A modular peristaltic soft robot

Abstract

This invention discloses a modular peristaltic soft robot, comprising: a connector and a linear deformation unit. Two linear deformation units have axes located in the same plane. A left permanent magnet is symmetrically fixed to the upper and lower ends of the left connector, and a right permanent magnet is symmetrically fixed to the upper and lower ends of the right connector. Each linear deformation unit includes: a permanent magnet, a soft deformation unit, and an electromagnetic coil. Two permanent magnets are connected to both ends of the soft deformation unit. The axes of the permanent magnets, electromagnetic coil, and soft deformation unit are aligned, and the electromagnetic coil is equidistant from the two permanent magnets on its end face. The deformation units are grouped in pairs with a connecting plate to form a basic motion unit. The number of basic motion units can be determined and they are connected end-to-end in series. The ends of two deformation units in the basic motion unit are connected to another connecting plate. The deformation units deform under the magnetic force of the permanent magnets and electromagnetic coil. This invention can move in complex environments such as pipes and gaps, exhibiting high sensitivity, flexibility, and adaptability.

Description

Technical Field

[0001] This invention relates to the field of soft robots, and in particular to a modular peristaltic soft robot. Background Technology

[0002] Traditional soft robots are driven by pneumatic or electromagnetic methods, but these methods cause instantaneous deformation, which reduces their environmental adaptability and makes them unable to work in narrow spaces or complex terrain conditions.

[0003] Chinese invention patent CN102922528A discloses a soft robot driven by differential magnetic polymer materials. This soft robot mimics the bending and peristaltic movements of a caterpillar, utilizing the repulsive properties of the internal polymer materials when energized to achieve peristaltic and turning motions. This robot is flexible and fast, but the presence of an internal dry cell battery causes instability in its center of gravity, making it unable to crawl along high-angle pipes. The use of polymer materials in this robot results in high manufacturing costs.

[0004] Currently, there are no modular biomimetic soft robots that utilize magnetic fluids to enhance peristaltic effects, either domestically or internationally. Therefore, this patent proposes a modular peristaltic soft robot based on the properties of magnetic fluids. High-permeability magnetic fluids can effectively increase the internal magnetic field strength of the robot, increasing the deformation of the soft module. Due to the thixotropic properties of magnetic fluids, the magnetorheological effect of the magnetic fluid lags behind the robot's deformation to a certain extent, significantly enhancing the peristaltic characteristics of the soft robot. It offers a significant advantage over traditional soft robots in complex environments such as pipes, gaps, and slopes, and has broad application prospects in fields such as detection, field exploration, medical treatment, and rescue. Summary of the Invention

[0005] The purpose of this invention is to propose a novel modular peristaltic soft robot and its driving method, which enables the soft robot to move in environments such as pipes, planes, and confined spaces, and to be responsive, adaptable, stable, and efficient during movement.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A modular peristaltic soft robot includes connectors and deformable units. The axes of two deformable units are located in the same plane. The left permanent magnets are symmetrically fixed to the upper and lower ends of one connector, and the right permanent magnets are symmetrically fixed to the upper and lower ends of another connector. The linear deformable unit includes: a permanent magnet, a soft deformable unit, and an electromagnetic coil. The two permanent magnets are fixedly connected to the two ends of the soft deformable unit. The permanent magnets, electromagnetic coils, and the axes of the soft deformable units are aligned. The axial distance between the electromagnetic coil and the two permanent magnets on the end face is equal. The inner surface of the electromagnetic coil is attached to and fixed to the outer surface of the soft deformable unit.

[0008] The soft deformation unit includes: a magnetic liquid, a porous media elastomer, and a protective membrane; the magnetic liquid is uniformly dispersed in the porous media elastomer, and the protective membrane is attached to the outer surface of the porous media elastomer, so that the magnetic liquid is sealed in the elastomer.

[0009] The magnetic fluid of this invention possesses viscoelasticity and thixotropy, enabling a liquid-solid transition under a magnetic field. When the electromagnetic coil is energized, the magnetic field is non-uniformly distributed in space, causing the magnetic fluid to move towards the direction of higher magnetic field gradient, thus enhancing its permeability. This allows the soft deformation unit to act as the flexible core of the electromagnetic coil. After the magnetic field is removed, the internal columnar structure is destroyed, restoring its initial viscosity and fluidity. It exhibits high permeability, strong thixotropy, and strong creep characteristics, effectively enhancing the movement of the deformation module.

