CN220366121U - Peristaltic pipeline soft robot based on electromagnetic control - Google Patents
Peristaltic pipeline soft robot based on electromagnetic control Download PDFInfo
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- CN220366121U CN220366121U CN202321674507.6U CN202321674507U CN220366121U CN 220366121 U CN220366121 U CN 220366121U CN 202321674507 U CN202321674507 U CN 202321674507U CN 220366121 U CN220366121 U CN 220366121U
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Abstract
The utility model discloses a peristaltic pipeline soft robot based on electromagnetic control, which comprises a central connector, wherein two ends of the central connector are respectively connected with a walking unit assembly; the central connecting body comprises two large permanent magnets, a large soft magnetic elastomer, a large spring and a large coil; the walking unit component comprises a walking unit cabin body, telescopic legs, a sucker, a small permanent magnet and a small soft magnetic elastomer, wherein a small spring and a small coil are arranged in the middle of the small soft magnetic elastomer. A closed magnetic circuit is formed between the soft magnetic elastomer and the two permanent magnets, the magnetic field intensity can be changed by energizing the coil between the permanent magnets, and then the magnetic force between the permanent magnets is changed, and the central connector of the robot and the walking unit have telescopic driving capability by matching with the springs so as to realize the peristaltic motion of the whole robot structure. The device has the characteristics of reliable structure, simple assembly and flexible movement, and can adapt to various complex working environments.
Description
Technical Field
The utility model relates to a soft robot technology, in particular to a peristaltic pipeline soft robot based on electromagnetic control.
Background
At present, research on soft robots is rapidly developed, and particularly, excellent sensitivity and environmental adaptability are exhibited in a complex environment. The soft robot has huge application potential in various fields, and meets the requirements of current people.
In the prior art, a plurality of novel soft robots are presented, which adopt different driving modes such as memory alloy driving, air pressure driving, chemical reaction driving, electromagnetic driving and the like, and each driving mode has unique advantages and disadvantages:
the soft robot driven by the memory alloy has larger driving force, but has slower response speed;
the pneumatic driven soft robot has rapid response speed and strong driving force, but devices such as an air valve carried by the pneumatic driven soft robot are too much and too heavy, so that the movement of the soft robot is not good;
the chemical reaction driven soft robot can generate driving force through chemical reaction, and has higher flexibility and environmental adaptability;
the electromagnetic driving soft robot is driven by electromagnetic force, and has higher accurate control capability.
However, the current electromagnetically driven soft robots are complex in structure and are not suitable for realizing more accurate control. Therefore, there is an urgent need to develop a soft robot that is simple in structure and easy to control, and that can combine different functional components according to work demands.
In view of this, the present utility model has been made.
Disclosure of Invention
The utility model aims to provide a peristaltic pipeline soft robot based on electromagnetic control, which solves the technical problems in the prior art.
The utility model aims at realizing the following technical scheme:
the peristaltic pipeline soft robot based on electromagnetic control comprises a central connector, wherein two ends of the central connector are respectively connected with a walking unit assembly;
two ends of the central connecting body are respectively provided with a large permanent magnet 11, the two large permanent magnets 11 are connected through a large soft magnetic elastomer 14 and are integrally wrapped in a large corrugated pipe 12, and a large spring 13 and a large coil 15 are arranged in the large soft magnetic elastomer 14;
the walking unit assembly comprises a walking unit cabin body 1, the walking unit cabin body 1 is of a hollow cylindrical structure, through holes are formed in the side walls of the walking unit cabin body relatively, two telescopic legs 4 extend out of the two through holes in the side walls respectively and are in clearance fit, the outer ends of the telescopic legs 4 are connected with sucking discs 5, the inner end faces of the telescopic legs 4 are adhered with small permanent magnets 6, the two small permanent magnets 6 are connected through small soft magnetic elastomers 9 and are integrally wrapped in small corrugated pipes 7, and small springs 8 and small coils 10 are arranged in the middle of the small soft magnetic elastomers 9.
