CN115570593A - Multi-degree-of-freedom magnetic control spiral bionic flexible joint and application - Google Patents
Multi-degree-of-freedom magnetic control spiral bionic flexible joint and application Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides a multi-degree-of-freedom magnetic control spiral bionic flexible joint and application thereof. The bionic flexible joint comprises an electromagnetic controller and a spiral magnetic response composite structure connected with the electromagnetic controller, wherein the spiral magnetic response composite structure is provided with a preset design gap in the vertical direction, and under the control of the electromagnetic controller, soft magnets in the magnetic response composite structure mutually attract under the action of a magnetic field to form a multi-degree-of-freedom bionic flexible joint. The invention can realize the stretching, twisting and bending movements under the micro-gravity, vacuum and deep sea environment, can carry out modular combination, and can realize the functions of peristalsis, grabbing, bionic swimming, walking and the like by matching with the corresponding structural design. The invention has the advantages of low cost, faster response speed, strong expandability and the like, and the movement process is easier to control.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a multi-degree-of-freedom magnetic control spiral bionic flexible joint and application thereof.
Background
The soft robot made of the flexible driver is mainly made of soft materials, and the soft robot is made of the flexible materials, can realize continuous deformation in any direction, and can adapt to various complex environments. The driving method of the current soft robot mainly comprises: rope pulling driving, gas driving, intelligent material driving, chemical reaction driving, artificial muscle fiber driving, electromagnetic driving and the like.
The air driving needs structures such as an air pump and a pipeline, the whole structure is complex, the nonlinearity of the compressible motion process of the air is difficult to control, the working environment is limited by pressure intensity, and the air sealing device is not suitable for deep sea or vacuum environment and needs strict sealing conditions.
The principle of hydraulic drive is very similar to that of pneumatic drive, and the stability of the drive can be improved due to the incompressible nature of the fluid, but the application of hydraulic drive is limited to some extent due to the generally bulky hydraulic system.
The intelligent material drive comprises drive modes such as electroactive polymer (EAP), shape Memory Alloy (SMA), shape Memory Polymer (SMP), ionic Polymer Metal Composite (IPMC) and the like. EAP refers to polymers that can deform in various forms such as bending and shrinking under the action of an external electric field, and can be classified into ionic type and electric field type according to its braking mechanism. EAP drivers have poor controllability and low driving force, and although performance can be improved by stacking, the volume is increased accordingly. In addition, the failure modes of the EAP driver are many, and the driver performance is reduced or even fails due to tearing, electrical breakdown, wrinkling, and the like of the material, the electric field type EAP driver generally requires a driving voltage of kilovolt level, the technical difficulty is relatively high, and the ionic type EAP driver has high requirements on environment such as humidity and temperature.
SMA drive can be divided into two types, namely a magnetic control type and a temperature control type according to the principle, the research on the magnetic control type is relatively immature, and the current SMA drive mainly adopts a temperature control type SMA material. The temperature-controlled SMA is an alloy material which can completely eliminate the deformation of the SMA at low temperature after the temperature is raised and can be restored to the original shape. The driver has large driving stress and high power density, but has low efficiency, slow response and low control precision, and cannot realize stable torsional motion.
SMP is an intelligent polymeric material that can remember deformations and eliminate them completely under the action of an external stimulus. Compared with SMA, SMP has more stimulation forms including heat, light, electric field, magnetic field, humidity, chemical stimulation and the like, but SMP driver has smaller driving force, poorer stability, lower control precision and higher requirement on working environment.
The IPMC driver mainly comprises a cation exchange membrane and an electrode, and hydrated cations in a base material are transferred from an anode to a cathode under the action of an external electric field, so that the water content of the anode is reduced, the water content of the cathode is increased, and the IPMC driver is deformed due to the concentration difference of water molecules. The IPMC has the characteristics of light weight, high response speed and capability of forming large deformation and tension under a low voltage, but has the defect of low output force.
Chemical driving refers to a driving mode for converting chemical energy generated by chemical reaction into mechanical energy, the main types of the driving modes include decomposition reaction, chemical combination reaction, displacement reaction, oxidation-reduction reaction and the like, and the difference of the chemical driving performance is large due to the difference of the types of the chemical reactions. The speed of chemical reactions inside the actuator is generally difficult to control accurately, and thus the controllability of the chemical actuator is poor.
