Laser additive manufacturing cuttlefish tentacle imitating continuum robot and construction method thereof

Abstract

The invention discloses a laser additive manufacturing cuttlefish tentacle imitating continuum robot and a construction method thereof. The continuum robot comprises a continuum robot body, and the continuum robot body comprises a plurality of cuttlefish tentacle imitating unit cell structures. The shape memory alloy powder is fused through the laser additive manufacturing technology, and the cuttlefish tentacle imitating unit cell structures are periodically arrayed in the length extension direction and connected with one another, so that the continuum robot body can be formed. Therefore, according to the laser additive manufacturing method, the cuttlefish tentacle-imitating continuum robot is formed through the laser additive manufacturing method, the laser additive manufacturing cuttlefish tentacle-imitating continuum robot is subjected to curling and winding behavior training, and the laser additive manufacturing cuttlefish tentacle-imitating continuum robot with the capturing function is constructed. A traditional continuum robot capturing system is greatly simplified, the design freedom degree is extremely high, and winding and capturing of space objects and the capturing task in the complex environment can be achieved without integrating other mechanical structures.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic continuum robots and laser additive manufacturing, and specifically relates to a laser additive manufacturing cuttlefish tentacle-like continuum robot and a construction method thereof. Background Art

[0002] The space environment is complex and severe, and astronauts need to deal with huge risks and high costs when performing missions outside the spacecraft. As human space exploration activities become more frequent and in-depth, satellite debris, abandoned satellites and other space debris in space are increasing, the complexity of space missions is constantly increasing, and reliable on-orbit service technology is becoming more and more important.

[0003] Continuum robots have high structural flexibility and environmental adaptability, can achieve continuous deformation and play an important role in unstructured environments. Their significant advantages make them show broad application prospects in space missions. However, traditional continuum robots have complex structures, are difficult to assemble, have complex drive mechanisms, and have high process costs. Summary of the invention

[0004] In response to the above deficiencies or improvement needs of the prior art, the present invention provides a laser additively manufactured cuttlefish tentacle-like continuum robot and a construction method thereof. The laser additively manufactured cuttlefish tentacle-like continuum robot has a greatly simplified structural configuration, requires no assembly, is simple to drive, has a high degree of design freedom, and can meet the application requirements of space missions.

[0005] In order to achieve the above technical objectives, the present invention will adopt the following technical solutions:

[0006] A laser additive manufacturing continuum robot imitating cuttlefish tentacle comprises a continuum robot body, wherein the continuum robot body comprises a plurality of cuttlefish tentacle imitating unit cell structures; each cuttlefish tentacle imitating unit cell structure is formed by melting shape memory alloy powder by laser additive manufacturing technology and periodically arrayed along the length extension direction and interconnected, thereby forming the continuum robot body.

[0007] Preferably, the cuttlefish tentacle-imitation unit cell structure as a whole comprises a plurality of cuttlefish tentacle-shaped characteristic cross sections uniformly distributed circumferentially around its own central axis, and the cuttlefish tentacle-shaped characteristic cross sections are profiling components of natural cuttlefish tentacle cross sections.

[0008] Preferably, in the cuttlefish tentacle-like unit cell structure, each characteristic cross section of the cuttlefish tentacle shape includes a first connecting rod, a second connecting rod, and two intermediate connecting rods arranged between the first and second connecting rods; the two intermediate connecting rods are arc-shaped rods with the same geometric shape; the two intermediate connecting rods are connected at the middle position to form a two-link system that is vertically symmetrical about the connecting part of the two intermediate connecting rods; each end point of the two-link system is respectively connected to the end points of the first and second connecting rods, and forms an angle θ with the plane where the first and second connecting rods are located, and the plane where the two-link system is located is staggered with the central axis of the cuttlefish tentacle-like unit cell structure;

[0009] The first connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to form a first connecting rod, and the second connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to form a second connecting rod;

[0010] The first and second connecting rods are parallel to each other and have the same geometric shape, both of which are regular polygons or rings, and the vertical center lines of the first and second connecting rods coincide with the central axis of the cuttlefish tentacle-like unit cell structure.

[0011] Preferably, the geometric shapes of the first and second connecting rods are regular quadrilaterals; the middle connecting rod is a parabolic rod, and the geometric shape of the parabolic rod satisfies:

[0012]

[0013] Among them, a is the side length of the first connecting rod or the second connecting rod; θ is the angle formed by the parabolic rod and the plane where the first and second connecting rods are located; x, y represent the coordinate values ​​of any point on the parabolic rod.

