CN112247975B - Wheel-shaped mobile robot based on 4D printing - Google Patents
Wheel-shaped mobile robot based on 4D printing Download PDFInfo
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- CN112247975B CN112247975B CN202011190261.6A CN202011190261A CN112247975B CN 112247975 B CN112247975 B CN 112247975B CN 202011190261 A CN202011190261 A CN 202011190261A CN 112247975 B CN112247975 B CN 112247975B
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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
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention belongs to the field of mobile robots, and particularly discloses a wheel-shaped mobile robot based on 4D printing. The wheel-shaped mobile robot comprises a main body unit, a driving unit and a control unit, wherein: the main body unit comprises a first circular rolling body, a second circular rolling body, a control unit mounting body and a driving unit mounting body, wherein the first circular rolling body and the second circular rolling body are symmetrically arranged to form a rolling shell of the wheel-shaped mobile robot; the control unit mounting body is arranged inside the rolling shell, and the driving unit mounting body is arranged on the outer side of the control unit mounting body; the driving unit includes a predetermined number of 4D-printed shape memory alloy springs fixed at an outer side of the driving unit installation body. The wheel-shaped mobile robot can be driven to roll forwards and backwards without an additional sensing device and a driving device, so that the defect that the traditional mobile robot is complicated in mechanical structure is overcome, and the wheel-shaped mobile robot has the advantages of being simple in structure, simple to control, flexible in movement and the like.
Description
Technical Field
The invention belongs to the field of mobile robots, and particularly relates to a wheel-shaped mobile robot based on 4D printing.
Background
With the rapid development of social economy and scientific technology, the field of human activities is increasingly expanded, the exploration process is increasingly deep, the robot technology is rapidly developed, and the robot technology becomes a high-tech technology integrating multiple disciplinary theories and technologies such as machinery, electronics, computers, control, sensors, bionics, artificial intelligence and the like. The robot can not only replace people to carry out a lot of work with high labor intensity and long labor time, but also work in a severe environment which can not be reached by human, thereby bringing a lot of convenience for human life and production and providing new possibility. At present, robots are an indispensable part of people's production and life. Among various robots, the mobile robot is an intelligent robot with self-organization, self-operation and self-planning functions, has high mobility and flexibility, and has a wide application prospect in industries such as industry, agriculture, energy, medical treatment and service, and thus gradually becomes an important branch in the field of robot research. However, the conventional mobile robot usually realizes the moving capability through a complicated mechanical mechanism, and has a complex structure, a large volume and difficult control. Therefore, research and development of a novel mobile robot are of great significance.
The 4D printing technology combines an additive manufacturing technology with an intelligent material and an intelligent structure, directly embeds the deformation, denaturation and function-changing design of the material and the structure into the manufacturing process, and realizes the integrated manufacturing of material-structure-function. Components produced by 4D printing technology are no longer static, but are capable of undergoing changes in shape, performance or function in both the temporal and spatial dimensions under certain stimuli. The shape memory alloy is an intelligent metal material with unique shape memory effect, and can realize integration of multiple functions of perception, driving, bearing, capability conversion and the like. The combination of the 4D printing technology and the shape memory alloy is expected to promote the development of intelligent equipment such as intelligent deformation pieces, intelligent sensors and intelligent drivers and promote the subversive expansion of new ideas and functions of intelligent robots. The mobile robot prepared by adopting the 4D printing shape memory alloy is expected to reduce the use of additional electromechanical systems, and realize the intellectualization, miniaturization and light weight.
At present, research on a 4D printing mobile robot is still in a starting stage, and CN201910723585.2 discloses a spider crawling robot based on a 4D printing technology, which utilizes stretching and bending deformation of a 4D printing shape memory alloy bionic mechanical leg to realize propulsion and crawling motion; CN201910807448.7 discloses a temperature-driven 4D printing robot, which also realizes crawling motion by driving the extension and bending deformation of feet through 4D printing shape memory alloy. However, the motion behaviors achievable by the existing 4D printing mobile robot are still relatively few. In order to further unlock the application potential of the 4D printing technology in the field of mobile robots and promote the innovative development of novel mobile robots, it is still necessary to research and develop novel 4D printing mobile robots.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the invention provides a wheel-shaped mobile robot based on 4D printing, wherein the wheel-shaped mobile robot is formed by connecting two circular rolling bodies to form a rolling shell, and the wheel-shaped mobile robot is driven by utilizing the extension and compression of a 4D printing shape memory alloy spring, so that the wheel-shaped mobile robot can be driven to roll forwards and backwards without an additional sensing device and a driving device, and the defect that the mechanical structure of the traditional mobile robot is complicated is overcome.
