CN203804999U - Shape memory alloy spring driven flexible mechanical arm - Google Patents
Shape memory alloy spring driven flexible mechanical arm Download PDFInfo
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- CN203804999U CN203804999U CN201420141453.1U CN201420141453U CN203804999U CN 203804999 U CN203804999 U CN 203804999U CN 201420141453 U CN201420141453 U CN 201420141453U CN 203804999 U CN203804999 U CN 203804999U
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- shape memory
- memory alloy
- alloy spring
- mechanical arm
- flexible mechanical
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Abstract
The utility model provides a shape memory alloy spring driven flexible mechanical arm, comprising a silicone tube, a bundle conductor and a shape memory alloy spring, wherein the bundle conductor is connected with the shape memory alloy spring through a hole in the silicone tube, and a spring matched with the diameter of the silicone tube is embedded in the silicone tube. The shape memory alloy spring driven flexible mechanical arm belongs to a trunk-like bionic flexible mechanical arm and can realize full flexible bending, torsion and stretching-retracting movement.
Description
Technical field
The utility model relates to a kind of spring driven flexible mechanical arm.
Background technology
Mechanical arm is as the important tool of mankind's modern automation industry, owing to the advantage such as working under the environment that its working space is large, flexibility is good, can cannot arrive the mankind, be widely used in fields such as aviation, high-accuracy mechanical processing and measurement, medicine equipments.With respect to traditional Rigid Robot Manipulator, flexible mechanical arm has that quality is light, load is large, dexterous, energy consumption is low, efficiency advantages of higher, becomes gradually one of focus of mechanical arm research.
The flexible mechanical arm major part of developing is at present by pneumatic, hydraulic pressure, and the modes such as servomotor drive to realize bending and crawl motion.In these type of drive, the shortcoming of driven by servomotor is: power to weight ratio is little, and needs reducing gear, thereby the volume of mechanical arm is increased, and structure is heavy, and parts required precision is high; Meanwhile, motor drives and has noise and pollution, and driving voltage is also higher.And for hydraulic pressure and pneumatic actuation, their shortcoming is: high to sealing requirements, complex structure, needs outside connection that the equipment of liquid or gas is housed, thereby make volume larger.These several type of drive are all very unfavorable to microminaturization development for mechanical arm.
Marmem (Shape Memory Alloy, SMA), as a kind of intellectual material, is a kind of novel driving element.SMA has a lot of muscle properties, such as high power density, large power output, flexibility, unidirectional contraction, from functions such as perception.In addition, SMA drives simple, and current flow heats can realize.But the shortcoming such as SMA silk exists shrinkage factor less (4%-6%), and forms of motion is single, makes troubles to actual driving application.
Summary of the invention
The utility model, for realizing full flexible bending, torsion and stretching motion, provides a kind of Bionic flexible mechanical arm of similar trunk.
To achieve these goals, the technical solution of the utility model is achieved in that the flexible mechanical arm that the utility model shape memory alloy spring drives, comprise silicone tube, bundle conductor and shape memory alloy spring, described bundle conductor is connected with described shape memory alloy spring by the hole in described silicone tube, and described silicone tube is embedded with the spring mating with its diameter.
Further, be provided with 6 every the equally distributed radial shape memory alloy spring of 60 degree in described silicone tube surface groove, bundle conductor connects and is connected with the node on described radial shape memory alloy spring described in described radial shape memory alloy spring.
Further, be provided with 6 left-handed shape memory alloy springs and 6 dextrorotation shape memory alloy springs in described silicone tube surface groove, the described left and right shape memory alloy spring that revolves is connected with described bundle conductor.
Technical scheme provided by the utility model has following characteristics:
(1) utilize the SME of shape memory alloy spring, under uniform temperature condition, by the effect of Phase change shrinkage simulate muscular fiber, for flexible mechanical arm provides power, total is simple, and quality is light, bionical effective, be suitable for developing to microminiaturization;
(2) the netted braiding on silicone tube surface by shape memory alloy spring, make flexible mechanical arm can realize overall flexible bending, torsion and stretching motion, and these several motions can produce composite effect, increase the flexibility of flexible mechanical arm, made it can complete the functions such as flexibility under complex environment captures and catches;
(3) shape memory alloy spring is carried out to segmentation control, make the single shrink form of single shape memory alloy spring script become various, by controlling cooperatively interacting of every a bit of or multiple segments, thereby make flexible mechanical arm can realize multiple angular bend, greatly increased the range of movement of flexible mechanical arm;
(4) utilize the character (as resistance etc.) of marmem self can realize feedback function, do not need extra detecting element, simplified control.
Brief description of the drawings
Fig. 1: the flexible mechanical arm schematic diagram that shape memory alloy spring drives.
Fig. 2: the silicone tube schematic diagram (not showing groove) of embedded spring.
Fig. 3: the schematic diagram that the utility model shrinks.
Fig. 4: the utility model angle of bend (taking N=3 as example).
Fig. 5: the utility model ' S ' moulding (taking N=3 as example).
Fig. 6: the utility model twist motion.
Detailed description of the invention
Below in conjunction with brief description of the drawings, utility model is described further.
As shown in Figure 1, the utility model is made up of the silicone tube (1) of embedded spring, radially memory alloy spring (2), left-handed shape memory alloy spring (3), dextrorotation shape memory alloy spring (4) and bundle conductor (5).As shown in Figure 2, silicone tube (1) is made up of silica gel pipeline (1-1) and spring (1-2), its objective is in order to make compound silicone tube there is the ability resiling after the character of submissive bending of spring and flexural deformation, meanwhile, the silica gel on surface is again for adhering to of shape memory alloy spring provides carrier.Moreover, in order to prevent that being arranged in surperficial shape memory alloy spring misplaces, make groove on silica gel pipeline (1-1) surface, so not only be conducive to the location of shape memory alloy spring, prevented again that shape memory alloy spring is exposed to the outside sustain damage of system simultaneously.It should be noted that, radial shape memory alloy spring (2) not only two ends is fixed on silicone tube, in the middle of it, N node of uniform design is fixed on (N is natural number) on silicone tube, make like this shape memory alloy spring can be divided into N+1 segment, the equally distributed radial shape memory alloy spring of the six roots of sensation (2) has 6 (N+1) individual segment, by to this 6 (N+1) individual segment separately or jointly control, can greatly increase the diversity of flexible mechanical arm angle of bend.The contraction of the shape memory alloy spring (4) that left-handed shape memory alloy spring (3) and dextrorotation are arranged can realize the twist motion of flexible mechanical arm.
As shown in Figure 3, when the mode that adopts DC heating heats 6 radial shape memory alloy springs, thereby when radially-arranged 6 (N+1) individual segment is shunk simultaneously, can drive flexible mechanical arm to shrink; In the time stopping heating, radial shape memory alloy spring extends, and recovers original form thereby flexible mechanical arm is extended.
For controlling the bending of flexible mechanical arm, can 6 (N+1) individual segment of radial shape shape memory alloys spring be carried out separately or be jointly controlled.Because 6 radial shape memory alloy springs are uniformly distributed every 60 degree at circumferencial direction, so flexible mechanical arm is can be on this six direction bending arbitrarily, existing as an example of one of them direction example explanation flexible mechanical arm at this side up attainable angle of bend.As shown in Figure 4, suppose that a radially-arranged shape memory alloy spring is made up of 3 segments, respectively to every a bit of heating, or two segments or three segments heat simultaneously and can obtain flexible mechanical arm various angle of bend in some directions.Except the each segment on a radial shape memory alloy spring is controlled, the segment control to many radial shape memory alloy springs can also be combined, thereby obtain the various moulding of this flexible mechanical arm in space.Fig. 5 is the specific segment heating of radial shape memory alloy spring that two intervals 180 are spent, thereby makes flexible mechanical arm form ' S ' moulding.
As shown in Figure 6, in the time adopting the mode of DC heating to heat the shape memory alloy spring of the left-handed distribution of the six roots of sensation, can drive flexible mechanical arm to reverse counterclockwise; Stop after heating, flexible mechanical arm restores to the original state.Six roots of sensation dextrorotation shape memory alloy spring is heated and can drive flexible mechanical arm to reverse clockwise; Stop after heating, flexible mechanical arm restores to the original state.
Several embodiments are control separately flexible mechanical arm flexible above, and bending and torsion motion, as above-mentioned each motion is carried out to combination, can obtain flexible mechanical arm more complicated and diversified moulding in space.
Solely or jointly control.Because 6 radially-arranged shape memory alloy springs are uniformly distributed every 60 degree at circumferencial direction, so flexible mechanical arm is can be on this six direction bending arbitrarily, existing as an example of one of them direction example explanation flexible mechanical arm at this side up attainable angle of bend.As shown in Figure 4, suppose that a radially-arranged shape memory alloy spring is made up of 3 segments, respectively to every a bit of heating, or two segments or three segments heat simultaneously and can obtain flexible mechanical arm various angle of bend in some directions.Except the each segment on a radially-arranged shape memory alloy spring is controlled, the segment control to many radially-arranged shape memory alloy springs can also be combined, thereby obtain the various moulding of flexible mechanical arm in space.Fig. 5 is the specific segment heating of radial shape memory alloy spring that two intervals 180 are spent, thereby makes flexible mechanical arm form ' S ' moulding.
As shown in Figure 6, in the time adopting the mode of DC heating to heat the shape memory alloy spring of the left-handed distribution of the six roots of sensation, can drive flexible mechanical arm to reverse counterclockwise; Stop after heating, flexible mechanical arm restores to the original state.The shape memory alloy spring of six roots of sensation dextrorotation distribution is heated and can drive flexible mechanical arm to reverse clockwise; Stop after heating, flexible mechanical arm restores to the original state.
