Magnetic drive flexible robot with 3D printing microstructure vibration reduction function

Abstract

The invention discloses a magnetic drive flexible robot with a 3D printing microstructure vibration reduction function. The flexible robot comprises a continuum pushing device, a silicone tube, a magnetic navigation device and a magnetic drive continuum which are connected in sequence. Wherein one end of the magnetic drive continuum is connected with a tail end magnet in the magnetic navigation device, the other end of the magnetic drive continuum is connected with the silicone tube, and the silicone tube and the continuum pushing device are fixed through bolts and nuts. The robot can flexibly deal with complex industrial detection tasks under the condition that the robot does not depend on a traditional rigid structure by utilizing a magnetic force driving technology. Meanwhile, the structure of the robot can be optimized by adopting the 3D printing microstructure, vibration and unstable factors in the operation process are effectively reduced, and high-precision and high-efficiency detection work is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of flexible robots, and in particular relates to a magnetically driven flexible robot with 3D printed microstructure vibration reduction. Background Art

[0002] In the field of industrial inspection, as the requirements for accuracy, efficiency and operating environment continue to increase, flexible robot technology has gradually become an important research direction. Especially in complex industrial environments, how to achieve accurate inspection while ensuring the stability and efficiency of robot operation has become a key issue in the development of technology. Traditional rigid robots and traditional flexible robots often have problems such as insufficient structure to adapt to complex environments and poor vibration reduction effects.

[0003] Most existing inspection robots are traditional rigid robots, which have poor flexibility in complex structures or small spaces, resulting in low operating efficiency and easy damage to the inspected objects or equipment. Secondly, when performing high-precision inspections, the vibration of the robot or equipment often leads to inaccurate inspection data, especially in micro-scale operations. Existing vibration reduction technologies mostly rely on large-scale mechanical structures or compensation mechanisms based on electric drives, which are difficult to achieve high efficiency, accuracy and adaptability to various environments. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a magnetically driven flexible robot with 3D printed microstructure vibration reduction, which can flexibly respond to complex industrial inspection tasks without relying on traditional rigid structures by utilizing magnetic drive technology. At the same time, the use of 3D printed microstructures can optimize the robot structure, effectively reduce vibration and unstable factors during operation, and ensure high-precision and high-efficiency inspection work.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] The present invention is a magnetically driven flexible robot with 3D printed microstructure vibration reduction, the flexible robot comprises: a continuum pushing device, a silicone tube, a magnetic navigation device and a magnetically driven continuum connected in sequence; wherein one end of the magnetically driven continuum is connected to the end magnet in the magnetic navigation device, and the other end is connected to the silicone tube, and the silicone tube and the continuum pushing device are fixed by bolts and nuts.

[0007] Furthermore, the magnetic drive continuum is composed of an internal space configuration composed of continuous complex collective shapes, which is obtained by additive manufacturing. The configuration includes a three-period minimum surface structure based on implicit functions and a truss structure based on node control.

[0008] Furthermore, the three-period minimum surface structure based on implicit function is of Gyroid type, and the configuration of the Gyroid type magnetic drive continuum is given by the formula Indicates that C is the parameter for adjusting the geometric shape, r represents the radius or scale parameter of the surface, which is used to control the size of the surface; x, y, z represent coordinate variables in space, which are used to describe the position of a point on the surface.

[0009] Furthermore, the three-period minimum surface structure based on implicit function is of Diamond type, and the configuration of the Diamond type magnetic drive continuum is represented by the formula φ(r)=sin(x)sin(y)sin(z)+sin(x)cos(y)cos(z)+cos(x)sin(y)cos(z)+cos(x)cos(y)sin(z)=C, where C is a parameter for adjusting the geometric shape, r represents the radius or scale parameter of the surface, which is used to control the size of the surface; x, y, z represent coordinate variables in space, which are used to describe the position of a point on the surface.

[0010] Furthermore, the internal space configuration of each complex collective shape is a unit cell, wherein the unit cell radius is 2 mm, the unit cell height is 1.5 mm, the radian number is 8 and C = 0, the Gyroid type magnetic drive continuum and the Diamond type magnetic drive continuum, and the unit cell radius is 1 mm, the unit cell height is 1 mm, the radian number is 8, the rod diameter is 0.4 mm and C = 0, and the face-centered cubic type magnetic drive continuum. These designs meet the integrated requirements of structural bearing and vibration reduction, and effectively improve the stability of the system.

[0011] Furthermore, the magnetic navigation device is composed of an external driving magnet and an end magnet. The external driving magnet is a permanent magnet or an electromagnet, which is installed on an industrial robot arm and its movement in multiple degrees of freedom is controlled by programming; the end magnet is installed at the end of the magnetic drive continuum, and the end magnet and the external driving magnet are both radial magnets. The two interact with each other through the magnetic field. When the external driving magnet rotates, a rotating magnetic field is generated, and the magnetic field is transmitted to the end magnet through the air gap, causing it to generate a corresponding rotational torque.

