CN111572661B - Mini bouncing robot and bouncing method thereof - Google Patents
Mini bouncing robot and bouncing method thereof Download PDFInfo
- Publication number
- CN111572661B CN111572661B CN202010473934.2A CN202010473934A CN111572661B CN 111572661 B CN111572661 B CN 111572661B CN 202010473934 A CN202010473934 A CN 202010473934A CN 111572661 B CN111572661 B CN 111572661B
- Authority
- CN
- China
- Prior art keywords
- coil
- bouncing
- bottom plate
- permanent magnet
- core
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000009471 action Effects 0.000 claims description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 239000004020 conductor Substances 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 239000004593 Epoxy Substances 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 239000000853 adhesive Substances 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000009191 jumping Effects 0.000 description 4
- 230000005674 electromagnetic induction Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000035699 permeability Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000005476 size effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
- H02K33/18—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system with coil systems moving upon intermittent or reversed energisation thereof by interaction with a fixed field system, e.g. permanent magnets
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Electromagnets (AREA)
Abstract
The invention discloses a mini bouncing robot and a bouncing method thereof, which belong to the technical field of robots and comprise a bottom plate, a permanent magnet and a core part, wherein the bottom plate and the permanent magnet are of hollow structures, so that a coil rack can move up and down in the hollow structures, meanwhile, the diameters of two ends of the coil rack are different, the coil rack cannot be separated from the bottom plate, a coil is wound outside the coil rack, and the core part is arranged in the hollow structures of the coil rack. The invention is easy to miniaturize and assemble into a compact structure; the jump height can be adjusted by controlling the voltage, and the jump method has high response speed and is easy to realize.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a mini bouncing robot and a bouncing method thereof.
Background
In the past, most mobile robots are driven by multiple wheels or crawler-type, perform bionic crawling or walking, are difficult to cross larger obstacles or ditches at one time, and jump is a very effective movement mode of the robot under the condition of complex terrain. By means of jumping movements, the robot can easily surmount obstacles several times higher than itself. Therefore, jumping robots have been developed, and the earliest jumping robots were single-leg jumping robots developed in 1980 by marcrabbert of the university of milpa, and have become research hotspots in the field of robots at home and abroad since the present time, researchers have found that they can relatively easily accomplish tasks in space exploration, safety monitoring, reconnaissance, etc. applications due to their small size and light weight. However, the existing bouncing robot design generally needs a complex transmission mechanism, so that the volume and the mass of the bouncing robot are overlarge, and microminiaturization is difficult. Therefore, there is a need to study a bouncing mechanism with smaller volume and simpler structure to realize miniaturization of the bouncing robot.
Disclosure of Invention
In order to overcome the disadvantages of the prior art, the present invention is directed to a mini bouncing robot and a bouncing method thereof, so as to solve the problem that the existing bouncing robot is difficult to be miniaturized due to overlarge volume and mass caused by complex transmission structure.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
the miniature bouncing robot comprises a bottom plate, a permanent magnet and a core part, wherein the permanent magnet is arranged on the bottom plate, the bottom plate and the permanent magnet are of hollow structures with upper and lower openings, a coil frame is arranged at the hollow part of the permanent magnet, the coil frame is of a hollow structure, the core part is arranged at the hollow part of the coil frame, a coil is fixed at the outer side of the coil frame, and the coil is electrically connected with an external power supply; the coil rack is characterized in that the two ends of the coil rack are respectively a large end and a small end, one end close to the bottom plate is the small end, the diameter of the small end is smaller than the inner diameter of the hollow part of the bottom plate, and the diameter of the large end is larger than the inner diameter of the hollow part of the bottom plate.
Preferably, the outer side of the permanent magnet is an S pole, and the inner side of the permanent magnet is an N pole.
Preferably, the core is T-shaped, the lower diameter of the core is smaller than the inner diameter of the hollow structure of the bobbin, and the top diameter of the core is larger than the top diameter of the permanent magnet.
Further preferably, the lower part of the core is sleeved inside the hollow structure of the permanent magnet, and the top is adhered to the top of the permanent magnet through structural adhesive.
Preferably, the permanent magnet is a hollow cylinder, and the diameter of the hollow part is larger than the diameter of the large end of the coil former.
Preferably, the coil former is of an i-shape; the bottom plate is a flat thin ring.
Preferably, the coil is composed of a conductor and an insulating layer outside the conductor.