The artificial muscle fiber can generate reversible contraction movement under the external stimulation condition (light, electricity, heat, magnetism, pressure, solvent, humidity and the like), and can be driven by the modes of temperature difference, solvent or steam adsorption/desorption, electrochemical ion insertion/desorption, air pressure and the like according to the characteristics of the structure, components, properties and the like of the fiber driving material. But the application of the artificial muscle fiber is limited by the problems of poor expandability, lag of corresponding speed, single movement mode and cost.
Disclosure of Invention
According to the technical problems, a multi-degree-of-freedom magnetic control spiral bionic flexible joint and application thereof are provided. The invention can realize the stretching, twisting and bending movements under the micro-gravity, vacuum and deep sea environment, and can realize the functions of bending, creeping, grabbing, bionic swimming, walking and the like by matching with the corresponding structural design. The technical means adopted by the invention are as follows:
a multi-degree-of-freedom magnetic control spiral bionic flexible joint comprises an electromagnetic controller and a spiral magnetic response composite structure connected with the electromagnetic controller, wherein the spiral magnetic response composite structure is provided with a preset design gap in the vertical direction, and under the control of the electromagnetic controller, soft magnets in the magnetic response composite structure attract each other under the action of a magnetic field to form the multi-degree-of-freedom bionic flexible joint.
Furthermore, the magnetic response composite structure is formed by combining a plurality of magnetic response composite structure single bodies, the rotation directions of the magnetic response composite structure single bodies are the same, the torsion postures of the magnetic response composite structure single bodies are the same, the magnetic response composite structure single bodies are provided with suction surfaces, and the attraction of the magnetic force of the electromagnetic controller acts on the suction surfaces.
Furthermore, the electromagnetic controller comprises a fixed support, an iron core and an excitation device, the fixed support has preset magnetic conductivity, a copper enameled wire used for forming a strong magnetic field after being electrified is wound in the middle of the supporting structure, and the fixed support is further connected with a cooling and heat dissipation structure.
Further, the magnetic response composite structure comprises an outer layer spiral silica gel film and an inner magnetic material.
Furthermore, the internal magnetic material adopts acrylic acid to envelop the nano ferroferric oxide, and monomer polymerization is formed through hydroxyl neutralization.
Further, the internal magnetic material is prepared by fully stirring and mixing nano ferroferric oxide and acrylate/C10-30 alkyl acrylate cross-linked copolymer according to 1:1, and adding a regulator according to different requirements to adjust the viscosity.
The invention also discloses specific application of the multi-degree-of-freedom magnetic control spiral bionic flexible joint, which comprises application in bionic grippers, bionic feet, bionic swimming robots and bionic creeping robots.
The invention has the following advantages:
the invention can realize the stretching, twisting and bending movements under the micro-gravity, vacuum and deep sea environment, can carry out modular combination, and can realize the functions of peristalsis, grabbing, bionic swimming, walking and the like by matching with the corresponding structural design. Compared with a rope pulling driving transmission structure, the rope pulling driving device is simpler and can realize a continuous motion state; compared with air driving, complex structures such as an air pump and a pipeline are not needed, the filled magnetic suspension has no compressibility, and the movement process is easier to control. Compared with intelligent material driving, the intelligent material driving device has obvious advantages in driving effect, driving efficiency, motion forms capable of being generated and the like. Compared with artificial muscle fiber driving, the invention has the advantages of lower cost, higher response speed, strong expandability and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive exercise.
FIG. 1 is a schematic diagram of a detailed structure of a multi-degree-of-freedom magnetic control spiral bionic flexible joint.
FIG. 2 is a schematic diagram of the multi-degree-of-freedom magnetically controlled spiral bionic flexible joint of the present invention, wherein (a) is a schematic diagram of a contracted state; and (b) is a schematic view of the rotating state.
FIG. 3 is a schematic structural diagram of the connection of the multi-degree-of-freedom magnetic control spiral bionic flexible joint and the flexible gripper.
FIG. 4 is a schematic view of a single magnetically responsive composite structure of the present invention, wherein (a) is a schematic view of the suction side; and (b) is a schematic diagram of an elastic line.
FIG. 5 is a schematic structural diagram of an electromagnetic controller of the multi-degree-of-freedom magnetic control spiral bionic flexible joint.
