CN109305251B - SMA spring actuated double-wheel robot - Google Patents
SMA spring actuated double-wheel robot Download PDFInfo
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- CN109305251B CN109305251B CN201811137403.5A CN201811137403A CN109305251B CN 109305251 B CN109305251 B CN 109305251B CN 201811137403 A CN201811137403 A CN 201811137403A CN 109305251 B CN109305251 B CN 109305251B
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- wheel
- sma
- sma spring
- microcontroller
- heated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
Abstract
The invention discloses a two-wheeled robot actuated by SMA springs, which is different from the traditional motor drive and utilizes the SMA springs for actuation, each wheel of the two-wheeled robot is internally provided with a cross-shaped structure consisting of four cylindrical pipes, each cylindrical pipe is internally provided with one SMA spring, one end of each cylindrical pipe is fixed at the mass center of the wheel, and the other end of each cylindrical pipe is connected with a cylindrical weight which can just be put into the cylindrical pipe and can slide in the cylindrical pipe. The SMA spring is utilized to have the characteristic that the SMA spring can be extended when heated and can be restored to the original state when not heated, and when heated, the SMA spring is extended to drive the cylindrical weight to displace in the hollow pipe and deviate from the mass center of the wheel, so that the mass center of the wheel is changed, and the wheel rolls.
Description
Technical Field
The invention relates to the technical field of two-wheeled robots, in particular to an SMA spring actuated two-wheeled robot.
Background
A two-wheeled robot is one of the techniques which have been studied in robotics in recent years, and has been widely used in various fields because of its relatively simple structure, freedom of movement, and freedom of movement in various environments and spaces. At present two-wheeled robot relies on the motor to drive mainly, and it is comparatively complicated to be the drive structure on the one hand, and occupation space is big, and the noise is great on the other hand, causes noise pollution for indoor environment, disturbs people's normal work and rest.
The SMA spring is used as an actuator, the actuator has the advantages of large output displacement and simple electrothermal driving structure, and the SMA (shape memory alloy) spring has the characteristics of being capable of extending when heated and being capable of recovering when not heated. SMA actuators are divided into single-pass actuators and double-pass actuators. The SMA single-pass actuator can not automatically return to the state before heating by one-time action, while the double-pass actuator can realize repeated action and is suitable for being used as an actuator.
Disclosure of Invention
Aiming at the defects and shortcomings of the prior art, the invention provides the SMA spring actuated two-wheeled robot which is driven by an SMA two-way driver, effectively solves the defects of the prior art by utilizing the characteristic that the SMA spring can be extended by heating and can be restored to the original state without heating, and has the characteristics of low noise, simple structure, convenient operation and flexible movement.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a two-wheeled robot actuated by an SMA spring, which comprises two wheels, a connecting rod and bearings, wherein two ends of the connecting rod are respectively connected with one bearing, and the bearings are respectively arranged on the two wheels; the inside of the wheel is provided with a cross-shaped structure consisting of four hollow pipes, the inside of each hollow pipe is respectively provided with an SMA spring, one end of each SAM spring is fixed at the mass center of the wheel, the other end of each SAM spring is connected with a weight module, and the weight module can slide in the hollow pipes; each SMA spring is connected with an external control system, the external control system comprises a PC (personal computer) for sending a control command, a power module for providing a power supply, a microcontroller for receiving data, processing and sending data, heating wires for heating the SMA springs, relays for controlling the on-off of the heating wires and a sensor for monitoring the temperature of the SMA springs, the PC is connected with the microcontroller, the microcontroller is connected with four relays, each relay is connected with one heating wire, the heating wires are powered by the power module, each heating wire is connected with one SMA spring, the SMA springs are connected with the microcontroller through the sensor, when the microcontroller sends a signal for controlling the SMA springs, the relays connected with the corresponding SMA springs are closed, the heating wires are powered on and heated, the corresponding SMA springs are heated and extended, and the weight module is pushed to displace in the hollow tube, thereby changing the gravity center of the wheel and controlling the rolling of the wheel.
Preferably, the hollow tube is cylindrical, the weight module is also cylindrical, and the weight module can freely slide in the cylindrical hollow tube.
As a preferred technical scheme, the two ends of the SMA spring are fixedly connected by screws.
Preferably, the wheel is made of rubber.
As a preferred technical scheme, the automobile wheel bearing further comprises a bearing seat, wherein the bearing is installed on the bearing seat, and the bearing seat is fixed on a wheel through a screw.
As a preferred technical scheme, the robot device further comprises a robot shell, wherein the robot shell is arranged on the connecting rod and is made of aluminum materials.
As a preferred technical scheme, the microcontroller adopts an Arduino microcontroller.
The invention also provides a control method of the SMA spring actuated two-wheeled robot, which comprises the following steps:
the PC sends a control instruction to the microcontroller for processing;
the processed control instruction is transmitted to the relay to control the on and off states of the relay;
when the relay is closed, the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated;
the SMA spring temperature monitoring data is transmitted to the microcontroller through the temperature sensor;
the SMA spring is heated and extended to drive the weight module to displace in the hollow tube of the wheel, and the weight module deviates from the mass center of the wheel to change the gravity center of the wheel of the two-wheeled robot, so that the wheel rolls.
As a preferable technical solution, in the step of changing the gravity center of the wheel of the two-wheeled robot to roll the wheel, the rolling manner of the wheel includes linear forward and backward, specifically:
the microcontroller sends a high level command with the same frequency to the relay to control the relay to be closed;
the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated by the heating wire;
and the SMA springs for heating the two wheels are circularly controlled according to the same sequence, the two wheels generate synchronous gravity center shift, the two wheels have the same movement speed, and the two wheels generate linear forward or backward rolling.
As a preferable technical solution, the wheel rolling manner in the step includes turning left and turning right, specifically:
the microcontroller sends high level instructions with different frequencies to the relay to control the relay to be closed;
the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated by the heating wire;
and the SMA springs for heating the two wheels are circularly controlled according to the same sequence, the two wheels generate asynchronous gravity center offset, the two wheels have different moving speeds, when the speed of the left wheel is higher than that of the right wheel, the left wheel turns to the right, and when the speed of the left wheel is lower than that of the right wheel, the left wheel turns to the left.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the SMA spring actuated two-wheeled robot is actuated by driving the weight module through the SMA spring, and has the advantage of low noise compared with the traditional two-wheeled robot in a motor driving mode.
(2) The SMA spring actuated two-wheeled robot adopts a novel driving mode, utilizes the SMA two-way driver to provide power, has a simple structure, utilizes the change of the gravity center of the wheel to roll the wheel, thereby realizing the motion of the two-wheeled robot, can walk straight, turn, advance and retreat, and the like, and has flexible control and convenient operation.
Drawings
FIG. 1 is a schematic view of a single wheel of a two-wheeled robot of the present invention;
FIG. 2 is a schematic perspective elevation view of the two-wheeled robot of the present invention;
FIG. 3 is a schematic view of a bearing seat structure of the two-wheeled robot of the present invention;
FIG. 4 is a schematic view of a bearing structure in the two-wheeled robot of the present invention;
fig. 5 is a schematic diagram of the external control system of the present invention.
Wherein, 1 is a cylindrical pipe; 2-cylindrical weight; 3-SMA springs; 4-wheel centroid; 5-vehicle wheels; 6, a bearing; 7-a connecting rod; 8, bearing seats.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 and 2, the SMA spring actuated two-wheeled robot of this embodiment includes two wheels 5, bearings 6, a connecting rod 7 and a bearing seat 8, wherein two ends of the connecting rod 7 are respectively connected with one bearing 6 (the mechanical structure of the bearing is schematically shown in fig. 4), the bearings 6 are respectively arranged on the two wheels 5, the bearings 6 are mounted on the bearing seat 8, and the bearing seat 8 is fixed on the wheels 5 by screws. The wheel 5 may be made of a rubber material. The inside cruciform structure that four cylinder pipes 1 constitute that is equipped with of wheel 5, every cylinder pipe 1 is inside to be equipped with an SMA spring 3 respectively, SAM spring 3 for the screw connection fix in wheel barycenter 4 department for one end, cylindrical weight 2 of screw fixed connection for the other end, cylindrical weight 2 can be in the free slip of cylinder intraductal, an external control system is all connected to each SMA spring 3, as shown in FIG. 5, external control system is including the PC that is used for sending control command, a power module for providing the power, a microcontroller that is used for data reception and processing transmission, a heater strip for heating the SMA spring, a relay that is used for controlling the heater strip to switch on and off and a sensor that is used for monitoring SMA spring temperature, the PC links to each other with the microcontroller, the microcontroller links to each other with the relay, the heater strip links to each other with relay, power module, the SMA spring, The sensors are connected with the microcontroller, control instructions are sent by the PC and sent to the microcontroller for processing, and then the microcontroller sends signals to the 4 relays to control the on-off of the relays. When the relay is closed, the power supply module can supply current to the heating wire, the heating wire generates heat, and the SMA spring is further heated, so that the extension of the SMA spring is realized, the cylindrical weight is pushed to displace in the cylindrical pipe, the gravity center of the wheel is changed, and the wheel is controlled to roll. Each SMA spring has a temperature sensor for monitoring the temperature of the SMA spring and providing temperature data to the microcontroller, which is an arduino microcontroller.
