CN106130306A - Preferably class methane structure wind drives formula Electromagnetic generation ball shape robot - Google Patents

Abstract

The invention relates to a preferred methane-like structure wind-driven electromagnetic power generation spherical robot, comprising a spherical shell, a permanent magnet, a coil, a spring, a hook, a hollow pipe and a connecting device; the spherical shell is a sealed hard spherical shell, consisting of four The hemispherical shell is spliced and fixed; four hollow pipes are evenly distributed in the spherical shell, and the two ends are respectively connected with the connecting device in the center and the inner wall of the spherical shell; the permanent magnet, spring and hook are arranged in the hollow pipe, and the spring Located on both sides of the permanent magnets, connected with the permanent magnets through hooks, the coils are distributed at the centers of the outer walls of the four hollow pipes. The present invention has a novel structure, simple and compact structure, small mass, does not need complex transmission mechanism inside, has a large amount of free space for carrying detection, communication and other instruments, and can adapt to extremely low harsh environments, realizing long-distance, large-scale range of exploration and testing.

Description

Optimal methane-like structure wind-driven electromagnetic power generation spherical robot

technical field

The invention relates to a wind-driven electromagnetic generating spherical robot with a preferred methane-like structure, which is a spherical robot that can be used in polar scientific research and detection, and belongs to the field of new robot development.

Background technique

Antarctica is the last undeveloped continent for human beings. It contains 80% of the earth's fresh water resources, the largest iron ore and coal mines, and a large number of other mineral resources. There are more than 220 kinds of minerals in Antarctica. At the same time, climate change in the Antarctic continent has a huge impact on the global climate. Studying the history and trends of Antarctic climate and glacier changes is of great significance for humans to understand the earth's own geology and climate changes and make predictions for future changes. Constrained by the carrying energy, the activity time and range of internally driven spherical robots are limited, and it is difficult to realize long-term, long-distance, and large-scale environmental detection. The problem of energy supply has become a major problem in the research of internally driven spherical robots. Designing a self-powered device for an Antarctic spherical robot can effectively solve the problem of energy supply, allowing it to detect in the Antarctic environment without energy constraints.

Antarctica is not only the coldest place in the world, but also the windiest place in the world. There are 300 days of strong winds above level 8 every year on average, and the annual average wind speed is 19.4 m/s. In order to improve energy constraints and aim at the special natural environment of Antarctic wind power, a self-powered device with wind power is designed. Its main function is to convert wind energy into electrical energy for storage. In response to this problem, researchers have explored the establishment of external wind-driven structures such as Eggbeater, Dandelion, Tumbleweed, Inflatable Tumbleweed and Box-Kite structures. spherical robot model.

Wind energy is a clean, non-polluting renewable energy that can realize the friendly coexistence of human beings and the natural environment. Wind-driven devices have a long history, such as sailing ships in ancient Egypt, wind-driven water pumps in the Three Kingdoms era, windmills in the Song Dynasty, etc., all the way to modern wind power generation equipment. The concept of the wind-driven spherical robot is derived from the movement of a natural plant "tumbleweed" (also known as thistle) on the grassland. Efficient and highly reliable motion system.

Since 2000, NASA's Langley Research Center (LaRC), JPL, Texas Tech University (TTU), North Carolina State University (NCSU), and the Swiss Federal Institute of Technology have successively started research on wind-driven spherical robots. Among them, LaRC, NCSU and TTU are mainly committed to the research of the conceptual model of the open structure, JPL is mainly devoted to the research of the inflatable ball model, and the Swiss Federal Institute of Technology is conducting research on the foldable smart material wind ball. The inflatable wind-driven spherical robot with a diameter of 1.5 meters produced by JPL carried out an Antarctic environment exploration in 2004 and ran 131 kilometers on the Greenland glacier. The speed is 7km/h. Through the Yixing system, the glacier environment information such as temperature and air pressure was successfully transmitted back to the control center. In 2005, LaRC produced a ground principle prototype of a box-shaped kite structure with a diameter of 3 meters.

