A bionic manipulator and a robot having the same

Abstract

The application discloses a bionic manipulator and a robot with the same, which comprises a manipulator body and a bionic electronic muscle device, wherein the bionic electronic muscle device comprises a shell, an inner side wall of which is provided with a fixing groove; a stator assembly which is in a tubular structure and is concentrically clamped in the fixing groove, the stator assembly comprising a magnetic core and a coil; a mover assembly which is concentrically arranged in the stator assembly; the mover assembly comprising a shaft piece, a clamping piece and a moving piece, the moving pieces being arranged at intervals along the length direction of the shaft piece, and the clamping piece being arranged at both ends of the moving piece; the moving piece being a magnet with different magnetic directions; a spring which is arranged inside the shell and located at both ends of the mover assembly; an end cover which is fixed at both ends of the shell, the end cover being provided with a through hole, and the shaft piece of the mover assembly being arranged outside the shell through the through hole; and the mover assembly being moved along the length direction of the shell and rotated around the axis thereof relative to the stator assembly through electromagnetic driving force.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a bionic robotic hand and a robot having the robotic hand. Background Technology

[0002] In the context of increasingly fierce global competition in manufacturing, traditional manual production methods are gradually revealing problems such as low efficiency, poor precision, and difficulty in ensuring consistency. To achieve more efficient, automated, and intelligent production processes, the demand for robots in industrial production is becoming increasingly urgent. With their high repeatability and stable performance, robots can perfectly adapt to these complex processes, effectively improving product quality and production efficiency, and have become one of the core pieces of equipment driving the development of Industry 4.0.

[0003] Existing robotic arms typically employ pneumatic, hydraulic, or electric drive methods; however, pneumatic drives have relatively low output force and require complex air supply systems; hydraulic drives pose a risk of hydraulic oil leakage; and electric drives have relatively limited output torque.

[0004] Therefore, there is an urgent need to design a bionic robotic hand and a robot with such a hand, which has the function of stretching and relaxing human muscles, and to solve the technical problems existing in the current technology. Summary of the Invention

[0005] The purpose of this invention is to at least partially solve some of the technical problems existing in the prior art, and to provide a bionic robotic hand and a robot with the robotic hand. The robotic hand has a reasonable structure. It uses electromagnetic drive to move the moving part relative to the stator part to simulate the contraction and relaxation of muscles. It controls the direction and magnitude of the magnetic force generated by controlling the input voltage and current to achieve precise control of the contraction scale and force according to the pre-calculated scale.

[0006] To solve the above-mentioned technical problems, the present invention provides a bionic robotic hand, which includes a robotic hand body and a bionic electronic muscle device, wherein the bionic electronic muscle device includes: The housing has a fixing groove on its inner sidewall; A stator assembly, which is a tubular structure and concentrically snapped into the fixing slot, the stator assembly includes a magnetic core and a coil; A mover assembly is concentrically disposed within the stator assembly; the mover assembly includes a shaft, a snap-fit ​​component, and a moving component, the moving component being spaced apart along the length of the shaft, and the snap-fit ​​component being disposed at both ends of the moving component; the moving component is a magnet with opposite magnetic orientation. A spring, which is disposed inside the housing and located at both ends of the moving part assembly; End caps, which are fixed to both ends of the housing, are provided with through holes, and the shaft of the moving part assembly extends through the through holes and is disposed outside the housing; The moving part assembly moves relative to the stator assembly along the length of the housing and rotates about its axis by electromagnetic driving force.

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

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

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

[0010] In some embodiments, the moving element is a columnar structure 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 stator assemblies is N, then the number of moving parts is N+1.

[0013] In some embodiments, the length of the moving element 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 axial direction of the stator assembly to generate axial thrust; the radially wound coil is wound along the radial direction of the stator assembly, in conjunction with different magnet magnetic force directions, to generate axial thrust and rotational driving force.

[0015] In some embodiments, the moving element is an axial magnet and / or a radial magnet, which generates a radial torque while moving linearly under magnetic drive, causing the mover assembly to rotate about its axis.

[0016] In addition, this application also provides a robot that includes the bionic robotic arm described above.