Preferably, the core and the bottom plate are made of soft iron; the coil rack is prepared from an epoxy plate.
Preferably, a through hole is formed in the top of the core, the coil is electrically connected with an external power supply through a wire, and the wire can pass through the through hole to be connected with the coil.
The invention discloses a bouncing method of a mini bouncing robot, which comprises the following steps:
a take-off stage: placing the mini bouncing robot on a horizontal plane, opening an external power supply connected with the coil, supplying power to the coil by the external power supply, and generating electromagnetic force in a magnetic field by the energized coil, wherein the electromagnetic force enables the permanent magnet, the core and the bottom plate to move upwards, and at the moment, the coil and the coil frame are kept stationary;
and (3) flight stage: when the bottom plate moves to be in contact with the large end of the coil rack, the bottom plate drives the coil and the coil rack to move upwards together, so that bouncing action is realized;
and (3) a fall-back stage: under the action of gravity, the bottom plate drives the coil, the coil frame, the core part and the permanent magnet to fall to the ground.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a mini bouncing robot which comprises a bottom plate, a permanent magnet and a core part, wherein the bottom plate and the permanent magnet are of hollow structures, a coil frame can move up and down in the hollow structures, meanwhile, the diameters of two ends of the coil frame are different, the coil frame cannot be separated from the bottom plate, a coil is wound outside the coil frame, and the core part is arranged in the hollow structures of the coil frame. The external power supply is connected with the coil to supply current to the coil, the coil after being electrified generates electromagnetic force in the magnetic field of the permanent magnet according to the electromagnetic induction principle, the direction of the electromagnetic force is determined by the direction of the current in the coil, namely, the magnitude and the direction of the current in the coil are controlled, the magnitude and the direction of the electromagnetic force can be controlled, the core body inside the coil, the permanent magnet outside the coil and the bottom plate at the bottom are further controlled to move upwards, when the bottom plate moves to be in contact with the large end of the coil frame, the bottom plate drives the coil frame and the coil wound on the coil frame to move upwards together under the action of inertia force, so that bouncing action is realized, and finally the coil falls to the ground stably under the action of gravity to return to an initial state. The device is easy to miniaturize, has fewer component parts, and is easy to manufacture and assemble into a small and compact structure; the scale rate of ampere force is L according to the size effect 2 The scale of gravity is L 3 At a small scale, the ampere force that is beneficial to bouncing will dominate. Thus, the jump performance of the inventive device can increase as the device size decreases; the device is easy to control, and the jump height can be adjusted by controlling the voltage in the external power supply because the electromagnetic force is proportional to the current on the coil.
Further, the core and the bottom plate are made of soft iron having high magnetic permeability and high saturation induction, and they can concentrate radial magnetic flux in a narrow gap where the coil moves.
Further, the coil rack is of an I-shaped structure, so that the coil is conveniently and stably wound on the outer side wall of the coil rack and is not easy to drop, the current direction and the current generated by the coil are kept stable, and stable bouncing of the mini bouncing robot is ensured.
Furthermore, the core is T-shaped, the diameter of the lower part of the T-shaped is smaller than the inner diameter of the hollow structure of the coil former, and the diameter of the upper part of the T-shaped is larger than the diameter of the top of the permanent magnet, so that the core can be fixed above the permanent magnet and the bouncing process can be realized along with the permanent magnet.
Further, the coil rack is prepared by an epoxy plate, and the epoxy plate has high dielectric property and can resist surface leakage; the adhesive force is stronger, and the coil wound outside the adhesive force can be prevented from falling off.
The invention also discloses a bouncing method of the mini bouncing robot, which is based on the device, a coil is wound on the coil rack, the coil is powered by an external power supply, the electromagnetic force generated by the electrified coil in the magnetic field of the permanent magnet is utilized to enable the permanent magnet, the core part and the bottom plate to move upwards, when the bottom plate moves to be contacted with the large end of the coil rack, the bottom plate drives the coil and the coil rack to move upwards together under the action of larger inertia force, so that bouncing action is realized. The bouncing method has high response speed and is easy to realize.
Drawings
FIG. 1 is a schematic view of the magnetic pole distribution and stress of a mini-bouncing robot according to the present invention;
FIG. 2 is a schematic diagram of an explosion structure of the mini bouncing robot;
FIG. 3A is a schematic diagram illustrating a bouncing process of the device of the present invention;
FIG. 3B is a schematic diagram illustrating a bouncing process of the device of the present invention;
FIG. 3C is a schematic diagram illustrating a bouncing process of the device of the present invention;
FIG. 3D is a diagram illustrating a bouncing process of the device of the present invention.