Amir Homayoun Javadi A. and Puyan Mojabi developed a omnidirectional spherical motion robot in 2002, which Javadi and Mojabi et al. named it "August". The robot implements autonomous power supply, and part of the logic control system is installed on the inner plate of the sphere , part of which is installed on the external control template of the sphere and connected by radio. August is assembled on the principle of central symmetry, so that the center of mass and centroid of the sphere coincide. The driving system of August is composed of four screw-shaped spokes. They are installed on a tetrahedral structure, 109.47 to each other, and each spoke carries a weight of 1.125kg, which can be lifted up and down, and the motor controlling the lifting movement is directly installed on the spoke.

China Invention Patent Application No. 200810231786.2, a spherical robot device with both internal and external drives discloses the spherical robot patent applied by Li Tuanjie. The device is mainly driven by wind and supplemented by internal drive. When encountering an obstacle or getting stuck, the internal driving device is activated to adjust the position and posture to overcome/avoid the obstacle or get out of the predicament, so as to improve the utilization rate of natural wind energy.

In 2012, Jiang Jie and others developed a spherical robot structure with both internal and external drives. The motion energy mainly comes from natural wind energy, and the sphere can roll freely under the wind drive; the inflatable sphere structure can roll in all directions and has good elasticity; The internal structure design is based on the momentum moment theorem, and the position of the center of gravity of the spherical robot is changed by the movement of the counterweight. In 2015, Junichi Asama and others proposed a wind-driven spherical robot named Moball with six orthogonal pipes, which used the phenomenon of electromagnetic induction to convert wind energy into mechanical energy and then into electrical energy. In this paper, two cases of rotation and falling were tested.

The spherical robots that have been developed so far, especially the domestic spherical robots, use the driving principle of gravity to drive, so the internal structure is mostly similar, and the mechanical parts used are also similar, lacking internal structure improvement and innovation.

Contents of the invention

The purpose of the present invention is to design a preferred methane-like structure wind-driven electromagnetic power generation spherical robot suitable for polar scientific research in the polar environment on the basis of the existing spherical robot technology, and to provide a novel internal structure, It is composed of a new mechanical structure and can use wind energy as a driving energy. It has a simple structure, saves energy, and has the function of collecting electric energy.

In order to achieve the above object, the idea adopted by the present invention is: the spherical robot of the new structure provided by the present invention is composed of a spherical shell and an internal pipeline type electromagnetic device. The maximum outer diameter of the spherical shell is 1 meter. The spherical shell is divided into four petals, and the arc of each petal covers an angle of 90 degrees, which is evenly distributed on the periphery of the driving device, just forming a sphere; the interior is composed of four regular tetrahedron-distributed pipeline electromagnetic devices, the The electromagnetic device is composed of permanent magnets, coils, springs and hooks. The two sides of the pipeline type electromagnetic device are respectively connected to the spherical shell and the connecting device at the center of the sphere through threaded fasteners.

According to above-mentioned inventive concept, the present invention adopts following technical scheme:

A preferred methane-like structure wind-driven electromagnetic power generation spherical robot, including a spherical shell, permanent magnets, coils, springs, hooks, hollow pipes and connecting devices; the spherical shell is a sealed hard spherical shell, which is spliced by four hemispherical shells It is fixed; four hollow pipes are evenly distributed in the spherical shell, and the two ends are respectively connected with the connecting device in the center and the inner wall of the spherical shell; the permanent magnet, spring and hook are arranged in the hollow pipe, and the spring is located in the permanent magnet The two sides of the coil are connected with the permanent magnets through hooks, and the coils are distributed at the centers of the outer walls of the four hollow pipes.

The permanent magnets in the hollow pipe will follow the ball rolling under the action of the wind and make irregular reciprocating motions inside the pipe. Due to the centrifugal force, they will be at both ends of the pipe. There are two springs connected by hooks at both ends of the permanent magnet. The spring will provide the permanent magnet to overcome the centrifugal force and restore it to the center of the pipe. From Faraday’s electromagnetic induction phenomenon, it can be known that the coil can generate induced electromotive force due to the change of magnetic flux. The permanent magnet is in the The movement of cutting the magnetic induction line in the pipeline generates an induced electromotive force, so that the wind energy can be successfully converted into the mechanical energy of the sphere first, and then the mechanical energy is converted into electrical energy.