[0017] Beneficial effects of this invention: This invention provides a bionic robotic hand and a robot equipped with the robotic hand. The structure is reasonable, and the bionic electronic muscle devices are connected in series or parallel to form an electronic muscle group, which can conveniently control the robotic hand and overcome the disadvantage of slow response time of other driving methods. The mover assembly moves relative to the stator assembly through electromagnetic drive to simulate muscle contraction and relaxation. The direction and magnitude of the magnetic force generated are controlled by controlling the input voltage and current, so as to achieve precise control of the contraction scale and force according to the pre-calculated scale. Attached Figure Description

[0018] The advantages of the present invention will become clearer and more readily understood through the following detailed description in conjunction with the accompanying drawings, which are merely illustrative and do not limit the invention, wherein: Figure 1 This is a schematic diagram of a bionic robotic hand provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a biomimetic electronic muscle device according to the present invention; Figure 3 yes Figure 2 Corresponding component disassembly diagrams; Figure 4 This is a schematic diagram of a stator assembly provided in an embodiment of the present invention; Figure 5 yes Figure 4 Disassembly diagram of the middle stator assembly; Figure 6 This is a schematic diagram of a stator assembly provided in another embodiment of the present invention; Figure 7 yes Figure 6 Disassembly diagram of the middle stator assembly; Figure 8 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention; Figure 9 This is a schematic diagram of a moving component provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of a biomimetic electronic muscle device provided in another embodiment of the present invention. Detailed Implementation

[0019] Figures 1 to 10 This is a schematic diagram of a bionic robotic hand and a robot having the robotic hand described in this application. The invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0020] The embodiments described herein are specific implementations of the present invention, used to illustrate the concept of the invention, and are illustrative and exemplary, and should not be construed as limiting the implementation or scope of the invention. In addition to the embodiments described herein, those skilled in the art can employ other obvious technical solutions based on the content disclosed in the claims and specification of this application. These technical solutions include those that make any obvious substitutions and modifications to the embodiments described herein.

[0021] The accompanying drawings in this specification are schematic diagrams to aid in illustrating the concept of the invention, and schematically show the shapes of the various parts and their interrelationships. Please note that, in order to clearly demonstrate the structure of the components in the embodiments of the invention, the drawings are not drawn to the same scale. The same reference numerals are used to indicate the same parts.

[0022] Figure 1 This is a schematic diagram of a bionic robotic hand 1 provided in an embodiment of the present invention. The bionic robotic hand 1 includes a robotic hand body 110 and a bionic electronic muscle device 100, which provides power for the extension, contraction, and rotation of the components therein. Specifically, the bionic electronic muscle devices 100 are connected in series or parallel to form an electronic muscle group, which can conveniently control the bionic robotic hand 1 and overcome the disadvantage of slow response time of other driving methods.

[0023] Figure 2 yes Figure 1 A schematic diagram of the biomimetic electronic muscle device 100 in the embodiment. Figure 3 This is a disassembly of the components of the bionic electronic muscle device 100. The bionic electronic muscle device 100 includes: The housing 10 has a fixing groove 11 on its inner side wall. Figure 3 (as shown); the housing 10 is a circular tubular structure, and the fixing grooves 11 are spaced apart along its length; the housing 10 is also provided with a plurality of ventilation holes 12 to achieve heat dissipation of the bionic electronic muscle device 100; The stator assembly 20 is a tubular structure and is concentrically snapped into the fixing groove 11. The stator assembly 20 includes a magnetic core 21 and a coil 22, with the coil 22 concentrically sleeved on the outer periphery of the magnetic core 21. The mover assembly 30 is concentrically disposed in the stator assembly 20; the mover assembly 30 includes a shaft 31, a snap-fit ​​member 322 and a moving member 33, the moving member 33 is spaced apart along the length direction of the shaft 31, and the snap-fit ​​member 32 is disposed at both ends of the moving member 33; Spring 40 is disposed inside housing 10 and located at both ends of the mover assembly 30; End caps 50 are fixed to both ends of housing 10. The end caps 50 are provided with through holes 51. The shaft 31 of the moving part assembly 30 extends through the through holes 51 and is disposed outside the housing 10. The moving part 30 moves relative to the stator part 20 along the length of the housing 10 by electromagnetic driving force, mimicking the operating principle of biological muscle contraction and relaxation, and simulating muscle contraction and relaxation by electromagnetic drive.

[0024] Furthermore, the moving part 33 is a magnet with a different magnetic orientation. Under the action of electromagnetic drive, the moving part assembly 30 generates a radial torque while moving in a straight line, causing the moving part 33 to rotate around the axis, so as to more closely resemble the movement of bionic muscles.

[0025] In this invention, there are multiple fixing slots 11, and the number of stator assemblies 20 matches the number of fixing slots 11. Specifically, the number of stator assemblies 20 is equal to the number of fixing slots 11.

[0026] In some embodiments, the spring 40 has different elastic moduli along its length, such that the length segment of the spring 40 near the inner side of the bionic electronic muscle device 100 has good flexibility, while the length segment of the spring 40 away from the bionic electronic muscle device 100 has a 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 with a flexible length segment is 1 / 5 to 1 / 3 of the total length of the spring 40, so that the spring 40 has a certain degree of flexibility to ensure that the spring 40 can quickly return to its initial state.

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

[0029] Figure 2 In the embodiment shown, there are 3 stator assemblies 20, and therefore 4 moving parts 33.

[0030] In this invention, the moving part 33 is a columnar structure made of high-temperature resistant permanent magnets, serving as the basic moving part 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 flow direction of the coil 21, the contraction and relaxation direction and the extension and contraction force of the biomimetic electronic muscle device 100 can be controlled.

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

[0033] In this invention, the coils 22 of the stator assembly 20 include two types: axially wound coils 221 ( Figure 6 (shown) and radially wound coil 222 ( Figure 4 (As shown), these two types of coils can be configured on the same stator assembly 20 or on different stator assemblies 20.

[0034] The axially wound coil 221 is wound along the axial direction of the stator assembly 20 to generate axial thrust; the radially wound coil 222 is wound along the radial direction of the stator assembly 20 to generate both axial thrust and rotational driving force. Different combinations of axial and radial windings can be used depending on the application requirements and cost considerations to achieve optimal performance.

[0035] Figure 4 This is a schematic diagram of a stator assembly 20 provided in an embodiment of the present invention, wherein the coil 22 is a radially wound coil 222, that is, the coil 22 is wound radially along the magnetic core 21. The magnetic field generated by this type of stator assembly 20 is parallel to the axial direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of a ring magnet, radiating radially, which can provide axial driving force and can also be used as a driving force for rotation. Figure 5 yes Figure 4 The disassembled diagram of the middle stator assembly 20 shows that there are three radially wound coils 222, which are spaced apart along the axial direction; the number of coils can be increased according to usage and functional requirements.

[0036] Figure 6 This is a schematic diagram of a stator assembly 20 provided in another embodiment of the present invention, wherein 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 generated by this type of stator assembly 20 is perpendicular to the axial direction of the stator assembly 20; the magnetic field distribution generated by this type of stator assembly 20 is similar to that of a bar magnet, radiating along the axial direction, and it can provide axial driving force. Figure 7 yes Figure 6 The disassembled diagram of the middle stator assembly 20 shows that there are four radially wound coils 221, which are evenly distributed along the circumference.

[0037] Figure 8 This is a schematic diagram of a biomimetic electronic muscle device 100 provided in another embodiment of the present invention. In this embodiment, the number of stator assemblies 20 is three, which include... Figure 4 The stator assembly 20 shown and Figure 6 The stator assembly 20 shown is a combination of two types, which provides axial thrust and rotational drive to the biomimetic electronic muscle device 100, simulating human muscles and improving the accuracy of motion control.

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

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

[0040] It should be noted that the combination of coil 21 and moving part 33 is not limited to any combination of position, size, radial winding, and axial winding, but is based on generating different required driving force and torque.

[0041] In this invention, to ensure that the moving part 33 rotates synchronously with the shaft 31, the moving part 33 is provided with a through-groove 333 along its length, such as... Figure 9 As shown; accordingly, the shaft 31 is provided with a corresponding protrusion structure; and the size of the protrusion structure matches the size of the snap-fit ​​groove 333 to facilitate installation and enable the two to rotate synchronously.

[0042] Figure 10 This is a schematic diagram of a biomimetic electronic muscle device 100 according to another embodiment of the present invention. In this embodiment, one of the actuator components 30 is configured with Figure 9 The moving part 33 is shown.

