CN113635987A - Multi-step mobile soft robot based on shape memory alloy - Google Patents
Multi-step mobile soft robot based on shape memory alloy Download PDFInfo
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- CN113635987A CN113635987A CN202110981349.8A CN202110981349A CN113635987A CN 113635987 A CN113635987 A CN 113635987A CN 202110981349 A CN202110981349 A CN 202110981349A CN 113635987 A CN113635987 A CN 113635987A
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- memory alloy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention relates to a multi-step-state mobile soft robot based on shape memory alloy, which comprises a unit main body, supporting legs, steering memory alloy, a memory spring and a temperature adjusting device, wherein the unit main body has elasticity, one side of the upper ends of the supporting legs is hinged with the unit main body, the other side opposite to the upper ends of the supporting legs is connected with the unit main body through the memory spring to support the unit main body, the steering memory alloy is fixedly arranged on two sides of the unit main body, and the temperature adjusting device is used for increasing or reducing the temperature of the steering memory alloy and the memory spring to enable the steering memory alloy and the memory spring to extend or shorten. The embodiment of the invention has the following beneficial effects: this many attitude removal software robot based on shape memory alloy only relies on single-row structure, through set up the memory alloy that turns to in unit main part both sides, just can realize turning to of software robot, and the structure is small and exquisite more simply, can be applicable to the scene that requires stricter to the software robot volume.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a multi-step mobile soft robot based on shape memory alloy.
Background
The soft robot is a novel robot made of various flexible materials, has infinite freedom and continuous deformation capacity, and can randomly change the shape and the size of the robot in a large range. Compared with a rigid robot, the soft robot has strong adaptability, high safety and good human-computer interaction capacity, and has wide application in various fields, such as industry, agriculture, medical treatment, disaster relief and the like. Common actuation means currently include shape memory alloy or polymer actuation, dielectric elastomer actuation, and fluid actuation.
A shape memory alloy is an alloy having a shape memory capability that, after deformation, returns to its original shape upon heating. Shape memory alloys have two metallographic structures: disordered martensite and ordered austenite. During the deformation process, the memory alloy has two deformation temperature ranges. In the low temperature range, it changes from austenite to martensite; and in the high temperature range, the phase changes from martensite to austenite. This phenomenon is called the shape memory effect.
The existing memory alloy soft robot, such as the soft crawling robot driven by shape memory alloy disclosed in application number 201711153544.1, includes two rows of soft cells in parallel in order to realize the turning function, so that the whole soft robot has a complicated structure, which is not favorable for realizing the miniaturization of the robot.
Disclosure of Invention
In view of the above, there is a need to provide a multi-step mobile soft robot based on shape memory alloy, so as to solve the technical problem in the prior art that the soft robot has a parallel structure and a complicated structure.
The invention provides a multi-step mobile soft robot based on shape memory alloy, which comprises: the unit main body is elastic, one side of the upper end of each supporting leg, facing the advancing direction, is hinged with the unit main body, one side of the upper end of each supporting leg, facing away from the advancing direction, is connected with the unit main body through the memory spring to support the unit main body, the steering memory alloys are fixedly arranged on two sides of the unit main body along the advancing direction, and the temperature adjusting device is used for increasing or reducing the temperature of the steering memory alloys and the memory springs to enable the steering memory alloys and the memory springs to extend or shorten.
Furthermore, the multi-step mobile soft robot based on the shape memory alloy further comprises a connecting spring, and at least two main body units are connected end to end sequentially through the connecting spring.
Furthermore, the steering memory alloy is strip-shaped and is arranged on two sides of the unit main body in parallel.
Furthermore, the temperature adjusting device comprises a power supply, a heating wire, a fan and a single-pole double-throw switch, wherein the heating wire is connected with the fan in parallel and is connected with the power supply in series through the single-pole double-throw switch, the heating wire is used for heating the steering memory alloy or the memory spring, and the fan is used for blowing air to the steering memory alloy or the memory spring for heat dissipation.
Furthermore, the multi-step mobile soft robot based on the shape memory alloy also comprises a friction pad sleeved at the bottom of the supporting leg.
Further, the steering memory alloy has a diameter in the range of 1mm-1.2mm and a length in the range of 250mm-350 mm.
Further, the diameter of the wire is 1.2mm when the memory spring is not deformed, the diameter of the cross section is 11mm, and the length is 8.4 mm.
Further, the phase transition temperature of the memory spring is 85 ℃.
Furthermore, when the memory spring is not deformed, the included angle between the upper end surface of the supporting leg and the unit main body is 15 degrees.
Furthermore, when the memory spring deforms and extends, the included angle between the upper end surface of the supporting leg and the unit main body is 45 degrees.
Compared with the prior art, the multi-step mobile software robot based on the shape memory alloy only depends on a single-row structure, the steering memory alloy is arranged on the two sides of the unit main body, the steering of the software robot can be realized, the structure is simpler and smaller, and the multi-step mobile software robot can be suitable for scenes with stricter requirements on the size of the software robot.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to be implemented according to the content of the description, the following detailed description is given with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a multi-step mobile soft robot based on shape memory alloy according to the present invention;
FIG. 2 is a top view of the multi-step mobile soft robot based on shape memory alloy during turning;
fig. 3 is a circuit diagram of the thermostat.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Referring to fig. 1 and 2, the multi-step mobile soft robot based on shape memory alloy comprises a unit body 1, a support leg 2, a steering memory alloy 3, a memory spring 4 and a temperature adjusting device. Wherein the unit body 1 has elasticity and can be bent, and is generally of a silica gel cylinder structure. The unit body 1 may have a cavity structure to assume a transportation function.
A plurality of support legs 2 are installed below each main unit 1, and the support legs 2 serve to support the main unit 1 and move. The upper end of the supporting leg 2 is hinged with the unit main body 1 towards one side of the advancing direction of the robot, and the upper end of the supporting leg 2, which is back to the advancing direction, is connected with the unit main body 1 through a memory spring 4. In this embodiment, the support leg 2 may be made of Acrylonitrile Butadiene Styrene (ABS) plastic. In order to avoid slipping of the main unit 1 during traveling, a friction pad 5 may be provided at the bottom of the support leg 2 to increase friction.
In the present embodiment, the memory spring 4 preferably has a wire diameter of 1.2mm, a cross-sectional diameter of 11mm and a length of 8.4 mm. The phase transition temperature is set to 85 ℃, the memory spring 4 is heated to extend, and the memory spring 4 is cooled to contract. When the memory spring 4 is not deformed, the upper end surface of the supporting leg 2 forms an included angle of 15 degrees with the unit main body 1. When the memory spring 4 deforms and stretches, the included angle between the upper end surface of the supporting leg 2 and the unit main body 1 is 45 degrees, and the deformation amplitude is 30 degrees.
The steering memory alloy 3 is fixedly arranged on two sides of the unit main body 1, and in order to obtain a good steering effect, in the embodiment, the steering memory alloy 3 is designed to be long-strip-shaped and is arranged on two sides of the unit main body 1 in parallel along the advancing direction of the unit main body 1. In the present embodiment, the steering memory alloy 3 preferably has a diameter in the range of 1mm to 1.2mm and a length in the range of 250mm to 350 mm.
The temperature adjusting device is used for increasing or decreasing the temperature of the steering memory alloy 3 and the memory spring 4, namely, the temperature adjusting device is independently arranged for each steering memory alloy 3 and each memory spring 4 and used for controlling the temperature. The steering memory alloy 3 or the memory spring 4 is heated, and the steering memory alloy 3 or the memory spring 4 is elongated. When the temperature of the steering memory alloy 3 or the memory spring 4 is lowered, the length thereof is shortened.
Referring to fig. 3, in the present embodiment, the temperature adjusting means includes a power source 71, a heating wire 72, a fan 73, and a single-pole double-throw switch 74. Wherein the heating wire 72 is connected in parallel with the fan 73 and is connected in series with the power supply 71 through the single-pole double-throw switch 74. The power supply 71 can adopt a storage battery, the heating wire 71 is used for heating the steering memory alloy 3 or the memory spring 4, and in other embodiments, the steering memory alloy 3 or the memory spring 4 can be directly connected into a circuit to replace the heating wire 72 for direct electrifying and heating. The fan 73 is used for blowing air to the steering memory alloy 3 or the memory spring 4 for heat dissipation, so that the temperature of the steering memory alloy is reduced, and the length of the steering memory alloy is shortened.
According to actual needs, two or more unit main bodies 1 can be connected in series end to end in sequence for use, and two adjacent unit main bodies 1 are connected through a connecting spring 6.
The soft robot can complete a complete crawling motion and can be divided into two processes of stretching and contracting. During the stretching process, the memory spring 4 is heated and stretched, the supporting leg 2 is pushed out, and the robot moves forwards for a certain distance. The memory spring 4 keeps warm, and the supporting leg 2 keeps a stretching state and is fixed on the road surface due to the function of the friction pad 5. During the contraction process, the memory spring 4 is cooled and contracted to drive the supporting leg 2 to retract, and the robot completes one movement cycle. The robot can move forward continuously by repeating the above two processes.
When the robot needs to turn to avoid obstacles, the shape memory alloy wire 3 on the opposite side of the unit body 1 needing to turn is heated and extended, the unit body is bent, and the turning action is completed by the advancing action.
