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Electromagnetic drive variable-rigidity bionic swing propelling device

A propulsion device and electromagnetic drive technology, applied to non-rotating propulsion components, toys, entertainment, etc., can solve the problems of large temperature influence, complex control, large volume, etc., and achieve low mechanical loss, small volume, and good flexibility Effect

Inactive Publication Date: 2014-03-05
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, Professor Jiang Hongzhou of Harbin Institute of Technology proposed a flexible bionic fish with variable stiffness based on a series-parallel mechanism. The mechanism is planned to be driven by a shape memory alloy (SMA), which solves the shortcomings of traditional motor drive control and large volume. However, due to the fact that the SMA material itself has defects such as being greatly affected by temperature and small deformation

Method used

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  • Electromagnetic drive variable-rigidity bionic swing propelling device
  • Electromagnetic drive variable-rigidity bionic swing propelling device
  • Electromagnetic drive variable-rigidity bionic swing propelling device

Examples

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Effect test

Embodiment 1

[0014] as attached figure 1 As shown, the present invention provides an electromagnetically driven variable stiffness bionic swing propulsion device, including a support 1, an electromagnetic swing unit with more than two sections and a tail fin 5, and all fish body shapes are sealed by the fish body skin. The electromagnetic oscillating unit of one section is connected with the head of the fish body, and the electromagnetic oscillating units of other levels are all connected with the flexible spine 3, and the last single-section electromagnetic oscillating unit is connected with the tail fin 5, and the electromagnetic oscillating unit includes an upper magnetic conductor 7. The lower magnet guide 8, the control coil 6, the flexible spine 3 and the armature 4, the flexible spine 3 is hollow, and a coil for controlling current is embedded inside, and the upper and lower magnet guides 7, 8 are respectively fixed on the flexible spine 3 Above, the armature 4 is fixed at the middl...

Embodiment 2

[0016] The specific principle of the drive control of the electromagnetic oscillating unit is as follows: the permanent magnet magnetizes the upper and lower magnetizers, one end is an N pole, and the other end is an S pole. When there is no signal current, the armature is in the middle of the upper and lower magnet conductors. Since the structure of the electromagnetic swing unit is symmetrical, the polarized magnetic flux generated by the permanent magnet in the air gap at both ends is the same, so that the two ends of the armature are affected It is the same as the electromagnetic suction, and there is no driving torque output. When the signal current passes through the coil, the control coil generates a control magnetic flux whose magnitude and direction depend on the magnitude and direction of the signal current. When the reaction moment generated by the elastic deformation of the flexible spine is balanced with the electromagnetic moment, the armature stops rotating. Ac...

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Abstract

An electromagnetic drive variable-rigidity bionic swing propelling device comprises a support, at least two sections electromagnetic swing units and a tail fin. The whole shape of a fish body is sealed by a fish skin. The first section of electromagnetic swing unit is connected with the head of the head of the fish body. Other sections of electromagnetic swing units are connected with a flexible spine. The last section of electromagnetic swing unit is connected with the tail fin. The electromagnetic swing unit comprises an upper magnetic body, a lower magnetic body, control coils, the flexible spine and an armature. The flexible spine is hollow. A coil for controlling electric currents is embedded into the flexible spine. The upper magnetic body and the lower magnetic body are fixed on the flexible spine respectively. The armature is fixed in the middle of the upper magnetic body and the lower magnetic body. The middle of the armature is fixedly connected with the flexible spine. The control coils are sleeved at two ends of the armature. The flexible spine is driven to bend by the generated electromagnetic torque so as to drive the fish body to swing for propelling. The electromagnetic drive variable-rigidity bionic swing propelling device is small in size, light, continuous in action, easy to implement, low in noise and low in mechanical loss.

Description

technical field [0001] The invention mainly relates to the field of bionic underwater robots, in particular to an electromagnetically driven variable stiffness bionic swing propulsion device. Background technique [0002] Fish has attracted the attention of many scholars with its unique swimming performance such as fast, efficient, and high mobility. At the same time, the swimming mechanism of fish has become a research hotspot in bionics. Biological studies have shown that the spine, muscles, skin, bones and other physiological tissues of fish together form a complex series-parallel mechanism with three degrees of freedom of pitch, yaw and torsion. On the other hand, fish can actively change the body stiffness so that the natural frequency of the fish body is consistent with the swing frequency of the caudal fin, thereby obtaining fast and efficient swimming performance. At present, some bionic scholars have noticed these research results and applied them to the design of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H1/36
CPCA63H23/08A63H29/22A63H33/26B63H1/36
Inventor 崔祚姜洪洲何景峰佟志忠黄群
Owner HARBIN INST OF TECH
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