[0010] The linear deformation unit of this invention deforms in the form of compression or elongation. The porous media elastomer uses easily compressible materials such as polyurethane foam or easily stretchable materials such as foamed silicone, offering advantages such as good elasticity, good formability and processability, high stability, long lifespan, and good encapsulation of magnetic fluids. By cooperating with magnetic fluids to complete the yielding deformation action, it can maintain flexible movement and stable performance in most application environments.

[0011] The protective membrane of this invention is bonded to the outer surface of a porous media elastomer, sealing the magnetic liquid within the elastomer. The protective membrane is made of a material with advantages such as high elasticity, aging resistance, and corrosion resistance. This makes the movement of the modular peristaltic soft robot of this invention more stable.

[0012] The connector described in this invention is made of non-magnetic materials, such as aluminum alloy or acrylic. It will not affect the direction and strength of the magnetic field when the electromagnetic coil is energized.

[0013] The deformable units of this invention are grouped in pairs and connected to a connecting plate to form a basic motion unit. Different basic motion units are connected end-to-end in series. In the basic motion unit at the end, the ends of two deformable units are connected to another connecting plate. The number of modules selected can be changed according to the needs of different application scenarios.

[0014] The beneficial effects of this invention are:

[0015] The modular peristaltic soft robot described above has the advantages of being highly responsive, flexible, and adaptable to complex environments such as pipes, gaps, and slopes.

[0016] The modular peristaltic soft robot described above has a small and lightweight structure, and the porous media elastomer material used is easy to process and form, and has low cost.

[0017] The modular peristaltic soft robot described above is driven by an electromagnetic coil and has no other electronic equipment. It has stable performance, low failure rate, and avoids the influence of complex circuits on the movement of the soft robot. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the basic motion unit of the modular peristaltic soft robot described in this invention.

[0019] Figure 2 This is a schematic diagram of the linear deformation unit of the modular peristaltic soft robot described in this invention.

[0020] Figure 3 This is a schematic diagram of the operation of the linear deformation unit of the modular peristaltic soft robot described in this invention.

[0021] Figure 4 This is a schematic diagram of the linear motion of the basic motion unit of the modular peristaltic soft robot described in this invention.

[0022] Figure 5 This is a schematic diagram of the rotation direction of the basic motion unit of the modular peristaltic soft robot described in this invention.

[0023] Figure 6 This is a schematic diagram of the linear peristaltic gait of the modular peristaltic soft robot described in this invention, using a compression method.

[0024] Figure 7 This is a schematic diagram of the linear peristaltic gait of the modular peristaltic soft robot described in this invention, in an elongated manner.

[0025] Figure 8 This is a schematic diagram illustrating the motion of the modular peristaltic soft robot described in this invention, which turns by compression or extension.

[0026] Explanation of key component symbols:

[0027] 1-Connecting plate, 2-Linear deformation unit, 21-Left permanent magnet, 22-Soft deformation unit, 23-Electromagnetic coil, 24-Right permanent magnet. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0029] like Figure 1 As shown, the basic motion unit of the modular peristaltic soft robot of the present invention includes: a connecting plate 1 and a linear deformation unit 2; the axes of the two linear deformation units 2 are located in the same plane, and their left permanent magnets 21 are symmetrically fixed to the upper and lower ends of a connecting plate 1, and their right permanent magnets 24 are symmetrically fixed to the upper and lower ends of another connecting member 1.

[0030] like Figure 2 As shown, the linear deformation unit of the modular peristaltic soft robot of the present invention includes: a left permanent magnet 21, a right permanent magnet 24, a soft deformation unit 22, and an electromagnetic coil 23; the left permanent magnet 21 is fixedly connected to the left end of the soft deformation unit 22, and the right permanent magnet 24 is fixedly connected to the right end of the soft deformation unit 22; the left permanent magnet 21, the right permanent magnet 24, the electromagnetic coil 23 and the soft deformation unit 22 are placed with their axes coincident, the electromagnetic coil 23 is axially equidistant from the left permanent magnet 21 and the right permanent magnet 24 on the end face, and the inner surface of the electromagnetic coil 23 is attached to and fixed to the outer surface of the soft deformation unit 22.

[0031] like Figure 3 The diagram shown illustrates the movement of the linear deformation unit of the modular peristaltic soft robot described in this invention. When the electromagnetic coil is not energized, it does not generate a magnetic field, and the linear deformation unit maintains a length that is neither compressed nor stretched, as shown... Figure 3 As shown in (a), when the electromagnetic coil is energized in the positive direction, it generates an electromagnetic field with the left N pole and the right S pole, attracting the permanent magnets on both sides of the soft deformation unit to the electromagnetic coil. The soft deformation unit is compressed, and the length of the linear deformation unit shortens, as shown in (a). Figure 3 As shown in (b), when the electromagnetic coil is energized in the opposite direction, it generates an electromagnetic field with the left S pole and the right N pole, repelling the permanent magnets on both sides of the soft deformation unit away from the electromagnetic coil. The soft deformation unit is stretched, and the length of the linear deformation unit increases, as shown in (b). Figure 3 As shown in (c).

