CN102962850B - Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof - Google Patents

Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof Download PDF

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CN102962850B
CN102962850B CN 201210433479 CN201210433479A CN102962850B CN 102962850 B CN102962850 B CN 102962850B CN 201210433479 CN201210433479 CN 201210433479 CN 201210433479 A CN201210433479 A CN 201210433479A CN 102962850 B CN102962850 B CN 102962850B
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flexible
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CN102962850A (en
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王扬威
陈柏
谭进波
赵东标
刘凯
陆永华
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南京航空航天大学
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Abstract

一种形状记忆合金丝驱动的柔性机械臂机构及其柔性机械臂,属于机器人技术领域。 One shape memory alloy wire driving mechanism and a flexible robot arm manipulator, belongs to the technical field of robotics. 该柔性机械臂机构包括内层芯棒(1)、外层柔性套(2)和用于给SMA丝电加热的导线束(3);其中内层芯棒(1)由一个底座(105)、一个顶端固定片(103)、N个内间隔片(101)、N+1个内硅胶管(102)和三根SMA丝组成,其中外层柔性套(2)由一个底端连接座(206)、一个顶端连接座(203)、M个外间隔片(201)、M+1个外硅胶管(204)和六根SMA丝组成,内层芯棒和外层柔性套之间通过轴承连接,内层芯棒的柔性弯曲运动和收缩运动通过轴承传递到外层柔性套上。 The robot arm mechanism comprises a flexible inner mandrel (1), an outer flexible sleeve (2) for a wire bundle electrically heated SMA wire (3); wherein the inner mandrel (1) consists of a base (105) , a top fixed plate (103), the N number of spacers (101), N + 1 th inner silicone tube (102) and three SMA filaments, wherein the flexible outer sleeve (2) consists of a bottom end of the connector holder (206 ), a tip between the connecting base (203), M th an outer spacer (201), M + 1 th outer silica tube (204) and six SMA filaments, the inner mandrel and an outer flexible sleeve is connected via a bearing, the flexible bending movement of the inner mandrel and contraction motion is transmitted to the outer sleeve by a flexible bearing.

Description

形状记忆合金丝驱动的柔性机械臂机构及其柔性机械臂 Flexible manipulator shape memory alloy wire driving mechanism and flexible manipulator

技术领域 FIELD

[0001] 本发明涉及一种形状记忆合金丝驱动的柔性机械臂机构,属于机器人技术领域。 [0001] The present invention relates to a flexible robot arm mechanism for driving the shape memory alloy wire, which belongs to the field of robotics.

背景技术 Background technique

[0002] 随着航天和深海探测事业的飞速发展,对于极限环境下能够辅助或代替人工作的机械臂的需求日益增加。 [0002] With the rapid development of deep-sea exploration and aerospace business, for extreme environments to assist or replace the manipulator who work in increasing demand. 柔性机械臂凭借着其质量轻,灵活性好,运动范围广等优点,逐渐成为机械臂研究的热点之一。 Flexible Manipulator With its light weight, good flexibility, a wide range of motion, etc., has become one of the hot robotic arm research.

[0003] 在未来空间活动中,航天机械臂将逐步取代宇航员完成各种空间操作。 [0003] In the future space activities, space robotic arm will gradually replace astronauts completed a variety of space operations. 而在深海开发领域,由于海底的高压复杂环境不适宜人类工作,需要合适的机器臂来代替人们进行海底探测、海上打捞、海下侦查、排险等工作。 And in the deep areas of development, due to the high pressure environment of complex seabed unfit for human work, we need the right people to robotic arms instead of underwater exploration, salvage, investigation, for risk work at sea. 因此,为了满足上述需求,研究人员开始研究新型的更为灵活的柔性机械手臂。 Therefore, in order to meet these needs, the researchers began to study new and more flexible flexible mechanical arm.

