CN107053155A - A kind of trunk type sequential machine people of marmem driving - Google Patents
A kind of trunk type sequential machine people of marmem driving Download PDFInfo
- Publication number
- CN107053155A CN107053155A CN201710045354.1A CN201710045354A CN107053155A CN 107053155 A CN107053155 A CN 107053155A CN 201710045354 A CN201710045354 A CN 201710045354A CN 107053155 A CN107053155 A CN 107053155A
- Authority
- CN
- China
- Prior art keywords
- continuous joint
- joint module
- machine people
- kind box
- spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
Abstract
The invention provides a kind of trunk type sequential machine people of marmem driving, it is characterised in that：The robot uses modular design method, including the continuous joint module of several identicals, several identical bilateral studs.Two neighboring continuous joint module is connected by bilateral stud cascade.Each continuous joint module, which has, to be bent and two frees degree of deflection, and its structure includes two flanges, extension spring, four shape memory alloy springs, five first kind box stalls, five Equations of The Second Kind box stalls, a sensor assemblies.Wherein, shape memory alloy spring is the driving element of continuous joint module, is controlled by way of electric current is heated；Sensor assembly is nine axle Inertial Measurement Units, including three axis accelerometer, three-axis gyroscope, three axle geomagnetic sensors, position and attitude information for obtaining continuous joint module.The inventive structure is simple, small volume, lightweight, flexibility are strong, easy to control, is adapted to narrow and small environmental applications.
Description
Technical field
The present invention relates to a kind of bio-robot, it is more particularly related to what a kind of marmem drove
Trunk type sequential machine people.
Background technology
In recent decades, bionics has greatly promoted the research and development of robot technology.Wherein, sequential machine people is just
It is the example of a quasi-representative.They are designed by the inspiration of this class biological structure of big trunk, octopus tentacle and snake body,
Generally using flexible structure, without discrete joint and rigid link, and by bend body camber or waveform to form fortune
It is dynamic.This class robot can neatly cut-through thing, or through narrow and small hole, be especially suitable for unstructured moving grids should
With, Airborne Survey, medical surgery, urban SOS, industry manufacture etc. field have huge application prospect.
Number of patent application CN200910072751.3, entitled continuous body type semi-autonomous endoscope robot, with five
Section bending joint.Every section of bending joint is driven by four steel wires, with two frees degree.The deficiency of this design is：Steel wire
Control needs bulky remote motor driving structure, and overall volume is big；Number of patent application CN201410163465.9, entitled rope
Rope drives sequential machine people, the structure type mixed using discrete joint, continuous joint.Driven using motor in wherein discrete joint
Dynamic, continuous joint is driven using rope.The deficiency of this design is：The electric machine structure in discrete joint makes robot volume not enter
One step reduces, the control of rope needs bulky remote motor driving structure.
The content of the invention
For prior art, object of the present invention is to provide a kind of trunk type continuous machine of marmem driving
Device people, to solve, existing sequential machine people volume is big, need bulky remote boot server structure problem, and with good motion spirit
Activity.
The present invention is achieved through the following technical solutions.
A kind of trunk type sequential machine people of marmem driving, it is characterised in that：The robot uses modularization
Design philosophy, including the continuous joint module of several identicals, several identical bilateral studs.Two neighboring continuous joint mould
Block is connected by bilateral stud cascade.Each continuous joint module, which has, to be bent and two frees degree of deflection, its structure bag
Two flanges, extension spring, four shape memory alloy springs, five first kind box stalls, five Equations of The Second Kind are included to separate
Column, a sensor assembly.Wherein, shape memory alloy spring is the driving element of continuous joint module, is heated by electric current
Mode control；Sensor assembly is nine axle Inertial Measurement Units, including three axis accelerometer, three-axis gyroscope, three axle earth magnetism
Sensor, its heat transfer agent can resolve the position for obtaining continuous joint module and posture.
Extension spring two ends are plane, and its pitch is equal with line footpath, positioned at the center of continuous joint module, and above and below
The annular groove of two flanges is fixed with the two flanges.Four shape memory alloy springs are evenly arranged in the four of extension spring
Week, and fixed by bolt with two flanges up and down.Single head weld tabs packing ring is provided between the bolt and flange, is powered for connecting
Wire.By adjusting electric current and time by shape memory alloy spring, the length of shape memory alloy spring can be controlled
Change.Five first kind box stalls along extension spring length direction be evenly distributed on above and below between two flanges.The first kind point
Jube is used to pass through for shape memory alloy spring provided with centre bore and the aperture being evenly arranged, wherein aperture；Centre bore is used for
Pass through for extension spring, and be brought into close contact with extension spring outer wall.Except centre bore is than first kind box stall in Equations of The Second Kind box stall
Centre bore it is outer greatly, other structures are identical with first kind box stall.Five Equations of The Second Kind box stalls separate with five first kind respectively
Column fit, after shape memory alloy spring and extension spring is installed, both along central axis mutual dislocation certain angle, and
Fixed with unit bolt nut.Two class box stalls are act as：Make shape memory alloy spring shape after continuous joint module motion
Shape is generally radiused, while every a bit of deformation is approximately the same in shape memory alloy spring is kept.Sensor assembly makes
It is fixed by bolts on upper flange.To prevent short circuit, upper lower flange, first kind box stall, the material of Equations of The Second Kind box stall are used
The nonmetallic materials of insulation.Extension spring is sprayed with insulated paint.
By above-mentioned connection, the trunk type sequential machine people of marmem driving is constituted.
Advantages of the present invention is：First, driven using marmem, driving part marmem is directly as this
A part for body, only needs external electrified wire to be that can control, simple in construction, overall volume is small, lightweight, and being adapted to narrow and small environment should
With.2nd, shape memory alloy spring stroke is big, and continuous joint unit can obtain bigger angle of bend, improves robot
Flexibility.3rd, marmem is a kind of intellectual material, in addition to as driving element, can also provide heat transfer agent, such as
Power, deformation, are conducive to the accurate control of robot motion.
Brief description of the drawings
The structure chart for the trunk type sequential machine people that Figure 1A drives for the marmem of the present invention.
The exploded view for the trunk type sequential machine people that Figure 1B drives for the marmem of the present invention.
Fig. 2A is the structure chart of the continuous joint module of the present invention.
Fig. 2 B are the exploded view of the continuous joint module of the present invention.
In figure：1. continuous joint module, 2. bilateral studs, 3. continuous joint modules, 101. sensor assemblies, 102. flanges
(including 102A, 102B), 103. bolts (including 103A, 103B), 104. single head weld tabs packing rings (including 104A, 104B), 105.
Shape memory alloy spring (including 105A, 105B, 105C, 105D), 106. extension springs, 107. unit bolt nuts (including
107A, 107B, 107C, 107D, 107E), 108. first kind box stalls (including 108A, 108B, 108C, 108D, 108E), 109.
Equations of The Second Kind box stall (including 109A, 109B, 109C, 109D, 109E).
Embodiment：
Below by with reference to accompanying drawing, the invention will be further described.
Embodiments of the present invention：
A kind of trunk type sequential machine people of marmem driving, according to modular design method design, such as Figure 1A
With shown in Figure 1B, the robot includes：Continuous joint module 1, bilateral stud 2, continuous joint module 3.Two continuous joint moulds
The mechanism of block is identical with size, is connected in series by bilateral stud 2.Each continuous joint module, which has, bends and deflects two certainly
By spending.The trunk type sequential machine people of marmem driving shown in Fig. 1 has 4 frees degree altogether.If desired use
Multiple continuous joint modules (number of modules n is more than 2), need to only be connected in series, the robot free degree finally constituted in the same way
For 2 × n.
As shown in Figure 2 A and 2 B, continuous joint module 1 includes：Sensor assembly 101, (including two flanges of flange 102
102A, 102B), bolt 103 (including two groups of identical bolts 103A, 103B), (including two groups identical for single head weld tabs packing ring 104
Single head weld tabs packing ring 104A, 104B), (including the four identical shape memory alloy springs of shape memory alloy spring 105
105A, 105B, 105C, 105D), extension spring 106, unit bolt nut 107 (including five groups of identical bolt and nut 107A,
107B, 107C, 107D, 107E), first kind box stall 108 (including five identical first kind box stall 108A, 108B,
108C, 108D, 108E), Equations of The Second Kind box stall 109 (including five identical Equations of The Second Kind box stall 109A, 109B, 109C,
109D、109E)；
The two ends of extension spring 106 are plane, and its pitch is equal with line footpath, installed in flange 102A and flange 102B annular
In groove, it is aided with adhesive and fixes.Circumferentially spaced 90 ° of four shape memory alloy springs 105A, 105B, 105C, 105D
It is distributed in the surrounding of extension spring 106.Shape memory alloy spring 105A is fixed on flange by bolt 103A, bolt 103B respectively
On 102A and flange 102B.There is single head weld tabs between bolt 103A and flange 102A respectively between bolt 103B and flange 102B
Packing ring 104A and single head weld tabs packing ring 104B, to weld electrified wire.Shape memory alloy spring 105B, 105C, 105D's
Fixed form is similar to shape memory alloy spring 105A.Five first kind box stall 108A, 108B, 108C, 108D, 108E edges
The direction of extension spring axis 106 is evenly distributed between flange 110 and flange 118.First kind box stall 108 provided with centre bore and
Equally distributed aperture, centre bore is passed through with for extension spring 106, and is brought into close contact with the outer wall of extension spring 106, and aperture is used
So that shape memory alloy spring 105 passes through.Center in Equations of The Second Kind box stall 109 except centre bore than first kind box stall 108
Hole is outer greatly, and other structures and size are identical with first kind box stall 108.Five Equations of The Second Kind box stall 109A, 109B, 109C,
109D, 109E fit with five first kind box stalls 108A, 108B, 108C, 108D, 108E respectively, are installing shape memory
After alloy spring 105 and extension spring 106, both are along the central axis mutual dislocation certain angle of extension spring 106, blending bolt
Nut combination 107 is fixed.First kind box stall 108 and Equations of The Second Kind box stall 109 are act as：After continuous joint module 1 is moved,
Make the shape of shape memory alloy spring 105 generally radiused, while keeping in shape memory alloy spring 105 per a bit of change
Shape is approximately the same.Sensor assembly 101 is nine axle Inertial Measurement Units, including three axis accelerometer, three-axis gyroscope, three axles
Magnetic Sensor, is fixed by bolts on upper flange 102A.Sensor assembly 101 can measure upper flange 102A spatial attitude letter
Breath.When flange 102B fix or its spatial attitude information known in the case of, can be solved using the information of sensor assembly 101
Calculate the movable information for obtaining continuous joint module 1.
To prevent short circuit, flange 102, first kind box stall 108, Equations of The Second Kind box stall 109, the material of bilateral stud 2
Using the nonmetallic materials of insulation, extension spring is sprayed with insulated paint.
Specific application method：
The bending free degree control of continuous joint module 1：Appoint and take a shape memory alloy spring, such as 105A passes through electricity
The mode of heating is flowed, shape memory alloy spring 105A can produce contraction distortion and driving force, drive continuous joint module 1 along shape
Shape memory alloys spring 105A curvings.Electrical current size and time are adjusted, the angle of the bending can be adjusted；
The deflection free degree control of continuous joint module 1：Appoint and take two adjacent shape memory alloy springs, such as 105A and
105B.By adjusting loading shape memory alloy spring 105A, 105B electric current and time, make they produce different deformations with
Driving force, drives continuous joint module 1 to be bent with different deflection angles；
Trunk type sequential machine people's motion process of marmem driving：First, according to each continuous joint module
In the information of sensor assembly calculate the pose of each continuous joint module.Secondly, according to current robot pose and mesh
Mark appearance, carries out trajectory planning to obtain the movement locus of each continuous joint module.Secondly, according to the movement locus of planning,
The electric current of shape memory alloy spring in each continuous joint module of control, fortune is corrected with reference to the information of sensor assembly in real time
Dynamic rail mark.Finally, robot reaches object pose.
Claims (6)
1. a kind of trunk type sequential machine people of marmem driving, it is characterised in that：The robot uses modularization
Design philosophy is designed, including several continuous joint modules, several bilateral studs;The machine of several continuous joint modules
Structure is identical with size, and two neighboring continuous joint module is coupled in series by bilateral stud;The single continuous joint
Module, which has, to be bent and two frees degree of deflection;Trunk type sequential machine people's free degree of marmem driving is
2xn, n is the number for the continuous joint module that the robot is included.
