CN109973342B - Shape memory driving type software driver and its control method and manufacturing method - Google Patents
Shape memory driving type software driver and its control method and manufacturing method Download PDFInfo
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- CN109973342B CN109973342B CN201910183260.XA CN201910183260A CN109973342B CN 109973342 B CN109973342 B CN 109973342B CN 201910183260 A CN201910183260 A CN 201910183260A CN 109973342 B CN109973342 B CN 109973342B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
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Abstract
The invention discloses a shape memory alloy embedded software driver and a control method and a manufacturing method thereof, the shape memory driving software driver comprises a software module which is used for stretching or contracting along the axial direction and is used for improving the load capacity of the shape memory driving software driver, shape memory alloy springs which are arranged in the software module along the axial direction and a heating and adjusting module which is used for heating the shape memory alloy springs, a plurality of shape memory alloy springs are equidistantly arranged in the software module along the circumferential direction, the heating and adjusting module heats and/or stops heating the shape memory alloy springs at different parts, the shape memory driving type software driver moves towards different directions under the action of driving force generated when the temperature of the shape memory alloy spring is increased to be higher than the phase change temperature and/or is cooled to be lower than the phase change temperature and the action of elastic restoring force of the software module.
Description
Technical Field
The invention relates to the field of software mechanical arms, in particular to a shape memory driving software driver, and further relates to a control method and a manufacturing method of the shape memory driving software driver.
Background
Soft robotic arms are one type of flexible robotic arm. Currently, the driving methods of the soft mechanical arm can be divided into gas drive, rope drive, etc. The gas drive mode adopts the mode that the inside atmospheric pressure of multicavity structure changes, realizes the space motion of flexible arm, has advantages such as reaction rate is fast, the motion is continuous easily to be controlled, nevertheless needs additionally to dispose air supply unit, and whole miniaturization degree of difficulty is great. The rope drives the mode that the motor drove the rope motion, can provide great drive power, nevertheless receive and releases the rope device structure complicacy, and the motor quality is great, and the small-size lightweight degree of difficulty of whole size and quality is all great. The magnetic driving mode guides the mechanical arm to move in space through the change of an external magnetic field, but the application range of the magnetic driving mode is difficult to expand due to the limitation of the external magnetic field.
Disclosure of Invention
The invention provides a shape memory drive type soft driver and a control method and a manufacturing method thereof, and aims to solve the technical problems of complexity and large occupied space of a drive device of the existing gas drive and rope drive type soft mechanical arm.
According to one aspect of the invention, the shape memory drive type soft body driver comprises a soft body module, a shape memory alloy spring and a heating and adjusting module, wherein the soft body module is used for stretching or contracting along the axial direction and used for improving the load capacity of the shape memory drive type soft body driver, the shape memory alloy spring is arranged in the soft body module along the axial direction, the heating and adjusting module is used for heating the shape memory alloy spring, the shape memory alloy spring is arranged in the soft body module at equal intervals along the circumferential direction, the heating and adjusting module is used for heating and/or stopping heating the shape memory alloy spring at different positions, and the shape memory drive type soft body driver moves towards different directions under the action of driving force generated when the temperature of the shape memory alloy spring is increased to be higher than a phase change temperature and/or is cooled to be lower than the phase change temperature and under the action of elastic restoring force of the soft body module.
Furthermore, the shape memory alloy spring is embedded in the wall body of the software module; the heating adjusting module is respectively electrically connected with the shape memory alloy springs at different parts so as to respectively heat the shape memory alloy springs at different parts; the soft body module is internally provided with a central channel for penetrating through an electric connecting wire of the heating adjusting module and the shape memory alloy spring.
Furthermore, the wall body of the soft body module is provided with blind holes along the radial direction, and the blind holes are respectively distributed on the wall body of the soft body module along the axial direction and the circumferential direction at equal intervals so as to increase the compression deformation capacity of the soft body module.
Furthermore, the cross section of the blind hole is fan-shaped, and the side wall surface of the blind hole is wave-shaped, zigzag, arc-shaped or linear along the axial direction of the software module.
Furthermore, two ends of the soft module are respectively provided with an installation panel for positioning the shape memory alloy spring and the soft module, and the installation panels are made of rigid materials.
Further, the surface of the shape memory alloy spring is coated with a heat insulation coating; or the phase transition temperature of the shape memory alloy spring is more than 50 ℃.
Further, a plurality of software modules are connected in an axial stacking mode.
The invention also provides a control method of the shape memory driving software driver, which is used for controlling the shape memory driving software driver and comprises the following steps: heating a single shape memory alloy spring or a plurality of circumferentially adjacent shape memory alloy springs in the soft body module to a temperature above the phase transition temperature through the heating adjusting module, and performing contraction or stretching movement on the heated shape memory alloy spring so as to drive the soft body module to deflect; after the software module deflects to the appointed direction, the heating adjusting module heats the single shape memory alloy spring or a plurality of adjacent shape memory alloy springs to the phase transition temperature along the circumferential direction in sequence, so that the shape memory driving software driver performs the circling motion around the axis.
The invention also provides a manufacturing method of the shape memory driving software driver, which is used for manufacturing the shape memory driving software driver and comprises the following steps: installing a forming die of a shape memory driving type soft driver, and arranging a plurality of shape memory alloy springs in a die cavity of the forming die along the circumferential direction; injecting liquid silica gel into a mold cavity of a molding mold; the shape memory driving type soft driver is taken out from the forming die after being formed.
Further, the forming die of the shape memory drive type soft driver comprises a die bottom plate for sealing and supporting the bottom, an inner die column arranged on the die bottom plate and a die side plate which is distributed on the periphery of the inner die column along the circumferential direction of the die bottom plate and is used for forming the side wall surface of the soft module; the plurality of mould side plates are spliced and fixed on the mould bottom plate along the circumferential direction of the mould bottom plate so as to facilitate demoulding after the soft module is formed.
The invention has the following beneficial effects:
the shape memory driving type soft body driver is characterized in that shape memory alloy springs are axially arranged in a soft body module, the shape memory alloy springs are equidistantly distributed along the circumferential direction of the soft body module, the heating adjusting module is used for selecting and heating and/or stopping heating the shape memory alloy springs at different positions, the shape memory driving type soft body driver moves towards different directions under the action of driving force generated when the temperature of the shape memory alloy springs is increased to be higher than a phase change temperature and/or is cooled to be lower than the phase change temperature and the action of elastic restoring force of the soft body module, the soft body module is used for improving the load capacity of the shape memory driving type soft body driver, and a target object is arranged at the movable end of the shape memory driving type soft body driver, so that the target object is moved to a target place; the shape memory alloy spring has a light structure, is arranged in the soft module, occupies small space and can carry out omnibearing movement in a narrow space.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the shape memory actuated software driver according to the preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the shape memory driver with software modules removed according to the preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of the single spring drive of the preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the dual spring drive of the preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of the three spring drive of the preferred embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a mold for molding the shape memory actuated soft body actuator according to the preferred embodiment of the present invention;
figure 7 is a schematic diagram of the construction of the soft robotic arm of the preferred embodiment of the present invention.
Illustration of the drawings:
100. shape memory driven software drivers; 1. a software module; 2. a shape memory alloy spring; 3. a central channel; 4. blind holes; 5. installing a panel; 200. forming a mold; 6. a mold base plate; 7. an inner mold column; 8. a mold side plate; 300. a soft mechanical arm.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.
FIG. 1 is a schematic diagram of the shape memory actuated software driver according to the preferred embodiment of the present invention; FIG. 2 is a schematic diagram of the shape memory driver with software modules removed according to the preferred embodiment of the present invention; FIG. 3 is a schematic diagram of the single spring drive of the preferred embodiment of the present invention; FIG. 4 is a schematic diagram of the dual spring drive of the preferred embodiment of the present invention; FIG. 5 is a schematic diagram of the three spring drive of the preferred embodiment of the present invention; FIG. 6 is a schematic structural diagram of a forming mold of a software module according to a preferred embodiment of the present invention; figure 7 is a schematic diagram of the construction of the soft robotic arm of the preferred embodiment of the present invention.
