CN114043471A - Bionic flexible mechanical arm based on intelligent material driving - Google Patents
Bionic flexible mechanical arm based on intelligent material driving Download PDFInfo
- Publication number
- CN114043471A CN114043471A CN202111534397.9A CN202111534397A CN114043471A CN 114043471 A CN114043471 A CN 114043471A CN 202111534397 A CN202111534397 A CN 202111534397A CN 114043471 A CN114043471 A CN 114043471A
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- China
- Prior art keywords
- pcb
- aluminum alloy
- mechanical arm
- alloy plate
- flexible mechanical
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 title claims abstract description 14
- 229910000838 Al alloy Inorganic materials 0.000 claims abstract description 50
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 47
- 238000005452 bending Methods 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims 2
- 239000002520 smart material Substances 0.000 claims 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- NMWSKOLWZZWHPL-UHFFFAOYSA-N 3-chlorobiphenyl Chemical compound ClC1=CC=CC(C=2C=CC=CC=2)=C1 NMWSKOLWZZWHPL-UHFFFAOYSA-N 0.000 description 1
- 229910010380 TiNi Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bionic flexible mechanical arm based on intelligent material driving, which comprises an SMA (shape memory alloy) spring, a PCB (printed circuit board), an aluminum alloy plate and a ball hinge joint; the PCB is fixedly connected with the aluminum alloy plate; one end of the spherical hinge joint is fixedly connected with the aluminum alloy plate, and the other end of the spherical hinge joint is fixedly connected with the other aluminum alloy plate; one end of the SMA spring is connected with the PCB, and the other end of the SMA spring is connected with the other PCB; the bionic flexible mechanical arm can rotate at the ball joint under the drive of the SMA spring. The invention has a plurality of adjustable rotational degrees of freedom, has better flexibility and flexibility compared with the prior art, and can more quickly, conveniently and accurately position the end part to a target position needing to be operated.
Description
Technical Field
The invention relates to the technical field of flexible mechanical arms, in particular to a bionic flexible mechanical arm based on intelligent material driving.
Background
In life, a lot of work related to narrow, bent and limited space is not suitable for direct operation of people, and the mechanical arm is a common tool for people to perform the operation.
On the one hand, the rigid mechanical arm has high automation degree, but on the other hand, the mechanical arm used at present has limited flexibility and flexibility, and is difficult to conveniently and accurately position to a target position, so that the practical implementation of the operation becomes difficult. The flexible mechanical arm has the advantages of good flexibility, small volume, light weight, good environmental adaptability and low noise. Therefore, the flexible mechanical arm can fully complete the work of the flexible mechanical arm under the condition of needing flexibility and flexibility.
Accordingly, those skilled in the art have sought to develop a flexible robotic arm that meets the particular needs of the particular environment described above.
Disclosure of Invention
In view of the above defects in the prior art, the technical problems to be solved by the present invention are that the existing rigid mechanical arm has a complex structure, poor flexibility, is easy to generate rigid collision, is difficult to apply to complex and unknown environments, and is difficult to manipulate.
In order to achieve the aim, the invention provides a bionic flexible mechanical arm based on intelligent material driving, which is characterized by comprising an SMA (shape memory alloy) spring, a PCB (printed circuit board), an aluminum alloy plate and a ball hinge joint; the PCB is fixedly connected with the aluminum alloy plate; one end of the spherical hinge joint is fixedly connected with the aluminum alloy plate, and the other end of the spherical hinge joint is fixedly connected with the other aluminum alloy plate; one end of the SMA spring is connected with the PCB, and the other end of the SMA spring is connected with the other PCB; the bionic flexible mechanical arm can rotate at the ball joint under the drive of the SMA spring.
Further, the SMA springs are suitable for being fixed to different PCB boards, so that the bending position and the bending degree of the bionic flexible mechanical arm are determined.
Furthermore, the aluminum alloy plate is provided with a PCB connecting hole and a ball hinge joint connecting hole, and the PCB connecting hole and the ball hinge joint connecting hole are used for being connected with the PCB and the ball hinge joint.
Further, the aluminum alloy plate is integrally disc-shaped, and the PCB connecting holes are divided into 3 groups and are uniformly distributed at the outer edge of the aluminum alloy plate; the ball hinge joint connecting hole is positioned in the center of the aluminum alloy plate.
Further, the number of the PCB connecting holes in each group is 3.
Further, the whole PCB board is discoid, be equipped with centre bore, aluminum alloy plate connecting hole and SMA spring connecting hole on the PCB board for with the aluminum alloy plate with the SMA spring is connected.
Further, the centre bore is located the center department of PCB board, aluminium alloy plate connecting hole with the PCB board connecting hole cooperatees, SMA spring connecting hole divide into 3 group evenly arrange in the outer edge of PCB board.
Further, the number of the SMA spring connecting holes in each group is 4.
Furthermore, the single-section bionic flexible mechanical arm is provided with six SMA springs which are arranged in an octahedron shape, so that the bionic flexible mechanical arm can rotate in three directions.
