Magnetic drive shell dot lattice tube crawling software robot and use method
The magnetically driven shell lattice pipe crawling soft robot utilizes the deformation of a magnetoelastic body under the drive of an external magnetic field, solving the problem of non-tethered crawling in existing technologies and enhancing the robot's mobility in complex pipes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- DALIAN UNIV OF TECH
- Filing Date
- 2024-01-24
- Publication Date
- 2026-07-07
Smart Images
Figure CN117838022B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of robotics and relates to a magnetically driven pipe-crawling soft robot and its usage method. Background Technology
[0002] The human body contains numerous natural duct systems, such as blood vessels, trachea, and intestines, which are responsible for transporting blood, oxygen, and nutrients to maintain normal bodily functions. Diseases in these ducts directly threaten human health; therefore, duct health has always been a focus of attention. Because the human ducts are flexible and the environment is complex, health monitoring and treatment present challenges. Soft duct robots, composed of soft materials, possess excellent environmental adaptability. When moving within the body's natural cavities, they can assist in duct examination and treatment under minimally invasive or non-invasive conditions, demonstrating significant application value in human health monitoring and treatment.
[0003] Magnetic-driven soft robots are an important type of pipeline-crawling soft robot. The invention patent "A Soft Robot Crawling in Fluid Pipelines and Its Design Method" (ZL202111434936.1) utilizes a lattice structure to design a soft robot capable of crawling within fluid pipelines, providing a new approach to the design of health robots for blood vessels and other pipelines within the human body. However, this invention's robot is driven by pneumatic or hydraulic pressure, requiring connection to pneumatic or hydraulic pressure regulating devices via air tubes during crawling. For pipelines with complex shapes and considerable length, dragging long air tubes during crawling limits the robot's crawling ability and range of motion, severely impacting its ability to perform inspection and maintenance tasks within blood vessels and other human pipelines. Magnetic-driven soft robots, composed of magnetoelastomers, can move without cables in different modes under the influence of changing external magnetic fields in various scenarios. Compared to soft robots driven by pressure or other excitations, magnetically driven soft robots do not require consideration of air tubes or wires during crawling. Furthermore, the magnetic field can also wirelessly control the magnetoelastomer-based soft robot through the human body. Therefore, providing a magnetically driven shell lattice pipe crawling soft robot (ZL202111434936.1) for crawling in fluid pipes is of great significance for the application of human pipe health detection. Summary of the Invention
[0004] To address the shortcomings of existing lattice soft robots (ZL202111434936.1) that cannot achieve drag-free crawling in fluid pipelines, this invention provides a magnetically driven shell lattice pipeline crawling soft robot, which is composed of a lattice structure made up of multiple magnetoelastic bodies. Under the drive of a changing external magnetic field, each part of the lattice structure produces different deformation behaviors and frictional forces, allowing the robot to crawl without dragging any threads within the natural pipeline of the human body.
[0005] To achieve the above objectives, the technical solution adopted by this invention is as follows:
[0006] A magnetically driven shell lattice pipe-crawling soft robot is disclosed, which can crawl and move without trailing wires within the natural pipes of the human body. The robot includes a front anchoring component 1, a rear anchoring component 2, a magnetic spring 3, a front connecting ring 13, a rear connecting ring 14, a front constraint ring 15, a rear constraint ring 16, and a magnetic field generator 20. The front anchoring component 1 and the rear anchoring component 2 are located on either side of the magnetic spring 3. The tail of the front anchoring component 1 is connected to the magnetic spring 3 via the front connecting ring 13, and the head of the rear anchoring component 2 is connected to the magnetic spring 3 via the rear connecting ring 14. The front constraint ring 15 is connected to the head of the front anchoring component 1, and the rear constraint ring 16 is connected to the tail of the rear anchoring component 2. The front constraint ring 15 is used to constrain the end deformation of the front anchoring component 1 under magnetic field drive, and the rear constraint ring 16 is used to constrain the end deformation of the rear anchoring component 2 under magnetic field drive. The front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3 are all integrated shell lattice structures made of soft materials with magnetic properties. When placed in the magnetic field space generated by the magnetic field generator 20, the magnetic field generated by the magnetic field generator 20 can drive them to produce active deformation.
[0007] The aforementioned front anchoring component 1 is an integrated shell lattice structure composed of a magnetic soft material, formed by bending a periodic flat plate structure A10 composed of unit cells A4. Under axial tensile and compressive loads, the front anchoring component 1 can generate circumferential expansion and circumferential contraction deformations, respectively. Driven by the axial magnetic field generated by the magnetic field generator 20, it can also generate active circumferential expansion or contraction deformation.
[0008] The rear anchoring component 2 is an integrated shell lattice structure composed of magnetic soft material, formed by bending periodic flat plate structures B11 composed of unit cells B5. Under axial tensile and compressive loads, the rear anchoring component 2 can undergo circumferential contraction and circumferential expansion deformation, respectively. Driven by the axial magnetic field generated by the magnetic field generator 20, it can also undergo active circumferential expansion or contraction deformation.
