CN216180512U - Radiation symmetrical flexible robot based on SMA - Google Patents
Radiation symmetrical flexible robot based on SMA Download PDFInfo
- Publication number
- CN216180512U CN216180512U CN202122500697.7U CN202122500697U CN216180512U CN 216180512 U CN216180512 U CN 216180512U CN 202122500697 U CN202122500697 U CN 202122500697U CN 216180512 U CN216180512 U CN 216180512U
- Authority
- CN
- China
- Prior art keywords
- sma
- robot
- flexible
- fixing piece
- end fixing
- Prior art date
- 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.)
- Active
Links
Images
Abstract
The utility model relates to a radiation symmetrical flexible robot based on SMA, which comprises a robot trunk, wherein a control part is arranged in the robot trunk; the robot body is in radiation symmetry with a plurality of flexible mechanical feet, each mechanical foot comprises a deformable support body, an SMA spring is arranged in the support body, the SMA spring is used for adjusting and changing the shape of the support body, and an elastic skin structure is covered on the support body; the SMA spring is electrically connected with the control portion. The shape memory alloy spring is used as a driving material, so that the robot structure is more compact; for a narrow working space of a complex terrain, the radiating symmetrical robot structure can move towards any direction, and the orientation of the robot can be changed without redeployment.
Description
Technical Field
The utility model relates to the technical field of flexible robots, in particular to a flexible robot based on SMA (shape memory alloy).
Background
With the rapid development of modern science and technology, the flexible robot gradually becomes the focus of attention of researchers. The flexible robot is a robot with continuous flexible deformation capability, and is a novel intelligent robot integrating a simple mechanical structure and complex and flexible gaits. Different from other traditional rigid robots formed by combining rigid joints and connecting rods, the flexible robot is made of flexible raw materials which can easily realize optimal strain, has infinite redundant freedom, has good adaptability to various environments, particularly unstructured, complex and changeable environments, and greatly improves the safety of human interaction with the flexible robot. The flexible robot has good environmental compatibility, so that the flexible robot is increasingly applied to the fields of disaster relief, children entertainment, medical diagnosis and treatment and the like.
In the prior art, there is a soft robot (CN105346619A) based on shape memory alloy drive, which sequentially and respectively energizes shape memory alloy wires embedded in the robot by controlling a single chip, wherein the robot includes four feet, a top heat dissipation structure, a bottom tooth structure, and front and rear support structures. The robot is of a bilateral symmetry type, can only move within a certain angle range in the advancing direction, and needs a certain turning radius if turning is needed, so that the robot is not beneficial to work in a narrow space.
Therefore, the inventor provides a radiation symmetrical flexible robot based on SMA by virtue of experience and practice of related industries for many years so as to overcome the defects in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a radiation symmetrical flexible robot based on SMA (shape memory alloy), which uses a shape memory alloy spring as a driving material to enable the structure of the robot to be more compact; for a narrow working space of a complex terrain, the radiating symmetrical robot structure can move towards any direction, and the orientation of the robot can be changed without redeployment.
The utility model aims to realize the radiation symmetry type flexible robot based on the SMA, which comprises a robot trunk, wherein a control part is arranged in the robot trunk; the robot body is in radiation symmetry with a plurality of flexible mechanical feet, each mechanical foot comprises a deformable support body, an SMA spring is arranged in the support body, the SMA spring is used for adjusting and changing the shape of the support body, and an elastic skin structure is covered on the support body; the SMA spring is electrically connected with the control portion.
In a preferred embodiment of the present invention, the support body includes a flexible center rod, a first end fixing piece and a second end fixing piece are respectively disposed at two ends of the center rod, the first end fixing piece is connected to the robot trunk, the SMA spring is disposed between the first end fixing piece and the second end fixing piece, and the elastic skin structure is disposed between the first end fixing piece and the second end fixing piece in a covering manner.
In a preferred embodiment of the present invention, the number of the SMA springs is three, and a circumferential included angle between two adjacent SMA springs is 120 °.
In a preferred embodiment of the present invention, the SMA spring can contract when heated by energization.
In a preferred embodiment of the present invention, the central rod is a silica gel rod.
In a preferred embodiment of the present invention, at least one intermediate spacer is provided on the center rod, a spacer through hole is provided on the intermediate spacer, and the SMA spring passes through the spacer through hole.
