Mechanical arm facing bionic magnetic control villus non-inductive adhesion screw rod transmission magnetic field translation device

Abstract

This invention relates to the field of non-contact gripping technology, and discloses a biomimetic magnetically controlled, non-contact adhesion, screw-driven magnetic field translation device for robotic arms. The device includes: a frame assembly, a drive mechanism, a controller, a driver, a stepper motor, a transmission gear set, a screw bearing seat, a screw, a screw nut, a magnet base, a magnet, and a magnetofluid panel. The device uses a stepper motor for power, which is transmitted to two screws via the gear set. The rotation of the screws is converted into lateral movement via the nut. The magnet base is supported by two optical axis guide rails, and the nut drives the lateral movement of the magnet base, thus completing the lateral movement of the magnet and magnetic field. Inspired by the filiform nipples of a cat's tongue, the magnetofluid fibers made of dimethyl silicone oil and magnetic powder can grow in accordance with the direction of magnetic field lines. The magnetofluid fibers can oscillate under the influence of a moving magnetic field, thereby completing the gripping function.

Description

Technical Field

[0001] This invention relates to the field of magnetic gripping technology, and in particular to a biomimetic magnetically controlled, non-sensitive adhesive screw-driven magnetic translation device for robotic arms. Background Technology

[0002] The capability of a satellite system is paramount, and non-cooperative target acquisition technology in space is a crucial indicator of its overall performance. Consequently, this technology is highly valued by major developed countries and regions worldwide. In particular, aerospace systems and militaries are investing heavily in the independent development and comprehensive utilization of related cutting-edge technologies.

[0003] Among them, the space robotic arm plays a very important role in capturing non-cooperative target satellites and assembling modules in orbit, but the grasping ability of the space robotic arm in the current technology needs to be improved.

[0004] Therefore, existing technologies still need further improvement and development. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a biomimetic magnetically controlled, non-insensitive adhesive screw-driven magnetic field translation device for robotic arms, so as to provide grasping capability for space robotic arms.

[0006] The technical solution of the present invention is as follows:

[0007] A biomimetic magnetically controlled, non-inductively adhesive, threaded screw-driven magnetic field translation device for robotic arms, comprising:

[0008] Rack assembly;

[0009] A drive mechanism, mounted on the frame assembly, is used to drive the movement of the magnets in the magnetic field generating mechanism;

[0010] A magnetic field generating mechanism, which is connected to the driving mechanism, is used to generate a magnetic field for driving the magnetofluid according to the driving mechanism.

[0011] A gripping execution panel is mounted on the rack assembly. The magnetohydrodynamic fluid on the gripping execution panel is driven by a magnetic field to generate moving magnetized fibers, which perform gripping actions.

[0012] The aforementioned biomimetic magnetically controlled, non-inductive adhesive screw-driven magnetic field translation device for robotic arms includes a frame assembly comprising an outer shell and two optical axis guide rails mounted on both sides of the outer shell.

[0013] The aforementioned biomimetic magnetically controlled, non-inductively adhesive, screw-driven magnetic field translation device for robotic arms includes a driver mechanism comprising a stepper motor signal generator, a stepper motor driver board, and a stepper motor.

[0014] The stepper motor signal generator is connected to the stepper motor driver board, and the stepper motor signal generated by the stepper motor signal generator is transmitted to the stepper motor driver board.

[0015] The stepper motor driver board is connected to the stepper motor. The stepper motor driver board amplifies the stepper signal generated by the stepper motor signal generator and outputs current to drive the stepper motor to run.

[0016] The aforementioned biomimetic magnetically controlled non-sensitive adhesive screw-driven magnetic field translation device for robotic arms, wherein the stepper motor signal generator is a control board that can generate stepper signals to control the forward and reverse rotation of the motor, and is speed-adjustable and has limit switches;

[0017] The stepper motor driver board can amplify the power of the stepper signal generated by the motor signal generator.

[0018] The stepper motor is miniature and needs to provide a torque of ≥20 Ncm. The stepper motor can precisely control the stopping position of the magnet.

[0019] The aforementioned biomimetic magnetically controlled non-inductive adhesion screw-driven magnetic field translation device for robotic arms includes a drive mechanism comprising a transmission gear set, a screw bearing seat set, a screw set, and a screw nut set.

[0020] The aforementioned biomimetic magnetically controlled, non-intrusive, adhesive screw-driven magnetic field translation device for robotic arms comprises a transmission gear set including a motor gear, an intermediate gear, an intermediate gear bearing, and a screw gear set. The motor gear is mounted on the output shaft of a stepper motor, the intermediate gear is mounted on the outer housing frame via the intermediate gear bearing, and the screw gear set is fastened to two screws via set screws. The stepper motor outputs power to the motor gear, the rotation of the motor gear drives the intermediate gear to rotate, and the rotation of the intermediate gear drives the two screw gears to rotate.

[0021] The aforementioned biomimetic magnetically controlled, non-inductive adhesive lead screw transmission magnetic field translation device for robotic arms includes a lead screw comprising a positive lead screw and a negative lead screw, and a lead screw nut assembly comprising a positive lead nut and a negative lead nut. The positive lead screw and the negative lead screw are mounted within the outer frame via a lead screw bearing seat assembly. The positive lead nut is screwed onto the positive lead screw, and the negative lead nut is screwed onto the negative lead screw.

[0022] The aforementioned biomimetic magnetically controlled non-inductive adhesion screw drive magnetic field translation device for robotic arms is characterized in that the screw bearing housing assembly is mounted on the frame assembly, and the screw assembly is fixed to the inner ring of the bearing of the screw bearing housing assembly by a set screw.

[0023] The aforementioned biomimetic magnetically controlled, non-inductively adhesive, screw-driven magnetic field translation device for robotic arms includes a magnetic field generating mechanism comprising a magnet base assembly, a linear bearing assembly, and a neodymium magnet assembly.

[0024] Each magnet base in the magnet base assembly is fixedly connected to both ends with a linear bearing, which is mounted on an optical axis guide rail; a lead screw nut is also fixedly connected to the middle of each magnet base in the magnet base assembly.

[0025] The magnet base assembly is mounted on the optical axis guide rail of the frame assembly via a linear bearing.

[0026] The aforementioned biomimetic magnetically controlled, non-sensitive adhesive screw-driven magnetic field translation device for robotic arms, wherein the gripping execution panel is mounted on the back of the frame assembly;

[0027] The gripping execution panel includes: a support plate mounted on the back of the housing frame and a magnetic fluid mounted on the support plate; the support plate is mounted on the housing frame of the rack assembly, and the support plate supports the magnetic fluid; the magnetic fluid is a composite material made of silicone oil and magnetic powder.

[0028] The beneficial effects of this invention are as follows: This invention aims to provide a technical solution for the capture of non-cooperative target satellites by space robotic arms and the on-orbit assembly of modules. Through research on the rapid adhesion / efficient detachment and low vibration / low stimulation characteristics of biological tentacles, an independently developed and innovative biomimetic, non-invasive, flexible, and agile technology is applied to space robotic arms, endowing them with non-invasive and agile grasping capabilities, enhancing the mobility of space robots, expanding their operational range, and strengthening space power. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of a biomimetic magnetically controlled non-inductive adhesion screw-driven magnetic field translation device for robotic arms, according to an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the overall structure of a biomimetic magnetically controlled, non-inductively adhesive screw-driven magnetic field translation device for robotic arms, according to another aspect of an embodiment of the present invention.

[0031] Figure 3a This is a structural diagram of the transmission gear set of a biomimetic magnetically controlled, non-inductive adhesion screw drive magnetic field translation device for robotic arms, according to an embodiment of the present invention.

[0032] Figure 3bThis is a schematic diagram of a lead screw bearing seat for a biomimetic magnetically controlled, non-inductively adhesive lead screw transmission magnetic field translation device for robotic arms, according to an embodiment of the present invention.

[0033] Figure 4a The magnetic control device of the biomimetic magnetically controlled non-inductive adhesive screw drive magnetic field translation device for robotic arms in a specific embodiment of the present invention is shown in a top view of the magnetic control device causing the magnetic field to converge.

[0034] Figure 4b The magnetic control device of the biomimetic magnetically controlled non-inductive adhesive screw drive magnetic field translation device for robotic arms in a specific embodiment of the present invention is shown in a bottom view with the magnetic field in an expanded state.

[0035] Figure 5 This is a schematic diagram of the biomimetic magnetically controlled non-inductive adhesion screw drive magnetic field translation device for robotic arms, as described in a specific embodiment of the present invention.

[0036] Figure 6 This is a working diagram of the magnetic velvet of the biomimetic magnetically controlled velvet non-inductive adhesion screw-driven magnetic field translation device for robotic arms, as described in a specific embodiment of the present invention.

[0037] Figure 7 This is an inverted structural diagram of a biomimetic magnetically controlled, non-inductively adhesive screw-driven magnetic field translation device for robotic arms, according to an embodiment of the present invention.

[0038] The attached diagram is labeled as follows: 1-Frame assembly; 2-Drive mechanism; 3-Magnetic field generating mechanism; 4-Grasping execution panel; 11-Outer frame; 12-Optical axis; 21-Stepper motor; 22-Transmission gear set; 23-Lead screw bearing seat assembly; 24-Lead screw assembly; 25-Lead screw nut assembly; 31-Linear bearing assembly; 32-Magnet base assembly; 33-Magnet assembly; 221-Motor gear; 222-Intermediate gear; 223-Intermediate gear bearing; 224-Lead screw gear set; 241-Forward lead screw; 242-Reverse lead screw; 321-Reverse nut assembly; 322-Forward nut assembly. Detailed Implementation

[0039] This invention provides a biomimetic magnetically controlled, non-intrusive, adhesive screw-driven magnetic field translation device for robotic arms. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention is further described in detail below. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0041] This invention aims to provide a technical solution for the capture of non-cooperative target satellites by space robotic arms and the on-orbit assembly of modules. Through research on the rapid adhesion / efficient detachment and low vibration / low stimulation characteristics of biological tentacles, an innovative biomimetic, non-invasive, flexible, and agile technology has been designed and applied to space robotic arms. This endows the space robotic arms with non-invasive and agile grasping capabilities, enhances the mobility of space robots, expands their operational range, and strengthens space capabilities.

[0042] This invention provides a biomimetic magnetically controlled, non-inductively adhesive, threaded screw-driven magnetic field translation device for robotic arms, comprising:

[0043] like Figure 1 As shown in the figure, an embodiment of the present invention provides a screw-driven magnetic field translation device for biomimetic magnetically controlled, non-intrusive adhesion of fibers to a robotic arm. The device includes: a frame assembly 1, a drive mechanism 2, a magnetic field generating mechanism 3, and a gripping execution panel 4. The drive mechanism 2 is mounted on the frame assembly 1 and drives the magnet of the magnetic field generating mechanism 3. The magnetic field generating mechanism 3 generates a magnetic field to drive the magnetic fluid according to the drive mechanism 2. The gripping execution panel 4 is mounted on the frame assembly 1, and the magnetic fluid of the gripping execution panel 4 is driven by the magnetic field to generate movable, magnetized fibers, thus performing a gripping action. In other words, the gripping execution panel 4 drives the magnetic fluid of the gripping execution panel 4 in a magnetic field-driven manner according to the changes in the magnetic field generated by the magnetic field generating mechanism 3, generating movable, magnetized fibers and performing a gripping action.

[0044] like Figure 2 As shown, the frame assembly 1 includes an outer shell frame 11 and two optical axis guide rails 12 mounted on both sides of the outer shell frame.

[0045] The driving mechanism 2 includes a driver, which comprises a stepper motor signal generator, a stepper motor driver board, and a stepper motor 21. The stepper motor signal generator is connected to the stepper motor driver board, and the stepper motor signal generator generates a stepping signal which is then transmitted to the stepper motor driver board. The stepper motor driver board is connected to the stepper motor 21, and the stepper motor driver board amplifies the stepping signal generated by the stepper motor signal generator and outputs a current to drive the stepper motor 21 to operate.

[0046] In a further embodiment, the stepper motor signal generator is a KN550 type 24V control board. The control board is a control board that can generate stepper signals to control the forward and reverse rotation of the motor, is speed adjustable, and has limit switches.

[0047] More preferably, the stepper motor driver board is a TB6600HG type 24V, 4.5A driver board, which can amplify the power of the stepper signal generated by the motor signal generator.

[0048] In this embodiment of the invention, the stepper motor is a miniature model that needs to provide a torque of ≥20 Ncm. The stepper motor can precisely control the stopping position of the magnet. Preferably, the stepper motor 21 is mounted on the frame assembly 1. The stepper motor 21 is a miniature 28 stepper motor, 50 mm high, 5 mm shaft diameter, 1.8 degree step angle, rated voltage 12V, operating current 2A, and weighs 200g, providing a torque of 17 Ncm. The stepper motor can precisely control the stopping position of the magnet.

[0049] like Figure 2 and Figure 3b As shown, the drive mechanism 2 includes a transmission gear set 22, a lead screw bearing seat set 23, a lead screw set 24, and a lead screw nut set 25. In this embodiment of the invention, the drive mechanism is also called a transmission mechanism.

[0050] like Figure 3a As shown, the transmission gear set 22 includes a motor gear 221, an intermediate gear 222, an intermediate gear bearing 223, and a lead screw gear set 224. The lead screw gear set 224 includes multiple lead screws. The motor gear 221 is mounted on the output shaft of the stepper motor 21. The intermediate gear 222 is mounted on the housing frame 11 via the intermediate gear bearing 223. The lead screw gear set 224 is fastened to two lead screws by set screws. The stepper motor 21 outputs power to the motor gear 221, and the rotation of the motor gear 221 drives the intermediate gear 222 to rotate, which in turn drives the two lead screws to rotate.

[0051] In this embodiment of the invention, the transmission gear set 22 comprises four gears: a motor gear 221, an intermediate gear 222, an intermediate gear bearing 223, and a lead screw gear set 224. The number of teeth on each gear is calculated using the gear center distance formula. Since the gears are relatively small, all four gears are selected with a module of ≤1. To increase torque, the number of teeth increases progressively from the driving gear to the drive gear. Ultimately, the motor gear is determined to have a module of 1, 13 teeth, a thickness of 10mm, and a bore diameter of 5mm; the intermediate gear has a module of 1, 17 teeth, a thickness of 10mm, and a bore diameter of 8mm; and the lead screw gear has a module of 1, 21 teeth, a thickness of 10mm, and a bore diameter of 8mm. Each gear is also equipped with an M3 set screw hole for fixing.

[0052] Furthermore, the lead screw bearing housing 23 is mounted on the frame assembly 1, and the lead screw assembly 24 is fixed to the inner ring of the bearing in the lead screw bearing housing 23 by a set screw.

[0053] Further embodiments, such as Figure 4a and Figure 4bAs shown, the lead screw assembly 24 includes a positive lead screw 241 and a negative lead screw 242, and the lead screw nut assembly 25 includes a positive nut 321 and a negative nut 322. Figure 4a and Figure 4b As shown, the positive lead screw 241 and the negative lead screw 242 are installed in the outer frame 11 through the lead screw bearing seat assembly 23. The positive lead nut 321 is screwed onto the positive lead screw 241, and the negative lead nut 322 is screwed onto the negative lead screw 242.

[0054] In this embodiment of the invention, preferably, the positive lead screw 241 and the negative lead screw 242 are T8 type lead screws with a pitch of 2mm. It should be noted that one lead screw is a positive lead screw and the other a negative lead screw. The purpose of this design is that, since it is necessary to achieve both opposite and forward movements of the two magnets in each group of magnets, and the rotation direction of the screws is the same, one positive lead screw and one negative lead screw are designed. When the two lead screws rotate in the same direction, the lead screw nuts on the lead screws will move in opposite directions relative to the frame.

[0055] like Figure 3a and Figure 4a As shown, during the magnetic field expansion stroke, the stepper motor 21 rotates clockwise, driving the motor gear 221 to rotate clockwise. The motor gear 221 drives the intermediate gear 222 to rotate counterclockwise, and the intermediate gear drives the two lead screws (224) to rotate clockwise. The lead screws drive the positive lead screw 241 and the negative lead screw 242 to rotate clockwise. The positive lead screw 241 drives the positive nut 321 to move to the right, and the negative lead screw 242 drives the negative nut 322 to move to the left.

[0056] In embodiments of the present invention, such as Figure 2 and Figure 7 As shown, the magnetic field generating mechanism 3 includes a magnet base assembly 32, a linear bearing assembly 31, and an N52 neodymium magnet assembly 33. The linear bearing assembly 31 includes multiple linear bearings fixed to the magnet base assembly 32. Each magnet base in the magnet base assembly 32 has linear bearings fixedly connected to both ends, i.e., the linear bearings are mounted on the optical axis guide rail 12 and can slide on the optical axis guide rail 12. Thus, the magnet base assembly 32 can slide on the optical axis guide rail 12 via the linear bearing assembly 31. A lead screw nut (positive lead screw nut 321 and negative lead screw nut 322) is also fixedly connected to the middle of each magnet base in the magnet base assembly 32. When the lead screw nut assembly 25 moves left and right, it drives the magnet base to move left and right.

