Swallowable robotic arm

Abstract

The application discloses a swallowing type mechanical arm and belongs to the field of flexible mechanical arms, comprising a plurality of small sections (100) with the same structure and a terminal fixed plate (200); the small section (100) comprises an outer skeleton (110) and an inner swallowing mechanism (120); the outer skeleton (110) comprises a fixed joint (111), an outer spiral shape memory alloy wire (112) and a circumferential shape memory alloy wire (113); the inner swallowing mechanism (120) comprises a film (121), an inner fixed plate (122), a swallowing shape memory alloy wire (123) and a rigid linkage device (124); the application has the technical effect that the shape memory alloy wire at a specific position can be heated by electric current to control the stretching, bending, expansion, contraction of the swallowing type mechanical arm and the opening and recovery of the inner swallowing shape memory alloy wire (123), so that the target object can be gripped and moved in the hollow interior of the swallowing type mechanical arm.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flexible mechanical arms, in particular to a swallowing type mechanical arm. BACKGROUND

[0002] A mechanical arm is an automatic mechanical device that can replace human labor to complete tasks, and is applied in the fields of aerospace, industrial production and logistics storage and transportation. According to different task requirements, the mechanical arm has different types. With the increasing demand for automation and intelligence, the application demand of the mechanical arm also increases. The existing mechanical arm can be divided into rigid mechanical arm and flexible mechanical arm.

[0003] The flexible mechanical arm has the advantages of wide motion range, flexible structure, good safety, high degree of freedom and light overall, but at the same time, it has one or more of the following problems, including: low strength, slow response speed and low control precision. SUMMARY

[0004] The purpose of the present application is to solve the problem of low strength or slow response speed or low control precision of the existing flexible mechanical arm, and disclose a swallowing type mechanical arm, which comprises a plurality of small sections with the same structure and an end fixed plate; the small section comprises an outer skeleton, the outer skeleton comprises a fixed joint, and the small section has four fixed joints arranged at intervals in the circumferential direction, twelve outer spiral shape memory alloy wires arranged at intervals in the circumferential direction are welded on each fixed joint, and a circumferential shape memory alloy wire is connected between each fixed joint; the small section structure further comprises an inner swallowing mechanism, the inner swallowing mechanism comprises a film, the outer side of the film is glued to the inner side of the four fixed joints, the inner side of the film is glued to three groups of inner fixed plates, each group having six inner fixed plates, a piezoelectric ceramic sensor is arranged inside the position where the film is glued to each fixed plate, and the piezoelectric ceramic sensor can convert a pressure signal into an electric signal and send it to a single-chip microcomputer; each fixed plate has five small holes, five swallowing shape memory alloy wires are installed between two fixed plates, the swallowing shape memory alloy wires are inserted into the small holes from the inner side of the two fixed plates, and are fixed by gluing, and one rigid linkage mechanism is fixed on each five swallowing shape memory alloy wires.

[0005] Further, a swallowing type mechanical arm is characterized in that it comprises a plurality of small sections with the same structure, and a plurality of groups of swallowing shape memory alloy wires are fixed inside each small section; the swallowing type mechanical arm moves objects in the following way: a plurality of groups of staggered swallowing shape memory alloy wires are alternately expanded and retracted, and gradually lift the target object; the swallowing shape memory alloy wires are divided into three groups in the length direction of the small section, and each group has a plurality of swallowing shape memory alloy wires; by controlling the power supply and stop of power supply of specific swallowing shape memory alloy wires, the state of each group of swallowing shape memory alloy wires can be controlled, i.e. expansion and retraction, so that the swallowing type mechanical arm moves the target object in a swallowing simulation manner; in this way, the target object enters from the inlet, is lifted by each group of swallowing shape memory alloy wires in turn, and gradually moves away from the inlet.

[0006] Further, all the swallowing shape memory alloy wires are installed on the fixed plate, and each fixed plate is installed on the inner side of the film; a piezoelectric ceramic sensor is arranged inside the position where the film is glued to each fixed plate, which is used to detect the reaction force of the swallowing shape memory alloy wire when lifting the object, and convert the pressure signal into an electric signal and send it to the single-chip microcomputer; the single-chip microcomputer analyzes the electric signal, judges the state of the object, and controls each group of swallowing shape memory alloy wires to expand and retract at a certain rhythm, so as to lift the target object.

