CN114367960B - Multi-beam software driver and space software mechanical arm - Google Patents
Multi-beam software driver and space software mechanical arm Download PDFInfo
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- CN114367960B CN114367960B CN202111489891.8A CN202111489891A CN114367960B CN 114367960 B CN114367960 B CN 114367960B CN 202111489891 A CN202111489891 A CN 202111489891A CN 114367960 B CN114367960 B CN 114367960B
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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
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a multi-beam soft driver and a space soft mechanical arm, wherein the multi-beam soft driver comprises a power supply, a plurality of multi-beam artificial muscles and two disc mounting plates arranged at two ends of the multi-beam artificial muscles, and the space soft mechanical arm comprises a tail end gripper, a central spine, a base and a plurality of multi-beam soft drivers arranged between the tail end gripper and the base. The multi-beam artificial muscle comprises a plurality of polymer winding driving wires, and two ends of each polymer winding driving wire are assembled to a mounting base, a mounting sleeve and a fan-shaped mounting block through bolts and spring gaskets respectively. The intelligent polymer winding type multi-beam artificial muscle driving scheme is adopted, so that larger driving force can be generated, continuous motion driving can be generated, and the intelligent polymer winding type multi-beam artificial muscle driving scheme can be suitable for various application requirements.
Description
Technical Field
The invention belongs to the technical field of soft robots, and particularly relates to a multi-beam soft driver and a space soft mechanical arm comprising the multi-beam soft driver.
Background
The soft mechanical arm is a mechanical arm which adopts soft materials or flexible structures under the inspired of soft biological tissues and performs control tasks under the action of a specific driving mode, and is an important component of the soft robot.
The control variable of the soft mechanical arm is closely related to the driving mode, and is quite different due to the different driving modes. At present, the driving mode mainly adopted by the soft mechanical arm comprises fluid driving, rope driving, magnetic field driving, intelligent material electric driving and the like. The fluid driving utilizes the air pressure or hydraulic pressure to change and drive the bag body to deform, the rope driving is to drive the rope to provide driving force through the motor, both driving modes have the advantages of quick response, large action moment and the like, but the matching systems of air pressure/hydraulic pressure, rope control and the like are complex, and the structure miniaturization is difficult. Magnetic field drives typically require the provision of an externally controllable magnetic field, as well as requiring complex external equipment support. The intelligent material electric drive means that the intelligent material or the structure is driven to deform by voltage or current change to realize motion drive, and the electric drive mode has the advantages of simple structure, miniaturization and the like, but simultaneously has the defects of small action moment, low control precision and the like, and still needs to carry out more intensive research work in the aspects of structural design, material improvement and the like.
Disclosure of Invention
In order to solve some or all of the above-mentioned problems in the prior art, the present invention provides a multi-beam software driver and a space software robot including the multi-beam software driver.
The multi-beam software driver of the present invention comprises a power supply, a plurality of multi-beam artificial muscles, and two disk mounting plates mounted at both ends of the multi-beam artificial muscles, wherein:
the multi-beam artificial muscle comprises a plurality of bundles of polymer winding driving wires, a pretightening force spring, a pair of mounting bases, a pair of mounting sleeves and a pair of fan-shaped mounting blocks; the fan-shaped mounting block is provided with a through hole and two bolt holes positioned at two sides of the through hole; the mounting sleeve comprises a sleeve part and a cylindrical part, and a bolt hole is formed in the cylindrical part; the mounting base comprises a mounting cylinder and a mounting seat, and a plurality of mounting holes are formed in the mounting seat; the pretightening force spring is sleeved on the periphery of the multi-beam polymer winding driving wire; one end of each polymer winding driving wire is assembled to one group of mounting base, mounting sleeve and sector mounting block through one group of bolts and spring gaskets, and the other end of each polymer winding driving wire is assembled to the other group of mounting base, mounting sleeve and sector mounting block through the other group of bolts and spring gaskets;
the disc mounting plate is provided with a plurality of groups of reserved through holes and bolt holes along the circumferential direction, each group of reserved through holes and bolt holes comprise a reserved through hole and two bolt holes positioned on two sides of the reserved through hole, the diameter of the reserved through hole is larger than the diameter of the bolt head of the bolt, the diameter and the position of the two bolt holes are matched with those of the two bolt holes on the fan-shaped mounting block, and each multi-beam artificial muscle is mounted on the disc mounting plate through the bolts inserted into the two bolt holes on the disc mounting plate and the two bolt holes on the fan-shaped mounting block.
Further, in the multi-beam software driver, a plurality of central spinal clamp mounting holes are provided at a central location on the disc mounting plate.
Further, in the multi-beam software driver, the disc mounting plate is further provided with a plurality of groups of threading holes for wiring installation of the energizing wires, and the plurality of groups of threading holes are arranged along the circumferential direction of the disc mounting plate and are located between the plurality of groups of reserved through holes and bolt holes and the plurality of central spine clamp mounting holes in the radial direction of the disc mounting plate.
Further, in the above multi-beam software driver, the power source is a solar panel connected to each beam of polymer-wound driving wires of the multi-beam artificial muscle via an energizing wire.
Further, in the above multi-beam software driver, the plurality of polymer winding drive wires are 4, 6 or 8 polymer winding drive wires connected in parallel.
Further, in the above multi-beam software driver, the plurality of multi-beam artificial muscles is 3, 4 or 6 multi-beam artificial muscles connected in parallel.
Further, in the multi-beam software driver, the polymer winding driving wire is formed by weaving polymer wires and heating wires in a winding manner.
The spatial software manipulator of the present invention comprises a terminal grip, a central spine, a base, and a plurality of multi-beam software drivers according to any one of claims 1 to 7, the plurality of multi-beam software drivers being mounted between the terminal grip and the base, the central spine being mounted between the plurality of multi-beam software drivers by a central spine clamp, wherein the central spine clamp is mounted on a central spine clamp mounting hole on a disk mounting plate of each of the multi-beam software drivers.
Further, in the above-described spatial software manipulator, the plurality of multi-beam software drivers are mounted between the end grip and the base in a 90-degree rotational misalignment with respect to each other.
Further, in the space soft mechanical arm, the central spine is of an elastic beam structure.
Compared with the prior art, the multi-beam soft driver and the space soft mechanical arm have the following advantages and beneficial effects: the multi-beam soft driver and the space soft mechanical arm are based on the intelligent material electric driving principle, and by adopting the intelligent polymer winding multi-beam artificial muscle driving scheme, the multi-beam soft driver has the advantages of simple structure, miniaturization and the like, can generate larger driving force, can generate continuous motion driving, overcomes the defects of smaller driving force, discontinuous motion and the like of a common intelligent material driving mode, can be suitable for various application requirements, and can be particularly applied to space flexible control tasks.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. In the drawings:
fig. 1 is a schematic diagram of a multi-beam software driver according to the present invention.
Fig. 2 is a three view of the multi-beam software driver of the present invention.
Fig. 3a, 3b, 3c and 3d are schematic structural views of a multi-beam artificial muscle in the multi-beam software driver of the present invention, wherein fig. 3a is a perspective view of the multi-beam artificial muscle, fig. 3b is a sectional view of the multi-beam artificial muscle, fig. 3c is a three-dimensional view of the multi-beam artificial muscle, and fig. 3d is an exploded perspective view of the multi-beam artificial muscle.
Fig. 4a and 4b are schematic structural views of a multi-section software driver assembled from a plurality of multi-beam software drivers according to the present invention, wherein fig. 4a is a front view of the multi-section software driver, and fig. 4b is a perspective view of the multi-section software driver.
FIG. 5 is a schematic view of a space manipulator according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, 2, 3a, 3b, 3c and 3d, the multi-beam software driver 10 of the present invention includes a power source (not shown), a plurality of multi-beam artificial muscles 1, and two disk mounting plates 2 mounted at both ends of the multi-beam artificial muscles 1. The multibeam artificial muscle 1 includes a plurality of polymer wound drive wires 16, a pretensioning spring 17, a pair of mounting bases 15, a pair of mounting sleeves 14, a pair of sector mounting blocks 13, a pair of bolts 11, and a pair of spring washers 12. The sector-shaped mounting block 13 is provided with a through hole 132 and two bolt holes 131 located on both sides of the through hole 132. The mounting sleeve 14 includes a sleeve portion and a cylindrical portion in which a bolt hole 141 is formed. The mounting base 15 includes a mounting cylinder and a mounting seat, and a plurality of mounting holes 151 are formed in the mounting seat. The pretightening force spring 17 is sleeved on the periphery of the plurality of polymer winding driving wires 16, one end of each polymer winding driving wire 16 is assembled to one set of the mounting base 15, the mounting sleeve 14 and the sector mounting block 13 through one set of the bolts 11 and the spring gaskets 12, and the other end of each polymer winding driving wire 16 is assembled to the other set of the mounting base 15, the mounting sleeve 14 and the sector mounting block 13 through the other set of the bolts 11 and the spring gaskets 12.
The assembly and structure of the two ends of the polymer winding drive wire 16 and the mounting base 15, the mounting sleeve 14 and the sector mounting block 13 are the same, and the assembly will be specifically described below taking any one end of the polymer winding drive wire 16 as an example. One end of each polymer winding driving wire 16 is inserted into the mounting hole 151 of the mounting base 15, the sleeve portion of the mounting sleeve 14 is sleeved on the outer circumference of the mounting seat of the mounting base 15, the through hole 132 of the fan-shaped mounting block 13 is sleeved on the cylindrical portion of the mounting sleeve 14, the bolt 11 is screwed into the bolt hole 141 in the cylindrical portion, and in a similar manner, the other end of each polymer winding driving wire 16 is also assembled to the mounting base 15, the mounting sleeve 14 and the fan-shaped mounting block 13, thereby forming the multi-beam artificial muscle 1.
The disc mounting plate 2 in the multi-beam soft driver 10 is provided with a plurality of groups of reserved through holes 21 and bolt holes 22 along the circumferential direction, each group of reserved through holes 21 and bolt holes 22 comprises one reserved through hole 21 and two bolt holes 22 positioned at two sides of the reserved through hole 21, the diameter of the reserved through hole 21 is slightly larger than the diameter of the bolt head of the bolt 11 so as to reserve space for mounting the multi-beam artificial muscle 1, the diameters and positions of the two bolt holes 22 are matched with the diameters and positions of the two bolt holes 131 on the fan-shaped mounting block 13, and each multi-beam artificial muscle 1 is mounted on the disc mounting plate 2 through the bolts inserted into the two bolt holes 22 on the disc mounting plate 2 and the two bolt holes 131 on the fan-shaped mounting block 13.
The multi-beam software driver 10 of the present invention is provided with a plurality of central spinal jig mounting holes 23 at a central position on the disk mounting plate 2 for mounting a central spinal jig for fixing the central spinal column. In addition, a plurality of groups of threading holes 24 are provided on the disk mounting plate 2 in the multi-beam software driver 10 of the present invention for wiring and mounting of the pipelines such as the energizing wires. The plurality of sets of threading holes 24 are provided along the circumferential direction of the disk mounting plate 2 and are located between the plurality of sets of reserved through holes 21 and bolt holes 22 and the plurality of central spinal jig mounting holes 23 in the radial direction of the disk mounting plate 2. Preferably, the threading aperture 24 is a fan-shaped threading aperture.
The power source in the multi-beam software driver 10 of the present invention may be an external power source of various forms, preferably a solar panel. A power supply is connected to each bundle of polymer wrap driving wires 16 of the multi-beam artificial muscle 1 via energized wires.
As a specific embodiment, the polymer winding driving wire 16 of the multi-beam artificial muscle 1 is formed by weaving polymer wires and heating wires in a winding manner, and structural shaping is achieved through heat treatment and the pretightening force applied by the pretightening force spring 17. When the power supply supplies power to the polymer winding driving wire 16, the heating wire heats, the polymer wire is heated to cause temperature change and length elongation, and motion driving is achieved. The length extension and the driving load capacity of the polymer wound driving wire 16 are continuously and positively related to the temperature. The single-strand polymer drive wire 16 can achieve a length elongation of 20% or more and a drive load capacity of 100 times or more of its own weight.
The number of polymer wound drive wires 16 included in each multi-beam artificial muscle 1 may be determined according to actual use requirements, with the number of polymer wound drive wires 16 being greater the higher the drive load capacity requirement. Preferably, to increase the driving load capacity of the multi-beam software driver 10, each multi-beam artificial muscle 1 comprises 4, 6 or 8 parallel polymer wound driving wires 16.
As a specific embodiment, in order to further increase the driving load capacity of the multi-beam software driver 10, the multi-beam software driver of the present invention includes 3, 4 or 6 multi-beam artificial muscles 1 connected in parallel.
Preferably, the multiple multi-beam artificial muscles 1 in the multi-beam software driver 10 of the present invention are mounted between two disk mounting plates 2 in a symmetrical parallel manner.
In one embodiment, in order to further improve the driving load capacity of the multi-beam software driver 10, a plurality of multi-beam software drivers 10 may be assembled in series so as to rotate 90 degrees with respect to each other, thereby forming the multi-section multi-beam software driver 100. The serial multi-section multi-beam software driver 100 increases the space reach of the software driver and achieves a richer spatially continuous motion by employing 90 degree rotational misalignment of the installation. Fig. 4a and 4b illustrate the structure of a serial multi-section multi-beam software driver 100 using a three-section multi-beam software driver.
Referring to fig. 5, the spatial software manipulator 20 of the present invention comprises an end grip 201, a central spine 202, a base 204, and a plurality of multi-beam software drivers 10 as described above. A plurality of multi-beam software drivers 10 are mounted between the end grip 201 and the base 204, and a central spine 202 is mounted between the plurality of multi-beam software drivers 10 by a central spine clamp 203. As described above, the center spinal jig 203 is mounted on the center spinal jig mounting hole 23 on the disc mounting plate 2 of each multi-beam software driver 10. For clarity of presentation, the central spinal clamp 203 is also shown in fig. 4a and 4 b.
In the space manipulator 20 of the present invention, the end grippers 201 are mainly used for gripping space objects, the central spine 202 is used for providing structural support force and structural deformation restoring force for the space manipulator 20, the multi-beam manipulator 10 is used for providing deformation driving force for the space manipulator 20, and the base 204 is mainly used for connecting and fixing the space manipulator 20 to other working platforms in actual use.
Preferably, a plurality of multi-beam software drivers 10 are mounted between the end grip 201 and the base 204 in 90 degree rotational misalignment with respect to each other, thereby allowing for a greater variety of spatial movement capabilities and spatially continuous movement conditions to accommodate a variety of different application requirements.
As one specific embodiment, the central spine 202 is an elastic beam structure, which can support the overall structure of the space manipulator 20 and can also utilize its own elastic restoring capability to provide restoring force for the deformation and restoration of the space manipulator 20.
In the multi-beam soft driver and the space soft mechanical arm, the polymer winding driving wire is heated by current to cause the temperature change, the length of the polymer winding driving wire is extended to provide driving force, the length and the driving force of the polymer winding driving wire are in continuous positive correlation change relation with the temperature, the single polymer winding driving wire can achieve the length extension rate of more than 20% and the driving load capacity of more than 100 times of the self weight, and continuous motion driving is provided along with the continuous change of the heating temperature. The characteristic is fundamentally different from that of the electrically driven memory material adopted in the prior art, and the memory material is generally in a single-way or double-way change mode and is in a discrete driving mode, so that the deformation movement mode of the conventional electrically driven memory material type soft driver is limited.
In addition, in the multi-beam soft driver and the space soft mechanical arm, each multi-beam artificial muscle comprises a plurality of parallel polymer winding driving wires, the multi-beam soft driver comprises a plurality of parallel multi-beam artificial muscles, and the multi-beam soft drivers in the space soft mechanical arm are installed in a 90-degree rotation dislocation manner, so that the driving load capacity of the multi-beam soft driver and the space soft mechanical arm can be remarkably improved, and the abundant space continuous motion state and the space motion capacity of the space soft mechanical arm are realized.
In summary, the multi-beam soft driver and the space soft mechanical arm are based on the intelligent material electric driving principle, and the intelligent polymer winding multi-beam artificial muscle driving scheme is adopted, so that the multi-beam soft driver has the advantages of simple structure, miniaturization and the like, can generate larger driving force, can generate continuous motion driving, overcomes the defects of smaller driving force, discontinuous motion and the like of a common intelligent material driving mode, and can be suitable for various application requirements, in particular to space flexible control tasks.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. In this context, "front", "rear", "left", "right", "upper" and "lower" are referred to with respect to the placement state shown in the drawings.
It should also be noted that the above embodiments are merely for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A multi-beam software driver comprising a power source, a plurality of multi-beam artificial muscles, and two disk mounting plates mounted at both ends of the multi-beam artificial muscles, wherein:
the multi-beam artificial muscle comprises a plurality of bundles of polymer winding driving wires, a pretightening force spring, a pair of mounting bases, a pair of mounting sleeves and a pair of fan-shaped mounting blocks; the fan-shaped mounting block is provided with a through hole and two bolt holes positioned at two sides of the through hole; the mounting sleeve comprises a sleeve part and a cylindrical part, and a bolt hole is formed in the cylindrical part; the mounting base comprises a mounting cylinder and a mounting seat, and a plurality of mounting holes are formed in the mounting seat; the pretightening force spring is sleeved on the periphery of the multi-beam polymer winding driving wire; one end of each polymer winding driving wire is assembled to one group of mounting base, mounting sleeve and sector mounting block through one group of bolts and spring gaskets, and the other end of each polymer winding driving wire is assembled to the other group of mounting base, mounting sleeve and sector mounting block through the other group of bolts and spring gaskets;
the disc mounting plate is provided with a plurality of groups of reserved through holes and bolt holes along the circumferential direction, each group of reserved through holes and bolt holes comprise a reserved through hole and two bolt holes positioned on two sides of the reserved through hole, the diameter of the reserved through hole is larger than the diameter of the bolt head of the bolt, the diameter and the position of the two bolt holes are matched with those of the two bolt holes on the fan-shaped mounting block, and each multi-beam artificial muscle is mounted on the disc mounting plate through the bolts inserted into the two bolt holes on the disc mounting plate and the two bolt holes on the fan-shaped mounting block.
2. The multi-beam software driver of claim 1 wherein the disk mounting plate is centrally located with a plurality of central spinal clamp mounting holes.
3. The multi-beam software driver of claim 2, wherein the disc mounting plate is further provided with a plurality of sets of threading holes for the wiring installation of the energizing wires, the plurality of sets of threading holes being disposed along the circumferential direction of the disc mounting plate and located between the plurality of sets of reserved through holes and bolt holes and the plurality of central spine clamp mounting holes in the radial direction of the disc mounting plate.
4. The multi-beam software driver of claim 3 wherein the power source is a solar panel connected to each of the bundles of polymer wrap drive wires of the multi-beam artificial muscle via energized wires.
5. The multi-beam software driver of claim 1 wherein the plurality of polymer wrap drive filaments are 4, 6 or 8 polymer wrap drive filaments in parallel.
6. The multi-beam software driver of claim 5 wherein the plurality of multi-beam artificial muscles is 3, 4, or 6 multi-beam artificial muscles in parallel.
7. The multi-beam software driver according to any one of claims 1 to 6, wherein the polymer wrap driving wire is woven in a wrap manner using polymer wires and heating wires.
8. A space manipulator comprising a terminal grip, a central spine, a base, and a plurality of multi-beam software drivers according to any one of claims 1-7, the plurality of multi-beam software drivers mounted between the terminal grip and the base, the central spine mounted between the plurality of multi-beam software drivers by a central spine clamp mounted on a central spine clamp mounting hole on a disk mounting plate of each of the multi-beam software drivers.
9. The space manipulator of claim 8, wherein the plurality of multi-beam manipulator drivers are mounted between the end grip and the base in 90 degree rotational misalignment with respect to each other.
10. The space manipulator of claim 8, wherein the central spine is of a flexible beam construction.
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| CN202111489891.8A CN114367960B (en) | 2021-12-08 | 2021-12-08 | Multi-beam software driver and space software mechanical arm |
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| CN202111489891.8A CN114367960B (en) | 2021-12-08 | 2021-12-08 | Multi-beam software driver and space software mechanical arm |
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| CN114367960B true CN114367960B (en) | 2023-10-13 |
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| KR20190070829A (en) * | 2017-12-13 | 2019-06-21 | 한국전자통신연구원 | Feedback controllable artificial muscle |
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| CN112792804A (en) * | 2021-01-06 | 2021-05-14 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
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| KR102329220B1 (en) * | 2017-03-20 | 2021-11-22 | 한국전자통신연구원 | Artificial muscle |
| US10661869B2 (en) * | 2017-12-12 | 2020-05-26 | The Government Of The United States Of America, As Represented By The Secretary Of The Navy | Acoustically stealthy soft-bodied UUV propulsion system |
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| KR101868265B1 (en) * | 2017-01-24 | 2018-06-15 | 성균관대학교산학협력단 | Coolant circulating type artificial muscle |
| KR20190070829A (en) * | 2017-12-13 | 2019-06-21 | 한국전자통신연구원 | Feedback controllable artificial muscle |
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
| CN111113397A (en) * | 2020-01-17 | 2020-05-08 | 浙江大学 | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm |
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