[0057] In a preferred embodiment of the invention, the magnetic field generating mechanism 3 further comprises six magnet bases and six magnets. Three of the six magnet bases are mounted on the positive thread nut 321, and the other three are mounted on the negative thread nut 322. The N52 neodymium magnet assembly 33 is mounted on the magnet base assembly 32. In a preferred embodiment of the invention, the magnet base assembly 32 is mounted on the optical axis guide rail 12 of the frame assembly 1 via a linear bearing of model LM4UU.

[0058] In this embodiment of the invention, the gripping execution panel 4 is further mounted on the back of the rack assembly 1, as shown below. Figure 6 As shown, the gripping execution panel 4 includes: a support plate 41 mounted on the back of the housing frame 11 and a magnetic fluid 42 mounted on the support plate 41. The support plate 41 is mounted on the housing frame of the frame assembly 1, and the support plate 41 supports the magnetic fluid 42; preferably, in this embodiment of the invention, the magnetic fluid is a composite material made of dimethyl silicone oil and carbonyl iron powder.

[0059] In this embodiment of the invention, the gripping execution panel 4 is mounted on the outer shell frame 11, as shown below. Figure 5 As shown, Figure 5 This diagram illustrates the operating principle of magnetohydrodynamics. The position of the magnetohydrodynamic fluid relative to the frame is determined. The fibers formed by the magnetic nanoparticles in the magnetic field grow in accordance with the magnetic field lines. When two magnets in each group are close together, the magnetic field converges, and the magnetized fibers are in the outer magnetic field, expanding along the magnetic field lines. When the two magnets move away, the magnetic field expands, and the magnetized fibers are in the inner magnetic field, contracting along the magnetic field lines. In other words, by controlling the separation and proximity of the magnets, the expansion and gripping of the magnetized fibers can be controlled.

[0060] Figure 6 The diagram shows the magnetic fibers extending and gripping in the biomimetic magnetically controlled, non-inductively adhesive, screw-driven magnetic field translation device for robotic arms according to the present invention (left) and the device grasping and releasing an object (right).

[0061] The working process and principle of the biomimetic magnetically controlled, non-invasive adhesion screw-driven magnetic field translation device for robotic arms of the present invention are as follows:

[0062] like Figure 1As shown, assuming the biomimetic magnetically controlled, non-inductive adhesion screw-driven magnetic field translation device for robotic arms of this invention starts working when two magnets from each of the three sets of magnets in the N52 neodymium magnet group 33 approach each other, the magnetic fields of each set of magnets converge, the magnetized fibers are in the outer magnetic field, and the magnetized fibers are in a relaxed state. Pressing the stepper motor controller starts the stepper motor 21, which drives the two magnets in each set of magnets to move away from each other to a designated position, triggering a limit switch and stopping the stepper motor. At this time, the magnetic field of each set of magnets expands, the magnetized fibers are in the inner magnetic field, and the magnetized fibers are in a grasping state, completing the grasping function. When it is necessary to release the object, pressing the stepper motor controller reverses the stepper motor 21, which drives the two magnets in each set of magnets to approach each other to a designated position, triggering a limit switch and stopping the stepper motor. At this time, the magnetic fields of each set of magnets converge, the magnetized fibers are in the outer magnetic field, and the magnetized fibers are in a relaxed state, completing the release of the object.

[0063] As can be seen from the above, the biomimetic magnetically controlled, non-stick, adhesive screw-driven magnetic field translation device for robotic arms in this embodiment of the invention uses a stepper motor for power, which is transmitted to two screws through a gear set. The rotation of the screws is converted into lateral movement via a nut. The magnet base is supported by two optical axis guide rails, and the nut drives the magnet base to move laterally, thereby completing the lateral movement of the magnet and magnetic field. Inspired by the filiform nipples of a cat's tongue, the magnetofluidic fibers made of dimethyl silicone oil and magnetic powder can grow in accordance with the direction of magnetic field lines. The magnetofluidic fibers can oscillate under the action of a moving magnetic field, thereby completing the grasping function.

[0064] This invention aims to provide a technical solution for the capture of non-cooperative target satellites by space robotic arms and the on-orbit assembly of modules. Through research on the rapid adhesion / efficient detachment and low vibration / low stimulation characteristics of biological tentacles, a biomimetic, non-invasive, flexible, and agile technology has been independently designed and applied to space robotic arms. This endows the space robotic arms with non-invasive and agile grasping capabilities, enhances the mobility of space robots, and expands their operational range.

