CN119369431B - A magnetically driven micro-sized bistable origami robot, its manufacturing method and driving method - Google Patents
A magnetically driven micro-sized bistable origami robot, its manufacturing method and driving methodInfo
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- CN119369431B CN119369431B CN202411723967.2A CN202411723967A CN119369431B CN 119369431 B CN119369431 B CN 119369431B CN 202411723967 A CN202411723967 A CN 202411723967A CN 119369431 B CN119369431 B CN 119369431B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
本发明公开了一种磁驱动微小型双稳态的折纸机器人、制作方法及其驱动方法。此折纸机器人包括顺次铰链连接的前肢单元、躯体单元和后肢单元，前肢单元、躯体单元和后肢单元均配置有柔性铰链以能够展平或收拢；其中，躯体单元表面配置有磁铁组件，磁铁组件包括靠近前肢单元的斜磁铁，和靠近后肢单元的竖磁铁，在变化磁场的激励下，所述磁铁组件能够驱动所述折纸机器人实现不同形态的转换；此制作方法利用3D打印技术具有成本低和效率高的优势，实用性佳；此驱动方法允许机器人在展平和收拢状态之间切换，极大地提高了环境适应性，其中，用于折纸机器人实现移动的第二驱动方法使此折纸机器人具有两种稳态移动方式，以适应复杂的工作环境和任务需求。
This invention discloses a magnetically driven micro-sized bistable origami robot, its manufacturing method, and its driving method. The origami robot includes a forelimb unit, a body unit, and a hindlimb unit connected by sequential hinges. Each of the forelimb, body, and hindlimb units is equipped with flexible hinges to allow for flattening or folding. A magnet assembly is disposed on the surface of the body unit, comprising a slanted magnet near the forelimb unit and a vertical magnet near the hindlimb unit. Under the excitation of a changing magnetic field, the magnet assembly can drive the origami robot to achieve different form transformations. This manufacturing method utilizes 3D printing technology, which offers advantages of low cost and high efficiency, and has excellent practicality. This driving method allows the robot to switch between flattened and folded states, greatly improving environmental adaptability. A second driving method for the origami robot's movement enables the robot to have two steady-state movement modes to adapt to complex working environments and task requirements.
Description
Technical Field
The invention belongs to the technical field of microminiature robots, and particularly relates to a magnetically-driven microminiature bistable paper folding robot, a manufacturing method and a driving method thereof.
Background
The magnetic-driven micro-robot realizes motion by utilizing a magnetic field, has the advantages of non-contact driving, low energy consumption and high reliability, and can freely move in a complex environment due to small size and light weight, so that the application scene of the magnetic-driven micro-robot is widened, the magnetic-driven micro-robot is particularly suitable for the fields of medical treatment, environmental monitoring, precision manufacturing and the like, and the magnetic-driven micro-robot gradually becomes a research hot spot.
At the current stage, magnetically driven microminiature robots face a number of design and processing challenges. Firstly, the design of the functional structure of the robot needs to find the best balance between the bearing strength and the flexibility, ensure that the robot can still realize effective movement in an unstructured road environment under a micro scale, secondly, the processing precision is required to be high, the material limitation and the precision problem of processing equipment need to be overcome when the microstructure is manufactured, and furthermore, the control method of the driving system needs to further meet the requirement of functional diversity so as to realize more efficient dynamic response and movement precision.
In view of the above, the present invention aims to provide a magnetically-driven micro bistable paper folding robot, a manufacturing method and a driving method thereof, explore technical problems in the aspects of design, processing, driving, etc., realize a more efficient micro robot system, meet increasing market demands, and have very important significance.
Disclosure of Invention
In order to overcome the technical problems described in the prior art, the invention aims to provide a magnetic drive microminiature bistable paper folding robot, a manufacturing method and a driving method thereof.
The invention provides a magnetically-driven microminiature bistable paper folding robot which comprises a front limb unit, a body unit and a rear limb unit which are connected in sequence in a hinged mode, wherein flexible hinges are arranged on the front limb unit, the body unit and the rear limb unit so as to be capable of being flattened or folded, a magnet assembly is arranged on the surface of the body unit and comprises an inclined magnet close to the front limb unit and a vertical magnet close to the rear limb unit, and the magnet assembly can drive the paper folding robot to realize conversion of different forms under the excitation of a variable magnetic field.
According to the technical scheme, the body unit comprises a first thick plate and a second thick plate which are adjacent to each other, a first flexible hinge is arranged between the first thick plate and the second thick plate to realize flattening or folding, when the paper folding robot is flattened, the vertical projection of the first thick plate and the second thick plate in the advancing direction is the same hexagon, the front limb unit comprises a third thick plate and a fourth thick plate which are adjacent to each other, a second flexible hinge is arranged between the third thick plate and the fourth thick plate to realize flattening or folding, when the paper folding robot is flattened, the vertical projection of the third thick plate and the fourth thick plate in the advancing direction is the same isosceles trapezoid, and a third flexible hinge is arranged between the fifth thick plate and the sixth thick plate to realize flattening or folding, and when the paper folding robot is flattened, the vertical projection of the fifth thick plate and the sixth thick plate in the advancing direction is the same isosceles trapezoid.
As the preferable technical scheme, a fourth flexible hinge is arranged between the first thick plate and the third thick plate for connection, a fifth flexible hinge is arranged between the second thick plate and the fourth thick plate for connection, a sixth flexible hinge is arranged between the first thick plate and the fifth thick plate for connection, a seventh flexible hinge is arranged between the second thick plate and the sixth thick plate for connection, and when the paper folding robot is completely folded, the paper folding robot forms a hexagonal prism.
The paper folding robot comprises a first thick plate, a second thick plate, a first flexible hinge, a third thick plate, a fourth flexible hinge, a fifth thick plate and a sixth flexible hinge, wherein the first bump is arranged on one side of the first thick plate in the thickness direction, the second bump is arranged on one side of the second thick plate in the thickness direction, the first flexible hinge is arranged between the first bump and the second bump, the third bump is arranged on one side of the third thick plate in the thickness direction, the fourth flexible hinge is arranged between the third bump and the fourth bump, the fifth bump is further arranged on one side of the first thick plate in the thickness direction, the sixth bump is arranged on one side of the fifth thick plate in the thickness direction, and the sixth flexible hinge is arranged between the fifth bump and the sixth bump, so that when the paper folding robot is fully folded, a certain storage space is formed inside the paper folding robot.
As a preferable technical scheme, the first thick plate, the second thick plate, the third thick plate, the fourth thick plate, the fifth thick plate and the sixth thick plate are all made of polylactic acid materials through a 3D printing technology.
As an optimal technical scheme, the first thick plate and the second thick plate are respectively provided with at least one inclined magnet and at least one vertical magnet, wherein the magnet assemblies are axisymmetrically distributed relative to the first flexible hinge, and the space included angles among the vertical magnet, the inclined magnet and the first flexible hinge are respectively 90 degrees and 30 degrees.
As an optimal technical scheme, the inclined magnet and the vertical magnet are both made of neodymium iron boron strong magnets manufactured through a zinc-nickel alloy electroplating process.
In a second aspect, the present invention also provides a method for manufacturing the magnetically-driven microminiature bistable paper folding robot, which includes the following steps:
Respectively manufacturing each thick plate and each elastic accommodating groove by adopting a polylactic acid material and a polyurethane material through a 3D printing technology;
placing the thick plates into an elastic accommodating groove, and arranging a flexible hinge at the corresponding connection position of the thick plates;
Attaching a silica gel film to the surface of each thick plate through polylactic acid;
placing the thick plate structures in the folded state into an elastic clamping groove and standing for 24 hours;
And the magnet assembly is stuck to the surfaces corresponding to the first thick plate and the second thick plate according to the design scheme by using the all-purpose adhesive, so that the magnetization direction of the magnet assembly points to the outer edge of the robot from the inside of the robot.
In a third aspect, the present invention further provides a driving method, including a first driving method for the paper folding robot to implement different form conversions, including:
when the paper folding robot is unfolded, an electromagnet is arranged below the working plane of the paper folding robot, pulse current is introduced into the electromagnet, so that the direction of an excitation magnetic field under the paper folding robot is a downward convergent magnetic field, and the paper folding robot obtains a closing moment and switches from an unfolded state to a folded state;
when the paper folding robot is folded, reverse pulse current is introduced to the electromagnet to excite the magnetic field direction to be an upward divergent magnetic field under the paper folding robot, and the paper folding robot obtains the unfolding torque and switches from the folded state to the flattened state.
As an optimized technical scheme, the driving method also comprises a second driving method for realizing the movement of the paper folding robot, the paper folding robot comprises two stable moving modes,
When the paper folding robot deforms reciprocally in a small range of folding angles, three electromagnetic coils which are orthogonal to each other are used for exciting a divergent magnetic field which alternately reciprocates above the advancing direction of the paper folding robot, the paper folding robot is simultaneously subjected to the coupling action of magnetic moment and magnetic gradient force, the magnetic moment enables the paper folding robot to fold reciprocally, and the magnetic gradient force enables the pressure applied by a front limb unit and a rear limb unit on the ground to be unevenly distributed, so that the robot crawls forward under the driving of a composite magnetic field;
and the second stable movement is that when the paper folding robot is completely folded, the closed magnetic moment is kept, three electromagnetic coils which are orthogonal to each other are used for exciting a rotating magnetic field in the advancing direction of the paper folding robot, and the completely folded paper folding robot is driven by the rotating magnetic field to roll and advance.
In summary, the invention has the following technical effects:
The invention relates to a magnetically-driven bistable paper folding robot, a manufacturing method and a driving method thereof. The paper folding robot comprises a front limb unit, a body unit and a rear limb unit which are connected in sequence in a hinged mode, wherein the front limb unit, the body unit and the rear limb unit are all provided with flexible hinges so as to be capable of being flattened or folded, the body unit surface is provided with a magnet assembly, the magnet assembly comprises an inclined magnet close to the front limb unit and a vertical magnet close to the rear limb unit, the magnet assembly can drive the paper folding robot to realize conversion of different forms under the excitation of a variable magnetic field, the manufacturing method utilizes a 3D printing technology to print and manufacture thick plates and connect the thick plates, and the manufacturing method has the advantages of high printing precision, material limitation overcoming, low cost, good practicability and high efficiency by attaching a silica gel film to the surface of each thick plate as the flexible hinges. Therefore, compared with the existing microminiature robot technology, the magnetic drive microminiature bistable paper folding robot, the manufacturing method and the driving method thereof provided by the invention have obvious technical advantages.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a paper folding robot flattened structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of another angle of flattening of the paper folding robot according to the embodiment of the present invention;
fig. 3 is a schematic structural view of the paper folding robot according to the embodiment of the present invention when the paper folding robot is folded in a small range;
fig. 4 is a schematic structural view of the paper folding robot according to the embodiment of the present invention when the paper folding robot is fully folded;
fig. 5 is a flow chart of a method for manufacturing the paper folding robot according to an embodiment of the invention;
fig. 6 is a process schematic diagram of a first driving method for the paper folding robot according to an embodiment of the present invention;
Fig. 7 is a process schematic of a second driving method for the paper folding robot according to an embodiment of the present invention;
wherein the reference numerals have the following meanings:
1-a body unit, 11-a first plank, 12-a second plank;
2-forelimb units, 21-third planks, 22-fourth planks;
3-hindlimb units, 31-fifth plank, 32-sixth plank;
41-first flexible hinge, 42-second flexible hinge, 43-third flexible hinge, 44-fourth flexible hinge, 45-fifth flexible hinge, 46-sixth flexible hinge, 47-seventh flexible hinge;
51-inclined magnet and 52-vertical magnet;
61-first bump, 62-second bump, 63-third bump, 64-fourth bump, 65-fifth bump, 66-sixth bump.
Detailed Description
The technical solution in this embodiment will be clearly and completely described below with reference to the drawings in this embodiment. The present embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present invention, and it is therefore to be understood that various modifications and changes may be made to the present embodiments without departing from the scope of the present invention.
In the description of the present invention, unless expressly specified and limited otherwise, the term "and/or" includes any and all combinations of one or more of the associated listed items. Unless specified or indicated otherwise, the terms "connected," "fixed," and the like are to be construed broadly and are, for example, capable of being either permanently connected or removably connected, or capable of being electrically connected or capable of being connected in a signal-forming manner, or capable of being connected directly or indirectly via an intermediary. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Further, in the description of the present invention, it should be understood that the azimuth words described in the present embodiment are described with the angles shown in the drawings, and should not be construed as limiting the present embodiment. It will also be understood that in the context of a reference to one element or feature being connected to another element(s), it can be connected not only directly to the other element(s) but also indirectly to the other element(s) through intervening elements.
