High-frequency impact recoil miniature heavy-duty robot and its manufacturing method

Abstract

This invention discloses a high-frequency impact-recoil micro-load-bearing robot and its manufacturing method, comprising: a table-corner integrated base, including a tabletop and table legs, with four sets of table legs; a core power module, including a magnetic core, a permanent magnet, and rear legs, the magnetic core having an E-shaped structure, the magnetic core being tilted and fixed to the bottom of the tabletop, the permanent magnet being fixed to the magnetic core, and a coil being wound on the magnetic core; a wireless control system, mounted on the top of the tabletop, including a micro-inverter circuit, a Bluetooth communication module, and a micro-battery, the micro-battery being connected to the micro-inverter circuit, and the micro-inverter circuit being connected to the coil; and an acoustic acquisition module, mounted on the tabletop. This invention solves the pain points of traditional equipment being unable to enter confined spaces and existing small-sized robots relying on wired power supply or having low motion efficiency, adapting to the needs of precise operation in multiple scenarios.

Description

Technical Field

[0001] This invention relates to the field of micro-drive and wireless control technology, and in particular to a high-frequency impact-recoil micro-load-bearing robot and its manufacturing method. Background Technology

[0002] With the increasing demand for confined space operations in fields such as industrial inspection and disaster relief, micro-robots have become a hot research topic due to their small size and ability to flexibly enter enclosed or narrow areas. These robots need to simultaneously achieve wireless drive, efficient movement, stable load-bearing capacity, and environmental adaptability within an extremely small scale to meet the operational requirements in complex scenarios.

[0003] Currently, among the existing micro-robot technologies, the SMA / LCE soft actuator deformable body multimodal robot developed by Lai et al. in 2024 can achieve gait switching such as crawling and jumping. However, due to the limitations of the response characteristics of SMA materials, it cannot meet the needs of high-frequency motion. The LCE light-driven version suffers from severe energy loss, and the cost factor (COT) far exceeds the practical threshold, resulting in insufficient battery life. Although the electromagnetic drive robot developed subsequently reduced the COT to near the energy efficiency of insects and achieved a movement speed of 21.2BL / s when wired powered, the speed drops sharply after switching to cordless mode, and the battery life is only 30 minutes. Moreover, it frequently stutters when moving on rough gravel surfaces with a feature size of 8-12mm, making it difficult to adapt to long-term complex operations. In 2024, Huang et al. developed a piezoelectric + combustion chamber multi-actuated amphibious robot, which expanded its motion scenarios. However, due to the integration of piezoelectric drive units and micro-combustion chambers, the structure became highly redundant. Within a 15mm scale, it was impossible to balance structural compactness and motion flexibility. The collaborative control between components was complex, and the multi-modal switching response delay exceeded 0.3s. In 2024, Zhu et al. developed a magnetically driven robot that did not require wired power supply, but it was severely limited by the magnetic field environment. In scenarios with magnetic shielding effects, such as metal pipes and concrete walls, the driving force decreased by more than 50%, the movement speed was greatly reduced, and it could not penetrate opaque media, resulting in high operational complexity.

[0004] Overall, existing technologies have failed to simultaneously achieve low-pressure wireless drive, high-frequency recoil efficient motion, and stable load-bearing functions on a scale of less than 15mm. In particular, they are unable to meet the triple core requirements of "wireless control, high load-bearing capacity, and flexible steering." They also have significant shortcomings in terms of adaptability to narrow and complex terrain, motion efficiency, and endurance, and cannot fully adapt to the precise operation requirements in scenarios such as aircraft engine pipelines and narrow pipes. Summary of the Invention

[0005] The purpose of this invention is to provide a high-frequency impact-recoil micro-load-bearing robot and its manufacturing method to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following solution: The present invention provides a high-frequency impact-recoil micro-load-bearing robot, comprising: An integrated base for table corners includes a tabletop and table legs. The tabletop is provided with four sets of table legs, and the four sets of table legs are symmetrically fixed to the bottom of the tabletop in pairs. The core power module includes a magnetic core, a permanent magnet, and rear legs. The magnetic core has an E-shaped structure and is tilted and fixed to the bottom of the platform. The permanent magnet is fixed to the magnetic core and a coil is wound on the magnetic core. The rear legs are slidably connected to the pole post in the middle of the magnetic core, and the rear legs form an angle with the bottom surface of the platform. A wireless control system is mounted on the top of the tabletop. The wireless control system includes a micro inverter circuit, a Bluetooth communication module, and a micro battery. The micro battery is connected to the micro inverter circuit, and the micro inverter circuit is connected to the coil. An acoustic acquisition module, mounted on the platform, is used to acquire environmental acoustic signals in real time.

[0007] The fabrication method of a high-frequency impact recoil micro-load-bearing robot includes the following steps: Step 1: Select suitable resin raw materials and use photopolymer 3D printing technology to integrally form a table corner integrated substrate. Fix a preset number of table legs symmetrically distributed at the bottom of the tabletop. After printing, carbonize the substrate to ensure that the structural strength meets the load-bearing requirements. Step 2: Select permanent magnet material to process and form an E-shaped magnetic core, fix the permanent magnet in the preset position of the magnetic core, and optimize the magnetic circuit to reduce magnetic leakage; Step 3: Use enameled copper wire of appropriate specifications to wind the coil, slide the elastic rear leg to the middle pole of the magnetic core and adjust it to the preset angle; Step 4: Embed the assembled core power module symmetrically into the bottom of the base platform, firmly fix it and control the displacement range to ensure no spatial interference with the table legs; Step 5: Integrate the micro inverter circuit, Bluetooth communication module and micro battery to form a wireless control system. After completing the circuit connection of each component, mount it on the preset position on the top of the table. Step Six: Mount the acoustic acquisition module on the tabletop, ensuring no spatial interference, and then test and debug the device's circuit continuity, motion performance, and acoustic signal acquisition function.

[0008] According to the preparation method of the high-frequency impact-recoil micro-load-bearing robot provided by the present invention, in step one, modified ABS photosensitive resin is used as the resin raw material, and SLA process is adopted, with the printing layer thickness controlled at 0.05mm-0.1mm; the four sets of table legs are arranged in a trapezoidal shape, and the carbonization treatment conditions are 300℃±20℃ for 10min-20min. After treatment, the surface hardness of the substrate needs to reach HB120. The bending strength is tested by a universal testing machine, and the surface hardness is tested by a hardness tester. Only after ensuring that there is no structural deformation can the subsequent process be carried out.

[0009] According to the preparation method of the high-frequency impact-recoil micro-load-bearing robot provided by the present invention, in step two, the permanent magnet material is neodymium iron boron permanent magnet material, the magnetic core is integrally formed by precision grinding, the width of the middle pole post is 0.8mm, and the width of the two side pole posts is 0.5mm; the permanent magnet is fixed to the corresponding mounting surface of the magnetic core with high-temperature resistant epoxy adhesive, and after assembly, the magnetic circuit is detected by a magnetic flux detector to ensure that the magnetic leakage rate is controlled below 5%.

[0010] According to the preparation method of the high-frequency impact-recoil micro-load-bearing robot provided by the present invention, in step three, the diameter of the enameled copper wire is 0.03mm-0.05mm, a constant tension of 0.5N-1.0N is applied during winding, the winding is carried out by the transverse oscillation tight arrangement method and the coil is periodically pressed, and the single turn spacing is controlled to be 0.02mm-0.03mm; after the winding is completed, the uniformity of the coil arrangement is observed by microscopy, and the inductance value is detected by an inductance tester in the range of 10μH-20μH; the rear leg is made of titanium alloy elastic material, and the preset angle between it and the bottom surface of the table is calibrated based on not hindering high-frequency oscillation and not touching the table leg.

[0011] According to the preparation method of the high-frequency impact and recoil micro-load-bearing robot provided by the present invention, in step four, the core power module is fixed to the base through a snap-fit ​​positioning structure, and the axial displacement is monitored in real time by a laser rangefinder to ensure that it does not exceed 1mm; the hollow area formed by the four sets of table legs at the bottom of the base table needs to be precisely matched with the core power module, and after installation, it is necessary to check that the module is not loose and has no contact interference with the table legs.

[0012] According to the preparation method of the high-frequency impact-recoil micro-load-bearing robot provided by the present invention, in step five, the micro battery capacity is 20mAh-30mAh, and it is connected to the micro inverter circuit by spot welding. The micro inverter circuit is connected to the coil through a polyimide flexible cable. After the wireless control system is mounted on the top of the table, the overall height needs to be detected to ensure that it does not exceed the preset size range of the table corner integrated substrate, and that there are no short circuits or poor contact problems in the circuit connection.

[0013] According to the preparation method of the high-frequency impact-recoil micro-load-bearing robot provided by the present invention, in step six, the acoustic acquisition module is soldered to the edge of the PCB substrate of the wireless control system; during testing and debugging, the circuit conduction stability is verified by an oscilloscope, the hind leg swing frequency and motion trajectory are captured by a 1000fps high-speed camera, the load-bearing capacity is tested by an electronic balance, and the Bluetooth communication response and acoustic signal acquisition function are verified at the same time. Only when all indicators meet the standards is it a qualified product.

[0014] The present invention discloses the following technical effects: This invention effectively solves the triple contradiction of "size-performance-wireless adaptation" in existing micro robots. It simultaneously achieves low-voltage wireless drive, high-frequency recoil high-efficiency motion and stable load-bearing function within a scale of less than 15mm. With a load-bearing capacity of more than 10 times its own weight, it can carry various auxiliary equipment. It solves the pain points of traditional equipment being unable to enter confined spaces and existing small-sized robots relying on wired power supply or having low motion efficiency, and adapts to the needs of precise operation in multiple scenarios.

[0015] The power system of this invention optimizes the magnetic circuit design through an E-type magnetic core, which significantly reduces the magnetic leakage rate and improves the electromagnetic energy conversion efficiency. The output thrust of the core power module is significantly improved compared with existing products of the same size. Combined with a dual-motor differential steering scheme, the minimum turning radius is only 1-1.2 times the body width, with high motion accuracy. It can still maintain a stable trajectory on rough surfaces or narrow paths, breaking through the bottleneck of motion efficiency and turning flexibility of traditional micro robots.

[0016] The table-corner integrated substrate of this invention adopts an integrated molding and carbonization process, which combines lightweight and high strength. The symmetrical support structure ensures uniform load transmission. The compact layout of each module has no spatial interference. The wireless design eliminates the constraints of cables, reduces the complexity of operation, and the acoustic acquisition module works in conjunction with the motion system. It can independently enter confined spaces such as aircraft engine pipelines and narrow pipes to complete the testing operation. It has outstanding environmental adaptability and practical value. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural schematic diagram of a novel high-frequency impact-recoil micro-load-bearing robot provided by the present invention.

[0019] The components are: 1. Tabletop; 2. Table legs; 3. Magnetic core; 4. Permanent magnet; 5. Back legs. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] Reference Figure 1 This invention provides a high-frequency impact-recoil micro-load-bearing robot, comprising: The table corner integrated base includes a tabletop 1 and table legs 2. The table is provided with four sets of table legs 2, which are symmetrically fixed to the bottom of the tabletop 1 in pairs. The core power module includes a magnetic core 3, a permanent magnet 4, and a rear leg 5. The magnetic core 3 has an E-shaped structure and is tilted and fixed to the bottom of the platform 1. The permanent magnet 4 is fixed on the magnetic core 3 and a coil is wound on the magnetic core 3. The rear leg 5 is slidably connected to the pole post in the middle of the magnetic core 3, and the rear leg 5 forms an angle with the bottom surface of the platform 1. The wireless control system is mounted on the top of the tabletop 1. The wireless control system includes a micro inverter circuit, a Bluetooth communication module and a micro battery. The micro battery is connected to the micro inverter circuit and the micro inverter circuit is connected to the coil. The acoustic acquisition module is mounted on the table 1 and is used to realize the real-time acquisition of environmental acoustic signals.

[0023] The external control unit sends commands to the wireless control system via Bluetooth 2.4G protocol. After receiving the signal, the Bluetooth communication module transmits it to the core control unit. The micro-inverter circuit converts the electrical energy of the micro battery into AC current of a specified frequency and amplitude, which is precisely input into the coil of the core power module. After the coil is energized, it forms an efficient magnetic circuit with the E-type magnetic core 3 and permanent magnet 4, generating electromagnetic driving force to drive the hind legs 5 to slide along the central pole of the magnetic core 3. The hind legs 5 quickly impact the ground in a high-frequency swing mode and then immediately retract elastically, using the ground recoil force to propel the robot forward. The preset angle between the hind legs 5 and the bottom surface of the platform 1 ensures efficient and lossless transmission of impact force. When turning is required, the control system adjusts the current amplitude of the two symmetrically arranged core power modules to form a speed difference, and achieves flexible turning through differential control. The four sets of symmetrical table legs 2 of the table corner integrated base evenly transmit the recoil force and load to the ground, avoiding localized force concentration. At the same time, the acoustic acquisition module synchronously collects environmental acoustic signals in real time. Throughout the process, the wireless control system continuously and stably outputs power, ensuring that the robot can maintain efficient movement and signal acquisition functions even under load.

[0024] The fabrication method of a high-frequency impact recoil micro-load-bearing robot includes the following steps: Step 1: Select suitable resin raw materials and use photopolymer 3D printing technology to integrally form a table corner integrated substrate. Fix a preset number of table legs 2 symmetrically distributed at the bottom of the tabletop 1. After printing, carbonize the substrate to ensure that the structural strength meets the load-bearing requirements. Step 2: Select permanent magnet material to process and form E-type magnetic core 3, fix permanent magnet 4 in the preset position of magnetic core 3, and optimize magnetic circuit to reduce magnetic leakage; Step 3: Use enameled copper wire of appropriate specifications to wind the coil, slide the elastic rear leg 5 to the middle pole of the magnetic core 3 and adjust it to the preset angle; Step 4: Embed the assembled core power module symmetrically into the bottom of the base platform 1, fix it firmly and control the displacement range to ensure no spatial interference with the table legs 2; Step 5: Integrate the micro inverter circuit, Bluetooth communication module and micro battery to form a wireless control system. After completing the circuit connection of each component, mount it on the preset position on the top of the table 1. Step Six: Mount the acoustic acquisition module on the tabletop 1, ensuring no spatial interference, and then test and debug the device's circuit continuity, motion performance, and acoustic signal acquisition function.

[0025] Further optimization of the scheme: In step one, modified ABS photosensitive resin is used as the resin raw material, and SLA process is adopted, with the printing layer thickness controlled at 0.05mm-0.1mm; the four sets of table legs 2 are arranged in a trapezoidal shape, and the carbonization treatment conditions are 300℃±20℃ for 10min-20min. After treatment, the surface hardness of the substrate must reach HB120. The bending strength is tested by a universal testing machine and the surface hardness is tested by a hardness tester. Only after ensuring that there is no structural deformation can the subsequent process be carried out.