Fig. 6 is a bending schematic diagram of the multi-degree-of-freedom magnetic control spiral bionic flexible joint, wherein (a) is to activate a left magnetic field, and (b) is to activate a right magnetic field.
In the figure: 1. an electromagnetic controller; 2. a magnetically responsive composite structure; 3. a flexible grip; 4. fixing a bracket; 5. an excitation device; 6. and cooling the heat dissipation structure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1, the embodiment discloses a multi-degree-of-freedom magnetic control spiral bionic flexible joint, which includes an electromagnetic controller 1 and a spiral magnetic response composite structure 2 connected to the electromagnetic controller, the spiral magnetic response composite structure has a preset design gap in the vertical direction, and under the control of the electromagnetic controller, soft magnets in the magnetic response composite structure attract each other under the action of a magnetic field to form the multi-degree-of-freedom bionic flexible joint. Specifically, after the electromagnetic controller is started, the soft magnets in the composite structure attract each other under the action of the magnetic field, as shown in fig. 2 (a) and (b), the gap marked by the arrow is reduced, macroscopically, the gap represents the overall stretching and rotating motion of the bionic joint, and the bionic joint returns to the original state by virtue of the elasticity of the composite material after the external magnetic field is removed.
As shown in fig. 3, a specific application of the present invention is shown, in this embodiment, the bottom end of the multi-degree-of-freedom magnetically controlled spiral bionic flexible joint is connected to the flexible gripper, and the flexible gripper is powered by the action of the magnetic response composite material under the action of the external magnetic field. FIG. 4 is a single magnetically responsive composite structure comprising a spiral monolith. The attraction of the magnetic force mainly acts on the suction surface shown in fig. 4 (a), which is a direct factor affecting the actual load of the bionic joint, and the larger the area of the suction surface is, the stronger the generated magnetic force is. This design achieves an axial suction area of 120%. Fig. 4 (b) shows the elastic lines of the spiral magnetic response composite structure under the action of no magnetic field, the thickness of the elastic lines is an important factor for determining the elastic restoring force of the spiral body, and the structural size of the spiral body can be adjusted according to requirements. The two ends of the suction surface are respectively provided with a connecting part, and the connecting parts are respectively connected with the flexible hand grab and the electromagnetic controller. In other optional embodiments, the present embodiment may further be matched with a corresponding structure to implement functions of peristalsis, bionic swimming, walking, and the like, so as to form a device having multiple degrees of freedom, such as a bionic peristalsis robot, a bionic fish, or a bionic foot, and the like.
As shown in fig. 5, the electromagnetic controller includes a fixed bracket 4, an iron core, and an excitation device 5, the fixed bracket has a preset magnetic conductivity, and a copper enameled wire for forming a strong magnetic field after being electrified is wound in the middle of the supporting structure. Specifically, the electromagnetic controller supporting structure is made of silicon steel or other materials with good magnetic conductivity, and can be manufactured by laser cutting or 3D printing. In the embodiment, the framework of the coil is made of galvanized iron sheets, and the material can meet the requirements on structural strength and a magnetic conduction loop in grabbing work. The copper wire is a 200 ℃ fluorine-resistant enameled red copper wire with the section diameter of 0.6mm, and the number of winding turns is 1500. After the coil is wound, the iron core is arranged in the hollow part of the coil, the fixed shell is sleeved outside the coil, and finally the fixed upper cover and the fixed shell are embedded together, namely the assembly of the excitation device is completed. In an alternative embodiment, a cooling heat dissipation structure 6 for dissipating heat is further connected to the fixing bracket 4.
The magnetic response composite structure comprises an outer layer spiral silica gel film and an internal magnetic material. Wherein, the outer layer spiral silica gel film can be manufactured by an over-mold casting method.
