CN102896633B - Flexible spine with omni-directional angle feedback - Google Patents
Flexible spine with omni-directional angle feedback Download PDFInfo
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- CN102896633B CN102896633B CN201210369945.1A CN201210369945A CN102896633B CN 102896633 B CN102896633 B CN 102896633B CN 201210369945 A CN201210369945 A CN 201210369945A CN 102896633 B CN102896633 B CN 102896633B
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Abstract
The invention discloses a flexible spine with omni-directional angle feedback. The flexible spine mainly comprises a spine, a base and a plurality of drive feedback units, a spine portion comprises a flexible spine body, a spine ring, a top flange and a bottom flange, one end of the flexible spine body is fixed on the top flange, the other end of the flexible spine body is fixed on the bottom flange, the bottom flange is fixed on the base, the drive feedback units are uniformly distributed on the base, each drive feedback unit comprises a displacement sensor, a tensioner and a shape memory alloy (SMA) wire, one end of the SMA wire is fixed on the tensioner, and the SMA wire and a displacement line together sequentially penetrate through circumferential holes of the bottom flange, the spine ring and the top flange to be fixed on the top flange. The initial angle and controllable angle range of the flexible spine body can be adjusted through adjusting the degree of tightness of the tensioner. The flexible spine with the omni-directional angle feedback has the advantages that the SMA wire is used for driving the flexible spine, the design cost is lowered, the space is saved, the improvement of flexibility of omni-directional moving of a robot is facilitated, and the adaptability of the robot to the environment is improved.
Description
Technical field
The invention belongs to robotics, particularly relate to a kind of Flexible spine with omni-directional angle feedback.
Background technology
In recent years, bio-robot technology obtains and develops rapidly, and Chinese scholars passes through physiology and the movement mechanism thereof of simulating nature circle biology, has developed a collection of stem-winding bio-robot.From " BigDog " that can run fast and " Cheetah " quadruped robot of boston, u.s.a utility companies development, to can fast and stable walking " Petman " biped anthropomorphic robot, from " the large trunk " of the development of German FESTO company, to " the Smart Bird " that can freely circle in the air etc., these bionics techniques are applied to the flexibility and pliability that robot improve robot motion, improve the adaptability of robot reform of nature circle environment, also make the efficiency of moving be significantly enhanced.
Vertebra is the pith of animal physiological structure, and vertebra not only protects the central nervous system of animal, also enhances flexibility and the compliance of animal movement.Such as, dog and leopard need to realize running fast by the bending of vertebra and stretching, extension; Gecko needs to rely on vertebra to realize turning to flexibly planar; Human needs relies on vertebra to realize various action and attitude, also has the effect keeping balance simultaneously.In addition, vertebra can also play the effect of extenuating vibrations in animal activity.Therefore, how an important research topic will have been become in spinal application to robot.
So far, the vertebra that Tokyo Univ Japan has developed has been applied on anthropomorphic robot, the vertebrae of this vertebra is made up of the ball-joint of a series of Three Degree Of Freedom, cone dish is made by elastic silica gel between adjacent ridge vertebra, and simulate " ligament " with tension spring, and be furnished with multiple tension pick-up, finally drive this vertebra by 40 motors.Although this design improves the flexibility of robot motion, expand the range of movement of robot, also enhance the security that machine person to person is mutual, global design have employed a large amount of motor and sensor, adds the cost and risk of exploitation.In addition, the Karl Frederick Leeser of MIT passes through the simulation analysis kinetic characteristic of vertebra at quadruped robot, and vertebra is simplified to the characteristic of a rigidity rotation joint analysis in quadruped robot is run by Utku Culha and Uluc Saranlip.At present, even the domestic research to robot vertebra is blank.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, provide a kind of Flexible spine with omni-directional angle feedback, the present invention replaces traditional motor to drive by memory alloy material SMA, to reduce the requirement of design cost and design space, improve the flexibility of robot omnibearing motion, improve robot to the adaptability of environment.
