Magnetically controlled bionic robot and control method thereof

Abstract

The present invention discloses a magnetically controlled bionic robot and a control method thereof. The magnetically controlled bionic robot comprises a first fin, a second fin, and a shaft connecting the first and second fins. A first accommodating cavity in the first fin accommodates a first permanent magnet, and a second accommodating cavity in the second fin accommodates a second permanent magnet. Due to the repulsive action of the first and second permanent magnets, the first and second fins open at a predetermined angle around the shaft. The magnetically controlled bionic robot provided by the embodiments of the present invention has a simple structure while ensuring precise movement.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a magnetically controlled bionic robot and a control method thereof. Background Art

[0002] To adapt to different environments, robots' movement patterns mimic those of living organisms, such as earthworms, insects, and snakes, which change their body patterns to navigate diverse terrains. Bionic robots, with their high degrees of freedom and environmental compatibility, have been widely used in the biomedical field. Magnetically controlled bionic robots, which control their movement patterns via magnetic fields, not only share the advantages of bionic robots but also require no power source and exhibit excellent biocompatibility. Currently, to ensure the required precision, the structures of magnetically controlled bionic robots are overly complex, making them unsuitable for practical biomedical applications.

[0003] Therefore, in order to solve the above technical problems, it is necessary to provide a magnetically controlled bionic robot with a simple structure and a control method thereof. Summary of the Invention

[0004] In view of this, an object of the embodiments of the present invention is to provide a magnetically controlled bionic robot with a simple structure and a control method thereof. The magnetically controlled bionic robot provided by the embodiments of the present invention has a simple structure and can ensure movement accuracy.

[0005] In order to achieve the above-mentioned purpose, the technical solution provided by one embodiment of the present invention is as follows: a magnetically controlled bionic robot includes a first fin, which is used to serve as a moving first wing; a second fin, which is used to serve as a moving second wing; an axis, which connects the first fin and the second fin; the first fin includes a first accommodating cavity, which accommodates a first permanent magnet; the second fin includes a second accommodating cavity, which accommodates a second permanent magnet; under the repulsive effect of the first permanent magnet and the second permanent magnet, the opening angle of the first fin and the second fin with the axis as the center is a preset opening angle.

[0006] As a further improvement of the present invention, the shaft portion further includes a shaft hole, and the shaft hole is used to accommodate a shaft of a preset weight.

[0007] As a further improvement of the present invention, the shape of the first fin is consistent with the shape of the second fin.

[0008] As a further improvement of the present invention, the shape of the first fin is roughly a cuboid or a cube.

[0009] As a further improvement of the present invention, the first fin, the second fin and the shaft are made of resin material.

[0010] As a further improvement of the present invention, the first fin, the second fin and the shaft are made by 3D printing.

[0011] As a further improvement of the present invention, the preset opening angle ranges from 130 degrees to 160 degrees.

[0012] As a further improvement of the present invention, the shaft portion is in the shape of a triangular prism.

[0013] An embodiment of the present invention also provides a control method for controlling the movement of any one of the above-mentioned magnetically controlled bionic robots, including the following steps: placing the magnetically controlled bionic robot vertically on a working plane along the axis of the shaft, and under the repulsive action of the first permanent magnet and the second permanent magnet, the first fin and the second fin open to a preset opening angle with the shaft as the center; applying a magnetic field to the area of ​​the working plane in a switching sequence cycle: when the magnetic field is turned on, the first fin and the second fin close to each other with the shaft as the center to a preset closing angle under the torsional action of the magnetic field; when the magnetic field is turned off, under the repulsive action of the first permanent magnet and the second permanent magnet, the first fin and the second fin open to a preset opening angle with the shaft as the center.

[0014] As a further improvement of the present invention, the preset closing angle ranges from 30 degrees to 60 degrees.

[0015] The present invention has the following advantages:

[0016] The magnetically controlled bionic robot provided in an embodiment of the present invention includes a first fin, a second fin, and an axis. Compared to existing magnetically controlled bionic robots, its structure is very simple. Furthermore, by housing a first permanent magnet and a second permanent magnet in the first fin and the second fin, respectively, the magnetically controlled bionic robot provided in an embodiment of the present invention can ensure the precision of its movement under magnetic field control. The magnetically controlled bionic robot provided in an embodiment of the present invention has a simple structure and high movement precision, making it well suited for practical biomedical applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic structural diagram of a magnetically controlled bionic robot provided by an embodiment of the present invention;

[0019] Figure 2(a) is a schematic diagram of a preset opening angle of the magnetically controlled bionic robot provided by an embodiment of the present invention;

[0020] Figure 2 (b) is a schematic diagram of the preset closing angle of the magnetically controlled bionic robot provided in an embodiment of the present invention

[0021] Figure 3 Schematic diagram of the force applied to the magnetically controlled bionic robot when the magnetic field is turned on according to an embodiment of the present invention;

[0022] Figure 4 for Figure 3 A schematic diagram of the forces acting on the magnetically controlled bionic robot of the illustrated embodiment when the magnetic field is turned off;

[0023] Figure 5 for Figure 3 A schematic diagram showing the correspondence between the state of the magnetically controlled bionic robot and the change of the magnetic field in the embodiment shown;

[0024] Figure 6 for Figure 3 A schematic diagram of the principle of movement of the magnetically controlled bionic robot in a magnetic field according to the embodiment shown;

[0025] Figure 7 Schematic diagram of the magnetically controlled bionic robot performing preset path motion in the embodiment of the present invention.

