阅读说明：本技术 一种基于电磁感应的摇杆结构 (Rocker structure based on electromagnetic induction ) 是由 杨平安 于 2021-01-09 设计创作，主要内容包括：本发明公开了一种基于电磁感应的摇杆结构,包括机械部分和电子部分；所述机械部分包括底座；所述底座为半球形壳体,所述底座开口沿径向转动安装有固定轴；所述固定轴中心通过球形铰接方式安装有摇杆；所述摇杆底部朝向所述底座内部,且底面安装有永磁体；所述底座表面均匀安装有若干软磁体,且所述软磁体与所述永磁体极性异面朝向所述底座中心。本发明的有益效果在于,本发明的摇杆结构基于电磁原理,实现摇杆多维度摇摆,可满足日益增加的控制需求,相对基于传统的电机机械控制结构形成的摇杆装置,能够适用于多自由度,控制精度高,摇杆角度多维度的场合,并且在高要求控制摇摆速度,摇摆力矩的情况下,可以大量应用。(The invention discloses a rocker structure based on electromagnetic induction, which comprises a mechanical part and an electronic part, wherein the mechanical part is connected with the electronic part through a rocker; the mechanical part comprises a base; the base is a hemispherical shell, and a fixed shaft is rotatably arranged at an opening of the base along the radial direction; a rocker is arranged at the center of the fixed shaft in a spherical hinge mode; the bottom of the rocker faces the inside of the base, and the bottom surface of the rocker is provided with a permanent magnet; the surface of the base is uniformly provided with a plurality of soft magnets, and the polarity opposite surfaces of the soft magnets and the permanent magnets face the center of the base. The invention has the advantages that the rocker structure of the invention realizes multi-dimensional rocking of the rocker based on the electromagnetic principle, can meet the increasing control requirements, is suitable for occasions with multiple degrees of freedom, high control precision and multi-dimensional rocker angles compared with a rocker device formed based on the traditional motor mechanical control structure, and can be widely applied under the condition of high requirements on controlling rocking speed and rocking moment.)

1. The utility model provides a rocker structure based on electromagnetic induction which characterized in that: comprises a mechanical part (100) and an electronic part (200); the mechanical part (100) comprises a base (1); the base (1) is a hemispherical shell, and a fixed shaft (2) is rotatably arranged at an opening of the base (1) along the radial direction; a rocker (3) is arranged at the center of the fixed shaft (2) in a spherical hinge mode; the bottom of the rocker (3) faces the inside of the base (1), and the bottom surface of the rocker is provided with a permanent magnet; the surface of the base (1) is uniformly provided with a plurality of soft magnets (4), and the polarity opposite surfaces of the soft magnets (4) and the permanent magnets face the center of the base (1); a control lead (5) is wound on the outer side of the soft magnet (4); the electronic part (200) comprises a control MCU (6); the control MCU (6) is electrically connected with the current control interfaces (7), and the current control interfaces (7) are electrically connected with the control leads (5) through connecting leads (8); the control MCU (6) is electrically connected with the communication interface (9).

2. The electromagnetic induction based rocker structure of claim 1, wherein: the rocker (3) is of a conical structure with a small upper part and a large lower part, and the permanent magnet is installed in the center of the bottom surface of the rocker (3).

3. The electromagnetic induction based rocker structure of claim 2, wherein: the hinged part (10) of the fixed shaft (2) and the rocker (3) is positioned at the center of the sphere of the base (1).

4. The electromagnetic induction based rocker structure of claim 1, wherein: the control lead (5) is positioned outside the base (1).

5. The electromagnetic induction based rocker structure of claim 1, wherein: the polarity of the magnetic field of the permanent magnet facing the base (1) is N pole.

Technical Field

The invention relates to the technical field of rockers, in particular to a rocker structure based on electromagnetic induction.

Background

In the prior art, most of the rocker is formed on the basis of the rotation of a rotor based on a motor, and various power transmission mechanisms are matched on a rotating shaft of the motor to output power. In general, the motor power mechanism can only adjust the rotation direction, namely forward rotation and reverse rotation, and the rotation speed and the rotation torque. The motor rotor is fixed, the moving direction of the rotor cannot be adjusted, and if a rocking bar power mechanism capable of rocking is to be generated, the rotor must be matched with a mechanical power mechanism. However, the formed rocker power mechanism is complex, the swing track is fixed, the rocker is inflexible, and the swing direction, the swing moment and the speed of the rocker cannot be controlled at any time. The motor-based power device cannot be applied to a high-requirement rocker power device and cannot meet high-precision and multi-dimensional rocker control.

Disclosure of Invention

1. Technical problem to be solved

The technical problem to be solved by the invention is to provide a rocker structure based on electromagnetic induction, and solve the problems of low control precision and less degree of freedom of the rocker mechanically controlled by the existing motor.

2. Technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a rocker structure based on electromagnetic induction comprises a mechanical part and an electronic part; the mechanical part comprises a base; the base is a hemispherical shell, and a fixed shaft is rotatably arranged at an opening of the base along the radial direction; a rocker is arranged at the center of the fixed shaft in a spherical hinge mode; the bottom of the rocker faces the inside of the base, and the bottom surface of the rocker is provided with a permanent magnet; the surface of the base is uniformly provided with a plurality of soft magnets, and the polarity opposite surfaces of the soft magnets and the permanent magnets face the center of the base; a control lead is wound on the outer side of the soft magnet; the electronic part comprises a control MCU; the control MCU is electrically connected with the current control interfaces, and the current control interfaces are electrically connected with the control wires through connecting wires; and the control MCU is electrically connected with the communication interface.

