CN113977593A - Driving mechanism for robot frogman, humanoid mechanical arm and stepless bending and twisting - Google Patents
Driving mechanism for robot frogman, humanoid mechanical arm and stepless bending and twisting Download PDFInfo
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- CN113977593A CN113977593A CN202111127123.8A CN202111127123A CN113977593A CN 113977593 A CN113977593 A CN 113977593A CN 202111127123 A CN202111127123 A CN 202111127123A CN 113977593 A CN113977593 A CN 113977593A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to a frogman, a humanoid mechanical arm and a driving mechanism for electrodeless bending and twisting, belonging to the technical field of robots. The driving mechanism for bending and twisting comprises a rigid rod body, a woven alloy net sleeve, a flexible filling sleeve, an outer connecting ring and a flexible wrapping sleeve; the woven alloy net sleeve is a cylindrical net sleeve structure formed by weaving shape memory alloy wires; two ends of the braided alloy net sleeve are fixedly connected to the outer connecting ring; on the woven alloy mesh sleeve, two crossed shape memory alloy wire sections are immovably and fixedly connected at the crossed position of the two through a node connecting piece; the arm action driving unit is connected with a conducting wire on the node connecting piece through one end, and provides driving voltage with the same potential to a junction point of two intersected shape memory alloy wire sections distributed on the node connecting piece. The stepless drive mechanism for the bending torsion based on the structural improvement effectively improves the flexibility of arm operation, has simple control on the arm torsion action, and can be widely applied to the technical fields of robots, deep sea exploration and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot frogman, a humanoid mechanical arm capable of being used for constructing the robot frogman and a stepless bending and twisting driving mechanism capable of being used for constructing the humanoid mechanical arm.
Background
With the deep exploration and understanding of the ocean, the development and utilization of ocean resources become the dominant melody, and underwater robots become essential equipment in the process of developing ocean resources in complex and variable ocean environments, for example, the applicant discloses a robot frogman in patent document with publication number CN111152244A, which comprises a body and a humanoid mechanical arm mounted on the body, wherein the humanoid mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm and a palm component connected with the tail end of the small arm through the wrist joint. In the working process, the elbow joint mechanism drives the two arm structures and the relative rotation between the arms and the machine body or the palm assembly, so that the two arm structures are difficult to act like a human body, particularly the realization of the twisting action cannot realize flexible action.
Further, the applicant disclosed in patent document No. CN208216956U a bionic flexible arm driven submersible comprising a watertight hull, a control unit, and a buoyancy adjusting unit and a power unit controlled by the control unit; wherein, the power unit is including installing many flexible actuating arms on the afterbody of watertight trunk shell to adopt the flexible arm body by the drive of electrostriction element as flexible actuating arm, with the motion mode of bionical octopus, thereby realize the operation of removal and action, and the torsion of actuating arm is controlled more easily, but it can't accomplish multiple operation like the diver.
Disclosure of Invention
The invention mainly aims to provide a robot frogman, which effectively improves the flexibility of arm operation based on the structural improvement of a humanoid mechanical arm and has simple control on the arm torsion action;
another object of the present invention is to provide a humanoid robot arm and a driving mechanism for stepless torque bending, which can be used for constructing the robot frogman.
In order to achieve the main purpose, the robot frogman provided by the invention comprises a frogman and a humanoid mechanical arm and arm action driving unit which are arranged on the frogman, wherein the humanoid mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm and a palm component which is connected with the tail end of the small arm through a wrist joint; the large arm and/or the small arm are/is a rod-shaped driving mechanism for stepless bending and twisting; the driving mechanism for the electrodeless bending and twisting comprises a bendable rigid rod body, a woven alloy net sleeve, a flexible filling sleeve, an outer connecting ring and a flexible wrapping sleeve, wherein the woven alloy net sleeve is sleeved outside the rigid rod body, a sleeving gap exists between the rigid rod body and the woven alloy net sleeve; the external connecting ring is fixedly connected with a joint driving mechanism of a shoulder joint, an elbow joint or a wrist joint; the woven alloy net cover is a cylindrical net cover structure woven by shape memory alloy wires, and the upper net holes of the woven alloy net cover are of a rhombic net hole structure with an adjustable included angle and formed by four shape memory alloy wire sections which are intersected in pairs; two ends of the braided alloy net sleeve are fixedly connected to the outer connecting ring; on the woven alloy mesh sleeve, two crossed shape memory alloy wire sections are immovably and fixedly connected at the crossed position of the two through a node connecting piece; the arm action driving unit is connected with a lead on the node connecting piece through one end, and provides equipotential driving voltage for a junction point of two intersected shape memory alloy wire sections distributed on the node connecting piece.