[0014] Preferably, the design steps of the cuttlefish tentacle-like unit cell structure are as follows:

[0015] Step 1: First, two ends of a parabolic rod are connected to the end points of a first connecting rod and a second connecting rod respectively, and then the parabolic rod is subjected to a plane symmetry transformation along the xoz plane where the central axis of the unit cell structure of the imitation cuttlefish tentacle is located, so as to form a cuttlefish tentacle-shaped characteristic cross-section having the shape characteristics of the cuttlefish tentacle cross-section;

[0016] Step 2: Rotate the characteristic cross-section of the cuttlefish tentacle shape obtained in step 1 around the central axis of the cuttlefish tentacle-like unit cell structure, and transitionally connect the first connecting rods of two adjacent characteristic cross-sections of the cuttlefish tentacle shape to form a first connecting rod, and transitionally connect the second connecting rods to form a second connecting rod, so as to obtain the final cuttlefish tentacle-like unit cell structure.

[0017] Preferably, after the cuttlefish tentacle-imitating unit cell structure is periodically arrayed along its own length direction, between two adjacent cuttlefish tentacle-imitating unit cell structures, one is recorded as the first cuttlefish tentacle-imitating unit cell structure, and the other is recorded as the second cuttlefish tentacle-imitating unit cell structure, and the first connecting rod of the first cuttlefish tentacle-imitating unit cell structure can be connected and fused with the second connecting rod of the second cuttlefish tentacle-imitating unit cell structure into one.

[0018] Another technical purpose of the present invention is to provide a method for constructing the above-mentioned laser additive manufacturing continuum robot imitating cuttlefish tentacle, using spherical nickel-titanium shape memory alloy pre-alloy powder with a diameter not exceeding 60 μm as raw material, and adopting laser powder bed melting additive manufacturing technology to prepare the continuum robot imitating cuttlefish tentacle;

[0019] Processing parameters: laser power is 125W, scanning speed is 1200mm / s, scanning spacing is 50μm, powder layer thickness is 90μm, and spot diameter is 70μm;

[0020] The obtained cuttlefish tentacle-like continuum robot was trained for curling and winding behavior to obtain the final laser additively manufactured cuttlefish tentacle-like continuum robot with capture function.

[0021] Preferably, the object of the curling and winding behavior training is each cuttlefish tentacle-like unit cell structure constituting the laser additive manufacturing cuttlefish tentacle-like continuum robot, and the training process includes the following steps performed in sequence: heating-loading-cooling-unloading, wherein:

[0022] Heating process: heating each cuttlefish tentacle-like unit cell structure to a temperature above the austenite phase transformation temperature point and below the maximum temperature point of the stress-induced martensite phase transformation, and keeping the temperature for 3-5 minutes;

[0023] Loading process: each cuttlefish tentacle-like unit cell structure is loaded separately, specifically: first, based on the required motion posture and trajectory of the laser additively manufactured cuttlefish tentacle-like continuum robot, one or more load application points are selected on the first and second connecting rods of each cuttlefish tentacle-like unit cell structure, and the load application points on the first connecting rod are set one-to-one with the load application points on the second connecting rod, and then each cuttlefish tentacle-like unit cell structure is loaded separately, so that the corresponding cuttlefish tentacle-like unit cell structure can be dynamically compressed along the direction parallel to the central axis of the cuttlefish tentacle-like unit cell structure, until the load application point on the first connecting rod of the cuttlefish tentacle-like unit cell structure can contact with the corresponding load application point on the second connecting rod, and then maintain the pressure for 15-30 seconds;

[0024] Cooling process: cooling each cuttlefish tentacle-like unit cell structure under pressure to below the martensitic phase transition temperature, and keeping the temperature for 3-5 minutes;

[0025] The curling and winding behavior training of each cuttlefish tentacle-like unit cell structure is repeated 10-30 times according to the above training process, and the final laser additive manufacturing cuttlefish tentacle-like continuum robot with capture function can be obtained.

