CN109036759B - A rotating magnetic field generator based on permanent magnets - Google Patents

Abstract

The invention relates to a rotating magnetic field generating device based on a permanent magnet, which comprises a driving mechanism, a first bracket, at least one permanent magnet and a second bracket, wherein the driving mechanism drives the first bracket to rotate, the at least one permanent magnet is arranged on the first bracket, an accommodating seat is arranged on the second bracket, and the accommodating seat is positioned in a magnetic field formed by the at least one permanent magnet. The positions of the first permanent magnet, the second permanent magnet and the accommodating seat can be adjusted, magnetic fields with different directions and strengths can be conveniently formed, the magnetic fields are stable and reliable, meanwhile, the first permanent magnet and the second permanent magnet are driven by the stepping motor to generate rotating magnetic fields, an industrial camera can collect clear images of the accommodating seat at different installation heights, the operation is convenient, the manufacturing cost is low, the performance is excellent and stable, the experimental environment of the current magnetic control flexible robot is greatly improved, and the experimental research in the fields of the magnetic control flexible robot and the like is simplified.

Description

A rotating magnetic field generator based on permanent magnets

technical field

The invention relates to the fields of bionic flexible robots and experimental science, in particular to a rotating magnetic field generating device based on a permanent magnet.

Background technique

High-speed, precise and lightweight flexible robots have many advantages, such as small size, high working speed, low energy consumption, large load-to-mass ratio and compact mechanism. Magnetically controlled flexible robot is an emerging, effective and easy-to-control driving method, which provides the necessary guarantee for the flexible movement of the robot. Experiments on small magnetically controlled flexible robots require magnetic fields with sufficient strength and flexible direction changes.

At present, this type of device that can be purchased and used on the market is almost difficult to find. The changing magnetic field device generated by alternating current is expensive and bulky. Under the same volume, the magnetic field strength is smaller than that formed by permanent magnets. Image acquisition in experiments is also a difficult problem in this type of experiment.

SUMMARY OF THE INVENTION

The invention overcomes the deficiencies of the prior art, and provides a simple-structured permanent magnet-based rotating magnetic field generating and image collecting device.

In order to achieve the above purpose, the technical solution adopted in the present invention is: a rotating magnetic field generating device based on a permanent magnet, comprising a driving mechanism, a first bracket, at least one permanent magnet, and a second bracket, and the driving mechanism drives the first The bracket rotates, the at least one permanent magnet is installed on the first bracket, and a receiving seat is installed on the second bracket, and the receiving seat is located in the magnetic field formed by the at least one permanent magnet.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further includes that the first bracket includes a bottom plate, and two oppositely arranged side plates fixed on the bottom plate, each of the side plates A support seat is installed on both.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further comprises that the support base includes a support plate and a clamping plate mounted on the support plate.

In a preferred embodiment of the present invention, the device for generating a rotating magnetic field based on a permanent magnet further includes at least one first elongated hole on each of the side plates.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further includes that the driving mechanism is a stepping motor, a servo motor or a brushless DC motor.

In a preferred embodiment of the present invention, a permanent magnet-based rotating magnetic field generating device further includes that the second bracket includes a vertical plate and a horizontal plate fixed to the vertical plate, and the vertical plate is provided with At least one second elongated hole.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further includes that the accommodating seat includes a base, and at least two vertical rods connected to the base, the vertical rods are mounted on the on a horizontal board.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further includes a bump provided on the top of each of the vertical rods, the bump passes through the horizontal plate, and the bump passes through the horizontal plate. A split pin is pierced through it, and a through hole is arranged on the horizontal plate.

In a preferred embodiment of the present invention, a device for generating a rotating magnetic field based on a permanent magnet further comprises that the base includes a base plate, and an annular plate disposed on the base plate.

In a preferred embodiment of the present invention, a permanent magnet-based rotating magnetic field generating device further includes a third bracket, a lifting module mounted on the third bracket, and an image capturing module is installed on the lifting module equipment, the image acquisition equipment is located just above the receiving seat.

The invention solves the defects existing in the background technology. The positions of the first permanent magnet, the second permanent magnet and the accommodating seat of the invention can be adjusted, which facilitates the formation of magnetic fields of different directions and intensities, and the magnetic field is stable and reliable. Drive the first permanent magnet and the second permanent magnet to generate a rotating magnetic field. The industrial camera can collect clear images of the experimental objects in the receiving seat at different installation heights. It is easy to operate, cheap to manufacture, excellent and stable in performance, and greatly improves the current magnetic control flexible robot. The experimental environment simplifies the experimental research in fields such as magnetically controlled flexible robots.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

1 is a perspective view of a preferred embodiment of the present invention;

2 is a perspective view of the first permanent magnet and the second permanent magnet installed on the first bracket according to the preferred embodiment of the present invention;

3 is a perspective view of FIG. 2 from another perspective;

Fig. 4 is the front view of Fig. 2;

Fig. 5 is the side view of the first elongated hole provided on the side plate of the preferred embodiment of the present invention;

6 is a side view of a second elongated hole provided on a vertical plate according to a preferred embodiment of the present invention;

FIG. 7 is a top view of the connection between the cotter pin and the bump according to the preferred embodiment of the present invention.

