KR20170087359A

KR20170087359A - Shape memory alloy(SMA) torsional actuator and the SMA torsional actuator-based snake robot

Info

Publication number: KR20170087359A
Application number: KR1020160007270A
Authority: KR
Inventors: 김영식; 장태수
Original assignee: 한밭대학교 산학협력단
Priority date: 2016-01-20
Filing date: 2016-01-20
Publication date: 2017-07-28
Also published as: KR101815747B1

Abstract

The present invention comprises a shape memory alloy material wire whose both ends are connected to the respective rotating bodies while being wound in opposite directions on a rotating shaft for hinge-coupling two rotating bodies, The present invention relates to a rotary actuator for generating bi-directional power in a rotating body by using a memory effect, and a snake robot which exhibits movement characteristics similar to the motion of a real snake by applying the same.

Description

Shape Memory Alloy Rotary Actuator and Snake Robot Using Same Memory Alloy (SMA) Torsional Actuator and SMA Torsional Actuator-

The present invention relates to a shape memory alloy rotary actuator and a robot using the shape memory alloy rotary actuator. More particularly, the present invention relates to a shape memory alloy rotary actuator, The present invention relates to a rotary actuator for generating bi-directional power in a rotating body by utilizing a shrinking phenomenon caused by an increase in external temperature and a memory effect recovered at an early stage, and a snake robot exhibiting movement characteristics similar to the motion of a real snake by applying the same.

Robots are mechanical artifacts that have a visual appearance that can perform mechanical movements and behaviors. As the electronics industry develops, technology for robots is also dramatically improved.

Robots that provide such artificial power are designed to perform specific tasks on behalf of or with a person, and in particular, robotic technology is applied in various fields such as medical, industrial, home, etc., It is expected to be used for various purposes in various fields in the future because it can perform specific purposes such as inspection, reconnaissance, and exploration even in difficult environments.

However, the conventional robot implements the movement ability by imitating the behavior characteristics of various animals including the vehicle and the human being. However, since the robot is not yet capable of moving as freely as the imitated object, the robot moves smoothly in a narrow space or in a natural environment Since the mission is not easy to carry out, animal robots that mimic the movement characteristics of various animals moving freely in these spaces are being developed.

Particularly, in the case of snakes, since there is no protruding legs, the movement speed is slow, but the body is less moved during the movement, and the body can be bent in all directions so that it can move easily in narrow and curved areas. It is possible to move up the robot.

However, many joints are required for accurate biomimetic characteristics. However, since most of the robots developed to date have an electric motor as a main power source, there are limitations in downsizing the size and weight due to motors installed in each joint, Even if the motor of the robot is broken or the power supply is cut off, it is impossible to carry out the actual mission and the robot is difficult to be recovered.

In addition, even if the robot is recovered, it requires a lot of troubles for repairing and managing the motor, and complicated control circuit and mechanical parts for individually controlling the speed and the rotation angle of the motor are required, which again causes problems of maintenance and maintenance .

Korean Patent Publication No. 10-2013-0037056 (published Apr. 15, 2013).

It is an object of the present invention to provide a shape memory alloy rotary actuator capable of implementing a rotation and a restoring operation using a wire material capable of controlling shape deformation, The present invention provides a snake robot using a shape memory alloy rotary actuator capable of realizing an operating characteristic such as a real snake by driving quickly and precisely.

According to another aspect of the present invention, there is provided a rotary actuator comprising: a rotary shaft; A first rotating body and a second rotating body coupled to the rotating shaft so as to be rotatable about the rotating shaft; A torque generating unit having both ends thereof coupled to the first rotating body and the second rotating body while the rotating shaft is wound, the torque generating unit comprising a wire-shaped shape memory alloy; And a power supply line connected to the rotation force generating unit to supply current to the rotation force generating unit, wherein the rotation force generating unit includes a first line wound around the rotation axis in a first direction and a second line wound around the rotation axis in a second direction opposite to the first direction And the second wire is wound.

In this case, the first rotating body and the second rotating body include a link mechanism provided at both ends of the insertion hole into which the rotating shaft is inserted, and the rotating force generating unit controls the first rotating body and the second rotating body Is preferably controlled.

The snake robot according to the present invention for the above-mentioned purpose is provided with N / 2 rotation axes arranged at regular intervals and having an axis direction different from that of the neighboring rotation axis. N rotors coupled to each other with the rotation shaft interposed therebetween so as to be rotatable about the respective rotation axes; A rotation force generating unit having both ends thereof coupled to adjacent rotating bodies in a state where the rotating shaft is wound and formed of a wire-shaped shape memory alloy; A power line connected to each of the torque generating units to supply current to the torque generating unit; A connecting body interconnecting two adjacent rotating bodies not having the rotation axis therebetween to form a predetermined angle; Wherein the rotation force generating unit comprises a first line wound around the rotation shaft in a first direction and a second line wound around the rotation shaft in a second direction opposite to the first direction.

In this case, each of the rotating bodies includes a link mechanism having both ends of the insertion hole into which the rotating shaft is inserted, and the rotating force generating unit controls the angle between the first rotating body and the second rotating body through current control .

As the actuator is driven through a shape memory alloy capable of controlling the shape deformation, the vibration and operation noise of the conventional motor driving system can be reduced, the failure rate can be remarkably reduced due to simplification of the control circuit and mechanical parts, Maintenance and maintenance can be achieved easily.

By bi-directionally driving the actuator using the shape memory alloy material, motion of a plurality of joints is individually realized. Thus, a biomimetic technique close to the motion of a real snake can be realized and various application operations can be implemented freely and promptly.

Therefore, it is possible to perform tasks such as surveillance and observation in a place where a human or other type of robot is difficult to perform due to the input of the robot, but the robot moves freely in a narrow and bendy environment according to the angle change of the unit joint. Efficiency and range of activities.

In addition, since the motion of each joint can be individually performed, it is possible to provide a smooth motion, and even if a problem occurs in some actuators, it is possible to continue the mission without difficulty, which is advantageous for the recovery and management of the robot.

1 is an exploded perspective view showing a configuration of a rotary actuator according to the present invention,
2 is a view for explaining the operation principle of a rotary actuator according to the present invention,
3 is a view showing the operation of the rotary actuator according to the present invention,
4 is a perspective view illustrating the configuration of a snake robot according to the present invention,
5 is a perspective view showing the operation of the snake robot according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a structure of a shape memory alloy rotary actuator of the present invention and a snake robot using the same will be described in detail with reference to the accompanying drawings.

1 is an exploded perspective view showing a configuration of a rotary actuator according to the present invention, FIG. 2 is a view for explaining the operation principle of a rotary actuator according to the present invention, and FIG. 3 is a cross- The rotary actuator according to the present invention includes a rotary shaft 10, a first rotating body 20-1 and a second rotating body 20-2, A rotational force generating unit 30, and a power source line 40. [

The rotation shaft 10 is a rod-like part. The rotation shaft 10 is made of an insulator material which is not limited to a material but can prevent leakage of a current applied to the wire in contact with a shape memory alloy wire to which a current is applied. .

The first rotating body 20-1 and the second rotating body 20-2 are coupled to the rotating shaft 10 so that the angle of the rotating body 10 can be freely adjusted. Each of the rotors 20-1 and 20-2 is provided with a link mechanism 21 that has insertion holes 22 for insertion of the rotary shaft 10 at both ends thereof, The first rotating body 20-1 and the second rotating body can be smoothly rotated and the substrate on which the power line 40 and the rotational force generating unit 30 are electrically connected is connected to the link mechanism 21 It can be seated.

The rotation force generating unit 30 is formed in a wire shape and both ends thereof are coupled to the first rotating body 20-1 and the second rotating body 20-2 while the rotating shaft 10 is wound, So that the angle between the first rotating body 20-1 and the second rotating body 20-2 can be adjusted around the rotating shaft 10.

That is, when one end of the torque generating unit 30 is coupled to the first rotating body 20-1, the other end of the rotating body 10 is rotated at least once, Lt; / RTI > The rotation force generating unit 30 includes a first line 31 that winds the rotation axis 10 in a first direction and a second line that rotates the rotation axis 10 in a second direction opposite to the first direction 32, that is, two wires winding the rotary shaft 10 in different directions.

The first line 31 and the second line 32 are formed of a wire-shaped shape memory material having a shape memory effect such as a shape memory alloy whose shape changes or recovers in accordance with a temperature change due to current supply. This shape memory alloy (SMA) is an alloy made of a polymer material, which is a characteristic of returning to an original shape when heat is applied through an electric current or a high temperature medium even if an object is deformed by an external force Shape memory materials have also been developed, and the shape memory material of the present invention can also include shape memory materials of various materials.

2, the first line 31 and the second line 32 are made of a material capable of exhibiting an elastic restoring force in a state where the rotation axis 10 is wound. When the current flows in the coiled state, it is deformed linearly in the initial state, and is released in the upward direction. At this time, power is generated in a manner similar to the rotation spring.

Since the first and second lines 31 and 32 are wound in opposite directions to each other, the elastic restoring forces of the first line 31 and the second line 32 are the same when the current is not applied, The one rotating body 20-1 and the second rotating body 20-2 are located on the same plane. When a current is supplied to the first line 31 in this state, the first rotating body 20-1 and the second rotating body 20-2 are rotated with respect to the rotating shaft 10 by the contraction of the first line 31 and the memory effect, When the current is supplied to the second line 32, the angle between the first rotation body 20-1 and the second rotation axis 32 is reduced with respect to the rotation axis 10 by the contraction of the second line 32 and the memory effect, The angle between the two rotors 20-2 decreases in the other direction. When the current flow to the first line 31 and the second line 32 is blocked, the first rotating body 20-1 and the second rotating body 20-2 are positioned on the same plane by the elastic restoring force Return to the state. By this operation, the rotary actuator according to the present invention can be driven in both directions.

The power supply line 40 is connected to the torque generating unit 30 to supply current to the torque generating unit 30. [ That is, the power supply line 40 is connected to the first rotating body 20-1 and the second rotating body 20-2 in order to individually supply current to the first line 31 and the second line 32 And are individually connected to the fixed first line 31 and the second line 32. For this, the power line 40 is also connected to the first and second rotors 20-1 and 20-2 in various manners such as soldering or the like through a substrate mounted separately on the first and second rotators 20-1 and 20-2. 2 line 32, respectively.

In the rotary actuator of the present invention as described above, the rotational force is generated by the shrinkage and expansion of the shape memory alloy wire and the linearly changing memory effect in the initial state, whereby the first rotating body 20-1 and the second rotating body 20-2 can be quickly returned to the initial state due to the memory effect, so that the quick operation can be realized. The return speed can also be adjusted by controlling the wire wound in the opposite direction, Control becomes possible.

FIG. 4 is a perspective view showing the configuration of a snake robot according to the present invention, and FIG. 5 is a perspective view showing an operation of a snake robot according to the present invention, and shows the configuration of a snake robot using the above- For convenience of understanding, power line and connection method are omitted.

As shown in the figure, the snake robot according to the present invention has a structure in which a plurality of rotary actuators are continuously connected, and a single rotary actuator constitutes each joint of the snake robot and is bent in all directions up and down, left and right in reference to one end of the snake robot So that each of the rotary actuators has different axial directions. In this case, all the rotating actuators constituting the snake robot may be arranged in the same axial direction. However, since they exhibit substantially the same operating characteristics as the snake when they are connected, the present invention can move the joints in different directions Which is close to the snake.

In the preferred embodiment of the present invention, N / 2 rotating shafts 10-1 to 10- (N / 2) and N rotating bodies 20-1 to 20-N disposed between the rotating shafts , And a rotating force generating unit (30) and a power supply line (40) are provided in each rotating body to constitute a plurality of rotating actuators with the structure described above.

Although a total of six rotary actuators are shown in the accompanying drawings, the number of rotary actuators can be freely increased or decreased according to the specifications of the snake robot and the rotating body. In addition, in order to realize up, down, left, and right movements close to the operating characteristics of the snake, the rotation axes provided in the respective rotary actuators have different axial directions from the rotation axes provided in the adjacent rotary actuators. In a preferred embodiment, The connecting body 50 is provided to be connected at 90 degrees.

The connecting body 50 has grooves for fixing the rotating body at one end and the other end, respectively, and the rotating body fixed to one end and the other end can be formed at an angle of 90 degrees . Although it is possible to directly connect the two rotary actuators through various methods such as bonding and welding without such a connection body 50, it is also possible to provide a detachable connection body 50 in order to facilitate the maintenance of the rotary rotary actuator .

At this time, since the link mechanism 21 provided in each of the rotors has to be connected to the rotation shafts 10-1 to 10- (N / 2) at one end and the other end of the link mechanism 21, The first insertion hole 22 is formed at one end and the second insertion hole 22 is formed at the other end.

In the rotors (the first rotating body 20-1 and the Nth rotating body 20-N) disposed in the foremost and the last rotors of the N rotating bodies 20-1 to 20-N, A leg or a snake's head or tail structure that is in contact with the ground and acts as a leg can be mounted while separating the one rotation body 20-1 and the N rotation body 20-N from the ground.

When a plurality of rotary actuators are continuously connected in the vertical direction to produce a snake robot in which left and right operating joints and up and down motion joints are implemented and current is controlled for each torque generating unit 30, Can be driven.

The driving directions are different according to the motion characteristics of the joints, and the configuration and operation characteristics of the rotary actuator are the same as those of the above-described rotary actuator, and a detailed description thereof will be omitted.

It is to be understood that the invention is not limited to the disclosed embodiment, but is capable of many modifications and variations within the scope of the appended claims. It is self-evident.

10:
20-1: First Whole 20-2: Second Whole
20-1 to 20-N: First to Nth rotating bodies 21: Link mechanism 22:
30: rotational force generating part 31: first line 32: second line
40: Power line
50: connector

Claims

A rotary shaft (10);
A first rotating body 20-1 and a second rotating body 20-2 coupled to the rotating shaft 10 so as to be rotatable about the rotating shaft 10;
A torque generating unit 30 having both ends thereof coupled to the first rotating body 20-1 and the second rotating body 20-2 in a state where the rotating shaft 10 is wound and formed of a wire-shaped shape memory alloy;
And a power line (40) connected to the torque generating unit (30) and supplying current to the torque generating unit (30)
The rotation force generating unit 30 includes a first line 31 that winds the rotation axis 10 in a first direction and a second line 32 that winds the rotation axis 10 in a second direction opposite to the first direction Wherein the shape memory alloy rotating actuator is made of a metal.

The method according to claim 1,
The first rotating body and the second rotating body include a link mechanism (21) provided at both ends of the insertion hole (22) into which the rotating shaft (10) is inserted,
Wherein an angle between the first rotating body (20-1) and the second rotating body (20-2) is controlled through current control of the rotating force generating unit (30).

N / 2 rotating shafts (10) arranged at regular intervals, each having a different axial direction from the adjacent rotary shafts;
N rotors coupled through the rotating shaft (10) so as to be rotatable about the respective rotating shafts (10);
A torque generating unit (30) having both ends thereof coupled to adjacent rotating bodies in a state where the rotating shaft (10) is wound and formed of a wire - shaped shape memory alloy;
A power line (40) connected to each of the torque generating units (30) and supplying current to the torque generating unit (30);
A connecting body (50) for interconnecting two adjacent rotating bodies not having the rotating shaft (10) therebetween to form a predetermined angle; Lt; / RTI >
The rotation force generating unit 30 includes a first line 31 that winds the rotation axis 10 in a first direction and a second line 32 that winds the rotation axis 10 in a second direction opposite to the first direction Wherein the robot is a snaking robot using a shape memory alloy rotary actuator.

3. The method of claim 2,
Each of the rotating bodies includes a link mechanism (21) having an insertion hole (22) for inserting the rotating shaft (10) at both ends thereof,
Wherein an angle between the first rotating body and the second rotating body is controlled through current control of the rotating force generating unit (30).