[0032] like Figure 4 The diagram shown illustrates the linear motion of the basic motion unit of the modular peristaltic soft robot described in this invention. When the two electromagnetic coils are not energized, the electromagnetic coils do not generate a magnetic field, and the basic motion unit maintains its initial length, as shown below. Figure 4 As shown in (a). When both electromagnetic coils are energized in the positive direction, both coils generate an electromagnetic field with the left N pole and the right S pole, attracting the permanent magnets on both sides of the soft deformation unit to the electromagnetic coils. This shortens the length of the basic motion unit, as shown in (a). Figure 4As shown in (b) in the middle. When the two electromagnetic coils are energized in opposite directions, both electromagnetic coils generate electromagnetic fields with the left S pole and the right N pole, which repel the permanent magnets on both sides of the soft deformation unit from the electromagnetic coils, and the length of the basic motion unit becomes longer, as shown in (c) in the middle.

[0033] like Figure 5 The diagram shows the rotational direction of the basic motion unit of the modular peristaltic soft robot described in this invention. When the two electromagnetic coils are not energized, the electromagnetic coils do not generate a magnetic field, and the basic motion unit maintains its initial linear direction, as shown. Figure 5 As shown in (a). When the upper electromagnetic coil is energized in the positive direction and the lower electromagnetic coil is not energized, the upper soft deformation unit is compressed, while the lower soft deformation unit remains unchanged, and the connecting plate on the right rotates upward, as shown. Figure 5 As shown in (b). When the lower electromagnetic coil is energized in the opposite direction and the upper electromagnetic coil is not energized, the lower soft deformation unit is stretched, while the upper soft deformation unit remains unchanged, and the connecting plate on the right rotates upward, as shown. Figure 5 As shown in (c). Similarly, when the upper electromagnetic coil is not energized and the lower electromagnetic coil is energized in the positive direction, the connecting plate on the right side turns downward; when the upper electromagnetic coil is energized in the opposite direction and the lower electromagnetic coil is not energized, the connecting plate on the right side turns downward.

[0034] like Figure 6 The diagram shown illustrates the linear peristaltic gait of the modular peristaltic soft robot described in this invention, using a compression method. The initial state is as follows: Figure 6 As shown in (a). First, the two electromagnetic coils of the first basic motion unit on the left are energized in the positive direction, causing the length of the first basic motion unit to shorten, as shown... Figure 6 As shown in (b). In the second step, the two electromagnetic coils of the second basic motion unit are energized in the forward direction, while the two electromagnetic coils of the first basic motion unit are de-energized. The length of the second basic motion unit shortens, and the first basic motion unit returns to its initial length, as shown in (b). Figure 6 As shown in (c). In the third step, the two electromagnetic coils of the third basic motion unit are energized in the forward direction, while the two electromagnetic coils of the second basic motion unit are de-energized. The length of the third basic motion unit shortens, and the second basic motion unit returns to its initial length, as shown in (c). Figure 6 As shown in (d). In the fourth step, the two electromagnetic coils of the fourth basic motion unit are energized in the forward direction, while the two electromagnetic coils of the third basic motion unit are de-energized. The length of the fourth basic motion unit shortens, and the third basic motion unit returns to its initial length, as shown in (d). Figure 6 As shown in (e). In the fifth step, the two electromagnetic coils of the fourth basic motion unit are de-energized, and the soft robot simultaneously returns to its initial length, as shown in (e). Figure 6 As shown in (f). This completes the soft robot's motion of crawling in a straight line to the right.