In a preferred embodiment of the present invention, the number of the middle spacers is four, and each of the middle spacers is spaced apart from the center rod in the axial direction.
In a preferred embodiment of the present invention, the number of the mechanical feet is four, and the four mechanical feet are arranged in radial symmetry with respect to the robot trunk.
In a preferred embodiment of the present invention, the control unit includes a power supply system, a high-current drive system, a mechanical foot monopod control system, a robot gait control system and a resistance measurement feedback system.
From the above, the radiation symmetric flexible robot based on the SMA has the following beneficial effects:
in the radiation symmetrical flexible robot based on the SMA, the SMA spring is used as a driving material, so that the robot structure is more compact; the flexible robot is made of flexible raw materials which can easily realize the optimal strain, has infinite redundant freedom, has good adaptability to various environments, particularly non-structured, complex and changeable environments, and greatly improves the safety of human interaction with the environment; the mechanical foot adopts a radiation symmetrical structure, so that the complexity of structural design can be greatly reduced, the structure of the robot is further simplified, the modularization degree of the multi-foot robot structure is improved, and the installation and replacement difficulty of parts of the robot is simplified; in the use process, the control part controls the state of the SMA spring, and the robot can move forwards or backwards or move towards any direction by coordinately controlling the bending angles and the bending directions of the feet, so that the orientation of the robot can be changed without redeployment.
Drawings
The drawings are only for purposes of illustrating and explaining the present invention and are not to be construed as limiting the scope of the present invention. Wherein:
FIG. 1: is a schematic diagram of the radiation symmetrical flexible robot based on SMA.
FIG. 2: is a perspective view of the internal structure of the mechanical foot of the utility model
FIG. 3: is a front view of the internal structure of the mechanical foot of the present invention.
FIG. 4: is a schematic view of the intermediate spacer of the present invention.
FIG. 5: the utility model is a motion process schematic diagram of the radiation symmetrical flexible robot based on SMA.
FIG. 6 a: is a state diagram of the radiation symmetrical flexible robot based on SMA in the step a.
FIG. 6 b: is a state diagram of the radiation symmetrical flexible robot based on SMA in the step b.
FIG. 6 c: is a state diagram of the radiation symmetrical flexible robot based on SMA in the step c.
FIG. 6 d: is the state diagram of the radiation symmetrical flexible robot based on SMA in the step d of the utility model.
In the figure:
100. the radiation symmetrical flexible robot based on SMA;
1. a robot trunk;
2. a mechanical foot;
21. a support body; 22. an elastic skin structure; 23. a center bar; 24. a first end fixing piece; 25. a second end fixing sheet; 26. a middle spacer; 261. a spacer through hole;
3. and (3) an SMA spring.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
The specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the utility model in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 6d, the present invention provides a radiation symmetric flexible robot 100 based on SMA, including a robot trunk 1, wherein a control part is arranged in the robot trunk 1; the robot body 1 is in radiation symmetry with a plurality of flexible mechanical feet 2, each mechanical foot 2 comprises a deformable support body 21, an SMA spring 3 is arranged in each support body 21, the SMA spring 3 is used for adjusting and changing the shape of each support body, and an elastic skin structure 22 is covered on each support body 21; the SMA spring 3 is electrically connected to the control section. In a specific embodiment of the present invention, the number of the mechanical feet 2 is four, and the four mechanical feet 2 are radially and symmetrically arranged with respect to the robot trunk 1.
As a novel functional material, Shape memory alloy (SMA, a material composed of two or more metal elements having a Shape memory effect through thermoelasticity, martensitic transformation and inversion) attracts attention due to its unique Shape memory effect, and has characteristics of high power density, simple structure, good corrosion resistance and biocompatibility, and the like, so that an intelligent structure based on the Shape memory alloy material has a wide prospect in the fields of monitoring, intelligent robots, micro electro mechanical systems, biomedical treatment, and the like. In the utility model, the SMA spring 3 is stretched by pretreatment, contracted when electrified and restored when power is off.