[0004] 德国Festo工程公司以大象鼻子为仿生对象,研制了气动驱动的仿生机械臂。 [0004] German engineering firm Festo bionic nose elephants objects, we developed a bionic robot arm pneumatically driven. 动力科学公司(KSI)研制了具有柔韧性的机器人手臂Air-Octor,它由气动驱动器和电动马达共同驱动,能够完成弯曲,收缩和伸长等动作。 Power Scientific Corporation (the KSI) Development of Air-Octor robot arm having flexibility, which is commonly driven by a pneumatic actuator and the electric motor, it is possible to complete the bend, such as elongation and contraction operation. 美国南卡罗莱纳州克莱蒙森大学的Walker领导的研究小组以头足纲动物为仿生对象,研制出了一种新型柔性机器臂OctArm,可通过气动驱动实现两个沿轴线方向的弯曲和伸长运动,组合起来就能够完成在三维空间内的动作。 Walker led Clemson University in South Carolina research team cephalopods bionic objects, developed a new type of flexible robot arm OctArm, can be driven by two pneumatic achieve the axial direction of the bending and stretching isometric exercise, combined operation can be completed in three-dimensional space. 意大利比萨圣安娜高等学校为首的欧洲小组成功研发出了模拟章鱼触腕的绳驱动机械臂,并成功模拟了章鱼触手的运动。 Italy 比萨圣安娜 colleges and universities, led by the European team successfully developed a simulation of octopus tentacles of cable-driven robot arm, and successfully simulated the movement of octopus tentacles. 华中科大杨凯等人以内嵌形状记忆合金(Shape MemoryAlloy, SMA)丝的单元为基础,制作了三指仿生机械手爪,该手爪可以快速完成柔顺抓取动作。 HUST Kai Yang et al inline SMA (Shape MemoryAlloy, SMA) wire unit basis, produced three biomimetic mechanical gripper means, the gripper gripping operation can be completed quickly compliant. 哈尔滨工业大学的王振龙等人研制了基于SMA丝驱动的仿章鱼触腕单元,该单元能实现类似章鱼腕的柔性弯曲功能。 Zhenlong of Harbin Institute of Technology, who developed based imitation octopus tentacle SMA wire driving unit, the unit can realize a similar function octopus flexible wrist bending.

[0005]目前研制出的柔性机械臂都是通过气动、液压、绳驱和SMA人工肌肉等方式驱动来实现弯曲运动和抓取运动。 [0005] It developed a flexible manipulator are driven and bending motion is achieved by gripping movement pneumatically, hydraulically, artificial muscles and SMA rope drive or the like. 与其它几种驱动方式相比SMA材料的性能更加接近于肌肉,但现有的SMA驱动机械臂难以实现伸缩和扭转功能,与生物原型的运动还存在较大差距。 Compared with several other properties of the SMA material driving system closer to the muscles, but the existing SMA actuator manipulator is difficult to stretch and twist function, the motion of biological prototypes are still large gaps.

发明内容 SUMMARY

[0006] 本发明的目的是提供一种具有与章鱼腕运动相似的,能够实现全柔性弯曲、扭转和伸缩运动的仿生柔性机械臂机构。 [0006] The object of the present invention is to provide a similar movement of the arm octopus, a flexible robot arm mechanism can be realized fully flexible bionic bending, stretching and twisting movements.

[0007] 为了实现上述目标,以乌贼和章鱼腕的外形结构和肌肉组织结构为参考,以结构简单,控制方便为设计思想。 [0007] To achieve the above objectives, in order to shape the structure and octopus and squid muscle tissue structure of the wrist as a reference, with a simple structure, it is easy to control design.