According to different postures required to be adjusted, different numbers of excitation coils can be arranged, in the embodiment, three excitation coils are arranged inside the electromagnetic controller, and the corresponding relation exists between the number of claws of the flexible gripper and the number of excitation units. Under the condition that partial coils of the electromagnetic controller are electrified, gaps between the composite material spiral bodies of the corresponding parts below the electromagnetic controller contract, the bionic joint generates bending motion, and the bionic joint restores to the original position under the elastic action of the composite material when the electromagnetic controller is powered off. The bionic joint can be bent towards different directions by controlling the on-off of different coils, and as shown in fig. 6 (a) and (b), the bending angle, the bending speed and the like of the bionic joint can be controlled by changing the current of the coils, so that the whole body is a multidirectional bending motion similar to a wrist. Under the action of the magnetic control bionic joint, the device can realize the extension in the vertical Z direction and the rotation angle alpha around the vertical Z direction on the basis of realizing the bending motion in all directions in an X-Y plane, and can finish the motion with 4 degrees of freedom. Along with the increase of the output power change speed of the top electromagnetic control system, the movement speed of the bionic joint is increased. And in the process of gradual shrinkage, the spiral structure can make the shrinkage more gradual, and the shrinkage amplitude is easier to control, so that the movement precision is higher. Meanwhile, any point between the contact surfaces does not have relative displacement in the tangential direction under the structure, so that the friction force is reduced to the maximum extent, and the service life of the device is prolonged while the mechanical efficiency is higher.
The internal magnetic material adopts acrylic acid to envelop nano ferroferric oxide, and monomer polymerization is formed through hydroxyl neutralization.
The internal magnetic material is prepared by fully stirring and mixing nano ferroferric oxide and acrylate/C10-30 alkyl acrylate cross-linked copolymer according to 1:1, and adding a regulator according to different requirements to adjust the viscosity.
The magnetic-sensing part of the composite material adopts acrylic acid enveloped nano ferroferric oxide to form monomer polymerization through hydroxyl neutralization. Polyacrylic acid has external environment-induced expansion and contraction, and can maintain flexibility in various environments; the ferroferric oxide has a typical cubic phase crystal structure and is strong in stability; the surface activity of monomer polymerization formed by hydroxyl neutralization is similar to that of a low-molecular surfactant, the monomer polymerization has high viscosity, and the problem that the ferroferric oxide mixture is easy to precipitate after standing for a long time is solved. Compared with the common magnetic-sensitive rubber, the novel composite material has better flexibility and higher saturation magnetization, and can provide stronger driving force under the same power applied magnetic field.
As an alternative embodiment, the outer layer of the magnetic response structure is made of silica gel. First with A and B two kinds of silica gel homogeneous mixing, put into the vacuum chamber with it afterwards to through the inside bubble of vacuum pump extraction liquid silica gel, after the liquid silica gel that will mix evenly pour into the good mould of 3D printing, treat that silica gel stably fills up the back, put into the drying cabinet with it and heat, treat that the silica gel takes out flexible outer follow mould after the complete shaping. And finally, injecting a polyacrylic acid-ferroferric oxide mixed material into the silicone rubber flexible outer layer.
The invention relates to a spiral soft robot driver utilizing electromagnetic control, which solves the problems of complex transmission structure and discontinuous motion state of rope pull driving; the problems that the structure is complex due to the fact that air pumps, pipelines and the like are needed for air driving, the nonlinearity of the air in the compressible motion process is difficult to control, the working environment is limited by pressure intensity, the air pump is not suitable for deep sea or vacuum environment, and strict sealing conditions are needed are solved; the problems that the driving of intelligent materials and the driving of chemical reactions require the external conditions such as large-range temperature change or high voltage to limit and the application range is limited are solved. The problems that the cost of artificial muscle fiber driving is high, the response speed is lagged, the expandability is not strong, and only the telescopic motion can be realized are solved.
The response speed is an important parameter of the flexible gripping device, the specific response speed is measured through the following specific experiments, in the test process, the gripped object is firstly connected to the force sensor, then the gripped object is moved, the gripped object is surrounded by the gripper of the flexible gripper prototype device integrated with the magnetic control bionic joint, and the lower end of the gripper is flush with the lower end of the gripped object. And then the current with different magnitudes is input into the excitation device by adjusting the current source to generate a variable control magnetic field, so that the magnetic control bionic flexible joint moves. During the motion, a high-speed camera is used to capture and save the data. Tests show that the fastest response speed of the flexible gripper provided by the embodiment is less than 0.5s, the response speed of the SMA material designed by She et al is 11s, and the response speed of the gas drive adopted by Krahn et al is 2.7s, so that the flexible gripper provided by the embodiment has a faster response speed compared with the SMA material.