In the technical scheme, the four sections of the shape memory alloy wire sections connected with the nodes are provided with the same-potential driving voltage through one node connecting piece, the stretching action of one section of the shape memory alloy wire section between the two node connecting pieces can be controlled based on the fact that different voltages are given to different node connecting pieces, and the bending and stepless torsion in any direction can be realized by means of the supporting and tensioning action of the rigid rod body, and the swinging driving of the joint driving mechanism is matched, so that the operation flexibility of the whole humanoid mechanical arm is effectively improved, and the driving control method of the driving mechanism for stepless bending and torsion is simple.
The outer connecting ring comprises a wire coiling ring and a connecting ring fixedly arranged on the outer side of the wire coiling ring, the joint driving mechanism is fixedly connected with the connecting ring, and a wire passing hole for a shape memory alloy wire to pass through for weaving is formed in the wire coiling ring; the woven alloy net sleeve is formed by weaving a single shape memory alloy wire, the connecting ring is tightly pressed on the wire coil ring, and the alloy wire section part which is positioned on the outer side surface of the wire coil ring and between the two wire passing holes is tightly pressed and fixed. The technical scheme can effectively simplify the fixing and connecting mode of the shape memory alloy wire and the external connecting ring and provide the firmness of the connection of the shape memory alloy wire and the external connecting ring.
The specific scheme is that the woven alloy net sleeve is a cylindrical net sleeve structure formed by weaving a plurality of shape memory alloy wires, and the end part of each shape memory alloy wire is fixedly connected to an external connecting ring at two ends of the woven alloy net sleeve. The technical scheme can effectively simplify the weaving work of the woven alloy net cover.
The preferable proposal is that the conducting wire is arranged on the flexible filling sleeve and the flexible wrapping sleeve and the outer connecting ring arranged on the end parts of the flexible filling sleeve and the flexible wrapping sleeve form a sealed cavity structure; the wire is sleeved in the flexible wrapping sleeve and passes through the wire passing hole arranged on the outer connecting ring, and is fixedly connected with the wire passing hole in a watertight manner. The technical scheme can effectively simplify the connection structure of the node connecting piece and the shape memory alloy wire.
In order to achieve the other object, the driving mechanism for stepless torque bending provided by the invention comprises a bendable rigid rod body, a woven alloy mesh sleeve which is sleeved outside the rigid rod body and has a sleeving gap between the bendable rigid rod body and the woven alloy mesh sleeve, a flexible filling sleeve which is filled between the rigid rod body and the woven alloy mesh sleeve, an outer connecting ring which is fixedly arranged at two ends of the woven alloy mesh sleeve and fixedly connected with the end part of the rigid rod body, and a flexible wrapping sleeve which is tightly sleeved outside the woven alloy mesh sleeve; the woven alloy net cover is a cylindrical net cover structure woven by shape memory alloy wires, and the upper net holes of the woven alloy net cover are of a rhombic net hole structure with an adjustable included angle and formed by four shape memory alloy wire sections which are intersected in pairs; two ends of the braided alloy net sleeve are fixedly connected to the outer connecting ring; on the woven alloy mesh sleeve, two crossed shape memory alloy wire sections are immovably and fixedly connected at the crossed position of the two through a node connecting piece; the arm action driving unit is connected with a conducting wire on the node connecting piece through one end, and provides driving voltage with the same potential to a junction point of two intersected shape memory alloy wire sections distributed on the node connecting piece.
In the technical scheme, the four sections of the shape memory alloy wire sections connected with the nodes are provided with the same-potential driving voltage through one node connecting piece, the stretching action of one section of the shape memory alloy wire section between the two node connecting pieces can be controlled based on the fact that different voltages are given to different node connecting pieces, and the support and tensioning action of the rigid rod body is utilized, so that the bending and the stepless torsion in any direction can be realized, and the driving control method of the driving mechanism for the stepless bending torsion is simpler.