[0008] 一种形状记忆合金丝驱动的柔性机械臂机构,其特征在于包括内层芯棒、外层柔性套和用于给SMA丝电加热的导线束;其中内层芯棒由一个底座、一个顶端固定片、N个内间隔片、N+1个内硅胶管和三根SMA丝组成,N为大于I的自然数;其中N个内间隔片和N+1个内硅胶管相互间隔布置,底座布置于内层芯棒最下方内硅胶管的底端,顶端固定片布置于内层芯棒最上方内硅胶管的顶端;上述底座、顶端固定片、内间隔片均具有用于SMA丝定位的固定孔;内层芯棒中的每根SMA丝的头端固定于底座的一个固定孔,然后采用左右折返的方式依此穿过内间隔片的固定孔,再穿过顶端固定片的固定孔后折返,然后继续采用左右折返的方式依此穿过内间隔片的固定孔,最后内层芯棒中的SMA丝的末端固定于底座的固定孔,内层芯棒中的每根SMA丝整体呈交叉状;上述内层芯棒 [0008] The flexible manipulator mechanism for driving the shape memory alloy wire, comprising an inner mandrel, an outer layer and a flexible sleeve to the SMA wire harness for electrically heated; wherein the inner mandrel of a base, a top of the fixing piece, the N inner spacer, N + 1 within the silicone tube and three SMA filaments, N is a natural number greater than I; wherein the N number of spacers and N + within a silicone tube mutually spaced, base disposed in the lowermost bottom end of the inner mandrel of the silicone tube, is fixed to the top sheet is disposed at the top of the upper most silicone tube inner mandrel; the base, fixed to the top plate, the spacer has a positioning SMA wire the head end of each fixing hole SMA wire is fixed to the inner mandrel in a fixing hole of the base, and then using the left and right fixing holes so folded manner through the inner spacer, and then passes through the top of the fixing piece; fixing hole after reentry, and then continue to use the left and right so folded is fixed through the inner hole of the spacer, the final end of the SMA wire is fixed to the inner mandrel fixing holes in the base, each of the SMA wire in the entire inner mandrel in a cross shape; said inner mandrel 的SMA丝嵌入在内硅胶管中,内硅胶管、内间隔片、底座和顶端固定片之间均采用硅胶粘接;其中外层柔性套由一个底端连接座、一个顶端连接座、M个外间隔片、M+1个外硅胶管和六根SMA丝组成,M为大于I的自然数;其中M个外间隔片和M+1个外硅胶管相互间隔布置,底端连接座布置于外层柔性套最下方外硅胶管的底端,顶端连接座布置于外层柔性套最上方外硅胶管的顶端;上述外间隔片、顶端连接座、底端连接座均具有用于SMA丝定位的固定孔;外层柔性套中的每根SMA丝的头端固定于底端连接座的一个固定孔,然后采用螺旋方式依此穿过外间隔片的固定孔,外层柔性套中的SMA丝的末端再固定于顶端连接座的固定孔;上述外层柔性套中的六根SMA丝中任意相邻的两根SMA丝中一根为左旋方式而另一根为右旋方式;上述外层柔性套中的SMA丝嵌入在外硅胶管中,外 The SMA wire embedded in the inner silicone tube, between the inner silicone tube, the spacer, the base and top are made of silicone adhesive fixing plate; wherein the outer layer consists of a flexible sleeve connected to the seat bottom, a seat connected to the top, a M outer spacer, of M + 1 and the six outer silicone tube SMA filaments, M is a natural number greater than I; wherein M of the outer spacers of M + 1 and the silicone outer tube spaced from each other, a bottom end connected to a base layer disposed the bottom end of the lowermost flexible sleeve outer silicone tube, connecting the top of the outer housing is arranged at the top of the uppermost outer flexible sleeve of silicone tube; and the outer spacer, connecting base to the top, the bottom end of the connecting base has a fixed location for the SMA wire aperture; head end of each SMA wire outer flexible sleeve is fixed to a connector holder fixed to the bottom end of the hole, and then passes through the spiral manner so the outer fixing holes of the spacer, the SMA wire outer sheath of the flexible and then fixed to the distal end of the connector holder fixing holes; and the flexible outer jacket six SMA wire in any adjacent two of SMA wire is in a left-handed while the other is right-handed; and the outer flexible sleeve the SMA wire embedded in the outer silicone tube, the outer 胶管、外间隔片、底端连接座和顶端连接座之间均采用硅胶粘接;上述外层柔性套中的SMA丝与导线束相连,导线束穿过内层芯棒的中心孔;上述底端连接座和底座位置对应且通过轴承连接,顶端连接座和顶端固定片位置对应且通过轴承连接;上述N < M,且上述外间隔片与对应的内间隔片之间通过轴承连接。 Hose, outer spacer, between the seat and the bottom end is connected to the top connector housing are made of silicone adhesive; flexible sleeve connected to said outer layer and the SMA wire harness, the harness through the central bore of the inner mandrel; the bottom and the base end position corresponding to the connector holder and connected via a bearing, and connecting base to the top position corresponding to the top sheet and fixed by a bearing connection; and the N <M, and the distance between the outer sheet and the corresponding inner spacer is connected via a bearing.

[0009] 利用所述形状记忆合金丝驱动的柔性机械臂机构的柔性机械臂,其特征在于:若干柔性机械臂机构通过连接块串联或或通过固定基座并联并联。 [0009] using a flexible manipulator flexible manipulator mechanism of the shape memory alloy wire drive, characterized in that: a plurality of flexible manipulator means in series or in parallel, or by fixing the base in parallel through the connection block.

[0010] 该柔性机械臂机构的内层芯棒和外层柔性套之间通过轴承连接,内层芯棒的柔性弯曲运动和收缩运动通过轴承传递到外层柔性套上。 Between [0010] the inner mandrel and an outer flexible sleeve of the flexible robot arm mechanism is transmitted to the outer bearing is connected via a flexible sleeve, the flexible bending movement of the inner mandrel and contraction movement via a bearing.

