Bionic manipulator and robot with same

Abstract

The invention discloses a bionic manipulator and a robot with the same, the bionic manipulator comprises a manipulator body and a bionic electronic muscle device, the bionic electronic muscle device comprises: a housing, the inner side wall of which is provided with a fixing groove; the stator assembly is of a tubular structure and is concentrically clamped in the fixing groove, and the stator assembly comprises a magnetic core and a coil; the rotor assembly is concentrically arranged in the stator assembly; the mover assembly comprises a shaft piece, clamping pieces and moving pieces, the moving pieces are arranged at intervals in the length direction of the shaft piece, and the clamping pieces are arranged at the two ends of the moving pieces; the moving parts are magnets with different magnetic directions; the springs are arranged in the shell and located at the two ends of the rotor assembly. The end covers are fixed to the two ends of the shell, through holes are formed in the end covers, and the shaft piece of the rotor assembly extends out of the shell through the through holes; the mover assembly moves in the length direction of the shell and rotates around the axis of the stator assembly relative to the stator assembly through electromagnetic driving force.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics and relates to a bionic manipulator and a robot with the manipulator. Background Art

[0002] In the context of increasingly fierce global manufacturing competition, traditional manual production models have gradually revealed problems such as low efficiency, poor precision, and difficulty in ensuring consistency. To achieve high efficiency, automation, and intelligence in the production process, the demand for robots in industrial production is becoming more urgent. Robots, with their high repeat positioning accuracy and stable working performance, can perfectly adapt to these complex processes, effectively improving product quality and production efficiency, and becoming one of the core equipment to promote the development of Industry 4.0.

[0003] The manipulators of existing robots usually adopt pneumatic drive, hydraulic drive, electric drive, etc.; however, the output force of pneumatic drive is relatively small, and a complex air source system needs to be equipped; there is a risk of hydraulic oil leakage in the hydraulic drive method; and the output torque of electric drive is relatively limited.

[0004] Therefore, there is an urgent need to design a bionic manipulator and a robot with the manipulator, which has the functions of contraction and relaxation of human muscles and solves the technical problems existing in the prior art. Summary of the Invention

[0005] The purpose of the present invention is to solve at least partially some of the technical problems existing in the prior art, and provide a bionic manipulator and a robot with the manipulator, which has a reasonable structure. Through electromagnetic drive, the mover assembly moves relative to the stator assembly, simulating the contraction and relaxation of muscles, and controls the direction and magnitude of the magnetic force generated by controlling the input voltage and current magnitude, so as to achieve precise control of the contraction scale and strength according to the pre-calculated artificial scale.

[0006] To solve the above technical problems, a bionic manipulator provided by the present invention includes a manipulator main body and a bionic electro-muscular device, and the bionic electro-muscular device includes: A housing, whose inner side wall is configured with a fixing groove; A stator assembly, which is a tubular structure and is concentrically clamped in the fixing groove, and the stator assembly includes a magnetic core and a coil; A mover assembly, which is concentrically arranged in the stator assembly; the mover assembly includes a shaft member, a clamping member, and a moving member, the moving members are arranged at intervals along the length direction of the shaft member, and the clamping members are arranged at both ends of the moving member; the moving member is a magnet with different magnetic directions; A spring, which is arranged inside the housing and at both ends of the mover assembly; An end cap is fixed to both ends of the housing. The end cap is provided with a through hole, and a shaft member of the rotor assembly extends through the through hole and is disposed outside the housing. The rotor assembly moves relative to the stator assembly along the length direction of the housing and rotates about its axis by electromagnetic driving force.

[0007] In some embodiments, the number of the fixing grooves is multiple, and the number of the stator assemblies matches the number of the fixing grooves.

[0008] In some embodiments, the number of the moving members is greater than the number of the stator assemblies.

[0009] In some embodiments, the coil is concentrically sleeved on the outer peripheral side of the magnetic core.