Before introducing the technical solution of the present invention, it is necessary to set forth the created background of the invention. The magnetic-driven micro-robot has the advantages of non-contact driving, low energy consumption and high reliability, and can freely move in a complex environment due to small size and light weight, so that the application scene of the magnetic-driven micro-robot is widened, the magnetic-driven micro-robot is particularly suitable for the fields of medical treatment, environmental monitoring, precision manufacturing and the like, and the magnetic-driven micro-robot gradually becomes a research hot spot. Currently, magnetically driven microminiature robots face a number of design and processing challenges. Firstly, the design of the functional structure of the robot needs to find the best balance between the bearing strength and the flexibility, ensure that the robot can still realize effective movement in an unstructured road environment under a micro scale, secondly, the processing precision is required to be high, the material limitation and the precision problem of processing equipment need to be overcome when the microstructure is manufactured, and furthermore, the control method of the driving system needs to further meet the requirement of functional diversity so as to realize more efficient dynamic response and movement precision. Therefore, the invention aims to provide a magnetic drive microminiature bistable paper folding robot, a manufacturing method and a driving method thereof.
Referring to fig. 1 to 4, in an exemplary embodiment of the present invention, a magnetically-driven micro bistable paper folding robot is provided, which includes a front limb unit 32, a body unit 1 and a rear limb unit connected in sequence in a hinged manner, wherein the front limb unit 32, the body unit 1 and the rear limb unit are configured with flexible hinges to be capable of being flattened or folded, a magnet assembly is configured on the surface of the body unit 1, the magnet assembly includes an inclined magnet 51 near the front limb unit 32, and a vertical magnet 52 near the rear limb unit, and the magnet assembly can drive the paper folding robot to realize conversion of different forms under the excitation of a varying magnetic field. It should be noted that the thick plate paper folding robot adopts a thick plate paper folding technology, combines traditional paper folding and modern engineering, is a structure using Cheng Bancai as a folding panel, and is different from common paper folding, the thick plate paper folding considers the influence of material thickness on folding forms, and is applied to the fields of machinery, buildings and the like.
The following describes the respective components of this paper folding robot:
Referring to fig. 1 to 4, the body unit 1 includes adjacent first and second planks 11 and 12, a first flexible hinge 41 is disposed between the first and second planks 11 and 12 to enable flattening or folding, the forelimb unit 32 includes adjacent third and fourth planks 21 and 22, a second flexible hinge 42 is disposed between the third and fourth planks 21 and 22 to enable flattening or folding, the hindlimb unit includes adjacent fifth and sixth planks 31 and 32, a third flexible hinge 43 is disposed between the fifth and sixth planks 31 and 32 to enable flattening or folding, and when the paper folding robot flattens, the vertical projections of the first and second planks 11 and 12 in the advancing direction are the same hexagon, the vertical projections of the third and fourth planks 21 and 22 in the advancing direction are the same isosceles trapezoid, and the vertical projections of the fifth and sixth planks 31 and 32 in the advancing direction are the same isosceles trapezoid.
On the basis of the structure of the forelimb unit 32, the body unit 1 and the hindlimb unit, in order to achieve flexible connection between the three, please refer to fig. 1 to 4, as a preferred technical scheme, a fourth flexible hinge 44 is provided between the first thick plate 11 and the third thick plate 21 for connection, a fifth flexible hinge 45 is provided between the second thick plate 12 and the fourth thick plate 22 for connection, a sixth flexible hinge 46 is provided between the first thick plate 11 and the fifth thick plate 31 for connection, a seventh flexible hinge 47 is provided between the second thick plate 12 and the sixth thick plate 32 for connection, therefore, when the paper folding robot is fully folded, the folding path is that the first thick plate 11 and the second thick plate 12 are folded along the first flexible hinge 41 to achieve folding of the body unit 1, the third thick plate 21 and the fourth thick plate 22 are driven to fold towards the body unit 1 through the second flexible hinge, the fourth flexible hinge and the fifth flexible hinge to achieve folding of the forelimb unit 32, and the hindlimb unit folding action is the same as the forelimb unit 32, so that a hexagonal prism can be formed when the paper folding robot is fully folded, and a foundation is provided for moving of the following paper folding robot.
Further, in order to enable the paper folding robot to have a certain storage space inside when fully folded, referring to fig. 1 to 4, as a preferable technical scheme, a first bump 61 is arranged on one side of the first thick plate 11 in the thickness direction, a second bump 62 is arranged on one side of the second thick plate 12 in the thickness direction, a first flexible hinge 41 is arranged between the first bump 61 and the second bump 62, a third bump 63 is arranged on one side of the first thick plate 11 in the thickness direction, a fourth bump 64 is arranged on one side of the third thick plate 21 in the thickness direction, a fourth flexible hinge between the first thick plate 11 and the third thick plate 21 is arranged between the third bump 63 and the fourth bump 64, a fifth bump 65 is also arranged on one side of the first thick plate 11 in the thickness direction, a sixth bump 66 is arranged on one side of the fifth thick plate 31 in the thickness direction, and a sixth flexible hinge between the fifth bump 65 and the sixth bump 66 is arranged between the first thick plate 11 and the fifth thick plate 31 in the thickness direction. For example, in the present embodiment, the thickness of each thick plate is 1mm, the thickness of the first bump 61 and the second bump 62 is 3mm, the thickness of the third bump 63, the fourth bump 64, the fifth bump 65, and the sixth bump 66 is 2mm, and the thickness of the paper folding robot when fully folded is determined by the first thick plate 11, the second thick plate 12, the first bump 61, and the second bump 62, that is, a hexagonal prism with a thickness of 8mm is formed. When the paper folding robot is fully folded, the first bump 61 and the second bump 62 overlap, the third bump 63 and the fourth bump 64 overlap, and the fifth bump 65 and the sixth bump 66 overlap.
As a preferred technical solution, the first plank 11, the second plank 12, the third plank 21, the fourth plank 22, the fifth plank 31, and the sixth plank 32 are all made of polylactic acid material by 3D printing technology. It should be appreciated that polylactic acid materials have a lower melting point, typically between 180 ℃ and 220 ℃, and are easier to process and print than many other 3D printing materials, and that polylactic acid materials have higher printing accuracy and good surface flatness, and are suitable for printing fine-detail objects.
As a preferable solution, the first thick plate 11 and the second thick plate 12 are each provided with at least one oblique magnet 51 and at least one vertical magnet 52, wherein the magnet assemblies are axisymmetrically distributed about the first flexible hinge 41, and the spatial angles between the oblique magnet 51, the vertical magnet 52 and the first flexible hinge 41 are respectively 90 ° and 30 °. As a preferred embodiment, the inclined magnet 51 and the vertical magnet 52 are made of strong nd-fe-b magnets made by a zinc-nickel alloy plating process.
In a second aspect, referring to fig. 5, the present invention further provides a method for manufacturing the magnetically-driven micro bistable paper folding robot, which includes the following steps:
Step 1, respectively adopting polylactic acid materials and polyurethane materials to manufacture thick plates and elastic accommodating grooves through a 3D printing technology;
Specifically, a hot-melt 3D printer is used for heating the polylactic acid wire to 225 ℃, each thick plate is printed layer by layer through an extruder after the wire is melted, then, a hot-melt 3D printer is used for melting the thermoplastic polyurethane elastomer wire, and the thermoplastic polyurethane elastomer wire is printed layer by layer through the extruder to manufacture an elastic accommodating groove with the same groove shape as the paper folding robot in the completely flat state.
Step 2, placing the thick plates into an elastic accommodating groove, and arranging flexible hinges at corresponding connection positions of the thick plates;
Specifically, each thick plate after printing is sequentially placed in the elastic containing groove, so that the lower surfaces of the thick plates are positioned on the same horizontal plane, wherein the outline of the inner edge of the elastic containing groove is slightly smaller than the shape of the paper folding robot when the paper folding robot is completely flattened, the situation that the elastic containing groove and the edges of each thick plate can be completely and tightly attached is ensured, a flexible hinge is arranged at the corresponding connecting position of each thick plate, the flexible hinge is in a thin layer shape, and rubber materials such as TPU rubber and the like can be adopted.
