Variable-diameter magnetic drive flexible continuum device

Abstract

The invention relates to a variable-diameter magnetic drive flexible continuum device which comprises a plurality of continuum units and a plurality of flexible frameworks, the plurality of continuum units are connected in series at preset intervals through the plurality of flexible frameworks, and each continuum unit is provided with a base plate, an outer ring magnetic pole area and an inner ring magnetic pole area. The outer ring magnetic pole area and the inner ring magnetic pole area are each provided with a plurality of magnetic pole assemblies, the magnetic pole assemblies are arranged in the mode that the magnetic pole assemblies on the adjacent end faces in every two adjacent continuum units are controlled by current to attract or relieve excitation, the continuum device has a variable-diameter mode, and in the variable-diameter mode, the magnetic pole assemblies on the adjacent end faces of every two adjacent continuum units are arranged in the variable-diameter mode. The outer ring magnetic pole area is not excited, and the inner ring magnetic pole area is excited and attracted, so that the connector units protrude towards the same direction, and the working diameter is changed. The electromagnetic conversion principle is adopted, so that the continuum only needs electric energy in a deformation state, the degree of freedom is high, the wear rate is small, and modularization is achieved; the method has remarkable application value in the scenes of medical endoscope, industrial pipeline detection and the like.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mechanical automation, and particularly relates to a variable-diameter magnetic drive flexible continuum device. BACKGROUND

[0002] The variable-diameter magnetic drive flexible continuum unit, as a mechanical structure combining magnetic drive and flexible deformation, has significant application value in medical endoscopes, industrial pipeline detection and the like. However, the technology still has core defects such as low driving efficiency, insufficient structural strength and rigid use scenarios, and the specific problems are as follows. The existing technology relies on permanent magnets to achieve driving, but has a fundamental defect: although the permanent magnet drive does not need continuous power supply, the characteristic that the magnetic field direction of the permanent magnet cannot be adjusted seriously limits the motion mode of the continuum, and only one-way bending can be achieved. In the scene that needs multi-degree-of-freedom operation (such as turning or grabbing in a narrow cavity), it is weak; The commonly used ball joint adopts engineering plastics (such as PEEK) which are insufficient in wear resistance. In the extreme working condition of high-frequency bending of the flexible continuum robot, the surface molecular chain is broken due to repeated friction and thermal stress coupling, and nano-level abrasion particles are formed. These abrasion particles as "third parties" embedded in the contact surface further aggravate the local wear rate; The mechanical geometric parameters (such as the curvature radius and the taper angle) are permanently locked in the manufacturing stage, resulting in high specialization of the module function. The existing PEEK joint module can only be connected in series according to the preset order, and cannot reconstruct the bending direction in real time according to the shape of the obstacle.

[0003] Variable diameter cannot be effectively realized.

[0004] Therefore, in order to meet the use value in the medical endoscope, industrial pipeline detection and the like, it is extremely urgent to invent a flexible unit with the functions of modularization and free combination. SUMMARY

[0005] The main purpose of the application is to solve the above problems, and provide a variable-diameter magnetic drive flexible continuum device.

[0006] The present application aims to provide a variable diameter magnetic drive flexible continuum device, which mainly comprises a plurality of continuum units and a plurality of flexible skeletons, the plurality of continuum units are connected in series with a preset interval through the plurality of flexible skeletons, each of the continuum units has a base plate, an outer ring magnetic pole area and an inner ring magnetic pole area, the outer ring magnetic pole area and the inner ring magnetic pole area each have a plurality of magnetic pole assemblies, the magnetic pole assemblies are arranged to control the magnetic pole assemblies of the adjacent end faces of the adjacent two continuum units to be excited and attracted or de-excited by the electric current, the continuum device has a variable diameter mode, in the variable diameter mode, the outer ring magnetic pole area is not excited and the inner ring magnetic pole area is excited and attracted to make the continuum units protrude in the same direction to change the working diameter.

[0007] Preferably, a through hole is arranged at the center of the base plate, the base plate is divided into a plurality of base blocks around the through hole, a ring is arranged in the through hole, the ring is hinged to the base blocks, in the variable diameter mode, the outer ring magnetic pole area is not excited and the inner ring magnetic pole area is excited and attracted to make the base blocks deflect relative to the ring to cause the continuum units to protrude in the same direction.