[0009] The magnetic spring 3 is an integrated shell lattice structure composed of a soft, magnetic material, and is formed by bending a periodic flat plate structure C12 composed of unit cells C6. Driven by the axial magnetic field generated by the magnetic field generator 20, the magnetic spring 3 can undergo active axial expansion and contraction deformation. During the axial deformation process, the circumferential direction of the magnetic spring 3 remains essentially unchanged.
[0010] The magnetic field generator 20 is a Helmholtz coil, electromagnet, or permanent magnet, etc., used to generate a driving magnetic field to drive the front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3.
[0011] Furthermore, the unit cell A4 is composed of a multi-bar structure A7 and another multi-bar structure obtained by mirroring the multi-bar structure A7 along plane A30. The multi-bar structure A7 is composed of a horizontal bar A31, a horizontal bar B33, a horizontal bar C35, a diagonal bar A32, and a diagonal bar B34. The horizontal bar A31, diagonal bar A32, horizontal bar B33, diagonal bar B34, and horizontal bar C35 are connected sequentially from top to bottom, and the diagonal bars A32 and B34 are symmetrical about the horizontal bar B33 and connected to the same end of the horizontal bar B33. The horizontal bars A31, B33, and C35 are parallel to each other. The magnetization direction A36 of the diagonal bar A32 is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar A31 to the end connected to the horizontal bar B33. The magnetization direction B37 of the diagonal bar B34 is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar B33 to the end connected to the horizontal bar C35.
[0012] Furthermore, the unit cell B5 consists of a multi-bar structure B8 and another multi-bar structure obtained by mirroring the multi-bar structure B8 along plane B50. The multi-bar structure B8 consists of a horizontal bar D51, a horizontal bar E53, a horizontal bar F55, a diagonal bar C52, and a diagonal bar D54. The horizontal bar D51, diagonal bar C52, diagonal bar D54, and horizontal bar F55 are connected sequentially from top to bottom. The diagonal bars C52 and D54 are symmetrical about the horizontal bar E53 and are connected to the same end of the horizontal bar E53. The horizontal bars D51, E53, and F55 are parallel to each other. The magnetization direction C56 of the diagonal bar C52 is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar D51 to the end connected to the horizontal bar E53. The magnetization direction D57 of the diagonal bar D54 is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar E53 to the end connected to the horizontal bar F55.
[0013] Furthermore, the unit cell C6 consists of a multi-bar structure C9 and another multi-bar structure obtained by mirroring the multi-bar structure C9 along plane C70. The multi-bar structure C9 consists of a horizontal bar G71, a horizontal bar H74, a horizontal bar I75, a horizontal bar J76, a diagonal bar E72, and a diagonal bar F73. The horizontal bar G71, diagonal bar E72, diagonal bar F73, and horizontal bar H74 are connected sequentially. Horizontal bar G71 is parallel to horizontal bar I75 and connected to the same end of diagonal bar E72. Horizontal bar H74 is parallel to horizontal bar J76 and connected to the same end of diagonal bar F73. The magnetization direction E77 of the diagonal member E72 is parallel to the axial direction of the member, pointing from the end connected to the diagonal member F73 to the end connected to the horizontal member G71. The magnetization direction F78 of the diagonal member F73 is parallel to the axial direction of the member, pointing from the end connected to the horizontal member H74 to the end connected to the diagonal member E72.
[0014] Furthermore, the front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3 can be manufactured using soft materials (PDMS, Ecoflex, etc.) containing hard magnetic (neodymium iron boron, etc.) particles. The front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3 can be manufactured using techniques such as casting, laser cutting, or 3D printing. The magnetism of the front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3 can be obtained by magnetizing them using a strong magnetic field generated by an electromagnet or similar device.
[0015] A method for using a magnetically driven shell lattice pipe crawling soft robot includes the following steps:
[0016] Step S1: Assemble the front anchoring component 1, the rear anchoring component 2, the magnetic spring 3, the front connecting ring 13, the rear connecting ring 14, the front constraint ring 15, and the rear constraint ring 16 to obtain a magnetically driven lattice soft robot, place it in the flexible pipe 100, and place the pipe 100 in the working space of the magnetic field generator 20.
[0017] In step S2, the magnetic field generator 20 is adjusted to generate a magnetic field that moves forward along the pipe axis. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards parallel to the magnetic field direction. The magnetic spring 3 then elongates axially, applying equal but opposite axial pressures to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential contraction deformation under axial pressure, while the rear anchoring component 2 undergoes circumferential expansion deformation.