In the radiation symmetrical flexible robot based on the SMA, the SMA spring is used as a driving material, so that the robot structure is more compact; the flexible robot is made of flexible raw materials which can easily realize the optimal strain, has infinite redundant freedom, has good adaptability to various environments, particularly unstructured and complex changeable environments (narrow working spaces of complex terrains), and greatly improves the safety of human interaction with the environment; the mechanical foot adopts a radiation symmetrical structure, so that the complexity of structural design can be greatly reduced, the structure of the robot is further simplified, the modularization degree of the multi-foot robot structure is improved, and the installation and replacement difficulty of parts of the robot is simplified; the control part controls the state of the SMA spring, and the robot can move forwards or backwards or move towards any direction by coordinately controlling the bending angles and the bending directions of the feet, and the orientation of the robot can be changed without redeployment.
Further, as shown in fig. 2 and 3, the supporting body 21 includes a flexible center rod 23, a first end fixing piece 24 and a second end fixing piece 25 are respectively disposed at two ends of the center rod 23, the first end fixing piece 24 is connected with the robot trunk 1, the SMA spring 3 is disposed between the first end fixing piece 24 and the second end fixing piece 25, and the elastic skin structure 22 is disposed between the first end fixing piece 24 and the second end fixing piece 25 in a covering manner. The elastic skin structure 22 covers the outside of the support body 21, so that the internal structure of the mechanical foot 2 is separated from the outside, and the completeness of the mechanical foot in the motion process of the robot is ensured; at the same time, the elastic skin structure 22 provides the friction required for the robot movement.
In a specific embodiment of the present invention, the number of the SMA springs 3 is three, and the circumferential included angle between two adjacent SMA springs 3 is 120 °.
In the present embodiment, the SMA spring 3 is stretched by the pretreatment, and the SMA spring 3 can be contracted by being energized and heated. In a single flexible mechanical foot 2, by heating at most any two SMA springs 3, the heated SMA springs 3 can contract due to the shape memory effect of the SMA springs, and the mechanical foot 2 is driven to bend towards a certain direction. The bending principle of other mechanical feet is the same. By coordinately controlling the bending angles and the bending directions of the plurality of mechanical feet 2, the robot can move forwards or backwards.
Further, the center rod 23 is a silica gel rod. The silica gel stick limits the movement of the second end fixing piece 25; the silica gel stick accelerates the mechanical foot to restore from a bent state to a straight state.
Further, as shown in fig. 4, at least one intermediate spacer 26 is provided on the center rod 23, a spacer through hole 261 is provided on the intermediate spacer 26, and the SMA spring 3 passes through the spacer through hole 261.
In one embodiment of the present invention, the number of the intermediate spacers 26 is four, and the intermediate spacers 26 are spaced apart from each other in the axial direction of the central rod 23.
The intermediate spacer 26 and the first and second end fixing pieces 24 and 25 at both ends constitute a support body 21 as a support for the elastic skin structure 22; the distance between the first end fixing piece 24 and the second end fixing piece 25 is too far, and the elastic skin structure 22 is only supported by the first end fixing piece 24 and the second end fixing piece 25 at the end parts, so that the elastic skin structure 22 possibly influences the working performance of the SMA spring 3 when a prototype is actually manufactured, the middle spacing piece 26 is beneficial to supporting the elastic skin structure 22, and the influence of the elastic skin structure 22 on the working performance of the SMA spring 3 is reduced; the SMA spring 3 passes through the spacer through hole 261 and the intermediate spacer 26 restricts the operating position of the SMA spring 3, reducing the positional deviation.
Compared with the mechanical foot which is filled with silica gel and has the following advantages that the elastic skin structure 22, the central rod 23, the first end fixing piece 24, the second end fixing piece 25, the middle spacing piece 26 and the SMA spring 3 jointly form the mechanical foot: the weight of the mechanical foot can be further reduced by reducing the consumption of silica gel; secondly, in the bending process of the mechanical foot, the silica gel rod (central rod 23) and the SMA spring 3 do not interact, so that the interference of the silica gel on the performance of the SMA spring is reduced; and thirdly, the SMA spring is not wrapped, so that the heat accumulation and the temperature hysteresis effect of the SMA spring in the heating and cooling processes can be reduced, and the control on the SMA spring is facilitated.
Further, the control part comprises a power supply system, a large-current driving system, a mechanical foot single-foot control system, a robot gait control system and a resistance measurement feedback system. The robot body is a control center of the robot, a hardware part of a control part is integrated in the control center, the control of bending deformation of a single mechanical foot and the coordination control of a plurality of feet are realized through programming, and the flexible mechanical foot is an actuating mechanism of the robot. The structure part of the robot is matched with the control part to realize the movement of the robot.