Step 3, attaching a silica gel film to the surface of each thick plate through polylactic acid;
Specifically, a cutter is used for shearing a silica gel film into a shape capable of being attached to the surface of each thick plate, a brush is used for uniformly smearing a proper amount of silica gel mucus near a hinge between adjacent thick plates, and then a tweezers is used for attaching the sheared silica gel film to the surface of each thick plate, wherein in order to ensure that the silica gel mucus is firmly bonded, the film is pressed by applying a proper amount of force to remove air between the silica gel mucus and the silica gel film;
Uniformly blowing the mixture with a wind gun at a wind temperature of 25 ℃ for about 15 minutes at a distance of 20cm from the surface of the silica gel film to solidify the silica gel mucus at a higher speed, and better adhering the lactic acid and the silica gel film, wherein the polymer colloid generally needs to be solidified for a longer time, and the longer the solidification time is, the better the adhesion effect is and the better the effect of bearing complex stress is;
Because the colloid has certain mobility, standing still for a long time and solidifying can lead to the silica gel to soak all gaps between each thick plate, after the colloid is completely solidified, need use the cutter to cut out paper folding robot is whole from the elasticity holding tank, afterwards, still need use the cutter to scratch open the non-hinge part of adjacent thick plate side to clear away unnecessary colloid, so that fold whole paper folding structure.
Step 4, placing the thick plate structures in the folded state into an elastic clamping groove for standing for 24 hours;
The long-time folding can enable the silica gel film at the flexible hinge to form an effective prestress crease, so that the thick plate paper folding structure is easier to guide to a target folding path.
And 5, adhering the magnet assembly to the surfaces corresponding to the first thick plate and the second thick plate by using all-purpose adhesive according to a design scheme, so that the magnetization direction of the magnet assembly points to the outer edge of the robot from the inside of the robot.
In a third aspect, the present invention further provides a driving method, referring to fig. 6, including a first driving method for implementing different form conversion of the paper folding robot, including:
When the paper folding robot is folded, reverse pulse current is introduced to the electromagnet so as to excite the magnetic field direction to be an upwardly divergent magnetic field under the paper folding robot, and the paper folding robot obtains a unfolding moment which can be switched from the folded state to the folded state.
The driving method further includes a second driving method for the paper folding robot to move, referring to fig. 7, the paper folding robot includes two stable moving modes:
when the paper folding robot deforms reciprocally in a small range of folding angles, three electromagnetic coils which are orthogonal to each other are used for exciting a divergent magnetic field which alternately reciprocates above the advancing direction of the paper folding robot, the paper folding robot is simultaneously subjected to the coupling action of magnetic moment and magnetic gradient force, the magnetic moment enables the paper folding robot to fold reciprocally, and the magnetic gradient force enables the pressure applied by the front limb unit and the rear limb unit on the ground to be unevenly distributed, so that the robot crawls forward under the driving of a composite magnetic field. For example, in this embodiment, the basic amplitude of the current is set to 5A, the amplitude coefficient is set to 0.995, 0.0705 and 0.0705, the phases are the same, the frequency is 3Hz, so that a divergent magnetic field alternately reciprocating above the advancing direction of the paper folding robot is excited, specifically, when the paper folding robot is folded, the magnetic gradient force of the oblique magnet close to the front limb unit is larger than the magnetic gradient force of the vertical magnet close to the rear limb unit, so that the front limb unit is heavier than the rear limb unit, further, friction force of the front limb unit is larger, friction force of the rear limb unit is smaller, when the paper folding robot is unfolded, the magnetic gradient force of the oblique magnet close to the front limb unit is larger than the magnetic gradient force of the vertical magnet close to the rear limb unit, the front limb unit is lighter than the rear limb unit, further, friction force of the front limb unit is smaller, friction force of the rear limb unit is larger, and finally, the paper folding robot is driven by the composite magnetic field to climb forward.