Compared with the prior art, the peristaltic pipeline soft robot based on electromagnetic control provided by the utility model realizes electromagnetic driving by utilizing the magnetic force between the coil and the permanent magnet and combining the porous medium elastomer deformation unit. The size and the direction of the magnetic field are changed by controlling the current, so that the attachment and the peristaltic movement of the robot in the pipeline are realized, and the control complexity is reduced;
by connecting a plurality of travelling units and a central connecting body, the robot can be assembled, and in addition, components with different functions can be connected. This enables a soft robot to perform in a variety of complex environments and with different functions, and this flexible combination capability will bring greater diversity and adaptability to the application of the robot.
The robot has the characteristics of flexible and changeable structure, high control precision, high response speed and simple assembly, and is a combination of electromechanical integration technology and bionics.
Drawings
Fig. 1a and fig. 1b are schematic structural diagrams and A-A cross-sectional views of a peristaltic pipeline soft robot based on electromagnetic control according to an embodiment of the present utility model;
FIGS. 2a and 2b are schematic structural views and A-A cross-sectional views of telescoping legs of a walking unit according to an embodiment of the present utility model;
FIGS. 3a and 3b are schematic structural views and A-A cross-sectional views of a central connector according to an embodiment of the present utility model;
FIG. 4 is a schematic diagram of a peristaltic soft robot moving in a pipeline according to an embodiment of the present utility model.
In the figure:
1. the walking unit comprises a walking unit cabin body 4, telescopic legs 5, sucking discs 6, small permanent magnets 7, small corrugated pipes 8, small springs 9, small soft magnetic bodies 10, small coils 11, large permanent magnets 12, large corrugated pipes 13, large springs 14, large soft magnetic elastic bodies 15 and large coils.
Detailed Description
The technical solutions in the embodiments of the present utility model are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model; it will be apparent that the described embodiments are only some embodiments of the utility model, but not all embodiments, which do not constitute limitations of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.
The terms that may be used herein will first be described as follows:
the term "and/or" is intended to mean that either or both may be implemented, e.g., X and/or Y are intended to include both the cases of "X" or "Y" and the cases of "X and Y".
The terms "comprises," "comprising," "includes," "including," "has," "having" or other similar referents are to be construed to cover a non-exclusive inclusion. For example: including a particular feature (e.g., a starting material, component, ingredient, carrier, formulation, material, dimension, part, means, mechanism, apparatus, step, procedure, method, reaction condition, processing condition, parameter, algorithm, signal, data, product or article of manufacture, etc.), should be construed as including not only a particular feature but also other features known in the art that are not explicitly recited.
The term "consisting of … …" is meant to exclude any technical feature element not explicitly listed. If such term is used in a claim, the term will cause the claim to be closed, such that it does not include technical features other than those specifically listed, except for conventional impurities associated therewith. If the term is intended to appear in only a clause of a claim, it is intended to limit only the elements explicitly recited in that clause, and the elements recited in other clauses are not excluded from the overall claim.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like should be construed broadly to include, for example: the connecting device can be fixedly connected, detachably connected or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms herein above will be understood by those of ordinary skill in the art as the case may be.
The terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. refer to an orientation or positional relationship based on that shown in the drawings, merely for ease of description and to simplify the description, and do not explicitly or implicitly indicate that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure.
What is not described in detail in the embodiments of the present utility model belongs to the prior art known to those skilled in the art. The specific conditions are not noted in the examples of the present utility model and are carried out according to the conditions conventional in the art or suggested by the manufacturer. The reagents or apparatus used in the examples of the present utility model were conventional products commercially available without the manufacturer's knowledge.