The outer connecting ring comprises a wire coiling ring and a connecting ring fixedly arranged on the outer side of the wire coiling ring, and the wire coiling ring is provided with a wire passing hole for a shape memory alloy wire to pass through for weaving; the woven alloy net sleeve is formed by weaving a single shape memory alloy wire, the connecting ring is tightly pressed on the wire coil ring, and the alloy wire section part which is positioned on the outer side surface of the wire coil ring and between the two wire passing holes is tightly pressed and fixed.
The specific scheme is that the woven alloy net sleeve is a cylindrical net sleeve structure formed by weaving a plurality of shape memory alloy wires, and the end part of each shape memory alloy wire is fixedly connected to an external connecting ring at two ends of the woven alloy net sleeve.
The preferable proposal is that the conducting wire is arranged on the flexible filling sleeve and the flexible wrapping sleeve and the outer connecting ring arranged on the end parts of the flexible filling sleeve and the flexible wrapping sleeve form a sealed cavity structure; the wire is sleeved in the flexible wrapping sleeve and passes through the wire passing hole arranged on the outer connecting ring, and is fixedly connected with the wire passing hole in a watertight manner.
In order to achieve the other aim, the invention provides a humanoid mechanical arm which comprises a shoulder joint, a big arm, an elbow joint, a small arm and a palm component connected with the tail end of the small arm through a wrist joint; the large arm and/or the small arm are/is a rod-shaped driving mechanism for stepless bending and twisting; the driving mechanism for the stepless bending and twisting is the driving mechanism for the stepless bending and twisting described in any technical scheme, and the outer connecting ring is fixedly connected with the joint driving mechanism of the shoulder joint, the elbow joint or the wrist joint.
Drawings
FIG. 1 is a perspective view of a frogman as a robot in accordance with example 1 of the present invention;
fig. 2 is a perspective view of a drive mechanism for stepless bending and twisting in embodiment 1 of the present invention;
fig. 3 is a schematic structural view of a driving mechanism for stepless bending and twisting in embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a woven alloy mesh cover in example 1 of the present invention;
FIG. 5 is a schematic structural diagram of a partial shape memory alloy wire segment before a driving voltage is applied to a node on a woven alloy mesh in embodiment 1 of the present invention;
FIG. 6 is a schematic structural diagram of a local shape memory alloy wire twisted when a driving voltage is applied to a node on the woven alloy mesh cover in example 1 of the present invention;
FIG. 7 is a schematic structural diagram of a local shape memory alloy wire before a driving voltage is applied to a node on a woven alloy mesh cover in embodiment 1 of the present invention;
FIG. 8 is a schematic structural diagram of a local shape memory alloy wire when bending is generated after a driving voltage is applied to a node on the woven alloy mesh cover in embodiment 1 of the present invention;
FIG. 9 is a schematic diagram showing the voltage application at different nodes on the braided alloy mesh during the twisting operation in example 1 of the present invention;
fig. 10 is a schematic diagram of the voltage application at different nodes on the woven alloy mesh during the bending operation in example 1 of the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures.
The main conception of the invention is that the arm structure in the humanoid mechanical arm is improved, so as to improve the operation flexibility of the whole humanoid mechanical arm; in addition, the structure of the palm component is improved so as to further improve the operating performance of the humanoid mechanical arm.
Example 1
In the present embodiment, the overall structure of the robot frogman is similar to that of the robot frogman disclosed in the patent document with the publication number CN111152244A, and the specific structure is as shown in fig. 1, the robot frogman 1 specifically includes a main body 10, a humanoid robot arm 11 and a control unit, the humanoid robot arm 11 includes a shoulder joint 12, a large arm 13, an elbow joint 14, a small arm 15 and a palm assembly 2 connected to the end of the small arm 15 through the wrist joint, and the control unit includes an arm motion driving unit. During operation, the optical fiber 01 is connected with the transfer station 02 on the water surface in a communication way.
The shoulder joint 12, the elbow joint 14, and the wrist joint can realize bending operation with more than one degree of freedom, in this embodiment, the bending operation with one degree of freedom is a swinging operation with one degree of freedom, specifically, the relative swinging between two adjacent structures connected by the driving is performed based on a joint motor, for example, the elbow joint 14 drives the large arm 13 to swing relative to the small arm 15; the specific structure of the large arm 13 and the small arm 15 is constructed by using the driving mechanism 3 for endless bending as shown in fig. 2 and 3, or one of them may be constructed by using the driving mechanism 3 for endless bending, and if both are constructed by using them, the operational flexibility can be improved more.
Referring to fig. 2 and 3, the driving mechanism 3 for stepless bending and twisting includes an arm body and connecting rings 30 fixedly disposed at two ends of the arm body; the arm body comprises a bendable rigid rod body 31, a woven alloy mesh sleeve 4 sleeved outside the rigid rod body 31, a flexible filling sleeve 32 filled between the rigid rod body 31 and the woven alloy mesh sleeve 4, wire coiling rings 33 fixedly arranged at two ends of the woven alloy mesh sleeve 4, and a flexible wrapping sleeve 34 tightly sleeved outside the woven alloy mesh sleeve 4. The rigid rod 31 is configured as a bendable rod structure that is not stretchable and compressible in the axial direction, for example, a steel wire rope that can be bent but cannot be stretched in the axial direction, and the connection rings 30 fixed at the two ends of the braided alloy mesh 4 are fixedly connected to the end portions of the rigid rod 31, so that the driving mechanism 3 for stepless bending and twisting can perform bending and twisting operations, and cannot perform stretching and shortening operations alone.
As shown in fig. 3 and 4, the woven alloy mesh 6 is a cylindrical mesh structure woven by a plurality of shape memory alloy wire sections 61, and four intersected shape memory alloy wire sections 61 enclose a rhombic mesh structure 60 with an adjustable included angle, and the two intersected shape memory alloy wire sections 61 are in conductive connection through a node connecting piece 62, and the two intersected shape memory alloy wire sections 61 are fixedly connected at a node by a node connecting piece 62, so that the two intersected shape memory alloy wire sections 61 cannot slide relatively at the node and cannot slide relatively to the node connecting piece 62, that is, on the woven alloy mesh 4, the two intersected shape memory alloy wire sections 61 are fixedly connected at the intersection of the two intersected shape memory alloy wire sections immovably through the node connecting piece 62. The shape memory alloy wire 61 is an SMA, which is the same as the alloy wire used in the robot frogman disclosed in patent publication No. CN 111152244A.
The connecting ring 30 is used for fastening to a joint drive mechanism of the shoulder joint 12, the elbow joint 14, or the wrist joint, for example, a stator or a rotor of a joint drive motor, so that the arm body can be swung relative to a component to which the arm body is connected by the joint drive mechanism. The wire ring 33 is in turn fixed to the connection ring 30 by means of screws, so that the two ends of the knitted alloy mesh 4 are indirectly fixed to the connection ring 30, i.e. the connection ring 30 and the wire ring 33 together form an outer connection ring in this embodiment.
In order to drive the arm body to twist or completely move, in the present embodiment, the arm movement driving unit is connected to the conducting wire on the node connecting piece 62 through one end, and provides an equipotential driving voltage to the intersection point of two intersected shape memory alloy wires 61 fixed on the node connecting piece 62; specifically, the arm motion driving unit is a regulated power supply module with adjustable output voltage, and the regulated power supply module can provide a plurality of voltage outputs with different potentials.
The woven alloy mesh 6 applying different potential voltages to different nodes provides a torsional drive or a complete drive for the motion of the arm body, thereby completing the torsional operation of the arm through cooperation with other components. The connecting rings 30 are connected with the elbow and shoulder joints and are fixedly connected with the rigid rod body 31 in a matching mode through a connecting structure, so that the connecting rings 30 can rotate freely, and meanwhile, the distance between the two connecting rings 30 is guaranteed to be unchanged to a certain extent, namely the connecting rings 30 are rotatably fixedly connected to the end parts of the two ends of the rigid rod body 31.
The flexible filling sleeve 32 and the flexible wrapping sleeve 34 have the functions of assisting in fixing the woven alloy mesh sleeve 4, can also be matched with the twisting of the woven alloy mesh sleeve to realize rigid impact-free arm driving, and meanwhile, have a certain protection effect on the woven alloy mesh sleeve 4. The flexible filler sleeve 32 may be selected from a material having high elasticity and low stiffness, such as latex.
The woven alloy mesh 4 is expanded in a plane to obtain an expanded view as shown in fig. 4, two ends of a shape memory alloy wire 61 are fixedly connected with the wire coil ring 33, and the other memory alloy wire sections are connected with each other through a node connecting piece 62, namely, in the embodiment, two end parts of the alloy wire are fixedly connected on the node connecting piece 62 to form a mesh shape, and a power supply lead is connected to the central area of the node connecting piece 62 and used for electrifying the shape memory alloy wire sections, namely applying a voltage with a preset potential. The specific control mode is that the current on the shape memory alloy wire section between the two node connecting pieces 62 is controlled by artificially controlling the level on the node connecting pieces 62, so as to control the contraction and relaxation of each section of alloy wire; and the deformation of each alloy wire is overlapped, and finally the complex bending or twisting action can be completed. For each segment of the alloy wire 61, only two states of full contraction and full relaxation need to be controlled, and the segment does not need to be stabilized in a certain intermediate state to control the driving position as in other applications, so that the requirement of the control algorithm of the shape memory alloy is low, namely the algorithm is simple.
As shown in fig. 5 and 6, partially, as shown in fig. 5, the upper and lower sides of the arm pad are kept substantially parallel to each other by the tension of the arm pad. For the torsional motion: when one of the wires 61 is electrically shortened, as shown in fig. 6, the side length of the enclosed rhombus structure is changed, and under the tension, the two wires generate lateral displacement to act on the cylindrical arm body, and the lateral displacement is generated on the side surface of the cylinder. The superimposed displacement will cause a significant twisting motion of the arm body, thereby driving the palm to perform the twisting motion.
As shown in fig. 7 and 8, when two shape memory alloy wires 61 are electrically contracted at the same time when viewed partially, the distance between both ends in the transverse direction of the diamond structure is constant, and both sides are shortened, so that the stretching movement is generated in the height direction, as shown in fig. 8.
As can be seen from the above, all nodes on the same layer are powered on in the same manner, so that the telescopic movement between layers can be realized, and the telescopic movement between layers finally causes the bending movement of the whole arm.
As shown in FIG. 9, when the black node connection 62 is set to a low level and the white node connection 62 is set to a high level, the shape memory alloy wire 61 on the left-inclined spiral is energized and driven, and the shape memory alloy wire 61 on the right-inclined spiral is maintained at the same length. At this time, the upper fixing ring can be twisted clockwise, so as to control the rotation of the wrist. By the scheme, besides torsion, various driving modes can be realized, so that the device is not limited to be applied to the arm structure of the underwater robot and can also be applied to thigh arms or shank arms.
As shown in fig. 10, the high and low levels are set alternately, that is, the black node connecting piece 62 is set to be the low level, and the white node connecting piece 62 is set to be the high level, which is equivalent to that all the shape memory alloy wires 61 are heated to shrink, and at this time, the shrinking motion of the woven alloy mesh can be realized; based on this, if the connecting piece on one side of the alloy net is arranged between black and white, and the other side is arranged to be completely black. At this time, all the shape memory alloy wires 61 on one side are energized to contract, while all the shape memory alloy wires 61 on the other side are kept as they are. It is possible to achieve a foil-like SMA wire actuator effect by bending the length-contracted side of the alloy mesh by shortening the length of one side and maintaining the original length of the other side.
Unlike the traditional flexible arm in the prior art, the action execution does not depend on the stacking of various drivers, and the stacking scheme of different functional drivers, such as the stacking scheme of stretching or bending, does not need to be designed in advance according to the application occasions, so that the flexible arm has strong adaptability. The integral driving is realized by adopting a micro-deformation superposition mode, the control requirement on a single section of SMA wire is low, the integral control difficulty is low, and the control precision is high.
In addition, the control method is effectively simplified by controlling the woven alloy net formed by the SMA wires in a segmented manner through the contact points; the finite element thought is used for reference on the whole, and the motion of the whole arm is controlled by the change of the SMA wires of each small section of the woven alloy net.
Example 2
As an explanation of embodiment 2 of the present invention, only differences from embodiment 1 will be explained below.
Referring to the structure shown in fig. 2 and 3, the outer connecting ring includes a wire coil ring 33 and a connecting ring 30 fixedly arranged on the outer side surface of the wire coil ring 33, the joint driving mechanism is fixedly connected with the connecting ring 30, and a wire passing hole 330 for the shape memory alloy wire to pass through for weaving is arranged on the wire coil ring 33; the woven alloy net cover 4 is formed by weaving a single piece of shape memory alloy wire, the connecting ring 30 tightly presses the wire coil ring 33, and the alloy wire section part which is positioned on the outer side surface of the wire coil ring 33 and between the two wire passing holes 330 is tightly pressed and fixed, so that the fixed connection is facilitated.
Example 3
As an explanation of embodiment 3 of the present invention, only differences from embodiment 1 or 2 will be explained below.
Unlike the previous embodiment in which the alloy wires are externally sleeved with an insulating sleeve or coated with insulating paint, in the present embodiment, the flexible filling sleeve 32 and the flexible wrapping sleeve 34 form a sealed cavity structure with the wire coiling ring 33 arranged on the ends of the two; the wire is sleeved in the flexible wrapping sleeve 34, passes through the wire passing hole arranged on the wire coiling ring 33, and is fixedly connected with the wire passing hole in a watertight manner, so that the sealing effect is maintained.
Example 4
As an explanation of embodiment 4 of the present invention, only differences from embodiment 1 will be explained below.
In this embodiment, the node connector 62 is fixedly attached to the flexible filler sleeve 32 by adhesive or the like.
Claims (10)
1. A robot frogman comprises a frogman body, a humanoid mechanical arm and an arm action driving unit, wherein the humanoid mechanical arm and the arm action driving unit are arranged on the frogman body, and the humanoid mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm and a palm component connected with the tail end of the small arm through a wrist joint; the method is characterized in that:
the large arm and/or the small arm are/is a rod-shaped driving mechanism for stepless bending and twisting;
the driving mechanism for the electrodeless torsion comprises a bendable rigid rod body, a woven alloy mesh sleeve which is sleeved outside the rigid rod body and has a sleeving gap between the bendable rigid rod body and the woven alloy mesh sleeve, a flexible filling sleeve which is filled between the rigid rod body and the woven alloy mesh sleeve, an outer connecting ring which is fixedly arranged at two ends of the woven alloy mesh sleeve and is fixedly connected with the end part of the rigid rod body, and a flexible wrapping sleeve which is tightly sleeved outside the woven alloy mesh sleeve; the external connecting ring is fixedly connected with a joint driving mechanism of the shoulder joint, the elbow joint or the wrist joint;
the woven alloy net cover is a cylindrical net cover structure woven by shape memory alloy wires, and the upper net holes of the woven alloy net cover are of a rhombic net hole structure with an adjustable included angle and formed by four shape memory alloy wire sections which are intersected in pairs; two ends of the woven alloy net sleeve are fixedly connected to the outer connecting ring; on the woven alloy mesh sleeve, two crossed shape memory alloy wire sections are immovably and fixedly connected at the crossed position of the two crossed shape memory alloy wire sections through a node connecting piece; the arm action driving unit is connected with the conducting wire on the node connecting piece through one end, and provides equipotential driving voltage for a junction point of two intersected shape memory alloy wire sections distributed on the node connecting piece.
2. A robot frogman as claimed in claim 1, wherein:
the outer connecting ring comprises a wire coiling ring and a connecting ring fixedly arranged on the outer side of the wire coiling ring, the joint driving mechanism is fixedly connected with the connecting ring, and a wire passing hole for the shape memory alloy wire to pass through for weaving is formed in the wire coiling ring; the woven alloy net sleeve is formed by weaving a single piece of shape memory alloy wire, the connecting ring is tightly pressed on the wire coiling ring, and the alloy wire section part which is positioned on the outer side surface of the wire coiling ring and between the two wire passing holes is tightly pressed and fixed.
3. A robot frogman as claimed in claim 1, wherein:
the woven alloy net cover is of a cylindrical net cover structure formed by weaving a plurality of shape memory alloy wires, and the end parts of the shape memory alloy wires are fixedly connected to the outer connecting ring at two ends of the woven alloy net cover.