The utility model discloses a use method of a radiation symmetric flexible robot based on SMA, which comprises the following steps:
step a, as shown in fig. 6a, the radiation symmetric flexible robot 100 based on SMA is placed horizontally (can be placed on the ground), and each mechanical foot 2 and the SMA spring 3 inside the mechanical foot 2 are in a natural straightening state;
step b, as shown in fig. 6b, the control part controls the front mechanical foot 2 to be arched and bent (the SMA spring 3 positioned below is electrified and heated and then contracted), the gravity center of the radiation symmetrical flexible robot 100 based on the SMA is raised, and the radiation symmetrical flexible robot based on the SMA is dragged to move forwards by virtue of friction force;
step c, as shown in fig. 6c, the control unit controls the rear mechanical foot to be arched upward and bent (the SMA spring 3 positioned below is electrified and heated to rise and then contract), the center of gravity of the radiation symmetrical type flexible robot based on the SMA rises again, the radiation symmetrical type flexible robot based on the SMA moves forward again (the movement displacement of this time is smaller than that in step b), and the radiation symmetrical type flexible robot 100 based on the SMA accumulates certain gravitational potential energy and elastic potential energy and is lifted as a whole and is in a stable state;
step d, as shown in fig. 6d, the control part controls the previous mechanical foot to release, and the robot recovers the initial state (the SMA spring 3 below is powered off, straightened after cooling, and restored to the initial natural straightening), releases a part of elastic potential energy and gravitational potential energy, and the radiation symmetrical type flexible robot 100 based on the SMA moves forward again;
step e, the control part controls the release of the rear mechanical foot to recover the initial state (the state of the step a is shown in fig. 6 a), in the process, the robot releases all residual gravitational potential energy and elastic potential energy, the radiation symmetrical flexible robot based on the SMA moves forwards again by means of friction force to complete a motion cycle, and the motion cycle is shown in fig. 5;
and f, repeating the steps b to e to finish the set movement.
From the above, the radiation symmetric flexible robot based on the SMA has the following beneficial effects:
in the radiation symmetrical flexible robot based on the SMA, the SMA spring is used as a driving material, so that the robot structure is more compact; the flexible robot is made of flexible raw materials which can easily realize the optimal strain, has infinite redundant freedom, has good adaptability to various environments, particularly non-structured, complex and changeable environments, and greatly improves the safety of human interaction with the environment; the mechanical foot adopts a radiation symmetrical structure, so that the complexity of structural design can be greatly reduced, the structure of the robot is further simplified, the modularization degree of the multi-foot robot structure is improved, and the installation and replacement difficulty of parts of the robot is simplified; in the use process, the control part controls the state of the SMA spring, and the robot can move forwards or backwards or move towards any direction by coordinately controlling the bending angles and the bending directions of the feet, so that the orientation of the robot can be changed without redeployment.
The above description is only an exemplary embodiment of the present invention, and is not intended to limit the scope of the present invention. Any equivalent changes and modifications that can be made by one skilled in the art without departing from the spirit and principles of the utility model should fall within the protection scope of the utility model.
Claims (9)
1. A radiation symmetrical flexible robot based on SMA is characterized by comprising a robot trunk, wherein a control part is arranged in the robot trunk; the robot body is in radiation symmetry with a plurality of flexible mechanical feet, each mechanical foot comprises a deformable support body, an SMA spring is arranged in the support body, the SMA spring is used for adjusting and changing the shape of the support body, and an elastic skin structure is covered on the support body; the SMA spring is electrically connected with the control portion.
2. The SMA-based radiation symmetric flexible robot according to claim 1, wherein the support body comprises a flexible center rod, a first end fixing piece and a second end fixing piece are respectively arranged at two ends of the center rod, the first end fixing piece is connected with the trunk of the robot, the SMA spring is arranged between the first end fixing piece and the second end fixing piece, and the elastic skin structure is arranged between the first end fixing piece and the second end fixing piece in a covering manner.
3. The SMA-based radially symmetric flexible robot of claim 2, wherein the number of the SMA springs is three, and a circumferential included angle between two adjacent SMA springs is 120 °.
