CN212170407U - Modularization software robot - Google Patents

Abstract

The utility model provides a modular software robot, which comprises a compression spring and two end caps fixed on both ends of the compression spring, wherein the opposite side of the two end caps is the inner side and the other side is the outer side, and the upper edge of the end caps is There are a plurality of installation holes evenly distributed in the circumferential direction, and a plurality of shape memory alloy wires are arranged one-to-one in the plurality of installation holes of the end cover. The compression spring is located on the periphery of the plurality of shape memory alloy wires, and the two ends of the shape memory alloy wires are respectively fixed on the On the outside of the two end caps, by energizing different shape memory alloy wires, the shape memory alloy wires are compressed, so that the two end caps at both ends are offset in position, and various deformations of the soft robot are realized; and through the compression spring To achieve the reset of both end caps. The utility model has the advantages that the soft robot has the functions of flexible deformation and large deformation range.

Description

A modular soft robot

technical field

The utility model relates to the technical field of robots, in particular to a modular soft robot.

Background technique

At present, most soft robots are made of special materials with high compliance and driven by air pressure and hydraulic pressure. Their structures are complex, and the motion direction and form of such soft robots are not easy to control.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a modular soft robot, in order to realize the functions of flexible deformation and large deformation range of the soft robot.

To achieve the above object, the utility model adopts the following technical solutions:

A modular software robot includes a compression spring and two end caps fixed at both ends of the compression spring, wherein the opposite side of the two end caps is the inner side and the other side is the outer side, and the end caps are uniformly distributed along the circumferential direction. A plurality of installation holes, a plurality of shape memory alloy wires are arranged in the plurality of installation holes of the end cover in a one-to-one correspondence, the compression spring is located on the periphery of the plurality of shape memory alloy wires, and both ends of the shape memory alloy wires They are respectively fixed on the outside of the two end caps. By energizing different shape memory alloy wires, the shape memory alloy wires are compressed, so that the two end caps at both ends are offset in position, and various deformations of the soft robot are realized; and The reset of the two end caps is achieved by a compression spring.

Further, the end cap includes an end cap body and a cylindrical boss arranged in the middle of the inner side of the end cap body, a plurality of mounting holes all penetrate the end cap body and the boss, and a fixing sleeve is provided outside the boss. The fixed sleeve is fixedly connected to the end cover body, an annular installation gap is formed between the fixed sleeve and the boss, and the two ends of the compression spring are respectively inserted into the annular installation gap, and are fixed from the side by the lateral top wire. The sleeve is inserted laterally against the compression spring to realize the fixation between the end of the compression spring and the end cover.

Further, a pressure cover is fixedly connected to the outside of the end cover, and the end of the shape memory alloy wire is pressed between the end cover and the pressure cover through the pressure cover to realize the fixation of the end of the shape memory alloy wire and the end cover.

Further, the shape memory alloy wire is provided with a protective cover.

Further, a center hole is opened in the center of the end cap and the gland.

Further, the end cover and the pressing cover and between the end cover and the fixing sleeve are all fixed by means of screw connection.

Further, eight mounting holes are uniformly distributed on the end cover along the circumferential direction.

Compared with the prior art, the beneficial effects of the present utility model are embodied in:

The utility model provides a modular soft robot. By distributing a plurality of shape memory alloy wires on the two end covers in the circumferential direction, different shape memory alloy wires can be energized according to needs, so as to provide power for the deformation of the soft robot. , so that it can be offset to any direction according to the demand, the offset angle is more diversified, the deformation is more flexible, and the deformation range is larger, which meets the various motion requirements of the robot. In addition, the soft robot has a modular structure, and multiple modules of soft robots can be combined according to needs, which can play the role of amplifying the deflection angle of the soft robot, which can amplify the deformation of the robot and maximize the movement of the robot. scope. In addition, the structure of the utility model is simple and reliable, and the installation is convenient and quick.

Description of drawings

Figure 1 is a perspective view of the present invention.

Figure 2 is a perspective exploded view of the present invention.

Figure 3 is a perspective view of the end cap of the present invention.

4 is a perspective view of the shape memory alloy wire of the present invention.

5 is a schematic structural diagram of one of the deformed states of the present invention after the shape memory alloy wire is removed.

Figure 6 is a perspective view of two modular soft robots combined.