[0011] 本发明的柔性机械臂机构因其特殊的结构设计,可以实现模仿乌贼和章鱼的腕的柔性弯曲和收缩运动。 [0011] The robot arm mechanism of the present invention is flexible because of its special design, may be achieved mimic the flexible wrist bending and contraction movement of the squid and octopus. 利用SMA丝的形状记忆效应,在一定温度条件下,实现相变收缩,来为柔性机械臂机构提供动力源,整个结构简单,且具有与肌肉性静水肌肉相似的耐压性。 Using the shape memory effect of the SMA wire, at a certain temperature, the phase change to achieve shrinkage, to provide the power source is a flexible robot arm mechanism, the whole structure is simple, and has a similar muscle muscular hydrostatic pressure resistance. 在内层芯棒和外层柔性套的共同作用下,该柔性机械臂机构可以实现整体的柔性弯曲、柔性扭转和伸缩运动,并且这几种运动可产生复合效果,增加柔性机械臂机构的灵活性。 Under the action of the inner mandrel and an outer flexible sleeve, the flexible robot arm mechanism may achieve the overall flexibility of bending, twisting and stretching movement of the flexible, and these types of movement to produce a composite effect of increasing the flexibility of the flexible robot arm mechanism sex. 通过多个柔性机械臂机构的串联、并联和混联,可实现一种多方位、多角度和多扭转变形的新型柔性机械臂,从而可完成复杂非结构环境下的柔性抓取和捕获等功能。 By concatenating a plurality of flexible manipulator mechanism, and the parallel hybrid, can realize a multi-directional, multi-angle and multi torsional deformation of the novel manipulator, to be completed so that the flexible gripping and the like captured in the unstructured environment complex function . 本发明的柔性机械臂机构通过单个使用或多个串联、并联和混联使用,可用于深海勘测、军事侦察和太空操作等相关领域。 The flexible robot arm mechanism of the present invention is the use of a single or a plurality of series, parallel, and hybrid use, it can be used for deep-sea surveys related art, space and military reconnaissance operation.

附图说明 BRIEF DESCRIPTION

[0012] 图1形状记忆合金丝驱动柔性机械臂机构; [0012] FIG shape memory alloy wire 1 flexible manipulator driving mechanism;

[0013] 图2形状记忆合金丝驱动柔性机械臂机构剖视图; [0013] FIG 2 the shape memory alloy wire drive mechanism sectional view of a flexible robot arm;

[0014] 图3内层芯棒; [0014] FIG. 3 the inner mandrel;

[0015] 图4内层芯棒中形状记忆合金丝布置示意图; [0015] FIG 4 inner mandrel disposed schematic shape memory alloy wire;

[0016] 图5内层芯棒剖视图; [0016] Figure 5 a sectional view of the inner mandrel;

[0017] 图6外层柔性套中形状记忆合金丝布置示意图; [0017] FIG 6 the flexible outer sleeve disposed schematic shape memory alloy wire;

[0018] 图7外层柔性套中左旋形状记忆合金丝布置示意图; [0018] FIG. 7 L outer flexible sleeve disposed schematic shape memory alloy wire;

[0019] 图8外层柔性套中右旋形状记忆合金丝布置示意图; [0019] FIG 8 outer flexible sleeve shape memory alloy wire dextrose schematic arrangement;

[0020] 图9外层柔性套剖视图; [0020] FIG. 9 a sectional view of an outer flexible sleeve;

[0021] 图10柔性机械臂机构串联结构示意图; [0021] FIG 10 a schematic view of a series arrangement of a flexible robot arm mechanism;

[0022] 图11柔性机械臂机构并联结构示意图; [0022] FIG 11 a schematic view of a flexible robot arm mechanism parallel configuration;

[0023] 图12柔性机械臂机构混联结构示意图; [0023] FIG. 12 of the flexible robot arm mechanism hybrid structural diagram;

[0024] 图中标号名称:1、内层芯棒,2、外层柔性套,3、导线束,4、连接块,5、固定基座,101、内间隔片,102、内硅胶管,103、顶端固定片,104,SMA丝,105、底座,201、外间隔片,203、顶端连接座,204、外硅胶套,205、轴承,206、底端连接座。 [0024] FIG label name: 1, the inner mandrel 2, an outer flexible sleeve, 3, strands, 4, connecting block, 5, the fixed base 101, the spacer 102, the silicone tube, 103, the top of the fixing piece, 104, SMA wire 105, base 201, outer spacer 203, the top connecting base 204, an outer silicone sleeve 205, bearing 206, a bottom end connected to the seat.

具体实施方式 Detailed ways

[0025] 以下结合附图对本发明的形状记忆合金丝驱动柔性机械臂机构的具体技术方案进行描述。 [0025] The following description in conjunction with the accompanying drawings be flexible manipulator driving mechanism of the shape memory alloy wire of the present invention, specific technical solutions.