As shown in fig. 1 and fig. 2, a shape memory driving soft body driver 100 of the present embodiment includes a soft body module 1 for stretching or contracting along an axial direction and for improving a load capacity of the shape memory driving soft body driver 100, a shape memory alloy spring 2 disposed in the soft body module 1 along the axial direction, and a heating adjustment module for heating the shape memory alloy spring 2, wherein a plurality of shape memory alloy springs 2 are equidistantly disposed in the soft body module 1 along a circumferential direction of the soft body module 1, the heating adjustment module heats and/or stops heating of the shape memory alloy springs 2 at different positions, the shape memory driving software driver 100 moves to different directions under the driving force generated when the temperature of the shape memory alloy spring 2 rises above the phase transition temperature and/or cools below the phase transition temperature and the elastic restoring force of the software module 1. The shape memory driving soft body driver 100 of the invention is provided with shape memory alloy springs 2 along the axial direction in a soft body module 1, and a plurality of shape memory alloy springs 2 are equidistantly distributed along the circumferential direction of the soft body module 1, the shape memory alloy spring 2 at different parts is heated and/or stopped to be heated by the heating adjusting module, the shape memory driving type software driver 100 moves towards different directions under the action of driving force generated when the temperature of the shape memory alloy spring 2 is increased to be higher than the phase change temperature and/or cooled to be lower than the phase change temperature and the action of elastic restoring force of the software module 1, the software module 1 is used for improving the load capacity of the shape memory driving type software driver 100, moving the target object to the target place by installing the target object at the movable end of the shape memory driving type software driver 100; the shape memory alloy spring 2 is light and handy in structure, and is arranged in the software module 1, the occupied space is small, and the omnibearing movement can be carried out in a narrow space. Preferably, the shape memory alloy springs 2 are all nickel titanium (Ni-Ti) memory alloy springs. The nickel-titanium (Ni-Ti) memory alloy spring contracts to a high-temperature memory length when the temperature of the Ni-Ti memory alloy spring rises above a phase transition temperature, and is in a free and soft state when the Ni-Ti memory alloy spring is cooled below the phase transition temperature, and the Ni-Ti memory alloy spring in the contracted state is stretched by the elastic restoring force when the soft body module 1 is changed from a compressed state to an initial state; or when the software module 1 changes from the initial state to the stretching state, the Ni-Ti memory alloy spring is driven to stretch, and because the Ni-Ti memory alloy spring is in a free and soft state, the Ni-Ti memory alloy spring does not generate a contraction restoring force to limit the stretching of the software module. Optionally, the plurality of shape memory alloy springs 2 are one or a combination of high-temperature elongation type CuZnAl memory alloy springs, high-temperature shortening type CuZnAl memory alloy springs or Ni-Ti memory alloy springs. The high-temperature elongation type CuZnAl memory alloy spring is stretched to a high-temperature memory length when the temperature is increased to be higher than the phase transition temperature, and is contracted to a low-temperature memory length when the temperature is cooled to be lower than the phase transition temperature. The high-temperature shortened CuZnAl memory alloy spring is contracted to a high-temperature memory length when the temperature is increased to be higher than the phase transition temperature, and is stretched to a low-temperature memory length when the temperature is cooled to be lower than the phase transition temperature.
As shown in fig. 1 and 2, the shape memory alloy spring 2 is embedded in the wall of the software module 1; the heating adjusting module is respectively electrically connected with different shape memory alloys so as to respectively electrically heat the different shape memory alloys; a central channel 3 for passing through the electric connecting wire of the heating adjusting module and the shape memory alloy spring 2 is arranged in the soft body module. The soft module 1 is formed by casting silica gel with the Shore hardness of less than 30 degrees, and the shape memory alloy spring 2 is embedded in the wall body of the soft module 1 and is tightly connected with the silica gel into a whole, so when the restoring force generated when the temperature of the shape memory alloy spring 2 is raised above the phase change temperature and/or cooled below the phase change temperature drives the wall body of the soft module 1 to contract or stretch, the stress of the soft module 1 is more uniform, the motion mode is easy to control, and the motion posture is more accurate. Optionally, the inner wall surface and/or the outer wall surface of the soft body module 1 is/are provided with mounting grooves for mounting the shape memory alloy springs 2 along the axial direction. Optionally, an inner cavity for placing the shape memory alloy is arranged in the software module 1. The shape memory alloy spring 2 is arranged in the inner cavity of the soft body module 1, and two ends of the shape memory alloy spring are respectively fixed on the inner top surface and the inner bottom surface of the soft body module 1.
