CN112223261B - Three-freedom-degree actuating structure - Google Patents

Abstract

A three-degree-of-freedom actuation structure belongs to the technical field of the combined structure of a flexible body robot and a cluster body robot. The present invention solves the problem that the rigidity of the existing actuating structure cannot be changed in real time, so that the rigidity enhancement effect thereof has obvious stage characteristics. The upper connecting substrate and the lower connecting substrate are communicated through integrated electrical/telecommunication lines, the binary cell structure includes two terminals and an SMA driver arranged between the two terminals, and each terminal is connected to the SMA The actuators are connected by flexible hinges, and the SMA actuators are used to realize the approach and distance of one end relative to the other end. Several SMA actuators act to realize the rotation of the upper connecting substrate along the x-axis direction, the rotation along the y-axis direction and the rotation along the y-axis direction. Movement in the z-axis direction. It realizes the addressable programming control of each binary base cell structure, and makes the actuated structure have high intelligence, flexibility and harsh environment adaptability by exerting the subjective initiative of each binary base cell structure.

Description

A three-degree-of-freedom actuating structure

technical field

The invention relates to a three-degree-of-freedom actuation structure, which belongs to the technical field of the combined structure of a flexible robot and a cluster robot.

Background technique

In the field of swarm robot research, current research inventions mainly focus on proposing a robot configuration, and then using a large number of such robots to control, plan or perform a certain task in a swarm, and only stay in the application after obtaining the robot configuration At the same time, the question of whether robots can be constructed in clusters with smaller or micro basic units or modules is rarely mentioned.

In the field of stiffness enhancement of flexible body robots, most researchers are still based on the characteristics of the material itself, and a few scholars use force resistance to achieve stiffness enhancement or use structure self-locking and friction to enhance stiffness. However, most of these methods or solutions cannot realize the real-time variable stiffness during the actuation process, which makes the stiffness enhancement effect obviously has the characteristics of stages, which seriously restricts the further expansion of its application field.

SUMMARY OF THE INVENTION

The present invention is to solve the problem that the rigidity of the existing actuating structure cannot be changed in real time, so that the rigidity enhancement effect is obviously staged, and further provides a three-degree-of-freedom actuating structure.

The technical scheme adopted by the present invention for solving the above-mentioned technical problems is:

A three-degree-of-freedom actuation structure includes an upper connecting substrate, a lower connecting substrate, and several binary base cell structures installed between the upper connecting substrate and the lower connecting substrate, wherein the upper connecting substrate and the lower connecting substrate are integrated The chemical/electrical/telecommunication lines are connected, the binary cell structure includes two terminals and an SMA driver arranged between the two terminals, and each terminal and the SMA driver are connected by a flexible hinge, and the SMA driver is connected by a flexible hinge. The driver realizes the approach and distance of one end relative to the other end, and several SMA driver actions realize the rotation of the upper connecting substrate along the x-axis direction, the rotation along the y-axis direction and the movement along the z-axis direction.

Further, the SMA driver includes an inner shell, an outer shell, a 1-state SMA wire and a 0-state SMA wire, the inner shell and the outer shell are nested and slidably connected to each other, and the top of the inner shell and the bottom of the outer shell are connected by a 0-state SMA wire. , the bottom of the inner shell and the top of the outer shell are connected by a 1-state SMA wire.

Further, the 0-state SMA wire is inserted between the inner shell and the outer shell in a serpentine shape, and the two ends of the 0-state SMA wire are respectively fixed to the top of the inner shell, and are respectively connected to the positive and negative electrodes of the power supply.

Further, two ends of the 0-state SMA wire are respectively fixed on the inner shell through a multi-angled serpentine structure.

Further, the 1-state SMA wire is inserted between the inner shell and the outer shell in a serpentine shape, and the two ends of the 1-state SMA wire are respectively fixed to the bottom of the outer shell, and are respectively connected to the positive and negative electrodes of the power supply.

Further, both ends of the 1-state SMA wire are respectively fixed on the shell through a multi-angled serpentine structure.

Further, an elastic constraining body is arranged between every two adjacent binary cell structures.

Further, the integrated electrical/telecommunication circuit is arranged in the middle position of the actuating structure.

Further, the structure of the upper connecting substrate and the lower connecting substrate are the same, a plurality of slots are provided on the opposite side of the two connecting substrates, and the upper and lower ends of each binary cell structure correspond to the two connecting substrates on the two connecting substrates. The card slot is fitted and fixed.