[0008] Preferably, the base plate is not divided into four fan-shaped base blocks, the four fan-shaped base blocks are arranged around the through hole; each of the base blocks is connected with a corresponding flexible skeleton; a rotating shaft and a temperature sensor are installed in the ring.

[0009] Preferably, each of the base blocks is provided with an inner magnetic pole assembly and an outer magnetic pole assembly, the inner magnetic pole assemblies of all the base blocks form the inner ring magnetic pole area, and the outer magnetic pole assemblies of all the base blocks form the outer ring magnetic pole area; the outer ring magnetic pole area and the inner ring magnetic pole area are distributed along the circumference with the through hole as the center.

[0010] Preferably, each of the base blocks is provided with one inner magnetic pole assembly and two outer magnetic pole assemblies, which are distributed in a triangular shape.

[0011] Preferably, the magnetic pole assembly comprises a coil, an alnico electromagnet and a neodymium-iron-boron permanent magnet, the alnico electromagnet is installed inside the coil, and the neodymium-iron-boron permanent magnet is installed below the coil. The excited and attracted arrangement is that the alnico electromagnet is subjected to the electromagnetic induction effect of the positive current passing through the coil to switch the polarity and form the same polarity distribution with the neodymium-iron-boron permanent magnet, and the magnetic pole assemblies of the adjacent end faces of the adjacent two continuum units form different magnetic poles to generate a directional adsorption force. The continuous body device has a deflection mode, in which, based on the excitation attraction, the compression force of the framework is controlled by regulating the current amplitude of the coils of different magnetic pole assemblies in the outer ring magnetic pole area and the inner ring magnetic pole area.

[0012] Preferably, the magnetic pole assembly comprises a winding framework, a back iron, an iron shell and an outer shell, the coil is wound on the winding framework, the back iron is installed inside the coil and above the Al-Ni-Co electromagnet, the coil is installed inside the iron shell, and the iron shell is installed inside the outer shell.

[0013] Preferably, the continuous body device is arranged to reverse the polarity of the Al-Ni-Co electromagnet again and form opposite polarity with the Nd-Fe-B permanent magnet by passing reverse current to the coil, so as to restore to the initial state.

[0014] Preferably, the flexible framework comprises, from outside to inside, an elastic framework main body, a flexible shielding skin and a copper core, and the flexible framework automatically restores the connection body units to be spaced at the preset interval.

[0015] Preferably, the flexible framework is located at the periphery of the outer ring magnetic pole area.

[0016] The variable-diameter magnetic drive flexible continuous body device of the present application adopts the principle of electromagnetic conversion, so that the continuous body only needs electric energy in the deformed state, has high degree of freedom, low wear rate and modularity; it is convenient to expand the function on the unit; it has significant application value in medical endoscopes, industrial pipeline detection and other scenes. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the variable-diameter magnetic drive flexible continuous body device of the present application.

[0018] Figure 2 It is a structural schematic diagram of the continuous body unit in the variable-diameter magnetic drive flexible continuous body device of the present application.

[0019] Figure 3 It is a structural schematic diagram of the flexible framework in the variable-diameter magnetic drive flexible continuous body device of the present application.

[0020] Figure 4 It is a structural schematic diagram of the magnetic pole assembly in the variable-diameter magnetic drive flexible continuous body device of the present application.

[0021] Figure 5 It is a sectional view of the magnetic pole assembly in the variable-diameter magnetic drive flexible continuous body device of the present application.

[0022] Figure 6 It is a structural schematic diagram of a single continuous body unit in the variable-diameter magnetic drive flexible continuous body device of the present application in a non-variable-diameter state.

[0023] Figure 7 This is a schematic diagram of the structure of a single continuum unit in the variable diameter magnetic drive flexible continuum device of the present invention in the variable diameter state. Detailed Implementation

[0024] To provide a clearer understanding of the technical content of this invention, the following embodiments are provided in detail. However, it is important to note that these descriptions are merely for further illustrating the features and advantages of this invention, and not for limiting the scope of the claims.

[0025] like Figures 1 to 7 The image shows an embodiment of the variable-diameter magnetic drive flexible continuum device provided by the present invention, which features variable diameter, high efficiency, low energy consumption, and multiple functions. The flexible continuum device includes several continuum units 1 and four flexible frames 2, as shown... Figure 1 As shown, the continuum unit 1 is connected in series with four flexible skeletons 2 at preset intervals.

[0026] Figure 1 Five continuous units 1 are shown as an example, wherein the end continuous unit 1 is provided with an end cap 3 to protect the continuous unit.