[0012] Furthermore, the silicone tube and the pushing device include a silicone tube and a pushing device, one end of the silicone tube is connected to the tail end of the magnetic drive continuum, and the other end is connected to the pushing device to provide driving force to push the robot forward or backward.

[0013] Furthermore, the pushing device is a linear motor or an industrial robot arm.

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] 1. By designing and manufacturing flexible components with specific microstructures that integrate the concept of additive manufacturing, a more sophisticated and efficient vibration reduction effect can be provided, especially in high-frequency vibration and micro-scale detection scenarios, which can significantly improve the accuracy and stability of detection.

[0016] 2. The trajectory of the flexible robot is controlled by magnetic drive method, without the need for traditional mechanical transmission devices (such as electric motors or gears). By precisely controlling the strength and direction of the magnetic field, the robot can navigate freely in a small space and adapt to complex industrial inspection environments.

[0017] 3. It can not only be used for high-precision industrial detection, but also can be widely used in semiconductor manufacturing, aerospace, automobile, medical equipment, precision instruments and other industries, especially in the detection of micro-workpieces, surface defects, tiny cracks and other tasks, and has great market potential.

[0018] 4. The system can achieve automatic control through programming, greatly improving operational efficiency and reducing staff workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a functional schematic diagram of a magnetically driven flexible robot with a 3D printed microstructure vibration reduction function according to the present invention;

[0020] Figure 2 It is a schematic diagram of the control principle of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the magnetic drive continuum provided in the embodiment. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0023] Reference Figures 1 to 3 As shown, the present invention relates to a magnetically driven flexible robot with a 3D printed microstructure vibration reduction function, which mainly includes the following components: a magnetically driven continuum, a magnetic navigation device, a silicone tube, and a continuum pushing device. In this embodiment, one end of the magnetically driven continuum is connected to the end magnet in the magnetic navigation device, and the two can be glued, and the other end is connected to the silicone tube, and the two can be connected by glue or internal nested springs. The silicone tube and the continuum pushing device are fixed with bolts and nuts through a designed clamp, and the pushing device can use a linear motor or an industrial robot arm.

[0024] Magnetic Drive Continuum: Incorporating additive manufacturing concepts into the design process, using complex geometric shapes and internal space configurations,

[0025] Furthermore, the magnetic navigation device is composed of an external driving magnet and an end magnet. The external driving magnet is a permanent magnet or an electromagnet, which is installed on an industrial robot arm and its movement in multiple degrees of freedom is controlled by programming; the end magnet is installed at the end of the magnetic drive continuum, and the end magnet and the external driving magnet are both radial magnets. The two interact with each other through the magnetic field. When the external driving magnet rotates, a rotating magnetic field is generated, and the magnetic field is transmitted to the end magnet through the air gap, causing it to generate a corresponding rotational torque.

[0026] In this embodiment, the external driving magnet can be a permanent magnet or an electromagnet, which is installed on the industrial robot arm and controls the movement of multiple degrees of freedom through programming. The magnetic field distribution and the interaction force between the magnets can be determined through theoretical analysis or simulation calculations, and the attraction or repulsion of the external magnet can be adjusted through the automatic control program to accurately control the end direction of the magnetic drive continuum, thereby adjusting the robot's forward direction and finally reaching the target position.

[0027] Furthermore, the silicone tube and the pushing device include a silicone tube and a pushing device, one end of the silicone tube is connected to the tail end of the magnetic drive continuum, and the other end is connected to the pushing device to provide driving force to push the robot forward or backward.

[0028] Furthermore, the pushing device is a linear motor or an industrial robot arm.

[0029] Embodiment 1:

[0030] On the basis of the above-mentioned magnetically driven flexible robot, the magnetically driven continuum in the magnetically driven flexible robot with 3D printed microstructure vibration reduction function provided in this embodiment comprises a continuous unit cell structure, and the unit cell structure is a three-period minimum surface structure based on an implicit function, such as a Gyroid type and a Diamond type; wherein the configuration of the Gyroid type magnetically driven continuum can be expressed by the formula The configuration of the Diamond-type magnetic drive continuum can be expressed by the formula φ(r)=sin(x)sin(y)sin(z)+sin(x)cos(y)cos(z)+cos(x)sin(y)cos(z)+cos(x)cos(y)s in(z)=C. C is a parameter for adjusting the geometric shape. r represents the radius or scale parameter of the surface, which is used to control the size of the surface. x, y, z represent coordinate variables in space, which are used to describe the position of points on the surface. C is a parameter for adjusting the geometric shape. By adjusting the formula parameter C or design parameters (such as unit cell size and curvature distribution), the geometric shape can be flexibly customized to optimize the balance between local stiffness and overall flexibility. The value of C determines the specific shape and size of the Gyroid surface. Different C values ​​correspond to different isosurfaces, thereby generating different Gyroid surfaces. Usually, the value of C is between -1 and 1. When C=0, the symmetry of the Gyroid surface is the highest.