[0018] Furthermore, in unit cell A4 of the front anchoring component 1, the magnetic diagonal rods A32 and B34 deflect under the influence of the magnetic moment, with their axial direction tending to be perpendicular to the magnetic field direction, causing the front anchoring component 1 to undergo active circumferential contraction deformation. Similarly, in unit cell B5 of the rear anchoring component 2, the magnetic diagonal rods C52 and D54 deflect under the influence of the magnetic moment, with their axial direction tending to be perpendicular to the magnetic field direction, causing the rear anchoring component 2 to undergo active circumferential expansion deformation. Due to the circumferential contraction, the contact pressure between the front anchoring component 1 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the current anchoring component 1 and the inner wall of the pipe is less than the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe, and less than the axial pressure generated by the magnetic spring 3, the rear anchoring component 2 is anchored in the pipe, and the front anchoring component 1 slides forward as the magnetic spring 3 extends.
[0019] In step S3, the magnetic field generator 20 is adjusted to generate a magnetic field extending axially backward along the pipe. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards perpendicularity to the magnetic field direction. The magnetic spring 3 then contracts axially, applying equal and opposite axial tensile forces to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential expansion deformation under axial tensile force, while the rear anchoring component 2 undergoes circumferential contraction deformation under axial compressive force.
[0020] Furthermore, in unit cell A4 of the front anchoring component 1, the magnetic diagonal rods A32 and B34 deflect under the influence of the magnetic moment, with their axial direction tending to be parallel to the magnetic field direction, causing the front anchoring component 1 to undergo active circumferential expansion deformation. Similarly, in unit cell B5 of the rear anchoring component 2, the magnetic diagonal rods C52 and D54 deflect under the influence of the magnetic moment, with their axial direction tending to be parallel to the magnetic field direction, causing the rear anchoring component 2 to undergo active circumferential contraction deformation. Due to the circumferential contraction, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the front anchoring component 1 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe is less than the maximum static friction between the front anchoring component 1 and the inner wall of the pipe, and less than the axial tension generated by the magnetic spring 3, the front anchoring component 1 is anchored in the pipe, and the rear anchoring component 2 slides forward as the magnetic spring 3 contracts.
[0021] Step S4, repeat steps S2 to S3, and the pipe crawling soft robot can crawl forward without trailing wires in straight or curved pipes.
[0022] Furthermore, the robot has a hollow shell structure, which allows fluid to flow as it crawls inside the pipe.
[0023] Furthermore, magnetically driven pipe-crawling soft robots can carry miniature cameras, lasers, needles, drug capsules, or other functional components to complete corresponding inspection and maintenance tasks.
[0024] Compared with the prior art, the present invention has the following application value:
[0025] (1) The magnetically driven shell lattice pipe crawling soft robot of the present invention utilizes the coordinated deformation of an integrated lattice structure composed of magnetoelastics under magnetic field excitation to achieve crawling and movement in the pipe.
[0026] (2) The magnetically driven shell lattice pipe crawling soft robot of the present invention is driven wirelessly by magnetic field and does not need to carry air tubes and wires during the crawling process.
[0027] (3) The magnetically driven pipe crawling soft robot of the present invention is made entirely of soft materials and can crawl in flexible pipes such as human body, causing little damage to human body. Attached Figure Description
[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;
[0029] Figure 2(a) is a schematic diagram of the front anchoring component structure;
[0030] Figure 2(b) is a schematic diagram of the planar unfolded structure of the front anchoring component;
[0031] Figure 2(c) is a schematic diagram of a single-cell structure constituting the front anchoring component;
[0032] Figure 2(d) is a schematic diagram of a multi-bar structure constituting a unit cell of the front anchoring component;
[0033] Figure 3(a) is a schematic diagram of the rear anchoring component structure;
[0034] Figure 3(b) is a schematic diagram of the planar unfolded structure of the rear anchoring component;
[0035] Figure 3(c) is a schematic diagram of a single-cell structure constituting the rear anchoring component;
[0036] Figure 3(d) is a schematic diagram of a multi-bar structure that constitutes a unit cell of the rear anchoring component;
[0037] Figure 4(a) is a schematic diagram of the magnetic spring structure;
[0038] Figure 4(b) is a schematic diagram of the planar unfolded structure of the magnetic spring;
[0039] Figure 4(c) is a schematic diagram of a single-cell structure that constitutes a magnetic spring;
[0040] Figure 4(d) is a schematic diagram of a multi-bar structure that constitutes a unit cell of a magnetic spring;
[0041] In the diagram: 1. Front anchoring component; 2. Rear anchoring component; 3. Magnetic spring; 4. Front anchoring component unit cell A; 5. Rear anchoring component unit cell B; 6. Magnetic spring unit cell C; 7. Multi-bar structure A; 8. Multi-bar structure B; 9. Multi-bar structure C; 10. Planar development of the front anchoring component; 11. Planar development of the rear anchoring component; 12. Planar development of the magnetic spring; 13. Front connecting ring; 14. Rear connecting ring; 15. Front constraint ring; 16. Rear constraint ring; 20. Magnetic field generator; 30. Plane A; 31. Horizontal bar A; 32. Diagonal bar A; 33. Horizontal bar. Member B, 34 Diagonal Member B, 35 Horizontal Member C, 36 Magnetization Direction A, 37 Magnetization Direction B, 50 Plane B, 51 Horizontal Member D, 52 Diagonal Member C, 53 Horizontal Member E, 54 Diagonal Member D, 55 Horizontal Member F, 56 Magnetization Direction C, 57 Magnetization Direction D, 70 Plane C, 71 Horizontal Member G, 72 Diagonal Member E, 73 Diagonal Member F, 74 Horizontal Member H, 75 Horizontal Member I, 76 Horizontal Member J, 77 Magnetization Direction E, 78 Magnetization Direction F, 100 Pipe. Detailed Implementation
[0042] To fully illustrate the present invention, further detailed description is provided below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.