[0007] Further, each five swallowing shape memory alloy wires has a rigid linkage mechanism to ensure the linkage of high response speed; among the five swallowing shape memory alloy wires, two have one-way shape memory effect and three have two-way shape memory effect; the rigid linkage mechanism connects the above-mentioned five swallowing shape memory alloy wires, so that the two swallowing shape memory alloy wires with one-way shape memory effect in the heating process can drive the three swallowing shape memory alloy wires with two-way shape memory effect in the cooling process to retract, thereby improving the response speed of the whole structure when retracting.

[0008] Further, the swallowing type mechanical arm replaces the traditional gripper type flexible mechanical arm in swallowing target objects, and can move the target object in the hollow interior of the swallowing type mechanical arm, thereby avoiding the problem of low control precision of the gripper type flexible mechanical arm.

[0009] Further, the swallowing type mechanical arm contains four rigid, insulated, heat-insulated, non-metal fixed joints on each section, and each two fixed joints are connected by a circumferential shape memory alloy wire, and the two ends of the circumferential shape memory alloy wire are glued to the two fixed joints respectively to form a ring. By heating the four circumferential shape memory alloy wires on each section, the circumferential shape memory alloy wire can be elongated, so that the size of the ring composed of the fixed joint and the circumferential shape memory alloy wire is increased, and at the same time, the film wrinkles of the film glued to the fixed joint are unfolded, so that the film is expanded radially, so that the swallowing type mechanical arm can adapt to move larger size target objects.

[0010] Further, the strength and rigidity of the outer skeleton of the swallowing type mechanical arm are guaranteed by four groups of outer spiral shape memory alloy wires, and the two ends of each outer spiral shape memory alloy wire are glued to two different fixed joints except the outer spiral shape memory alloy wire glued to the terminal fixed plate, so as to realize the connection between each section and form the outer skeleton of the whole swallowing type mechanical arm.

[0011] Further, each of the sections has four groups of outer spiral shape memory alloy wires, and each outer spiral shape memory alloy wire has a double-way shape memory effect, which can be elongated after being heated by power supply and restored to the original shape after being cooled by power-off. By controlling the power-on and power-off of each outer spiral shape memory alloy wire, the bending, elongation and original state of each section can be controlled, so as to adjust the overall posture of the swallowing type mechanical arm and the position of the inlet of the terminal, realize the avoidance of obstacles, and approach the target object according to the position of the target object.

[0012] Further, the whole structure of the swallowing type mechanical arm is composed of a plurality of sections with the same structure and a terminal fixed plate, which is simple in structure and can adjust the number of sections according to different use conditions to adapt to different application scenarios, and is flexible in application.

[0013] Further, the swallowing type mechanical arm can be fixed in a way that the inlet is directed in any direction when fixed, and as long as the target object does not exceed the working range of the swallowing type mechanical arm, the working requirements of grabbing and moving the target object can be met. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0015] Figure 1A perspective view of a swallowing type mechanical arm provided in the present embodiment;

[0016] Figure 2 A perspective view of a section of the swallowing type mechanical arm provided in the present embodiment;

[0017] Figure 3 A top view of a section of the swallowing type mechanical arm provided in the present embodiment;

[0018] Figure 4 A perspective view of the internal swallowing shape memory alloy wire arrangement of a section of the swallowing type mechanical arm provided in the present embodiment;

[0019] Figure 5 A distribution and installation view of the swallowing shape memory alloy wire with double shape memory effect, the swallowing shape memory alloy wire with single shape memory effect and the rigid linkage mechanism of the swallowing type mechanical arm provided in the present embodiment;

[0020] Figure 6 A distribution view of the swallowing shape memory alloy group on a section of the swallowing type mechanical arm provided in the present embodiment;

[0021] Figure 7 A view of the first group of swallowing shape memory alloy wires in the expanded state on a section of the swallowing type mechanical arm provided in the present embodiment;

