CN111673718A - Robot neck anthropomorphic actuating device - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a robot neck anthropomorphic actuation device which comprises an outermost artificial skin (3), a polydimethylsiloxane filling body (4) positioned in an intermediate layer, a composite bending driver (5) positioned in the polydimethylsiloxane filling body (4) and used for neck pitching and neck revolving, a supporting upper cover plate (1) positioned at the upper part of the actuation device and a supporting lower cover plate (2) positioned at the lower part of the actuation device. The robot neck anthropomorphic actuation device provided by the invention has the advantages of continuity and fluency of anthropomorphic motion, reduced driving energy consumption, strong deformability, high energy density, simple structure, low cost, unlimited size and large driving corner, and can quickly complete the neck motion.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot neck anthropomorphic actuation device.
Background
With the continuous progress and development of scientific technology, more and more things are now becoming possible from impossible to gradual. The appearance of the robot brings convenience to a lot of problems in our lives, such as sweeping, washing dishes and the like, which can be completed by the robot, and scientists still develop more advanced technology at present. Nowadays, the society is gradually aged, and the bionic robot technology can make up for the shortage of young labor force in the future society, solve the problems of family service and medical treatment in the aged society and promote the development of industry.
At present, the research of humanoid robots is taken as one of the key directions in the robot field in all countries in the world. The humanoid neck is a part of the humanoid robot and is mainly responsible for dynamic tracking and real-time monitoring of the visual target. In order to accurately track a target, in kinematics, a sight line at the center of a robot visual field is used as a connecting rod with telescopic freedom degree to be added into a kinematics model of a head and neck structure. The target point position calculated by the binocular vision system becomes the target position of the link mechanism movement on the mathematical model. However, the structure has redundant freedom, so that some singular points are difficult to avoid during neck movement, although the neck movement can be smoother through improving the algorithm, the neck movement is equivalent to that a simple structure is put into a large project to reproduce an anthropomorphic neck actuation process.
The neck system of the humanoid robot needs to have two degrees of freedom of yaw and pitch in order to dynamically track the moving object. However, due to the requirements of structural similarity and flexibility of forward vision, the neck of the humanoid robot is generally designed by adopting redundant degrees of freedom. At the same time, some difficulties are faced:
(1) a link between the spatial position of the tracked object and the head movement needs to be established. The traditional visual tracking system mostly adopts a universal joint configuration with the axes of two joints of a similar pan-tilt intersected, the visual space of the traditional visual tracking system is a complete sphere, and the deflection angles of two moving joints can be calculated in a spherical projection mode. However, this method is not suitable for the motion control of the head and neck robot with redundant degrees of freedom in which the joint axes are not orthogonal.
(2) Because the robot has redundant degrees of freedom, theoretically, an infinite number of postures can be used for observing a fixed point, and how to enable the neck of the robot to move in a posture which is closest to the natural behavior of human beings in an 'elegant' manner is a problem to be solved.
(3) When the redundant degree of freedom mechanism moves, how to make each degree of freedom avoid the limit position of the switch section as much as possible in the movement through the mutual complementary coordination among the degrees of freedom. Generally, a soft limiting method is adopted in a general system for limiting, and only a control signal of a limit position is given under the condition that a joint angle calculated by a system algorithm is larger than the limit position, so that the method has the following consequences that unpredictable trajectory deviation is generated at the tail end, and visual tracking and control failure is caused.
(4) It is necessary to ensure that the motion singular points are avoided simultaneously in the algorithm so as to avoid the mechanism from generating sudden and large-amplitude abnormal motion. In order to realize the neck anthropomorphic action of the robot, the anthropomorphic action of the robot must be simplified in a breakthrough way from two aspects of structure and control without losing motion.
Chinese patent 201710826260.8 discloses a neck joint driving mechanism of a humanoid robot, which adopts the technical scheme that a hydraulic pitching driving device is adopted to drive a neck pitching mechanism so as to drive a head to perform pitching action, and a hydraulic rotation driving device is utilized to drive a neck rotation mechanism so as to drive the head to perform rotation action; secondly, the neck part turning action can only be generated after the neck part pitching mechanism is driven by the hydraulic pitching driving device and driven by the hydraulic neck part turning driving device, and the neck part turning action cannot be simply carried out; and thirdly, the neck rotating mechanism and the neck pitching mechanism are assembled by an upper gear, a lower gear, a rotating shaft, a copper sleeve and a swinging piece, and the neck rotating mechanism and the neck pitching mechanism are driven by the hydraulic driving device to move because of the limit of mutual clamping of mechanical parts, although the structure is compact, the number of parts is large, singular points are inevitably generated during the movement, and then distortion points of the movement are formed to influence the continuity of the neck movement, the movement is not coherent and real enough, and the simulation degree of the simulation robot is further reduced.
Disclosure of Invention
To the above-mentioned problem that prior art exists, the utility model provides a robot neck anthropomorphic actuates device that has the continuity and the smoothness of anthropomorphic motion, reduces drive energy consumption, deformability is high, energy density is high, simple structure, with low costs, size unrestricted and drive that the corner is big can accomplish neck motion fast.
