CN1274471C - Shape memory alloy differential spring driven manipulator - Google Patents
Shape memory alloy differential spring driven manipulator Download PDFInfo
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- CN1274471C CN1274471C CN 200410000722 CN200410000722A CN1274471C CN 1274471 C CN1274471 C CN 1274471C CN 200410000722 CN200410000722 CN 200410000722 CN 200410000722 A CN200410000722 A CN 200410000722A CN 1274471 C CN1274471 C CN 1274471C
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- sma
- slide block
- spring
- hinged
- differential spring
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Abstract
The present invention relates to a manipulator driven by a shape memory alloy differential spring, which belongs to the technical field of robots in the mechanical engineering class. The present invention is characterized in that the manipulator comprises an SMA differential spring driver and a six-rod mechanism composed of mechanical fingers, a connecting rod, a pull rod, a slide block and a machine frame, wherein the SMA differential spring driver comprises two SMA springs. One end of one SMA spring and one end of the other SMA spring are respectively fixed on a top plate and a base seat of the machine frame; the other end of one SMA spring and the other end of the other SMA spring are jointly connected to the slide block and are mutually insulated to form the SMA differential spring driver. In the six-rod mechanism, the slide block is hinged with one end of the pull rod; the other end of the pull rod is respectively hinged with one finger and one end of the connecting rod to form a compound hinge. The other end of the connecting rod is hinged with the other finger; both fingers are hinged with the top plate of the machine frame. The present invention realizes the movements of the manipulator, such as grasp, release, etc., and has the advantages of simple construction and structure, light self weight, small dimension, low manufacturing cost, etc.
Description
Technical field
Marmem differential spring driven mechanical hand belongs to the Robotics field of mechanical engineering.
Background technology
Manipulator is the operating part in the robot, and the application of robot is played an important role.Manipulator is installed in the end of mechanical arm, is commonly referred to as end effector, is the mechanical part of operation tasks such as robot holding tool, workpiece or article.According to the difference of use occasion, end effector can be changed according to need of work.Micromanipulator both domestic and external generally adopts the microminiature servomotor through the transmission system rear drive, exist obviously not enough from simulation staff view of function, as: traditional servomotor power-weight ratio is low, need there be deceleration device to underspeed behind the motor high-speed cruising, causes its structure and transmission system complexity; Structure and driving are rigidity, lack compliance.
For solving above-mentioned deficiency, people utilize functional material to constitute New-type electric machine, and wherein marmem (being called for short SMA) material has very high power-weight ratio and bigger actuation force, can be used to constitute direct drive unit.The Central China University of Science and Technology adopts and embed the SMA silk in mechanical finger, developed the flexible manipulator that SMA drives (Yang Kai, guilt is held woods, Yan Xinrong. based on the flexible manipulator development of embedded SMA motor.Proceedings of the CSEE, 2002,22 (12): 74-79).German scholar adopts the SMA thin slice, and (Kohl M, Just E, Pfleging W, Miyazaki S. have the little paw of SMA of bi-directional drive to have developed a kind of micromechanics paw.Sensor and driver, 2000,83:208-213), this paw is the little paw that is formed by a slice SMA wafer processes.The manipulator of above-mentioned employing sma actuator belongs to micromanipulator, be suitable for trickle operation, its actuating range is very little, and the opening and closing distance of two finger tips is in micron or millimeter level, it is less to grasp the dimension of object excursion, and its version is not suitable for the bigger micromanipulator of yardstick; In addition, in device, do not consider cooling provision yet.From the data to domestic and international retrieval, the SMA spring is more in the data of mechanical arm and micromanipulator as driver applications, but utilizes sma actuator as the research of small-sized machine hand driving device seldom.
Summary of the invention
The object of the present invention is to provide a kind of manipulator that adopts marmem differential spring driver, this device utilizes marmem to vary with temperature to have distortion and recovers the characteristics of anamorphic effect, by designed SMA differential spring driver, realize the opening and closing action of manipulator.Utilize marmen to have the characteristics of compliance, be easy to realize extracting the workpiece or the article of difformity and size.
The invention is characterized in that it contains SMA differential spring driver, the six-bar mechanism of forming by mechanical finger, connecting rod, pull bar, slide block, frame; Described SMA differential spring driver contains two SMA springs, the central axes of described two SMA springs, two SMA springs end separately is separately fixed at the top board and the base of described frame, two SMA springs other end separately is separately fixed on the slide block, and mutually insulated, constitute SMA differential spring driver; In the described six-bar mechanism, an end of slide block and described pull bar is hinged, and the other end of pull bar is hinged with an end of a mechanical finger and described connecting rod respectively, forms compound hinges, and the other end of described connecting rod and another mechanical finger are hinged; Described two mechanical fingers are all hinged with the top board of described frame; When described slide block moves up and down, will drive two mechanical finger opening and closing by described pull bar, connecting rod successively.
Also be fixed with a guide rod on described frame, this guide rod passes the axle center of described slide block, constitutes moving sets with described slide block, and slide block can move along guide rod; One end of described guide rod is fixed on base or the top board, or the two ends of described guide rod are separately fixed on base and the top board.
On the top board of described frame and base, a fan is housed respectively, is used to two SMA springs coolings of described SMA differential spring driver.
Between two side plates of described frame a dividing plate is housed, this dividing plate is between described two fans, and the wind that prevents one of them fan has a hole that supplies SMA spring and slide block to pass through to another SMA spring on this dividing plate.
Prove that by experiment the manipulator of employing marmem differential spring driver proposed by the invention can be realized opening and closed action, has reached its intended purposes under the driving of marmem differential spring driver.
Description of drawings
Fig. 1 is a front view of the present invention;
Fig. 2 is that the A of Fig. 1 is to cutaway view.
The specific embodiment
Accompanying drawings the specific embodiment of the present invention.
See Fig. 1, its mid frame is made of base 1, side plate 2, top board 5.Offer louvre and air channel on the side plate 2.This manipulator is connected with outside (as mechanical arm) by base 1.Thumb 6 and forefinger 7 are hinged with top board 5, and thumb 6 and forefinger 7 are also hinged with connecting rod 8 respectively, and thumb 6, forefinger 7, connecting rod 8, pull bar 9, slide block 11 and frame constitute six-bar mechanism.Thumb 6, connecting rod 8 and pull bar 9 are hinged.On top board 5 perforate is arranged, pull bar 9 passes perforate and slide block 11 is hinged.Guide rod 14 is by the axle center of slide block 11, motion to slide block 11 play the guiding role, and guide rod 14 passes the position of slide block and sees Fig. 2, and wherein guide rod only fix by an end and top board or base, also can be separately fixed on top board and the base at two ends, present embodiment adopts an end to be fixed on mode on the base.Slide block 11 upper and lower surfaces are stained with insulating trip, and (insulating trip is very thin, do not mark among the figure), adopt fixture (as screw bolt and nut), by pressing plate 15d and 15b SMA spring 10 and 12 is fixed on the slide block 11 respectively, the spring 10 and 12 the other end are fixed on the surface by pressing plate 15c and 15a respectively and are stained with on the top board and base of insulating trip.The central axes of SMA spring 10 and spring 12. SMA spring 10 and 12, slide block 11 constitute SMA differential spring driver.Two fans 4 and 13 are separately fixed on the top board 5 and base 1 of frame.
As shown in Figure 2, the two piece fingers (when helping grasp object hold) of forefinger 7 for fusing in the bottom rigidity, forefinger 7 is hinged by bearing pin 16a and connecting rod 8, and is hinged by bearing pin 16b and top board; Thumb 6, connecting rod 8 and pull bar 9 are hinged by bearing pin 16c, constitute compound hinges; The other end of pull bar 9 is hinged by bearing pin 16d and slide block 11.
Operation principle of the present invention is as follows: by the dilatation of current switching control SMA spring drive, driving slide block 11 moves along guide rod 14, slide block 11 drives thumb 6 and connecting rod 8 motions by pull bar 9, and connecting rod 8 drives forefinger 7 motions, realizes the opening and closing action of thumb 6 and forefinger 7.Manipulator is controlled, be actually the control to SMA differential spring driver, the course of action of SMA differential spring driver is to the control of the cold cycling process of SMA spring in certain temperature range.Control to SMA differential spring driver is: during one of them SMA spring energising heating, another spring is in the outage state of cooling.Detailed process is, when giving the perfectly straight stream electric current of SMA spring 10, fan 4 cuts out, and has electric current to flow through in the SMA spring 10, and its temperature raises, and SMA spring 10 shrank and shortened this moment; SMA spring 12 is in off-position simultaneously, and fan 13 starts operation, for spring 12 coolings, makes its elongation; Move up thereby drive slide block 11 and pull bar 9, thumb 6 and forefinger 7 open.Otherwise if spring 10 outages, fan 4 is opened, and is that spring 10 is lowered the temperature, spring 12 energisings, and fan 13 cuts out, and then spring 12 shortens, spring 10 elongations, slide block 11 moves down, and drives thumb 6 and the closed grasping movement of forefinger 7 realizations by pull bar 9 and connecting rod 8.
The present invention has overcome that conventional robot driver volume is big, weight is big, the shortcoming of compliance difference.Its advantage is: adopt the SMA spring drive directly to drive, do not need complicated deceleration or transmission device, simple in structure, in light weight, power output is big; Because the soft drive of SMA spring drive, its mechanism action has good compliance, approaches the action of staff, and this is the corresponding power of being of controlled quentity controlled variable (electric current) (shape restoring force) because of the SMA spring drive, and its effect approaches the human muscle; The action of SMA spring drive is not subjected to the ambient influnence beyond the temperature, can use under vacuum condition in the same old way yet, and not resemble and need sealing engine or oil cylinder, the cylinder; The control of SMA can be reduced to the control to heating current, and control mode is simple, is easy to miniaturization.The present invention can realize the actions such as holding, put of manipulator effectively, can be made into all kinds and serial manipulator, and have advantages such as configuration and simple in structure, little, low cost of manufacture from heavy and light, size, can be applicable to artificial doing evil through another person and the industry mechanical arm of little load.
Claims (4)
1, marmem differential spring driven mechanical hand is characterized in that, it contains SMA differential spring driver, the six-bar mechanism of being made up of mechanical finger, connecting rod, pull bar, slide block, frame; Described SMA differential spring driver contains two SMA springs, the central axes of described two SMA springs, two SMA springs end separately is separately fixed at the top board and the base of described frame, two SMA springs other end separately is separately fixed on the slide block, and mutually insulated, constitute SMA differential spring driver; In the described six-bar mechanism, an end of slide block and described pull bar is hinged, and the other end of pull bar is hinged with an end of a mechanical finger and described connecting rod respectively, forms compound hinges, and the other end of described connecting rod and another mechanical finger are hinged; Described two mechanical fingers are all hinged with the top board of described frame; When described slide block moves up and down, will drive two mechanical finger opening and closing by described pull bar, connecting rod successively.
2, marmem differential spring driven mechanical hand as claimed in claim 1 is characterized in that, also is fixed with a guide rod on described frame, and this guide rod passes the axle center of described slide block, constitutes moving sets with described slide block, and slide block can move along guide rod; One end of described guide rod is fixed on base or the top board, or the two ends of described guide rod are separately fixed on base and the top board.
3, marmem differential spring driven mechanical hand as claimed in claim 1 is characterized in that, on the top board of described frame and base a fan is housed respectively, is used to two SMA springs coolings of described SMA differential spring driver.
4, marmem differential spring driven mechanical hand as claimed in claim 3, it is characterized in that, between two side plates of described frame, a dividing plate is housed, this dividing plate is between described two fans, the wind that prevents one of them fan has a hole that supplies SMA spring and slide block to pass through to another SMA spring on this dividing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410000722 CN1274471C (en) | 2004-01-16 | 2004-01-16 | Shape memory alloy differential spring driven manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410000722 CN1274471C (en) | 2004-01-16 | 2004-01-16 | Shape memory alloy differential spring driven manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1557610A CN1557610A (en) | 2004-12-29 |
| CN1274471C true CN1274471C (en) | 2006-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410000722 Expired - Fee Related CN1274471C (en) | 2004-01-16 | 2004-01-16 | Shape memory alloy differential spring driven manipulator |
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| CN (1) | CN1274471C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102748260B (en) * | 2011-04-21 | 2014-09-24 | 中国科学院沈阳自动化研究所 | Shape memory alloy driving device for rotary joint and design method for shape memory alloy driving device |
| CN107398911A (en) * | 2016-05-18 | 2017-11-28 | 河北农业大学 | It is a kind of that the manipulator for carrying out grasping force control is controlled with position |
| CN111085864A (en) * | 2019-12-26 | 2020-05-01 | 嘉兴华泰电子有限公司 | Stereo set screen panel processingequipment that punches and polish |
| CN114593639B (en) * | 2022-02-09 | 2023-03-28 | 南京航空航天大学 | Unmanned aerial vehicle capturing manipulator, system thereof and working method |
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2004
- 2004-01-16 CN CN 200410000722 patent/CN1274471C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1557610A (en) | 2004-12-29 |
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Granted publication date: 20060913 Termination date: 20100219 |