The peristaltic pipeline soft robot based on electromagnetic control comprises a central connector, wherein two ends of the central connector are respectively connected with a walking unit assembly;
two ends of the central connecting body are respectively provided with a large permanent magnet 11, the two large permanent magnets 11 are connected through a large soft magnetic elastomer 14 and are integrally wrapped in a large corrugated pipe 12, and a large spring 13 and a large coil 15 are arranged in the large soft magnetic elastomer 14;
the walking unit assembly comprises a walking unit cabin body 1, the walking unit cabin body 1 is of a hollow cylindrical structure, through holes are formed in the side walls of the walking unit cabin body relatively, two telescopic legs 4 extend out of the two through holes in the side walls respectively and are in clearance fit, the outer ends of the telescopic legs 4 are connected with sucking discs 5, the inner end faces of the telescopic legs 4 are adhered with small permanent magnets 6, the two small permanent magnets 6 are connected through small soft magnetic elastomers 9 and are integrally wrapped in small corrugated pipes 7, and small springs 8 and small coils 10 are arranged in the middle of the small soft magnetic elastomers 9.
The telescopic legs 4 of the two walking unit assemblies are arranged in a 90-degree staggered manner.
The sucking disc 5 is connected with the telescopic leg 4 in a detachable mode.
The large soft magnetic elastomer 14 and the small soft magnetic elastomer 9 are prepared from porous medium materials and soft magnetic particles.
The porous medium material and the soft magnetic particles are composite materials prepared from foamed silica gel, magnetic powder or magnetic conductive fibers.
The large permanent magnet 11 and the small permanent magnet 6 are made of hard magnetic materials which are magnetized in the axial direction.
The hard magnetic material is neodymium iron boron.
A basic movement unit is formed by a walking unit and a central connector in a modularized design, and a plurality of basic movement units are sequentially connected in series to form a group according to the use condition, so that the soft robot combination is assembled.
The magnetic field generated after the coil is electrified in the soft magnetic elastomer body and the magnetic field between the two permanent magnets form a superimposed magnetic field, the intensity of the superimposed magnetic field is changed by changing the size and the direction of the current of the electrified coil, and the magnetic force between the permanent magnets is changed along with the intensity of the superimposed magnetic field to generate a driving force, so that the robot can creep in a pipeline.
In summary, the peristaltic pipeline soft robot based on electromagnetic control provided by the embodiment of the utility model consists of the central connector and two walking units which are transversely and longitudinally arranged, the driving modes are the same, a closed magnetic circuit is formed between the soft magnetic elastomer and the two permanent magnets, the magnetic field intensity can be changed by electrifying the coil between the permanent magnets, the magnetic force between the permanent magnets is further changed, and the central connector and the walking units of the robot have telescopic driving capability by matching with the springs, so that the peristaltic motion of the whole robot structure is realized. The device has the characteristics of reliable structure, simple assembly and flexible movement, and can adapt to various complex working environments.
In order to more clearly demonstrate the technical scheme and the technical effects provided by the utility model, the following detailed description of the embodiments of the utility model is given by way of specific examples.
As shown in fig. 1a, 1b to 4:
the robot forms a closed magnetic circuit through the coil, the permanent magnet and the soft magnetic elastomer, and realizes the attachment and peristaltic movement of the whole robot in the pipeline by utilizing the compression rebound characteristic of the spring and the soft magnetic elastomer. Specifically, the main body elements of the robot are: the flexible magnetic suspension device comprises a sucker, flexible legs, a corrugated pipe, a walking cabin body, a coil, a spring, an axially magnetized permanent magnet and a soft magnetic elastomer with porous media. Two cylindrical permanent magnets with opposite polarities are opposite along the magnetizing direction, magnetic attraction can be generated within a certain distance range, the two permanent magnets are connected through a soft magnetic elastomer to enhance magnetic permeability, coils are embedded in the elastomer, electromagnetic fields with different intensities can be generated by controlling the magnitude of current in the coils, the electromagnetic fields are mutually overlapped with the self magnetic fields of the permanent magnets, the magnitude of the magnetic attraction between the permanent magnets can be changed, and the elastomer plays a role of connecting the coils with the permanent magnets and has a certain elastic restoring force. By controlling the magnitude of the current to change the magnitude of the electromagnetic field generated by the coil, the robot can achieve adhesion and creep within the pipe. The advantage of this design is that it combines the electromagnetic control and the properties of the elastomer, enabling flexible movements of the robot within the pipe. Meanwhile, due to the adoption of a closed magnetic circuit design, the robot has strong stability and control performance. The peristaltic pipeline soft robot is expected to be applied to tasks in various pipelines, such as detection, cleaning, maintenance and the like.