In the figure: 1-permanent magnet; 2-a bottom plate; 3-coil; 4-coil former; 5-core; 6-magnetic field; 7-electromagnetic force; 8-current; 9-an external power supply.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 2, a mini bouncing robot includes a permanent magnet 1, a base plate 2, a coil 3, a bobbin 4, and a core 5. The permanent magnet 1 is installed on the upper portion of the bottom plate 2, the permanent magnet 1 and the bottom plate 2 are of hollow structures, a coil frame 4 is arranged at the hollow portion of the permanent magnet 1, a coil 3 is wound on the outer side wall of the coil frame 4, the coil 3 is electrically connected with an external power supply 9 through a wire, one of two ends of the coil frame 4 is a large end, and the other end is a small end. Wherein the diameter of the large end is larger than the inner diameter of the base plate 2 to prevent the bobbin 4 from falling out of the inner cavity formed by the core 5, the permanent magnet 1 and the base plate 2, while the small end can pass freely through the inner diameter of the base plate 2.
The permanent magnet 1 and the bottom plate 2 are bonded by structural adhesive; the core 5 is T-shaped, the diameter of the lower part of the core 5 is smaller than the inner diameter of the hollow structure of the coil former 4, and the diameter of the top of the core 5 is larger than the diameter of the top of the permanent magnet 1. The lower part of the core part 5 is sleeved in the hollow structure of the permanent magnet 1, and the top of the core part 5 is adhered with the top of the permanent magnet 1 through structural adhesive.
The working principle of the mini bouncing robot is as follows:
according to the principle of electromagnetic induction, as shown in fig. 1, after the coil 3 is energized, the energized coil 3 generates an electromagnetic force 7 in the magnetic field 6 of the permanent magnet 1, because the direction of the electromagnetic force 7 is determined by the direction of the current 8 in the coil 3. In order for the mini pop-up robot to perform a pop-up motion, the current 8 in the coil 3 should be in a direction of left-in and right-out (as shown in fig. 1) in the present invention. According to the left hand rule in the electromagnetic induction principle, the generated axial electromagnetic force 7 is vertically downward, and since the mini-bouncing robot is placed on the ground, the downward relative motion of the coil 3 and the coil former 4 will be converted into the upward motion of the core 5, the permanent magnet 1 and the bottom plate 2. When the bottom plate 2 moves to be in contact with the large end of the coil rack 4, the bottom plate 2 drives the coil 3 and the coil rack 4 to move upwards together under the action of large inertia force, so that bouncing action is realized, and finally the bottom plate stably falls to the ground under the action of gravity and returns to an initial state to be ready for next bouncing.
The mini bouncing robot disclosed by the invention has the working process that:
firstly, a coil 3 is wound on a coil frame 4, the coil 3 is powered through an external power supply 9, the mini bouncing robot is vertically placed on the ground, the permanent magnet 1, the core 5 and the bottom plate 2 are enabled to move upwards by utilizing electromagnetic force 7 generated by the electrified coil 3 in a magnetic field, when the bottom plate 2 moves to be contacted with the large end of the coil frame 4, the bottom plate 2 drives the coil 3 and the coil frame 4 to move upwards together under the action of large inertia force, and therefore bouncing action is achieved.
The bouncing method of the mini bouncing robot is described below:
a take-off stage: when the mini bouncing robot is placed on a horizontal plane (as shown in fig. 3A), an external power supply 9 is turned on to supply power to the coil 3, and after the coil 3 passes through the current, the core 5, the permanent magnet 1 and the bottom plate 2 move upwards at a high speed due to the action of the axial electromagnetic force 7, and at this time, the coil 3 and the coil frame 4 temporarily keep a static state (as shown in fig. 3B).
And (3) flight stage: when the bottom plate 2 moves to contact with the large end of the coil frame 4 (as shown in fig. 3C), the bottom plate 2 drives the coil 3 and the coil frame 4 to move upwards together under the action of a large inertial force, so as to realize a bouncing action (as shown in fig. 3D).
And (3) a fall-back stage: under the action of gravity, the mini-bouncing robot stably falls to the ground and returns to the initial state (as shown in fig. 3A).