4. The SMA-based radiation symmetric flexible robot of claim 2 or 3, wherein the SMA springs can contract when heated.
5. The SMA-based radiating symmetric flexible robot of claim 2, wherein the central rod is a silicone rod.
6. The SMA-based radiational symmetry type flexible robot of claim 2, wherein at least one intermediate spacer is provided on the central rod, spacer through holes are provided on the intermediate spacer, and the SMA springs pass through the spacer through holes.
7. The SMA-based radiating symmetric flexible robot of claim 6, wherein the number of the intermediate spacers is four, and each of the intermediate spacers is arranged at intervals along the axial direction of the central rod.
8. The SMA-based radially symmetric flexible robot of claim 2, wherein the number of the mechanical feet is four, and the four mechanical feet are radially symmetrically arranged with respect to the robot trunk.
9. The SMA-based radiating symmetric flexible body robot of claim 1, wherein the control portion comprises a power supply system, a high current drive system, a mechanical foot monopod control system, a robot gait control system and a resistance measurement feedback system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122500697.7U CN216180512U (en) | 2021-10-18 | 2021-10-18 | Radiation symmetrical flexible robot based on SMA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122500697.7U CN216180512U (en) | 2021-10-18 | 2021-10-18 | Radiation symmetrical flexible robot based on SMA |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216180512U true CN216180512U (en) | 2022-04-05 |
Family
ID=80883417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122500697.7U Active CN216180512U (en) | 2021-10-18 | 2021-10-18 | Radiation symmetrical flexible robot based on SMA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216180512U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115885694A (en) * | 2022-12-21 | 2023-04-04 | 东北林业大学 | Lifting device for utilize corrugated sheet elastic deformation to independently avoid barrier and initiatively pick based on coiling lift principle |
-
2021
- 2021-10-18 CN CN202122500697.7U patent/CN216180512U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115885694A (en) * | 2022-12-21 | 2023-04-04 | 东北林业大学 | Lifting device for utilize corrugated sheet elastic deformation to independently avoid barrier and initiatively pick based on coiling lift principle |
| CN115885694B (en) * | 2022-12-21 | 2023-08-11 | 东北林业大学 | Lifting device based on winding lifting principle and capable of automatically avoiding obstacle and actively picking by utilizing elastic deformation of corrugated sheet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zhang et al. | Robotic artificial muscles: Current progress and future perspectives | |
| CN110587589B (en) | Bending unit body and snake-shaped soft robot based on SMA drive | |
| Tang et al. | A soft crawling robot driven by single twisted and coiled actuator | |
| Trimmer | Soft robots | |
| CN216180512U (en) | Radiation symmetrical flexible robot based on SMA | |
| Fei et al. | Modeling and motion control of a soft robot | |
| CN203804999U (en) | Shape memory alloy spring driven flexible mechanical arm | |
| CN101717063B (en) | Flexible microgripper through topological optimization | |
| CN109733497A (en) | A kind of creep software machine and its driving method based on marmem | |
| Chen et al. | Origami-inspired modules enable a reconfigurable robot with programmable shapes and motions | |
| Mansour et al. | Compliant closed-chain rolling robot using modular unidirectional SMA actuators | |
| CN209408491U (en) | A kind of variable diameters snake-shaped robot module and snake-shaped robot | |
| Pan et al. | Variable-model SMA-driven spherical robot | |
| CN111251283B (en) | Fruit fly larva-imitating soft body robot based on shape memory alloy | |
| Xie et al. | A novel flat modular pneumatic artificial muscle | |
| Zhong et al. | Investigation on a new approach for designing articulated soft robots with discrete variable stiffness | |
| CN113635294B (en) | Omnidirectional modular soft robot based on SMA drive | |
| Nakai et al. | Metamorphic robot made of low melting point alloy | |
| CN214057751U (en) | Inchworm-imitating soft robot | |
| Li et al. | Nonlinear modeling on a SMA actuated circular soft robot with closed-loop control system | |
| Choi et al. | Soft fabric muscle based on thin diameter SMA springs | |
| Zhang et al. | Research on soft manipulator actuated by shape memory alloy (SMA) springs | |
| Qiu et al. | A gecko-inspired robot with a flexible spine driven by shape memory alloy springs | |
| Du et al. | A novel soft robot with three locomotion modes | |
| CN112158271A (en) | Soft crawling robot driven by super-spiral polymer actuator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |