Beating propelled bionic ray micro-robot
By designing a bionic manta ray microrobot and using flexible materials and magnetic field drive, the problems of large size and poor flexibility of existing micro soft robots have been solved, and efficient and flexible pipeline inspection in liquid environments has been achieved.
Patent Information
- Application Number
- CN202422899389.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-26
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-11-26
AI Technical Summary
Most existing micro soft robots are cable-driven and made of rigid materials, resulting in large size, complex structure, poor flexibility, and difficulty in adapting to complex environments. In addition, the cable-free drive method requires external energy supply, which limits its application in micro-pipeline inspection.
A bionic ray microrobot with flapping propulsion is designed. It uses flexible materials and magnetic field drive. The active and passive areas of the fins flap up and down under the excitation of the magnetic field. Combined with the magnetic field control of the Z axis and XY plane, it can achieve swimming and turning to avoid contact with the tube wall.
It achieves efficient and flexible bionic swimming in liquid environments, has a small size, no cable interference, reduces the risk of pipeline damage, and is particularly suitable for micro-pipeline inspection.
Smart Images
Figure CN223483784U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of soft robot technology, and in particular to a biomimetic ray microrobot that propels itself by flapping. Background Technology
[0002] Existing micro soft robots are mainly divided into two categories: tethered and untethered. Tethered robots mostly use motors for propulsion and are often made of rigid materials. They typically suffer from drawbacks such as large size, complex structure, poor flexibility, and poor compliance, making them less adaptable to movement in complex environments. Untethered robots, on the other hand, usually use external energy sources such as chemical energy, light fields, or magnetic fields. Untethered robots allow for smaller size and improved flexibility, making them particularly suitable for inspection work in narrow pipes.
[0003] Currently, many pipeline inspection robots are large in size or use rigid structures, which may damage the pipeline when they come into contact with the pipeline wall during the inspection process. At the same time, they are difficult to enter micro-pipelines to perform inspection tasks. In view of this, this utility model is proposed. Utility Model Content
[0004] The purpose of this invention is to provide a biomimetic ray microrobot that propels itself by flapping. This biomimetic ray microrobot is similar to a ray in structure and motion mechanism, and can swim efficiently and flexibly in a liquid environment. It has advantages such as small size, no cable interference, and flexible movement.
[0005] This utility model provides a biomimetic ray microrobot that propels itself by flapping, including a torso, with fins symmetrically arranged on both sides of the torso. The front and rear ends of the fins are respectively set as a magnetized active area and an unmagnetized driven area. The active area can flap up and down under magnetic field excitation. A storage compartment is provided on the torso, and a functional module is installed in the storage compartment.
[0006] Furthermore, the torso adopts the NACA0018 specification, and the thickness of the torso is 0.3mm.
[0007] Furthermore, the fin comprises a silicone body in which magnetic particles are evenly distributed.
[0008] Furthermore, the fins include a left fin and a right fin symmetrically arranged on both sides of the body, with the magnetization directions of the active areas of the left and right fins symmetrically arranged, and the thickness of both the left and right fins being 0.1 mm.
[0009] Furthermore, the angle between the magnetization direction of the active zone and the midline of the torso is 70° to 80°.
[0010] Furthermore, the magnetic field includes a sinusoidal magnetic field in the Z-axis direction and a uniform magnetic field in the XY plane. The sinusoidal magnetic field in the Z-axis direction controls the swimming of the biomimetic ray microrobot, while the uniform magnetic field in the XY plane controls the turning of the biomimetic ray microrobot.
[0011] Furthermore, the magnetic field is generated by a three-dimensional Helmholtz coil.
[0012] Furthermore, the driven zone can pat up and down under the influence of the active zone, and the up and down patting amplitude of the driven zone is smaller than that of the active zone.
[0013] Furthermore, the storage silo is constructed from flexible foam.
[0014] Furthermore, the functional modules include a camera module.
[0015] This biomimetic ray microrobot is designed based on biomimetic principles. Its structure and movement mechanism are similar to those of a ray, enabling it to swim efficiently and flexibly in a liquid environment. It has advantages such as small size, no cable interference, and flexible movement. In addition, this biomimetic ray microrobot is made of soft materials, so it does not need to contact the pipe wall during movement, which significantly reduces the risk of pipe damage. It is particularly suitable for the inspection of micro-pipes. Attached Figure Description
[0016] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0017] Figure 1 A schematic diagram of the structure of a biomimetic ray microrobot;
[0018] Figure 2 A schematic diagram showing the magnetization direction of the active region of the left fin;
[0019] Figure 3 A schematic diagram of the magnetization direction of the active region of the right fin;
[0020] Figure 4 This is a schematic diagram of the torso mold;
[0021] Figure 5 A schematic diagram of the assembly mold for a biomimetic ray microrobot.
[0022] Explanation of reference numerals in the attached figures:
[0023] 1: Trunk; 2: Fin; 21: Left fin; 22: Right fin; 3: Active area; 4: Passive area; 5: Storage compartment; 6: Trunk mold; 7: Assembly mold. Detailed Implementation
[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.
[0025] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application. As used herein, the singular form includes the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this description, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.
[0026] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0027] Example 1
[0028] like Figure 1 As shown, the biomimetic ray microrobot (hereinafter referred to as microrobot) of this embodiment includes a body 1, and fins 2 are symmetrically arranged on both sides of the body 1. The front end and rear end of the fins 2 are respectively set as a magnetized active area 3 and an unmagnetized passive area 4. The active area 3 can flap up and down under the excitation of a magnetic field. A storage compartment 5 is provided on the body 1, and a functional module is installed in the storage compartment 5.
[0029] The biomimetic ray microrobot of this embodiment is constructed entirely of flexible materials. The torso 1 uses NACA0018 material, with a thickness of 0.3 mm, effectively reducing drag in water. The fins 2 are made of a silicone body, which can be made of polydimethylsiloxane (PDMS). Magnetic particles, such as neodymium iron boron (NdFeB), are uniformly distributed within the silicone body. The fins 2 can be manufactured by mixing silicone liquid and magnetic particles in a specific ratio.
[0030] The fin 2 is divided into an active region 3 and a passive region 4 based on whether it is magnetized. The magnetized active region 3 is located at the front end of the fin 2, and the unmagnetized passive region 4 is located at the rear end of the fin 2. The front end is the side closer to the body 1, and the rear end is the side closer to the tail. When the fin 2 is excited by an external upward magnetic field, the active region 3 bends upward; when excited by an external downward magnetic field, the active region 3 bends downward. The external excitation magnetic field is not limited to the vertical direction, but can also be at an angle of 0° to 45° with the horizontal plane of the microrobot. The active region 3 and the passive region 4 are an integral structure; under the excitation of the external magnetic field, the active region 3 bends first, and the passive region 4 then bends slightly. The biomimetic ray microrobot imitates the movement of a biological ray through this delayed effect.
[0031] Combination Figure 2 , Figure 3 As shown, the fin 2 includes a left fin 21 and a right fin 22 symmetrically arranged on both sides of the body 1. The structures of the left fin 21 and the right fin 22 are completely identical and horizontally symmetrical. The magnetization directions of the active areas 3 of the left fin 21 and the right fin 22 are completely symmetrical, and the angle between the magnetization direction and the midline of the body 1 can be 70° to 80°, for example, 80°. The thickness of both the left fin 21 and the right fin 22 can be 0.1 mm. The active areas 3 of the left fin 21 and the right fin 22 can be magnetized, and the active areas 3 can flap up and down under magnetic field excitation. The flapping actions of the left fin 21 and the right fin 22 are symmetrical and consistent. The driven area 4 cannot be directly driven by the magnetic field. The driven area 4 flaps up and down under the influence of the active area 3, and the flapping amplitude of the driven area 4 is smaller than that of the active area 3. Since the driven region 4 is not directly driven by the magnetic field, the motion process of the driven region 4 is delayed relative to the active region 3. This delay causes the biomimetic ray microrobot to generate an anti-Kaman vortex street in the water, thereby gaining forward thrust. In addition, the response speed of the active region 3 at the front end of the fin 2 is faster than that of the driven region 4 at the rear end, which is consistent with the motion characteristics of biological rays.
[0032] The biomimetic manta ray microrobot of this embodiment is driven by a magnetic field, which includes a sinusoidal magnetic field along the Z-axis and a uniform magnetic field in the XY plane. The sinusoidal magnetic field along the Z-axis controls the swimming motion of the biomimetic manta ray microrobot, while the uniform magnetic field in the XY plane controls its turning. Simultaneously generating a sinusoidal magnetic field along the Z-axis and applying a uniform magnetic field in any direction in the XY plane allows the biomimetic manta ray microrobot to move in the direction of the uniform magnetic field. Furthermore, the strength of the uniform magnetic field in the XY plane should not exceed the strength of the sinusoidal magnetic field along the Z-axis; otherwise, it will affect the swimming performance of the biomimetic manta ray microrobot. The magnetic field can be generated by a three-dimensional Helmholtz coil. When a uniform magnetic field exists in the XY plane, the sinusoidal magnetic field along the Z-axis couples with it to form an alternating magnetic field in the vertical plane. Through this combination of magnetic fields, the movement of the biomimetic manta ray microrobot in water can be flexibly controlled.
[0033] The storage chamber 5 is made of flexible sponge, which provides buoyancy for the biomimetic stingray microrobot. Various functional modules can be installed inside the storage chamber 5 according to actual needs. For example, when performing pipeline inspection operations, camera modules, pipeline inspection modules, and other functional modules can be installed inside the storage chamber 5. By controlling the generation of a magnetic field, the biomimetic stingray microrobot can perform pipeline inspection operations.
[0034] The fabrication method of the biomimetic ray microrobot in this embodiment is as follows:
[0035] S1: Based on the spatial constraints of the biomimetic ray microrobot's application environment, the overall dimensions of the microrobot are calculated and appropriately scaled. Then, high-precision 3D printing technology is used to fabricate a circular thin-film mold and a torso mold (e.g., ...). Figure 4 (as shown) and assembly mold 7 (as shown) Figure 5 (As shown).
[0036] S2: Using a milligram precision weighing instrument, weigh PDMS and curing agent in a ratio of 8:2, stir until uniform, and obtain silicone liquid.
[0037] S3: Weigh NdFeB magnetic particles and silica gel liquid at a mass ratio of 7:3, stir manually for 3 minutes, and then use a mixer to shake the mixed solution for 30 minutes to ensure that the magnetic particles are evenly distributed; then, put the mixed solution into a vacuum drying oven and vacuum for 20 minutes to remove air bubbles to obtain magnetizable silica gel (MSG).
[0038] S4: Pour the MSG solution obtained in step S3 into the circular film mold and the torso mold 6 respectively, and then place them in a vacuum drying oven, set the temperature to 70°C, and heat for 3 hours to cure.
[0039] S5: After the MSG solution has solidified, the circular magnetic film and the torso 1 are taken out respectively. The outer contour of the microrobot is cut out of the circular magnetic film using a laser cutter to obtain the active region 3 and the passive region 4 of the left fin 21 and the right fin 22.
[0040] S6: Magnetize the fish using an electromagnet. Place the active regions 3 of the left fin 21 and right fin 22 obtained in step S5 into the magnetization mold and position them in the specified direction. After fixing the magnetization mold, place it in the magnetization device and energize it to generate a strong magnetic field, which will cause the magnetic domains in the magnetic film to rearrange and obtain the directional magnetized active regions 3 of the left fin 21 and right fin 22.
[0041] S7: Place the active area 3 and passive area 4 of the torso 1 and the left fin 21 and right fin 22 into the assembly mold 7 respectively. Apply a layer of solution to the connection point, and then place it in a vacuum drying oven for high-temperature curing under the same conditions as step S4. After curing, take it out and cut the flexible sponge according to the size of the camera module, fix it on the torso 1 of the microrobot to form the storage chamber 5, and then put the camera module into the storage chamber 5 to complete the preparation of the entire microrobot.
[0042] The driving method for the biomimetic ray microrobot in this embodiment is as follows:
[0043] The biomimetic ray microrobot is driven by a sinusoidal magnetic field generated by a three-dimensional Helmholtz coil. The three-dimensional Helmholtz coil consists of coils in the X, Y, and Z directions. The sinusoidal magnetic field along the Z-axis drives the microrobot's swimming motion, while the uniform magnetic field in the XY plane controls its steering. When a uniform magnetic field exists in the XY plane, the sinusoidal magnetic field along the Z-axis couples with it, forming alternating magnetic fields in the vertical plane. Through this combination of magnetic fields, the microrobot's movement in water can be flexibly controlled.
[0044] The microrobot performs a flapping propulsion motion: A sinusoidal signal with a frequency between 1-12Hz is input to the Z-axis of the three-dimensional Helmholtz coil. There is no magnetic field signal in the XY plane. Under the excitation of the sinusoidal signal, the microrobot, relying on its structural and magnetization characteristics, causes its fins 2 to flap up and down in the water, with the flapping movements of the left fin 21 and right fin 22 on both sides being symmetrical and consistent. The active region 3 of fin 2 is excited by the magnetic field, experiencing upward or downward torques as the magnetic field changes, causing part of the active region 3 to flap upward or downward, and the driven region 4 to produce a corresponding movement. Since the driven region 4 is not magnetized, it cannot be directly excited by the magnetic field. Therefore, there is a hysteresis in the response time of the up-and-down flapping of the active region 3 and the driven region 4. The driven region 4 flaps upward or downward more slowly than the active region 3, and the flapping amplitude of the driven region 4 is smaller than that of the active region 3. This hysteresis phenomenon causes the microrobot to generate an anti-Kármán vortex street phenomenon in the water, thus generating forward thrust. In addition, since the active zone 3 at the front end of fin 2 responds faster than the passive zone 4 at the rear end, this movement characteristic is consistent with the characteristics of the fins of the biological ray when it swims.
[0045] Microrobot performs turning motion: Based on the sinusoidal magnetic field generated by the three-dimensional Helmholtz coil in the Z-axis direction, a uniform magnetic field in any direction is applied in the XY plane. Under the action of magnetic torque, the microrobot will move in the direction of the uniform magnetic field. The intensity component of the uniform magnetic field in the XY plane is not greater than the intensity of the sinusoidal magnetic field in the Z-axis direction, so as to avoid affecting the movement effect of the microrobot.
[0046] The biomimetic ray microrobot of this embodiment is designed based on biomimetic principles. Its structure and movement mechanism are similar to those of a ray, enabling it to swim efficiently and flexibly in a liquid environment. It has advantages such as small size, no cable interference, and flexible movement. In addition, the biomimetic ray microrobot is made of soft materials, so it does not need to contact the pipe wall during movement, which significantly reduces the risk of pipe damage. It is particularly suitable for the inspection of micro-pipes.
[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A biomimetic ray microrobot that propels itself by flapping, characterized in that, It includes a torso, with fins symmetrically arranged on both sides of the torso. The front and rear ends of the fins are respectively set as a magnetized active area and an unmagnetized passive area. The active area can flap up and down under magnetic field excitation. There is a storage compartment on the torso, and the storage compartment contains functional modules.
2. The biomimetic ray microrobot according to claim 1, characterized in that, The torso is made to NACA0018 specifications, and the torso thickness is 0.3mm.
3. The biomimetic ray microrobot according to claim 1, characterized in that, The fin consists of a silicone body, in which magnetic particles are evenly distributed.
4. The biomimetic ray microrobot according to claim 1, characterized in that, The fish fins include a left fin and a right fin symmetrically arranged on both sides of the body. The magnetization directions of the active areas of the left fin and the right fin are symmetrically arranged. The thickness of the left fin and the right fin is 0.1 mm.
5. The biomimetic ray microrobot according to claim 1, characterized in that, The angle between the magnetization direction of the active zone and the midline of the torso is 70° to 80°.
6. The biomimetic ray microrobot according to claim 1, characterized in that, The magnetic field includes a sinusoidal magnetic field in the Z-axis direction and a uniform magnetic field in the XY plane. The sinusoidal magnetic field in the Z-axis direction controls the swimming of the biomimetic ray microrobot, while the uniform magnetic field in the XY plane controls the turning of the biomimetic ray microrobot.
7. The biomimetic ray microrobot according to claim 1, characterized in that, The magnetic field is generated by a three-dimensional Helmholtz coil.
8. The biomimetic ray microrobot according to claim 1, characterized in that, The driven zone can be moved up and down under the influence of the active zone, but the amplitude of the driven zone's up and down movement is smaller than that of the active zone.
9. The biomimetic ray microrobot according to claim 1, characterized in that, The storage compartment is made of flexible foam.
10. The biomimetic ray microrobot according to claim 1, characterized in that, The functional modules include a camera module.