In this embodiment, the external control system is external, rather than being placed inside the robot, thus ensuring the stability of the wheel center of mass. The mechanical structure of the robot also comprises a metal shell, the shell is arranged on the connecting rod, and the shell structure of the robot can be made of light materials, such as aluminum materials.
The control method for the SMA spring actuating device driven by the SMA double-pass driver in the embodiment specifically comprises the following steps:
the PC sends a control instruction to the microcontroller for processing;
the control instruction is transmitted to the relay after being processed, and the on-off state of the relay is controlled;
when the relay is closed, the heating wire is electrified and heated through the power supply module, and the SMA spring connected with the heating wire is heated;
the SMA spring temperature monitoring data is transmitted to the microcontroller through the temperature sensor;
the SMA spring is heated and extended to drive the weight module to displace in the wheel hollow tube;
the weight module deviates from the mass center of the wheel, and the gravity center of the wheel of the two-wheeled robot is changed, so that the wheel rolls;
in this embodiment, microcontroller sends a high level instruction for the relay, and the relay will be closed, and the power switches on, and the heater strip just has the electric current to pass through, and the heater strip generates heat, and the SMA spring will be heated, and the SMA spring extension drives the heavy object and removes, and the barycenter skew will take place for the wheel. The first spring is heated, then the second spring is heated, the third spring is heated, the fourth spring is heated, and the like, and the wheels are heated in a reciprocating mode according to the sequence, so that the gravity center of the wheels can shift, and the wheels can roll. In this embodiment, the microcontroller is an arduino microcontroller, and of course, other controllers capable of achieving the purpose of the present invention may be adopted, and are not limited to arduino microcontrollers.
In this embodiment, when the arduino microcontroller sends the same high level command to both wheels, both wheels will move linearly forward or backward together. When the frequency of the arduino microcontroller sending high level commands increases, the robot will move faster, otherwise it will slow down, thus controlling the speed of both wheels. When the frequency of the arduino microcontroller sending high level commands to the left wheel is greater than the frequency of the right wheel, the movement speed of the left wheel is faster than that of the right wheel, so that the robot turns to the right, and conversely turns to the left.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. The SMA spring actuated two-wheeled robot is characterized by comprising two wheels, a connecting rod and bearings, wherein two ends of the connecting rod are respectively connected with one bearing, and the bearings are respectively arranged on the two wheels; the wheel is internally provided with a cross-shaped structure consisting of four hollow pipes, an SMA spring is respectively arranged in each hollow pipe, one end of the SMA SAM spring is fixed at the mass center of the wheel, the other end of the SMA SAM spring is connected with a weight module, and the weight module can slide in the hollow pipes; each SMA spring is connected with an external control system, the external control system comprises a PC (personal computer) for sending a control command, a power module for providing a power supply, a microcontroller for receiving data, processing and sending data, heating wires for heating the SMA springs, relays for controlling the on-off of the heating wires and a sensor for monitoring the temperature of the SMA springs, the PC is connected with the microcontroller, the microcontroller is connected with four relays, each relay is connected with one heating wire, the heating wires are powered by the power module, each heating wire is connected with one SMA spring, the SMA springs are connected with the microcontroller through the sensor, when the microcontroller sends a signal for controlling the SMA springs, the relays connected with the corresponding SMA springs are closed, the heating wires are powered on and heated, the corresponding SMA springs are heated and extended, and the weight module is pushed to displace in the hollow tube, thereby changing the gravity center of the wheel and controlling the wheel to roll; each SMA spring has a temperature sensor for monitoring the temperature of the SMA spring and providing temperature data to the microcontroller.
2. The SMA spring actuated two-wheeled robot of claim 1, wherein the hollow tube is cylindrical and the weight module is also cylindrical, the weight module being freely slidable within the cylindrical hollow tube.
3. The SMA spring-actuated two-wheeled robot of claim 1, wherein the fixed connection of the two ends of the SMA spring is by screw fixation.