Further, several binary cell structures are arranged in an array.

Compared with the prior art, the present invention has the following effects:

The actuating structure of the present application has time-varying stiffness characteristics, and can be transformed from an approximate rigid body structure to an approximate flexible body structure. According to the requirements of manipulation compliance, in addition to the binary base cell structure necessary to maintain the pose of the actuating structure, different numbers of binary base cell structures can be transformed from the follow-up state to the working state or from the working state to the working state. Follow-up state, so as to realize the rapid transformation and adjustment of the rigidity of the actuating structure. The so-called follow-up of the binary-based cellular structure means that its SMA driver is in a non-energized state, and its influence on the motion of other binary-based cellular structures can be ignored. This method effectively resolves the contradiction between high compliance and high stiffness.

Through the present application, it is possible to use smaller or micro basic units or modules to construct robots in clusters, so as to achieve the goal of clustered and coordinated operations of robots.

Physical addressing of each binary cell structure can realize the addressable programming control of each binary cell structure. The structure has high intelligence, flexibility, adaptability to harsh environments, and has broad application prospects in engineering.

Compared with the traditional rigid body robot or the current soft body robot, the quasi-flexible actuation structure formed by the binary cell structure array in the present application has the biggest advantage in that it has high fault tolerance/residual tolerance characteristics, and a certain number of Failure or inoperability of the binary base cell structure will not have a serious impact on the overall function or performance of the actuating structure.

Description of drawings

1 is a schematic diagram of the three-dimensional structure of the application (the coordinates x 0 , y 0 , z 0 and x 1 , y 1 , and z 1 shown in the figure are represented as coordinate systems with different origins, which is convenient for the principle of the three-degree-of-freedom actuating mechanism Express.);

FIG. 2 is a schematic front view of a binary base cell structure;

Fig. 3 is the structural schematic diagram when the binary cell structure is 0 state;

FIG. 4 is a schematic structural diagram when the binary base cell structure is 1 state;

Fig. 5 is the side view schematic diagram of 0 state SMA wire;

6 is a schematic side view of a 1-state SMA wire;

Fig. 7 is the arrangement schematic diagram of elastic restraint body;

Fig. 8(a), Fig. 8(b), Fig. 8(c), Fig. 8(d) are schematic diagrams of four array forms of the binary cell structure, respectively.

Detailed ways

Embodiment 1: This embodiment will be described with reference to FIGS. 1 to 8 , a three-degree-of-freedom actuating structure, which includes an upper connection substrate 1 , a lower connection substrate 2 , and a connection between the upper connection substrate 1 and the lower connection substrate 2 A plurality of binary base cell structures 3, wherein the upper connection substrate 1 and the lower connection base plate 2 are communicated through integrated electrical/telecommunication lines, the binary base cell structure 3 includes two terminals 31 and arranged on the two terminals. The SMA driver 32 between 31, and each end 31 and the SMA driver 32 are connected by a flexible hinge 33, through the SMA driver 32 to realize the approach and distance of one end 31 relative to the other end 31, a number of SMA The actuation of the driver 32 realizes the rotation of the upper connecting substrate 1 along the x-axis direction, the rotation along the y-axis direction and the movement along the z-axis direction, and physically addresses each binary cell structure 3 .

The integrated electrical/telecommunication circuit is located in the middle position of the actuating structure. The binary cell structure is a self-defined concept, which can realize the approach and distance of the two ends 31 .

The SMA wire used in the SMA driver 32 is a two-way memory alloy wire, that is, it shrinks and provides tension when it is powered on, and returns to its original length when it cools down when it is powered off. The memory alloy wire itself has certain elasticity at low temperature, and can be elongated and maintain a certain tensile force.

The three degrees of freedom respectively refer to the movement on the z-axis and the rotation on the x-axis and y-axis.

The actuating structure of the present application has time-varying stiffness characteristics, and can be transformed from an approximate rigid body structure to an approximate flexible body structure. According to the requirement of manipulation compliance, in addition to the binary base cell structure 3 necessary to maintain the pose of the actuating structure, different numbers of binary base cell structures 3 can be transformed from the follow-up state to the working state or from the working state. It is transformed into a follow-up state, so as to realize the rapid transformation and adjustment of the rigidity of the actuating structure. The so-called follow-up of the binary base cell structure 3 means that its SMA driver 32 is in a non-energized state, and the influence on the movement of other binary base cell structures 3 can be ignored. This method effectively resolves the contradiction between high compliance and high stiffness.