The technical scheme of the invention is as follows: the robot neck anthropomorphic actuation device comprises an outermost artificial skin layer, a polydimethylsiloxane filling body positioned in an intermediate layer, a composite bending driver positioned in the polydimethylsiloxane filling body and used for neck pitching and turning, a support upper cover plate positioned on the upper portion of the actuation device and a support lower cover plate positioned on the lower portion of the actuation device.
As a further definition of the invention, the compound bend driver is comprised of a first compound region, a deformation region, and a second compound region; the first composite region, the deformation region (3-2) and the second composite region have a driver body integrally formed of a shape memory alloy; the outer peripheral surface of the driver main body is longitudinally and radially divided into a first compound surface and a second compound surface; the body of the first composite region and the body of the second composite region are not completely compounded with thermoelectric materials, and the thermoelectric materials are P-type or N-type bismuth telluride; the thermoelectric material compounded by the first compound surface of the first compound area and the thermoelectric material compounded by the second compound surface of the first compound area are mutually separated and cover on the driver body, and the thermoelectric material compounded by the first compound surface of the second compound area and the second compound surface of the second compound area are mutually separated and cover on the driver body.
As a further limitation of the present invention, the thermoelectric material composited by the first composite region on the first composite surface is of the same type as the thermoelectric material composited by the second composite region on the first composite surface, and is one of P-type bismuth telluride and N-type bismuth telluride; the thermoelectric material compounded on the second compounding surface by the first compounding area is the same as the thermoelectric material compounded on the second compounding surface by the second compounding area in type and is one of P-type bismuth telluride or N-type bismuth telluride; the first compound surface and the second compound surface are different in the type of the thermoelectric material.
As a further limitation of the present invention, the P-type bismuth telluride comprises: biaSb2-aTe3Or (Bi)2Te3)b-(Sb2Te3)1-bWherein a is more than or equal to 0 and less than or equal to 2, and b is more than or equal to 0 and less than or equal to 1.
As a further limitation of the invention, the P-type bismuth telluride material is doped with metal elements to form MyBixSb2-y- xN1-yTe3Or (M)yBi2Te3)x-(Sb2N1-yTe3)1-xOne or more ofAnd the metal elements are Sn, Cu or Ga, the metal elements are Ag, Na or Co, x is more than or equal to 0 and less than or equal to 1, and y is more than or equal to 0 and less than or equal to 1.
As a further limitation of the invention, the N-type bismuth telluride comprises Bi2Te3-cSec、Bi2(Te,Se)3Or Bi2(Se1-dTed)3Wherein c is more than or equal to 0 and less than or equal to 3, and d is more than or equal to 0 and less than or equal to 1. .
As a further limitation of the invention, the surface of the deformation region is compounded with a stress sensor film layer consisting of an ion exchange polymer-metal coated electrode.
As a further limitation of the invention, the stress sensor film layer formed by the ion exchange polymer-metal coated electrode is of a three-layer sandwich structure and is formed by a middle ion exchange polymer and metal coated electrodes on two sides.
As a further limitation of the present invention, the intermediate ion exchange complex is one of polyethyletherketone, poly (vinylidene fluoride-hexafluoropropylene), poly (ether sulfone) -poly (vinyl pyrrolidone).
As a further limitation of the invention, the metal-coated electrode adopts one or more of gold, platinum and palladium.
The beneficial technical effects of the invention are as follows:
1. the shape memory alloy is used for replacing the traditional electrode to serve as a power source, the deformation degree of the shape memory alloy is different in different temperature ranges through the temperature-sensitive characteristic of the shape memory alloy, pitching and yawing rotary motion of the device is realized through activating the shape alloy in different areas in a synergistic mode, then the anthropomorphic motion effect is realized, meanwhile, in order to quickly realize the neck anthropomorphic motion, a thermoelectric material is coated on the surface of the shape memory alloy to shorten the phase change and inverse phase change periods of the shape memory alloy, and the temperature rise and the temperature fall are a coherent process, so that the anthropomorphic motion of the neck has continuity and fluency, and the distortion effect caused by motion singular points due to hard connection of components in the traditional mechanism is avoided. The structure not only keeps the characteristics of the shape memory alloy: almost no driving energy consumption, high deformation capacity, large driving stroke, high energy density and the like; meanwhile, the neck movement can be rapidly finished, the target real-time tracking and monitoring are realized, and the device has the advantages of simple mechanism, low cost, unlimited size and capability of rapidly and efficiently finishing the anthropomorphic movement of the neck.
2. The thermoelectric material adopts bismuth telluride, has stable components, weakened anisotropy, good thermoelectric effect performance and machining performance and best real room temperature performance, adopts a composite area of the composite thermoelectric material with P type or N type or both arranged at intervals, utilizes the thermoelectric effect of the thermoelectric material, and generates an electric field for heating or refrigerating by applying currents in different directions so as to cause the shape memory alloy to deform and bend.
3. The thermoelectric material composite structure comprises a first composite area and a second composite area which are formed by compounding thermoelectric materials and arranged outside an actuator main body integrally formed by shape memory alloy, and P-type or N-type thermoelectric materials are compounded on a first composite surface and a second composite surface which are formed by longitudinally cutting the actuator main body in the radial direction, wherein the thermoelectric materials compounded on the first composite surface are consistent in type, the thermoelectric materials compounded on the second composite surface are consistent, and further when current is applied to the first composite area or the second composite area, a current closed loop can be formed by the first composite surface of the first composite area, the second composite surface of the second composite area and the first composite surface of the second composite area;
in the process of applying current, the formed hot end can transfer heat to the shape memory alloy in the deformation region in a heat conduction mode through a heat release effect, and the shape memory alloy in the deformation region is subjected to a reverse phase transformation process, so that martensite is transformed into high-elasticity austenite, and further is deformed; when the current is withdrawn, the heat release effect of the hot end of the thermoelectric material is gradually reduced, the shape memory alloy in the deformation area is helped to be cooled, the shape memory alloy in the deformation area is subjected to a phase transformation process, austenite is transformed into martensite, and the shape and the position before deformation are recovered due to the memory property of the shape memory alloy.
By changing the current direction, the positions of the heating end and the cooling end can be changed, the heating end is formed in the first composite area, the cooling end is formed in the second composite area, or the heating end is formed in the second composite area, and the cooling end is formed in the first composite area.
Therefore, the composite bending driver of the shape-changing memory alloy structure of the composite thermoelectric material can achieve the technical effect of rapidly restoring the shape and returning through the thermoelectric material under the transformation of applying current and withdrawing the current and selecting the first composite area or the second composite area to apply the current.
4. Through the stress sensor thin film layer that constitutes of compound ion exchange polymer-metal coated electrode outside deformation region, can carry out ion drive under the condition that the electric field changes, and then increase deformation region's deformation angle, enlarge deformability, under the condition that no electric field changes, can regard as stress sensor, carry out stress induction to the deformation in compound region, and then make corresponding deformation drive, also played the effect that increases deformation angle.
5. Ion exchange polymer-ion exchange polymer in metal-coated electrodes when these polymers are poly (ethyleneether ketone) (anion exchange), poly (vinylidene fluoride-hexafluoropropylene) (proton exchange), poly (ether sulfone) -poly (vinyl pyrrolidone) (proton exchange), the aromatic and ether linkages in the polymer backbone provide the necessary strength, molecular stiffness and good processability, can increase the elasticity and flexibility of the deformed region, and is less costly relative to Nafion membranes.
6. The ion exchange polymer-metal coating electrode compounded in the deformation area is of a three-layer sandwich structure and is composed of a middle ion exchange polymer and metal coating electrodes on two sides, so that the metal coating electrodes can also promote the ion exchange polymer-metal coating electrode to generate ion exchange current and displacement current in the process of applying or evacuating an electric field on the surface electrode of the compound area, and a stress sensor thin film layer formed by the ion exchange polymer-metal coating electrodes is also actuated when the shape memory alloy in the deformation area is subjected to a reverse phase change process, so that the large-corner driving capability of the bamboo joint type compound bending driver is further increased.
Drawings
FIG. 1 is a front perspective view of a robotic neck anthropomorphic actuation device of the present invention;
FIG. 2 is a top view of the robot neck anthropomorphic actuation device of the present invention;
FIG. 3 is a longitudinal sectional view of the robot neck anthropomorphic actuator of the present invention taken along the direction T-T;
FIG. 4 is a schematic structural view of an uncomplexed ion-exchange polymer-metal coated electrode in a deformation region of a compound bending actuator according to the present invention;
FIG. 5 is a schematic elevational cross-sectional view of the actuator body of the present invention taken along a radial longitudinal cut A-A;
FIG. 6 is a side view of the actuator body of the present invention taken along a longitudinal section taken along the axis B-B;
FIG. 7 is a schematic structural view of a composite ion-exchange polymer-metal coated electrode in a deformation region of a composite bending actuator according to the present invention;
FIG. 8 is a schematic front view of a compound bend actuator of the present invention cut longitudinally along the A-A radial direction;
FIG. 9 is a rear perspective view of a compound bend driver of the present invention cut longitudinally along the A-A axis;
FIG. 10 is a schematic diagram of a specific structure of a stress sensor film formed by an ion-exchange composite-metal coated electrode according to the present invention;
FIG. 11 is a schematic diagram showing the structure of the ion exchange composite-metal coated electrode compounded outside the deformation region when deformed in accordance with example 1 of the present invention;
FIG. 12 is a schematic diagram showing the structure of the ion exchange composite-metal coated electrode compounded outside the deformation region when deformed in accordance with example 3 of the present invention;
FIG. 13 is a schematic view showing the dynamic change of the neck of the robot neck anthropomorphic actuation device during forward pitching and yaw;
FIG. 14 is a temperature-fitting curve of the angle φ and the time variation corresponding to the forward/backward bending movement of the neck of the robot neck anthropomorphic actuation device of the present invention;
FIG. 15 is a temperature fitting curve showing the time-dependent change of the angle xi corresponding to the robot neck anthropomorphic actuation device when the neck performs left/right swing motion.
In the figure: 1. artificial skin; 2. a polydimethylsiloxane filler; 3. a compound bend driver; 3-1 a first composite region; 3-2, deformation area; 3-3, a second composite region; 3-4, a driver body; 3-41, a first compound surface; 3-42, a second compound surface; 3-5, thermoelectric material; 3-51, the thermoelectric material compounded on the first compounding surface of the first compounding area; 3-52, the thermoelectric material compounded on the first compounding surface of the second compounding area; 3-53, the hot spot material compounded by the second compounding surface of the second compounding area; 3-54, the thermoelectric material compounded on the second compounding surface of the first compounding area; 4. supporting the upper cover plate; 5. supporting the lower cover plate; 6. a stress sensor film layer formed by ion exchange polymer-metal coating electrodes; 6-1, coating an electrode with ion exchange compound metal; 6-2, one side metal coating electrode, 6-3 and the other side metal coating electrode.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the descriptions in this application as referring to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Next, all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present application are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly, and the connection may be a direct connection or an indirect connection.
Example 1
Referring to fig. 1-3 and 5-7, the robot cervical part anthropomorphic actuating device provided by the present application is shown in the figures, and comprises an outermost artificial skin 1, a polydimethylsiloxane filling body 2 positioned in an intermediate layer, a compound bending driver 3 positioned in the polydimethylsiloxane filling body 2 and used for neck pitching and neck revolving, a supporting upper cover plate 4 positioned at the upper part of the actuating device, and a supporting lower cover plate 5 positioned at the lower part of the actuating device.
The composite bending driver consists of a first composite area 3-1, a deformation area 3-2 and a second composite area 3-3, wherein the first composite area 3-1, the deformation area 3-2 and the second composite area 3-3 are provided with a driver main body 3-4 integrally formed by shape memory alloy;
as shown in fig. 5-6, the outer peripheral surface of the driver main body 3-4 is longitudinally split radially into a first compound surface 3-41 and a second compound surface 3-42, and neither the body of the first compound region 3-1 nor the body of the second compound region 3-3 is completely compounded with the thermoelectric material 3-5;
specifically, the thermoelectric material 3-51 compounded by the first compounding face 3-41 of the first compounding area 3-1 and the thermoelectric material 3-54 compounded by the second compounding face 3-42 thereof are mutually separated and covered on the driver body 3-4, and the thermoelectric material 3-52 compounded by the first compounding face 3-41 of the second compounding area 3-3 and the second compounding face 3-53 of the second compounding area 3-3 are mutually separated and covered on the driver body 3-4. The perimeter c of the cross section of the composite region was 0.85mm, and the thickness h of the thermoelectric material coated outside each composite region was 27.5 μm.
As shown in the attached figures 6 and 8, the thermoelectric material 3-51 compounded by the first compound surface 3-41 of the first compound region 3-1 and the thermoelectric material 3-52 compounded by the first compound surface 3-41 of the second compound region 3-3 are P type bismuth telluride-Sn doped by Sn and Ag metal elements0.3Bi0.4Sb0.6Ag0.7Te3；
As shown in the attached figures 6 and 9, the thermoelectric material 3-54 compounded by the second compound surface 3-42 of the first compound region 3-1 and the thermoelectric material compounded by the second compound surface 3-42 of the second compound region 3-3 are N-type Bi2(Te,Se)3And Bi2(Se0.4Te0.6)3To form the mixed bismuth telluride. The shape memory alloy is made of any one of nickel titanium base, copper base or iron base.
As shown in the attached figures 7 and 10, the surface of the deformation region 4-3 is compounded with a stress sensor film layer 6 formed by three layers of ion exchange polymer-metal coated electrodes with sandwich structures, and the stress sensor film layer is composed of a middle proton exchange polymer poly (vinylidene fluoride-hexafluoropropylene) 6-1, a platinum coated electrode 6-2 and a platinum coated electrode 6-3.
The middle ion exchange polymer 6-1 is prepared by adopting poly (vinylidene fluoride-hexafluoropropylene) and carrying out platinum-coated electrodes 6-2 and 6-3 at two sides through an ionic polymer chemical plating process, and the method comprises the following four steps: surface roughening, ion exchange, metal reduction and surface electric polarization of the ionic polymer.
Firstly, roughening and roughening the surface of an ionic polymer, washing, boiling in dilute hydrochloric acid or nitric acid to remove impurities, and boiling in distilled water until the distilled water is fully expanded;
next, a 10mmol/L platinum salt solution [ Pt (NH) ] was placed3)4]Cl2-H2Soaking in O at room temperature for 2 hours for ion exchange;
thirdly, gradually adding NaBH in times4Reducing agent, gradually raising the temperature for 2h, and finishing the metal reduction process;
finally, through ion exchange in platinum salt solution, gold ions in the platinum salt solution gradually go deep into the ion exchangeAfter metal reduction is carried out on the surface of the polymer, platinum ions form zero-valent metal nanoparticles in the ion exchange polymer, and then a nano-particle platinum metal layer with the penetration depth of 1-15 mu m is formed on the surface of the poly (vinylidene fluoride-hexafluoropropylene) ion exchange polymer; the ion exchange polymer forming the nanometer particle platinum metal layer is put into the platinum salt solution again, and a reducing agent NH is adopted2Reduction with OH-HCl was carried out at 60 ℃ for 2.5 hours until the solution was mixed with an equal amount of NaBH4Boiling till no black. The preparation of the poly (vinylidene fluoride-hexafluoropropylene) -platinum coated electrode composite was completed.
The specific principle is that current is applied to the thermoelectric materials 3-52 and the thermoelectric materials 3-53 of the second composite region 3-3 of the composite bending actuator 3, wherein the thermoelectric materials 3-52 are positive electrodes, the thermoelectric materials 3-53 are negative electrodes, the current is transmitted from the thermoelectric materials 3-52 to the thermoelectric materials 3-53 to perform an exothermic reaction, and the current is transmitted from the thermoelectric materials 3-53 to the thermoelectric materials 3-54 by conduction, then from the thermoelectric materials 3-54 to the thermoelectric materials 3-51 to perform an endothermic reaction, and finally returns to the thermoelectric materials 3-52; by the current conduction, the temperature of the thermoelectric material 3-52 and the thermoelectric material 3-53 in the second composite region 3-3 rises and is further transferred to the shape memory alloy of the driver body 3-4 covered by the deformation region 3-2, and the shape memory alloy in the region carries out reverse phase transformation process, so that martensite is transformed into high-elasticity austenite for further deformation; when the applied current is removed, the temperature of the thermoelectric material 3-52 and the thermoelectric material 3-53 in the second composite region 3-3 gradually decreases, and at this time, the thermoelectric material 3-52 and the thermoelectric material 3-53 help the shape memory alloy in the deformation region 3-2 to decrease the temperature, so that the shape memory alloy in the deformation region undergoes a phase transformation process from austenite to martensite, and returns to the shape and position before deformation due to the memory property of the shape memory alloy.
As shown in figure 11, when current is applied to the thermoelectric materials 3-52 and 3-53, the electric field strength changes, the electric field changes generated by the thermoelectric materials 3-52 and 3-53 can cause the polarity of the platinum-coated electrode 6-2 and the platinum-coated electrode 6-3 to change, when the electric field is enhanced, the platinum-coated electrode 6-2 is a positive electrode, the platinum-coated electrode 8-3 is a negative electrode, and further under the action of coulomb force, the polar solution absorbed by the ion exchange polymer 6-1 or ions in water are caused to migrate or diffuse in the network chain formed by the ion exchange polymer 6-1, and because the poly (vinylidene fluoride-hexafluoropropylene) has the proton exchange property, protons are concentrated on the platinum-coated electrode 6-3 side, so that the ion exchange polymer 6-1 close to the platinum-coated electrode 6-3 side expands, the ionic polymer 6-1 close to the platinum coating electrode 6-2 shrinks to generate bending deformation towards the platinum coating electrode 6-2 side; when the electric field is weakened, the ion exchange is reduced, and the ion exchange polymer 6-1 near the platinum-coated electrode 6-2 and the platinum-coated electrode 6-3 side is deformed and recovered, and further, the shape before the deformation is recovered.
Example 2
Referring to fig. 1-3 and 5-7, the robot cervical part anthropomorphic actuating device provided by the present application is shown in the figures, and comprises an outermost artificial skin 1, a polydimethylsiloxane filling body 2 positioned in an intermediate layer, a compound bending driver 3 positioned in the polydimethylsiloxane filling body 2 and used for neck pitching and neck revolving, a supporting upper cover plate 4 positioned at the upper part of the actuating device, and a supporting lower cover plate 5 positioned at the lower part of the actuating device.
The composite bending driver consists of a first composite area 3-1, a deformation area 3-2 and a second composite area 3-3, wherein the first composite area 3-1, the deformation area 3-2 and the second composite area 3-3 are provided with a driver main body 3-4 integrally formed by shape memory alloy;
as shown in fig. 5-6, the outer peripheral surface of the driver main body 3-4 is longitudinally split radially into a first compound surface 3-41 and a second compound surface 3-42, and neither the body of the first compound region 3-1 nor the body of the second compound region 3-3 is completely compounded with the thermoelectric material 3-5;
specifically, the thermoelectric material 3-51 compounded by the first compounding face 3-41 of the first compounding area 3-1 and the thermoelectric material 3-54 compounded by the second compounding face 3-42 thereof are mutually separated and covered on the driver body 3-4, and the thermoelectric material 3-52 compounded by the first compounding face 3-41 of the second compounding area 3-3 and the second compounding face 3-53 of the second compounding area 3-3 are mutually separated and covered on the driver body 3-4. The perimeter c of the cross section of the composite region is 0.90mm, and the thickness h of the thermoelectric material coated outside each section of the composite region is 26.65 μm.
As shown in FIG. 6 and FIG. 8, the thermoelectric material 3-51 compounded on the first compound surface 3-41 of the first compound region 3-1 and the thermoelectric material 3-52 compounded on the first compound surface 3-41 of the second compound region 3-3 are N-type bismuth telluride-Bi2Te2.8Se0.2；
As shown in the attached figures 6 and 9, the thermoelectric material 3-54 compounded by the second compound surface 3-42 of the first compound region 3-1 and the thermoelectric material compounded by the second compound surface 3-42 of the second compound region 3-3 are P-type bismuth telluride (Bi-)2Te3)0.55-(Sb2Te3)0.45. The shape memory alloy is made of any one of nickel titanium base, copper base or iron base.
The specific principle is that current is applied to the thermoelectric materials 3-51 and the thermoelectric materials 3-54 of the first composite region 3-1 of the composite bending driver 3, wherein the thermoelectric materials 3-54 are positive electrodes, the thermoelectric materials 3-51 are negative electrodes, the current is transmitted from the thermoelectric materials 3-54 to the thermoelectric materials 3-51 to perform an exothermic reaction, and the current is transmitted from the thermoelectric materials 3-51 to the thermoelectric materials 3-52 by conduction, then transmitted from the thermoelectric materials 3-52 to the thermoelectric materials 3-53 to perform an endothermic reaction, and finally returned to the thermoelectric materials 3-54; by the current conduction, the temperature of the thermoelectric material 3-51 and the thermoelectric material 3-54 in the first composite region 3-1 rises and is further transferred to the shape memory alloy of the actuator body 3-4 covered by the deformation region 3-2, the shape memory alloy in the region carries out reverse transformation process, the martensite is transformed into the high-elasticity austenite, and further the deformation in the direction opposite to that of the embodiment 1 is carried out;
the operation difference between this embodiment and embodiment 1 is that when the deformation recovery of the neck of the robot is required, by changing the current applying direction, the thermoelectric material 3-54 is set as the negative electrode, the thermoelectric material 3-51 is set as the positive electrode, and the current direction is opposite to the above current direction, at this time, an endothermic reaction is generated in the first composite region 3-1, the temperature of the covered thermoelectric material 3-51 and thermoelectric material 3-54 is reduced, and then the temperature is transmitted to the driver body 3-4 covered by the deformation region 3-2, the shape memory alloy in this region undergoes a phase transformation process, and is transformed from austenite to martensite, and due to the memory property of the shape memory alloy, the shape and position before the deformation are restored.
Example 3
Referring to fig. 1-3 and 5-7, the robot cervical part anthropomorphic actuating device provided by the present application is shown in the figures, and comprises an outermost artificial skin 1, a polydimethylsiloxane filling body 2 positioned in an intermediate layer, a compound bending driver 3 positioned in the polydimethylsiloxane filling body 2 and used for neck pitching and neck revolving, a supporting upper cover plate 4 positioned at the upper part of the actuating device, and a supporting lower cover plate 5 positioned at the lower part of the actuating device.
The composite bending driver consists of a first composite area 3-1, a deformation area 3-2 and a second composite area 3-3, wherein the first composite area 3-1, the deformation area 3-2 and the second composite area 3-3 are provided with a driver main body 3-4 integrally formed by shape memory alloy;
as shown in fig. 5-6, the outer peripheral surface of the driver main body 3-4 is longitudinally split radially into a first compound surface 3-41 and a second compound surface 3-42, and neither the body of the first compound region 3-1 nor the body of the second compound region 3-3 is completely compounded with the thermoelectric material 3-5;
specifically, the thermoelectric material 3-51 compounded by the first compounding face 3-41 of the first compounding area 3-1 and the thermoelectric material 3-54 compounded by the second compounding face 3-42 thereof are mutually separated and covered on the driver body 3-4, and the thermoelectric material 3-52 compounded by the first compounding face 3-41 of the second compounding area 3-3 and the second compounding face 3-53 of the second compounding area 3-3 are mutually separated and covered on the driver body 3-4. The perimeter c of the cross section of the composite region was 1.19mm, and the thickness h of the thermoelectric material coated outside each composite region was 31.4 μm.
As shown in FIG. 6 and FIG. 8, the thermoelectric material 3-51 compounded on the first compound surface 3-41 of the first compound region 3-1 and the thermoelectric material 3-52 compounded on the first compound surface 3-41 of the second compound region 3-3 are N-type bismuth telluride-Bi2(Te，Se)3；
As shown in figure 6 and attached heretoThe thermoelectric material 3-54 compounded by the second compound surface 3-42 of the first compound region 3-1 and the thermoelectric material compounded by the second compound surface 3-42 of the second compound region 3-3 shown in FIG. 9 are P-type bismuth telluride (Ga-Ga) doped with metal elements Ga and Co0.35Bi2Te3)0.25-(Sb2Co0.65Te3)0.75. The shape memory alloy is made of any one of nickel titanium base, copper base or iron base.