To achieve the above object, the present invention provides a wheel-shaped mobile robot based on 4D printing, the wheel-shaped mobile robot comprising a main body unit, a driving unit, and a control unit, wherein:
the main body unit comprises a first circular rolling body, a second circular rolling body, a control unit mounting body and a driving unit mounting body, and the first circular rolling body and the second circular rolling body are symmetrically arranged to form a rolling shell of the wheel-shaped mobile robot; the control unit mounting body is arranged inside the rolling shell, and the driven unit mounting body is arranged outside the control unit mounting body;
the driving unit comprises a preset number of 4D printing shape memory alloy springs which are fixed on the outer side of the driving unit installation body, and the driving unit drives the wheel-shaped mobile robot through the extension or compression of the 4D printing shape memory alloy springs during working;
the control unit is arranged inside the unit installation body and used for controlling the extension or compression of the 4D printing shape memory alloy spring.
As a further preference, the body unit is prepared by a fused deposition technique, a selective laser sintering technique or a photo-curing technique.
Further preferably, the first circular rolling element, the drive unit mounting body and the control unit mounting body in the main body unit are integrally formed, the second circular rolling element is separately formed, and then the main body unit is obtained by assembly.
As a further preference, the 4D printed shape memory alloy spring is made of Ni-Ti shape memory alloy, wherein the content of Ni element is 50% to 60%, the remainder is Ti element and impurities, and the content of impurities is < 1%.
As a further preferred, the 4D printed shape memory alloy spring is formed by a selective laser melting additive manufacturing technique, wherein the forming process parameters include: the laser power is 150W-250W, the scanning speed is 1000 mm/s-1400 mm/s, the thickness of single-layer powder is 30 μm-40 μm, and the scanning distance is 80 μm-120 μm.
As a further preferred option, the 4D printed shape memory alloy spring has a two-way shape memory effect, and the training process thereof is specifically: and (3) performing compression deformation on the 4D printed shape memory alloy spring at room temperature, then placing the spring at 450-600 ℃ for annealing for 2-5 min, cooling to room temperature, and circulating the above treatment processes for 4-10 times to complete training.
As a further preferred, the control unit comprises a battery pack and a controller, the battery pack is used for providing power supply, and the controller is used for controlling the on-off of current, so as to control the extension or compression of the 4D printing shape memory alloy spring.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the invention provides a wheel-shaped mobile robot based on 4D printing, which provides a new idea and a new method for the design and preparation of an intelligent mobile robot, wherein two circular rolling bodies are connected to form a rolling shell, the wheel-shaped mobile robot is driven by utilizing the extension and compression of a 4D printing shape memory alloy spring, and the wheel-shaped mobile robot can be driven to roll forwards and backwards without an additional sensing device and a driving device, so that the defect of complicated mechanical structure of the traditional mobile robot is overcome, and the wheel-shaped mobile robot has the advantages of simple structure, simplicity in control, flexibility in movement and the like, and realizes the miniaturization, intelligence and light weight of the mobile robot;
2. particularly, the preparation process of the 4D printing shape memory alloy spring is optimized, so that the stability, flexibility and accuracy of the wheel-shaped mobile robot can be effectively improved.
Drawings
Fig. 1 is a schematic view of the overall structure of a 4D printing-based wheel-shaped mobile robot constructed according to a preferred embodiment of the present invention;
fig. 2 is an exploded view of a wheel-shaped mobile robot based on 4D printing according to a preferred embodiment of the present invention;
fig. 3 is a schematic structural view of a main body unit in a 4D printing-based wheel-shaped mobile robot constructed in accordance with a preferred embodiment of the present invention;
fig. 4 is an exploded view of a main body unit of a wheel-shaped mobile robot based on 4D printing according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view of the assembly of the drive unit and the body unit constructed in accordance with the preferred embodiment of the present invention;
fig. 6 is a schematic diagram of the motion principle of the wheel-shaped mobile robot based on 4D printing provided by the invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1-main body unit, 2-drive unit, 3-control unit, 4-drive unit installation body, 5-control unit installation body, 6-first circular rolling body, 7-second circular rolling body, 8-first wire through hole, 9-second wire through hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 to 4, an embodiment of the present invention provides a wheel-shaped mobile robot based on 4D printing, the wheel-shaped mobile robot including a main body unit 1, a driving unit 2, and a control unit 3, wherein: the main body unit 1 comprises a first circular rolling body 6, a second circular rolling body 7, a control unit installation body 5 and a driving unit installation body 4, wherein the first circular rolling body 6 and the second circular rolling body 7 are symmetrically arranged to form a rolling shell of the wheel-shaped mobile robot, and the motion mode is rolling motion; the control unit mounting body 5 is arranged inside the rolling shell and used for mounting the control unit 3, and the driven unit mounting body 4 is arranged on the outer side of the control unit mounting body 5 and used for mounting the driving unit 2 and simultaneously connecting the first circular rolling body 6 and the second circular rolling body 7; the driving unit 2 comprises a preset number of 4D printing shape memory alloy springs which are fixed on the outer side of the driving unit installation body 4, and the wheel-shaped mobile robot is driven by the extension or compression of the 4D printing shape memory alloy springs during working; the control unit 3 is provided inside the unit installation body 5 for controlling the extension or compression of the 4D printed shape memory alloy spring.
Further, the main body unit 1 is made of a high polymer material or a composite material, and is formed by a 3D printing technology such as a fused deposition technology, a laser selective sintering technology or a photo-curing technology, and in the forming process, the main body unit 1 is divided into two parts to be formed respectively, wherein the first circular rolling body 6, the driving unit mounting body 4 and the control unit mounting body 5 are integrally formed, the second circular rolling body 7 is formed separately, and then the main body unit 1 is obtained by assembling.
Further, the 4D printing shape memory alloy spring is made of Ni-Ti shape memory alloy, wherein the content of Ni element is 50% -60%, and the rest is Ti element and impurities (the content of impurities is less than 1%). The 4D printing shape memory alloy spring is formed by adopting a laser selective melting additive manufacturing technology, and the forming process parameters comprise: the laser power is 150W-250W, the scanning speed is 1000 mm/s-1400 mm/s, the thickness of single-layer powder is 30 μm-40 μm, and the scanning distance is 80 μm-120 μm.
The 4D printed shape memory alloy spring has a two-way shape memory effect that can achieve a reversible transition in a low temperature compressed state and a high temperature extended state. The training process of the 4D printing shape memory alloy spring specifically comprises the following steps: the 4D printed shape memory alloy spring is compressed and deformed at room temperature, then is placed at 450-600 ℃ for annealing for 2-5 min and then is cooled to room temperature, and the training can be completed after the deformation and annealing treatment process is circulated for 4-10 times.
Further, the control unit 3 includes a battery pack, a controller, an embedded development board, and a sensor for controlling the extension and compression states of the 4D printed shape memory alloy spring in real time. The battery pack is used for providing power supply and controlling the on-off of current through the controller, so that the extension or the compression of the 4D printing shape memory alloy spring is controlled. As shown in fig. 5, both ends of the 4D-printed shape memory alloy spring are connected to the battery pack and the controller through the first and second wire through- holes 8 and 9 on the mounting surface, respectively.
As shown in FIG. 6, the 4D printed shape memory alloy spring S when the control unit 3 injects the proper current into the bottom of the robotxWhile, the shape memory alloy spring SxThe temperature is raised and the wheel-shaped mobile robot is stretched under the action of joule heat, so that the wheel-shaped mobile robot is pushed to roll; when the control unit 3 cuts off the current, the shape memory alloy spring S is printed in 4DxNo heat is generated, the temperature of the spring is reduced, and the spring automatically restores to the original compression state through the shape memory effect of the spring; the built-in control unit 3 then injects the appropriate current into the next 4D printed shape memory alloy spring Sx+1Shape memory alloy spring Sx+1The temperature rises and extends under the action of joule heat, so that the robot is pushed to continue rolling; when the built-in control unit 3 cuts off the current, the shape memory alloy spring S is printed in 4Dx+1No heat generation and spring temperatureThe degree is reduced and the original compression state is automatically recovered through the shape memory effect of the self body; by analogy, the extending and contracting states of the shape memory alloy spring are printed at different positions 4D in real time, and the wheel-shaped mobile robot can be controlled to roll forwards and backwards continuously.
