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Driving joint for cross axle type robot based on shape memory alloy

A technology of memory alloy and cross shaft, which is applied in the field of machinery, can solve the problems of less freedom and low tensile strength, and achieve the effects of reducing errors, improving comprehensive performance, simplifying structure and control links

Inactive Publication Date: 2009-06-10
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of less freedom and low tensile strength in the prior art, the present invention provides a cross-axis robot-driven joint based on a shape memory alloy, which can simplify the structure and control links, reduce errors, and improve the joint degree of freedom and stiffness

Method used

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  • Driving joint for cross axle type robot based on shape memory alloy
  • Driving joint for cross axle type robot based on shape memory alloy
  • Driving joint for cross axle type robot based on shape memory alloy

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Embodiment Construction

[0021] Device embodiment: refer to figure 2 , taking a quadruped robot as an example, adopt the present invention to design the hip joint. The design requirements of the quadruped robot for the hip joint are shown in Table 1.

[0022] Table 1 Drive joint design requirements

[0023] Single degree of freedom angular displacement / . Output torque / Nm Load capacity / kg Robot weight / kg Structure sizeL / mm -60～60 30～60 25～40 25～30 L≤150

[0024] The structural main body of the present invention is a Hooke hinge mechanism, which is composed of a fixed hinge frame 1, a cross shaft 6, and a movable hinge frame 7. The four pulleys 5 are respectively fixed on the four shoulders of the cross shaft 6, and the four shafts of the cross shaft 6 The shoulders are respectively socketed on the round holes of the side walls of the fixed hinge frame 1 and the movable hinge frame 7, and rolling bearings are installed at the joints between the shoulders and the round ho...

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Abstract

The present invention relates to a cross-type robot driving articulation based on the shape memory alloy, which has a main structure of a Hooke joint mechanism comprising a fixed hinge mount 1, a cross 6, and a movable hinge mount 7. Four pulleys 5 are respectively fixed on the four shaft shoulders of the cross 6. The four shaft shoulders of the cross 6 are respectively arranged into the circular aperture of the side wall of the fixed hinge mount 1 and the movable hinge mount 7. Four ropes wind on the four pulleys 5 respectively, and each of the two ends of each rope are connected with a SMA spring 3, the other end of the SMA spring is connected to the hinge mount which is positioned at the same side as the spring. The present invention simplifies the structure and the control unit, reduces the error, improves the degree of freedom and the rigidity of the articulation, and improves the combined property of the robot.

Description

technical field [0001] The invention relates to the field of mechanical technology. Background technique [0002] Shape memory alloy (SMA) drivers have the characteristics of large power / mass ratio, simple structure, no noise, no pollution, and easy control, and have been applied in many occasions; with the development of science and technology, in recent years, SMA-based robots Driven joints also followed. [0003] After searching the literature of the prior art, it was found that "Bionic rotary joint driven by shape memory alloy wire" published by Li Mingdong et al. In the article "Arm", an SMA wire-driven miniature articulated arm is proposed. The articulated arm has two degrees of freedom, and each degree of freedom is differentially driven by two SMA wires. The articulated arm has been applied to a cockroach-like hexapod microrobot. Its shortcomings are: due to the limitation of the restoring force of a single SMA wire, the output torque of the joint is very small; d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 应申舜秦现生
Owner NORTHWESTERN POLYTECHNICAL UNIV
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