[0026] 如图1、2所示,本发明的柔性机械臂机构由内层芯棒1、外层柔性套2和导线束3组成。 [0026] 1 and 2, a flexible robot arm mechanism according to the present invention consists of an inner mandrel, an outer flexible sleeve 2 and 3 composed of strands. 本发明的一种形状记忆合金丝驱动的柔性机械臂机构,其特征在于:所述的仿生柔性机械臂机构包括内层芯棒和外层柔性套;其中内层芯棒包括N个内间隔片、3根SMA丝、底座、顶端固定片和N+1个内硅胶管,内硅胶管和内间隔片相互间隔布置,SMA丝穿过内间隔片和顶端固定片嵌入在内硅胶管中;其中外层柔性套包括M个外间隔片、6根SMA丝、底端连接座、顶端连接座和M+1个外硅胶管,外硅胶管和外间隔片相互间隔布置,6根SMA丝分为两组相反的旋向布置,每根SMA丝都以近似螺旋线的形状布置,且穿过外间隔片和嵌入在外硅胶管中,并一端固定在底部的底座上,另一端固定在顶端的连接座。 Flexible manipulator mechanism for a shape memory alloy wire of the present invention is driven, characterized in that: said robot arm means comprises a flexible biomimetic inner mandrel and an outer flexible sleeve; wherein the inner layer comprises an inner mandrel spacer of N , SMA wire 3, the base, the top of the fixing plate 1 and N + silicone tube, the inner tube and the inner silicone spacers spaced from each other, the SMA wire through the inner spacer and the fixing piece fitted to the top of the inner silicone tube; wherein an outer flexible sleeve outer spacer includes M, the SMA wire 6, connected to the seat bottom, and a base connected to the top of M + 1 silicone outer tube, the outer tube and the outer silicone spacers spaced from each other, is divided into six SMA wire two opposite rotation, each SMA wire have approximately the shape of a spiral arrangement to arrangement, and through the outer sheet and the spacer fitted in an outer silicone tube, and the bottom end fixed to the base, and the other end is connected and fixed at the top seat.

[0027] 内层芯棒I和外层柔性套2之间通过轴承205连接,保证内层芯棒I和外层柔性套2之间能够实现相对的扭转运动,用于给SMA丝通电加热的导线束3穿过内层芯棒I的中心孔。 [0027] I the inner mandrel and outer sleeve of the flexible connection between the second bearing 205 to ensure that the inner mandrel and the outer layer I can be achieved between the flexible sleeve 2 relative twisting motion, to the SMA wire for ohmic heating of harness 3 through the central bore of the inner mandrel I. 内层芯棒I中的顶端固定片103通过轴承205与外层柔性套2的顶端连接座连接,实现内层芯棒I和外层柔性套2之间轴向位置的限定,内层芯棒I的柔性弯曲和轴向伸缩运动都通过轴承传递到外层柔性套2上。 I is the inner mandrel 103 is connected to the top sheet is fixed to the top via a bearing holder 205 and the outer layer of the flexible sheath 2, to achieve a defined, the axial position of the inner mandrel between the second inner and outer flexible sleeve mandrel I I flexible bending and axial telescoping movement is transmitted through the bearings to the outer flexible sleeve 2. 外层柔性套2中的顶端连接座用于与其它柔性机械臂机构或末端执行器连接,外层柔性套2的扭转运动和伸缩运动与内层芯棒I通过轴承传递的弯曲和伸缩运动相复合,可使柔性机械臂机构实现柔性弯曲、扭转和伸缩运动,从而使顶端连接座203可实现任意空间姿态。 The top outer flexible sleeve holder 2 is connected to a flexible manipulator connected to another mechanism or end effector, a flexible outer sleeve 2 and a twisting movement of the telescopic movement of the inner mandrel I by bending and stretching movement of the bearing relative transmission composite, flexible manipulator mechanism can achieve a flexible bending, stretching and twisting motion, so that the tip connector holder 203 may be implemented in any spatial attitude.