Through the present application, it is possible to use smaller or micro basic units or modules to construct robots in clusters, so as to achieve the goal of clustered and coordinated operations of robots.

Physical addressing of each binary base cell structure 3 can realize the addressable programming control of each binary base cell structure 3. By exerting the subjective initiative of each binary base cell structure 3, it can make The actuating structure has high intelligence, flexibility, and adaptability to harsh environments, and has broad application prospects in engineering.

The SMA driver 32 in the binary base cell structure 3 has a special shape memory effect. In the initial design stage, multiple experiments can be carried out for stand-alone products.

Compared with the traditional rigid body robot or the current flexible body robot, the quasi-flexible actuation structure formed by the binary base cell structure 3 arrays in this application has the greatest advantage in that it has high fault tolerance/residual tolerance characteristics, and a certain number of The failure or inoperability of the binary base cell structure 3 will not have a serious impact on the overall function or performance of the actuating structure.

The SMA driver 32 includes an inner shell 321 , an outer shell 322 , a 1-state SMA wire 323 and a 0-state SMA wire 324 . The inner shell 321 and the outer shell 322 are nested and slidably connected to each other. The 0-state SMA wire 324 is used for connection, and the 1-state SMA wire 323 is used to connect the bottom of the inner shell 321 and the top of the outer shell 322 . By controlling the telescopic motion of the 1-state SMA wire 323 and the 0-state SMA wire 324, the relative sliding of the inner shell 321 relative to the outer shell 322 is realized, thereby realizing the telescopic motion of the binary cell. During the operation, the 1-state SMA wire 323 and the 0-state SMA wire 324 do not interfere with each other.

The operating principle of the binary base cell is that when the binary base cell is in the 0 state, power is supplied to the 0-state SMA wire 324, which provides tension and shortens the relative displacement between the inner shell 321 and the outer shell 322, while the 1-state SMA wire 323 is Lengthen and maintain some resistance. When the binary cell is in the 1 state, the SMA wire 323 in the 1 state is powered, which provides tension and increases the relative displacement between the inner shell 321 and the outer shell 322 . At the same time, the 0-state SMA wire 324 is elongated and maintains a certain resistance, so that the binary base cell structure remains stable during the actuation process.

To realize the movement on the z-axis, when all the binary cell structures 3 in the actuating structure are in the "0" state, the z-direction displacement of the actuating structure is the shortest; When 3 is "1", the z-direction displacement of the actuating structure is the longest. That is, the movement in the z-axis direction is controlled by controlling the transition of the entire binary base cell structure 3 from the 0 state to the 1 state or from the 1 state to the 0 state.

The principle of rotation in the x-axis and y-axis directions is the same. When the actuating structure rotates, the two-valued base cell structure 3 needs to be coordinated in motion. As shown in Figure 1, the row of binaries with the farthest distance in the negative direction of the y-axis The base cell structure 3 acts as a 1 state, and the row of binary base cell structures 3 with the farthest distance in the positive direction of the y-axis acts as a 0 state, realizing the rotation around the x-axis. When the binary base cell structure 3 in the actuating structure rotates around the x-axis and the y-axis and moves along the z-axis at the same time, the motion of the connecting substrate 1 on the actuating structure is a multi-dimensional composite motion. Rigid components, the movement of each binary base cell structure 3 must ensure the integrity and continuity of the connecting substrate, that is, the coordination of deformation, then by physically addressing each binary base cell structure 3, each binary base cell structure 3 is realized. The state control of the cell structure 3 satisfies the corresponding strain coordination equation, and finally realizes the compound motion.

The 0-state SMA wire 324 is inserted between the inner shell 321 and the outer shell 322 in a serpentine shape, and the two ends of the 0-state SMA wire 324 are respectively fixed to the top of the inner shell 321, and are respectively connected to the positive and negative poles of the power supply. .

Two ends of the 0-state SMA wire 324 are respectively fixed on the inner shell 321 through a multi-angled serpentine structure. With this design, the two ends of the 0-state SMA wire 324 are fixed by means of multiple folded angles, avoiding the use of fixing members such as screws and nuts, and effectively reducing the volume of the binary cell structure 3 . The multi-angle mode is shown in the partial schematic diagram at P in the figure.