Compared with the existing wind-driven spherical robot technology, the invention makes unique and innovative improvements and simplifies the structure. Its advantages and innovations are:

(1) The overall internal structure of the robot is symmetrical, the driving method is simple and feasible, and its mechanical parts are evenly distributed, so the motion stability is good.

(2) The present invention belongs to a wind-driven electromagnetic spherical robot. Its structure and function are mainly designed for the special geographical environment of Antarctica with relatively strong wind, and its main application lies in data collection during scientific research in Antarctica. Its main driving method is to rely on wind energy, which can save a lot of energy, and has its own energy harvesting device, which can maximize the battery life.

(3) On the whole, the structure is novel, simple and compact, and the mass is small. There is no need for complicated transmission mechanisms inside, and there is a large amount of free space for equipment such as detection and communication. It can also adapt to extremely low harsh environments and realize long-distance, Extensive exploration and detection.

Description of drawings

Fig. 1 is a three-dimensional structure diagram of a spherical robot provided by the present invention.

Fig. 2 is an internal structure diagram of the spherical robot provided by the present invention.

Fig. 3 is a schematic diagram of the internal structure of the pipeline of the spherical robot provided by the present invention.

Fig. 4 is a structural sectional line diagram of the spherical robot provided by the present invention.

detailed description

Preferred embodiments of the present invention are described as follows in conjunction with the accompanying drawings:

As shown in Figure 1, Figure 2, Figure 3, and Figure 4, a preferred methane-like structure wind-driven electromagnetic power generation spherical robot includes a spherical shell 1, a permanent magnet 2, a coil 3, a spring 4, a hook 5, and a hollow pipe 6 and the connecting device 7; the spherical shell 1 is a sealed hard spherical shell, which is spliced and fixed by four hemispherical shells; the four hollow pipes 6 are evenly distributed in the spherical shell 1, and the two ends are respectively connected with the central connecting device 7 and The inner wall of the spherical shell 1 is connected; the permanent magnet 2, the spring 4, and the hook 5 are arranged in the hollow pipe 6; the spring 4 is located on both sides of the permanent magnet 2, and is connected to the permanent magnet 2 through the hook 5; the coil 3 Distributed at the center positions of the outer walls of the four hollow pipes 6 .

The working principle of the present invention is as follows:

When there is no wind, the spherical robot is in a static equilibrium state as a whole, and the permanent magnet 2 is located in the center of the hollow pipe 6 without movement, so there is no movement of cutting the magnetic induction line, that is, no induced electromotive force is generated. When there is wind in the external environment where the spherical robot is located, the permanent magnet 2 in the hollow pipe 6 will follow the spherical shell 1 to roll under the wind force and do irregular reciprocating motions inside the hollow pipe 6. At both ends of the hollow pipe 6, in order to have the effect of cutting the magnetic induction line to generate an induced electromotive force, two springs 4 are connected to the two ends of the permanent magnet 2 through the hook 5, and the spring 4 will provide the permanent magnet 2 to overcome the centrifugal force to make it Generate the active force that returns to the trend of the initial motion state of the hollow pipe 6 . According to Faraday's electromagnetic induction phenomenon, the coil 3 can generate an induced electromotive force due to the change of the magnetic flux, and the permanent magnet 2 can cut the magnetic induction line in the hollow pipe 6, thereby generating an induced electromotive force. Collect the generated electromotive force and use it in the communication and detection device carried by the spherical robot to realize the exploration work.

Claims (1)

1. a preferred class methane structure wind drives formula Electromagnetic generation ball shape robot, it is characterised in that: include spherical shell (1), permanent magnetism Ferrum (2), coil (3), spring (4), hook (5), hollow pipe (6) and attachment means (7)；Described spherical shell (1) is for sealing hard Spherical shell, is fixed by four hemispherical Shell splicings and forms；Four hollow pipes (6) are uniformly distributed in spherical shell (1), two ends respectively with in The attachment means (7) of the heart is connected with spherical shell (1) inwall；Described permanent magnet (2), spring (4), hook (5) are located at hollow pipe (6) in；Described spring (4) is positioned at the both sides of permanent magnet (2), is connected with permanent magnet (2) by hook (5)；Described coil (3) point Cloth is in the center of four hollow pipe (6) outer walls.