Several embodiments are control separately flexible mechanical arm flexible above, and bending and torsion motion, as above-mentioned each motion is carried out to combination, can obtain flexible mechanical arm more complicated and diversified moulding in space.
Claims (3)
1. the flexible mechanical arm that shape memory alloy spring drives, it is characterized in that: comprise silicone tube, bundle conductor and shape memory alloy spring, described bundle conductor is connected with described shape memory alloy spring by the hole in described silicone tube, and described silicone tube is embedded with the spring mating with its diameter.
2. the flexible mechanical arm that shape memory alloy spring according to claim 1 drives, it is characterized in that: in described silicone tube surface groove, be provided with 6 every the equally distributed radial shape memory alloy spring of 60 degree, bundle conductor connects and is connected with the node on described radial shape memory alloy spring described in described radial shape memory alloy spring.
3. the flexible mechanical arm that shape memory alloy spring according to claim 1 and 2 drives, it is characterized in that: in described silicone tube surface groove, be provided with 6 left-handed shape memory alloy springs and 6 dextrorotation shape memory alloy springs, the described left and right shape memory alloy spring that revolves is connected with described bundle conductor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420141453.1U CN203804999U (en) | 2014-03-20 | 2014-03-20 | Shape memory alloy spring driven flexible mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420141453.1U CN203804999U (en) | 2014-03-20 | 2014-03-20 | Shape memory alloy spring driven flexible mechanical arm |
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| CN203804999U true CN203804999U (en) | 2014-09-03 |
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| CN201420141453.1U Expired - Fee Related CN203804999U (en) | 2014-03-20 | 2014-03-20 | Shape memory alloy spring driven flexible mechanical arm |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875216A (en) * | 2015-04-23 | 2015-09-02 | 浙江大学 | Deformable body based on dielectric high-elasticity body and flexible mechanical arm based on deformable body |
| CN106272546A (en) * | 2016-06-30 | 2017-01-04 | 无锡三迪工业动画有限公司 | A kind of flexible mechanical arm on mechanical hand |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN107053155A (en) * | 2017-01-20 | 2017-08-18 | 北京航空航天大学 | A kind of trunk type sequential machine people of marmem driving |
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN108340400A (en) * | 2018-02-12 | 2018-07-31 | 哈尔滨工业大学 | A kind of flexible drive type bidirectional rotation joint of robot |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN109079754A (en) * | 2018-08-02 | 2018-12-25 | 浙江大学 | A kind of cylindrical body Grazing condition torsion actuator |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
| CN112847429A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Continuous flexible operating arm based on spring structure |
| CN114750090A (en) * | 2022-04-12 | 2022-07-15 | 南京航空航天大学 | But clamping device based on tubulose IPMC drive |
| CN115194816A (en) * | 2022-08-29 | 2022-10-18 | 山东大学 | Soft mechanical arm for realizing bending-torsion coupling deformation and manufacturing method |
-
2014
- 2014-03-20 CN CN201420141453.1U patent/CN203804999U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104875216A (en) * | 2015-04-23 | 2015-09-02 | 浙江大学 | Deformable body based on dielectric high-elasticity body and flexible mechanical arm based on deformable body |
| CN106956254B (en) * | 2016-01-08 | 2019-03-05 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN106272546A (en) * | 2016-06-30 | 2017-01-04 | 无锡三迪工业动画有限公司 | A kind of flexible mechanical arm on mechanical hand |
| CN106272546B (en) * | 2016-06-30 | 2022-08-12 | 无锡三迪工业动画有限公司 | Flexible mechanical arm on mechanical arm |
| CN107053155A (en) * | 2017-01-20 | 2017-08-18 | 北京航空航天大学 | A kind of trunk type sequential machine people of marmem driving |
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN108340400B (en) * | 2018-02-12 | 2021-03-30 | 哈尔滨工业大学 | Flexible driving type bidirectional rotary robot joint |
| CN108340400A (en) * | 2018-02-12 | 2018-07-31 | 哈尔滨工业大学 | A kind of flexible drive type bidirectional rotation joint of robot |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN108406753B (en) * | 2018-05-24 | 2023-06-20 | 枣庄学院 | Flexible mechanical arm driven by memory polymer sheet |
| CN109079754A (en) * | 2018-08-02 | 2018-12-25 | 浙江大学 | A kind of cylindrical body Grazing condition torsion actuator |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
| CN112847429A (en) * | 2020-12-31 | 2021-05-28 | 洛阳尚奇机器人科技有限公司 | Continuous flexible operating arm based on spring structure |
| CN114750090A (en) * | 2022-04-12 | 2022-07-15 | 南京航空航天大学 | But clamping device based on tubulose IPMC drive |
| CN115194816A (en) * | 2022-08-29 | 2022-10-18 | 山东大学 | Soft mechanical arm for realizing bending-torsion coupling deformation and manufacturing method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140903 Termination date: 20150320 |
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| EXPY | Termination of patent right or utility model |