4. The SMA spring actuated two-wheeled robot of claim 1, wherein the wheel is a wheel made of rubber.
5. The SMA spring actuated two-wheeled robot of claim 1, further comprising a bearing mount on which the bearing is mounted, the bearing mount being secured to the wheel by screws.
6. The SMA spring actuated two-wheeled robot of claim 1, further comprising a robot housing disposed on the connecting rod, the robot housing being a housing of aluminum material.
7. The SMA spring actuated two-wheeled robot of claim 1, wherein the microcontroller is an Arduino microcontroller.
8. The method of controlling an SMA spring actuated two-wheeled robot according to any one of claims 1 to 7, comprising the steps of:
the PC sends a control instruction to the microcontroller for processing;
the processed control instruction is transmitted to the relay to control the on and off states of the relay;
when the relay is closed, the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated;
the SMA spring temperature monitoring data is transmitted to the microcontroller through the temperature sensor;
the SMA spring is heated and extended to drive the weight module to displace in the hollow tube of the wheel, and the weight module deviates from the mass center of the wheel to change the gravity center of the wheel of the two-wheeled robot, so that the wheel rolls;
in the step of changing the gravity center of the wheel of the two-wheeled robot to roll the wheel, the rolling mode of the wheel comprises linear forward and backward, and specifically comprises the following steps:
the microcontroller sends a high level command with the same frequency to the relay to control the relay to be closed;
the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated by the heating wire;
the SMA springs for heating the two wheels are circularly controlled according to the same sequence, the two wheels generate synchronous gravity center shift, the two wheels have the same movement speed, and the two wheels generate linear forward or backward rolling;
the rolling mode of the wheels in the step comprises turning left and turning right, and specifically comprises the following steps:
the microcontroller sends high level instructions with different frequencies to the relay to control the relay to be closed;
the heating wire is electrified and heated, and the SMA spring connected with the heating wire is heated by the heating wire;
and the SMA springs for heating the two wheels are circularly controlled according to the same sequence, the two wheels generate asynchronous gravity center offset, the two wheels have different moving speeds, when the speed of the left wheel is higher than that of the right wheel, the left wheel turns to the right, and when the speed of the left wheel is lower than that of the right wheel, the left wheel turns to the left.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811137403.5A CN109305251B (en) | 2018-09-28 | 2018-09-28 | SMA spring actuated double-wheel robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811137403.5A CN109305251B (en) | 2018-09-28 | 2018-09-28 | SMA spring actuated double-wheel robot |
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| CN109305251A CN109305251A (en) | 2019-02-05 |
| CN109305251B true CN109305251B (en) | 2020-10-20 |
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| CN112247975B (en) * | 2020-10-30 | 2022-03-29 | 华中科技大学 | Wheel-shaped mobile robot based on 4D printing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56113072A (en) * | 1980-02-08 | 1981-09-05 | Sharp Corp | Heat engine |
| JPS56115875A (en) * | 1980-02-14 | 1981-09-11 | Sharp Corp | Thermally operated engine |
| FR2663085A1 (en) * | 1990-06-06 | 1991-12-13 | Debruille Marc | Device of the engine or pump type including elements with shape memory |
| CN1186175C (en) * | 2002-08-22 | 2005-01-26 | 北京邮电大学 | Dual-roller walking unit for robot |
| CN1803409A (en) * | 2006-01-19 | 2006-07-19 | 上海交通大学 | Rigid/elastic coupling minitype creepage robot based on shape memory alloy driving |
| US8662213B2 (en) * | 2011-01-10 | 2014-03-04 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Locomotion of amorphous surface robots |
| US8678426B1 (en) * | 2013-02-01 | 2014-03-25 | GM Global Technology Operations LLC | Vehicle brake cooling system |
| CN203892131U (en) * | 2014-04-28 | 2014-10-22 | 蚌埠市创新科普产品工程研究中心有限公司 | Thermodynamic water truck |
| CN205417847U (en) * | 2016-03-31 | 2016-08-03 | 山东科技大学 | Adjustable permanent -magnetic chuck based on drive of round trip shape memory alloy spring |
| CN106828643B (en) * | 2017-02-28 | 2018-11-23 | 胡旸海 | A kind of omni-directional movement ball shape robot |
| CN108372517B (en) * | 2018-05-11 | 2020-04-17 | 清华大学 | Bionic wall-climbing robot leg unit driven by shape memory alloy and robot |
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