CN107053155A - A kind of trunk type sequential machine people of marmem driving - Google Patents

Abstract

The invention provides an elephant trunk type continuous robot driven by a shape memory alloy, which is characterized in that the robot adopts a modular design idea, including several identical continuous joint modules and several identical double-way studs. Two adjacent continuous joint modules are connected in series through double-pass studs. Each continuous joint module has two degrees of freedom of bending and deflection, and its structure includes two flanges, one tension spring, four shape memory alloy springs, five first-type separation bars, five second-type separation bars, A sensor module. Among them, the shape memory alloy spring is the driving element of the continuous joint module, which is controlled by current heating; the sensor module is a nine-axis inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope, and a three-axis geomagnetic sensor. The position and attitude information of the joint module. The invention has the advantages of simple structure, small size, light weight, strong flexibility and easy control, and is suitable for application in narrow environments.

Description

An elephant trunk continuous robot driven by shape memory alloy

technical field

The invention relates to a bionic robot, more specifically, the invention relates to an elephant trunk type continuous robot driven by a shape memory alloy.

Background technique

In recent decades, bionics has greatly promoted the research and development of robotics. Among them, continuous robot is a typical example. Inspired by biological structures such as elephant trunks, octopus tentacles, and snake bodies, they usually use flexible structures without discrete joints and rigid links, and bend the body into arcs or waves to form motion. This type of robot can flexibly bypass obstacles or pass through narrow holes. It is very suitable for unstructured environment applications and has great application prospects in aviation inspection, medical surgery, urban rescue, industrial manufacturing and other fields.

The patent application number is CN200910072751.3, and the name is a continuous-body semi-autonomous endoscopic robot with five-segment curved joints. Each bending joint is driven by four wires and has two degrees of freedom. The disadvantages of this design are: the control of the steel wire requires a bulky remote motor drive structure, and the overall volume is large; the patent application number CN201410163465.9 is called a rope-driven continuous robot, which adopts a hybrid structure of discrete joints and continuous joints. The discrete joints are driven by motors, and the continuous joints are driven by ropes. The disadvantages of this design are: the motor structure of the discrete joints prevents the robot from being further reduced in size, and the control of the rope requires a cumbersome remote motor drive structure.

Contents of the invention

In view of the prior art, the purpose of the present invention is to provide a shape memory alloy driven elephant trunk continuous robot to solve the problems of the existing continuous robot that are bulky and require a cumbersome remote drive structure, and has good movement flexibility.

The present invention is realized through the following technical solutions.

An elephant trunk continuous robot driven by a shape memory alloy is characterized in that the robot adopts a modular design idea, including several identical continuous joint modules and several identical double-pass studs. Two adjacent continuous joint modules are connected in series through double-pass studs. Each continuous joint module has two degrees of freedom of bending and deflection, and its structure includes two flanges, one tension spring, four shape memory alloy springs, five first-type separation bars, five second-type separation bars, A sensor module. Among them, the shape memory alloy spring is the driving element of the continuous joint module, which is controlled by current heating; the sensor module is a nine-axis inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope, and a three-axis geomagnetic sensor. The position and attitude of the continuous joint module can be obtained by solving.

Both ends of the tension spring are planes, the pitch of which is equal to the diameter of the wire, located in the center of the continuous joint module, and fixed to the two flanges through the circular grooves of the upper and lower flanges. Four shape memory alloy springs are evenly arranged around the extension spring, and are fixed with the upper and lower flanges by bolts. A single-headed lug washer is provided between the bolt and the flange for connecting the live wire. By adjusting the current and time passing through the shape memory alloy spring, the length change of the shape memory alloy spring can be controlled. Five first-type separation bars are evenly distributed between the upper and lower flanges along the length direction of the tension spring. The first type of separation bar is provided with a central hole and uniformly arranged small holes, wherein the small holes are used for the passage of the shape memory alloy spring; the central hole is used for the passage of the tension spring and is closely attached to the outer wall of the tension spring. Except that the central hole of the second type of partition is larger than that of the first type of partition, other structures are the same as those of the first type of partition. The five second-type partitions are attached to the five first-type partitions respectively. After the shape memory alloy spring and the tension spring are installed, the two are misaligned at a certain angle along the central axis and fixed with bolts and nuts. The function of the two types of separation bars is to make the shape memory alloy spring approximately arc-shaped after the movement of the continuous joint module, and at the same time keep the deformation of each small section of the shape memory alloy spring approximately the same. The sensor module is bolted to the upper flange. In order to prevent short circuit, the materials of the upper and lower flanges, the first type of separation column and the second type of separation column are made of insulating non-metallic materials. The tension spring is sprayed with insulating paint.

Through the above connections, a shape memory alloy-driven elephant trunk continuous robot is constructed.

The advantages of the present invention are: 1. Driven by shape-memory alloy, the shape-memory alloy of the driving part is directly used as a part of the body, and can be controlled only by external electric wires. 2. The shape memory alloy spring has a large stroke, and the continuous joint unit can obtain a larger bending angle and improve the flexibility of the robot. 3. Shape memory alloy is a kind of intelligent material. In addition to being a driving element, it can also provide sensing information, such as force and deformation, which is beneficial to the precise control of robot motion.

Description of drawings

FIG. 1A is a structural diagram of a trunk-type continuous robot driven by a shape memory alloy of the present invention.

Fig. 1B is an exploded view of the trunk-type continuous robot driven by the shape memory alloy of the present invention.

Fig. 2A is a structural diagram of the continuous joint module of the present invention.

Fig. 2B is an exploded view of the continuous joint module of the present invention.

In the figure: 1. Continuous joint module, 2. Two-way stud, 3. Continuous joint module, 101. Sensor module, 102. Flange (including 102A, 102B), 103. Bolt (including 103A, 103B), 104. Single-end lug washers (including 104A, 104B), 105. Shape memory alloy springs (including 105A, 105B, 105C, 105D), 106. Tension springs, 107. Bolt and nut combinations (including 107A, 107B, 107C, 107D, 107E), 108. The first type of separation column (including 108A, 108B, 108C, 108D, 108E), 109. The second type of separation column (including 109A, 109B, 109C, 109D, 109E).

detailed description:

The present invention will be further described below in conjunction with the accompanying drawings.

Embodiments of the present invention:

An elephant-trunk continuous robot driven by a shape memory alloy is designed according to the concept of modular design, as shown in Figure 1A and Figure 1B, the robot includes: a continuous joint module 1, a double-pass stud 2, and a continuous joint module 3. The mechanisms and dimensions of the two continuous joint modules are the same, and they are connected in series through double-pass studs 2 . Each continuous joint module has two degrees of freedom of bending and deflection. The trunk-type continuous robot driven by shape memory alloy shown in Fig. 1 has 4 degrees of freedom in total. If you need to use multiple continuous joint modules (the number of modules n is greater than 2), you only need to connect them in series in the same way, and the final robot degrees of freedom are 2×n.

2A and 2B, the continuous joint module 1 includes: a sensor module 101, a flange 102 (including two flanges 102A, 102B), bolts 103 (including two sets of identical bolts 103A, 103B), a single-head welding Sheet washers 104 (comprising two sets of identical single-head soldering sheet washers 104A, 104B), shape memory alloy springs 105 (including four identical shape memory alloy springs 105A, 105B, 105C, 105D), tension springs 106, bolts and nuts Combination 107 (comprising five groups of identical bolts and nuts 107A, 107B, 107C, 107D, 107E), first type separation column 108 (comprising five identical first type separation columns 108A, 108B, 108C, 108D, 108E), the first type Second-type partitions 109 (including five identical second-type partitions 109A, 109B, 109C, 109D, 109E);

The two ends of the tension spring 106 are planes, the pitch of which is equal to the wire diameter, and are installed in the annular grooves of the flange 102A and the flange 102B, and are fixed with an adhesive. Four shape memory alloy springs 105A, 105B, 105C, 105D are distributed around the tension spring 106 at intervals of 90° along the circumferential direction. The shape memory alloy spring 105A is respectively fixed on the flange 102A and the flange 102B by bolts 103A and 103B. Between the bolt 103A and the flange 102A and between the bolt 103B and the flange 102B, there are respectively a single-end lug washer 104A and a single-end lug washer 104B, which are used for welding current-carrying wires. The fixing method of the shape memory alloy springs 105B, 105C, 105D is similar to that of the shape memory alloy spring 105A. Five first-type partition bars 108A, 108B, 108C, 108D, 108E are evenly distributed between the flange 110 and the flange 118 along the direction of the tension spring axis 106 . The first type of separation column 108 is provided with a central hole and evenly distributed small holes, the central hole is used for the extension spring 106 to pass through, and is closely attached to the outer wall of the extension spring 106, and the small hole is used for the shape memory alloy spring 105 pass. Except that the central hole of the second type of partition 109 is larger than that of the first type of partition 108 , other structures and dimensions are the same as those of the first type of partition 108 . The five second-type partitions 109A, 109B, 109C, 109D, and 109E are attached to the five first-type partitions 108A, 108B, 108C, 108D, and 108E respectively. After installing the shape memory alloy spring 105 and the tension spring 106 Finally, the two are misaligned at a certain angle along the central axis of the tension spring 106, and are fixed with a bolt and nut combination 107. The function of the first type of separation bar 108 and the second type of separation bar 109 is: after the continuous joint module 1 moves, the shape of the shape memory alloy spring 105 is approximately arc-shaped, while keeping the deformation of each small section of the shape memory alloy spring 105 approximately same. The sensor module 101 is a nine-axis inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope, and a three-axis geomagnetic sensor, and is fixed on the upper flange 102A with bolts. The sensor module 101 can measure the spatial posture information of the upper flange 102A. When the flange 102B is fixed or its spatial attitude information is known, the motion information of the continuous joint module 1 can be obtained by using the information of the sensor module 101 .

