Shape-memory-driven software driver, its control method, and manufacturing method
A software driver and control method technology, applied in the direction of program control manipulators, manufacturing tools, machines/engines, etc., can solve the problems of large occupied space and complex driving devices, and achieve the effect of small occupied space and light structure
Active Publication Date: 2021-08-24
NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI
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Problems solved by technology
[0003] The invention provides a shape-memory-driven soft driver and its control method and manufacturing method to solve the technical problems of the existing air-driven and rope-driven soft robotic arms with complicated driving devices and large space occupation
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[0027] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in various ways defined and covered below.
[0028] figure 1 It is a schematic structural diagram of a shape-memory-driven software driver in a preferred embodiment of the present invention; figure 2 It is a schematic structural diagram of the shape memory driven software driver after removing the software module in the preferred embodiment of the present invention; image 3 It is a structural schematic diagram of the single spring driving mode of the preferred embodiment of the present invention; Figure 4 It is a structural schematic diagram of the double spring driving mode of the preferred embodiment of the present invention; Figure 5 It is a structural schematic diagram of the three-spring driving mode of the preferred embodiment of the present invention; Figure 6 It is a structural schematic diag...
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Abstract
The invention discloses a shape memory alloy embedded soft driver and its control method and manufacturing method. The software module, the shape memory alloy spring arranged in the software module along the axial direction, and the heating adjustment module for heating the shape memory alloy spring, a plurality of shape memory alloy springs are arranged equidistantly in the software module along the circumferential direction, and the heating adjustment module The module heats and / or stops heating the shape memory alloy spring at different parts, and the shape memory driven software driver generates the drive when the temperature of the shape memory alloy spring rises above the phase transition temperature and / or cools below the phase transition temperature Under the action of force and the elastic recovery force of the software module, it moves in different directions.
Description
technical field [0001] The present invention relates to the field of soft manipulators, in particular to a shape-memory-driven soft driver, and also to a control method and a manufacturing method for the above-mentioned shape-memory-driven soft driver. Background technique [0002] Soft manipulators are a type of flexible manipulators. At present, the driving methods of soft manipulators can be divided into air drive, rope drive and so on. The air drive method adopts the method of changing the internal pressure of the multi-cavity structure to realize the space movement of the flexible manipulator. It has the advantages of fast response speed, continuous movement and easy control, but it requires additional air source devices, and the overall miniaturization is difficult. The rope drive method adopts the motor to drive the rope to move, which can provide a large driving force, but the structure of the retracting and releasing device is complicated, the mass of the motor is ...
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IPC IPC(8): F03G7/06B29C45/14B25J9/10
CPCB25J9/10B29C45/14B29C45/14008F03G7/065
Inventor 张翔刘红卫黄奕勇陈小前庹洲惠熊丹
Owner NAT INNOVATION INST OF DEFENSE TECH PLA ACAD OF MILITARY SCI