[0022] Figure 8 A view of the outer spiral shape memory alloy wires of the swallowing type mechanical arm provided in the present embodiment all in the elongated state.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 100: section; 111: fixed joint; 112: outer spiral shape memory alloy wire; 112-1: No. 1 outer spiral shape memory alloy wire; 112-2: No. 2 outer spiral shape memory alloy wire; 112-2: No. 3 outer spiral shape memory alloy wire; 112-4: No. 4 outer spiral shape memory alloy wire; 113: circumferential shape memory alloy wire; 121: film; 121-1: film wrinkle; 122: fixed plate; 123: swallowing shape memory alloy wire; 123-1: swallowing shape memory alloy wire with double shape memory effect; 123-2: swallowing shape memory alloy wire with single shape memory effect; 123-A: first group of swallowing shape memory alloy wires; 123-B: second group of swallowing shape memory alloy wires; 123-C: third group of swallowing shape memory alloy wires; 124: rigid linkage mechanism; 124-1: non-metallic rigid block; 200: end fixed plate; 300: inlet. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0026] The present embodiment provides a swallowing type mechanical arm, which is combined with Figures 1-8 , and specifically as follows.

[0027] As shown in Figure 1 , the swallowing type mechanical arm provided by the present embodiment comprises a plurality of structurally identical segments (100) and an end fixing plate (200), and the structure of each segment (100) is as shown in Figures 2-5 .

[0028] As shown in Figures 1-4 , the outer side spiral shape memory alloy wires (112) of each segment of the swallowing type mechanical arm provided by the present embodiment are composed of four groups, and each group is composed of twelve spring-shaped shape memory alloy wires, thereby improving the rigidity and strength of the whole mechanical arm.

[0029] The outer side spiral shape memory alloy wires (112) of each segment of the swallowing type mechanical arm provided by the present embodiment are composed of four groups, and each group is composed of twelve spring-shaped shape memory alloy wires, and each shape memory alloy wire has a double-way shape memory effect, can be elongated after heating, and can restore the initial shape after cooling. By controlling the current to heat one group or adjacent two groups or all four groups of shape memory alloy wires in a segment, the bending (including different directions) or elongation of the segment can be realized respectively; as shown in Figures 3-4 , heating the No. 1 outer side spiral shape memory alloy wire (112-1) alone will make the segment (100) where the No. 1 outer side spiral shape memory alloy wire (112-1) is located bend to the side of the No. 3 outer side spiral shape memory alloy wire (112-3); heating the No. 1 outer side spiral shape memory alloy wire (112-1) and the No. 2 outer side spiral shape memory alloy wire (112-2) at the same time will make the segment (100) bend to the direction between the No. 3 outer side spiral shape memory alloy wire (112-3) and the No. 4 outer side spiral shape memory alloy wire (112-4); heating all the outer side spiral shape memory alloy wires (112) on a segment (100) will make the segment (100) elongate as a whole, as shown in Figure 8 .

[0030] As shown in Figures 1-4As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object.

[0031] As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object. Figures 1-4

[0032] As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object. Figures 5-7 As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object. Figure 5 As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object. Figure 4 As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object.

[0033] As shown in the drawings, the four circumferential shape memory alloy wires (113) of each section of the swallowing type mechanical arm provided by the embodiment are connected to the four fixed joints (111) on each section, have double-way shape memory effect, and by controlling the current to heat the circumferential shape memory alloy wires (113) on each section, the radial size of the mechanical arm can be expanded to facilitate the cover of the inlet (300) on the target object. Figure 5 ​As shown, the rigid linkage mechanism (124) of the swallowing type mechanical arm provided in the embodiment is formed by gluing two upper and lower insulating and heat-insulating non-metal rigid blocks (124-1) which are the same in structure, and is fixed at the most central wave-shaped position of the five swallowing shape memory alloy wires (123) by gluing. The rigid linkage mechanism (124) can transmit force between the five swallowing shape memory alloy wires (123) and link them.