[0026] Preferably, during the loading process, the specific steps of selecting the load application points on the first and second connecting rods of each cuttlefish tentacle-imitation unit cell structure are: for each cuttlefish tentacle-imitation unit cell structure, firstly, a point is selected on the first connecting rod of any cuttlefish tentacle-shaped characteristic cross-section as the load application point, and then a point corresponding to the load application point on the first connecting rod is selected on the second connecting rod of the cuttlefish tentacle-shaped characteristic cross-section as the load application point of the second connecting rod.

[0027] Another technical purpose of the present invention is to provide an application of the above-mentioned laser additive manufacturing continuum robot imitating cuttlefish tentacle in the aerospace field, and the laser additive manufacturing continuum robot imitating cuttlefish tentacle can be used for space target capture.

[0028] Based on the above technical objectives, the present invention has the following advantages over the prior art:

[0029] 1. The laser additive manufacturing continuum robot imitating cuttlefish tentacle of the present invention is realized by analyzing the structural features of the cross section of a natural cuttlefish tentacle optimized by nature and having a winding and capturing function and performing structural optimization design. Compared with the traditional continuum robot, the structure is greatly simplified; the structural configuration of the cuttlefish tentacle continuum robot can be freely adjusted according to the actual needs of the space mission and the function equation abstractly expressed by the key geometric configuration of the organism, and has a very high degree of design freedom; the laser additive manufacturing forming technology is used to realize the integrated forming of the cuttlefish tentacle continuum robot without assembly, and the functional action execution can be realized without integrating other auxiliary mechanical structures.

[0030] 2. The laser additive manufacturing technology used in the present invention can achieve near-net forming, greatly improve material utilization and reduce production costs.

[0031] 3. The laser additive manufacturing cuttlefish tentacle-like continuum robot of the present invention is made of an integrated shape memory alloy material. According to the actual needs of space missions, targeted curling and winding behavior training can be carried out on the cuttlefish tentacle-like continuum robot, and the shape memory effect of the shape memory alloy material under thermal excitation conditions can be used to realize active shape regulation to obtain corresponding motion posture and trajectory, which has strong environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a three-dimensional schematic diagram of a single cuttlefish-imitation tentacle unit cell structure of the present invention.

[0033] Figure 2 It is a front view schematic diagram of a single cuttlefish tentacle-like unit cell structure of the present invention.

[0034] Figure 3 It is a top view schematic diagram of a single cuttlefish tentacle-like unit cell structure of the present invention.

[0035] Figure 4 This is a three-dimensional schematic diagram of a cuttlefish tentacle-like continuum robot manufactured by laser additive manufacturing according to the present invention.

[0036] Figure 5 This is a front view schematic diagram of a cuttlefish tentacle-like continuum robot manufactured by laser additive manufacturing according to the present invention.

[0037] Figure 6 This is a top view schematic diagram of a cuttlefish tentacle-like continuum robot manufactured by laser additive manufacturing according to the present invention.

[0038] Figure 7 This is the initial morphology of the cuttlefish tentacle-like continuum robot after being formed by laser additive manufacturing of the present invention.

[0039] Figure 8 This is a morphology diagram of the laser additively manufactured cuttlefish tentacle-like continuum robot after curling and winding behavior training.

[0040] Fig. 9 This is a morphological diagram of the laser additively manufactured cuttlefish tentacle-like continuum robot in the entangled capture state after shape memory induction.

[0041] Fig.10 This is the DSC curve diagram of the base material of the cuttlefish tentacle-like continuum robot manufactured by laser additive manufacturing of the present invention.

[0042] Fig.11The invention discloses the influence of different cuttlefish tentacle-like unit cell structures on the winding and grasping function in the cuttlefish tentacle-like continuum robot manufactured by laser additive manufacturing. In the figure: (a) shows that in the cuttlefish tentacle-like unit cell structure, the side length a of the first connecting rod or the second connecting rod is 3 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°; (b) shows that in the cuttlefish tentacle-like unit cell structure, the side length a of the first connecting rod or the second connecting rod is 5 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°; (c) shows that in the cuttlefish tentacle-like unit cell structure, the side length a of the first connecting rod or the second connecting rod is 5 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°; In the cell structure, the side length of the first connecting rod or the second connecting rod is a=7mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°; (d) represents the single cell structure of the imitation cuttlefish tentacle, the side length of the first connecting rod or the second connecting rod is a=5mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 15°; (e) represents the single cell structure of the imitation cuttlefish tentacle, the side length of the first connecting rod or the second connecting rod is a=5mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 45°. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means any limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Unless otherwise specified, the relative arrangement, expressions and numerical values ​​of the components and steps described in these embodiments do not limit the scope of the present invention. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but in appropriate cases, the techniques, methods and equipment should be regarded as part of the specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0044] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations).