[0027] like Figures 1 to 2 As shown, each of the continuous units 1 has a substrate 1-1, an outer magnetic pole region 1-6 and an inner magnetic pole region 1-7. The outer magnetic pole region 1-6 and the inner magnetic pole region 1-7 each have multiple magnetic pole components 1-2. A through hole is provided at the center of the substrate 1-1.

[0028] In this invention, for the outer and inner magnetic pole regions, the central through-hole of substrate 1-1 is used as a reference; regions closer to the central through-hole are considered "inner," and those further away are considered "outer." For example... Figure 2 As shown, the inner magnetic pole region 1-7 is surrounded by the outer magnetic pole region 1-6, and the inner magnetic pole region 1-7 is closer to the central through hole than the outer magnetic pole region 1-6. Both the inner magnetic pole region 1-7 and the outer magnetic pole region 1-6 are distributed along a circle centered on the central through hole.

[0029] In the magnetic pole assembly 1-2 of the present invention, the magnetic pole assembly 1-2 at adjacent end faces of two adjacent continuum units 1 is configured to be excited and attracted or de-excited by current control.

[0030] The continuous device of the present invention has a variable diameter mode, such as... Figure 7 As shown, in the variable diameter mode, the outer magnetic pole regions 1-6 are not energized while the inner magnetic pole regions 1-7 are energized, causing the connecting body units to bulge in the same direction, thus reducing the outer diameter of the entire continuum device and changing the working diameter. When the continuum unit is in the non-variable diameter mode, the continuum unit is...Figure 6 The displayed planar state.

[0031] like Figure 1 and Figure 2 As shown, the substrate 1-1 surrounding the through hole is divided into four sector-shaped base blocks 1-8. These four base blocks 1-8 are arranged around the through hole, and each base block 1-8 is connected to a corresponding flexible skeleton 2 to form a continuous body. A circular ring is disposed within the through hole, and the circular ring is hinged to the base block 1-8. In the variable diameter mode, the outer magnetic pole region 1-6 is not energized, while the inner magnetic pole region 1-7 is energized, causing the base block 1-8 to deflect relative to the circular ring, resulting in the connecting body unit bulging in the same direction.

[0032] like Figure 2 As shown, each sector-shaped base block 1-8 is provided with one inner magnetic pole assembly and two outer magnetic pole assemblies. The inner magnetic pole assemblies of all base blocks 1-8 form the inner magnetic pole region 1-7, and the outer magnetic pole assemblies of all base blocks 1-8 form the outer magnetic pole region 1-6. The inner magnetic pole assembly 1-2 and the two outer magnetic pole assemblies 1-2 of each sector-shaped base block are arranged in a triangular pattern.

[0033] This invention achieves variable diameter functionality by designing outer and inner magnetic pole regions, and by energizing the inner magnetic pole region while de-energizing the outer magnetic pole region. This imbalance of forces between the inner and outer pole regions of the substrate causes elastic deformation through a flexible skeleton, transforming the connecting unit from a planar shape to a convex shape. This variable diameter design reduces the diameter of the continuous unit during operation, allowing for work to be completed in more confined spaces.

[0034] The ring is equipped with a rotating shaft 1-5 and a temperature sensor 4, which can detect the working environment temperature and proximity distance of the connecting body unit in real time.

[0035] like Figure 4 and Figure 5As shown, the magnetic pole assembly 1-2 includes a coil 1-2-6, an AlNiCo electromagnet 1-2-7, and a Neodymium Iron Boron permanent magnet 1-2-8. The AlNiCo electromagnet 1-2-7 is installed inside the coil 1-2-6, and the Neodymium Iron Boron permanent magnet 1-2-8 is installed below the coil 1-2-6. The AlNiCo electromagnet 1-2-7 undergoes a polarity switch due to the electromagnetic induction effect generated by the positive current passing through the coil 1-2-6, forming the same polarity distribution as the Neodymium Iron Boron permanent magnet 1-2-8. In this state, due to the repulsive force between the AlNiCo electromagnet and the Neodymium Iron Boron permanent magnet, the magnetic field strength output by the magnetic pole assembly is significantly enhanced. Magnetic pole assemblies 1-2 on adjacent end faces of two adjacent continuum units 1 form opposite magnetic poles to generate a directional adsorption force, i.e., excitation attraction. This mainly relies on the magnetic principle of "like poles repel each other, unlike poles attract each other" between the electromagnet and the permanent magnet.

