Variable diameter magnetic drive flexible continuum device

Abstract

This invention relates to a variable-diameter magnetically driven flexible continuum device, comprising several continuum units and several flexible frames. The continuum units are connected in series at predetermined intervals via the flexible frames. Each continuum unit has a base plate, an outer magnetic pole region, and an inner magnetic pole region. Both the outer and inner magnetic pole regions have multiple magnetic pole components. The magnetic pole components are configured to be energized and de-energized at adjacent end faces of two adjacent continuum units by current control. The continuum device has a variable-diameter mode. In the variable-diameter mode, the outer magnetic pole region is not energized, while the inner magnetic pole region is energized and attracts, causing the connecting units to bulge in the same direction, thus changing the working diameter. Employing the principle of electromagnetic conversion, the continuum only requires electrical energy in the deformable state, offering high degrees of freedom, low wear rate, and modularity. It has significant application value in scenarios such as medical endoscopy and industrial pipeline inspection.

Description

Technical Field

[0001] This invention belongs to the field of mechanical automation technology, and specifically relates to a variable-diameter magnetically driven flexible continuum device. Background Technology

[0002] Variable-diameter magnetically driven flexible continuum units, as a mechanical structure combining magnetic drive and flexible deformation, have significant application value in scenarios such as medical endoscopes and industrial pipeline inspection. However, the technology still suffers from core drawbacks such as low drive efficiency, insufficient structural strength, and limited application scenarios, as detailed below:

[0003] Existing technologies rely on permanent magnets for driving, but they have a fundamental flaw: although permanent magnet driving does not require continuous power supply, the characteristic that the direction of its magnetic field cannot be adjusted severely limits the motion mode of the continuum, and can only achieve unidirectional bending. It is ineffective in scenarios that require multi-degree-of-freedom operation (such as turning or grasping in narrow cavities).

[0004] Commonly used ball-and-socket joints, made of engineering plastics such as PEEK, suffer from insufficient wear resistance. Under extreme conditions of high-frequency bending in flexible continuum robots, the surface molecular chains break due to repeated friction and thermal stress coupling, forming nanoscale wear debris. This debris, acting as a "third body," embeds itself into the contact surface, further accelerating the local wear rate.

[0005] Mechanical geometric parameters (such as radius of curvature and taper angle) are permanently locked during the manufacturing stage, resulting in highly specialized module functions. Existing PEEK joint modules can only be connected in a preset order and cannot reconstruct the bending direction in real time according to the shape of the obstacle.

[0006] It is not possible to effectively change the diameter.

[0007] Therefore, it is extremely urgent to invent a flexible unit with modularity and free combination capabilities to meet its application value in scenarios such as medical endoscopy and industrial pipeline inspection. Summary of the Invention

[0008] The main objective of this invention is to address the problems mentioned above by providing a variable-diameter magnetically driven flexible continuum device.

[0009] The purpose of this invention is to provide a variable-diameter magnetic drive flexible continuum device, characterized in that it comprises several continuum units and several flexible frames, wherein the several continuum units are connected in series at preset intervals through the several flexible frames, each of the continuum units has a base plate, an outer magnetic pole region and an inner magnetic pole region, and both the outer and inner magnetic pole regions have multiple magnetic pole components, wherein the magnetic pole components are configured to be energized and attracted or de-energized by current control of the magnetic pole components at adjacent end faces of two adjacent continuum units, and the continuum device has a variable-diameter mode, in which the outer magnetic pole region is not energized and the inner magnetic pole region is energized and attracted, causing the connecting body units to bulge in the same direction to change the working diameter.

[0010] Preferably, a through hole is provided at the center of the substrate, and the substrate is divided into several base blocks around the through hole. A ring is provided in the through hole, and the ring is hinged to the base block. In the variable diameter mode, the outer magnetic pole region is not energized and the inner magnetic pole region is energized and attracted, causing the base block to deflect relative to the ring, causing the connecting body unit to bulge in the same direction.

[0011] Preferably, the substrate is non-separated into four fan-shaped base blocks, which are arranged around the through hole; each base block is connected to a corresponding flexible skeleton; a rotating shaft and a temperature sensor are installed inside the ring.

[0012] Preferably, each of the base blocks is provided with an inner magnetic pole assembly and an outer magnetic pole assembly, the inner magnetic pole assembly of all base blocks forms the inner magnetic pole region, and the outer magnetic pole assembly of all base blocks forms the outer magnetic pole region; the outer magnetic pole region and the inner magnetic pole region are both distributed along a circumference centered on the through hole.

[0013] Preferably, each of the base blocks is provided with one inner magnetic pole assembly and two outer magnetic pole assemblies, and the one inner magnetic pole assembly and the two outer magnetic pole assemblies are arranged in a triangular pattern.

[0014] Preferably, the magnetic pole assembly includes a coil, an AlNiCo electromagnet, and a NdFeB permanent magnet, wherein the AlNiCo electromagnet is installed inside the coil, and the NdFeB permanent magnet is installed below the coil;

[0015] The excitation attraction is configured such that the AlNiCo electromagnet is subjected to electromagnetic induction effect formed by the positive current passing through the coil, causing a polarity switch and forming the same polarity distribution as the NdFeB permanent magnet. The magnetic pole components on the adjacent end faces of two adjacent continuum units form opposite magnetic poles to generate directional adsorption force.

[0016] The continuum device has a deflection mode, in which 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 based on the excitation attraction.

[0017] Preferably, the magnetic pole assembly includes a winding frame, a back iron, an iron shell, and an outer shell. The coil is wound on the winding frame, the back iron is installed inside the coil and above the AlNiCo electromagnet, the coil is installed inside the iron shell, and the iron shell is installed inside the outer shell.

[0018] Preferably, the continuum device is configured to restore the initial state by passing a reverse current through the coil to cause the AlNiCo electromagnet to reverse its polarity again and form the opposite polarity with the NdFeB permanent magnet.

[0019] Preferably, the flexible skeleton comprises, from the outside in, an elastic skeleton body, a flexible shielding skin, and a copper core, and the flexible skeleton automatically restores the connecting units to be spaced apart by the preset distance.

[0020] Preferably, the flexible skeleton is located outside the outer magnetic pole region.

[0021] 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. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the variable-diameter magnetically driven flexible continuum device of the present invention.

[0023] Figure 2 This is a schematic diagram of the structure of the continuous unit in the variable-diameter magnetic drive flexible continuous device of the present invention.

[0024] Figure 3 This is a schematic diagram of the flexible skeleton in the variable-diameter magnetic drive flexible continuum device of the present invention.

[0025] Figure 4 This is a schematic diagram of the magnetic pole assembly in the variable-diameter magnetic drive flexible continuum device of the present invention.

[0026] Figure 5 This is a cross-sectional view of the magnetic pole assembly in the variable-diameter magnetic drive flexible continuum device of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of a single continuum unit of the variable diameter magnetic drive flexible continuum device of the present invention in the non-variable diameter state.

[0028] 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

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] like Figure 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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 magnetically driven flexible continuum device, characterized in that, The device comprises several continuous units and several flexible frames. The continuous units are connected in series at preset intervals through the flexible frames. Each continuous unit has a substrate, an outer magnetic pole region, and an inner magnetic pole region. Both the outer and inner magnetic pole regions have multiple magnetic pole components. The magnetic pole components are configured to be energized and de-energized by current control of the magnetic pole components on adjacent end faces of two adjacent continuous units. The continuous device has a variable diameter mode. In the variable diameter mode, the outer magnetic pole region is not energized, and the inner magnetic pole region is energized and attracted, causing the continuous units to bulge in the same direction and change the working diameter. The substrate has a through hole at its center, and the substrate is divided into several base blocks around the through hole. A ring is provided in the through hole and the ring is hinged to the base block. In the variable diameter mode, the outer magnetic pole region is not energized and the inner magnetic pole region is energized and attracted, causing the base block to deflect relative to the ring, causing the continuous unit to bulge in the same direction. Each of the aforementioned base blocks is provided with an inner magnetic pole assembly and an outer magnetic pole assembly. The inner magnetic pole assemblies of all base blocks form the inner magnetic pole region, and the outer magnetic pole assemblies of all base blocks form the outer magnetic pole region. The outer and inner magnetic pole regions are distributed along a circumference centered on the through hole. The continuum device has a deflection mode, in which 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 based on the excitation attraction.

2. The variable-diameter magnetically driven flexible continuum device according to claim 1, characterized in that, The substrate is divided into four sector-shaped base blocks, which are arranged around the through hole; each base block is connected to a corresponding flexible frame; a rotating shaft and a temperature sensor are installed inside the ring.

3. The variable-diameter magnetically driven flexible continuum device according to claim 1, characterized in that, Each of the aforementioned base blocks is provided with one inner magnetic pole assembly and two outer magnetic pole assemblies, and the one inner magnetic pole assembly and the two outer magnetic pole assemblies are arranged in a triangular pattern.

4. The variable-diameter magnetically driven flexible continuum device according to claim 1, characterized in that, The magnetic pole assembly includes a coil, an AlNiCo electromagnet, and a NdFeB permanent magnet. The AlNiCo electromagnet is installed inside the coil, and the NdFeB permanent magnet is installed below the coil. The excitation attraction is configured such that the AlNiCo electromagnet is subjected to electromagnetic induction effect formed by the positive current passing through the coil, causing a polarity switch and forming the same polarity distribution as the NdFeB permanent magnet. The magnetic pole components on adjacent end faces of two adjacent continuum units form opposite magnetic poles to generate directional adsorption force.

5. The variable-diameter magnetically driven flexible continuum device according to claim 4, characterized in that, The magnetic pole assembly includes a winding frame, a back iron, an iron shell, and an outer shell. The coil is wound on the winding frame. The back iron is installed inside the coil and above the AlNiCo electromagnet. The coil is installed inside the iron shell, and the iron shell is installed inside the outer shell.

6. The variable-diameter magnetically driven flexible continuum device according to claim 4, characterized in that, The continuum device is configured to restore the initial state by passing a reverse current through the coil to cause the AlNiCo electromagnet to reverse its polarity again and form the opposite polarity with the NdFeB permanent magnet.

7. The variable-diameter magnetically driven flexible continuum device according to claim 1, characterized in that, The flexible skeleton comprises, from the outside in, an elastic skeleton body, a flexible shielding skin, and a copper core. The flexible skeleton automatically restores the continuous units to be spaced apart by the preset spacing.

8. The variable-diameter magnetically driven flexible continuum device according to claim 1, characterized in that, The flexible skeleton is located on the periphery of the outer magnetic pole region.

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