[0026] Further optimizing the scheme, in step two, the permanent magnet material is neodymium iron boron permanent magnet material, the magnetic core 3 is integrally formed by precision grinding, the width of the middle pole post is 0.8mm and the width of the two side pole posts is 0.5mm; the permanent magnet 4 is fixed to the corresponding mounting surface of the magnetic core 3 with high temperature resistant epoxy adhesive. After assembly, the magnetic circuit is tested by a magnetic flux detector to ensure that the magnetic leakage rate is controlled below 5%.

[0027] Further optimization of the scheme: In step three, the diameter of the enameled copper wire is 0.03mm-0.05mm. A constant tension of 0.5N-1.0N is applied during winding. The winding is carried out using a transverse oscillation tight arrangement method and the coil is periodically pressed. The spacing between single turns is controlled to be 0.02mm-0.03mm. After winding, the uniformity of the coil arrangement is observed under a microscope. The inductance value is tested by an inductance tester and is within the range of 10μH-20μH. The rear leg 5 is made of titanium alloy elastic material. The preset angle between it and the bottom surface of the tabletop 1 is calibrated based on the principle of not hindering high-frequency oscillation and not touching the table leg 2.

[0028] Further optimize the solution. In step four, the core power module is fixed to the base through a snap-on positioning structure. A laser rangefinder is used to monitor the axial displacement in real time to ensure that it does not exceed 1mm. The hollow area formed by the four sets of table legs 2 at the bottom of the base table 1 needs to be precisely matched with the core power module. After installation, it is necessary to check that the module is not loose and has no contact interference with the table legs 2.

[0029] Further optimize the solution. In step five, the micro battery capacity is 20mAh-30mAh, and it is connected to the micro inverter circuit by spot welding. The micro inverter circuit is connected to the coil through a polyimide flexible cable. After the wireless control system is mounted on the top of the tabletop 1, the overall height needs to be checked to ensure that it does not exceed the preset size range of the table corner integrated base, and that there are no short circuits or poor contact issues in the circuit connection.

[0030] Further optimize the solution. In step six, the acoustic acquisition module is soldered to the edge of the PCB substrate of the wireless control system. During testing and debugging, an oscilloscope is used to verify the circuit conduction stability, a 1000fps high-speed camera is used to capture the swing frequency and movement trajectory of the hind legs 5, an electronic balance is used to test the load capacity, and the Bluetooth communication response and acoustic signal acquisition function are verified at the same time. Only when all indicators meet the standards can it be considered a qualified product.

[0031] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0032] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A high-frequency impact-recoil miniature heavy-duty robot, characterized in that, include: The table corner integrated base includes a tabletop (1) and table legs (2). The table is provided with four sets of table legs (2) which are symmetrically fixed to the bottom of the tabletop (1) in pairs. The core power module includes a magnetic core (3), a permanent magnet (4) and a rear leg (5). The magnetic core (3) has an E-shaped structure. The magnetic core (3) is tilted and fixed to the bottom of the platform (1). The permanent magnet (4) is fixed on the magnetic core (3). A coil is wound on the magnetic core (3). The rear leg (5) is slidably connected to the pole post in the middle of the magnetic core (3). The rear leg (5) forms an angle with the bottom surface of the platform (1). A wireless control system is mounted on the top of the tabletop (1). The wireless control system includes a micro inverter circuit, a Bluetooth communication module and a micro battery. The micro battery is connected to the micro inverter circuit and the micro inverter circuit is connected to the coil. An acoustic acquisition module is mounted on the platform (1) and is used to realize the real-time acquisition of environmental acoustic signals.