Detailed ways

The present invention will now be further described in detail with reference to the accompanying drawings and embodiments. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

As shown in FIGS. 1-7 , a permanent magnet-based rotating magnetic field generating device includes a driving mechanism, a first bracket 6, at least one permanent magnet, and a second bracket 8. The driving mechanism drives the first bracket 6 to rotate, and at least one The permanent magnets are mounted on the first bracket 6 , and a receiving seat 10 is mounted on the second bracket 8 , and the receiving seat 10 is located in the magnetic field formed by at least one permanent magnet. In the present invention, the number of permanent magnets is preferably two, which are the first permanent magnet 13 and the second permanent magnet 14 respectively. The receiving seat 10 is located in the magnetic field formed by the first permanent magnet 13 and the second permanent magnet 14. Both the magnet 13 and the second permanent magnet 14 are in the shape of a rectangular parallelepiped, but are not limited to a rectangular parallelepiped, and may also be in the shape of a cylinder. The magnetic intensities of the first permanent magnet 13 and the second permanent magnet 14 are selected according to the required magnetic field.

In the present invention, preferably, the first bracket 6 includes a bottom plate 16 , and two opposite side plates 18 fixed on the bottom plate 16 , and a support base 20 is installed on each side plate 18 . Preferably, the support base 20 includes a support plate 22 and a clamping plate 24 mounted on the support plate 22 . Specifically, the splint 24 includes a top plate 26, two vertical plates 28 extending vertically downward from two ends of the top plate 26 respectively, and two supporting plates 30 extending horizontally outward from the bottom ends of the two vertical plates 28 respectively. A permanent magnet 13 is placed on the support plate 22, and the first permanent magnet 13 is restrained by the two vertical plates 30. At the same time, the first permanent magnet 13 can be held against the top plate 26 by screwing out the set screw 32. A permanent magnet 13 is clamped, and both support plates 30 are fixed on the support plate 22 . The installation method of the second permanent magnet 14 is the same as that of the first permanent magnet 13 , and details are not described herein again. Further preferably, each side plate 18 is provided with at least one first elongated hole 34, the first elongated hole 34 extends in the vertical direction, and the support plate on the left side is fixed by at least one first locking bolt 36. 22 is firmly fixed on the left side plate 18, loosen the first locking bolt 36, the left support plate 22 can be adjusted in position along the vertical direction, and the height of the first permanent magnet 13 can be adjusted. The locking bolt 36 stabilizes the support plate 22 on the right side on the side plate 18 on the right side, loosening the first locking bolt 36, the position of the support plate 22 on the right side can be adjusted in the vertical direction, and the second locking bolt 22 can be adjusted. The height of the permanent magnet 14 .

The preferred driving mechanism of the present invention is a stepping motor 38 , and the output shaft (not shown in the figure) of the stepping motor 38 is connected to the first bracket 6 . In order to improve the stability of the connection between the output shaft of the stepping motor 38 and the first bracket 6 , it is further preferred that a flange 40 is connected between the output shaft of the stepping motor 38 and the first bracket 6 . Specifically, the output shaft of the stepping motor 38 is connected with the flange 40 through a set screw (not shown in the figure), and the flange 40 is fixed to the bottom plate 16 of the first bracket 6 . In order to facilitate the installation of the stepping motor 38, the present invention also includes a base 42, preferably the base 42 is a steel base with high strength, and two symmetrically arranged L-shaped supports 44 are fixed on the base 42. The two L-shaped supports 44 A mounting plate 46 is fixed therebetween, the stepping motor 38 is fixed on the mounting plate 46 , and the output shaft of the stepping motor 38 is fixedly connected to the flange 40 through the mounting plate 46 . The driving mechanism is not limited to the stepping motor 38, but may also be a servo motor or a DC brushless motor.

Preferably, the second bracket 8 of the present invention includes a vertical plate 52 and a horizontal plate 54 fixed to the vertical plate 52. The bottom end of the vertical plate 52 is fixed to one of the L-shaped supports 44. The vertical plate 52 is provided with at least one L-shaped support 44. The second elongated hole 56, the second elongated hole 56 extends in the vertical direction, the horizontal plate 54 is fixed on the vertical plate 52 by at least one second locking bolt 58, and the second locking bolt 58 is loosened , the position of the horizontal plate 54 can be adjusted along the vertical direction, that is, the height of the accommodating seat 10 can be adjusted. Specifically, the accommodating seat 10 includes a base and at least two vertical rods 60 connected to the base, and the vertical rods 60 are installed on the horizontal plate 54 . Further preferably, the top of each vertical rod 60 is provided with a projection 61, the projection 61 passes through the horizontal plate 54, the projection 61 is provided with a split pin 62, and the horizontal plate 54 is provided with a through hole 64, so that through the through hole 64 Place the liquid metal in the base. The base specifically includes a base plate 66 and an annular plate 68 disposed on the base plate 66 , and the annular plate 68 and the base plate 66 form a receiving cavity.