[0010] In some embodiments, the moving member is of a columnar structure and is made of a high-temperature resistant permanent magnet.

[0011] In some embodiments, the magnetic core is made of low magnetic silicon steel, and the coil is a copper coil.

[0012] In some embodiments, if the number of the stator assemblies is N, then the number of the moving members is N + 1.

[0013] In some embodiments, the length of the moving member is greater than the length of the stator assembly.

[0014] In some embodiments, the coil includes an axially wound coil and / or a radially wound coil; the axially wound coil is wound along the axis of the stator assembly to generate an axial thrust; the radially wound coil is wound along the radius of the stator assembly and cooperates with different magnetic force directions of the magnets to generate an axial thrust and a rotational driving force.

[0015] In some embodiments, the moving member is an axial magnet and / or a radial magnet, so as to form a torsion force around the radius while moving linearly under the magnetic force drive, so that the rotor assembly rotates about its axis.

[0016] In addition, the present application further provides a robot, which includes the bionic manipulator described above.

[0017] Advantages of the present invention: The bionic manipulator and the robot with the manipulator provided by the present invention have a reasonable structure. The bionic electronic muscle device forms an electronic muscle group through a series or parallel connection method, which can conveniently control the manipulator to overcome the disadvantage of slow response time of other driving methods; the rotor assembly moves relative to the stator assembly through electromagnetic driving, simulating the contraction and relaxation of muscles, and controls the direction and magnitude of the magnetic force generated by controlling the input voltage and current magnitude, so as to achieve precise control of the contraction scale and strength according to the pre-calculated scale of the human. Description of the Drawings

[0018] Through the following detailed description in conjunction with the accompanying drawings, the above advantages of the present invention will become clearer and easier to understand. These drawings are merely schematic and do not limit the present invention, where: Figure 1 is a schematic diagram of a bionic manipulator provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a bionic electronic muscle device according to the present invention; Figure 3 is Figure 2 the corresponding component disassembly diagram; Figure 4 is a schematic diagram of a stator assembly provided by an embodiment of the present invention; Figure 5 is Figure 4 the component disassembly diagram of the stator assembly in; Figure 6 is a schematic diagram of a stator assembly provided by another embodiment of the present invention; Figure 7 is Figure 6 the component disassembly diagram of the stator assembly in; Figure 8 is a schematic diagram of a bionic electronic muscle device provided by still another embodiment of the present invention; Figure 9 is a schematic diagram of a moving part provided by an embodiment of the present invention; Figure 10 is a schematic diagram of a bionic electronic muscle device provided by yet another embodiment of the present invention. Detailed Embodiments

[0019] Figures 1 to 10 are related schematic diagrams of a bionic manipulator and a robot having the manipulator according to the present application. The present invention will be described in detail below in conjunction with specific embodiments and the accompanying drawings.

[0020] The embodiments described herein are specific specific embodiments of the present invention for explaining the concept of the present invention, and are all explanatory and exemplary, and should not be construed as limiting the embodiments of the present invention and the scope of the present invention. Except for the embodiments described herein, those skilled in the art can also adopt other obvious technical solutions based on the content disclosed in the claims and the specification of the present application. These technical solutions include technical solutions that make any obvious substitutions and modifications to the embodiments described herein.

[0021] The drawings in this specification are schematic diagrams to assist in explaining the concept of the present invention, schematically showing the shapes of various parts and their mutual relationships. Please note that in order to clearly show the structures of the components in the embodiments of the present invention, the drawings are not drawn in the same proportion. The same reference numerals are used to represent the same parts.

[0022] Figure 1 is a schematic diagram of a bionic manipulator 1 provided by an embodiment of the present invention. The bionic manipulator 1 includes a manipulator main body 110 and a bionic electronic muscle device 100. The bionic electronic muscle device 100 provides power for the expansion, contraction, and rotation of the components therein. Specifically, the bionic electronic muscle device 100 forms an electronic muscle group through a series or parallel connection method, which can conveniently control the bionic manipulator 1 to overcome the disadvantage of slow response time of other driving methods.

[0023] Figure 2 is Figure 1 a schematic diagram of the bionic electronic muscle device 100 in the embodiment. Figure 3 is the component disassembly of the bionic electronic muscle device 100. The bionic electronic muscle device 100 includes: a housing 10, the inner side wall of which is provided with fixing grooves 11 ( Figure 3 shown); the housing 10 is a circular tubular structure, and the fixing grooves 11 are arranged at intervals along its length direction; the housing 10 is also provided with a plurality of ventilation holes 12 to realize the heat dissipation of the bionic electronic muscle device 100; a stator assembly 20, which is a tubular structure and is concentrically clamped in the fixing groove 11. The stator assembly 20 includes a magnetic core 21 and a coil 22, and the coil 22 is concentrically sleeved on the outer peripheral side of the magnetic core 21; a mover assembly 30, which is concentrically arranged in the stator assembly 20; the mover assembly 30 includes a shaft member 31, a clamping member 322, and a moving member 33. The moving members 33 are arranged at intervals along the length direction of the shaft member 31, and the clamping members 32 are arranged at both ends of the moving member 33; a spring 40, which is arranged inside the housing 10 and at both ends of the mover assembly 30; end caps 50, which are fixed to both ends of the housing 10. The end caps 50 are provided with through holes 51, and the shaft member 31 of the mover assembly 30 extends outside the housing 10 through the through holes 51; The mover assembly 30 moves relative to the stator assembly 20 along the length direction of the housing 10 by electromagnetic driving force. By imitating the operating principle of biological muscle contraction and relaxation, the contraction and relaxation of muscles are simulated by electromagnetic driving.

[0024] Furthermore, the moving member 33 is a magnet with different magnetic directions. Under the action of electromagnetic drive, while the mover assembly 30 moves linearly, a torsional force around the radial direction is generated, causing the moving member 33 to rotate around the axis, so as to be closer to the movement of the bionic muscle.

[0025] In the present invention, the number of the fixing grooves 11 is multiple, and the number of the stator assemblies 20 matches the number of the fixing grooves 11. Specifically, the number of the stator assemblies 20 is equal to the number of the fixing grooves 11.

[0026] In some embodiments, the spring 40 has different elastic moduli along the length direction, so that the length segment of the spring 40 close to the inner side of the bionic electronic muscle device 100 has good flexibility, while the length segment of the spring 40 far from the bionic electronic muscle device 100 has certain rigidity, so as to quickly realize the contraction of the spring 40 and improve the response speed of the bionic electronic muscle device 100.

[0027] In some embodiments, the length of the spring in the length segment with good flexibility is 1 / 5 - 1 / 3 of the total length of the spring 40, so that the spring 40 has certain flexibility to ensure that the spring 40 can quickly return to the initial state.

[0028] In some embodiments, the number of the moving members 33 is greater than the number of the stator assemblies 20. As an aspect of this embodiment, if the number of the stator assemblies 20 is N, then the number of the moving members 33 is N + 1.

[0029] Figure 2 In the illustrated embodiment, the number of the stator assemblies 20 is 3, and the number of the moving members 33 is 4.

[0030] In the present invention, the moving member 33 is a columnar structure, which is made of a high-temperature resistant permanent magnet to serve as the basic moving body of the electronic muscle.

[0031] The magnetic core 21 is made of low-magnetic silicon steel, and the coil 22 is a copper coil. By controlling the voltage, current magnitude and flowing direction of the coil 21, the contraction, relaxation direction and telescopic force of the bionic electronic muscle device 100 can be controlled.

[0032] Figure 2 In the illustrated embodiment, the length of the moving member 33 is greater than the length of the stator assembly 20, that is, the stator assembly 20 can partially cover the moving member 33.