[0026] Description of the symbols in the accompanying drawings:

[0027] 100, magnetically controlled bionic robot 10, first fin 20, second fin

[0028] 30, shaft 31, shaft hole 33, shaft

[0029] 11. First accommodating portion 21, second accommodating portion 51, first permanent magnet

[0030] 52. Second permanent magnet DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0032] like Figure 1FIG2 is a schematic diagram of the structure of a magnetically controlled biomimetic robot 100 according to a first embodiment of the present invention. In this embodiment, the magnetically controlled biomimetic robot 100 includes a first fin 10 for use as a first moving wing, a second fin 20 for use as a second moving wing, and a shaft 30 connecting the first fin 10 and the second fin 20.

[0033] The first fin 10 includes a first accommodating cavity 11, which accommodates a first permanent magnet 51; the second fin 20 includes a second accommodating cavity 21, which accommodates a second permanent magnet 52. Specifically, the first permanent magnet 51 and the second permanent magnet 52 are both oriented toward the shaft 30. Figure 2 As shown in (a), under the repulsive action of the first permanent magnet 51 and the second permanent magnet 52, the first fin 10 and the second fin 20 are opened at a predetermined opening angle A centered on the shaft 30. The predetermined opening angle A ranges from 130 degrees to 160 degrees. In a preferred embodiment, the predetermined opening angle A is 145 degrees.

[0034] In a magnetic field environment, the first permanent magnet 51 and the second permanent magnet 52 will be affected by the magnetic force, generating a movement that overcomes the repulsive force between the first permanent magnet 51 and the second permanent magnet 52, that is, the first fin 10 and the second fin 20 will be affected by the magnetic force and have a tendency to move toward each other until the magnetic force and the repulsive force are balanced. According to the bionic principle of fish movement in water, when the first fin 10 and the second fin 20 of the magnetically controlled bionic robot 100 are closing toward each other and opening relative to each other, the first fin 10 and the second fin 20 will slap the liquid (magnetic field) backwards like the fins of a fish, so that the liquid (magnetic field) will give the fish (magnetic robot 100) a forward thrust. In an embodiment of the present invention, the forward thrust is sufficient to overcome the friction between the magnetically controlled bionic robot 100 and the working surface, so that the magnetically controlled bionic robot 100 can simultaneously achieve forward motion when the first fin 10 and the second fin 20 are closing toward each other and opening relative to each other.

[0035] Continue to refer Figure 2 In (b), the closing angle of the first fin 10 and the second fin 20 with the shaft portion 30 as the center is the preset closing angle R. The preset closing angle R ranges from 30 degrees to 60 degrees. In a preferred embodiment, the preset closing angle R is 45 degrees.

[0036] The shape of the first fin 10 is consistent with the shape of the second fin 20, thereby ensuring that the forces acting on the first fin 10 and the second fin 20 are symmetrical when the magnetically controlled biomimetic robot 100 moves. In this embodiment, the first fin 10 is roughly rectangular or cube-shaped, and similarly, the second fin 20 is also roughly rectangular or cube-shaped, resulting in a simple structure and manufacturing process. Of course, in other embodiments, the shapes of the first fin 10 and the second fin 20 can also be other shapes, such as trapezoidal.

[0037] In this embodiment, the first accommodating portion 11 is formed by adding a cavity to the inner side of the first fin 10. Similarly, the second accommodating portion 21 is also formed by adding a cavity to the inner side of the second fin 20. In another embodiment, the accommodating cavities may be added to the outer side of the first fin 10 and the outer side of the second fin 20, respectively. In another embodiment, the first accommodating portion 11 may be formed directly by hollowing out the body of the first fin 10. Similarly, the second accommodating portion 21 may be formed by hollowing out the body of the second fin 20.