And the second stable movement is that the paper folding robot is in an approximate ellipsoidal shape when fully folded, keeps a closed magnetic moment, uses three electromagnetic coils which are orthogonal to each other to excite a rotating magnetic field in the advancing direction of the paper folding robot, and the fully folded paper folding robot rolls and advances under the driving of the rotating magnetic field. For example, in this embodiment, three sinusoidal signals of current are input into the electromagnetic device, the basic amplitude of the current is set to 5A, the amplitude coefficients are set to 0.4729, 0.9424 and 0.9424 respectively, the phases are set to 48.6158 °, 277.2 ° and 180 ° respectively, the frequency is 1Hz, so as to excite the rotating magnetic field in the advancing direction of the paper folding robot, and the robot has rolling capability in the rotating magnetic field.
In summary, the driving method includes a first driving method for implementing different forms of conversion for the paper folding robot, and a second driving method for implementing movement for the paper folding robot, which allows the robot to switch between a flattened state and a folded state, greatly improving environmental adaptability, wherein the second driving method enables the paper folding robot to have two stable moving modes, i.e. crawling and rolling, so as to adapt to complex working environments and task requirements.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.
Claims (5)
1. The magnetically-driven microminiature bistable paper folding robot is characterized by comprising a front limb unit, a body unit and a rear limb unit which are connected in sequence in a hinged manner, wherein flexible hinges are arranged on the front limb unit, the body unit and the rear limb unit so as to be capable of flattening or folding;
The body unit comprises a first thick plate and a second thick plate which are adjacent, a first flexible hinge is arranged between the first thick plate and the second thick plate to realize flattening or folding, and when the paper folding robot is flattened, the vertical projection of the first thick plate and the second thick plate in the advancing direction is the same hexagon; the forelimb unit comprises a third thick plate and a fourth thick plate which are adjacent, a second flexible hinge is arranged between the third thick plate and the fourth thick plate to realize flattening or folding, and when the paper folding robot is flattened, the vertical projection of the third thick plate and the fourth thick plate in the advancing direction is the same isosceles trapezoid; the rear limb unit comprises a fifth thick plate and a sixth thick plate which are adjacent to each other, a third flexible hinge is arranged between the fifth thick plate and the sixth thick plate to realize flattening or folding, and when the paper folding robot is flattened, the vertical projection of the fifth thick plate and the sixth thick plate in the advancing direction is the same isosceles trapezoid;
A fourth flexible hinge is arranged between the first thick plate and the third thick plate for connection, a fifth flexible hinge is arranged between the second thick plate and the fourth thick plate for connection, a sixth flexible hinge is arranged between the first thick plate and the fifth thick plate for connection, a seventh flexible hinge is arranged between the second thick plate and the sixth thick plate for connection, and when the paper folding robot is fully folded, the paper folding robot forms a hexagonal prism;
The paper folding robot comprises a first thick plate, a second thick plate, a first flexible hinge, a second flexible hinge, a third thick plate, a fourth flexible hinge, a fifth bump, a sixth bump, a first flexible hinge, a second flexible hinge, a third bump and a third flexible hinge, wherein the first bump is arranged on one side of the first thick plate in the thickness direction, the second bump is arranged on one side of the second thick plate in the thickness direction, the first flexible hinge is arranged between the first bump and the second bump in the thickness direction, the third bump is arranged on one side of the third thick plate in the thickness direction, the fourth flexible hinge is arranged between the third bump and the fourth bump between the first thick plate and the third thick plate, the first thick plate is also provided with the fifth bump in the thickness direction, the sixth flexible hinge is arranged between the fifth bump and the sixth bump in the thickness direction, and a certain storage space is formed inside the paper folding robot when the paper folding robot is fully folded;
The first thick plate, the second thick plate, the third thick plate, the fourth thick plate, the fifth thick plate and the sixth thick plate are all made of polylactic acid materials through a 3D printing technology;
The first thick plate and the second thick plate are respectively provided with at least one inclined magnet and at least one vertical magnet, wherein the magnet assemblies are axisymmetrically distributed relative to the first flexible hinge, and the space included angles between the vertical magnet, the inclined magnet and the first flexible hinge are respectively 90 degrees and 30 degrees.
2. The paper folding robot of claim 1, wherein the oblique magnet and the vertical magnet are made of neodymium-iron-boron strong magnets manufactured through a zinc-nickel alloy electroplating process.