[0045] like Figures 4 to 5 As shown, the laser additive manufacturing cuttlefish tentacle-like continuum robot of the present invention comprises a continuum robot body, which comprises a plurality of cuttlefish tentacle-like unit cell structures; each cuttlefish tentacle-like unit cell structure is formed by melting shape memory alloy powder by laser additive manufacturing technology and periodically arrayed along the length extension direction and interconnected to form the continuum robot body. In the accompanying drawings, the length extension direction of the continuum robot body is the Z-axis direction of the three-dimensional coordinate system XYZ, and the shape memory alloy powder used is a spherical nickel-titanium shape memory alloy pre-alloy powder with a diameter not exceeding 60 μm.

[0046] like Figure 1-3As shown, the cuttlefish tentacle-like unit cell structure as a whole comprises a plurality of cuttlefish tentacle-shaped characteristic cross sections uniformly distributed around its own central axis, each of which is a profiling component of a natural cuttlefish tentacle cross section, and is arranged in a hollow rectangular shape as a whole, comprising a first connecting rod, a second connecting rod and two intermediate connecting rods arranged between the first and second connecting rods; the first connecting rod and the second connecting rod are parallel to each other, and the two intermediate connecting rods are arc-shaped rods with the same geometric shape; the two intermediate connecting rods are connected at the middle position to form a two-link system that is vertically symmetrical about the connection position between the two; each end point of the two-link system is connected to the end points of the first and second connecting rods respectively The first and second connecting rods are connected and form an angle θ with the plane where the first and second connecting rods are located, and the plane where the two connecting rods are located is staggered with the central axis of the cuttlefish tentacle-like unit cell structure, that is, there is no intersection between the plane where the two connecting rods are located and the central axis of the cuttlefish tentacle-like unit cell structure; the first connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to each other to form a first connecting rod, and the second connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to each other to form a second connecting rod; the first and second connecting rods are parallel to each other and have the same geometric shape, both of which are regular polygons or rings, and the vertical center lines of the first and second connecting rods coincide with the central axis of the cuttlefish tentacle-like unit cell structure. In the accompanying drawings, only the example in which the first and second connecting rods are regular quadrilaterals is disclosed. In fact, the first and second connecting rods can also be other regular polygons, such as regular pentagons, regular hexagons, etc. Similarly, the first and second connecting rods can also be ring-shaped. At this time, in order to realize the connection of the two-link system to form a characteristic cross-section in the shape of a cuttlefish tentacle, the present invention can correspondingly set connection points on the first and second connecting rods to respectively connect with the corresponding end points of the two-link system.

[0047] In the present invention, the intermediate connecting rod is a parabolic rod, and the geometric shape of the parabolic rod satisfies:

[0048]

[0049] Wherein, a is the side length of the upper connecting rod or the lower connecting rod; θ is the angle formed by the parabolic rod and the plane where the upper connecting rod and the lower connecting rod are located; x, y represent the coordinate values ​​of any point on the parabolic rod.

[0050] The cuttlefish tentacle-like unit cell structure of the present invention is obtained by designing through the following steps:

[0051] Step 1: First, two ends of a parabolic rod are connected to the end points of a first connecting rod and a second connecting rod respectively, and then the parabolic rod is subjected to a plane symmetry transformation along the xoz plane where the central axis of the unit cell structure of the imitation cuttlefish tentacle is located, so as to form a cuttlefish tentacle-shaped characteristic cross-section having the shape characteristics of the cuttlefish tentacle cross-section;

[0052] Step 2: Rotate the characteristic cross-section of the cuttlefish tentacle shape obtained in step 1 around the central axis of the cuttlefish tentacle-like unit cell structure, and transitionally connect the first connecting rods of two adjacent characteristic cross-sections of the cuttlefish tentacle shape to form a first connecting rod, and transitionally connect the second connecting rods to form a second connecting rod, so as to obtain the final cuttlefish tentacle-like unit cell structure.