The 1-state SMA wire 323 is inserted between the inner casing 321 and the outer casing 322 in a serpentine shape, and two ends of the 1-state SMA wire 323 are respectively fixed to the bottom of the outer casing 322 and are respectively connected to the positive and negative electrodes of the power supply.

Two ends of the 1-state SMA wire 323 are respectively fixed on the casing 322 through a multi-angled serpentine structure. In this way, the two ends of the 1-state SMA wire 323 are fixed in a multi-angle manner, avoiding the use of fixing members such as screws and nuts, and effectively reducing the volume of the binary base cell structure 3 .

An elastic constraining body 4 is arranged between every two adjacent binary cell structures 3 . In this way, the gap between the two adjacent binary cell structures 3 is filled by the elastic constraining body 4, so as to ensure the stability of the actuating structure during the movement process.

The integrated electrical/telecommunication circuit is arranged in the middle position of the actuating structure.

The upper connecting substrate 1 has the same structure as the lower connecting substrate 2. A plurality of card slots are provided on the opposite side of the two connecting substrates. The upper and lower ends 31 of each binary cell structure 3 correspond to the two connecting substrates. The card slot is fitted and fixed.

Several binary base cell structures 3 are arranged in an array. It can be arranged in various array forms as required.

Claims (5)

1. A three-degree-of-freedom actuating structure is characterized in that: it comprises an upper connecting substrate (1), a lower connecting substrate (2) and several A binary base cell structure (3), wherein the upper connection substrate (1) and the lower connection base plate (2) are communicated through integrated electrical/telecommunication lines, and the binary base cell structure (3) includes two terminals ( 31) and the SMA driver (32) arranged between the two ends (31), and each end (31) and the SMA driver (32) are connected by a flexible hinge (33), through the SMA driver ( 32) Realize the approach and distance of one end (31) relative to the other end (31), and a plurality of SMA drivers (32) act to realize the rotation of the upper connecting substrate (1) along the x-axis direction and the rotation along the y-axis direction And the movement along the z-axis direction; by changing different numbers of binary base cell structures (3) from the follow-up state to the work state or from the work state to the follow-up state, so as to realize the rapid transformation and adjustment of the stiffness of the actuating structure ;The follow-up state means that the SMA driver is in a non-energized state, and the influence on the motion of other binary base cell structures is ignored; The SMA driver (32) includes an inner shell (321), an outer shell (322), a state 1 SMA wire (323) and a state 0 SMA wire (324), and the inner shell (321) and the outer shell (322) are nested and slide with each other Connection, the top of the inner shell (321) and the bottom of the outer shell (322) are connected by a 0-state SMA wire (324), and a 1-state SMA wire ( 323) connect; The 0-state SMA wire (324) is inserted between the inner shell (321) and the outer shell (322) in a serpentine shape, and two ends of the 0-state SMA wire (324) are respectively fixed to the top of the inner shell (321). and connect the positive and negative poles of the power supply respectively; Both ends of the 0-state SMA wire (324) are respectively fixed on the inner shell (321) through a multi-angled serpentine structure; The state 1 SMA wire (323) is inserted between the inner shell (321) and the outer shell (322) in a serpentine shape, and both ends of the state 1 SMA wire (323) are respectively fixed to the bottom of the outer shell (322). , and connect the positive and negative poles of the power supply respectively; Both ends of the 1-state SMA wire (323) are respectively fixed on the casing (322) through a multi-angled serpentine structure. 2 . The three-degree-of-freedom actuating structure according to claim 1 , wherein an elastic constraining body ( 4 ) is arranged between every two adjacent binary cell structures ( 3 ). 3 . 3 . The three-degree-of-freedom actuating structure according to claim 2 , wherein the integrated electrical/telecommunication circuit is arranged at a middle position of the actuating structure. 4 . 4. A three-degree-of-freedom actuating structure according to claim 1 or 3, characterized in that: the upper connecting substrate (1) and the lower connecting substrate (2) have the same structure, and the opposite side surfaces of the two connecting substrates are A plurality of card slots are provided, and the upper and lower ends (31) of each binary base cell structure (3) are correspondingly matched and fixed with the card slots on the two connection substrates. 5. A three-degree-of-freedom actuating structure according to claim 4, characterized in that: a plurality of binary cell structures (3) are arranged in an array.

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