阅读说明：本技术 一种摆动驱动装置的自动回正连接结构 (Automatic aligning connection structure of swing driving device ) 是由 蔡林江 马泽利 熊飞 蔡岸 张湖川 于 2020-12-25 设计创作，主要内容包括：本发明属于电磁驱动领域,具体涉及一种用于水中的仿生摆动驱动装置,包括驱动部与摆动部,所述驱动部内部包括电磁驱动装置,所述电磁驱动装置包括电磁感应线圈和/或永磁体,所述摆动部包括电磁感应线圈和/或永磁体,所述摆动部可以手动地从驱动部中插入或移除,所述摆动部与所述驱动部通过磁场作用活动连接,所述摆动部在插入所述驱动部时在所述磁场作用下能够自动进入摆动居中位置并完成所述摆动部和所述驱动部的连接。具有连接便捷、装配简单、防水可靠性高等优点。(The invention belongs to the field of electromagnetic driving, and particularly relates to a bionic swinging driving device for water, which comprises a driving part and a swinging part, wherein the driving part internally comprises an electromagnetic driving device, the electromagnetic driving device comprises an electromagnetic induction coil and/or a permanent magnet, the swinging part can be manually inserted into or removed from the driving part, the swinging part is movably connected with the driving part through the action of a magnetic field, and the swinging part can automatically enter a swinging central position under the action of the magnetic field and complete the connection of the swinging part and the driving part when being inserted into the driving part. The waterproof structure has the advantages of convenience in connection, simplicity in assembly, high waterproof reliability and the like.)

1. The utility model provides a connection structure of swing drive arrangement, its characterized in that includes drive division and swing portion, the inside electromagnetic drive arrangement that includes of drive division, electromagnetic drive arrangement includes electromagnetic induction coil and/or the permanent magnet that is used for producing constant magnetic field and/or changes magnetic field, swing portion is including the electromagnetic induction coil and/or the permanent magnet that are used for actuating, swing portion with drive division passes through magnetic field effect swing joint, swing portion can manually remove from the drive division, swing portion is when inserting drive division can get into swing central position and accomplish under the magnetic field effect automatically swing portion with the connection of drive division.

2. The linkage of an oscillating drive according to claim 1, characterized in that the electromagnetic coil and/or the permanent magnet used for actuation in the oscillating part are also capable of generating a constant magnetic field and/or a varying magnetic field.

3. The connecting structure of a swing driving device according to claim 1, wherein the driving portion includes a housing including a waterproof space and a non-waterproof space, and the swing portion is connected to the driving portion at the non-waterproof space; the electromagnetic driving device is positioned in the waterproof space.

4. The connecting structure of the swing driving device according to claim 1, wherein the permanent magnet of the swing portion and the permanent magnet of the electromagnetic driving device are manufactured by thickness magnetization, radial magnetization, axial multi-stage magnetization, or circumferential magnetization.

5. A connection structure of a swing drive according to claims 1-4, wherein said electromagnetic drive comprises at least one electromagnetic induction coil and at least two permanent magnets.

6. The connecting structure of a rocking drive device according to claim 5, wherein the actuating permanent magnet of the rocking section is a radially magnetized cylindrical magnet.

7. The connection structure of the swing driving device according to claim 5, wherein the permanent magnets of the electromagnetic driving device are two axial magnetizing cylindrical magnets fixed inside the electromagnetic induction coil, the two axial magnetizing cylindrical magnets are arranged in parallel, and the north and south magnetic direction rows of the two axial magnetizing cylindrical magnets are opposite or the same.

8. The connection structure of the swing driving device according to claim 1, wherein the driving portion includes a cavity structure for accommodating the electromagnetic induction coil and/or the permanent magnet of the swing portion, the electromagnetic induction coil and/or the permanent magnet is movably connected in the cavity structure, and the shape of the cavity structure and the magnetic field together limit the movable range of the swing portion.

