CN117754638A - Self-sensing pneumatic torsion driver based on electromagnetic induction principle - Google Patents
Self-sensing pneumatic torsion driver based on electromagnetic induction principle Download PDFInfo
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- CN117754638A CN117754638A CN202410071720.0A CN202410071720A CN117754638A CN 117754638 A CN117754638 A CN 117754638A CN 202410071720 A CN202410071720 A CN 202410071720A CN 117754638 A CN117754638 A CN 117754638A
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- 230000005674 electromagnetic induction Effects 0.000 title claims abstract description 33
- 229920001971 elastomer Polymers 0.000 claims abstract description 18
- 239000000806 elastomer Substances 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 16
- 239000000741 silica gel Substances 0.000 claims abstract description 16
- 229910002027 silica gel Inorganic materials 0.000 claims abstract description 16
- 239000002131 composite material Substances 0.000 claims abstract description 5
- 239000006247 magnetic powder Substances 0.000 claims abstract description 5
- 230000005389 magnetism Effects 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 229920001296 polysiloxane Polymers 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a self-sensing pneumatic torsion driver based on an electromagnetic induction principle. The upper and lower surfaces of the intermediate spiral structure are respectively connected with the top surface and the bottom surface, so that the self-sensing pneumatic torsion driver forms a closed cavity. Negative pressure is applied to the helical cavity, which cooperatively collapses, causing the torsional drive to produce a torsional motion that rapidly returns to its original state when the negative pressure is released. On the other hand, the middle spiral structure is provided with a spiral coil at the center, and because the middle spiral structure elastomer is made of a silica gel/magnetic powder composite material, the spiral structure elastomer has magnetism after magnetizing treatment and can generate a magnetic field around the spiral structure elastomer, and the magnetic field around the elastomer changes along with the deformation of the driver, so that the magnetomotive force passing through the spiral coil changes, the spiral coil can generate induced electromotive force, and the deformation of the torsion driver can be perceived by using the voltage signal. The self-sensing pneumatic torsion driver provided by the invention not only has small driving pressure and large movement range, but also has a self-sensing function.
Description
Technical Field
The invention relates to the field of flexible driving devices, in particular to a self-sensing pneumatic torsion driver based on an electromagnetic induction principle.
Background
Torsion, one of the most basic forms of motion, plays a vital role in both biological and mechanical systems, and can significantly increase the range of motion and flexibility of the system. However, the conventional robot still needs to use a motor, a gear and other conventional rigid devices to realize the twisting action, and these devices are often heavy, have low safety coefficient, low transmission efficiency, large noise and high manufacturing cost, and are not suitable for application to soft robots. Therefore, developing a high performance torsion driver with small driving pressure and large range of motion is critical for applications of soft robots.
Because of the advantages of low manufacturing cost, convenient use, simple control, etc., some innovative designs of pneumatic torsion drivers have been disclosed. For example, patent CN109291070B and CN109026893B disclose a triangular prism and a full soft torsion actuator for the triangular prism, where the actuator includes an upper bottom surface, a side curved surface and a lower bottom surface, and can implement torsion and linear coupling motion under negative pressure driving, and the torsion and linear coupling motion puts higher demands on the control of the driver. Patent CN106272458B discloses a spiral torsion soft robot module, which comprises an elastic main body, a rear plug, a central limiting strip and a front plug, and can realize torsion movement under positive pressure driving, and the risk of explosion caused by overlarge driving pressure exists in the driving process. And the pneumatic torsion driver disclosed in the prior art does not have a self-sensing function.
In general, pneumatic torsion drivers still commonly have the problems of high driving pressure, difficult control caused by coupling deformation, lack of self-sensing capability and the like. In order to solve these problems, innovative designs in terms of structure, materials, driving modes and the like are required, and the structure, materials and driving are fused to develop a novel soft torsion driver.
Disclosure of Invention
Aiming at the problems in the background technology, the invention provides a self-sensing pneumatic torsion driver based on an electromagnetic induction principle, which can be used for a torsion movement module of a soft robot.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a self-sensing pneumatic torsion driver based on electromagnetic induction principle comprises four parts, namely a top part, a middle spiral structure, a coil structure and a bottom part.
The top includes a top surface and a top boss, wherein the top boss is above the top surface, the top boss center is aligned with the top surface center, and the top boss design is convenient for the installation of self-sensing pneumatic torsion driver.
The middle spiral structure comprises an elastomer and a spiral cavity, and the upper surface and the lower surface of the middle spiral structure are respectively connected with the top surface and the bottom surface, so that the self-sensing pneumatic torsion driver forms a closed cavity.
A groove is formed below the middle spiral structure, a plurality of spiral cavities are mutually communicated, and the middle spiral structure is connected with an air pump through a silica gel hose.
The intermediate spiral structure elastomer is made of a silica gel/magnetic powder composite material, has magnetism after magnetizing treatment, and can generate a magnetic field around the intermediate spiral structure elastomer.
The coil structure comprises a spiral coil and a spiral coil outgoing line, wherein the spiral coil is placed in a middle solid area of the spiral structure, and the spiral coil outgoing line penetrates out of the top of the driver and is connected with the detection equipment.
The top comprises a bottom surface, a bottom boss and a silica gel hose, the bottom boss is arranged below the bottom surface, the center of the bottom boss is aligned with the center of the bottom surface, and the bottom boss is designed to facilitate the installation of the self-sensing pneumatic torsion driver.
The bottom surface and the bottom boss design a through-hole, and the through-hole is connected to the recess below the middle spiral structure, and the one end and the through-hole cartridge of silica gel hose are connected, and the other end and the air pump of silica gel hose are connected.
Preferably, in the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, the boss structure may be designed as a triangle boss, a square boss, a polygonal boss or a thread boss.
Preferably, in the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, the middle spiral structure can be designed into a left spiral structure or a right spiral structure, and the corresponding driver can respectively generate clockwise or anticlockwise torsion motion.
Preferably, in the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, the spiral cavity section may be designed as a triangular section or an elliptical section.
Preferably, in the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, the number of the spiral cavities may be plural, such as three, four, five or six, and the corresponding middle spiral structure is designed to have a polygonal cross section.
Preferably, in the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, the spiral coil may be designed in a triangular spiral, a square spiral or a circular spiral structure.
Further, in the above-described self-sensing pneumatic torsion driver based on the electromagnetic induction principle, a plurality of self-sensing pneumatic torsion drivers may be connected in series in order to achieve a larger torsion range.
Compared with the prior art, the invention discloses the self-sensing pneumatic torsion driver based on the electromagnetic induction principle, which has the following advantages:
1. the manufacturing is simple. The self-sensing pneumatic torsion driver based on the electromagnetic induction principle is simple in structure and low in preparation requirement, and the driver can be prepared by simple step-by-step pouring molding.
2. Is safe and reliable. The self-sensing pneumatic torsion driver based on the electromagnetic induction principle does not contain any rigid parts, can bear high-strength extrusion force, is driven by negative pressure, and does not have the risk of cavity explosion caused by overlarge driving pressure.
3. The movement range is large. The self-sensing pneumatic torsion driver based on the electromagnetic induction principle has the characteristics of small driving pressure and large torsion angle per unit length, and preliminary experiment results show that the maximum torsion angle per unit length reaches 2.51 degrees/mm, and in addition, larger torsion angles can be realized by adopting different cavity numbers, cavity section shapes or spiral parameters.
4. Has self-perception capability. The self-sensing pneumatic torsion driver based on the electromagnetic induction principle can generate feedback voltage when undergoing torsion deformation, and the voltage can be used for sensing the action and deformation of the driver.
In a word, the self-sensing pneumatic torsion driver provided by the invention can be used in series with the self-sensing pneumatic torsion driver to improve the torsion range, and can also be used in series with a pneumatic bending driver, a pneumatic linear driver and the like, so that the reachable space of the tail end of the flexible device is improved, and the self-sensing pneumatic torsion driver has wide application prospects in the fields of flexible grabbing, medical rehabilitation, soft robots and the like.
Drawings
Fig. 1 is a schematic three-dimensional structure of a self-sensing pneumatic torsion driver based on electromagnetic induction principle according to the present invention.
Fig. 2 is a schematic cross-sectional view of the middle spiral structure of a self-sensing pneumatic torsion driver based on the principle of electromagnetic induction.
Fig. 3 is a schematic diagram of a helical coil of a self-sensing pneumatic torsion driver based on electromagnetic induction principles.
Fig. 4 is a schematic three-dimensional structure of a self-sensing pneumatic torsion driver based on electromagnetic induction principle, and the bottom structure of the driver is not shown in the figure.
Fig. 5 is a schematic bottom view of a self-sensing pneumatic torsion driver based on electromagnetic induction principle, not shown in the figure, a silicone hose.
Fig. 6 is a schematic diagram of a left-handed and a right-handed screw of a self-sensing pneumatic torsion driver based on electromagnetic induction principle, the top structure not being shown.
Fig. 7 is a schematic diagram of a triangular cross-sectional structure of a spiral cavity.
Fig. 8 is a schematic diagram of a cross-sectional structure of cavities of different numbers of spiral cavities.
Fig. 9 is a schematic diagram of a coil structure of a triangular spiral and a square spiral.
Fig. 10 is a schematic diagram of a cross-sectional deformation of a self-sensing pneumatic torsion driver based on electromagnetic induction principles.
In the figure: 1. top boss, top surface, 3, middle spiral structure, 4, bottom surface, 5, bottom boss, 6, silicone hose, 7, spiral cavity, 8, elastomer, 9, middle solid area, 10, spiral coil, 11, recess, 12, through hole, 13, spiral coil lead-out wire 1, 14, spiral coil lead-out wire 2.
Description of the embodiments
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and examples, and it is apparent that the described examples are only some but not all examples of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, a self-sensing pneumatic torsion driver based on electromagnetic induction principle comprises four parts, namely a top part, a middle spiral structure, a coil structure and a bottom part.
Wherein the top includes a top surface 2 and a top boss 1, wherein the top boss 1 is above the top surface 2, the top boss center is aligned with the top surface center, and the top boss design facilitates installation of the self-perceived pneumatic torque driver.
The middle spiral structure comprises an elastic body 8 and a spiral cavity 7, and the upper surface and the lower surface of the middle spiral structure are respectively connected with the top surface 2 and the bottom surface 4, so that the whole self-sensing pneumatic torsion driver forms a closed cavity.
The coil structure comprises a spiral coil 10 and spiral coil outgoing lines 13 and 14, the spiral coil 10 is placed in a middle solid area 9 of the middle spiral structure, the center of the middle solid area 9 coincides with the center of the spiral coil 10, and the spiral coil outgoing lines 13 and 14 penetrate out of the top of the driver and are connected with the detection equipment.
Wherein, the top includes a bottom surface 4, bottom boss 5 and silica gel hose 6, and bottom boss 5 is in the below of bottom surface 4, and bottom boss center aligns with the bottom surface center, and the bottom boss design is also in order to make things convenient for the installation of the pneumatic torsion driver of self-perception.
The intermediate spiral structure elastomer is made of a silica gel/magnetic powder composite material, has magnetism after magnetizing treatment and can generate a magnetic field around the intermediate spiral structure elastomer.
As shown in fig. 4, a groove 11 is formed below the middle spiral structure, and the groove 11 connects the plurality of spiral cavities 7 to each other and is connected with the air pump through the silicone hose 6.
As shown in fig. 5, the bottom surface and the bottom boss are provided with a through hole 12, the through hole is connected to a groove 11 below the middle spiral structure, one end of the silica gel hose 6 is connected with the through hole 12 in an inserted manner, and the other end of the silica gel hose 6 is connected with the air pump.
As shown in fig. 6, the middle screw structure may be designed as a left screw structure or a right screw structure, and the driver having the left screw structure generates a clockwise torsion movement and the driver having the right screw structure generates a counterclockwise torsion movement.
As shown in fig. 7, the cross section of the spiral cavity can be designed into an ellipse or a triangle, and the triangle is rounded, the cavity is uniformly distributed in the center of the middle spiral structure, and the maximum output torsion angles of the pneumatic torsion drivers with different cross section shapes are different. The existing experimental result shows that when the whole size of the section of the driver, the number of the cavities and the volume of the cavities are the same, the maximum output torsion angle of the triangular section cavity is larger.
As shown in fig. 8, the number of the spiral cavities is three, four, five or six, and the corresponding cross section of the middle spiral structure of the self-sensing pneumatic torsion driver is equilateral triangle, square, regular pentagon or regular hexagon. The prior experimental results show that the maximum output angle of the pneumatic torsion driver is insensitive to the number of cavities, but the maximum output torque of the driver increases with the increase of the number of cavities.
As shown in fig. 9, the spiral coil is a circular spiral, a triangular spiral or a square spiral.
Driving principle:
as shown in fig. 10, when the inner surface of the spiral cavity 7 is subjected to a negative pressure (i.e., a force perpendicular to the inner surface of the cavity), the thinnest and softest areas of the elastomer collapse inward due to the uneven thickness. As the helical cavity collapses, a twisting movement of the intermediate solid region 9 is thereby induced. While the design of the helical cavity structure allows the driver to produce a twisting motion. When the negative pressure is released, the spiral cavity quickly returns to the original state.
Self-sensing principle:
the middle spiral structure elastomer is made of a silica gel/magnetic powder composite material, the elastomer has magnetism after magnetizing treatment and can generate a magnetic field around the elastomer, the magnetic induction intensity distribution of the magnetic material inside the elastomer changes along with the torsional deformation of the self-sensing pneumatic torsion driver, so that the magnetic flux passing through each coil changes, induced electromotive force is generated in a loop when the magnetic flux passing through a coil loop changes according to Faraday electromagnetic induction law, the generated induced voltage can be detected through a high-precision voltmeter, and the torsional deformation of the driver can be sensed by utilizing the detected induced voltage.
The above examples merely represent embodiments of the present invention, but the present invention is not limited to the above examples. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (7)
1. The utility model provides a self-sensing pneumatic torsion driver based on electromagnetic induction principle which characterized in that: the coil comprises four parts, namely a top part, a middle spiral structure, a coil structure and a bottom part; the top comprises a top surface (2) and a top boss (1), wherein the top boss (1) is arranged above the top surface (2), the center of the top boss is aligned with the center of the top surface, and the top boss is designed to facilitate the installation of the self-sensing pneumatic torsion driver; the middle spiral structure (3) comprises an elastic body (8) and a spiral cavity (7), and the upper surface and the lower surface of the middle spiral structure (3) are respectively connected with the top surface (2) and the bottom surface (4) so that the whole self-sensing pneumatic torsion driver forms a closed cavity; the coil structure comprises a spiral coil (10) and spiral coil outgoing lines (13, 14), wherein the spiral coil (10) is arranged in a middle solid area (9) of the middle spiral structure, and the spiral coil outgoing lines (13, 14) penetrate out of the top of the driver and are connected with the detection equipment; the top comprises a bottom surface (4), a bottom boss (5) and a silica gel hose (6), wherein the bottom boss (5) is arranged below the bottom surface (4), the center of the bottom boss is aligned with the center of the bottom surface, and the bottom boss is designed to facilitate the installation of the self-sensing pneumatic torsion driver.
2. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: the intermediate spiral structure elastomer (8) is made of a silica gel/magnetic powder composite material, and the elastomer (8) has magnetism after magnetizing treatment and can generate a magnetic field around the elastomer.
3. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: a groove (11) is formed below the middle spiral structure (3), a plurality of spiral cavities (7) are mutually communicated and connected with an air pump through a silica gel hose (6), negative pressure is applied to the spiral cavities (7) through the air pump, the spiral cavities (7) cooperatively collapse, and therefore the torsion driver is caused to generate torsion movement, and when the negative pressure is released, the spiral cavities (7) quickly recover to an initial state.
4. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: the bottom surface (4) and the bottom boss (5) are provided with a through hole (12), the through hole (12) is connected to a groove (11) below the middle spiral structure, one end of the silica gel hose (6) is connected with the through hole (12) in an inserted mode, and the other end of the silica gel hose (6) is connected with the air pump.
5. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: the middle spiral structure (3) is of a left spiral structure or a right spiral structure, the driver with the left spiral structure generates clockwise torsion movement, and the driver with the right spiral structure generates anticlockwise torsion movement.
6. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: the cross section of the spiral cavity (7) is elliptical or triangular, the triangular is subjected to rounding treatment, and the cavities are uniformly distributed in the center of the middle spiral structure.
7. The self-sensing pneumatic torsion driver based on electromagnetic induction principles of claim 1, wherein: the spiral coil (10) is a circular spiral, a triangular spiral or a square spiral. As the actuator deforms, the magnetic field around the elastic body changes, and the magnetomotive force passing through the spiral coil changes, so that the spiral coil generates an induced electromotive force, and the deformation of the torsion actuator can be perceived by the voltage signal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310619931.9A CN116638503A (en) | 2023-05-30 | 2023-05-30 | Self-sensing pneumatic torsion driver based on electromagnetic induction principle |
| CN2023106199319 | 2023-05-30 |
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| Publication Number | Publication Date |
|---|---|
| CN117754638A true CN117754638A (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310619931.9A Pending CN116638503A (en) | 2023-05-30 | 2023-05-30 | Self-sensing pneumatic torsion driver based on electromagnetic induction principle |
| CN202410071720.0A Pending CN117754638A (en) | 2023-05-30 | 2024-01-18 | Self-sensing pneumatic torsion driver based on electromagnetic induction principle |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310619931.9A Pending CN116638503A (en) | 2023-05-30 | 2023-05-30 | Self-sensing pneumatic torsion driver based on electromagnetic induction principle |
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| Country | Link |
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| CN (2) | CN116638503A (en) |
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2023
- 2023-05-30 CN CN202310619931.9A patent/CN116638503A/en active Pending
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- 2024-01-18 CN CN202410071720.0A patent/CN117754638A/en active Pending
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| CN116638503A (en) | 2023-08-25 |
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