[0043] This invention provides a magnetically driven shell lattice pipe crawling soft robot. Driven by a changing external magnetic field, multiple shell lattice structures composed of magnetic magnetoelasticity coordinate with each other, enabling the robot to crawl stably without trailing wires in a flexible pipe and adapt to the fluid inside the pipe.
[0044] Implementation Plan 1
[0045] Specifically, such as Figure 1 As shown, for the flexible pipe 100, the magnetically driven shell lattice soft robot capable of crawling within it includes a magnetic front anchoring component 1, a magnetic rear anchoring component 2, a magnetic spring 3, a front connecting ring 13, a rear connecting ring 14, a front constraint ring 15, and a rear constraint ring 16. The front anchoring component 1 is connected to the magnetic spring 3 via the front connecting ring 13, the rear anchoring component 2 is connected to the magnetic spring 3 via the rear connecting ring 14, the front constraint ring 15 is connected to the end of the front anchoring component 1, and the rear constraint ring 16 is connected to the end of the rear anchoring component 2.
[0046] As shown in Figure 2, the front anchoring component 1 is an integrated shell lattice structure made of magnetic soft material, which is formed by bending a periodic flat plate structure A10 composed of magnetic unit cells A4. Preferably, the unit cell A4 consists of a multi-bar structure A7 and another multi-bar structure obtained by mirroring the multi-bar structure along plane A30. When no magnetic field is applied, the front anchoring component 1 can undergo circumferential expansion and circumferential contraction deformation under axial tensile and compressive loads, respectively. When placed in the magnetic field generated by the magnetic field generator 20 with its axial direction parallel to the magnetic field direction, it can undergo active circumferential expansion or contraction deformation.
[0047] As shown in Figure 3, the rear anchoring component 2 is an integrated shell lattice structure composed of magnetic soft material, which is formed by bending a periodic flat plate structure B11 composed of magnetic unit cells B5. Preferably, the unit cell B5 consists of a multi-bar structure B8 and another multi-bar structure obtained by mirroring the multi-bar structure B8 along plane B50. Under axial tensile and compressive loads, the rear anchoring component 2 can undergo circumferential contraction and circumferential expansion deformation, respectively. When placed in the magnetic field generated by the magnetic field generator 20 with its axial direction parallel to the magnetic field direction, it can undergo active circumferential expansion or contraction deformation.
[0048] As shown in Figure 4, the magnetic spring 3 is an integrated shell lattice structure composed of a soft, magnetic material, and is formed by bending a periodic flat plate structure C12 composed of unit cells C6. Preferably, the unit cell C6 consists of a multi-bar structure C9 and another multi-bar structure obtained by mirroring the multi-bar structure C9 along plane C70. When placed in the magnetic field generated by the magnetic field generator 20 with its axis parallel to the magnetic field direction, the magnetic spring 3 can undergo active axial expansion and contraction deformation. During the axial deformation process, the circumferential deformation of the magnetic spring 3 is essentially unchanged.
[0049] Preferably, the front anchoring component 1, the rear anchoring component 2, and the magnetic spring 3 described in this embodiment are all composed of PDMS soft material containing neodymium iron boron particles, and each part of the structure is magnetized by a strong magnetic field.
[0050] The magnetically driven shell lattice soft robot designed in this embodiment can crawl inside a flexible pipe. The specific steps are as follows:
[0051] Step S1: Assemble the front anchoring component 1, the rear anchoring component 2, the magnetic spring 3, the front connecting ring 13, the rear connecting ring 14, the front constraint ring 15, and the rear constraint ring 16 to obtain a magnetically driven lattice soft robot, place it in the flexible pipe 100, and place the pipe 100 in the working space of the magnetic field generator 20.
[0052] In step S2, the magnetic field generator 20 is adjusted to generate a magnetic field that moves forward along the pipe axis. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards parallel to the magnetic field direction. The magnetic spring 3 then elongates axially, applying equal but opposite axial pressures to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential contraction deformation under axial pressure, while the rear anchoring component 2 undergoes circumferential expansion deformation.