9. The connecting structure of a swing driving apparatus according to claim 6, wherein the radial cylindrical magnet is a hollow cylindrical structure having a notch on one side, and the swing body of the swing member is fixed in the hollow cylindrical structure having the notch by a matching shape.

10. A biomimetic robot comprising a main body, the main body comprising at least one swing actuator, wherein the swing actuator is coupled to the main body via a connection structure of the swing actuator according to any of claims 1-9.

Technical Field

The invention relates to the field of electromagnetic driving, in particular to an automatic aligning connecting structure of a swing driving device.

Background

At present, the research of the bionic robot fish is a hot point of the research of domestic and foreign underwater robots, most of the research adopts a motor driving mode, and some research institutions adopt intelligent materials such as shape memory alloy, piezoelectric ceramics and the like as driving elements. Such as: RoboTuna and subsequent fish-like propellers developed by MIT, usa, PF series of robotic fish developed by the research institute of ship technology, japan province of transportation, biomimetic robotic carp developed by the university of Essex, uk, and wave fin propellers developed by the university of northwest, usa, and the like. The domestic bionic robotic fish mainly comprises a robotic fish and a bionic dolphin of Beijing university, a bionic robotic fish of Chinese academy of sciences, an SPC series submersible of Beijing aerospace university, a bionic blue fin tuna of Harbin engineering university, a shape memory alloy bionic cuttlefish of Harbin industry university, and a bionic robotic fish and a shape memory alloy bionic fish fin of Chinese science and technology university.

In the scheme, the structure driven by the motor has the defects of large volume, high energy consumption and the like, is not suitable for the micro-bionic robot fish, and further limits the research and popularization of the micro-bionic robot fish. The existing electromagnetic driving structure is complex in structure, the swinging part penetrates through the electromagnetic driving structure, so that the driving structure needs complex waterproof treatment, the manufacturing and processing difficulty is high, the manufacturing cost is high, and the popularization of the micro-bionic robot fish is also limited.

In the patent storehouse, like CN103950525A, disclose a magnetic power advancing mechanism of bionical machine fish of low energy consumption, including the body magnetic power tail fin promptly, magnetic power tail fin includes U type link, and magnetic induction coil, strong magnet pendulum and the flexible tail fin of crescent, magnetic induction coil is formed on the PVC bobbin by the winding of silk envelope curve, strong magnet pendulum adopts two circular shape strong magnetism permanent magnet actuation to install on the central point of rotation axis puts, the both ends of rotation axis are installed on two little bearings, just the end of rotation axis is through the bayonet lock little bearing inner circle pins, U type link with the fish body with the flexible tail fin of crescent is connected, the flexible tail fin of crescent comprises caudal peduncle and fin face. But the swing driving structure is still complex and needs connecting parts such as bearings, and the electromagnetic coil is immersed in water, so that the risk of circuit immersion exists.

Also, for example, CN102267552A discloses a bionic driving and controlling method for bionic fish, which comprises the following steps: 1) arranging a sealed fish body and a fish tail which can swing relative to the fish body; 2) the two sides of the body are respectively provided with a magnet at the position corresponding to the coil, and when the coil is charged, the magnets generate suction force and thrust force at the same time; 3) the power is supplied to the coil, and the fishtail swing is controlled by controlling the current direction of the power supply and the change of the on-off time length, so that the fishtail can move forward or turn. The invention also provides a simulated fish adopting the method, which comprises a fish body component and a fish tail component which can swing relatively, wherein a drive control circuit is arranged in the body component 1; the body component comprises a left side shell and a right side shell, wherein each shell is provided with a magnet, and the polarities of opposite surfaces of the two magnets are the same; the tail part is pushed to generate a swinging action through the interaction of the changed magnetic field and the magnet, and then the whole body is pushed to move forward. The swing structure of the water-proof circuit board also needs to be complicated in water prevention so as to ensure that water cannot enter the circuit cavity through the swing structure. In addition, the swing driving part has a complex connecting structure and is not easy to replace and maintain.

Disclosure of Invention

The invention aims to provide an electromagnetic bionic swing driving device used in water, which simplifies the manufacturing difficulty and the manufacturing cost, and has flexible operation and convenient operation.