Further, the PCB is fixedly connected with the aluminum alloy plate through bolts; the aluminum alloy plate is fixedly connected with the spherical hinge joint through a bolt; the SMA spring is connected with the PCB through a bolt.
Furthermore, the PCB board has simplified the arrangement of SMA spring connecting hole, 4 SMA spring connecting hole lean on 2 outside to be connected with 2 above the top SMA spring, lean on 2 inside SMA spring connecting hole and 2 below the SMA spring be connected.
Further, the SMA spring is a TiNi-based SMA spring, the diameter of the spring wire of the SMA spring is 0.51mm, and the pitch diameter of the SMA spring is 3.45 mm.
Compared with the traditional method and device, the invention has the following beneficial effects:
the invention enlarges the integral structure size ratio of the film test piece, has a plurality of adjustable and controllable rotational degrees of freedom, has better flexibility and flexibility compared with the prior art, and can more quickly, conveniently and accurately position the end part to the target position needing to be operated.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a three-dimensional schematic view of a bionic flexible manipulator according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of an SMA spring according to a preferred embodiment of the invention;
FIG. 3 is a top view of an aluminum alloy sheet according to a preferred embodiment of the present invention;
FIG. 4 is a top view of a PCB board in accordance with a preferred embodiment of the present invention;
fig. 5 is a schematic view of a ball and socket joint in accordance with a preferred embodiment of the present invention.
The connecting structure comprises a 1-SMA spring, a 2-aluminum alloy plate, a 3-PCB plate, a 4-spherical hinge joint, a 201-aluminum alloy main platform, a 202-PCB plate connecting hole, a 203-spherical hinge joint connecting hole, a 301-PCB plate main platform, a 302-aluminum alloy plate connecting hole, a 303-SMA spring connecting hole, a 304-center hole, a 401-spherical hinge and a 402-connecting rod.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the bionic flexible manipulator based on intelligent material driving according to a preferred embodiment of the present invention includes an SMA spring 1, an aluminum alloy plate 2, a PCB plate 3, and a ball joint 4.
As shown in fig. 2, a three-dimensional view of an SMA spring 1.
As shown in fig. 3, the aluminum alloy plate 2 includes an aluminum alloy main stage 201, a PCB plate coupling hole 202, and a ball joint coupling hole 203.
The aluminum alloy main platform 201 is of a main body structure and integrally takes the shape of a disc, and a PCB connecting hole 202 and a ball joint connecting hole 203 are formed in the aluminum alloy main platform 201. The PCB connecting holes 202 are divided into 3 groups and evenly distributed at the outer edge of the aluminum alloy main platform 201, the number of each 1 group of PCB connecting holes 202 is 3, and the ball joint connecting hole 203 is located at the center of the aluminum alloy main platform 201. The aluminum alloy main platform 201 and the PCB board main platform 301 are fixedly connected at the PCB connecting hole 202 through a bolt, and the aluminum alloy main platform 201 and the ball joint 4 are fixedly connected at the ball joint connecting hole 203 through a bolt.
As shown in fig. 4, the PCB board 3 includes a PCB board main platform 301, an aluminum alloy board connection hole 302, an SMA spring connection hole 303, and a center hole 304.
The PCB main platform 301 is of a main body structure and integrally takes the shape of a disc, and an aluminum alloy plate connecting hole 302, an SMA spring connecting hole 303 and a central hole 304 are formed in the PCB main platform 301. The central hole 304 is located at the center of the PCB main platform 301, the aluminum alloy plate connecting holes 302 are matched with the PCB connecting holes 202, the SMA spring connecting holes 303 are divided into 3 groups and evenly distributed at the outer edge of the PCB main platform 301, and the number of the SMA spring connecting holes 303 in each 1 group is 4. The aluminum alloy main platform 201 and the PCB main platform 301 are fixedly connected at the aluminum alloy plate connecting hole 302 through a bolt, the PCB main platform 301 is connected with the SMA spring 1 at the SMA spring connecting hole 303 through a bolt, and the aluminum alloy main platform 201 and the PCB main platform 301 are fixedly connected with the spherical hinge joint 4 at the central hole 304 through a bolt.
As shown in fig. 5, the ball joint 4 includes a ball joint 401 and a connecting rod 402. Wherein, the spherical hinge 401 can rotate around any direction, and the connecting rod 402 is connected with the spherical hinge 401, the aluminum alloy plate 2 and the PCB plate 3.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A bionic flexible mechanical arm based on intelligent material driving is characterized by comprising an SMA (shape memory alloy) spring, a PCB (printed circuit board), an aluminum alloy plate and a ball hinge joint; the PCB is fixedly connected with the aluminum alloy plate; one end of the spherical hinge joint is fixedly connected with the aluminum alloy plate, and the other end of the spherical hinge joint is fixedly connected with the other aluminum alloy plate; one end of the SMA spring is connected with the PCB, and the other end of the SMA spring is connected with the other PCB; the bionic flexible mechanical arm can rotate at the ball joint under the drive of the SMA spring.