The wheel-shaped mobile robot based on 4D printing provided by the present invention is further explained according to a specific embodiment.
(1) Design and preparation of wheel-shaped mobile robot main body unit
The wheel-shaped mobile robot main unit 1 is composed of a polygonal drive unit attachment body 4, a control unit attachment body 5, a first circular rolling body 6, and a second circular rolling body 7. The driving unit installation body 4 is in a regular dodecagon shape, the side length is 14mm, and the whole thickness is 24 mm; two small holes with the diameter of 1mm are arranged on each spring mounting plane and are used for penetrating through connecting wires. The control unit mounting body 5 is an annular cylinder, the outer circle diameter of the annular cylinder is 30mm, and the inner circle diameter of the annular cylinder is 28 mm; the annular cylinder is provided with 12 small holes with the diameter of 1mm for penetrating through the connecting lead. The first circular rolling element 6 and the second circular rolling element 7 are both disks with the diameter of 80mm and the thickness of 3 mm. The wheel-shaped mobile robot main body unit 1 is made of polylactic acid high molecular material and is formed by a fused deposition technology, and the forming process specifically comprises the following steps: the diameter of the polylactic acid wire is 1.75mm, the preheating temperature of the spray head is 210 ℃, the preheating temperature of the bottom plate is 60 ℃, the thickness of the single layer is 0.25mm, and the printing speed is 80 mm/s. In the forming process, the robot main body unit 1 is divided into two parts to be formed respectively, the drive unit mounting body 4, the control unit mounting body 5, and the first circular rolling body 6 are integrally formed as a part, the second circular rolling body 7 is separately formed as a part, and finally the main body part is assembled by the two parts.
(2) Design and preparation of 4D printing shape memory alloy spring
The driving unit adopts a plurality of 4D printing shape memory alloy springs with a two-way shape memory effect, and can realize reversible transformation in a low-temperature compression state and a high-temperature extension state. The 4D printed shape memory alloy spring has a diameter of 12mm, a wire diameter of 1.2mm, an effective number of turns of 12, a height of 43mm in an expanded state and a height of 13mm in a compressed state. The 4D printing shape memory alloy spring adopts Ni-Ti shape memory alloy, and the mass percentages of all elements in the Ni-Ti shape memory alloy are as follows: 54-56% of Ni, and the balance of Ti and inevitable impurities (the content of the impurities is less than 1%). The 4D printed Ni-Ti shape memory alloy spring is formed by adopting a laser selective melting additive manufacturing technology, and the specific process parameters are as follows: the laser power was 200W, the scanning speed was 1000mm/s, the thickness of the single layer powder was 30 μm, and the scanning pitch was 120 μm. The 4D printed Ni-Ti shape memory alloy spring obtains a two-way shape memory effect through training, and can realize reversible transformation in a low-temperature compression state and a high-temperature extension state. The training process specifically comprises: and (3) carrying out compression deformation on the 4D printed Ni-Ti spring at room temperature, then annealing at 500-560 ℃ for 2-5 min, then air-cooling to room temperature, and circulating the treatment process of deformation and annealing for 4-10 times.
(3) Large design of control unit and installation thereof
The control unit 3 consists of a battery pack, an embedded development board, a controller and a sensor and is used for controlling the stretching and contracting states of the 4D printing shape memory alloy spring in real time. The control unit 3 is fixed in a control unit mounting body 5 at the center of the robot main body; the 4D printing shape memory alloy spring is installed on a driving unit installation body 4 of the robot main body unit, two ends of the spring are connected with the built-in control unit through small holes in the installation face respectively, and connecting wires are all enameled copper wires with the diameter of 0.4 mm.
(4) Motion principle of wheel-shaped mobile robot
4D printed shape memory alloy spring S when the control unit injects proper current into the bottom of the robotxIn time, 4D printing the shape memory alloy spring SxThe temperature rises and extends under the action of joule heat, so that the robot is pushed to roll; when the control unit 3 cuts off the current, the shape memory alloy spring S is printed in 4DxNo heat is generated, the temperature of the spring is reduced, and the spring automatically restores to the original compression state through the shape memory effect of the spring; the control unit 3 then injects the appropriate current into the next 4D printed shape memory alloy spring Sx+1Shape memory alloy spring Sx+1Heated and elongated by Joule heatThereby pushing the wheel-shaped mobile robot to continue rolling; when the control unit 3 cuts off the current, the shape memory alloy spring S is printed in 4Dx+1No heat is generated, the temperature of the spring is reduced, and the spring automatically restores to the original compression state through the shape memory effect of the spring; by analogy, the extending and contracting states of the shape memory alloy spring are printed at different positions 4D in real time, and the wheel-shaped mobile robot can be controlled to roll forwards and backwards continuously.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. A wheel-shaped mobile robot based on 4D printing, characterized in that the wheel-shaped mobile robot comprises a main body unit (1), a drive unit (2) and a control unit (3), wherein:
the main body unit (1) comprises a first circular rolling body (6), a second circular rolling body (7), a control unit installation body (5) and a driving unit installation body (4), wherein the first circular rolling body (6) and the second circular rolling body (7) are symmetrically arranged to form a rolling shell of the wheel-shaped mobile robot; the control unit mounting body (5) is arranged inside the rolling shell, and the driving unit mounting body (4) is arranged outside the control unit mounting body (5);
the driving unit (2) comprises a preset number of 4D printing shape memory alloy springs which are fixed on the outer side of the driving unit installation body (4), and the driving of the wheel-shaped mobile robot is realized through the extension or compression of the 4D printing shape memory alloy springs during working; thereby driving the wheel-shaped mobile robot to realize forward and backward rolling;
the control unit (3) is arranged inside the unit installation body (5) and used for controlling the extension or compression of the 4D printing shape memory alloy spring.
2. The wheel-shaped mobile robot based on 4D printing according to claim 1, characterized in that the main body unit (1) is prepared using a fused deposition technique, a selective laser sintering technique or a photo-curing technique.
3. The wheel-shaped mobile robot based on 4D printing according to claim 1, characterized in that the first circular rolling element (6), the driving unit installation body (4) and the control unit installation body (5) in the main body unit (1) are integrally formed, the second circular rolling element (7) is separately formed, and then the main body unit (1) is obtained by assembly.
4. The wheel-shaped mobile robot based on 4D printing according to claim 1, wherein the 4D printing shape memory alloy spring is made of Ni-Ti shape memory alloy, wherein the content of Ni element is 50% to 60%, the remainder is Ti element and impurities, and the impurity content is < 1%.
5. The wheel-shaped mobile robot based on 4D printing of claim 1, wherein the 4D printed shape memory alloy spring is formed by a laser selective melting additive manufacturing technology, and the forming process parameters comprise: the laser power is 150W-250W, the scanning speed is 1000 mm/s-1400 mm/s, the thickness of single-layer powder is 30 μm-40 μm, and the scanning distance is 80 μm-120 μm.
6. The wheel-shaped mobile robot based on 4D printing of claim 1, wherein the 4D printing shape memory alloy spring has a two-way shape memory effect, and the training process is specifically as follows: and (3) performing compression deformation on the 4D printed shape memory alloy spring at room temperature, then placing the spring at 450-600 ℃ for annealing for 2-5 min, cooling to room temperature, and circulating the above treatment processes for 4-10 times to complete training.
7. A wheel-shaped mobile robot based on 4D printing according to any of the claims 1-6, characterized in that the control unit (3) comprises a battery pack and a controller, the battery pack is used for providing power supply, and the controller is used for controlling the on-off of current, so as to control the extension or compression of the 4D printing shape memory alloy spring.
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| CN113492394A (en) * | 2021-07-08 | 2021-10-12 | 中南大学 | Wheel-shaped rolling robot based on inflatable dielectric elastomer driver |
| CN113510692B (en) * | 2021-07-30 | 2022-08-12 | 西北工业大学 | Shape memory alloy drive-based turnable rolling robot and control method |
| CN113734312B (en) * | 2021-09-01 | 2022-08-30 | 中国石油大学(北京) | Closed chain rolling robot driven by shape memory alloy |
| CN113954361A (en) * | 2021-10-29 | 2022-01-21 | 陕西科技大学 | Form-variable wheel type mechanism based on 4D printing technology |
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