3) disappears. During the reset movement of the M-shaped electromagnetic block (1) towards both ends, the outer wall (9) of the cylindrical film bag returns to a relaxed state.

8. The motor according to claim 1, which uses the magnetic field attraction of a magnetohydrodynamic fluid as its power source, is characterized in that: The deformation interval (10) refers to the gap between the cylindrical film bag (7) and the tubular film bag (8), so that the cylindrical film bag (7) and the tubular film bag (8) will not come into contact, and magnetic field lines will not easily pass through. Magnetic field lines can only pass through the magnetic fluid (3) from the inner center end (5) to the center end (5), and from the outer diameter end (6) to the outer diameter end (6), forming a closed loop of magnetic field lines.

Images