A flower-shaped soft robot with magnetic vibration dual response

Abstract

The present invention discloses a magnetic vibration dual-response flower-shaped soft robot, comprising a petal-like structure, a deformation actuation system, a support mechanism, and a torus-like structure. The petal-like structure comprises a rotating wrapped soft skeleton and a thin film elastic body structure; the deformation braking system comprises a magnetorheological elastomer (MRE) and a liquid capsule; the support mechanism is mainly used to connect the petal-like structure, the deformation actuation system, and the torus-like structure; the torus-like structure comprises a torus-shaped cavity with two ends open, a non-magnetic metal vibrator, an elastic film, and a one-way valve. The magnetorheological elastomer contracts and deforms under the action of an external magnetic field in any direction, thereby driving the reversible deformation of the petal structure of the soft robot; the confined fluid in the cavity of the torus-like structure exhibits anisotropic mechanical propulsion behavior under an external vibration field. The purpose of the present invention is to develop a soft robot that can complete controllable movement in a living body and has good biocompatibility through biomimetic design.

Description

Technical Field

[0001] The present invention relates to the field of bionic design and unconstrained driving technology of soft robots, and in particular to a magnetic vibration dual-response flower-shaped soft robot. Background Art

[0002] Based on the materials used in the robots, existing robots can be divided into two categories: rigid robots and soft robots. Rigid robots are mostly made of hard materials such as metal and plastic, and have limited flexibility and poor environmental adaptability. Soft robots, on the other hand, are mainly made of elastic materials and theoretically have countless degrees of freedom, which can achieve tasks that rigid robots cannot or find difficult to accomplish. Given the excellent human-machine interaction safety of soft robots, their application in the medical field has attracted much attention. For example, through the controllable deformation of soft robots, targeted drug delivery and the grasping of foreign objects in the body can be achieved. However, due to the complexity of the internal environment of the organism, the actuation performance of soft robots and their biocompatibility, the application of soft robots in the medical field is still immature. To this end, the present invention intends to develop a flower-shaped soft robot through biomimetic design that can complete controllable movement in the organism and has good biocompatibility and grasping properties.

[0003] As research on soft robotics continues to deepen, the range of actuation methods for soft robots has also expanded. Soft robots can be actuated using intelligent materials, typically dielectric elastomers (DEs), ionic polymer metal composites (IPMCs), shape memory alloys (SMAs), and shape memory polymers (SMPs). These materials can be categorized based on the physical quantities they respond to: electric field, pressure, chemical reaction, light, temperature, and magnetic field. Some of these actuation methods are constrained, meaning the soft robot is equipped with wires or conduits to facilitate external electrical or fluid actuation. Others are unconstrained, offering numerous advantages over constrained actuation. Magnetic actuation is a type of unconstrained actuation.

[0004] Magnetorheological elastomer (MRE) is a new type of intelligent material that incorporates micron-sized magnetic particles into a polymer, enabling rapid, flexible deformation in a magnetic field. Therefore, MRE can be fabricated into a three-dimensional network. Leveraging the MRE's contraction and deformation in response to an external magnetic field in any direction, combined with hydraulic principles, it is possible to reversibly deform the petals of a flower-shaped soft robot, thereby meeting the required tolerance for actuation direction.

[0005] In addition, inspired by the vibration response of the objects being cleaned during ultrasonic cleaning, the flower-shaped soft robot can be actuated forward using external vibration stimuli. Since this method can respond to vibrations in different directions, it also meets the tolerance requirements of the actuation direction and has the function of automatic tracking of the vibration source, ultimately realizing the unconstrained directional movement of the soft robot. Summary of the Invention

[0006] The purpose of the present invention is to develop a flower-shaped soft robot through biomimetic design that can complete controllable movement in a living body and has good biocompatibility and grasping properties.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: a magnetic vibration dual-responsive flower-shaped soft robot, comprising a petal-like structure, a deformation actuation system, a support mechanism, and a receptacle-like structure. From top to bottom, these are the petal-like structure, the deformation actuation system, the support mechanism, and the receptacle-like structure.