2. the trunk type sequential machine people of marmem driving as claimed in claim 1, it is characterised in that:It is described single
Continuous joint module includes a sensor assembly, two flanges, two groups of bolts, two groups of single head weld tabs packing rings, four shape notes
Recall alloy spring, extension spring, five groups of unit bolt nuts, five first kind box stalls, five Equations of The Second Kind box stalls.
3. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that：The stretching
Both ends of the spring is plane, and its pitch is equal with line footpath, positioned at the center of continuous joint module, and passes through the circle of two flanges up and down
Annular groove is fixed with the two flanges;Circumferentially spaced 90 degree of four shape memory alloy springs are arranged in extension spring
Surrounding, and fixed by bolt with two flanges up and down；The single head weld tabs gasket arrangement between above-mentioned bolt and flange,
For connecting electrified wire；Length direction of five first kind box stalls along extension spring be evenly distributed on above and below two
Between flange;The first kind box stall is closed provided with centre bore and the aperture being evenly arranged, wherein aperture with for shape memory
Golden spring is passed through, and centre bore is passed through with for extension spring, and centre bore is brought into close contact with extension spring outer wall；The Equations of The Second Kind
In box stall except centre bore than first kind box stall centre bore greatly in addition to, other structures and size are identical with first kind box stall；
Five first kind box stalls are fitted with five first kind box stalls respectively, are installing shape memory alloy spring and stretching
After spring, two
Person fixes along extension spring central axis mutual dislocation certain angle, the combination of blending bolt nut;The sensor assembly
Using being bolted on upper flange.
4. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that:Shape memory
Alloy spring is the driving element of continuous joint module, is controlled by way of electric current is heated.
5. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that:The sensing
Device module is nine axle Inertial Measurement Units, including three axis accelerometer, three-axis gyroscope, three axle geomagnetic sensors, and it is sensed
Information can resolve the position for obtaining continuous joint module and posture.
6. the trunk type sequential machine people of marmem driving as claimed in claim 2, it is characterised in that：The method
Orchid, first kind box stall, Equations of The Second Kind box stall material are the nonmetallic materials of insulation；The extension spring is sprayed with insulated paint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045354.1A CN107053155A (en) | 2017-01-20 | 2017-01-20 | A kind of trunk type sequential machine people of marmem driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710045354.1A CN107053155A (en) | 2017-01-20 | 2017-01-20 | A kind of trunk type sequential machine people of marmem driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107053155A true CN107053155A (en) | 2017-08-18 |
Family
ID=59598955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710045354.1A Pending CN107053155A (en) | 2017-01-20 | 2017-01-20 | A kind of trunk type sequential machine people of marmem driving |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108045448A (en) * | 2017-12-05 | 2018-05-18 | 北京航空航天大学 | A kind of memory alloy driven multi-modal robot |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN108555883A (en) * | 2018-03-26 | 2018-09-21 | 江苏大学 | A kind of bionical trunk software mechanical arm |
| CN109268620A (en) * | 2018-12-04 | 2019-01-25 | 大连大学 | A kind of pipe robot based on marmem joule thermal drivers |
| CN109760103A (en) * | 2019-01-30 | 2019-05-17 | 天津理工大学 | A kind of bionical octopus arm two-stage driving gear and bionical octopus arm mechanism |
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN110802584A (en) * | 2019-09-30 | 2020-02-18 | 中山大学 | Rope-driven multi-joint flexible mechanical arm and robot |
| CN111015630A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Electric joint positioning and supporting device |