In summary, in the device of the present invention, the electromagnetic force 7 for driving the mini-bouncing robot to bounce only works in the bounce stage, i.e. the speed is increased in the bounce stage, and the electric energy is converted into kinetic energy; in the flight phase, the speed is reduced and the kinetic energy is converted into gravitational potential energy. Therefore, during the flight phase, the coil 3 is separated from the magnetic field 6 generated by the permanent magnet 1, so that the electromagnetic force 7 almost disappears and only the inertia can be relied on to bounce. Therefore, when the device is used for bouncing, the coil 3 is only required to be powered in the take-off stage, and when the mini bouncing robot moves to the flight stage, the coil is powered on or powered off, so that the movement of the mini bouncing robot is not influenced.
In the present embodiment, the external power supply 9 is a capacitor.
The core 5 and the base plate 2 used are made of soft iron with high magnetic permeability and high saturation induction, which are capable of concentrating radial magnetic flux in a narrow gap where the coil 3 moves. The core 5 is a revolving body with a T-shaped cross section, and the bottom plate 2 is a flat thin circular ring.
The permanent magnet 1 is a hollow cylinder, which is the source of the magnetic field, the magnetic poles of the permanent magnet 1 are distributed transversely, the outer side is an S pole, and the inner side is an N pole.
The coil 3 is made of enamelled copper wire and consists of a conductor and an insulating layer outside the conductor.
The coil frame 4 is made of epoxy plate and has I-shaped structure for winding the coil 3.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. The bouncing method of the mini bouncing robot is characterized by comprising a bottom plate (2), a permanent magnet (1) and a core (5), wherein the permanent magnet (1) is installed on the bottom plate (2), the bottom plate (2) and the permanent magnet (1) are of hollow structures with upper and lower openings, a coil rack (4) is arranged at the hollow part of the permanent magnet (1), the coil rack (4) is of a hollow structure, the core (5) is arranged at the hollow part of the coil rack (4), a coil (3) is fixed on the outer side of the coil rack (4), and the coil (3) is electrically connected with an external power supply; the two ends of the coil rack (4) are respectively a large end and a small end, one end close to the bottom plate (2) is the small end, the diameter of the small end is smaller than the inner diameter of the hollow part of the bottom plate (2), and the diameter of the large end is larger than the inner diameter of the hollow part of the bottom plate (2);
the bouncing method comprises the following steps:
a take-off stage: placing the mini bouncing robot on a horizontal plane, opening an external power supply connected to the coil (3), supplying power to the coil (3) by the external power supply, and generating electromagnetic force in a magnetic field by the electrified coil (3), wherein the electromagnetic force enables the permanent magnet (1), the core (5) and the bottom plate (2) to move upwards, and at the moment, the coil (3) and the coil frame (4) are kept stationary;
and (3) flight stage: when the bottom plate (2) moves to be in contact with the large end of the coil rack (4), the bottom plate (2) drives the coil (3) and the coil rack (4) to move upwards together, so that bouncing action is realized;
and (3) a fall-back stage: under the action of gravity, the bottom plate (2) drives the coil (3), the coil frame (4), the core (5) and the permanent magnet (1) to fall to the ground.
2. The bouncing method as claimed in claim 1, characterized in that the outer side of the permanent magnet (1) is an S pole and the inner side is an N pole.
3. The bouncing method as claimed in claim 1, characterized in that the core (5) is T-shaped, the lower diameter of the core (5) is smaller than the inner diameter of the hollow structure of the coil former (4), and the top diameter of the core (5) is larger than the top diameter of the permanent magnet (1).
4. A bouncing method as claimed in claim 3, characterized in that the lower part of the core (5) is sleeved inside the hollow structure of the permanent magnet (1), and the top is glued to the top of the permanent magnet (1) by means of a structural glue.
5. The bouncing method as claimed in claim 1, characterized in that the permanent magnet (1) is a hollow cylinder, the diameter of the hollow part being larger than the diameter of the large end of the coil former (4).
6. The bouncing method as claimed in claim 1, characterized in that the coil former (4) is i-shaped; the bottom plate (2) is a flat thin circular ring.
7. The bouncing method as claimed in claim 1, characterized in that the coil (3) consists of a conductor and an insulating layer outside the conductor.
8. The bouncing method as claimed in claim 1, characterized in that the core (5) and the soleplate (2) are made of soft iron; the coil rack (4) is prepared by an epoxy plate.