[0053] After the cuttlefish tentacle-like unit cell structures are periodically arrayed along their own length direction, between two adjacent cuttlefish tentacle-like unit cell structures, one is recorded as the first cuttlefish tentacle-like unit cell structure, and the other is recorded as the second cuttlefish tentacle-like unit cell structure, and the first connecting rod of the first cuttlefish tentacle-like unit cell structure can be connected and fused with the second connecting rod of the second cuttlefish tentacle-like unit cell structure. Referring to the accompanying drawings, since the cuttlefish tentacle-like unit cell structures are periodically arrayed along the z-axis direction, between two adjacent cuttlefish tentacle-like unit cell structures, for the convenience of description, the cuttlefish tentacle-like unit cell structure at the top is recorded as the first cuttlefish tentacle-like unit cell structure, and the cuttlefish tentacle-like unit cell structure at the bottom is recorded as the second cuttlefish tentacle-like unit cell structure.

[0054] Some preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] Example 1

[0056] The laser additive manufacturing cuttlefish tentacle-like continuum robot described in this embodiment includes a cuttlefish tentacle-like unit cell structure, such as Figure 1-3 As shown, the cuttlefish tentacle-like unit cell structure includes an upper connecting rod (i.e., the first connecting rod mentioned above), a lower connecting rod (i.e., the second connecting rod mentioned above) and a parabolic rod system 3; wherein:

[0057] The upper connecting rod and the lower connecting rod are parallel to each other and have the same geometric shape and geometric size. In the attached drawings, the geometric shapes of the upper connecting rod and the lower connecting rod are both regular quadrilaterals, the side length a is 5 mm, and the rod diameter d is 1 The vertical center lines of the upper connecting rod and the lower connecting rod coincide with the central axis of the unit cell structure of the imitation cuttlefish tentacle.

[0058] The parabolic rod system has a plurality of parabolic rods; the two ends of each parabolic rod are respectively connected to the preset connection nodes on the upper connecting rod and the lower connecting rod. In the attached drawings, since the upper connecting rod and the lower connecting rod are both regular quadrilaterals, the vertices of the upper connecting rod and the lower connecting rod are the preset connection nodes on the upper connecting rod and the lower connecting rod, and the plane where each parabolic rod is located has no common point with the central axis of the single cell structure of the imitation cuttlefish tentacle. At the same time, the plane where each parabolic rod is located forms an angle θ of 30° with the plane where the upper connecting rod and the lower connecting rod are located. In the attached drawings, the parabolic rod system has 8 parabolic rods, and every two parabolic rods form a group, and are connected at the middle position to form a two-link system that is vertically symmetrical about the connection between the two. The upper end of each two-link system is connected to two preset connection nodes on the upper connecting rod, and the part of the upper connecting rod between the two connection points is recorded as the first connecting support rod. The lower end of each two-link system is connected to two preset connection nodes on the lower connecting rod, and the part of the lower connecting rod between the two connection points is recorded as the second connecting support rod.

[0059] The geometric shape of the parabolic rod is a key geometric configuration abstractly expressed based on the natural structural characteristics of the cuttlefish tentacle cross section. In the accompanying drawings, the geometric shape of the parabolic rod satisfies:

[0060]

[0061] Wherein, a is the side length of the upper connecting rod or the lower connecting rod; θ is the angle formed by the parabolic rod and the plane where the upper connecting rod and the lower connecting rod are located; x, y represent the coordinate values ​​of any point on the parabolic rod.

[0062] In this embodiment, a=5 mm, θ=30°, so the geometric shape of the parabolic rod satisfies: The rod diameter d of the parabolic rod 2 It is 0.5mm.

[0063] The cuttlefish tentacle-like unit cell structures are periodically arrayed along the z-axis direction and then connected to each other to obtain a laser additively manufactured cuttlefish tentacle-like continuum robot, such as Figure 4-6 As shown, a specific embodiment of the laser additive manufacturing cuttlefish tentacle-like continuum robot of the present invention is disclosed, wherein the cuttlefish tentacle-like unit cell structures are twelve and connected to each other along the z-axis direction. Alternatively, the cuttlefish tentacle-like unit cell structures of the present invention are only eleven, or alternatively, the cuttlefish tentacle-like unit cell structures of the present invention are thirteen, fourteen, etc.

[0064] After the cuttlefish tentacle-like unit cell structures are periodically arrayed along the z-axis direction, between two adjacent cuttlefish tentacle-like unit cell structures, the cuttlefish tentacle-like unit cell structure on the upper side is the upper cuttlefish tentacle-like unit cell structure, and the cuttlefish tentacle-like unit cell structure on the lower side is the lower cuttlefish tentacle-like unit cell structure. The lower connecting rod of the upper cuttlefish tentacle-like unit cell structure and the upper connecting rod of the adjacent lower cuttlefish tentacle-like unit cell structure can be correspondingly connected and fused into one.

[0065] The method for constructing a continuum robot imitating cuttlefish tentacle by laser additive manufacturing is as follows: spherical nickel-titanium shape memory alloy pre-alloy powder with a diameter not exceeding 60 μm is used as a raw material, and a laser powder bed melting additive manufacturing technology is adopted to prepare a continuum robot imitating cuttlefish tentacle; the processing parameters are as follows: laser power is 125 W, scanning speed is 1200 mm / s, scanning spacing is 50 μm, powder layer thickness is 90 μm, and spot diameter is 70 μm. The initial morphology of the continuum robot imitating cuttlefish tentacle by laser additive manufacturing after forming is as follows: Figure 7 shown.

[0066] Each cuttlefish tentacle-like cell structure of the obtained laser additively manufactured cuttlefish tentacle-like continuum robot is first heated to 40°C and kept warm for 4 minutes; then, based on the required motion posture and trajectory of the laser additively manufactured cuttlefish tentacle-like continuum robot, the load application point of each cuttlefish tentacle-like cell structure is selected. In the attached figure, the selected load application point is the midpoint of the upper connecting rod and the lower connecting rod of any cuttlefish tentacle-like tentacle-shaped characteristic cross-section of each cuttlefish tentacle-like cell structure, and each cuttlefish tentacle-like cell structure is loaded separately, specifically: dynamically compress along the direction parallel to the central axis of the cuttlefish tentacle-like cell structure until the two load application points contact each other and then hold the pressure for 20 seconds; finally, cool each cuttlefish tentacle-like cell structure in the pressure holding state to -50°C and keep warm for 3 minutes; repeat the above operation 10 times; and obtain the final laser additively manufactured cuttlefish tentacle-like continuum robot with entanglement and capture function as shown in FIG. Figure 8 shown.

[0067] After the ambient temperature of the laser additive manufacturing continuum robot imitating cuttlefish tentacle prepared in this embodiment drops below 13°C, the laser additive manufacturing continuum robot imitating cuttlefish tentacle begins to curl and entangle, and can be used for space target capture, greatly simplifying the traditional continuum robot capture system; the DSC curve of the base material of the laser additive manufacturing continuum robot imitating cuttlefish tentacle is as follows: Fig. 9 shown.

[0068] Fig.11The invention relates to the influence of different cuttlefish tentacle-like unit cell structures on the winding and grasping function in the laser additive manufacturing cuttlefish tentacle-like continuum robot of the present invention. First, the invention uses the bending angle α to evaluate the winding and grasping function of the laser additive manufacturing cuttlefish tentacle-like continuum robot of the present invention, and believes that a larger bending angle α indicates that the laser additive manufacturing cuttlefish tentacle-like continuum robot has a better winding and grasping function. The bending angle α specifically refers to the angle formed at any part of the laser additive manufacturing cuttlefish tentacle-like continuum robot when it is bent and deformed.

[0069] It can be seen from the figure that when the side length a of the first connecting rod or the second connecting rod in the cuttlefish tentacle unit cell structure constituting the continuum robot is 3 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°, the bending angle α of the formed continuum robot is 77.16°. Fig.11 (a).

[0070] When the side length a of the first connecting rod or the second connecting rod in the cuttlefish tentacle-like unit cell structure constituting the continuum robot is 5 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°, the bending angle α of the formed continuum robot is 99.64°. Fig.11 (b).

[0071] When the side length a of the first connecting rod or the second connecting rod in the cuttlefish tentacle-like unit cell structure constituting the continuum robot is 7 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 30°, the bending angle α of the formed continuum robot is 69.75°. Fig.11 (c).

[0072] When the side length a of the first connecting rod or the second connecting rod in the cuttlefish tentacle-like unit cell structure constituting the continuum robot is 5 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 15°, the bending angle α of the formed continuum robot is 85.43°. Fig.11 (d).

[0073] When the side length a of the first connecting rod or the second connecting rod in the cuttlefish tentacle-like unit cell structure constituting the continuum robot is 5 mm, and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located is 45°, the bending angle α of the formed continuum robot is 65.54°. Fig.11 (e).