7 is a perspective view of the adapter assembly.

FIG. 8 is a perspective view of the lower adapter.

In the figure, 1 compression spring; 2 end cover; 3 mounting hole; 4 shape memory alloy wire; 5 protective sleeve; 6 end cover body; 7 boss; 8 fixed sleeve; Center hole; 12 modular software robots; 13 adapter components; 14 upper adapters; 15 lower adapters.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are Some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

Referring to FIGS. 1 to 5 , the present embodiment discloses a modular soft robot. The modular soft robot 12 has an up-down symmetrical structure. The modular soft robot 12 includes a compression spring 1 and a Two end caps 2, set the opposite side of the two end caps 2 as the inner side and the other side as the outer side, the end caps 2 are uniformly distributed with a plurality of installation holes 3 along the circumferential direction, and one of the plurality of installation holes 3 of the end caps 2 is inside. A plurality of shape memory alloy wires 4 are provided correspondingly, and each shape memory alloy wire 4 is provided with a layer of protective cover 5 . In this embodiment, eight mounting holes 3 are uniformly distributed on the end cover 2 along the circumferential direction, and correspondingly, there are eight shape memory alloy wires 4 . The compression spring 1 is located on the periphery of a plurality of shape memory alloy wires 4, and both ends of the shape memory alloy wires 4 are respectively fixed on the outside of the two end caps 2. By energizing different shape memory alloy wires 4, the shape memory alloy wires 4 are compressed. , so that the position of the two end caps 2 at both ends is offset, and various deformations of the soft robot are realized; and the reset of the two end caps 2 is realized through the compression spring 1 .

The end cap 2 includes an end cap body 6 and a cylindrical boss 7 arranged in the middle of the inner side of the end cap body 6 , the plurality of mounting holes 3 all penetrate the end cap body 6 and the boss 7 , and the boss 7 is hollowed out with a fixed Sleeve 8, the fixed sleeve 8 is fixedly connected with the end cover body 6, an annular installation gap is formed between the fixed sleeve 8 and the boss 7, the two ends of the compression spring 1 are respectively inserted into the annular installation gap, and are fixed from the side through the lateral jacking wire. The lateral jacking hole 9 of the sleeve 8 is inserted laterally against the compression spring 1 to realize the fixation between the end of the compression spring 1 and the end cover 2 .

A pressure cover 10 is fixedly connected to the outside of the end cover 2, and the end of the shape memory alloy wire 4 is pressed between the end cover 2 and the pressure cover 10 through the pressure cover 10, so as to realize the connection between the end of the shape memory alloy wire 4 and the end cover 2. fixed.

Wherein, both the end cover 2 and the pressing cover 10 are provided with a central hole 11 in the center, which is used for the wiring of the power line of the shape memory alloy wire 4 . The end cover 2, the gland 10 and the fixing sleeve 8 are all provided with threaded holes, and the end cover 2 and the gland 10 and between the end cover 2 and the fixing sleeve 8 are all fixed by means of screw connection, and the installation is convenient and quick.

The compression spring 1 is used to provide a supporting force when the robot needs to return to the initial position.

When working, the shape memory alloy wire 4 can be energized to shorten it, so that the two end caps 2 at both ends are shifted in position, and the deflection in all directions can be realized; when it needs to return to the initial position, the shape memory The alloy wire 4 is powered off, and under the force of the compression spring 1, the robot can be restored to its original position. In this way, 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.

In addition, the soft robot has a modular structure, and multiple modules of soft robots can be combined according to needs, which can play the role of amplifying the deflection angle of the soft robot, which can amplify the deformation of the robot and maximize the movement of the robot. scope.

Referring to FIG. 6 to FIG. 8 , the two modular soft robots 12 are combined together by an adapter assembly 13 . The adapter assembly 13 is composed of an upper adapter piece 14 and a lower adapter piece 15. The upper adapter piece 14 and the lower adapter piece 15 are locked together by lateral jacking screws to form the adapter assembly 13. The upper adapter piece 14 is connected with the gland 10 at the bottom of the upper modular software robot 12 by screws, and the lower adapter 15 is connected with the gland 10 at the top of the lower modular software robot 12 by screws, so that the two modular software robots 12 can be connected by screws. combine it all toghther.

The above are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in the present utility model. within the scope of protection.

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.

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