[0038] Continue to refer Figure 1 , the shaft portion 30 is used to connect the first fish fin 10 and the second fish fin 20. In this embodiment, the length of the shaft portion 30 is consistent with the length of the first fish fin 10 (the second fish fin 20), and is roughly cylindrical. Preferably, the shaft portion 30 also includes an axial hole 31, and the axial hole 31 is used to accommodate a shaft 33 with a preset weight. During the movement of the magnetically controlled bionic robot 100, the shaft portion 30 is equivalent to the head of the fish. By placing a shaft 33 with a preset weight on the shaft portion 30, the weight distribution of the magnetically controlled bionic robot 100 can be balanced, so that the propulsion force of the first fish fin 10 and the second fish fin 20 is more efficient. In another preferred embodiment, see Figures 3 to 6 The shaft portion 30 can be shaped like a triangular prism, with one corner edge facing the direction of motion and the other two corner edges connected to the first fin 10 and the second fin 20, respectively. As most fish have pointed heads, the triangular shape of the shaft portion 30 helps disperse the forward resistance encountered by the magnetically controlled bionic robot 100 during its forward motion.

[0039] In this embodiment of the present invention, the first fin 10, the second fin 20, and the shaft 30 are all made of resin. Furthermore, the first fin 10, the second fin 20, and the shaft 30 are manufactured using 3D printing. This integrated printing process further reduces the manufacturing and processing complexity of the magnetically controlled bionic robot 100.

[0040] Continue to refer Figures 3 to 5 The motion mechanism of the magnetically controlled bionic robot 100 of the embodiment of the present invention is carried out under an alternating magnetic field. In this embodiment, the Figure 6The switching method shown sequentially applies a magnetic field, causing the first fin 10 and second fin 20 of the magnetically controlled bionic robot 100 to alternately open and close. Furthermore, inspired by the swimming motion of fish, in this embodiment, the first fin 10 and second fin 20 open and close at different angular velocities. By using the two different angular velocities of the first fin 10 and second fin 20, the magnetically controlled bionic robot 100 achieves forward motion.

[0041] refer to Figure 3 As shown, when the magnetic field B is turned on, the magnetic torque on the first fin 10 (second fin 20) must overcome the magnetic torque generated between the first permanent magnet 51 and the second permanent magnet 52 and the torque generated by the magnetic field fluid resistance, and the first fin 10 (second fin 20) will have an angular velocity ω1 with a closing trend. Figure 4 As shown, after magnetic field B is turned off, the magnetic torque generated between the first permanent magnet 51 and the second permanent magnet 52 overcomes the resistance of the magnetic field fluid to generate a torque, and the first fin 10 (second fin 20) will have an angular velocity ω2 that tends to open. When ω1>ω2, the magnetically controlled bionic robot 100 will have a forward driving force during the opening and closing process of the first fin 10 and the second fin 20.

[0042] Continue to refer Figure 5 , the motion mechanism of the switching oscillation of the magnetically controlled bionic robot 100 under the alternating magnetic field. In the initial state, due to the repulsive force between the first permanent magnet 51 and the second permanent magnet 52, the first fin 10 and the second fin 20 of the magnetically controlled bionic robot 100 are in an open state. Under the action of the magnetic field B, the first fin 10 and the second fin 20 of the magnetically controlled bionic robot 100 are closed due to the action of the torque Tm. The torque Tm is generated by the interaction between the magnetic moment m of the first permanent magnet 51 (the second permanent magnet 52) ​​and the external magnetic field B. Because the torque Tm is to align the direction of the vector m and B, Figure 5 The lower fin (i.e. the second fin 20) generates an upward torque. Figure 5 The upper fin (i.e., the first fin 10) generates a downward torque. Then, the first fin and the second fin 20 of the magnetically controlled bionic robot 100 close together under the magnetic field B. When the external magnetic field B is turned off, the torque T generated by the repulsive force between the first permanent magnet 51 and the second permanent magnet 52 is R The first fin 10 and the second fin 20 of the magnetically controlled bionic robot 100 are opened again and restored to their initial state.

[0043] like Figure 6As shown, the hybrid controllable electromagnetic field system generates an alternating magnetic field in a switching manner. In the initial state of the magnetically controlled bionic robot 100, the first fin 10 and the second fin 20 are in an open state. In an embodiment of the present invention, the side of the first fin 10 (the second fin 20) of the magnetically controlled bionic robot 100 is in contact with the base of the working surface. When the uniform magnetic field is opened along the axis, the first fin 10 (the second fin 20) of the magnetically controlled bionic robot 100 will slap the magnetic field backward (such as a fin slapping a liquid) after being subjected to a torque Tm, so that the magnetic field will give the first fin 10 (the second fin 20) a forward thrust, the magnitude of which is sufficient to overcome the friction between the magnetically controlled bionic robot 100 and the base, so that the magnetically controlled bionic robot 100 swims forward. When the uniform magnetic field is turned off or gradually reduced, the first fin 10 (second fin 20) of the magnetically controlled bionic robot 100 is repelled by the repulsive force between the first permanent magnet 51 and the second permanent magnet 52, causing it to slap the magnetic field forward (like a fin slapping liquid). The magnetic field then imparts a backward thrust to the first fin 10 (second fin 20). However, this thrust is insufficient to overcome the friction between the magnetically controlled bionic robot 100 and the substrate, causing the magnetically controlled bionic robot 100 to remain stationary in its original position. Over multiple time periods, the magnetically controlled bionic robot 100 can move along a predetermined trajectory.