[0074] From the above data, it can be seen that the bending angle α of the laser additive manufacturing cuttlefish tentacle continuum robot described in the present invention shows significant changes under different unit cell structural parameters, indicating that the continuum robot has high adjustability and optimization potential in the winding and grasping function. In particular, after adjusting the side length a of the first connecting rod or the second connecting rod and the angle θ formed by the parabolic rod and the plane where the first and second connecting rods are located, the change amplitude of the bending angle α is significantly increased, indicating that the continuum robot is highly sensitive to different parameter configurations. This sensitivity means that it is possible to explore a better parameter combination configuration through fine adjustment of key structural parameters, thereby further improving the robot's winding and grasping function.

[0075] Based on the analysis of these results, in the cuttlefish tentacle-like unit cell structure described in the present invention, when a=3mm-7mm, θ=15°-45°, the continuum robots formed under the same process conditions all have good winding and grasping functions. When a=3mm-5mm, θ=15°-30°, the winding and grasping functions of the continuum robots formed under the same process conditions are further improved. And when a=5mm, θ=30°, the winding and grasping functions of the continuum robots formed under the same process conditions are further optimized.

[0076] It can be seen that the laser additive manufacturing cuttlefish tentacle continuum robot described in the present invention has extremely high design freedom and structural regulation potential, can provide stronger grasping ability and more flexible operational adaptability for future practical applications, and has good scalability and application prospects.

[0077] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A laser additive manufacturing continuum robot imitating cuttlefish tentacle, comprising a continuum robot body, characterized in that: The continuum robot body includes a plurality of cuttlefish tentacle-like unit cell structures; each cuttlefish tentacle-like unit cell structure is formed by melting shape memory alloy powder through laser additive manufacturing technology and periodically arrayed along the length extension direction and interconnected to form the continuum robot body.

2. The laser additive manufacturing cuttlefish tentacle continuum robot according to claim 1, characterized in that: The cuttlefish tentacle-like unit cell structure as a whole comprises a plurality of cuttlefish tentacle-shaped characteristic cross sections which are evenly distributed circumferentially around its own central axis, and the cuttlefish tentacle-shaped characteristic cross sections are profiling components of natural cuttlefish tentacle cross sections.

3. The laser additive manufacturing cuttlefish tentacle continuum robot according to claim 2, characterized in that: In the cuttlefish tentacle-like unit cell structure, each cuttlefish tentacle-shaped characteristic cross section comprises a first connecting rod, a second connecting rod, and two intermediate connecting rods arranged between the first and second connecting rods; The two middle connecting rods are arc-shaped rods with the same geometric shape; the two middle connecting rods are connected at the middle position to form a two-link system that is vertically symmetrical about the connection position of the two middle connecting rods; each end point of the two-link system is respectively connected to the end points of the first and second connecting rods, and forms an angle θ with the plane where the first and second connecting rods are located, and the plane where the two-link system is located is staggered with the central axis of the cuttlefish tentacle-like unit cell structure; The first connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to form a first connecting rod, and the second connecting rods with characteristic cross sections in the shape of cuttlefish tentacles can be directly spliced ​​or transitionally connected to form a second connecting rod; The first and second connecting rods are parallel to each other and have the same geometric shape, both of which are regular polygons or rings, and the vertical center lines of the first and second connecting rods coincide with the central axis of the cuttlefish tentacle-like unit cell structure.

4. The laser additive manufacturing cuttlefish tentacle continuum robot according to claim 2, characterized in that: The geometric shapes of the first and second connecting rods are regular quadrilaterals, and the middle connecting rod is a parabolic rod. The geometric shape of the parabolic rod satisfies: Wherein, a is the side length of the first connecting rod or the second connecting rod; θ is the angle formed by the parabolic rod and the plane where the first connecting rod and the second connecting rod are located; x, y represent the coordinate values ​​of any point on the parabolic rod.

5. The laser additive manufacturing cuttlefish tentacle continuum robot according to claim 4, characterized in that: The design steps of the cuttlefish tentacle-like unit cell structure are as follows: Step 1: First, two ends of a parabolic rod are connected to the end points of a first connecting rod and a second connecting rod respectively, and then the parabolic rod is subjected to a plane symmetry transformation along the xoz plane where the central axis of the cuttlefish tentacle-like unit cell structure is located, so as to form a cuttlefish tentacle-shaped characteristic cross-section having the shape characteristics of the cuttlefish tentacle cross-section; Step 2: Rotate the characteristic cross-section of the cuttlefish tentacle shape obtained in step 1 around the central axis of the cuttlefish tentacle-like unit cell structure, and transitionally connect the first connecting rods of two adjacent characteristic cross-sections of the cuttlefish tentacle shape to form a first connecting rod, and transitionally connect the second connecting rods to form a second connecting rod, so as to obtain the final cuttlefish tentacle-like unit cell structure.