[0028] 如图3、4、5所示,本发明的内层芯棒I由内间隔片101、内硅胶管102、顶端固定片103、SMA丝104、底座105组成。 [0028] As shown in FIG. 3, 4, the inner mandrel from the inside I of the present invention, the spacer 101, the silicone tube 102, secured to the top plate 103, SMA wires 104, 105 of the base composition. N个内间隔片101和N+1个内硅胶管102相互间隔布置,I个顶端固定片103安装在内层芯棒I的顶端,I个底座105安装在内层芯棒I的底端,每一根形状SMA丝104都交叉式分布,并穿过内间隔片101的固定孔,每一根形状SMA丝104都在穿过顶端固定片103后折返,且每一根SMA丝104的两端都固定在底端的底座105上,全部SMA丝104都嵌入在内硅胶管102中,内硅胶管102与内间隔片101和顶端固定片103之间直接采用704硅胶粘接,以实现SMA丝与外界环境隔离。 Spacer 101 within the N and N + 1 th on a silica gel tube 102 spaced from each other, a top I fixing pieces mounted on top of the inner mandrel 103 I, 105 I a base mounted at the bottom end of the inner mandrel I, shape of each of the SMA wire 104 are distributed crossbar, and through the fixing hole 101 of the spacer, the shape of each of the SMA wire 104 are secured through the top sheet 103 folded back, and the SMA wire 104 of each of two are fixed on the base end of the bottom 105, the entire SMA wire 104 is embedded in the inner silicone tube 102, the silicone tube 102 and the inner spacer 101 and the top sheet is directly fixed using an adhesive between the silicone 704 103, in order to achieve the SMA wire isolated from the external environment. SMA丝104共为3根,分别按截面内120°间隔分布,通过直接通电加热方式控制SMA丝收缩,按特定规律控制3根SMA丝的收缩运动,可以控制内层芯棒在轴向投影平面内360°任意方向弯曲,实现内层芯棒I向任意轴向投影方向弯曲和不同的弯曲角度,3组SMA丝104全部通电加热收缩时内层芯棒I实现沿轴线方向的整体收缩。 A total of 104 SMA wire 3, respectively spaced 120 ° internal cross-section, shrinkage control by direct electrical heating of the SMA wire, the control wire 3 by SMA contraction with a particular rule, the inner mandrel can be controlled in an axial plane projection bent in any direction within 360 °, I realized the inner mandrel axially curved and projected in an arbitrary direction different bending angles, all three groups of the SMA wire 104 contracts when energized overall thermal shrinkage I achieved inner mandrel axial direction.

[0029] 如图6、7、8、9所示,本发明的外层柔性套2由外间隔片201、SMA丝、顶端连接座203、外硅胶管204、轴承205、底端连接座206组成。 [0029] As shown in FIG. 8, 9, the outer flexible sleeve 2 according to the present invention by the outer spacer 201, SMA wire, is connected to the top housing 203, an outer silicone tube 204, bearing 205, housing 206 connected to the bottom end composition. M个外间隔片201和M+1个外硅胶管204相互间隔布置,I个顶端连接座203安装在外层柔性套2的顶端,用于连接其它柔性臂机构或末端执行器,I个底端连接座206安装在外层柔性套2的底端,6根SMA丝平均分成两组,其中一组为在截面内平均分布的沿外层柔性套2轴线左旋方向呈螺旋线形状布置,另一组为在截面内平均分布的沿外层柔性套2轴线右旋方向呈螺旋线形状布置,即两组SMA丝的旋转布置方向相反,通过控制不同组SMA丝的收缩运动,可以实现不同方向的扭转运动,6根SMA丝同时收缩时可实现外层柔性套沿轴线方向的收缩。 M of outer spacers 201 and the M + 1 silicone outer tube 204 spaced from each other, a top connected to the I holder 203 attached to the tip of the flexible outer sleeve 2, means for connecting the other flexible arm or end, a bottom end of the I connecting base 206 is mounted at the bottom end of the flexible outer sleeve 2, 6 SMA wires were divided into two groups, one of which is spirally arranged along the outer shape of the flexible sleeve left-handed direction in a cross section evenly distributed second axis, the other group spirally arranged along the outer shape of the flexible sleeve clockwise as evenly distributed in the cross-sectional axis 2, i.e., rotate in opposite directions two SMA wire arrangement, by controlling the contraction of different groups SMA wire, twisted in different directions can be achieved sports, six SMA wire while achieving the contraction of the flexible outer sleeve in the axial direction of contraction. 上述全部SMA丝都嵌入在外硅胶管204中,外硅胶管204和外间隔片201和顶端连接座203之间直接采用704硅胶粘接,以实现SMA丝与外界环境隔离。 All of the above SMA wires are embedded in the outer silica tube 204, outer tube 204 and an outer silicone spacers 201 and 704 directly from the top connecting base silicone adhesive 203, in order to achieve an environment external SMA wire. SMA丝的两端分别固定在顶端连接座203和底端连接座206上,且每组SMA丝在底部连接座206和顶端连接座203 —端连接在一起并与导线连接。 Both ends of the SMA wire are fixed to the top and bottom ends of the connecting base 203 connected to the base 206, and each base 206 connected to the SMA wire connecting base 203 and the bottom to the top - and connected to the end of the wire are connected together. 轴承205安装在外间隔片201、顶端连接座203和底端连接座206中,且轴承205外圈与外间隔片201、顶端连接座203和底端连接座206之间为过盈配合。 A bearing 205 mounted on the outer spacer 201, seat 203 and a bottom end connected to the top of the base connector 206, and the bearing outer race 205 and the outer spacer 201, the top and bottom ends connecting base 203 is connected between the base 206 is an interference fit.