In the electromagnetic induction-based rocker structure, the rocker is a tapered structure with a small top and a large bottom, and the permanent magnet is mounted in the center of the bottom surface of the rocker.

In the above-mentioned rocker structure based on electromagnetic induction, the hinged position of the fixed shaft and the rocker is located at the center of the sphere of the base.

In the above-mentioned rocker structure based on electromagnetic induction, the control wire is located outside the base.

In the above rocker structure based on electromagnetic induction, the polarity of the magnetic field of the permanent magnet toward the base is N-pole.

3. Advantageous effects

In conclusion, the beneficial effects of the invention are as follows: the rocker structure disclosed by the invention is based on an electromagnetic principle, realizes multi-dimensional rocking of the rocker, can meet increasing control requirements, is suitable for occasions with multiple degrees of freedom, high control precision and multi-dimensional rocker angles compared with a rocker device formed based on a traditional motor mechanical control structure, and can be widely applied under the condition of controlling rocking speed and rocking torque with high requirements.

Drawings

FIG. 1 is a schematic structural diagram of a rocker structure based on electromagnetic induction according to the present invention;

fig. 2 is a schematic structural diagram of a mechanical part of the electromagnetic induction-based rocker structure of the invention.

In the figure: 1-a base; 2, fixing a shaft; 3-a rocker; 4-a soft magnet; 5-control wires; 6-controlling the MCU; 7-a current control interface; 8-connecting a wire; 9-a communication interface; 10-hinge.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 and fig. 2, the present invention provides a technical solution: a rocker structure based on electromagnetic induction comprises a mechanical part 100 and an electronic part 200; the mechanical part 100 comprises a base 1; the base 1 is a hemispherical shell, and a fixed shaft 2 is rotatably arranged at an opening of the base 1 along the radial direction; a rocker 3 is arranged at the center of the fixed shaft 2 in a spherical hinge mode; the bottom of the rocker 3 faces the inside of the base 1, and the bottom surface of the rocker is provided with a permanent magnet; the surface of the base 1 is uniformly provided with a plurality of soft magnets 4, and the polarity opposite surfaces of the soft magnets 4 and the permanent magnets face the center of the base 1; a control lead 5 is wound on the outer side of the soft magnet 4; the electronic part 200 comprises a control MCU 6; the control MCU 6 is electrically connected with the current control interfaces 7, and the current control interfaces 7 are electrically connected with the control wires 5 through connecting wires 8; the control MCU 6 is electrically connected with the communication interface 9.

The rocker 3 is of a conical structure with a small upper part and a large lower part, the permanent magnet is arranged in the center of the bottom surface of the rocker 3, the upper part of the permanent magnet is connected with an external execution part, and the bottom of the permanent magnet is used for increasing the installation area of the permanent magnet, so that the surfaces with different polarities of the permanent magnet are prevented from being exposed in the base 1.

The hinged part 10 of the fixed shaft 2 and the rocker 3 is positioned at the sphere center of the base 1, so that the rocker 3 rotates around the center of the base 1 in the base 1.

The control lead 5 is positioned on the outer side of the base 1, so that the situation that the motion space of the rocker 3 is blocked due to the fact that the control lead 5 and the connecting lead 8 are connected on the inner side of the base 1 is avoided, and the influence on the motion of the permanent magnet is avoided due to the fact that a magnetic field generated by the control lead 5 and the connecting lead 8.

Preferably, the magnetic field polarity of the permanent magnet facing the base 1 is an N pole, when most of the magnetic poles of the soft magnets 4 are S poles, and the magnetic poles of the soft magnets 4 at other positions are N poles, the rocker 2 is fixed at the position where the magnetic poles are S poles, and when the polarity S pole of the soft magnet 4 facing the permanent magnet of the rocker 2 changes along a certain path, the rocker 2 also moves along the predetermined path under the interaction between the permanent magnet and the soft magnet 4 to swing.

The using method comprises the following steps: when the control MCU 6 of the electronic part 200 obtains a control signal from an upper computer through the communication interface 9, the calculation is performed first, and then a control instruction of the current direction is sent, and at this time, the plurality of current control interfaces 7 output current through the corresponding connecting wires 8. When the control lead 5 passes through current, the corresponding polarity of the inner side of the soft magnet 4 is different from the polarity of the permanent magnet arranged at the bottom of the rocker 3, and the rocker 3 is driven and kept at the position. When the current on each of the control conductors 5 changes direction, the polarity of the corresponding ones of the soft-magnetic bodies 4 also changes. In all the soft magnets 4, when the magnetic field polarity inside the soft magnet 4, which is different from the polarity of the permanent magnet, moves in a certain path, the rocking bar 3 swings in a certain path under the interaction between the permanent magnet and the soft magnet 4. When the rocker 3 swings, the permanent magnet at the bottom of the rocker 3 passes through the soft magnet 4, and a back electromotive force is generated on the control lead 5 surrounding the soft magnet 4, so that the position of the rocker 3 can be known through the voltage sampling interface, and the position of the rocker 3 can be accurately operated and controlled.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.