3. A method for manufacturing the paper folding robot according to any one of claims 1 to 2, comprising:
respectively manufacturing each thick plate and each elastic accommodating groove by adopting a polylactic acid material and a polyurethane material through a 3D printing technology;
placing the thick plates into an elastic accommodating groove, and arranging a flexible hinge at the corresponding connection position of the thick plates;
Attaching a silica gel film to the surface of each thick plate through polylactic acid;
Placing the thick plate structures in the folded state into an elastic clamping groove and standing for 24 hours;
And the magnet assembly is stuck to the surfaces corresponding to the first thick plate and the second thick plate according to the design scheme by using the all-purpose adhesive, so that the magnetization direction of the magnet assembly points to the outer edge of the robot from the inside of the robot.
4. A driving method for the paper folding robot according to any one of claims 1 to 2, characterized by comprising a first driving method for the paper folding robot to realize different form transitions, comprising:
when the paper folding robot is unfolded, an electromagnet is arranged below the working plane of the paper folding robot, pulse current is introduced into the electromagnet, so that the direction of an excitation magnetic field under the paper folding robot is a downward convergent magnetic field, and the paper folding robot obtains a closing moment and switches from an unfolded state to a folded state;
when the paper folding robot is folded, reverse pulse current is introduced to the electromagnet to excite the magnetic field direction to be an upward divergent magnetic field under the paper folding robot, and the paper folding robot obtains the unfolding torque and switches from the folded state to the flattened state.
5. The driving method according to claim 4, further comprising a second driving method for the paper folding robot to perform the movement, wherein the paper folding robot comprises two steady-state movement modes,
When the paper folding robot deforms reciprocally in a small range of folding angles, three electromagnetic coils which are orthogonal to each other are used for exciting a divergent magnetic field which alternately reciprocates above the advancing direction of the paper folding robot, the paper folding robot is simultaneously subjected to the coupling action of magnetic moment and magnetic gradient force, the magnetic moment enables the paper folding robot to fold reciprocally, and the magnetic gradient force enables the pressure applied by a front limb unit and a rear limb unit on the ground to be unevenly distributed, so that the robot crawls forward under the driving of a composite magnetic field;
and the second stable movement is that when the paper folding robot is completely folded, the closed magnetic moment is kept, three electromagnetic coils which are orthogonal to each other are used for exciting a rotating magnetic field in the advancing direction of the paper folding robot, and the completely folded paper folding robot is driven by the rotating magnetic field to roll and advance.
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| CN117001692A (en) * | 2023-09-14 | 2023-11-07 | 广州大学 | A magnetically controlled spherical thin film robot and its preparation method and driving method |
| CN117798895A (en) * | 2022-09-25 | 2024-04-02 | 天津大学 | Robot arm and robot thereof |
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| CN104972453B (en) * | 2015-05-26 | 2016-09-28 | 韩方元 | A kind of multiple motion platforms parallel robot construction method and parallel robot thereof |
| CN109533066A (en) * | 2018-10-22 | 2019-03-29 | 武汉大学 | A kind of bionic soft robot |
| CN113580119B (en) * | 2021-08-17 | 2023-01-06 | 苏州大学 | A pneumatic continuum mechanism and continuum robot based on origami structure |
| KR102630800B1 (en) * | 2021-11-10 | 2024-01-29 | 주식회사 우성하이테크 | insulation paper attachment device |
| CN114367966A (en) * | 2022-01-12 | 2022-04-19 | 苏州大学 | Robotic Arm Based on Minimum Energy Structure of Dielectric Elastomer |
| CN114954727B (en) * | 2022-06-14 | 2023-09-12 | 吉林大学 | A bionic crawling robot driven by an origami structure |
| CN115674967B (en) * | 2022-10-11 | 2024-09-27 | 天津大学 | An amphibious origami robot |
| CN117283581A (en) * | 2023-11-03 | 2023-12-26 | 燕山大学 | Space capturing manipulator based on bistable paper folding |
| CN118456422A (en) * | 2024-04-28 | 2024-08-09 | 北京理工大学 | Capturing device with intelligent selection function and design method and application thereof |
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| CN117798895A (en) * | 2022-09-25 | 2024-04-02 | 天津大学 | Robot arm and robot thereof |
| CN117001692A (en) * | 2023-09-14 | 2023-11-07 | 广州大学 | A magnetically controlled spherical thin film robot and its preparation method and driving method |
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