[0030] 所述柔性机械臂机构可通过串联组成柔性机械臂,如图10所示。 The [0030] by means of flexible manipulator in series manipulator, as shown in FIG. 各柔性机械臂机构之间通过连接块4串联在一起,每一个柔性机械臂机构的导线都穿过前一个柔性机械臂机构的中心孔,所有的柔性机械臂机构的导线集合成导线束。 Between each flexible manipulator means connected in series through the connecting block 4, each of the flexible manipulator wire passes through a central mechanism of the robot arm mechanism of the front aperture of the flexible, flexible manipulator wire mechanism set all synthetic strands. 通过按特定的驱动规律来控制每个柔性机械臂机构,可以实现整个柔性机械臂的空间任意姿态的弯曲,能够深入狭窄的未知非结构环境,进行勘察和缠绕抓取工作。 A specific law to control each driving mechanism through a flexible manipulator may be implemented in any posture entire bending space flexible manipulator, it can penetrate into narrow unknown unstructured environment, for gripping and winding survey work.

[0031 ] 所述柔性机械臂机构可通过并联组成柔性机械臂,如图11所示。 The [0031] by means of flexible manipulator connected in parallel manipulator, as shown in FIG. 各柔性机械臂机构都并联固定在一个固定基座5上,其轴线可以相互平行也可以相互呈一定角度布置,所有的柔性机械臂机构的导线都穿过固定基座5后集合成导线束。 Each flexible manipulator means are connected in parallel is fixed on a fixed base 5, which axes may be parallel to each other may be disposed at an angle to each other, all of the flexible manipulator wire passes through the fixing means 5 assembled into base strands. 通过按特定的驱动规律来控制每个柔性机械臂机构,可以实现模拟乌贼和章鱼腕的柔性抓取和捕食运动。 A specific law to control each driving mechanism through a flexible manipulator, squid and octopus can be analog gripping the flexible wrist movement and predation. 该柔性机械臂具有更大的柔性,能够实现更加灵活的捕捉运动,灵活性优于一般的电机驱动机械臂和机械手。 The flexible manipulator having greater flexibility, enables the motion capture more flexible, than the general flexibility of the drive motor in the arm and hand.

[0032] 所述柔性机械臂机构可通过串联和并联混合组成柔性机械臂,如图12所示。 The [0032] flexible manipulator mechanism composed by mixing series and parallel manipulator, as shown in Fig. 该柔性机械臂包括多个串联和并联结构,通过合理的模块化组合可实现多种复杂功能。 The flexible manipulator comprises a plurality of series and parallel structures, various complex functions can be realized by proper combination of modular.

Claims (2)

