CN110216665A - A kind of imitative looper modularization soft robot of SMA driving - Google Patents
A kind of imitative looper modularization soft robot of SMA driving Download PDFInfo
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- CN110216665A CN110216665A CN201910532981.7A CN201910532981A CN110216665A CN 110216665 A CN110216665 A CN 110216665A CN 201910532981 A CN201910532981 A CN 201910532981A CN 110216665 A CN110216665 A CN 110216665A
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- shape memory
- memory alloy
- alloy spring
- controller
- elastic webbing
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- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 96
- 238000005452 bending Methods 0.000 claims abstract description 66
- 238000004904 shortening Methods 0.000 claims abstract description 11
- 241000817702 Acetabula Species 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 229910045601 alloy Inorganic materials 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 4
- 238000009413 insulation Methods 0.000 claims description 4
- 239000004020 conductor Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 19
- 230000005611 electricity Effects 0.000 description 4
- 206010037660 Pyrexia Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241001503987 Clematis vitalba Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001739 rebound effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of imitative looper modularization soft robots of SMA driving, including bending apparatus, clamping device and controller；Bending apparatus includes flexible body and first shape memory alloy spring, several through-holes in axial direction are equipped in flexible body, first shape memory alloy spring is set in through-hole, and the both ends of first shape memory alloy spring are fixedly connected with the both ends of bending apparatus respectively, controller controls the size of current exported and working time and controls elongating or shortening for first shape memory alloy spring, and first shape memory alloy spring driving flexible body changes in straight line between curve.The present invention controls the bending or vertical of flexible body using the shortening and elongation of first shape memory alloy spring, flexible physical efficiency is set to occur upward to drive on movement boldly, to realize the movement of climbing, and the energization or disconnection of first shape memory alloy spring can be controlled by controller, the movement of i.e. controllable climbing, structure is simple, easy to control and adaptable.
Description
Technical field
The present invention relates to a kind of robots, refer in particular to a kind of imitative looper modularization soft robot of SMA driving.
Background technique
In the fields such as industry, urban construction, agriculture and forestry, generally requires robot and carry out climbing operation, these work
Operating environment has the characteristics that landform multiplicity, for example, the work such as shipbuilding, the maintenance of road lighting, fruit and vegetable picking, this is just needed
Want robot that there is stronger environmental suitability and flexibility.
In recent years, many careful researchs have been carried out in climbing robot field both at home and abroad, such as WOODY, Shady3D, 3D
Climber, UT-PCR etc. outstanding climbing robot system, meanwhile, the country also develops Climbot, Wallbot etc. in succession and climbs
Robot system is climbed, these robot systems have the structure of rigidity, can carry out climbing operation in some specified environment.
However, robot generally requires to interact with personnel, living body biological or Condition of Fragile Environment in operation, rigid machine
People can not adapt to a variety of different environment.
Therefore, it is flexibly accurate to develop a kind of energy movement, and is suitable for different operating environment, and can be to different job requirements
The modularization software climbing robot being freely combined is very important.
Summary of the invention
It is an object of the invention in view of the above-mentioned problems, provide a kind of structure is simple, adaptable and versatility is high, control
The imitative looper modularization soft robot of the convenient SMA driving low with input cost.The robot is bent module with two degrees of freedom
It as main body, can arbitrarily change configuration according to job requirements, the application range of soft robot can be expanded, improve robot and climb
Climb the adaptability of operation.
Following technical scheme can be used to reach in the purpose of the present invention:
A kind of imitative looper modularization soft robot of SMA driving, including bending apparatus, the folder set on bending apparatus both ends
Hold device, and the controller of the working condition for controlling bending apparatus and clamping device；The bending apparatus includes flexibility
Body and first shape memory alloy spring, the interior several through-holes being equipped in axial direction of the flexible body, the first shape note
Alloy spring is recalled in through-hole, and the both ends of first shape memory alloy spring are fixed with the both ends of bending apparatus connect respectively
It connects, size of current and the working time of controller control output and the elongation or contracting for controlling first shape memory alloy spring
Short, first shape memory alloy spring driving flexible body changes in straight line between curve.
As a preferred solution, circuit board is equipped in the bending apparatus, the circuit board is equipped with for measuring
The Inertial Measurement Unit of the posture of circuit plate end face；Signal of the controller according to the Inertial Measurement Unit received, control
Device controls the size of current exported and working time and controls elongating or shortening for first shape memory alloy spring, makes the first shape
Shape memory alloys spring driving flexible body is in straight line or curve to required radian.
As a preferred solution, the clamping device includes the elastic webbing that both ends have hook, and is set to elasticity
With the second internal shape memory alloy spring；The both ends of second shape memory alloy spring respectively with the both ends of elastic webbing
It is fixedly connected；The both ends of second shape memory alloy spring pass through electric wire external controller, the electricity of controller control output
It flows size and working time and controls elongating or shortening for the second shape memory alloy spring, the second shape memory alloy spring drives
Hook of the dynamic elasticity with both ends is opposite or backwards to movement.
As a preferred solution, the elastic webbing is open loop structure；It is controlled in controller and exports electric current to second
When shape memory alloy spring, the second shape memory alloy spring generates heat and temperature increases, the contracting of the second shape memory alloy spring
Short, the hook at elastic webbing both ends moves toward one another；When and temperature cooling in the second shape memory alloy spring reduces, the second shape note
Recall alloy spring elongation, the hook at elastic webbing both ends is backwards to movement.
As a preferred solution, the both ends of the bending apparatus are equipped with electric Acetabula device, the controller and electricity
Acetabula device is electrically connected and controls electric Acetabula device and generate or eliminate magnetic force.
As a preferred solution, the bending apparatus is set as multiple, between adjacent flex device by male plug mouth and
Female plug mouth is plugged in together and two neighboring bending apparatus is electrically connected.
As a preferred solution, the clamping device is equipped with male plug mouth or female plug mouth, clamping device pass through male plug
Mouthful or female plug mouth on bending apparatus both ends female plug mouth or male plug mouth be plugged in together.
As a preferred solution, when elastic webbing is conductive material, second shape memory alloy spring passes through
Insulated connecting piece and elastic webbing insulation connect.
As a preferred solution, the insulated connecting piece includes plastic bolt and plastic nut, on the elastic webbing
It is provided with two opposite through-holes；One end of the plastic bolt passes through through-hole, and is threadedly coupled on the end there are two plastic nut,
Every one end of second shape memory alloy spring is all fixed between two plastic nuts.
As a preferred solution, the front end of the hook is equipped with tip.
The invention has the following beneficial effects:
1, for the present invention in climbing, controller controls the gripping means grips target of bending apparatus head end, then controls
Device exports electric current to first shape memory alloy spring, and the fever of first shape memory alloy spring is made to cause and gradually taper up.?
When first shape memory alloy spring is shunk, first shape memory alloy spring applies inside pulling force to the both ends of flexible body,
So that flexible body generates bending deformation.The clamping device of curved flexible body drive bending apparatus tail end moves closer to and and target
Contact, then controller controls the gripping means grips target again.Then, the clamping dress of controller control bending apparatus head end
Target is opened in storing, at this point, the clamping device due to bending apparatus tail end clamps target, robot can be securely attached to target
On.Then, controller disconnects the energization to first shape memory alloy spring, and the elongation of first shape memory alloy spring is flexible
Body is gradually restored to vertical state, at this time flexible body have occurred it is upward drive on movement boldly, thus complete a wheel climb upwards it is dynamic
It combines.The present invention controls the bending or vertical of flexible body using the shortening and elongation of first shape memory alloy spring, makes
Flexible physical efficiency occur it is upward drive on movement boldly, to realize the movement of climbing, and first shape can be controlled by controller
The energization or disconnection of memory alloy spring, i.e., controllable first shape memory alloy spring driving flexible body realize the dynamic of climbing
Make, has structure simple, number of parts is few, the low advantage of input cost easy to control.Due to the flexible body of the invention used
Bending angle, which can according to need, to be controlled, so that robot of the invention adapts to the requirement of a variety of different climbing targets,
The range and adaptability used is improved, solves the problems, such as that existing rigid machine people can not adapt to a variety of different environment.
2, the present invention by using the second shape memory alloy spring as driver, and pass through controller to operating current
Control the bending deformation of elastic webbing and the clamping of hook and release can be driven, structure is simple, and number of parts is few, manufacturer
Just, input cost is low.And end hook twists deformation when touching body surface, and final all hooks can be passively
It adapts on body surface, clamper is stablized and is attached to the unknown rod piece of shape, on trees, also may be implemented to not advising
Then object grabs folder, and use scope is wide, adaptability is good, and versatility is high.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the imitative looper modularization soft robot of SMA driving of the present invention；
Fig. 2 is the structural schematic diagram of the clamping device of the imitative looper modularization soft robot of SMA driving of the present invention；
Fig. 3 is the structural schematic diagram of the bending apparatus of the imitative looper modularization soft robot of SMA driving of the present invention；
Fig. 4 is the climbing process schematic of the imitative looper modularization soft robot of SMA driving of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Referring to Figure 1 and Figure 3, the present embodiment is related to the imitative looper modularization soft robot of SMA driving, including bending apparatus
1, the clamping device 2 set on 1 both ends of bending apparatus, and the control for controlling 2 working condition of bending apparatus 1 and clamping device
Device 3；The bending apparatus 1 includes flexible body 11 and first shape memory alloy spring 12, is equipped in the flexible body 11 along axis
To several through-holes in direction, the first shape memory alloy spring 12 is set in through-hole, and first shape memory alloy spring
12 both ends are fixedly connected with the both ends of bending apparatus 1 respectively, the size of current of the control of controller 3 output and working time
And elongating or shortening for first shape memory alloy spring 12 is controlled, first shape memory alloy spring 12 drives flexible body 11 to exist
Straight line changes between curve.
In climbing, the clamping device 2 that controller 3 controls 1 head end of bending apparatus clamps target, and then controller 3 is defeated
Signal is controlled out, and control passes through the electric current of first shape memory alloy spring 12, and first shape memory alloy spring 12 is made to generate heat
Cause and gradually tapers up.When first shape memory alloy spring 12 is shunk, first shape memory alloy spring 12 is to flexible body
11 both ends apply inside pulling force, so that flexible body 11 generates bending deformation.Curved flexible body 11 drives 1 tail of bending apparatus
The clamping device 2 at end is moved closer to and is contacted with target, and then controller 3 controls the clamping device 2 again and clamps target.With
Afterwards, the clamping device 2 that controller 3 controls 1 head end of bending apparatus decontrols target, at this point, the clamping due to 1 tail end of bending apparatus fills
2 clamping targets are set, robot can be securely attached in target.Then, controller 3 is disconnected to first shape memorial alloy bullet
The energization of spring 12, first shape memory alloy spring 12 extend, and flexible body 11 is gradually restored to vertical state, at this time flexible body 11
Have occurred it is upward drive on movement boldly, to complete the combination of actions that a wheel is climbed upwards.The present invention is closed using first shape memory
The shortening and elongation of golden spring 12 control the bending of flexible body 11 or vertical, enable flexible body 11 occur upwards drive on boldly it is dynamic
Make, to realize the movement of climbing, and the energization or disconnected of first shape memory alloy spring 12 can be controlled by controller 3
It opens, i.e., controllable first shape memory alloy spring 12 drives flexible body 11 to realize the movement of climbing, has structure simple, part
Quantity is few, the low advantage of input cost easy to control.Since the bending angle of the flexible body 11 of the invention used can be according to need
Controlled so that robot of the invention adapts to the requirements of a variety of different climbing targets, improve the range used and
Adaptability solves the problems, such as that existing rigid machine people can not adapt to a variety of different environment.
Circuit board 13 is equipped in the bending apparatus 1, the circuit board 13 is equipped with for 13 end face of measuring circuit plate
The Inertial Measurement Unit 14 of posture；Signal of the controller 3 according to the Inertial Measurement Unit 14 received, the control of controller 3
Size of current and the working time of output and control elongating or shortening for first shape memory alloy spring 12, remember first shape
Recalling alloy spring 12 drives flexible body 11 to be in straight line or curve to required radian.
The posture of 14 measuring circuit plate of Inertial Measurement Unit, 13 end face, to obtain the bending angle of flexible body 11 in real time.Control
Device 3 processed carries out real-time attitude resolving to flexible body 11 in real time by Inertial Measurement Unit 14 and closed-loop control, i.e. controller 3 pass through
14 real-time control first shape memory alloy spring 12 of Inertial Measurement Unit is powered or disconnects, so that it is curved to accurately control flexible body 11
The purpose of bent angle has the characteristics that control simply, conveniently and accurately.
As depicted in figs. 1 and 2, the clamping device 2 includes the elastic webbing 21 that both ends have hook 20, and is set to elasticity
With the second shape memory alloy spring 22 inside 21；The both ends of second shape memory alloy spring 22 respectively with elastic webbing
21 both ends are fixedly connected；The both ends of second shape memory alloy spring 22 pass through electric wire external controller 3, controller 3
It controls the size of current exported and working time and controls elongating or shortening for the second shape memory alloy spring 22, the second shape
Memory alloy spring 22 drives the hook 20 at 21 both ends of elastic webbing opposite or backwards to movement.
For clamping coarse rod piece, firstly, by robot by clamper of the invention towards rod piece, then by controller
3 control and export electric current and heat to the second shape memory alloy spring 22 to it.With the second shape memory alloy spring
The raising of 22 temperature gradually generates contraction, and then drive elastic webbing 21 is bent and drives simultaneously the hook at 21 both ends of elastic webbing
20 move toward one another and approach the surface for being grabbed rod piece.When hook 20 touches the surface of coarse rod piece, if contact angle is suitable,
Then generate friction hook it is attached, i.e. the front position of hook 20 is fixed, generate grasping force；Otherwise it will be slid on the surface of coarse rod piece
Until smooth hook is attached, final hook 20 passively adapts on rod piece surface and position is fixed.As the second shape memory closes
The contracts last of golden spring 22,20 relative resilient band 21 of hook twist and generate screen resilience, i.e., clamper grabs rod piece
Attached power.Final elastic webbing 21 and the screen resilience of hook 20 and the convergent force of the second shape memory alloy spring 22 reach balance.
Since the second shape memory alloy spring 22 can generate biggish convergent force, robot can stablize with clamper of the invention
It seeks connections on coarse rod piece on ground.After cooling to the power-off of the second shape memory alloy spring 22, with the second marmem
The reduction of 22 temperature of spring, gradually extends.Under the rebound effect of elastic webbing 21, hook 20 is released and unclamps and restore
Original shape completes a duty cycle.
The present invention is used as driver by using the second shape memory alloy spring 22, and passes through 3 pairs of work electricity of controller
The bending deformation of elastic webbing 21 and the clamping and release of hook 20 can be driven in the control of stream, and structure is simple, and number of parts is few, system
It makes conveniently, input cost is low.And end hook 20 twists deformation when touching body surface, and final all hooks 20 are all
It can passively adapt on body surface, clamper is stablized and is attached to the unknown rod piece of shape, on trees, it can also be real
Folder now is grabbed to irregularly shaped object, use scope is wide, and adaptability is good, and versatility is high.
Elastic webbing 21 and hook 20 of the invention is integrally formed by panel beating, and the number of parts that need to be processed is few, whole
Body weight is light and small in size.Wherein the width of elastic webbing 21 and hook 20 is much larger than its thickness, has very big lateral antitorque mould
Amount, it can be considered that elastic webbing 21 and hook 20 only move in a plane, so that motion profile is reliable and stable.
The elastic webbing 21 is open loop structure；It is controlled in controller 3 and exports electric current to the second shape memory alloy spring
When 22, the second shape memory alloy spring 22 generates heat and temperature increases, and the second shape memory alloy spring 22 shortens, elastic webbing 21
The hook 20 at both ends moves toward one another；When and temperature cooling in the second shape memory alloy spring 22 reduces, the second shape memory is closed
Golden spring 22 extends, and the hook 20 at 21 both ends of elastic webbing is backwards to movement.The size of current that the structure passes through the control output of controller 3
Be elongating or shortening for controllable second shape memory alloy spring 22 with the working time, thus realize clamping to hook 20 or
Release is controlled, and control is simply and conveniently.
The both ends of the bending apparatus 1 are equipped with electric Acetabula device 4, the controller 3 be electrically connected with electricity Acetabula device 4 and
It controls electric Acetabula device 4 and generates elimination magnetic force.When climbing target is ferrimagnet, it can be controlled and be bent by controller 3
The energization or disconnection of the electric Acetabula device 4 at 1 both ends of device are climbed in target to control whether to be adsorbed onto.The structure is using electric sucker
Device 4 realizes the climbing of bending apparatus 1, is suitable for magnetic climbing target of various shapes, greatly improves use
Convenience and adaptability.
The bending apparatus 1 is set as multiple, is plugged between adjacent flex device 1 by male plug mouth 101 and female plug mouth 102
Two neighboring bending apparatus 1 is electrically connected together.In Fig. 1, three sequentially connected knots of bending apparatus 1 are used
Structure.When first shape memory alloy spring 12 is shunk, three bending apparatus 1 occur to be bent accordingly.
The clamping device 2 is equipped with male plug mouth 101 or female plug mouth 102, and clamping device 2 passes through male plug mouth 101 or female plug
Mouthfuls 102 on 1 both ends of bending apparatus female plug mouth 102 or male plug mouth 101 be plugged in together.Pass through male plug mouth 101 and female plug mouth
102 may be implemented the quick connection of clamping device 2 Yu bending apparatus 1, greatly improve the speed and efficiency of installation, improve system
The convenience made reduces the cost of production.
When elastic webbing 21 is conductive material, second shape memory alloy spring 22 passes through insulated connecting piece 5 and bullet
Property band 21 insulation connection.When elastic webbing 21 is conductive, elastic webbing 21 is by the second shape memory alloy spring in order to prevent
22 short circuit and fever and deform, can be played by insulated connecting piece 5 by the second shape memory alloy spring 22 and elastic webbing 21
The effect of insulation.
The insulated connecting piece 5 includes plastic bolt 51 and plastic nut 52, is provided with opposite two on the elastic webbing 21
A through-hole；One end of the plastic bolt 51 passes through through-hole, and is threadedly coupled on the end there are two plastic nut 52, described second
Every one end of shape memory alloy spring 22 is all fixed between two plastic nuts 52.In the compression of two plastic nuts 52
Under, the second shape memory alloy spring 22 can be fixed on plastic bolt 51 and not with elastic webbing 21 and be in contact.
The front end of the hook 20 is equipped with tip 201.Tip 201 can grab the subtle protrusion of attached target surface, improve clamping
Stability better plays the effect of clamping.
It is provided with groove 202 on the hook 20, forms multipair 20 structure of hook.When hook 20 clamps target, object table
Protrusion on face can protrude into groove 202, guarantee that hook 20 is steadily in contact with the surface of target and mutually presses.
The groove 202 is set as two, forms three opponent's hooks, 20 structure.It certainly, as needed, can also be by groove
202 are designed as multiple, then can form more pairs of hook 20.
The elastic webbing 21 is spring steel.Certainly, other materials with preferably elasticity are also applied for elastic webbing 21.
The working principle of the invention:
As shown in Figure 1 and Figure 4, firstly, the clamping device 2 that controller 3 controls 1 front end of bending apparatus works.Process tool
Body is as follows: i.e. controller 3 controls and exports electric current and heats to the second shape memory alloy spring 22 to it.With the second shape
The raising of 22 temperature of shape memory alloys spring gradually generates contraction, and then drives the bending of elastic webbing 21 and simultaneously band dynamic elasticity
Hook 20 with 21 both ends moves toward one another and approaches the surface for being grabbed rod piece 10.When hook 20 touches the surface of coarse rod piece 10
When, if contact angle is suitable, generate friction hook it is attached, i.e. the front position of hook 20 is fixed, generate grasping force；It otherwise will be thick
Sliding on the surface of rough rod piece 10 is until smooth hook is attached, and final hook 20 passively adapts on 10 surface of rod piece and position is solid
It is fixed.With the contracts last of the second shape memory alloy spring 22,20 relative resilient band 21 of hook twists and generates rebound
The grasping force of power, i.e. clamper to rod piece 10.The screen resilience and the second marmem of final elastic webbing 21 and hook 20
The convergent force of spring 22 reaches balance.At this point, the front end of bending apparatus 1 is fixed on rod piece 10 by clamping device 2, while curved
The clamping device 2 of the tail end of bent device 1 does not work, i.e., the hook 20 of the clamping device 2 of the tail end of bending apparatus 1 is in release lever
The action state of part 10.
Then, controller 3 is powered to first shape memory alloy spring 12, and the fever of first shape memory alloy spring 12 is drawn
It rises and gradually tapers up.When first shape memory alloy spring 12 is shunk, first shape memory alloy spring 12 is to flexible body 11
Both ends apply inside pulling force so that flexible body 11 generates bending deformation, and then the tail end of flexible body 11 moves up one section
Distance.
Controller 3 passes through the posture of 14 measuring circuit plate of Inertial Measurement Unit, 13 end face.When the bending angle of flexible body 11
After reaching predetermined value, controller 3 controls 2 clamp bar 10 of clamping device of 1 tail end of bending apparatus, at this point, the front end of robot
Rod piece 10 is all held tightly with tail end.