[0035] like Figure 7 The diagram shown illustrates the linear peristaltic gait of the modular peristaltic soft robot described in this invention, characterized by an elongated motion. The initial state is as follows: Figure 7 As shown in (a). First, the two electromagnetic coils of the first basic motion unit on the right are energized in opposite directions, causing the length of the first basic motion unit to increase, as shown... Figure 7 As shown in (b). In the second step, the two electromagnetic coils of the second basic motion unit are energized in opposite directions, while the two electromagnetic coils of the first basic motion unit are de-energized. The length of the second basic motion unit increases, and the first basic motion unit returns to its initial length, as shown in (b). Figure 7 As shown in (c). In the third step, the two electromagnetic coils of the third basic motion unit are energized in opposite directions, while the two electromagnetic coils of the second basic motion unit are de-energized. The length of the third basic motion unit increases, and the second basic motion unit returns to its initial length, as shown in (c). Figure 7 As shown in (d). In the fourth step, the two electromagnetic coils of the fourth basic motion unit are energized in opposite directions, while the two electromagnetic coils of the third basic motion unit are de-energized. The length of the fourth basic motion unit increases, and the third basic motion unit returns to its initial length, as shown in (d). Figure 7 As shown in (e). In the fifth step, the two electromagnetic coils of the fourth basic motion unit are de-energized, and the soft robot simultaneously returns to its initial length, as shown in (e). Figure 7 As shown in (f). This completes the soft robot's motion of crawling in a straight line to the right.

[0036] like Figure 8 The diagram illustrates the movement of the modular peristaltic soft robot of this invention, specifically its turning motion via compression or extension. When the soft robot turns upwards via compression, the electromagnetic coil on the upper side of the basic motion unit of the turning section is energized in the positive direction, causing the upper soft deformation unit to shorten in length. At this time, the soft robot turns upwards, as shown... Figure 8 As shown in (a). When the soft robot turns upwards in an extended manner, the electromagnetic coil on the lower side of the basic motion unit of the turning part is energized in the opposite direction, and the length of the lower soft deformable unit is extended. At this time, the soft robot turns upwards, as shown in (a). Figure 8 As shown in (b). Similarly, when the soft robot turns downwards in a compression manner, the electromagnetic coil on the lower side of the basic motion unit of the turning part is energized in the positive direction, and the length of the lower soft deformable unit is shortened, at which time the soft robot turns downwards; when the soft robot turns downwards in an extension manner, the electromagnetic coil on the upper side of the basic motion unit of the turning part is energized in the opposite direction, and the length of the upper soft deformable unit is lengthened, at which time the soft robot turns downwards.

Claims

1. A modular peristaltic soft robot, characterized in that, include: Connecting plate (1), linear deformation unit (2); The linear deformation unit (2) includes: a left permanent magnet (21), a soft deformation unit (22), an electromagnetic coil (23), and a right permanent magnet (24); the left permanent magnet (21) is fixedly connected to the left end of the soft deformation unit (22), and the right permanent magnet (24) is fixedly connected to the right end of the soft deformation unit (22); the axes of the left permanent magnet (21), the right permanent magnet (24), the electromagnetic coil (23), and the soft deformation unit (22) are aligned, and the axial distance between the electromagnetic coil (23) and the left permanent magnet (21) and the right permanent magnet (24) on the end face is equal, respectively. 23) The inner surface is attached to and fixed to the outer surface of the soft deformation unit (22); the axes of the two linear deformation units (2) are located in the same plane, and the left permanent magnet (21) is fixedly connected to the upper and lower ends of a connecting plate (1), and the right permanent magnet (24) is fixedly connected to the upper and lower ends of another connecting plate (1); the soft deformation unit (22) includes: magnetic liquid, porous medium elastomer, and protective film; the magnetic liquid is uniformly dispersed in the porous medium elastomer, and the protective film is attached to the outer surface of the porous medium elastomer, so that the magnetic liquid is sealed in the elastomer.

2. The modular peristaltic soft robot according to claim 1, characterized in that, The left permanent magnet (21) and right permanent magnet (24) are cylindrical axially magnetized permanent magnets, and the magnetic poles of the permanent magnets on both sides of the soft deformation unit are in the same direction.

3. A modular peristaltic soft robot according to claim 1, characterized in that, The magnetic fluid is composed of carbonyl iron powder, surfactant, base liquid, and thixotropic agent, and has the effect of enhancing the motion of linear deformation units.

4. A modular peristaltic soft robot according to claim 1, characterized in that, The connecting plate (1) is made of non-magnetic material.

5. A modular peristaltic soft robot according to claim 1, characterized in that, The linear deformation unit (2) is deformed in the form of compression, and the porous medium elastomer is an easily compressible material with a compression modulus of less than 60 MPa.

6. A modular peristaltic soft robot according to claim 1, characterized in that, The linear deformation unit (2) is deformed in the form of stretching, and the porous medium elastomer is an easily stretchable material with a tensile modulus of less than 30 MPa.

7. A modular peristaltic soft robot according to claim 1, characterized in that, The linear deformation units (2) are grouped together with the connecting plate (1) to form a basic motion unit. Different basic motion units are connected end to end in series. The number of basic motion units can be selected according to the required length. The ends of the two linear deformation units (2) in the basic motion unit at the end are connected to another connecting plate (1).

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