[0034] Each section of the thin film (121) of the swallowing type mechanical arm provided in the embodiment is internally provided with three groups of swallowing shape memory alloy wires (123), each group of swallowing shape memory alloy wires (123) is divided into three subgroups, the target object can be lifted and moved by controlling the first group of swallowing shape memory alloy wires (123-A) to be expanded by current; the mechanical arm can be contracted to the minimum length by stopping the power supply to all the outside spiral shape memory alloy wires (112) and all the circumferential shape memory alloy wires (113), so as to realize the movement of the target object; the target object can be further lifted and moved by controlling the second group of swallowing shape memory alloy wires (123-B) to be expanded by current; then the first group of swallowing shape memory alloy wires (123-A) is controlled to recover; the target object can be further lifted and moved by controlling the third group of swallowing shape memory alloy wires (123-C) to be expanded by current, so that the target object is moved to the next section, and then the second group of swallowing shape memory alloy wires (123-B) is controlled to recover; the above method is used to control the next section, so as to realize the continuous movement of the target object, and finally all the movements and collection of the target object are completed in the last section.

[0035] The thin film (121) of the swallowing type mechanical arm provided in the embodiment is internally provided with a plurality of piezoelectric ceramic sensors, which are located on the outside of the fixed plate (122) and are used to detect the reaction force received by the shape memory alloy wires when they contact with the object, and convert the force signal into an electric signal and transmit it to the single-chip microcomputer. The program in the single-chip microcomputer analyzes the pressure fluctuation detected by each sensor, judges the state and position of the target object, and controls the specific swallowing shape memory alloy wire (123) to move at a certain rhythm and gradually lift the target object.

[0036] The swallowing type mechanical arm provided in the embodiment replaces the traditional flexible mechanical arm in the way of grabbing the target object by swallowing the target object, and avoids the problem of low control precision of the mechanical arm.

[0037] The swallowing type mechanical arm provided in the embodiment can adjust the number of sections of the mechanical arm according to different use requirements, so as to adjust the total length of the swallowing type mechanical arm.

[0038] When installing the swallowing robotic arm provided in this embodiment, the required number of segments (100) needs to be determined according to the usage requirements, and then each segment (100) is installed. When installing the segment (100), the fixing plate (122) needs to be glued to a specific position on the inside of the film (121), such as... Figures 2-4 As shown, the swallowing shape memory alloy wire (123) is then inserted from the inside between the two fixing plates (122) and fixed by adhesive bonding. After all the swallowing shape memory alloy wires (123) are installed, a rigid linkage mechanism (124) is installed at a specific position. This rigid linkage mechanism (124) is made of two identical insulating and heat-resistant non-metallic rigid blocks (124-1) glued together and fixed by adhesive bonding at the center of the wave-like shape of the five swallowing shape memory alloy wires (123). The installation position is as follows. Figure 5 As shown; then the fixed joint (111), the outer spiral shape memory alloy wire (112) and the circumferential shape memory alloy wire (113) are arranged as follows: Figures 2-4 The positions shown are glued together, and finally the outer skeleton obtained by the previous step is glued to the outside of the film (121); finally, the end fixing plate (200) and multiple sections (100) are glued together in sequence to form a swallowing robotic arm.

[0039] The swallowing robotic arm provided in this embodiment is used in four steps:

[0040] Cameras and other devices acquire the position and size of the target object to be moved and transmit the information to the microcontroller. The microcontroller then derives a control strategy and controls the heating of the external circumferential shape memory alloy wire (113), thereby expanding the overall radial dimension of the swallowing robotic arm and enabling the inlet (300) of the swallowing robotic arm to cover the target object without being blocked by the first set of swallowing shape memory alloy wires (123-A) in front of the inlet.

[0041] The overall posture of the swallowing robotic arm and the position of the inlet (300) are adjusted by heating the outer spiral shape memory alloy wire with electricity, so that it covers the target object;

[0042] The swallowing shape memory alloy wire (123-1) with two-way shape memory effect in the first group of swallowing shape memory alloy wires (123-A) is heated by electricity, causing the first group of swallowing shape memory alloy wires (123-A) to open inward, thereby supporting the target object; the piezoelectric ceramic sensor converts the force signal on the first group of swallowing shape memory alloy wires (123-A) into an electrical signal and transmits it to the microcontroller for analysis. When the microcontroller determines that the target object has been lifted and stabilized, it stops heating all the outer spiral shape memory alloy wires (112) and all the circumferential shape memory alloy wires (113), so that the swallowing robotic arm as a whole returns to its initial state and drives the supported target object to move.

[0043] The swallowing shape memory alloy wire (123-1) with double-way shape memory effect in the second group of swallowing shape memory alloy wires (123-B) is heated to expand inwardly and further prop up the target object. After the piezoelectric ceramic sensor force signal under the second group of swallowing shape memory alloy wires (123-B) is detected to be stable, the swallowing shape memory alloy wire (123-1) with double-way shape memory effect in the first group of swallowing shape memory alloy wires (123-A) is stopped heating, and the swallowing shape memory alloy wire (123-2) with single-way shape memory effect in the first group of swallowing shape memory alloy wires (123-A) is heated to restore the original state. Then, the swallowing shape memory alloy wire (123-2) with single-way shape memory effect in the first group of swallowing shape memory alloy wires (123-A) is stopped heating. The swallowing shape memory alloy wire (123-1) with double-way shape memory effect in the third group of swallowing shape memory alloy wires (123-C) is heated to expand inwardly and further prop up the target object. After the piezoelectric ceramic sensor force signal under the third group of swallowing shape memory alloy wires (123-C) is detected to be stable, the swallowing shape memory alloy wire (123-1) with double-way shape memory effect in the second group of swallowing shape memory alloy wires (123-B) is stopped heating, and the swallowing shape memory alloy wire (123-2) with single-way shape memory effect in the second group of swallowing shape memory alloy wires (123-B) is heated to restore the original state. Then, the swallowing shape memory alloy wire (123-2) with single-way shape memory effect in the second group of swallowing shape memory alloy wires (123-B) is stopped heating, so that the target object enters the next section (100) and can be propped up by the first group of swallowing shape memory alloy wires (123-A) in the next section (100). The swallowing shape memory alloy wire group in the next section (100) repeats the action of the swallowing shape memory alloy wire group in the previous section (100), so that the target object is gradually lifted at such a pace until the target object reaches the position of the end fixed plate (200), and the movement is completed.

[0044] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A swallowable robotic arm, characterized by, The application relates to a swallowable capsule, which comprises a plurality of identical segments (100) and a terminal fixing plate (200); the segment (100) comprises an outer skeleton, the outer skeleton comprises four fixing joints (111) which are arranged at intervals in the circumferential direction, twelve outer helical shape memory alloy wires (112) are welded on each fixing joint (111) and arranged at intervals in the circumferential direction, and a circumferential shape memory alloy wire (113) is arranged between each fixing joint (111); the segment (100) further comprises an inner swallowing mechanism, the inner swallowing mechanism comprises a film (121), the outer side of the film (121) is glued to the inner side of the four fixing joints (111), and the inner side of the film (121) is glued to three groups of fixing plates (122), each group comprising six fixing plates (122); a piezoelectric ceramic sensor is arranged inside the position where the film (121) is glued to each fixing plate (122); each fixing plate (122) is provided with five holes, five swallowing shape memory alloy wires (123) are arranged between two fixing plates (122), the swallowing shape memory alloy wires (123) are inserted into the holes from the inner sides of the two fixing plates (122) and are fixed by gluing, and one rigid linkage mechanism (124) is fixed on each five swallowing shape memory alloy wires (123); the piezoelectric ceramic sensor is used for detecting the reaction force of the swallowing shape memory alloy wires (123) when the swallowing shape memory alloy wires (123) lift an object, and the piezoelectric ceramic sensor converts the pressure signal into an electric signal and sends the electric signal to a single-chip microcomputer; the single-chip microcomputer analyzes the electric signal, judges the state of the object, and controls each group of swallowing shape memory alloy wires (123) to open and retract at a certain rhythm, so that the target object is moved and the target object gradually moves away from an inlet (300).

2. The swallowable robotic arm of claim 1, wherein, The rigid linkage mechanism (124) is formed by gluing two upper and lower insulating and heat-insulating non-metal rigid blocks (124-1) which are the same in structure; the rigid linkage mechanism (124) transmits force among the five swallowing shape memory alloy wires (123) and links them.

3. The swallowable robotic arm of claim 1, wherein, Two of the five swallowing shape memory alloy wires (123) are single-trip shape memory alloy wires (123-2) and the other three are double-trip shape memory alloy wires (123-1); the rigid linkage mechanism (124) can transmit force, so that the single-trip shape memory alloy wire (123-2) in the process of being heated by electricity can drive the double-trip shape memory alloy wire (123-1) in the process of being cooled by electricity to retract.

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