As shown in figure 1, blind holes 4 are arranged on the wall of the soft body module 1 along the radial direction, and a plurality of blind holes 4 are respectively arranged on the wall of the soft body module 1 along the axial direction and the circumferential direction at equal intervals to increase the expansion and contraction deformability of the soft body module 1, thereby expanding the movement range of the shape memory drive type soft body driver 100. The cross section of the blind hole 4 is fan-shaped, and the side wall surface of the blind hole 4 is wave-shaped, zigzag, arc-shaped or linear along the axial direction of the software module 1. In this embodiment, the blind hole 4 is disposed on the outer wall surface of the software module 1. Optionally, the blind hole 4 is provided on the inner wall surface of the soft body module 1. In order to improve the load capacity of the shape memory driving type soft driver 100, the soft module 1 molded by silica gel casting must have certain hardness, so the flexible deformation capacity is limited, and the flexible deformation capacity of the soft module 1 is increased by arranging a plurality of blind holes 4 on the wall body of the soft module 1. Optionally, a small cavity is arranged in the wall body of the software module 1, and the plurality of small cavities are axially arranged in the wall body of the software module 1.
As shown in fig. 1 and 2, two ends of the soft body module 1 are provided with mounting panels 5 for positioning the shape memory alloy spring 2 and the soft body module, and the mounting panels 5 are made of rigid materials. The mounting panel 5 is used for limiting the radial deformation of the software module 1, and avoiding the interference of the radial deformation of the software module 1 on the movement direction of the shape memory driving software driver 100 when the axial restoring force of the shape memory alloy spring 2 drives the software module 1 to axially contract or stretch, which results in inaccurate movement of the shape memory driving software driver 100.
As shown in figures 1 and 2, the axial dimension of the soft body module 1 is 0.5-1.5 times of the radial dimension. When the axial size of the software module 1 is smaller than 0.5 times of the radial size, the variation of the axial expansion and contraction of the software module 1 is relatively small, resulting in a very small range of motion of the shape memory driven software driver 100. When the axial dimension of the software module 1 is larger than 1.5 times of the radial dimension, the loading capacity of the software module 1 is relatively poor, and the shape memory driving software driver 100 is easy to shake when carrying the target object to move, so that the moving direction is deviated, and the target object cannot be sent to the target position.
The surface of the shape memory alloy spring 2 is coated with a heat insulation coating; the phase transition temperature of the shape memory alloy spring 2 is 50 degrees celsius or higher. In order to avoid the inaccurate motion direction of the shape memory driving software driver 100 caused by the fact that the temperature of the adjacent shape memory alloy spring 2 is increased to be higher than the phase transition temperature or the temperature of the adjacent shape memory alloy spring 2 cannot be reduced to be lower than the phase transition temperature due to the heat conducted to the adjacent shape memory alloy spring 2 by the heating adjusting module when the shape memory alloy spring 2 is heated. The heat transfer between the adjacent shape memory alloy springs 2 is reduced by coating the heat insulation coating on the surfaces of the shape memory alloy springs 2, or the shape memory alloy springs with the phase transition temperature of more than 50 ℃ are selected to be arranged in the software module 1, so that the influence of the heat transferred by the adjacent shape memory alloy springs 2 on the shape memory alloy springs is small.
The control method of the shape memory driver 100 of the present embodiment is used for controlling the shape memory driver 100, and comprises the following steps: heating a single shape memory alloy spring 2 or a plurality of circumferentially adjacent shape memory alloy springs 2 in the software module 1 to a temperature above the phase transition temperature through the heating adjusting module, and carrying out contraction or stretching movement on the heated shape memory alloy spring 2 so as to drive the software module 1 to deflect; after the soft body module 1 deflects to the appointed direction, the single shape memory alloy spring 2 or the plurality of adjacent shape memory alloy springs 2 are sequentially heated to the phase transition temperature through the heating adjusting module along the circumferential direction, so that the soft body module 1 performs circling motion around the axis.
In the present embodiment, six shape memory alloy springs 2, namely, the shape memory alloy spring S1, the shape memory alloy spring S2, the shape memory alloy spring S3, the shape memory alloy spring S4, the shape memory alloy spring S5 and the shape memory alloy spring S6, are equidistantly arranged in the peripheral direction of the software module 1, and all six shape memory alloy springs 2 are Ni-Ti memory alloy springs. The shape memory driving soft actuator 100 is provided with a single spring driving method, a double spring driving method and a triple spring driving method.
As shown in fig. 3, the single spring driving method includes the following steps: the heating regulating module heats the shape memory alloy spring S1 to the phase transition temperature or higher, and the shape memory alloy spring S1The other five shape memory alloy springs 2 are in a free soft state when the soft body module 1 is contracted, thereby driving the shape memory alloy springs S1Is deflected in the direction and drives the adjacent shape memory alloy spring S2And a shape memory alloy spring S6Contracting and interacting with the shape memory alloy spring S1Opposed shape memory alloy springs S4And a shape memory alloy spring S2Opposed shape memory alloy springs S5And a shape memory alloy spring S6Opposed shape memory alloy springs S3Stretching; in the above manner, the shape memory alloy spring S is sequentially formed2A shape memory alloy spring S3A shape memory alloy spring S4Shape memory alloySpring S5And a shape memory alloy spring S6Heating to above the phase transition temperature, thereby causing the software module 1 to perform a circling motion around the axis.
As shown in fig. 4, the dual spring driving method includes the following steps: the heating regulating module is used for heating the adjacent shape memory alloy springs S1And a shape memory alloy spring S2Heating to a temperature above the phase transition temperature to form a shape memory alloy spring S1And a shape memory alloy spring S2The other four shape memory alloy springs 2 are in a free soft state when the soft body module 1 is contracted, thereby driving the soft body module to face the shape memory alloy spring S1And a shape memory alloy spring S2The direction of the coupling deflects and drives the shape memory alloy spring S on the opposite side4And a shape memory alloy spring S5Stretching; in this way, two adjacent shape memory alloy springs are heated in sequence to a temperature above the phase transition temperature, so that the software module 1 performs a circling motion around the axis.
As shown in fig. 5, the three-spring driving method includes the following steps: the heating regulating module is used for heating the adjacent shape memory alloy springs S1And a shape memory alloy spring S2And a shape memory alloy spring S3Heating to a temperature above the phase transition temperature to form a shape memory alloy spring S1And a shape memory alloy spring S2And a shape memory alloy spring S3Contract to drive the soft body module 1 toward the shape memory alloy spring S1A shape memory alloy spring S2And a shape memory alloy spring S3The direction of the coupling deflects and drives the shape memory alloy spring S on the opposite side4A shape memory alloy spring S5And a shape memory alloy spring S6Stretching; in this way, three adjacent shape memory alloy springs are sequentially heated to a temperature above the phase transition temperature, so that the software module 1 performs a circling motion around the axis.
As shown in FIG. 6, the method for manufacturing the shape memory driver 100 according to the present embodiment is used to manufacture the shape memory driver 100, and includes the following steps: a forming die 200 for installing the shape memory driving type soft body driver 100, and a plurality of shape memory alloy springs 2 are arranged in the die cavity of the forming die 200 along the circumferential direction; injecting liquid silica gel with Shore hardness less than 30 degrees into a mold cavity of the forming mold 200; the shape memory driving type soft actuator 100 is taken out from the molding die 200 after molding. The forming die 200 of the soft body module 1 comprises a die bottom plate 6 for bottom sealing and supporting, an inner die column 7 arranged on the die bottom plate 6 and a die side plate 8 which is arranged at the periphery of the inner die column 7 along the circumferential direction of the bottom plate and is used for forming the side wall surface of the soft body module 1; the plurality of mould side plates 8 are spliced and fixed on the mould bottom plate 6 in the circumferential direction of the mould bottom plate 6 so as to facilitate demoulding after the shape memory drive type soft body driver 100 is formed, and a mould cavity for forming the soft body module 1 is formed between the mould side plates 8 and the inner column 7.
As shown in fig. 1 and fig. 6, in the present embodiment, the shape memory driving software driver 100 further includes mounting panels 5 disposed at two ends of the software module 1. One of the mounting panels 5 is laid on the bottom plate 6 of the mold, and the other mounting panel 5 is covered above the mold cavity, so that the shape memory alloy spring 2 is positioned and mounted between the two mounting panels 5, and the mounting panels 5 and the soft body module are integrally formed. In the present embodiment, the inner side wall of the mold side plate 8 is provided with a projection for forming the blind hole 4. In the manufacturing method of the shape memory driving software driver 100 of the present embodiment, the shape memory alloy spring 2 is installed in the forming mold 200 of the software module 1, and the liquid silicone rubber is poured into the forming mold 200, so that the shape memory alloy spring 2 and the software module 1 are integrally formed, which is simple in operation and high in processing efficiency.
As shown in FIG. 7, the soft mechanical arm 300 of the present embodiment is formed by stacking and connecting a plurality of the shape memory actuated soft actuators 100 in an axial direction. The heating adjusting module heats and/or stops heating the shape memory alloy springs 2 at different parts in different software modules 1, the software mechanical arm 300 moves to different directions under the action of driving force generated when the temperature of the shape memory alloy springs 2 is increased to be higher than a phase change temperature and/or is cooled to be lower than the phase change temperature and the action of elastic restoring force of the software modules 1, the movement modes are various, and the movement direction is accurate.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A control method of shape memory driving software driver,
the shape memory drive type soft driver comprises a soft module (1) which is used for stretching or contracting along the axial direction and is used for improving the load capacity of the shape memory drive type soft driver (100), a shape memory alloy spring (2) which is arranged in the soft module (1) along the axial direction, and a heating regulation module which is used for heating the shape memory alloy spring (2),
a plurality of shape memory alloy springs (2) are arranged in the soft body module (1) along the circumferential direction at equal intervals,
the heating adjusting module heats and/or stops heating the shape memory alloy spring (2) at different parts, the shape memory driving software driver (100) moves to different directions under the action of driving force generated when the temperature of the shape memory alloy spring (2) rises above a phase change temperature and/or cools below the phase change temperature and the action of elastic restoring force of the software module,
the control method is characterized by comprising the following steps:
heating a single shape memory alloy spring (2) in the soft module (1) or a plurality of circumferentially adjacent shape memory alloy springs (2) to a temperature above the phase transition temperature through the heating adjusting module, and enabling the heated shape memory alloy springs (2) to contract or stretch so as to drive the soft module (1) to deflect;
when the software module (1) deflects to a designated direction, the heating adjusting module is used for heating the single shape memory alloy spring (2) or the plurality of adjacent shape memory alloy springs (2) to a temperature higher than the phase transition temperature in sequence along the circumferential direction, so that the shape memory driving software driver (100) performs circling motion around the axis;
the six shape memory alloy springs 2, namely the shape memory alloy spring S1, the shape memory alloy spring S2, the shape memory alloy spring S3, the shape memory alloy spring S4, the shape memory alloy spring S5 and the shape memory alloy spring S6, are circumferentially and equidistantly distributed in the software module 1, and the six shape memory alloy springs 2 are all Ni-Ti memory alloy springs;