[0053] Furthermore, in unit cell A4 of the front anchoring component 1, the magnetic diagonal rods A32 and B34 deflect under the influence of the magnetic moment, with their axial direction tending to be perpendicular to the magnetic field direction, causing the front anchoring component 1 to undergo active circumferential contraction deformation. Similarly, in unit cell B5 of the rear anchoring component 2, the magnetic diagonal rods C52 and D54 deflect under the influence of the magnetic moment, with their axial direction tending to be perpendicular to the magnetic field direction, causing the rear anchoring component 2 to undergo active circumferential expansion deformation. Due to the circumferential contraction, the contact pressure between the front anchoring component 1 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the current anchoring component 1 and the inner wall of the pipe is less than the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe, and less than the axial pressure generated by the magnetic spring 3, the rear anchoring component 2 is anchored in the pipe, and the front anchoring component 1 slides forward as the magnetic spring 3 extends.
[0054] In step S3, the magnetic field generator 20 is adjusted to generate a magnetic field extending axially backward along the pipe. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards perpendicularity to the magnetic field direction. The magnetic spring 3 then contracts axially, applying equal and opposite axial tensile forces to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential expansion deformation under axial tensile force, while the rear anchoring component 2 undergoes circumferential contraction deformation under axial compressive force.
[0055] Furthermore, in unit cell A4 of the front anchoring component 1, the magnetic diagonal rods A32 and B34 deflect under the influence of the magnetic moment, with their axial direction tending to be parallel to the magnetic field direction, causing the front anchoring component 1 to undergo active circumferential expansion deformation. Similarly, in unit cell B5 of the rear anchoring component 2, the magnetic diagonal rods C52 and D54 deflect under the influence of the magnetic moment, with their axial direction tending to be parallel to the magnetic field direction, causing the rear anchoring component 2 to undergo active circumferential contraction deformation. Due to the circumferential contraction, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the front anchoring component 1 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe is less than the maximum static friction between the front anchoring component 1 and the inner wall of the pipe, and less than the axial tension generated by the magnetic spring 3, the front anchoring component 1 is anchored in the pipe, and the rear anchoring component 2 slides forward as the magnetic spring 3 contracts.
[0056] Step S4, repeat steps S2 to S3, and the pipe crawling soft robot can crawl forward without trailing wires in straight or curved pipes.
[0057] Implementation Plan 2
[0058] Specifically, such as Figure 1 As shown, for the flexible pipe 100, the magnetically driven shell lattice soft robot capable of crawling within it includes a non-magnetic front anchoring component 1, a non-magnetic rear anchoring component 2, a magnetic spring 3, a front connecting ring 13, a rear connecting ring 14, a front constraint ring 15, and a rear constraint ring 16. The front anchoring component 1 is connected to the magnetic spring 3 via the front connecting ring 13, the rear anchoring component 2 is connected to the magnetic spring 3 via the rear connecting ring 14, the front constraint ring 15 is connected to the end of the front anchoring component 1, and the rear constraint ring 16 is connected to the end of the rear anchoring component 2.
[0059] As shown in Figure 2, the front anchoring component 1 is an integrated shell lattice structure made of non-magnetic soft material, which is formed by bending a periodic flat plate structure A10 composed of non-magnetic unit cells A4. Preferably, the non-magnetic unit cell A4 is composed of a multi-bar structure A7 and another multi-bar structure obtained by mirroring the multi-bar structure along plane A30. Under axial tensile and compressive loads, the front anchoring component 1 can undergo circumferential expansion and circumferential contraction deformation, respectively.
[0060] As shown in Figure 3, the rear anchoring component 2 is an integrated shell lattice structure composed of non-magnetic soft material, and is formed by bending a periodic flat plate structure B11 composed of non-magnetic unit cells B5. Preferably, the non-magnetic unit cell B5 consists of a multi-bar structure B8 and another multi-bar structure obtained by mirroring the multi-bar structure along plane B50. Under axial tensile and compressive loads, the rear anchoring component 2 can undergo circumferential contraction and circumferential expansion deformation, respectively. Under the action of the axial magnetic field generated by the magnetic field generator 20, circumferential active expansion or contraction deformation can occur.
[0061] As shown in Figure 4, the magnetic spring 3 is an integrated shell lattice structure composed of a soft, magnetic material, and is formed by bending a periodic flat plate structure C12 composed of unit cells C6. Preferably, the unit cell C6 consists of a multi-bar structure C9 and another multi-bar structure obtained by mirroring the multi-bar structure along plane C70. When placed in the magnetic field generated by the magnetic field generator 20 with its axis parallel to the magnetic field direction, the magnetic spring 3 can undergo active axial expansion and contraction deformation. During the axial deformation process, the circumferential deformation of the magnetic spring 3 is essentially unchanged.
[0062] Preferably, the front anchoring component 1 and the rear anchoring component 2 described in this embodiment are composed only of PDMS soft material, and the magnetic spring 3 is composed of PDMS material containing neodymium iron boron particles, and the processed structure is magnetized by a strong magnetic field.
[0063] The magnetically driven shell lattice soft robot designed in this embodiment can crawl inside a flexible pipe. The specific steps are as follows:
[0064] Step S1: Assemble the front anchoring component 1, the rear anchoring component 2, the magnetic spring 3, the front connecting ring 13, the rear connecting ring 14, the front constraint ring 15, and the rear constraint ring 16 to obtain a magnetically driven lattice soft robot, place it in the flexible pipe 100, and place the pipe 100 in the working space of the magnetic field generator 20.
[0065] In step S2, the magnetic field generator 20 is adjusted to generate a magnetic field moving forward along the pipe axis. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards parallel to the magnetic field direction. The magnetic spring 3 then elongates axially, applying equal but opposite axial pressures to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential contraction deformation under axial pressure, while the rear anchoring component 2 undergoes circumferential expansion deformation. Due to the circumferential contraction, the contact pressure between the front anchoring component 1 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the current anchoring component 1 and the inner wall of the pipe is less than the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe, and less than the axial pressure generated by the magnetic spring 3, the rear anchoring component 2 is anchored in the pipe, and the front anchoring component 1 slides forward as the magnetic spring 3 extends.
[0066] In step S3, the magnetic field generator 20 is adjusted to generate a magnetic field extending axially backward along the pipe. The magnetic diagonal rods E72 and F73 within the unit cell C6 of the magnetic spring 3 deflect under the influence of the magnetic moment, causing their axial direction to tend towards perpendicularity to the magnetic field direction. The magnetic spring 3 contracts axially, applying equal and opposite axial tensile forces to the front anchoring component 1 and the rear anchoring component 2. The front anchoring component 1 undergoes circumferential expansion deformation under axial tensile force, while the rear anchoring component 2 undergoes circumferential contraction deformation under axial compressive force. Due to the circumferential contraction, the contact pressure between the rear anchoring component 2 and the inner wall of the pipe decreases, resulting in a smaller maximum static friction force. Conversely, due to the circumferential expansion, the contact pressure between the front anchoring component 1 and the inner wall of the pipe increases, resulting in a larger maximum static friction force. When the maximum static friction between the rear anchoring component 2 and the inner wall of the pipe is less than the maximum static friction between the front anchoring component 1 and the inner wall of the pipe, and less than the axial tension generated by the magnetic spring 3, the front anchoring component 1 is anchored in the pipe, and the rear anchoring component 2 slides forward as the magnetic spring 3 contracts.
[0067] Step S4, repeat steps S2 to S3, and the pipe crawling soft robot can crawl forward without trailing wires in straight or curved pipes.
[0068] The above-described embodiments are merely illustrative of the implementation methods of the present invention and should not be construed as limiting the scope of the present invention. Those skilled in the art can make other modifications and improvements within the scope of the present invention, and these all fall within the protection scope of the present invention. All components not explicitly stated in this embodiment can be implemented using existing technology.
Claims
1. A magnetically driven shell lattice pipe crawling soft robot, characterized in that, The magnetically driven shell lattice pipe crawling soft robot can crawl and move without trailing wires within the natural pipes of the human body. The magnetically driven shell lattice pipe crawling soft robot includes a front anchoring component (1), a rear anchoring component (2), a magnetic spring (3), a front connecting ring (13), a rear connecting ring (14), a front constraint ring (15), a rear constraint ring (16), and a magnetic field generator (20). The front anchoring component (1) and the rear anchoring component (2) are located on both sides of the magnetic spring (3). The tail of the front anchoring component (1) is connected to the magnetic spring (3) through the front connecting ring (13), and the head of the rear anchoring component (2) is connected to the magnetic spring (3) through the rear connecting ring (14). The front constraint ring (15) is connected to the head of the front anchoring component (1), and the rear constraint ring (16) is connected to the tail of the rear anchoring component (2). The front constraint ring (15) is used to constrain the end deformation of the front anchoring component (1) under magnetic field drive, and the rear constraint ring (16) is used to constrain the end deformation of the rear anchoring component (2) under magnetic field drive. The front anchoring component (1), the rear anchoring component (2), and the magnetic spring (3) are all integrated shell lattice structures made of soft materials with magnetism. When placed in the magnetic field space generated by the magnetic field generator (20), the magnetic field generated by the magnetic field generator (20) can drive them to produce active deformation. The front anchoring component (1) is an integrated shell lattice structure composed of a soft material with magnetic properties, and is composed of a periodic flat plate structure A (10) composed of unit cells A (4) bent; under axial tensile and compressive loads, the front anchoring component (1) can generate circumferential expansion and circumferential contraction deformation respectively; under the axial magnetic field generated by the magnetic field generator (20), it can also generate active expansion or contraction deformation in the circumferential direction. The rear anchoring component (2) is an integrated shell lattice structure composed of a soft material with magnetic properties, and is composed of a periodic flat plate structure B (11) composed of unit cells B (5) bent; under axial tensile and compressive loads, the rear anchoring component (2) can generate circumferential contraction and circumferential expansion deformation respectively; under the axial magnetic field generated by the magnetic field generator (20), it can also generate active expansion or contraction deformation in the circumferential direction. The magnetic spring (3) is an integrated shell lattice structure composed of a soft material with magnetism, and is composed of a periodic flat plate structure C (12) composed of unit cells C (6) bent; under the drive of the axial magnetic field generated by the magnetic field generator (20), the magnetic spring (3) can generate active axial expansion and contraction deformation; during the axial deformation process, the circumferential direction of the magnetic spring (3) is basically not deformed. The magnetic field generator (20) is a Helmholtz coil, electromagnet or permanent magnet, etc., used to generate a driving magnetic field to drive the front anchoring component (1), the rear anchoring component (2) and the magnetic spring (3).
2. The magnetically driven shell lattice pipe crawling soft robot according to claim 1, characterized in that: The unit cell A(4) consists of a multi-bar structure A(7) and another multi-bar structure obtained by mirroring the multi-bar structure A(7) along plane A30; the multi-bar structure A(7) consists of a horizontal bar A(31), a horizontal bar B(33), a horizontal bar C(35), a diagonal bar A(32), and a diagonal bar B(34). Composition: The horizontal bar A (31), diagonal bar A (32), horizontal bar B (33), diagonal bar B (34), and horizontal bar C (35) are connected sequentially from top to bottom. The diagonal bars A (32) and B (34) are symmetrical about the horizontal bar B (33) and are connected to the same end of the horizontal bar B (33). The horizontal bars A (31), B (33), and C (35) are parallel to each other. The magnetization direction A36 of the diagonal bar A (32) is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar A (31) to the end connected to the horizontal bar B (33). The magnetization direction B37 of the diagonal bar B (34) is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar B (33) to the end connected to the horizontal bar C (35). The unit cell B(5) consists of a multi-bar structure B(8) and another multi-bar structure obtained by mirroring the multi-bar structure B(8) along plane B(50); the multi-bar structure B(8) consists of a horizontal bar D(51), a horizontal bar E(53), a horizontal bar F(55), a diagonal bar C(52), and a diagonal bar D(54); the horizontal bar D(51), diagonal bar C(52), diagonal bar D(54), and horizontal bar F(55) are connected sequentially from top to bottom, and the diagonal bar C(52), diagonal bar D(54), and horizontal bar F(55) are connected sequentially from top to bottom. 54) Symmetrical with respect to the horizontal bar member E(53), and connected to the same end of the horizontal bar member E(53), the horizontal bar members D(51), E(53), and F(55) are parallel to each other; the magnetization direction C56 of the diagonal bar member C(52) is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar member D(51) to the end connected to the horizontal bar member E(53); the magnetization direction D(57) of the diagonal bar member D(54) is parallel to the axial direction of the bar, pointing from the end connected to the horizontal bar member E(53) to the end connected to the horizontal bar member F(55); The unit cell C(6) consists of a multi-bar structure C(9) and another multi-bar structure obtained by mirroring the multi-bar structure C(9) along plane C70; the multi-bar structure C(9) consists of a horizontal bar G(71), a horizontal bar H(74), a horizontal bar I(75), a horizontal bar J(76), a diagonal bar E(72), and a diagonal bar F(73); the horizontal bar G(71), diagonal bar E(72), diagonal bar F(73), and horizontal bar H(74) are connected in sequence; the horizontal bar G(71) and the horizontal bar The rod I (75) is parallel and connected to the same end of the diagonal rod E (72); the horizontal rod H (74) is parallel to the horizontal rod J (76) and connected to the same end of the diagonal rod F (73); the magnetization direction E (77) of the diagonal rod E (72) is parallel to the axial direction of the rod, pointing from the end connected to the diagonal rod F (73) to the end connected to the horizontal rod G (71); the magnetization direction F (78) of the diagonal rod F (73) is parallel to the axial direction of the rod, pointing from the end connected to the horizontal rod H (74) to the end connected to the diagonal rod E (72).
3. The magnetically driven shell lattice pipe crawling soft robot according to claim 1, characterized in that: The front anchoring component (1), the rear anchoring component (2), and the magnetic spring (3) are made of soft material containing hard magnetic particles; the magnetism of the front anchoring component (1), the rear anchoring component (2), and the magnetic spring (3) is obtained by magnetizing with a strong magnetic field.
