CN109834704B - Inchworm-imitating claw-type tail end clamp - Google Patents
Inchworm-imitating claw-type tail end clamp Download PDFInfo
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- CN109834704B CN109834704B CN201910059174.8A CN201910059174A CN109834704B CN 109834704 B CN109834704 B CN 109834704B CN 201910059174 A CN201910059174 A CN 201910059174A CN 109834704 B CN109834704 B CN 109834704B
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Abstract
The invention discloses an inchworm-like hook claw type end clamp which comprises a driving module, an elastic body and a hook claw module. The driving module is composed of an SMA spring and provides driving force for the whole clamp holder; the elastic body provides deformability and certain self-restoring capability for the clamp holder; the hook claw module consists of two micro claw units, each micro claw unit comprises a torsion spring hook, a copper tube and a round PCB sheet, two ends of the elastic body are symmetrically distributed, each micro claw unit is provided with 3 independent torsion spring hooks, the claw tips leak outwards, and the claw roots are fixedly connected to the copper tube in a split mode. The driving module and the claw module jointly form an inner framework of the whole clamp holder. The bionic soft gripper is compact in structure and light in dead weight, and the elastic base body can be clamped by adapting to variable geometric shapes of objects; and can provide the clamping force of self 20 times, snatch the stable performance, external force resistance is stronger. If the robot is installed at the tail end of the microminiature software module, the robot can realize climbing, grabbing and other operations in a complex environment.
Description
Technical Field
The invention relates to the technical field of intelligent bionic robots, in particular to a soft bionic claw driven by a shape memory alloy spring, which can be arranged at the tail end of a micro-robot and can assist the micro-robot to climb or grab in a complex environment with rough surface (such as a rock wall surface and a tree surface).
Background
At present, the conventional adsorption modes include magnetic adsorption, negative pressure adsorption, adhesion, molecular adsorption and the like. The bionic climbing robot is applied to a bionic climbing robot, and can work on smooth wall surfaces and in a simple geometric environment. For some rough wall surfaces and dusty tree surfaces, the adsorption modes have poor effects, and the tail end devices adopting the adsorption modes have complex structures and large volumes, so that the flexibility of the robot is reduced.
Although jaw type grippers based on shape memory alloy driving exist at present, the gripper type grippers have small output clamping force, or complex structure, or large manufacturing difficulty and high cost, and are difficult to construct a flexible and light micro-robot, so that the gripper type gripper is suitable for more complex climbing environments and grabbing applications. Therefore, there is a need to develop a claw gripper with excellent compact structure and performance for assisting the climbing and grabbing work of the micro-robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the inchworm-imitating hook type soft gripper which is light and compact in structure, simple to control and strong in gripping adaptability and reliability, and aims to assist the realization of application of a bionic soft climbing robot.
The aim of the invention is achieved by the following technical scheme:
the inchworm-imitating claw-type end clamp mainly comprises a clamping module for clamping an object, a driving module for driving the clamping module to work and an elastic body module for driving the clamping module to reset. The clamping modules are arranged in two groups and symmetrically arranged on two sides of the driving module. The driving module is positioned between the clamping modules, and two ends of the driving module are fixedly connected with the clamping modules respectively to jointly form an inner framework of the clamp holder and drive the clamping modules to move in opposite directions. The two ends of the elastic body module are fixedly connected with the clamping modules respectively, and the clamping modules are driven to move oppositely.
Specifically, the driving module comprises a shape memory alloy spring for generating driving force, a connecting block for installing the clamping module, and a PCB board for connecting an external power supply device. The PCB is in a circular shape, sleeved in the connecting block and fixed at the middle position. And two ends of the shape memory alloy spring are fixedly connected with the PCB boards at two sides respectively and are in electrical communication. And an electrical interface is also arranged on the PCB. The electrical interface is in electrical communication with an external power supply device via a wire.
Specifically, the clamping module includes at least one torsion spring hook. One end of the torsion spring hook is coiled on the connecting block and fixedly connected with the connecting block, and the other end of the torsion spring hook extends outwards to form a hook shape.
Specifically, the elastic body module comprises a spring sheet for expanding the clamping modules at two sides. And two ends of the spring sheet are fixedly connected with the connecting blocks at two sides respectively.
Specifically, the elastic body module further includes an elastic portion. The elastic part is made of silicon rubber or silica gel, and the internal framework and the spring sheet are fully or partially wrapped in a casting mode.
As a preferable scheme of the invention, in order to enhance the clamping effect of the clamp holder on the object, three torsion spring hooks are arranged and respectively distributed at two sides of the PCB in parallel and at intervals. The spacing between the torsion spring hooks is set to 8 mm.
As a preferable scheme of the invention, in order to facilitate the installation and fixation of the PCB and the torsion spring hooks, the connecting block adopts a circular tube structure.
As a preferred embodiment of the invention, the connecting block is made of a strong, durable and corrosion-resistant red copper material.
As a preferable scheme of the invention, in order to further improve the grabbing effect of the clamper, the number of the shape memory alloy springs is one or a plurality of shape memory alloy springs.
As a preferable scheme of the invention, in order to enhance the connection firmness between the components and improve the connection reliability, the driving module and the clamping module, the torsion spring hook and the connecting block and the PCB and the connecting block are all fixed by welding.
As a preferable scheme of the invention, the shape memory alloy coil is made of nickel-titanium alloy material. The torsion spring hook is made of nickel-plated spring steel. The PCB is made of FR-4 material.
The inchworm-imitating claw type soft gripper provided by the patent is used for driving the claw tip to grip a rough object through the SMA spring to attach, and the action principle is similar to that of crawling insects driving the claw itself through muscles to attach in a complex environment. Shape Memory Alloy (SMA) is an intelligent material with small volume, large acting force and simple control, and is especially suitable for driving soft robots.
The working process and principle of the invention are as follows: the invention adopts the double-pass shape memory alloy spring driver to drive the claws at two sides to open and close, thereby grabbing and releasing the grabbed object. Meanwhile, each adjacent claw can twist independently, and after one claw is mechanically attached to a micro-convex peak or a micro-concave valley on the surface of an object, other claws which are not contacted with the wall surface can still keep moving in the current state, so that a surface attachment point is found. Through the alternating action of the contraction and the recovery of the SMA, the inchworm-like climbing claw holder in the technical scheme of the invention can grasp different target objects and enable the soft climbing robot to be stably attached to various surfaces. The invention also has the advantages of simple structure, convenient operation and easy implementation.
Compared with the prior art, the invention has the following advantages:
(1) The inchworm-like hook claw type end clamp provided by the invention has the characteristics of compact structure and simple and convenient driving. The SMA spring is used as drive, the elastic matrix is used as support and reset, and compared with the structure and drive of the traditional rigid body clamp holder, the structure and drive of the traditional rigid body clamp holder are greatly simplified.
(2) The inchworm-imitating claw-type end clamp provided by the invention has the advantage of simple control: in the inchworm-imitating claw-type soft clamp, the SMA driving spring positioned in the middle can finish the closing of the clamp only by introducing proper current; when the power is off, the memory is opened and the initial memory length is restored.
(3) The inchworm-imitating claw-type end gripper provided by the invention has the advantage of reliable gripping: after the SMA coil overcomes the resistance of the elastic body, the generated driving force can reach 3.5N, which is 20 times of the self weight of the whole clamp holder (the self weight is 16.6 g), so that the robot can be supported to be attached to the surface of a rough tree in different postures, corresponding operation tasks are completed, and the reliability of the working process is ensured.
(4) The inchworm-imitating claw-type end clamp provided by the invention also has the advantage of strong adaptability: according to the technical scheme, the claw type clamp holder is matched with the driving module, the elastic body and the claw module to move, so that the claw type clamp holder can be suitable for climbing and other actions in rough environments such as trees, rocks and the like, and has high applicability.
Drawings
FIG. 1 is a perspective view of an inchworm-like hook-type end holder provided by the present invention.
FIG. 2 is a schematic view of the internal structure of the inchworm-like claw-type end holder according to the present invention.
FIG. 3 is an exploded view of the inchworm-like claw-type end holder of the present invention.
The reference numerals in the above figures illustrate:
the device comprises a 1-shape memory alloy spring, a 2-connecting block, a 3-torsion spring hook, a 4-spring sheet, a 5-elastic part and a 6-PCB.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described below with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1, 2 and 3, the present embodiment discloses an inchworm-like hook-type end gripper, which mainly includes a gripping module for gripping an object, a driving module for driving the gripping module to work, and an elastic body module for driving the gripping module to reset. The clamping modules are arranged in two groups and symmetrically arranged on two sides of the driving module. The driving module is positioned between the clamping modules, and two ends of the driving module are fixedly connected with the clamping modules respectively to jointly form an inner framework of the clamp holder and drive the clamping modules to move in opposite directions. The two ends of the elastic body module are fixedly connected with the clamping modules respectively, and the clamping modules are driven to move oppositely.
Specifically, the driving module includes a shape memory alloy spring 1 for generating driving force, a connection block 2 for mounting a clamping module, and a PCB board 6 for connecting an external power supply device. The PCB 6 is in a ring shape, is sleeved in the connecting block 2 and is fixed at the middle position. The two ends of the shape memory alloy spring 1 are respectively fixedly connected with the PCB 6 at the two sides and are in electrical communication. An electrical interface is also arranged on the PCB 6. The electrical interface is in electrical communication with an external power supply device via a wire.
In particular, the clamping module comprises at least one torsion spring hook 3. One end of the torsion spring hook 3 is coiled on the connecting block 2 and fixedly connected with the connecting block 2, and the other end extends outwards to form a hook shape.
Specifically, the elastic body module comprises a spring sheet 4 for stretching the clamping modules at two sides. The two ends of the spring sheet 4 are fixedly connected with the connecting blocks 2 on the two sides respectively.
In particular, the elastic body module further comprises an elastic portion 5. The elastic part 5 is made of silicon rubber or silica gel, and the internal framework and the spring sheet 4 are fully or partially wrapped in a casting mode.
As a preferable scheme of the invention, in order to enhance the clamping effect of the clamp on the object, the number of the torsion spring hooks 3 is three, and the torsion spring hooks are respectively arranged at two sides of the PCB 6 in parallel and at intervals. The spacing between the torsion spring hooks 3 is set to 8 mm.
As a preferable scheme of the invention, in order to facilitate the installation and fixation of the PCB 6 and the torsion spring hook 3, the connecting block 2 adopts a circular tube structure.
As a preferred embodiment of the present invention, the connection block 2 is made of a strong, durable and corrosion-resistant red copper material.
As a preferable scheme of the invention, in order to further improve the grabbing effect of the clamper, the number of the shape memory alloy springs 1 is one or a plurality of shape memory alloy springs.
As a preferable scheme of the invention, in order to enhance the connection firmness between the components and improve the connection reliability, the driving module and the clamping module, the torsion spring hook 3 and the connecting block 2 and the PCB 6 and the connecting block 2 are all fixed by welding.
As a preferable scheme of the invention, the shape memory alloy coil is made of nickel-titanium alloy material. The torsion spring hook 3 is made of nickel-plated spring steel. The PCB 6 is made of FR-4 material.
The inchworm-imitating claw type soft gripper provided by the patent is used for driving the claw tip to grip a rough object through the SMA spring to attach, and the action principle is similar to that of crawling insects driving the claw itself through muscles to attach in a complex environment. Shape Memory Alloy (SMA) is an intelligent material with small volume, large acting force and simple control, and is especially suitable for driving soft robots.
The working process and principle of the invention are as follows: according to the invention, the double-pass shape memory alloy spring 1 driver is adopted to drive the claws at two sides to open and close, so that a gripped object is gripped and released. Meanwhile, each adjacent claw can twist independently, and after one claw is mechanically attached to a micro-convex peak or a micro-concave valley on the surface of an object, other claws which are not contacted with the wall surface can still keep moving in the current state, so that a surface attachment point is found. Through the alternating action of the contraction and the recovery of the SMA, the inchworm-like climbing claw holder in the technical scheme of the invention can grasp different target objects and enable the soft climbing robot to be stably attached to various surfaces. The invention also has the advantages of simple structure, convenient operation and easy implementation.
Example 2:
the embodiment discloses an inchworm-imitating claw type end clamp.
Referring to fig. 1 to 3, in the embodiment of the present invention, the inchworm-like hook-type end gripper driving includes an SMA driving module 1 disposed in the middle, a copper tube 2, a torsion spring hook 3 and a PCB fixing plate 6 in the hook module, and a spring sheet 4 and a silicone rubber 5 (Ecoflex, M4601) in the elastic body. 1 is composed of a single (or a plurality of) SMA (shape memory alloy) springs, and provides driving force for the whole clamp holder; 4 is formed by bending a spring sheet, 5 is formed by setting Ecoflex (silicon rubber) according to a specific proportion, and the Ecoflex and the silicon rubber are formed by condensation, so that the two materials provide deformability and certain self-restoring capability for the clamp holder; the hook claw module consists of two micro claw units, wherein each micro claw unit comprises a copper tube 2, torsion spring hooks 3 and a round PCB sheet 6, two ends of the elastic body are symmetrically distributed, and each micro claw unit is provided with three independent torsion spring hooks.
In the embodiment of the invention, two ends of the SMA driving module 1 respectively penetrate through side holes of the PCB circular thin plate 6 and are welded with the PCB thin plate; the circular PCB sheet 5 is arranged in the middle of the copper tube 2 by using a round hole in the middle and welded on the copper tube 2. The welding mode is more reliable and stable than the winding fixing mode, and poor line contact caused by falling is not easy to occur.
In the embodiment of the invention, the torsion spring hooks 3 penetrate into the copper pipe at equal intervals, the distance between each hook is 8mm, and the total of six hooks are connected in a welding mode. Meanwhile, one end of an enameled wire for supplying power to the SMA driving module 5 is welded at two ends of the SMA, and the other end is free of a waiting and power connection device. In this way, the core drive skeleton of the gripper is formed.
In the embodiment of the invention, the spring sheet 4 and the silicone rubber Ecoflex5 wrap the driving framework and are connected with the driving framework in a casting mode, and stand for solidification.
In the embodiment of the invention, the shape memory alloy SMA has the characteristics of heating shrinkage and cooling recovery, so that the shape memory alloy coil 1 is electrified, the interior of the shape memory alloy coil 1 is heated to shrink, the clamp is driven to move along the axial direction of the SMA coil 1, the clamp is closed, and a target object is grasped; after power failure, the clamp opens due to the self-restoring property of the SMA coil 1, combined with the spring sheet 4 and the silicone rubber 5, releasing the target object and returning to the original state.
In the embodiment of the invention, the torsion spring hook can flexibly deform after contacting an object by utilizing the torsion characteristic of the torsion spring hook. Each hook can independently move, so that the whole gripper has stronger adaptability in the process of grabbing objects.
Compared with the prior art, the inchworm-imitating claw type end clamp provided by the embodiment of the invention can realize small and flexible attachment of the inchworm forefoot through the flexible design of the torsion spring hook 3 and the simple driving device of the SMA coil 1.
Referring to fig. 3, in this example, the shape memory alloy coil 1 is made of nickel-titanium alloy, the copper tube 2 is made of copper, the torsion spring hook 3 is made of nickel-plated spring steel, the elastic bodies 4 and 5 are made of spring steel and silicon rubber respectively, and the circular thin plate 6 of the PCB is made of FR-4, which is an inorganic nonmetallic material with excellent performance, good insulation and high mechanical strength.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the sticks in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. The inchworm-imitating claw-type end clamp is characterized by comprising a clamping module for clamping an object, a driving module for driving the clamping module to work and an elastic body module for driving the clamping module to reset; the clamping modules are arranged in two groups and are symmetrically arranged at two sides of the driving module; the driving module is positioned between the clamping modules, and two ends of the driving module are respectively and fixedly connected with the clamping modules to jointly form an internal framework of the clamp holder and drive the clamping modules to move in opposite directions; the two ends of the elastic body module are respectively and fixedly connected with the clamping module to drive the clamping module to move oppositely;
the driving module comprises a shape memory alloy spring for generating driving force, a connecting block for installing the clamping module and a PCB for connecting an external power supply device; the PCB is in a circular shape, sleeved in the connecting block and fixed at the middle position; two ends of the shape memory alloy spring are fixedly connected with the PCB boards at two sides respectively and are kept in electrical communication; an electrical interface is also arranged on the PCB; the electrical interface is in electrical communication with an external power supply device through a wire:
the clamping module comprises at least one torsion spring hook; one end of the torsion spring hook is coiled on the connecting block and fixedly connected with the connecting block, and the other end of the torsion spring hook extends outwards to form a hook shape;
the elastic body module comprises a spring sheet for expanding the clamping modules at two sides; two ends of the spring sheet are fixedly connected with the connecting blocks at two sides respectively;
the three torsion spring hooks are respectively arranged at two sides of the PCB in parallel and at intervals; the space between the torsion spring hooks is set to be 8 mm;
and the driving module, the clamping module, the torsion spring hook and the connecting block and the PCB and the connecting block are all fixed through welding.
2. The inchworm-like hook end gripper of claim 1, wherein said elastomeric body module further comprises an elastic portion; the elastic part is made of silicon rubber or silica gel, and the internal framework and the spring sheet are fully or partially wrapped in a casting mode.
3. The inchworm-like hook-type end holder of claim 1, wherein the connecting block is of round tube construction.
4. The inchworm-like hook-type end holder of claim 1, wherein the connection block is made of red copper material.
5. The inchworm-like hook-type end holder of claim 1, wherein the number of shape memory alloy springs is one or several.
6. The inchworm-like hook-type end holder of claim 1, wherein the shape memory alloy spring is made of nickel-titanium alloy material; the torsion spring hook is made of nickel-plated spring steel; the PCB is made of FR-4 material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910059174.8A CN109834704B (en) | 2019-01-22 | 2019-01-22 | Inchworm-imitating claw-type tail end clamp |
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| CN201910059174.8A CN109834704B (en) | 2019-01-22 | 2019-01-22 | Inchworm-imitating claw-type tail end clamp |
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| CN109834704A CN109834704A (en) | 2019-06-04 |
| CN109834704B true CN109834704B (en) | 2023-10-03 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216666A (en) * | 2019-06-19 | 2019-09-10 | 广东工业大学 | A kind of imitative looper elastic hook claw clamper of SMA driving |
| CN110216665A (en) * | 2019-06-19 | 2019-09-10 | 广东工业大学 | A kind of imitative looper modularization soft robot of SMA driving |
| CN110587650A (en) * | 2019-08-16 | 2019-12-20 | 内蒙古工业大学 | SMA snatchs subassembly based on it is pneumatic |
| WO2021253211A1 (en) * | 2020-06-16 | 2021-12-23 | 广东工业大学 | Inchworm-simulating hook-claw-type soft gripper |
| CN112158271A (en) * | 2020-09-08 | 2021-01-01 | 丹阳市文宁智能科技有限公司 | Soft crawling robot driven by super-spiral polymer actuator |
| CN114102555B (en) * | 2021-11-30 | 2024-06-11 | 中国运载火箭技术研究院 | Bionic micro-robot based on stress deformation of composite film |
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| CN101973321A (en) * | 2010-09-21 | 2011-02-16 | 东南大学 | Claw grab-type wall-climbing robot |
| CN102079340A (en) * | 2011-01-28 | 2011-06-01 | 东南大学 | Cable-stayed bridge concrete cable tower surface detecting robot based on grabbing claws |
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