[0033] In the present invention, the coil 22 of the stator assembly 20 includes two types: the axially wound coil 221 ( Figure 6 shown) and the radially wound coil 222 ( Figure 4 shown). These two types of coils can be arranged on the same stator assembly 20 or on different stator assemblies 20 respectively.

[0034] Among them, the axially wound coil 221 is wound along the axial direction of the stator assembly 20 to generate an axial thrust; the radially wound coil 222 is wound along the radial direction of the stator assembly 20 to generate an axial thrust and a rotational driving force. The axial winding and the radial winding can be combined in different ways according to the requirements of the usage scenario and cost considerations, with the optimal usage effect as the criterion.

[0035] Figure 4 is a schematic diagram of the stator assembly 20 provided by an embodiment of the present invention. Among them, the coil 22 is a radially wound coil 222, that is, the coil 22 is wound along the radial direction of the magnetic core 21. The magnetic field direction generated by this type of stator assembly 20 is parallel to the axis direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of an annular magnet, radiating along the radial direction, which can provide an axial driving force and can also be used as a driving force for rotation. Figure 5 is Figure 4 a disassembled view of the components of the stator assembly 20 in, among which, the number of the radially wound coils 222 is three, and they are distributed at intervals along the axial direction; the number of coils can be increased according to the usage and functional requirements.

[0036] Figure 6 is a schematic diagram of the stator assembly 20 provided by another embodiment of the present invention. Among them, the coil 21 is an axially wound coil 221, that is, the coil 22 is wound along the axial direction of the magnetic core 21. The magnetic field direction generated by this type of stator assembly 20 is perpendicular to the axis direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of a long bar magnet, radiating along the axial direction, which can provide an axial driving force. Figure 7 is Figure 6 a disassembled view of the components of the stator assembly 20 in, among which, the number of the axially wound coils 221 is four, and they are evenly distributed along the circumferential direction.

[0037] Figure 8 is a schematic diagram of the bionic electronic muscle device 100 provided by still another embodiment of the present invention. In this embodiment, the number of the stator assemblies 20 is three, and they include Figure 4 the stator assembly 20 shown in Figure 6 and the stator assembly 20 shown in, and the two types are combined to provide an axial driving force and a rotational driving force for the bionic electronic muscle device 100, simulate human muscles, and improve the accuracy of motion control.

[0038] Figure 9 is a schematic diagram of the moving part 33 provided by an embodiment of the present invention. The moving part 33 includes an axial magnet 331 and a radial magnet 332, and the two are arranged along the axis direction. This type of moving part 33 interacts with the stator assembly 20 to generate an axial thrust and a rotational torque.

[0039] Specifically, the axially wound coil 221 is wound along the axial direction of the stator assembly 20, and cooperates with the axial magnet 331 of the axial magnetic force to generate rotational torque and axial thrust; the radially wound coil 222 is wound along the radial direction of the stator assembly 20, mainly to generate axial thrust, and cooperates with Figure 9 The shown moving member 33 can also generate rotational driving force.

[0040] It should be noted that the above combinations of the coil 21 and the moving member 33 are not limited to any combinations of position, size, radial winding, and axial winding, and are subject to generating driving forces and torques with different requirements.

[0041] In the present invention, to ensure that the moving member 33 rotates synchronously with the shaft member 31, the moving member 33 is configured with a clamping groove 333 penetrating along the length direction, as Figure 9 shown; correspondingly, the shaft member 31 is configured with a corresponding convex structure; and, the size of the convex structure matches the size of the clamping groove 333 to facilitate installation and enable the two to rotate synchronously.

[0042] Figure 10 is a schematic diagram of the bionic electronic muscle device 100 provided by another embodiment of the present invention. In this embodiment, one of the mover assemblies 30 is configured with Figure 9 the shown moving member 33.