[0036] In the variable diameter mode, the outer electromagnetic region is not energized, while the inner electromagnetic region is energized and attracted. That is, the AlNiCo electromagnet 1-2-7 of the magnetic pole assembly in the inner electromagnetic region undergoes a polarity switch due to the electromagnetic induction effect formed by the positive current passing through the coil 1-2-6, and forms the same polarity distribution as the NdFeB permanent magnet 1-2-8. In this state, due to the like-pole repulsion between the AlNiCo electromagnet and the NdFeB permanent magnet, the magnetic field strength output by the magnetic pole assembly is significantly enhanced. The inner electromagnetic region magnetic pole assemblies 1-2 on adjacent end faces of two adjacent continuum units 1 form opposite magnetic poles to generate directional adsorption force.

[0037] The continuum device has a deflection mode. In this mode, based on the excitation attraction, the compression force of the frame is controlled by adjusting the current amplitude of the coils of different magnetic pole components in the outer and inner magnetic pole regions. Specifically, in the deflection mode, the AlNiCo electromagnet 1-2-7 undergoes a polarity switch due to the electromagnetic induction effect generated by the positive current passing through the coil 1-2-6, forming the same polarity distribution as the NdFeB permanent magnet 1-2-8. In this state, due to the like-pole repulsion between the AlNiCo electromagnet and the NdFeB permanent magnet, the magnetic field strength output by the magnetic pole component is significantly enhanced. Magnetic pole components 1-2 on adjacent end faces of two adjacent continuum units 1 form opposite magnetic poles to generate directional adsorption forces. By adjusting the current amplitude of the coils of different magnetic pole components 1-2, the strength of each magnetic component can be differentiated, thereby controlling the compression force of the frame.

[0038] After the deflection mode or the diameter change mode ends, the polarity of the AlNiCo electromagnet 1-2-7 is reversed again by passing a reverse current through the coil, so that it forms the opposite polarity with the NdFeB permanent magnet 1-2-8, in order to restore it to the initial state, which is to de-excite.

[0039] likeFigure 4 and Figure 5 The magnetic pole assembly 1-2 includes a winding frame 1-2-5, a back iron 1-2-4, an iron shell 1-2-3, an outer shell 1-2-2, and magnetic pole pads 1-2-9. The coil 1-2-6 is tightly wound on the winding frame 1-2-5 to form an electromagnetic induction assembly. The back iron 1-2-4 is installed inside the coil 1-2-6 and above the AlNiCo electromagnet 1-2-7. The coil 1-2-6 is installed inside the iron shell 1-2-3, and the iron shell 1-2-3 is installed inside the outer shell 1-2-2. The outer shell, as a protective component, isolates dust, humidity, and mechanical impact from the external environment, while providing structural support for the internal components and ensuring the stable operation of the magnetic circuit system. The magnetic pole pads 1-2-9 are used to enhance the magnetic field effect.

[0040] By fastening the assembly with mounting screws 1-2-1, the multi-point locking structure ensures the stability of the unit connection and avoids magnetic circuit misalignment caused by assembly gaps.

[0041] like Figure 3 As shown, the flexible skeleton 2, from the outside in, includes an elastic skeleton body 2-3, a flexible shielding skin 2-2, and a copper core 2-1. The flexible skeleton 2 automatically restores the connecting units to be spaced apart by the preset distance. After the working process is completed, by passing a reverse current through the coil, the polarity of the AlNiCo electromagnet is reversed again, forming the opposite polarity with the NdFeB permanent magnet. Due to the opposite attraction between the AlNiCo electromagnet and the NdFeB permanent magnet, the magnetic field strength of the magnetic pole assembly is greatly reduced, and the magnetism of the opposite end faces of adjacent units disappears, no longer generating an attraction force. Through the elastic recovery characteristics of the spring skeleton body, the entire continuous structure can be restored to its initial length state, thereby exiting the working mode.

[0042] The flexible frame 2 is located around the outer magnetic pole region 1-6. The flexible shield 2-2 can effectively block the interference of the magnetic field on the circuit signal, ensuring that the proximity temperature sensor 4 can stably perform its detection function and accurately obtain ambient temperature and distance parameters.

[0043] The variable-diameter magnetically driven flexible continuum device of the present invention adopts the principle of electromagnetic conversion, so that the continuum only requires electrical energy when it is deformed. It has high degree of freedom, low wear rate, and modularity; it is convenient to expand the functions on the unit; and it has significant application value in medical endoscopes, industrial pipeline inspection and other scenarios.

[0044] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, this specification should be considered illustrative rather than restrictive.

Claims

1. A variable diameter magnetic drive flexible continuum device, comprising: The continuous body device comprises a plurality of continuous body units and a plurality of flexible skeletons, the continuous body units are connected in series with a preset interval by the flexible skeletons, each of the continuous body units has a base plate, an outer ring magnetic pole area and an inner ring magnetic pole area, the outer ring magnetic pole area and the inner ring magnetic pole area each have a plurality of magnetic pole components, the magnetic pole components are arranged to control the magnetic pole components of the adjacent end faces of the two adjacent continuous body units to be excited and attracted or de-excited by the current, the continuous body device has a variable diameter mode, in the variable diameter mode, the outer ring magnetic pole area is not excited and the inner ring magnetic pole area is excited and attracted to make the continuous body units protrude in the same direction to change the working diameter.

2. The variable-diameter, magnetically actuated, flexible continuum device of claim 1, wherein, The center of the base plate is provided with a through hole, the base plate is divided into a plurality of base blocks around the through hole, a ring is arranged in the through hole, the ring is hinged to the base blocks, in the variable diameter mode, the outer ring magnetic pole area is not excited and the inner ring magnetic pole area is excited and attracted to make the base blocks deflect relative to the ring to cause the continuous body units to protrude in the same direction.

3. The variable-diameter, magnetically actuated, flexible continuum device of claim 2, wherein, The base plate is not divided into four fan-shaped base blocks, the four fan-shaped base blocks are arranged around the through hole; each of the base blocks is connected with a corresponding flexible skeleton; the ring is internally provided with a rotating shaft and a temperature sensor.

4. The variable-diameter, magnetically actuated, flexible continuum device of claim 2, wherein, Each of the base blocks is provided with an inner magnetic pole component and an outer magnetic pole component, the inner magnetic pole components of all the base blocks form the inner ring magnetic pole area, and the outer magnetic pole components of all the base blocks form the outer ring magnetic pole area; the outer ring magnetic pole area and the inner ring magnetic pole area are distributed along the circumference with the through hole as the center.

5. The variable-diameter, magnetically actuated, flexible continuum device of claim 4, wherein, Each of the base blocks is provided with one inner magnetic pole component and two outer magnetic pole components, and the one inner magnetic pole component and the two outer magnetic pole components are in a triangular distribution.

6. The variable-diameter, magnetically actuated, flexible continuum device of claim 1, wherein, The magnetic pole component comprises a coil, an alnico electromagnet and a neodymium-iron-boron permanent magnet, the alnico electromagnet is arranged inside the coil, and the neodymium-iron-boron permanent magnet is arranged below the coil. The excitation and attraction is arranged to cause the alnico electromagnet to switch polarity by the electromagnetic induction effect of the coil passing through the positive current and form the same polarity distribution with the neodymium-iron-boron permanent magnet, and the magnetic pole components of the adjacent end faces of the two adjacent continuous body units form different magnetic poles to generate a directional adsorption force. The continuous body device has a deflection mode, in the deflection mode, based on the excitation and attraction, the current amplitude of the coils of different magnetic pole components in the outer ring magnetic pole area and the inner ring magnetic pole area is controlled to control the compression force of the skeleton.

7. The variable-diameter, magnetically actuated, flexible continuum device of claim 6, wherein, The magnetic pole component comprises a winding skeleton, a back iron, an iron shell and an outer shell, the coil is wound on the winding skeleton, the back iron is arranged inside the coil and above the alnico electromagnet, the coil is arranged inside the iron shell, and the iron shell is arranged inside the outer shell.

8. The variable-diameter, magnetically actuated, flexible continuum device of claim 6, wherein, The continuous body device is arranged to cause the alnico electromagnet to switch polarity again and form opposite polarity with the neodymium-iron-boron permanent magnet by passing reverse current into the coil to restore to the initial state.

9. The variable-diameter, magnetically actuated, flexible continuum device of claim 1, wherein, The flexible skeleton comprises, from outside to inside, an elastic skeleton main body, a flexible shielding skin and a copper core.

10. The variable-diameter, magnetically actuated, flexible continuum device of claim 1, wherein, The flexible skeleton is located at the periphery of the outer ring magnetic pole area.

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