The present invention for the adopted technical scheme that solves the problem is: a kind of Flexible spine with omni-directional angle feedback, and it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate and is fixed on the pedestal etc. at base plate center, spinal segment comprises Flexible spine body, vertebra ring, top flange and flange in the bottom etc., one end fixed top flange of Flexible spine body, other end solid bottom flange, flange in the bottom is fixed on the centre bore of pedestal, and the external circumference of Flexible spine evenly fixes some vertebra rings in the axial direction; Drive feedback unit is circumferentially evenly arranged on base, and each drive feedback unit comprises a displacement transducer, a strainer and a SMA silk; Displacement transducer is fixed on base plate, and its displacement line is through the centre bore entering pedestal after the unthreaded hole of pedestal side; Strainer is fixed on pedestal, SMA silk one end is fixed on strainer, is entered the centre bore of pedestal by the unthreaded hole of pedestal side, passes flange in the bottom successively after being wound around pressure end screw together with displacement line, after the circumferential apertures of vertebra ring and top flange, be fixed in top flange.
The invention has the beneficial effects as follows, the driving of marmem alloy SMA silk as vertebra is have employed in the present invention, this material can carry out compressing and stretching, deformation amplitude is up to 8%, energising can change its form, and can very large restoring force be produced, compared to traditional driving, this driving volume is little and succinct, its special nature makes it in robot field, possess larger potentiality, the SMA silk be circumferentially evenly arranged Flexible spine body is possessed omnibearing locomitivity, by drawing the displacement line of displacement transducer, can in real time detection and control Flexible spine body rotate angle, in addition, Flexible spine body has selected flexible material, and be processed into hollow-core construction, make under SMA silk drives, Flexible spine body can comprehensive compound motion, and facilitate the cabling of SMA silk power supply, the strainer of fixing SMA silk not only can regulate the initial angle of Flexible spine body, and can by the rotational angle range regulating the tightness of SMA silk to change whole Flexible spine body.The SMA wire material that the present invention adopts is as the driving of robot, and make robot compliance, structure is compacter, and design is more flexible, changes driving design pattern in the past, is applicable to being applied to robot field.
Accompanying drawing explanation
Fig. 1 is the stereogram of Flexible spine of the present invention;
Fig. 2 is the top installation diagram of Flexible spine of the present invention;
Fig. 3 is the bottom installation diagram of Flexible spine of the present invention;
Fig. 4 is strainer schematic diagram of the present invention;
In figure, Flexible spine body 1, vertebra ring 2, SMA silk 3, displacement line 4, the screw 5 that bears down on one, the screw 6 that bears down on one, top flange 7, flange in the bottom 8, pedestal 9, screw 10, base plate 11, displacement transducer 12, screw 13, strainer 14, adjusting knob 15, turning cylinder 16, screw 17, pressure end screw 18.
Detailed description of the invention
Further illustrate the present invention below in conjunction with accompanying drawing, object of the present invention and effect will become more obvious.
As Figure 1-3, a kind of Flexible spine with omni-directional angle feedback of the present invention, it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate 11 and is fixed on the pedestal 9 etc. at base plate center, spinal segment comprises Flexible spine body 1, vertebra ring 2, top flange 7 and flange in the bottom 8 etc., one end fixed top flange 7 of Flexible spine body 1, other end solid bottom flange 8, flange in the bottom 8 is fixed on the centre bore of pedestal 9 by screw 10, Flexible spine body 1 selects flexible material, and be processed into hollow form, make under a stretching force, can realize omnibearing compound motion, Flexible spine body 1 excircle is evenly fixed with some vertebra rings 2 in the axial direction; Drive feedback unit is circumferentially evenly arranged on base, and each drive feedback unit comprises a displacement transducer 12, strainer 14 and a SMA silk 3; Displacement transducer 12 is fixed on base plate by screw 13, and its displacement line 4 is through the centre bore entering pedestal 9 after the unthreaded hole of pedestal 9 side; Strainer 14 is fixing on the base 11 by screw 17, strainer 14 comprises adjusting knob 15 and turning cylinder 16, by adjusting knob 15, turning cylinder 16 can be made to rotate, SMA silk 3 one end is fixed on strainer 14, the centre bore of pedestal 9 is entered by the unthreaded hole of pedestal 9 side, flange in the bottom 8 is passed successively together with displacement line 4 after being wound around pressure end screw 18, after the circumferential apertures of vertebra ring 2 and top flange 7, respectively by bearing down on one, screw 6 and screw 5 are fixed in top flange 7, SMA silk 3 and displacement line 4 all with the centerline axis parallel of Flexible spine body.
SMA silk 3 in the present invention can be made up of Nitinol, corronil, albronze, ormolu or other memory alloy materials known by this art.SMA silk 3 has one-way memory effect, and its phase transition temperature can be realized by the synthetic ingredient of adjustable shape memory alloy material according to actual needs.So-called one-way memory effect, refers to when component temperature is lower than formulation phase transition temperature, present soft relaxed state, but when component temperature is higher than phase transition temperature, it can recover its original geometry automatically.In the present invention, this original geometry shows as the output that SMA silk 3 shrinks also adjoint power.