1.一种形状记忆合金丝驱动的柔性机械臂机构,其特征在于包括内层芯棒(I)、外层柔性套(2)和用于给SMA丝电加热的导线束(3); 其中内层芯棒(I)由一个底座(105)、一个顶端固定片(103)、N个内间隔片(101)、N+1个内硅胶管(102)和三根SMA丝组成,N为大于I的自然数;其中N个内间隔片(101)和N+1个内娃胶管(102)相互间隔布置,底座(105)布置于内层芯棒(I)最下方内娃胶管的底端,顶端固定片(103)布置于内层芯棒(I)最上方内娃胶管的顶端;上述底座(105)、顶端固定片(103)、内间隔片(101)均具有用于SMA丝定位的固定孔;内层芯棒中的每根SMA丝的头端固定于底座(105)的一个固定孔,然后采用左右折返的方式依此穿过内间隔片的固定孔,再穿过顶端固定片的固定孔后折返,然后继续采用左右折返的方式依此穿过内间隔片的固定孔,最后内层芯棒中的SMA丝的末端固定于底座(105)的固定 A flexible manipulator mechanism driven by shape memory alloy wire, characterized in that the mandrel comprises an inner layer (the I), an outer flexible sleeve (2) and a wire bundle (3) to the SMA wire electrically heated; wherein an inner mandrel (I) consists of a base (105), a top of the fixing piece (103), N th chip interval (101), N + 1 th inner silicone tube (102) and three SMA filaments, N being greater than I is a natural number; N intervals wherein the sheet (101) and the N + 1 Neva hose (102) spaced from each other, the base (105) disposed on the inner mandrel (I) the bottom end of the lowermost baby hose, fixed to the top plate (103) disposed on the inner mandrel (I) to the top at the top of the baby hose; the base (105), fixed to the top plate (103), the spacer (101) has a positioning SMA wire fixing holes; head end of each SMA wire is fixed to the inner mandrel base (105) is a fixing hole, and then using the left and right fixing holes so folded manner through the inner spacer, and then passes through the top sheet is fixed after fixing hole folded, then folded about continue so fixed manner through the inner hole of the spacer, the final end of the SMA wire is fixed to the inner mandrel base (105) fixed 孔,内层芯棒中的每根SMA丝整体呈交叉状;上述内层芯棒中的SMA丝(104)嵌入在内硅胶管(102)中,内硅胶管(102)、内间隔片(101)、底座(105)和顶端固定片(103)之间均采用硅胶粘接; 其中外层柔性套(2 )由一个底端连接座(206 )、一个顶端连接座(203 )、M个外间隔片(201)、M+1个外硅胶管(204)和六根SMA丝组成,M为大于I的自然数;其中M个外间隔片(201)和M+1个外娃胶管(204)相互间隔布置,底端连接座(206)布置于外层柔性套(2)最下方外硅胶管的底端,顶端连接座(203 )布置于外层柔性套(2 )最上方外硅胶管的顶端;上述外间隔片(201)、顶端连接座(203)、底端连接座(206)均具有用于SMA丝定位的固定孔;夕卜层柔性套中的每根SMA丝的头端固定于底端连接座(206)的一个固定孔,然后采用螺旋方式依此穿过外间隔片的固定孔,外层柔性套中的SMA丝的末端再固定于顶端连接座(203)的固定孔; Holes, each inner mandrel entire SMA wire is in a cross shape; SMA wire in said inner mandrel (104) is embedded in the inner silicone tube (102), the inner silicone tube (102), the spacer ( 101), between the base (105) and fixed to the top plate (103) are made of silicone adhesive; wherein the flexible outer sleeve (2) connected by a bottom base (206), a top connecting base (203), M th an outer spacer (201), the M + 1 outer silica tube (204) and six SMA filaments, M being a natural number I; wherein M of the outer spacer (201) and the M + 1 outer baby hose (204) spaced from each other, the bottom end of the connecting base (206) disposed in the outer flexible sleeve (2) at the bottom of the outer bottom end of the silicone tube, connecting the top of the seat (203) disposed in the outer flexible sleeve (2) at the top of the outer silicone tube top; said outer spacer (201), the top connecting base (203), the bottom end of the connecting base (206) has a hole for fixing the SMA wire positioning; Bu Xi of each SMA wire layer of the flexible sleeve is fixed in the head end fixing holes connected to the bottom end of the seat (206) is a fixing hole, and then passes through the spiral manner so the outer fixing holes of the spacer, an outer end of the SMA wire is then fixed in the flexible jacket at the top of the connecting base (203) ; 上述外层柔性套中的六根SMA丝中任意相邻的两根SMA丝中一根为左旋方式而另一根为右旋方式;上述外层柔性套中的SMA丝嵌入在外娃胶管(204)中,外娃胶管(204)、外间隔片(201)、底端连接座(206 )和顶端连接座(203 )之间均采用硅胶粘接; 上述外层柔性套中的SMA丝与导线束(3)相连,导线束(3)穿过内层芯棒(I)的中心孔; 上述底端连接座(206)和底座(105)位置对应且通过轴承(205)连接,顶端连接座(203)和顶端固定片(103)位置对应且通过轴承连接;上述N SM,且上述外间隔片(201)与对应的内间隔片(101)之间通过轴承连接。 Six SMA wire above the flexible outer sleeve of any adjacent two SMA wire is in a left-handed while the other is right-handed; SMA wire above the outer flexible sleeve embedded in the outer hose baby (204) , the outer baby hose (204), the outer spacer (201), a bottom end connected to the seat (206) is connected to the top and base are made of silicone adhesive between (203); and the flexible outer sleeve of the SMA wire harness (3) is connected to the wire bundle (3) through the inner mandrel (I) of the center hole; the bottom end of the connecting seat (206) and a base (105) and is connected by a bearing position corresponding to (205), the top connecting base ( 203) and secured to the top plate (103) via a bearing, and a position corresponding to the connection; and the N SM, and the outer spacer (201) between the corresponding inner spacer (101) and connected by a bearing.
2.利用权利要求1所述形状记忆合金丝驱动的柔性机械臂机构的柔性机械臂,其特征在于:若干柔性机械臂机构通过连接块(4)串联或通过固定基座(5)并联。 Flexible manipulator 2. The flexible manipulator mechanism according to claim 1 using a shape memory alloy wire drive, characterized in that: a plurality of flexible manipulator means (4) or in series (5) fixed to the base via parallel through the connection block.
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