Compare in this embodiment of multiaxis arm and do not need motor, gear etc. the structure is simpler, and cost reduction more than 95%, volume reduction 80%. The driving efficiency is far higher than that of the traditional mechanical arm under the same mass, the mechanical arm is more suitable for multiple complex working conditions such as microgravity, vacuum and deep sea, and can play a more important role in the fields of flexible robots or bionic arms.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A multi-degree-of-freedom magnetic control spiral bionic flexible joint is characterized by comprising an electromagnetic controller and a spiral magnetic response composite structure connected with the electromagnetic controller, wherein the spiral magnetic response composite structure is provided with a preset design gap in the vertical direction, and under the control of the electromagnetic controller, soft magnets in the magnetic response composite structure are mutually attracted under the action of a magnetic field to form the multi-degree-of-freedom bionic flexible joint.
2. The multi-degree-of-freedom magnetic control spiral bionic flexible joint as claimed in claim 1, wherein the magnetic response composite structure is formed by combining a plurality of magnetic response composite structure monomers, the rotation directions and the twisting postures of the magnetic response composite structure monomers are the same, the magnetic response composite structure monomers are provided with a suction surface, and the attraction of the magnetic force of an electromagnetic controller acts on the suction surface.
3. The multi-degree-of-freedom magnetically controlled spiral bionic flexible joint as claimed in claim 1, wherein the electromagnetic controller comprises a fixed support, an iron core and an excitation device, the fixed support has a preset magnetic conductivity, a copper enameled wire used for forming a strong magnetic field after being electrified is wound in the middle of the supporting structure, and the fixed support is further connected with a cooling and heat dissipation structure.
4. The multi-degree-of-freedom magnetically controlled spiral bionic flexible joint as claimed in claim 1, wherein the magnetic response composite structure comprises an outer layer spiral silica gel film and an inner magnetic material.
5. The multi-degree-of-freedom magnetically controlled spiral bionic flexible joint as claimed in claim 4, wherein the internal magnetic material is acrylic acid enveloped with nano ferroferric oxide, and monomer polymerization is formed through hydroxyl neutralization.
6. The multi-degree-of-freedom magnetically controlled spiral bionic flexible joint as claimed in claim 4, wherein the internal magnetic material is prepared by fully stirring and mixing nano ferroferric oxide and acrylate/C10-30 alkyl acrylate cross-linked copolymer according to 1:1, and adding a regulator to adjust the viscosity according to different requirements.
7. The application of the multi-degree-of-freedom magnetic control spiral bionic flexible joint as claimed in any one of claims 1 to 6, wherein the bionic flexible joint is applied to a bionic hand grip, a bionic foot, a bionic swimming robot and a bionic creeping robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211139906.2A CN115570593A (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom magnetic control spiral bionic flexible joint and application |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211139906.2A CN115570593A (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom magnetic control spiral bionic flexible joint and application |
Publications (1)
| Publication Number | Publication Date |
|---|---|
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| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| CN104972110A (en) * | 2015-06-27 | 2015-10-14 | 铜陵铜基粉体科技有限公司 | Electromagnetic interference resistant spherical copper powder and method for manufacturing the same |
| CN108127658A (en) * | 2017-12-21 | 2018-06-08 | 哈尔滨工业大学 | A kind of artificial-muscle of electromagnetism power drive |
| CN108582053A (en) * | 2018-04-20 | 2018-09-28 | 大连理工大学 | The continuous humanoid robot of flexibility based on the driving of electromagnetism rope |
| KR102005323B1 (en) * | 2018-03-15 | 2019-07-30 | 인하대학교 산학협력단 | Rotating and revolving magnetic soft robots based on polymer composites and method for preparing the same |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| CN104972110A (en) * | 2015-06-27 | 2015-10-14 | 铜陵铜基粉体科技有限公司 | Electromagnetic interference resistant spherical copper powder and method for manufacturing the same |
| CN108127658A (en) * | 2017-12-21 | 2018-06-08 | 哈尔滨工业大学 | A kind of artificial-muscle of electromagnetism power drive |
| KR102005323B1 (en) * | 2018-03-15 | 2019-07-30 | 인하대학교 산학협력단 | Rotating and revolving magnetic soft robots based on polymer composites and method for preparing the same |
| CN108582053A (en) * | 2018-04-20 | 2018-09-28 | 大连理工大学 | The continuous humanoid robot of flexibility based on the driving of electromagnetism rope |
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