[0044] The magnetically controlled bionic robot 100 provided in the embodiment of the present invention includes a first fin 10 , a second fin 20 and a shaft 30 . Compared with the existing magnetically controlled bionic robots, the structure is very simple.

[0045] The magnetically controlled bionic robot 100 provided in the embodiment of the present invention can ensure the accuracy of its movement under the control of the magnetic field by accommodating the first permanent magnet 51 and the second permanent magnet 52 in the first fin 10 and the second fin 20 respectively.

[0046] The magnetically controlled bionic robot provided by the embodiment of the present invention has a simple structure and high motion precision, and is very suitable for practical biomedical applications.

[0047] like Figure 7 The figure shows an experiment in which a magnetically controlled bionic robot according to an embodiment of the present invention is used to perform motion along a preset path. In this experiment, the characteristic current of the magnetic field is 3A and the frequency is 1.5 Hz. In this experiment, the opening and closing states of the first fin 10 and the second fin 20 of the magnetically controlled bionic robot 100 are captured every 2 seconds, and the motion of the magnetically controlled bionic robot 100 is clearly depicted in the form of photographs. The continuous application of the alternating magnetic field produces the magnetically controlled bionic robot 100 moving along the path. Figure 7 The motion shown is pre-set to a prescribed trajectory.

[0048] The embodiment of the present invention further provides a control method for controlling the movement of the magnetically controlled bionic robot 100. The control method includes:

[0049] Step S1: The magnetically controlled bionic robot 100 is vertically placed on a working plane along the axis of the shaft 30. Under the repulsive action of the first permanent magnet 51 and the second permanent magnet 52, the first fin 10 and the second fin 20 are opened to a preset opening angle A around the shaft 30.

[0050] Step S2: Apply a magnetic field to the area of ​​the working plane in an on-off sequence cycle: when the magnetic field is turned on, the first fin 10 and the second fin 20 are closed to a preset closing angle with the shaft 30 as the center under the torsional action of the magnetic field; when the magnetic field is turned off, the first fin 10 and the second fin 20 are opened to a preset opening angle with the shaft 30 as the center under the repulsive action of the first permanent magnet 51 and the second permanent magnet 52.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0052] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A magnetically controlled bionic robot, characterized in that: The magnetically controlled bionic robot comprises: The first fin, used as the first wing for locomotion; The second fin, used as a second wing for locomotion; a shaft portion connecting the first fin and the second fin, wherein the shaft portion is in a triangular prism shape and further comprises a shaft hole for accommodating a shaft of a preset weight; The first fin comprises a first accommodating cavity, wherein the first accommodating cavity accommodates a first permanent magnet; The second fin includes a second accommodating cavity, and the second accommodating cavity accommodates a second permanent magnet; Under the repulsive effect of the first permanent magnet and the second permanent magnet, an opening angle between the first fin and the second fin with the shaft as the center is a preset opening angle.

2. A magnetically controlled bionic robot according to claim 1, characterized in that: The shape of the first fin is consistent with the shape of the second fin.

3. A magnetically controlled bionic robot according to claim 2, characterized in that: The shape of the first fin is roughly a cuboid or a cube.

4. The magnetically controlled bionic robot according to claim 1, characterized in that: The first fin, the second fin and the shaft are made of resin material.

5. The magnetically controlled bionic robot according to claim 4, characterized in that: The first fin, the second fin and the shaft are made by 3D printing.

6. The magnetically controlled bionic robot according to claim 1, characterized in that: The preset opening angle ranges from 130 degrees to 160 degrees.

7. A motion control method for a magnetically controlled bionic robot according to any one of claims 1 to 6, characterized in that: Including steps: The magnetically controlled bionic robot is placed vertically on a working plane along the axis of the shaft, and under the repulsive action of the first permanent magnet and the second permanent magnet, the first fin and the second fin are opened to a preset opening angle with the shaft as the center; A magnetic field is applied to the area of ​​the working plane in an on-off sequence cycle: when the magnetic field is turned on, the first fin and the second fin are closed to each other with the axis as the center to a preset closing angle under the torsional force of the magnetic field; when the magnetic field is turned off, the first fin and the second fin are opened to a preset opening angle with the axis as the center under the repulsive effect of the first permanent magnet and the second permanent magnet.

8. The motion control method of a magnetically controlled bionic robot according to claim 7, characterized in that: The preset closing angle ranges from 30 degrees to 60 degrees.

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