CN212170407U - Modularization software robot - Google Patents
Modularization software robot Download PDFInfo
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- CN212170407U CN212170407U CN202020914721.4U CN202020914721U CN212170407U CN 212170407 U CN212170407 U CN 212170407U CN 202020914721 U CN202020914721 U CN 202020914721U CN 212170407 U CN212170407 U CN 212170407U
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- shape memory
- memory alloy
- end cover
- pressure spring
- end covers
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Abstract
The utility model provides a modularization software robot, including the pressure spring, and fix two end covers at the pressure spring both ends, it is inboard to establish the relative one side of two end covers, the opposite side is the outside, there are a plurality of mounting holes along the circumference equipartition on the end cover, a plurality of shape memory alloy silk that are provided with of one-to-one in a plurality of mounting holes of end cover, the pressure spring is located a plurality of shape memory alloy silk peripheries, the both ends of shape memory alloy silk are fixed respectively in two end cover outsides, through circular telegram to different shape memory alloy silk, make shape memory alloy silk compressed, thereby make two end covers at both ends produce the skew of position, realize the various deformations of software robot; and the resetting of the two end covers is realized through a pressure spring. The utility model has the advantages that: the flexible deformation and large deformation range of the soft robot are realized.
Description
Technical Field
The utility model relates to the technical field of robots, the more specifically modularization software robot that says so.
Background
At present, most of soft robots are manufactured by means of special high-compliance materials, are driven by air pressure and hydraulic pressure, have complex structures, and are difficult to control the movement direction and the movement form of the soft robots.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's not enough, provide a modularization software robot to realize that software robot warp nimble, the function that deformation range is big.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a modularized soft robot comprises a pressure spring and two end covers fixed at two ends of the pressure spring, wherein one side, opposite to the two end covers, is an inner side, the other side is an outer side, a plurality of mounting holes are uniformly distributed in the end covers along the circumferential direction, a plurality of shape memory alloy wires are correspondingly arranged in the mounting holes of the end covers one by one, the pressure spring is positioned at the periphery of the shape memory alloy wires, two ends of the shape memory alloy wires are respectively fixed at the outer sides of the two end covers, and the shape memory alloy wires are compressed by electrifying different shape memory alloy wires, so that the two end covers at the two ends generate position deviation, and various deformations of the soft robot are realized; and the resetting of the two end covers is realized through a pressure spring.
Further, the end cover includes the end cover body and sets up the cylindrical boss at the inboard middle part of end cover body, and a plurality of mounting holes all run through end cover body and boss, the boss sky cover has a fixed cover outward, fixed cover and end cover body fixed connection, form an annular installation clearance between fixed cover and the boss, insert respectively at the both ends of pressure spring in the annular installation clearance to insert from fixed cover side direction through the side direction jackscrew and withstand the pressure spring, realize the fixed of pressure spring tip and end cover.
Furthermore, the outer side of the end cover is fixedly connected with a gland, and the end part of the shape memory alloy wire is tightly pressed between the end cover and the gland through the gland, so that the end part of the shape memory alloy wire is fixed with the end cover.
Furthermore, a layer of protective sleeve is arranged outside the shape memory alloy wire.
Furthermore, the centers of the end cover and the gland are both provided with central holes.
Furthermore, the end cover and the gland as well as the end cover and the fixed sleeve are fixed in a screw connection mode.
Furthermore, eight mounting holes are uniformly distributed on the end cover along the circumferential direction.
Compared with the prior art, the utility model discloses beneficial effect embodies:
the utility model provides a pair of modularization software robot, it has a plurality of shape memory alloy silk through along the circumference equipartition on two end covers, can be as required to the circular telegram of shape memory alloy silk of difference, provides power for the deformation of software robot to can skew to any one position according to the demand, the pluralism more of angle of skew warp more nimble, the deformation range is bigger, has satisfied the various motion demands of robot. Moreover, the soft robot is of a modular structure, can combine a plurality of modules of the soft robot as required, can play a role in amplifying the deflection angle of the soft robot, can amplify the deformation of the robot, and furthest enlarges the motion range of the robot. Furthermore, the utility model discloses simple structure is reliable, simple to operate is swift.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective exploded view of the present invention.
Fig. 3 is a perspective view of the end cap of the present invention.
Fig. 4 is a perspective view of the shape memory alloy wire of the present invention.
FIG. 5 is a schematic structural view of the shape memory alloy wire of the present invention in one of its deformed states.
Fig. 6 is a perspective view of two modular soft robots combined.
Fig. 7 is a perspective view of the adapter assembly.
Fig. 8 is a perspective view of the lower link.
In the figure, 1 a compression spring; 2, end cover; 3, mounting holes; 4 shape memory alloy wire; 5, protecting the sleeve; 6 an end cap body; 7, a boss; 8, fixing a sleeve; 9 lateral jackscrew holes; 10, pressing a cover; 11 a central hole; 12, a modular software robot; 13, a switching component; 14, a connecting piece is arranged on the base; 15 lower connecting piece.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1 to 5, the present embodiment discloses a modular soft robot, the modular soft robot 12 is of a vertically symmetric structure, the modular soft robot 12 includes a compression spring 1 and two end caps 2 fixed at two ends of the compression spring 1, one side of the two end caps 2 opposite to each other is an inner side, and the other side is an outer side, a plurality of mounting holes 3 are uniformly distributed on the end caps 2 along the circumferential direction, a plurality of shape memory alloy wires 4 are correspondingly arranged in the plurality of mounting holes 3 of the end caps 2 one by one, a layer of protective sleeve 5 is arranged outside each shape memory alloy wire 4, and the protective sleeve 5 can be a silicone sleeve and is used for protecting the shape memory alloy wires 4 from the outside. Eight mounting holes 3 are uniformly distributed on the end cover 2 along the circumferential direction in the embodiment, and eight shape memory alloy wires 4 are correspondingly arranged on the end cover 2. The compression springs 1 are positioned at the periphery of the shape memory alloy wires 4, two ends of each shape memory alloy wire 4 are respectively fixed at the outer sides of the two end covers 2, and the shape memory alloy wires 4 are compressed by electrifying different shape memory alloy wires 4, so that the two end covers 2 at two ends generate position deviation, and various deformations of the soft robot are realized; and the resetting of the two end covers 2 is realized through the pressure spring 1.
The outer side of the end cover 2 is fixedly connected with a gland 10, and the end part of the shape memory alloy wire 4 is tightly pressed between the end cover 2 and the gland 10 through the gland 10, so that the end part of the shape memory alloy wire 4 is fixed with the end cover 2.
The center of the end cover 2 and the center of the gland 10 are both provided with center holes 11 for routing the power line of the shape memory alloy wire 4. All be equipped with the screw hole on end cover 2, gland 10, the fixed cover 8, all realize fixedly between end cover 2 and the gland 10, between end cover 2 and the fixed cover 8 through the mode of screw connection, simple to operate is swift.
The compression spring 1 is used for providing a supporting force when the robot needs to return to the initial position.
When the shape memory alloy wire works, the shape memory alloy wire 4 can be shortened by electrifying the shape memory alloy wire, so that the two end covers 2 at the two ends generate position deviation, and deflection in each direction can be realized; when the robot needs to return to the initial position, the shape memory alloy wire 4 is powered off, and the robot can return to the initial position under the action of the pressure spring 1. Therefore, various motion requirements of the robot can be met by controlling the deformation quantity and the deformation degree of the shape memory alloy wire 4, and the deformation is very flexible.
Moreover, the soft robot is of a modular structure, can combine a plurality of modules of the soft robot as required, can play a role in amplifying the deflection angle of the soft robot, can amplify the deformation of the robot, and furthest enlarges the motion range of the robot.
Referring to fig. 6 to 8, two modular soft robots 12 are combined together through a switching component 13. The switching component 13 is composed of an upper switching piece 14 and a lower switching piece 15, the upper switching piece 14 and the lower switching piece 15 are locked together through lateral jackscrews to form the switching component 13, the upper switching piece 14 is connected with a gland 10 at the bottom of the modular soft robot 12 above through screws, the lower switching piece 15 is connected with the gland 10 at the top of the modular soft robot 12 below through screws, and the two modular soft robots 12 can be combined together.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A modular software robot, characterized in that: the shape memory alloy wire compression device comprises a compression spring and two end covers fixed at two ends of the compression spring, wherein one side, opposite to the two end covers, of the end covers is an inner side, the other side of the end covers is an outer side, a plurality of mounting holes are uniformly distributed in the end covers along the circumferential direction, a plurality of shape memory alloy wires are correspondingly arranged in the mounting holes of the end covers one by one, the compression spring is positioned at the peripheries of the shape memory alloy wires, two ends of each shape memory alloy wire are respectively fixed at the outer sides of the two end covers, and the shape memory alloy wires are compressed by electrifying different shape memory alloy wires, so that the two end covers at the two ends generate position deviation, and various deformations of a; and the resetting of the two end covers is realized through a pressure spring.
2. The modular soft robot of claim 1, wherein: the end cover comprises an end cover body and a cylindrical boss arranged at the middle part of the inner side of the end cover body, a plurality of mounting holes run through the end cover body and the boss, a fixing sleeve is sleeved outside the boss, the fixing sleeve is fixedly connected with the end cover body, an annular mounting gap is formed between the fixing sleeve and the boss, two ends of the pressure spring are respectively inserted into the annular mounting gap, and the pressure spring is laterally inserted from the fixing sleeve through a lateral jackscrew to jack the pressure spring, so that the end part of the pressure spring is fixed with the end cover.
3. The modular soft robot of claim 2, wherein: the outer side of the end cover is fixedly connected with a gland, and the end part of the shape memory alloy wire is tightly pressed between the end cover and the gland through the gland, so that the end part of the shape memory alloy wire is fixed with the end cover.
4. A modular soft robot as claimed in any one of claims 1 to 3, wherein: and a protective sleeve is arranged outside the shape memory alloy wire.
5. The modular soft robot of claim 3, wherein: the center of the end cover and the center of the gland are both provided with center holes.
6. The modular soft robot of claim 3, wherein: the end cover and the gland as well as the end cover and the fixed sleeve are fixed in a screw connection mode.
7. The modular soft robot of claim 1, wherein: eight mounting holes are uniformly distributed on the end cover along the circumferential direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020914721.4U CN212170407U (en) | 2020-05-26 | 2020-05-26 | Modularization software robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020914721.4U CN212170407U (en) | 2020-05-26 | 2020-05-26 | Modularization software robot |
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| Publication Number | Publication Date |
|---|---|
| CN212170407U true CN212170407U (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020914721.4U Active CN212170407U (en) | 2020-05-26 | 2020-05-26 | Modularization software robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438685A (en) * | 2020-05-26 | 2020-07-24 | 常州先进制造技术研究所 | Modularization software robot |
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2020
- 2020-05-26 CN CN202020914721.4U patent/CN212170407U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438685A (en) * | 2020-05-26 | 2020-07-24 | 常州先进制造技术研究所 | Modularization software robot |
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