[0008] The petal-like structure includes a rotating wrapped soft body frame and a thin film elastic body structure. The rotating wrapped soft body frame is composed of a plurality of strip-shaped hollow rods. The thin film elastic body is composed of a layer of film wrapped around the outer side of the rotating wrapped soft body frame. The film is made of rubber.

[0009] The deformation actuation system includes a magnetorheological elastomer (MRE) and a liquid capsule. The liquid capsule is connected to the bottom end of a strip-shaped hollow rod of a rotating soft skeleton through a liquid capsule catheter. The deformation actuation system is installed between the imitation petal structure and the imitation receptacle structure. The MRE is made into a three-dimensional grid using 3D printing technology. The MRE is encapsulated by the liquid capsule in the shape of a hollow elastic cavity to form an MRE liquid capsule. The three-dimensional grid-shaped MRE undergoes elastic deformation under an external magnetic field, thereby achieving contraction and deformation of the MRE liquid capsule and prompting the internal liquid with hydraulic action to be filled into the rotating soft skeleton through the liquid capsule catheter, causing the rotating soft skeleton to undergo flexible deformation, completing a flower-like movement.

[0010] The support mechanism is mainly used to connect the imitation petal structure, the deformation actuation system, and the imitation torus structure. Its shape can be made according to the specific example. Its installation position is between the imitation petal structure and the imitation torus structure and outside the deformation actuation system.

[0011] The torus-like structure includes a torus-shaped cavity with openings at both ends, a non-magnetic metal vibrator, an elastic film, and a one-way valve. The torus-shaped cavity with openings at both ends is installed below the support mechanism; the elastic film is installed at the opening above the torus-shaped cavity; the non-magnetic metal vibrator is installed inside the support mechanism via elastic materials such as rubber bands, directly above the elastic film, with a 5 mm gap between the non-magnetic metal vibrator and the elastic film. Under external vibration excitation, the non-magnetic metal vibrator can collide with the elastic film; a portion of the one-way valve is installed around the torus-shaped cavity, allowing liquid to flow into the cavity but not out; another portion of the one-way valve is installed at the rear end of the torus-shaped cavity, allowing liquid to flow out of the cavity but not back into the cavity.

[0012] Furthermore, the rotating wrapped soft skeleton is composed of a number of synthetic resin strip rods that are rotated and wrapped, and a layer of elastic film is laid on the outside of the wrapped soft skeleton. It is in a bud state at the beginning and can be deformed into a blooming state under the action of hydraulic pressure.

[0013] The present invention has the beneficial effects:

[0014] This invention provides a magnetic vibration dual-responsive flower-shaped soft robot. This robot utilizes a magnetorheological elastomer, leveraging its contraction and deformation in response to an external magnetic field in any direction to reversibly drive the robot's petals. A jet propulsion system ensures that the confined fluid within its cavity exhibits anisotropic propulsion properties under external vibration fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the initial state of the present invention;

[0016] Figure 2 1 is a diagram showing three states of the unfolding process of the petal film of the present invention;

[0017] In the figure: 1—petal film bud state, 2—petal film transition state, 3—petal film flowering state, 4—soft body skeleton state one, 5—soft body skeleton state two, 6—soft body skeleton state three, 7—fluid sac catheter, 8—first supporting mechanism, 9—second supporting mechanism, 10—MRE liquid sac, 11—first crease structure, 12—second crease structure, 13—third crease structure, 14—film, 15—non-magnetic metal vibrator, 16—elastic film, 17—torus-shaped cavity with openings at both ends, 18—first one-way valve, 19—second one-way valve, 20—third one-way valve, 21—tail end of torus-shaped cavity with openings at both ends, 22—one-way valve at the tail end of torus-shaped cavity with openings at both ends. DETAILED DESCRIPTION

[0018] The present invention is further described below with reference to specific implementation cases, but the protection scope of the present invention is not limited thereto.

[0019] First, 3D models of each component are created using 3D design software. Bio-3D printing is then used to create a petal structure with a specific soft skeleton based on origami principles. MREs with varying geometries are then fabricated using multi-material 3D printing or lost-wax casting. Furthermore, 3D printing is used to create a torus-shaped cavity with open ends and a support structure with a specific geometry. After printing, the support components are removed, and the contact areas between the support and the component are polished smooth using a grinder. The structure is then assembled with a non-magnetic metal vibrator, elastic membrane, and one-way valve.

[0020] The magnetic resonance dual-responsive flower-shaped soft robot described herein comprises a petal-like structure, a deformation actuation system, a support mechanism, and a receptacle-like structure. The petal-like structure is positioned above the receptacle-like structure, with a non-magnetic metal vibrator 15 positioned between the two structures. The deformation actuation system, located between the non-magnetic metal vibrator 15 and the petal-like structure, deforms the rotating, enveloping soft robot framework by filling it with liquid through the deformation of the MRE sac 10 under different magnetic fields. The petal-like structure is supported internally by a number of hollow rods, the bottom ends of which are connected to the sac catheter 7.

[0021] The support mechanism is installed between the petal-like structure and the receptacle-like structure, and is located outside the deformation actuation system and the non-magnetic metal vibrator. In one embodiment of this invention, the support mechanism comprises a first support frame 8 and a second support frame 9. The first support frame 8 is a circular rod connected to the sac catheter 7. The second support frame 9 is composed of several linear rods, with the top end connected to the first support frame 8 and the bottom end connected to the elastic film 16.

[0022] The torus-like structure includes a torus-shaped cavity 17 with two open ends, a non-magnetic metal vibrator 15, an elastic membrane 16, a first one-way valve 18, a second one-way valve 19, a third one-way valve 20, and a one-way valve 22 at the end of the torus-shaped cavity. The first, second, and third one-way valves 18, 19, and 20 control the inflow of liquid, while the one-way valve 22 at the end of the torus-shaped cavity controls the outflow of liquid. This controls the flow of liquid within. The entire torus-like structure can achieve fluidic propulsion under external vibration excitation, thereby actuating the forward motion of the soft robot.

[0023] Work process:

[0024] The driving force of the present invention is the external magnetic field and vibration. Under the action of the external magnetic field, the MRE liquid capsule 10 quickly undergoes flexible deformation, gradually changing from the initial stretched form to the contracted form, thereby transporting the liquid inside the MRE liquid capsule 10 to the rotating and wrapped soft skeleton; under the action of the hydraulic pressure, the soft skeleton deforms, gradually deforming from the initial soft skeleton state 1 4 to the soft skeleton state 2 5 and then to the soft skeleton state 3 6, and the petal film simultaneously deforms from the petal film bud state 1 to the petal film transition state 2 and then to the petal film flowering state 3, thus realizing the deformation actuation of the petal structure of the flower-shaped soft robot. When the external magnetic field is removed, the liquid in the above-mentioned soft skeleton flows back to the inside of the MRE liquid capsule 10 under the action of elastic force, thereby causing the imitation petal structure to transform from the petal film flowering state 3 to the petal film bud state 1. The switching between the above-mentioned flowering state and bud state can realize the function of grasping and releasing objects.

[0025] On the other hand, when the above-mentioned flower-shaped soft robot is placed in a liquid environment, external vibration excitation is applied around the soft robot, causing the non-magnetic metal vibrator 15 to vibrate, and the elastic film 16 in contact with it to generate forced vibration, causing the confined fluid in the cavity of the imitation torus structure to generate periodic high and low pressures. On this basis, combined with the installed first one-way valve 18, second one-way valve 19, third one-way valve 20, and the one-way valve 22 at the end of the torus-shaped cavity with two openings, liquid flows into the surrounding of the imitation torus structure and flows out of the torus-shaped cavity with two openings, so that the imitation torus structure has a jet propulsion function, realizing the forward actuation of the flower-shaped soft robot. Since the forward actuation of the flower-shaped soft robot is derived from the forced vibration of the elastic film of the jet propulsion device under the impact load of the vibrator, and the vibrator can generate vibration in the vibration field in different directions, this actuation method has good driving direction tolerance.

[0026] The above describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the foregoing embodiments. The foregoing embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A magnetic vibration dual-response flower-shaped soft robot, characterized by: The magnetic vibration dual-response flower-shaped soft robot includes a petal-like structure, a deformation actuation system, a support mechanism, and a torus-like structure; The petal-like structure includes a rotating wrapped soft body frame and a thin film elastic body structure. The rotating wrapped soft body frame is composed of a plurality of strip-shaped hollow rods, and the thin film elastic body is composed of a layer of rubber film wrapped around the outer side of the rotating wrapped soft body frame. The deformation actuation system includes a magnetorheological elastomer (MRE) and a sac. The sac is connected to the bottom end of a hollow strip of a rotating soft skeleton through a sac catheter. The deformation actuation system is installed between the petal-like structure and the receptacle-like structure. The MRE is made into a three-dimensional grid using 3D printing technology. The MRE is encapsulated in a sac with a hollow elastic cavity structure to form an MRE sac. The three-dimensional grid-like MRE undergoes elastic deformation under an external magnetic field, thereby achieving contraction and deformation of the MRE sac and prompting the internal liquid with hydraulic action to be filled into the rotating soft skeleton through the sac catheter, causing the rotating soft skeleton to undergo flexible deformation, completing a flower-like movement. The support mechanism is used to connect the imitation petal structure, the deformation actuation system, and the imitation torus structure, and is installed between the imitation petal structure and the imitation torus structure and outside the deformation actuation system; The imitation torus structure includes a torus-shaped cavity with openings at both ends, a non-magnetic metal vibrator, an elastic film, and a one-way valve; the torus-shaped cavity with openings at both ends is installed below the support mechanism; the elastic film is installed at the opening above the torus-shaped cavity; the non-magnetic metal vibrator is installed on the inner side of the support mechanism through elastic material and directly above the elastic film, and the non-magnetic metal vibrator can collide with the elastic film under external vibration excitation; part of the one-way valve is installed around the torus-shaped cavity, and these one-way valves only allow liquid to flow into the torus-shaped cavity but not flow out in the opposite direction; the other part of the one-way valve is installed at the tail end of the torus-shaped cavity, and these one-way valves only allow liquid to flow out of the torus-shaped cavity but not flow into it in the opposite direction.

2. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The rotating wrapped soft body skeleton is rotatingly wrapped by a plurality of synthetic resin strip rods and covered with a layer of elastic film. It is in a bud state at the beginning and can be deformed into a blooming state under the action of hydraulic pressure.

3. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The torus-like structure is a forward actuation system. When the magnetic vibration dual-response flower shape works in a liquid environment, its interior will be filled with liquid. The forward actuation system can have anisotropic dynamic propulsion function under external vibration.

4. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The one-way valves around the imitation torus structure allow liquid to only flow into the imitation torus structure through the valves and cannot flow out in the opposite direction.

5. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: A one-way valve is also installed at the tail end of the imitation torus structure, and the liquid at the one-way valve can only flow out but cannot flow in reverse.

6. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The opening above the torus-shaped cavity is wrapped with a layer of elastic film, and a non-magnetic metal vibrator is installed directly above it. The non-magnetic metal vibrator is installed on the inner side of the support mechanism through a rubber band, and there is a 5 mm gap between it and the elastic film. The non-magnetic metal vibrator can collide with the elastic film under external vibration excitation, thereby turning the torus-like structure into a jet propeller.

7. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The support mechanism consists of a first support frame and a second support frame; the first support is a circular rod connected to the fluid bag catheter, and the second support frame consists of several linear rods, the top end of which is connected to the first support frame and the bottom end is connected to the elastic film.

8. The magnetic vibration dual-response flower-shaped soft robot according to claim 1, characterized in that: The one-way valve includes a first one-way valve, a second one-way valve, a third one-way valve, and a one-way valve at the tail end of a torus-shaped cavity with openings at both ends; the first one-way valve, the second one-way valve, and the third one-way valve control the entry of internal liquid, and the one-way valve at the tail end of the torus-shaped cavity with openings at both ends controls the outflow of internal liquid.

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