9. The bouncing method of claim 1, wherein a through hole is formed in the top of the core (5), the coil (3) is electrically connected with an external power supply through a wire, and the wire can pass through the through hole in the top of the core (5) to be connected with the coil (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010473934.2A CN111572661B (en) | 2020-05-29 | 2020-05-29 | Mini bouncing robot and bouncing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010473934.2A CN111572661B (en) | 2020-05-29 | 2020-05-29 | Mini bouncing robot and bouncing method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111572661A CN111572661A (en) | 2020-08-25 |
| CN111572661B true CN111572661B (en) | 2023-10-27 |
Family
ID=72117966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010473934.2A Active CN111572661B (en) | 2020-05-29 | 2020-05-29 | Mini bouncing robot and bouncing method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111572661B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1232978A (en) * | 1967-08-18 | 1971-05-26 | Electro-magnetic actuators | |
| CN101702565A (en) * | 2009-11-26 | 2010-05-05 | 蹇兴亮 | Permanent magnet electromagnetic driving device |
| CN201985735U (en) * | 2011-01-13 | 2011-09-21 | 固馨电气(上海)有限公司 | Voice coil motor permanent magnetic mechanism applied to high-voltage switch |
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN107600217A (en) * | 2017-08-29 | 2018-01-19 | 重庆大学 | Hopping robot leg and hopping robot |
| CN109292022A (en) * | 2018-11-07 | 2019-02-01 | 西北工业大学 | A kind of bio-mechanism of vertical jump in succession |
| CN212195685U (en) * | 2020-05-29 | 2020-12-22 | 陕西科技大学 | Mini bounce mechanism based on voice coil motor |
-
2020
- 2020-05-29 CN CN202010473934.2A patent/CN111572661B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1232978A (en) * | 1967-08-18 | 1971-05-26 | Electro-magnetic actuators | |
| CN101702565A (en) * | 2009-11-26 | 2010-05-05 | 蹇兴亮 | Permanent magnet electromagnetic driving device |
| CN201985735U (en) * | 2011-01-13 | 2011-09-21 | 固馨电气(上海)有限公司 | Voice coil motor permanent magnetic mechanism applied to high-voltage switch |
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN107600217A (en) * | 2017-08-29 | 2018-01-19 | 重庆大学 | Hopping robot leg and hopping robot |
| CN109292022A (en) * | 2018-11-07 | 2019-02-01 | 西北工业大学 | A kind of bio-mechanism of vertical jump in succession |
| CN212195685U (en) * | 2020-05-29 | 2020-12-22 | 陕西科技大学 | Mini bounce mechanism based on voice coil motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111572661A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6154353A (en) | Magnetic suspension system | |
| US9707859B2 (en) | Magnetically lifted vehicles using hover engines | |
| US7688036B2 (en) | System and method for storing energy | |
| CA2475481C (en) | Dynamic magnet system for generating electric power | |
| US4542311A (en) | Long linear stroke reciprocating electric machine | |
| US20110198949A1 (en) | Vibration generator | |
| CN113363100B (en) | Trigger button device and electronic equipment | |
| JPS5843158A (en) | Device for regenerating stored energy of kinetic energy in electric form and method of using same device | |
| JP2007521785A (en) | Power generation with combined magnets | |
| CN103500688A (en) | Electromagnetic structure containing permanent magnet | |
| EP3007327B1 (en) | Wirelessly powered electric motor | |
| US7476999B2 (en) | Torque producing device | |
| US20080001578A1 (en) | Motion Activated Power Source | |
| KR20090046790A (en) | System and method for storing energy | |
| CN202172354U (en) | Swing power generation device | |
| CN212195685U (en) | Mini bounce mechanism based on voice coil motor | |
| CN111572661B (en) | Mini bouncing robot and bouncing method thereof | |
| KR20040047551A (en) | Generator | |
| US20170028870A1 (en) | Rotational coupling using magnetically generated lift and control of magnetically lifted vehicles | |
| CN108809039B (en) | Electromagnetic T-shaped beam vibration energy collector based on rigid-flexible combined structure | |
| US20210359584A1 (en) | Vibration-based electric generation device | |
| RU2610849C2 (en) | Electromagnetic shock absorber | |
| US20100013345A1 (en) | Bi-metal coil | |
| KR20120063937A (en) | Energy harvester and portable electronic device | |
| CN103367047A (en) | Driving device of electromagnetic relay |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |