CN204487580U - A kind of three-dimension flexible organ cellular construction for bio-robot - Google Patents

Abstract

The utility model discloses a three-dimensional flexible organ unit structure for a bionic robot, which comprises at least two fixed platforms, and the adjacent fixed platforms are connected by a common elastic body and a plurality of shape memory alloy elastic bodies, wherein the common elastic body is located In the center, each shape memory alloy elastic body is arranged at a circumferential interval around the ordinary elastic body; each fixed platform is radially distributed with a number of shape memory alloy strips, and each side of each shape memory alloy strip is provided with zigzag shaped The two ends of the support bar are respectively connected to the head and the tail of the shape memory alloy bar, and there is a gap between each inner fold of the support bar and the shape memory alloy bar. The basic unit designed by the utility model can not only achieve axial elongation, but also axial contraction, and the structural rigidity is variable, with good load capacity, which can be used for flexible organs under the coupling actuation of transverse muscle and longitudinal muscle Kinematics and dynamics research of robot body elongation and stiffness changes.

Description

A three-dimensional flexible organ unit structure for bionic robots

technical field

The utility model relates to a bionic robot, in particular to a three-dimensional flexible organ unit structure for a bionic robot.

Background technique

There are many animals with flexible organs, such as the arms and feet of octopuses, the trunk of elephants, etc., which are supported and driven by a three-dimensional muscle array called muscular-hydrostats, and their flexible organs can be extremely flexible In practice, it can be used for walking or entanglement for predation.

Therefore, imitating the physiological structure and movement mechanism of flexible organs, a bionic robot with flexible organs is developed, which not only has efficient, flexible, and concealed movement capabilities in underwater and land complex environments, but also can act as a robotic arm to target Carrying out operations such as grabbing and towing can become a solution in the fields of resource exploration, rescue and military reconnaissance, and has a high application prospect.

The basis and focus of bionic flexible organ robot research lies in the bionic research of a single organ with compliant characteristics. However, at present, the research on the motion mechanism of continuous flexible organ imitation robots at home and abroad only considers the influence of longitudinal muscle actuation on the bending deformation of continuous flexible robots, and cannot be used for the body extension of flexible organ robots under coupled transverse muscle-longitudinal muscle actuation. Kinematics and dynamics research when the length and stiffness change. Although the continuous robot imitating flexible organs with the above structure has many advantages such as flexible bending, strong adaptability to non-structurally complex environments, and the ability to complete grasping actions without end effectors, the existing structures basically cannot achieve both. The muscular hydrostatic skeleton can be axially extended and contracted, and the structural stiffness can be changed. In addition, its load capacity is not high, which greatly limits its feasibility as a flexible limb of a bionic robot with multiple flexible organs. .

Utility model content

In view of the above problems, the utility model designs a three-dimensional flexible organ unit structure for bionic robots. It is variable and has a good load capacity, and can be used for kinematics and dynamics research on the elongation and stiffness changes of the flexible organ robot body under the coupled transverse muscle-longitudinal muscle actuation.

In order to achieve the above object, the utility model adopts the following technical solutions:

A three-dimensional flexible organ unit structure for bionic robots, characterized in that it includes at least two fixed platforms, and adjacent fixed platforms are connected by a common elastic body and several shape memory alloy elastic bodies, wherein the common elastic body is located in the center Each shape-memory alloy elastic body is arranged at intervals around the ordinary elastic body; each fixed platform is radially distributed with a number of shape-memory alloy strips, and each side of each shape-memory alloy strip is provided with zigzag-shaped The support bar, the two ends of the support bar are respectively connected to the head and the tail of the shape memory alloy bar, and there is a gap between each inner fold of the support bar and the shape memory alloy bar.

In the unit structure of the utility model, the fixed platforms are connected by ordinary elastic bodies and several shape memory alloy elastic bodies, which can provide good load performance between the two. At the same time, the flexible deformation of the basic unit structure can be realized through the expansion and contraction deformation of the shape memory alloy elastomer. When all the shape memory alloy When a shape memory alloy elastic body shrinks, the unit will bend toward that side, which can realize the bending deformation of the unit. In addition, when the shape memory alloy strip on the fixed platform shrinks, the diamond-shaped structure formed by the zigzagging support strips will be compressed and deformed inward under the contraction force of the shape memory alloy strip, making the whole structure smaller and thinner, and then The unit structure is compact and the rigidity is enhanced, on the contrary, the elongation of the shape memory aggregate strip will make the unit structure larger and the rigidity lowered.

Description of drawings

Fig. 1, the three-dimensional structure schematic diagram of the present utility model.

Detailed ways

As shown in FIG. 1 , a three-dimensional flexible organ unit structure for a bionic robot includes at least two fixed platforms 1 , two in this embodiment, but can be set in multiples as required in practice.

Adjacent fixed platforms 1 are connected by a common elastic body 2 and several shape-memory alloy elastic bodies 3, wherein the common elastic body 2 is located at the center, and each shape-memory alloy elastic body 3 is arranged around the common elastic body 2 at intervals in a circle.

Each fixed platform 1 is radially distributed with a number of shape memory alloy strips 4, and each side of each shape memory alloy strip 4 is provided with zigzagging support strips 5, and the two ends of the support strips 5 are respectively connected to the shape memory. The ends of the alloy strip 4 are connected at both ends.

In the unit structure of the utility model, the fixed platforms 1 are connected by ordinary elastic bodies 2 and several shape memory alloy elastic bodies 3, which can provide good load performance for the unit structure. At the same time, through the expansion and contraction deformation of the shape memory alloy elastomer 3, the flexible deformation of the basic unit structure can be realized. When all the shape memory alloy elastomers 3 are elongated or contracted at the same time, the axial telescopic movement of the unit structure can be realized, and when the When a certain shape memory alloy elastic body 3 shrinks, the unit will bend toward this side, which can realize the bending deformation of the unit. In addition, when the shape memory alloy strip 4 on the fixed platform 1 shrinks, the rhombus structure formed by the zigzag support strip 5 underneath will compress and deform inwardly under the contraction force of the shape memory alloy strip 4, making the entire structure smaller Thin body, and then the unit structure is compact and the rigidity is enhanced, on the contrary, the elongation of the shape memory aggregate strip will make the unit structure larger and the rigidity lowered.

Here, in order to ensure the normal compression or stretching of the meandering support bar, there must be sufficient running clearance between the inner folds 51 of the support bar 5 and the shape memory alloy bar 4 .

In summary, the three-dimensional flexible organ unit structure designed by the utility model is the basic unit constituting the bionic flexible organ, which can not only achieve axial elongation, but also axial contraction, and the structural rigidity is variable, with good load capacity , which can be used to study the kinematics and dynamics of flexible organ robot body extension and stiffness changes under transverse muscle-longitudinal muscle coupling actuation.

Claims (1)

1. the three-dimension flexible organ cellular construction for bio-robot, it is characterized in that: comprise at least two fixed platforms, be connected with some shape memory alloy elastic bodies by a conventional elastomers between adjacent fixed platform, wherein conventional elastomers is positioned at center, and each shape memory alloy elastic body is around conventional elastomers circumferentially interval layout setting; Each fixed platform is distributed with some marmem bars outwardly radially, the both sides of each marmem bar are respectively provided with the support bar of meander-like, the two ends of support bar connect respectively at head and the tail two of marmem bar, leave gap between each burst in the inner side on support bar and marmem bar.