In order to prevent short circuit, the material of flange 102, first class separation column 108, second type separation column 109, double-way stud 2 adopts insulating non-metallic material, and the tension spring is sprayed with insulating varnish.

Specific usage method:

Bending degree of freedom control of the continuous joint module 1: take any shape memory alloy spring, such as 105A, and heat the shape memory alloy spring 105A by means of electric current to generate contraction deformation and driving force, driving the continuous joint module 1 One side of the spring 105A is bent. Adjust the size and time of the energized current to adjust the bending angle;

Deflection degree of freedom control of the continuous joint module 1: any two adjacent shape memory alloy springs, such as 105A and 105B. By adjusting the current and time of loading the shape memory alloy springs 105A and 105B, they produce different deformations and driving forces, and drive the continuous joint module 1 to bend at different deflection angles;

The motion process of the trunk-type continuous robot driven by shape memory alloy: firstly, the pose of each continuous joint module is calculated according to the information of the sensor module in each continuous joint module. Secondly, according to the current robot pose and the target pose, trajectory planning is performed to obtain the motion trajectory of each continuous joint module. Secondly, according to the planned motion trajectory, the current of the shape memory alloy spring in each continuous joint module is controlled, and the motion trajectory is corrected in real time combined with the information of the sensor module. Eventually, the robot reaches the target pose.

Claims (6)

1. a kind of trunk type sequential machine people of marmem driving, it is characterised in that：The robot uses modularization Design philosophy is designed, including several continuous joint modules, several bilateral studs;The machine of several continuous joint modules Structure is identical with size, and two neighboring continuous joint module is coupled in series by bilateral stud;The single continuous joint Module, which has, to be bent and two frees degree of deflection;Trunk type sequential machine people's free degree of marmem driving is 2xn, n is the number for the continuous joint module that the robot is included.

2. the trunk type sequential machine people of marmem driving as claimed in claim 1, it is characterised in that:It is described single Continuous joint module includes a sensor assembly, two flanges, two groups of bolts, two groups of single head weld tabs packing rings, four shape notes Recall alloy spring, extension spring, five groups of unit bolt nuts, five first kind box stalls, five Equations of The Second Kind box stalls.

3. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that：The stretching Both ends of the spring is plane, and its pitch is equal with line footpath, positioned at the center of continuous joint module, and passes through the circle of two flanges up and down Annular groove is fixed with the two flanges;Circumferentially spaced 90 degree of four shape memory alloy springs are arranged in extension spring Surrounding, and fixed by bolt with two flanges up and down；The single head weld tabs gasket arrangement between above-mentioned bolt and flange, For connecting electrified wire；Length direction of five first kind box stalls along extension spring be evenly distributed on above and below two Between flange;The first kind box stall is closed provided with centre bore and the aperture being evenly arranged, wherein aperture with for shape memory Golden spring is passed through, and centre bore is passed through with for extension spring, and centre bore is brought into close contact with extension spring outer wall；The Equations of The Second Kind In box stall except centre bore than first kind box stall centre bore greatly in addition to, other structures and size are identical with first kind box stall； Five first kind box stalls are fitted with five first kind box stalls respectively, are installing shape memory alloy spring and stretching After spring, two

Person fixes along extension spring central axis mutual dislocation certain angle, the combination of blending bolt nut;The sensor assembly Using being bolted on upper flange.

4. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that:Shape memory Alloy spring is the driving element of continuous joint module, is controlled by way of electric current is heated.

5. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that:The sensing Device module is nine axle Inertial Measurement Units, including three axis accelerometer, three-axis gyroscope, three axle geomagnetic sensors, and it is sensed Information can resolve the position for obtaining continuous joint module and posture.

6. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that：The method Orchid, first kind box stall, Equations of The Second Kind box stall material are the nonmetallic materials of insulation；The extension spring is sprayed with insulated paint.