2. A method for manufacturing a high-frequency impact-recoil micro-load-bearing robot, based on the high-frequency impact-recoil micro-load-bearing robot of claim 1, characterized in that, Includes the following steps: Step 1: Select suitable resin raw materials and use photopolymerization 3D printing process to integrally form a table corner integrated substrate. Fix a preset number of table legs (2) symmetrically distributed at the bottom of the tabletop (1). After printing, carbonize the substrate to ensure that the structural strength meets the load requirements. Step 2: Select permanent magnet material to process and form E-type magnetic core (3), fix permanent magnet (4) in the preset position of magnetic core (3), and optimize magnetic circuit to reduce magnetic leakage; Step 3: Use enameled copper wire of appropriate specifications to wind the coil, slide the elastic rear leg (5) to the middle pole of the magnetic core (3) and adjust it to the preset angle; Step 4: Embed the assembled core power module symmetrically into the bottom of the base platform (1), fix it firmly and control the displacement range to ensure no spatial interference with the table legs (2); Step 5: Integrate the micro inverter circuit, Bluetooth communication module and micro battery to form a wireless control system. After completing the circuit connection of each component, mount it on the preset position on the top of the table (1). Step 6: Mount the acoustic acquisition module on the table (1) to ensure no spatial interference, and then test and debug the device for circuit continuity, motion performance and acoustic signal acquisition function.

3. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step one, modified ABS photosensitive resin is used as the resin raw material, and SLA process is adopted. The printing layer thickness is controlled at 0.05mm-0.1mm. The four sets of table legs (2) are arranged in a trapezoidal shape. The carbonization treatment conditions are 300℃±20℃, 10min-20min. After treatment, the surface hardness of the substrate needs to reach HB120. The bending strength is tested by a universal testing machine and the surface hardness is tested by a hardness tester. Only after ensuring that there is no structural deformation can the subsequent process be carried out.

4. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step two, the permanent magnet material is neodymium iron boron permanent magnet material. The magnetic core (3) is integrally formed by precision grinding. The width of the middle pole post is 0.8mm and the width of the two side pole posts is 0.5mm. The permanent magnet (4) is fixed to the corresponding mounting surface of the magnetic core (3) with high temperature resistant epoxy adhesive. After assembly, the magnetic circuit is tested by a magnetic flux detector to ensure that the magnetic leakage rate is controlled below 5%.

5. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step three, the diameter of the enameled copper wire is 0.03mm-0.05mm. A constant tension of 0.5N-1.0N is applied during winding. The winding is done by a transverse oscillation tight arrangement method and the coil is periodically pressed. The single turn spacing is controlled to be 0.02mm-0.03mm. After winding, the uniformity of the coil arrangement is observed by a microscope. The inductance value is tested by an inductance tester and is within the range of 10μH-20μH. The rear leg (5) is made of titanium alloy elastic material. The preset angle between it and the bottom surface of the table (1) is calibrated based on not hindering high-frequency oscillation and not touching the table leg (2).

6. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step four, the core power module is fixed to the base through a snap-on positioning structure. A laser rangefinder is used to monitor the axial displacement in real time to ensure that it does not exceed 1mm. The hollow area formed by the four sets of table legs (2) at the bottom of the base table (1) needs to be precisely matched with the core power module. After installation, it is necessary to check that the module is not loose and has no contact interference with the table legs (2).

7. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step five, the micro battery capacity is 20mAh-30mAh and is connected to the micro inverter circuit by spot welding. The micro inverter circuit is connected to the coil through a polyimide flexible cable. After the wireless control system is mounted on the top of the table (1), the overall height needs to be checked to ensure that it does not exceed the preset size range of the table corner integrated substrate and that there are no short circuits or poor contact problems in the circuit connection.

8. The method for manufacturing a high-frequency impact-recoil micro-load-bearing robot according to claim 2, characterized in that, In step six, the acoustic acquisition module is soldered to the edge of the PCB substrate of the wireless control system. During testing and debugging, the circuit conduction stability is verified with an oscilloscope, the swing frequency and movement trajectory of the hind legs (5) are captured by a 1000fps high-speed camera, the load capacity is tested with an electronic balance, and the Bluetooth communication response and acoustic signal acquisition function are verified at the same time. Only after all indicators meet the standards can it be considered a qualified product.

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