4. A method of using the magnetically driven shell lattice pipe crawling soft robot according to any one of claims 1-3, characterized in that, Includes the following steps: Step S1: Assemble the front anchoring component (1), rear anchoring component (2), magnetic spring (3), front connecting ring (13), rear connecting ring (14), front constraint ring (15), and rear constraint ring (16) to obtain a magnetically driven dot matrix soft robot, place it in the flexible pipe 100, and place the pipe (100) in the working space of the magnetic field generator (20). Step S2: Adjust the magnetic field generator (20) to generate a magnetic field that moves forward along the pipe axis. The magnetic diagonal rods E (72) and F (73) in the unit cell C (6) of the magnetic spring (3) deflect under the action of the magnetic moment. The axial direction of the rod tends to be parallel to the direction of the magnetic field. The magnetic spring (3) elongates axially and applies equal and opposite axial pressures to the front anchoring component (1) and the rear anchoring component (2). The front anchoring component (1) undergoes circumferential contraction deformation when subjected to axial pressure, and the rear anchoring component (2) undergoes circumferential expansion deformation when subjected to axial pressure. Step S3: Adjust the magnetic field generator (20) to generate a magnetic field that extends backward along the pipe axis. The magnetic diagonal rods E (72) and F (73) in the unit cell C (6) of the magnetic spring (3) deflect under the action of the magnetic moment. The axial direction of the rod tends to be perpendicular to the magnetic field direction. The magnetic spring (3) contracts axially and applies equal and opposite axial tension to the front anchoring component (1) and the rear anchoring component (2). The front anchoring component (1) undergoes circumferential expansion deformation when subjected to axial tension, and the rear anchoring component (2) undergoes circumferential contraction deformation when subjected to axial pressure. Step S4, repeat steps S2~S3, and the pipe crawling soft robot can crawl forward without trailing wires in straight or curved pipes.
5. The method of using a magnetically driven shell lattice pipe crawling soft robot according to claim 4, characterized in that, In step S2, the magnetic diagonal rods A (32) and B (34) in the unit cell A (4) of the front anchoring component (1) deflect under the action of the magnetic moment, and the axial direction of the rod tends to be perpendicular to the magnetic field direction, and the front anchoring component (1) generates active circumferential contraction deformation. In the unit cell B (5) that makes up the rear anchoring component (2), the magnetic diagonal rods C (52) and D (54) deflect under the action of the magnetic moment, and the axial direction of the rods tends to be perpendicular to the magnetic field direction. The rear anchoring component (2) generates active circumferential expansion deformation. The contact pressure between the front anchoring component (1) and the inner wall of the pipe decreases due to circumferential contraction, and the maximum static friction decreases. In contrast, the contact pressure between the rear anchoring component (2) and the inner wall of the pipe increases due to circumferential expansion, and the maximum static friction increases. When the maximum static friction between the front anchoring component (1) and the inner wall of the pipe is less than the maximum static friction between the rear anchoring component (2) and the inner wall of the pipe, and less than the axial pressure generated by the magnetic spring (3), the rear anchoring component (2) is anchored in the pipe, and the front anchoring component (1) slides forward with the extension of the magnetic spring (3).
6. The method of using a magnetically driven shell lattice pipe crawling soft robot according to claim 4, characterized in that, In step S3, the magnetic diagonal rods A (32) and B (34) in unit cell A (4) of the front anchoring component (1) deflect under the action of the magnetic moment, and the axial direction of the rods tends to be parallel to the direction of the magnetic field, causing the front anchoring component (1) to undergo active circumferential expansion deformation; the magnetic diagonal rods C (52) and D (54) in unit cell B (5) of the rear anchoring component (2) deflect under the action of the magnetic moment, and the axial direction of the rods tends to be parallel to the direction of the magnetic field, causing the rear anchoring component (2) to undergo active circumferential expansion deformation. Contraction deformation; the contact pressure between the rear anchoring component (2) and the inner wall of the pipe decreases due to circumferential contraction, and the maximum static friction force decreases; in contrast, the contact pressure between the front anchoring component (1) and the inner wall of the pipe increases due to circumferential expansion, and the maximum static friction force increases; when the maximum static friction force between the rear anchoring component (2) and the inner wall of the pipe is less than the maximum static friction force between the front anchoring component (1) and the inner wall of the pipe, and less than the axial tension generated by the magnetic spring (3), the front anchoring component (1) is anchored in the pipe, and the rear anchoring component (2) slides forward with the contraction of the magnetic spring (3).
7. The method of using a magnetically driven shell lattice pipe crawling soft robot according to claim 4, characterized in that, The magnetically driven shell lattice pipe crawling soft robot has a hollow shell structure, which allows fluid to flow when crawling inside the pipe.
8. The method of using a magnetically driven shell lattice pipe crawling soft robot according to claim 4, characterized in that, Magnetic-driven pipe-crawling soft robots can carry miniature cameras, lasers, needles, drug capsules, or other functional components to perform corresponding inspection and maintenance tasks.