The technical scheme adopted by the invention for realizing the purpose is as follows:

the utility model provides a swing drive arrangement's connection structure that returns from beginning to end, includes drive division and swing portion, the inside electromagnetic drive arrangement that includes of drive division, electromagnetic drive arrangement is including the electromagnetic induction coil and/or the permanent magnet that are used for producing constant magnetic field and/or change magnetic field, swing portion is including the electromagnetic induction coil and/or the permanent magnet that are used for actuating, swing portion with drive division passes through magnetic field effect swing joint, swing portion can remove from the drive division manually, swing portion is inserting drive division is in the time of the magnetic field effect can get into automatically under the magnetic field effect swing position between the middle and accomplish swing portion with the connection of drive division.

Optionally, an electromagnetic induction coil and/or a permanent magnet in the oscillating portion for actuation can also generate a constant magnetic field and/or a varying magnetic field.

Optionally, the driving part includes a housing, the housing includes a waterproof space and a non-waterproof space, and the swing part is connected with the driving part in the non-waterproof space.

Optionally, the electromagnetic drive is entirely located within the waterproof space.

Optionally, the swing portion is partially located within the non-watertight space.

Optionally, the permanent magnet of the swinging portion and the permanent magnet of the electromagnetic driving device may be manufactured by thickness magnetization, radial magnetization, axial multi-stage magnetization, or circumferential magnetization. Preferably, the permanent magnet of the swinging part is a cylindrical magnet magnetized in the radial direction, and the permanent magnet of the driving part is a cylindrical magnet magnetized in the axial direction.

Optionally, the drive portion comprises a battery, a circuit board, a fixed bracket, and one or more electromagnetic induction coils and/or permanent magnets. Preferably, the electromagnetic drive means comprises at least one electromagnetic induction coil and at least two permanent magnets.

Optionally, preferably, the number of the permanent magnets of the actuating portion is one.

Optionally, the permanent magnet of the driving portion is two axially magnetized cylindrical magnets arranged in parallel, and the north and south magnetic relationships of the two axially magnetized cylindrical magnets may be opposite or the same, preferably opposite.

Optionally, the permanent magnet of the actuating portion is a cylindrical magnet which is magnetized in the radial direction, the cylindrical magnet in the radial direction is a hollow cylindrical structure with a notch on one side, and the swinging body of the swinging member is fixed in the hollow cylindrical structure with the notch through a matching shape.

In addition, the invention also provides a bionic robot, which comprises a main body, wherein the main body comprises at least one swing driving device, and the swing driving device is connected with the main body through a connecting structure of any one of the swing driving devices.

Has the advantages that: the driving structure of the invention has the following beneficial effects:

1. compared with motor drive, the electromagnetic drive adopted by the invention has the advantages of small drive structure, light weight, low power consumption, low processing and manufacturing difficulty, low cost and the like;

2. compared with the traditional electromagnetic driving structure, the swinging part is movably connected with the driving part through the action of a magnetic field, and the swinging part can be manually inserted into or removed from the driving part, so that the assembly is convenient, and the later improvement and the modularized production and processing are convenient. In addition, the swinging part does not need to penetrate through the inside of the waterproof space, so that the whole electromagnetic driving part can be arranged in an integral waterproof structure, waterproof treatment on the driving part of the swinging part is not needed, the difficulty of production and processing is further reduced, the cost is reduced, and the electromagnetic driving part is easier to manufacture and popularize. The electromagnetic driving structure only needs an integral waterproof structure to accommodate the electromagnetic driving part, the connection of the swinging piece cannot penetrate through the waterproof structure, the waterproof reliability is high, and the problem that the waterproof structure fails due to the movable part is avoided;

3. according to the invention, through constructing a reasonable magnetic field correlation, the automatic centered connection of the swing part and the driving part in the initial state is realized, the installation is simple and convenient, and the operation is convenient;

drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic front view of a driving structure according to an embodiment of the present invention.