[0043] The housing 10 is provided with a plurality of ventilation holes 12, which are arranged in groups on the housing 10 to dissipate the heat generated by the internal components of the housing 10 to the outside. Specifically, the cavity is composed of the mover assembly 30 and the housing 10, which, together with the ventilation holes 12, generate a pumping function when the magnet moves, can quickly exhaust or draw in external air, thereby serving to dissipate heat from the bionic electronic muscle device 100.

[0044] Figure 10 In the embodiment shown, the number of stator assemblies 20 is 6, which include Figure 9 The stator assembly 20 shown and Figure 5 The stator assembly 20.301 shown is in the radial magnetic direction. While ensuring the above two basic functions, rotational driving force can be achieved by directly energizing the drive coil of the stator assembly 20 without generating axial movement.

[0045] In addition, the present invention also provides a robot, which is equipped with Figure 1 The bionic robotic hand 1 shown is composed of bionic electronic muscle devices 100 connected in series or in parallel to form an electronic muscle group, which can conveniently control the bionic robotic hand 1 and overcome the disadvantage of slow response time of other driving methods.

[0046] This invention is not limited to the above-described embodiments. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A bionic robotic hand, characterized in that, It includes a robotic arm body (110) and a bionic electronic muscle device (100), the bionic electronic muscle device (100) comprising: The housing (10) has a fixing groove (11) on its inner side wall; the housing (10) is also provided with a plurality of ventilation holes (12), and the plurality of ventilation holes (12) are arranged in groups; The stator assembly (20) is a tubular structure and is concentrically snapped into the fixing slot (11). The stator assembly (20) includes a magnetic core (21) and a coil (22). A moving part assembly (30) is concentrically disposed in the stator assembly (20); the moving part assembly (30) includes a shaft (31), a snap-fit ​​component (32) and a moving part (33), the moving part (33) is spaced apart along the length direction of the shaft (31), the snap-fit ​​component (32) is disposed at both ends of the moving part (33); the moving part (33) is a magnet with different magnetic directions; the moving part (33) is configured with a snap-fit ​​groove (333) that runs through the length direction, and the shaft (31) is configured with a protrusion structure that matches the size of the snap-fit ​​groove (333) so that the moving part (33) rotates synchronously with the shaft (31); A spring (40) is disposed inside the housing (10) and located at both ends of the moving part assembly (30); the spring (40) has different elastic moduli along its length, the elastic moduli of the length segment of the spring (40) close to the moving part assembly (30) is less than the elastic moduli of the length segment of the spring (40) away from the moving part assembly (30), and the length of the length segment with the smaller elastic moduli is 1 / 5 to 1 / 3 of the total length of the spring (40); End caps (50) are fixed to both ends of the housing (10). The end caps (50) are provided with through holes (51). The shaft (31) of the moving part assembly (30) extends through the through holes (51) and is disposed outside the housing (10). The moving part assembly (30) and the housing (10) form a cavity, which is connected to the outside of the housing (10) through a plurality of ventilation holes (12) to generate a pumping airflow and dissipate heat to the inside of the housing (10) when the moving part assembly (30) moves. The mover assembly (30) moves and rotates about the axis of the housing (10) relative to the stator assembly (20) by electromagnetic driving force along the length direction of the housing (10).

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

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

4. The bionic robotic hand according to claim 1, characterized in that, The coil (22) is concentrically sleeved on the outer periphery of the magnetic core (21).

5. The bionic robotic hand according to claim 1, characterized in that, The moving part (33) is a columnar structure made of high-temperature resistant permanent magnets.

6. The bionic robotic hand 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 robotic hand according to claim 3, characterized in that, The length of the moving part (33) is greater than the length of the stator assembly (20).

8. The bionic robotic hand according to claim 1, characterized in that, The coil (22) includes an axially wound coil (221) and a radially wound coil (222); the axially wound coil (221) is wound along the axial direction of the stator assembly (20) to generate axial thrust; the radially wound coil (222) is wound along the radial direction of the stator assembly (20) and, in conjunction with different magnetic force directions of the magnets, generates axial thrust and rotational driving force.

9. The bionic robotic hand according to claim 1, characterized in that, The moving part (33) includes an axial magnet (331) and a radial magnet (332) arranged along the axial direction to generate rotational torque while moving in a straight line under magnetic drive, so that the moving part assembly (30) rotates about its axis.

10. A robot, characterized in that, Including the bionic robotic hand as described in any one of claims 1 to 9.

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