The robot consists of two main parts: a walking unit and a central connector. The walking units are arranged in a 90-degree cross manner, so that the telescopic legs of the robot are arranged in a cross shape, and ordered movement is realized. One walking unit cabin is connected with one end of the central connecting body, the other end of the central connecting body is connected with the next walking unit cabin, and a plurality of groups of walking units are combined together, so that a peristaltic movement mode can be realized. The advantage of this construction is that modular assembly and flexible adjustment of the robot can be achieved by the combination of the travelling unit assembly and the central connection body. The robot can increase or decrease the number of the walking units according to the requirements of specific tasks so as to adapt to different pipeline sizes and shapes. Meanwhile, the staggered walking units can enable the movement of the robot to be more stable and balanced, and the robot can effectively advance in the pipeline.
The walking unit comprises the following components: the walking unit comprises a walking unit cabin body, a sucker, a corrugated pipe, telescopic legs, springs, a soft magnetic elastomer, a permanent magnet and coils. In one walking unit, a soft magnetic elastomer is internally provided with a spring and a coil and is connected with telescopic legs with permanent magnets adhered at two ends. The permanent magnets are arranged in such a way that the N-poles and the S-poles are opposite to each other to form a polarity difference of the magnetic field. Meanwhile, the telescopic legs are matched with holes in the walking unit shell, so that flexible movement of the telescopic legs is ensured.
Such a design has the following advantages:
firstly, a coil arranged in the soft magnetic elastomer can generate a magnetic field through current control to interact with a permanent magnet on the telescopic leg, so that electromagnetic driving is realized. Secondly, through the cooperation of flexible leg and the walking unit cabin body, make the structure of walking unit more stable, vibration and the impact when can bearing the motion have improved the stability of robot motion.
Further, the central connector is composed of soft magnetic elastomer, permanent magnet, spring and coil, and the magnetic attraction force can be changed by controlling the current of the electrified coil in the same structural form and driving mode as the telescopic leg. Because the soft magnetic elastomer has the expansion and recovery characteristic, the robot can realize peristaltic movement in the pipeline. The soft magnetic elastomer is prepared from porous medium materials and soft magnetic particles, can be manufactured into different diameters and lengths by using a die, and has stable elastic restoring force and magnetic permeability. For example, a composite material prepared from foamed silica gel, magnetic powder or magnetically permeable fibers may possess the above properties. The design enables the soft robot to flexibly creep in the pipeline according to the requirement, and can adapt to the shapes and the sizes of different pipelines.
Compared with other soft robots, the utility model has the following advantages:
the electromagnetic control soft pipeline robot is matched with the soft magnetic elastomer through the magnetic force action between the coil and the permanent magnet, so that the telescopic control can be realized. By adjusting the coil current, the peristaltic speed of the soft robot can be flexibly changed, thereby reducing the complexity of control. The driving mode of combining the electromagnetic coil and the permanent magnet is utilized, so that the robot has the characteristics of quick response and strong driving force. In addition, the soft robot can be assembled rapidly, and flexible combination of various robot configurations is realized by connecting components with different functions, so that the requirements of different working environments can be met.