| CN111098295A (en) * | 2019-12-20 | 2020-05-05 | 北京邮电大学 | Intelligent snakelike arm robot system based on memory alloy |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112091957A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Super-redundancy continuum robot driven by shape memory alloy |
| CN112936337A (en) * | 2021-02-01 | 2021-06-11 | 中山大学 | Memory alloy driven continuous mechanical arm |
| CN113510692A (en) * | 2021-07-30 | 2021-10-19 | 西北工业大学 | Shape memory alloy drive-based turnable rolling robot and control method |
| WO2022097666A1 (en) * | 2020-11-05 | 2022-05-12 | 国立大学法人滋賀医科大学 | Long movable structure body and wiring assistance tool |
| CN114643575A (en) * | 2022-04-24 | 2022-06-21 | 吉林大学 | Material increase manufacturing bionic intelligent driving component |
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| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN104942790A (en) * | 2015-06-16 | 2015-09-30 | 天津理工大学 | Mini-type soft modularized reconfigurable robot unit module |
| CN205254991U (en) * | 2015-12-30 | 2016-05-25 | 中国科学院沈阳自动化研究所 | Snakelike robot |
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| US5996346A (en) * | 1993-07-28 | 1999-12-07 | The Board Of Trustees Of The Leland Stanford Junior University | Electrically activated multi-jointed manipulator |
| CN102896633A (en) * | 2012-09-27 | 2013-01-30 | 浙江大学 | Flexible spine with omni-directional angle feedback |
| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN104942790A (en) * | 2015-06-16 | 2015-09-30 | 天津理工大学 | Mini-type soft modularized reconfigurable robot unit module |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000552A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学 | A kind of Modular Flexible artificial-muscle joint |
| CN108045448A (en) * | 2017-12-05 | 2018-05-18 | 北京航空航天大学 | A kind of memory alloy driven multi-modal robot |
| CN108555883B (en) * | 2018-03-26 | 2020-08-28 | 江苏大学 | Bionic trunk soft mechanical arm |
| CN108555883A (en) * | 2018-03-26 | 2018-09-21 | 江苏大学 | A kind of bionical trunk software mechanical arm |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN108406753B (en) * | 2018-05-24 | 2023-06-20 | 枣庄学院 | Flexible mechanical arm driven by memory polymer sheet |
| CN109268620A (en) * | 2018-12-04 | 2019-01-25 | 大连大学 | A kind of pipe robot based on marmem joule thermal drivers |
| CN109760103A (en) * | 2019-01-30 | 2019-05-17 | 天津理工大学 | A kind of bionical octopus arm two-stage driving gear and bionical octopus arm mechanism |
| CN109760103B (en) * | 2019-01-30 | 2022-03-11 | 天津理工大学 | Bionic octopus arm two-stage driving mechanism and bionic octopus arm mechanism |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN109877858B (en) * | 2019-03-11 | 2022-03-11 | 武汉理工大学 | Rigidity-variable soft manipulator |
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
| CN110802584A (en) * | 2019-09-30 | 2020-02-18 | 中山大学 | Rope-driven multi-joint flexible mechanical arm and robot |
| CN111015630A (en) * | 2019-12-10 | 2020-04-17 | 渤海造船厂集团有限公司 | Electric joint positioning and supporting device |
| CN111098295B (en) * | 2019-12-20 | 2021-06-18 | 北京邮电大学 | Intelligent snakelike arm robot system based on memory alloy |
| CN111098295A (en) * | 2019-12-20 | 2020-05-05 | 北京邮电大学 | Intelligent snakelike arm robot system based on memory alloy |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN112091957B (en) * | 2020-08-24 | 2023-04-18 | 上海大学 | Super-redundancy continuum robot driven by shape memory alloy |
| CN112091957A (en) * | 2020-08-24 | 2020-12-18 | 上海大学 | Super-redundancy continuum robot driven by shape memory alloy |
| WO2022097666A1 (en) * | 2020-11-05 | 2022-05-12 | 国立大学法人滋賀医科大学 | Long movable structure body and wiring assistance tool |
| CN112936337A (en) * | 2021-02-01 | 2021-06-11 | 中山大学 | Memory alloy driven continuous mechanical arm |
| CN112936337B (en) * | 2021-02-01 | 2023-05-09 | 中山大学 | Continuous mechanical arm driven by memory alloy |
| CN113510692A (en) * | 2021-07-30 | 2021-10-19 | 西北工业大学 | Shape memory alloy drive-based turnable rolling robot and control method |
| CN113510692B (en) * | 2021-07-30 | 2022-08-12 | 西北工业大学 | Shape memory alloy drive-based turnable rolling robot and control method |
| CN114643575A (en) * | 2022-04-24 | 2022-06-21 | 吉林大学 | Material increase manufacturing bionic intelligent driving component |
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