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Phase-controlled electromagnetic motion units, flexible octopus bionic mechanical arm and control method of flexible octopus bionic mechanical arm

A motion unit and bionic machine technology, applied in the field of flexible manipulators, can solve the problems of high cost, limited functions of flexible manipulators, limited application scope, etc., to meet the needs of high-precision use, improve flexibility and load capacity, The effect of expanding the size of the matrix

Pending Publication Date: 2022-01-11
蓓伟机器人科技(上海)有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Existing flexible manipulators are generally driven by hydraulic pressure or air pressure, and generally have the following defects: 1) slow response speed, insufficient control precision, poor flexibility, limited working capacity, and cannot meet the needs of high-precision use; 2) high cost , with limited application
Based on the above defects, the functions of the existing flexible manipulators are very limited, it is difficult to efficiently complete complex tasks, the application range is limited, and it cannot be used and promoted on a large scale

Method used

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  • Phase-controlled electromagnetic motion units, flexible octopus bionic mechanical arm and control method of flexible octopus bionic mechanical arm
  • Phase-controlled electromagnetic motion units, flexible octopus bionic mechanical arm and control method of flexible octopus bionic mechanical arm
  • Phase-controlled electromagnetic motion units, flexible octopus bionic mechanical arm and control method of flexible octopus bionic mechanical arm

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Experimental program
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Effect test

Embodiment 1

[0032] Refer Figure 1 to 4 One of the phased electromagnetic moving units 1 of the present invention comprises an electromagnet 11 having two magnetic poles, an elastic limit piece, a two sets of control lines 12 and a waterproof insulating layer 13 that are electrically connected to a two electromagnetically attached. The elastic limit member is used to limit the relative contraction and extension movement of the two electromagnet 11, and is disposed such that the magnetic field generated by the two electromagnet 11 can interact; the elastic limit piece is connected to two electromagnets 11 The elastic connecting member 14, the elastic connector 14 is a spring, so that the phase control electromagnetic moving unit 1 can be reset to the initial state after the electromagnetic force is removed; there are several flexible chains 17 between the two electromagnets 11, for The relative extension distance of the two electromagnet 11 is limited. The control line 12 is used to connect the...

Embodiment 2

[0036] Refer Figure 5 and Image 6The difference from the present embodiment and the first embodiment is that the elastic limit member includes a first retractable medium 15 and a second scalable medium 16, and the first scalable medium 15 is disposed between the two electromagnets 11. The relative contraction motion of the two electromagnet 11 is restricted, and the second telescopic medium 16 is wrapped in two electromagnet 11 and the first retractable medium 15 for limiting the extension motion of the two electromagnet 11. The first telescopic medium 15, the second retractable medium 16 each employs a rubber material, and the elasticity of the second telescopic medium 16 is greater than the first telescopic medium 15. Several phase-controlled electromagnetic motion units 1 form the base matrix 7 on the base 2 in the form of a 3 × 4 matrix. The control line 12 of the plurality of phase control electromagnetic moving unit 1 is synthesized. The phase-controlled electromagnetic moti...

Embodiment 3

[0038] The difference between the present embodiment and the first embodiment is that the elastic connecting member 14 uses an elastomer.

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Abstract

The invention relates to phase-controlled electromagnetic motion units, a flexible octopus bionic mechanical arm and a control method of the flexible octopus bionic mechanical arm. Each phase-controlled electromagnetic motion unit comprises two electromagnets with opposite magnetic poles, an elastic limiting part and two groups of control lines, wherein each elastic limiting part is used for limiting the relative contraction and stretching motion of the two electromagnets. The flexible octopus bionic mechanical arm comprises a base body and a plurality of muscle fiber units, the multiple phase-controlled electromagnetic motion units are sequentially arranged in the stretching direction of the phase-controlled electromagnetic motion units to form the muscle fiber units, and the muscle fiber units are arranged on the base body in an array manner. According to the phase-controlled electromagnetic motion units, contraction or stretching of the phase-controlled electromagnetic motion units is controlled by controlling the phase and the magnitude of current input into the electromagnets, motion control of the flexible octopus bionic mechanical arm can be achieved by conducting matrix type arrangement and control on the phase-controlled electromagnetic motion units, various space actions can be flexibly completed, motion control is prone to achieve, the response speed is high, the control precision is high, the cost is low, and the application range is wide; and the phase-controlled electromagnetic motion units can be used in air and deepwater environments.

Description

Technical field [0001] The present invention relates to the technical field of flexible robotic arms, in particular a phased electromagnetic moving unit, a flexible octopus, a method of controlling a mechanical arm and a control method thereof. Background technique [0002] With the improvement of the flexibility and safety requirements of the modern society, the shortcomings of traditional rigid robots are increasing, such as cumbersome, low safety, poor environmental adaptability, and low reliability. Conventional rigid robots and natural environments or human interactions have limited interactions, and they have not been able to meet the higher demand of modern society. Therefore, the flexible mechanical arm has received more and more attention, and the development of high-performance flexible mechanical arms has become a new topic. [0003] The existing flexible robust arm is generally driven by hydraulic, air pressure, etc. The application range is limited. Based on the abov...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J13/00B25J18/06B25J9/00B25J9/08
CPCB25J9/12B25J13/00B25J18/06B25J9/0015B25J9/08
Inventor 宋建军刘跃进李帅李启航
Owner 蓓伟机器人科技(上海)有限公司