CN-121990070-A - Spherical magnetic drive soft robot capable of moving rapidly

Abstract

The invention discloses a spherical magnetic drive soft robot capable of moving rapidly, and belongs to the technical field of soft robots. The spherical magnetic driving soft robot capable of moving rapidly comprises an upper support body, a lower support body, an electromagnetic coil, a permanent magnet, a tail bottom plate and a connecting rod. The upper support body is of a cross hemispherical wrapping structure and is made of a silicon rubber material and used for generating deformation, the lower support body is of a semi-hollow sphere structure and used for loading goods, the permanent magnet is coaxially matched with the electromagnetic coil, deformation is driven by magnetic force after alternating current is introduced, and the tail bottom plate is obliquely bonded to form an inclination angle optimized driving force. The problems of complex structure, slow motion, delayed response and the like of the traditional soft robot are solved, rapid movement and steering are realized, the energy utilization rate is high, the load capacity is high, and the soft robot can adapt to unstructured environments such as slopes, underwater and the like. The intelligent control system has the advantages of simple overall structure and accurate control, and is suitable for logistics, detection and man-machine cooperation scenes.

Inventors

• KANG SHENG
• ZHANG JINGHAO

Assignees

• 江西理工大学

Dates

Publication Date

20260508

Application Date

20260403

Claims (7)

1. 1. A spherical magnetic driving soft robot capable of moving rapidly is characterized in that the robot body comprises an upper support body, a lower support body, an electromagnetic coil, a permanent magnet and a tail bottom plate, wherein the upper support body is of a cross hemispherical wrapping structure and is made of a silicon rubber material and used for generating deformation, the lower support body is of a semi-hollow ball structure and used for loading goods, the permanent magnet is fixed at the lower end of the upper support body and is in coaxial clearance fit with the electromagnetic coil, and the tail bottom plate is obliquely arranged and obliquely adhered with the lower support body.
2. 2. The rapidly movable spherical magnetic drive soft robot of claim 1, wherein an included angle between the central axis of the upper support body and a vertical line perpendicular to the ground is 35-40 °.
3. 3. The rapidly movable spherical magnetic driving soft robot according to claim 1, wherein the electromagnetic coil is of a hollow cylindrical structure, the outer diameter is 20 mm-22 mm, the inner diameter is 9 mm-10 mm, the diameter of the permanent magnet is 7 mm-8 mm, alternating magnetic force is generated between the electromagnetic coil and the permanent magnet through alternating current, and the upper support body and the lower support body are driven to deform.
4. 4. A rapidly movable spherical magnetic drive soft robot as claimed in claim 1, wherein the robot body is provided with a pair in parallel and connected by a connecting rod.
5. 5. The rapidly movable spherical magnetic drive soft robot of claim 1, wherein the alternating current has a frequency of 18hz to 20hz.
6. 6. The rapidly movable spherical magnetic drive soft robot of claim 1, wherein the radius of the upper support body is the same as that of the lower support body, the thickness of the upper support body is 2 mm-3 mm, and the upper support body and the lower support body are bonded through glue to form a spherical structure.
7. 7. A rapidly movable spherical magnetically driven soft robot as claimed in claim 1, wherein the tail base plate is made of an elastic material.

Description

Spherical magnetic drive soft robot capable of moving rapidly Technical Field The invention relates to the technical field of soft robots, in particular to a spherical magnetic drive soft robot capable of moving rapidly. Background With the extension of the robot application scene from a structured environment to an unstructured natural scene, the traditional rigid robot has inherent limitations in terms of environmental adaptability and man-machine interaction safety. To solve this problem, soft robotics have been developed that increase the flexibility and adaptability to complex environments of the robot by using flexible materials. However, most existing soft robots, especially magnetic driving types, still face a series of key technical challenges, and firstly, in the driving mode, many designs depend on pneumatic, hydraulic or complex internal magnetic circuits, so that the overall structure is complex, the system is bulky, the manufacturing cost is high, and the miniaturization and integration of the soft robots are limited. In the aspect of motion performance, the problems of low driving efficiency or indirect energy conversion path, slow motion speed and delayed response are commonly existed, so that the application requirements of logistics, detection and the like, which need quick maneuver, are difficult to meet, and some magnetic drive soft robots rely on internal magnetic fields to move, but the driving mode is complicated, and the motion efficiency is low due to unstable structure in actual movement, even offset or toppling easily occurs on complex ground, so that the reliability is influenced. Disclosure of Invention The invention aims to overcome the problems in the prior art and provides a spherical magnetic drive soft robot capable of moving rapidly. The invention provides a spherical magnetic driving soft robot capable of moving rapidly, which comprises an upper support body, a lower support body, an electromagnetic coil, a permanent magnet and a tail bottom plate, wherein the upper support body is of a cross hemispherical wrapping structure and is made of a silicon rubber material and is used for generating deformation, the lower support body is of a semi-hollow sphere structure and is used for loading goods, the permanent magnet is fixed at the lower end of the upper support body and is in coaxial clearance fit with the electromagnetic coil, and the tail bottom plate is obliquely arranged and is obliquely bonded with the lower support body. Preferably, the included angle between the central axis of the upper support body and a vertical line perpendicular to the ground is 35-40 degrees. Preferably, the electromagnetic coil is of a hollow cylindrical structure, the outer diameter is 20 mm-22 mm, the inner diameter is 9 mm-10 mm, the diameter of the permanent magnet is 7 mm-8 mm, alternating magnetic force is generated between the electromagnetic coil and the permanent magnet through alternating current, and the upper support body and the lower support body are driven to deform. Preferably, the machine body is provided with a pair in parallel and is connected through a connecting rod. Preferably, the alternating current frequency is 18 Hz-20 Hz. Preferably, the radius of the upper support body is the same as that of the lower support body, the thickness of the upper support body is 2 mm-3 mm, and the upper support body and the lower support body are bonded through glue to form a spherical structure. Preferably, the tail bottom plate is made of an elastic material. Compared with the prior art, the invention has the beneficial effects that: When the electromagnetic coil is electrified with alternating current, based on the principle of like pole repulsion and opposite pole attraction, alternating attraction or repulsion force is generated between the electromagnetic coil and the permanent magnet to drive the upper support body and the lower support body to generate periodic deformation. The lower support body is of a semi-hollow sphere structure and made of a silicon rubber material, so that the support is provided, goods or electronic elements can be loaded, and the practicability and the loading capacity of the robot are improved. The tail bottom plate and the lower support body are obliquely adhered, so that the whole robot forms an inclination angle relative to the ground, the utilization of ground driving force is optimized, and the deformation is converted into forward or steering movement. The connecting rod is used for connecting two groups of fuselages in parallel, so that the structural stability is ensured. The complex structure of the traditional soft robot is simplified, the magnetic energy is directly converted into mechanical energy through electromagnetic driving, the complexity of a pneumatic or hydraulic system is avoided, the rapid movement is realized, the response speed is obviously improved, and the energy utilization rate is high. Drawings Fig. 1 is a side view of a sp