Behind 2 clamp bar 10 of clamping device of the tail end of bending apparatus 1, controller 3 controls the folder of 1 front end of bending apparatus
The second shape memory alloy spring 22 power-off of device 2 is held, and makes the movement of release rod piece 10.Then the control of controller 3 the
The power-off of two shape memory alloy springs 22, flexible body 11 are restored to vertical state from bending module.Flexible body 11 has occurred at this time
Upward drive ons movement boldly.Finally, the clamping device 2 of 1 front end of bending apparatus executes holding after trunk completes straight and upright movement again
The combination of actions that a wheel is climbed upwards is completed in movement.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. a kind of imitative looper modularization soft robot of SMA driving, it is characterised in that: including bending apparatus, be set to bending dress
Set the clamping device at both ends, and the controller of the working condition for controlling bending apparatus and clamping device；The bending dress
It sets including flexible body and first shape memory alloy spring, the interior several through-holes being equipped in axial direction of the flexible body, it is described
First shape memory alloy spring be set to through-hole in, and the both ends of first shape memory alloy spring respectively with bending apparatus two
End is fixedly connected, and the controller controls the size of current exported and working time and controls first shape memory alloy spring
It elongates or shortens, first shape memory alloy spring driving flexible body changes in straight line between curve.
2. a kind of imitative looper modularization soft robot of SMA driving according to claim 1, which is characterized in that described
Circuit board is equipped in bending apparatus, the circuit board is equipped with the Inertial Measurement Unit of the posture for measuring circuit plate end face；
The controller according to the signal of the Inertial Measurement Unit received, size of current and the working time of controller control output and
Control first shape memory alloy spring elongates or shortens, and first shape memory alloy spring driving flexible body is made to be in straight line
Or curve is to required radian.
3. a kind of imitative looper modularization soft robot of SMA driving according to claim 1, which is characterized in that described
Clamping device includes the elastic webbing that both ends have hook, and the second shape memory alloy spring inside elastic webbing；Institute
The both ends for stating the second shape memory alloy spring are fixedly connected with the both ends of elastic webbing respectively；The second marmem bullet
The both ends of spring control the second shape note by the size of current and working time that electric wire external controller, controller control export
Recall elongating or shortening for alloy spring, the second shape memory alloy spring drives the hook at elastic webbing both ends opposite or backwards to fortune
It is dynamic.
4. a kind of imitative looper modularization soft robot of SMA driving according to claim 3, which is characterized in that described
Elastic webbing is open loop structure；When controller controls and exports electric current to the second shape memory alloy spring, the second shape memory
Alloy spring generates heat and temperature increases, and the second shape memory alloy spring shortens, and the hook at elastic webbing both ends moves toward one another；?
Two shape memory alloy springs are cooling and when temperature reduces, the elongation of the second shape memory alloy spring, the hook at elastic webbing both ends
Backwards to movement.
5. a kind of imitative looper modularization soft robot of SMA driving according to claim 1 or 2, which is characterized in that institute
The both ends for stating bending apparatus are equipped with electric Acetabula device, and the controller is electrically connected with electric Acetabula device and controls electric Acetabula device
Generate or eliminate magnetic force.
6. a kind of imitative looper modularization soft robot of SMA driving according to claim 1 or 2, which is characterized in that institute
It states bending apparatus and is set as multiple, being plugged in together between adjacent flex device by male plug mouth and female plug mouth will be two neighboring curved
Bent device is electrically connected.
7. a kind of imitative looper modularization soft robot of SMA driving according to claim 1 or 3, which is characterized in that institute
Clamping device is stated equipped with male plug mouth or female plug mouth, clamping device passes through the mother on male plug mouth or female plug mouth and bending apparatus both ends
Socket or male plug mouth are plugged in together.
8. a kind of imitative looper modularization soft robot of SMA driving according to claim 3 or 4, which is characterized in that
When elastic webbing is conductive material, second shape memory alloy spring is connected by insulated connecting piece and elastic webbing insulation.
9. a kind of imitative looper modularization soft robot of SMA driving according to claim 8, which is characterized in that described
Insulated connecting piece includes plastic bolt and plastic nut, and two opposite through-holes are provided on the elastic webbing；The plastic bolt
One end pass through through-hole, and be threadedly coupled on the end there are two plastic nut, second shape memory alloy spring it is each
End is all fixed between two plastic nuts.
10. a kind of imitative looper modularization soft robot of SMA driving according to claim 3, which is characterized in that described
The front end of hook is equipped with tip.
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