2. A smart material drive based biomimetic flexible mechanical arm as recited in claim 1, wherein the SMA springs are adapted to be secured to different PCB boards to determine a bending location and a degree of bending of the biomimetic flexible mechanical arm.
3. The bionic flexible mechanical arm based on intelligent material driving of claim 1, wherein a PCB (printed Circuit Board) connecting hole and a ball hinge joint connecting hole are formed in the aluminum alloy plate and are used for being connected with the PCB and the ball hinge joint.
4. The smart material drive-based bionic flexible mechanical arm as claimed in claim 3, wherein the aluminum alloy plate is integrally disc-shaped, and the PCB connecting holes are divided into 3 groups and uniformly arranged at the outer edge of the aluminum alloy plate; the ball hinge joint connecting hole is positioned in the center of the aluminum alloy plate.
5. The bionic flexible mechanical arm based on intelligent material driving as claimed in claim 4, wherein the number of the PCB connecting holes in each group is 3.
6. A bionic flexible mechanical arm based on intelligent material driving as claimed in claim 3, wherein the PCB is disc-shaped as a whole, and the PCB is provided with a central hole, an aluminum alloy plate connecting hole and an SMA spring connecting hole for connecting the aluminum alloy plate and the SMA spring.
7. The bionic flexible mechanical arm based on intelligent material driving of claim 6, wherein the central hole is located at the center of the PCB, the aluminum alloy plate connecting holes are matched with the PCB connecting holes, and the SMA spring connecting holes are divided into 3 groups and are uniformly distributed at the outer edge of the PCB.
8. A bionic flexible mechanical arm based on intelligent material driving as claimed in claim 7, wherein the number of the SMA spring connecting holes in each group is 4.
9. A bionic flexible mechanical arm based on intelligent material driving as claimed in claim 8, wherein the single section of the bionic flexible mechanical arm has six SMA springs arranged in an octahedron shape, so as to determine that the bionic flexible mechanical arm can rotate in three directions.
10. The bionic flexible mechanical arm based on intelligent material driving of claim 1, wherein the PCB is fixedly connected with the aluminum alloy plate through bolts; the aluminum alloy plate is fixedly connected with the spherical hinge joint through a bolt; the SMA spring is connected with the PCB through a bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111534397.9A CN114043471A (en) | 2021-12-15 | 2021-12-15 | Bionic flexible mechanical arm based on intelligent material driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111534397.9A CN114043471A (en) | 2021-12-15 | 2021-12-15 | Bionic flexible mechanical arm based on intelligent material driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114043471A true CN114043471A (en) | 2022-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111534397.9A Pending CN114043471A (en) | 2021-12-15 | 2021-12-15 | Bionic flexible mechanical arm based on intelligent material driving |
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| Country | Link |
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| CN (1) | CN114043471A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890734A (en) * | 2022-12-28 | 2023-04-04 | 哈尔滨工业大学 | Mechanical arm based on combined beam piece |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1148171A (en) * | 1997-06-02 | 1999-02-23 | Masaki Esashi | Active conduit and manufacture thereof |
| US20060156851A1 (en) * | 2004-12-02 | 2006-07-20 | Jacobsen Stephen C | Mechanical serpentine device |
| CN109940597A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A kind of continuous type mechanical arm of imitative snake vertebrae |
| CN113635318A (en) * | 2021-08-09 | 2021-11-12 | 哈尔滨工程大学 | Soft floating robot based on memory alloy drive |
| CN214870565U (en) * | 2020-12-28 | 2021-11-26 | 上海交通大学 | Flexible arm structure based on memory alloy |
-
2021
- 2021-12-15 CN CN202111534397.9A patent/CN114043471A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1148171A (en) * | 1997-06-02 | 1999-02-23 | Masaki Esashi | Active conduit and manufacture thereof |
| US20060156851A1 (en) * | 2004-12-02 | 2006-07-20 | Jacobsen Stephen C | Mechanical serpentine device |
| CN109940597A (en) * | 2019-04-19 | 2019-06-28 | 中国民航大学 | A kind of continuous type mechanical arm of imitative snake vertebrae |
| CN214870565U (en) * | 2020-12-28 | 2021-11-26 | 上海交通大学 | Flexible arm structure based on memory alloy |
| CN113635318A (en) * | 2021-08-09 | 2021-11-12 | 哈尔滨工程大学 | Soft floating robot based on memory alloy drive |
Non-Patent Citations (1)
| Title |
|---|
| 滕亚军 等: ""ＳＭＡ弹簧驱动的柔性操控臂动力学分析"", 《上海交通大学学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115890734A (en) * | 2022-12-28 | 2023-04-04 | 哈尔滨工业大学 | Mechanical arm based on combined beam piece |
| CN115890734B (en) * | 2022-12-28 | 2024-05-24 | 哈尔滨工业大学 | Mechanical arm based on combined beam piece |
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Application publication date: 20220215 |
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| RJ01 | Rejection of invention patent application after publication |