As shown in attached figures 7 and 10, a stress sensor film layer 6 formed by three layers of ion exchange polymer-metal coated electrodes with sandwich structures is compounded on the surface of the deformation region 4-3 and consists of a middle proton exchange polymer polyether ketone 6-1, a gold coated electrode 6-2 and a polyamide coated electrode 6-3.
The specific principle is that, as detailed in embodiments 1 and 2, the present embodiment applies current to the thermoelectric materials 3-51 and 3-54 in the first composite region 3-1 of the composite bending actuator 3, wherein the thermoelectric materials 3-54 are positive electrodes, and the thermoelectric materials 3-51 are negative electrodes, and generates deformation in the opposite direction to that of embodiment 1; when the applied current is removed, it returns to its shape and position prior to deformation.
This example differs from example 1 only in that the intermediate ion exchange polymer 6-1 is polyethyletherketone, and the ion exchange step in the manufacturing process is to immerse the polyethyletherketone in 10mmol/L platinum salt solution [ Au (NH)3)4]Cl2-H2O, the remaining steps and process parameters are the same as those of example 1, and a deformation mechanism of the peek-au coated electrode composite is completed, which is described in detail in example 1, and differs from example 1 in that the intermediate ion exchange polymer 6-1 used in this example is peek having anion exchange characteristics, and therefore, as shown in fig. 12, anions are concentrated on the side of the pt-coated electrode 6-2, so that the ion exchange polymer 6-1 near the side of the pt-coated electrode 6-2 is expanded, and the ion polymer 6-1 near the pt-coated electrode 6-3 is contracted, thereby generating bending deformation toward the side of the pt-coated electrode 6-3.
Experimental examples
The robot neck action device obtained in the embodiment 2 of the invention is used for forward-backward bending training and left-right swinging neck training, the composite bending driver 4 is bundled in the polydimethylsiloxane packing body 2 by 4, the temperature is aged at the middle temperature, the temperature range is 400-600 ℃, and the experimental result is shown in attached figures 13-15. As shown in FIG. 14, only the shape memory alloy bundled by a and b deforms when the neck is bent forward, only the shape memory alloy bundled by c and d deforms when the neck is bent backward, the angle phi of the forward bending/backward bending satisfies 60 DEG to 90 DEG, because part of heat is released through heat conduction and heat convection, the time of the temperature reduction process is slightly longer than that of the temperature rise process. As shown in FIG. 15, only the memory alloys a and d are bound to deform when the neck is swung to the left, and only the memory alloys b and c are bound to deform when the neck is swung to the right, and the angle zeta of the left-right swinging is more than or equal to minus 90 degrees and less than or equal to 90 degrees.
Comparative example 1
Bending performance tests are carried out on the bamboo joint type composite driver in the robot neck anthropomorphic actuation device obtained in the embodiments 1-3 of the invention and the composite driver obtained in the specific implementation mode of the Chinese patent 201810618993.7, and the recovery rate, recoverable strain and relative superelasticity strain of the composite driver obtained in the embodiments 1-3 of the invention and the comparative embodiment are detected according to the standard of the bending test method (manuscript sent to examination) in section 2 of the nickel-titanium shape memory alloy memory performance test method. The results are shown in Table 1.
TABLE 1
| Index (I) | Example 1 | Example 2 | Example 3 | Comparative example 1 |
| Relative character strain recovery rate | 56.35％ | 55.63％ | 57.89％ | 48.67％ |
| Recoverable dependent variable | 4.912％ | 4.836％ | 5.637％ | 4.205％ |
| Relative superelastic strain | 1.714％ | 1.532％ | 1.785％ | 1.333％ |
The table 1 shows that the neck anthropomorphic actuation device of the robot with the composite driver of the thermoelectric material composite shape memory alloy can ensure that the driver has better bending performance and meets the robot motion requirements of high flexibility and good flexibility.
Comparative example 2
By using the bamboo joint type composite driver in the robot neck anthropomorphic actuator obtained in the embodiments 1-3 of the present invention and the composite driver obtained in the specific embodiment of the chinese patent 201810618993.7, the same electric field is applied to the composite drivers obtained in the embodiments of the present invention and the comparative example 2, and the bending angles of the composite drivers are detected. The results are shown in Table 2.
TABLE 2
| Index (I) | Example 1 | Example 2 | Example 3 | Comparative example 2 |
| Bending angle | 9.12° | 8.77° | 10.01° | 4.89° |
As can be seen from table 2, the composite actuator using the thermoelectric material composite shape memory alloy according to the present invention can obtain a larger driving angle, and can effectively avoid the occurrence of distortion stuck points in the robot motion driving.
Comparative example 3
The robot neck anthropomorphic actuation device obtained by the embodiment 1-3 of the invention and the neck joint driving mechanism of the simulation robot obtained by the specific implementation mode in the Chinese patent 201710826260.8 are adopted to carry out forward bending, backward bending, left swinging and right swinging motions at the same time point, and the time required from the beginning of the motions to the return to the forward-looking state before the motions is counted. The results are shown in Table 3.