Fig. 2 is a schematic view of a swing portion being manually removed from an automatic aligning connection structure of a swing driving device according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a two-dimensional structure of an internal cross section of a driving structure according to an embodiment of the present invention (corresponding to the central line cross section in fig. 1).

Fig. 4 is a schematic diagram of a layout structure of magnetic elements in a driving structure according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a permanent magnet actuated by a swinging portion of a driving structure according to an embodiment of the present invention.

Fig. 6 is a schematic magnetic field diagram of an automatic magnetic aligning structure according to an embodiment of the present invention.

Fig. 7 is a schematic magnetic field diagram of another magnetic auto-aligning structure according to an embodiment of the present invention.

Reference numerals: 1-a driving part, 2-a swinging part, 3-a waterproof space, 4-a non-waterproof space, 5-an electromagnetic driving device, 6-an electromagnetic induction coil, 7-a waterproof structure, 8-a coil permanent magnet, 9-an actuating permanent magnet, 10-a swinging part joint, 11-a swinging part body, 12-a first permanent magnet and 13-a second permanent magnet.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. 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.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In order to provide a thorough understanding of the present invention, a detailed structure will be set forth in the following description in order to explain the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may be practiced in other embodiments that depart from these specific details.

Fig. 1 is a schematic view of an automatic aligning connection structure of a swing driving device according to an embodiment of the present invention. As shown in fig. 1, the device comprises a driving part 1, which in this embodiment corresponds to a fish body structure of a bionic fish, and a swinging part 2, which is driven in cooperation with the driving body, which in this embodiment corresponds to a tail of the fish. The swinging part 2 can be manually inserted into or removed from the driving part 1, and the swinging part 2 is movably connected with the driving part 2 through the action of a magnetic field. In some embodiments, the magnetic field is generated by one or more electromagnetic induction coils and/or permanent magnets.

Fig. 2 is a schematic view of a swing portion being manually removed from an automatic aligning connection structure of a swing driving device according to an embodiment of the present invention. In some embodiments, see fig. 2, one drive part 1 can be connected to several different oscillating parts 2 in several positions, and fig. 2 shows on the right a number of different oscillating part 2 embodiments, where the fast oscillating part change can be achieved by manual removal and insertion. Different swing parts 2 can be arranged at different positions of one driving part 2, so that more bionic possibilities are realized. The connecting position of the driving part 1 and the swinging part 2 is provided with an interactive magnetic field, and the swinging part 2 can automatically enter a swinging central position under the action of the magnetic field when being inserted into the driving part and complete the connection of the swinging part and the driving part.

Fig. 3 is a schematic diagram of a two-dimensional structure of an internal cross section of an automatic aligning connection structure of a swing driving device according to an embodiment of the present invention (corresponding to a cross section of a center line in fig. 1). As shown in fig. 3, in some embodiments, the driving part 1 includes a housing, the housing includes a waterproof structure 7, the waterproof structure 7 forms a waterproof space 3 and a non-waterproof space 4 on the housing, and the swinging part 2 is connected with the driving part 1 in the non-waterproof space 4. In some embodiments, the driving portion 1 includes an electromagnetic driving device 5 therein, the electromagnetic driving device 5 is located in the waterproof space 3 as a whole, and the swinging portion 1 is located in the non-waterproof space 4 as a part. In some embodiments, the drive section 1 comprises a battery, a circuit board, a fixed support, and one or more electromagnetic induction coils 6 and/or permanent magnets 8 for generating a constant magnetic field and/or a varying magnetic field. Preferably, the electromagnetic drive means comprise at least one electromagnetic induction coil 6 and at least two permanent magnets 8. In some embodiments, the oscillating part 1 comprises one or more electromagnetic induction coils and/or permanent magnets, which are also capable of generating a constant magnetic field and/or a varying magnetic field for actuation in the oscillating part 1. The swinging part 1 is driven to swing through the magnetic interaction between the constant magnetic field and/or the variable magnetic field generated by the electromagnetic driving device 5 and the constant magnetic field and/or the variable magnetic field generated by the swinging part 1. Preferably, the oscillating part 1 comprises a permanent magnet 9. In some embodiments, the permanent magnet of the swing portion 1 and the permanent magnet 8 of the driving portion 1 may be manufactured by thickness magnetization, radial magnetization, axial multi-stage magnetization, or circumferential magnetization. Preferably, the permanent magnet 9 of the swing part is a cylindrical magnet magnetized in the radial direction, and the permanent magnet 8 of the driving part 1 is a cylindrical magnet magnetized in the axial direction.

Fig. 4 is a schematic layout diagram of magnetic elements in an automatic aligning connection structure of a swing driving device according to an embodiment of the present invention, in which a housing is omitted. The electromagnetic driving device 5 in the driving part 1 comprises an electromagnetic induction coil 6, a first permanent magnet 12 and a second permanent magnet 13, wherein the first permanent magnet 12 and the second permanent magnet 13 are axially magnetized cylindrical magnets and are fixed in the electromagnetic induction coil 6 in parallel. Correspondingly, the swinging part 2 comprises a permanent magnet 9, and the permanent magnet 9 is a cylindrical magnet which is magnetized in the radial direction.

Fig. 5 is a schematic structural diagram of a permanent magnet actuated by a swinging portion of a driving structure according to an embodiment of the present invention. The actuating permanent magnet 9 of the swinging part adopts a cylindrical magnet which is magnetized in the radial direction, the cylindrical magnet in the radial direction adopts a hollow cylindrical structure with a notch on one side, and the central line of the notch is superposed with the dividing line of the magnetic pole of the magnet in the radial direction; the swing body of the swing piece is fixed in the hollow cylindrical structure with the notch through a matched shape. Through the assembly mode, the center line of the swinging part can be aligned with the magnetic pole dividing line automatically in assembly, and the assembly process and difficulty are greatly simplified.

Fig. 6 is a magnetic field schematic diagram of a magnetic auto-aligning structure of an auto-aligning connection structure of a swing driving device according to an embodiment of the present invention. As shown in fig. 6, the electromagnetic driving device 5 is provided with two axially magnetized first permanent magnets 12 and second permanent magnets 13 inside the electromagnetic induction coil 6; at this time, the actuating permanent magnet 9 of the corresponding swing portion 1 is a radial magnet, and when the first permanent magnet 12 and the second permanent magnet 13 are arranged in parallel and in an opposite arrangement, due to the interaction of the magnetic fields, the actuating permanent magnet 9 tends to be close to the first permanent magnet 12 and the second permanent magnet 13, and the division line of the radial magnetic poles of the actuating permanent magnet can be overlapped with the center line between the first permanent magnet 12 and the second permanent magnet 13. By aligning the centre line of the oscillating part 2 with the parting line of the radial magnetic poles of the actuating permanent magnet 9, the magnetic action will automatically guide the oscillating part to a centered position and maintain the connection when the oscillating part 2 is placed in the connecting cavity of the drive part 1. At this time, when the electromagnetic driving device 5 applies a current varying in the positive and negative directions to the electromagnetic induction coil 6, the actuation permanent magnet 9 will oscillate back and forth in the connection cavity structure of the driving part 1 due to the electromagnetic induction.

Fig. 7 is a magnetic field schematic diagram of another magnetic self-aligning structure of a self-aligning connecting structure of a swing driving device according to an embodiment of the present invention. In this embodiment, the magnetic poles of the two axially magnetized first and second permanent magnets 12, 13 are in the same parallel arrangement, in this layout, the side of the radially magnetized actuating permanent magnet 9 opposite to the first and second permanent magnets 12, 13 will face the first and second permanent magnets 12, 13, at this time, the electromagnetic induction coils 6 are disposed at the two sides beside the actuating permanent magnet 9, and the oscillating portion 2 can also oscillate back and forth by changing the current of the electromagnetic induction coils 6.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, etc. do not denote any order. These words may be interpreted as names.