4. A robot frogman as claimed in any one of claims 1 to 3, wherein:
the flexible filling sleeve, the flexible wrapping sleeve and the outer connecting ring arranged on the end parts of the flexible filling sleeve and the flexible wrapping sleeve form a sealed cavity structure; the wire is sleeved in the flexible wrapping sleeve, passes through the wire passing hole arranged on the outer connecting ring and is fixedly connected with the wire passing hole in a watertight manner.
5. A robot frogman as claimed in any one of claims 1 to 4, characterised in that:
the joint driving mechanism is used for driving the relative rotation between the two adjacent components connected with the joint driving mechanism.
6. The driving mechanism for the electrodeless crankle is characterized by comprising a bendable rigid rod body, a woven alloy mesh sleeve which is sleeved outside the rigid rod body and provided with a sleeving gap between the rigid rod body and the woven alloy mesh sleeve, a flexible filling sleeve which is filled between the rigid rod body and the woven alloy mesh sleeve, an outer connecting ring which is fixedly arranged at two ends of the woven alloy mesh sleeve and fixedly connected with the end part of the rigid rod body, and a flexible wrapping sleeve which is tightly sleeved outside the woven alloy mesh sleeve;
the woven alloy net cover is a cylindrical net cover structure woven by shape memory alloy wires, and the upper net holes of the woven alloy net cover are of a rhombic net hole structure with an adjustable included angle and formed by four shape memory alloy wire sections which are intersected in pairs; two ends of the woven alloy net sleeve are fixedly connected to the outer connecting ring; on the woven alloy mesh sleeve, two crossed shape memory alloy wire sections are immovably and fixedly connected at the crossed position of the two crossed shape memory alloy wire sections through a node connecting piece; the arm action driving unit is connected with the conducting wire on the node connecting piece through one end, and provides equipotential driving voltage for a junction point of two intersected shape memory alloy wire sections distributed on the node connecting piece.
7. The drive mechanism for electrodeless benders as defined in claim 6, wherein:
the outer connecting ring comprises a wire coiling ring and a connecting ring fixedly arranged on the outer side of the wire coiling ring, and the wire coiling ring is provided with a wire passing hole for the shape memory alloy wire to pass through for weaving; the woven alloy net sleeve is formed by weaving a single piece of shape memory alloy wire, the connecting ring is tightly pressed on the wire coiling ring, and the alloy wire section part which is positioned on the outer side surface of the wire coiling ring and between the two wire passing holes is tightly pressed and fixed.
8. The drive mechanism for electrodeless benders as defined in claim 6, wherein:
the woven alloy net cover is of a cylindrical net cover structure formed by weaving a plurality of shape memory alloy wires, and the end parts of the shape memory alloy wires are fixedly connected to the outer connecting ring at two ends of the woven alloy net cover.
9. The drive mechanism for electrodeless benders as claimed in any of claims 6 to 8, characterized in that:
the flexible filling sleeve, the flexible wrapping sleeve and the outer connecting ring arranged on the end parts of the flexible filling sleeve and the flexible wrapping sleeve form a sealed cavity structure; the wire is sleeved in the flexible wrapping sleeve, passes through the wire passing hole arranged on the outer connecting ring and is fixedly connected with the wire passing hole in a watertight manner.
10. A humanoid mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm and a palm component connected with the tail end of the small arm through a wrist joint; the method is characterized in that:
the large arm and/or the small arm are/is a rod-shaped driving mechanism for stepless bending and twisting;
the driving mechanism for stepless crankling is the driving mechanism for stepless crankling of any one of claims 6 to 9, and the outer connecting ring is fixedly connected with a joint driving mechanism of the shoulder joint, the elbow joint or the wrist joint.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111127123.8A CN113977593B (en) | 2021-09-26 | 2021-09-26 | Driving mechanism for robot frogman, humanoid mechanical arm and stepless bending and twisting |
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| CN202111127123.8A CN113977593B (en) | 2021-09-26 | 2021-09-26 | Driving mechanism for robot frogman, humanoid mechanical arm and stepless bending and twisting |
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| CN113977593A true CN113977593A (en) | 2022-01-28 |
| CN113977593B CN113977593B (en) | 2023-03-31 |
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| CN112891711A (en) * | 2021-01-09 | 2021-06-04 | 西北工业大学 | Medical intervention guide wire with controllable steering |
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| US20110005160A1 (en) * | 2008-02-13 | 2011-01-13 | Kazuhiro Nihei | Movable tensegrity structure |
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