TABLE 3
| Index (I) | Example 1 | Example 2 | Example 3 | Comparative example 2 |
| Front bow | 21s | 25s | 15s | 76s |
| Back-bending | 20s | 23s | 14s | 77s |
| Left pendulum | 12s | 14s | 10s | 70s |
| Right pendulum | 13s | 15s | 11s | 72s |
As can be seen from table 3, the robot neck actuating device adopted in the present invention can more rapidly perform forward-backward deformation and recovery, and the rise and fall of the temperature are a coherent process, so the anthropomorphic motion of the neck has coherence and fluency, and there is no distortion effect caused by motion singular points due to rigid connection of components in the conventional mechanism.
Although embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the application, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The robot neck anthropomorphic actuation device is characterized by comprising an outermost artificial skin (1), a polydimethylsiloxane filling body (2) positioned in an intermediate layer, a composite bending driver (3) positioned in the polydimethylsiloxane filling body (2) and used for neck pitching and rotating, a supporting upper cover plate (4) positioned on the upper part of the actuation device and a supporting lower cover plate (5) positioned on the lower part of the actuation device.
2. Robot cervical anthropomorphic actuation device according to claim 1, characterized in that the compound bending drive is composed of a first compound area (3-1), a deformation area (3-2) and a second compound area (3-3); the first composite region (3-1), the deformation region (3-2) and the second composite region (3-3) are provided with a driver main body (3-4) integrally formed by shape memory alloy; the outer peripheral surface of the driver main body (3-4) is longitudinally and radially divided into a first compound surface (3-41) and a second compound surface (3-42); the body of the first composite region (3-1) and the body of the second composite region (3-3) are not completely compounded with thermoelectric materials (3-5), and the thermoelectric materials (3-5) are P-type or N-type bismuth telluride; the thermoelectric material (3-51) compounded by the first compounding face (3-41) of the first compounding area (3-1) and the thermoelectric material (3-54) compounded by the second compounding face (3-42) of the first compounding area (3-1) are mutually separated and covered on the driver body (3-4), and the thermoelectric material (3-52) compounded by the first compounding face (3-41) of the second compounding area (3-3) and the second compounding face (3-53) of the second compounding area (3-3) are mutually separated and covered on the driver body (3-4).
3. Robot cervical anthropomorphic actuation device according to claim 2, characterized in that the thermoelectric material (3-51) compounded by the first compound area (3-1) at the first compound face (3-41) is of the same type as the thermoelectric material (3-52) compounded by the second compound area (3-3) at the first compound face (3-41), being one of bismuth telluride type P or bismuth telluride type N; the thermoelectric material (3-54) compounded on the second compounding surface (3-42) by the first compounding area (3-1) is consistent with the thermoelectric material (3-53) compounded on the second compounding surface (3-42) by the second compounding area (3-3) in type and is one of P-type bismuth telluride or N-type bismuth telluride; the first composite surface (3-41) and the second composite surface (3-42) are different in the type of thermoelectric material.
4. The robotic neck anthropomorphic actuation device of claim 3, wherein the bismuth telluride P-type comprises: biaSb2-aTe3Or (Bi)2Te3)b-(Sb2Te3)1-bWherein a is more than or equal to 0 and less than or equal to 2, and b is more than or equal to 0 and less than or equal to 1.
5. The robotic neck anthropomorphic actuation device of claim 4, wherein the P-type bismuth telluride material is doped with metal elements to form MyBixSb2-y-xN1-yTe3Or (M)yBi2Te3)x-(Sb2N1-yTe3)1-xWherein M is any one of Sn, Cu or Ga metal elements, N is any one of Ag, Na or Co metal elements, x is more than or equal to 0 and less than or equal to 1, and y is more than or equal to 0 and less than or equal to 1.
6. The robotic cervical anthropomorphic actuation device of claim 3, wherein the bismuth N-telluride comprises Bi2Te3-cSec、Bi2(Te,Se)3Or Bi2(Se1-dTed)3Wherein c is more than or equal to 0 and less than or equal to 3, and d is more than or equal to 0 and less than or equal to 1.
7. The anthropomorphic actuation device for the neck of a robot as claimed in claim 2, characterized in that the surface of the deformation zone (3-2) is compounded with a stress sensor film layer (6) consisting of an ion exchange polymer-metal coated electrode.
8. Robot neck anthropomorphic actuation device according to claim 7, characterized in that the stress sensor membrane layer (6) constituted by the ion exchange polymer-metal coated electrodes is of a three-layer sandwich structure, constituted by the middle ion exchange polymer (6-1) and the metal coated electrodes (6-2; 6-3) on both sides.
9. Robot cervical anthropomorphic actuation device according to claim 8, characterized in that the intermediate ion exchange compound (6-1) is one of polyethyletherketone, poly (vinylidene fluoride-hexafluoropropylene), poly (ethersulfone) -poly (vinylpyrrolidone).
10. Robot cervical anthropomorphic actuation device according to claim 8, characterized in that the metal-coated electrodes (6-2; 6-3) are made of one or more metals selected from gold, platinum and palladium.
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