the shape memory driving type soft body driver (100) is provided with a single spring driving mode, a double spring driving mode and a three spring driving mode;
the single spring driving mode comprises the following steps: the heating regulating module heats the shape memory alloy spring S1 to the phase transition temperature or higher, and the shape memory alloy spring S1The other five shape memory alloy springs (2) are in a free soft state when the spring is contracted, thereby driving the software module (1) to face the shape memory alloy spring S1Is deflected in the direction and drives the adjacent shape memory alloy spring S2And a shape memory alloy spring S6Contracting and interacting with the shape memory alloy spring S1Opposed shape memory alloy springs S4And a shape memory alloy spring S2Opposed shape memory alloy springs S5And a shape memory alloy spring S6Opposed shape memory alloy springs S3Stretching; in the above manner, the shape memory alloy spring S is sequentially formed2A shape memory alloy spring S3A shape memory alloy spring S4A shape memory alloy spring S5And a shape memory alloy spring S6Heating to a temperature above the phase transition temperature to cause the software module (1) to orbit about the axis;
the double-spring driving mode comprises the following steps: the heating regulating module is used for heating the adjacent shape memory alloy springs S1And a shape memory alloy spring S2Heating to a temperature above the phase transition temperature to form a shape memory alloy spring S1And a shape memory alloy spring S2The other four shape memory alloy springs (2) are in a free soft state after being contracted, thereby driving the software module (1) to face the shape memory alloy spring S1And a shape memory alloy spring S2The direction of the coupling is deflected,and drives the shape memory alloy spring S on the opposite side4And a shape memory alloy spring S5Stretching; in the above way, two adjacent shape memory alloy springs are sequentially heated into a group above the phase transition temperature, so that the software module (1) rotates around the axis;
the three-spring driving mode comprises the following steps: the heating regulating module is used for heating the adjacent shape memory alloy springs S1And a shape memory alloy spring S2And a shape memory alloy spring S3Heating to a temperature above the phase transition temperature to form a shape memory alloy spring S1And a shape memory alloy spring S2And a shape memory alloy spring S3Contract to drive the soft body module (1) toward the shape memory alloy spring S1A shape memory alloy spring S2And a shape memory alloy spring S3The direction of the coupling deflects and drives the shape memory alloy spring S on the opposite side4A shape memory alloy spring S5And a shape memory alloy spring S6Stretching; in the above way, three adjacent shape memory alloy springs are sequentially heated into a group above the phase transition temperature, so that the software module (1) can perform circling motion around the axis.
2. The method for controlling a shape memory actuated soft drive according to claim 1,
the shape memory alloy spring (2) is embedded in the wall body of the software module (1);
the heating adjusting module is respectively and electrically connected with the shape memory alloy springs (2) at different parts so as to respectively and electrically heat the shape memory alloy springs (2) at different parts;
the soft body module (1) is internally provided with a central channel (3) which is used for penetrating through an electric connection line of the heating adjusting module and the shape memory alloy spring (2).
3. The method for controlling a shape memory actuated soft drive according to claim 2,
the wall body of the soft body module (1) is provided with a blind hole (4) along the radial direction,
a plurality of blind holes (4) are respectively arranged on the wall body of the software module (1) along the axial direction and the circumferential direction at equal intervals to increase the telescopic deformation capacity of the software module (1).
4. The method for controlling a shape memory actuated soft drive according to claim 3,
the cross section of the blind hole (4) is fan-shaped,
the side wall surface of the blind hole (4) is wavy, zigzag, arc or linear along the axial direction of the soft module (1).
5. The method for controlling a shape memory actuated soft drive according to claim 1,
the shape memory alloy spring soft body module is characterized in that mounting panels (5) used for positioning the shape memory alloy spring (2) and the soft body module (1) are respectively arranged at two ends of the soft body module (1), and the mounting panels (5) are made of rigid materials.
6. The method for controlling a shape memory actuated soft drive according to claim 1,
the surface of the shape memory alloy spring (2) is coated with a heat insulation coating;
and/or the phase transition temperature of the shape memory alloy spring (2) is more than 50 ℃.
7. The method for controlling a shape memory actuated soft drive according to claim 1,
a plurality of the soft body modules (1) are connected in an axial stacking way.
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