[0043] A plurality of ventilation holes 12 are arranged on the housing 10, and they are grouped and arranged on the housing 10 to dissipate the heat generated by the internal devices of the housing 10 to the outside. Specifically, a cavity is formed by the mover assembly 30 and the housing 10 shell, and cooperating with the function of generating suction and pressure by the ventilation holes 12 during the movement of the magnet, external air can be quickly discharged or inhaled to play a role in dissipating heat from the bionic electronic muscle device 100.

[0044] Figure 10 In the shown embodiment, the number of stator assemblies 20 is 6, and it includes Figure 9 the shown stator assembly 20 and Figure 5 the shown stator assembly 20. 301 is the radial magnetic force direction. Under the condition of ensuring the above two basic functions, when there is no axial movement, the rotational driving force can be realized by directly energizing the driving body coil of the stator assembly 20.

[0045] Meanwhile, the present invention also provides a robot, which is configured with Figure 1 the shown bionic manipulator 1. The bionic electronic muscle devices 100 form an electronic muscle group through series or parallel connection, and can conveniently control the bionic manipulator 1 to overcome the disadvantage of slow response time of other driving methods.

[0046] The present invention is not limited to the above embodiments, and any person can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as it has a technical solution that is the same as or similar to the present application, it falls within the protection scope of the present invention.

Claims

1. A bionic manipulator, characterized in that, It includes a manipulator body (110) and a bionic electronic muscle device (100), and the bionic electronic muscle device (100) includes: A housing (10), on the inner side wall of which a fixing groove (11) is arranged; A stator assembly (20), which is of a tubular structure and is concentrically clamped in the fixing groove (11), and the stator assembly (20) includes a magnetic core (21) and a coil (22); A mover assembly (30), which is concentrically arranged in the stator assembly (20); the mover assembly (30) includes a shaft member (31), a clamping member (31), and a moving member (33), the moving members (33) are arranged at intervals along the length direction of the shaft member (31), and the clamping member (31) is arranged at both ends of the moving member (33); the moving member (33) is a magnet with different magnetic directions; A spring (40), which is arranged inside the housing (10) and at both ends of the mover assembly (30); End caps (50), which are fixed to both ends of the housing (10), and the end caps (50) are provided with through holes (51), and the shaft member (31) of the mover assembly (30) extends outside the housing (10) through the through holes (51); The mover assembly (30) moves along the length direction of the housing (10) and rotates around its axis relative to the stator assembly (20) by electromagnetic driving force.

2. The bionic manipulator according to claim 1, characterized in that, The number of the fixing grooves (11) is multiple, and the number of the stator assemblies (20) matches the number of the fixing grooves (11).

3. The bionic manipulator according to claim 2, characterized in that, The number of the moving members (33) is greater than the number of the stator assemblies (20).

4. The bionic manipulator according to claim 1, wherein, The coil (22) is concentrically sleeved on the outer peripheral side of the magnetic core (21).

5. The bionic manipulator according to claim 1, characterized in that, The moving member (33) is of a columnar structure and is made of a high-temperature resistant permanent magnet.

6. The bionic manipulator according to claim 4, characterized in that The magnetic core (21) is made of low magnetic silicon steel, and the coil (22) is a copper coil.

7. The bionic manipulator according to claim 3, characterized in that, The length of the moving member (33) is greater than the length of the stator assembly (20).

8. The bionic manipulator according to claim 1, characterized in that The coil (20) includes an axially wound coil (221) and / or a radially wound coil (222); the axially wound coil (221) is wound along the axial direction of the stator assembly (20) to generate an axial thrust; the radially wound coil (222) is wound along the radial direction of the stator assembly (20) to cooperate with the magnetic force directions of different magnets to generate an axial thrust and a rotational driving force.

9. The bionic manipulator according to claim 1, wherein The moving member (33) is an axial magnet and / or a radial magnet, so as to form a torsion around the radial direction while moving linearly under the magnetic force drive, so that the mover assembly (30) rotates around its axis.

10. A robot, characterized in that, It includes the bionic manipulator according to any one of claims 1 to 9.

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