Example 1
Peristaltic pipeline soft robot based on electromagnetic control, and its structure implementation form is shown in fig. 1a and 1 b. The walking unit cabin body is matched with a pair of telescopic legs, permanent magnets are respectively adhered to the end faces of the telescopic legs, and the permanent magnet poles of the end faces of the two telescopic legs are arranged in an N-S mode and are attracted to each other; the two permanent magnets are connected through a soft magnetic elastomer, a coil and a spring are arranged in the elastomer, and the internal structure of the walking unit assembly is shown in fig. 2a and 2 b. The permanent magnets on the central connector are also arranged in N-S mode and are attracted mutually; the two permanent magnets are also connected through a soft magnetic elastomer, the coil is embedded in the elastomer, and the internal structure of the central connector is shown in fig. 3a and 3 b. The soft magnetic elastomer is prepared from foamed silica gel, magnetic powder or magnetic fiber materials, the permanent magnet is prepared from neodymium-iron-boron permanent magnet alloy materials, and the connecting piece material can be nonmagnetic homogeneous hydrogel. The robot adopts the modularized design, a walking unit component and a central connecting body form a basic movement unit, a plurality of basic movement units can be connected in series according to the requirement, and the robot formed by connecting three central connecting bodies in series moves in a pipeline, as shown in figure 4.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the scope of the present utility model. Therefore, the protection scope of the present utility model should be subject to the protection scope of the claims. The information disclosed in the background section herein is only for enhancement of understanding of the general background of the utility model and is not to be taken as an admission or any form of suggestion that this information forms the prior art already known to those of ordinary skill in the art.
Claims (7)
1. The peristaltic pipeline soft robot based on electromagnetic control is characterized by comprising a central connector, wherein two ends of the central connector are respectively connected with a walking unit assembly;
two ends of the central connecting body are respectively provided with a large permanent magnet (11), the two large permanent magnets (11) are connected through a large soft magnetic elastomer (14) and are integrally wrapped in a large corrugated pipe (12), and a large spring (13) and a large coil (15) are arranged in the large soft magnetic elastomer (14);
the walking unit assembly comprises a walking unit cabin body (1), the walking unit cabin body (1) is of a hollow cylindrical structure, through holes are formed in the side walls of the walking unit cabin body relatively, two telescopic legs (4) extend out of the two through holes in the side walls and are in clearance fit, the outer ends of the telescopic legs (4) are connected with sucking discs (5), the inner end faces of the telescopic legs (4) are adhered with small permanent magnets (6), the two small permanent magnets (6) are connected through small soft magnetic elastomers (9) and are integrally wrapped in small corrugated pipes (7), and small springs (8) and small coils (10) are arranged in the middle of the small soft magnetic elastomers (9).
2. The peristaltic pipeline soft robot based on electromagnetic control according to claim 1, characterized in that the telescopic legs (4) of the two walking unit assemblies are arranged in a 90 degree staggered manner.
3. The peristaltic pipeline soft robot based on electromagnetic control according to claim 1, characterized in that the suction cup (5) is detachably connected with the telescopic leg (4).
4. The peristaltic pipeline soft robot based on electromagnetic control according to claim 1, characterized in that the large soft magnetic elastomer (14) and the small soft magnetic elastomer (9) are made of porous medium material and soft magnetic particles.
5. The peristaltic pipeline soft robot based on electromagnetic control according to claim 1, characterized in that the large permanent magnet (11) and the small permanent magnet (6) are of axially magnetized hard magnetic material.
6. The electromagnetic control-based peristaltic pipeline soft robot of claim 5 wherein the hard magnetic material is neodymium iron boron.
7. The peristaltic pipeline soft robot based on electromagnetic control according to any one of claims 1 to 6, wherein a basic movement unit is formed by a walking unit and a central connector, and a plurality of basic movement units are sequentially connected in series to form a group, so that the soft robot combination is assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321674507.6U CN220366121U (en) | 2023-06-29 | 2023-06-29 | Peristaltic pipeline soft robot based on electromagnetic control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321674507.6U CN220366121U (en) | 2023-06-29 | 2023-06-29 | Peristaltic pipeline soft robot based on electromagnetic control |
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| CN220366121U true CN220366121U (en) | 2024-01-19 |
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| CN202321674507.6U Active CN220366121U (en) | 2023-06-29 | 2023-06-29 | Peristaltic pipeline soft robot based on electromagnetic control |
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| Country | Link |
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| CN (1) | CN220366121U (en) |
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2023
- 2023-06-29 CN CN202321674507.6U patent/CN220366121U/en active Active
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