6. The laser additive manufacturing cuttlefish tentacle continuum robot according to claim 1, characterized in that: After the cuttlefish tentacle-like unit cell structures are periodically arrayed along their own length direction, between two adjacent cuttlefish tentacle-like unit cell structures, one is recorded as the first cuttlefish tentacle-like unit cell structure, and the other is recorded as the second cuttlefish tentacle-like unit cell structure, and the first connecting rod of the first cuttlefish tentacle-like unit cell structure can be connected and fused with the second connecting rod of the second cuttlefish tentacle-like unit cell structure to form an integral whole.

7. A method for constructing a continuum robot imitating cuttlefish tentacle by laser additive manufacturing according to any one of claims 1 to 6, characterized in that: Using spherical nickel-titanium shape memory alloy pre-alloy powder with a diameter of no more than 60 μm as raw material, a continuum robot imitating cuttlefish tentacle was prepared by laser powder bed fusion additive manufacturing technology; Processing parameters: laser power is 125W, scanning speed is 1200mm / s, scanning spacing is 50μm, powder layer thickness is 90μm, and spot diameter is 70μm; The obtained cuttlefish tentacle-like continuum robot was trained for curling and winding behavior to obtain the final laser additively manufactured cuttlefish tentacle-like continuum robot with capture function.

8. The method for constructing a laser additively manufactured cuttlefish tentacle-like continuum robot according to claim 7, characterized in that: The object of the curling and winding behavior training is each cuttlefish tentacle-like unit cell structure constituting the laser additive manufacturing cuttlefish tentacle-like continuum robot. The training process includes the following steps in sequence: heating-loading-cooling-unloading, wherein: Heating process: heating each cuttlefish tentacle-like unit cell structure to a temperature above the austenite phase transformation temperature point and below the maximum temperature point of the stress-induced martensite phase transformation, and keeping the temperature for 3-5 minutes; Loading process: each cuttlefish tentacle-like unit cell structure is loaded separately, specifically: first, based on the required motion posture and trajectory of the laser additively manufactured cuttlefish tentacle-like continuum robot, one or more load application points are selected on the first and second connecting rods of each cuttlefish tentacle-like unit cell structure, and the load application points on the first connecting rod are set one-to-one with the load application points on the second connecting rod, and then each cuttlefish tentacle-like unit cell structure is loaded separately, so that the corresponding cuttlefish tentacle-like unit cell structure can be dynamically compressed along the direction parallel to the central axis of the cuttlefish tentacle-like unit cell structure, until the load application point on the first connecting rod of the cuttlefish tentacle-like unit cell structure can contact with the corresponding load application point on the second connecting rod, and then maintain the pressure for 15-30 seconds; Cooling process: cooling each cuttlefish tentacle-like unit cell structure under pressure to below the martensitic phase transition temperature, and keeping the temperature for 3-5 minutes; The curling and winding behavior training of each cuttlefish tentacle-like unit cell structure is repeated 10-30 times according to the above training process, and the final laser additive manufacturing cuttlefish tentacle-like continuum robot with capture function can be obtained.

9. The method for constructing a laser additively manufactured cuttlefish tentacle-like continuum robot according to claim 7, characterized in that: During the loading process, the specific steps of selecting the load application points on the first and second connecting rods of each cuttlefish tentacle-like unit cell structure are as follows: for each cuttlefish tentacle-like unit cell structure, firstly, a point is selected on any first connecting rod of a cuttlefish tentacle-shaped characteristic cross section as the load application point, and then a point corresponding to the load application point on the first connecting rod is selected on the second connecting rod of the cuttlefish tentacle-shaped characteristic cross section as the load application point of the second connecting rod.

10. An application of the laser additive manufacturing cuttlefish tentacle-like continuum robot according to claim 1 in the aerospace field, characterized in that: The laser additively manufactured cuttlefish tentacle-like continuum robot can be used for space target capture.

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