Claims (3)
1. there is a Flexible spine for omni-directional angle feedback, it is characterized in that, comprise spinal segment, base and some drive feedback unit; Wherein, base comprises base plate (11) and is fixed on the pedestal (9) at base plate center, spinal segment comprises Flexible spine body (1), vertebra ring (2), top flange (7) and flange in the bottom (8), one end fixed top flange (7) of Flexible spine body (1), other end solid bottom flange (8), flange in the bottom (8) is fixed on the centre bore of pedestal (9), and Flexible spine body (1) excircle evenly fixes some vertebra rings (2) in the axial direction; Drive feedback unit is circumferentially evenly arranged on base, and each drive feedback unit comprises a displacement transducer (12), a strainer (14) and a SMA silk (3); Displacement transducer (12) is fixed on base plate, enters the centre bore of pedestal (9) after its displacement line (4) unthreaded hole through pedestal (9) side; Strainer (14) is fixed on pedestal (9), SMA silk (3) one end is fixed on strainer (14), the centre bore of pedestal (9) is entered by the unthreaded hole of pedestal (9) side, be wound around after pressing end screw (18) to pass the circumferential apertures of flange in the bottom (8), vertebra ring (2) and top flange (7) afterwards successively together with displacement line (4), be fixed in top flange (7).
2. there is the Flexible spine of omni-directional angle feedback according to claim 1, it is characterized in that, described strainer (14) comprises adjusting knob (15) and turning cylinder (16), by adjusting knob (15), turning cylinder (16) can be made to rotate with SMA silk (3).
3. there is the Flexible spine of omni-directional angle feedback according to claim 1, it is characterized in that, described Flexible spine body (1) selects flexible material, and is processed into hollow form, make under SMA silk (3) drives, Flexible spine body (1) can comprehensive compound motion.
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| CN201210369945.1A CN102896633B (en) | 2012-09-27 | 2012-09-27 | Flexible spine with omni-directional angle feedback |
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| CN201210369945.1A CN102896633B (en) | 2012-09-27 | 2012-09-27 | Flexible spine with omni-directional angle feedback |
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| CN102896633B true CN102896633B (en) | 2015-05-27 |
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|---|---|---|---|---|
| CN103144101B (en) * | 2013-03-26 | 2015-10-07 | 上海大学 | A kind of flexible body of bio-robot |
| CN104398277B (en) * | 2014-11-26 | 2017-05-24 | 中国人民解放军海军总医院 | Wire feeding device for wrist type end effector |
| CN104760055A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学深圳研究生院 | Turtle robot and flexible neck device thereof |
| CN105415369B (en) * | 2015-12-25 | 2017-07-25 | 哈尔滨工业大学 | A kind of skilful mechanical arm driving device of oversoul based on muscle group principle |
| CN106217354B (en) * | 2016-08-18 | 2018-08-24 | 中国科学院合肥物质科学研究院 | A kind of bionical multiple degrees of freedom spinal structure of anthropomorphic robot multi-segmental |
| CN106493723B (en) * | 2016-12-08 | 2018-09-04 | 燕山大学 | Air articulated type flexible mechanical arm based on rope driving |
| CN107053155A (en) * | 2017-01-20 | 2017-08-18 | 北京航空航天大学 | A kind of trunk type sequential machine people of marmem driving |
| CN107225566A (en) * | 2017-06-16 | 2017-10-03 | 广东工业大学 | The software module of two-way shape memory alloy driving |
| CN107433579B (en) * | 2017-06-27 | 2021-04-20 | 西北工业大学 | SMA driven multi-section bionic tail device |
| CN107598896B (en) * | 2017-10-16 | 2020-06-16 | 浙江大学 | Rigid-flexible coupling humanoid robot spine structure |
| CN110239644B (en) * | 2019-06-04 | 2020-11-03 | 广东省智能制造研究所 | Bionic quadruped robot based on flexible spine technology |
| CN110217313B (en) * | 2019-06-27 | 2022-08-05 | 上海大学 | Bionic body driven by similar biological muscle fibers and with variable rigidity |
| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
| CN111872977A (en) * | 2020-07-31 | 2020-11-03 | 北方工业大学 | Experimental platform for simulating elephant nose continuous robot |
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