[0065] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A biomimetic magnetically controlled, non-inductively adhesive, threaded screw-driven magnetic field translation device for robotic arms, characterized in that, include: Rack assembly; A drive mechanism, mounted on the frame assembly, is used to drive the movement of the magnets in the magnetic field generating mechanism; A magnetic field generating mechanism, which is connected to the driving mechanism, is used to generate a magnetic field for driving the magnetofluid according to the driving mechanism. A gripping execution panel is mounted on the rack assembly. The magnetohydrodynamic fluid on the gripping execution panel is driven by a magnetic field to generate movable magnetized fibers, thereby performing gripping activities. The rack assembly includes an outer frame and two optical axis guide rails mounted on both sides of the outer frame; The drive mechanism includes a transmission gear set, a lead screw bearing housing set, a lead screw set, and a lead screw nut set; The lead screw assembly includes a positive lead screw and a negative lead screw, and the lead screw nut assembly includes a positive lead nut and a negative lead nut. The positive lead screw and the negative lead screw are installed in the housing frame through a lead screw bearing seat assembly. The positive lead nut is screwed onto the positive lead screw, and the negative lead nut is screwed onto the negative lead screw.

2. The biomimetic magnetically controlled, non-inductively adhesive, lead screw-driven magnetic field translation device for robotic arms according to claim 1, characterized in that, The driving mechanism includes a driver, which includes a stepper motor signal generator, a stepper motor driver board, and a stepper motor. The stepper motor signal generator is connected to the stepper motor driver board, and the stepper motor signal generated by the stepper motor signal generator is transmitted to the stepper motor driver board. The stepper motor driver board is connected to the stepper motor. The stepper motor driver board amplifies the stepper signal from the stepper motor signal generator and outputs current to drive the stepper motor to run.

3. The biomimetic magnetically controlled, non-inductively adhesive, lead screw-driven magnetic field translation device for robotic arms according to claim 2, characterized in that, The stepper motor signal generator is a control board that can generate stepper signals to control the forward and reverse rotation of the motor, and is speed-adjustable and has limit switches. The stepper motor driver board can amplify the power of the stepper signal generated by the stepper motor signal generator; The stepper motor is a miniature stepper motor, which provides a torque of ≥20 Ncm and controls the stopping position of the magnet.

4. The biomimetic magnetically controlled, non-inductively adhesive, lead screw-driven magnetic field translation device for robotic arms according to claim 2, characterized in that, The transmission gear set includes a motor gear, an intermediate gear, an intermediate gear bearing, and a lead screw gear set. The motor gear is mounted on the output shaft of the stepper motor, the intermediate gear is mounted on the housing frame via the intermediate gear bearing, and the lead screw gear set is fastened to the two lead screws of the lead screw set via set screws. The operation of the stepper motor outputs power to the motor gear, the rotation of the motor gear drives the intermediate gear to rotate, and the rotation of the intermediate gear drives the two lead screw gears to rotate.

5. The biomimetic magnetically controlled, non-inductively adhesive, lead screw-driven magnetic field translation device for robotic arms according to claim 1, characterized in that, The lead screw bearing housing assembly is mounted on the frame assembly, and the lead screw assembly is fixed to the inner ring of the bearing in the lead screw bearing housing assembly by a set screw.

6. The biomimetic magnetically controlled, non-inductively adhesive, lead screw-driven magnetic field translation device for robotic arms according to claim 1, characterized in that, The magnetic field generating mechanism includes a magnet base assembly, a linear bearing assembly, and a neodymium magnet assembly; Each magnet base in the magnet base assembly is fixedly connected to both ends with a linear bearing, which is mounted on the optical axis guide rail; each magnet base in the magnet base assembly is also fixedly connected to the middle with a screw nut; the magnet base assembly is mounted on the optical axis guide rail of the frame assembly via linear bearings.

7. The biomimetic magnetically controlled, non-inductively adhesive screw-driven magnetic field translation device for robotic arms according to claim 1, characterized in that, The gripping execution panel is mounted on the back of the rack assembly; The gripping execution panel includes: a support plate mounted on the back of the housing frame and a magnetic fluid mounted on the support plate; the support plate is mounted on the housing frame of the rack assembly, and the support plate supports the magnetic fluid; the magnetic fluid is a composite material made of silicone oil and magnetic powder.

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