The present invention also includes a third bracket 70 , a lifting module 72 mounted on the third bracket 70 , an image capturing device 74 is installed on the lifting module 72 , and the image capturing device 74 is located directly above the accommodating seat 10 . Preferably the image capture device 74 is an industrial camera. Specifically, the third bracket 70 is constructed of aluminum profiles, including two longitudinal aluminum profiles 76 and six transverse aluminum profiles 78. The longitudinal aluminum profiles 76 are fixed on the base 1 by a plurality of first angle aluminum profiles 80, and the six transverse aluminum profiles The aluminum profiles 78 are fixed on the longitudinal aluminum profiles 76 by a plurality of second angle aluminums 82 , wherein the ends of the four transverse aluminum profiles 78 are fixed with connecting plates 84 , the connecting plates 84 are made of steel, and the lifting module 72 is fixed on the connecting plates 84 On the top, the lifting module 84 is used to adjust the viewing distance of the image acquisition device 74 , the adjustable end of the lifting module 84 is fixed with an L-shaped plate 86 , the adjustment image acquisition device 74 is fixed on the L-shaped plate 86 , and is adjusted by the lifting module 72 By adjusting the installation height of the image capturing device 74 , the viewing distance of the image capturing device 74 can be adjusted and adjusted, which is convenient for capturing clear images.

When the present invention is in use, when the stepping motor 38 rotates, the output shaft connecting flange 40 of the stepping motor 38 drives the first bracket 6 to rotate, so that the first permanent magnet 13 and the second permanent magnet 14 rotate, and the image acquisition device 74 Continuously take pictures of the experimental object in the receiving seat 10. The experimental object can be a room temperature liquid metal applied to a magnetically controlled flexible robot, and the movement speed and trajectory of the experimental object under the action of different magnetic field directions and magnetic field strengths can be obtained. The direction of the magnetic field can be adjusted by changing the installation height of the first permanent magnet 13 and the second permanent magnet 14, such as changing the height difference between the first permanent magnet 13 and the second permanent magnet 14, and the magnetic field strength can be adjusted by changing the center of the magnetic field and the The height difference of the seat 10 is adjusted. When the receiving seat 10 is at the same level as the magnetic field center, its center magnetic induction intensity is the highest, and its position gradually decreases as it deviates from the magnetic field center.

The ideal embodiments of the present invention are inspired by the above, and relevant persons can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (7)

1. A rotating magnetic field generating device based on a permanent magnet is characterized in that: the permanent magnet type magnetic field generator comprises a driving mechanism, a first support, at least one permanent magnet and a second support, wherein the driving mechanism drives the first support to rotate, the at least one permanent magnet is installed on the first support, an accommodating seat is installed on the second support, and the accommodating seat is located in a magnetic field formed by the at least one permanent magnet; the first support comprises a bottom plate and two oppositely arranged side plates fixed on the bottom plate, and a supporting seat is arranged on each side plate; the supporting seat comprises a supporting plate and a clamping plate arranged on the supporting plate; at least one first elongated hole is formed in each side plate.

2. A rotating magnetic field generating apparatus based on a permanent magnet according to claim 1, wherein: the driving mechanism is a stepping motor, a servo motor or a direct current brushless motor.

3. A rotating magnetic field generating apparatus based on a permanent magnet according to claim 1, wherein: the second support includes vertical board, with the horizontal plate that vertical board is fixed, be provided with at least one second rectangular hole on the vertical board.

4. A rotating magnetic field generating apparatus based on permanent magnets according to claim 1 or 3, wherein: the accommodating seat comprises a base and at least two upright rods connected with the base, and the upright rods are installed on the horizontal plate.

5. A rotating magnetic field generating device based on permanent magnet according to claim 4, characterized in that: every the top of pole setting all is provided with the lug, the lug passes the horizontal plate, wear to be equipped with the split pin on the lug, be provided with the through-hole on the horizontal plate.

6. A rotating magnetic field generating device based on permanent magnet according to claim 4, characterized in that: the base comprises a base plate and an annular plate arranged on the base plate.

7. A rotating magnetic field generating apparatus based on a permanent magnet according to claim 1, wherein: still include the third support, install lift module on the third support, the last image acquisition equipment that installs of lift module, image acquisition equipment is located hold the seat directly over.

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