The embodiment of the invention has the following beneficial effects: this many attitude removal software robot based on shape memory alloy only relies on single-row structure, through set up the memory alloy that turns to in unit main part both sides, just can realize turning to of software robot, and the structure is small and exquisite more simply, can be applicable to the scene that requires stricter to the software robot volume.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. A multi-step mobile soft-bodied robot based on shape memory alloy, comprising: unit main part, a plurality of supporting legs, turn to memory alloy, memory spring and attemperator, the unit main part has elasticity, supporting leg upper end towards one side of advancing direction with the unit main part is articulated, and its upper end is passed through to one side of advancing direction dorsad memory spring with the unit main part is connected, is provided with the support the unit main part, turn to memory alloy along advancing direction fixed set up in unit main part both sides, attemperator is used for rising or reducing turn to memory alloy with memory spring's temperature makes turn to memory alloy with memory spring extension or shorten.
2. The multi-step shape memory alloy-based mobile soft robot of claim 1, further comprising a connecting spring, wherein at least two of the body units are connected end to end sequentially by the connecting spring.
3. The multi-modal mobile soft robot based on shape memory alloy according to claim 1, wherein the steering memory alloy is elongated and arranged in parallel on both sides of the unit body.
4. The multi-modal mobile soft robot based on shape memory alloy according to claim 1, wherein the temperature adjustment device comprises a power supply, a heater wire, a fan and a single-pole double-throw switch, the heater wire is connected in parallel with the fan and is connected in series with the power supply through the single-pole double-throw switch, the heater wire is used for heating the steering memory alloy or the memory spring, and the fan is used for blowing heat to the steering memory alloy or the memory spring.
5. The multi-step shape memory alloy-based mobile soft robot of claim 1, further comprising a friction pad sleeved on the bottom of the support leg.
6. The multi-modal mobile soft robot based on shape memory alloy as recited in claim 3, wherein the steering memory alloy is in the range of 1mm to 1.2mm in diameter and 250mm to 350mm in length.
7. The multi-step mobile soft robot based on shape memory alloy according to claim 1, wherein the memory spring has a wire diameter of 1.2mm, a cross-sectional diameter of 11mm and a length of 8.4mm when undeformed.
8. The multi-modal mobile soft robot based on shape memory alloy according to claim 7, wherein the memory spring phase transition temperature is 85 ℃.
9. The multi-step mobile soft robot based on shape memory alloy according to claim 1, wherein the angle between the upper end surface of the support leg and the unit body is 15 ° when the memory spring is not deformed.
10. The multi-step mobile soft robot based on shape memory alloy according to claim 9, wherein when the memory spring is deformed and elongated, the upper end surface of the support leg forms an angle of 45 ° with the unit body.
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| CN102111079A (en) * | 2011-03-04 | 2011-06-29 | 北京航空航天大学 | Active control drive power supply for shape memory alloy |
| CN103381861A (en) * | 2013-07-30 | 2013-11-06 | 浙江工业大学 | Leg connection structure for bionic insect robot |
| CN104175314A (en) * | 2014-08-15 | 2014-12-03 | 北京航空航天大学 | Soft robot based on SMA and SSMA driving |
| CN104859740A (en) * | 2015-05-12 | 2015-08-26 | 上海大学 | Four-wheel module-series-connection swinging arm sliding robot |
| CN105501323A (en) * | 2016-01-22 | 2016-04-20 | 张铭洋 | Worm robot and control method thereof |
| CN108100068A (en) * | 2017-12-19 | 2018-06-01 | 北京航空航天大学 | A kind of climbing robot of marmem driving |
| CN111894909A (en) * | 2020-05-20 | 2020-11-06 | 南京航空航天大学 | Small-unbalance automatic balancing assembly based on memory alloy and used after fan bird collision and control method |
| US20210148503A1 (en) * | 2019-11-19 | 2021-05-20 | South Dakota Board Of Regents | Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe |
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2021
- 2021-08-25 CN CN202110981349.8A patent/CN113635987B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102111079A (en) * | 2011-03-04 | 2011-06-29 | 北京航空航天大学 | Active control drive power supply for shape memory alloy |
| CN103381861A (en) * | 2013-07-30 | 2013-11-06 | 浙江工业大学 | Leg connection structure for bionic insect robot |
| CN104175314A (en) * | 2014-08-15 | 2014-12-03 | 北京航空航天大学 | Soft robot based on SMA and SSMA driving |
| CN104859740A (en) * | 2015-05-12 | 2015-08-26 | 上海大学 | Four-wheel module-series-connection swinging arm sliding robot |
| CN105501323A (en) * | 2016-01-22 | 2016-04-20 | 张铭洋 | Worm robot and control method thereof |
| CN108100068A (en) * | 2017-12-19 | 2018-06-01 | 北京航空航天大学 | A kind of climbing robot of marmem driving |
| US20210148503A1 (en) * | 2019-11-19 | 2021-05-20 | South Dakota Board Of Regents | Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe |
| CN111894909A (en) * | 2020-05-20 | 2020-11-06 | 南京航空航天大学 | Small-unbalance automatic balancing assembly based on memory alloy and used after fan bird collision and control method |
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