[0031] Embodiment 2:

[0032] Based on the above-mentioned magnetically driven flexible robot, the magnetically driven continuum in the magnetically driven flexible robot with 3D printed microstructure vibration reduction function provided in this embodiment includes a continuous unit cell structure, and the unit cell structure is a truss structure based on node control. The truss structure provided in this embodiment is a face-centered cubic type.

[0033] Figure 3 The Gyroid and Diamond magnetic drive continuums were demonstrated with a unit cell radius of 2 mm, a unit cell height of 1.5 mm, an arc number of 8, and C = 0, as well as a face-centered cubic magnetic drive continuum with a unit cell radius of 1 mm, a unit cell height of 1 mm, an arc number of 8, a rod diameter of 0.4 mm, and C = 0. These designs meet the integrated requirements of structural bearing and vibration reduction, and effectively improve the stability of the system.

[0034] The functional diagram of the specific device is as follows Figure 1 The control principle diagram is shown in Figure 2 The schematic diagram of the specific embodiment of the magnetic drive continuum is shown in Figure 3 shown.

[0035] The present invention has many specific application paths. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principle of the present invention. These improvements should also be regarded as the protection scope of the present invention.

Claims

1. A magnetically driven flexible robot with 3D printed microstructure vibration reduction, characterized in that: The flexible robot comprises: a continuum pushing device, a silicone tube, a magnetic navigation device and a magnetically driven continuum, which are connected in sequence; wherein one end of the magnetically driven continuum is connected to the end magnet in the magnetic navigation device, and the other end is connected to the silicone tube, and the silicone tube and the continuum pushing device are fixed by bolts and nuts.

2. A magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 1, characterized in that: The magnetic drive continuum is composed of an internal space configuration composed of continuous complex collective shapes, which is obtained by additive manufacturing. The configuration includes a three-periodic minimum surface structure based on implicit functions and a truss structure based on node control.

3. A magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 2, characterized in that: The three-period minimum surface structure based on implicit function is of Gyroid type. The configuration of the Gyroid type magnetic drive continuum is given by the formula Indicates that C is the parameter for adjusting the geometric shape, r represents the radius or scale parameter of the surface, which is used to control the size of the surface; x, y, z represent coordinate variables in space, which are used to describe the position of a point on the surface.

4. A magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 2, characterized in that: The three-period minimum surface structure based on implicit function is of Diamond type. The configuration of the Diamond type magnetic drive continuum is represented by the formula φ(r)=sin(x)sin(y)sin(z)+sin(x)cos(y)cos(z)+cos(x)sin(y)cos(z)+cos(x)cos(y)sin(z)=C, where C is a parameter for adjusting the geometric shape, r represents the radius or scale parameter of the surface, which is used to control the size of the surface; x, y, z represent coordinate variables in space, which are used to describe the position of a point on the surface.

5. The magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 2, characterized in that: The internal space configuration formed by each of the complex collective shapes is a unit cell, the unit cell radius is 2 mm, the unit cell height is 1.5 mm, the number of radians is 8, and C=0.

6. A magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 2, characterized in that The internal space configuration formed by each of the complex collective shapes is a unit cell, the unit cell radius is 1 mm, the unit cell height is 1 mm, the number of radians is 8, the rod diameter is 0.4 mm, and C=0.

7. The magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 1, characterized in that: The magnetic navigation device consists of an external driving magnet and an end magnet. The external driving magnet is a permanent magnet or an electromagnet, which is installed on an industrial robot arm and controls its movement in multiple degrees of freedom through programming; the end magnet is installed at the end of the magnetic drive continuum. The end magnet and the external driving magnet are both radial magnets. The two interact with each other through the magnetic field. When the external driving magnet rotates, a rotating magnetic field is generated. The magnetic field is transmitted to the end magnet through the air gap, causing it to generate a corresponding rotational torque.

8. The magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 1, characterized in that: The silicone tube and the pushing device comprise a silicone tube and a pushing device, one end of the silicone tube is connected to the tail end of the magnetic drive continuum, and the other end is connected to the pushing device, providing driving force to push the robot forward or backward.

9. The magnetically driven flexible robot with 3D printed microstructure vibration reduction according to claim 8, characterized in that: The pushing device is a linear motor or an industrial robot arm.

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